CN111571339A - Photovoltaic module aluminium frame edging clearance system - Google Patents

Photovoltaic module aluminium frame edging clearance system Download PDF

Info

Publication number
CN111571339A
CN111571339A CN201910880352.3A CN201910880352A CN111571339A CN 111571339 A CN111571339 A CN 111571339A CN 201910880352 A CN201910880352 A CN 201910880352A CN 111571339 A CN111571339 A CN 111571339A
Authority
CN
China
Prior art keywords
grinding
wheel
seat
controller
roller brush
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.)
Pending
Application number
CN201910880352.3A
Other languages
Chinese (zh)
Inventor
石磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hebei Normal University of Science and Technology
Original Assignee
Hebei Normal University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hebei Normal University of Science and Technology filed Critical Hebei Normal University of Science and Technology
Priority to CN201910880352.3A priority Critical patent/CN111571339A/en
Publication of CN111571339A publication Critical patent/CN111571339A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/10Single-purpose machines or devices
    • B24B7/16Single-purpose machines or devices for grinding end-faces, e.g. of gauges, rollers, nuts, piston rings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/04Headstocks; Working-spindles; Features relating thereto
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/06Work supports, e.g. adjustable steadies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/10Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/20Drives or gearings; Equipment therefor relating to feed movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06Dust extraction equipment on grinding or polishing machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/20Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground
    • B24B7/22Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor characterised by a special design with respect to properties of the material of non-metallic articles to be ground for grinding inorganic material, e.g. stone, ceramics, porcelain
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/06Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain

Abstract

The invention aims to solve the problem that manual cleaning of burrs on an aluminum frame is time-consuming and labor-consuming in the prior art, and provides a photovoltaic module aluminum frame edging cleaning system which comprises a rack, a fixing device and an angle grinding device, wherein the angle grinding device comprises a grinding slide seat, a grinding wheel seat, a cloth grinding wheel and a first angle grinding motor, the grinding slide seat is connected to the rack in a sliding manner, the cloth grinding wheel is connected to the grinding wheel seat in a rotating manner, and the first angle grinding motor drives the cloth grinding wheel to rotate; the cloth grinding wheel comprises an upper wheel and a lower wheel which are coaxially arranged integrally, and the diameter of the upper wheel is larger than that of the lower wheel; the angle grinding device further comprises a roller brush seat, a grinding roller brush connected to the roller brush seat in a rotating mode, a second driving grinding roller brush rotating angle grinding motor, a second lifting cylinder and a second driving roller brush seat which are vertically moved are close to or far away from the second translation cylinder of the photovoltaic assembly, the axis of the output end of the first translation cylinder, the axis of the output end of the second translation cylinder and the axis of the grinding roller brush are parallel, the grinding roller brush is located below a cloth grinding wheel, and therefore burrs on an aluminum frame can be cleaned more in a time-saving and labor-saving mode.

