CN114247666A

CN114247666A - Cleaning equipment and cleaning method

Info

Publication number: CN114247666A
Application number: CN202111314591.6A
Authority: CN
Inventors: 徐崇友
Original assignee: Shenzhen Creative Visual Intelligence Visual Technology Co ltd
Current assignee: Zhongke Jianwei Intelligent Equipment Suzhou Co ltd
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-03-29
Anticipated expiration: 2041-11-08
Also published as: CN114247666B

Abstract

The invention belongs to the technical field of screen cleaning, and particularly relates to cleaning equipment and a cleaning method. The cleaning equipment comprises a blowing and sucking device, a feeding mechanical arm device, a wiping device, a dust adhering device, a visual detection device and a plurality of transmission devices; the blowing and sucking device comprises a dust blowing assembly and a feeding assembly for conveying the piece to be cleaned, wherein the dust blowing assembly is used for blowing the piece to be cleaned on the feeding assembly; the feeding manipulator device is used for conveying the cleaned piece to be cleaned on the feeding assembly to the conveying device; the transmission device is used for transmitting the piece to be cleaned among the wiping device, the visual detection device and the dust sticking device; the wiping device is used for wiping the to-be-cleaned piece on the conveying device; the visual detection device is used for detecting the piece to be cleaned on the conveying device; the dust adhering device is used for adhering and removing impurities on the piece to be cleaned. In the invention, the cleaning equipment performs the work of sweeping, wiping and dust adhering on the impurities on the piece to be cleaned in sequence, thereby ensuring the cleanliness of the piece to be cleaned.

Description

Cleaning equipment and cleaning method

Technical Field

The invention belongs to the technical field of screen cleaning, and particularly relates to cleaning equipment and a cleaning method.

Background

With the continuous development of electronic technology, computer screens, flat screens and mobile phone screens are more and more widely used; before the screen is assembled, a protective film is required to be attached to the screen, and the edge part of the screen is not covered by the protective film. Therefore, before the screen is assembled, whether the edge of the screen is internally polluted or not needs to be detected, so that the screen assembled on a product is guaranteed to be qualified, and the quality of the product is further guaranteed.

With the continuous development of the automation technology, the screen cleaning device can automatically detect stains on the screen and sweep the stains on the screen completely by utilizing sweeping equipment; however, the existing screen detection device can only sweep dirt which is adhered to the screen and has larger particles, and remove dirt with smaller particles on the screen, so that the screen cannot be swept cleanly.

Disclosure of Invention

The invention solves the technical problem that a screen cleaning device cannot completely sweep stains on a screen, and provides cleaning equipment and a cleaning method.

In view of the above problems, an embodiment of the present invention provides a cleaning apparatus, which includes a blowing and sucking device, a feeding robot device, a wiping device, a dust adhering device, a visual inspection device, and a plurality of conveying devices parallel and spaced;

the blowing and sucking device comprises a dust blowing assembly and a feeding assembly for conveying the to-be-cleaned piece, and the dust blowing assembly is used for blowing the to-be-cleaned piece on the feeding assembly;

the feeding manipulator device is used for conveying the cleaned piece which is blown on the feeding assembly to the conveying device;

the conveying device is arranged opposite to the wiping device, the visual detection device and the dust adhering device, and is used for conveying the to-be-cleaned piece among the wiping device, the visual detection device and the dust adhering device;

the wiping device is used for wiping the piece to be cleaned on the conveying device; the visual detection device is used for detecting the piece to be cleaned on the conveying device; the dust adhering device is used for adhering and removing impurities on the piece to be cleaned.

Optionally, the cleaning device further comprises a feeding assembly line, a feeding turnover device, a discharging turnover device and a discharging assembly line; the feeding turnover device is used for positively turning over the pieces to be cleaned on the feeding assembly line by 180 degrees, and the feeding assembly is also used for forking the pieces to be cleaned on the turnover assembly;

the discharging turnover device is used for reversely turning the to-be-cleaned piece on the conveying device for 180 degrees and then placing the to-be-cleaned piece on the discharging assembly line.

Optionally, the feeding turnover device comprises a feeding turnover driving piece and a feeding adsorption platform for adsorbing the piece to be cleaned, and the output end of the feeding turnover driving piece is connected with the feeding adsorption platform;

the discharging turnover device comprises a discharging turnover driving piece and a discharging adsorption platform used for adsorbing the cleaning piece, and the output end of the discharging turnover driving piece is connected with the discharging adsorption platform.

Optionally, the cleaning device further comprises an outlet manipulator device for conveying the piece to be cleaned on the conveying device to the inlet turnover device.

Optionally, the feeding assembly comprises a feeding driving member, a feeding jacking driving member and a feeding fork provided with a feeding adsorption hole; the feeding jacking driving piece is installed at the output end of the feeding driving piece, and the feeding fork is installed at the output end of the feeding jacking driving piece; the feeding adsorption hole is used for adsorbing the piece to be cleaned, the feeding jacking driving piece is used for moving along the Z-axis direction of the feeding fork, and the feeding driving piece is used for moving along the X-axis direction of the feeding jacking driving piece.

Optionally, the conveying device includes a conveying driving part and a rotary adsorption platform for adsorbing the to-be-cleaned part, the rotary adsorption platform is installed at the output end of the conveying driving part, and the conveying driving part is used for moving the rotary adsorption platform along the X-axis direction.

Optionally, the visual detection device comprises a long edge detection group for detecting a long edge of the member to be cleaned and a short edge detection group for detecting a short edge of the member to be cleaned; the long edge detection group comprises a first visual camera and a second visual camera which are arranged at intervals, and the short edge detection group comprises a third visual camera and a fourth visual camera which are arranged at intervals.

Optionally, the wiping device comprises a new reel, a used reel, a wiping belt, a dust wiping seat, a dust wiping wheel, a dust wiping driving part and a plurality of transmission wheels; the new tape reel, the old tape reel and the driving wheel are all rotatably arranged on the dust wiping seat, the dust wiping driving part is arranged on the dust wiping seat, and the dust wiping wheel is arranged at the output end of the dust wiping driving part; one end of the wiping belt is connected with the new belt disc, the other end of the wiping belt is wound around the driving wheel and the dust wiping wheel and then connected with the old belt disc, and the dust wiping driving part is used for driving the wiping belt to wipe the piece to be cleaned through the dust wiping wheel.

