CN112474576A - Ultrasonic cleaning system and cleaning method thereof - Google Patents
Ultrasonic cleaning system and cleaning method thereof Download PDFInfo
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- CN112474576A CN112474576A CN202011129529.5A CN202011129529A CN112474576A CN 112474576 A CN112474576 A CN 112474576A CN 202011129529 A CN202011129529 A CN 202011129529A CN 112474576 A CN112474576 A CN 112474576A
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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
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/12—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration by sonic or ultrasonic vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- 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
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Abstract
The present application relates to an ultrasonic cleaning system, which includes a cleaning tank containing a cleaning solution to impregnate and clean a cleaning object; a full-scale cleaning mechanism for generating and transmitting ultrasonic energy; a support table for supporting the cleaning object in the cleaning liquid; an ultrasonic nozzle for generating ultrasonic waves in a convergent shape; the rotating piece is used for driving the supporting platform to rotate; the ultrasonic nozzle is fixedly connected to the lifting piece and used for driving the ultrasonic nozzle to lift along the vertical direction; the size detection module is used for acquiring the size information of the cleaning object; the image recognition module is used for collecting image information of the cleaning object and recognizing the position of the stain on the cleaning object; and the control module is connected with the comprehensive cleaning mechanism, the size detection module, the image recognition module, the rotating part and the lifting part. This application has the function that improves ultrasonic cleaning device's cleaning performance.
Description
Technical Field
The application relates to the field of intelligent cleaning, in particular to an ultrasonic cleaning system and a cleaning method thereof.
Background
3D printing has opened a new world of manufacturing capability for technology and commerce, the three main steps in the metal 3D printing process are printing, cleaning and sintering, removing the adhesive material in the first stage, removing the mold from the printer, placing it in a cleaned basket, and then immersing it in a solvent, at which stage the cleaning time will vary, varying from a few hours to a few days, depending on the thickest area of the cleaned part. The method comprises the steps of obtaining a palm die piece after washing, finally performing a sintering process, generally using an ultrasonic cleaning machine in the cleaning process, simultaneously enabling 3D printed products to be rich in types, enabling various products to gradually accumulate pollutants in the using process, enabling the cleaning efficiency of the conventional ultrasonic cleaning machine to be high, and enabling the ultrasonic cleaning machine to be widely used for cleaning products (such as teeth) of the 3D printed products by people.
Ultrasonic cleaning is a cleaning method in which vibration of an ultrasonic vibration element is transmitted to a vibration plate, the vibration is radiated to a cleaning liquid, and dirt adhering to an object to be cleaned is removed by energy generated by the vibration, that is, a shock wave generated by cavitation.
With respect to the related art among the above, the inventors consider that the following drawbacks exist: standing waves generated in the cleaning liquid by ultrasonic vibration cause uneven energy distribution of ultrasonic energy at different depths in the cleaning liquid and at different horizontal positions at the same depth, thereby affecting cleaning efficiency.
Disclosure of Invention
In a first aspect, the present application provides an ultrasonic cleaning system for improving the cleaning effect of an ultrasonic cleaning apparatus.
The application provides an ultrasonic cleaning system adopts following technical scheme:
an ultrasonic cleaning system comprising:
a cleaning tank containing a cleaning solution to impregnate and clean a cleaning object;
a full-scale cleaning mechanism for generating and transmitting ultrasonic energy;
a support table for supporting the cleaning object in the cleaning liquid;
an ultrasonic nozzle for generating ultrasonic waves in a convergent shape;
the rotating piece is used for driving the supporting platform to rotate;
the ultrasonic nozzle is fixedly connected to the lifting piece and used for driving the ultrasonic nozzle to lift along the vertical direction;
the size detection module is used for acquiring the size information of the cleaning object;
the image recognition module is used for collecting image information of the cleaning object and recognizing the position of the stain on the cleaning object;
the control module is connected with the comprehensive cleaning mechanism, the size detection module, the image recognition module, the rotating part and the lifting part, obtains first working time information according to the size information, and controls the comprehensive cleaning mechanism to work within the first working time; driving the rotating piece to rotate the supporting platform around the axis of the rotating piece according to the position of the stain on the cleaning object; and controlling the lifting piece to drive the ultrasonic nozzle to lift along the vertical direction according to the position of the stain, and controlling the ultrasonic nozzle to clean the stain.
