CN104841668A - Intelligent automatic cleaning sub-unit based on digital bus and usage method thereof - Google Patents
Intelligent automatic cleaning sub-unit based on digital bus and usage method thereof Download PDFInfo
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- CN104841668A CN104841668A CN201510167626.6A CN201510167626A CN104841668A CN 104841668 A CN104841668 A CN 104841668A CN 201510167626 A CN201510167626 A CN 201510167626A CN 104841668 A CN104841668 A CN 104841668A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 55
- 238000003909 pattern recognition Methods 0.000 claims abstract description 30
- 238000005201 scrubbing Methods 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims abstract description 4
- 238000005406 washing Methods 0.000 claims description 52
- 230000001680 brushing effect Effects 0.000 claims description 49
- 239000012459 cleaning agent Substances 0.000 claims description 46
- 230000009471 action Effects 0.000 claims description 24
- 239000007921 spray Substances 0.000 claims description 19
- 238000010438 heat treatment Methods 0.000 claims description 12
- 238000007605 air drying Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 abstract description 11
- 239000007789 gas Substances 0.000 description 35
- 230000006872 improvement Effects 0.000 description 16
- 239000000428 dust Substances 0.000 description 12
- 239000011248 coating agent Substances 0.000 description 10
- 238000000576 coating method Methods 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000036651 mood Effects 0.000 description 3
- 238000010422 painting Methods 0.000 description 3
- 238000012797 qualification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003628 erosive effect Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012717 electrostatic precipitator Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002440 industrial waste Substances 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003960 organic solvent Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 239000002912 waste gas Substances 0.000 description 1
Classifications
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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
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- 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
-
- 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
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
Landscapes
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an intelligent automatic cleaning sub-unit based on a digital bus and a usage method thereof. The intelligent automatic cleaning sub-unit comprises a mechanical arm (1), an automatic cleaning device (2), a control valve bank (3) and an electric control device (4). The automatic cleaning device includes a scrubbing device (23). The interior of a body (21) is at least provided with an inner channel (211). The body is further provided with a pattern recognition sensor, a position sensor and a range sensor. Spraying orifices (231) communicated with the inner channel are formed in the scrubbing device. The scrubbing device comprises a rolling brush drive mechanism (232) and a rolling brush (234). The control valve bank comprises a positive-pressure gas control solenoid valve, a cleaner control solenoid valve and a cleaning water pressure control solenoid valve which are connected with the inner channel through pipelines. The electric control device comprises a pattern recognition circuit, a cleaning parameter analyzing and planning circuit and the like. The automatic cleaning sub-unit can improve cleaning efficiency, guarantee subsequent spraying quality and achieve intelligent cleaning and is high in automation degree.
Description
Technical field
The present invention relates to a kind of automated cleaning subelement and using method thereof, specifically a kind of intelligent automated cleaning subelement based on number bus and using method thereof being applicable to number bus factory spraying dust-removing process, belongs to coating equipment technical equipment field.
Background technology
Along with the raising of social development and living standards of the people, the surface treatment of market to industrial goods and life goods proposes more and more higher requirement, spraying is always as a kind of main method and the means of product surface process, namely be coating is dispersed into vaporificly be sprayed at coated article surface, coating is formed and sticks firmly, there is some strength continuous print solid film, external environment can be stoped the destruction of product surface, increase the service life, bright and colourful outward appearance can be obtained simultaneously, beautify the environment, even can provide as mildew-resistant according to different coating, sterilization, high temperature resistant, insulation, insulation, conduction, anti-skidding, the specific functions such as noise-proofing, therefore spraying is an important step in the surface manufacturing process of product.
Coating quality is one of importance of product total quality, in prior art, pure manual operations is rare, Large-scale Manufacturing many employings automatic coating, automatic coating utilizes electrical equipment or theory of mechanics (manipulator or robot) automatically to control a kind of spraying method carried out, automatic coating many employings industrial control computer PLC formula controls and monitoring, automatic spraying production line is generally arranged in confined space, comprise supply unit, dust removing units, spray unit, exhaust unit and baking unit, dust removing units, spray unit and baking unit compartment are arranged, exhaust unit is provided with in each compartment, conveying mechanism runs through whole automatic spraying production line, workpiece or goods are entered in the spray booth of spray unit or spray painting room by conveying mechanism and spray after dust removing units dedusting, enter baking unit after spraying to dry, export through conveying mechanism finished product again, spread in and include dust in each compartment, the industrial waste gas of vaporific coating waste gas is discharged through exhaust unit.
Painting environments General Requirements is at least 100,000 grades of dust-free workshops, namely the quantity that in every cubic metres of air, diameter is more than or equal to the grey grit of 0.5um is at least less than 100,000, electrostatic precipitator is typically provided with in present painting workshop, the deduster such as sack cleaner or filter cartridge dust remover carries out absorption and control to the micronic dust in workshop, the clean subelement of existing dust removing units adopts the mode of industrial dust collector dust suction to carry out dedusting to workpiece or product surface usually, but if workpiece or goods there is greasy dirt, then simple industrial dust collector dust suction cannot clear up greasy dirt, usual needs carry out artificial organic solvent and carry out wiping.