Description

Photovoltaic module aluminium frame edging clearance system
Technical Field
The invention relates to the field of photovoltaic module production and processing, in particular to an edging and cleaning system for an aluminum frame of a photovoltaic module.
Background
A solar panel with a glass surface is arranged in a common photovoltaic module, and an aluminum frame surrounding the solar panel is arranged on the solar panel. The four corners of the aluminum frame are often provided with burrs, the burrs need to be ground to prevent workers from being stabbed by the burrs in subsequent production and transportation, the burrs can be removed by manual grinding, the manual grinding is time-consuming and labor-consuming, and the workers are easily scratched by the burrs if the workers are not operated properly.
In addition, when the corner of the aluminum frame is polished, dust, metal scraps generated by polishing and fingerprints are easily formed on the solar cell panel. Dust and the fingerprint on the photovoltaic module often still need to be cleaned after polishing, and the mode of usually adopting is that the manual work is cleaned with alcohol, but manual operation both wastes time and energy and also hardly guarantees clean thoroughly, cleans the in-process of dust and fingerprint, still need the incomplete glue that glues at solar cell panel glass surface by the way of clearance sometimes, and clean efficiency also hardly guarantees.
Disclosure of Invention
The invention aims to solve the problem that manual deburring of aluminum frames in the prior art is time-consuming and labor-consuming, and provides an edging and cleaning system for an aluminum frame of a photovoltaic module, so that deburring of the aluminum frame is time-saving and labor-saving.
The technical purpose of the invention is realized by the following technical scheme:
a photovoltaic module aluminum frame edging cleaning system comprises a rack, a fixing device and an angle grinding device, wherein the fixing device is used for fixing a photovoltaic module, the fixing device is arranged on the rack, and the angle grinding device comprises a grinding sliding seat, a grinding wheel seat, a cloth grinding wheel rotationally connected to the grinding wheel seat and an angle grinding motor I for driving the cloth grinding wheel to rotate; the polishing sliding seat is connected with the rack in a sliding manner and slides along the horizontal direction; a first translation cylinder for driving the grinding wheel seat to be close to or far away from the photovoltaic module fixed by the fixing device is horizontally arranged on the grinding sliding seat; the cloth grinding wheel comprises an upper wheel and a lower wheel which are integrally arranged, the upper wheel and the lower wheel are cylindrical and coaxial, the axes of the upper wheel and the lower wheel are vertical, the diameter of the upper wheel is larger than that of the lower wheel, and when the photovoltaic module is fixed on the fixing device, the upper surface of the aluminum frame is flush with the lower end surface of the upper wheel; the angle grinding device further comprises a roller brush seat, a grinding roller brush connected to the roller brush seat in a rotating mode, a second angle grinding motor for driving the grinding roller brush to rotate, a second lifting cylinder for driving the roller brush seat to move up and down and a second translation cylinder for driving the roller brush seat to move horizontally close to or far away from the photovoltaic module, the axis of the output end of the first translation cylinder, the axis of the output end of the second translation cylinder and the axis of the grinding roller brush are parallel, and the grinding roller brush is located below the cloth grinding wheel.
Preferably, the angle grinding device further comprises a dust removal device, and the dust removal device comprises a flexible dust cover and a first dust collector; the upper end and the lower end of the flexible dust cover are fixedly connected with the grinding wheel seat and the roller brush seat respectively, the flexible dust cover covers the cloth grinding wheel and the polishing roller brush, a dust inlet is formed in one side, close to the fixing device, of the flexible dust cover, and the cloth grinding wheel and the polishing roller brush are in contact with the aluminum frame at the dust inlet; an air inlet of the first dust collector is communicated with the interior of the flexible dust cover.
Preferably, the two polishing roller brushes are arranged along the sliding direction of the polishing sliding seat, the axis of the cloth grinding wheel is positioned between the two polishing roller brushes, and the diameter of the lower wheel is smaller than the vertical distance between the two polishing roller brushes.
Preferably, the device also comprises a cleaning device arranged above the fixing device, the cleaning device comprises an alcohol wiping device and a displacement device, the alcohol wiping device comprises an alcohol spray head, an alcohol container and an alcohol pump, an inlet of the alcohol pump is communicated with the alcohol container, an outlet of the alcohol pump is communicated with the alcohol spray head, the displacement device comprises a walking beam, a moving seat and a lifting electric cylinder, the moving seat and the lifting electric cylinder are connected to the walking beam in a sliding mode, the walking beam is connected with the rack in a sliding mode, the sliding direction and the length direction of the walking beam are horizontal and perpendicular to each other, the moving seat slides along the length direction of the walking beam, a cylinder body of the lifting electric cylinder is fixedly connected with the moving seat, the alcohol spray head is fixedly connected with an output end of the lifting electric cylinder.
Preferably, the alcohol smearing device further comprises an alcohol roller brush which is rotatably arranged, and the rotating axis of the alcohol roller brush is parallel to the length direction of the walking beam.
Preferably, the cleaning device further comprises a shovel plate, and the shovel plate is arranged in an inclined mode.
Preferably, the cleaning device further comprises a dust suction device, the dust suction device comprises a dust suction cover and a second dust collector, the dust suction cover covers a shovel plate, and the shovel plate is fixedly connected with the dust suction cover.
Preferably, the frame is provided with a vision device, the vision device comprises a camera, a lens of the camera faces to the right lower side, and the camera is located above the fixing device.
Preferably, the system also comprises an industrial personal computer, a cleaning controller and a second network switch, wherein an output port of the camera is in signal connection with an input port of the industrial personal computer, an output port of the industrial personal computer is in signal connection with an input port of the second network switch, and an output port of the second network switch is in signal connection with an input port of the cleaning controller; the industrial personal computer is used for processing image information shot by the camera and planning actions of executing elements in the cleaning device and the cleaning device according to the image information, an image processing module and an analysis processing module are arranged in the industrial personal computer, a standard picture is stored in the image processing module, the analysis processing module compares a shot picture of the camera with the standard picture and marks stain pixel points with different colors at corresponding positions, the analysis processing module plans a moving path of the cleaning device according to the positions of the stain pixel points and generates control parameters of the cleaning controller, and the network switch II transmits the control parameters to the cleaning controller; the alcohol pump is in signal connection with the output end of the cleaning controller through a first electromagnetic relay, the dust collector is in signal connection with the output end of the cleaning controller through a second electromagnetic relay, and the lifting electric cylinder is in signal connection with the output end of the cleaning controller through a servo controller Z; the displacement device also comprises a driving device for driving the walking beam to slide and a driving device for driving the moving seat to slide, the driving device for driving the moving seat to slide is in signal connection with the output end of the cleaning controller through a servo controller Y, and the driving device for driving the walking beam to slide is in signal connection with the output end of the cleaning controller through a servo controller X.