Optionally, the dust sticking device comprises a dust sticking rod, a dust sticking rod mounting seat, a dust sticking transverse driving piece, a dust sticking vertical driving piece, a clamping jaw and a clamping jaw mounting seat; the vertical driving piece of bonding dust is installed the output of bonding dust transverse driving piece, the clamping jaw mount pad is installed the output of the vertical driving piece of bonding dust, it is equipped with a plurality ofly on the stick mounting pad stick dust stick, the clamping jaw is installed on the clamping jaw mount pad, just the clamping jaw is used for pressing from both sides to get stick on the stick mounting pad dust stick.

Another embodiment of the present invention further provides a cleaning method applied to the above cleaning apparatus, including:

when the feeding assembly conveys the piece to be cleaned to the purging station, controlling the dust blowing assembly to purge the piece to be cleaned on the feeding assembly;

controlling a feeding mechanical arm device to convey the cleaned piece which is blown on the feeding assembly to a conveying device;

when the conveying device conveys the piece to be cleaned to a wiping station, controlling a wiping device to wipe a preset wiping part of the piece to be cleaned;

controlling a visual detection device to detect the member to be cleaned when the conveying device conveys the member to be cleaned which is wiped to a detection station;

when the conveying device conveys the detected piece to be cleaned to a dust adhering station, controlling a dust adhering device to adhere an uncleaned part detected by the visual detection device;

and controlling the conveying device to convey the to-be-cleaned parts which are adhered with dust to a blanking station.

In the invention, the dust blowing component can blow off impurities on the member to be cleaned, and the wiping device can wipe off the impurities attached to the member to be cleaned; when the member to be cleaned is blown and wiped completely, the visual detection device can detect an uncleaned part which is not cleaned completely on the member to be cleaned; the dust adhering device can adhere and remove impurities on the uncleaned part, so that the cleaning equipment can perform blowing, wiping and dust adhering work on the impurities on the piece to be cleaned in sequence, and the cleanliness of the piece to be cleaned is guaranteed. In addition, the feeding mechanical arm device can be with the piece of treating that has cleared up the completion on the feeding subassembly is placed a plurality of transmission device is last, every transmission device can drive and treat that the piece is in wiping arrangement's dust removal station, detection device's detection station and remove between the binder dirt station of binder dirt device to this cleaning equipment can treat simultaneously that the piece sweeps, cleans, detects and the work of binder dirt, has improved this cleaning equipment's work efficiency.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a feeding line and a feeding and reversing device of a cleaning apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a blowing and sucking device of a cleaning apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic view of a part of a cleaning apparatus according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a conveying device of a cleaning apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a wiping device of a cleaning apparatus according to an embodiment of the present invention;

FIG. 7 is a partial cross-sectional view of a wiping device of a cleaning apparatus provided in accordance with an embodiment of the invention;

FIG. 8 is a partial cross-sectional view of a wiping device of a cleaning apparatus provided in accordance with an embodiment of the invention;

fig. 9 is a schematic structural diagram of a dust adhering device of a cleaning apparatus according to an embodiment of the present invention;

FIG. 10 is a schematic view of a part of a dust-binding device of a cleaning apparatus according to an embodiment of the present invention;

FIG. 11 is a schematic view of a part of a dust-binding device of a cleaning apparatus according to an embodiment of the present invention;

fig. 12 is a flowchart of a cleaning method according to an embodiment of the invention.

The reference numerals in the specification are as follows:

1. a blowing and sucking device; 11. a dust blowing assembly; 12. a feed assembly; 121. a feed drive; 122. feeding jacking driving pieces; 123. a feed fork; 2. a feeding manipulator device; 3. a wiping device; 31. a new reel; 32. an old reel; 33. wiping the tape; 34. a dust wiping seat; 35. a dust wiping wheel; 36. a dust wiping driving member; 37. a driving wheel; 38. a pressure sensor; 39. a wiping wheel seat; 301. a first elastic member; 302. a spray head; 303. an adsorbing member; 304. wiping the transverse drive; 305. a guide rail; 306. a second elastic member; 307. a slider; 308. an adjustment wheel; 4. a dust-binding device; 41. a dust sticking rod; 42. stick the installation seat of the stick; 43. a dust-binding transverse driving member; 44. a dust-binding vertical driving member; 45. a clamping jaw; 46. a clamping jaw mounting seat; 47. a positioning sensor; 48. a dust-binding rotary driving member; 49. a third elastic member; 401. connecting columns; 402. connecting blocks; 403. a transmitter; 404. an induction sheet; 405. stick sensors; 406. stick with the rod vision camera; 5. a visual inspection device; 51. a long-edge detection group; 52. a short edge detection group; 6. a transmission device; 61. a transmission drive; 62. rotating the adsorption platform; 7. a feed line; 8. a feeding turnover device; 81. a feed turnover drive; 82. a feed adsorption platform; 9. a discharging turnover device; 101. a discharge assembly line; 102. a discharge manipulator device; 100. the piece to be cleaned.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing and simplifying the present invention, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

As shown in fig. 1 and 4, an embodiment of the present invention provides a cleaning apparatus, which includes a blowing and sucking device 1, a feeding manipulator device 2, a wiping device 3, a dust adhering device 4, a visual inspection device 5, and a plurality of conveying devices 6 arranged in parallel and at intervals, wherein the blowing and sucking device 1, the feeding manipulator device 2, the wiping device 3, the visual inspection device 5, and the visual inspection device 5 are arranged in sequence along an X-axis direction.

The blowing and sucking device 1 comprises a dust blowing assembly 11 and a feeding assembly 12 for conveying the pieces 100 to be cleaned, wherein the dust blowing assembly 11 is used for blowing the pieces 100 to be cleaned on the feeding assembly 12; it is understood that the feeding assembly 12 is provided with only one, and when the feeding assembly 12 conveys the member to be cleaned 100 to the purging station, the cleaning wind blown by the dust blowing assembly 11 can purge the impurities (especially the impurities with larger particles) on the member to be cleaned 100.

The feeding manipulator device 2 is used for conveying the cleaned parts 100 which are blown on the feeding assembly 12 to the conveying device 6; it will be appreciated that the infeed robot assembly 2 places the cleaned items 100 that have been purged from the infeed assembly 12 onto a plurality of the transfer devices 6.

