Online full-automatic dry ice cleaning machine

Abstract

The utility model discloses an online full -automatic dry ice cleaning machine, including feeding conveying mechanism, discharging conveying mechanism, workpiece fixing mechanism, material moving manipulator and cleaning manipulator, the input of this feeding conveying mechanism is used for connecting with production line to receive the workpiece of cleaning after production line production and processing and send to material moving manipulator, this material moving manipulator is used to shift the workpiece of cleaning from feeding conveying mechanism to workpiece fixing mechanism and fix, and after cleaning, the workpiece of cleaning is sent to discharging conveying mechanism and is transported, this cleaning manipulator is used to spray dry ice and clean the workpiece of cleaning, the output of this discharging conveying mechanism is used for connecting with production line, and the workpiece of cleaning is sent to production line and is handled in succession in discharging output mechanism, this scheme is high in the degree of adaptation with production line, not only can realize the cleaning of workpiece, can more ensure the production efficiency of production line can be guaranteed to the actual solution has the predicament of prior art.

Description

Technical Field

[0001] This utility model relates to the technical field of dry ice cleaning, and in particular to an online fully automatic dry ice cleaning machine. Background Technology

[0002] Dry ice cleaning machines are a type of cleaning machine, and dry ice cleaning has seen rapid development globally. The cleaning system uses high-pressure air to propel dry ice particles onto the work surface to be cleaned. The physical reaction caused by the temperature difference causes different substances to detach at different contraction rates. When the -78°C dry ice particles come into contact with the dirt surface, they undergo embrittlement and explosion, causing the dirt to shrink and loosen. The dry ice particles then instantly vaporize and expand 800 times, generating a powerful peeling force that quickly and thoroughly removes the dirt from the object's surface, achieving a fast, efficient, safe, and energy-saving cleaning effect. The carbon dioxide used in dry ice cleaning comes from industrial waste gas and high-altitude air separation. Dry ice cleaning itself does not produce carbon dioxide.

[0003] In existing technologies, dry ice cleaning machines are often used to clean the internal grease and dirt of robots and automated equipment, or to remove integrated circuit boards, post-soldering flux, contaminated coatings, resins, solvent coatings, protective layers, and photosensitive anti-corrosion agents on printed circuit boards.

[0004] However, existing dry ice cleaning machines are all standalone devices and are not integrated with the production line. Therefore, when using dry ice cleaning machines for cleaning, production efficiency is often affected due to poor compatibility with the production line.

[0005] Therefore, how to solve this technical problem has become a key research focus for those skilled in the art. Utility Model Content

[0006] The purpose of this invention is to provide an online fully automatic dry ice cleaning machine to solve the problem that existing technologies cannot be integrated with production lines.

[0007] To solve the above-mentioned technical problems, this utility model provides a feeding conveyor mechanism, an unloading conveyor mechanism, a workpiece fixing mechanism, a transfer robot, and a cleaning robot. The input end of the feeding conveyor mechanism is used to connect to the production line to receive the workpiece to be cleaned after production and processing by the production line and send it to the transfer robot. The transfer robot is used to transfer the workpiece to be cleaned from the feeding conveyor mechanism to the workpiece fixing mechanism for fixing, and to send the cleaned workpiece to the unloading conveyor mechanism for conveying. The cleaning robot is used to spray dry ice to clean the workpiece. The output end of the unloading conveyor mechanism is used to connect to the production line, and the unloading output mechanism is used to send the cleaned workpiece to the production line for subsequent processing.

[0008] In one embodiment, the feeding conveying mechanism includes a feeding conveyor belt and a feeding lifting structure; the two feeding conveyor belts are arranged in a parallel and opposite manner; the feeding lifting structure is located at the end of the conveying stroke of the feeding conveying mechanism and is located between the two feeding conveyor belts. The feeding lifting structure is a liftable structure. In the lowered state, the feeding lifting structure is positioned below the conveying surface of the two feeding conveyor belts. When the feeding lifting structure changes from the lowered state to the lifting state, it is used to lift the workpiece to be cleaned until it is separated from the two feeding conveyor belts. When the workpiece to be cleaned is in the lifted state, the material transfer robot is used to transfer the workpiece to be cleaned to the workpiece fixing mechanism for fixing.