Preferably, the system also comprises a grinding angle controller, a first network switch and a first human-machine control device, wherein the output end of the first human-machine interaction device is in signal connection with the input port of the first network switch, and the output port of the first network switch is in signal connection with the input port of the grinding angle controller; a user issues a control instruction through the man-machine control device, the first network switch transmits control information on the first man-machine control device to the angle grinding controller, and the angle grinding controller sends the control instruction to controllers of all executing elements of the angle grinding device according to the control information; the first angle grinding motor is electrically connected with the output end of the angle grinding controller through the first frequency converter, the second angle grinding motor is electrically connected with the output end of the angle grinding controller through the second frequency converter, a driving device for driving the grinding slide to slide is arranged on the rack, the driving device is electrically connected with the output end of the angle grinding controller through the third frequency converter, the first translation cylinder is electrically connected with the output end of the angle grinding controller through the first translation solenoid valve, the second translation cylinder is electrically connected with the output end of the angle grinding controller through the second translation solenoid valve, and the lifting cylinder is electrically connected with the output end of the angle grinding controller through the lifting solenoid valve.
The invention has the following beneficial effects:
the photovoltaic module is fixed by the fixing device, the cloth grinding wheel with the T-shaped axial interface is arranged, the upper surface and the side surface of the aluminum frame can be simultaneously ground, the grinding efficiency is high, the burr removing effect is better, the cloth grinding wheel can move back and forth along the edge of the aluminum frame through the grinding slide seat which is connected with the rack in a sliding mode along the side length direction of the aluminum frame, burrs on corners are ground at the end parts of the edge, the movement mode of the cloth grinding wheel is simple, the cloth grinding wheel can move along a set track all the time, workers do not need to search grinding positions, the weight of grinding equipment does not need to be born manually, the labor intensity of the workers can be reduced, the grinding speed can be improved, and meanwhile, the risk that the workers directly contact the burrs can be. The polishing roller brush is arranged to move synchronously along with the cloth grinding wheel, metal chips polished by the cloth grinding wheel and dust adhered to the lower surface of the aluminum frame are wiped off by polishing, the time for subsequent cleaning can be shortened, and the workload of polishing burrs is further reduced.
Drawings
FIG. 1 is a schematic top view of an embodiment of a photovoltaic module aluminum frame edging and cleaning system;
FIG. 2 is a schematic diagram of a front view of the structure of an embodiment of an aluminum frame edging and cleaning system for a photovoltaic module;
FIG. 3 is a schematic structural view of an embodiment of the angle grinder;
FIG. 4 is a schematic structural view of an embodiment of the cleaning device;
FIG. 5 is a schematic diagram of the connection between the angle grinding motors and the corresponding frequency converters in the two sets of angle grinding devices of the present embodiment;
FIG. 6 is a control schematic view of the angle grinding apparatus of the present embodiment;
fig. 7 is a schematic diagram of a control flow of the cleaning apparatus.
The description of the reference numerals,
100. a frame; 110. a chassis; 120. a camera frame; 130. cleaning the walking rail; 140. polishing the walking rail; 150. a top frame; 160. a column;
200. a vacuum chuck;
300. a corner grinding device; 310. arranging a grinding wheel; 3101. an upper wheel; 3102. a lower wheel; 311. a grinding wheel seat; 312. grinding a first angle motor; 313. a first translation cylinder; 320. polishing the roller brush; 321. a roller brush holder; 322. a lifting cylinder; 323. a translation cylinder II; 324. a second angle grinding motor; 331. a flexible dust cover; 332. a first dust collector; 333. a dust inlet; 334. a dust outlet; 340. polishing the sliding seat;
400. a cleaning device; 410. an alcohol smearing device; 411. an alcohol spray head; 412. alcohol roller brush; 420. a dust hood; 430. a shovel plate;
510. a walking beam; 520. a movable seat; 530. a lifting electric cylinder;
600. a camera;
700. a photovoltaic module; 701. an aluminum frame.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. In which like parts are designated by like reference numerals.
An edging and cleaning system for an aluminum frame of a photovoltaic module is shown in fig. 1 and 2 and comprises a frame 100, an angle grinding device 300 and a fixing device for fixing the photovoltaic module 700. The photovoltaic module 700 is rectangular, the aluminum frame 701 on the photovoltaic module is a rectangular frame, two opposite sides of the rectangular frame are sides A, and the other two opposite sides of the rectangular frame are sides B.
As shown in fig. 2, the rack 100 is in the shape of an integral frame, and the rack 100 includes a bottom frame 110, a top frame 150, and a pillar 160 connecting the top frame 150 and the bottom frame 110. A fixing device is provided on the base frame 110, and the fixing device includes a plurality of vacuum chucks 200 and a vacuum generator. The vacuum chuck 200 is fixed on the bottom frame 110 with an upward opening and is used for sucking the photovoltaic module 700 to fix the photovoltaic module 700 on the rack 100. The air inlet of the vacuum generator is communicated with the vacuum chuck 200 to provide suction force for the vacuum chuck 200.
