WO2016029734A1 - 直交多关节复合型cnc清洗机及其清洗方法 - Google Patents

直交多关节复合型cnc清洗机及其清洗方法 Download PDF

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Publication number
WO2016029734A1
WO2016029734A1 PCT/CN2015/081821 CN2015081821W WO2016029734A1 WO 2016029734 A1 WO2016029734 A1 WO 2016029734A1 CN 2015081821 W CN2015081821 W CN 2015081821W WO 2016029734 A1 WO2016029734 A1 WO 2016029734A1
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mechanical arm
cleaning
joint
arm
workpiece
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PCT/CN2015/081821
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English (en)
French (fr)
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李毅
名越正生
竹下笃史
王永锋
王亮
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喻小秋
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Publication of WO2016029734A1 publication Critical patent/WO2016029734A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/022—Cleaning travelling work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning

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  • the invention relates to an orthogonal multi-joint composite type CNC cleaning machine and a cleaning method thereof, which adopt the latest technology of combining multi-joint motion and linear motion of a mechanical arm, and high-pressure cleaning various components.
  • the final project uses the through-cleaning method for overall cleaning. For parts with complex shapes, the cleaning effect is not increased and the purpose of thorough cleaning is not achieved.
  • the multi-joint robot is cleaned by means of nozzles.
  • the problem with this type of cleaning is not good at linear motion.
  • the multi-joint robot has a fast structure and a circular motion. For example, if you want to insert the nozzle into the fine hole for cleaning, his speed can only reach about 1/10 of the original, and the efficiency is low.
  • the second nozzle is less accurate. Since the nozzle is mounted at the foremost end of the long arm, his positional accuracy is not good, and swaying between the joints during long-term use makes the accuracy worse.
  • the multi-joint robot is difficult to waterproof, easy to break, the equipment operating rate is low, and the maintenance cost is very high.
  • the robot needs special program control. Those without robot expertise can't program it. The general operators in the company can't finish it.
  • the object of the present invention is to solve the various shortcomings of the current state of the cleaning machine, and to develop and design an orthogonal multi-joint composite type CNC cleaning machine and a cleaning method thereof.
  • an orthogonal multi-joint composite CNC cleaning machine including a frame, a high pressure cleaning nozzle, a spindle, a robot arm, a robot arm driving assembly, and a CNC controller, and the workpiece panel of the rack is fixed with a workpiece.
  • the frame is characterized in that: the top of the rack is provided with two rows of parallel Z-direction linear slide rails from left to right, and the top end of the mechanical arm mount is slidably connected with the Z-direction linear slide rail through the two side slider brackets.
  • the bottom end of the mechanical arm holder is rotatably fixed to the top end of the first mechanical arm, and the rotation fixed portion forms an X-direction moving joint; the bottom end of the first mechanical arm is rotated and fixed to the top end of the second mechanical arm, and the rotation fixed portion is formed.
  • the Y-direction moving joint is formed; this is compact in structure and large in processing range, which improves the defect of the robot arm in linear motion, and improves the defect that the vertical washing machine splashes upward and reattaches to the workpiece when cleaning the side of the workpiece.
  • the bottom end of the second mechanical arm is fixed with a horizontal main shaft, and the main shaft water inlet is connected to the water inlet pipe.
  • the main shaft water outlet is opposite to the workpiece holder and is provided with a high-pressure cleaning nozzle.
  • the high-pressure cleaning nozzle and the main shaft have an integrated structure, which ensures The positional accuracy of cleaning enables precise and precise cleaning of precise point cleaning and complex parts, while ensuring the cleanliness of cleaning;
  • the second mechanical arm is respectively connected to the first and second mechanical arm driving components, and the mechanical arm fixing frame is controlled and connected by the screw driving assembly, and the mechanical arm driving component and the screw driving component are all controlled and connected by the CNC controller.
  • the bottom of the mechanical arm holder is provided with a groove, the groove has two left and right side walls, and the left and right side walls are respectively provided with fixing holes, and the fixing holes are matched with the fixing holes of the top end of the first arm And the rotation is fixed through the bearing through; the bottom end of the first mechanical arm is provided with a fixing hole, the fixing hole is matched with the fixing hole of the top end of the second mechanical arm, and is penetrated through the bearing to realize the rotation fixing.