The conveying device 6 is arranged opposite to the wiping device 3, the visual detection device 5 and the dust adhering device 4, and the conveying device 6 is used for conveying the piece to be cleaned 100 among the wiping device 3, the visual detection device 5 and the dust adhering device 4; it is understood that a plurality of the transport devices 6 may transport the cleaning members 100 in the X-axis direction.

The wiping device 3 is used for wiping the piece to be cleaned 100 on the conveying device 6; the visual detection device 5 is used for detecting the cleaning piece 100 on the conveying device 6; the dust sticking device 4 is used for sticking and removing impurities on the piece to be cleaned 100. As can be understood, when the conveying device 6 conveys the cleaned object 100 which has been purged to the dust wiping station, the wiping device 3 can wipe the cleaned object 100 (mainly wipe off the smaller particles of impurities on the cleaned object 100); when the conveying device 6 conveys the member to be cleaned 100 which is blown and wiped to the detection station, the visual detection device 5 can detect an uncleaned part on the member to be cleaned 100, and when the conveying device 6 conveys the member to be cleaned 100 to the dust adhering station, the dust adhering device 4 can adhere impurities on the uncleaned part. In addition, the conveying device 6 can also convey the pieces 100 to be cleaned to a blanking station.

Illustratively, the member to be cleaned 100 includes, but is not limited to, a screen, etc.

In the invention, the dust blowing component 11 can blow off impurities on the member to be cleaned 100, and the wiping device 3 can wipe off impurities attached to the member to be cleaned 100; when the member to be cleaned 100 is completely blown and wiped, the visual inspection device 5 can detect an uncleaned part on the member to be cleaned 100; the dust adhering device 4 can adhere and remove the impurities on the uncleaned part, so that the cleaning equipment performs the operations of purging, wiping and adhering dust on the impurities on the piece to be cleaned 100 in sequence, and the cleanliness of the piece to be cleaned 100 is ensured. In addition, feeding manipulator device 2 can with the piece 100 of treating that has cleared up the completion on the feeding component 12 is placed a plurality ofly on transmission device 6, every transmission device 6 all can drive and treat that cleaning member 100 is in wiping arrangement 3's dust removal station detection device's detection station and remove between the dust binding station of dust binding device 4 to this cleaning equipment can treat cleaning member 100 simultaneously and sweep, clean, detect and the work of dust binding, has improved this cleaning equipment's work efficiency.

In one embodiment, as shown in fig. 1 and 2, the cleaning apparatus further comprises a feed flow line 7, a feed reversing device 8, an outfeed reversing device 9, and an outfeed flow line 101; the feeding turnover device 8 is used for positively turning over the to-be-cleaned pieces 100 on the feeding assembly line 7 by 180 degrees, and the feeding assembly 12 is also used for forking the to-be-cleaned pieces 100 on the feeding turnover device 8; it can be understood that the feeding assembly line 7 is arranged in front of the feeding assembly 12, and the front surface of the to-be-cleaned object 100 conveyed on the feeding assembly line 7 faces upward, so that a worker can detect whether the front surface of the to-be-cleaned object on the feeding assembly line 7 has a scratch phenomenon, and the to-be-cleaned object 100 with the scratch on the front surface can be removed in time.

The discharging turnover device 9 is used for reversely turning the to-be-cleaned member 100 on the conveying device 6 by 180 degrees and then placing the to-be-cleaned member on the discharging assembly line 101. It will be appreciated that the outfeed line 101 is arranged after the conveyor 6.

Specifically, when the feeding assembly line 7 conveys the to-be-cleaned member 100 facing upwards to the feeding overturning station, the feeding overturning device 8 adsorbs the to-be-cleaned member 100 and overturns the to-be-cleaned member 100 for 180 degrees in the forward direction, and the back of the to-be-cleaned member 100 faces upwards; the feeding manipulator device 2 will the piece 100 of treating that the back is up on the feeding turning device 8 snatchs to the feeding subassembly 12, treat that the piece 100 of treating after work such as sweep, wipe and the bonding dust, ejection of compact turning device 9 will the piece 100 of treating on the transmission device is reversed the upset 180 degrees to will treat that the piece 100 of cleaning is carried to ejection of compact assembly line 101 (the piece 100 of treating on the ejection of compact assembly line 101 is up in the back), ejection of compact assembly line 101 will treat that the piece 100 of cleaning is sent to the exit position to can collect the piece 100 of treating that has cleaned the completion in the exit position. In this embodiment, the cleaning apparatus is highly automated.

In one embodiment, as shown in fig. 2, the feeding material overturning device 8 comprises a feeding material overturning driving member 81 and a feeding material adsorbing platform 82 for adsorbing the member to be cleaned 100, wherein the output end of the feeding material overturning driving member 81 is connected with the feeding material adsorbing platform 82; it is understood that the feeding turnover driving member 81 includes, but is not limited to, a motor, etc., and the feeding adsorption platform 82 is provided with a vacuum adsorption member, which can adsorb the member to be cleaned 100. In this embodiment, the feeding and overturning device 8 has a simple structure and a low manufacturing cost, and the feeding and adsorbing platform 82 can avoid scratching the workpiece 100 to be cleaned.

Ejection of compact turning device 9 includes ejection of compact upset driving piece and is used for adsorbing treat the ejection of compact adsorption platform of cleaning piece 100, the output of ejection of compact upset driving piece is connected ejection of compact adsorption platform. It is understood that the structure and function of the discharge turning device 9 are similar to those of the feed turning device 8, and thus the description is omitted.

In one embodiment, as shown in fig. 1, the feeding manipulator device 2 comprises a feeding Y-direction driving module, a feeding X-direction driving module, a feeding Z-direction driving element, and a feeding suction cup for sucking the to-be-cleaned object 100; the feeding X is installed to the drive module the feeding Y is installed to the output of drive module, the feeding Z is installed to the driving piece the feeding X is installed to the output of drive module, the feeding sucking disc is installed the feeding Z is installed to the output of driving piece. It will be appreciated that the feed suction cups are movable in the X-axis direction, the Y-axis direction and the Z-axis direction to move the cleaning elements 100 on the feed assembly 12 over a plurality of the transport devices 6.

In one embodiment, as shown in fig. 1, the cleaning apparatus further comprises an outfeed robot 102 for transporting the pieces 100 to be cleaned on the transport device 6 to the infeed turning device 8. Further, the discharging manipulator device 102 discharges a Y-direction driving module, a X-direction driving module, a Z-direction driving element, and a discharging suction cup for sucking the to-be-cleaned object 100; ejection of compact X is installed to the drive module ejection of compact Y is to the output of drive module, ejection of compact Z is installed to the driving piece ejection of compact X is to the output of drive module, ejection of compact sucking disc is installed ejection of compact Z is to the output of driving piece. It will be appreciated that the outfeed suction cups can be moved in the X-direction, in the Y-direction and in the Z-direction, so that a plurality of items 100 to be cleaned on the transport device 6 can be placed on the outfeed line 101.

In one embodiment, as shown in fig. 3, the feeding assembly 12 includes a feeding driving member 121, a feeding jacking driving member 122, and a feeding fork 123 having a feeding suction hole; the feeding jacking driving element 122 is installed at the output end of the feeding driving element 121, and the feeding fork 123 is installed at the output end of the feeding jacking driving element 122; the feeding adsorption holes are used for adsorbing the pieces to be cleaned 100, the feeding jacking driving piece 122 is used for moving the feeding fork 123 along the Z-axis direction, and the feeding driving piece 121 is used for moving the feeding jacking driving piece 122 along the X-axis direction. It is understood that the feeding driving member 121 and the feeding jacking driving member 122 each include, but are not limited to, a pneumatic cylinder, a hydraulic cylinder, a linear motor, a screw nut structure; preferably, the feeding driving member 121 is a four-bar nut mechanism, and the feeding jacking driving member 122 is a pneumatic cylinder.

Specifically, after the feeding turnover device 8 turns over the piece to be cleaned 100 by 180 degrees, the feeding driving member 121 drives the feeding fork 123 to move to the position below the piece to be cleaned 100, and the feeding jacking driving member 122 drives the feeding fork 123 to move upwards until the piece to be cleaned 100 is jacked away from the feeding turnover device 8, and the piece to be cleaned 100 is adsorbed on the feeding fork 123 through the feeding adsorption hole; the feeding driving member 121 drives the feeding fork 123 to move to the purging station of the dust blowing assembly 11, and the dust blowing assembly 11 performs purging operation on the to-be-cleaned member 100 on the feeding fork 123; after the cleaning member 100 is completely purged, the feeding driving member 121 drives the material fork to move to the feeding clamping station of the feeding manipulator, so that the feeding manipulator can convey the cleaning member 100 on the feeding clamping station to the conveying device. In this embodiment, the feeding assembly 12 has a simple structure and a low manufacturing cost.

In one embodiment, as shown in fig. 4 and 5, the transferring device 6 includes a transferring driving member 61 and a rotary suction platform 62 for sucking the member to be cleaned 100, the rotary suction platform 62 is installed at an output end of the transferring driving member 61, and the transferring driving member 61 is used for moving the rotary suction platform 62 along the X-axis direction. It will be appreciated that the transmission drive 61 includes, but is not limited to, linear motors, pneumatic cylinders, hydraulic cylinders, and lead screw and nut mechanisms; preferably, the transmission drive 61 is a lead screw and nut mechanism. In this embodiment, the rotary adsorption platform 62 can drive the piece 100 to be cleaned thereon to rotate 180 degrees, so that the long side and the short side of the piece 100 to be cleaned are exchanged, and further under the fixed condition of the visual detection device 5, the visual detection device 5 can detect the long side and the short side of the piece 100 to be cleaned, and the dust-binding device 4 can bind and remove impurities on the long side and/or the short side of the piece 100 to be cleaned.

In one embodiment, as shown in fig. 4, the visual inspection device 5 comprises a long edge detection group 51 for detecting a long edge of the member to be cleaned 100 and a short edge detection group 52 for detecting a short edge of the member to be cleaned 100; the long edge detection group 51 comprises a first visual camera and a second visual camera which are arranged at intervals, and the short edge detection group 52 comprises a third visual camera and a fourth visual camera which are arranged at intervals. It is to be understood that, when the first and second vision cameras detect the two long sides of the member to be cleaned 100, the long sides of the member to be cleaned 100 are parallel to the X-axis direction; when the third and fourth vision cameras detect two short sides of the to-be-cleaned piece 100, the short sides of the to-be-cleaned piece 100 are parallel to the X-axis direction; that is, the rotary suction platform 62 rotates the cleaning member 100 thereon by 180 degrees between the first vision camera and the third vision camera. In this embodiment, through the design of the transmission device 6 and the visual detection device 5, whether the short side and the long side of the piece 100 to be cleaned have impurities can be detected, so that the detection precision of the piece 100 to be cleaned is improved, and the cleanliness of the piece 100 to be cleaned is ensured.

In one embodiment, as shown in fig. 6, the wiping device 3 comprises a new reel 31, a used reel 32, a wiping tape 33, a dust wiping holder 34, a dust wiping wheel 35, a dust wiping drive 36 and a plurality of transmission wheels 37; the new reel 31, the old reel 32 and the transmission wheel 37 are all rotatably mounted on the dust wiping seat 34, the dust wiping driving part 36 is mounted on the dust wiping seat 34, and the dust wiping wheel 35 is mounted at the output end of the dust wiping driving part 36; one end of the wiping belt 33 is connected with the new reel 31, the other end of the wiping belt 33 is connected with the old reel 32 after being wound on the transmission wheel 37 and the dust wiping wheel 35, and the dust wiping driving part 36 is used for driving the wiping belt 33 to wipe the piece to be cleaned 100 through the dust wiping wheel 35. It will be appreciated that the new reel 31 is wound with an unused wiping tape 33, and the old reel 32 is wound with a wiping tape 33 which has wiped the member to be cleaned 100; and the dust wiping drive 36 includes, but is not limited to, a linear motor, a pneumatic cylinder, a hydraulic cylinder, a lead screw and nut mechanism, etc.

In particular, the transmission wheel 37 functions to transmit the wiping tape 33 in the new reel 31 to the old reel 32 through the dust-wiping wheel 35. When the conveying device 6 conveys the member to be cleaned 100 to the wiping station, the wiping driving part 36 drives the wiping wheel 35 to move downwards, and the wiping wheel 35 is wound with the wiping belt 33, so that the wiping wheel 35 drives the wiping belt 33 to abut against the member to be cleaned 100, and the wiping belt 33 can wipe off dust on the member to be cleaned 100; after the dust wiping wheel 35 drives the wiping belt 33 to wipe dust on the member to be cleaned 100 clean, the conveying device 6 conveys the member to be cleaned 100 which is wiped clean to the detection station. In this embodiment, the wiping device 3 can automatically wipe the member to be cleaned 100, thereby improving the wiping efficiency and wiping cleanliness of the member to be cleaned 100. In addition, the old reel 32 can automatically recover the wiped wiping tape 33, thereby facilitating the recovery of the wiping tape 33 and ensuring the cleanliness of the wiping device 3.

In an embodiment, as shown in fig. 7, the wiping device 3 further comprises a pressure sensor 38 for detecting the pressure of the dust wheel 35, and the pressure sensor 38 is mounted between the dust wheel 35 and the output end of the dust driving member 36. It can be understood that, in order to ensure that the pressure sensor 38 can detect the pressure between the dust wiping wheel 35 and the member to be cleaned 100 in real time during the process that the dust wiping wheel 35 drives the wiping belt 33 to wipe the member to be cleaned 100, the dust wiping driving member 36 adjusts the pressure of the dust wiping wheel 35 in real time according to the pressure value detected by the pressure sensor 38, so as to ensure that the dust wiping wheel 35 does not crush the member to be cleaned 100.

In an embodiment, as shown in fig. 7, the wiping device 3 further includes a wiping wheel seat 39 and a first elastic member 301, the wiping wheel 35 is rotatably mounted on the wiping wheel seat 39, the wiping wheel seat 39 is mounted at the output end of the wiping dust driving member 36, and the first elastic member 301 is mounted between the wiping wheel seat 39 and the output end of the wiping dust driving member 36. It can be understood that the first elastic member 301 includes, but is not limited to, a spring, etc., the output end of the dust wiping driving member 36 may be connected to the wiping wheel seat 39 through a connecting column 401, and the first elastic member 301 is sleeved on the connecting column 401, when the dust wiping driving member 36 drives the dust wiping wheel 35 to move down, the wiping wheel seat 39 will compress the first elastic member 301, so that the first elastic member 301 can play a role in buffering the dust wiping wheel 35 and the member 100 to be cleaned, and avoid an accident that the dust wiping wheel 35 collides with the member 100 to be cleaned.

In one embodiment, as shown in fig. 6, the wiping device 3 further includes a nozzle 302 mounted on the dust-wiping base 34 and disposed opposite to the wiping belt 33. It will be appreciated that the spray head 302 may be in communication with an external reservoir via a conduit, which may contain a wiping agent such as alcohol. Specifically, since the dry wiping belt 33 does not easily wipe off the dust on the member to be cleaned 100 and the dry wiping belt 33 easily wipes off the member to be cleaned 100, the nozzle 302 is provided on the conveying path of the wiping belt 33 (and in front of the dust wiping wheel 35), the wiping agent ejected from the nozzle 302 can be impregnated on the wiping belt 33, and thus the wiping belt 33 more easily wipes off the dust on the member to be cleaned 100 during wiping of the member to be cleaned 100, and the wet wiping belt 33 is less likely to cause an accident of wiping off the member to be cleaned 100.

In an embodiment, as shown in fig. 6, the wiping device 3 further includes a suction member 303 mounted on the dust-removing base 34 and disposed opposite to the spraying head 302. It is understood that the suction member 303 is disposed at the opposite side of the head 302, and the wiping tape 33 is located between the head 302 and the suction member 303. Specifically, during the process of spraying the wiping agent to the wiping belt 33 by the spray head 302, the adsorbing member 303 adsorbs the wiping agent which is not sprayed to the wiping belt 33, thereby preventing the excess wiping agent from contaminating the wiping device 3.

In an embodiment, as shown in fig. 4, the wiping device 3 further includes a wiping transverse driving member 304, the dust removing seat 34 is mounted at an output end of the wiping transverse driving member 304, and the wiping transverse driving member 304 is used for driving the dust removing seat 34 to move along the Y-axis direction. The dust wiping driving part 36 is used for driving the dust wiping wheel 35 to move along the Z-axis direction. It is to be understood that the wiping cross drive 304 includes, but is not limited to, a linear motor, a lead screw and nut mechanism, a pneumatic cylinder, a hydraulic cylinder, and the like; specifically, since the length of the part of the member to be cleaned 100 to be wiped is long, the wiping transverse driving member 304 can drive the dust wiping seat 34 to move along the Y-axis direction, so that the dust wiping wheel 35 can wipe a relatively long wiping area. Further, if a plurality of the members to be cleaned 100 are arranged below the wiping device 3, the transverse driving member may drive the wiping device 3 to wipe the plurality of the members to be cleaned 100. In this embodiment, the transverse drive is designed to improve the applicability and versatility of the wiping device 3.

In one embodiment, as shown in fig. 6 and 8, the dust-wiping seat 34 is provided with a guide rail 305 arranged along the Z-axis direction, the wiping apparatus 3 further includes a second elastic member 306, a sliding block 307, and an adjusting wheel 308 rotatably mounted on the sliding block 307, the sliding block 307 is slidably mounted on the guide rail 305, one end of the third elastic member 49 is connected to the dust-wiping seat 34, the other end of the third elastic member 49 is connected to the sliding block 307, and the wiping belt 33 is wound around the adjusting wheel 308. It is understood that the third elastic member 49 includes, but is not limited to, a tension spring, etc. Specifically, in the process that the dust wiping driving member 36 drives the dust wiping wheel 35 to move downwards, in order to avoid the dust wiping wheel 35 from pulling and damaging the wiping belt 33, the downwards moving wiping belt 33 will drive the sliding block 307 provided with the adjusting wheel 308 to move downwards along the guide rail 305; in the process that the dust-wiping driving member 36 drives the dust-wiping wheel 35 to move upwards, the resilience of the stretched third elastic member 49 drives the sliding block 307 provided with the adjusting wheel 308 to move upwards along the guide rail 305, in this embodiment, the design of the adjusting wheel 308 ensures that the wiping belt 33 is always wound on the driving wheel 37, the adjusting wheel 308 and the dust-wiping wheel 35, thereby ensuring the normal operation of the wiping device 3.

In one embodiment, as shown in fig. 9 and 10, the dust sticking device 4 includes a dust sticking rod 41, a stick rod mounting seat 42, a dust sticking transverse driving member 43, a dust sticking vertical driving member 44, a clamping jaw 45 and a clamping jaw mounting seat 46; the vertical driving piece 44 of bonding dust is installed the output of bonding dust transverse driving piece 43, clamping jaw mount pad 46 is installed the output of the vertical driving piece 44 of bonding dust, it is equipped with a plurality ofly on the stick mounting pad 42 the bonding dust stick 41, clamping jaw 45 is installed on the clamping jaw mount pad 46, just clamping jaw 45 is used for pressing from both sides and gets on the stick mounting pad 42 the bonding dust stick 41. It can be understood that the dust-sticking transverse driving member 43 can drive the dust-sticking vertical driving member 44 to move along the Y-axis direction, the dust-sticking vertical driving member 44 can drive the clamping jaw mounting seat 46 to move along the Z-axis direction, and the dust-sticking transverse driving member 43 and the dust-sticking vertical driving member 44 include, but are not limited to, a linear motor, a pneumatic cylinder, a hydraulic cylinder, a screw nut mechanism, and the like. Preferably, the dust adhering transverse driving member 43 and the dust adhering vertical driving member 44 are both screw and nut mechanisms.

Specifically, the dust-sticking transverse driving member 43 drives the clamping jaw mounting seat 46 to move along the Y-axis direction, and when the clamping jaw 45 moves to a position right above the stick-sticking mounting seat 42, the dust-sticking vertical driving member 44 drives the clamping jaw mounting seat 46 to move downwards until the clamping jaw 45 clamps the dust-sticking stick 41 on the stick-sticking mounting seat 42, and the dust-sticking transverse driving member 43 drives the clamping jaw mounting seat 46 to move along the Y-axis direction; when the conveying device 6 conveys the piece to be cleaned 100 to a dust adhering station along the X-axis direction, and the clamping jaw mounting seat 46 moves to the dust adhering station, the dust adhering vertical driving piece 44 drives the clamping jaw mounting seat 46 to move downwards until the dust adhering rod 41 clamped by the clamping jaw 45 adheres to remove dust on the piece to be cleaned 100. In this embodiment, the dust-binding device 4 can automatically complete the dust-binding work of the to-be-cleaned member 100, thereby improving the dust-binding efficiency and the dust-binding cleanliness.

In an embodiment, as shown in fig. 10, the dust adhering device 4 further includes a positioning sensor 47, the positioning sensor 47 is mounted on the clamping jaw mounting seat 46, and the positioning sensor 47 is used for positioning the bonding portion of the dust adhering bar 41 clamped on the clamping jaw 45. It can be understood that, in the process that the dust stick 41 is driven by the dust stick vertical driving component 44 to move down, the positioning sensor 47 can detect the spatial position of the bonding portion of the dust stick 41, and since the distance between the positioning sensor 47 and the member to be cleaned 100 is constant, the dust stick 41 can be accurately controlled to abut against the member to be cleaned 100 by the dust stick vertical driving component 44, and then the dust stick 41 can bond off the dust on the member to be cleaned 100, so that the dust sticking precision of the dust sticking device 4 is improved, and the dust stick 41 is prevented from being driven by the dust stick vertical driving component 44 to move down too much to damage the member to be cleaned 100.

In one embodiment, as shown in fig. 10 and 11, the dust adhering device 4 further comprises a dust adhering rotary driving member 48, and the clamping jaw 45 is mounted on the clamping jaw mounting seat 46 through the dust adhering rotary driving member 48. It can be understood that the adhering portion of the dust stick 41 inserted into the stick mounting seat 42 faces upward (since the outer diameter of the adhering portion is relatively large, the adhering portion faces upward, which can ensure that the clamping jaw 45 can smoothly extract the dust stick 41 from the stick mounting seat 42), and when the dust stick 41 clamped by the clamping jaw 45 adheres to the dust on the member to be cleaned 100, the adhering portion of the dust stick 41 faces downward, so the dust rotary driving member 48 needs to drive the clamping jaw 45 to rotate 180 degrees. In this embodiment, the design of the dust-sticking rotary driving member 48 ensures that the clamping jaw 45 can be smoothly drawn out of the dust-sticking stick mounting seat 42 to the dust-sticking stick 41.

In an embodiment, as shown in fig. 11, the dust-binding device 4 further includes a third elastic member 49, a connection column 401 and a connection block 402 having a through slot, the clamping jaw 45 is rotatably installed at an output end of the dust-binding rotary driving member 48, the connection block 402 is fixedly installed at the output end of the dust-binding rotary driving member 48, one end of the connection column 401 is connected to the clamping jaw 45, the other end of the connection column 401 extends into the through slot, the third elastic member 49 is sleeved on the connection column 401, and the third elastic member 49 is located between the clamping jaw 45 and the connection block 402. It is understood that the third elastic member 49 includes, but is not limited to, a spring, etc. Specifically, work as the vertical driving piece 44 centre gripping of bonding dust has bonding dust stick 41 the clamping jaw 45 moves towards treating cleaning piece 100, bonding dust stick 41 with treat cleaning piece 100 butt and upwards extrusion clamping jaw 45, thereby clamping jaw 45 will drive spliced pole 401 rotates, and spliced pole 401 will compress third elastic member 49, the compressed third elastic member 49 can play the buffering bonding dust stick 41 with treat cleaning piece 100's effect, has avoided bonding dust stick 41 with treat that cleaning piece 100 takes place the accident of damage, has improved the quality of treating cleaning piece 100.

In one embodiment, as shown in fig. 10, the dust-binding apparatus 4 further comprises a reset sensing assembly, which includes a transmitter 403 mounted on the clamping jaw mounting seat 46, and a sensing piece 404 mounted on the clamping jaw 45; the sensing piece 404 is disposed opposite to the emitter 403. It can be understood that, in the process that the dust-binding rotary driving member 48 drives the clamping jaw 45 to rotate, the sensing piece 404 will rotate along with the rotation of the clamping jaw 45, when the sensing piece 404 rotates into the groove of the emitter 403, the rotation angle of the clamping jaw 45 can be accurately obtained, and then the dust-binding rotary driving member 48 can accurately control the rotation angle of the clamping jaw 45. In this embodiment, the design of the reset sensing assembly ensures the smooth operation of the dust-binding device 4.