As shown in fig. 1, two parallel grinding traveling rails 140 are provided on the upper frame 150, and the grinding traveling rails 140 are horizontally provided and located at both sides of the fixing device, respectively, with the length direction of the grinding traveling rails 140 being the Y-axis direction. The two angle grinding devices 300 are provided, each angle grinding device 300 is provided on each grinding travel rail, and the two angle grinding devices 300 respectively slide along the corresponding grinding travel rails 140. The stroke of the angle grinding device 300 on the grinding walking rail 140 is not less than the side length of A, so that the angle grinding device 300 can contact the angles at two ends of the side A when moving along the side A. As shown in fig. 3, the angle grinding device 300 includes a grinding slide 340, a grinding wheel holder 311, a cloth grinding wheel 310, a first angle grinding motor 312, and a first translation cylinder 313. The cloth grinding wheel 310 is a grinding piece for removing burrs, the cloth grinding wheel 310 comprises an upper wheel 3101 and a lower wheel 3102 which are integrally arranged, the upper wheel 3101 and the lower wheel 3102 are both cylindrical and coaxial, the axes of the upper wheel 3101 and the lower wheel 3102 are vertical, the axis direction of the cloth grinding wheel is taken as the Z-axis direction, the diameter of the upper wheel 3101 is larger than that of the lower wheel 3102, so that the axial section of the cloth grinding wheel 310 is in a T shape, and the lower surface of the upper wheel 3101 is flush with the upper surface of an aluminum frame 701 fixed on a fixing device. The cloth grinding wheel 310 is rotatably connected below the grinding wheel seat 311, the rotation axis of the cloth grinding wheel 310 is coaxial with the rotation axis of the cloth grinding wheel, the first angle grinding motor 312 is fixedly connected to the grinding wheel seat 311, and the output end of the first angle grinding motor 312 is fixedly connected with the cloth grinding wheel 310 in a coaxial mode to drive the cloth grinding wheel 310 to rotate. The polishing slider 340 is a mounting base of the angle polishing apparatus 300, and is slidably connected to the corresponding polishing running rail 140. The grinding slide seat 340 and the grinding wheel seat 311 are connected through a first translation cylinder 313, the cylinder body of the first translation cylinder 313 is fixedly connected with the grinding slide seat 340, the output end of the first translation cylinder 313 is fixedly connected with the grinding wheel seat 311, the first translation cylinder 313 is horizontally arranged, the output direction of the first translation cylinder is perpendicular to the length direction of the grinding walking rail 140, and the output direction of the first translation cylinder is taken as the X-axis direction. The cloth grinding wheels 310 of the two angle grinding devices 300 are arranged oppositely, and when the output end of the first translation cylinder 313 is in a retraction state, the vertical distance between the two cloth grinding wheels 310 is larger than the side length of B, so that the photovoltaic module 700 can be placed between the two angle grinding devices 300.
Preferably, the angle grinding device 300 further comprises a roller brush holder 321, a grinding roller brush 320, a second angle grinding motor 324, a lifting cylinder 322 and a second translation cylinder 323. The grinding roller brush 320 is located below the cloth grinding wheel 310, and the grinding roller brush 320 is used for cleaning dust on the lower surface of the aluminum frame 701 and metal dust generated by grinding. The roller brush holder 321 is a supporting structure for supporting the polishing roller brush 320, the polishing roller brush 320 is rotatably connected to the roller brush holder 321, and the rotation axis of the polishing roller brush 320 is parallel to the X-axis direction. The second angle grinding motor 324 drives the grinding roller brush 320 to rotate, the second angle grinding motor 324 is fixedly connected to the roller brush seat 321, and the output end of the second angle grinding motor 324 is coaxially and fixedly connected with the grinding roller brush 320. The roller brush seat 321 is connected with the polishing sliding seat 340 through the lifting cylinder 322 and the second translation cylinder 323, the lifting cylinder 322 drives the roller brush seat 321 to move up and down along the Z-axis direction to adapt to aluminum frames 701 with different thicknesses, and the second translation cylinder 323 drives the roller brush seat 321 to horizontally move close to or far away from the component along the X-axis direction. One of the connection modes is as follows: the output end of the second translation cylinder 323 is fixedly connected with the roller brush seat 321, the axis of the output end of the second translation cylinder 323 is parallel to the axis of the polishing roller brush 320, the lifting cylinder 322 is vertically arranged on the polishing sliding seat 340, and the cylinder body of the second translation cylinder 323 is fixedly connected with the output end of the lifting cylinder 322; or the second translation cylinder 323 is connected with the polishing sliding seat 340, and the lifting cylinder 322 is connected with the roller brush seat 321. Preferably, the surface of the grinding roller brush 320 is made of aramid fiber.
When the polishing device is used, the photovoltaic module 700 is placed on the fixing device, the edge A of the aluminum frame 701 is parallel to the polishing traveling rail 140, the vacuum generator is started, the sucking disc 200 fixes the photovoltaic module 700, the edge A of the aluminum frame 701 is parallel to the polishing traveling rail 140, the output end of the first translation cylinder 313 extends out to enable the circumferential wall of the lower wheel 3102 to be attached to the side face of the aluminum frame 701 of the photovoltaic module 700 fixed by the fixing device, the upper surface of the cloth grinding wheel 310 is in contact with the lower end face of the upper wheel 3101, the cloth grinding wheel 310 simultaneously polishes the upper surface and the side face of the aluminum frame 701, burrs at the corners of the aluminum frame 701 can be better polished, the two angle polishing devices 300 respectively reciprocate along the edge A of the aluminum frame 701, burrs at the corners at two ends of the edge A are polished when passing through the two ends of the edge A, and polishing of the four corners of the aluminum frame. The lifting cylinder 322 and the second translation cylinder 323 drive the polishing roller brush 320 to move to be tightly attached to the lower surface of the aluminum frame 701, the polishing roller brush 320 rotates and synchronously moves along with the cloth grinding wheel 310, and metal debris polished by the cloth grinding wheel 310 and dust adhered to the lower surface of the aluminum frame 701 are wiped off.
Here, the angle grinding device 300 may be manually driven to slide on the grinding travel rail 140, or a driving device may be provided to drive the angle grinding device 300 to move. The grinding walking rail 140 is arranged to enable the angle grinding device 300 to move along a set rail all the time, workers do not need to search grinding positions, and the weight of grinding equipment does not need to be born manually, so that even if the angle grinding device is driven by a manual driving mode, the labor intensity of the workers can be reduced, and the risk of direct contact of the workers with burrs is reduced, and in addition, the manual driving mode is convenient for adjusting the grinding times of the angle grinding device 300 according to the actual state of the burrs, and is an economic and efficient mode; of course, the driving device is preferably adopted to drive the angle grinding device 300 to automatically slide, so that the grinding efficiency can be further improved, and the labor force is further liberated. The driving device drives the angle grinding device 300 to move, the driving device can be a screw-nut transmission pair, a rack-and-pinion transmission pair, a belt wheel transmission pair or a chain wheel transmission pair, in short, the angle grinding device 300 can move linearly and repeatedly, here, the screw-nut transmission pair is taken as an example, a screw rod parallel to the grinding walking rail 140 is rotatably connected to the top frame, the nut is in screw connection with the screw rod, the grinding sliding seat 340 is fixedly connected, a walking motor for driving the screw rod to rotate is arranged, and when the walking motor rotates, the angle grinding device 300 moves linearly along with the nut. The control device can be arranged to control the action of the angle grinding device, and the angle grinding controller, the network switch I and the man-machine control device I are also required to be arranged. As shown in fig. 6, the output end of the first human-computer interaction device is in signal connection with the input port of the first network switch, and the output port of the first network switch is in signal connection with the input port of the angle grinding controller. And the network switch I is used for connecting the human-computer interaction device I and the angle grinding controller and transmitting the manually input control information to the angle grinding controller. And the angle grinding controller sends a control command to the controller of each executing element of the angle grinding device according to the control information, and the angle grinding controller preferably selects a PLC.
The first angle grinding motor is electrically connected with the output end of the angle grinding controller through the first frequency converter, the second angle grinding motor is electrically connected with the output end of the angle grinding controller through the second frequency converter, the walking motor is electrically connected with the output end of the angle grinding controller through the third frequency converter, the first translation air cylinder is electrically connected with the output end of the angle grinding controller through the first translation electromagnetic valve, the second translation air cylinder is electrically connected with the output end of the angle grinding controller through the second translation electromagnetic valve, and the lifting air cylinder is electrically connected with the output end of the angle grinding controller through the lifting electromagnetic valve. The angle grinding controller controls the opening and closing of the first angle grinding motor, the second angle grinding motor and the walking motor, and the angle grinding controller controls the extension of the output ends of the first translation cylinder, the second translation cylinder and the lifting cylinder.
Two polishing roller brushes 320 are preferably arranged, the axis of the cloth grinding wheel 310 is positioned between the two polishing roller brushes 320, and the diameter of the lower wheel 3102 is smaller than the vertical distance between the two polishing roller brushes 320, so that the lower wheel 3102 and the polishing roller brushes 320 can be staggered to avoid interference; and the polishing roller brush 320 can always wipe the polished aluminum frame 701 in the reciprocating movement process of the angle polishing device 300.
In order to further clean metal debris and dust generated by grinding, a dust removing device can be arranged in the angle grinding device 300. The dust removal device comprises a flexible dust cover 331 and a first dust collector 332, the flexible dust cover 331 covers the grinding wheel 310 and the roller brush, the upper end and the lower end of the flexible dust cover 331 are fixedly connected with the grinding wheel seat 311 and the roller brush seat 321 respectively, and the flexibility of the flexible dust cover can adapt to the lifting cylinder 322 to drive the roller brush seat 321 to move. A dust inlet 333 is arranged on one side of the flexible dust cover 331 close to the fixing device, the cloth grinding wheel 310 and the grinding roller brush 320 are in contact with the photovoltaic component 700 at the dust inlet 333, a dust outlet 334 is further arranged on the flexible dust cover 331, the dust outlet 334 is communicated with an air inlet of a first dust collector 332 through a hose, and the first dust collector 332 is arranged on the rack 100 and is located below the bottom frame 110. When the angle grinder 300 grinds, the first dust collector 332 forms an air flow in the direction from the dust inlet 333 to the dust outlet 334 of the dust cover, and metal chips and dust are sucked away.
In order to remove dust and fingerprints on the glass of the upper surface of the photovoltaic module 700, a special cleaning device 400 and a displacement device may also be provided. As shown in fig. 4, the cleaning device 400 includes an alcohol wiping device 410 including an alcohol spray head 411, an alcohol container (not shown in the drawing), an alcohol pump (not shown in the drawing), and an alcohol roller brush 412. A cleaning seat body is arranged, the alcohol spray head is fixedly connected with the cleaning seat body, the outlet of the alcohol spray head 411 faces downwards, the outlet of the alcohol pump is communicated with the inlet end of the alcohol spray head 411, and the inlet of the alcohol pump is communicated with the alcohol container. The alcohol roller brush 412 is rotatably connected with the cleaning seat body, the rotating axis of the alcohol roller brush 412 is horizontal, and the bristles of the alcohol roller brush 412 are preferably made of aramid fiber materials. One or two or more alcohol roller brushes 412 may be provided. Preferably, a dust suction device for removing dust and sundries on the glass of the photovoltaic module 700 is further arranged in the cleaning device 400, and the dust suction device comprises a dust suction hood 420 and a second dust collector (not shown in the figure). The lower end of the dust hood 420 is open, the air inlet of the second dust collector is communicated with the inside of the dust hood 420, the dust hood 420 can be used as a cleaning seat body, the alcohol spray head 411 is fixedly connected to the dust hood 420, and the alcohol roller brush 412 is rotatably connected to the dust hood 420. The second dust collector is arranged on the frame 100. The bottom of the dust hood 420 can be further provided with a shovel plate 430, the shovel plate 430 is arranged obliquely, the lower end of the shovel plate 430 is basically flush with the lowest point of each alcohol roller brush 412, the edge line of the shovel point is parallel to the rotation axis of each alcohol roller brush, when the cleaning device 400 moves, the lower end of the shovel plate 430 is tightly attached to the photovoltaic module 700, the residual glue on the surface of the glass can be shoveled, and the shovel plate 430 is preferably made of polytetrafluoroethylene material and has certain flexibility and is not easy to scratch the surface of the photovoltaic module 700. Referring to fig. 1 and 2, the frame 100 is provided with two cleaning running rails 130, and the cleaning running rails 130 are horizontally disposed, preferably in parallel with the sanding running rail 140. The displacement device is arranged above the fixing device and comprises a walking beam 510, a movable base 520 and a lifting electric cylinder 530 (see fig. 4). The walking beam 510 is slidably connected to the cleaning walking rail 130, and sliders adapted to the two cleaning walking rails 130 are respectively disposed at two ends of the walking beam 510, so that the walking beam reciprocates along the X-axis direction. The length direction of the traveling beam 510 is perpendicular to the cleaning traveling rail 130, and the moving base 520 is slidably coupled to the traveling beam 510 and slides along the length direction of the traveling beam 510, so that the moving base can reciprocate in the Y-axis