There is following defect in the clean subelement of existing dust removing units:
1. in order to ensure dustless painting environments, the personnel entering spray room must wear clean electrostatic cap, wear clean electrostatic clothing and thoroughly drench through wind, therefore complex procedures and cleaning efficiency is lower;
2. because the thing of the band silks such as fiber, woollen, leatheroid easily causes the flaw spraying rear workpiece or product surface, therefore the instrument of wiped clean workpiece or product surface can not be with the thing of the band such as fiber, woollen, leatheroid silk, otherwise not easily cleans out and cause cleaning efficiency to reduce further;
3. manually operate owing to adopting, therefore the impact of human factor on manufacturing schedule such as operating personnel's sense of responsibility, mood is larger, simultaneously, manual operation is by the restriction of operating personnel's operative skill qualification, cleaning efficiency and effect have difference, the skilled operation degree of multiple operating personnel is uneven is also affecting manufacturing schedule in varying degrees, and easily causes unstable product quality.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of intelligent automated cleaning subelement based on number bus and using method thereof, can realize reducing complicated operation degree, improve cleaning efficiency, ensure follow-up coating quality, and can realize intelligent clean, automaticity is higher, is applicable to number bus factory spraying dust-removing process.
To achieve these goals, this comprises mechanical arm, automatic cleaning apparatus, control valve group, electric control gear and conveying mechanism based on the intelligent automated cleaning subelement of number bus;
Described mechanical arm fixed installation on the ground, is arranged near conveying mechanism, comprises at least one X-coordinate driving mechanism or Y-coordinate driving mechanism or Z coordinate driving mechanism;
Described automatic cleaning apparatus comprises body and washing and brushing device; Body rear end is connected with the minor details of mechanical arm, and front end is connected with washing and brushing device rear end, and body interior is at least provided with an internal channel, body is also provided with towards the pattern-recognition sensor in washing and brushing device direction, position sensor and range sensor; In washing and brushing device, the position of corresponding internal channel is provided with the spray orifice be communicated with internal channel, and washing and brushing device comprises round brush driving mechanism and round brush, and the driving shaft of round brush driving mechanism is connected with round brush;
Described control valve group comprises barotropic gas Controlling solenoid valve, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, barotropic gas Controlling solenoid valve, cleaning agent Controlling solenoid valve are connected with internal channel respectively by pipeline with the output of clean water pressure-controlled magnetic valve, the input of barotropic gas Controlling solenoid valve is connected with clean malleation source of the gas, the input of cleaning agent Controlling solenoid valve is connected with cleaning agent feed mechanism, and input and the clean water pressure source of clean water pressure-controlled magnetic valve link;
Described electric control gear comprises industrial control computer, electric power loop, washing and brushing device position control loop, pattern-recognition loop, analyze the clean parameter loop of planning, clean control loop, gas circuit control loop, clean water control loop etc., industrial control computer respectively with the pattern-recognition sensor on body, position sensor and range sensor electrical connection, industrial control computer respectively with the barotropic gas Controlling solenoid valve of control valve group, cleaning agent Controlling solenoid valve and the electrical connection of clean water pressure-controlled magnetic valve, industrial control computer is electrically connected with the X-coordinate driving mechanism of mechanical arm or Y-coordinate driving mechanism or Z coordinate driving mechanism and round brush driving mechanism respectively.
Scheme as a further improvement on the present invention, described mechanical arm comprises X-coordinate driving mechanism, Y-coordinate driving mechanism and Z coordinate driving mechanism.
Scheme as a further improvement on the present invention, described automatic cleaning apparatus also comprises rotation control mechanism assembly, described body rear end is connected with the minor details of mechanical arm by rotation control mechanism assembly, and rotation control mechanism assembly at least comprises an A coordinate rotation control or B coordinate rotates control or C coordinate rotates control.
Scheme as a further improvement on the present invention, this intelligent automated cleaning subelement based on number bus also comprises round brush locating rack, and the rolling brush rack that need change is located on round brush locating rack, and round brush locating rack is fixedly installed near mechanical arm; Described round brush driving mechanism front end is provided with the automatic round brush clamping device be fixedly connected with the driving shaft of round brush driving mechanism, and round brush back end grip is on automatic round brush clamping device; Described electric control gear also comprises round brush and changes loop, and industrial control computer is electrically connected with automatic round brush clamping device.
Scheme as a further improvement on the present invention, described conveying mechanism is also provided with coordinate control evolution mechanism, described electric control gear also comprises location of workpiece transformation loop, and industrial control computer is electrically connected with coordinate control evolution mechanism.
Scheme as a further improvement on the present invention, the annular spread of described internal channel in concentric structure on the cross section of body.
Scheme as a further improvement on the present invention, the input of described cleaning agent Controlling solenoid valve or the line connection of output end position or internal channel or cleaning agent feed mechanism arrange cleaning agent heating arrangements.
Scheme as a further improvement on the present invention, the described input of clean water pressure-controlled magnetic valve or the line connection of output end position or internal channel or clean water pressure source arrange clean water heating arrangements.
Scheme as a further improvement on the present invention, the input of described barotropic gas Controlling solenoid valve or the line connection of output end position or internal channel or clean malleation source of the gas arrange barotropic gas heating arrangements.
Based on an intelligent automated cleaning subelement using method for number bus, concrete steps are as follows:
A., after the conveyer belt of conveying mechanism or rotatable location conveying hook carry workpiece to be cleaned or goods station is parked in the setting rested near mechanical arm according to blas, this electric power loop based on the intelligent automated cleaning subelement of number bus starts starts working;
B. industrial control computer sends instruction and makes washing and brushing device position control loop and pattern-recognition loop starts, industrial control computer controller mechanical arm is positioned at the zero position shift action towards conveying mechanism dead state according to preset program and coordinates computed from washing and brushing device, clean workpiece treated by pattern-recognition sensor on body or goods identify, the information such as shape, size, position of feedback workpiece or goods is to industrial control computer;
C. the clean parameter loop works of planning is analyzed, first industrial control computer carries out three-dimensional modeling by the information of pattern-recognition sensor feedback, if when the three-dimensional modeling data information of workpiece to be cleaned or goods is already present data messages in three-dimensional modeling data storehouse, industrial control computer directly can call the cleaning path starting point of this workpiece or goods in three-dimensional modeling data storehouse, the relative coordinate values of terminal relative zero position and round brush are to the distance of workpiece or product surface, the relative coordinate values such as clean angle and corresponding internal channel need each the concrete valve rod of the control valve group opened and valve rod to open the parameters such as size, if the three-dimensional modeling data of workpiece to be cleaned or goods does not have in three-dimensional modeling data storehouse, industrial control computer finds the existing workpiece of similar structures or the three-dimensional modeling data information of goods according to the three-dimensional modeling data information of workpiece to be cleaned or goods in three-dimensional modeling data storehouse, the optimum cleaning path starting point that permutation and combination generates this workpiece or goods is automatically carried out by software, the relative coordinate values of terminal relative zero position and round brush are to the optimum distance of workpiece or product surface, the relative coordinate values such as best clean angle and corresponding internal channel need each the concrete valve rod of the control valve group opened and valve rod to open the parameter informations such as best size, store relevant information and pass to central machine room by number bus, by central machine room can to this optimum cleaning path and and internal channel control data information revise,
D. industrial control computer is according to the position sensor on body and range sensor feedback, and the action of controller mechanical arm makes washing and brushing device be positioned at the starting point coordinate position of program setting, and then industrial control computer controls round brush driving mechanism and drives round brush rotation;
E. clean control loop is started working, the cleaning agent Controlling solenoid valve that industrial control computer controls control valve group is opened, cleaning agent sprays in internal channel, the action of industrial control computer controller mechanical arm makes round brush carry out High Rotation Speed along the cleaning path of program setting at workpiece or product surface to scrub, during to the terminal point coordinate position of program setting, or after back and forth scrubbing several times according to cleaning procedure, namely the cleaning agent completing workpiece or goods is scrubbed, the cleaning agent Controlling solenoid valve that industrial control computer controls control valve group is closed, then the action of industrial control computer controller mechanical arm makes washing and brushing device get back to zero position,
F. clean water control loop is started working, the clean water pressure-controlled magnetic valve that industrial control computer controls control valve group is opened, clean water sprays in internal channel, the action of industrial control computer controller mechanical arm makes round brush carry out High Rotation Speed along the cleaning path of program setting at workpiece or product surface to wash away, during to the terminal point coordinate position of program setting, or after back and forth washing away several times according to cleaning procedure, namely the clean water completing workpiece or goods is washed away, industrial control computer controls the clean water pressure-controlled closed electromagnetic valve of control valve group, then the action of industrial control computer controller mechanical arm makes washing and brushing device get back to zero position,
G. industrial control computer according to the position sensor on body and range sensor FEEDBACK CONTROL washing and brushing device away from workpiece or goods to program setting distance, after the round brush of industrial control computer control simultaneously driving mechanism makes round brush stop the rotation, gas circuit control loop is started working, the barotropic gas Controlling solenoid valve that industrial control computer controls control valve group is opened, barotropic gas sprays in internal channel, the action of industrial control computer controller mechanical arm makes round brush carry out forced draft along the cleaning path of program setting to workpiece or product surface and makes workpiece or goods Quick-air-drying, during to the terminal point coordinate position of program setting, or according to after cleaning procedure back and forth air-supply several times, namely the barotropic gas Quick-air-drying of workpiece or goods is completed, the barotropic gas Controlling solenoid valve that industrial control computer controls control valve group is closed, then the action of industrial control computer controller mechanical arm makes washing and brushing device get back to zero position,
H. conveying mechanism is received instruction and is carried the workpiece that completes cleaning process or goods circulate to next procedure.
Compared with prior art, this intelligent automated cleaning subelement based on number bus is at least provided with an internal channel due to the body interior of automatic cleaning apparatus, the barotropic gas Controlling solenoid valve of control valve group, cleaning agent Controlling solenoid valve is connected with internal channel respectively by pipeline with the output of clean water pressure-controlled magnetic valve, therefore cleaning agent can be confessed according to the corresponding control internal channel of cleaning procedure, barotropic gas and clean water, cleaning agent can be carried out to workpiece or goods successively in cleaning course to scrub, clean water is washed away and Quick-air-drying, cleaning process prosthetic participates in, operation is simple and cleaning efficiency is high, automation mechanized operation can be avoided because the human factors such as operating personnel's sense of responsibility, mood are on the impact of manufacturing schedule, from the restriction of operating personnel's operative skill qualification, and then can ensure cleaning quality simultaneously, comprise pattern-recognition loop due to electric control gear and analyze the clean parameter loop of planning, therefore in the shape of pattern-recognition sensor feedback workpiece to be cleaned or goods, size, when the information such as position are already present data in database, industrial control computer can the direct cleaning path starting point of this workpiece or goods in calling data storehouse, end coordinate values and corresponding internal channel need each the concrete valve rod of the control valve group opened and valve rod to open the parameters such as size to carry out automated cleaning, when not having in the information database of workpiece to be cleaned or goods, industrial control computer can according to the workpiece of pattern-recognition sensor feedback or article shape, size, the information such as position find the existing workpiece of similar structures or the information of goods in a database, carry out permutation and combination and automatically generate optimum cleaning path and internal channel control data information, industrial control computer carries out automated cleaning according to this data message, simultaneously, this optimum cleaning path and internal channel control data information pass to central machine room by number bus, can be revised this optimum cleaning path and internal channel control data information by central machine room, there is self-learning function, intelligence degree is higher, be applicable to number bus factory.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure schematic diagram of the present invention;
Fig. 2 is the close-up schematic view of automatic cleaning apparatus of the present invention;
Fig. 3 is the sectional structure schematic diagram of automatic cleaning apparatus of the present invention.
In figure: 1, mechanical arm, 2, automatic cleaning apparatus, 21, body, 211, internal channel, 22, rotation control mechanism assembly, 23, washing and brushing device, 231, spray orifice, 232, round brush driving mechanism, 233, automatically round brush clamping device, 234, round brush, 3, control valve group, 4, electric control gear, 5, conveying mechanism, 6, workpiece or goods, 7, round brush locating rack.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1, this intelligent automated cleaning subelement based on number bus comprises mechanical arm 1, automatic cleaning apparatus 2, control valve group 3, electric control gear 4 and conveying mechanism 5 and (describes with left and right horizontal direction as X-coordinate below, with front and back horizontal direction for Y-coordinate, take vertical direction as Z coordinate, with the direction rotated for rotating shaft along X-coordinate axis for A coordinate, with the direction rotated for rotating shaft along Y-coordinate axis for B coordinate, the direction rotated for rotating shaft with Z-direction axis is for C coordinate).
Described mechanical arm 1 fixedly mounts on the ground, is arranged near conveying mechanism 5, comprises at least one X-coordinate driving mechanism or Y-coordinate driving mechanism or Z coordinate driving mechanism.
As shown in Figure 2 and Figure 3, described automatic cleaning apparatus 2 comprises body 21 and washing and brushing device 23;
Body 21 rear end is connected with the minor details of mechanical arm 1, front end is connected with washing and brushing device 23 rear end, body 21 inside is at least provided with an internal channel 211, body 21 is also provided with towards the pattern-recognition sensor in washing and brushing device 23 direction, position sensor and range sensor;
In washing and brushing device 23, the position of corresponding internal channel 211 is provided with the spray orifice 231 be communicated with internal channel 211, washing and brushing device 23 comprises round brush driving mechanism 232 and round brush 234, it is inner that round brush driving mechanism 232 is arranged on washing and brushing device 23, and the driving shaft of round brush driving mechanism 232 is connected with round brush 234.
Described control valve group 3 comprises barotropic gas Controlling solenoid valve, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, barotropic gas Controlling solenoid valve, cleaning agent Controlling solenoid valve are connected with internal channel 211 respectively by pipeline with the output of clean water pressure-controlled magnetic valve, the input of barotropic gas Controlling solenoid valve is connected with clean malleation source of the gas, the input of cleaning agent Controlling solenoid valve is connected with cleaning agent feed mechanism, and input and the clean water pressure source of clean water pressure-controlled magnetic valve link.
Described electric control gear 4 comprises industrial control computer, electric power loop, washing and brushing device position control loop, pattern-recognition loop, analyze the clean parameter loop of planning, clean control loop, gas circuit control loop, clean water control loop etc., industrial control computer respectively with the pattern-recognition sensor on body 21, position sensor and range sensor electrical connection, industrial control computer respectively with the barotropic gas Controlling solenoid valve of control valve group 3, cleaning agent Controlling solenoid valve and the electrical connection of clean water pressure-controlled magnetic valve, industrial control computer is electrically connected with the X-coordinate driving mechanism of mechanical arm 1 or Y-coordinate driving mechanism or Z coordinate driving mechanism and round brush driving mechanism 232 respectively.
This is based on the operation principle of the intelligent automated cleaning subelement of number bus: as shown in Figure 1, mechanical arm 1 is arranged near conveying mechanism 5, the conveyer belt of conveying mechanism 5 or rotatable location conveying hook carry the setting that workpiece to be cleaned or goods 6 rest near mechanical arm 1 according to blas and park station, automated cleaning subelement is started working, by the pattern-recognition sensor on body 21, position sensor and range sensor feedback, the action of industrial control computer controller mechanical arm 1 makes washing and brushing device 23 move to the coordinate basis point of program setting, then industrial control computer control round brush driving mechanism 232 drives round brush 234 to rotate, industrial control computer controls the over-pressure control magnetic valve of control valve group 3 simultaneously, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve are opened according to cleaning procedure is corresponding, namely cleaning agent is confessed according to cleaning procedure is corresponding in internal channel 211, barotropic gas and clean water, then industrial control computer controller mechanical arm 1 action makes washing and brushing device 23 move according to the cleaning path of program setting to clean workpiece or goods 6, after completing the cleaning of workpiece or goods 6, conveying mechanism 5 is received instruction and is carried the workpiece that completes cleaning or goods 6 circulate to next procedure.
When system does not start (during zero position), mechanical arm 1 is located, and washing and brushing device 23 is positioned at the zero position dead state towards conveying mechanism 5, after the conveyer belt of conveying mechanism 5 or rotatable location conveying hook carry workpiece to be cleaned or goods 6 station are parked in the setting rested near mechanical arm 1 according to blas, this electric power loop based on the intelligent automated cleaning subelement of number bus starts starts working, industrial control computer sends instruction and makes washing and brushing device position control loop and pattern-recognition loop starts, industrial control computer controls X-coordinate driving mechanism or Y-coordinate driving mechanism or the action of Z coordinate driving mechanism, mechanical arm 1 is according to preset program and coordinates computed shift action, namely pattern-recognition sensor on body 21 feeds back the shape of workpiece or goods 6, size, the information such as position are to industrial control computer, analyze the clean parameter loop works of planning, first industrial control computer carries out three-dimensional modeling by the information of pattern-recognition sensor feedback, then the starting point of optimum cleaning path is planned, terminal is relative to the relative coordinate values of zero position, the best size that setting round brush 234 needs each the concrete valve rod of the control valve group 3 opened and valve rod to open to optimum distance and the corresponding internal channel 211 in the face of scrubbing, store relevant information and pass to central machine room by number bus, can be revised this optimum cleaning path and internal channel 211 control data information by central machine room, then industrial control computer is according to the position sensor on body 21 and range sensor feedback, controlling X-coordinate driving mechanism or Y-coordinate driving mechanism or the action of Z coordinate driving mechanism makes washing and brushing device 23 be positioned at the starting point coordinate position of program setting, and then industrial control computer control round brush driving mechanism 232 drives round brush 234 to rotate, clean control loop, gas circuit control loop and clean water control loop are started working:
Cleaning agent sprays in internal channel 211, round brush 234 carries out High Rotation Speed along cleaning path at workpiece or goods 6 surface and scrubs, to during the terminal point coordinate position of program setting or after back and forth scrubbing several times according to cleaning procedure, namely the cleaning agent completing workpiece or goods 6 is scrubbed, and washing and brushing device 23 gets back to zero position;
Then the cleaning agent Controlling solenoid valve that industrial control computer controls control valve group 3 is closed, clean water pressure-controlled magnetic valve is opened, clean water sprays in internal channel 211, round brush 234 carries out High Rotation Speed along cleaning path at workpiece or goods 6 surface and washes away, to during the terminal point coordinate position of program setting or after back and forth washing away several times according to cleaning procedure, namely the clean water completing workpiece or goods 6 is washed away, and washing and brushing device 23 gets back to zero position;
Then industrial control computer according to the position sensor on body 21 and range sensor FEEDBACK CONTROL washing and brushing device 23 away from workpiece or goods 6 to suitable distance, the round brush of industrial control computer control simultaneously driving mechanism 232 makes round brush 234 stop the rotation, the cleaning agent Controlling solenoid valve of control valve group 3 and clean water pressure-controlled closed electromagnetic valve, barotropic gas Controlling solenoid valve is opened, barotropic gas sprays in internal channel 211, the action of industrial control computer controller mechanical arm 1 makes washing and brushing device 23 move according to the cleaning path of program setting to carry out forced draft to workpiece or goods 6 and make workpiece or goods 6 Quick-air-drying, during to the terminal point coordinate position of program setting, or according to cleaning procedure back and forth several times after, namely the barotropic gas Quick-air-drying of workpiece or goods 6 is completed, washing and brushing device 23 gets back to zero position,
After whole program completes, conveying mechanism 5 is received instruction and is carried the workpiece that completes cleaning or goods 6 circulate to next procedure.
When the workpiece of pattern-recognition sensor feedback or the information such as shape, size, position of goods 6 are already present data in three-dimensional modeling data storehouse, industrial control computer can directly in calling data storehouse the internal channel 211 of the cleaning path starting point of this workpiece or goods 6, end coordinate values and correspondence need each the concrete valve rod of the control valve group 3 opened and valve rod to open the parameters such as size to carry out automated cleaning, when not having in the information three-dimensional model database of workpiece to be cleaned or goods 6, industrial control computer can according to the workpiece of pattern-recognition sensor feedback or article shape, size, the information such as position find the existing workpiece of similar structures or the information of goods in three-dimensional modeling data storehouse, carry out permutation and combination and automatically generate optimum cleaning path and internal channel 211 control data information, industrial control computer carries out automated cleaning according to this data message, simultaneously, this optimum cleaning path and internal channel 211 control data information pass to central machine room by number bus, can be revised this optimum cleaning path and internal channel 211 control data information by central machine room.
The cleaning of a simple coordinate direction is now rare, in order to increase the scope of application of automated cleaning, scheme as a further improvement on the present invention, described mechanical arm 1 comprises X-coordinate driving mechanism, Y-coordinate driving mechanism and Z coordinate driving mechanism, can realize the automated cleaning of automatic cleaning apparatus 2 in three-coordinate.
In order to increase the scope of application of automated cleaning further, as improvement project of the present invention, described automatic cleaning apparatus 2 also comprises rotation control mechanism assembly 22, described body 21 rear end is connected with the minor details of mechanical arm 1 by rotation control mechanism assembly 22, rotation control mechanism assembly 22 at least comprises an A coordinate rotation control or B coordinate rotates control or C coordinate rotates control, rotation control mechanism assembly 22 can control body 21 in A coordinate system and/or B coordinate system and/or C coordinate system 360 ° rotate freely and locate, the automated cleaning of automatic cleaning apparatus 2 in 4-coordinate system or Five Axis system or six coordinate systems can be realized.
According to varying in size of workpiece or goods 6, round brush 234 is that a size can not meet need of work, in order to increase this versatility based on the intelligent automated cleaning subelement of number bus and flexibility, scheme as a further improvement on the present invention, this intelligent automated cleaning subelement based on number bus also comprises round brush locating rack 7, the round brush rear end that need change is outside, order is erected on round brush locating rack 7, and round brush locating rack is fixedly installed near mechanical arm 1, described round brush driving mechanism 232 front end is provided with the automatic round brush clamping device 233 be fixedly connected with the driving shaft of round brush driving mechanism 232, and round brush 234 back end grip is on automatic round brush clamping device 233, described electric control gear 4 also comprises round brush and changes loop, and industrial control computer is electrically connected with automatic round brush clamping device 233, when the workpiece in industrial control computer calling data storehouse or goods 6 information need use the round brush 234 of other sizes, then round brush changes loop, pattern-recognition sensor on body 21, position sensor and range sensor are started working simultaneously, industrial control computer controller mechanical arm 1 and rotation control mechanism assembly 22 action make washing and brushing device 23 move to the desired location of round brush locating rack 7 and be erected at after on round brush locating rack 7, industrial control computer controls automatic round brush clamping device 233 and opens, the round brush 234 i.e. stabilizing bracket being connected to washing and brushing device 23 front end is located on round brush locating rack 7, then industrial control computer controller mechanical arm 1 and rotation control mechanism assembly 22 action make washing and brushing device 23 front end be positioned the round brush rear end that need change, after the round brush that need change is inserted in washing and brushing device 23 front end, industrial control computer controls automatic round brush clamping device 233 and clamps, namely the round brush that need change firmly is connected with washing and brushing device 23 front end, system gets back to zero position, realize round brush automatically to change.
All can clean based on entirety on the intelligent automated cleaning subelement of number bus for workpiece or goods 6 can be made, do not stay dead angle, scheme as a further improvement on the present invention, described conveying mechanism 5 is also provided with coordinate control evolution mechanism, described electric control gear 4 also comprises location of workpiece transformation loop, industrial control computer is electrically connected with coordinate control evolution mechanism, coordinate control evolution mechanism can control the evolution that workpiece or goods 6 carry out coordinate control, after workpiece or goods 6 evolution, three-dimensional modeling carries out evolution simultaneously, cleaning parameters resets and can carry out automated cleaning.
The size of different workpiece or goods 6 and cleaning surface require that difference can cause the width of cleaning and path etc. all not identical, in order to increase originally based on the versatility of the intelligent automated cleaning subelement of number bus, optimum cleaning effect can be ensured according to the difference of workpiece or goods 6, scheme as a further improvement on the present invention, the annular spread of described internal channel 211 in concentric structure on the cross section of body 21, according to different clean requirements and the cleaning path requirement of workpiece or goods 6, the internal channel 211 of diverse location can be made to eject different medium, to be more convenient for clean workpiece or goods 6.
In order to ensure the cleaning performance of cleaning agent further, scheme as a further improvement on the present invention, the input of described cleaning agent Controlling solenoid valve or the line connection of output end position or internal channel 211 or cleaning agent feed mechanism arrange cleaning agent heating arrangements, cleaning agent heating arrangements can heated wash agent to proper temperature, decontamination of being more convenient for.
In order to accelerate the eroding velocity of clean water, scheme as a further improvement on the present invention, the described input of clean water pressure-controlled magnetic valve or the line connection of output end position or internal channel 211 or clean water pressure source arrange clean water heating arrangements, clean water heating arrangements can heat clean water to proper temperature, is convenient to wash away spot, improve clean water eroding velocity.
The speed of workpiece or goods 6 Quick-air-drying is made in order to accelerate forced draft, scheme as a further improvement on the present invention, the input of described barotropic gas Controlling solenoid valve or the line connection of output end position or internal channel 211 or clean malleation source of the gas arrange barotropic gas heating arrangements, barotropic gas heating arrangements can heat barotropic gas to proper temperature, is convenient to Quick-air-drying, improves air-dry speed.
This intelligent automated cleaning subelement based on number bus is Digital Control unit, can realize concentrating digital management with the number bus seamless link of factory, be not limited to above-mentioned concrete control method.
This intelligent automated cleaning subelement based on number bus is at least provided with an internal channel 211 due to body 21 inside of automatic cleaning apparatus 2, the barotropic gas Controlling solenoid valve of control valve group 3, cleaning agent Controlling solenoid valve is connected with internal channel 211 respectively by pipeline with the output of clean water pressure-controlled magnetic valve, therefore cleaning agent can be confessed according to the corresponding control internal channel 211 of cleaning procedure, barotropic gas and clean water, cleaning agent can be carried out to workpiece or goods 6 successively in cleaning course to scrub, clean water is washed away and Quick-air-drying, cleaning process prosthetic participates in, operation is simple and cleaning efficiency is high, automation mechanized operation can be avoided because the human factors such as operating personnel's sense of responsibility, mood are on the impact of manufacturing schedule, from the restriction of operating personnel's operative skill qualification, and then can ensure cleaning quality simultaneously, comprise pattern-recognition loop due to electric control gear 4 and analyze the clean parameter loop of planning, therefore in the shape of pattern-recognition sensor feedback workpiece to be cleaned or goods 6, size, when the information such as position are already present data in database, industrial control computer can the direct cleaning path starting point of this workpiece or goods 6 in calling data storehouse, end coordinate values and corresponding internal channel 211 need each the concrete valve rod of the control valve group 3 opened and valve rod to open the parameters such as size to carry out automated cleaning, when not having in the information database of workpiece to be cleaned or goods 6, industrial control computer can according to the workpiece of pattern-recognition sensor feedback or article shape, size, the information such as position find the existing workpiece of similar structures or the information of goods in a database, carry out permutation and combination and automatically generate optimum cleaning path and internal channel 211 control data information, industrial control computer carries out automated cleaning according to this data message, simultaneously, this optimum cleaning path and internal channel 211 control data information pass to central machine room by number bus, can be revised this optimum cleaning path and internal channel 211 control data information by central machine room, there is self-learning function, intelligence degree is higher, be applicable to number bus factory.
Claims (10)
1. the intelligent automated cleaning subelement based on number bus, it is characterized in that, comprise mechanical arm (1), automatic cleaning apparatus (2), control valve group (3), electric control gear (4) and conveying mechanism (5);
Described mechanical arm (1) fixed installation on the ground, is arranged near conveying mechanism (5), comprises at least one X-coordinate driving mechanism or Y-coordinate driving mechanism or Z coordinate driving mechanism;
Described automatic cleaning apparatus (2) comprises body (21) and washing and brushing device (23); Body (21) rear end is connected with the minor details of mechanical arm (1), front end is connected with washing and brushing device (23) rear end, body (21) inside is at least provided with an internal channel (211), body (21) is also provided with towards the pattern-recognition sensor in washing and brushing device (23) direction, position sensor and range sensor; In washing and brushing device (23), the position of corresponding internal channel (211) is provided with the spray orifice (231) be communicated with internal channel (211), washing and brushing device (23) comprises round brush driving mechanism (232) and round brush (234), and the driving shaft of round brush driving mechanism (232) is connected with round brush (234);
Described control valve group (3) comprises barotropic gas Controlling solenoid valve, cleaning agent Controlling solenoid valve and clean water pressure-controlled magnetic valve, barotropic gas Controlling solenoid valve, cleaning agent Controlling solenoid valve are connected with internal channel (211) respectively by pipeline with the output of clean water pressure-controlled magnetic valve, the input of barotropic gas Controlling solenoid valve is connected with clean malleation source of the gas, the input of cleaning agent Controlling solenoid valve is connected with cleaning agent feed mechanism, and input and the clean water pressure source of clean water pressure-controlled magnetic valve link;
Described electric control gear (4) comprises industrial control computer, electric power loop, washing and brushing device position control loop, pattern-recognition loop, analyze the clean parameter loop of planning, clean control loop, gas circuit control loop, clean water control loop etc., industrial control computer respectively with the pattern-recognition sensor on body (21), position sensor and range sensor electrical connection, industrial control computer respectively with the barotropic gas Controlling solenoid valve of control valve group (3), cleaning agent Controlling solenoid valve and the electrical connection of clean water pressure-controlled magnetic valve, industrial control computer is electrically connected with the X-coordinate driving mechanism of mechanical arm (1) or Y-coordinate driving mechanism or Z coordinate driving mechanism and round brush driving mechanism (232) respectively.
2. the intelligent automated cleaning subelement based on number bus according to claim 1, is characterized in that, described mechanical arm (1) comprises X-coordinate driving mechanism, Y-coordinate driving mechanism and Z coordinate driving mechanism.
3. the intelligent automated cleaning subelement based on number bus according to claim 1 and 2, it is characterized in that, described automatic cleaning apparatus (2) also comprises rotation control mechanism assembly (22), described body (21) rear end is connected with the minor details of mechanical arm (1) by rotation control mechanism assembly (22), and rotation control mechanism assembly (22) at least comprises an A coordinate rotation control or B coordinate rotates control or C coordinate rotates control.
4. the intelligent automated cleaning subelement based on number bus according to claim 3, it is characterized in that, this intelligent automated cleaning subelement based on number bus also comprises round brush locating rack (7), the rolling brush rack that need change is located on round brush locating rack (7), and round brush locating rack is fixedly installed near mechanical arm (1); Described round brush driving mechanism (232) front end is provided with the automatic round brush clamping device (233) be fixedly connected with the driving shaft of round brush driving mechanism (232), and round brush (234) back end grip is on automatic round brush clamping device (233); Described electric control gear (4) also comprises round brush and changes loop, and industrial control computer is electrically connected with automatic round brush clamping device (233).
5. the intelligent automated cleaning subelement based on number bus according to claim 1 and 2, it is characterized in that, described conveying mechanism (5) is also provided with coordinate control evolution mechanism, described electric control gear (4) also comprises location of workpiece transformation loop, and industrial control computer is electrically connected with coordinate control evolution mechanism.
6. the intelligent automated cleaning subelement based on number bus according to claim 1 and 2, is characterized in that, the annular spread of described internal channel (211) in concentric structure on the cross section of body (21).
7. the intelligent automated cleaning subelement based on number bus according to claim 1 and 2, it is characterized in that, the line connection of the input of described cleaning agent Controlling solenoid valve or output end position or internal channel (211) or cleaning agent feed mechanism arrange cleaning agent heating arrangements.
8. the intelligent automated cleaning subelement based on number bus according to claim 1 and 2, it is characterized in that, the input of described clean water pressure-controlled magnetic valve or the line connection of output end position or internal channel (211) or clean water pressure source arrange clean water heating arrangements.
9. the intelligent automated cleaning subelement based on number bus according to claim 1 and 2, it is characterized in that, the line connection of the input of described barotropic gas Controlling solenoid valve or output end position or internal channel (211) or clean malleation source of the gas arrange barotropic gas heating arrangements.
10., based on an intelligent automated cleaning subelement using method for number bus, it is characterized in that, concrete steps are as follows:
A., after the conveyer belt of conveying mechanism (5) or rotatable location conveying hook carry workpiece to be cleaned or goods (6) station is parked in the setting rested near mechanical arm (1) according to blas, this electric power loop based on the intelligent automated cleaning subelement of number bus starts starts working;
B. industrial control computer sends instruction and makes washing and brushing device position control loop and pattern-recognition loop starts, industrial control computer controller mechanical arm (1) is positioned at the zero position shift action towards conveying mechanism (5) dead state according to preset program and coordinates computed from washing and brushing device (23), clean workpiece treated by pattern-recognition sensor on body (21) or goods (6) identify, the information such as shape, size, position of feedback workpiece or goods (6) is to industrial control computer;
C. the clean parameter loop works of planning is analyzed, first industrial control computer carries out three-dimensional modeling by the information of pattern-recognition sensor feedback, if when the three-dimensional modeling data information of workpiece to be cleaned or goods (6) is already present data message in three-dimensional modeling data storehouse, industrial control computer directly can call the cleaning path starting point of this workpiece or goods (6) in three-dimensional modeling data storehouse, the relative coordinate values of terminal relative zero position and round brush (234) are to the distance on workpiece or goods (6) surface, the relative coordinate values such as clean angle and corresponding internal channel (211) need each the concrete valve rod of the control valve group (3) opened and valve rod to open the parameters such as size, if the three-dimensional modeling data of workpiece to be cleaned or goods (6) does not have in three-dimensional modeling data storehouse, industrial control computer finds the existing workpiece of similar structures or the three-dimensional modeling data information of goods according to the three-dimensional modeling data information of workpiece to be cleaned or goods (6) in three-dimensional modeling data storehouse, the optimum cleaning path starting point that permutation and combination generates this workpiece or goods (6) is automatically carried out by software, the relative coordinate values of terminal relative zero position and round brush (234) are to the optimum distance on workpiece or goods (6) surface, the relative coordinate values such as best clean angle and corresponding internal channel (211) need each the concrete valve rod of the control valve group (3) opened and valve rod to open the parameter informations such as best size, store relevant information and pass to central machine room by number bus, by central machine room can to this optimum cleaning path and and internal channel (211) control data information revise,
D. industrial control computer is according to the position sensor on body (21) and range sensor feedback, controller mechanical arm (1) action makes washing and brushing device (23) be positioned at the starting point coordinate position of program setting, and then industrial control computer controls round brush driving mechanism (232) and drives round brush (234) rotation;
E. clean control loop is started working, the cleaning agent Controlling solenoid valve that industrial control computer controls control valve group (3) is opened, cleaning agent sprays in internal channel (211), industrial control computer controller mechanical arm (1) action makes round brush (234) carry out High Rotation Speed along the cleaning path of program setting at workpiece or goods (6) surface to scrub, during to the terminal point coordinate position of program setting, or after back and forth scrubbing several times according to cleaning procedure, namely the cleaning agent completing workpiece or goods (6) is scrubbed, the cleaning agent Controlling solenoid valve that industrial control computer controls control valve group (3) is closed, then industrial control computer controller mechanical arm (1) action makes washing and brushing device (23) get back to zero position,
F. clean water control loop is started working, the clean water pressure-controlled magnetic valve that industrial control computer controls control valve group (3) is opened, clean water sprays in internal channel (211), industrial control computer controller mechanical arm (1) action makes round brush (234) carry out High Rotation Speed along the cleaning path of program setting at workpiece or goods (6) surface to wash away, during to the terminal point coordinate position of program setting, or after back and forth washing away several times according to cleaning procedure, namely the clean water completing workpiece or goods (6) is washed away, industrial control computer controls the clean water pressure-controlled closed electromagnetic valve of control valve group (3), then industrial control computer controller mechanical arm (1) action makes washing and brushing device (23) get back to zero position,
G. industrial control computer according to the position sensor on body (21) and range sensor FEEDBACK CONTROL washing and brushing device (23) away from workpiece or goods (6) to program setting distance, after industrial control computer control round brush driving mechanism (232) makes round brush (234) stop the rotation simultaneously, gas circuit control loop is started working, the barotropic gas Controlling solenoid valve that industrial control computer controls control valve group (3) is opened, barotropic gas sprays in internal channel (211), industrial control computer controller mechanical arm (1) action makes round brush (234) carry out forced draft along the cleaning path of program setting to workpiece or goods (6) surface and makes workpiece or goods 6 Quick-air-drying, during to the terminal point coordinate position of program setting, or according to after cleaning procedure back and forth air-supply several times, namely the barotropic gas Quick-air-drying of workpiece or goods (6) is completed, the barotropic gas Controlling solenoid valve that industrial control computer controls control valve group (3) is closed, then industrial control computer controller mechanical arm (1) action makes washing and brushing device (23) get back to zero position,
H. conveying mechanism (5) is received instruction and is carried the workpiece that completes cleaning process or goods (6) circulate to next procedure.
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| CN111720213A (en) * | 2020-07-02 | 2020-09-29 | 安徽省飞腾航空科技有限公司 | Light aircraft engine cylinder cover carbon deposition automatic cleaning device and working method thereof |
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