[0009] In one embodiment, the unloading conveying mechanism includes an unloading conveyor belt and an unloading lifting structure; the two unloading conveyor belts are arranged in a parallel and opposite manner; the unloading lifting structure is located at the starting point of the conveying stroke of the unloading conveying mechanism and is located between the two unloading conveyor belts; the unloading lifting structure is a liftable structure, and in the lifting state, the unloading lifting structure is used to receive the cleaned workpiece, and in the lowering state, the unloading lifting structure is used to place the cleaned workpiece on the two unloading conveyor belts; when the unloading lifting structure is in the lifting state, the material transfer robot is used to transfer the cleaned workpiece to the unloading lifting structure.

[0010] In one embodiment, the feeding conveyor is provided with a drying mechanism in the direction of conveying the material to the production line, and the drying mechanism is used to dry the cleaned workpiece.

[0011] In one embodiment, the unloading conveyor is provided with a barcode scanning mechanism in the direction of conveying the material to the production line, and the barcode scanning mechanism is used to scan the cleaned workpiece.

[0012] In one embodiment, the workpiece fixing mechanism is provided with a plurality of vacuum suction cups, which are used to adsorb and fix the workpiece.

[0013] In one embodiment, the gripping part of the material handling robot is provided with a first gripping claw and a second gripping claw; the first gripping claw is used to transfer the workpiece to be cleaned from the loading conveyor to the workpiece fixing mechanism for fixing; the second gripping claw is used to send the cleaned workpiece to the unloading conveyor for conveying.

[0014] In one embodiment, the cleaning robot is equipped with multiple ice-spraying pipes, the nozzles of which are used to spray dry ice.

[0015] In one embodiment, the cleaning robot is equipped with a flatness detection line scan sensor.

[0016] The beneficial effects of this utility model are as follows:

[0017] This utility model is equivalent to adding an automatic cleaning process to the production line. It is highly compatible with the production line and can not only clean the workpieces, but also ensure the production efficiency of the production line, thereby effectively solving the dilemma of the existing technology. Attached Figure Description

[0018] To more clearly illustrate the technical solution of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram provided by an embodiment of the present utility model;

[0020] Figure 2 yes Figure 1 A top-view structural diagram.

[0021] The attached figures are labeled as follows:

[0022] 10. Feeding conveyor mechanism; 11. Feeding conveyor belt; 12. Feeding lifting structure;

[0023] 20. Material feeding conveyor mechanism; 21. Material feeding conveyor belt; 22. Material feeding lifting structure;

[0024] 30. Workpiece fixing mechanism;

[0025] 40. Material handling robot; 41. First gripper; 42. Second gripper;

[0026] 50. Cleaning robotic arm;

[0027] 60. Drying mechanism;

[0028] 70. QR code scanning organizations. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0030] like Figure 1 and Figure 2As shown, this utility model provides an online fully automatic dry ice cleaning machine, including a feeding conveyor 10, a discharging conveyor 20, a workpiece fixing mechanism 30, a transfer robot 40, and a cleaning robot 50. The input end of the feeding conveyor 10 is used to connect to the production line to receive the workpieces to be cleaned after production and processing and send them to the transfer robot 40. The transfer robot 40 is used to transfer the workpieces to be cleaned from the feeding conveyor 10 to the workpiece fixing mechanism 30 for fixing, and to send the cleaned workpieces to the discharging conveyor 20 for conveying. The cleaning robot 50 is used to spray dry ice to clean the workpieces to be cleaned. The output end of the discharging conveyor 20 is used to connect to the production line, and the discharging output mechanism is used to send the cleaned workpieces to the production line for subsequent processing.

[0031] During application, the workpiece to be cleaned after processing on the production line will be sent to the feeding conveyor 10. After the feeding conveyor 10 transports the workpiece to be cleaned to the designated position, the transfer robot 40 will transfer the workpiece to be cleaned to the workpiece fixing mechanism 30 for fixing. Then, the cleaning robot 50 will spray dry ice to clean the workpiece. After cleaning, the transfer robot 40 will send the cleaned workpiece to the unloading conveyor 20 for transport, thereby sending the cleaned workpiece to the production line for subsequent processing.

