CN104209294B - Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof - Google Patents
Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof Download PDFInfo
- Publication number
- CN104209294B CN104209294B CN201410430789.4A CN201410430789A CN104209294B CN 104209294 B CN104209294 B CN 104209294B CN 201410430789 A CN201410430789 A CN 201410430789A CN 104209294 B CN104209294 B CN 104209294B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- cleaning
- joint
- axle
- cnc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to an orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and a cleaning method thereof. According to the orthogonal multi-joint complex CNC cleaning machine, two rows of Z-direction linear sliding rails which are parallel to each other are arranged at the top of a machine frame from left to right, the top end of a manipulator fixing rack is in sliding connection with the Z-direction linear sliding rails through sliding block brackets at two sides, the bottom end of the manipulator fixing rack is rotatably fixed to the top end of a first manipulator, and an X-direction movement joint is formed at the rotatably-fixed location; the bottom end of the first manipulator is rotatably fixed to the top end of a second manipulator, and a Y-direction movement joint is formed at the rotatably-fixed location; a horizontal main shaft is fixedly arranged at the bottom end of the second manipulator, and high-pressure cleaning spray nozzles and the main shaft are of an integrated structure; the manipulators and a manipulator driving assembly are in control connection, the manipulator fixing rack is controllably connected through a screw driving assembly, and both the manipulator driving assembly and the screw driving assembly are controllably connected by a CNC controller. The orthogonal multi-joint complex CNC cleaning machine and the cleaning method thereof have the advantages that the structure is compact, miniaturization is realized, a variety of complicated parts can be cleaned, the processing range is large, high-speed cleaning is realized, and the equipment running rate is high.
Description
[technical field]
The present invention is the state-of-the-art technology being combined with linear motion using mechanical arm multi joint motion, and various parts are entered
The orthogonal multi-joint compound cnc cleaning machine of horizontal high voltage cleaning and its cleaning method.
[background technology]
For the various precise parts of Aero-Space, automobile, construction implement etc., after carrying out machining, can be in part
Blind hole, inclined hole, residual burr, the chip etc. such as accurate face, if not being purged, machinery can be led to be unable to reach required essence
Degree, purpose.
The cleaning machine that now machinery industry has is mostly by formula cleaning way, and the problem that this type cleaning machine exists is,
Volume is big, floor space is big, be applied to Integral cleaning, but to complex-shaped Cleaning of Parts effect on driving birds is not good it is impossible to reach thoroughly
Cleaning.Another kind of is cleaning robot, and the problem that this type cleaning machine exists is to be bad at linear motion it is impossible to reach at a high speed
Degree cleaning.Nozzle be arranged on long-armed foremost, positional precision low it is impossible to attain to a high place puts precision cleaning.Waterproof is difficult, easily
Bad, operation rate is low, and maintenance cost is higher.
There is several methods that and can be purged as present situation:
1st, artificial deburring, use oil cleaning.Also different according to the ability difference quality of operator, therefore often occur
Unstable problem, and work under bad environment.
2nd, final engineering utilization carries out Integral cleaning by formula cleaning way.For complex-shaped part, cleaning performance
It is not added with it is impossible to reach the clean purpose of thoroughly cleaning.
3rd, the mode of articulated robot front end dress nozzle is carried out.
The problem points of this kind of cleaning way: first is bad at linearly operating.Articulated robot, in structure, circular movement
Comparatively fast, for example if it is intended to if inserting the nozzle into the cleaning of pore in the hole, his speed can only achieve original 1/10 about journey
Degree, inefficiency.Second nozzle precision is relatively low.Due to nozzle be arranged on long-armed lead to his positional precision bad foremost,
Can produce between joint during life-time service and rock, make precision more bad.3rd, articulated robot waterproof is difficult,
Easily bad, operation rate is low, maintenance cost is very high.4th, robot needs special programme-control, does not have machine
The people of people's Professional knowledge cannot be carried out programming, and in company, general operation personnel cannot complete.
4th, vertical type cleaning machine.Volume is big in structure, and weight is big, and the range of work has limitation.The feelings of cleaning workpiece side
Condition, chip is easily splashed upwards, and is attached to again on workpiece.
[content of the invention]
The purpose of the present invention is exactly the various weak points in order to solve present situation cleaning machine, develops in conjunction with its advantage
The orthogonal multi-joint compound cnc cleaning machine of design and its cleaning method.
For achieving the above object, design a kind of compound cnc cleaning machine of orthogonal multi-joint, including frame, high-pressure wash spray
Mouth, main shaft, mechanical arm, mechanical arm drive component and cnc controller, the guidance panel of described frame is fixed with work rest,
It is characterized in that, frame top is provided with the z that two rows are parallel to each other from left to right to line slide rail, and the top of mechanical arm fixed mount leads to
Cross both sides slider bracket to be slidably connected to line slide rail with described z, the bottom of described mechanical arm fixed mount and first mechanical arm
Top rotates to be fixed, and rotates bearing and forms x to movable joint；The bottom of described first mechanical arm and the top of second mechanical arm
Rotate and fix, rotate bearing and form y to movable joint；This this compact conformation, the range of work is big, improves mechanical arm
Defect on linear motion, improves vertical type cleaning machine and splashes upwards when cleaning to side surface of workpiece and adhere again to workpiece
On defect.The bottom of described second mechanical arm is fixed with level to main shaft, and main shaft water inlet connects water inlet pipe, main shaft outlet
Relative with work rest and be provided with high-pressure wash nozzle, described high-pressure wash nozzle and main shaft are in integral structure it is ensured that cleaning
Positional precision it is achieved that pinpoint cleaning and complex component accurate Rapid Cleaning, ensure that the cleaning of cleaning simultaneously
Degree；First, second mechanical arm is connected with first, second mechanical arm drive component control respectively, and mechanical arm fixed mount passes through leading screw
Drive component controls connection, mechanical arm drive component and leading screw drive component to control connection by cnc controller.
The bottom of described mechanical arm fixed mount is provided with a groove, and described groove has left and right sides wall, the described left and right sides
Fixing hole is respectively equipped with wall, described fixing hole is adapted with the fixing hole on first mechanical arm top and is run through by bearing, real
Now rotate and fix；First mechanical arm bottom is provided with fixing hole, and described fixing hole is adapted with the fixing hole on second mechanical arm top,
And run through by bearing, realize rotating and fix.
Described mechanical arm drive component is combined using servomotor and reductor, and described mechanical arm connects reductor
Outfan, the input of reductor connects servo motor transmission outfan, carries out speed change by servomotor and reductor combination
Transmission.
First mechanical arm is provided with sealing member with the axle place of connecing of second mechanical arm, and described sealing member adopts rotary seal structure,
Using rotation sealing ring, described rotation sealing ring is embedded in first mechanical arm and second mechanical arm to described rotary seal structure
Axle meets place, prevents cleanout fluid and dust etc. from entering inside mechanical arm.And sealing+the mechanical arm of the special construction at multi-joint is each
Part by rush-resisting material composition it is ensured that stably and lastingly to high temperature resistance, humidity, corrosive adverse circumstances, protect simultaneously
Hold mechanical property.
It is provided with configuration cable inside distribution trough, mechanical arm in mechanical arm to be embedded in described distribution trough.Cable and various
Holding wire configures inside mechanical arm, both ensure that overall structure is attractive in appearance, solves the anti-of cable and various holding wire etc. again
Water problems.
Be provided with a axle, b axle between described work rest bottom and guidance panel, described a axle along itself 360 ° of center of circle rotation,
Described b axle is along 90 ° of upsets of end points.
Vertically it is provided with a tool changing storehouse by described frame side, the tool changing seat in described tool changing storehouse equidistantly erects from top to bottom
Directly place some cutter heads, described tool changing seat tilts 30 degree of angles, so that mechanical arm can conveniently load and unload cutter.
A kind of cleaning method of the compound cnc cleaning machine of orthogonal multi-joint is it is characterised in that during cleaning, workpiece is positioned over
On work rest；First, first, second mechanical arm passes through leading screw drive component control machinery arm fixed mount along z to line slide rail
Linear reciprocation is slided, and the z of adjustment and work rest is to spacing；After z to spacing adjustment finish after, mechanical arm pass through the x of itself to and y
Drive main shaft nozzle adjustment orientation to movable joint, first mechanical arm is controlled by first mechanical arm drive component, by x to motion
Joint carries out circular arc rotation along the groove of mechanical arm fixed support bottom；Second mechanical arm is by second mechanical arm drive component control
System, carries out circular arc rotation by y to movable joint；Finally, washer jet and main shaft are integral type, and water under high pressure is sprayed by main shaft
Go out it is achieved that the cleaning of high position precision, carry out the rotation switching of workpiece cleaning surface simultaneously by a axle of work rest bottom, b axle,
Realize workpiece to implement to operate with mechanical arm simultaneously, workpiece is cleaned comprehensively.
A axle implements 360 ° of rotations, and b axle implements 90 ° of upsets.
When washer jet needs to change, mechanical arm passes through leading screw drive component control machinery arm fixed mount along z to straight line
Slide rail linear reciprocation is slided, and the z of adjustment and work rest, to spacing, carries out tool changing to multi joint motion to tool magazine position.
The present invention is using the z constructively driving for x, y direction motion+servomotor of multi-joint manipulator arm, leading screw
Direction moves along a straight line.This compact conformation is it is achieved that miniaturization.Workpiece is placed on a axle, on b axle, a axle is implemented 360 degree and is rotated, b axle
Implement 90 degree of upsets.The circular motion of mechanical arm is rotated with a axle of work piece holder, b axle, solves robot on linear motion
Defect, can be carried out for various complex parts, the range of work big it is achieved that high velocity sweep.It is anti-at joint of mechanical arm
Watertight construction.The cable configurations such as motor are inside mechanical arm.This structure is waterproof construction, and operation rate is high, solves dimension
The problem of shield high cost.Washer jet and main shaft are integral type.Water under high pressure is ejected by main shaft it is achieved that high position precision is clear
Wash.Cnc controller, operator just can be operated through simple training, improves the defect of complex operation.
[brief description]
Fig. 1 is all figures of orthogonal multi-joint cnc cleaning machine；
Fig. 2 is first mechanical arm driving section component；
Fig. 3 is second mechanical arm driving section component；
Fig. 4 is high-pressure wash nozzle main shaft part component；
Fig. 5 is for being waterproof sealing structure at joint of mechanical arm；
Fig. 6 is the structure of configuration cable inside mechanical arm；
Fig. 7 is mechanical arm overall structure diagram；
In figure marks explanation
1. frame, 2. work rest, 3.z to line slide rail, 4. slider bracket, 5. mechanical arm fixed mount, 6. first mechanical arm,
7.x to movable joint, 8. second mechanical arm, 9.y to movable joint, 10. main shaft, 11. high-pressure wash nozzles, 12. servomotors,
13. reductors, 14. sealing members, 15. distributions, 16. distribution troughs.
[specific embodiment]
The invention will be further described below in conjunction with the accompanying drawings, for the structure of this device and the principle people professional to this
It is very clearly.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit this
Invention.
As shown in Fig. 1 and Fig. 7, a kind of compound cnc cleaning machine of orthogonal multi-joint, including frame, high-pressure wash nozzle, master
Axle, mechanical arm, mechanical arm drive component and cnc controller, the guidance panel of described frame is fixed with work rest, described work
It is provided with a axle, b axle, along itself 360 ° of center of circle rotation, described b axle is along end points for described a axle between part frame bottom and guidance panel
90 ° of upsets.Vertically it is provided with a tool changing storehouse by described frame side, the tool changing seat in described tool changing storehouse equidistantly erects from top to bottom
Directly place some cutter heads, described tool changing seat tilts 30 degree of angles, so that mechanical arm can conveniently load and unload cutter.
Frame top is provided with the z that two rows are parallel to each other from left to right to line slide rail, and the top of mechanical arm fixed mount is passed through
Both sides slider bracket is slidably connected to line slide rail with described z, the bottom of described mechanical arm fixed mount and the top of first mechanical arm
End rotates to be fixed, and rotates bearing and forms x to movable joint；The bottom of described first mechanical arm is turned with the top of second mechanical arm
Dynamic fixation, rotates bearing and forms y to movable joint；The bottom of described second mechanical arm is fixed with level to main shaft, main
Axle water inlet connects water inlet pipe, and main shaft outlet is relative with work rest and is provided with high-pressure wash nozzle, described high-pressure wash nozzle
With main shaft be in integral structure it is ensured that cleaning positional precision it is achieved that pinpoint cleaning and complex component accurately fast
Speed cleaning, ensure that the cleanliness factor of cleaning simultaneously.The structure of the existing cleaning robot of machinery industry is generally high pressure nozzle
It is arranged separately in mechanical arm front end, is separate structure with mechanical arm, the positioning precision of this structure is not high it is impossible to realization is accurately fixed
Position cleaning.The structure of the present invention is: hydraulic spray is integrated with main shaft, and water under high pressure passes through inside main shaft, then through nozzle spray
Project.Main shaft and mechanical arm are arranged on integral by precision-fit；First, second mechanical arm is mechanical with first, second respectively
Arm drive component controls connection, and mechanical arm fixed mount passes through leading screw drive component and controls connection, mechanical arm drive component and silk
Thick stick drive component controls connection by cnc controller.
As shown in fig. 7, the bottom of described mechanical arm fixed mount is provided with a groove, described groove has left and right sides wall, institute
State and fixing hole is respectively equipped with the wall of the left and right sides, described fixing hole is adapted with the fixing hole on first mechanical arm top and passes through axle
Hold and run through, realize rotating and fix；First mechanical arm bottom is provided with fixing hole, the fixation on described fixing hole and second mechanical arm top
Hole is adapted, and is run through by bearing, realizes rotating and fixes.
As shown in Figures 2 and 3, described mechanical arm drive component is combined using servomotor and reductor, described machine
Tool arm connects the outfan of reductor, and the input of reductor connects servo motor transmission outfan, by servomotor with subtract
Fast machine combination carries out gear.Mechanical arm is supported by bearing.Ensure that the rotation of the accurate and flexible of mechanical arm.
As shown in figure 5, first mechanical arm is waterproof sealing structure with the axle place of connecing of second mechanical arm, it is provided with sealing member, institute
State sealing member and adopt rotary seal structure, using rotation sealing ring, described rotation is embedding with sealing ring for described rotary seal structure
Axle in first mechanical arm and second mechanical arm meets place.Ensure that mechanical arm while flexible rotating, so that liquid etc. cannot be invaded
Enter to inside mechanical arm, damage parts.So that it is guaranteed that the normal operation of mechanical arm.
As shown in fig. 6, being provided with distribution trough in mechanical arm, inside mechanical arm, configuration cable is embedded in described distribution trough.Existing
Some robot washer structures are outside wiring structure, the safeguard procedures of this structure not only cable to be considered, and in outward appearance
On unsightly.The present invention need not consider the waterproof problem of cable, and clean and tidy in appearance, attractive in appearance.
The cleaning method of the compound cnc cleaning machine of above-mentioned orthogonal multi-joint, during cleaning, workpiece is positioned on work rest；First
First, first, second mechanical arm passes through leading screw drive component control machinery arm fixed mount along z to line slide rail linear reciprocation cunning
Dynamic, the z of adjustment and work rest is to spacing；After z to spacing adjustment finish after, mechanical arm pass through the x of itself to and y to movable joint
Drive main shaft nozzle adjustment orientation, first mechanical arm is controlled by first mechanical arm drive component, by x to movable joint along machine
The groove of tool arm fixed support bottom carries out circular arc rotation；Second mechanical arm is controlled by second mechanical arm drive component, by y to
Movable joint carries out circular arc rotation；Finally, washer jet and main shaft are integral type, water under high pressure ejected by main shaft it is achieved that
The cleaning of high position precision, passes through the rotation switching that a axle of work rest bottom, b axle carry out workpiece cleaning surface simultaneously, realize workpiece and
Mechanical arm is implemented to operate simultaneously, and workpiece is cleaned comprehensively.A axle implements 360 ° of rotations, and b axle implements 90 ° of upsets.
Existing robot washer structure is fixed for workpiece, relies on mechanical arm to carry out the cleaning of all directions angle, this
The structure speed of service of sample is slow, and position is not accurate.The present invention is that workpiece is implemented to operate with mechanical arm simultaneously, is significantly increased
Cleaning speed.Mechanical arm passes through z direction and moves along a straight line and drive main shaft nozzle by the multi joint motion of itself, to work simultaneously
Part is cleaned comprehensively.When washer jet needs to change, mechanical arm is entered to tool magazine position by linear motion and multi joint motion
Row tool changing.This compact conformation, the range of work is big, improves defect on linear motion for the mechanical arm, improves vertical cleaning
Machine splashes upwards when cleaning to side surface of workpiece and adheres again to the defect on workpiece.
When washer jet needs to change, mechanical arm passes through leading screw drive component control machinery arm fixed mount along z to straight line
Slide rail linear reciprocation is slided, and the z of adjustment and work rest, to spacing, carries out tool changing to multi joint motion to tool magazine position.
Claims (9)
1. the cleaning method of the compound cnc cleaning machine of a kind of use orthogonal multi-joint, including orthogonal multi-joint compound cnc cleaning
Machine is it is characterised in that described orthogonal multi-joint compound cnc cleaning machine includes frame, high-pressure wash nozzle, main shaft, machinery
Arm, mechanical arm drive component and cnc controller, the guidance panel of frame is fixed with work rest, and frame top is from left to right
It is provided with the z that two rows are parallel to each other to line slide rail, both sides slider bracket is passed through with z to line slide rail in the top of mechanical arm fixed mount
It is slidably connected, the bottom of mechanical arm fixed mount rotates fixation with the top of first mechanical arm, rotate bearing formation x and close to motion
Section；The bottom of first mechanical arm rotates fixation with the top of second mechanical arm, rotates bearing and forms y to movable joint；
The bottom of second mechanical arm is fixed with level to main shaft, and main shaft water inlet connects water inlet pipe, and main shaft outlet is relative with work rest
And it is provided with high-pressure wash nozzle, high-pressure wash nozzle and main shaft are in integral structure；First mechanical arm, second mechanical arm respectively with
First mechanical arm, second mechanical arm drive component control connection, and mechanical arm fixed mount passes through leading screw drive component and controls connection, machine
Tool arm drive component and leading screw drive component control connection by cnc controller, and during cleaning, workpiece is positioned on work rest；
First, first mechanical arm, second mechanical arm pass through leading screw drive component control machinery arm fixed mount along z to line slide rail straight line
Reciprocatingly slide, the z of adjustment and work rest is to spacing；After z to spacing adjustment finish after, mechanical arm pass through the x of itself to and y to fortune
Movable joint drives main shaft to adjust orientation with washer jet, and first mechanical arm is controlled by first mechanical arm drive component, by x to fortune
Movable joint carries out circular arc rotation along the groove of mechanical arm fixed mount bottom；Second mechanical arm is by second mechanical arm drive component control
System, carries out circular arc rotation by y to movable joint；Finally, washer jet and main shaft are integral type, and water under high pressure is sprayed by main shaft
Go out it is achieved that the cleaning of high position precision, carry out the rotation switching of workpiece cleaning surface simultaneously by a axle of work rest bottom, b axle,
Realize workpiece to implement to operate with mechanical arm simultaneously, workpiece is cleaned comprehensively.
2. the cleaning method of the compound cnc cleaning machine of a kind of use orthogonal multi-joint as claimed in claim 1, its feature exists
In a axle implements 360 ° of rotations, and b axle implements 90 ° of upsets.
3. the cleaning method of the compound cnc cleaning machine of a kind of use orthogonal multi-joint as claimed in claim 1, its feature exists
In, when washer jet needs to change, it is straight to line slide rail along z that mechanical arm passes through leading screw drive component control machinery arm fixed mount
Line reciprocatingly slides, and the z of adjustment and work rest, to spacing, puts to tool changing warehouse compartment to multi joint motion and carries out tool changing.
4. as claimed in claim 1 a kind of compound cnc cleaning machine of use orthogonal multi-joint cleaning method it is characterised in that
The bottom of described mechanical arm fixed mount is provided with a groove, and described groove has left and right sides wall, on the wall of the described left and right sides respectively
It is provided with fixing hole, described fixing hole is adapted with the fixing hole on first mechanical arm top and is run through by bearing, realize rotating admittedly
Fixed；First mechanical arm bottom is provided with fixing hole, and described fixing hole is adapted with the fixing hole on second mechanical arm top, and passes through axle
Hold and run through, realize rotating and fix.
5. as claimed in claim 1 a kind of compound cnc cleaning machine of use orthogonal multi-joint cleaning method it is characterised in that
Described mechanical arm drive component is combined using servomotor and reductor, and described mechanical arm connects the outfan of reductor,
The input of reductor connects servo motor transmission outfan, carries out gear by servomotor and reductor combination.
6. as claimed in claim 1 a kind of compound cnc cleaning machine of use orthogonal multi-joint cleaning method it is characterised in that
First mechanical arm is provided with sealing member with the axle place of connecing of second mechanical arm, and described sealing member adopts rotary seal structure, described rotation
Using rotation sealing ring, described rotation sealing ring is embedded in first mechanical arm and meets place with the axle of second mechanical arm sealing structure.
7. as claimed in claim 1 a kind of compound cnc cleaning machine of use orthogonal multi-joint cleaning method it is characterised in that
It is provided with configuration cable inside distribution trough, mechanical arm in mechanical arm to be embedded in described distribution trough.
8. as claimed in claim 1 a kind of compound cnc cleaning machine of use orthogonal multi-joint cleaning method it is characterised in that
It is provided with a axle, b axle, described a axle is along itself 360 ° of center of circle rotation, described b axle edge between described work rest bottom and guidance panel
90 ° of upsets of end points.
9. as claimed in claim 1 a kind of compound cnc cleaning machine of use orthogonal multi-joint cleaning method it is characterised in that
Vertically it is provided with a tool changing storehouse, if equidistantly vertically placing from top to bottom on the tool changing seat in described tool changing storehouse by described frame side
Dry cutter head, described tool changing seat tilts 30 degree of angles, so that mechanical arm can conveniently load and unload cutter.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410430789.4A CN104209294B (en) | 2014-08-28 | 2014-08-28 | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof |
| PCT/CN2015/081821 WO2016029734A1 (en) | 2014-08-28 | 2015-06-18 | Orthogonal multi-joint complex cnc cleaning machine and cleaning method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410430789.4A CN104209294B (en) | 2014-08-28 | 2014-08-28 | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104209294A CN104209294A (en) | 2014-12-17 |
| CN104209294B true CN104209294B (en) | 2017-01-18 |
Family
ID=52091427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410430789.4A Active CN104209294B (en) | 2014-08-28 | 2014-08-28 | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104209294B (en) |
| WO (1) | WO2016029734A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209294B (en) * | 2014-08-28 | 2017-01-18 | 上海丰禾精密机械有限公司 | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof |
| CN104722522B (en) * | 2015-03-27 | 2017-03-01 | 重庆红亿机械有限公司 | A kind of engine cylinder cover auto-cleaning method |
| CN110369400A (en) * | 2018-04-12 | 2019-10-25 | 津伦（天津）精密机械股份有限公司 | A kind of Full-automatic plasma cleaning equipment |
| CN108620378B (en) * | 2018-06-28 | 2023-08-25 | 福州鸿基自动化设备有限公司 | Six-station workpiece cleaning machine |
| CN109127629B (en) * | 2018-09-03 | 2024-03-12 | 天津远程华瑞工业技术有限公司 | Clear maintenance device of paint removal system and rail transit vehicle bogie |
| CN110393497A (en) * | 2019-08-26 | 2019-11-01 | 苏州科洁泰电器有限公司 | Joint arm type spray equipment |
| JP7047713B2 (en) * | 2018-11-05 | 2022-04-05 | オムロン株式会社 | Robot arm and robot arm manufacturing method |
| CN116765957A (en) * | 2023-06-25 | 2023-09-19 | 广东希普斯科技有限公司 | Automatic change two main shaft internal grinding machine of high speed |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2651251B2 (en) * | 1989-10-20 | 1997-09-10 | 株式会社日立製作所 | Mechanism error correction method for SCARA robot |
| FR2671305B1 (en) * | 1991-01-09 | 1995-04-07 | Commissariat Energie Atomique | METHOD FOR DRIVING A ROBOT ARM BY DEFINING SUBSTITUTION PATHS. |
| JP2977306B2 (en) * | 1991-03-27 | 1999-11-15 | 川崎製鉄株式会社 | Roll chock cleaning apparatus and roll chock cleaning method |
| JPH06272027A (en) * | 1993-03-17 | 1994-09-27 | Fuji Photo Film Co Ltd | Method for automatically cleaning vacuum deposition tank and device therefor |
| JP3183637B2 (en) * | 1997-09-30 | 2001-07-09 | 株式会社オオガ | Work cleaning device using articulated robot |
| JP3705999B2 (en) * | 2000-05-17 | 2005-10-12 | オークマ株式会社 | Chip cleaning equipment for machine tools |
| JP2003019466A (en) * | 2001-07-09 | 2003-01-21 | Oga Co Ltd | Work cleaning apparatus having jetting nozzle changeable with a plurality of jetting nozzles |
| US6804579B1 (en) * | 2002-10-16 | 2004-10-12 | Abb, Inc. | Robotic wash cell using recycled pure water |
| CN201625644U (en) * | 2010-03-25 | 2010-11-10 | 安福唯冠油压机械有限公司 | Five-shaft linkage numerical control high-pressure turret type cleaning device |
| CN103433226B (en) * | 2013-08-23 | 2015-09-16 | 山西汾西矿业（集团）有限责任公司设备修造厂 | Coal mine hydraulic supporting high pressure water-jet cleaner device people |
| CN104209294B (en) * | 2014-08-28 | 2017-01-18 | 上海丰禾精密机械有限公司 | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof |
| CN204018278U (en) * | 2014-08-28 | 2014-12-17 | 上海丰禾精密机械有限公司 | The compound CNC cleaning machine of orthogonal multi-joint |
-
2014
- 2014-08-28 CN CN201410430789.4A patent/CN104209294B/en active Active
-
2015
- 2015-06-18 WO PCT/CN2015/081821 patent/WO2016029734A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN104209294A (en) | 2014-12-17 |
| WO2016029734A1 (en) | 2016-03-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104209294B (en) | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof | |
| JP6338333B2 (en) | Machine tool cleaning equipment | |
| US10668616B2 (en) | Robot including telescopic assemblies for positioning an end effector | |
| EP2213411A1 (en) | Automatic cleaning device for machine tool | |
| US20170080447A1 (en) | Dynamic synchronized masking and coating | |
| JP6227496B2 (en) | Cleaning device | |
| JPH10118884A (en) | Cutting liquid spraying system in machining | |
| CN104971914B (en) | Precision part washing device | |
| JP6196588B2 (en) | Feed base device and object drive device | |
| CN105903615A (en) | Spraying device and spraying method thereof | |
| CN102872999A (en) | Automatic spraying machine | |
| JP2018008252A (en) | Method for cleaning female screw | |
| CN204018278U (en) | The compound CNC cleaning machine of orthogonal multi-joint | |
| JP6934091B2 (en) | washing machine | |
| CN107282342A (en) | Spray robot | |
| CN110116710A (en) | A kind of carwash robot | |
| JP2010099787A (en) | Robot | |
| CN110216686A (en) | Bogie cleaning robot and system | |
| CN104959978A (en) | Pipe fitting operation robot | |
| CN105945496A (en) | Multi-point flexible clamping device for spatial special-shaped pipeline welding | |
| JPH0314580B2 (en) | ||
| CN205904035U (en) | Telescopic spraying teaching mechanism with hemispheroid gathering range | |
| CN116116623B (en) | Spraying equipment and spraying process for anti-corrosion paint | |
| CN108405226B (en) | Automatic line synchronous dynamic multi-axis precise spraying equipment | |
| CN216273085U (en) | Automatic oiling mechanical equipment capable of moving in multiple directions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |