Cleaning systems, cleaning devices

Abstract

By using an industrial robot to grip the workpiece and performing cleaning and drying while transporting the workpiece, the efficiency of the cleaning and drying process is improved. [Solution] A cleaning system for cleaning a workpiece, comprising a second cleaning station 10 consisting of a second cleaning device, a first cleaning station equipped with a second cleaning device for rough cleaning the workpiece, and a drying station equipped with a drying device for drying the workpiece, wherein the second cleaning station and the drying station are arranged within the range of motion of a robot arm, the second cleaning device comprises a robot arm for gripping and moving the workpiece, a cleaning station section equipped with a plurality of cleaning nozzles for cleaning the workpiece, and a dewatering station section for dewatering the workpiece, the robot arm gripping the workpiece and performing cleaning and dewatering processes on the workpiece while transporting it through the cleaning station section and the dewatering station section.

Description

Technical Field

[0001] The present invention relates to a cleaning system and a cleaning device including an industrial robot having a robotic arm.

Background Art

[0002] In a work cleaning device in which a work is detachably fixed on a table placed in a booth, and an injection nozzle capable of selectively injecting a cleaning liquid and pressurized air is attached to an articulated robot fixed in the booth and the injection nozzle is three-dimensionally redirected, a plurality of injection nozzles suitable for the shape of each part to be cleaned of the work are attached to the articulated robot, and a work cleaning device that automatically selects the injection nozzle according to the shape of each part to be cleaned and performs cleaning is known (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art of Patent Document 1, an injection nozzle capable of selectively injecting a cleaning liquid and pressurized air is provided on an articulated robot, but due to weight limitations of the robot, many injection nozzles cannot be mounted on the robot. Also, if the number of injection nozzles is small, it takes time to clean and dry the entire work, resulting in poor work efficiency.

[0005] The present invention provides a cleaning system and a cleaning device that improve the work efficiency of cleaning and drying by gripping a work with a robotic arm and performing cleaning and drying while transporting the work.

Means for Solving the Problems

[0006] A cleaning system according to one aspect of the present invention is a cleaning system for cleaning a workpiece, comprising: a first cleaning station equipped with a first cleaning device for rough cleaning the workpiece; a second cleaning station equipped with a second cleaning device having a robot arm; and a drying station equipped with a drying device for drying the workpiece, wherein the second cleaning station and the drying station are arranged within the range of motion of the robot arm, and the second cleaning device comprises: the robot arm for gripping and moving the workpiece; a cleaning station section equipped with a plurality of cleaning nozzles for cleaning the workpiece; and a draining station section for draining the workpiece, wherein the robot arm has a gripping section at its tip for gripping the workpiece, and while gripping the workpiece with the gripping section, the cleaning process and draining process are performed on the workpiece while transporting it through the cleaning station section and the draining station section.

[0007] In this configuration, each station is equipped with cleaning and drying functions, and the workpieces are transported by industrial robots with robotic arms. This allows for increased cleaning and drying capabilities at each station, rather than on the robotic arm side, by increasing the number of spray nozzles, thus enabling efficient cleaning and drying of workpieces. Furthermore, since the robotic arm grips the workpiece and transports it while gripping it, the entire line from cleaning to final drying can be integrated into a single unit, resulting in a more compact overall system.

[0008] This cleaning system is characterized in that the draining station section of the second cleaning device is an air blow station section that drains water from the workpiece using multiple air blowers.

[0009] According to this method, the robot arm can efficiently drain water from the workpiece while gripping it.

[0010] This cleaning system is characterized in that the second cleaning device has the robot arm, the cleaning station section, and the draining station section arranged in the same workroom.

[0011] In this way, the effects of the series of cleaning solution draining processes are isolated within the workroom, minimizing any impact on the outside.

[0012] This cleaning system is characterized in that the second cleaning device has an opening on one side of the workroom through which at least the gripping portion of the robot arm can be moved in and out, and further comprises a cleaning door that opens and closes the opening.

[0013] In this way, the workroom is only opened when loading or unloading workpieces, minimizing the impact of cleaning and air blowing that extends outside the workroom.

[0014] This cleaning system is characterized in that the cleaning station section of the second cleaning device comprises a first wall section and a second wall section arranged opposite to each other at a predetermined distance apart, the cleaning nozzle is located on at least one of the first wall section and the second wall section, and the robot arm cleans the workpiece by spraying cleaning liquid from the cleaning nozzle onto the workpiece while the workpiece moves through the space between the first wall section and the second wall section.