[0032] Clearly, adopting the above setup is equivalent to adding an automatic cleaning process to the production line. It is highly compatible with the production line, not only cleaning the workpieces but also ensuring the production efficiency of the production line, thus effectively solving the dilemma of existing technology.

[0033] like Figure 1 and Figure 2 As shown, this embodiment sets the feeding conveyor mechanism 10 to include a feeding conveyor belt 11 and a feeding lifting structure 12; the two feeding conveyor belts 11 are arranged in a parallel and opposite manner; the feeding lifting structure 12 is located at the end of the conveying stroke of the feeding conveyor mechanism 10 and is located between the two feeding conveyor belts 11. The feeding lifting structure 12 is a liftable structure. In the lowered state, the feeding lifting structure 12 is placed below the conveying surface of the two feeding conveyor belts 11. When the feeding lifting structure 12 changes from the lowered state to the lifting state, it is used to lift the workpiece to be cleaned until it is separated from the two feeding conveyor belts 11. When the workpiece to be cleaned is in the lifted state, the material transfer robot 40 is used to transfer the workpiece to be cleaned to the workpiece fixing mechanism 30 for fixing.

[0034] With this setup, when the two sides of the workpiece to be cleaned are placed on the two feeding conveyor belts 11, the two feeding conveyor belts 11 can transport the workpiece to be cleaned to the location of the feeding lifting structure 12. In the default state, the feeding lifting structure 12 is in a descending state until the workpiece to be cleaned has been moved above it. Then the feeding lifting structure 12 can be changed to a lifting state to lift the workpiece to be cleaned, so as to facilitate the material handling robot 40 to grasp the workpiece to be cleaned.

[0035] like Figure 1 and Figure 2 As shown, this embodiment sets the unloading conveying mechanism 20 to include an unloading conveyor belt 21 and an unloading lifting structure 22; the two unloading conveyor belts 21 are arranged in a parallel and opposite manner; the unloading lifting structure 22 is located at the starting point of the conveying stroke of the unloading conveying mechanism 20 and is located between the two unloading conveyor belts 21. The unloading lifting structure 22 is a liftable structure. The unloading lifting structure 22 in the lifting state is used to receive the cleaned workpiece, and the unloading lifting structure 22 in the lowering state is used to place the cleaned workpiece on the two unloading conveyor belts 21; when the unloading lifting structure 22 is in the lifting state, the material transfer robot 40 is used to transfer the cleaned workpiece to the unloading lifting structure 22.

[0036] With this setup, when the cleaned workpiece is placed on the lifting structure 22 in the lifting state, the lifting structure 22 can be lowered, so that the two sides of the cleaned workpiece are supported on the two lifting conveyor belts 21 respectively, so as to realize the subsequent conveying and processing of the cleaned workpiece.

[0037] like Figure 1 and Figure 2 As shown, in this embodiment, the feeding conveyor 20 is provided with a drying mechanism 60 in the direction of conveying to the production line. The drying mechanism 60 is used to dry the cleaned workpiece.

[0038] With this setup, the cleaning workpiece can be dried using the drying mechanism 60.

[0039] like Figure 1 and Figure 2 As shown, in this embodiment, the unloading conveying mechanism 20 is provided with a barcode scanning mechanism 70 in the direction of conveying to the production line. The barcode scanning mechanism 70 is used to scan the barcode of the cleaned workpiece.

[0040] After adopting this setting, the barcode scanning mechanism 70 can be used to scan the cleaned workpiece.

[0041] Preferably, in this embodiment, the workpiece fixing mechanism 30 is provided with multiple vacuum suction cups, which are used to adsorb and fix the workpiece.

[0042] With this setup, multiple vacuum suction cups can be used to adsorb and fix the workpiece to be cleaned.

[0043] like Figure 1 and Figure 2 As shown, in this embodiment, the gripping part of the material handling robot 40 is provided with a first gripping claw 41 and a second gripping claw 42; the first gripping claw 41 is used to transfer the workpiece to be cleaned from the loading conveying mechanism 10 to the workpiece fixing mechanism 30 for fixing; the second gripping claw 42 is used to send the cleaned workpiece to the unloading conveying mechanism 20 for conveying.

[0044] By adopting this configuration, operational efficiency can be improved. For example, when the workpiece has been cleaned, the first gripper 41 can be used to grab the workpiece to be cleaned from the loading and lifting structure 12. Then, the first gripper 41 and the second gripper 42 can be moved together. After the second gripper 42 grabs the cleaned workpiece, the workpiece to be cleaned on the first gripper 41 can be placed on the workpiece fixing mechanism 30 for fixing, thereby greatly improving operational efficiency.

[0045] Preferably, in this embodiment, the cleaning robot 50 is equipped with multiple ice-spraying pipes, and the nozzles of the multiple ice-spraying pipes are used to spray dry ice.

[0046] After adopting this setting method, the number of ice spray tubes can be set according to needs to meet different cleaning intensity requirements.

[0047] Preferably, in this embodiment, the cleaning robot 50 is equipped with a flatness detection line scan sensor.

[0048] After adopting this setting, the flatness detection line scan sensor can be used to scan and detect the flatness of the workpiece.

[0049] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications are also considered to be within the protection scope of this utility model.

Claims

1. An online fully automatic dry ice cleaning machine, characterized in that, This includes a feeding conveyor, an unloading conveyor, a workpiece fixing mechanism, a material handling robot, and a cleaning robot; The input end of the feeding and conveying mechanism is used to connect with the production line to receive the workpieces to be cleaned after being produced and processed by the production line and send them to the transfer robot. The material handling robot is used to transfer the workpiece to be cleaned from the loading conveyor to the workpiece fixing mechanism for fixing, and to send the cleaned workpiece to the unloading conveyor for conveying. The cleaning robot is used to spray dry ice to clean the workpiece to be cleaned; The output end of the unloading conveyor is used to connect to the production line, and the unloading output mechanism is used to send the cleaned workpiece to the production line for subsequent processing.

2. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The feeding and conveying mechanism includes a feeding conveyor belt and a feeding lifting structure; The two feeding conveyor belts are arranged in a parallel, separate, and opposite manner; The feeding lifting structure is located at the end of the conveying stroke of the feeding conveying mechanism and is located between the two feeding conveyor belts. The feeding lifting structure is a liftable structure. In the lowered state, the feeding lifting structure is located below the conveying surface of the two feeding conveyor belts. In the raised state, the feeding lifting structure is used to lift the workpiece to be cleaned until it is separated from the two feeding conveyor belts. When the workpiece to be cleaned is in a lifted state, the transfer robot is used to transfer the workpiece to be cleaned to the workpiece fixing mechanism for fixing.

3. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The material feeding and conveying mechanism includes a material feeding conveyor belt and a material feeding lifting structure; The two feeding conveyor belts are arranged in a parallel, separate, and opposite manner; The material unloading lifting structure is located at the starting point of the conveying stroke of the material unloading conveying mechanism, and is located between the two material unloading conveyor belts. The material unloading lifting structure is a lifting structure. In the lifting state, the material unloading lifting structure is used to receive the cleaned workpiece. In the lowering state, the material unloading lifting structure is used to place the cleaned workpiece on the two material unloading conveyor belts. When the unloading lifting structure is in the lifting state, the material transfer robot is used to transfer the cleaned workpiece onto the unloading lifting structure.

4. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The feeding conveyor is equipped with a drying mechanism in the direction of conveying the material to the production line. The drying mechanism is used to dry the cleaned workpiece.

5. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The feeding conveyor is equipped with a barcode scanning mechanism in the direction of conveying the material to the production line. The barcode scanning mechanism is used to scan the cleaned workpiece.

6. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The workpiece fixing mechanism is equipped with multiple vacuum suction cups, which are used to adsorb and fix the workpiece.

7. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The gripping part of the material handling robot is equipped with a first gripping claw and a second gripping claw; The first gripper is used to transfer the workpiece to be cleaned from the feeding and conveying mechanism to the workpiece fixing mechanism for fixing; The second gripper is used to deliver the cleaned workpiece to the unloading conveyor for transport.

8. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The cleaning robot is equipped with multiple ice-spraying pipes, and the nozzles of the multiple ice-spraying pipes are used to spray dry ice.

9. The online fully automatic dry ice cleaning machine according to claim 1, characterized in that, The cleaning robot is equipped with a flatness detection line scan sensor.

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