Cleaning systems and equipment

Abstract

The efficiency of cleaning and drying work is improved by using an industrial robot to grasp the workpiece and transport it while cleaning and drying. [Solution] A cleaning system for cleaning workpieces, comprising a second cleaning station 10 consisting of a second cleaning device, a first cleaning station in which the second cleaning device is arranged to roughly clean the workpieces, and a drying station in which a drying device is arranged to dry the workpieces, the second cleaning station and the drying station being arranged within the movable range of a robot arm, the second cleaning device comprising the robot arm that grasps and moves the workpieces, a cleaning station section in which a plurality of cleaning nozzles are arranged to clean the workpieces, and a draining station section that drains the workpieces, the robot arm, while grasping the workpiece, performs cleaning and draining processes on the workpieces while transporting it through the cleaning station section and the draining station section.

Description

[Technical Field]

[0001] The present invention relates to a cleaning system and a cleaning device that include an industrial robot equipped with a robot arm. [Background technology]

[0002] In a workpiece washing device in which a workpiece is detachably fixed on a table arranged in a booth, and spray nozzles that can selectively spray cleaning liquid and pressurized air are attached to an articulated robot fixed in the booth and the spray nozzles are turned in three dimensions, a workpiece washing device is known in which a plurality of spray nozzles suited to the shape of each part of the workpiece to be washed are attached to the articulated robot and a spray nozzle is automatically selected according to the shape of each part to be washed while washing (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-350968 Summary of the Invention [Problem to be solved by the invention]

[0004] In the prior art of Patent Document 1, an articulated robot is provided with spray nozzles that can selectively spray cleaning liquid or pressurized air, but it is not possible to mount many spray nozzles on a robot due to weight restrictions, etc. Also, if the number of spray nozzles is small, it takes a long time to clean and dry the entire workpiece, resulting in poor work efficiency.

[0005] The present invention provides a cleaning system and cleaning device that improves the efficiency of cleaning and drying operations by using a robot arm to grasp a workpiece and clean and dry it while transporting the workpiece. [Means for solving the problem]

[0006] A cleaning system according to one aspect of the present invention is a cleaning system for cleaning workpieces, and includes a first cleaning station in which a first cleaning device for roughly cleaning the workpiece is disposed, a second cleaning station configured with a second cleaning device having a robot arm, and a drying station in which a drying device for drying the workpiece is disposed, and within the movable range of the robot arm: the first washing station; the second cleaning station and the drying station are arranged, and the second cleaning device includes the robot arm that grips and moves the workpiece, a cleaning station section in which a plurality of cleaning nozzles that clean the workpiece are arranged, and a draining station section that drains water from the workpiece, and the robot arm has a gripping section at its tip that grips the workpiece, The robot arm, the cleaning station section, and the draining station section are arranged in the same work room, and the first cleaning station and the drying station are arranged outside the work room on the same side, and at the first cleaning station, the gripping section of the robot arm grips a workpiece, and while the gripping section grips the workpiece, the workpiece is subjected to cleaning and draining processes while being transported through the cleaning station section and the draining station section, and at the drying station, the gripping section of the robot arm releases the workpiece. It is characterized by:

[0007] In this way, each station is provided with a cleaning and drying function, and the workpieces are transported by an industrial robot equipped with a robot arm, so the cleaning and drying functions can be improved by increasing the number of spray nozzles on each station rather than on the robot arm, allowing for efficient cleaning and drying of the workpieces.In addition, because the robot arm grasps the workpiece and transports it while holding it, the entire line from cleaning to finish drying can be unified, making it possible to make the entire system more compact. Furthermore, the effects of the series of cleaning liquid draining processes are isolated within the work room, minimizing the effects on the outside.

[0008] This washing system is characterized in that the draining station of the second washing device is an air blow station that drains water from the workpiece by multiple air blows.

[0009] In this way, the workpiece can be efficiently drained while the robot arm is holding the workpiece.

[0012] This cleaning system is characterized in that the second cleaning device has an opening on one side of the work room through which at least the gripping portion of the robot arm can enter and exit, and further includes a cleaning door that opens and closes the opening.

[0013] In this way, the work room is opened only when the workpiece is put in or taken out, so the influence of cleaning or air blowing on the outside of the work room is minimized.

[0014] In this cleaning system, the cleaning station portion of the second cleaning device includes a first wall portion and a second wall portion that are arranged opposite to each other with a predetermined gap therebetween, and at least one of the first wall portion and the second wall portion has a Cleaning nozzle The cleaning nozzle is arranged so that the workpiece is moved through the space between the first wall portion and the second wall portion by the robot arm, and the cleaning liquid is sprayed onto the workpiece from the cleaning nozzle to clean it.

[0015] In this way, while the robot arm moves the workpiece between the two walls, the entire workpiece is thoroughly cleaned with cleaning liquid from the cleaning nozzles installed on the walls. Also, by arranging cleaning nozzles on both walls, both sides of the workpiece are efficiently cleaned. Furthermore, by moving the workpiece back and forth, cleaning can be even more thorough.

[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 each other at a predetermined distance, the air injection nozzle is arranged 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 it.

[0017] In this way, just like in the washing station, in the draining station, the robot arm moves the workpiece between the two walls, and the entire workpiece is thoroughly drained with air from the air injection nozzles installed in the walls. Furthermore, by providing air injection nozzles on both walls, both sides of the workpiece are efficiently drained. Furthermore, by moving the workpiece back and forth, even more thorough cleaning is possible. Furthermore, by making the washing station and the draining station similar in structure, the number of parts can be reduced and parts can be standardized, improving maintenance workability and reducing costs.

[0018] This cleaning system is characterized in that the gripping portion of the robot arm in the second cleaning device is equipped with 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, and in the cleaning station portion, the workpiece moves through the space portion so 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 that grips the workpiece is provided with a first gripping member and a second gripping member, and the workpiece can be gripped from both sides and moved while avoiding the wall portion for cleaning or draining, thereby avoiding interference of the gripping member with 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 being slidable.

[0021] In this way, the first gripping member and / or the second gripping member can slide to grip the workpiece according to the size of the workpiece, so that various types of workpieces can be gripped. Also, the workpiece can be easily attached and detached.

[0022] In this cleaning system, the gripping portion of the second cleaning device further includes a rotation mechanism that rotates the workpiece horizontally, and the first gripping member and the second gripping member are 1st wallThe workpiece can be rotated in a direction that avoids this.

[0023] In this way, the workpiece can be rotated by the rotation mechanism of the gripping part, so that the workpiece can be moved flexibly, for example, to avoid interference with a wall or to attach or detach.

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

[0025] In this way, the workpiece can be moved smoothly along the first wall portion. Here, the cutout portion can be formed, for example, in the center of the first wall portion to make it easier to access the first wall portion, or can be formed above and below the first wall portion to allow the workpiece to be moved without interfering with the gripping portion.

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

[0027] In this way, when the workpiece is moved along the first wall portion, the first gripping member and the second gripping member do not interfere with each other and the workpiece can move smoothly. The notches are formed, for example, on the top, bottom, left, and right sides of the first wall portion.

[0028] This cleaning system is characterized in that the first wall portion of the second cleaning device 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.

[0029] This allows the workpiece to be inserted through the gap in the center of the first wall portion, making it easier to access the first wall portion.

[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 opposite the gap side of one wall member of the first wall portion to the end opposite the gap side of the other wall member.

[0031] In this way, the second wall portion side has a continuous structure with no gaps, so when a plurality of washing nozzles are arranged on this side, the entire workpiece can be washed or drained.

[0032] This cleaning system is characterized in that it is provided with an air curtain means between the cleaning station section and the draining station section within the working room of the second cleaning device, and while the air curtain is formed, draining of water is performed on the workpiece at the draining station section.

[0033] In this way, the washing station and the draining station are separated by an air curtain, so that the washing operation does not affect the draining operation, and the draining operation does not affect the washing operation.

[0034] This washing system is characterized in that the draining station of the second washing device further comprises a water pouring means on the opposite side to the air curtain means.

[0035] In this way, after the water has been removed by air blowing or the like, any foreign matter remaining on the workpiece can be removed by pouring water over it.

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

[0037] In this way, the robot arm can smoothly clean the workpiece through a series of operations from the first cleaning station to the second cleaning station and 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 in the first cleaning station and nozzle cleaning in the cleaning station portion 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 of the drying station is a drying device that vacuum-dries the workpiece under vacuum conditions.

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

[0042] A cleaning device according to one aspect of the present invention is a cleaning device for cleaning a workpiece, and includes a robot arm that grips and moves the workpiece, a cleaning station unit in which a plurality of cleaning nozzles for cleaning the workpiece are arranged, and a draining station unit that drains water from the workpiece, wherein the robot arm has a gripping unit at its tip that grips the workpiece, The robot arm, the washing station unit, and the draining station unit are arranged in the same work room, and the washing station unit and the draining station unit are arranged within a movable range of the robot arm, and the gripping unit of the robot arm grips a workpiece outside one side of the work room, While the workpiece is held by the gripping unit, the workpiece is subjected to a cleaning process and a draining process while being transported through the cleaning station unit and the draining station unit; Outside the one side of the work room, the gripper of the robot arm releases the workpiece. It is characterized by:

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

[0044] This cleaning device is characterized in that the draining station is an air blow station that drains water from the workpiece with a plurality of air blows.

[0045] This cleaning apparatus is characterized in that the robot arm, the cleaning station unit, and the draining station unit are arranged in the same work room.

[0046] This cleaning device is characterized in that it has an opening on one side of the work room through which at least the gripping portion of the robot arm can enter and exit, and further includes a cleaning door that opens and closes the opening.

[0047] This cleaning device is characterized in that the cleaning station section 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 on at least one of the first wall section and the second wall section, and the workpiece is cleaned by spraying cleaning liquid from the cleaning nozzle onto the workpiece while the robot arm moves the workpiece 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 each other with a predetermined distance between them, the air injection nozzle is arranged 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 is equipped with a first gripping member and a second gripping member that grip the workpiece by sandwiching it from both sides, the first gripping member and the second gripping member are arranged at a predetermined distance, and in the cleaning station portion, the workpiece moves through the space portion so that the first gripping member and the second gripping member avoid the first wall portion or the second wall portion.

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

[0051] In this cleaning device, the gripping unit further includes a rotation mechanism that rotates the workpiece horizontally, and the first gripping member and the second gripping member are 1st wall The workpiece can be rotated in a direction that avoids this.

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

[0053] This cleaning device is characterized in that the notch of the first wall portion 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 portion 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 the gap side to the end of the other wall member opposite the gap side.

[0056] The cleaning device includes an air curtain means between the cleaning station and the draining station in the work room, air curtain In this state, the workpiece is drained in the draining station.

[0057] The washing apparatus further includes a water-spraying means on the opposite side of the draining station from the air curtain means. [Effects of the Invention]

[0058] According to the present invention, it is possible to provide a cleaning system and a cleaning device that use a robot arm to perform cleaning more efficiently than conventional methods. [Brief explanation of the drawings]

[0059] [Figure 1] 1 is a plan view illustrating an example of a cleaning system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a diagram showing a workpiece attachment / rough cleaning station, a cleaning station section, an air blow station section, and a workpiece desorption / vacuum drying station of a cleaning system according to one embodiment of the present invention. [Figure 3] 1 is a schematic perspective view of a cleaning station section (second cleaning station, air blow station) of a cleaning device according to an embodiment of the present invention, viewed obliquely from above. DETAILED DESCRIPTION OF THE INVENTION

[0060] An embodiment of the present invention will be described below, but the present invention is not limited to this. Furthermore, the configuration of each element is an example, and the components in the following embodiment include those that are easily replaceable by those skilled in the art, or those that are substantially identical. Furthermore, the configurations described below can also 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. Cleaning system configuration> Fig. 1 is a plan view showing an example of a cleaning system according to an embodiment of the present invention. Fig. 2 is a perspective view of the cleaning system as seen from the front side. Fig. 2 is a diagram showing the workpiece attachment / rough cleaning station, cleaning station section, air blow station section, and workpiece desorption / vacuum drying station of the cleaning system. Below, the configuration of the entire cleaning system will be explained, followed by an explanation of the cleaning device.

[0062] 1, 2, and 3, the cleaning system 1 according to this embodiment includes a second cleaning station configured with a second cleaning device 10 having a robot arm 13 for cleaning and draining workpieces, a workpiece loading / rough cleaning station 20 which is a first cleaning station for roughly cleaning workpieces, and a workpiece de-loading / vacuum drying station 30 for vacuum drying workpieces. The workpiece loading / rough cleaning station 20 and the workpiece de-loading / 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 cleaning station (cleaning device 10) is equipped with an industrial robot 11 having a gripping tool 12 for gripping the workpiece W at the tip of a robot arm 13, a cleaning station section 16 for cleaning the workpiece W, and an air blow station section 17 for draining water from the workpiece W by air blowing.

[0064] In the workpiece attachment / rough cleaning station 20, the industrial robot 11 grips the workpiece W after rough cleaning with the gripping tool 12, and while transporting the workpiece W in a gripped state, the workpiece W is cleaned in the cleaning station section 16 and drained by air blow in the air blow station section 17. Then, in the workpiece removal / vacuum drying station 30, the gripping tool 12 releases its grip on the workpiece W and is driven and controlled to release the workpiece W.

[0065] The industrial robot 11, the cleaning station section 16, and the air blow station section 17 are arranged in the same work room 19. On one side of the work room 19, outside the room, a workpiece loading / rough cleaning station 20 and a workpiece deloading / vacuum drying station 30 are arranged side by side.

[0066] The workpiece attachment / rough cleaning station 20 has a cleaning tank 21 that contains cleaning liquid for cleaning the workpiece W, and a pedestal 22 that supports the workpiece W. The pedestal 22 that supports the workpiece W in the cleaning tank 21 is provided so that it can be raised and lowered by a rough cleaning swing cylinder 23 via an elevating mechanism (not shown). In other words, the workpiece W is immersed in the cleaning liquid in the cleaning tank 21 and raised and lowered, thereby performing rough cleaning. Reference numerals 24 and 25 denote a photoelectric sensor 24 and a fiber sensor 25 that are used to control the elevation of the pedestal 22.

[0067] The workpiece desorption / vacuum drying station 30 has a vacuum chamber 31 for performing vacuum drying. The upper side of this vacuum chamber 31 is closed by a vacuum door 33. Vacuum drying is performed with the workpiece W supported on a receiving 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 work room 19. Note that 35 is a proximity sensor that confirms that the receiving stand 32 is installed. During maintenance, the vacuum pump can be pulled out together with the vacuum pump stand 40, as shown by the chain line in FIG. 1.

[0068] In Fig. 1, reference numeral 41 denotes a cleaning pump, 42 a bag filter and element, 43 a filtration pump, 44 a heater, 45 a float switch, 46 a floating oil recovery machine (oil skimmer), 47 a robot control panel, 48 a robot TP and cables, 49 tank insulation provided on the four sides, and 50 a drawer drain outlet. In Fig. 2, reference numeral 51 denotes a hose for supplying cleaning liquid.

[0069] <2. Cleaning equipment configuration> Next, the cleaning device 10 will be described. FIG. 2 is a diagram showing the cleaning device of this embodiment (a workpiece attachment / rough cleaning station, a cleaning station section, an air blow station section, and a workpiece removal / vacuum drying station). FIG. 3 is a schematic perspective view of the cleaning station portion of the cleaning device (second cleaning station, air blow station) according to this embodiment, viewed obliquely from above.

[0070] As described above, the cleaning device 10 has the industrial robot 11 equipped with the robot arm 13 , the cleaning station section 16 , and the drying station section 17 , all of which are arranged in the same work room 19 .

[0071] Furthermore, a rectangular opening 19a is formed on one side of the work room 19, facing the workpiece loading / rough cleaning station 20 and the workpiece unloading / vacuum drying station 30, through which the gripper 12 at the tip of the robot arm 13 is inserted and removed. This opening 19a is opened and closed by the cleaning door 18 moving up and down by a cleaning door opening / closing cylinder (not shown). Therefore, by closing the cleaning door 18, the effects of cleaning in the cleaning station section 16 and air blowing in the air blow station section 17 are prevented from reaching the outside of the work room 19.

[0072] 3, the cleaning station 16 has front walls 16Aa, 16Aa arranged opposite to each other and a rear wall 16B extending parallel to the front walls 16Aa, 16Aa with a space therebetween, with a gap 16Ab extending vertically between the front walls 16Aa, 16Aa. The front walls 16Aa, 16Aa and the rear wall 16B are connected via connecting members 16C, 16C to form a space. The lower portions of the front walls 16Aa, 16Aa and the rear wall 16B are attached to the floor by leg members 16Ac, 16Ba, respectively.

[0073] As shown in FIG. 3, the gripping device 12 includes an actuator 12A that is rotatably attached to the tip of the robot arm 13 and causes movable rods 12Ab, 12Ab to extend and retract from the main body 12Aa, movable plates 12B, 12B that are provided on both sides of the actuator 12A and connected to the movable rods 12Ab, 12Ab, and gripping members 12Ca, 12Cb that are attached to the movable plates 12B, 12B.

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

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

[0076] Then, while the workpiece W is sandwiched and held by the gripping members 12Ca and 12Cb, the gripping orientation is adjusted and the workpiece W is moved between the walls 16Aa, 16Aa, and 16B using the gap 16Ab. Then, the workpiece W is moved back and forth multiple times in the left-right direction between the walls 16Aa, 16Aa, and 16B together with the gripping members 12Ca and 12Cb.

[0077] During this reciprocating movement, the plurality of spray nozzles 16a provided on the front wall portions 16Aa, 16Aa sprays the cleaning liquid onto the workpiece W, thereby cleaning the workpiece W. In this manner, the workpiece W is moved back and forth between the two wall portions 16Aa, 16Aa, 16B, whereby the entire workpiece W is thoroughly cleaned.

[0078] Although detailed description will be omitted, in this embodiment, the air blow station section 17 also has a structure that includes a front wall section and a rear wall section that are basically similar to those of the cleaning station section 16, and the positional relationship between the workpiece W and the gripping tool 12 and both walls is also similar. Note that 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] In addition, in the work room 19, an air curtain means 14 is provided between the cleaning station section 16 and the air blow station section 17, separating these station sections with an air curtain. With this air curtain formed, cleaning in the cleaning station section 16 and air blowing in the air blow station section 17 are performed on the workpiece W.

[0080] In the air blow station section 17, an industrial water pouring means 15 is provided on the side of a cleaning door 18 opposite to the side where the air curtain means 14 is provided, and prior to the finishing vacuum drying, foreign matter remaining on the work W is removed by pouring industrial water over it.

[0081] <3. Cleaning flow> Next, the cleaning process for the workpiece W in the above-described cleaning system 1 will be described. To clean the workpiece W, first, an operator places the workpiece W on a receiving table 22 in a cleaning tank 21 in the workpiece loading / rough cleaning station 20. Then, by repeatedly raising and lowering the receiving table 22 by the rough cleaning swing cylinder 23, the workpiece W is raised and lowered in the cleaning liquid in the cleaning tank 21, and the workpiece W is roughly cleaned. At this time, the cleaning door 18 of the cleaning device 10 (second cleaning station) is closed, and another workpiece is being cleaned in the cleaning device 10.

[0082] After the rough cleaning of the workpiece W is completed, the rough cleaning swing cylinder 23 raises and lowers the receiving table 22 to remove it from the cleaning liquid, and in this state, the cleaning door 18 of the cleaning device 10 opens, and the industrial robot 11 drives the robot arm 13 to move the gripping tool 12 at the tip to above the workpiece attachment / rough cleaning station 20, where the gripping tool 12 receives the workpiece W that has been roughly cleaned from the receiving table 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 cleaning station section 16, the orientation of the workpiece W is adjusted so that the gripping members 12Ca, 12Cb are positioned above and below, and the workpiece W is positioned between the two wall sections 16A, 16B by transporting it from top to bottom using the gap section 16Ab, and the industrial robot 11 moves the robot arm 13 back and forth in the left and right directions.

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

[0085] After being washed in the washing station section 16, the workpiece W is transported from the washing station section 16 to the air blow station section 17. Then, in the air blow station section 17, the orientation of the workpiece W is also adjusted, the workpiece W is positioned between the front and rear wall sections, and while the workpiece W is moved back and forth, air is blown from an air injection nozzle to blow off water droplets adhering to the workpiece W, and the workpiece W is dried by draining.

[0086] Then, after the work W is drained and dried in the air blow station section 17, it is transported to the adjacent industrial water pouring means 15, where foreign matter remaining on the work W is removed by pouring industrial water over it.

[0087] Thereafter, the cleaning door 18 of the work room 19 is opened, and the vacuum door 33 of the work removal / vacuum drying station 30 is opened, and the industrial robot 11 places the work W on the receiving platform 32 in the vacuum chamber 31 of the work removal / vacuum drying station 30.

[0088] Then, in the workpiece removal / vacuum drying station 30, the vacuum door 33 is closed and the workpiece W is vacuum dried. After the workpiece W has been vacuum dried, the vacuum door 33 is opened and the worker removes the workpiece W from the receiving stand 32 in the vacuum tank 31, completing the series of cleaning and drying steps.

[0089] The workpiece W is washed and dried in this manner, but the washing device 10 (first station), the workpiece attachment / rough washing station 20, and the workpiece removal / vacuum drying station 30 can each process the workpiece independently, so by performing each process in turn at each station, it is possible to wash and dry the workpiece continuously.

[0090] Furthermore, each station is equipped with a cleaning function and a drying function, and the workpiece W is moved by the robot arm 13 of the industrial robot 11. Therefore, by increasing the number of spray nozzles at each station, the cleaning function and drying function can be improved, and the workpiece can be washed and dried efficiently.

[0091] Furthermore, since the industrial robot 11 can grasp the workpiece W and transport it while grasping it, the entire line from cleaning to drying can be unified into one, making it possible to make the entire cleaning system more compact.

[0092] As described above, an embodiment of the present invention has been described with reference to the drawings. However, 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 16, cleaning liquid is supplied to the rear wall 16B through a hose and sprayed through multiple cleaning nozzles 16a. However, cleaning nozzles may also be provided on the front wall 16Aa. Also, cleaning nozzles may be provided on both the front wall 16Aa and the rear wall 16B. The number and location of the cleaning nozzles may also be changed as appropriate depending on the shape of the workpiece W. The same applies to the air spray nozzles of the air blow station 17. [Explanation of symbols]

[0093] 1 Cleaning System 10 Cleaning device (second cleaning station) 11 Industrial robots 12 Gripping tool 12A Actuator 12Aa Main unit 12Ab Movable Rod 12B Movable plate 12Ca, 12Cb gripping member 13 Robotic Arm 14 Air curtain means 15 Industrial water flushing method 16 Cleaning station 16a Injection 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 18 Cleaning door 19 Work Room 20 Workwear / Rough Cleaning Station 21 Cleaning tank 22 Cradle 23 Rough cleaning swing cylinder 24 Photoelectric Sensor 25 Fiber Sensor 30 Work desorption and vacuum drying station 31 Vacuum chamber 32 Cradle 33 Vacuum door 34 Vacuum door opening and closing cylinder 35 Proximity Sensor 40 Vacuum Pump Stand 41 Cleaning 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 cable 49 Tank insulation 50 Drawer slat outlet 51 Hose double work

Claims

1. It is a cleaning system for cleaning workpieces. a first cleaning station in which a first cleaning device for roughly cleaning the workpiece is disposed; a second cleaning station comprising a second cleaning device having a robotic arm; a drying station in which a drying device for drying the workpiece is disposed, the first cleaning station, the second cleaning station, and the drying station are arranged within a movable range of the robot arm, The second cleaning device is The robot arm that grips and moves a workpiece; a cleaning station unit in which a plurality of cleaning nozzles for cleaning the workpiece are arranged; A draining station section for draining the workpiece, The robot arm A gripping portion for gripping a workpiece is provided at the tip thereof, the robot arm, the washing station unit, and the draining station unit are arranged in the same work room; The first cleaning station and the drying station are disposed outside the work room on the same side; In the first cleaning station, the gripping unit of the robot arm grips the workpiece, and while the gripping unit grips the workpiece, the workpiece is subjected to cleaning and draining processes while being transported through the cleaning station unit and the draining station unit, and in the drying station, the gripping unit of the robot arm releases the workpiece. characterized in that Cleaning system.

2. The draining station of the second cleaning device includes: This is an air blow station that uses multiple air blows to remove water from the workpiece. The cleaning system of claim 1 .

3. The second cleaning device is an opening on one side of the work room through which at least the gripping portion of the robot arm can enter and exit; Further comprising a cleaning door that opens and closes the opening. The cleaning system of claim 1 .

4. The second cleaning device is The cleaning station portion The device includes a first wall portion and a second wall portion that are arranged opposite each other with a predetermined gap between them, a cleaning nozzle is disposed on at least one of the first wall portion and the second wall portion, The cleaning liquid is sprayed onto the workpiece from the cleaning nozzle while the workpiece is moved through the space between the first wall portion and the second wall portion by the robot arm, and the workpiece is cleaned. The cleaning system of claim 1 .

5. The second cleaning device is The draining station section The device includes a first wall portion and a second wall portion that are arranged opposite each other with a predetermined gap between them, an air injection nozzle is disposed on 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 wall portion and the second wall portion, and the workpiece is blown with air from the air injection nozzle to be drained. The cleaning system of claim 1 .

6. The second cleaning device is The gripping portion of the robot arm The workpiece is provided with a first gripping member and a second gripping member that sandwich and grip the workpiece from both sides, The first gripping member and the second gripping member are arranged at a predetermined interval, In the cleaning station section, the workpiece moves through the space section so that the first gripping member and the second gripping member avoid the first wall section or the second wall section. The cleaning system of claim 4.

7. The second cleaning device is The gripping portion is At least one of the first gripping member and the second gripping member is slidable. The cleaning system of claim 6.

8. The second cleaning device is The gripping portion is Further provided with a rotation mechanism for horizontally rotating the workpiece, The first gripping member and the second gripping member are capable of rotating the workpiece in a direction that avoids the first wall portion.

8. The cleaning system according to claim 6 or 7.

9. The second cleaning device is The first wall portion is The gripping portion is characterized in that it has a notch portion through which the gripping portion can pass.

8. The cleaning system according to claim 6 or 7.

10. The second cleaning device is The cutout portion of the first wall portion is A notch through which the first gripping member and the second gripping member can pass when the workpiece is moved. characterized in that The cleaning system of claim 9.

11. The second cleaning device is 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 capable of passing through the gap between the pair of wall members.

6. The cleaning system according to claim 4 or 5.

12. The second cleaning device is The second wall portion is The first wall portion is made up 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 of the first wall portion opposite to the gap side. The cleaning system of claim 11.

13. The second cleaning device is In the work room, an air curtain means is provided between the washing station and the draining station; With the air curtain formed, the workpiece is drained in the draining station. The cleaning system of claim 1 .

14. The second cleaning device is In the draining station, Further provided is a water flow means on the opposite side of the air curtain means. The cleaning system of claim 13.

15. The first cleaning device of the first cleaning station is a cleaning device that immerses the workpiece to perform rough cleaning. The cleaning system of claim 1 .

16. The drying device of the drying station is a drying device that vacuum dries the workpiece in a vacuum state. The cleaning system of claim 1 .

17. A cleaning device for cleaning workpieces, A robot arm that grips and moves a workpiece; a cleaning station unit in which a plurality of cleaning nozzles for cleaning the workpiece are arranged; A draining station section for draining the workpiece, The robot arm A gripping portion for gripping a workpiece is provided at the tip thereof, the robot arm, the washing station unit, and the draining station unit are arranged in the same work room; The washing station and the draining station are disposed within a movable range of the robot arm, The gripping unit of the robot arm grips a workpiece outside one side of the work room, and while the gripping unit is holding the workpiece, the workpiece is subjected to cleaning and draining processes while being transported through the cleaning station unit and the draining station unit, and the gripping unit of the robot arm releases the workpiece outside the one side of the work room. Cleaning equipment.

18. The draining station section includes: This is an air blow station that uses multiple air blows to remove water from the workpiece.

18. The cleaning device of claim 17.

19. an opening on one side of the work room through which at least the gripping portion of the robot arm can enter and exit; Further comprising a cleaning door that opens and closes the opening.

18. The cleaning device of claim 17.

20. The cleaning station section includes: The device includes a first wall portion and a second wall portion that are arranged opposite each other with a predetermined gap between them, The cleaning nozzle is disposed on at least one of the first wall portion and the second wall portion, The cleaning liquid is sprayed onto the workpiece from the cleaning nozzle while the workpiece is moved through the space between the first wall portion and the second wall portion by the robot arm, and the workpiece is cleaned.

18. The cleaning device of claim 17.

21. The draining station section includes: The device includes a first wall portion and a second wall portion that are arranged opposite each other with a predetermined gap between them, an air injection nozzle is disposed on 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 wall portion and the second wall portion, and the workpiece is blown with air from the air injection nozzle to be drained.

18. The cleaning device of claim 17.

22. The gripping portion of the robot arm is The workpiece is provided with a first gripping member and a second gripping member that sandwich and grip the workpiece from both sides, The first gripping member and the second gripping member are arranged at a predetermined interval, In the cleaning station section, the workpiece moves through the space section so that the first gripping member and the second gripping member avoid the first wall section or the second wall section.

21. The cleaning device of claim 20.

23. The gripping portion is At least one of the first gripping member and the second gripping member is slidable. characterized in that 23. The cleaning device of claim 22.

24. The gripping portion is Further provided with a rotation mechanism for horizontally rotating the workpiece, The first gripping member and the second gripping member are capable of rotating the workpiece in a direction that avoids the first wall portion.

24. The cleaning device according to claim 22 or 23.

25. The first wall portion is The gripping portion is characterized in that it has a notch portion through which the gripping portion can pass.

22. The cleaning device according to claim 20 or 21.

26. The cutout portion of the first wall portion is The notch is a portion through which the first gripping member and the second gripping member can pass when the workpiece is moved.

26. The cleaning device of claim 25.

27. 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 capable of passing through the gap between the pair of wall members.

22. The cleaning device according to claim 20 or 21.

28. The second wall portion is The first wall portion is made up 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 of the first wall portion opposite to the gap side.

28. The cleaning device of claim 27.

29. In the work room, an air curtain means is provided between the washing station and the draining station; With the air curtain formed, the workpiece is drained in the draining station.

18. The cleaning device of claim 17.

30. In the draining station, Further provided is a water flow means on the opposite side of the air curtain means.

30. The cleaning device of claim 29.

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