CN113594065A

CN113594065A - Cleaning system and control method of cleaning system

Info

Publication number: CN113594065A
Application number: CN202110814369.6A
Authority: CN
Inventors: 左国军; 余兴梅; 郑重一; 万红朝
Original assignee: Changzhou Jiejiachuang Precision Machinery Co Ltd
Current assignee: Changzhou Jiejiachuang Precision Machinery Co Ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2021-11-02

Abstract

The invention provides a cleaning system and a control method of the cleaning system, wherein the cleaning system comprises: the material rack is used for loading the compression bar; the bearing basket is used for placing a piece to be cleaned; the cleaning device is provided with a feeding end and a discharging end, and the bearing basket moves from the feeding end to the discharging end; the material conveying device is arranged close to the cleaning device and used for conveying the material rack; the clamping device is arranged close to the material conveying device and used for transferring the material rack and the bearing basket; the clamping device is used for transferring the bearing basket to the feeding end of the cleaning device, the material conveying device conveys the material rack loaded with the pressing rod to a first preset position, and the clamping device transfers the pressing rod to the bearing basket. The automatic pressure bar cyclic utilization and the automatic cleaning process of the to-be-cleaned parts are realized, the participation degree of workers is reduced, the workers do not need to carry the pressure bars, the material racks and the bearing baskets, the working difficulty of the workers is reduced, and the working efficiency is improved.

Description

Cleaning system and control method of cleaning system

Technical Field

The invention belongs to the technical field of photovoltaic cleaning equipment, and particularly relates to a cleaning system and a control method of the cleaning system.

Background

When crystalline silicon is used as a production material of a solar cell, chemical treatment needs to be carried out on a silicon wafer made of the crystalline silicon, in order to prevent the silicon wafer from floating in a treatment pool, a pressure rod needs to be used for fixing the silicon wafer in a basket, and after chemical treatment is carried out on a batch of silicon wafers, a worker needs to carry the batch pressure rod to the next batch of baskets to be chemically treated.

The mode of carrying the depression bar through the staff, not only the transport degree of difficulty is big, and handling efficiency is low, and moreover, the chemical probably remains on the depression bar surface, causes the injury to the staff easily.

Disclosure of Invention

The present invention is directed to solving one of the technical problems of the prior art or the related art.

In view of this, a first aspect of the present invention proposes a washing system comprising: the material rack is used for loading the compression bar; the bearing basket is used for placing a piece to be cleaned; the cleaning device is provided with a feeding end and a discharging end, and the bearing basket moves from the feeding end to the discharging end; the material conveying device is arranged close to the cleaning device and used for conveying the material rack; the clamping device is arranged close to the material conveying device and used for transferring the material rack and the bearing basket; the clamping device is used for transferring the bearing basket to the feeding end of the cleaning device, the material conveying device conveys the material rack loaded with the pressing rod to a first preset position, and the clamping device transfers the pressing rod to the bearing basket.

The carrying basket moves from the feeding end to the discharging end, and the carrying device is arranged in the cleaning device and drives the carrying basket to move from the feeding end to the discharging end.

The work or material rest is used for loading the depression bar to can transfer in unison the depression bar, bear the basket and be used for bearing and treat the washing, thereby treat the washing and transfer in unison, belt cleaning device is provided with feed end and discharge end, load and wait that the bearing basket of washing is transported to feed end department when, press from both sides the device and will bear the basket and transport to belt cleaning device's feed end. The material conveying device can drive the material rack to move, when the material rack loading a compression rod is conveyed to a preset position by the material conveying device, the clamping device clamps the compression rod in the material rack, the compression rod is transferred onto the bearing basket, the first preset position is the position where the clamping device is convenient to clamp the compression rod in the bearing basket placed on the material conveying device, at the moment, the bearing basket is in a full-load state, and when the detection device on the material conveying device can detect the compression rod on the uppermost layer in the vertical direction, the position of the bearing basket is determined. The material rack loaded with the compression rods moves to a first preset position, and then the clamping device can clamp the compression rods in the material rack. Be equipped with handling device among the belt cleaning device, handling device (for example manipulator) can drive and bear the weight of the basket and remove, and when bearing the weight of the basket and removing in belt cleaning device, belt cleaning device treats and washs the piece.

The material rack is shifted through the material conveying device, the clamping device is used for clamping and shifting the pressing rod and the bearing basket, the pressing rod recycling is automatically realized, the cleaning process of the cleaning part is automatically carried out, the participation degree of workers is reduced, the workers do not need to carry the pressing rod, the material rack and the bearing basket, the work difficulty of the workers is reduced, and the work efficiency is also improved. Moreover, the transfer process of the pressure rod does not need workers to participate, the automatic feeding and discharging functions are realized, the carrying efficiency of the pressure rod is improved, and even chemical products are remained on the surface of the pressure rod, the workers are not easily injured, and the safety in the production process is improved.

The clamping device can clamp the pressing rod and can clamp the bearing basket, so that the multifunctional function of one machine is realized, the number of parts for clamping the pressing rod and the bearing rod respectively can be reduced, the cost of automatic machinery is reduced, the working efficiency is improved, and the occupied space of a cleaning system can be effectively reduced.

In addition, according to the cleaning system in the above technical solution provided by the present invention, the following additional technical features may also be provided:

in one possible design, the material handling device comprises: a frame; the horizontal conveying assembly is arranged on the rack and used for driving the material rack to move in a reciprocating manner; the positioning jacking assembly is arranged on the rack, and is matched with the material rack when the material rack moves to a jacking position on the horizontal conveying assembly, and the positioning jacking assembly can drive the material rack to be separated from the horizontal conveying assembly; the driving assembly is arranged on the rack, and when the material rack is separated from the horizontal conveying assembly, the driving assembly is matched with the pressing rod, so that the driving assembly can drive the pressing rod to move relative to the material rack.

In this design, when the work or material rest that has the depression bar moved the jacking position on the horizontal transport subassembly, in this design, the jacking position refers to the position that is located location jacking subassembly top, and location jacking subassembly cooperatees with the work or material rest, and the work or material rest can not continue to move on the horizontal transport subassembly this moment, and location jacking subassembly drive work or material rest removes for the work or material rest rises, work or material rest and horizontal transport subassembly separation this moment, and the depression bar on the work or material rest can be taken away or be placed in the work or material rest. Specifically, when the work or material rest was located first default position, the depression bar in the work or material rest can be taken away, make work or material rest and horizontal transfer subassembly separation through location jacking subassembly, so the work or material rest is difficult for contacting with horizontal transfer subassembly, horizontal transfer subassembly is difficult for driving the work or material rest and removes, make work or material rest and horizontal transfer subassembly separation through location jacking subassembly promptly, thereby stability when ensureing the work or material rest material loading, moreover, the work or material rest of immobilization is difficult for rubbing with horizontal transfer subassembly for a long time, reduce the spoilage of work or material rest and horizontal transfer subassembly. The driving assembly is used for lifting the pressure reduction rod along the vertical direction so as to enable the pressure rod to reach a first preset position. The mode that the staff carried the depression bar, it is big not only to carry the degree of difficulty, and handling efficiency is low, and moreover, the depression bar surface probably remains chemical, causes the injury to the staff easily, cooperatees through location jacking subassembly, horizontal transfer subassembly, drive assembly, realizes the transport of depression bar, has improved the handling efficiency to the depression bar, in addition, even the depression bar surface remains chemical, also is difficult to cause the injury to the staff, improves the security in the production process.

Be provided with the sliding tray on the work or material rest, the depression bar is located the sliding tray, in order to can neatly and place more quantity of depression bar as far as possible, the depression bar stromatolite that is located the sliding tray sets up, when the work or material rest is located first preset position, press from both sides and get the device and tak away after the depression bar of the first layer in the sliding tray away, drive assembly can promote the depression bar in the sliding tray, make the depression bar move to can be once more pressed from both sides the position that the device was tak away by pressing from both sides, first preset position is exemplary promptly, first layer depression bar is taken away after, next layer depression bar moves to the position at first layer depression bar place before, press from both sides the device and can pick up the depression bar in fixed position, improve the stability of material loading process, it can be got steadily by pressing from both sides the device to guarantee the depression bar in the work or material rest.

In one possible design, the material handling device further comprises: and the detection piece acquires a position signal of the pressing rod when the material rack is separated from the horizontal conveying assembly, and the driving assembly adjusts the position of the pressing rod in the material rack according to the position signal.