  • the mechanical arm driving component is composed of a servo motor and a speed reducer.
  • the mechanical arm is connected to the output end of the speed reducer, and the input end of the speed reducer is connected to the servo motor transmission output end, and the variable speed transmission is performed by a combination of the servo motor and the speed reducer.
  • a sealing member is disposed at a shaft joint of the first mechanical arm and the second mechanical arm, the sealing member adopts a rotary sealing structure, the rotating sealing structure adopts a rotating sealing ring, and the rotating sealing ring is embedded in the first mechanical arm
  • the shaft joint with the second arm prevents the cleaning fluid and dust from entering the inside of the arm.
  • the special structure of the multi-joint seal + mechanical arm components are made of anti-rust materials, ensuring stable and long-lasting resistance to high temperature, humidity, corrosive harsh environment, while maintaining mechanical properties.
  • a wiring groove is disposed in the arm, and a cable disposed inside the arm is embedded in the wiring groove.
  • the cable and various signal lines are arranged inside the arm, which not only ensures the overall structure, but also solves the waterproof problem of the cable and various signal lines.
  • An A-axis and a B-axis are disposed between the bottom of the workpiece holder and the operation panel, and the A-axis rotates 360° along its own center, and the B-axis is inverted at an end point of 90°.
  • a tool changer is vertically disposed at a side of the rack, and a plurality of cutter heads are vertically placed from the top to the bottom of the tool changer in the tool changer, and the tool changer is inclined at an angle of 30 degrees, so that The robot arm can easily handle the tool.
  • a cleaning method for a straight multi-joint composite type CNC cleaning machine characterized in that a workpiece is placed on a workpiece during cleaning Firstly, the first and second mechanical arms are controlled by the screw drive assembly to control the mechanical arm fixing frame to linearly reciprocate along the Z-direction linear sliding rail, and adjust the Z-direction spacing from the workpiece holder; after the Z-direction spacing is adjusted, The arm moves the spindle nozzle to adjust the azimuth through its X-direction and Y-direction moving joints. The first arm is controlled by the first arm drive assembly, and the arc is rotated by the X-direction moving joint along the groove at the bottom of the arm fixing bracket.
  • the second mechanical arm is controlled by the second mechanical arm driving component, and the arc is rotated by the Y-moving joint; finally, the cleaning nozzle and the main shaft are integrated, and the high-pressure water is ejected through the main shaft to realize high-position precision cleaning while passing
  • the A-axis and the B-axis at the bottom of the workpiece holder switch the rotation of the workpiece cleaning surface to realize simultaneous operation of the workpiece and the robot arm, and comprehensively clean the workpiece.
  • the A-axis is rotated 360° and the B-axis is rotated 90°.
  • the mechanical arm controls the mechanical arm fixing frame to linearly reciprocate along the Z-direction linear sliding rail through the screw driving assembly, adjusts the Z-direction spacing from the workpiece holder, and at most joint movement to the tool magazine position for tool change.
  • the invention adopts a Z-direction linear motion in which the X, Y direction motion + servo motor and the screw drive of the multi-joint robot are structurally constructed.
  • This compact structure enables miniaturization.
  • the workpiece is placed on the A-axis and the B-axis, the A-axis is rotated 360 degrees, and the B-axis is rotated 90 degrees.
  • the circular motion of the robot arm and the A-axis and B-axis rotation of the workpiece holder solve the defects of the linear motion of the robot, and can be cleaned for various complicated parts, and the processing range is large, and high-speed cleaning is realized.
  • the joint of the mechanical arm is waterproof and sealed. Cables such as motors are placed inside the arm.
  • the structure is a waterproof structure, and the equipment has a high operation rate, which solves the problem of high maintenance cost.
  • the cleaning nozzle is integrated with the main shaft. High-pressure water is sprayed through the spindle to achieve high positional accuracy cleaning.
  • the CNC controller allows operators to operate with simple training and improves operationally complex defects.
  • Figure 1 is a general view of a straight multi-joint CNC washing machine
  • Figure 2 is a partial transmission diagram of the first mechanical arm
  • Figure 3 is a partial transmission diagram of the second mechanical arm
  • Figure 4 is a partial view of the main shaft of the high pressure cleaning nozzle
  • Figure 5 is a waterproof sealing structure at the joint of the mechanical arm
  • Figure 6 is a structure of a cable disposed inside the arm
  • Figure 7 is a schematic view showing the overall structure of the mechanical arm
  • an orthogonal multi-joint composite type CNC cleaning machine includes a frame, a high pressure cleaning nozzle, a spindle, a robot arm, a robot arm driving component, and a CNC controller, and the operation panel of the frame is A workpiece holder is fixed, and an A-axis and a B-axis are disposed between the bottom of the workpiece holder and the operation panel, and the A-axis rotates 360° along its own center, and the B-axis is inverted at an end point of 90°.
  • a tool changer is vertically disposed at a side of the rack, and a plurality of cutter heads are vertically placed from the top to the bottom of the tool changer in the tool changer, and the tool changer is inclined at an angle of 30 degrees, so that The robot arm can easily handle the tool.
  • the top of the rack is provided with two rows of mutually parallel Z-direction linear slide rails from left to right, and the top end of the robot arm mount is slidably connected with the Z-direction linear slide rail through the two side slider brackets, the mechanical arm mount
  • the bottom end is rotated with the top end of the first robot arm
  • the rotation fixed portion forms an X-direction moving joint;
  • the bottom end of the first mechanical arm is rotationally fixed to the top end of the second mechanical arm, and the rotation fixed portion forms a Y-direction moving joint;
  • the bottom end of the second mechanical arm is fixed
  • There is a horizontal spindle the spindle inlet is connected to the inlet pipe, and the spindle outlet is opposite to the workpiece holder and is provided with a high-pressure cleaning nozzle.
  • the high-pressure cleaning nozzle and the spindle have an integrated structure, which ensures the cleaning position accuracy and achieves precise cleaning. Accurate and quick cleaning of complex parts while ensuring cleanliness of cleaning.
  • the structure of the existing cleaning robot in the mechanical industry is generally that the high-pressure nozzle is separately installed at the front end of the robot arm, and the mechanical arm is a separate structure. The positioning accuracy of the structure is not high, and accurate positioning and cleaning cannot be achieved.
  • the structure of the invention is that the high-pressure water nozzle is integrated with the main shaft, and the high-pressure water passes through the inside of the main shaft and is ejected through the nozzle.
  • the main shaft and the mechanical arm are integrally assembled by precise cooperation; the first and second mechanical arms are respectively connected with the first and second mechanical arm driving components, and the mechanical arm fixing frame is controlled and connected by the screw driving assembly, and the mechanical arm driving component and The screw drive assembly is controlled by a CNC controller.
  • the bottom of the mechanical arm holder is provided with a groove, the groove has two left and right side walls, and the left and right side walls are respectively provided with fixing holes, the fixing hole and the first machine
  • the fixing hole of the top end of the arm is matched and penetrated through the bearing to realize the rotation fixing
  • the bottom end of the first mechanical arm is provided with a fixing hole
  • the fixing hole is matched with the fixing hole of the top end of the second mechanical arm, and is penetrated through the bearing to realize the rotation fixing.
  • the mechanical arm driving component is composed of a servo motor and a speed reducer.
  • the mechanical arm is connected to the output end of the speed reducer, and the input end of the speed reducer is connected to the servo motor transmission output end through the servo.
  • the motor and reducer are combined to make a variable speed drive.
  • the arm is supported by bearings. The precise and flexible rotation of the robot arm is guaranteed.
  • the shaft joint of the first mechanical arm and the second mechanical arm is a waterproof sealing structure, and a sealing member is provided.
  • the sealing member adopts a rotary sealing structure
  • the rotating sealing structure adopts a rotating sealing ring.
  • the rotating seal ring is embedded in the shaft joint of the first robot arm and the second robot arm. It ensures that the robot arm can flexibly rotate, so that liquids and the like cannot enter the inside of the arm and damage the parts. This ensures the normal operation of the robot arm.
  • a wiring groove is provided in the arm, and a cable disposed inside the arm is embedded in the wiring groove.
  • the existing robot washing machine structure is an external wiring structure, and this structure not only considers the protective measures of the cable, but also has an unattractive appearance.
  • the invention does not need to consider the waterproof problem of the cable, and is neat and beautiful in appearance.
  • the cleaning method of the above-mentioned orthogonal multi-joint composite type CNC cleaning machine the workpiece is placed on the workpiece holder during cleaning; first, the first and second mechanical arms control the straight line of the mechanical arm holder along the Z-direction linear guide rail through the screw drive assembly Reciprocating sliding, adjusting the Z-direction spacing of the workpiece holder; after the Z-direction spacing adjustment is completed, the robot arm drives the spindle nozzle to adjust the orientation through its X-direction and Y-direction moving joints, and the first robot arm is controlled by the first robot arm driving component.
  • the circular motion is rotated by the X-direction moving joint along the groove at the bottom of the mechanical arm fixing bracket; the second mechanical arm is controlled by the second mechanical arm driving component, and the arc is rotated by the Y-moving joint; finally, the cleaning nozzle and the spindle are cleaned Integral type, high-pressure water is sprayed out through the main shaft to achieve high-position precision cleaning.
  • the A-axis and B-axis at the bottom of the workpiece holder are used to switch the workpiece cleaning surface to realize the simultaneous operation of the workpiece and the robot arm. Cleaning.
  • the A-axis is rotated 360° and the B-axis is rotated 90°.
  • the structure of the existing robot washing machine is fixed for the workpiece, and the mechanical arm is used for cleaning in all directions. Such a structure has a slow running speed and an inaccurate position.
  • the workpiece and the robot arm are simultaneously operated, and the cleaning speed is greatly improved.
