Cleaning system for the treatment of workpieces

Abstract

Cleaning system (1) for treating workpieces (3) in a treatment chamber (2), which is equipped with a handling device (5) arranged outside the treatment chamber, which has a controllable gripper arm (6) with a movable gripper tool (7) for a workpiece (3), and is set up to perform operational actions in the treatment chamber (2), wherein the treatment chamber (2) has an access opening (8) for the gripper arm (6), with which movements can be carried out in a working area in the treatment chamber (2), by means of which the gripper tool (7) is moved in different positions to a treatment fitting (4), characterized in that a further access opening (10) with a closing device (11) and a feed of the workpiece by means of a workpiece holder (12) are provided in the treatment chamber (2),that the workpiece holder (12) is guided from a loading position (13) outside the treatment chamber to a parking space (14) inside the treatment chamber (2), that the parking space (14) is provided within the access area of ​​the gripping tool (7), and that the working area of ​​the gripping arm (6) in the treatment chamber (2) extends from the access area via the effective area (15) of the treatment fitting (4) to a storage position (16) for the workpiece (3) in the treatment chamber (2).

Description

Cleaning system for the treatment of workpieces in a treatment chamber, which is equipped with a handling device arranged outside the treatment chamber, which handling device has a controllable gripping arm with a movable gripping tool for a workpiece, and is designed for carrying out operative actions in the treatment chamber, wherein the treatment chamber has an access opening for the gripping arm, with which openings movements can be carried out in the treatment chamber in a work region, through which the gripping tool is moved in various positions to a treatment fitting,DE 42 44 693 discloses a cleaning system which is designed for cleaning, rinsing and drying workpieces. Processing chambers are provided for each method of processing. The treatment chambers have an inlet opening and an outlet opening which can be sealingly closed. A plurality of treatment chambers are arranged in a row one behind the other, wherein the outlet opening of one treatment chamber is opposite the inlet opening of the next one. Between the inlet opening and the outlet opening of two adjacent treatment chambers, a closure device is attached. Sliding doors and slides are provided for moving the treatment chambers, wherein the slides can be pushed in and pulled out between the treatment chambers in an opening gap between the outlet opening and the inlet opening of two adjacent treatment chambers.It is advantageous in these embodiments that the downtime is reduced and the throughput is increased. One problem is to position the workpieces in the treatment chambers such that the sliders can be closed.For this purpose, a complicated maneuvering apparatus is required on each treatment chamber. In addition, for the sealing of the treatment chambers by the slides, in one case a movable mounting of the treatment chambers and in the other case a complicated design of the slides with two closure plates is required. The washing installation is not designed to guide workpieces along a treatment fitting, such as a washing or spray nozzle, during the treatment in the treatment chambers.DE 195 05 893 C2 describes an insertion device for containers into a washing installation, which device has two treatment chambers arranged one behind the other, which treatment chambers can be closed by means of baffles. In particular, a linear drive with a reciprocally movable insertion arm is provided in front of the first treatment chamber, which can be slid through the first treatment chamber into the rear treatment chamber and has a plunger at its free end, which positions a container with workpieces and has a driver for a further container at a distance from the plunger. When the pusher is in the rear treatment chamber, the pusher is in the front treatment chamber. The insertion arm can be raised and lowered so that in one case there is no obstruction to the insertion path and in the other case the plunger and the driver project into the insertion path and can insert containers. In this way, two containers can be transported and positioned simultaneously. Like the one described above, the washing installation is not designed to guide the containers along a treatment fitting, such as a washing or spray nozzle, during the treatment in the treatment chambers.DE 195 09 645 B4 discloses a washing installation for cleaning workpieces having a plurality of treatment chambers which have stationary treatment fixtures in each treatment chamber. The treatment chambers are arranged in an open arc and a transport path runs in an arc through the treatment chambers. On the transport path, a loading and unloading zone is provided between the first and the last treatment chamber in the transport direction. In this washing installation, the workpieces are guided along the treatment fixtures onto a rotary table. There is no possibility of sealing the treatment chambers towards the outside and against each other, which causes losses of treatment medium and results in entrainment of treatment medium from one treatment chamber into another. Furthermore, it is not provided that chips or burr can be removed from bores or depressions.DE 10 2011 112 692 A1 discloses an industrial cleaning system having a plurality of cleaning chambers and a movable, rotatable or pivotable transport device for loading and unloading, wherein the transport device has a lifting arm, with which a transport stroke of items to be cleaned into a cleaning chamber is carried out by means of a gripping tool through an access opening of the cleaning chambers, which access opening can be closed by a cover, wherein the lifting arm and cover form a structural unit. The cover is movably guided in an aperture along the shank of the lifting arm, and a connection is established between cover and lifting arm via a pendulum bearing which has an axial guide for receiving the lifting arm. The cover is designed as a sliding cover on the cleaning chamber and follows the movement of the lifting arm, so that in each position of the lifting arm, the sliding cover covers the opening of the treatment chamber.The control of the manipulator arm is carried out with an industrial robot, which is capable, through complex programming, of carrying out an autonomous flexible workflow, so that washware in the cleaning chamber can be treated optimally.Because the slide cover and the lifting arm form a structural unit, the slide cover is carried along during the treatment, but also during the transport of the items to be cleaned outside the treatment chamber. There is a movable connection to the lifting arm which serves the purpose of using only one cover for several treatment chambers. The single slide cover is only then brought into the working position with that treatment chamber in which a treatment of the object is carried out. All other treatment chambers are necessarily open. Although this does save the installation of covers in the case of a plurality of treatment chambers, the non-activated treatment chambers without covers expose them to the ambient atmosphere, which can lead to contamination. In addition, the sliding cover, which is held as a trailer on the lifting arm, prevents the lifting arm from being handled.The object of the invention is to improve the function of the cleaning system, in particular to form the treatment chamber in a simple manner for transferring a workpiece from outside the treatment chamber into the treatment chamber and to set up the function of the gripping arm in such a way that the gripping tool acquires access to the workpiece in the treatment chamber. The object is achieved according to the invention by the measures listed in claim 1. Further developments of the invention are described in the dependent claims.Treatment chambers of cleaning installations are advantageously equipped with a gripping arm of an industrial robot, the boom of which is movably connected to a gripping arm by a joint. The treatment chamber is designed as a sealed cell, in the interior of which treatment fixtures are installed, with which treatment medium can be selectively dispensed. The treatment fixtures are designed to spray a wash-active liquid or a rinsing liquid. A treatment fixture may be implemented with a jet pipe which discharges a jet of liquid, vapor or compressed air at high pressure and serves to penetrate depressions of the workpiece to remove chips or burr. In the above-described installation according to DE 10 2011 112 692 A1, the workpieces are either picked up from outside the treatment chamber with the gripping tool of the gripping arm and introduced into the treatment chamber, or the workpieces are conveyed with the gripping tool of the gripping arm from one treatment chamber into an adjacent one.In the known embodiment, the manipulator performs a working cycle including an operation in which the gripping tool of the gripping arm is lifted out of the treatment chamber and lowered to pick up or discharge a workpiece remote from the treatment chamber. This mode of operation is uneconomical because relatively long distances must be covered with the gripping tool, which leads to time delays in the working cycle, and also undried workpieces are transported outside the treatment chamber, which leads to environmental loads or entrainment of treatment medium. In the known embodiment, there is no possibility of causing the movements of the gripping arm with the gripping tool to proceed in the interior of the treatment chamber in order to cover a working region without leaving the treatment chamber for receiving or dispensing a workpiece. In the known embodiment, there is no possibility of receiving a workpiece with the gripping tool in the interior of the treatment chamber, bringing it into the active region of the treatment fixtures and placing it in a storage region within the treatment chamber after the treatment has ended.In the invention, the treatment chamber has, in addition to the access opening for the gripping arm, a further access opening with a closure device for feeding a workpiece with the aid of a workpiece receptacle, wherein the workpiece receptacle is guided from a loading location outside the treatment chamber into a parking location inside the treatment chamber, wherein the parking location is defined as the access area of the gripping tool in the treatment chamber, and the working area of the gripping arm in the treatment chamber is designed from the parking location into the working area of the treatment fitting to a parking location of the gripping tool for a workpiece in the treatment chamber. Because all movements are carried out during a working cycle with the gripping tool of the gripping arm within the treatment chamber, short paths and thus short cycle times are possible. An industrial robot is advantageously used, the gripping arm of which can be programmed about a plurality of axes and the gripping tool of which is still movable independently of the gripping arm. This allows movements of the gripping arm and positions of the gripping tool that can use any area in the treatment chamber. Thus, for example, in a rectangular or square treatment chamber, park and parking zones of the workpiece receptacles can be set up in opposite corner regions and the treatment fixtures can be arranged between the park and parking zones. This results in a working area of the gripping arm from the parking space of the inserted workpiece to the working area of the treatment fixture to a parking space of the treated workpiece.A transport track, such as a roller track, can advantageously serve as the workpiece receptacle, which runs as far as into the treatment chamber and on which the workpieces are pushed by a linear drive, such as a hydraulic or pneumatic cylinder, for example by means of a push rod into the treatment chamber, from a loading location to the parking space and by means of another push rod out from the unloading location to an unloading location outside the treatment chamber. A sliding door or cover can be used as the closure device.Alternatively, arms protruding from the closure device, such as a sliding door or cover, can be used as a workpiece receptacle. A structural unit of the closure device and the workpiece holder is provided, which is displaceable along a guide and movable from the closed position to the open position. In the open position, a workpiece can be inserted into the workpiece receptacle, for example with the aid of a further handling device. By approaching the closure device, the workpiece receptacle reaches the parking space of the treatment chamber.According to the invention, an outlet opening is present in the wall of the treatment chamber, through which an additional transport path such as a roller path leads into the treatment chamber and on which the treated workpieces are pushed by a linear drive such as a hydraulic or pneumatic cylinder, for example with a push rod out of the storage location as far as the unloading location.As an alternative to the roller track, arms protruding from the sliding door or the cover can also be provided here as a holder for the workpiece holder, as already described above. A structural unit of the closure device and the workpiece holder is provided, which is displaceable along a guide and is adjustable into an open position as far as into a closed position. In the closed position, a treated workpiece can be inserted into the workpiece receptacle. By opening the closure device, the workpiece receptacle reaches the unloading location outside the treatment chamber.A further development of the invention provides that a pretreatment chamber with a feed side and a removal side for workpieces is connected to the access opening of the treatment chamber leading to the parking facility, wherein feed and removal sides are equipped with closure devices which have workpiece receptacles for a workpiece, for example by protruding arms. The workpiece receptacles can be designed to be adjustable in height or rotatable on the feed side or the removal side. When the pretreatment chamber is closed, both workpiece receptacles engage in one plane and are aligned for transferring a workpiece from one workpiece receptacle into the other. By adjusting the height of a workpiece holder, for example on the removal side, the transfer of the workpiece takes place. The pretreatment chamber can be connected to an outer side of the treatment chamber, or it protrudes with the removal side into the treatment chamber, wherein the closure device of the removal side is displaceable into the treatment chamber. By opening the closure device on the removal side, the workpiece receptacle with the workpiece is transported into the parking space of the treatment chamber. According to an advantageous further development, this embodiment can lead to an implantation of the pretreatment chamber into the treatment chamber in that the pretreatment chamber is completely or almost completely integrated into the treatment chamber, so that the pretreatment chamber is contained in the treatment chamber, and both chambers can be closed off from one another and treatments can be carried out, wherein the opening of the pretreatment chamber takes place in order to enable access by the gripping tool in order to transfer a workpiece from the pretreatment chamber into the treatment chamber. This configuration achieves a compact arrangement.The closure device on the feed side is likewise mounted such that it can be slid in guides, so that the workpiece receptacle, in the open position, protrudes into the loading position for workpieces. The closure devices can be actuated by linear drives.The pretreatment chamber serves to clean a workpiece, for example, with a wash-active substance, and to rinse it before it reaches the treatment chamber. The methods used for this purpose are known per se. The treatment methods which proceed in the treatment chamber are also known per se. For example, it can be a high-pressure cleaning with liquid, steam or air, in order to blow out machining residues or stubborn soiling or chips from bores or depressions in particular.According to a further development of the invention, the outlet opening is equipped with a closure device which has a workpiece receptacle which serves for the removal from the storage location through the outlet opening into the unloading location outside the treatment chamber.According to a further development of the invention, an after-treatment chamber with a loading side and a unloading side is connected to the outlet opening. The discharge side leads to the discharge location. The loading and unloading sides are equipped with closure devices which have workpiece receptacles for a workpiece in the manner of protruding arms, of which the workpiece receptacle on the loading or unloading side is designed to be adjustable in height and, when the aftertreatment chamber is closed, is arranged in an intermeshing position and is designed for transferring a workpiece from one workpiece receptacle into the other. By adjusting the height of the workpiece receptacle, for example on the loading side by lowering the workpiece receptacle, the transfer of the workpiece into the workpiece receptacle of the unloading side takes place. By opening the closure device on the unloading side, the workpiece receptacle with the workpiece is transported into the unloading location outside the treatment chamber. In this embodiment, a further variant can be carried out, analogously to the pretreatment chamber, in that the aftertreatment chamber is integrated completely or almost completely into the treatment chamber, so that the pretreatment chamber and the aftertreatment chamber are contained in the treatment chamber, wherein the aftertreatment chamber is opened in order to dispense a workpiece.The post-treatment chamber can protrude with the loading side into the treatment chamber, wherein the closure device of the loading side is displaceable into the treatment chamber, so that its workpiece receptacle protrudes into the access region of the gripping tool or the storage space. The design of the post-treatment chamber corresponds largely to the design of the pre-treatment chamber. The post-treatment chamber can be configured for vacuum drying or warm air drying. As with the pretreatment chamber, the aftertreatment chamber may also be completely integrated into the treatment chamber.Within reach of the pretreatment chamber and the aftertreatment chamber, a handling device is provided, which has a gripping arm with gripping tool for a workpiece, which gripping arm can be controlled in various directions. This allows automatic operation of the loading location and unloading location of the workpieces.In order to cover the access opening for the gripping arm in the treatment chamber, i.e. to seal it against the emerging spray water, the gripping arm is equipped with a slide cover. The sliding cover is guided with play with a central aperture on the shaft of the gripping arm and is coupled to be carried along. The slide cover rests on a flat slide table of the treatment chamber and follows the movement of the gripping arm, the gripping arm being covered over its access opening in each position. The sliding cover is advantageously round.Depending on the size or the longitudinal extent of the working region of the gripping arm, for covering the access opening, the dimensions of the sliding cover can assume such a large extent that the function is impractical and a relatively large sliding table is required. In this case, it is advantageous to provide an intermediate cover at the access opening of the treatment chamber between the slide cover and the slide table, which intermediate cover has an aperture for the gripping arm which is larger than the aperture in the slide cover and is coupled at the edge of the aperture for entrainment by the gripping arm. As a result, the sliding cover can be moved independently of the intermediate cover in the region of the opening in the intermediate cover. If the gripping arm abuts the edge of the opening in the intermediate cover, the intermediate cover and the sliding cover are displaced together. The intermediate cover is advantageously rectangular and is guided on opposite edges on the slide table, so that a displacement takes place in the longitudinal direction of the treatment chamber.In order to cover the play between the slide cover and the gripping arm, a sealing ring is provided which is loosely guided on the gripping arm and suspended on straps or ropes on the gripping arm. The suspension is deflected for a longer time than the vertical stroke of the gripping arm, so that the straps or ropes hang flaccidly. When the gripping arm is removed from the treatment chamber for maintenance or re-adjustment, the sealing ring hangs up on the belts or ropes. In the clearance between the gripping arm and the aperture, rollers are mounted on the slide cover, which reduce the friction during the movement.An exemplary embodiment of the invention is described in more detail below with reference to the drawings.The following are shown: FIG. 1 is a top view of the cleaning system with a treatment chamber, FIG. 2 is a top view of the cleaning system with three treatment chambers, FIG. 3 is an inner view of the treatment chamber with the gripping tool in the park position of the workpiece holder, FIG. 4 is the inner view according to FIG. 3 with the gripping tool in the active region of the treatment fitting, FIG. 4A is an inner view of the pretreatment chamber, FIG. 5 is an inner view according to FIG. 4 with the gripping tool in the park position of the workpiece receptacle in the delivery area of the workpiece, FIG. 5A is an internal view of the aftertreatment chamber, FIG. 6 is a top view of the slide table of the treatment chamber with the intermediate cover in the end position, FIG. 7 is a top view according to FIG. 6 in the opposite end position of the intermediate cover, FIG. 8 is a diagrammatic view of the cleaning system with a slide cover and intermediate cover at the end of the sliding path, FIG. 9 is the view according to FIG. 8, at the opposite end of the sliding path.The cleaning system 1 is an embodiment which has a closable rectangular treatment chamber 2 for treating a workpiece 3. Treatment fixtures 4 protrude into the treatment chamber 2, with which the workpiece is washed, rinsed or blasted. In this case, liquid, vapor or compressed air is jetted onto the workpiece under high pressure to blow burr, chip or sticking debris out of holes or recesses. The cleaning plant 1 shows only those plant parts and components which are important for understanding the invention. All plant parts and components not shown can have a construction known per se.A handling device 5, for example an industrial robot, is assigned to the cleaning system 1, which is equipped with a gripping arm 6 that can be controlled in various directions. At the free end of the gripping arm 6 there is a gripping tool 7 which is fastened to the gripping arm 6 in a movable, i.e. rotatable and pivotable manner independently of the gripping arm 6. The workpiece can be gripped, firmly rotated or pivoted and discharged with the gripping tool 7. The handling device 5 is located away from the treatment chamber 2 at a distance which allows the gripping arm 6 to grip through an access opening 8 at the top side of the treatment chamber 2 and to be able to execute pivoting and swinging movements from one corner to another in the treatment chamber 2. The movement of the gripping tool 7 is adjusted to grasp the workpiece in a predetermined position, the geometry of the workpiece 3 being taken into account.FIG. 1 shows a treatment chamber 2 in plan view. In the right corner area in the treatment chamber 2, a further access opening 10 with a closure device 11 and a feeding of the workpiece 3 with the aid of a workpiece holder 12 is provided in the side wall 9 opposite the handling device 5. The workpiece holder 12 is guided from a loading station 13 outside the treatment chamber 2 to a parking station 14 inside the treatment chamber 2, and the parking station 14 is provided in the access region of the gripping tool 7. The working area of the gripping arm 6 in the treatment chamber 2 is designed from the access area via the working area 15 of the treatment fixture 4 to a parking place 16 for the workpiece 3 in the treatment chamber 2, which is arranged opposite the parking place 14, as FIG. 1 shows. In the left corner region of the treatment chamber 2 (FIG. 1 ), an outlet opening 17 with a closure device 18 for transporting the workpiece 3 from the depositing location 16 to the unloading location 20 on the workpiece receptacle 19 is configured in the side wall 9. According to FIG. 1, a roller conveyor serves as the workpiece holder 12, 19. The course of a working cycle in the treatment chamber 2 takes place with the picking up of a workpiece 3 with the gripping tool 7 from the parking space 14 and the transfer into the active region 15 of the treatment fixtures 4, where the gripping tool carries out back and forth movements and up and down movements along the treatment fixtures 4. The workpiece 3 is then deposited on the storage place 16 by pivoting the gripping arm 6, and according to FIG. 1, the workpiece 3 is transported from the loading place 13 to the parking place 14 by means of a linear drive 21 which pushes the workpiece 3 into the treatment chamber 2 by means of a push rod. The linear drive 22 is used to expel the workpiece 3 from the storage location 16 in the treatment chamber 2 to the unloading location 20 outside the treatment chamber 2.A variant of the cleaning system 1 is shown in FIGS. 2 to 5 and 8, 9. A pretreatment chamber 23 having a feed side 24 and a removal side 25 for workpieces 3 is connected to the access opening 10 of the treatment chamber 2, wherein feed and removal sides 24, 25 are equipped with closure devices 26 which have workpiece receptacles 12 for a workpiece 3. The workpiece holder 12 of the removal side 25 is designed to be adjustable in height or rotatable (FIG. 4A ) and, when the pretreatment chamber 2 is closed, is arranged in an interlocked position with the workpiece holder 12 of the feed side 24 and is designed for transferring a workpiece 3 from the workpiece holder 12 of the feed side 24 into the workpiece holder 12 of the removal side 25. The pretreatment chamber 23 protrudes with the removal side 25 into the treatment chamber 3, wherein the closure device 26 for the removal side 25 is displaceable into the treatment chamber 2, so that its workpiece receptacle 12 protrudes into the parking space 14 of the treatment chamber 2 for the gripping tool 7. When the pretreatment chamber 23 is open on the supply side 24, the closure device 26 is located remote from the supply side 24 and its workpiece receptacle 12 in the loading station 13.In analogy to the pretreatment chamber 23, an aftertreatment chamber 27 having a loading side 28 and an unloading side 29 is connected to the outlet opening 17. The loading and unloading sides 28, 29 are equipped with closure devices 26 which have workpiece receptacles 12 for a workpiece 3. As FIG. 5A shows, the workpiece receptacle 12 of the loading side 28 is designed to be adjustable in height and, when the aftertreatment chamber 27 is closed, is arranged in a position in which it engages with the workpiece receptacle 12 of the unloading side 29 and is designed for transferring a workpiece 3 from the workpiece receptacle 12 of the loading side 28 into the workpiece receptacle 12 of the unloading side 29. The post-treatment chamber 27 protrudes with the loading side 28 into the treatment chamber 2, wherein the closure device 26 of the loading side 28 is displaceable into the treatment chamber 2 and the workpiece receptacle 12 thereof protrudes into the access region of the gripping tool 7 into the parking space 16. When the post-treatment chamber 27 is open on the unloading side 29, the closing device 26 is located remote from the unloading side 29 and protrudes with its workpiece receptacle 12 into the unloading location 20, from where a workpiece 3 is transported by a manipulator 33 to the pickup location 30. FIGS. 3, 4, 5 show the working range of the gripping arm 6 with the gripping tool 7 with the reception of the workpiece 3 (FIG. 3 ) from the parking space 14 to the working range 15 of the treatment fixtures 4 (FIG. 4 ). There, the treatment of the workpiece takes place with back and forth movements and up and down movements of the gripping arm 6 and of the gripping tool 7 along a liquid jet, steam jet or compressed air jet, with which chips or other machining residues are removed from bores or depressions in the workpiece 3. From the active region of the treatment fixtures 4, the gripping arm 6 pivots to the storage location 16, where the gripping tool 7 stores the workpiece 3 into the workpiece receptacle 12, as shown in FIG. 5. FIGS. 8 and 9 show a schematic view of the cleaning system 1, which shows the pivot range of the gripper arm 6 with slide cover 35 and intermediate cover 37 on the slide table 37. The pretreatment chamber 23 and the aftertreatment chamber 27 are designed as cylinders. According to FIG. 8, an end position of the gripping arm 6 is shown in which the slide cover 35 and intermediate cover 37 are slid to the left side of the slide table 37. From this position, the sliding cover 35 can be moved independently of the intermediate cover 38 in accordance with the size of the opening 39 (FIG. 7 ). If the gripping arm 6 abuts the opposite edge 40, the intermediate cover 38 is taken along until it reaches the end position shown in FIG. 9. In this end position, the sliding cover 35 again moves in accordance with the size of the opening 39 independently of the intermediate cover 38, as FIG. 6 shows. FIGS. 8 and 9 show the sliding path 45 of the intermediate cover 38 on the sliding table 37.The closure devices 26 are designed as covers which can be slid in guides 31 and which can be slid with a linear drive 32. The workpiece receptacles 12 on the closure devices 26 are designed as protruding arms. The actuations of the closure devices 26 are matched to the working rhythm of the cleaning system 1. Closure devices 26 of the pretreatment chamber 23 or the aftertreatment chamber 27 can be actuated simultaneously or independently of one another. As is best shown in FIGS. 3 to 5, the pretreatment chamber 23 and the aftertreatment chamber 27 are connected externally to the access opening 10 and the access opening 17, respectively, with the removal side 25 and the loading side 28. The closure devices 26 open into the treatment chamber 2. An advantageous variant, for example according to FIGS. 3, 4, 5, provides that the pretreatment chamber 23 and the aftertreatment chamber 27 are completely integrated into the treatment chamber 2, so that the pretreatment chamber 23 ends with the removal side 24 flush or nearly flush with the access opening 10 and the aftertreatment chamber 27 ends with the unloading side 29 flush or nearly flush with the outlet opening 17 of the side wall 9. By implanting the pretreatment chamber 23 and the aftertreatment chamber 27 into the treatment chamber 2, the workpiece treatment is concentrated in a narrow space, which leads to a further shortening of the cycle times.Within reach of the pretreatment chamber 23 and the aftertreatment chamber 27, the handling device 33 is arranged outside the treatment chamber 2, which has a gripping arm 34 with gripping tool 7 for a workpiece 3 that can be controlled in various directions.Up to now, it has not been referred to that the access opening 8 for the gripping arm 6 must be covered so that treatment liquid cannot escape from the treatment chamber 2. Accordingly, a sliding cover 35 is provided for the access opening 8 of the gripping arm 6, which sliding cover has a central opening 36 for the gripping arm 6, in which opening the sliding cover 35 is guided with play and coupled to be carried along. It is advantageous if an intermediate cover 38 is provided at the access opening 8 of the treatment chamber 2 between the slide cover 35 and a slide table 37 of the treatment chamber 2, which intermediate cover has an aperture 39 for the gripping arm, which aperture is larger than the aperture 36 in the slide cover 35 and is displaceable on the edge 40 of the aperture 39 for entrainment by the gripping arm 6. The gripping arm 6 moves within the opening 39 independently of the intermediate cover 38. It can also be seen that in the clearance 41 between the gripping arm 6 and the aperture 36 a plurality of rollers 42 are mounted on the slide cover 35 against which the gripping arm 6 abuts during movement and reduces friction. FIGS. 8 and 9 show that the clearance 41 between the gripping arm 61 and the aperture 36 is covered by a sealing ring 43 which is guided loosely on the gripping arm 6 and suspended on belts or ropes 44 on the gripping arm 6, so that the sealing ring 43 is lifted with the gripping arm 6 for maintenance or repair work.REFERENCE SIGNLSTE:1 Cleaning system 2 Treatment chamber 3 Workpiece 4 Treatment fittings 5 Handling device 6 Gripping arm 7 Gripping tool 8 Access opening in 2 9 Side wall in 2 10 Access opening in 9 11 Closure device 12 Workpiece receptacle 13 Loading station 14 Parking space 15 Effective area of 4 16 Parking station for 3 17 Output opening in 9 18 Closure device for 17 19 Workpiece receptacle 20 Unloading station 21 Linear drive 22 Linear drive 23 Pretreatment chamber 24 Supply side 25 Removal side 26 Closure device 27 Aftertreatment chamber 28 Loading side 29 Unloading side 30 Collection station of 20 31 Guides 32 Linear drive on 26 33 Handling device 34 Gripping arm of 33 35 Sliding cover 36 Central aperture 37 Sliding table of 2 38 Intermediate cover 39 Aperture in 38 40 Edge of 39 41 Play 42 Rollers in 41 43 Sealing ring 44 Belts or ropes on 6 45 Sliding path of 38 46 Sliding path of 35

Claims

Cleaning system (1) for the treatment of workpieces (3) in a treatment chamber (2), which is equipped with a handling device (5) arranged outside the treatment chamber, which has a controllable gripping arm (6) with a movable gripping tool (7) for a workpiece (3), and is set up for carrying out operative actions in the treatment chamber (2), wherein the treatment chamber (2) has an access opening (8) for the gripping arm (6), with which movements can be carried out in a working region in the treatment chamber (2), by means of which movements the gripping tool (7) is moved in various positions to a treatment fitting (4), characterized in that a further access opening (10) with a closure device (11) and a feed of the workpiece with the aid of a workpiece receptacle (12) are provided in the treatment chamber (2), the workpiece holder (12) is guided from a loading station (13) outside the treatment chamber to a parking station (14) inside the treatment chamber (2), the parking station (14) is provided in the access area of the gripping tool (7), and the working area of the gripping arm (6) in the treatment chamber (2) is designed from the access area via the working area (15) of the treatment fixture (4) to a parking station (16) for the workpiece (3) in the treatment chamber (2).Cleaning system according to claim 1, characterised in that a pre-treatment chamber (23) with a feed side (24) and a removal side (25) for workpieces (3) is connected to the access opening (10) of the treatment chamber (2), wherein feed and removal sides (24), (25) are equipped with closure devices (26) which have mutually opposite workpiece receptacles (12) for a workpiece (3), that workpiece receptacles (12) on the feed side (24) or the removal side (25) are designed to be adjustable in height and are arranged in a position engaging one inside the other when the pre-treatment chamber (23) is closed and are designed for transferring a workpiece (3) from the feed side (24) into the removal side (25), that the removal side (25) of the pre-treatment chamber (23) leads into the treatment chamber (2), wherein the closure device (26) of the removal side (25) is designed to engage one another, The object is therefore also to be moved into the treatment chamber (2) for opening, and the workpiece holder (12) thereof, in the open position of the closure device (26), projects into the access region of the gripping tool (7) and into the parking space (14).Cleaning system according to claim 2, characterised in that the closure devices (26) have covers which are displaceable in guides (31).Cleaning system according to claim 2, characterised in that the closure devices (26) can be actuated by linear drives (32).Cleaning system according to claim 2, characterised in that protruding arms serving as workpiece receptacles (12) are attached to the closure devices (26), which protruding arms are adjustable in height on the removal side (25).Cleaning installation according to one of Claims 1 to 5, characterized in that, in the region of the storage location (16), an outlet opening (17) in the treatment chamber (2) and a further workpiece receptacle (12) are provided for transport through the outlet opening (17) to an unloading location (20) outside the treatment chamber (2).Cleaning installation according to claim 6, characterised in that an after-treatment chamber (27) with a loading side (28) and an unloading side (29) is installed in the outlet opening (17), wherein the loading and unloading sides (28), (29) are equipped with closing devices (26) which have mutually opposite workpiece receptacles (12) for a workpiece (3), in that the workpiece receptacle (12) on the loading side (28) or the unloading side (29) is designed to be adjustable in height and, when the after-treatment chamber (2) is closed, is arranged in a position engaging one inside the other with the loading side (28) and is designed for transferring a workpiece (3) from the loading side (28) into the unloading side (29), wherein the closing device (26) of the loading side (28) is designed to be adjustable into the treatment chamber (2) for opening, and its workpiece holder (12), in the open position of the closure device (26), projects into the access region of the gripping tool (7) and into the storage space (16).Cleaning installation according to one of Claims 1 to 7, characterized in that the workpiece receptacle (12) is adjustable in height on the loading side (28).Cleaning installation according to one of Claims 1 to 8, characterized in that the parking space (14) and the parking space (16) are arranged on opposite sides of the treatment chamber (2).Cleaning installation according to one of Claims 1 to 9, characterized in that the active region (15) of the treatment fixture (2) is provided between parking space (14) and parking space (16).Cleaning system according to claim 2, characterised in that the pretreatment chamber (23) is implanted in the treatment chamber (2) and is aligned with the supply side (24) flush or almost flush with the access opening (10) of the side wall (9).Cleaning system according to claim 7, characterised in that the post-treatment chamber (27) is implanted in the treatment chamber (2) and is aligned with the unloading side (29) flush or almost flush with the access opening (17) of the side wall (9).Cleaning installation according to claim 7, characterised in that in the reach of the loading station (13) of the pre-treatment chamber (23) and the unloading station (20) of the post-treatment chamber (27) a handling device (33) is provided outside the treatment chamber (2), which comprises a gripping arm (34) with gripping tool (7) for a workpiece (3) which can be controlled in different directions.Cleaning system according to one of claims 1 to 13, characterised in that a sliding cover (35) is provided on the access opening (8) of the gripping arm (6) of the treatment chamber (2), which sliding cover has a central aperture (36) in which the sliding cover (35) is guided with play (41) and is coupled to be carried along.Cleaning system according to claim 14, characterised in that an intermediate cover (38) arranged between the slide cover (35) and a slide table (37) is provided on the access opening (8) of the treatment chamber (2), which intermediate cover has an aperture (39) for the gripping arm (6) which is larger than the aperture (36) in the slide cover (35) and is coupled at the edge (40) of the aperture (39) for entrainment by the gripping arm (6).Cleaning system according to claim 15, characterised in that the intermediate cover (38) is held in a guide of the sliding table (37).Cleaning system according to claim 15 or 16, characterised in that the length of the intermediate cover (38) is adapted to the length of the access opening (8) and designed to overlap with it.Cleaning system according to claim 15, characterised in that the sliding cover (35) is designed to cover the aperture (39) in the intermediate cover (38).Cleaning installation according to claim 14, characterised in that a sealing ring (43) covering the clearance (41) between the gripping arm (6) and the aperture (36) is provided, which is guided loosely on the gripping arm (6) and suspended on belts or cables (44) on the gripping arm (6).Cleaning system according to one of Claims 14 to 19, characterized in that rollers (42) are fitted on the sliding cover (35) between the gripping arm (6) and the aperture (36) in the clearance (41).

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