Manufacturing line cleaning device and manufacturing line cleaning method

Abstract

To provide a manufacturing line cleaning device and a manufacturing line cleaning method that can reduce operator's labor and can obtain high cleaning effect when cleaning a manufacturing line.SOLUTION: A cleaning device 20 comprises a robot arm 23 having a plurality of injection parts 30, and a carriage 22 on which the robot arm 23 is loaded. Further, the cleaning device 20 comprises a control part, and a teaching part which teaches control contents when the control part controls the plurality of injection parts 30 and the robot arm 23 to perform cleaning. The plurality of injection parts 30 includes a first injection part 31 for injecting a cleaning liquid, and a second injection part 32 for injecting a rinse liquid. The teaching part selects two or more injection parts, which include the first injection part 31 and the second injection part 32, of the plurality of injection parts 30. Further, the teaching part teaches a movement route which has moves the injection part selected by moving the robot arm 23, an injection section in which the injection part 30 performs injection, and an injection direction for each injection part.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a cleaning device for a production line and a cleaning method for a production line. [Background technology]

[0002] The manufacturing line has a conveying section such as a conveyor along which the products in the manufacturing process are transported. When it is time to clean the manufacturing line, such as when the manufacturing of the products is completed, the manufacturing line is cleaned by an operator or the like to remove dirt caused by raw materials or parts of the products adhering to the conveyor while the products in the manufacturing process are being transported.

[0003] For example, Patent Documents 1 and 2 disclose a cleaning device in which a robot having a nozzle (spraying part) at the tip of an arm that sprays a cleaning liquid cleans an object to be cleaned. For example, Patent Document 1 discloses an unmanned cleaning device in which a robot having a nozzle at the tip of an arm for spraying cleaning or disinfecting liquid is mounted on a vehicle body that runs on battery power. This unmanned cleaning device is remotely controlled to clean or disinfect livestock sheds.

[0004] For example, the robot described in Patent Document 2 is provided with a cleaning nozzle and an air blowing nozzle at the tip of the arm, and is configured to be able to spray either cleaning liquid or air by switching between them. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 5303670 [Patent Document 2] Japanese Utility Model Application Publication No. 63-107758 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the cleaning device described in Patent Document 2 is applied to cleaning a manufacturing line, the operator must manually perform the rinsing of the cleaning liquid and the drying such as draining. In addition, when the cleaning device described in Patent Document 2 is applied to cleaning a manufacturing line, the cleaning device performs the cleaning by spraying the cleaning liquid and the drying such as draining by air blowing, so if the cleaning liquid is water, the manual burden of the operator can be significantly reduced. However, the manufacturing line cannot obtain a sufficient cleaning effect by cleaning only with water for oil stains, etc. Therefore, it is necessary to clean with a cleaning liquid containing detergent, but in this case, the operator must manually rinse the cleaning liquid. As described above, when the conventional cleaning device is applied to cleaning a manufacturing line, there is a problem that it is difficult to achieve both a high cleaning effect that can sufficiently remove oil stains, etc., and a sufficient reduction in the manual work burden of the operator even when cleaning by spraying a cleaning liquid containing detergent. [Means for solving the problem]

[0007] The means for solving the above problems and their effects will be described below. A cleaning device for a production line that solves the above-mentioned problems is a cleaning device for a production line comprising a plurality of jetting units each spraying different types of fluid, a robot arm having the plurality of jetting units, a cart on which the robot arm is mounted, a control unit that controls the plurality of jetting units and the robot arm, and a teaching unit that teaches control content when the control unit controls the plurality of jetting units and the robot arm to perform cleaning, the plurality of jetting units including a first jetting unit that sprays a cleaning liquid and a second jetting unit that sprays a rinsing liquid, and the teaching unit has a selection function that selects two or more jetting units including the first jetting unit and the second jetting unit from the plurality of jetting units, and a teaching function that teaches, for each selected jetting unit, a movement path along which the selected jetting unit is moved by moving the robot arm, a jetting section of the movement path along which the jetting unit sprays, and the jetting direction when spraying in the jetting section.

[0008] According to this configuration, when cleaning a production line, the teaching unit can select two or more jetting units including the first jetting unit and the second jetting unit, and teach the movement path, jetting section, and jetting direction of the selected jetting unit for each selected jetting unit. Therefore, the cleaning liquid can be sprayed and cleaned using a jetting path suitable for each production line, and the cleaning liquid can be rinsed after cleaning. Therefore, the manual burden when cleaning the production line can be reduced, and a high cleaning effect that is superior to, for example, washing with water can be obtained. Therefore, when cleaning the production line, the labor of the worker can be reduced and a high cleaning effect can be obtained.

[0009] In the cleaning device of the above-mentioned production line, the multiple spraying units include a third spraying unit that sprays gas to dry the rinsing liquid after a rinsing operation is performed by the second spraying unit spraying the rinsing liquid, and when three or more spraying units including the first spraying unit, the second spraying unit, and the third spraying unit are selected, the teaching unit may teach the movement path, the spraying section, and the spraying direction for each of the three or more spraying units.

[0010] According to this configuration, cleaning with a cleaning liquid, rinsing with the cleaning liquid after cleaning, and drying of the rinsing liquid after rinsing can be performed. Since the cleaning path, rinsing path, and drying path can be individually taught, the cleaning effect of the production line can be further improved.

[0011] In the cleaning device of the above-mentioned production line, at least the first jetting unit among the plurality of jetting units may be configured to be able to change the jet shape, and the teaching unit may teach a selected jet shape to at least the jetting section of the first jetting unit.

[0012] According to this configuration, the spray shape when at least the first spraying section sprays the cleaning liquid in the spraying section can be selected and taught, so that the cleaning effect of the production line can be further improved.

[0013] In the cleaning device for the above-mentioned production line, the cleaning device may be a collaborative robot in which a person manually moves the cart, and may be equipped with a positioning mechanism that can position the collaborative robot at the same cleaning position relative to the production line during teaching using the teaching unit and during cleaning execution in which cleaning is performed using the taught control content.

[0014] According to this configuration, the worker can place the collaborative robot in the same cleaning position during teaching and during cleaning. For example, if the collaborative robot is misaligned during teaching and during cleaning, the spraying position of the cleaning liquid and rinsing liquid will be misaligned from the position during teaching, which will reduce the cleaning effect of the production line. In contrast, the positioning mechanism allows the collaborative robot to be placed in the same cleaning position with the required positional accuracy during teaching and during cleaning, thereby improving the cleaning effect of the production line.

[0015] In the cleaning device of the above-mentioned production line, the cleaning device may be a collaborative robot in which a person manually moves the cart, and the teaching unit may have a setting function for setting the moving speed of the selected spraying unit when it moves through the spraying section.

[0016] According to this configuration, the moving speed of the spray unit when moving through the spray section while spraying can be set, so that the required cleaning effect can be obtained by setting the moving speed of the spray unit to a value suitable for cleaning. Also, even if the robot arm of the collaborative robot is moved manually during teaching, the spray unit can be moved at an appropriate moving speed through the spray section when cleaning is performed.

[0017] A manufacturing line cleaning method that solves the above problem includes a teaching step of selecting two or more of the multiple jetting units including the first jetting unit and the second jetting unit from among the multiple jetting units, moving the robot arm to a cleaning position relative to the manufacturing line, and teaching, for each of the selected jetting units, a moving path along which the jetting unit moves by moving the robot arm, a jetting section along the moving path in which the jetting unit performs jetting, and a jetting direction when performing jetting in the jetting section, and a cleaning step of controlling the two or more jetting units and the robot arm with the control content taught in the teaching step to clean the manufacturing line. This method can achieve the same effect as the above manufacturing line cleaning device. Effect of the Invention

[0018] According to the present invention, when cleaning a production line, the labor required by an operator can be reduced and a high cleaning effect can be obtained. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is a schematic plan view showing a manufacturing line and a cleaning robot in one embodiment. [Diagram 2] FIG. 4 is a side view showing the cleaning robot with the cleaning head partially broken away. [Diagram 3] FIG. 2 is a plan view showing the cleaning robot with the cleaning head partially broken away. [Figure 4] FIG. 4 is a diagram showing a piping structure for supplying individual fluids to a plurality of ejection parts, respectively. [Diagram 5] FIG. [Figure 6] FIG. 4 is a side view showing a positioning mechanism for positioning the cleaning robot. [Figure 7] FIG. 2 is a block diagram showing the electrical configuration of the cleaning robot. [Figure 8] FIG. 4 is a schematic diagram showing a setting screen of the operation tablet. [Figure 9]4 is a flowchart showing a teaching process routine. [Figure 10] 13 is a flowchart showing a cleaning control processing routine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] An embodiment of the cleaning device for a manufacturing line will be described below with reference to the drawings. In FIG. 1, the two directions that define the floor surface FP on which the manufacturing line 10 to be cleaned by the cleaning device 20 is installed are the X direction and the Y direction, respectively, and the direction that intersects with the X direction and the Y direction and is parallel to the direction of gravity is the vertical direction Z. In this example, the conveying direction in which the article W in the manufacturing process is conveyed in the manufacturing line 10 is parallel to the X direction. Therefore, the direction in which the article W is conveyed is also referred to as the conveying direction X. In addition, the direction that intersects (for example, perpendicular to) the conveying direction X in the horizontal plane is referred to as the width direction Y.

[0021] The manufacturing line 10 is a line for manufacturing finished or semi-finished products such as food, medicine, etc. The item W is at least one of raw materials, semi-finished products between the raw materials and the finished product, semi-processed products, intermediate products, and final manufactured products.

[0022] The manufacturing line 10 includes a main frame 11 and a conveying mechanism 12 supported on an upper portion of the main frame 11. The conveying mechanism 12 includes a conveyor 13. The conveyor 13 is, for example, a belt conveyor, a mesh conveyor, a roller conveyor, or the like. In addition to the conveyor 13, the conveying mechanism 12 includes a plurality of rollers 14 around which the conveyor 13 is wound, and a driving source 15 such as a motor for driving the rollers 14. The manufacturing line 10 includes an article supplying section 16 at an upstream end of the conveyor 13 in the conveying direction X for supplying articles W to the conveyor 13. The articles W supplied from the article supplying section 16 to the conveyor 13 are manufactured while being conveyed on the conveyor 13 in the conveying direction X.

[0023] Although the production line 10 shown in FIG. 1 is an example in which the conveyor 13 is a straight conveyor whose transport path extends straight, the conveyor 13 may be a curved conveyor whose transport path is curved.

[0024] The production line 10 is cleaned by a cleaning device 20 regularly or irregularly, with cleaning timings being during the production of one product number or at the end of production of one product number. Examples of cleaning timings include at the end of one or more production lots, at the end of each production volume, at the end of each production time, at the end of a worker's working hours, when a worker is replaced, etc.

[0025] The cleaning device 20 of this embodiment is a cleaning robot 21 that assists a worker P. The cleaning robot 21 of this example is a collaborative robot that performs cleaning work together with the worker P. The worker P cleans the production line 10 in cooperation with the cleaning robot 21.

[0026] The cleaning robot 21 mainly cleans the conveyor 13 and the parts of the main frame 11 that are located around the conveyor 13. In other words, the cleaning robot 21 cleans the upper surface of the production line 10 that is located at approximately the same height as the transport surface 13A of the conveyor 13. Note that the cleaning target of the cleaning robot 21 is not limited to the upper surface of the production line 10, and may be a part of the upper surface and the side surface.

[0027] The cleaning robot 21 is a mobile robot. The cleaning robot 21 includes a cart 22 and a robot arm 23 mounted on the cart 22. The cart 22 is a manually mobile robot that is manually moved by a worker P. The cleaning robot 21 of this embodiment is a collaborative robot, and therefore can be used by the worker P without a safety fence, and assists the worker P in cleaning work.

[0028] The robot arm 23 is equipped with a cleaning head 24 having multiple types of spraying parts 30 (see FIG. 2) at its tip. The cleaning robot 21 controls the robot arm 23 to move the spraying parts 30 along a predetermined cleaning path facing the object to be cleaned at a predetermined distance. The cleaning robot 21 then performs cleaning work on the production line 10 by spraying a fluid containing a liquid required for cleaning from the spraying parts 30 during movement along the cleaning path.

[0029] The cleaning robot 21 has a teaching function that enables the operator P to teach the control contents (cleaning work contents). The working range of the robot arm 23 is, for example, a radius of 1 to 3 meters. The cleaning target range in the production line 10 is wider than the working range of the robot arm 23. For this reason, the operator P manually moves the carriage 22 of the cleaning robot 21, and moves the cleaning robot 21 sequentially to multiple cleaning start positions SP facing the production line 10.

[0030] The cleaning robot 21 shown by a solid line in Fig. 1 is at the first cleaning start position SP, and the cleaning robot 21 shown by a two-dot chain line in Fig. 1 is at the second cleaning start position SP. The worker P moves the cleaning robot 21 through the first to Nth cleaning start positions SP in order, and has the cleaning robot 21 perform cleaning work at each cleaning start position SP. Note that Fig. 1 omits the cleaning robot 21 when it is at the third or subsequent cleaning start positions SP.

[0031] The worker P either teaches the cleaning robot 21 individually for each of the first to Nth cleaning start positions SP, or teaches the cleaning robot 21 commonly at one cleaning start position SP. The former is when the cleaning content differs for each cleaning start position SP, and the latter is when the cleaning content is common to multiple cleaning start positions SP. Normally, there are multiple cleaning start positions SP with common cleaning content, so the worker teaches the cleaning robot 21 at one cleaning start position SP or a number of cleaning start positions SP that is less than N.

[0032] The floor surface FP is provided with a positioning unit 18 for positioning the cleaning robot 21 at the cleaning start position SP. This is because, when the cleaning robot 21 is made to perform the cleaning work of the teaching contents, the worker needs to place the cleaning robot 21 at the same cleaning start position SP as during teaching with a predetermined positional accuracy or higher. If the cleaning work of the teaching contents is started in a state in which the cleaning robot 21 is placed at a position shifted from the cleaning start position SP during teaching, the cleaning path of the spray unit 30 may shift from the cleaning path during teaching, resulting in a decrease in cleaning effect. For this reason, the worker P positions the cleaning robot 21 with respect to the positioning unit 18, thereby placing the cleaning robot 21 at the same cleaning start position SP during cleaning and teaching.

[0033] The difficulty of cleaning varies depending on the type of conveyor 13 and the type of goods W. If the dirt is light, light cleaning is sufficient, but if the conveyor 13 is covered with dirt, oil, parts of raw materials, or parts of semi-processed products, a high cleaning power is required. In order to obtain a high cleaning power, it is desirable to set cleaning factors such as the cleaning path, cleaning pressure, cleaning time, and cleaning direction in detail. In addition, it is preferable to use a cleaning liquid rather than water to enhance the cleaning effect. When using a cleaning liquid, the cleaning liquid needs to be rinsed. In addition, when cleaning is performed using a cleaning liquid or a rinsing liquid (rinsing liquid), production after cleaning is resumed after the rinsing liquid has dried. Therefore, when cleaning is performed between productions, forced drying rather than natural drying is required to shorten the cleaning time. Based on these, the cleaning robot 21 enhances the cleaning effect by spraying two types of liquid including a cleaning liquid and a rinsing liquid from the cleaning head 24 at the tip of the robot arm 23, and shortens the drying time of the rinsing liquid by spraying air.

[0034] <Cleaning robot configuration> As shown in FIGS. 2 and 3, the cleaning robot 21 includes a plurality of spraying units 30 each configured to spray a different type of fluid, a robot arm 23 having the plurality of spraying units 30, and a cart 22 on which the robot arm 23 is mounted.

[0035] The robot arm 23 comprises a rotating part 26 that can rotate around a vertical axis relative to a base part 25 installed on the upper surface of the cart 22, a multi-jointed arm 27 supported by the rotating part 26, and a cleaning head 24 attached to the tip of the arm 27.

[0036] In the robot arm 23, the rotating part 26 rotates about an axis by the power of the driving source 28 arranged on the side of the base part 25. The arm 27 has a plurality of arm parts 27A to 27C connected so that the angle can be changed. The driving source 28 is, for example, an electric motor or an electric cylinder. The angle of the plurality of arm parts 27A to 27C is adjusted via a link mechanism (not shown) by driving the driving source 28. The cleaning head 24 is connected to the tip of the arm 27 in a state in which the posture can be changed via a free joint (not shown) such as a universal joint. That is, the cleaning head 24 is supported at the tip of the robot arm 23 in a state in which the axis can be rotated and the posture angle can be changed. The cleaning head 24 has the above-mentioned plurality of types of spraying parts 30.

[0037] 2, the cart 22 of the cleaning robot 21 is provided with wheels 40 (casters) and level bolts 41A, 41B on its bottom. For example, four wheels 40 are provided on the front, rear, left and right. Of the level bolts 41A, 41B, for example, the two level bolts 41A on the front side have a positioning function (see FIG. 6).

[0038] As shown in Fig. 2, the level bolts 41A and 41B have a lever 42 that is operated by an operator. The level bolt 41B is moved by operation of the lever 42 between a grounding position where the wheels 40 are grounded on the floor surface FP and a fixed position where the wheels 40 are separated from the floor surface FP and the fixed part 43 is grounded on the floor surface FP. The level bolt 41A with a positioning function has a positioning rod 44 instead of the fixed part 43. The level bolt 41A constitutes a positioning mechanism 45 that positions the cleaning robot 21 at the cleaning start position SP by engaging the positioning rod 44 with the positioning part 18 fixed to the floor surface FP. The positioning mechanism 45 will be described in detail later.

[0039] The cleaning robot 21 includes a controller 50 that controls the multiple sprayers 30 and the robot arm 23. The cart 22 has a box-shaped housing 22A. A control box 51 is housed in the housing 22A. The controller 50 is housed in the control box 51 together with, for example, a power supply circuit and the like.

[0040] The multiple spraying units 30 include a first spraying unit 31 that sprays a cleaning liquid and a second spraying unit 32 that sprays a rinsing liquid (rinsing liquid). In this embodiment, the multiple spraying units 30 include a third spraying unit 33 that sprays a gas that promotes drying of the rinsing liquid sprayed by the second spraying unit 32.

[0041] Here, the first injection unit 31 is connected to the first pipeline 34. The second injection unit 32 is connected to the second pipeline 35. The third injection unit 33 is connected to the third pipeline 36. The first pipeline 34, the second pipeline 35, and the third pipeline 36 are laid out in the housing 22A of the cart 22 by being piped along the arm 27. In the housing 22A, a first solenoid valve 61 interposed in the first pipeline 34, a second solenoid valve 62 interposed in the second pipeline 35, and a third solenoid valve 63 interposed in the third pipeline 36 are arranged.

[0042] As shown in FIG. 3, a tank 60 is supported on a support portion 22B extending from a side surface of a housing 22A of a cart 22. A cleaning liquid is stored in the tank 60. A tip of a pipe 64 extending from the tank 60 is a connected portion 65. A connecting portion 77A of an air hose 77 is connected to the connected portion 65. By connecting the connecting portion 77A and the connected portion 65, air pressure from the air hose 77 is supplied to the tank 60. A pressure valve 66 provided in the middle of the pipe 64 closes when the air pressure in the tank 60 reaches a predetermined pressure. Therefore, the inside of the tank 60 is maintained at a predetermined pressure. A pipe 68 branches off and extends from a branching portion 67 on the tank 60 side of the pressure valve 66 in the pipe 64. In addition, a pipe 69 for supplying cleaning liquid extends from the tank 60.

[0043] As shown in Fig. 3, the cart 22 has a plurality of pipe connections 71-76 on a side surface of the housing 22A. The plurality of pipe connections 71-76 include three inlet pipe connections 71-73 and three outlet pipe connections 74-76. A pipe 69 for supplying a cleaning liquid is connected to the inlet pipe connection 71. A connection 78A of a water supply hose 78 is connected to the inlet pipe connection 72. Furthermore, one end of a pipe 68 for supplying air is connected to the inlet pipe connection 73.

[0044] The pipe 34 connected to the first jetting part 31 is connected to an outlet pipe connection part 74. This outlet pipe connection part 74 is connected to the inlet pipe connection part 71 so that the cleaning liquid can flow.

[0045] The pipe 35 connected to the second jetting part 32 is connected to an outlet pipe connection part 75. This outlet pipe connection part 75 is connected to the inlet pipe connection part 72 so that the rinsing liquid can flow.

[0046] The pipe 36 connected to the third injection part 33 is connected to an outlet pipe connection part 76. This outlet pipe connection part 76 is connected to the inlet pipe connection part 73 so that air can flow.

[0047] The control box 51 housed in the dolly 22 has a controller 50. On the upper surface of the housing 22A of the dolly 22, a teaching operation unit 52 (hereinafter, also simply referred to as "operation unit 52") is provided, which is operated to input (select) a registration number to which the teaching content is linked when the worker P teaches the cleaning robot 21. The operation unit 52 can input multiple registration numbers. The operation unit 52 can select registration numbers from "0" to "99", for example. In addition, on the rear surface of the housing 22A of the dolly 22, multiple grip units 22C that the worker P can hold when moving the dolly 22 are provided. The number of registration numbers that can be selected by the operation unit 52 can be changed as appropriate.

[0048] The cleaning liquid sprayed by the first spraying part 31 contains water and detergent. The detergent may be a mixture of water and detergent liquid, or may be water with detergent powder dissolved therein. In this way, the first spraying part 31 sprays a cleaning liquid containing detergent components, thereby improving the cleaning effect compared to spraying water alone.

[0049] When the production line 10 is a food production line, the conveyor 13 and the frame around its conveying surface 13A are subject to adhesion of oils such as meat and fish fats and oils, vegetable oils, colorings from fruit juice and vegetables, powders such as raw material powders and flavor powders, and sticky substances made by mixing these powders with liquids such as seasoning liquids containing water. Since these oils and fats and colorings are difficult to remove with water alone, the oils and colorings are washed off by spraying a cleaning liquid, which breaks them down with the cleaning components. Also, sticky substances stuck to the conveyor 13 and frame are washed off by the spray pressure of the first spray unit 31.

[0050] When the manufacturing line 10 is a manufacturing line for medical supplies such as medicines, liquid medicines, dyes from medicines, oils, etc. may adhere to the conveyor 13 and the frame. These liquid medicines, dyes, oils, etc. are difficult to remove with water alone, so they are washed off by spraying a cleaning liquid from the first spray unit 31 and breaking them down with the cleaning components.

[0051] The rinsing liquid sprayed by the second spraying unit 32 contains water. The water contained in the rinsing liquid is not limited to water at a temperature equal to or lower than room temperature, and may be hot water. The rinsing liquid in this example is water or hot water. After the cleaning is performed by spraying the cleaning liquid with the first spraying unit 31, the rinsing liquid is sprayed to remove the cleaning liquid remaining at the cleaning area. Therefore, the rinsing liquid may be any liquid that can remove the detergent components in the cleaning liquid. It may be a mixture of water and a liquid that is as easily vaporized as water or more easily vaporized than water. The rinsing liquid may be, for example, a mixture of water and ethyl alcohol. For example, if the rinsing liquid is a mixture of water and a liquid that is more easily vaporized than water, the drying of the rinsing liquid after the rinsing operation is likely to be promoted.

[0052] The third injection unit 33 has a function of injecting gas to dry the rinsing liquid after the rinsing operation performed by the second injection unit 32 injecting the rinsing liquid. The gas is, for example, air. In this example, the third injection unit 33 dries the rinsing liquid by injecting air. That is, the third injection unit 33 injects air into the area where the rinsing operation of rinsing the cleaning liquid with the rinsing liquid has been performed, and the rinsing liquid remaining in the cleaning area is removed and dried by the air flow (air jet). The gas may be other than air, and may be, for example, nitrogen, oxygen, carbon dioxide, etc. The gas may be a single gas or a mixed gas.

[0053] The cleaning robot 21 also includes a teaching unit 82 that teaches the control content when the control unit 81 controls the multiple spraying units 30 and the robot arm 23 to perform cleaning. <Multiple Ejectors and Fluid Supply Circuits> Next, a fluid supply circuit that supplies a fluid containing liquid to a plurality of spraying units 30 will be described with reference to Fig. 4. As shown in Fig. 4, a cleaning liquid WL is stored in a tank 60. The cleaning liquid WL in the tank 60 is pressurized by air pressure AP supplied into the tank 60 from a pipe 64. The inside of the tank 60 is pressurized to a predetermined set pressure by a pressurizing valve 66. A pipe 69 inserted into the cleaning liquid WL in the tank 60 is connected to an inlet pipe connection 71. This inlet pipe connection 71 is connected to an output pipe connection 74 through a pipe 37. A first solenoid valve 61 is provided in the middle of the pipe 37. The output pipe connection 74 is connected to a first spraying unit 31, which is a cleaning liquid nozzle, through a pipe 34.

[0054] Furthermore, a connection portion 78A of the water supply hose 78 is connected to an inlet pipe connection portion 72. This inlet pipe connection portion 72 is connected to an output pipe connection portion 75 through a pipe line 38. A second solenoid valve 62 is provided in the middle of the pipe line 38. The output pipe connection portion 75 is connected to the second spraying portion 32, which is a rinsing liquid nozzle, through a pipe line 35. A manual opening / closing valve 79 is provided in the middle of the pipe lines 35, 38 between the second solenoid valve 62 and the second spraying portion 32.

[0055] Furthermore, a pipe 68 branching off from the pipe 64 is connected to an inlet pipe connection 73. This inlet pipe connection 73 is connected to an output pipe connection 76 through a pipe 39. A third solenoid valve 63 is provided in the middle of the pipe 39. The output pipe connection 76 is connected to a third jetting unit 33, which is an air blow nozzle, through a pipe 36. A manual on-off valve (not shown) may be provided in the middle of the pipes 34 and 37 between the first solenoid valve 61 and the first jetting unit 31. A manual on-off valve (not shown) may be provided in the middle of the pipes 36 and 39 between the third solenoid valve 63 and the third jetting unit 33.

[0056] The three solenoid valves 61 to 63 shown in Fig. 4 are controlled by the controller 50 (see Fig. 3). When the first solenoid valve 61 opens, the pressurized cleaning liquid WL from the tank 60 is sprayed from the first spraying unit 31. When the second solenoid valve 62 opens, the rinsing liquid is sprayed from the second spraying unit 32. Furthermore, when the third solenoid valve 63 opens with the manual opening / closing valve 79 open, air for air blowing is sprayed from the third spraying unit 33.

[0057] The ejection parts 31 to 33 may be configured to be replaceable so that one of a plurality of types of ejection patterns can be selected. Examples of the ejection patterns include vertically long, round, and direct-injection ejection patterns. The first ejection part 31 is replaceable with another first ejection part 31 made of a nozzle with a different ejection pattern. One of the plurality of types of first ejection parts 31 with different ejection patterns is attached to the cleaning head 24. The second ejection part 32 is replaceable with another second ejection part 32 made of a nozzle with a different ejection pattern. One of the plurality of types of second ejection parts 32 with different ejection patterns is attached to the cleaning head 24. Furthermore, the third ejection part 33 is replaceable with another third ejection part 33 made of a nozzle with a different ejection pattern. One of the plurality of types of third ejection parts 33 with different ejection patterns is attached to the cleaning head 24.

[0058] The three spraying units 31 to 33 may be automatically replaced by an automatic replacement device made up of a robot having a hand at the tip of an arm for performing the replacement work. Alternatively, a plurality of first spraying units 31 with different spraying patterns and a switching mechanism (not shown) for selectively switching one of the plurality of first spraying units 31 to spray the cleaning liquid WL may be assembled to the cleaning head 24. In this case, the controller 50 controls the switching mechanism, so that the first spraying unit 31 corresponding to the spraying pattern designated by the worker P to the controller 50 by operating the operation tablet 29 is selected as the one to spray the cleaning liquid WL.

[0059] As shown in Fig. 5, when the cleaning head 24 is viewed from the front, the three spraying parts 31-33 are arranged at three positions spaced at predetermined angular intervals (for example, equal intervals of 120 degrees) around the central axis of the cleaning head 24. Also, when viewed from the front as shown in Fig. 5, the cleaning head 24 has grips 24A attached at three positions spaced at predetermined angular intervals different from the positions of the three spraying parts 31-33. During teaching, the worker P grasps the grips 24A and manually moves the cleaning head 24 to teach the cleaning robot 21 the spray start positions and spray end positions of the spraying parts 31-33, respectively, individually.

[0060] <Positioning mechanism> Next, the positioning mechanism 45 will be described with reference to Fig. 6. The cleaning robot 21 of this embodiment includes a positioning mechanism 45 that can position the cleaning robot 21 at the same cleaning start position SP with respect to the production line 10 during teaching and during cleaning execution in which cleaning is performed according to the teaching contents.

[0061] As shown in FIG. 6, the positioning mechanism 45, which is a level bolt 41A with a positioning function, has a lever 42, a toggle mechanism 46 operated by operating the lever 42, and a positioning rod 44 that rises and falls in the vertical direction Z via the toggle mechanism 46. A positioning unit 18 (see also FIG. 1) for positioning the cleaning robot 21 at the cleaning start position SP is fixed to the floor surface FP. The positioning unit 18 has a recess 18A. When placing the cleaning robot 21 at the cleaning start position SP, the worker P positions the cleaning robot 21 at a position where the positioning rod 44 of the positioning mechanism 45 and the recess 18A face each other in the vertical direction Z. In this positioned state, the worker P operates the lever 42 from the travelable position to the fixed position. By operating this lever 42, the positioning rod 44 is lowered via the toggle mechanism 46 to a position where it is inserted into the recess 18A of the positioning unit 18. By the engagement of this positioning rod 44 with the recess 18A, the cleaning robot 21 is positioned at the cleaning start position SP.

[0062] Two positioning mechanisms 45 (only one is shown in FIG. 6) are provided in a direction perpendicular to the paper surface in FIG. 6. The positioning part 18 fixed to the floor surface FP is formed with a recess 18A consisting of a round hole into which the positioning rod 44 of one positioning mechanism 45 is inserted, and a recess 18A consisting of an elongated hole into which the positioning rod 44 of the other positioning mechanism 45 is inserted. As a result, even if the positions of the two positioning rods 44 vary in the direction in which the two positioning mechanisms 45 are aligned, the two positioning rods 44 are both inserted into the two recesses 18A, so that the cleaning robot 21 can be reliably positioned at the cleaning start position SP.

[0063] If the position of the positioning rod 44 and the recess 18A are misaligned, the lever 42 cannot be operated any further while it is being moved from the travelable position to the fixed position. This allows the worker P to know that the position of the cleaning robot 21 is misaligned from the cleaning start position SP. Therefore, the worker P can shift the position of the cleaning robot 21 to reposition it to the correct cleaning start position SP.

[0064] <Electrical configuration of the article transfer device> Next, the electrical configuration of the cleaning robot 21 will be described with reference to Fig. 7. As shown in Fig. 7, the cleaning robot 21 includes a controller 50 that performs overall control of the cleaning robot 21. The controller 50 includes a computer 80 (microprocessor). The computer 80 includes a control unit 81, a teaching unit 82, and a storage unit 83. The controller 50 is configured, for example, by a programmable logic controller (PLC). The programmable controller has the computer 80 configured by a microprocessor.

[0065] 7, the controller 50 is electrically connected, as an input system, to an operation tablet 29 operated by an operator P and a teaching operation unit 52 provided on the cart 22. The controller 50 is also electrically connected, as an output system, to a robot arm 23, a first solenoid valve 61, a second solenoid valve 62, a third solenoid valve 63, and a pressurizing valve 66.

[0066] The operation tablet 29 includes a display unit 29A and an input unit 29B. The operation tablet 29 is capable of wireless communication with the controller 50. At least one of the operation tablet 29 and the teaching operation unit 52 is used during teaching. The worker P teaches the cleaning robot 21 by operating the input unit 29B of the operation tablet 29. At this time, a registration number is selected on the teaching operation unit 52. The teaching unit 82 registers, for each registration number, the teaching content (control content) that the worker P performs by manually moving the robot arm 23 with the cleaning robot 21 positioned at the cleaning start position SP. The teaching unit 82 stores the teaching content in the memory unit 83 as teaching data TD linked to the registration number.

[0067] The program PR and the above-mentioned teaching data TD are stored in the memory unit 83. The program PR includes, for example, a teaching process routine program shown in the flowchart of FIG 9 and a cleaning control process routine program shown in the flowchart of FIG 10.

[0068] The control unit 81 causes the computer 80 to execute a cleaning control program in accordance with the teaching data TD, thereby causing the cleaning robot 21 to perform a cleaning task for each registration number. The teaching unit 82 has a selection function for selecting two or more jetting units 30 including a first jetting unit 31 and a second jetting unit 32 from among the multiple jetting units 30, and a teaching function. The teaching function is a function for teaching, by moving the robot arm 23 in the teaching mode, for each selected jetting unit 30, the movement path (ejection section) along which the selected jetting unit 30 was moved, the jetting unit 30 to be caused to jet along that movement path, and the jetting direction when jetting.

[0069] As shown in FIG. 7, the cleaning robot 21 may include a travel motor 55 as a drive source for electrically traveling the cart 22. In this case, the user may travel the cart 22 by remote control operation, or may travel the cart 22 by operating the operation tablet 29. The cart 22 may have a steering mechanism, and the user may remotely control the steering mechanism to steer the cart 22. Alternatively, a guide line may be laid on the floor surface FP, and the cart 22 may move along the guide line while detecting the guide line with a sensor. In this case, the positioning unit 18 and the positioning mechanism 45 may be eliminated if a positioning mark is placed at a predetermined position (cleaning start position) on the guide line, and the cart 22 is stopped when the positioning mark is detected by a sensor.

[0070] <Teaching setting screen> Next, a teaching setting screen 85 (hereinafter, simply referred to as "setting screen 85") displayed on the display unit 29A of the operation tablet 29 used when the worker P performs teaching will be described with reference to FIG.

[0071] 8, the setting screen 85 displays a registration number ("11" in the example of FIG. 8) that is a number selected by the operator P by operating the teaching operation unit 52. The setting screen 85 also has a setting button 86 that is operated when setting the injection start position, and a setting button 87 that is operated when setting the injection end position.

[0072] When the worker P grips the grip 24A and manually moves the cleaning head 24 to the spray start position, a sensor (not shown) of the robot arm 23 detects the position coordinates and attitude angle of the cleaning head 24 at that time. When the worker P operates the setting button 86 on the setting screen 85, the information on the position coordinates and attitude angle of the cleaning head 24 at that time is set as the spray start position. Also, when the worker P grips the grip 24A and manually moves the cleaning head 24 to the spray end position, a sensor of the robot arm 23 detects the position coordinates and attitude angle of the cleaning head 24 at that time. When the worker P operates the setting button 87 on the setting screen 85, the information on the position coordinates and attitude angle of the cleaning head 24 at that time is set as the spray end position.

[0073] The teaching unit 82 also has a setting function for setting the movement speed when the selected ejection unit 30 moves through the ejection section. The setting screen 85 has a selection button or an operable slider (both not shown) for setting the movement speed when the selected ejection unit 30 moves from the ejection start position to the ejection end position. The selection button makes it possible to select one from a plurality of movement speeds prepared in advance. The slider can be slid along the speed scale, and it is possible to set the movement speed indicated by the scale at the position where the slider is slid.

[0074] Furthermore, the setting screen 85 has three buttons 91 that are operated when selecting the ejection unit 30 to be taught. That is, as options for the "ejection unit selection" item, there are a button 91 that is operated when selecting the first ejection unit 31, a button 92 that is operated when selecting the second ejection unit 32, and a button 93 that is operated when selecting the third ejection unit 33.

[0075] Furthermore, the setting screen 85 has three buttons 94 to 96 in the "ejection pattern selection" item. In the "ejection pattern selection" item, the ejection pattern when the one ejection unit 30 selected in the "ejection unit selection" item ejects is selected by selecting one of the three buttons 94 to 96. That is, the options in the "ejection pattern selection" item include a button 94 operated to select a first ejection pattern, a button 95 operated to select a second ejection pattern, and a button 96 operated to select a third ejection pattern. Here, the ejection pattern refers to the pattern of the spray shape when ejected from the ejection unit 30.

[0076] In this embodiment, a plurality of (for example, three) different injection patterns are provided for each of the first to third injection parts 31 to 33. The first to third injection patterns are, for example, a vertical injection pattern, a circular injection pattern, and a direct injection pattern.

[0077] In this embodiment, at least the first ejection unit 31 among the multiple ejection units 31 to 33 is configured to be able to change the ejection pattern (ejection shape). The teaching unit 82 teaches the selected ejection pattern to at least the ejection section of the first ejection unit 31.

[0078] A plurality of different ejection patterns are prepared for each of the first to third ejection units 31 to 33, and one capable of ejecting in the designated ejection pattern is selected for each of them. In a configuration equipped with an automatic exchange device or a switching mechanism, the controller 50 (or the control unit 81) switches each of the first to third ejection units 31 to 33 to one ejection unit corresponding to the selected ejection pattern from the plurality of ejection units prepared for each of them, based on the teaching data TD.

[0079] 8 has an OK button 97 which is operated to confirm the setting contents, and a cancel button 98 which is operated to cancel the setting contents. When the teaching unit 82 accepts the operation of the OK button 97, it creates teaching data TD based on the setting contents of the setting screen 85. The teaching data TD includes a plurality of pieces of information related to the selected ejection part, the selected ejection pattern, the ejection start position, and the ejection end position on the setting screen 85.

[0080] <Operation of the embodiment> Next, the operation of the cleaning robot 21 will be described with reference to FIGS. First, the worker P teaches the cleaning robot 21 how to perform cleaning. The worker P grips the grip portion 22C and moves the cart 22 to place the cleaning robot 21 at the cleaning start position SP. The cart 22 is placed at a position where the positioning rod 44 of the positioning mechanism 45 faces the recessed portion 18A of the positioning portion 18, so that the cleaning robot 21 is placed at the work start position. When the wheels 40 are in contact with the floor surface FP, the lever 42 rises obliquely. When the worker P places the cleaning robot 21 at the cleaning start position SP, he or she presses down the lever 42. When the lever 42 is pressed down, the wheels 40 rise and the positioning rod 44 descends via the toggle mechanism 46. When the positioning rod 44 is inserted into the recessed portion 18A of the positioning portion 18, the cleaning robot 21 is positioned at the cleaning start position SP shown in FIG. 1. If the cleaning robot 21 is displaced from the cleaning start position SP, even if an attempt is made to push down the lever 42, the positioning rod 44 will hit a part other than the recessed portion 18A of the positioning part 18, and the lever 42 cannot be pushed down any further. This allows the worker P to know that the cleaning robot 21 is displaced from the cleaning start position SP. In this case, the worker P shifts the cleaning robot 21 and repositions it at the cleaning start position SP.

[0081] The teaching process executed by the teaching unit 82 of the computer 80 will be described below with reference to the flowchart of FIG. The worker P selects a number by operating the operation unit 52 provided on the top of the dolly 22. The selected number is set as the registration number for the teaching content to be taught.

[0082] In teaching the cleaning robot 21, the spray start position and spray end position are specified, and the spray part and spray pattern are selected. The operator P sets these settings on a setting screen 85 shown in Fig. 8, which is displayed on the display unit 29A of the operation tablet 29. The operator P holds the grip 24A of the cleaning head 24 and moves the cleaning head 24 to the desired position, thereby manually moving the robot arm 23 and teaching the movement path of the spray part.

[0083] The operator P inputs setting information required for teaching by operating the input unit 29B of the operation tablet 29. The teaching unit 82 of the computer 80, which has received the setting information input by the operator P, performs a teaching process to generate teaching data TD based on the position information of the cleaning head 24 moved by the operator P and the setting information.

[0084] In step S11, the computer 80 registers a number. That is, when the computer 80 receives a number selected by the worker P operating the teaching operation unit 52 of the cart 22, the computer 80 registers the received number as a registration number.

[0085] In the next step S12, the computer 80 selects the jetting start position. First, the operator P grasps the grip 24A and moves the cleaning head 24 to the jetting start position of the jetting unit 30 (e.g., the first jetting unit 31). In this state, the operator P operates the setting button 86 corresponding to the jetting start position on the setting screen 85 of the operation tablet 29, thereby setting the current position coordinates and attitude angle of the cleaning head 24 as the jetting start position.

[0086] In step S13, the computer 80 selects an ejection unit. The worker P selects the button 91 for "First ejection unit" in "Ejection unit selection" on the setting screen 85 of the operation tablet 29.

[0087] In step S14, the computer 80 selects an injection pattern. The worker P selects the button 94 for "First Injection Pattern" in "Injection Pattern Selection" on the setting screen 85 of the operation tablet 29.

[0088] In step S15, the computer 80 selects the jetting end position. The operator P grasps the grip 24A and moves the cleaning head 24 to the jetting end position of the jetting unit 30 (e.g., the first jetting unit 31). In this state, the operator P operates the setting button 87 corresponding to the jetting end position on the setting screen 85 of the operation tablet 29, thereby setting the current position coordinates and attitude angle of the cleaning head 24 as the jetting end position.

[0089] In step S16, the computer 80 judges whether the teaching is completed. When the operator P operates the OK button 97 to set the setting to "OK" on the setting screen 85 of the operation tablet 29, the computer 80 creates teaching data TD based on the setting contents on the setting screen 85. This teaching data TD includes the jetting start position (position coordinates and attitude angle), the jetting end position, information on the selected "first jetting unit", and information on the selected "first jetting pattern". This teaching data TD is linked to the registration number and stored in the memory unit 83. In this way, the operator P teaches the cleaning robot 21 the cleaning operation performed by the first jetting unit 31 jetting the cleaning liquid WL. Teaching of the rinsing operation and drying operation still remains, so teaching is not completed. If the computer 80 judges that teaching is not completed, it returns to step S11.

[0090] Next, the operator P teaches the rinsing operation after the cleaning operation. For teaching the rinsing operation, the operator P performs the same operations as for teaching the cleaning operation. The operator P operates the teaching operation unit 52 to register another number. Furthermore, the operator P grasps the grip 24A to move the cleaning head 24 sequentially to the spray start position and the spray end position of the second spray unit 32, and teaches the rinsing operation by setting operations using the operation tablet 29. At this time, the computer 80 similarly executes the teaching processing routine shown in FIG. 9.

[0091] This rinsing operation teaching selects the spray start position (step S12), the second spray unit 32 (step S13), the spray pattern (step S14), and the spray end position (step S15). The spray start position and the spray end position include the position coordinates and the attitude angle of the cleaning head 24.

[0092] When the operator P operates the OK button 97 on the setting screen 85 of the operation tablet 29, the computer 80 creates teaching data TD based on the settings on the setting screen 85. This teaching data TD is linked to the registration number and stored in the memory unit 83. In this way, the operator P teaches the cleaning robot 21 the rinsing operation performed by the second spraying unit 32 spraying the rinsing liquid. Teaching of the drying operation still remains, so teaching is not complete (negative determination in step S16).

[0093] Next, the operator P teaches the drying operation (draining operation) after the rinsing operation. For teaching the drying operation, the operator P performs the same operations as for teaching the cleaning operation. The operator P operates the teaching operation unit 52 to register another number. Furthermore, the operator P grasps the grip 24A to move the cleaning head 24 sequentially to the spray start position and spray end position of the third spray unit 33, and teaches the drying operation by setting operations using the operation tablet 29. The computer 80 similarly executes the teaching processing routine shown in FIG. 9.

[0094] This drying operation teaching selects the jetting start position (step S12), the third jetting unit 33 (step S13), the jetting pattern (step S14), and the jetting end position (step S15). The jetting start position and the jetting end position include the position coordinates and the attitude angle of the cleaning head 24.

[0095] When the operator P operates the OK button 97 on the setting screen 85 of the operation tablet 29, the computer 80 creates teaching data TD based on the settings on the setting screen 85. This teaching data TD is linked to the registration number and stored in the memory unit 83. In this way, the operator P teaches the cleaning robot 21 the drying operation performed by the third jetting unit 33 jetting air. When the computer 80 receives an operation from the operation tablet 29 by the operator P to end the teaching, it determines that the teaching is ended (positive determination in step S16) and ends the teaching processing routine.

[0096] In this embodiment, the teaching function of the teaching unit 82 teaches the movement path along which the selected ejection unit 30 is moved by the operator P moving the robot arm 23, the ejection section of the movement path along which the ejection unit 30 ejects, and the ejection direction when ejecting in the ejection section, for each selected ejection unit. In this embodiment, the movement path is from the ejection start position to the ejection end position. Also, the ejection section is from the ejection start position to the ejection end position. That is, in this embodiment, the start point and the end point of the movement path and the ejection section are the same. Note that the ejection section may be a part of the range of the movement path. In this case, the setting screen 85 may be configured to allow the start position and end position of the ejection unit 30 to be set.

[0097] In addition, the information on the attitude angle of the cleaning head 24 when the worker P grasps the grip 24A and moves the cleaning head 24 to the spray start position or the spray end position is set as the desired spray direction of the spray unit 30. In detail, the robot arm 23 is equipped with a plurality of sensors (not shown) capable of detecting the angles of the arm sections 27A to 27C and the attitude angle of the cleaning head 24. The position coordinates and attitude angle of the cleaning head 24 adjusted by the worker P during teaching are detected by the sensor of the robot arm 23. The computer 80 regards the position coordinates and attitude angle of the cleaning head 24 detected by the sensor as the information on the spray start position and the spray end position. The position coordinates are coordinate values ​​of a coordinate system with the reference position of the robot arm 23 as the origin.

[0098] In this way, one teaching content (cleaning content) is registered for one registration number. When multiple cleaning tasks are registered for cleaning of one production line 10, multiple pieces of teaching data TD are registered in association with the numbers. In this embodiment, three types of cleaning are usually performed: washing, rinsing, and drying. Therefore, the computer 80 repeatedly executes the processing of steps S11 to S16 a number of times equal to the number of types of cleaning. In this embodiment, the processing of steps S11 to S16 in FIG. 9 corresponds to an example of a teaching step.

[0099] Thereafter, the worker P uses the cleaning robot 21 to perform cleaning work on the production line 10. When performing cleaning work, the worker P designates the registration number registered during teaching. In this embodiment, the worker P designates three registration numbers registered during teaching. When the worker P designates multiple registration numbers, the control unit 81 designates the order in which the cleaning operations are to be performed based on the teaching data TD linked to the registration numbers. The computer 80 executes the program PR while referring to the teaching data TD, thereby cleaning the production line 10 with the cleaning details that were taught.

[0100] The cleaning control process executed by the control unit 81 of the computer 80 will be described below. In step S21, the computer 80 judges whether or not a registration number has been selected. If no registration number has been selected, this judgment is repeated at predetermined time intervals, and if it is judged that a registration number has been selected, the process proceeds to step S22.

[0101] In step S22, the computer 80 reads out the teaching data TD corresponding to the registration number from the storage unit 83. The computer 80 first reads out from the storage unit 83 the teaching data TD associated with the registration number that is to be read out first in the specified order.

[0102] In step S23, the computer 80 moves the robot arm 23 to the injection start position based on the teaching data TD. In step S24, the computer 80 determines the spraying unit based on the teaching data TD. For example, when the manufacturing line 10 is cleaned in the order of washing, rinsing, and drying (draining), the first spraying unit 31 is determined as the spraying unit from the initial teaching data TD.

[0103] In step S25, the computer 80 determines an injection pattern based on the teaching data TD. For example, the injection pattern of the first injection section 31 is determined. In step S26, the computer 80 starts cleaning. That is, the computer 80 moves the first spraying unit 31 along a predetermined path from the spraying start position to the spraying end position, and sprays the cleaning liquid WL from the first spraying unit 31 in a specified spray pattern. For example, if the conveyor 13 is a mesh conveyor, the cleaning liquid WL is sprayed from the first spraying unit 31 in a direct spray pattern, and the cleaning liquid WL is sprayed in spots onto the mesh conveyor. Stubborn dirt such as grease adhering to the mesh of the conveyor 13 can be washed off. Also, if the conveyor 13 is a belt conveyor, the cleaning liquid WL is sprayed from the first spraying unit 31 in a spreading flat pattern or a round pattern in order to efficiently clean the conveyor 13.

[0104] This cleaning operation may be performed while the conveyor 13 is stopped. In other words, a method can be adopted in which the first spraying part 31 is moved, for example, along a zigzag path that combines movement of the first spraying part 31 in the width direction Y and movement of the first spraying part 31 in the transport direction X relative to the stopped conveyor 13, thereby cleaning the conveyor 13 of the production line 10 and the guide surfaces on both sides thereof with the cleaning liquid WL.

[0105] This cleaning operation may be performed while driving the conveyor 13. That is, a method may be adopted in which the first spraying part 31 is moved back and forth in the width direction Y of the conveyor 13 relative to the conveyor 13 driven in the transport direction X, thereby cleaning the conveyor 13 of the production line 10 and the guide surfaces on both sides thereof with the cleaning liquid WL.

[0106] In step S27, the computer 80 determines whether or not the ejection end position has been reached. For example, if the first ejection unit 31 has not reached the ejection end position, the computer 80 continues cleaning by ejecting the cleaning liquid WL from the first ejection unit 31. Then, when the first ejection unit 31 reaches the ejection end position, the computer 80 proceeds to step S28.

[0107] In step S28, the computer 80 ends the cleaning. That is, the computer 80 closes the first solenoid valve 61 to stop the spraying of the cleaning fluid WL from the first sprayer 31.

[0108] In step S29, the computer 80 judges whether or not there is a next registration number. At the stage where cleaning with the cleaning liquid WL is finished, the rinsing operation and drying operation remain, so it is judged that there is a next registration number. If there is a next registration number (positive judgment in step S29), the computer 80 returns to step S22. Then, the computer 80 reads out the teaching data TD corresponding to the next registration number, and performs the processes of steps S23 to S28 based on the read teaching data TD, thereby performing the next rinsing operation.

[0109] That is, the computer 80 controls the robot arm 23 to move the second jetting unit 32 capable of jetting in a specified jetting pattern to a jetting start position (steps S23 to S25). Next, the computer 80 controls the robot arm 23 to move the second jetting unit 32 along a predetermined path from the jetting start position to the jetting end position, and during this movement, the second jetting unit 32 jets the rinsing liquid (rinse liquid) in a specified jetting pattern.

[0110] As with the cleaning operation, this rinsing operation may be performed by keeping the conveyor 13 stopped and moving the second spraying section 32, for example, along a zigzag path, or by moving the conveyor 13 back and forth in the width direction Y of the conveyor 13 while driving the conveyor 13.

[0111] When the second spraying unit 32 reaches the spray end position (positive determination in step S27), spraying of the rinsing liquid is stopped. Thus, the rinsing operation for cleaning is ended (step S28). When the rinsing operation is ended, the drying operation remains, so there is a next registration number. If there is a next registration number (positive determination in step S29), the computer 80 returns to step S22. Then, the teaching data TD corresponding to the next registration number is read, and the next drying operation is performed by executing the processes of steps S23 to S28 based on the teaching data TD that has been read.

[0112] That is, the computer 80 controls the robot arm 23 to move the third jetting unit 33, capable of jetting in a specified jetting pattern, to the jetting start position (steps S23 to S25). Next, the computer 80 controls the robot arm 23 to move the third jetting unit 33 along a predetermined path from the jetting start position to the jetting end position, and jets air from the third jetting unit 33 in the specified jetting pattern during this movement. That is, the third jetting unit 33 dries the cleaning area of ​​the production line 10 by removing water with an air blower.

[0113] As with the cleaning operation, this drying operation may involve moving the third spray section 33, for example, along a zigzag path while keeping the conveyor 13 stopped, or may involve moving the third spray section 33 back and forth in the width direction Y of the conveyor 13 while driving the conveyor 13.

[0114] When the third jetting unit 33 reaches the jetting end position (positive determination in step S27), the jetting of air from the third jetting unit 33 is stopped. In this way, the drying operation as cleaning ends (step S28). Since there is no next registration number, the cleaning sequence ends. In this embodiment, the processes of steps S22 to S28 in FIG. 10 correspond to an example of a cleaning step.

[0115] The worker P moves the cleaning robot 21 to the next cleaning start position SP (the position depicted by the two-dot chain line in FIG. 1) and has the cleaning robot 21 perform the same cleaning on the production line 10. In this way, the worker P cleans the entire production line 10 while moving the cleaning robot 21 to the multiple cleaning start positions SP in order.

[0116] The cleaning robot 21 is a collaborative robot that assists the worker P to reduce the cleaning burden on the worker P. When cleaning by the cleaning robot 21, it is inevitable that some areas will be missed or stains will remain. Therefore, the worker P checks the cleaning results of the cleaning robot 21, and if there are any areas that have been missed or stains remain, he or she cleans those areas manually. Only when there are any areas that have been missed or stains remain by the cleaning robot 21, does the worker P have to manually clean those areas, which significantly reduces the workload of the worker P.

[0117] As described above in detail, according to this embodiment, the following effects can be obtained. (1) The cleaning device 20 of the manufacturing line 10 includes a plurality of spraying units 30 each spraying different types of fluid, a robot arm 23 having the plurality of spraying units 30, and a cart 22 on which the robot arm 23 is mounted. The cleaning device 20 further includes a control unit 81 that controls the plurality of spraying units 30 and the robot arm 23, and a teaching unit 82 that teaches the control content when the control unit 81 controls the plurality of spraying units 30 and the robot arm 23 to perform cleaning. The plurality of spraying units 30 include a first spraying unit 31 that sprays a cleaning liquid WL and a second spraying unit 32 that sprays a rinsing liquid. The teaching unit 82 has a selection function and a teaching function. The selection function is a function that allows two or more spraying units including the first spraying unit 31 and the second spraying unit 32 to be selected from the plurality of spraying units 30. The teaching function is a function for teaching the moving path of the selected jetting unit by moving the robot arm 23, the jetting section of the moving path where the jetting unit 30 performs jetting, and the jetting direction when performing jetting in the jetting section to each selected jetting unit. According to this configuration, when cleaning the production line 10, the teaching unit 82 can select two or more jetting units including the first jetting unit 31 and the second jetting unit 32, and teach the moving path, jetting section, and jetting direction of the selected jetting unit 30 to each selected jetting unit 30. Therefore, the cleaning liquid WL can be sprayed and cleaned in a jetting path suitable for each production line 10, and the cleaning liquid WL can be rinsed after cleaning. Therefore, the burden of manual labor when cleaning the production line 10 can be reduced, and a high cleaning effect superior to, for example, washing with water can be obtained. Therefore, when cleaning the production line 10, the labor of the worker P can be reduced and a high cleaning effect can be obtained.

[0118] (2) The multiple spraying units 30 include a third spraying unit 33 that sprays gas to dry the rinsing liquid after the rinsing operation is performed by spraying the rinsing liquid by the second spraying unit 32. When three or more spraying units including the first spraying unit 31, the second spraying unit 32, and the third spraying unit 33 are selected, the teaching unit 82 teaches the movement path, spray section, and spray direction for each of the three or more spraying units 31 to 33. With this configuration, cleaning with the cleaning liquid WL, rinsing the cleaning liquid WL after cleaning, and drying the rinsing liquid after rinsing can be performed. Since the cleaning path, rinsing path, and drying path can be taught individually, the cleaning effect of the production line 10 can be further improved.

[0119] (3) At least the first jetting unit 31 of the multiple jetting units 30 is configured to be able to change the jet shape. The teaching unit 82 teaches the selected jet shape to at least the jetting section of the first jetting unit 31. With this configuration, the jet shape when at least the first jetting unit 31 jets the cleaning liquid WL in the jetting section can be selected and taught, so that the cleaning effect of the production line 10 can be further improved.

[0120] (4) The cleaning device 20 is a collaborative robot whose cart 22 is moved manually by a person. The positioning mechanism 45 is capable of positioning the collaborative robot at the same cleaning position with respect to the production line 10 during teaching using the teaching unit 82 and during cleaning with the taught control content. With this configuration, the worker P can place the collaborative robot at the same cleaning position during teaching and during cleaning. For example, if the position of the collaborative robot is shifted between teaching and cleaning, the cleaning effect of the production line 10 is reduced because the spray positions of the cleaning liquid WL and the rinsing liquid are shifted from the positions at the time of teaching. In contrast, the positioning mechanism 45 allows the collaborative robot to be placed at the same cleaning position with the required positional accuracy during teaching and cleaning, thereby improving the cleaning effect of the production line 10.

[0121] (5) The cleaning device 20 is a collaborative robot in which the cart 22 is moved manually by a person. The teaching unit 82 has a setting function for setting the moving speed at which the selected spray unit 30 moves through the spraying section. With this configuration, the moving speed at which the spray unit 30 moves through the spraying section while spraying can be set, so that the required cleaning effect can be obtained by setting the moving speed of the spray unit 30 to a value suitable for cleaning. Also, even if the robot arm 23 of the collaborative robot is moved manually during teaching, the spray unit can be moved at an appropriate moving speed through the spraying section when cleaning is performed.

[0122] (6) The method for cleaning the manufacturing line 10 includes a teaching step and a cleaning step. In the teaching step, the carriage 22 carrying the robot arm 23 having a plurality of spraying units 30 including a first spraying unit 31 for spraying the cleaning liquid WL and a second spraying unit 32 for spraying the rinsing liquid is moved to a cleaning start position SP (cleaning position) for the manufacturing line 10, and two or more spraying units 30 including the first spraying unit 31 and the second spraying unit 32 are selected from the plurality of spraying units 30, and the moving path along which the spraying unit 30 moves by moving the robot arm 23, the spraying section of the moving path in which the spraying unit 30 sprays, and the spraying direction when spraying in the spraying section are taught to each selected spraying unit 30. In the cleaning step, the manufacturing line 10 is cleaned by controlling the two or more spraying units 31, 32 and the robot arm 23 with the control contents taught in the teaching step. According to this cleaning method, the same effect as that of the cleaning device 20 of the manufacturing line 10 can be obtained.

[0123] (7) When a part of the range of the movement path is set as the spray section, some of the position coordinates among the multiple position coordinates input between the movement start position and the movement end position are set as the spray start position and the spray end position. With this configuration, even if part of the production line 10 exists as an obstacle on the linear path from the standby position to the spray start position of the robot arm 23, it is possible to set a path that avoids the obstacle. Therefore, the cleaning head 24 can be moved from the standby position to the spray start position while avoiding the obstacle.

[0124] The embodiment is not limited to the above and may be modified as follows. The cleaning robot 21 may include a pump that generates pressure necessary to spray a fluid (liquid or gas) from the spraying unit 30. That is, the cleaning robot 21 may be configured to spray a liquid (cleaning liquid or rinsing liquid) or gas pressurized by a pump from the spraying unit.

[0125] The cleaning robot 21 may be equipped with an imaging device including a camera capable of imaging the production line 10. The control unit 81 performs image analysis processing to analyze the image captured by the camera, thereby determining whether the cleaning robot 21 has been correctly positioned at the cleaning start position SP with respect to the production line 10. In this case, the camera may be provided on the cart 22 or on the robot arm 23. For example, the cleaning robot 21 may be equipped with a display unit that provides visual guidance or a speaker that provides audio guidance on the direction and distance to the correct cleaning start position SP.

[0126] The cleaning robot 21 may be provided with a compressor that pressurizes the draining air sprayed from the third spraying unit 33. The cleaning device 20 is not limited to the cleaning robot 21. The cleaning device 20 may have a movement mechanism including an X-axis movement mechanism, a Y-axis movement mechanism, and a Z-axis movement mechanism, and may be configured to move multiple spray units individually in three directions, the X direction, the Y direction, and the Z direction. For example, the cleaning device 20 may be configured to have an arm that is movable in each of the X, Y, and Z directions, instead of the robot arm 23, and to have multiple spray units 30 including a first spray unit 31 and a second spray unit 32 at the tip of the arm.

[0127] The cleaning robot 21 may be provided with a 3D scanner, and the position of the cleaning robot 21 at the time of teaching may be stored based on the detection results of the 3D scanner, and when cleaning is performed, the cleaning robot 21 may be guided to the position at the time of teaching based on the detection results of the 3D scanner.

[0128] The multiple spray units 30 may be of only two types, the first spray unit 31 and the second spray unit 32. In other words, the third spray unit 33 for blowing air may not be required. In addition, the multiple spray units 30 may include a spray unit that sprays liquids other than the cleaning liquid and the rinsing liquid, so long as the multiple spray units 30 are two or more spray units including the first spray unit 31 and the second spray unit 32.

[0129] The ejection unit 30 may be configured to be able to change the ejection pattern by switching the ejection port of the nozzle. In this case, the control unit 81 may switch the ejection port of the nozzle. The cleaning robot 21 may be provided with a measurement function for measuring the moving speed when the worker P manually moves the cleaning head 24 during teaching, and the moving speed of the spraying unit 30 when moving through the spraying section may be set based on the measured value. With this configuration, the worker P can set the moving speed when the cleaning head 24 is moved at an appropriate moving speed while observing how dirt is removed when a predetermined liquid is sprayed from the spraying unit 30 during teaching.

[0130] The production line 10 to be cleaned by the cleaning device 20 does not have to include a conveyor 13. The production line 10 to be cleaned by the cleaning device 20 is not limited to a food production line, but may be a pharmaceutical production line for manufacturing pharmaceuticals.

[0131] The production line 10 to be cleaned by the cleaning device 20 is not limited to a production line in which a worker P produces products such as food or medicine, but may be an unmanned production line in which a manufacturing robot produces finished products or semi-finished products. [Explanation of symbols]

[0132] 10...production line, 11...main body frame, 12...transport mechanism, 13...conveyor, 13A...transport surface, 14...roller, 15...driving source, 18...positioning portion, 18A...recess, 20...cleaning device, 21...cleaning robot, 22...cart, 22A...housing, 22C...grip portion, 23...robot arm, 24...cleaning head, 24A...grip, 25...base portion, 26...rotating portion, 27...arm, 27A-27C...arm portion, 28...driving source, 29...operation tablet, 29A...display portion, 29B...input portion, 30...spraying portion, 31...first spraying portion, 32...second spraying portion, 33...third spraying portion, 34...first pipe line, 35...second pipe line, 36...third pipe line, 40...car Wheel, 41A, 41B...level bolt, 42...lever, 43...fixing part, 44...positioning rod, 45...positioning mechanism, 46...toggle mechanism, 50...controller, 51...control box, 60...tank, 61...first solenoid valve, 62...second solenoid valve, 63...third solenoid valve, 64...pipe, 65...connected part, 66...pressurizing valve, 67...branching part, 71-73...inlet piping connection parts, 74-76...outlet piping connection parts, 80...computer, 81...control part, 82...teaching part, 83...memory part, W...item, FP...floor surface, P...operator, WL...cleaning liquid, PR...program, TD...teaching data, X...transport direction, Y...width direction, Z...vertical direction.

Claims

1. A cleaning device for a production line, comprising: A plurality of ejection units each ejecting a different type of fluid; A robot arm having the plurality of ejection units; A cart on which the robot arm is mounted; and A control unit that controls the plurality of ejection units and the robot arm; a teaching unit that teaches control content when the control unit controls the plurality of spray units and the robot arm to perform cleaning; Equipped with The plurality of spray units include a first spray unit that sprays a cleaning liquid and a second spray unit that sprays a rinsing liquid, The teaching unit includes: A selection function for selecting two or more ejection units including the first ejection unit and the second ejection unit from the plurality of ejection units; a teaching function for teaching, for each selected jetting unit, a movement path along which the selected jetting unit is moved by moving the robot arm, a jetting section along the movement path along which the jetting unit performs jetting, and a jetting direction when jetting in the jetting section.

2. The plurality of spraying units include a third spraying unit that sprays gas to dry the rinsing liquid after the rinsing operation is performed by spraying the rinsing liquid by the second spraying unit, 2. The manufacturing line cleaning device according to claim 1, wherein when three or more jetting units including the first jetting unit, the second jetting unit, and the third jetting unit are selected, the teaching unit teaches the movement path, the jetting section, and the jetting direction for each of the three or more jetting units.

3. At least the first ejection portion among the plurality of ejection portions is configured to be able to change an ejection shape, 3. The manufacturing line cleaning device according to claim 1, wherein the teaching unit teaches a selected jet shape to at least the jetting section of the first jetting unit.

4. The cleaning device is a collaborative robot in which a person manually moves the cart, The manufacturing line cleaning device according to any one of claims 1 to 3, characterized in that it is provided with a positioning mechanism that can position the collaborative robot at the same cleaning position relative to the manufacturing line during teaching using the teaching unit and during cleaning execution in which cleaning is performed using the taught control content.

5. The cleaning device is a collaborative robot in which a person manually moves the cart, 5. The manufacturing line cleaning device according to claim 1, wherein the teaching unit has a setting function for setting a moving speed when the selected spray unit moves through the spray section.

6. A method for cleaning a production line, comprising the steps of: a teaching step of selecting two or more jetting units including the first jetting unit and the second jetting unit from among the plurality of jetting units while moving a cart carrying a robot arm having the robot arm mounted thereon to a cleaning position relative to the production line, and teaching each of the selected jetting units a moving path along which the jetting units are moved by moving the robot arm, a jetting section along the moving path along which the jetting units perform jetting, and a jetting direction when performing jetting in the jetting section; a cleaning step of cleaning the manufacturing line by controlling the two or more ejection units and the robot arm according to the control contents taught in the teaching step; A method for cleaning a production line, comprising:

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