In one embodiment, as shown in fig. 10, the dust adhering device 4 further includes a stick sensor 405 for detecting whether the dust adhering stick 41 is clamped on the clamping jaw 45, the stick sensor 405 is mounted on the clamping jaw mounting seat 46, and the clamping jaw 45 is located between the stick sensor 405 and the positioning sensor 47. It is understood that when the clamping jaw 45 clamps the stick dust stick 41 from the stick dust mounting seat 42, the clamping jaw 45 may not be clamped to the stick dust stick 41, and in order to avoid a malfunction caused by the clamping jaw 45 not clamping to the stick dust stick 41, a stick dust sensor 405 (the stick dust sensor 405 is preferably a laser sensor) is arranged above the clamping jaw 45, and when the stick dust sensor 405 blocks a sensing laser beam emitted by the stick dust sensor 405, it indicates that the clamping jaw 45 is clamped to the stick dust stick 41; when the laser beam emitted by the stick-stick sensor 405 cannot be blocked by the stick-stick 41, it indicates that the clamping jaw 45 does not clamp the stick-stick 41. In this embodiment, the stick sensor 405 is designed to ensure the smooth operation of the dust sticking apparatus 4.

In one embodiment, as shown in fig. 1, the stick-sticking mounting seat 42 includes a rotating member and a stick-sticking seat provided with a plugging slot, the stick-sticking seat is mounted at the output end of the rotating member, and the dust-sticking stick 41 is plugged into the plugging slot. It can be understood that the stick-sticking seat is a cylindrical structure, a plurality of the insertion grooves are arranged along the circumferential direction of the stick-sticking seat, and the dust-sticking stick 41 is inserted into the insertion grooves; the rotating member can drive the stick base to rotate, so that the inserting groove inserted with the stick dust bar 41 aligns with the clamping station of the clamping jaw 45, and the clamping jaw 45 can be clamped to the stick dust bar 41 from the stick dust mounting base 42.

In an embodiment, as shown in fig. 4, the dust sticking device 4 further includes a stick vision camera 406 for detecting whether the dust sticking stick 41 is inserted into the insertion slot. It is understood that the stick-dust bar 41 is manually inserted into the insertion groove, and due to manual error, some of the insertion grooves may not be inserted with the stick-dust bar 41; the stick vision camera 406 can shoot a real-time image of the stick mounting seat 42, and then compare the real-time image with a preset image, so as to determine whether the stick 41 is inserted into the insertion groove rotated to the clamping station; if the stick-sticking vision camera 406 detects that the stick-sticking stick 41 is not in the insertion groove of the clamping station, the rotating member drives the stick-sticking seat to rotate by a preset angle until the stick-sticking vision camera 406 detects that the insertion groove inserted with the stick-sticking stick 41 rotates to the clamping station. In this embodiment, the stick-sticking vision camera 406 is designed to further ensure the smooth operation of the dust-sticking device 4.

In an embodiment, the dust-binding apparatus 4 further comprises a waste rod box for storing the discarded dust-binding rod 41, and the waste rod box is disposed opposite to the dust-binding rod 41. As can be understood, after the dust stick 41 sticks off the dust on the member to be cleaned 100, the dust stick transverse driving member 43 and the dust stick vertical driving member 44 drive the clamping jaw 45 to move to the upper part of the waste stick box, and the clamping jaw 45 drops the dust stick 41 clamped by the clamping jaw into the waste stick box. In this embodiment, the waste stick box is designed to facilitate the recycling of the dust stick 41.

As shown in fig. 12, another embodiment of the present invention further provides a cleaning method applied to the above cleaning apparatus, including:

s100, controlling the dust blowing component 11 to blow the to-be-cleaned piece 100 on the feeding component 12 when the feeding component 12 conveys the to-be-cleaned piece 100 to a blowing station; it is understood that the feeding assembly 12 conveys the member to be cleaned 100 to the blowing station along the X-axis direction, and the cleaning wind from the dust blowing assembly 11 can blow away the impurities attached to the member to be cleaned 100.

S200, controlling a feeding manipulator device to convey the cleaned piece 100 which is blown by the feeding assembly 12 to a conveying device 6; it can be understood that the blowing and sucking device 1 conveys the cleaned parts 100 which have been blown and cleaned to the feeding station of the feeding robot device 2 along the X-axis direction, and the feeding robot device 2 can convey the cleaned parts 100 on the feeding assembly 12 to the plurality of conveying devices 6.

S300, when the conveying device 6 conveys the piece to be cleaned 100 to a wiping station, controlling the wiping device 3 to wipe a preset wiping part of the piece to be cleaned 100; as will be understood, when the transport device 6 transports the cleaning member 100 to the wiping station in the X-axis direction, the wiping device 3 wipes off the foreign matter on the cleaning member 100 by using the wiping tape 33 adhered with the wiping agent. Further, as the plurality of conveying devices 6 which are parallel to each other along the Y-axis direction and are distributed at intervals are arranged below the wiping device 3, the view screen detection device and the dust sticking device 4, the wiping device 3 can wipe the to-be-cleaned members 100 on the conveying devices 6 at different positions, and the working efficiency of the wiping device 3 is improved.

S400, when the conveying device 6 conveys the cleaned piece 100 to a detection station, controlling the visual detection device 5 to detect the cleaned piece 100; it can be understood that, when the conveying device 6 conveys the member to be cleaned 100 to the detection station along the X-axis direction, the visual detection device 5 can detect whether impurities exist at the long side and the short side of the member to be cleaned 100.

S500, when the conveying device 6 conveys the detected piece to be cleaned 100 to a dust adhering station, controlling the dust adhering device 4 to adhere an uncleaned part detected by the visual detection device 5; it can be understood that the visual inspection device 5 can detect that the workpiece 100 to be cleaned is a cleaned part with impurities, and the dust-sticking device 4 is operated according to the uncleaned part to stick off the impurities remained on the workpiece 100 by using the dust-sticking rod 41.

Further, after dust binding device 4 treats that cleaning member 100 carries out the dust binding, transmission device 6 can will treat that cleaning member 100 carries again to detect the station, through visual detection device 5 detects whether the impurity in the portion of not cleaning has glued, if there is still impurity in the portion of not cleaning, transmission device 6 can with treat that cleaning member 100 carries to the dust binding station, dust binding device 4 can be to still having impurity the portion of not cleaning carries out the dust binding station again.

S600, controlling the conveying device 6 to convey the to-be-cleaned piece 100 which is stuck with dust to a blanking station. It is understood that the conveying device 6 conveys the cleaning member 100 to a blanking station along the X-axis direction, so that the blanking station conveys the cleaning member 100 which is cleaned.

In the invention, the cleaning method can complete the purging work, the wiping work and the dust adhering work of the piece to be cleaned 100 in sequence, thereby ensuring the cleanliness of the piece to be cleaned 100.

In an embodiment, before the controlling the feeding robot delivers the cleaned object 100 purged on the feeding assembly 12 to the transferring device 6 (i.e. before step S100), the controlling the feeding robot further includes:

detecting the front quality of the to-be-cleaned parts 100 on the feed assembly line 7 so as to remove the to-be-cleaned parts 100 with unqualified front quality on the feed assembly line 7; it will be appreciated that the acceptance of the front face of the article 100 to be cleaned on the feed line 7 can be detected manually, and the acceptance of the front face of the article 100 to be cleaned on the feed line 7 can be detected automatically by a visual camera.

When the feeding assembly line 7 conveys the to-be-cleaned parts 100 with qualified front quality to the feeding overturning station, the feeding overturning device 8 is controlled to overturn the to-be-cleaned parts 100 for 180 degrees in the forward direction and then place the to-be-cleaned parts on the conveying assembly. It is understood that the cleaning members 100 conveyed by the feeding assembly 12 and the conveying device 6 are back-side up, so that the dust blowing assembly 11, the wiping device 3 and the dust adhering device 4 can clean the back sides of the cleaning members 100.

Further, the controlling the conveying device 6 to convey the member to be cleaned 100 with dust adhered to the rear of the blanking station (i.e. step S600) further includes:

controlling a discharging manipulator to convey the to-be-cleaned parts 100 conveyed to the discharging station by the plurality of conveying devices 6 to a discharging turnover device 9; it will be appreciated that the outfeed robot can place the pieces 100 to be cleaned on different transport devices 6 on the same outfeed reversing device 9.

Controlling the discharging turnover device 9 to reversely turn over the piece to be cleaned 100 by 180 degrees, and then placing the piece to be cleaned on the discharging assembly line 101; it will be appreciated that the cleaning member 100 is inverted 180 degrees with the front of the cleaning member 100 facing upward.

And controlling the discharging assembly line 101 to convey the to-be-cleaned parts 100 to a discharging port. It will be appreciated that the outlet collects the cleaning members 100 in a forward direction, thereby facilitating collection of the cleaning members 100.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning device is characterized by comprising a blowing and sucking device, a feeding mechanical arm device, a wiping device, a dust sticking device, a visual detection device and a plurality of parallel and spaced transmission devices;

2. The cleaning apparatus of claim 1, further comprising a feed line, a feed inverter, an outfeed inverter, and an outfeed line; the feeding turnover device is used for positively turning over the pieces to be cleaned on the feeding assembly line by 180 degrees, and the feeding assembly is also used for forking the pieces to be cleaned on the feeding turnover device;

3. The cleaning equipment as claimed in claim 2, wherein the feeding turnover device comprises a feeding turnover driving member and a feeding adsorption platform for adsorbing the to-be-cleaned member, and the output end of the feeding turnover driving member is connected with the feeding adsorption platform;

4. The cleaning apparatus defined in claim 2, further comprising an outfeed robot means for transporting the pieces to be cleaned on the transport means to the infeed turning device.

5. The cleaning apparatus as claimed in claim 1, wherein the feeding assembly includes a feeding driving member, a feeding lifting driving member, and a feeding fork provided with a feeding adsorption hole; the feeding jacking driving piece is installed at the output end of the feeding driving piece, and the feeding fork is installed at the output end of the feeding jacking driving piece; the feeding adsorption hole is used for adsorbing the piece to be cleaned, the feeding jacking driving piece is used for moving along the Z-axis direction of the feeding fork, and the feeding driving piece is used for moving along the X-axis direction of the feeding jacking driving piece.

6. The cleaning device as claimed in claim 1, wherein the conveying device comprises a conveying driving member and a rotary adsorption platform for adsorbing the member to be cleaned, the rotary adsorption platform is mounted at an output end of the conveying driving member, and the conveying driving member is used for moving the rotary adsorption platform along the X-axis direction.

7. The cleaning apparatus according to claim 1, wherein the visual inspection means includes a long side inspection group for inspecting a long side of the member to be cleaned and a short side inspection group for inspecting a short side of the member to be cleaned; the long edge detection group comprises a first visual camera and a second visual camera which are arranged at intervals, and the short edge detection group comprises a third visual camera and a fourth visual camera which are arranged at intervals.

8. The cleaning apparatus as recited in claim 1, wherein the wiping device comprises a new reel, a used reel, a wiping tape, a dust shoe, a dust wheel, a dust drive, and a plurality of drive wheels; the new tape reel, the old tape reel and the driving wheel are all rotatably arranged on the dust wiping seat, the dust wiping driving part is arranged on the dust wiping seat, and the dust wiping wheel is arranged at the output end of the dust wiping driving part; one end of the wiping belt is connected with the new belt disc, the other end of the wiping belt is wound around the driving wheel and the dust wiping wheel and then connected with the old belt disc, and the dust wiping driving part is used for driving the wiping belt to wipe the piece to be cleaned through the dust wiping wheel.

9. The cleaning apparatus of claim 1, wherein the dust-binding device comprises a dust-binding bar, a dust-binding bar mounting seat, a dust-binding transverse driving member, a dust-binding vertical driving member, a clamping jaw, and a clamping jaw mounting seat; the vertical driving piece of bonding dust is installed the output of bonding dust transverse driving piece, the clamping jaw mount pad is installed the output of the vertical driving piece of bonding dust, it is equipped with a plurality ofly on the stick mounting pad stick dust stick, the clamping jaw is installed on the clamping jaw mount pad, just the clamping jaw is used for pressing from both sides to get stick on the stick mounting pad dust stick.

10. A cleaning method applied to the cleaning apparatus according to any one of claims 1 to 9, characterized by comprising: