CN111229697A

CN111229697A - Cleaning machine for small-hole and deep-hole workpieces based on double-mechanical-arm high-pressure liquid and gas

Info

Publication number: CN111229697A
Application number: CN202010182739.4A
Authority: CN
Inventors: 李荣华; 王志栋; 李林; 李恒; 唐志超
Original assignee: Beijing Wonderroad Magnesium Technology Co Ltd
Current assignee: Dalian Jiaotong University; Beijing Wonderroad Magnesium Technology Co Ltd
Priority date: 2020-03-16
Filing date: 2020-03-16
Publication date: 2020-06-05

Abstract

The invention provides a cleaning machine for small-hole and deep-hole workpieces based on double-mechanical-arm high-pressure liquid and gas, which comprises: the automatic air drying machine comprises two mechanical arms, high-pressure liquid, a high-pressure air cleaning gun body, a powerful dust collection fan, an automatic air drying system, a full-automatic closed metal outer shell and a qualified binocular vision recognition device of a conveyor belt device, wherein the full-automatic closed metal outer shell is adopted as the whole; a mechanical arm assembly clamp replacer is used for grabbing different types of workpieces; the other mechanical arm device is arranged in the cleaning machine; the binocular vision recognition system is connected with the controller of the mechanical arm and can be used for recognizing the corresponding posture of the workpiece; the mechanical arms are controlled by the same controller, and the two mechanical arms are used for setting an anti-collision dynamic protection program; the air drying device performs synchronous work of positioning and rotating the air drying device for drying, and the dust collection device performs synchronous blowing and dust collection; the cleaning machine can realize cleaning of workpieces of different types and purging of precise holes of the workpieces, realize highly automatic mechanical operation, and improve the cleanliness of the purged workpieces.

Description

Cleaning machine for small-hole and deep-hole workpieces based on double-mechanical-arm high-pressure liquid and gas

Technical Field

The invention relates to the technical field of cleaning of small-aperture and deep-hole parts, in particular to a cleaning machine for small-aperture and deep-hole workpieces based on double mechanical arms high-pressure liquid.

Background

In the whole machining field, the integrated intelligent operation of machinery is realized, the high-efficiency capacity is improved, the labor expenditure is reduced, the cleanliness is improved, the mechanical development of work is realized, the development requirement of the whole mechanical industry is met, and the high-efficiency intelligent trend of the Chinese industry is realized. The cleaning of the workpiece becomes an indispensable development requirement, the cleanliness, integrity and safety of the workpiece are guaranteed, and the cleaning device is the basis of the whole product and is also the necessary guarantee of high-quality products. The deep cleaning of deep holes and small hole burrs of the workpiece can be realized by using the double-mechanical-arm high-pressure liquid and gas cleaning machine, the cleaning efficiency and cleanliness are further improved by the double mechanical arms, the all-dimensional rotation of the workpiece can be realized, and further the cleaning of the bottom is realized. In the field of cleaning machines, the cleaning machines have the characteristics of slow drying, low cleanliness, waste liquid pollution, low cleaning efficiency and the like, so that the process requirements and the working environment requirements for cleaning workpieces cannot be met.

According to the finding, the cleaning machine based on the double mechanical arms is few, most of the related equipment at present are ultrasonic water tank type cleaning machines and single mechanical arm cleaning machines, the process requirements of workpieces are difficult to achieve, the residues of cleaning workpieces are more, the residues of cleaning liquid are serious, the normal installation of the workpieces is influenced, for related compact workpieces, the ultrasonic frequency can influence the structure change of the workpieces, the actual safety performance of the workpieces is influenced, the single mechanical arm cleaning machine can only clean simple workpieces, and the cleaning machine can clean precision small-hole and deep-hole workpieces; the mechanical arm gripper of the related cleaning machine has poor tightness, is easy to fall off and has limited rotation angle. The related neighborhood cleaning machine cannot automatically identify the workpieces, the cleaning requirements corresponding to the mechanical arm are difficult to achieve, and the cleaning machine can complete cleaning tasks according to the related workpieces by performing the cleaning process of the corresponding workpieces.

Disclosure of Invention

According to the technical problems, the full-automatic cleaning machine with the double mechanical arms is provided, and the workpiece with the small hole and the deep hole diameter can be cleaned accurately and efficiently.

The technical means adopted by the invention are as follows:

a cleaning machine for small-hole and deep-hole workpieces based on double-mechanical-arm high-pressure liquid and gas comprises:

the device comprises a metal outer shell, a grabbing mechanical arm, a cleaning mechanical arm, a clamp replacer, a multifunctional cleaning gun body, a conveying belt and a powerful dust suction device;

snatch the arm, wash the arm, the anchor clamps are changed the ware, and the multi-functional rifle body that washs, the conveyer belt, powerful dust extraction, automatic air-dry device all are located inside the metal casing body:

the grabbing mechanical arm is arranged in the middle of the side wall of one side in the metal outer shell and used for grabbing, rotating and carrying workpieces; the cleaning mechanical arm is arranged at the intersection angle position of the side wall opposite side wall where the metal outer shell and the grabbing mechanical arm are located and the top wall, and is used for cleaning workpieces and cleaning high-pressure liquid;

the base of the grabbing mechanical arm and the base of the cleaning mechanical arm are fixedly arranged and do not change along with the position of the conveyor belt;

the clamp changer is arranged at a sixth axis of the grabbing mechanical arm;

the multifunctional cleaning gun body is arranged at the sixth axial position of the cleaning mechanical arm and consists of small-aperture high-pressure liquid, a small-aperture gas gun body and a high-pressure suction gun body;

the powerful dust collection device is arranged in the middle of the lower part of the metal shell and used for collecting dust, cleaning liquid and cleaning dirt, the powerful dust collection device can be flexibly disassembled, the dirt is conveniently removed, and a conveying belt is not arranged above the dust collection device;

the automatic air drying device is arranged above the inside of the metal outer shell;

the conveyer belt is only installed at the left end and the right end of the cleaning machine, and the middle part of the cleaning machine is not installed with the conveyer belt and is replaced by grid meshes.

Preferably, the powerful dust suction device is installed in the middle of the lower portion of the metal shell body and used for collecting dust, cleaning liquid and cleaning dirt, the powerful dust suction device can be flexibly disassembled and conveniently cleaned, a conveying belt is not installed above the dust suction device, the part of workpieces are conveyed by the grabbing mechanical arm, and the grid net is only arranged above the part of workpieces.

Preferably, the automatic air drying device is arranged above the inside of the metal outer shell, and works with mechanical arms (a grabbing mechanical arm and a cleaning mechanical arm).

Preferably, binocular identification system, washing liquid filter recycle device, water pump, the water tank is all arranged in the metal casing outside: the binocular recognition system is installed above the feed inlet conveying belt and used for recognizing and transmitting workpieces, and the binocular recognition system is connected with the grabbing mechanical arm and the cleaning mechanical arm controller to perform feedback control on the mechanical arm.

Preferably, the cleaning liquid filtering and recycling device is arranged at the lower side of the metal shell, is connected with an internal dust suction device to collect the cleaning liquid flowing into the treatment box of the recovery device, and is connected with the water tank at the other end.

Preferably, the water tank and the water pump provide high pressure and cleaning liquid for the high-pressure liquid cleaning gun body and are arranged above the filtering and recycling device.

Preferably, the metal outer shell is fixed by a metal bracket, and the metal outer shell and the conveyor belt are installed on the upper part of the metal bracket.

Preferably, the automatic air drying device is installed at the top of the metal shell, and an adjustable strong warm air system is used for quickly drying the workpiece, so that the influence of cleaning liquid on installation is prevented.

As the optimization, the bottom of the metal support adopts the height-adjustable support, the requirements of different working environments are met, and the cleaning machine is used in multiple fields.

Preferably, the whole metal shell is a cuboid, and the box body can be automatically closed during cleaning, so that cleaning is performed, and cleaning liquid is prevented from splashing to other workpieces.

The invention adopting the technical scheme comprises the following steps: the grabbing mechanical arm is assembled in the middle of the interior of the cleaning machine, and the grabbing mechanical arm assembling clamp changer is used for grabbing different types of workpieces;

the cleaning mechanical arm is provided with a cleaning device for cleaning the workpiece, and the binocular vision recognition system is connected with the grabbing mechanical arm and a controller of the cleaning mechanical arm and can be used for recognizing the corresponding posture of the workpiece; the grabbing mechanical arm and the cleaning mechanical arm are controlled by the same controller, and the two mechanical arms are set for an anti-collision dynamic protection program to perform coordination work of mutual postures;

the grabbing mechanical arm and the cleaning mechanical arm are respectively connected with a mesh-shaped conveyor belt sensor, and can perform fixed-point positioning to perform cleaning operation; the grabbing mechanical arm is connected with an automatic air drying device for positioning rotation, and the air drying device works synchronously; the cleaning mechanical arm is connected with the dust suction device and the sensor, so that synchronous sweeping and dust suction are realized, and dust blowing and burr falling are prevented; the filter equipment connects the high-pressure liquid and washs the rifle body, when the high-pressure liquid rifle body during operation, carries out the liquid of filtering in step, realizes the cyclic utilization of liquid, prevents to wash liquid polluted environment.

Compared with the prior art, the invention has the following advantages:

1. the adaptation range to the workpiece is wide.

2. And (5) cleaning.

3. Intelligent operation can be achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a front sectional view of the present invention.

Fig. 2 is a left side view of the present invention.

FIG. 3 shows a cleaning liquid recycling apparatus according to the present invention.

Fig. 4 shows a tank and a high pressure water pump for the tank according to the present invention.

In the figure: 1. grabbing a mechanical arm; 2. cleaning the mechanical arm; 3. a mechanical gripper; 4. a multifunctional gun body; 5. cleaning the spray head; 6. a powerful air drying device; 7. a binocular recognition device; 8. a dust collection fan; 9. a dust collection fan; 10. a water tank; 11. an automatic lifting frame; 12. a water tank high pressure water pump; 13. a cleaning liquid recycling device; 14. a conveyor belt; 15. the sealing door is automatically lifted; 16. cleaning agent box body.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1 to 4, the present invention provides a cleaning machine for small and deep hole workpieces based on dual-mechanical arm high-pressure fluid and gas, comprising: the cleaning machine comprises a grabbing mechanical arm 1, a cleaning mechanical arm 2, a mechanical gripper 3, a multifunctional gun body 4, a cleaning spray head 5, a powerful air drying device 6, a binocular recognition device 7, a powerful dust collection device 8, a dust collection fan 9, a water tank 10, an automatic lifting frame 11, a water tank high-pressure water pump 12, a cleaning liquid recycling device 13, a conveyor belt 14, an automatic lifting sealing door 15 and a cleaning agent box body 16;

the grabbing mechanical arm 1 and the cleaning mechanical arm 2 are connected with a controller together to realize anti-collision fixed point positioning posture work, and are connected with a binocular vision recognition device 7 to realize recognition of a binocular recognition system, and the mechanical arms correspond to corresponding cleaning process requirements to complete cleaning tasks; when the cleaning task is started, the binocular vision recognition device 7 recognizes the workpiece, and the automatic lifting sealing door 15 is closed.

The mechanical gripper 3 is installed on the grabbing mechanical arm 1 to grab a workpiece, the mechanical gripper 3 can rotate by 360 degrees, the workpiece is comprehensively cleaned, the multifunctional cleaning gun body 4 is installed on the cleaning mechanical arm 2 to clean the workpiece, the cleaning spray head 5 is installed on the multifunctional cleaning gun body 4 to clean small holes and deep holes, and the cleaning spray head 5 can perform high-pressure reverse suction to achieve deep burr residue cleaning.

The powerful air drying device 6 and the powerful dust suction device 8 work synchronously, and the technical effects of preventing dust and cleaning burrs are achieved.

The tail end of a conical table column body of the powerful dust collection device 8 is hermetically connected with the upper port of the cleaning liquid recycling device 13, and the built-in dust collection fan 9 is connected with the dust collection device 8 to provide power output for the powerful dust collection device.