In this design, the first predetermined position allows the clamping device to clamp the compression bar. Specifically, when the work or material rest was located first default position, the first layer depression bar when detecting the piece and the sliding tray is filled with the depression bar sets up relatively, after the first layer depression bar in the sliding tray was taken away, the detection piece does not detect the depression bar, drive assembly drove the depression bar removal in the sliding tray this moment, make next layer depression bar rise, detect the depression bar position in the sliding tray through the detection piece, can make drive assembly accurate, punctual ground motion, guarantee to press from both sides and get device and drive assembly alternate operation that can be orderly.

It is worth noting that in this design, after work or material rest and horizontal transfer unit separate, the detection piece detects the depression bar position in the sliding tray, can effectively avoid when the work or material rest does not move to first preset position or second preset position, because the condition of drive assembly motion takes place that causes is detected by the mistake of detection piece, improves material transporting device's operating stability.

In one possible design, the drive assembly includes: the driving piece is arranged on the rack; the bearing plate is connected with the driving part and used for driving the pressing rod to move relative to the material rack.

In the design, the driving part can drive the bearing plate to move, so that the bearing plate drives the pressing rod to ascend or descend in the material rack to meet the matching requirement of feeding or discharging.

In one possible design, the gripping device comprises: a main body portion; a drive unit provided in the main body; the first clamp is arranged on the driving part and used for clamping the pressing rod; the second clamp is arranged on the driving part and used for clamping the bearing basket, and the driving part is used for driving the first clamp and the second clamp to switch positions.

In the design, the main body part can be provided with a plurality of groups of rotating shafts, so that the first main body part can realize multi-shaft transmission, the degree of freedom of the main body part is increased, the first clamp and the second clamp are both arranged on the driving part, the driving part can drive the first clamp and the second clamp to move, so that the first clamp and the second clamp can switch positions, so that the first clamp is positioned at the clamping position or the second clamp is positioned at the clamping position, the driving part drives the first clamp and the second clamp to switch positions, so that the main body part can not participate in the process of switching the positions of the first clamp and the second clamp, thereby reducing the difficulty of switching the positions of the first clamp and the second clamp, reducing the control difficulty of the clamping device, and furthermore, when switching first anchor clamps and second anchor clamps position, only realize the drive through the drive division, can improve the position and switch the precision to improve and get and place accuracy and stability in-process.

The gripping device in this embodiment may be a six-axis robot.

The bearing basket is provided with a first clamping portion, the pressing rod is provided with a second clamping portion, multi-shaft linkage can be achieved due to the fact that the clamping device is clamped, the pressing rod is placed in the bearing basket, the clamping device can drive the pressing rod to move, the first clamping portion is matched with the second clamping portion, and the pressing rod is prevented from being separated from the bearing basket.

The six-axis manipulator is used as middle transition, so that the six-axis manipulator has the advantages of sensitive action and high working efficiency, and can save equipment investment and occupied space after being assembled by the manipulator.

In one possible design, the drive section includes: the connecting piece is used for connecting the first clamp and the second clamp; the main part is located to the first end of pivot, and the connecting piece is located to the second end of pivot.

In this design, the position switch that has injectd first anchor clamps and second anchor clamps is realized through the pivoted mode, first anchor clamps and second anchor clamps set up on the connecting piece, the main part can drive the pivot and rotate, the pivot drives the connecting piece and rotates, the connecting piece drives first anchor clamps and second anchor clamps and rotates, thereby realize the position switch of first anchor clamps and second anchor clamps, for example, when needing first anchor clamps to get to press from both sides and get the bearing basket, the position of first anchor clamps is lower, the position of second anchor clamps is higher, make the second anchor clamps be difficult for pressing from both sides the process of getting to first anchor clamps and interfere, when needing second anchor clamps to get the depression bar, the connecting piece drives first anchor clamps and second anchor clamps to rotate, make the position of second anchor clamps lower, first anchor clamps are difficult for pressing from both sides the process of getting to second anchor clamps and interfere. The two sets of clamps realize position switching through the pivoted mode, and at the in-process that switches, the rotation angle through the control pivot just can realize the accurate switching to the clamp position, reduces the control degree of difficulty, improves the control precision. In addition, the position switching is carried out by driving the clamp through the rotating shaft, the structure of the driving part can be simplified, a track for the clamp to move does not need to be arranged on the driving part, the processing cost and the maintenance cost are reduced, and the damage rate can also be reduced.

Of course, in other designs, the driving part may be composed of a cylinder and a slide rail, or a structure of a motor and a slide rail matching each other.

In one possible design, the stack includes: the first supporting plate component is provided with a first groove; the second supporting plate assembly is provided with a second groove; one end of each supporting rod is connected with the first supporting plate component, and the other end of each supporting rod is connected with the second supporting plate component; wherein, the work or material rest is used for placing a plurality of depression bars, and first recess is used for holding the one end of depression bar, and the second recess is used for holding the other end of depression bar.

In this design, the first and second support plate assemblies are connected by a plurality of support rods. The press rod can be stacked in batches through the first groove in the first supporting plate assembly and the second groove in the second supporting plate assembly, so that the press rod can be taken and placed by a clamping device in a matching manner, the press rod can also be used for transferring the press rod in batches by matching with a material transporting device, the automation degree and the production efficiency are improved, and the manual operation is reduced. It is little not only to stack the depression bar through the work or material rest, has still improved the clean and tidy nature in equipment shop, is convenient for snatch the depression bar simultaneously.

In one possible design, the number of the material conveying devices is two, namely a first material conveying device and a second material conveying device, and the description about the material conveying devices can be understood as the first material conveying device which is arranged on the side of the feeding end of the cleaning device; the second material conveying device is arranged on one side of the discharge end of the cleaning device; the number of the clamping devices is two, namely a first clamping device and a second clamping device, and the description about the clamping devices can be understood as that the first clamping device and the first clamping device are arranged close to the first material conveying device; the second clamping device is arranged close to the second material conveying device; the first clamping device is used for transferring a pressure rod on the first material conveying device to a bearing basket at the feeding end; and the second clamping device is used for transferring the pressure rod on the bearing basket at the discharging end into the material rack on the second material conveying device.

In this design, there are two sets of material handling devices and two sets of gripping devices. Specifically, first material transporting device is located belt cleaning device's feed end one side, and first material transporting device is used for transporting the work or material rest that has the loading depression bar to first default position, and depression bar in the work or material rest can be got to first anchor clamps, and after depression bar in the work or material rest was taken away, first material transporting device can drive the work or material rest and leave first default position.

Be provided with a plurality of washing tanks in the belt cleaning device, the stoving groove, some washing tanks embed has chemical solution, in order to avoid bearing the weight of the interior washing piece of treating of basket float in the washing tank and with bear the weight of the basket separation, need assemble the depression bar to bearing the weight of the basket for the depression bar is treated the washing piece and is carried on spacingly.

The cleaning device is provided with a carrying device, the carrying device is used for carrying the carrying basket to move at a plurality of groove bodies, the carrying basket is driven to move from the feeding end to the discharging end, when the carrying basket is conveyed to the discharging end, the second material conveying device conveys an unloaded material rack to a second preset position, the second preset position refers to a position where a second clamp can place a pressing rod on the material rack conveniently, the pressing rod can be specifically understood to be placed on the material rack, a detection piece is used for detecting whether the pressing rod is placed on the material rack, the second clamp can place the pressing rod in the material rack firstly, then the flower basket is carried to the discharging platform, after the material rack is filled with the pressing rod, the second material conveying device can drive the material rack to leave the second preset position.

The structure of the first material conveying device is the same as that of the second material conveying device, the first material conveying device is used for feeding, namely, a pressure rod is provided for the flower basket at the feeding end of the cleaning device, and specifically, the pressure rod on the first material conveying device is conveyed to the flower basket at the feeding end of the cleaning device through one clamping of the first clamps; the second material conveying device is used for discharging, namely collecting pressure rods on the flower basket at the discharge end of the cleaning device, and specifically, the pressure rods on the flower basket at the discharge end of the cleaning device are clamped by the second clamps one by one and placed on the unloaded bearing basket on the second conveying device.

The first and second gripping devices are also identical in structure.

With respect to the second material handling device:

the second material conveying device drives the unloaded material rack to move to a second preset position, after the cleaning device cleans a to-be-cleaned part, the bearing basket bearing the to-be-cleaned part moves to the discharge end of the cleaning device, the second clamping device transfers the pressing rod on the bearing basket to the material rack, and after the to-be-cleaned part is cleaned, the second clamping device takes down the pressing rod on the bearing basket and places the pressing rod in the unloaded material rack.

The horizontal conveying assembly, the positioning jacking assembly and the driving assembly in the second material conveying device have the same structure as that in the first material conveying device, or the number, the structure and the shape of specific parts can be different according to actual requirements; in the second fortune material device: when the work or material rest was located the second and predetermines the position, when the device was placed the depression bar in the sliding tray with the second clamp, drive assembly carried out the bearing to the depression bar, then drive assembly drove the depression bar and slides in the sliding tray, provides the space for putting into of next layer depression bar, drives the depression bar through drive assembly and removes, and the depression bar is avoided falling fast when being put into the sliding tray, guarantees that the depression bar can neatly distribute in the sliding tray to the depression bar in the follow-up sliding tray can be picked up steadily. Through the cooperation of horizontal conveying subassembly, location jacking subassembly and drive assembly for the butt joint function between the part can be realized automatically to fortune material device, satisfies the user demand.

When the material rack is located at the second preset position, the detection piece arranged on the second material conveying device is used for acquiring a position signal of the pressing rod, similarly, the detection piece needs to be arranged opposite to the first layer of pressing rod in the sliding groove, and after the first layer of pressing rod is placed in the sliding groove, the driving assembly drives the pressing rod in the sliding groove to descend, so that a space is provided for placing the next layer of pressing rod.

In one possible design, the washing system further comprises: the feeding table is arranged on one side of the feeding end of the cleaning device; the blanking table is arranged on one side of the discharging end of the cleaning device; the first clamping device is used for transferring the bearing basket on the feeding table to the feeding end; the second clamping device is used for transferring the bearing basket at the discharging end to the discharging platform; and the feeding assembly moves between the first material conveying device and the second material conveying device.

In this design, the material loading platform is used for transporting to the feed end and bears the weight of the basket, bears the weight of the basket and is transported to when treating to press from both sides the position of getting, and the first device of getting can press from both sides the basket that bears on the material loading platform, treats to wash the piece after wasing, bears the weight of the basket and removes to the discharge end, and the second is got the device and can be got the clamp and bear the basket and shift to the unloading platform, and the unloading platform shifts the basket that bears that loads to treat to wash the piece.

A second aspect of the present invention provides a control method for a washing system in any one of the possible designs of the first aspect, the control method including: a first clamping device in the cleaning system transfers the bearing basket to a feeding end of the cleaning device; a first material conveying device in the cleaning system conveys the material rack loaded with the compression bar to a first preset position; the first clamping device transfers the pressing rod to the bearing basket; a carrying device is arranged in the cleaning device and used for carrying the bearing basket to move from the feeding end to the discharging end; a second material conveying device in the cleaning system conveys the unloaded material rack to a second preset position; a second clamping device in the cleaning system transfers the pressing rod to the material frame.

First material transporting device is located belt cleaning device's feed end one side, and first material transporting device is used for transporting the work or material rest that has the loading depression bar to first default position, and depression bar in the work or material rest can be got to first anchor clamps, and after depression bar in the work or material rest was taken away, first material transporting device can drive the work or material rest and leave first default position. The second material conveying device is used for conveying the unloaded material rack to a second preset position, the second clamp can place the pressing rod in the material rack, and after the pressing rod is loaded in the material rack, the second material conveying device can drive the material rack to leave the second preset position. The first material conveying device and the second material conveying device can be connected together, so that the pressing rod can move between the first material conveying device and the second material conveying device, the feeding assembly can be arranged between the first material conveying device and the second material conveying device, and the material rest is transferred through the feeding assembly. Realized depression bar cyclic utilization and treat automatically that the washing piece carries out abluent process, staff's participation reduces, does not need the staff to carry depression bar, work or material rest and bearing basket, not only reduces staff's the work degree of difficulty, has still improved work efficiency. Moreover, the transfer process of the pressure rod does not need workers to participate, the automatic feeding and discharging functions are realized, the carrying efficiency of the pressure rod is improved, and even chemical products are remained on the surface of the pressure rod, the workers are not easily injured, and the safety in the production process is improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 shows one of the schematic structural views of a cleaning system of an embodiment of the present invention;

FIG. 2 shows a second schematic structural view of a cleaning system in accordance with an embodiment of the present invention;

FIG. 3 shows a third schematic structural view of a cleaning system in accordance with an embodiment of the present invention;

FIG. 4 shows a fourth schematic structural view of a cleaning system of an embodiment of the present invention;

FIG. 5 shows a fifth schematic structural view of a cleaning system of an embodiment of the present invention;

FIG. 6 shows a schematic structural diagram of a transfer assembly of an embodiment of the present invention;

fig. 7 shows one of the structural schematics of the stacks of an embodiment of the present invention;

fig. 8 shows a second schematic structural view of a stack of an embodiment of the invention;

fig. 9 shows a schematic structural view of a stack and feed assembly of an embodiment of the present invention;

fig. 10 shows one of the schematic structural views of the gripping apparatus of the embodiment of the present invention;

fig. 11 shows a second schematic structural view of the grasping apparatus according to the embodiment of the present invention;

FIG. 12 shows a schematic structural view of a first clamp, a second clamp and a connector of an embodiment of the present invention;

FIG. 13 shows a schematic structural view of a second clamp of an embodiment of the present invention;

FIG. 14 shows one of the schematic structural views of a first clamp of an embodiment of the present invention;

FIG. 15 shows a second schematic structural view of the first clamp of the embodiment of the present invention;

FIG. 16 shows a third exemplary view of the first clamp according to the embodiment of the present invention;

FIG. 17 shows a schematic structural view of a strut of an embodiment of the present invention;

FIG. 18 shows one of the schematic structural views of the horizontal transfer assembly of the embodiment of the present invention;

FIG. 19 shows one of the schematic structural diagrams of the material handling device of an embodiment of the present invention;

FIG. 20 is a second schematic structural view of a horizontal transfer assembly of an embodiment of the present invention;

fig. 21 shows a second schematic structural view of the material handling device of the embodiment of the present invention;

FIG. 22 is a third schematic structural view of a horizontal transfer assembly according to an embodiment of the present invention;

fig. 23 shows a third schematic structural view of the material transporting device of the embodiment of the invention;

FIG. 24 shows a schematic structural view of a positioning jack assembly of an embodiment of the present invention;

FIG. 25 shows one of the schematic structural views of the drive assembly of the embodiment of the present invention;

fig. 26 shows a second schematic structural diagram of the driving assembly of the embodiment of the invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to fig. 26 is:

100 machine frame, 110 feeding table, 120 buffer parts, 130 material blocking parts, 140 supporting parts, 200 cleaning device, 300 material conveying device, 310 horizontal conveying component, 311 driving wheel component, 312 conveying belt, 313 connecting shaft, 320 positioning jacking component, 321 mounting plate, 322 cylinder body, 323 bearing plate, 324 positioning pin, 330 driving component, 331 driving component, 332 bearing plate, 333 ball screw, 334 guide rail, 335 connecting plate, 340 material conveying component, 400 material frame, 410 first supporting plate component, 411 first groove, 420 second supporting plate component, 421 second groove, 430 supporting rod, 440 bottom support, 450 positioning plate, 460 positioning guide opening, 470 coaming, 480Y-shaped groove, 500 bearing basket, 600 clamping device, 610 main body part, 620 driving part, 621 connecting part, 622 rotating shaft, 630 first clamp, 631 first body, 632 first cylinder, 633 pneumatic finger, 640 second clamp, 641 second body, 642 second cylinder, 643 clamp plate, 700 detector, 800 pressure lever, 810 clamping part.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A washing system and a control method of the washing system according to some embodiments of the present invention are described below with reference to fig. 1 to 26.

The first embodiment is as follows:

referring to fig. 1, 2, 3, 4 and 5, the present embodiment provides a cleaning system including: a rack 400 for loading the pressing rod 800; a carrier basket 500 for placing a member to be cleaned; the cleaning device 200 is provided with a feeding end and a discharging end, and the cleaning device 200 is used for driving the bearing basket 500 to move from the feeding end to the discharging end; the material conveying device 300 is arranged close to the cleaning device 200 and used for conveying the material rack 400; the clamping device 600 is arranged close to the material conveying device 300 and is used for transferring the material rack 400 and the bearing basket 500; the clamping device 600 is used for transferring the carrier basket 500 to the feeding end of the cleaning device 200, the material conveying device 300 conveys the rack 400 loaded with the pressing rod 800 to a first preset position, and the clamping device 600 transfers the pressing rod 800 to the carrier basket 500.

The material rack 400 is used for loading the pressing rod 800, so that the pressing rod 800 can be uniformly transferred, the bearing basket 500 is used for bearing the to-be-cleaned parts, so that the to-be-cleaned parts are uniformly transferred, the cleaning device 200 is provided with a feeding end and a discharging end, when the bearing basket 500 which is to be cleaned is loaded and conveyed to the feeding end, the clamping device 600 transfers the bearing basket 500 to the feeding end of the cleaning device 200. The material transporting device 300 can drive the rack 400 to move, when the material transporting device 300 transports the rack 400 loaded with the pressing rod 800 to a first preset position, the clamping device 600 clamps the pressing rod 800 in the rack 400, and transfers the pressing rod 800 to the carrier basket 500, wherein the first preset position is a position convenient for clamping the pressing rod 800 in the rack 400 placed on the material transporting device 300, at this moment, the rack 400 is in a full load state, and specifically, when the detection device on the material transporting device 300 can detect the pressing rod 800 at the uppermost layer in the vertical direction, the position of the rack 400 is located. The rack 400 loaded with the pressing rod 800 is moved to a first preset position, and then the clamping device 600 can clamp the pressing rod 800 in the rack 400. Be provided with handling device among the belt cleaning device 200, handling device can drive and bear basket 500 and remove, and when bearing basket 500 removed in belt cleaning device 200, belt cleaning device 200 waited to wash the piece.

Treat that to wash the piece and wash the back, press from both sides the depression bar 800 that gets device 600 will bear on the basket 500 and take off and place in unloaded work or material rest 400, the material transporting device can shift work or material rest 400 to first preset position once more, and depression bar 800 can be used repeatedly, presss from both sides the device 600 and shifts the basket 500 that bears of discharge end to the unloading position, has realized that the washing line is automatic treats that the piece that washs carries out abluent step.

The clamping device 600 in the embodiment is a six-axis manipulator, is used as middle transition through the six-axis manipulator, has sensitive action and high working efficiency, and can save equipment investment and occupy space after being assembled by the manipulator.

Example two:

on the basis of the first embodiment, the material transporting device in the first embodiment is set to be a first material transporting device, and the clamping device is a first clamping device.

The number of the material conveying devices 300 is two, and the two material conveying devices are respectively a first material conveying device and a second material conveying device, and the first material conveying device is arranged on one side of the feeding end of the cleaning device 200; the second material conveying device is arranged on one side of the discharge end of the cleaning device 200; the number of the clamping devices 600 is two, and the clamping devices are respectively a first clamping device and a second clamping device, and the first clamping device is arranged close to the first material conveying device; the second clamping device is arranged close to the second material conveying device; the first clamping device is used for transferring the pressure rod 800 on the first material conveying device to the bearing basket 500 at the feeding end; and the second clamping device is used for transferring the pressing rod 800 on the bearing basket 500 at the discharging end into the material rack 400 on the second material conveying device.

The first material conveying device is used for transferring the rack 400 loaded with the compression bar 800 to a first preset position, the first clamp can clamp the compression bar 800 in the rack 400, and after the compression bar 800 in the rack 400 on the first material conveying device is taken away, the first material conveying device can drive the rack 400 to leave the first preset position.

The second material conveying device is used for conveying the unloaded material rack 400 to a second preset position, the second clamp can place the pressing rod 800 in the material rack 400, and after the pressing rod 800 is loaded in the material rack 400, the second material conveying device can drive the material rack 400 to leave the second preset position.

The stacks 400 are movable between a first material handling device and a second material handling device, specifically by the feed assembly 340, enabling transfer of the stacks 400.

The first material conveying device and the second material conveying device are identical in structure, and only one material conveying device is used for feeding, and the other material conveying device is used for discharging.

The first and second gripping devices are also identical in structure.

The material rack 400 is shifted through the material conveying device 300 (a first material conveying device and a second material conveying device), the clamping device 600 (a first clamping device and a second clamping device) can clamp the pressing rod 800 and the bearing basket 500 and transfer the clamping device, the process that the pressing rod 800 is recycled and the cleaning piece is automatically cleaned is automatically realized, the participation degree of workers is reduced, the workers do not need to carry the pressing rod 800, the material rack 400 and the bearing basket 500, the working difficulty of the workers is reduced, and the working efficiency is improved. Moreover, the transfer process of the pressing rod 800 does not need workers to participate, the automatic feeding and discharging functions are realized, the carrying efficiency of the pressing rod 800 is improved, even chemical products are left on the surface of the pressing rod 800, the workers are not easily damaged, and the safety in the production process is improved.

Example three:

in one possible embodiment, as shown in fig. 1 and 2, the washing system further includes: a feeding table 110 arranged on one side of the feeding end of the cleaning device 200; the blanking table is arranged on one side of the discharging end of the cleaning device 200; the first clamping device is used for transferring the carrying basket 500 on the feeding table 110 to the feeding end; the second clamping device is used for transferring the bearing basket 500 at the discharging end to the blanking table; and the feeding assembly 340 moves between the first material conveying device and the second material conveying device.

In this embodiment, the feeding platform 110 is used for transporting the carrier basket 500 to the feeding end, when the carrier basket 500 is transported to the to-be-clamped position, the first clamping device can clamp the carrier basket 500 on the feeding platform 110, after the to-be-cleaned object is cleaned, the carrier basket 500 moves to the discharging end, the second clamping device can clamp the carrier basket 500 and transfer to the discharging platform, and the discharging platform transfers the carrier basket 500 loaded with the to-be-cleaned object.

Generally, the carrier basket 500 on the feeding table 110 is vertically placed, and when the clamping device 600 places the carrier basket 500 on the feeding table 110 to the feeding end of the cleaning device 200, the carrier basket 500 is vertically placed, that is, the clamping device 600 realizes the rotation of the carrier basket in the process of clamping the carrier basket 500.

Illustratively, the feeding assembly 340 in this embodiment is an AGV that automatically guides a transport, which may be moved in a set path.

Specifically, the moving part of the AGV cart can be raised or lowered, for example, when the rack 400 on the horizontal transfer needs to be removed, the moving part of the AGV cart is located below the rack 400, and then the moving part is raised to separate the rack 400 from the horizontal transfer assembly 310, and when the rack 400 needs to be lowered, the moving part is lowered.

After depression bar 800 that is located work or material rest 400 is emptied, the empty loaded signal of work or material rest 400 is sent to detection piece 700, the AGV dolly moves to first material transporting device department, the AGV dolly can take off work or material rest 400 on the first material transporting device with work or material rest 400, be provided with on the frame 100 and separate fender spare and sensor, it blocks to work or material rest 400 to separate to block, avoid work or material rest 400 to drop, when blocking fender spare and block work or material rest 400, work or material rest 400 is located the top of AGV dolly, the sensor can detect whether work or material rest 400 moves the position to AGV dolly top, when the position that detection signal instruction work or material rest 400 is located the AGV dolly, AGV dolly action takes away work or material rest 400.

The matching mode of the AGV trolley and the second material conveying device is the same.

The clamping device 600 can clamp the pressing rod 800 and can clamp the bearing basket 500, so that the multifunctional function of one machine is realized, the number of parts for clamping the pressing rod 800 and the bearing rod can be reduced, the cost of automatic machinery is reduced, the working efficiency is improved, and the occupied space of a cleaning system can be effectively reduced.

The layout mode of the AGV comprises the following steps: an AGV trolley is arranged in the cleaning system, and the AGV trolley transfers the material frame 400 between the first material conveying device and the second material conveying device; or one, two or more AGV trolleys are respectively arranged at the feeding end and the discharging end of the cleaning device; the former is suitable for the process mode that the processing section of the cleaning device is long or the processing time is long, and the latter is suitable for the process mode that the processing section of the wet chemical treatment equipment is short or the processing time is short or the production efficiency is improved.

Example four:

as shown in fig. 1, 5, 18 and 19, in one possible embodiment, the material handling device 300 comprises: a frame 100; the horizontal conveying assembly 310 is arranged on the rack 100, and the horizontal conveying assembly 310 is used for driving the material rack 400 to reciprocate, specifically, for driving the material rack 400 to reciprocate along the horizontal direction; the positioning and jacking assembly 320 is arranged on the rack 100, when the rack 400 moves to a jacking position on the horizontal conveying assembly 310, the positioning and jacking assembly 320 is matched with the rack 400, and the positioning and jacking assembly 320 can drive the rack 400 to be separated from the horizontal conveying assembly 310; the driving assembly 330 is disposed on the frame 100, and when the rack 400 is separated from the horizontal conveying assembly 310, the driving assembly 330 is engaged with the pressing rod 800, so that the driving assembly 330 can drive the pressing rod 800 to move relative to the rack 400.

In this embodiment, when the rack 400 loaded with the pressing rod 800 moves to the jacking position on the horizontal conveying assembly 310, in this embodiment, the jacking position refers to a position above the positioning jacking assembly 320, the positioning jacking assembly 320 is engaged with the rack 400, at this time, the rack 400 cannot move on the horizontal conveying assembly 310, the positioning jacking assembly 320 drives the rack 400 to move, so that the rack 400 ascends, at this time, the rack 400 is separated from the horizontal conveying assembly 310, and the pressing rod 800 on the rack 400 can be taken away or placed in the rack 400.

Specifically, in the first material transporting device, when the rack 400 is located at the first preset position, the pressing rod 800 in the rack 400 can be taken away, and the positioning jacking component 320 can drive the rack 400 to ascend and descend near the feeding end, specifically, in the second material transporting device, when the rack 400 is located at the second preset position, the pressing rod 800 can be placed in the unloaded rack 400, and the positioning jacking component 320 can drive the rack 400 to ascend and descend at the discharging end. In order to ensure the stability during the feeding and the discharging, it is required to ensure that the relative positions of the rack 400 and the rack 100 are not easily changed, that is, the rack 400 can be stably clamped or placed by the clamping device 600, the rack 400 is separated from the horizontal conveying assembly 310 by the positioning jacking assembly 320, so that the rack 400 is not easily contacted with the horizontal conveying assembly 310, the horizontal conveying assembly 310 is not easily driven to move the rack 400, thereby ensuring the stability during the feeding of the rack 400, and the immovable rack 400 is not easily rubbed with the horizontal conveying assembly 310 for a long time, thereby reducing the damage rate of the rack 400 and the horizontal conveying assembly 310. The mode that the staff carried depression bar 800, not only the transport degree of difficulty is big, and handling efficiency is low, moreover, the depression bar 800 surface probably remains chemical, causes the injury to the staff easily, cooperatees through location jacking subassembly 320, horizontal transfer subassembly 310, realizes the function of automatic feeding or unloading, has improved the handling efficiency to depression bar 800, moreover, even depression bar 800 surface remains chemical, also be difficult for causing the injury to the staff, the security in the improvement production process.

The material conveying process of the first material conveying device comprises the following steps: the set of horizontal conveying assemblies 310 conveys the rack 400 loaded with the pressing rod 800 to a first preset position, the positioning jacking assembly 320 is matched with the rack 400, so as to separate the rack 400 from the horizontal conveying assemblies 310, the driving assembly 330 pushes the pressing rod 800 in the rack 400, so that the pressing rod 800 is pushed to a position where the pressing rod 800 can be clamped by the clamping device 600, and the clamping device 600 places the pressing rod 800 in the carrying basket 500 at the feeding end.

After the compression rods 800 in the rack 400 are emptied, the positioning and jacking assembly 320 places the rack 400 on the horizontal transfer assembly 310 so that the rack can be transported to the second material transporting device.

The material conveying process of the second material conveying device comprises the following steps: after receiving the rack 400 conveyed by the AGV, the other set of horizontal conveying assemblies 310 conveys the rack 400 to a second preset position, specifically, the positioning jacking assembly 320 drives the rack 400 to ascend, so that the rack 400 ascends to a position where the pressing rod 800 can be placed by the clamping device 600, the clamping device 600 clamps the pressing rod 800 in the carrying basket 500 at the discharging end, and when the pressing rod 800 is placed into the rack 400, the driving assembly 330 supports the rack 400, so that the pressing rod 800 can be stably placed.

When the rack 400 is located at the second preset position, when the clamping device 600 places the pressing rod 800 in the sliding groove, the driving assembly 330 supports the pressing rod 800, then the driving assembly 330 drives the pressing rod 800 to slide in the sliding groove, a space is provided for placing the next layer of pressing rod 800, the driving assembly 330 drives the pressing rod 800 to move, rapid falling of the pressing rod 800 when the pressing rod 800 is placed in the sliding groove is avoided, the pressing rod 800 can be ensured to be distributed neatly in the sliding groove, so that the pressing rod 800 in the subsequent sliding groove can be picked up stably, after the rack 400 is filled with the pressing rod 800, the positioning jacking assembly 320 descends, the rack 400 is placed on the horizontal conveying assembly 310, and the horizontal conveying assembly 310 conveys the rack 400 to the end away from the positioning jacking assembly 320 to be butted with an AGV cart.

Cleaning system adopts AGV to transport the work or material rest, through its EMS's with host computer and equipment workshop be connected, but real-time perception equipment operating condition and demand information have the advantage of unmanned storage, transport the depression bar.

In the first material transporting device or the second material transporting device, the horizontal conveying assembly 310, the positioning jacking assembly 320 and the driving assembly 330 are matched, so that the material transporting device 300 can automatically realize the butt joint function between the parts, and the use requirement is met.

Referring to fig. 1, 21, 23 and 24, in one possible embodiment, the positioning jack assembly 320 includes: the mounting plate 321, the cylinder 322, and the supporting plate 323, the mounting plate 321 is mounted on the rack 100, the cylinder 322 is mounted on the mounting plate 321, the mounting plate 321 is disposed to facilitate mounting and fixing of the cylinder 322, the supporting plate 323 is mounted on a piston rod of the cylinder 322, the piston rod of the cylinder 322 can drive the supporting plate 323 to ascend or descend, the positioning pin 324 is disposed on the supporting plate 323, when the stack 400 moves to the first preset position, the supporting plate 323 is located below the stack 400, so that the supporting plate 323 can drive the stack 400 to ascend or descend, the supporting plate 323 drives the stack 400 to move, the supporting plate 323 is flat, and the supporting plate 323 and the stack 400 have a large contact area, so that the supporting plate 323 can stably drive the stack 400 to ascend or descend.

In this embodiment, when the stack 400 moves to the first preset position or the second preset position, correspondingly, the positioning pin 324 on the positioning and jacking assembly 320 in the first material transporting device or the second material transporting device can be inserted into the positioning guide hole on the stack 400, the positioning pin 324 limits the stack 400, and the horizontal conveying assembly 310 can not drive the stack 400 to move any more, so that the positioning and jacking assembly 320 can stably drive the stack 400 to ascend. Moreover, the positioning pin 324 can also play a positioning role in the material rack 400, the material rack 400 can be stably fixed on the material loading level, the pressing rod 800 on the material rack 400 is usually taken away by mechanical parts such as a mechanical arm, and the positioning pin 324 positions the material rack 400, so that the mechanical arm can accurately take away the pressing rod 800 on the material rack 400, and the material loading stability is improved.

As shown in fig. 2, 20, 21 and 22, in a possible embodiment, the material transporting device 300 further includes: the buffer 120 is disposed on the rack 100, and when the rack 400 moves under the movement of the horizontal conveying assembly 310 to a set position where the horizontal conveying assembly is close to one end where the positioning and jacking assembly 320 is disposed, the set position can be understood as being located above the positioning and jacking assembly 320, so that the positioning pin 324 in the positioning and jacking assembly 320 aligns with the positioning guide opening in the rack 400, and the rack 400 contacts with the buffer 120.

In this embodiment, the buffer 120 is disposed on the frame 100, and when the horizontal transfer assembly 310 moves the rack 400, even if the horizontal transfer assembly 310 stops operating when the rack 400 moves to the set position, the rack 400 continues to move for a certain distance under the action of the inertia force. In order to ensure that the rack 400 can be matched with the positioning jacking assembly 320 when moving to a set position, the buffer member 120 blocks the rack 400, so that the rack 400 is difficult to continue moving on the horizontal conveying assembly 310, and the buffer member 120 can buffer the rack 400, for example, the buffer member 120 has a soft texture or elasticity, when the rack 400 contacts with the buffer member 120, the rack 400 is not prone to vibrating, so that the pressing rods 800 are prevented from being separated from the rack 400 or the pressing rods 800 are prevented from being distributed in disorder in the rack 400, and the pressing rods 800 distributed in the rack 400 in order can be accurately taken away.

As shown in fig. 6, 19, 20 and 22, in one possible embodiment, the horizontal transfer assembly 310 includes: the driving wheel assembly 311 and the conveyor belt 312, wherein the driving wheel assembly 311 is arranged on the rack 100; the transmission belt 312 is sleeved on the transmission wheel component 311, and the transmission wheel component 311 drives the transmission belt 312 to move; the material transporting device 300 further comprises a supporting member 140, the supporting member 140 is disposed on the rack 100, a portion of the supporting member 140 extends into an annular region surrounded by the conveyor belt 312, and the supporting member 140 is used for supporting the conveyor belt 312.

In this embodiment, the driving wheel assembly 311 can drive the conveying belt 312 to move, so that the conveying belt 312 drives the rack 400 to move, the belt transmission mode makes the rack 400 move more stably, the rack 400 is prevented from shifting or the pressing rod 800 shakes in the rack 400, the supporting member 140 can support the conveying belt 312, the conveying belt 312 is not prone to generating large depression, the stability of the conveying belt 312 during operation is ensured, and the damage rate of the conveying belt 312 is reduced.

The belt transmission structure has less noise when in operation, so that the noise of the material conveying device 300 during operation can be reduced.

Illustratively, the driving wheel assembly 311 in the present application may include a driving wheel and a driven wheel, both of which are rotatably connected to the frame 100, the transmission belt 312 is sleeved on the driving wheel and the driven wheel, the driving wheel drives the transmission belt 312 to rotate, and the driven wheel rotates with the transmission belt 312.

In this embodiment, as shown in fig. 6 and 20, the driving wheel assemblies 311 and the conveyor belts 312 are two sets, and the two sets of horizontal conveyor belts 312 carry two sides of the bottom of the rack 400, so that the middle position of the bottom of the rack 400 is in a suspended state, and the positioning jacking assembly 320 is arranged opposite to the suspended position. The driving wheels of the two sets of driving wheel assemblies 311 are connected through a connecting shaft 313, a driving motor can be arranged on the rack 100, the driving motor drives one driving wheel to rotate, and one driving wheel drives the other driving wheel to rotate through the connecting shaft 313, which is beneficial to simplifying the structure of the product.

The material blocking part 130 is arranged on the rack 100, and the material blocking part has a limiting effect on the material rack 400 conveyed on the conveying belt 312, so that the material rack 400 is prevented from being separated from the conveying belt 312.

As shown in fig. 1, 2 and 23, in a possible embodiment, the material transporting device 300 further includes: when the rack 400 is separated from the horizontal conveying assembly 310, the detecting member 700 obtains a position signal of the pressing rod 800, and the driving assembly 330 adjusts the position of the pressing rod 800 in the rack 400 according to the position signal.

In this embodiment, in the first material transporting apparatus, when the horizontal conveying assembly 310 conveys the rack 400 filled with the pressing rods 800 to the first predetermined position along the horizontal direction, the jacking assembly 320 is positioned to receive the rack 400, so that the rack 400 is separated from the horizontal conveying assembly 310, at this time, the detecting member 700 is disposed at a position capable of detecting an uppermost laminated rod 800 placed in the sliding groove along the vertical direction in the rack 400, the first predetermined position is provided for the clamping device 600 to clamp the pressing rods 800, the detecting member 700 is disposed opposite to the first layer pressing rod 800 when the sliding groove on the rack 400 is filled with the pressing rods 800, when the first layer pressing rod 800 in the sliding groove is removed, the detecting member 700 does not detect the pressing rod 800, and the driving assembly 330 drives the pressing rod 800 in the sliding groove to move, specifically, the bearing plate 332 on the driving assembly 300 is located below the pressing rod 800 placed at the lowest position in the sliding groove along the vertical direction, that is, when the horizontal transfer assembly 310 transports the rack 400 to the position above the positioning and jacking assembly 320, the carrier plate 332 is inserted into the position below the pressing rod 800 at the lowest position of the sliding groove in the vertical direction of the rack 400, and waits for the bearing of the pressing rod 800; the carrier plate 332 raises the next layer of pressing rods 800, and the next layer of pressing rods 800 moves to the position of the previous layer of pressing rods 800. The position of the pressing rod 800 in the sliding groove is detected by the detection piece 700, so that the driving assembly 330 can move accurately and timely, and the clamping device 600 and the driving assembly 330 can be ensured to operate orderly and alternately.

In the second material transporting device, the pressing rod 800 is placed on the second preset position for the clamping device 600, when the horizontal conveying assembly 310 transports the empty rack 400 to the second preset position along the horizontal direction, the positioning and jacking device located at the second preset position receives the rack 400, so that the rack 400 is separated from the horizontal conveying assembly 310, and at this time, the detecting member 700 is arranged at a position capable of detecting whether the pressing rod is placed in the uppermost layer in the sliding groove of the rack 400.

It should be noted that in this embodiment, after the rack 400 is separated from the horizontal conveying assembly 310, the detecting element 700 detects the position of the pressing rod 800 in the sliding groove, so as to effectively avoid the occurrence of the situation that the driving assembly 330 moves due to the false detection of the detecting element 700 when the rack 400 is not moved to the first preset position or the second preset position, and improve the operation stability of the material transporting device 300.

As shown in connection with fig. 23, 25 and 26, in one possible embodiment, the drive assembly 330 includes: a driving member 331 provided in the frame 100; the bearing plate 332 is connected to the driving member 331, and the bearing plate 332 is used for driving the pressing rod 800 to move relative to the material frame 400.

In this embodiment, the driving member 331 can drive the carrier plate 332 to move, so that the carrier plate 332 drives the pressing rod 800 to ascend or descend in the material rack 400, specifically, the carrier plate 332 is located below the pressing rod 800 which is vertically placed at the lowest position of the sliding groove of the material rack 400, and is located in the space above the positioning guide opening of the material rack 400. Specifically, the stack 400 includes: the first support plate component 410 and the second support plate component 420, the first support plate component 410 and the second support plate component 420 are connected through a support button 430, an opening for the carrier rod 332 to extend into is formed between the first support plate component 410 and the second support plate component 420, and the carrier plate 332 drives the rack to ascend or descend. So as to meet the matching requirements of feeding or blanking.

The driving member 331 can drive the carrier plate 332 to move, so that the carrier plate 332 drives the pressing rod 800 to ascend or descend in the material rack 400, thereby meeting the matching requirement of loading or unloading.

As shown in fig. 23, 25 and 26, in one possible embodiment, the driving assembly 330 further includes: a ball screw 333 connected to the driver 331; a guide rail 334 provided in the housing 100; the connecting plate 335 is arranged on the ball screw 333 and the guide rail 334, the connecting plate 335 is used for connecting the bearing plate 332 with the driving element 331, the ball screw 333 is used for driving the connecting plate 335 to move, and the guide rail 334 is used for guiding the connecting plate 335.

In this embodiment, the driving member 331 and the bearing plate 332 are connected to the connecting plate 335 through a ball screw 333, the driving member 331 can drive the ball screw 333 to move, the ball screw 333 drives the connecting plate 335 to move, the connecting plate 335 drives the bearing plate 332 to move, and the guide rail 334 guides the connecting plate 335, so that the connecting plate 335 can be stably raised or lowered. The ball screw 333 is used as an intermediate part to drive the connecting plate 335 to move, so that the accuracy of the feeding or discharging process can be improved.

Of course, in other designs, a belt or chain may be used as the intermediate transmission member.

Example five:

as shown in fig. 1, 10, 11 and 12, in one possible embodiment, the grasping apparatus 600 includes: a main body portion 610; a driving unit 620 provided in the main body 610; a first clamp 630 provided at the driving part 620, the first clamp 630 being used for clamping the pressing rod 800; the second clamp 640 is disposed on the driving portion 620, the second clamp 640 is used for clamping the carrier basket 500, and the driving portion 620 is used for driving the first clamp 630 and the second clamp 640 to switch positions.

In this embodiment, the main body 610 may have a plurality of sets of rotating shafts 622, so that the first main body 610 can implement multi-axis transmission, and the degree of freedom of the main body 610 is increased, the first clamp 630 and the second clamp 640 are both mounted to the driving portion 620, the driving portion 620 can drive the first clamp 630 and the second clamp 640 to move, so that the first clamp 630 and the second clamp 640 can switch positions, so that the first clamp 630 is located at the clamping position or the second clamp 640 is located at the clamping position, and the driving portion 620 drives the first clamp 630 and the second clamp 640 to switch positions, so that the main body 610 may not participate in the process of switching the positions of the first clamp 630 and the second clamp 640, thereby reducing the difficulty of switching the positions of the first clamp 630 and the second clamp 640, reducing the difficulty of controlling the clamping device 600, and, when the positions of the first clamp 630 and the second clamp 640 are switched, the driving is implemented only by the driving portion 620, the position switching precision can be improved, and therefore accuracy and stability in the clamping and placing processes are improved.

The gripping device 600 in this embodiment may be a six-axis robot.

The bearing basket 500 is provided with a first clamping portion, the pressing rod 800 is provided with a second clamping portion, the clamping device 600 can realize multi-shaft linkage due to the fact that the clamping device 600 is clamped, the pressing rod 800 is placed in the bearing basket 500, the clamping device 600 can drive the pressing rod 800 to move, the first clamping portion is matched with the second clamping portion, and the pressing rod 800 is prevented from being separated from the bearing basket 500.

As shown in fig. 10, 11 and 12, in one possible embodiment, the driving part 620 includes: a connecting member 621 connecting the first clamp 630 and the second clamp 640; the rotating shaft 622, a first end of the rotating shaft 622 is disposed on the main body 610, and a second end of the rotating shaft 622 is disposed on the connecting member 621.