By adopting the technical scheme, the first working time information is obtained according to the size information acquired by the size detection module, and the cleaned objects are cleaned comprehensively in the first working time period, so that the effect of automatically selecting the matched comprehensive cleaning time according to the sizes of the cleaned objects is achieved; and then the residual dirt which is not cleaned on the cleaned object is cleaned in a concentrated manner through the ultrasonic nozzle which generates convergent energy concentration, so that the cleaning effect of the ultrasonic cleaning device is improved, the cleaning efficiency is improved, and the energy-saving effect is achieved.
Optionally, comprehensive wiper mechanism includes ultrasonic wave spare and last ultrasonic wave spare down, and ultrasonic wave spare is fixed to be set up in the bottom of washing tank down, goes up the fixed top that sets up at the washing tank of ultrasonic wave spare.
Through adopting above-mentioned technical scheme, all set up ultrasonic wave spare through upper and lower both sides at the washing thing, reduce the influence that ultrasonic energy vertical energy maldistribution produced in the washing liquid, improved comprehensive wiper mechanism's cleaning performance.
Optionally, the image recognition module includes:
the image sensor is used for acquiring image information of the cleaning object and inputting the image information of the cleaning object into the image control module;
and the image control module is used for receiving and analyzing the image information of the cleaning object to obtain the stain position information of the surface of the cleaning object, and the stain position information is input into the control module.
By adopting the technical scheme, the spot position information on the cleaning object can be conveniently and quickly positioned in an image recognition mode, and the cleaning accuracy and the cleaning efficiency are improved.
Optionally, the supporting table is connected with a horizontal moving device, the horizontal moving device comprises a first motor, a horizontal plate and a vertical rod, the vertical rod is perpendicularly connected to the horizontal plate and is connected with the supporting table in a rotating mode, the horizontal plate is located above the cleaning tank, a first rack is fixedly arranged on the horizontal plate, a first gear is fixedly arranged at the output end of the first motor, and the first gear is meshed with the first rack.
Through adopting above-mentioned technical scheme, first motor work makes the horizontal plate remove, and the horizontal plate drives the supporting bench and removes along the horizontal direction, and the supporting bench drives and washs the thing and remove, washs the thing and removes along the horizontal direction for last ultrasonic wave spare and lower ultrasonic wave spare, has reduced last ultrasonic wave spare and has reduced the influence that ultrasonic wave spare and lower ultrasonic wave spare produced comprehensive cleaning performance because of the energy distribution is uneven on the different horizontal position of same degree of depth.
Optionally, the supporting table comprises a bottom plate and a rotary table, the rotary table is connected to the bottom plate in a rotating mode, the vertical rod is connected with the horizontal plate and the bottom plate in a rotating mode, the rotating piece comprises a second motor, a third gear and a second gear, the second gear is fixedly arranged on the outer peripheral wall of the vertical rod, the third gear is fixedly arranged on the outer peripheral wall of the rotary table and fixedly arranged on the horizontal plate, the output end of the second motor is fixedly connected with the vertical rod, and the second gear is meshed with the third gear.
Through adopting above-mentioned technical scheme, the electronic vertical pole of second motor rotates, and vertical pole drives second gear revolve, and second gear drives third gear revolve, can realize driving carousel pivoted function, and the second motor is located the washing liquid top, makes the difficult influence that receives the washing liquid of second motor.
Optionally, the ultrasonic nozzle includes a housing, an ultrasonic generating unit and a converging vibration unit, the ultrasonic generating unit is fixedly disposed in the housing, the housing is connected to the lifting member, the converging vibration unit is fixedly connected to the ultrasonic generating unit, and one side of the converging vibration unit away from the ultrasonic generating unit is in an arc structure.
By adopting the technical scheme, the vibration unit is converged through the arc-shaped structure, so that the ultrasonic waves transmitted by the vibration unit can be converged linearly, the ultrasonic energy is transmitted more intensively, and the energy-saving effect is achieved while the cleaning energy is improved.
Optionally, a second timing module is disposed in the control module, and the second timing module controls the ultrasonic nozzle to operate at a preset interval frequency.
By adopting the technical scheme, the control module controls the ultrasonic nozzle to work through the interval timing effect of the second timing module, the image recognition module is controlled to shoot the cleaning part again in the cleaning gap, and if the stains still exist, the cleaning is carried out again until the stains disappear.
In a second aspect, the present application provides an ultrasonic cleaning method for improving a cleaning effect of an ultrasonic cleaning apparatus.
An ultrasonic cleaning method comprising:
collecting size information of a cleaned object and acquiring image information of a stain unit of the cleaned object before cleaning;
analyzing the size information and obtaining first working time information;
controlling the comprehensive cleaning mechanism to work within a first working time;
acquiring spot position information on a cleaned object;
driving the rotating piece to rotate the supporting platform around the axis of the rotating piece according to the position of the stain on the cleaning object; controlling the lifting piece to drive the ultrasonic nozzle to lift along the vertical direction according to the position of the stain, so that the ultrasonic nozzle is right opposite to the position of the stain on the cleaned object;
and controlling the ultrasonic nozzle to clean the spot.
By adopting the technical scheme, the collected dimension information is converted into the first working time information, and the cleaning object is cleaned comprehensively in the first working time period, so that the effect of automatically selecting the matched comprehensive cleaning time according to the size of the cleaning object is achieved; then, the residual dirt which is not cleaned on the cleaned object is cleaned in a concentrated manner through the ultrasonic nozzle which generates convergent energy concentration, so that the cleaning effect of the ultrasonic cleaning device is improved, the cleaning efficiency is improved, and the energy-saving effect is achieved.
Optionally, the method for acquiring the spot position information on the cleaning object includes:
collecting image information of a stain unit on a cleaned object before the cleaned object is completely cleaned;
comparing the image information of the stain unit with the current image information;
identifying the successfully matched position in the stain unit image information and the current image information;
and positioning the spot position successfully matched and obtaining the positioning coordinate of the spot position.
By adopting the technical scheme, the effect of quickly judging the position of the stain can be achieved by adopting the image recognition mode, and the stain treatment efficiency is improved.
Optionally, the method for controlling the rotating member and the lifting member according to the position of the stain on the washing object comprises:
analyzing to obtain a vertical coordinate value za of the ultrasonic nozzle and a vertical coordinate value zb of the stain position, and driving the ultrasonic nozzle to move through the lifting piece to enable the vertical coordinate value za of the ultrasonic nozzle to be equal to the vertical coordinate value zb of the stain position;
and (3) setting the center of the plane where the height of the cleaning object at the vertical coordinate value zb is as a point O, acquiring the coordinate (0, yb, zb) of the ultrasonic nozzle at the moment, setting the coordinate of the dirt position at the moment as (xa, ya, zb), calculating the two coordinate values, and controlling the rotating piece to drive the cleaning object to rotate so that the coordinate of the dirt position is (0, ya', zb).
In summary, the present application includes at least one of the following beneficial technical effects:
1. by adopting the structure of the comprehensive cleaning mechanism, the control module and the ultrasonic nozzle, the comprehensive cleaning of the cleaned objects is realized, and the cleaning effect of the ultrasonic cleaning device is improved;
2. the structure of the image recognition module is adopted, so that the function of quickly recognizing the stains is realized;
3. through adopting the comprehensive wiper mechanism including lower ultrasonic spare and last ultrasonic spare, realized improving the function of comprehensive wiper mechanism to cleaning effect in first operating interval.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;
FIG. 2 is a schematic diagram of the overall structure of a control system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a protrusion size detection module;
FIG. 4 is a partial three-dimensional structural view highlighting the location of the first rack;
FIG. 5 is an enlarged schematic view of detail A of FIG. 1;
fig. 6 is a schematic view of the ultrasonic nozzle.
Description of reference numerals: 1. a cleaning tank; 11. a cover plate; 12. a plug-in barrel; 2. the mechanism is cleaned comprehensively; 21. a lower ultrasonic member; 211. a lower ultrasonic wave generating device; 212. a lower vibrating element; 22. an upper ultrasonic member; 222. an upper ultrasonic wave generating device; 221. an upper vibrating element; 3. a support table; 31. a base plate; 32. a turntable; 4. a horizontal moving device; 41. a first motor; 411. a first gear; 42. a horizontal plate; 421. a first rack; 43. a vertical rod; 5. a size detection module; 51. a transverse detection pair; 52. a longitudinal detection pair; 53. a vertical detection pair; 6. a rotating member; 61. a second gear; 62. a second motor; 63. a third gear; 7. an image recognition module; 71. an image sensor; 72. an image control module; 8. an ultrasonic nozzle; 81. a housing; 82. an ultrasonic wave generating unit; 83. a convergence vibration unit; 9. a lifting member; 91. a lifting rod; 92. a slider; 01. and (5) cleaning the object.
Detailed Description
The present application is described in further detail below with reference to figures 1-6.
The embodiment of the application discloses an ultrasonic cleaning system. Referring to fig. 1 and 2, the cleaning device comprises a cleaning tank 1, a comprehensive cleaning mechanism 2, a support table 3, a rotating part 6, a size detection module 5, an image recognition module 7, an ultrasonic nozzle 8, a lifting part 9 and a control module, wherein cleaning liquid is contained in the cleaning tank 1, the support table 3 is arranged in the cleaning tank 1 and is used for supporting a cleaning object 01, the cleaning object 01 is immersed by the cleaning liquid, the size detection module 5 is used for detecting the size of the cleaning object 01 and transmitting the detected size information to the control module, the control module obtains first working time information according to the size information, a first timing module is arranged in the control module, and the first timing module controls the comprehensive cleaning mechanism 2 to carry out omnibearing cleaning, namely primary cleaning, on the surface of the cleaning object 01 in first working time; after the preliminary cleaning is finished, the control module receives a timing end signal, the control image recognition module 7 collects stain information on the surface of the cleaning object 01, the collected stain position information is transmitted to the lifting piece 9 and the rotating piece 6, the rotating piece 6 controls the supporting table 3 to rotate, the lifting piece 9 drives the ultrasonic nozzle 8 to move in the vertical direction, the ultrasonic nozzle 8 is opposite to the stain position, the ultrasonic nozzle 8 cleans the stain position at a specific time interval frequency, the stain position is collected through the image recognition module 7 at the cleaning interval position, the ultrasonic nozzle 8 is continuously controlled to clean until the stain disappears, the cleaning of the stain position is finished, then, other stain positions are cleaned in sequence, the functions of fully cleaning the stain on the cleaning object 01 and improving the cleaning effect are achieved.
A standing wave generated in the cleaning liquid due to the ultrasonic vibration, the standing wave not being attenuated from the bottom surface of the cleaning tank 1 toward the water surface but propagating in the depth direction (upward) of the cleaning liquid; since the oxygen and other gases remaining in the solution absorb the energy of the ultrasonic wave, the standing wave has lower energy as it gets farther from the bottom surface, which is the excitation source, and thus there is a problem that the cleaning effect is better in the vicinity of the bottom surface of the cleaning tank 1 and worse as it gets farther from the bottom surface of the cleaning tank 1. In order to reduce the influence of uneven cleaning on the upper and lower surfaces of the cleaning object 01 caused by the "linearity" of ultrasonic energy, referring to fig. 1, the overall cleaning mechanism 2 provided in the embodiment of the present application includes an upper ultrasonic member 22 and a lower ultrasonic member 21, the upper ultrasonic member 22 is taken as an example, the upper end of the cleaning tank 1 is provided with a cover plate 11, the upper ultrasonic member 22 includes an upper ultrasonic wave generating device 222 and an upper vibrating element 221, the upper ultrasonic wave generating device 222 is fixedly provided on the lower surface of the cover plate 11, the upper vibrating element 221 is fixedly provided on the lower surface of the upper ultrasonic wave generating device 222, the lower ultrasonic member 21 includes a lower ultrasonic wave generating device 211 and a lower vibrating element 212, the lower vibrating element 212 is fixedly provided on the bottom wall of the cleaning tank 1, and the lower ultrasonic wave generating device 211 is fixedly provided on the lower side of the lower vibrating element 212. The ultrasonic cleaning generating mechanisms are arranged on the two sides of the upper surface and the lower surface of the cleaned object 01, so that the condition that the ultrasonic waves generate standing waves in the cleaning liquid to cause uneven cleaning can be reduced.
Because the appearances of different cleaning objects 01 are different, the surface area of the cleaning objects 01 are difficult to calculate accurately, and in order to predict the preliminary cleaning time of the cleaning objects 01, the size detection module 5 comprises a transverse detection pair 51, a longitudinal detection pair 52 and a vertical detection pair 53, the cleaning objects 01 are placed on a placing plate before the cleaning objects 01 are cleaned, taking the transverse detection pair 51 as an example, the transverse detection pair 51 comprises two opposite transverse plates, one of the two transverse plates is fixedly provided with a distance sensor P, the other transverse plate is fixedly provided with a detection object, and the transverse plates are abutted to the two positions with the largest transverse distance with the cleaning objects 01 to obtain the maximum transverse size of the cleaning objects 01; similarly, the longitudinal maximum size and the vertical maximum size of the cleaning object 01 are obtained according to the mode, and the volume maximum size of the cleaning object 01 is obtained according to the transverse maximum size, the longitudinal maximum size and the vertical maximum size; or the volume information of the cleaning object 01 is acquired by adopting an image recognition mode for the cleaning object 01. The size information is transmitted to the control module according to the acquired maximum size of the volume, the control module calculates first working time according to the size information according to a preset proportion, the control module transmits the first working time information to the first timing module, and meanwhile the control module controls the comprehensive cleaning mechanism 2 to comprehensively clean the cleaning objects 01 in the cleaning liquid within the first working time.
The non-uniformity of ultrasonic cleaning energy, i.e. the non-uniformity of cavitation, occurs not only in the propagation direction of ultrasonic vibration, i.e. in the depth direction of the liquid surface in the above example, but also in the surface of the same liquid surface depth, and in order to obtain uniform ultrasonic energy in the same plane, referring to fig. 1, the support 3 provided in the embodiment itself is further connected with a horizontal moving device 4, the horizontal moving device 4 includes a first motor 41, a horizontal plate 42 and a vertical rod 43, the first motor 41 is fixedly provided on the outer side wall of the cleaning tank 1, referring to fig. 4 again, a first gear 411 is fixedly provided on the outer peripheral wall of the output end of the first motor 41, a first gear 411 is fixedly provided on the side of the horizontal plate 42 close to the first motor 41 to be engaged with a first rack 421, an insertion cylinder 12 is fixedly provided on the edge of the cleaning tank 1, the horizontal plate 42 is slidably connected to the socket 12 in the horizontal direction. The electric horizontal plate 42 of the first gear 411 moves, so that the cleaning object 01 can reciprocate to different horizontal positions on the same horizontal plane, and the cleaning effect of the cleaning object 01 during preliminary cleaning is improved.
Referring to fig. 1, the supporting table 3 includes a bottom plate 31 and a rotating plate 32, the rotating plate 32 is rotatably connected to the bottom plate 31, the vertical rod 43 is rotatably connected to both the horizontal plate 42 and the bottom plate 31, the vertical rod 43 is perpendicular to the bottom plate 31, the rotating member 6 includes a second motor 62, a third gear 63 and a second gear 61, the second gear 61 is fixedly disposed on the outer circumferential wall of the vertical rod 43, the third gear 63 is fixedly disposed on the outer circumferential wall of the rotating plate 32 and is fixedly disposed on the horizontal plate 42, the output end of the second motor 62 is fixedly connected to the vertical rod 43, and the second gear 61 is engaged with the third gear 63. After the cleaning object 01 is completely cleaned in the first working time period, a small amount of 'dead angles' which are difficult to clean can be left on the surface of the cleaning object 01, referring to fig. 2, the image recognition module 7 comprises an image sensor 71 and an image control module 72, the image sensor 71 is fixedly connected with the ultrasonic nozzle 8 and is used for collecting image information of the cleaning object 01 and inputting the image information of the cleaning object 01 into the image control module 72; and the image control module 72 is used for receiving and analyzing the image information of the cleaning object 01 to obtain the stain position information on the cleaning object 01, and the stain position information is input into the control module.
Wherein, the mode of acquireing washings 01 image information through image sensor 71 does, after first operating time, ultrasonic nozzle 8 is relative with the border level of the below of washings 01 this moment, then control rotating member 6 drives brace table 3 around its self axis at the uniform velocity rotation, and control lifting member 9 simultaneously drives ultrasonic nozzle 8 and evenly rises along vertical direction, realizes shooing the whole of washings 01 circumferential surface to obtain the surperficial image information of washings 01.
The image control module 72 is used for the stain position information through a stain judging module; the image sensor 71 collects image information of a stain unit on the cleaned object 01 before the cleaned object 01 is completely cleaned, the image information of the stain unit is image information of a minimum unit for identifying stains, the stain judgment module compares the image information of the stain unit of the cleaned object 01 with current image information, the image information of the stain unit and the current image information are compared, positions successfully matched in the image information of the stain unit and the current image information are identified, and the positions successfully matched are positions of the stains which are not cleaned; and (5) positioning the spot position successfully matched and obtaining the positioning coordinate thereof, wherein the positioning coordinate can be expressed in the form of (xa, ya, zb).
The control module controls the rotating piece 6 to drive the supporting table 3 to rotate according to the stain position information, and controls the lifting piece 9 to drive the ultrasonic nozzle 8 to vertically move, so that the ultrasonic nozzle 8 is opposite to the stain position; referring to fig. 2, a second timing module is arranged in the control module, the second timing module controls the ultrasonic nozzle 8 to work at a preset interval frequency, the dirt is collected at the cleaning interval by the image recognition module 7, the ultrasonic nozzle 8 is continuously controlled to be cleaned until the dirt disappears, the cleaning of the dirt at the position is completed, and then other dirt positions are cleaned in sequence.
Referring to fig. 5, the lifting member 9 includes a lifting rod 91, a slider 92, and a vertical driving mechanism (not shown in this figure), the lifting rod 91 is fixedly disposed in the cleaning tank 1 along the vertical direction, the vertical driving mechanism can drive the slider 92 to lift along the vertical direction by adopting a motor and lead screw driving manner, and the ultrasonic nozzle 8 is fixedly disposed on the slider 92.
Referring to fig. 6, the ultrasonic nozzle 8 includes a housing 81, an ultrasonic generating unit 82, and a converging vibration unit 83, the ultrasonic generating unit 82 is fixedly disposed in the housing 81, the housing 81 is fixedly connected to a slider 92, the converging vibration unit 83 is fixedly connected to the ultrasonic generating unit 82, a side of the converging vibration unit 83 away from the ultrasonic generating unit 82 has an arc-shaped structure, and the ultrasonic vibration unit is configured to irradiate ultrasonic waves toward the support base 3. The ultrasonic waves may be converged in a point shape or a linear shape, and in the embodiment of the present invention, the ultrasonic waves are converged in a linear shape.
The implementation principle of the ultrasonic cleaning system in the embodiment of the application is as follows:
the size detection module 5 is used for detecting the size of the cleaning object 01 and transmitting the detected size information to the control module, the control module transmits the size information to the first timing module, the first timing module controls the comprehensive cleaning mechanism 2 to work in a first time period, and the comprehensive cleaning mechanism 2 carries out omnibearing cleaning, namely primary cleaning, on the surface of the cleaning object 01 through the energy of ultrasonic waves; after the preliminary cleaning is finished, namely the timing time of the first timing module is finished, the control module controls the image recognition module 7 to collect the stain information on the surface of the cleaning object 01, the collected stain position information is transmitted to the lifting piece 9 and the rotating piece 6, the rotating piece 6 controls the rotary table 32 to rotate, the lifting piece 9 drives the ultrasonic nozzle 8 to move in the vertical direction, the ultrasonic nozzle 8 is opposite to the stain part, the ultrasonic nozzle 8 cleans the stain part at a specific time interval frequency, the stain part is collected and analyzed through the image recognition module 7 at the cleaning interval, the ultrasonic nozzle 8 is continuously controlled to clean until the stain disappears, the cleaning of the stain part is finished, and then other stain parts are cleaned in sequence.
Example two:
based on the same inventive concept, the embodiment of the present application further provides an ultrasonic cleaning method, including the following steps:
an ultrasonic cleaning method comprising:
collecting the size information of the cleaning object 01 and acquiring the image information of the stain unit of the cleaning object 01 before cleaning;
analyzing the size information and obtaining first working time information;
controlling the comprehensive cleaning mechanism 2 to work within a first working time;
acquiring spot position information on the cleaned object 01;
the rotating piece 6 is driven according to the position of the dirt on the cleaning object 01 to enable the supporting platform 3 to rotate around the axis of the supporting platform; controlling the lifting piece 9 to drive the ultrasonic nozzle 8 to lift along the vertical direction according to the position of the stain, so that the ultrasonic nozzle 8 is right opposite to the position of the stain on the cleaned object 01;
and controlling the ultrasonic nozzle 8 to clean the stain.
The method for acquiring the spot position information on the cleaning object 01 comprises the following steps:
collecting image information of stain units on the cleaned object 01 before the cleaned object 01 is completely cleaned;
comparing the image information of the stain unit with the current image information;
identifying the successfully matched position in the stain unit image information and the current image information;
and positioning the spot position successfully matched and obtaining the positioning coordinate of the spot position.
Wherein, because the image processing module is fixedly connected with the ultrasonic nozzle 8, after the stain identification module in the image control module 72 identifies the stain, the method for controlling the rotating member 6 and the lifting member 9 according to the position of the stain on the cleaning object 01 comprises the following steps:
analyzing to obtain a vertical coordinate value za of the ultrasonic nozzle 8 and a vertical coordinate value zb of the stain position, and driving the ultrasonic nozzle 8 to move through the lifting piece 9 so that the vertical coordinate value za of the ultrasonic nozzle 8 is equal to the vertical coordinate value zb of the stain position;
the center of the plane where the height of the cleaning object 01 at the vertical coordinate value zb is located is set as a point O, the coordinate (0, yb, zb) of the ultrasonic nozzle 8 at this time is obtained, the coordinate of the dirt position at this time is set as (xa, ya, zb), the two coordinate values are calculated, and the rotating member 6 is controlled to drive the cleaning object 01 to rotate, so that the coordinate of the dirt position is set as (0, ya', zb).
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. An ultrasonic cleaning system, comprising:
a cleaning tank (1) which contains a cleaning liquid to dip and clean a cleaning object (01);
a comprehensive cleaning mechanism (2) for generating and transmitting ultrasonic energy;
a support table (3) for supporting the cleaning object (01) in the cleaning liquid;
an ultrasonic nozzle (8) for generating a convergent ultrasonic wave;
the rotating piece (6) is used for driving the supporting table (3) to rotate;
the ultrasonic nozzle (8) is fixedly connected to the lifting piece (9) and used for driving the ultrasonic nozzle (8) to lift along the vertical direction;
the size detection module (5) is used for acquiring the size information of the cleaning object (01);
the image recognition module (7) is used for collecting image information of the cleaning object (01) and recognizing the position of dirt on the cleaning object (01);
the control module is connected with the comprehensive cleaning mechanism (2), the size detection module (5), the image recognition module (7), the rotating part (6) and the lifting part (9), obtains first working time information according to the size information, and controls the comprehensive cleaning mechanism (2) to work within the first working time; the rotating piece (6) is driven according to the position of the dirt on the cleaning object (01) to enable the cleaning object (01) to rotate around the axis of the cleaning object (01); the lifting piece (9) is controlled according to the position of the stain to drive the ultrasonic nozzle (8) to lift along the vertical direction, and the control module controls the ultrasonic nozzle (8) to clean the stain according to a preset processing program.
2. An ultrasonic cleaning system according to claim 1, characterized in that the total cleaning means (2) comprises a lower ultrasonic member (21) and an upper ultrasonic member (22), the lower ultrasonic member (21) being fixedly arranged at the bottom of the cleaning tank and the upper ultrasonic member (22) being fixedly arranged above the cleaning tank.
3. An ultrasonic cleaning system according to claim 1, characterized in that the image recognition module (7) comprises:
the image sensor (71) is used for collecting image information of the cleaning object (01) and inputting the image information of the cleaning object (01) into the image control module (72);
and the image control module (72) is used for receiving and analyzing the image information of the cleaning object (01) to obtain the stain position information of the surface of the cleaning object (01), and the stain position information is input into the control module.
4. An ultrasonic cleaning system according to claim 1, characterized in that the support base (3) is connected with a horizontal moving device (4), the horizontal moving device (4) comprises a first motor (41), a horizontal plate (42) and a vertical rod (43), the vertical rod (43) is vertically connected with the horizontal plate (42) and rotatably connected with the support base (3), the horizontal plate (42) is located above the cleaning tank (1), the horizontal plate (42) is fixedly provided with a first rack (421), the output end of the first motor (41) is fixedly provided with a first gear (411), and the first gear (411) is engaged with the first rack (421).
5. An ultrasonic cleaning system according to claim 4, wherein the support (3) comprises a bottom plate (31) and a rotary plate (32), the rotary plate (32) is rotatably connected to the bottom plate (31), the vertical rod (43) is rotatably connected to both the horizontal plate (42) and the bottom plate (31), the rotary member (6) comprises a second motor (62), a gear of the rotary plate (32) and a second gear (61), the second gear (61) is fixedly arranged on the peripheral wall of the vertical rod (43), the gear of the rotary plate (32) is fixedly arranged on the peripheral wall of the rotary plate (32) and is fixedly arranged on the horizontal plate (42), the output end of the second motor (62) is fixedly connected to the vertical rod (43), and the second gear (61) is meshed with the gear of the rotary plate (32).
6. An ultrasonic cleaning system according to claim 1, wherein the ultrasonic nozzle (8) comprises a housing (81), an ultrasonic generating unit (82) and a converging vibration unit (83), the ultrasonic generating unit (82) is fixedly arranged in the housing (81), the housing (81) is connected to the lifting member (9), the converging vibration unit (83) is fixedly connected with the ultrasonic generating unit (82), and one side of the converging vibration unit (83) far away from the ultrasonic generating unit (82) is in an arc structure.
7. An ultrasonic cleaning system according to claim 1, wherein a second timing module is provided in the control module, the second timing module controlling the ultrasonic nozzle (8) to operate at a predetermined interval frequency.
8. An ultrasonic cleaning method, comprising:
collecting the size information of the cleaning object (01) and acquiring the image information of the stain unit of the cleaning object (01) before cleaning;
analyzing the size information and obtaining first working time information;
controlling the comprehensive cleaning mechanism (2) to work within a first working time;
acquiring spot position information on a cleaning object (01); the rotating piece (6) is driven to rotate the supporting platform (3) around the axis of the rotating piece according to the position of the dirt on the cleaning object (01); controlling a lifting piece (9) to drive an ultrasonic nozzle (8) to lift along the vertical direction according to the position of the stain, so that the ultrasonic nozzle (8) is right opposite to the position of the stain on the cleaning object (01); controlling the ultrasonic nozzle (8) to clean the stain.
9. An ultrasonic cleaning method according to claim 8, wherein the method of acquiring the stain position information on the cleaning object (01) comprises:
collecting image information of stain units on the cleaned object (01) before the cleaned object (01) is completely cleaned;
comparing the image information of the stain unit with the current image information;
identifying the successfully matched position in the stain unit image information and the current image information;
and positioning the spot position successfully matched and obtaining the positioning coordinate of the spot position.
10. An ultrasonic cleaning method according to claim 8, wherein the method of controlling the rotary member (6) and the elevation member (9) in accordance with the position of the stain on the cleaning object (01) comprises:
analyzing to obtain a vertical coordinate value za of the ultrasonic nozzle (8) and a vertical coordinate value zb of the stain position, and driving the ultrasonic nozzle (8) to move through the lifting piece (9) so that the vertical coordinate value za of the ultrasonic nozzle (8) is equal to the vertical coordinate value zb of the stain position;
and (3) setting the center of the plane where the height of the vertical coordinate value zb of the cleaning object (01) is positioned as a point O, acquiring the coordinates (0, yb, zb) of the ultrasonic nozzle (8) at the moment, setting the coordinates of the stain position as (xa, ya, zb), calculating the two coordinate values, and controlling the rotating member (6) to drive the cleaning object (01) to rotate so that the coordinates of the stain position are (0, ya', zb).
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