  • the robot arm moves linearly through the Z direction and simultaneously drives the spindle nozzle through its multi-joint motion to thoroughly clean the workpiece.
  • the robot arm changes the tool by linear motion and multi-joint movement to the magazine position.
  • the compact structure and large processing range improve the linear motion of the robot arm, and improve the vertical sprayer's upward splash and reattachment to the workpiece when cleaning the side of the workpiece.
  • the mechanical arm controls the mechanical arm fixing frame to linearly reciprocate along the Z-direction linear sliding rail through the screw driving assembly, adjusts the Z-direction spacing from the workpiece holder, and at most joint movement to the tool magazine position for tool change.

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  • Cleaning By Liquid Or Steam (AREA)

Abstract

一种直交多关节复合型CNC清洗机及其清洗方法，机架（1）顶部设有两排相互平行的Z向直线滑轨（3），机械臂固定架（5）的顶端通过两侧滑块支架（4）与Z向直线滑轨（3）滑动连接，机械臂固定架（5）的底端与第一机械臂（6）的顶端转动固定，转动固定处形成X向运动关节（7）；第一机械臂（6）的底端与第二机械臂（8）的顶端转动固定，转动固定处形成Y向运动关节（9）；第二机械臂（8）的底端固定有水平向主轴（10），高压清洗喷嘴（11）与主轴（10）呈一体式结构；机械臂（6、8）与机械臂驱动组件控制连接，机械臂固定架（5）通过丝杠驱动组件控制连接，机械臂驱动组件以及丝杠驱动组件均由CNC控制器控制连接。该清洗机结构紧凑，可针对各种复杂零件进行清洗。

Description

直交多关节复合型CNC清洗机及其清洗方法 [技术领域]
本发明是采用机械手臂多关节运动与直线运动相结合的最新技术，对各种部件进行高压清洗的直交多关节复合型CNC清洗机及其清洗方法。
[背景技术]
用于航空航天、汽车、建设机械等的各种精密部件，在进行机械加工后，会在部件的盲孔、斜孔、精密面等残留毛刺、切屑等，如不进行清除，会导致机械无法达到所需要的精度、目的。
现在机械行业有的清洗机大多为通过式清洗方式，此类型清洗机存在的问题为，体积大、占地面积大、适用于整体清洗，但对形状复杂的零件清洗效果不佳，无法达到彻底清洗。另一种为清洗机器人，此类型清洗机存在的问题为，不擅长直线运动，不能达到高速度清洗。喷嘴安装在长臂的最前端，位置精度低，无法达到高位置精度清洗。防水困难，容易坏，设备运转率低，维护成本比较高。
作为现状有几种方法可以进行清除：
1、人工去毛刺、用油清洗。根据操作人员的能力不同品质也不同，因此经常会出现不稳定的问题，而且工作环境恶劣。
2、最终工程利用通过式清洗方式进行整体清洗。针对形状复杂的零件，清洗效果不加，无法达到彻底清洗干净的目的。
3、多关节机器人前端装喷嘴的方式进行清洗。
此种清洗方式的问题点：第一不擅长直线动作。多关节机器人，结构上、圆形动作较快，例如如果想要将喷嘴***细孔孔内清洗的话，他的速度只能达到原有1/10左右的程度，效率低下。第二喷嘴精度较低。由于喷嘴安装在长臂的最前端，导致他的位置精度不好，在长期使用过程中关节之间会产生晃动，使精度更加不好。第三、多关节机器人防水困难，容易坏、设备运转率低下、维护成本非常的高。第四、机器人需要专用的程序控制，没有机器人专业知识的人是无法进行编程的，公司内一般操作人员无法完成。
4、立式清洗机。在结构上体积大，重量大，加工范围有局限性。清洗工件侧面的情况，切屑容易向上飞溅，并再次附着在工件上。
[发明内容]
本发明的目的就是为了解决现状清洗机的各种不足之处，结合其优势而进行开发设计的直交多关节复合型CNC清洗机及其清洗方法。
为实现上述目的，设计一种直交多关节复合型CNC清洗机，包括机架、高压清洗喷嘴、主轴、机械臂、机械臂驱动组件以及CNC控制器，所述机架的操作面板上固定有工件架，其特征在于，机架顶部由左至右设有两排相互平行的Z向直线滑轨，机械臂固定架的顶端通过两侧滑块支架与所述Z向直线滑轨滑动连接，所述机械臂固定架的底端与第一机械臂的顶端转动固定，转动固定处形成X向运动关节；所述第一机械臂的底端与第二机械臂的顶端转动固定，转动固定处形成形成Y向运动关节；此此结构紧凑，加工范围大，改善了机械手臂在直线运动上的缺陷，改善了立式清洗机在对工件侧面清洗时向上飞溅并再次附着到工件上的缺陷。所述第二机械臂的底端固定有水平向主轴，主轴进水口连接进水管，主轴出水口与工件架相对并设有高压清洗喷嘴，所述高压清洗喷嘴与主轴呈一体式结构，保证了清洗的位置精度，实现了精确定点清洗和复杂部件的精确快速清洗，同时能够保证清洗的洁净度；第一、 第二机械臂分别与第一、第二机械臂驱动组件控制连接，机械臂固定架通过丝杠驱动组件控制连接，机械臂驱动组件以及丝杠驱动组件均由CNC控制器控制连接。
所述机械臂固定架的底部设有一凹槽，所述凹槽具有左右两侧壁，所述左右两侧壁上分别设有固定孔，所述固定孔与第一机械臂顶端的固定孔相适配并通过轴承贯穿，实现转动固定；第一机械臂底端设有固定孔，所述固定孔与第二机械臂顶端的固定孔相适配，并通过轴承贯穿，实现转动固定。
所述机械臂驱动组件采用伺服电机及减速机组合而成，所述机械臂连接减速机的输出端，减速机的输入端连接伺服电机传动输出端，通过伺服电机和减速机组合进行变速传动。
第一机械臂与第二机械臂的轴接处设有密封件，所述密封件采用旋转密封结构，所述旋转密封结构采用旋转用密封圈，所述旋转用密封圈嵌于第一机械臂与第二机械臂的轴接处，防止清洗液和灰尘等进入机械臂内部。且多关节处的特殊结构的密封+机械手臂各部件均由防锈材料的构成，确保了稳定持久地对抗高温、潮湿、腐蚀性的恶劣环境，同时保持了机械特性。
机械臂内设有配线槽，机械臂内部配置线缆内嵌于所述配线槽中。电缆线及各种信号线在机械臂内部配置，既保证了整体结构美观，又解决了电缆线及各种信号线等的防水问题。
所述工件架底部与操作面板之间设有A轴、B轴，所述A轴沿着自身圆心360°自转，所述B轴沿端点90°翻转。
所述机架侧旁竖直设有一个换刀库，所述换刀库内的换刀座上从上至下等间距竖直放置若干刀头，所述换刀座倾斜30度角度，以便机械手臂可以方便装卸刀具。
一种直交多关节复合型CNC清洗机的清洗方法，其特征在于，清洗时，工件放置于工件 架上；首先，第一、第二机械臂通过丝杠驱动组件控制机械臂固定架沿着Z向直线滑轨直线往复滑动，调整与工件架的Z向间距；待Z向间距调整完毕后，机械臂通过自身的X向及Y向运动关节带动主轴喷嘴调整方位，第一机械臂由第一机械臂驱动组件控制，通过X向运动关节沿着机械臂固定支架底部的凹槽进行圆弧转动；第二机械臂由第二机械臂驱动组件控制，通过Y向运动关节进行圆弧转动；最后，清洗喷嘴与主轴为一体式，高压水通过主轴喷射出，实现了高位置精度清洗，同时通过工件架底部的A轴、B轴进行工件清洗面的转动切换，实现工件与机械臂同时实施运转，对工件进行全面清洗。
A轴实施360°旋转，B轴实施90°翻转。
清洗喷嘴需要更换时，机械臂通过丝杠驱动组件控制机械臂固定架沿着Z向直线滑轨直线往复滑动，调整与工件架的Z向间距，至多关节运动到刀库位置进行换刀。
本发明采用在构造上为多关节机械手臂的X、Y方向运动+伺服电机、丝杠驱动的Z方向直线运动。此结构紧凑，实现了小型化。工件放置在A轴、B轴上，A轴实施360度旋转，B轴实施90度翻转。机械臂的圆弧运动与工件夹具的A轴、B轴旋转，解决了机器人在直线运动上的缺陷，可针对各种复杂零件进行清洗，加工范围大，实现了高速清洗。机械臂关节处为防水密封结构。电机等线缆配置在机械臂内部。此结构为防水结构，设备运转率高，解决了维护成本高的问题。清洗喷嘴与主轴为一体式。高压水通过主轴喷射出，实现了高位置精度清洗。CNC控制器，操作工人经过简单培训便可进行操作，改善了操作复杂的缺陷。
[附图说明]
图1为直交多关节CNC清洗机的全体图；
图2为第一机械臂传动部分图；
图3为第二机械臂传动部分图；
图4为高压清洗喷嘴主轴部分图；
图5为机械臂关节处为防水密封结构；
图6为机械臂内部配置线缆的结构；
图7为机械臂整体结构示意图；
图中标注说明
1.机架、2.工件架、3.Z向直线滑轨、4.滑块支架、5.机械臂固定架、6.第一机械臂、7.X向运动关节、8.第二机械臂、9.Y向运动关节、10.主轴、11.高压清洗喷嘴、12.伺服电机、13.减速机、14.密封件、15.配线、16.配线槽。
[具体实施方式]
下面结合附图对本发明作进一步说明，这种装置的结构和原理对本专业的人来说是非常清楚的。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
如图1及图7所示，一种直交多关节复合型CNC清洗机，包括机架、高压清洗喷嘴、主轴、机械臂、机械臂驱动组件以及CNC控制器，所述机架的操作面板上固定有工件架，所述工件架底部与操作面板之间设有A轴、B轴，所述A轴沿着自身圆心360°自转，所述B轴沿端点90°翻转。所述机架侧旁竖直设有一个换刀库，所述换刀库内的换刀座上从上至下等间距竖直放置若干刀头，所述换刀座倾斜30度角度，以便机械手臂可以方便装卸刀具。
机架顶部由左至右设有两排相互平行的Z向直线滑轨，机械臂固定架的顶端通过两侧滑块支架与所述Z向直线滑轨滑动连接，所述机械臂固定架的底端与第一机械臂的顶端转动固 定，转动固定处形成X向运动关节；所述第一机械臂的底端与第二机械臂的顶端转动固定，转动固定处形成形成Y向运动关节；所述第二机械臂的底端固定有水平向主轴，主轴进水口连接进水管，主轴出水口与工件架相对并设有高压清洗喷嘴，所述高压清洗喷嘴与主轴呈一体式结构，保证了清洗的位置精度，实现了精确定点清洗和复杂部件的精确快速清洗，同时能够保证清洗的洁净度。机械行业现有的清洗机器人的结构一般为高压喷嘴单独安装在机械臂前端，与机械臂为分离式结构，此结构的定位精度不高，无法实现精确定位清洗。本发明的结构为：高压水喷嘴与主轴为一体，高压水通过主轴内部，再经过喷嘴喷射出。主轴与机械臂通过精密配合安装在成一体；第一、第二机械臂分别与第一、第二机械臂驱动组件控制连接，机械臂固定架通过丝杠驱动组件控制连接，机械臂驱动组件以及丝杠驱动组件均由CNC控制器控制连接。
如图7所示，所述机械臂固定架的底部设有一凹槽，所述凹槽具有左右两侧壁，所述左右两侧壁上分别设有固定孔，所述固定孔与第一机械臂顶端的固定孔相适配并通过轴承贯穿，实现转动固定；第一机械臂底端设有固定孔，所述固定孔与第二机械臂顶端的固定孔相适配，并通过轴承贯穿，实现转动固定。
如图2及图3所示，所述机械臂驱动组件采用伺服电机及减速机组合而成，所述机械臂连接减速机的输出端，减速机的输入端连接伺服电机传动输出端，通过伺服电机和减速机组合进行变速传动。机械臂通过轴承来支撑。保证了机械臂的准确灵活的转动。
如图5所示，第一机械臂与第二机械臂的轴接处为防水密封结构，设有密封件，所述密封件采用旋转密封结构，所述旋转密封结构采用旋转用密封圈，所述旋转用密封圈嵌于第一机械臂与第二机械臂的轴接处。保证了机械臂在灵活旋转的同时，使液体等无法侵入到机械臂内部，损坏零部件。从而确保机械臂的正常运转。
如图6所示，机械臂内设有配线槽，机械臂内部配置线缆内嵌于所述配线槽中。现有的机器人清洗机结构为外部配线结构，此结构不仅要考虑线缆的防护措施，而且在外观上不美观。本发明无需考虑线缆的防水问题，而且在在外观上整洁，美观。
上述直交多关节复合型CNC清洗机的清洗方法，清洗时，工件放置于工件架上；首先，第一、第二机械臂通过丝杠驱动组件控制机械臂固定架沿着Z向直线滑轨直线往复滑动，调整与工件架的Z向间距；待Z向间距调整完毕后，机械臂通过自身的X向及Y向运动关节带动主轴喷嘴调整方位，第一机械臂由第一机械臂驱动组件控制，通过X向运动关节沿着机械臂固定支架底部的凹槽进行圆弧转动；第二机械臂由第二机械臂驱动组件控制，通过Y向运动关节进行圆弧转动；最后，清洗喷嘴与主轴为一体式，高压水通过主轴喷射出，实现了高位置精度清洗，同时通过工件架底部的A轴、B轴进行工件清洗面的转动切换，实现工件与机械臂同时实施运转，对工件进行全面清洗。A轴实施360°旋转，B轴实施90°翻转。
现有机器人清洗机结构为工件固定，依靠机械手臂进行各个方向角度的清洗，这样的结构运行速度慢，位置不够精确。本发明为工件与机械臂同时实施运转，大幅度地提高了清洗速度。机械臂通过Z方向直线运动并同时通过自身的多关节运动带动主轴喷嘴，对工件进行全面清洗。清洗喷嘴需要更换时，机械臂通过直线运动和多关节运动到刀库位置进行换刀。此结构紧凑，加工范围大，改善了机械手臂在直线运动上的缺陷，改善了立式清洗机在对工件侧面清洗时向上飞溅并再次附着到工件上的缺陷。
清洗喷嘴需要更换时，机械臂通过丝杠驱动组件控制机械臂固定架沿着Z向直线滑轨直线往复滑动，调整与工件架的Z向间距，至多关节运动到刀库位置进行换刀。

Claims (10)

  1. 一种直交多关节复合型CNC清洗机，包括机架、高压清洗喷嘴、主轴、机械臂、机械臂驱动组件以及CNC控制器，所述机架的操作面板上固定有工件架，其特征在于，机架顶部由左至右设有两排相互平行的Z向直线滑轨，机械臂固定架的顶端通过两侧滑块支架与所述Z向直线滑轨滑动连接，所述机械臂固定架的底端与第一机械臂的顶端转动固定，转动固定处形成X向运动关节；所述第一机械臂的底端与第二机械臂的顶端转动固定，转动固定处形成形成Y向运动关节；所述第二机械臂的底端固定有水平向主轴，主轴进水口连接进水管，主轴出水口与工件架相对并设有高压清洗喷嘴，所述高压清洗喷嘴与主轴呈一体式结构；第一、第二机械臂分别与第一、第二机械臂驱动组件控制连接，机械臂固定架通过丝杠驱动组件控制连接，机械臂驱动组件以及丝杠驱动组件均由CNC控制器控制连接。
  2. 如权利要求1所述的一种直交多关节复合型CNC清洗机，其特征在于，所述机械臂固定架的底部设有一凹槽，所述凹槽具有左右两侧壁，所述左右两侧壁上分别设有固定孔，所述固定孔与第一机械臂顶端的固定孔相适配并通过轴承贯穿，实现转动固定；第一机械臂底端设有固定孔，所述固定孔与第二机械臂顶端的固定孔相适配，并通过轴承贯穿，实现转动固定。
  3. 如权利要求1所述的一种直交多关节复合型CNC清洗机，其特征在于，所述机械臂驱动组件采用伺服电机及减速机组合而成，所述机械臂连接减速机的输出端，减速机的输入端连接伺服电机传动输出端，通过伺服电机和减速机组合进行变速传动。
  4. 如权利要求1所述的一种直交多关节复合型CNC清洗机，其特征在于，第一机械臂与第二机械臂的轴接处设有密封件，所述密封件采用旋转密封结构，所述旋转密封结构采用旋转用密封圈，所述旋转用密封圈嵌于第一机械臂与第二机械臂的轴接处。
  5. 如权利要求1所述的一种直交多关节复合型CNC清洗机，其特征在于，机械臂内设有配线槽，机械臂内部配置线缆内嵌于所述配线槽中。
  6. 如权利要求1所述的一种直交多关节复合型CNC清洗机，其特征在于，所述工件架底部与 操作面板之间设有A轴、B轴，所述A轴沿着自身圆心360°自转，所述B轴沿端点90°翻转。
  7. 如权利要求1所述的一种直交多关节复合型CNC清洗机，其特征在于，所述机架侧旁竖直设有一个换刀库，所述换刀库内的换刀座上从上至下等间距竖直放置若干刀头，所述换刀座倾斜30度角度，以便机械手臂可以方便装卸刀具。
  8. 一种如权利要求1所述的直交多关节复合型CNC清洗机的清洗方法，其特征在于，清洗时，工件放置于工件架上；首先，第一、第二机械臂通过丝杠驱动组件控制机械臂固定架沿着Z向直线滑轨直线往复滑动，调整与工件架的Z向间距；待Z向间距调整完毕后，机械臂通过自身的X向及Y向运动关节带动主轴喷嘴调整方位，第一机械臂由第一机械臂驱动组件控制，通过X向运动关节沿着机械臂固定支架底部的凹槽进行圆弧转动；第二机械臂由第二机械臂驱动组件控制，通过Y向运动关节进行圆弧转动；最后，清洗喷嘴与主轴为一体式，高压水通过主轴喷射出，实现了高位置精度清洗，同时通过工件架底部的A轴、B轴进行工件清洗面的转动切换，实现工件与机械臂同时实施运转，对工件进行全面清洗。
  9. 如权利要求8所述的直交多关节复合型CNC清洗机的清洗方法，其特征在于，A轴实施360°旋转，B轴实施90°翻转。
  10. 如权利要求8所述的直交多关节复合型CNC清洗机的清洗方法，其特征在于，清洗喷嘴需要更换时，机械臂通过丝杠驱动组件控制机械臂固定架沿着Z向直线滑轨直线往复滑动，调整与工件架的Z向间距，至多关节运动到换刀库位置进行换刀。
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CN109127629B (zh) * 2018-09-03 2024-03-12 天津远程华瑞工业技术有限公司 清洗脱漆***以及轨道交通车辆转向架的检修装置
CN110393497A (zh) * 2019-08-26 2019-11-01 苏州科洁泰电器有限公司 关节臂型喷淋装置

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