Joint actuator stain detection and cleaning apparatus and devices

Abstract

The utility model discloses a joint executor dirt detection and cleaning device, including work table, be provided with positioning assembly, liquid storage tank and dirt detection cleaning subassembly on the work table. Positioning assembly is used for installing and fixing the joint executor of waiting for cleaning, liquid storage tank is used for storing cleaning fluid, and dirt detection cleaning subassembly includes mechanical arm, and the mechanical arm tail end mounting seat is integrated with dirt detection execution subassembly and dirt cleaning execution subassembly simultaneously. The utility model discloses through dirt detection execution subassembly automatic identification joint executor surface dirt position to by mechanical arm drive dirt cleaning execution subassembly to the accurate cleaning of dirt point, has realized the full automation of detection and cleaning, has effectively replaced the inefficient manual operation, has the advantages such as high cleaning efficiency, good cleaning effect, strong consistency. The utility model discloses still a kind of joint executor dirt detection and cleaning equipment.

Description

Technical Field

[0001] This utility model belongs to the technical field of joint actuator generation equipment, specifically a joint actuator stain detection and cleaning device and equipment. Background Technology

[0002] Robotic actuators are the core power components of a robot system, integrating precision elements such as servo motors, high-precision reducers, brakes, and sensors. They are responsible for converting electrical energy into precise mechanical motion. Their performance parameters, such as output torque, rotational angle accuracy, backlash, efficiency, and brake holding capability, directly determine the robot's overall motion accuracy, dynamic response, load capacity, and overall reliability. In high-end fields such as industrial robots, service robots, and even humanoid robots, the performance consistency and long-term durability of actuators are key indicators for evaluating their quality and reliability.

[0003] During the assembly and manufacturing process of articulated actuators, the surface of their housings inevitably becomes contaminated with assembly residues such as grease, fingerprints, and dust. These stains not only affect the product's appearance but may also pose a potential threat to the long-term stable operation of internal precision components due to dust, oxidation, or penetration into the mating surfaces during use, and may even affect the signal accuracy of sensors.

[0004] Currently, cleaning stains on the surface of articulated actuators mostly relies on manual cleaning. Operators typically use cloths or cotton yarn soaked in cleaning solution to wipe them. This method has significant limitations: First, it is inefficient, failing to meet the pace requirements of modern production lines and becoming a bottleneck in production capacity; second, the cleaning effect is inconsistent, relying entirely on the worker's experience and sense of responsibility, easily leading to missed areas, uneven wiping, or secondary contamination; third, it is labor-intensive, and prolonged exposure to chemical cleaning solutions may affect the operator's health; finally, it lacks precision, making it impossible to quantify and assess the cleaning effect, and tiny or transparent oil stains are difficult to identify with the naked eye, potentially leading to oversights in quality control. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a joint actuator stain detection and cleaning device and equipment that can identify and clean surface stains, and has the advantages of high efficiency and good cleaning consistency.

[0006] To achieve the above objectives, this utility model provides the following technical solution: This utility model first proposes a joint actuator stain detection and cleaning device, including a workbench, on which the following are mounted: Positioning components are used to position and install the joint actuators to be cleaned; The reservoir is used to store cleaning fluid for cleaning stains on the surface of the joint actuator; The stain detection and cleaning assembly is used to detect the location of stains on the surface of the joint actuator and to clean the stains at each location. The stain detection and cleaning assembly includes a robotic arm with a mounting base at its end. The mounting base is equipped with a stain detection execution component for detecting stains on the surface of the joint actuator and a stain cleaning execution component for cleaning the surface stains.

[0007] Furthermore, the positioning component includes a positioning base fixedly mounted on the workbench and a positioning upper seat detachably mounted on the positioning base, wherein the positioning upper seat is provided with a positioning platform for positioning and mounting the joint actuator.

[0008] Furthermore, the top surface of the positioning base is provided with a positioning groove, the bottom of the positioning upper seat is provided with a positioning post that cooperates with the positioning groove, and the positioning base is provided with positioning screws for positioning the positioning upper seat in the axial and radial directions.

[0009] Furthermore, the stain detection execution component includes a camera mounting plate disposed on the mounting base, and a camera is mounted on the camera mounting plate.

[0010] Furthermore, the mounting base is also provided with a cleaning fluid wiping assembly for wiping the cleaning fluid; the cleaning fluid wiping assembly includes a sponge mounting plate disposed on the mounting base below the camera mounting plate, the sponge mounting plate having a through hole corresponding to the camera, and a sponge for absorbing cleaning fluid being installed around the through hole on the sponge mounting plate.

[0011] Furthermore, the sponge is annular and coaxially arranged with the through hole.

[0012] Furthermore, a camera lens is mounted on the camera, which passes through the through hole from top to bottom, and the lower end of the camera lens is higher than the bottom surface of the sponge.

[0013] Furthermore, the stain cleaning execution component includes a liquid injection pump fixedly installed on the mounting base, a liquid injection needle installed on the liquid injection pump outlet, and the liquid injection pump connected to the liquid storage tank through a liquid injection pipe.

[0014] Furthermore, the robotic arm is a six-axis robotic arm.

[0015] This utility model also proposes a joint actuator stain detection and cleaning device, including a frame on which the joint actuator stain detection and cleaning device as described above is installed, and a control cabinet is provided inside the frame for controlling the movement of the robotic arm, stain detection execution component and stain cleaning execution component to perform stain detection and cleaning operations.

[0016] The beneficial effects of this utility model are as follows: This utility model discloses a joint actuator stain detection and cleaning device. By integrating a positioning component, a liquid storage tank, and a stain detection and cleaning component, it achieves automatic detection and cleaning of stains on the surface of the joint actuator. Specifically, the positioning component ensures the stable fixation of the joint actuator, facilitating subsequent operations; the liquid storage tank provides cleaning fluid, supporting continuous cleaning operations; the stain detection and cleaning component uses a robotic arm to drive the detection and cleaning execution parts on the mounting base, flexibly covering the surface of the joint actuator, accurately identifying the location of stains, and cleaning them specifically. This utility model's joint actuator stain detection and cleaning device effectively replaces traditional manual cleaning methods, significantly improving cleaning efficiency and consistency, reducing labor intensity, and avoiding resource waste caused by indiscriminate cleaning. It is suitable for industrial batch processing and enhances the automation level of the joint actuator production process. Attached Figure Description

[0017] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration: Figure 1 This is a schematic diagram of the structure of an embodiment of the joint actuator stain detection and cleaning equipment of this utility model; Figure 2 A schematic diagram of a joint actuator stain detection and cleaning device; Figure 3 This is a cross-sectional view of the positioning component.

[0018] Explanation of reference numerals in the attached figures: 10-Frame; 11-Control cabinet; 12-Workbench; 13-Positioning assembly; 131-Lower positioning base; 132-Upper positioning base; 133-Positioning platform; 134-Positioning groove; 135-Positioning column; 136-Positioning screw; 14-Liquid storage tank; 15-Robotic arm; 16-Mounting base; 17-Stain detection execution assembly; 171-Camera mounting plate; 172-Camera; 173-Camera lens; 18-Stain cleaning execution assembly; 181-Injection pump; 182-Injection needle; 19-Sponge mounting plate; 191-Through hole; 192-Sponge. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0020] like Figure 1 As shown, the joint actuator stain detection and cleaning equipment of this embodiment includes a frame 10, and a control cabinet 11 is disposed inside the frame 10. The joint actuator stain detection and cleaning device is installed on the frame 10.

[0021] like Figure 2 As shown, the joint actuator stain detection and cleaning device of this embodiment includes a workbench 12, on which a positioning component 13, a liquid storage tank 14, and a stain detection and cleaning component are installed. Specifically, the positioning component is used to position and install the joint actuator to be cleaned; the liquid storage tank is used to store cleaning fluid for cleaning stains on the surface of the joint actuator; and the stain detection and cleaning component is used to detect the location of stains on the surface of the joint actuator and perform cleaning operations on the surface stains at each location.

[0022] Specifically, regarding positioning component 13, it is used to position the joint actuator to be cleaned. For example... Figure 3 As shown, in this embodiment, the positioning assembly 13 includes a positioning base 131 fixedly mounted on the worktable 12 by bolts, and a positioning upper seat 132 detachably mounted on the positioning base 131. The positioning upper seat 132 is provided with a positioning platform 133 for positioning and mounting the joint actuator. To achieve precise and rapid positioning of the positioning upper seat 132, a positioning groove 134 is machined on the top surface of the positioning base 131. Correspondingly, a positioning post 135 that mates with the positioning groove 134 is provided on the bottom of the positioning upper seat 132. Furthermore, a positioning screw 136 is screwed onto the positioning base 131. This positioning screw 136 can simultaneously lock and fix the positioning upper seat 132 in both the axial and radial directions, ensuring its stability and preventing shaking during operation. Thus, by replacing the corresponding positioning upper seat 132, the positioning and installation of joint actuators of different sizes during stain detection and cleaning operations can be accommodated.

[0023] The stain detection and cleaning assembly is used to detect the location of stains on the surface of the joint actuator and to clean the detected stains. In this embodiment, the stain detection and cleaning assembly includes a robotic arm 15, which has high flexibility and high precision. A mounting base 16 is fixedly installed on the end flange of the robotic arm 15. Both the stain detection execution assembly 17 and the stain cleaning execution assembly 18 are mounted on the mounting base 16. In this embodiment, the robotic arm 15 is a six-axis robotic arm, which has the advantage of high freedom of movement and can meet the technical objective of detecting and cleaning stains at different locations on the joint actuator.

[0024] The stain detection execution component 17 is used to detect stains on the surface of the joint actuator. Specifically, the stain detection execution component 17 in this embodiment includes a camera mounting plate 171 fixed on the mounting base 16, on which a camera 172 is mounted. The camera 172 is equipped with a camera lens 173.

[0025] To protect the delicate camera lens 173 from cleaning fluid splashes during the cleaning process, this embodiment also includes a cleaning fluid wiping assembly on the mounting base 16. Specifically, in this embodiment, the cleaning fluid wiping assembly includes a sponge mounting plate 19 located on the mounting base 16 below the camera mounting plate 171. The sponge mounting plate 19 has a through hole 191 corresponding to the camera lens 173, and a ring-shaped sponge 192 is mounted around the through hole 191, coaxially arranged with the through hole 191. The camera lens 173 passes through the through hole 191 from top to bottom, and its lower end face is positioned higher than the bottom surface of the sponge 192, thus achieving both an unobstructed field of view and effective protection from the sponge.

[0026] The stain cleaning execution assembly 18 is used to clean detected surface stains. Specifically, the stain cleaning execution assembly 18 includes a liquid injection pump 181 fixedly mounted on the mounting base 16. A slender injection needle 182 is installed at the outlet of the liquid injection pump 181 for precise spraying of cleaning fluid. The liquid injection pump 181 is connected to the liquid storage tank 14 through an injection pipe (not shown in the figure), forming a complete cleaning fluid supply circuit.

[0027] The working process of this utility model is as follows: First, the joint actuator to be cleaned is installed on the positioning stage 133. Then, the control cabinet 11 controls the movement of the robotic arm 15, driving the stain detection actuator 17 to capture images from multiple angles around the joint actuator. The camera 172 transmits the captured images to the control cabinet 11 in real time for analysis to identify the precise location of the stain. Once a stain is detected, the control cabinet 11 drives the robotic arm 15 to move, positioning the injection needle 182 above the stain and activating the injection pump 181 to precisely spray the cleaning fluid from the storage tank 14 onto the stain. During this process, the ring-shaped sponge 192 absorbs any splashed liquid, ensuring the cleanliness and safety of the camera lens 173. Finally, the control cabinet 11 drives the robotic arm 15 to move, using the sponge to absorb and wipe the cleaning fluid from the surface of the joint actuator, completing the stain detection and cleaning operation of the actuator. This achieves full automation from detection to cleaning, resulting in high efficiency and excellent cleaning effect.

[0028] The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model. The protection scope of the present utility model is defined by the claims.

Claims

1. A device for detecting and cleaning stains on a joint actuator, characterized in that: Includes a workbench, on which are mounted: Positioning components are used to position and install the joint actuators to be cleaned; The reservoir is used to store cleaning fluid for cleaning stains on the surface of the joint actuator; The stain detection and cleaning assembly is used to detect the location of stains on the surface of the joint actuator and to clean the stains at each location. The stain detection and cleaning assembly includes a robotic arm with a mounting base at its end. The mounting base is equipped with a stain detection execution component for detecting stains on the surface of the joint actuator and a stain cleaning execution component for cleaning the surface stains.

2. The joint actuator stain detection and cleaning device according to claim 1, characterized in that: The positioning assembly includes a positioning base fixedly mounted on the workbench and a positioning upper seat detachably mounted on the positioning base, wherein the positioning upper seat is provided with a positioning platform for positioning and mounting the joint actuator.

3. The joint actuator stain detection and cleaning device according to claim 2, characterized in that: The top surface of the positioning base is provided with a positioning groove, the bottom of the positioning upper seat is provided with a positioning post that cooperates with the positioning groove, and the positioning base is provided with positioning screws for positioning the positioning upper seat in the axial and radial directions.

4. The joint actuator stain detection and cleaning device according to claim 1, characterized in that: The stain detection execution component includes a camera mounting plate disposed on the mounting base, and a camera is mounted on the camera mounting plate.

5. The joint actuator stain detection and cleaning device according to claim 4, characterized in that: The mounting base is also provided with a cleaning fluid wiping assembly for wiping the cleaning fluid; the cleaning fluid wiping assembly includes a sponge mounting plate disposed on the mounting base below the camera mounting plate, the sponge mounting plate having a through hole corresponding to the camera, and a sponge for absorbing cleaning fluid being installed around the through hole on the sponge mounting plate.

6. The joint actuator stain detection and cleaning device according to claim 5, characterized in that: The sponge is ring-shaped and coaxially arranged with the through hole.

7. The joint actuator stain detection and cleaning device according to claim 5, characterized in that: The camera is equipped with a camera lens that passes through the through hole from top to bottom, and the lower end of the camera lens is higher than the bottom surface of the sponge.

8. The joint actuator stain detection and cleaning device according to claim 1, characterized in that: The stain cleaning execution component includes a liquid injection pump fixedly installed on the mounting base, a liquid injection needle installed on the liquid injection pump outlet, and the liquid injection pump connected to the liquid storage tank through a liquid injection pipe.

9. The joint actuator stain detection and cleaning device according to claim 1, characterized in that: The robotic arm is a six-axis robotic arm.

10. A device for detecting and cleaning stains on a joint actuator, characterized in that: The device includes a frame on which the joint actuator stain detection and cleaning device as described in any one of claims 1-9 is mounted, and the frame contains a control cabinet for controlling the movement of the robotic arm, the stain detection execution component and the stain cleaning execution component to perform stain detection and cleaning operations.

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