[0015] In this configuration, the robot arm moves the workpiece between the two walls, and the entire workpiece is thoroughly cleaned by the cleaning fluid from the cleaning nozzles installed on the walls. Furthermore, by placing cleaning nozzles on both walls, both sides of the workpiece are efficiently cleaned. Additionally, moving the workpiece back and forth further enhances the cleaning process.

[0016] This cleaning system is characterized in that the draining station section of the second cleaning device comprises a first wall section and a second wall section arranged opposite to each other at a predetermined distance apart, an air injection nozzle is provided on at least one of the first wall section and the second wall section, and the robot arm blows air from the air injection nozzle onto the workpiece while the workpiece moves through the space between the first wall section and the second wall section to drain the water.

[0017] In this configuration, similar to the washing station, the dewatering station also allows the robotic arm to move the workpiece between the two walls, while air from air injection nozzles installed on the walls thoroughly dewaters the entire workpiece. Furthermore, by placing air injection nozzles on both walls, both sides of the workpiece are efficiently dewatered. Moving the workpiece back and forth further enhances cleaning. Additionally, by using a similar structure for both the washing and dewatering stations, the number of parts can be reduced and parts can be standardized, improving maintenance efficiency and reducing costs.

[0018] This cleaning system is characterized in that the gripping portion of the robot arm in the second cleaning device comprises a first gripping member and a second gripping member that grip a workpiece from both sides, the first gripping member and the second gripping member are arranged at a predetermined distance apart, and in the cleaning station portion, the workpiece moves through the space such that the first gripping member and the second gripping member avoid the first wall portion or the second wall portion.

[0019] In this way, the gripping portion for holding the workpiece comprises a first gripping member and a second gripping member, allowing the workpiece to be gripped from both sides and moved while avoiding the wall portion for cleaning or draining, thus avoiding interference between the gripping member and the wall portion.

[0020] This cleaning system is characterized in that the gripping portion of the first cleaning device has at least one of the first gripping member and the second gripping member that is slidable.

[0021] In this configuration, the first gripping member and / or the second gripping member slide according to the dimensions of the workpiece, allowing for the gripping of various types of workpieces. Furthermore, attaching and detaching the workpiece is also easy.

[0022] This cleaning system is characterized in that the gripping part of the second cleaning device further includes a rotating mechanism for horizontally rotating the workpiece, and the first gripping member and the second gripping member can rotate the workpiece in a direction that avoids the first wall part.

[0023] In this way, since the workpiece can be rotated by the rotating mechanism of the gripping part, the workpiece can be moved flexibly, such as interference with the wall part and attachment / detachment.

[0024] This cleaning system is characterized in that the first wall part of the second cleaning device has a notch part through which the gripping part can pass.

[0025] In this way, when moving the workpiece along the first wall part, it can be moved smoothly. Here, the notch part can be formed, for example, at the center of the first wall part to facilitate access to the first wall part, or formed above and below the first wall part to move the workpiece so as not to interfere with the gripping part.

[0026] This cleaning system is characterized in that the notch part of the first wall part in the second cleaning device is a notch part through which the first gripping member and the second gripping member can pass when the workpiece is moved.

[0027] In this way, when moving the workpiece along the first wall part, the first gripping member and the second gripping member can move smoothly without interference. This notch part is formed, for example, above and below or left and right of the first wall part.

[0028] This cleaning system is characterized in that the first wall part of the second cleaning device is composed of a pair of wall members arranged with a predetermined gap, and the gripping part can pass through the gap between the pair of wall members.

[0029] In this way, by inserting the workpiece through the gap in the center of the first wall part, access to the first wall part becomes easy.

[0030] This cleaning system is characterized in that the second wall portion of the second cleaning device is composed of one wall member, and the longitudinal dimension of the one wall member is approximately the same as the dimension from the end of one wall member of the first wall portion opposite to the gap side to the end of the other wall member opposite to the gap side.

[0031] In this way, the second wall section has a seamless, continuous configuration, so when multiple cleaning nozzles are placed on it, the entire workpiece can be cleaned or drained.

[0032] This cleaning system is characterized in that, within the workroom of the second cleaning apparatus, an air curtain means is provided between the cleaning station and the draining station, and while the air curtain is formed, the workpiece is drained at the draining station.

[0033] In this way, the washing station and the draining station are separated by an air curtain, thus preventing the washing process from affecting the draining process, or vice versa.

[0034] This cleaning system is characterized in that the draining station section of the second cleaning device further includes a water-flowing means on the side opposite to the air curtain means.

[0035] In this way, after draining the water with air blow or the like, any foreign matter remaining on the workpiece is removed by rinsing it with water.

[0036] This cleaning system is characterized in that, in the first cleaning station, the robot arm grips the workpiece, and in the drying station, the robot arm removes the workpiece.