The water tank 10 is located and washs 2 belows in the arm, for washing the rifle body 4 and provide the washing liquid, and the water tank 10 is connected high pressure water pump 12 and is provided high-pressure injection for washing the rifle body, and high pressure water pump 12 outer end is connected with washing liquid recovery and recycle device 13 liquid outlet, and the washing liquid that will filter the reprocessing obtains recycling through the water tank, realizes manifold cycles and utilizes. The conveying belt 14 can set conveying speed according to cleaning time, and the binocular vision recognition device 7 is connected to the mechanical arm (the grabbing mechanical arm 1 and the cleaning mechanical arm 2) and the automatic lifting sealing door 15 to obtain a high-efficiency conveying mechanism.

The working principle is as follows: the workpiece is placed at one end of a conveyor belt 14 provided with a binocular vision recognition device, the conveyor belt is conveyed to the position below the binocular vision recognition device 7, the binocular vision recognition device 7 automatically recognizes and transmits the workpiece to a controller, mechanical arms (a grabbing mechanical arm 1 and a cleaning mechanical arm 2) respectively enter different working mechanisms, corresponding poses and cleaning time programs corresponding to the workpiece are called, when the workpiece enters the cleaning machine, the workpiece is grabbed by the grabbing mechanical arm 1 and grabbed to the center of the cleaning machine, at the moment, a powerful air drying device 6 and a powerful dust suction device 8 are synchronously opened, an automatic lifting sealing door 15 is closed, the cleaning mechanical arm 2 drives a cleaning nozzle 5 to clean, the grabbing mechanical arm 1 and the cleaning mechanical arm 2 perform pose adjustment, the fixed-point positioning cleaning is performed on small holes and deep holes of the workpiece, after high-pressure burr spraying, the deep hole part is reversely sucked by the nozzle 5, and, thereby the workpiece is cleaned in all directions; after the cleaning liquid enters the dust collection device, the cleaning liquid is filtered, centrifuged and precipitated by a cleaning liquid recycling device 13, solid matters are discharged from the lower end, and the cleaning liquid flows into the high-pressure water pump through a guide pipe.

After the cleaning is finished, the strong air drying device carries out a drying process; after drying, the mechanical arm 1 places the workpiece at the left end of the dust collection device, and the workpiece is output to the workpiece cleaning machine through the conveying belt to finish cleaning. If the height of the cleaning machine is required, the automatic lifting frame 11 can be adjusted to adjust the height, so that the requirement of cleaning work is met.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. Cleaning machine based on two robotic arm high pressure liquid, gas are used for aperture and deep hole work piece, its characterized in that includes:

the clamp changer is arranged at a sixth axis of the grabbing mechanical arm;

2. The cleaning machine for the small-hole and deep-hole workpieces based on the double-mechanical-arm high-pressure liquid and gas as claimed in claim 1 is characterized in that: the device also comprises a binocular recognition system outside the metal shell, a cleaning liquid filtering and recycling device, a water pump and a water tank;

the binocular recognition system is arranged above the feed port conveyor belt, visual recognition is carried out on workpieces through the camera, recognition results are transmitted to the controller of the grabbing mechanical arm and the cleaning mechanical arm through the data cable, and the controller controls the mechanical arm to work in a feedback mode;

the cleaning liquid filtering and recycling device is arranged at the lower right side of the metal shell, is connected with an internal dust collection device to collect cleaning liquid and flows into a treatment box of a recovery device, and the other end of the cleaning liquid filtering and recycling device is connected with a water tank;

the water tank and the water pump provide high pressure and cleaning liquid for the high-pressure liquid cleaning gun body and are arranged above the filtering and recycling device.

3. The cleaning machine for the small-hole and deep-hole workpieces based on the double-mechanical-arm high-pressure liquid and gas as claimed in claim 2, is characterized in that: the metal outer shell is fixed through a metal bracket.

4. The cleaning machine for the small-hole and deep-hole workpieces based on the double-mechanical-arm high-pressure liquid and gas as claimed in claim 3, is characterized in that:

the bottom of the metal support adopts a height-adjustable support.

5. The cleaning machine for the small-hole and deep-hole workpieces based on the double-mechanical-arm high-pressure liquid and gas as claimed in claim 4, is characterized in that: the whole metal shell adopts a cuboid.