In this embodiment, it is defined that the position switching of the first clamp 630 and the second clamp 640 is realized by rotating, the first clamp 630 and the second clamp 640 are disposed on the connecting part 621, the main body 610 can drive the rotating shaft 622 to rotate, the rotating shaft 622 drives the connecting part 621 to rotate, the connecting part 621 drives the first clamp 630 and the second clamp 640 to rotate, thereby, the position switching of the first clamp 630 and the second clamp 640 is realized, for example, when the first clamp 630 is required to clamp the carrier basket 500, the first clamp 630 is positioned at a lower position, and the second clamp 640 is positioned at a higher position, so that the second clamp 640 is not easy to interfere with the clamping process of the first clamp 630, when the second clamp 640 is required to clamp the pressing rod 800, the connecting member 621 drives the first clamp 630 and the second clamp 640 to rotate, the second clamp 640 is located at a lower position, and the first clamp 630 is not likely to interfere with the clamping process of the second clamp 640. The two sets of clamps realize position switching through the pivoted mode, and at the in-process that switches, the turned angle through control pivot 622 just can realize the accurate switching to the clamp position, reduces the control degree of difficulty, improves the control accuracy nature. In addition, since the position of the driving portion 620 is switched by driving the jig through the rotating shaft 622, the structure of the driving portion 620 can be simplified, and it is not necessary to provide a rail for moving the jig on the driving portion 620, thereby reducing the processing cost and the maintenance cost, and also reducing the damage rate.

Specifically, the connecting member 621 may be provided with three mounting surfaces bent continuously to mount the first clamp 630, the second clamp 640, and the main body portion 610, respectively, and an included angle between two adjacent mounting surfaces is an acute angle, so that the three mounting surfaces sequentially intersect end to end or extend to intersect.

The clamping device 600 is adopted to realize the dual functions, namely the clamping pressing rod 800 can be clamped, and the bearing basket 332 can be clamped, so that the increase of the occupied space caused by the arrangement of a plurality of devices is avoided.

Through using duplex position anchor clamps, can realize two kinds of work demands of anchor clamps realization, and switch through the robot, have the reaction fast, move characteristics steady, accurate.

Of course, in other embodiments, the driving part 620 may also be composed of a cylinder and a slide rail, or a structure in which a motor and a slide rail are matched.

As shown in fig. 14 and 17, the first clamp 630 includes a first body 631, two first cylinders 632 and two pneumatic fingers 633, the two first cylinders 632 are symmetrically disposed on two sides of the first body 631, the two pneumatic fingers 633 are respectively connected to the two first cylinders 632, the two first cylinders 632 respectively drive the pneumatic fingers 633 to move, so that the pneumatic fingers 633 can clamp the pressing rod 800, and two ends of the pressing rod 800 are flat, so that the pneumatic fingers 633 can stably clamp the pressing rod 800. Fig. 15 shows a state where the pneumatic fingers 633 are closed, and fig. 16 shows a state where the pneumatic fingers 633 are opened.

The clamping device 600 adopts a profiling design and can be conveniently adapted to the bearing basket 500 and the pressure lever 800; the clamping and releasing of the carrier basket 500 and the press rod 800 are preferably accomplished.

As shown in fig. 12 and 13, the second clamp 640 includes a second body 641, two second air cylinders 642 and two clamp plates 643, the two second air cylinders 642 are respectively disposed at two sides of the second body 641, the two clamp plates 643 are respectively connected with the two second air cylinders 642, the two second air cylinders 642 can respectively drive the clamp plates 643 to move, so that the two clamp plates 643 can approach or separate from each other, so that the second clamp 640 can clamp and place the carrier basket 500, a protrusion is disposed on the clamp plate 643, a recess is disposed on the carrier basket 500, and when the two clamp plates 643 clamp the carrier basket 500, the protrusion is inserted into the recess, which is beneficial to improving stability when the carrier basket 500 is transferred.

Generally, the carrier basket 500 on the feeding table 110 is vertically placed, and when the clamping device 600 places the carrier basket 500 on the feeding table 110 to the feeding end of the cleaning device 200, the carrier basket 500 is vertically placed, that is, the clamping device 600 realizes the rotation of the carrier basket 500 in the process of clamping the carrier basket 500.

Example six:

as shown in conjunction with fig. 7, 8, and 9, in one possible embodiment, the stack 400 includes: a first support plate component 410, wherein a first groove 411 is arranged on the first support plate component 410; a second supporting plate assembly 420, wherein a second groove 421 is formed on the second supporting plate assembly 420; a plurality of support rods 430, one end of each support rod 430 being connected to the first support plate assembly 410, and the other end of each support rod 430 being connected to the second support plate assembly 420; the rack 400 is used for placing a plurality of compression rods 800, the first groove 411 is used for accommodating one end of the compression rod 800, and the second groove 421 is used for accommodating the other end of the compression rod 800.

The first groove 411 and the second groove 421 can be understood as sliding grooves, the pressing rods 800 are located in the sliding grooves, in order to place a larger number of pressing rods 800 in order and as much as possible, the pressing rods 800 located in the sliding grooves are arranged in a stacked manner, when the rack 400 is located at a first preset position, after the pressing rods 800 of a first layer in the sliding grooves are taken away by the clamping device 600, the driving assembly 330 can push the pressing rods 800 in the sliding grooves upwards, so that the pressing rods 800 move to positions where the pressing rods 800 can be taken away by the clamping device 600 again, exemplarily, after the first layer pressing rods 800 are taken away, the next layer pressing rods 800 move to positions where the first layer pressing rods 800 are located before, and the clamping device 600 can pick up the pressing rods 800 at fixed positions, so that the stability of the loading process is improved, and it is ensured that the pressing rods 800 in the rack 400 can be stably obtained by the clamping device 600.

The stack 400 further includes: the positioning guide device is arranged on the bottom support 440; the positioning and guiding device comprises: the positioning plate 450 and the positioning guide opening 460, wherein the positioning guide opening 460 is arranged on the positioning plate 450; the positioning guide openings 460 are adapted to engage positioning members on the transport mechanism, one positioning pin 324 on the positioning jack assembly 320 on the material handling device 300, and one positioning member on the AGV cart.

In this solution, the stack 400 further comprises a positioning guide. The positioning guide is provided on the shoe 440. The positioning guide includes a positioning plate 450 and a positioning guide opening 460. A positioning guide opening 460 is provided in the positioning plate 450, the positioning guide opening 460 being adapted to engage a positioning member on the transport mechanism. The positioning guide device is used for positioning equipment such as a transfer device and a clamping device, and the clamping device can take and place the pressure lever in the height of the automatic placing area through the positioning guide port.

The shelf 400 has three sides provided with the enclosure 470, the side not provided with the enclosure 470 is convenient for the carrier plate 332 to be inserted, and the width of the carrier plate 332 should be less than the distance between the first support plate assembly 410 and the second support plate assembly 420 in the shelf 400.

Be provided with first stiffening plate and second stiffening plate on work or material rest 400, owing to set up first stiffening plate and second stiffening plate and strengthen first backup pad subassembly 410 and second backup pad subassembly 420, in order to promote the enhancement effect, first stiffening plate and second stiffening plate are big and first backup pad subassembly 410, area such as second backup pad subassembly 420. The third groove is formed in the first reinforcing plate to avoid one end of the pressing rod 800, so that the pressing rod 800 can be placed in the first groove 411. The second reinforcing plate is provided with a fourth groove for avoiding the other end of the pressing rod, so that the pressing rod 800 can be placed in the second groove 421.

In the above embodiment, the width of the third groove is greater than the width of the first groove 411, and the width of the fourth groove is greater than the width of the second groove 421. That is, the first supporting plate assembly 410 and the second supporting plate assembly 420 are always kept in direct contact with the surface of the pressing rod 800, and the first reinforcing plate and the second reinforcing plate are prevented from being in direct contact with the pressing rod 800. Generally, the first supporting plate component 410 and the second supporting plate component 420 are made of non-metal plates, and the first reinforcing plate and the second reinforcing plate are made of metal plates, so that the metal plates are prevented from directly contacting the pressing rod 800, metal ions in the metal plates can be prevented from attaching to the pressing rod 800, and the surface of the to-be-cleaned part is secondarily polluted by the metal ions due to the contact between the pressing rod 800 and the carrying basket 500.

The opening of the first groove 411 is provided with a guide groove and a placing groove arranged below the guide groove. The guide way is Y-shaped groove 480, and the slot width of Y-shaped groove 480 along first direction narrows gradually until equals with the standing groove width, and the guide way is used for guiding the one end entering standing groove of depression bar 800. Wherein, the placing slot of the first groove 411 is matched with the end size of the pressing rod 800 for limiting the pressing rod 800 to be arranged in the first direction.

In other embodiments, the second groove is the same.

As shown in fig. 17, a clamping portion 810 is disposed at an end of the pressing rod 800, or the end of the pressing rod 800 is the clamping portion 810, and the clamping portion 810 is flat, so that one end of the pressing rod 800 fits into the first groove 411 and the other end fits into the second groove 421. The rotation of the pressing rod 800 is limited by the side wall opposite to the first groove 411, and the pressing rod 800 is limited to be arranged in the first direction by the aid of the second groove 421, so that the end part of the pressing rod 800 is always kept at a uniform angle when the pressing rod 800 is placed or taken away from the material frame 400, and the pressing rod 800 is taken and placed by the clamping device 600.

One end of the support rod is detachably connected to the first support plate assembly 410, and the other end of the support rod is detachably connected to the second support plate assembly 420. By replacing the support rods with different lengths, the distance between the first groove 411 and the second groove 421 is adjusted, so that the press rod penetrates through the first support plate assembly 410 and the second support plate assembly 420, and the clamping device 600 can clamp both ends of the press rod 800. The first supporting plate assembly 410 is detachably connected to the first reinforcing plate, and the second supporting plate assembly 420 is detachably connected to the second reinforcing plate. The thickness of the first supporting plate and the thickness of the second supporting plate, partially or entirely, are changed so that the pressing rod 800 penetrates the first supporting plate assembly 410 and the second supporting plate assembly 420, thereby enabling the clamping device 600 to clamp both ends of the pressing rod 800.

In this embodiment, the first and second

support plate assemblies

410 and 420 are connected by a plurality of support rods 430. Through first recess 411 on the first backup pad subassembly 410 and the second recess 421 on the second backup pad subassembly 420, depression bar 800 can be stacked in batches to can cooperate the clamp to get device 600 and get and put depression bar 800, still can be used to cooperate fortune material device 300 to transport depression bar 800 in batches, improve degree of automation and production efficiency, reduce manual operation. Stacking the pressing rod 800 through the material frame 400 not only occupies a small space, but also improves the neatness of an equipment workshop, and is convenient for grabbing the pressing rod 800.

Example seven:

in an embodiment of the present invention, a control method of a washing system is provided, which is used for the washing system in any one of the above possible embodiments, and the control method includes: a first clamping device in the cleaning system transfers the bearing basket to a feeding end of the cleaning device; a first material conveying device in the cleaning system conveys the material rack loaded with the compression bar to a first preset position; the first clamping device transfers the pressing rod to the bearing basket; the cleaning device is provided with a carrying device, and the carrying device is used for carrying the bearing basket to move from the feeding end to the discharging end; a second material conveying device in the cleaning system conveys the unloaded material rack to a second preset position; a second clamping device in the cleaning system transfers the pressing rod to the material frame.

The first clamp comprises a first body, two first cylinders and two pneumatic fingers, and the two first cylinders drive the pneumatic fingers to move respectively, so that the pneumatic fingers can clamp the pressing rod.

The second clamp comprises a second body, two second cylinders and two clamping plates, the two second cylinders are fixed on the second body, the two second cylinders can drive the clamping plates to move respectively, the two clamping plates can be close to or far away from each other, the second clamp can clamp and place the bearing basket, the clamping plates are provided with protrusions, the bearing basket is provided with depressions, and when the bearing basket is clamped by the two clamping plates, the protrusions are connected with the depressions in an inserting mode, so that the stability of the bearing basket in the transferring mode is improved.

The cleaning system is adopted, the pressure rod is placed in the bearing basket of the to-be-cleaned part, the bearing basket enters the cleaning device, the process treatment of the to-be-cleaned part is completed, the to-be-cleaned part can be a silicon wafer, the whole cleaning system is high in working efficiency, and meanwhile, the occupied space can be less arranged through the integration effect of the clamping device.

The conveying device can realize integration of conveying and lifting functions, realize mutual isolation of the feeding position of the pressure rod and the loading position (loading platform) of the bearing basket, and improve the cleanliness of the host;

the horizontal conveying assembly of the conveying device adopts a combination mode of a speed reducing motor and a synchronous belt, and has the advantages of large moment, silence and low cost; the positioning jacking assembly of the material conveying device realizes a lifting function by adopting a mode of combining a servo motor and a screw rod, and has the advantages of feeding speed, adjustable distance, accurate feeding and sensitive response.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning system, comprising:

the material rack is used for loading the compression bar;

the bearing basket is used for placing a piece to be cleaned;

the cleaning device is provided with a feeding end and a discharging end, and the bearing basket moves from the feeding end to the discharging end;

the material conveying device is arranged close to the cleaning device and used for conveying the material rack;

the clamping device is arranged close to the material conveying device and used for conveying the material rack and the bearing basket;

the clamping device is used for transferring the bearing basket to the feeding end of the cleaning device, the material conveying device conveys the material rack loaded with the pressing rod to a first preset position, and the clamping device transfers the pressing rod to the bearing basket.

2. The cleaning system of claim 1, wherein the material handling device comprises:

a frame;

the horizontal conveying assembly is arranged on the rack and used for driving the material rack to move in a reciprocating manner;

the positioning jacking assembly is arranged on the rack, and is matched with the material rack when the material rack moves to a jacking position on the horizontal conveying assembly, and the positioning jacking assembly can drive the material rack to be separated from the horizontal conveying assembly;

the driving assembly is arranged on the rack, and when the material rack is separated from the horizontal conveying assembly, the driving assembly is matched with the pressing rod, so that the driving assembly can drive the pressing rod to move relative to the material rack.

3. The cleaning system of claim 2, wherein the material handling device further comprises:

the detection piece acquires a position signal of the pressing rod when the material rack is separated from the horizontal conveying assembly, and the driving assembly adjusts the position of the pressing rod in the material rack according to the position signal.

4. The cleaning system of claim 2, wherein the drive assembly comprises:

the driving piece is arranged on the rack;

the bearing plate is connected with the driving part and used for driving the pressing rod to move relative to the material rack.

5. The cleaning system of claim 1, wherein the grasping device comprises:

a main body portion;

a drive unit provided in the main body unit;

the first clamp is arranged on the driving part and used for clamping the pressing rod;

the second clamp is arranged on the driving part and used for clamping the bearing basket, and the driving part is used for driving the first clamp and the second clamp to switch positions.

6. The cleaning system of claim 5, wherein the drive portion comprises:

a connecting member connecting the first jig and the second jig;

the first end of the rotating shaft is arranged on the main body part, and the second end of the rotating shaft is arranged on the connecting piece.

7. The washing system of claim 1, wherein the stack comprises:

the first supporting plate component is provided with a first groove;

the second supporting plate assembly is provided with a second groove;

one end of each supporting rod is connected with the first supporting plate assembly, and the other end of each supporting rod is connected with the second supporting plate assembly;

the rack is used for placing a plurality of compression bars, the first groove is used for accommodating one end of each compression bar, and the second groove is used for accommodating the other end of each compression bar.

8. The cleaning system of any one of claims 1 to 7,

the number of the material conveying devices is two, and the two material conveying devices are respectively a first material conveying device and a second material conveying device;

the first material conveying device is arranged on one side of the feeding end of the cleaning device;

the second material conveying device is arranged on one side of the discharge end of the cleaning device;

the number of the clamping devices is two, and the clamping devices are respectively a first clamping device and a second clamping device;

the first clamping device is arranged close to the first material conveying device;

the second clamping device is arranged close to the second material conveying device;

wherein,

the first clamping device is used for transferring the pressure rod on the first material conveying device to the bearing basket at the feeding end; and the number of the first and second groups,

the second clamping device is used for transferring the pressing rod on the bearing basket at the discharging end into the material rack on the second material conveying device.

9. The cleaning system of claim 8, further comprising:

the feeding table is arranged on one side of the feeding end of the cleaning device;

the blanking table is arranged on one side of the discharging end of the cleaning device;

the first clamping device is used for transferring the bearing basket on the feeding table to the feeding end;

the second clamping device is used for transferring the bearing basket at the discharging end to the blanking table;

further comprising: and the feeding assembly moves between the first material conveying device and the second material conveying device.

10. A control method for a washing system, characterized in that, for a washing system according to any one of claims 1 to 9, the control method comprises:

a first clamping device in the cleaning system transfers the bearing basket to a feeding end of the cleaning device;

a first material conveying device in the cleaning system conveys the material rack loaded with the compression bar to a first preset position;

the first clamping device transfers the pressing rod to the bearing basket;

the bearing basket moves from the feeding end to the discharging end;

a second material conveying device in the cleaning system conveys the unloaded material rack to a second preset position;

and a second clamping device in the cleaning system transfers the pressing rod to the material rack.