[0037] In this way, the robotic arm enables smooth cleaning of the workpiece through a series of operations, from the first washing station to the second washing station and then to the drying station.

[0038] This cleaning system is characterized in that the first cleaning device of the first cleaning station is a cleaning device that performs rough cleaning by immersing the workpiece.

[0039] In this way, two types of cleaning can be performed on the workpiece: immersion cleaning at the first cleaning station and nozzle cleaning at the cleaning station section of the second cleaning station, thereby improving the degree of cleaning of the workpiece.

[0040] This cleaning system is characterized in that the drying device in the drying station is a drying device that vacuum-dries the workpiece in a vacuum state.

[0041] In this way, the workpiece can be subjected to two types of drying: draining at the draining station in the second washing station and vacuum drying at the drying station, thereby improving the degree of drying of the workpiece.

[0042] A cleaning apparatus according to one aspect of the present invention is a cleaning apparatus for cleaning a workpiece, comprising a robot arm for gripping and moving a workpiece, a cleaning station section equipped with a plurality of cleaning nozzles for cleaning the workpiece, and a draining station section for draining water from the workpiece, wherein the robot arm has a gripping portion at its tip for gripping the workpiece, and while gripping the workpiece with the gripping portion, the cleaning process and draining process are performed on the workpiece while transporting it through the cleaning station section and the draining station section.

[0043] In this way, since the workpiece is transported by the robot arm, the cleaning and drying functions can be enhanced by increasing the number of spray nozzles at each station rather than on the robot arm side, allowing for efficient cleaning and drying of the workpiece.

[0044] This cleaning apparatus is characterized in that the draining station is an air blow station that drains water from the workpiece using multiple air blowers.

[0045] This cleaning apparatus is characterized in that the robot arm, the cleaning station, and the draining station are all located within the same workroom.

[0046] This cleaning apparatus is characterized by having an opening on one side of the workroom through which at least the gripping portion of the robot arm can be moved in and out, and further comprising a cleaning door that opens and closes the opening.

[0047] This cleaning apparatus is characterized in that the cleaning station section comprises a first wall section and a second wall section arranged opposite to each other at a predetermined distance apart, the cleaning nozzle is located on at least one of the first wall section and the second wall section, and the robot arm sprays cleaning liquid onto the workpiece from the cleaning nozzle while the workpiece moves through the space between the first wall section and the second wall section.

[0048] This cleaning device is characterized in that the draining station section comprises a first wall section and a second wall section arranged opposite to each other at a predetermined distance apart, an air injection nozzle is provided on at least one of the first wall section and the second wall section, and the robot arm moves the workpiece through the space between the first wall section and the second wall section while blowing air from the air injection nozzle onto the workpiece to drain the water.

[0049] This cleaning device is characterized in that the gripping portion of the robot arm comprises a first gripping member and a second gripping member that grip the workpiece from both sides, the first gripping member and the second gripping member are arranged at a predetermined distance apart, and in the cleaning station portion, the workpiece moves through the space such that the first gripping member and the second gripping member avoid the first wall portion or the second wall portion.

[0050] This cleaning device is characterized in that the gripping portion is slidable in at least one of the first gripping member and the second gripping member.

[0051] This cleaning device is characterized in that the gripping portion further comprises a rotation mechanism for horizontally rotating the workpiece, and the first gripping member and the second gripping member are capable of rotating the workpiece in a direction that avoids the first wall portion.

[0052] This cleaning device is characterized in that the first wall portion is provided with a notch through which the gripping portion can pass.

[0053] This cleaning device is characterized in that the notch in the first wall is a notch through which the first gripping member and the second gripping member can pass when the workpiece is moved.

[0054] This cleaning device is characterized in that the first wall portion is composed of a pair of wall members arranged side by side with a predetermined gap between them, and the gripping portion can pass through the gap between the pair of wall members.

[0055] This cleaning device is characterized in that the second wall section is composed of one wall member, and the longitudinal dimension of the first wall member is approximately the same as the dimension from the end of one wall member of the first wall section opposite to the gap side to the end of the other wall member opposite to the gap side.

[0056] This cleaning apparatus is equipped with an air curtain means between the cleaning station and the draining station within the workroom, and while the air curtain is formed, the workpiece is drained at the draining station.