direction. The cylinder body of the lifting electric cylinder 530 is fixedly connected with the moving base 520, the output end of the lifting electric cylinder 530 is arranged downward, and the cleaning base body is fixedly connected with the output end of the lifting electric cylinder 530 and is positioned below the output end of the lifting electric cylinder 530, so that the cleaning base body can reciprocate along the Z-axis direction. The range of alcohol wiping, dust collection and residual glue shoveling can be ensured to cover the upper surface of the whole photovoltaic assembly 700 by the sliding of the movable base 520 on the walking beam 510 and the sliding of the walking beam 510 on the cleaning walking rail 130, and the rotation axis of the alcohol roller brush is preferably parallel to the walking beam 510. The dust hood 420, the alcohol spray head 411, the alcohol roller brush 412 and the shovel plate 430 are driven to move up and down through the lifting electric cylinder 530, the shovel plate 430 and the alcohol roller brush 412 are in contact with the upper surface of the photovoltaic assembly 700, the moving seat 520 and the walking beam 510 are driven to slide, meanwhile, the alcohol pump sprays alcohol in an alcohol container to the surface of the photovoltaic assembly 700 through the alcohol spray head 411, the alcohol roller brush 412 rolls over the position where the alcohol is sprayed, the alcohol is uniformly coated, the shovel plate 430 is shoveled when the residual glue passes through, and meanwhile, the second dust collector sucks away the residual glue fragments, dust and other impurities in the range of the dust hood 420. Similar to the driving of the polishing sliding seat 340, the movable seat 520 and the walking beam 510 can be driven manually, or can be provided with a special driving device for driving, the driving device can also adopt a screw-nut transmission pair, a rack-and-pinion transmission pair, a belt wheel transmission pair or a chain wheel transmission pair, etc., and the driving device drives the kinematic pair to move, so that the angle polishing device 300 can linearly and repeatedly move. The driving devices are all screw-nut transmission pairs, wherein the screw-nut transmission pair for driving the moving seat 520 to move is driven by a servo motor Y, and the screw-nut transmission pair for driving the walking beam 510 to move is driven by a servo motor X.
In order to facilitate cleaning of the adhesive residue, a vision device may be disposed on the frame 100, the vision device includes a camera 600, and with reference to fig. 1 and fig. 2, the camera 600 is disposed above the fixing device through the camera frame 120, a lens of the camera 600 faces downward, an image of the surface of the photovoltaic module 700 may be captured through the camera 600, and the image is displayed through a display, so that people can determine whether the surface of the photovoltaic module 700 has the adhesive residue through a picture displayed on the display, determine a specific position of the adhesive residue, and facilitate a targeted movement of the shovel plate 430 for cleaning. When the shooting scope of single camera is not enough to shoot complete subassembly, can adopt a plurality of cameras, the even distribution of a plurality of cameras is in the fixing device top, can the picture that each camera was shot of direct display, also can show after the image that each camera was shot splices.
In order to save labor, the cleaning device 400 and the displacement device can be controlled to move according to the comparison result between the image shot by the camera and the non-smudge image, and the cleaning can be performed specifically as follows. An industrial personal computer, a cleaning controller and a second network switch are also needed to be arranged for realizing automatic control. As shown in fig. 5, the output port of the camera is in signal connection with the input port of the industrial personal computer. The industrial personal computer is used for processing image information shot by the camera, splicing images as required, and planning the actions of each execution element in the cleaning device and the cleaning device according to the image information. An image processing module and an analysis processing module are arranged in the industrial personal computer, a standard picture is stored in the image processing module, the standard picture is an image of some pixel points shot under the condition that the surface of the battery pack is clean, the analysis processing module compares the picture shot by the camera with the standard picture stored in the industrial personal computer, and whether the pixel points are the same or not is analyzed, and if the pixel points are different in color, stains are represented; when the pixel point has the stain, the analysis processing module calculates the actual position of the stain according to the position of the stain pixel point, plans a path from the zero position to the position of the stain pixel point of the cleaning device and generates a control parameter of the cleaning controller.
And the output port of the industrial personal computer is in signal connection with the input port of the second network switch, and the output port of the second network switch is in signal connection with the input port of the cleaning controller. And the network switch is used for connecting the industrial personal computer and the cleaning controller and transmitting information sent by the industrial personal computer to the cleaning controller. And a second human-computer interaction device, such as a touch screen, can be arranged, the output end of the second human-computer interaction device is in signal connection with the input port of the second network switch, and the control parameters are directly sent to the cleaning controller through the second human-computer interaction device.
The alcohol pump is connected with an output end signal of the cleaning controller through the first electromagnetic relay, the dust collector is connected with an output end signal of the cleaning controller through the second electromagnetic relay, the lifting electric cylinder is connected with an output end signal of the cleaning controller through the servo controller Z, the servo motor Y is connected with an output end signal of the cleaning controller through the servo controller Y, and the servo motor X is connected with an output end signal of the cleaning controller through the servo controller X. And the cleaning controller sends control instructions to controllers of the execution elements of the electromagnetic relay I, the electromagnetic relay II, the servo controller Z, the servo controller Y and the servo controller X according to the action planned by the industrial personal computer, and the cleaning controller preferably selects a PLC with a network module. The cleaning controller controls the rotating speed, the rotating angle and the starting and stopping of the servo motor X through the servo controller X so as to control the walking bridge to move along the X-axis direction, controls the rotating speed, the rotating angle and the starting and stopping of the servo motor Y through the servo controller Y so as to control the moving seat to repeatedly move along the Y-axis direction, and controls the stretching of the output end of the lifting electric cylinder through the servo controller Z; the opening and closing of the second dust collector are controlled through a second electromagnetic relay; the opening and closing of the alcohol pump are controlled through the first electromagnetic relay.
The specific examples are merely illustrative of the invention and are not intended to be limiting.

Claims (10)

1. The utility model provides a photovoltaic module aluminium frame edging clearance system, includes frame (100), is used for fixing photovoltaic module (700) fixing device and angle of grinding device (300), and fixing device sets up in frame (100), its characterized in that: the angle grinding device (300) comprises a grinding slide seat (340), a grinding wheel seat (311), a cloth grinding wheel (310) rotationally connected to the grinding wheel seat (311) and an angle grinding motor I (312) for driving the cloth grinding wheel (310) to rotate; the grinding sliding seat (340) is connected with the rack (100) in a sliding manner and slides along the horizontal direction; a first translation cylinder (313) for driving the grinding wheel seat (311) to be close to or far away from the photovoltaic module (700) fixed by the fixing device is horizontally arranged on the grinding sliding seat (340); the cloth grinding wheel (310) comprises an upper wheel (3101) and a lower wheel (3102) which are integrally arranged, the upper wheel (3101) and the lower wheel (3102) are both cylindrical and coaxial, the axes of the upper wheel (3101) and the lower wheel (3102) are vertical, the diameter of the upper wheel (3101) is larger than that of the lower wheel (3102), and when the photovoltaic module (700) is fixed on the fixing device, the upper surface of the aluminum frame (701) is flush with the lower end surface of the upper wheel (3101); the angle grinding device (300) further comprises a roller brush seat (321), a grinding roller brush (320) rotatably connected onto the roller brush seat (321), a second angle grinding motor (324) for driving the grinding roller brush (320) to rotate, a lifting cylinder (322) and a second translation cylinder (323) which are horizontally close to or far away from the photovoltaic module (700) and are horizontally connected with the driving roller brush seat (321) in a reciprocating mode, the axis of the output end of the first translation cylinder (313), the axis of the output end of the second translation cylinder (323) is parallel to the axis of the grinding roller brush (320), and the grinding roller brush (320) is located below the cloth grinding wheel (310).
2. The photovoltaic module aluminum frame edging system of claim 1, wherein: the angle grinding device (300) further comprises a dust removing device, and the dust removing device comprises a flexible dust cover (331) and a first dust collector (332); the upper end and the lower end of a flexible dust cover (331) are fixedly connected with a grinding wheel seat (311) and a roller brush seat (321) respectively, the flexible dust cover (331) covers a cloth grinding wheel (310) and a grinding roller brush (320), a dust inlet (333) is formed in one side, close to a fixing device, of the flexible dust cover (331), and the cloth grinding wheel (310) and the grinding roller brush (320) are in contact with an aluminum frame (701) at the dust inlet; an air inlet of the first dust collector (332) is communicated with the interior of the flexible dust cover (331).
3. The photovoltaic module aluminum frame edging system of claim 1, wherein: the two polishing roller brushes (320) are arranged along the sliding direction of the polishing sliding seat (340), the axis of the cloth grinding wheel (310) is positioned between the two polishing roller brushes (320), and the diameter of the lower wheel (3102) is smaller than the vertical distance between the two polishing roller brushes (320).
4. The photovoltaic module aluminum frame edging system of claim 1, wherein: the cleaning device (400) is arranged above the fixing device, the cleaning device (400) comprises an alcohol wiping device (410) and a displacement device, the alcohol wiping device (410) comprises an alcohol spray head (411), an alcohol container and an alcohol pump, an inlet of the alcohol pump is communicated with the alcohol container, an outlet of the alcohol pump is communicated with the alcohol spray head (411), the displacement device comprises a walking beam (510), a moving seat (520) and a lifting electric cylinder (530), the moving seat (520) is connected to the walking beam (510) in a sliding mode, the walking beam (510) is connected to the rack (100) in a sliding mode, the sliding direction and the length direction of the walking beam (510) are horizontal and vertical to each other, the moving seat (520) slides along the length direction of the walking beam (510), a cylinder body of the lifting electric cylinder (530) is fixedly connected with the moving seat (520), the alcohol spray head (411) is fixedly connected with the output end of the lifting electric cylinder (530, the outlet of the alcohol spray head (411) is arranged downwards.
5. The photovoltaic module aluminum frame edging system of claim 4, wherein: the alcohol smearing device (410) further comprises an alcohol roller brush (412) which is arranged in a rotating mode, and the rotating axis of the alcohol roller brush (412) is parallel to the length direction of the walking beam (510).
6. The photovoltaic module aluminum frame edging system of claim 4, wherein: the cleaning device (400) further comprises a shovel plate (430), and the shovel plate (430) is obliquely arranged.
7. The photovoltaic module aluminum frame edging system of claim 6, wherein: the cleaning device (400) further comprises a dust suction device, the dust suction device comprises a dust suction cover (420) and a second dust collector, the dust suction cover (420) covers the shovel plate (430), and the shovel plate (430) is fixedly connected with the dust suction cover (420).
8. The photovoltaic module aluminum frame edging system of claim 6, wherein: the frame (100) is provided with a visual device, the visual device comprises a camera (600), a lens of the camera (600) faces to the right lower side, and the camera (600) is located above the fixing device.
9. The photovoltaic module aluminum frame edging system of claim 8, wherein: the system comprises a camera, an industrial personal computer, a cleaning controller and a network switch II, wherein an output port of the camera is in signal connection with an input port of the industrial personal computer; the industrial personal computer is used for processing image information shot by the camera and planning actions of executing elements in the cleaning device and the cleaning device according to the image information, an image processing module and an analysis processing module are arranged in the industrial personal computer, a standard picture is stored in the image processing module, the analysis processing module compares a shot picture of the camera with the standard picture and marks stain pixel points with different colors at corresponding positions, the analysis processing module plans a moving path of the cleaning device according to the positions of the stain pixel points and generates control parameters of the cleaning controller, and the network switch II transmits the control parameters to the cleaning controller; the alcohol pump is in signal connection with the output end of the cleaning controller through a first electromagnetic relay, the dust collector is in signal connection with the output end of the cleaning controller through a second electromagnetic relay, and the lifting electric cylinder (530) is in signal connection with the output end of the cleaning controller through a servo controller Z; the displacement device also comprises a driving device for driving the walking beam (510) to slide and a driving device for driving the moving seat (520) to slide, wherein the driving device for driving the moving seat (520) to slide is in signal connection with the output end of the cleaning controller through a servo controller Y, and the driving device for driving the walking beam (510) to slide is in signal connection with the output end of the cleaning controller through a servo controller X.
10. The photovoltaic module aluminum frame edging system of claim 1, wherein: the output end of the first human-computer interaction device is in signal connection with the input port of the first network switch, and the output port of the first network switch is in signal connection with the input port of the angle grinding controller; a user issues a control instruction through the man-machine control device, the first network switch transmits control information on the first man-machine control device to the angle grinding controller, and the angle grinding controller sends the control instruction to controllers of all executing elements of the angle grinding device according to the control information; first angle grinding motor (312) is connected with the output electricity of angle grinding controller through first converter, and second angle grinding motor (324) is connected with the output electricity of angle grinding controller through second converter, is provided with the gliding drive arrangement of drive slide (340) of polishing in frame (100), drive arrangement is connected with the output electricity of angle grinding controller through third converter, and translation cylinder (313) are connected with the output electricity of angle grinding controller through translation solenoid valve one, and translation cylinder two (323) are connected with the output electricity of angle grinding controller through translation solenoid valve two, and lift cylinder (322) are connected with the output electricity of angle grinding controller through lift solenoid valve.
CN201910880352.3A 2019-09-18 2019-09-18 Photovoltaic module aluminium frame edging clearance system Pending CN111571339A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910880352.3A CN111571339A (en) 2019-09-18 2019-09-18 Photovoltaic module aluminium frame edging clearance system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910880352.3A CN111571339A (en) 2019-09-18 2019-09-18 Photovoltaic module aluminium frame edging clearance system

Publications (1)

Publication Number Publication Date
CN111571339A true CN111571339A (en) 2020-08-25

Family

ID=72116651

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910880352.3A Pending CN111571339A (en) 2019-09-18 2019-09-18 Photovoltaic module aluminium frame edging clearance system

Country Status (1)

Country Link
CN (1) CN111571339A (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203918683U (en) * 2014-07-01 2014-11-05 邓光添 The special-shaped beveler of a kind of full-automatic numerical control glass
CN104339242A (en) * 2013-08-01 2015-02-11 上海京美电脑机械有限公司 Multi-axis glass grinding machine
WO2016024304A1 (en) * 2014-08-13 2016-02-18 株式会社 スカイロボット Solar-panel cleaning device
CN205042772U (en) * 2015-09-29 2016-02-24 中国华能集团清洁能源技术研究院有限公司 Photovoltaic module cleaning device
CN104539233B (en) * 2015-01-19 2016-09-28 安阳豫通科技有限公司 Photovoltaic array component cleans dust pelletizing system automatically
CN107733365A (en) * 2017-11-15 2018-02-23 青海黄河上游水电开发有限责任公司光伏产业技术分公司 The EL automatic testing equipments and system of a kind of photovoltaic module
CN207480317U (en) * 2017-10-09 2018-06-12 雅安泛华工装模具有限责任公司 A kind of die surface grinding device
CN109571184A (en) * 2019-01-11 2019-04-05 浙江江山博奥电气有限公司 A kind of photovoltaic module corner grinding device
CN109746226A (en) * 2019-02-20 2019-05-14 南京海得电力科技有限公司 Photovoltaic panel intelligence purging system for photovoltaic plant O&M

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104339242A (en) * 2013-08-01 2015-02-11 上海京美电脑机械有限公司 Multi-axis glass grinding machine
CN203918683U (en) * 2014-07-01 2014-11-05 邓光添 The special-shaped beveler of a kind of full-automatic numerical control glass
WO2016024304A1 (en) * 2014-08-13 2016-02-18 株式会社 スカイロボット Solar-panel cleaning device
CN104539233B (en) * 2015-01-19 2016-09-28 安阳豫通科技有限公司 Photovoltaic array component cleans dust pelletizing system automatically
CN205042772U (en) * 2015-09-29 2016-02-24 中国华能集团清洁能源技术研究院有限公司 Photovoltaic module cleaning device
CN207480317U (en) * 2017-10-09 2018-06-12 雅安泛华工装模具有限责任公司 A kind of die surface grinding device
CN107733365A (en) * 2017-11-15 2018-02-23 青海黄河上游水电开发有限责任公司光伏产业技术分公司 The EL automatic testing equipments and system of a kind of photovoltaic module
CN109571184A (en) * 2019-01-11 2019-04-05 浙江江山博奥电气有限公司 A kind of photovoltaic module corner grinding device
CN109746226A (en) * 2019-02-20 2019-05-14 南京海得电力科技有限公司 Photovoltaic panel intelligence purging system for photovoltaic plant O&M

Similar Documents

Publication Publication Date Title
CN204893641U (en) Panel grinding device
CN105983502B (en) Intelligent automobile lacquering and stoving varnish integrated robot
CN100457545C (en) Computer controlled method and equipment for repairng and painting surface of ship body
CN105666275B (en) A kind of manipulator polishing system
JP5688074B2 (en) Multipurpose wall treatment machine
CN103506908A (en) Method and device for automatically polishing wheel hub
CN204339524U (en) The one straight tube that gets rusty is polished cleaning plant fast
CN105522824A (en) Digital printing machine
CN109015295B (en) H shaped steel welding bead polishing rust cleaning device
CN205394932U (en) Automatic laser cleaning equipment
CN105729264B (en) Intelligent metope sanding and polishing device
CN105538111B (en) A kind of automatically grinding burnishing device and its processing method
CN104440585B (en) Full-automatic efficient sand-blasting and deburring equipment
US4969914A (en) Airplane window polishing device
CN203266652U (en) Automatic dust removing structure
CN205056596U (en) Full -automatic glass screen curtain cleaning equipment
CN104290014A (en) Multi-angle automatic polishing system and polishing method
CN106585573A (en) Electric automobile chassis cleaning device and cleaning method
CN106513381A (en) Laser cleaning device and method for axis parts
WO2019179407A1 (en) Automatic vehicle washing device
CN106639267A (en) Wall surface processing robot
CN202803688U (en) Semi-automatic cleaning machine for end surface of fiber interface component
CN2726803Y (en) Automatic sand-blasting machine
CN203565429U (en) Automatic steel shot cleaning machine for gear threaded hole
CN109015296B (en) Working method of H-shaped steel welding bead polishing and derusting device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination