CN214184402U - Work piece removes system of gluing - Google Patents
Work piece removes system of gluing Download PDFInfo
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- CN214184402U CN214184402U CN202023038572.9U CN202023038572U CN214184402U CN 214184402 U CN214184402 U CN 214184402U CN 202023038572 U CN202023038572 U CN 202023038572U CN 214184402 U CN214184402 U CN 214184402U
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Abstract
The utility model provides a work piece removes system of gluing, including last unloading station, remove gluey station, move a station and a control system, remove gluey station, go up unloading station and move a station all with the control system communication connection; the dry ice cleaning device and the cooperative mechanical arm are combined, the cleaning work of colloid on the surface of the workpiece is fully automatically completed under the control of the control system, the environment requirement is simple, the cost is low, the reliability is high, the safety is high, the workpiece can be self-adaptive to workpieces of various sizes, the cleanliness is guaranteed on the premise that the coating is protected to the maximum extent, and the labor cost is reduced.
Description
Technical Field
The disclosure relates to the field of industry, in particular to a workpiece glue removing system.
Background
Dry ice cleaning is the acceleration of media dry ice particles in a high pressure gas stream that is blast impinged upon the surface to be cleaned. The momentum of the dry ice particles disappears at the moment of impact and heat exchange rapidly takes place between the dry ice particles and the surface of the cleaning object. The dry ice cleaning device is characterized in that dry ice particles are gasified instantly under impact, and compared with the traditional cleaning mode, the dry ice cleaning device has the advantages of no secondary pollution, film coating protection, high speed, environmental protection, safety and the like, greatly reduces labor cost, and meets the requirement of safe production.
At the present stage, in the process of producing the workpiece, the workpiece is large in contact viscosity, the colloid and the hard colloid are difficult to remove, and a large amount of labor is consumed.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one of the above technical problems, the present disclosure provides a work piece glue removing system.
The workpiece glue removing system comprises a feeding and discharging station, a glue removing station, a workpiece moving station and a control system, wherein the glue removing station, the feeding and discharging station and the workpiece moving station are in communication connection with the control system;
the workpiece to be cleaned and the cleaned workpiece are both placed in the feeding and discharging station, the workpiece being cleaned is placed in the glue removing station, the workpiece moving station is fixedly arranged between the feeding and discharging station and the glue removing station, and the workpiece moving end of the workpiece moving station can move between the feeding and discharging station and the glue removing station;
the glue removing station comprises a box body, a dry ice cleaning assembly, a fixing assembly and a clamping assembly, wherein the fixing assembly and the clamping assembly are fixedly arranged in the box body, and the clamping assembly is fixedly connected with the box body through the fixing assembly;
the dry ice cleaning assembly comprises a cleaning mechanism, a dry ice storage mechanism and a dry ice conveying mechanism, the cleaning mechanism is arranged in the box body and fixed above the clamping assembly through the fixing assembly, the dry ice storage mechanism is arranged outside the box body, and the cleaning mechanism is communicated with the dry ice storage mechanism through the dry ice conveying mechanism.
Specifically, fixed subassembly includes fixed plate and n type mount, the fixed plate level set up in the box, and with box fixed connection, two montants of n type mount with the perpendicular fixed connection of fixed plate.
Specifically, the clamping component comprises a rotary table, an X-axis moving component and a clamping jaw, the X-axis moving component is fixedly arranged on the fixed plate, the clamping jaw is fixedly connected with the moving end of the X-axis moving component through the rotary table, and the X-axis moving component is perpendicular to a cross rod of the n-type fixed frame.
Preferably, the number of the clamping assemblies is at least two, and the clamping assemblies are all arranged in parallel, fixed on the fixing plate and located below the cross rod of the n-type fixing frame.
Specifically, the cleaning mechanism comprises a dry ice nozzle, a horizontal sliding rail and a horizontal cylinder, the horizontal sliding rail is fixedly connected with a cross rod of the n-type fixing frame, the dry ice nozzle is vertically arranged, the upper end of the dry ice nozzle is slidably connected with the horizontal sliding rail, the horizontal cylinder is fixedly connected with the cross rod of the n-type fixing frame and is parallel to the horizontal sliding rail, and the telescopic end of the horizontal cylinder is fixedly connected with the upper end of the dry ice nozzle.
Preferably, the dry ice storage mechanism is an ice dryer, the dry ice conveying mechanism is an air pipe, the workpiece moving station is a cooperative mechanical arm, and a workpiece moving end of the cooperative mechanical arm is a front-end clamping jaw adaptive to the size of the workpiece.
Further, the clamping assembly further comprises a workpiece presence detection sensor for detecting the presence of the workpiece.
According to the workpiece glue removing system disclosed by the invention, the dry ice cleaning equipment and the cooperative mechanical arm are combined, the cleaning work of the glue on the surface of the workpiece is fully automatically completed through the control of the control system, the characteristics of simple environmental requirement, low cost, high reliability, safety and the like are realized, the system can be self-adaptive to workpieces of various sizes, the cleanliness is ensured on the premise of protecting the coating to the maximum extent, the labor cost is reduced, and the system is a system capable of realizing the fine glue removing work on the surfaces of various workpieces.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural diagram of a workpiece glue removal system according to the present disclosure.
FIG. 2 is a schematic structural view of a glue removal station according to the present disclosure.
Reference numerals: 1-glue removing station, 2-feeding and discharging station, 3-workpiece moving station, 4-control system, 5-fixing plate, 6-rotary table, 7-n type fixing frame, 8-horizontal slide rail, 9-dry ice nozzle, 10-X axis moving assembly, 11-clamping jaw and 12-workpiece.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 and 2, the work piece glue removing system described in the present disclosure includes a feeding and discharging station 2, a glue removing station 1, a work piece moving station 3, and a control system 4, where the glue removing station 1, the feeding and discharging station 2, and the work piece moving station 3 are all in communication connection with the control system 4;
the workpiece to be cleaned and the cleaned workpiece are both placed in the feeding and discharging station 2, and the workpiece 12 which is being cleaned is placed in the glue removing station 1; the loading and unloading station 2 comprises an operation table of a control system 4, various starting control buttons, a display device, a sensor and the like. The cleaning device mainly comprises a shelf for placing workpieces to be cleaned and cleaned, wherein the shelf is divided into 5 columns of x8 layers, and the total number of the shelf is 40, and each shelf can accommodate workpieces of various types at the same time.
The workpiece moving station 3 is fixedly arranged between the feeding and discharging station 2 and the glue removing station 1, the workpiece moving end of the workpiece moving station 3 can move between the feeding and discharging station 2 and the glue removing station 1, the workpiece moving station 3 is a cooperative mechanical arm, and the workpiece moving end of the cooperative mechanical arm is a front-end clamping jaw adaptive to the size of a workpiece.
When the cleaning machine works, the front-end clamping jaw is controlled to enable the cooperative mechanical arm to move a workpiece to be cleaned from the feeding and discharging station 2 to the glue removing station 1, and the cleaned workpiece is moved from the glue removing station 1 to the feeding and discharging station 2.
The glue removing station 1 comprises a box body, a dry ice cleaning assembly, a fixing assembly and a clamping assembly, wherein the fixing assembly and the clamping assembly are fixedly arranged in the box body, the clamping assembly is fixedly connected with the box body through the fixing assembly, and the clamping assembly is used for fixing a workpiece 12 of the mechanical arm to move to the glue removing station 1.
The dry ice cleaning assembly comprises a cleaning mechanism, a dry ice storage mechanism and a dry ice conveying mechanism, the cleaning mechanism is arranged in the box body and fixed above the clamping assembly through a fixing assembly, the dry ice storage mechanism is arranged outside the box body and communicated with the dry ice storage mechanism through the dry ice conveying mechanism, the dry ice storage mechanism is an ice dryer, and the dry ice conveying mechanism is an air pipe.
The cleaning mechanism comprises a dry ice nozzle 9, a horizontal sliding rail 8 and a horizontal cylinder, the horizontal sliding rail 8 is fixedly connected with a cross rod of the n-type fixing frame 7, the dry ice nozzle 9 is vertically arranged, the upper end of the dry ice nozzle 9 is slidably connected with the horizontal sliding rail 8, the horizontal cylinder is fixedly connected with the cross rod of the n-type fixing frame 7 and is parallel to the horizontal sliding rail 8, and the telescopic end of the horizontal cylinder is fixedly connected with the upper end of the dry ice nozzle 9.
The cleaning method of dry ice cleaning is to accelerate medium dry ice particles in a high-pressure air flow and spray and impact the surface to be cleaned. The momentum of the dry ice particles disappears at the moment of impact and heat exchange rapidly takes place between the dry ice particles and the surface of the cleaning object. The dry ice cleaning device is characterized in that dry ice particles are gasified instantly under impact, and compared with the traditional cleaning mode, the dry ice cleaning device has the advantages of no secondary pollution, film coating protection, high speed, environmental protection, safety and the like, greatly reduces labor cost, and meets the requirement of safe production.
The dry ice particles are produced by a dry ice machine, and are conveyed into the dry ice nozzle 9 by a dry ice conveying mechanism and are ejected through the dry ice nozzle 9.
The quantity of centre gripping subassembly is two at least, and the equal parallel arrangement of a plurality of centre gripping subassemblies just all fixes on fixed plate 5 to be located the below of the horizontal pole of n type mount 7.
The number of the clamping assemblies is multiple, and the assembly line type work can be realized, for example:
the workpiece 12 on the second clamping assembly is undergoing dry ice cleaning;
the workpiece 12 on the first clamp assembly has completed dry ice cleaning and is undergoing meter wind purging;
the workpiece 12 on the third clamping assembly is being installed.
Then, the dry ice nozzle 9 is pushed to slide on the horizontal slide rail 8 through the horizontal cylinder, so that when a certain clamping assembly needs to be cleaned by dry ice, the dry ice nozzle 9 can be moved to a corresponding position, and better cleaning is facilitated.
The fixed component comprises a fixed plate 5 and an n-type fixed frame 7, the fixed plate 5 is horizontally arranged in the box body and is fixedly connected with the box body, and two vertical rods of the n-type fixed frame 7 are vertically and fixedly connected with the fixed plate 5.
The clamping assembly comprises a rotary table 6, an X-axis moving assembly 10 and a clamping jaw 11, the X-axis moving assembly 10 is fixedly arranged on the fixing plate 5, the clamping jaw 11 is fixedly connected with the moving end of the X-axis moving assembly 10 through the rotary table 6, the X-axis moving assembly 10 is perpendicular to a cross rod of the n-type fixing frame 7, and the clamping assembly further comprises a workpiece presence detection sensor for detecting whether the workpiece 12 exists or not.
When the workpiece presence or absence detection sensor detects the presence of the workpiece 12, the clamping assembly clamps the workpiece 12, the horizontal cylinder drives the dry ice nozzle 9 to be in place, the dry ice machine is started, meanwhile, the rotary table 6 drives the workpiece 12 to rotate, after the workpiece 12 is rotated for a fixed number of turns/time, the X-axis moving assembly 10 moves towards the designated direction for a set distance, the surface of the whole workpiece 12 can be cleaned, the preset number of turns/time of cleaning is completed, the dry ice machine stops working, the instrument air is started to blow and sweep the surface of the workpiece 12, and chips and water vapor on the surface of the workpiece 12 are removed. And stopping blowing by instrument air, stopping the rotation of the rotary table 6, driving a nozzle of the ice dryer to operate towards the clamping mechanism of the other workpiece 12 by the horizontal cylinder, and enabling the mechanical arm to enter the glue removing station 1 to turn over the workpiece 12.
The X-axis movement assembly 10 may be a combination of an X-axis motor and a ball screw, as well as the remaining axially movable mechanical combinations.
An embodiment of the glue removing method is described with reference to the glue removing device:
according to the structure of the feeding and discharging station 2, determining the coordinates of each goods grid of the feeding and discharging station 2, and storing the coordinates to the control system 4;
the loading and unloading station 2 comprises an operation table of a control system 4, various starting control buttons, a display device, a sensor and the like. The cleaning machine mainly comprises a shelf for placing workpieces to be cleaned and cleaned, the shelf is divided into 5 columns of x8 layers, the total number of the shelf is 40, each shelf can simultaneously accommodate workpieces 12 of various types, each shelf has independent coordinates, and the coordinates of each shelf are stored in a control system 4.
Selecting the type, the number and the initial position of the workpieces to be cleaned through a control system 4;
the control system 4 is based on a human-computer interaction interface and realizes control and data storage of other three stations.
An embodiment of the control system 4 is provided below:
the system software of the control system 4 is opened and enters a login interface which is designed for ensuring information safety and personnel safety and ensuring that a user with authority logs in and operates the system. Entering a username and password may enter the control system 4 host interface.
The user can customize the starting task position, the number of cleaning workpieces and the types of workpieces before starting the system. After clicking the start button, the control system 4 sends the workpiece position coordinates to the robot arm to start the cleaning of the workpiece 12. And the task completion condition is displayed in real time, the completed cleaning is green, the cleaning is not started to be yellow, and the cleaning is red. The historical query button can query the historical completion condition through the automatically generated work flow number, and the query result is displayed at the task completion condition. And the system supports the function of continuously completing the incomplete historical tasks and has the functions of suspending, stopping operation and processing collision exception.
Starting the glue removing system, sending coordinate information to the mechanical arm by the control system 4, and grabbing the workpiece by the front-end clamping jaw of the mechanical arm;
the mechanical arm grabs the workpiece at the designated position of the control system 4, the front end clamping jaw is adaptive to the size of the workpiece, and whether the workpiece is grabbed or not is fed back. If the workpiece is not grabbed, the control system 4 sends the position information of the next workpiece, and the mechanical arm carries out the operation again; if the workpiece 12 is grabbed, the robot arm reaches a loading and unloading preparation position.
After grabbing the workpiece, the mechanical arm moves the workpiece 12 to the glue removing station 1 and fixes the workpiece by a clamping component of the glue removing station 1;
after the workpiece 12 moves to the glue removing station 1, the workpiece 12 is placed to the clamping assembly and fixed through the clamping assembly, and whether the workpiece 12 is accurately clamped or not can be detected through the workpiece existence detection sensor.
The clamping assembly comprises a rotary table 6, an X-axis moving assembly 10 and a clamping jaw 11, the X-axis moving assembly 10 is fixedly arranged on the fixed plate 5, the clamping jaw 11 is fixedly connected with the moving end of the X-axis moving assembly 10 through the rotary table 6, and the X-axis moving assembly 10 is perpendicular to a cross rod of the n-type fixed frame 7.
The workpiece 12 is fixed by the clamping jaws 11 and the rotation of the workpiece 12 is achieved by the turntable 6, the movement of the workpiece 12 in the X-axis is achieved by the X-axis moving assembly 10, the X-axis moving assembly 10 may be a combination of an X-axis motor and a ball screw, and the rest of mechanical combinations that are axially movable.
Controlling the cleaning mechanism to enable the dry ice nozzle 9 to be in place;
the cleaning mechanism comprises a dry ice nozzle 9, a horizontal sliding rail 8 and a horizontal cylinder, the horizontal sliding rail 8 is fixedly connected with a cross rod of the n-type fixing frame 7, the dry ice nozzle 9 is vertically arranged, the upper end of the dry ice nozzle 9 is slidably connected with the horizontal sliding rail 8, the horizontal cylinder is fixedly connected with the cross rod of the n-type fixing frame 7 and is parallel to the horizontal sliding rail 8, and the telescopic end of the horizontal cylinder is fixedly connected with the upper end of the dry ice nozzle 9.
The horizontal cylinder pushes the dry ice nozzle 9 to slide on the horizontal sliding rail 8, so that the dry ice nozzle 9 can be moved away from the upper part of the clamping assembly when the workpiece 12 is installed on the mechanical arm, and when the workpiece 12 on the clamping assembly needs to be cleaned by dry ice, the dry ice nozzle 9 can be moved to a corresponding position, and better cleaning is facilitated.
And simultaneously starting the ice dryer and the rotary table 6 to enable the rotary table 6 to rotate for a fixed number of turns/time, controlling the X-axis moving assembly 10 to work after the surface of the workpiece 12 is sufficiently cleaned, enabling the rotary table 6 to move towards a specified direction for a set distance, continuously completing the preset number of turns/time of rotation, ensuring that the dry ice machine stops working after the surface of the whole workpiece 12 is cleaned, starting instrument wind to purge the surface of the workpiece 12, removing chips and water vapor on the surface of the workpiece 12, stopping instrument wind purging after purging is completed, and stopping the rotary table 6 from rotating.
At the moment, cleaning of one surface is finished, the dry ice nozzle 9 is removed by controlling the horizontal cylinder, the workpiece 12 is turned over by the mechanical arm, and then the cleaning of the second surface is repeated without walking;
and repeating the steps to complete the cleaning of all the surfaces of the workpiece 12, then controlling the mechanical arm to grab the workpiece 12 by the control system 4, and placing the workpiece 12 into the original position of the feeding and discharging station 2 according to the reverse track from the feeding and discharging station 2 to the glue removing station 1.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (7)
1. A work piece removes system of gluing which characterized in that includes: the glue removing device comprises a feeding and discharging station, a glue removing station, a workpiece moving station and a control system, wherein the glue removing station, the feeding and discharging station and the workpiece moving station are all in communication connection with the control system;
the workpiece to be cleaned and the cleaned workpiece are both placed in the feeding and discharging station, the workpiece being cleaned is placed in the glue removing station, the workpiece moving station is fixedly arranged between the feeding and discharging station and the glue removing station, and the workpiece moving end of the workpiece moving station can move between the feeding and discharging station and the glue removing station;
the glue removing station comprises a box body, a dry ice cleaning assembly, a fixing assembly and a clamping assembly, wherein the fixing assembly and the clamping assembly are fixedly arranged in the box body, and the clamping assembly is fixedly connected with the box body through the fixing assembly;
the dry ice cleaning assembly comprises a cleaning mechanism, a dry ice storage mechanism and a dry ice conveying mechanism, the cleaning mechanism is arranged in the box body and fixed above the clamping assembly through the fixing assembly, the dry ice storage mechanism is arranged outside the box body, and the cleaning mechanism is communicated with the dry ice storage mechanism through the dry ice conveying mechanism.
2. The system of claim 1, wherein the fixing assembly comprises a fixing plate and an n-type fixing frame, the fixing plate is horizontally disposed in the box and is fixedly connected to the box, and two vertical rods of the n-type fixing frame are vertically and fixedly connected to the fixing plate.
3. The system for removing glue from a workpiece according to claim 2, wherein the clamping assembly comprises a rotary table, an X-axis moving assembly and a clamping jaw, the X-axis moving assembly is fixedly arranged on the fixed plate, the clamping jaw is fixedly connected with the moving end of the X-axis moving assembly through the rotary table, and the X-axis moving assembly is arranged perpendicular to the cross bar of the n-type fixing frame.
4. The system of claim 3, wherein the number of said clamping assemblies is at least two, and a plurality of said clamping assemblies are disposed in parallel and fixed on said fixed plate and under the cross bar of said n-type fixing frame.
5. The workpiece glue removing system as recited in claim 4, wherein the cleaning mechanism comprises a dry ice nozzle, a horizontal slide rail and a horizontal cylinder, the horizontal slide rail is fixedly connected with a cross bar of the n-type fixing frame, the dry ice nozzle is vertically arranged, the upper end of the dry ice nozzle is slidably connected with the horizontal slide rail, the horizontal cylinder is fixedly connected with the cross bar of the n-type fixing frame and is parallel to the horizontal slide rail, and the telescopic end of the horizontal cylinder is fixedly connected with the upper end of the dry ice nozzle.
6. The system of claim 1, wherein the dry ice storage mechanism is an ice dryer, the dry ice delivery mechanism is an air tube, the workpiece moving station is a cooperating robot arm, and the workpiece moving end of the cooperating robot arm is a front end gripper adapted to the size of the workpiece.
7. The system of claim 3, wherein said clamping assembly further comprises a workpiece presence detection sensor for detecting the presence of a workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023038572.9U CN214184402U (en) | 2020-12-16 | 2020-12-16 | Work piece removes system of gluing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023038572.9U CN214184402U (en) | 2020-12-16 | 2020-12-16 | Work piece removes system of gluing |
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| CN214184402U true CN214184402U (en) | 2021-09-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112536293A (en) * | 2020-12-16 | 2021-03-23 | 航天科工智能机器人有限责任公司 | Workpiece glue removing system and method |
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- 2020-12-16 CN CN202023038572.9U patent/CN214184402U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112536293A (en) * | 2020-12-16 | 2021-03-23 | 航天科工智能机器人有限责任公司 | Workpiece glue removing system and method |
| CN112536293B (en) * | 2020-12-16 | 2024-03-15 | 航天科工智能机器人有限责任公司 | Workpiece photoresist removing system and photoresist removing method |
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