[0057] This washing device further includes a water-flowing means on the opposite side of the air curtain means in the draining station section. [Effects of the Invention]

[0058] According to the present invention, it is possible to provide a cleaning system and cleaning apparatus that can perform cleaning more efficiently than conventional methods by using a robotic arm. [Brief explanation of the drawing]

[0059] [Figure 1] This is a plan view showing an example of a cleaning system according to one embodiment of the present invention. [Figure 2] This diagram shows a cleaning system according to one embodiment of the present invention, comprising a workpiece loading / rough cleaning station, a cleaning station section, an air blow station section, and a workpiece removal / vacuum drying station. [Figure 3] This is a schematic perspective view of the cleaning station section of a cleaning device (second cleaning station, air blow station) according to one embodiment of the present invention, viewed from diagonally above. [Modes for carrying out the invention]

[0060] One embodiment of the present invention will be described below, but the present invention is not limited thereto. Furthermore, the configuration of each element is an example, and the components in the following embodiments include those that are easily substituted or substantially identical to those that are easily substituted by those skilled in the art. Moreover, the configurations described below can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the configuration can be made without departing from the spirit of the present invention.

[0061] <1. Configuration of the cleaning system> Figure 1 is a plan view showing an example of a cleaning system according to one embodiment of the present invention. Figure 2 is a perspective view of the cleaning system from the front. Figure 2 shows the workpiece loading / rough cleaning station, cleaning station section, air blow station section, and workpiece removal / vacuum drying station of the cleaning system. The overall configuration of the cleaning system will be described below, followed by a description of the cleaning device.

[0062] As shown in Figures 1, 2, and 3, the cleaning system 1 according to this embodiment comprises a second cleaning station consisting of a second cleaning device 10 having a robot arm 13 that cleans and drains workpieces, a first cleaning station, a workpiece loading / rough cleaning station 20, which performs rough cleaning of workpieces, and a workpiece removal / vacuum drying station 30 that performs vacuum drying of workpieces. The workpiece loading / rough cleaning station 20 and the workpiece removal / vacuum drying station 30 are arranged side by side within the movable range of the tip of the robot arm 13 of the industrial robot 11.

[0063] The second washing station (washing device 10) includes an industrial robot 11 having a gripping device 12 for gripping the workpiece W at the tip of a robot arm 13, a washing station section 16 for washing the workpiece W, and an air blow station section 17 for removing water from the workpiece W using air blowing.

[0064] At the workpiece loading and rough washing station 20, the industrial robot 11 grips the workpiece W after rough washing with the gripping device 12, and while transporting the workpiece W while gripping it, washes the workpiece W at the washing station 16, and removes the water by air blow at the air blow station 17. Then, at the workpiece removal and vacuum drying station 30, the gripping device 12 is driven to release the grip on the workpiece W and release the workpiece W.

[0065] Furthermore, the industrial robot 11, the washing station 16, and the air blow station 17 are all located within the same workroom 19. Additionally, a workpiece loading / rough washing station 20 and a workpiece removal / vacuum drying station 30 are arranged side-by-side on the outside of one side of this workroom 19.

[0066] The workpiece loading and rough cleaning station 20 includes a cleaning tank 21 for containing cleaning fluid for cleaning the workpiece W, and a support base 22 for supporting the workpiece W. The support base 22, which supports the workpiece W within the cleaning tank 21, is provided to be able to move up and down via a rough cleaning oscillating cylinder 23, which is connected to a lifting mechanism (not shown). In other words, rough cleaning is performed by immersing the workpiece W in the cleaning fluid in the cleaning tank 21 and moving it up and down. Reference numerals 24 and 25 indicate a photoelectric sensor 24 and a fiber sensor 25 used for controlling the lifting and lowering of the support base 22.

[0067] The workpiece de-vacuum drying station 30 has a vacuum chamber 31 for vacuum drying. The top of this vacuum chamber 31 is closed by a vacuum door 33. Vacuum drying is performed with the workpiece W supported on a support stand 32 and the vacuum door 33 closed. The vacuum door 33 is opened and closed by a vacuum door opening / closing cylinder 34, and a vacuum pump (not shown) for vacuum drying is located below the workroom 19. Note that 35 is a proximity sensor that confirms the mounting of the support stand 32. The vacuum pump can be pulled out to the outside along with the vacuum pump stand 40, as shown by the dashed line in Figure 1, for maintenance.

[0068] In Figure 1, reference numeral 41 denotes the cleaning pump, reference numeral 42 denotes the bag filter and element, reference numeral 43 denotes the filtration pump, reference numeral 44 denotes the heater, reference numeral 45 denotes the float switch, reference numeral 46 denotes the floating oil recovery machine (oil skimmer), reference numeral 47 denotes the robot control panel, reference numeral 48 denotes the robot TP and cable, reference numeral 49 denotes the tank insulation material provided on the four sides, and reference numeral 50 denotes the pull-out grate outlet. In Figure 2, reference numeral 51 denotes the hose that supplies the cleaning fluid.

[0069] <2. Configuration of the washing device> Next, the cleaning device 10 will be described. Figure 2 shows the cleaning apparatus of this embodiment (workpiece loading / rough cleaning station, cleaning station section, air blow station section, and workpiece removal / vacuum drying station). Figure 3 is a schematic perspective view of the cleaning station section of the cleaning apparatus (second cleaning station, air blow station) according to this embodiment, viewed from diagonally above.

[0070] As described above, the cleaning device 10 includes an industrial robot 11 equipped with a robotic arm 13, a cleaning station 16, and a drying station 17, all of which are located within the same workroom 19.

[0071] Furthermore, a rectangular opening 19a is formed on one side of the workroom 19, facing the workpiece loading / rough washing station 20 and the workpiece removal / vacuum drying station 30, through which the gripping device 12 at the tip of the robot arm 13 is inserted and removed. This opening 19a is opened and closed by the vertical movement of the washing door 18 by a washing door opening / closing cylinder (not shown). Therefore, by closing the washing door 18, the effects of washing in the washing station section 16 and air blowing in the air blow station section 17 are prevented from extending to the outside of the workroom 19.

[0072] As shown in Figure 3, the washing station section 16 has two opposing front wall sections 16Aa, 16Aa and a rear wall section 16B that extends parallel to the front wall sections 16Aa, 16Aa with a space in between, and a gap 16Ab extending in the vertical direction is formed between the front wall sections 16Aa, 16Aa. The front wall sections 16Aa, 16Aa and the rear wall section 16B are connected via connecting members 16C, 16C to form a space. The lower portions of the front wall sections 16Aa, 16Aa and the rear wall section 16B are attached to the floor surface by leg members 16Ac, 16Ba, respectively.

[0073] Furthermore, as shown in Figure 3, the gripping device 12 comprises an actuator 12A that is rotatably attached to the tip of the robot arm 13 and extends and retracts movable rods 12Ab, 12Ab from the main body 12Aa, movable plates 12B, 12B provided on both sides of the actuator 12A and coupled to the movable rods 12Ab, 12Ab, and gripping members 12Ca, 12Cb attached to the movable plates 12B, 12B.

[0074] The gripping members 12Ca and 12Cb have movable rods 12Ab and 12Ab that move back and forth in the axial direction of the rods to grip the workpiece W from both sides and release the grip. The main body 12Aa of the actuator 12A is positioned in front of the front wall portions 16Aa and 16Aa during cleaning operations to avoid interference.

[0075] In the front wall portions 16Aa, 16Aa, notches 16Ad, 16Ae, 16Af, and 16Ag are formed on both sides of the gap 16Ab, above and below the front wall portions 16Aa, 16Aa, through which the movable plates 12B, 12B and gripping members 12Ca, 12Cb pass, in order to avoid interference with the movable plates 12B, 12B and gripping members 12Ca, 12Cb when the workpiece W moves back and forth.

[0076] Then, with the workpiece W being gripped from both sides by the gripping members 12Ca and 12Cb, the gripping direction is adjusted, and the workpiece W is moved between the two wall portions 16Aa, 16Aa, and 16B using the gap 16Ab. After that, the workpiece W is moved back and forth multiple times in the left-right direction between the two wall portions 16Aa, 16Aa, and 16B together with the gripping members 12Ca and 12Cb.

[0077] During this reciprocating movement, cleaning fluid is sprayed onto the workpiece W by multiple spray nozzles 16a provided on the front wall sections 16Aa, 16Aa, thereby cleaning the workpiece W. In this way, the entire workpiece W is thoroughly cleaned as it moves back and forth between the two wall sections 16Aa, 16Aa, 16B.

[0078] Although a detailed explanation will be omitted, in this embodiment, the air blow station section 17 has a structure that is basically the same as the cleaning station section 16, with a front wall section and a rear wall section, and the positional relationship between the workpiece W and the gripping tool 12 and both walls is also the same. In addition, the air blow station section 17 is provided with an air injection nozzle instead of the cleaning liquid injection nozzle in the cleaning station section 16.

[0079] Furthermore, within the workroom 19, an air curtain means 14 is provided between the washing station 16 and the air blow station 17, separating these stations with an air curtain. With this air curtain formed, washing is performed on the workpiece W at the washing station 16 and air blowing is performed at the air blow station 17.

[0080] In the air blow station section 17, an industrial water rinsing means 15 is provided on the side of the washing door 18, which is opposite to the side where the air curtain means 14 is provided. Prior to the final vacuum drying, any foreign matter remaining on the workpiece W is removed by rinsing it with industrial water.

[0081] <3. Cleaning Flow> Next, the cleaning process for the workpiece W in the cleaning system 1 described above will be explained. The cleaning of workpiece W begins at the workpiece loading and rough cleaning station 20, where an operator places workpiece W on a support stand 22 inside the cleaning tank 21. Then, the support stand 22 is repeatedly raised and lowered by the rough cleaning oscillating cylinder 23, thereby raising and lowering workpiece W in the cleaning fluid inside the cleaning tank 21 and performing a rough cleaning on workpiece W. At this time, the cleaning door 18 of the cleaning device 10 (second cleaning station) is closed, and another workpiece is being cleaned inside the cleaning device 10.

[0082] After the rough cleaning of the workpiece W is complete, the rough cleaning oscillating cylinder 23 raises and lowers the receiving stand 22 to remove it from the cleaning solution, the cleaning door 18 of the cleaning device 10 opens, the industrial robot 11 drives the robot arm 13 to move the gripping tool 12 at the tip onto the workpiece loading / rough cleaning station 20, and the gripping tool 12 receives the roughly cleaned workpiece W from the receiving stand 22 and transports it to the cleaning station section 16 of the cleaning device 10. Once the workpiece W has been transported to the cleaning station section 16, the cleaning door 18 closes.

[0083] In the washing station section 16, the orientation of the workpiece W is adjusted so that the gripping members 12Ca and 12Cb are positioned vertically. The workpiece W is then positioned between the two walls 16A and 16B by transporting it from top to bottom using the gap 16Ab, and the industrial robot 11 moves the robot arm 13 back and forth in the left-right direction.

[0084] During this reciprocating movement, the gripping members 12Ca and 12Cb pass through the notches 16Ad, 16Ae, 16Af, and 16Ag without interfering with the front wall portions 16Aa, 16Aa, and cleaning fluid is sprayed from the spray nozzle 16a, thereby cleaning the workpiece W.

[0085] After cleaning in the cleaning station 16, the workpiece W is transported from the cleaning station 16 to the air blow station 17. In the air blow station 17, the orientation of the workpiece W is adjusted so that it is positioned between the front and rear walls, and while it is moved back and forth, water droplets adhering to the workpiece W are blown off by air from the air injection nozzle, and the workpiece W is dewatered and dried.

[0086] Then, after draining and drying in the air blow station section 17, the workpiece is transported to the adjacent industrial water rinsing means 15, where any foreign matter remaining on the workpiece W is removed by rinsing with industrial water.

[0087] Subsequently, the cleaning door 18 of the workroom 19 is opened, and the vacuum door 33 of the workpiece de-vacuum drying station 30 is opened, and the workpiece W is placed on the support stand 32 inside the vacuum chamber 31 of the workpiece de-vacuum drying station 30 by the industrial robot 11.

[0088] Then, in the workpiece removal and vacuum drying station 30, the vacuum door 33 is closed and the workpiece W is vacuum dried. After the workpiece W is vacuum dried, the vacuum door 33 is opened, and the worker removes the workpiece W from the support stand 32 inside the vacuum chamber 31, thus completing the series of cleaning and drying processes.

[0089] In this manner, the workpiece W is washed and dried. Since the washing device 10 (first station), the workpiece loading / rough washing station 20, and the workpiece removal / vacuum drying station 30 can each process the workpiece independently, continuous washing and drying of the workpiece is possible by performing each process sequentially at each station.

[0090] Furthermore, since each station is equipped with a cleaning function and a drying function, and the robot arm 13 of the industrial robot 11 is configured to move the workpiece W, the cleaning function and drying function can be enhanced by increasing the number of spray nozzles at each station, thereby enabling efficient cleaning and drying of the workpiece.

[0091] Furthermore, since the industrial robot 11 can grasp the workpiece W and transport it while it is being grasped, the entire line from washing to drying can be integrated into a single unit, making the entire washing system more compact.

[0092] As described above, embodiments of the present invention have been explained with reference to the drawings, but various additions, modifications, or deletions are possible without departing from the spirit of the present invention. For example, in this embodiment, in the cleaning station section 16, cleaning fluid is supplied to the rear wall section 16B through a hose and sprayed through a plurality of cleaning nozzles 16a, but cleaning nozzles can also be provided on the front wall section 16Aa. Cleaning nozzles can also be provided on both the front wall section 16Aa and the rear wall section 16B. Furthermore, the number and placement of the cleaning nozzles can be appropriately changed depending on the shape of the workpiece W, etc. The same applies to the air injection nozzles of the air blow station section 17. [Explanation of Symbols]

[0093] 1. Cleaning System 10. Washing equipment (second washing station) 11 Industrial Robots 12 Grip 12A Actuator 12Aa Main Unit 12Ab Movable Rod 12B Movable plate 12Ca,12Cb gripping member 13 Robot Arm 14. Air curtain means 15 Industrial water flowing method 16 Washing Station Section 16a Spray nozzle 16Aa,16Aa Front wall 16Ab gap 16Ac leg parts 16Ad,16Ae,16Af,16Ag Notch 16B Rear wall 16Ba Leg member 17. Air Blow Station Section 18 Washing Door 19. Workroom 20 Workwear / Rough Washing Station 21 Washing Tank 22 Support stand 23. Rough cleaning oscillating cylinder 24 Photoelectric Sensors 25 Fiber Sensors 30 Workpiece De-vacuum Drying Station 31 Vacuum chamber 32 Support stand 33 Vacuum Door 34 Vacuum door opening / closing cylinder 35 Proximity Sensor 40 Vacuum pump stand 41 Washing pump 42 Bag filters and elements 43 Filtration pump 44 Heater 45 Float switch 46. ​​Floating oil recovery machine (oil skimmer) 47 Robot control panel 48 Robot TP and Cables 49 Tank insulation 50 Drawer slatted outlet 51 Hose Double job

Claims

1. It is a cleaning system for cleaning workpieces. A first washing station is provided, which is equipped with a first washing device for rough washing of workpieces. A second cleaning station consisting of a second cleaning device having a robotic arm, It comprises a drying station equipped with a drying device for drying workpieces, The second washing station and the drying station are located within the range of motion of the robot arm. The second cleaning device, The robot arm that grips and moves the workpiece, A cleaning station section equipped with multiple cleaning nozzles for cleaning workpieces, It includes a draining station section for draining water from the workpiece, The robotic arm is It has a gripping part at the tip for gripping the workpiece, The method is characterized by performing a washing process and a draining process on the workpiece while it is being transported through the washing station and the draining station, with the workpiece being held in place by the gripping section. Cleaning system.

2. The draining station section of the second washing device is This is an air blow station unit that removes water from a workpiece using multiple air blowers. The cleaning system according to claim 1.

3. The second cleaning device, The robot arm, the washing station, and the draining station are all located within the same workroom. The cleaning system according to claim 1.

4. The second cleaning device, One side of the aforementioned workroom has an opening through which at least the gripping portion of the robot arm can be extended and retracted, The invention is further characterized by comprising a washing door that opens and closes the aforementioned opening. The cleaning system according to claim 1.

5. The second cleaning device, The aforementioned washing station section It comprises a first wall section and a second wall section arranged opposite each other with a predetermined distance between them, The cleaning nozzle is arranged in at least one of the first wall portion and the second wall portion. The robot arm moves the workpiece through the space between the first and second walls, while the cleaning solution is sprayed onto the workpiece from the cleaning nozzle to clean it. The cleaning system according to claim 1.

6. The second cleaning device, The draining station section is It comprises a first wall section and a second wall section arranged opposite each other with a predetermined distance between them, The air injection nozzle is arranged in at least one of the first wall portion and the second wall portion. The robot arm moves the workpiece through the space between the first and second walls, while air is blown onto the workpiece from the air injection nozzle to remove water. The cleaning system according to claim 2.

7. The second cleaning device, The gripping portion of the robot arm, It comprises a first gripping member and a second gripping member that grip the workpiece from both sides, The first gripping member and the second gripping member are arranged with a predetermined distance between them. In the washing station section, the first gripping member and the second gripping member move through the space such that they avoid the first wall or the second wall. The cleaning system according to claim 5 or 6.

8. The second cleaning device, The gripping portion, The first gripping member and the second gripping member are characterized in that at least one of them is slidable. The cleaning system according to claim 7.

9. The second cleaning device, The gripping portion, It is further equipped with a rotating mechanism that rotates the workpiece horizontally, The first gripping member and the second gripping member are characterized in that they can rotate the workpiece in a direction that avoids the first wall portion. The cleaning system according to claim 7.

10. The second cleaning device, The first wall portion is The gripping portion is characterized by having a notch through which it can pass, The cleaning system according to claim 5 or 6.

11. The second cleaning device, The notch portion of the first wall portion is The first gripping member and the second gripping member are characterized by having a notch through which they can pass when the workpiece is moved. The cleaning system according to claim 10.

12. The second cleaning device, The first wall portion is A pair of wall members are arranged side by side with a predetermined gap between them. The gripping portion is characterized in that it can pass through the gap between the pair of wall members. The cleaning system according to claim 5 or 6.

13. The second cleaning device, The second wall portion is It is composed of one wall member, and the longitudinal dimension of the one wall member is approximately the same as the dimension from the end of one wall member of the first wall section opposite to the gap side to the end of the other wall member opposite to the gap side. The cleaning system according to claim 12.

14. The second cleaning device, Within the aforementioned workroom, An air curtain means is provided between the washing station section and the draining station section. With the aforementioned air curtain formed, the workpiece is dewatered at the dewatering station. The cleaning system according to claim 1.

15. The second cleaning device, In the draining station section, On the opposite side of the air curtain means, a water flow means is further provided. The cleaning system according to claim 1.

16. In the first washing station, the robot arm grasps the workpiece, In the drying station, the robot arm removes the workpiece. The cleaning system according to claim 15.

17. The first cleaning device of the first cleaning station is a cleaning device that performs rough cleaning by immersing the workpiece. The cleaning system according to claim 16.

18. The drying apparatus of the drying station is a drying apparatus that vacuum-dries the workpiece in a vacuum state. The cleaning system according to claim 16.

19. It is a cleaning device for cleaning workpieces. A robotic arm that grips and moves a workpiece, A cleaning station section equipped with multiple cleaning nozzles for cleaning workpieces, It includes a draining station section for draining water from the workpiece, The robotic arm is It has a gripping part at the tip for gripping the workpiece, The method is characterized by performing a washing process and a draining process on the workpiece while it is being transported through the washing station and the draining station, with the workpiece being held in place by the gripping section. Washing device.

20. The aforementioned draining station section is This is an air blow station unit that removes water from a workpiece using multiple air blowers. The cleaning apparatus according to claim 19.

21. The robot arm, the washing station, and the draining station are all located within the same workroom. The cleaning apparatus according to claim 19.

22. One side of the aforementioned workroom has an opening through which at least the gripping portion of the robot arm can be extended and retracted, The invention is further characterized by comprising a washing door that opens and closes the aforementioned opening. The cleaning apparatus according to claim 19.

23. The aforementioned washing station section is It comprises a first wall section and a second wall section arranged opposite each other with a predetermined distance between them, The cleaning nozzle is arranged in at least one of the first wall portion and the second wall portion. The robot arm moves the workpiece through the space between the first and second walls, while the cleaning solution is sprayed onto the workpiece from the cleaning nozzle to clean it. The cleaning apparatus according to claim 19.

24. The aforementioned draining station section is It comprises a first wall section and a second wall section arranged opposite each other with a predetermined distance between them, The air injection nozzle is arranged in at least one of the first wall portion and the second wall portion. The robot arm moves the workpiece through the space between the first and second walls, while air is blown onto the workpiece from the cleaning nozzle to remove water. The cleaning system according to claim 20.

25. The gripping portion of the robot arm is It comprises a first gripping member and a second gripping member that grip the workpiece from both sides, The first gripping member and the second gripping member are arranged with a predetermined distance between them. In the washing station section, the first gripping member and the second gripping member move through the space such that they avoid the first wall or the second wall. The cleaning apparatus according to claim 23 or 24.

26. The gripping portion is, The first gripping member and the second gripping member are characterized in that at least one of them is slidable. The cleaning apparatus according to claim 25.

27. The gripping portion is, It is further equipped with a rotating mechanism that rotates the workpiece horizontally, The first gripping member and the second gripping member are characterized in that they can rotate the workpiece in a direction that avoids the first wall portion. The cleaning apparatus according to claim 25.

28. The first wall portion is, The gripping portion is characterized by having a notch through which it can pass, The cleaning apparatus according to claim 23 or 24.

29. The notch portion of the first wall is The first gripping member and the second gripping member are characterized by having a notch through which they can pass when the workpiece is moved. The cleaning apparatus according to claim 28.

30. The first wall portion is, A pair of wall members are arranged side by side with a predetermined gap between them. The gripping portion is characterized in that it can pass through the gap between the pair of wall members. The cleaning apparatus according to claim 23 or 24.

31. The second wall portion is, It is composed of one wall member, and the longitudinal dimension of the one wall member is approximately the same as the dimension from the end of one wall member of the first wall section opposite to the gap side to the end of the other wall member opposite to the gap side. The cleaning apparatus according to claim 30.

32. Within the aforementioned workroom, An air curtain means is provided between the washing station section and the draining station section. With the aforementioned air curtain formed, the workpiece is dewatered at the dewatering station. The cleaning apparatus according to claim 19.

33. In the draining station section, On the opposite side of the air curtain means, a water flow means is further provided. The cleaning apparatus according to claim 32.

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