CN114247666B - Cleaning equipment and cleaning method - Google Patents
Cleaning equipment and cleaning method Download PDFInfo
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- CN114247666B CN114247666B CN202111314591.6A CN202111314591A CN114247666B CN 114247666 B CN114247666 B CN 114247666B CN 202111314591 A CN202111314591 A CN 202111314591A CN 114247666 B CN114247666 B CN 114247666B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 214
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000000428 dust Substances 0.000 claims abstract description 213
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 238000007664 blowing Methods 0.000 claims abstract description 40
- 230000000007 visual effect Effects 0.000 claims abstract description 34
- 239000012535 impurity Substances 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000007599 discharging Methods 0.000 claims description 51
- 230000007306 turnover Effects 0.000 claims description 42
- 238000001179 sorption measurement Methods 0.000 claims description 28
- 238000010926 purge Methods 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 9
- 238000011179 visual inspection Methods 0.000 claims description 8
- 230000003749 cleanliness Effects 0.000 abstract description 8
- 238000003780 insertion Methods 0.000 description 8
- 230000037431 insertion Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 7
- 230000032258 transport Effects 0.000 description 6
- 239000002699 waste material Substances 0.000 description 6
- 239000003795 chemical substances by application Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000002245 particle Substances 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0028—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by adhesive surfaces
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the technical field of screen cleaning, and particularly relates to cleaning equipment and a cleaning method. The cleaning equipment comprises a blowing and sucking device, a feeding manipulator device, a wiping device, a dust adhering device, a visual detection device and a plurality of transmission devices; the blowing and sucking device comprises a dust blowing component and a feeding component for conveying the to-be-cleaned piece, and the dust blowing component is used for blowing the to-be-cleaned piece on the feeding component; the feeding mechanical arm device is used for conveying the cleaned piece which is purged on the feeding assembly to the conveying device; the conveying device is used for conveying the to-be-cleaned piece among the wiping device, the visual detection device and the dust adhering device; the wiping device is used for wiping the to-be-cleaned piece on the conveying device; the visual detection device is used for detecting the to-be-cleaned piece on the transmission device; the dust adhering device is used for adhering and removing impurities on the to-be-cleaned piece. According to the cleaning device, the cleaning device sequentially sweeps, wipes and sticks dust to impurities on the to-be-cleaned piece, so that the cleanliness of the to-be-cleaned piece is ensured.
Description
Technical Field
The invention belongs to the technical field of screen cleaning, and particularly relates to cleaning equipment and a cleaning method.
Background
With the continuous development of electronic technology, computer screens, tablet screens and mobile phone screens are increasingly used; before the screen is assembled, a protective film needs to be attached to the screen, and the edge of the screen is not covered by the protective film. Therefore, before the screen is assembled, whether the inner pollution exists at the edge of the screen is required to be detected, so that the screen assembled on the product is ensured to belong to a qualified product, and the quality of the product is ensured.
With the continuous development of the automatic technology, the screen cleaning device can automatically detect stains on the screen, and the stains on the screen are cleaned by utilizing the cleaning equipment; however, the existing screen detection device can only purge the dirt adhered to the screen and having larger particles, and remove the dirt with smaller particles on the screen, so that the screen is not purged cleanly.
Disclosure of Invention
The invention solves the technical problem that a screen cleaning device cannot clean dirt on a screen, and provides cleaning equipment and a cleaning method.
In view of the above problems, the cleaning device provided by the embodiment of the invention comprises a blowing and sucking device, a feeding manipulator device, a wiping device, a dust adhering device, a visual detection device and a plurality of parallel and spaced transmission devices;
The blowing and sucking device comprises a dust blowing component and a feeding component for conveying the to-be-cleaned piece, and the dust blowing component is used for blowing the to-be-cleaned piece on the feeding component;
the feeding mechanical arm device is used for conveying the cleaned piece which is purged on the feeding assembly to the conveying device;
the transmission device is arranged opposite to the wiping device, the visual detection device and the dust adhering device, and is used for conveying the to-be-cleaned piece among the wiping device, the visual detection device and the dust adhering device;
the wiping device is used for wiping the to-be-cleaned piece on the conveying device; the visual detection device is used for detecting the to-be-cleaned piece on the transmission device; the dust adhering device is used for adhering and removing impurities on the to-be-cleaned piece.
Optionally, the cleaning device further comprises a feeding assembly line, a feeding turnover device, a discharging turnover device and a discharging assembly line; the feeding turnover device is used for forward turning the to-be-cleaned piece on the feeding assembly line by 180 degrees, and the feeding assembly is also used for forking the to-be-cleaned piece on the turnover assembly;
the discharging turnover device is used for reversely turnover the to-be-cleaned piece on the conveying device by 180 degrees and then placing the to-be-cleaned piece on the discharging assembly line.
Optionally, the feeding turnover device comprises a feeding turnover driving piece and a feeding adsorption platform for adsorbing the piece to be cleaned, and the output end of the feeding turnover driving piece is connected with the feeding adsorption platform;
the discharging turnover device comprises a discharging turnover driving piece and a discharging adsorption platform for adsorbing the piece to be cleaned, and the output end of the discharging turnover driving piece is connected with the discharging adsorption platform.
Optionally, the cleaning apparatus further comprises an outfeed manipulator device for conveying the cleaning member on the conveying device to the infeed flipping device.
Optionally, the feeding assembly comprises a feeding driving piece, a feeding jacking driving piece and a feeding fork provided with a feeding adsorption hole; the feeding jacking driving piece is arranged at the output end of the feeding driving piece, and the feeding fork is arranged at the output end of the feeding jacking driving piece; the feeding adsorption hole is used for adsorbing the to-be-cleaned piece, the feeding jacking driving piece is used for moving the feeding fork along the Z-axis direction, and the feeding driving piece is used for moving the feeding jacking driving piece along the X-axis direction.
Optionally, the conveying device comprises a conveying driving part and a rotary adsorption platform for adsorbing the to-be-cleaned part, wherein the rotary adsorption platform is installed at the output end of the conveying driving part, and the conveying driving part is used for moving the rotary adsorption platform along the X-axis direction.
Optionally, the visual inspection device includes a long side inspection group for inspecting a long side of the cleaning member and a short side inspection group for inspecting a short side of the cleaning member; the long side detection group comprises a first visual camera and a second visual camera which are arranged at intervals, and the short side detection group comprises a third visual camera and a fourth visual camera which are arranged at intervals.
Optionally, the wiping device comprises a new reel, an old reel, a wiping belt, a dust wiping seat, a dust wiping wheel, a dust wiping driving piece and a plurality of driving wheels; the new reel, the old reel and the driving wheel are all rotatably arranged on the dust wiping seat, the dust wiping driving piece is arranged on the dust wiping seat, and the dust wiping wheel is arranged at the output end of the dust wiping driving piece; one end of the wiping belt is connected with the new belt disc, the other end of the wiping belt is wound around the driving wheel and the dust wiping wheel and then connected with the old belt disc, and the dust wiping driving piece is used for driving the wiping belt to wipe the piece to be cleaned through the dust wiping wheel.
Optionally, the dust adhering device comprises a dust adhering rod, a dust adhering rod mounting seat, a dust adhering transverse driving piece, a dust adhering vertical driving piece, a clamping jaw and a clamping jaw mounting seat; the vertical dust-binding driving piece is installed at the output end of the horizontal dust-binding driving piece, the clamping jaw mounting seat is installed at the output end of the vertical dust-binding driving piece, a plurality of dust-binding rods are arranged on the clamping jaw mounting seat, the clamping jaws are installed on the clamping jaw mounting seat, and the clamping jaws are used for clamping the dust-binding rods on the clamping jaw mounting seat.
Another embodiment of the present invention further provides a cleaning method applied to the cleaning device, including:
when the feeding component conveys the to-be-cleaned piece to the purging station, controlling the dust blowing component to purge the to-be-cleaned piece on the feeding component;
controlling a feeding mechanical arm device to convey the cleaned piece on the feeding assembly to a conveying device;
when the conveying device conveys the to-be-cleaned piece to a wiping station, a wiping device is controlled to wipe a preset wiping part of the to-be-cleaned piece;
when the transmission device conveys the cleaned piece to a detection station, controlling a visual detection device to detect the cleaned piece;
when the conveying device conveys the detected piece to be cleaned to a dust adhering station, the dust adhering device is controlled to adhere the uncleaned part detected by the visual detection device;
and controlling the conveying device to convey the dust-adhered cleaning piece to a blanking station.
In the invention, the dust blowing component can purge impurities on the to-be-cleaned piece, and the wiping device can wipe impurities attached to the to-be-cleaned piece; after the cleaning piece is completely cleaned, the vision detection device can detect an unclean part which is not cleaned up on the cleaning piece; the dust adhering device can adhere impurities on the uncleaned part, so that the cleaning equipment can sweep, wipe and adhere dust on the impurities on the cleaning piece in sequence, and the cleanliness of the cleaning piece is guaranteed. In addition, the feeding manipulator device can place the cleaned piece on the feeding assembly on a plurality of conveying devices, each conveying device can drive the piece to be cleaned to move among the dust wiping station of the wiping device, the detection station of the detection device and the dust adhering station of the dust adhering device, so that the cleaning equipment can simultaneously sweep, wipe, detect and adhere the piece to be cleaned, and the working efficiency of the cleaning equipment is improved.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of a cleaning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a feeding line and a feeding turnover device of a cleaning apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a blowing and sucking device of a cleaning apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view of a portion of a cleaning apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic view of a conveying device of a cleaning apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of a wiping device of a cleaning apparatus according to an embodiment of the present invention;
FIG. 7 is a partial cross-sectional view of a wiping device of a cleaning apparatus provided in accordance with one embodiment of the present invention;
FIG. 8 is a partial cross-sectional view of a wiping device of a cleaning apparatus provided in accordance with one embodiment of the present invention;
FIG. 9 is a schematic diagram of a dust-binding apparatus of a cleaning device according to an embodiment of the present invention;
FIG. 10 is a schematic view of a part of a dust-binding apparatus of a cleaning device according to an embodiment of the present invention;
FIG. 11 is a schematic view of a part of a dust-binding apparatus of a cleaning device according to an embodiment of the present invention;
Fig. 12 is a flowchart of a cleaning method according to an embodiment of the invention.
Reference numerals in the specification are as follows:
1. a blowing and sucking device; 11. a dust blowing component; 12. a feed assembly; 121. a feed drive; 122. a feed jack-up drive; 123. a feed fork; 2. a feeding manipulator device; 3. a wiping device; 31. a new reel; 32. old reel; 33. a wiping belt; 34. a dust wiping seat; 35. a dust wiping wheel; 36. a dust wiping driving member; 37. a driving wheel; 38. a pressure sensor; 39. a wheel wiping seat; 301. a first elastic member; 302. a spray head; 303. an absorbing member; 304. wiping the transverse driving member; 305. a guide rail; 306. a second elastic member; 307. a slide block; 308. an adjusting wheel; 4. a dust-sticking device; 41. a dust stick; 42. a stick-sticking mounting seat; 43. dust-sticking transverse driving piece; 44. dust-sticking vertical driving piece; 45. a clamping jaw; 46. a clamping jaw mounting seat; 47. positioning a sensor; 48. a dust-sticking rotary driving member; 49. a third elastic member; 401. a connecting column; 402. a connecting block; 403. a transmitter; 404. an induction piece; 405. stick-sticking sensor; 406. stick-sticking visual cameras; 5. a visual detection device; 51. a long side detection group; 52. short side detection group; 6. a transmission device; 61. a transmission driving member; 62. rotating the adsorption platform; 7. a feed line; 8. a feed turnover device; 81. a feed roll-over drive; 82. a feed adsorption platform; 9. a discharging turnover device; 101. a discharging assembly line; 102. a discharging manipulator device; 100. and cleaning the piece to be cleaned.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It is to be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", "middle", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.
As shown in fig. 1 and 4, an embodiment of the present invention provides a cleaning apparatus, which includes a blowing and sucking device 1, a feeding manipulator device 2, a wiping device 3, a dust-sticking device 4, a visual inspection device 5, and a plurality of parallel and spaced transmission devices 6, wherein the blowing and sucking device 1, the feeding manipulator device 2, the wiping device 3, the visual inspection device 5, and the visual inspection device 5 are sequentially arranged along an X-axis direction.
The blowing and sucking device 1 comprises a dust blowing assembly 11 and a feeding assembly 12 for conveying the to-be-cleaned piece 100, wherein the dust blowing assembly 11 is used for blowing the to-be-cleaned piece 100 on the feeding assembly 12; it will be appreciated that only one of the feed assemblies 12 is provided, and that the cleaning wind from the dust blowing assembly 11 can be used to purge contaminants (particularly relatively large particles) from the cleaning member 100 as the feed assembly 12 delivers the cleaning member 100 to the purging station.
The feeding manipulator device 2 is used for conveying the cleaned piece 100 which is purged on the feeding assembly 12 to the conveying device 6; it will be appreciated that the feeding robot device 2 places the cleaned parts 100, which have been purged on the feeding assembly 12, on a plurality of the transfer devices 6.
The conveying device 6 is arranged opposite to the wiping device 3, the visual detection device 5 and the dust-binding device 4, and the conveying device 6 is used for conveying the to-be-cleaned piece 100 among the wiping device 3, the visual detection device 5 and the dust-binding device 4; it is understood that a plurality of the transporting means 6 may transport the cleaning member 100 in the X-axis direction.
The wiping device 3 is used for wiping the cleaning piece 100 on the conveying device 6; the visual detection device 5 is used for detecting the cleaning piece 100 on the transmission device 6; the dust-sticking device 4 is used for sticking out impurities on the cleaning member 100. As can be appreciated, the wiping device 3 can wipe the cleaning member 100 (mainly wipe off smaller particles of impurities on the cleaning member 100) while the transporting device 6 transports the cleaned member 100 that has been purged to the dust wiping station; the vision inspection device 5 can detect an uncleaned portion of the cleaning member 100 when the transporting device 6 transports the cleaning member 100, which has been cleaned and wiped, to the inspection station, and the dust adhering device 4 can adhere impurities on the uncleaned portion when the transporting device 6 transports the cleaning member 100 to the dust adhering station. In addition, the conveying device 6 can also convey the cleaning member 100 to the blanking station.
The cleaning member 100 includes, but is not limited to, a screen.
In the invention, the dust blowing component 11 can purge impurities on the cleaning piece 100, and the wiping device 3 can wipe impurities attached to the cleaning piece 100; when the cleaning member 100 has been cleaned and wiped, the vision detecting device 5 can detect the uncleaned portion of the cleaning member 100 that has not been cleaned; the dust adhering device 4 can adhere impurities on the uncleaned part, so that the cleaning device can sequentially sweep, wipe and adhere dust on the impurities on the piece to be cleaned 100, thereby ensuring the cleanliness of the piece to be cleaned 100. In addition, the feeding manipulator device 2 may place the cleaned piece 100 on the feeding component 12 on a plurality of conveying devices 6, and each conveying device 6 may drive the piece 100 to be cleaned to move between the dust cleaning station of the wiping device 3, the detection station of the detection device and the dust adhering station of the dust adhering device 4, so that the cleaning apparatus may perform the operations of cleaning, wiping, detecting and adhering dust on the piece 100 at the same time, and the working efficiency of the cleaning apparatus is improved.
In an embodiment, as shown in fig. 1 and 2, the cleaning apparatus further comprises a feeding line 7, a feeding inverting device 8, a discharging inverting device 9, and a discharging line 101; the feeding turnover device 8 is used for forward turning the to-be-cleaned piece 100 on the feeding production line 7 by 180 degrees, and the feeding assembly 12 is also used for forking the to-be-cleaned piece 100 on the feeding turnover device 8; it can be appreciated that the feeding assembly line 7 is disposed in front of the feeding assembly 12, and the front surface of the cleaning member 100 conveyed on the feeding assembly line 7 faces upward, so that a worker can detect whether the front surface of the cleaning member 100 to be tested on the feeding assembly line 7 has a scraping phenomenon, and thus the cleaning member 100 with scraping on the front surface can be removed in time.
The discharging turnover device 9 is used for reversely turnover the to-be-cleaned piece 100 on the conveying device 6 by 180 degrees and then placing the to-be-cleaned piece on the discharging assembly line 101. It is understood that the outfeed line 101 is arranged behind the conveyor 6.
Specifically, when the feeding assembly line 7 conveys the cleaning member 100 facing upward to the feeding overturning station, the feeding overturning device 8 adsorbs the cleaning member 100 and overturns the cleaning member 100 forward by 180 degrees, and at this time, the back surface of the cleaning member 100 faces upward; the feeding manipulator device 2 grabs the cleaning piece 100 with the back face upward on the feeding turnover device 8 to the feeding component 12, after the cleaning piece 100 is subjected to the work such as blowing, wiping and dust adhering, the discharging turnover device 9 reversely turns over the cleaning piece 100 on the conveying device by 180 degrees and conveys the cleaning piece 100 to the discharging assembly line 101 (the back face of the cleaning piece 100 on the discharging assembly line 101 is upward), and the discharging assembly line 101 conveys the cleaning piece 100 to an outlet position, so that the cleaned cleaning piece 100 can be collected at the outlet position. In this embodiment, the cleaning apparatus is highly automated.
In one embodiment, as shown in fig. 2, the feeding turnover device 8 includes a feeding turnover driving member 81 and a feeding adsorption platform 82 for adsorbing the cleaning member 100, and an output end of the feeding turnover driving member 81 is connected to the feeding adsorption platform 82; it will be appreciated that the feeding inverting driver 81 includes, but is not limited to, a motor, etc., and the feeding suction platform 82 is provided with a vacuum suction member that can suck the cleaning member 100. In this embodiment, the feeding turnover device 8 has a simple structure and low manufacturing cost, and the feeding adsorption platform 82 can avoid scratching the cleaning member 100.
The discharging turnover device 9 comprises a discharging turnover driving piece and a discharging adsorption platform for adsorbing the cleaning piece 100, and the output end of the discharging turnover driving piece is connected with the discharging adsorption platform. It will be appreciated that the structure and function of the discharge turning device 9 are similar to those of the feed turning device 8, and will not be described in detail herein.
In one embodiment, as shown in fig. 1, the feeding manipulator device 2 includes a feeding Y-direction driving module, a feeding X-direction driving module, a feeding Z-direction driving member, and a feeding suction cup for sucking the cleaning member 100; the feeding X-direction driving module is installed at the output end of the feeding Y-direction driving module, the feeding Z-direction driving piece is installed at the output end of the feeding X-direction driving module, and the feeding sucker is installed at the output end of the feeding Z-direction driving piece. It will be appreciated that the feed chuck may be movable in the X-axis direction, the Y-axis direction, and the Z-axis direction, so that the cleaning member 100 on the feed assembly 12 may be transferred to a plurality of the transfer devices 6.
In an embodiment, as shown in fig. 1, the cleaning apparatus further comprises an outfeed robot device 102 for transporting the cleaning member 100 on the transporting device 6 to the infeed turning device 8. Further, the discharging manipulator device 102 is provided with a discharging Y-direction driving module, a discharging X-direction driving module, a discharging Z-direction driving piece and a discharging sucker for adsorbing the piece to be cleaned 100; the discharging X-direction driving module is installed at the output end of the discharging Y-direction driving module, the discharging Z-direction driving piece is installed at the output end of the discharging X-direction driving module, and the discharging sucker is installed at the output end of the discharging Z-direction driving piece. It will be appreciated that the discharge suction cup can be moved in the X-axis direction, the Y-axis direction, and the Z-axis direction, so that a plurality of cleaning members 100 on the transfer device 6 can be placed on the discharge outlet line 101.
In one embodiment, as shown in fig. 3, the feeding assembly 12 includes a feeding driving member 121, a feeding jacking driving member 122, and a feeding fork 123 provided with a feeding adsorption hole; the feeding jacking driving piece 122 is installed at the output end of the feeding driving piece 121, and the feeding fork 123 is installed at the output end of the feeding jacking driving piece 122; the feed adsorption hole is used for adsorbing the cleaning member 100, the feed lifting driving member 122 is used for moving the feed fork 123 along the Z-axis direction, and the feed driving member 121 is used for moving the feed lifting driving member 122 along the X-axis direction. It will be appreciated that the feed drive 121 and the feed lift drive 122 each include, but are not limited to, pneumatic cylinders, hydraulic cylinders, linear motors, lead screw nut structures; preferably, the feeding driving member 121 is a four-bar nut mechanism, and the feeding jacking driving member 122 is a pneumatic cylinder.
Specifically, after the feeding turnover device 8 turns the cleaning member 100 by 180 degrees, the feeding driving member 121 drives the feeding fork 123 to move below the cleaning member 100, and the feeding lifting driving member 122 drives the feeding fork 123 to move upwards until the cleaning member 100 is lifted off from the feeding turnover device 8, and the cleaning member 100 is adsorbed on the feeding fork 123 through the feeding adsorption hole; the feeding driving piece 121 drives the feeding fork 123 to move to a blowing station of the dust blowing assembly 11, and the dust blowing assembly 11 performs blowing operation on the cleaning piece 100 on the feeding fork 123; after the cleaning member 100 is purged, the feeding driving member 121 drives the feeding clamping station of the feeding manipulator with the movable fork, so that the feeding manipulator can convey the cleaning member 100 on the feeding clamping station to the conveying device. In this embodiment, the feeding assembly 12 is simple in structure and low in manufacturing cost.
In one embodiment, as shown in fig. 4 and 5, the conveying device 6 includes a conveying driving member 61 and a rotary adsorbing platform 62 for adsorbing the cleaning member 100, the rotary adsorbing platform 62 is mounted at an output end of the conveying driving member 61, and the conveying driving member 61 is used for moving the rotary adsorbing platform 62 in an X-axis direction. It will be appreciated that the transmission drive 61 includes, but is not limited to, a linear motor, a pneumatic cylinder, a hydraulic cylinder, and a screw-nut mechanism; preferably, the transmission driving member 61 is a screw nut mechanism. In this embodiment, the rotary adsorption platform 62 may drive the cleaning member 100 thereon to rotate 180 degrees, so that the long side and the short side of the cleaning member 100 are exchanged, and in the case that the visual detection device 5 is fixed, the visual detection device 5 may detect the long side and the short side of the cleaning member 100, and the dust-sticking device 4 may stick and remove impurities at the long side and/or the short side of the cleaning space.
In one embodiment, as shown in fig. 4, the visual inspection device 5 includes a long side inspection group 51 for inspecting a long side of the cleaning member 100 and a short side inspection group 52 for inspecting a short side of the cleaning member 100; the long side detection group 51 includes a first vision camera and a second vision camera that are disposed at intervals, and the short side detection group 52 includes a third vision camera and a fourth vision camera that are disposed at intervals. As can be appreciated, when the first and second vision cameras detect two long sides of the cleaning member 100, the long sides of the cleaning member 100 are parallel to the X-axis direction; when the third vision camera and the fourth vision camera detect two short sides of the cleaning member 100, the short sides of the cleaning member 100 are parallel to the X-axis direction; that is, the rotary suction table 62 rotates the cleaning member 100 thereon by 180 degrees between the first vision camera and the third vision camera. In this embodiment, by the design of the transmission device 6 and the visual detection device 5, whether impurities exist at the short side and the long side of the cleaning member 100 can be detected, so that the detection precision of the cleaning member 100 is improved, and the cleanliness of the cleaning member 100 is ensured.
In one embodiment, as shown in fig. 6, the wiping device 3 includes a new reel 31, an old reel 32, a wiping belt 33, a dust wiping seat 34, a dust wiping wheel 35, a dust wiping driving member 36, and a plurality of driving wheels 37; the new reel 31, the old reel 32 and the driving wheel 37 are all rotatably mounted on the dust wiping seat 34, the dust wiping driving member 36 is mounted on the dust wiping seat 34, and the dust wiping wheel 35 is mounted at the output end of the dust wiping driving member 36; one end of the wiping belt 33 is connected with the new reel 31, the other end of the wiping belt 33 is wound around the driving wheel 37 and the dust wiping wheel 35 and then is connected with the old reel 32, and the dust wiping driving piece 36 is used for driving the wiping belt 33 to wipe the piece 100 to be cleaned through the dust wiping wheel 35. As can be appreciated, the new reel 31 is wound with the unused wiping tape 33, and the old reel 32 is wound with the wiping tape 33 that has been wiped against the cleaning member 100; and the dust wiping driving member 36 includes, but is not limited to, a linear motor, a pneumatic cylinder, a hydraulic cylinder, a screw-nut mechanism, and the like.
In particular, the driving wheel 37 functions to transfer the wiping tape 33 in the new reel 31 to the old reel 32 through the dust wiping wheel 35. When the conveying device 6 conveys the cleaning member 100 to the wiping station, the dust wiping driving member 36 drives the dust wiping wheel 35 to move downwards, and the dust wiping wheel 35 is wound with the wiping belt 33, so that the dust wiping wheel 35 drives the wiping belt 33 to abut against the cleaning member 100, and the wiping belt 33 can wipe dust on the cleaning member 100; after the dust wiping wheel 35 drives the wiping belt 33 to wipe dust on the cleaning member 100, the conveying device 6 conveys the cleaned cleaning member 100 to the detecting station. In this embodiment, the wiping device 3 can automatically implement the wiping operation of the cleaning member 100, and improves the wiping efficiency and the wiping cleanliness of the cleaning member 100. In addition, the old reel 32 can automatically recover the already wiped wiping tape 33, thereby facilitating the recovery of the wiping tape 33 and ensuring the cleanliness of the wiping device 3.
In an embodiment, as shown in fig. 7, the wiping device 3 further comprises a pressure sensor 38 for detecting the pressure of the dust wiping wheel 35, the pressure sensor 38 being mounted between the dust wiping wheel 35 and the output of the dust wiping drive 36. It should be appreciated that, in order to ensure that the pressure sensor 38 can detect the pressure between the dust cleaning wheel 35 and the cleaning member 100 in real time during the process that the dust cleaning wheel 35 drives the cleaning belt 33 to clean the cleaning member 100, the dust cleaning driving member 36 adjusts the pressure of the dust cleaning wheel 35 in real time according to the pressure value detected by the pressure sensor 38, so as to ensure that the dust cleaning wheel 35 does not crush the cleaning member 100.
In one embodiment, as shown in fig. 7, the wiping device 3 further includes a wiping wheel seat 39 and a first elastic member 301, the wiping wheel 35 is rotatably mounted on the wiping wheel seat 39, the wiping wheel seat 39 is mounted on an output end of the wiping driving member 36, and the first elastic member 301 is mounted between the wiping wheel seat 39 and the output end of the wiping driving member 36. It may be appreciated that the first elastic member 301 includes, but is not limited to, a spring, etc., the output end of the dust cleaning driving member 36 may be connected to the dust cleaning wheel seat 39 through a connection post 401, and the first elastic member 301 is sleeved on the connection post 401, and when the dust cleaning driving member 36 drives the dust cleaning wheel 35 to move downward, the dust cleaning wheel seat 39 compresses the first elastic member 301, so that the first elastic member 301 may play a role of buffering the dust cleaning wheel 35 and the cleaning member 100, so as to avoid the accident that the dust cleaning wheel 35 breaks the cleaning member 100.
In one embodiment, as shown in fig. 6, the wiping device 3 further comprises a nozzle 302 mounted on the dust-wiping seat 34 and arranged opposite to the wiping strip 33. It will be appreciated that the spray head 302 may be in communication with an external reservoir through a conduit, which may store a wiper such as alcohol. Specifically, since the dry wiping belt 33 is not easy to wipe dust on the cleaning member 100, and the dry wiping belt 33 is easy to scratch the cleaning member 100, the nozzle 302 is provided on the conveying path of the wiping belt 33 (and in front of the dust wiping wheel 35), the wiping agent sprayed from the nozzle 302 can be immersed into the wiping belt 33, and therefore, the wiping belt 33 is easier to wipe dust on the cleaning member 100 during the process of wiping the cleaning member 100, and the wet wiping belt 33 is not easy to scratch the cleaning member 100.
In one embodiment, as shown in fig. 6, the wiping device 3 further includes an absorbing member 303 mounted on the dust-wiping seat 34 and disposed opposite to the nozzle 302. It will be appreciated that the suction member 303 is disposed on the opposite side of the ejection head 302, and that the wiping strip 33 is located between the ejection head 302 and the suction member 303. Specifically, during the spraying of the wiping agent by the spray head 302 onto the wiping belt 33, the adsorbing member 303 adsorbs the wiping agent that is not sprayed onto the wiping belt 33, thereby avoiding the excessive wiping agent from contaminating the wiping device 3.
In one embodiment, as shown in fig. 4, the wiping device 3 further includes a wiping transverse driving member 304, the dust wiping seat 34 is mounted on an output end of the wiping transverse driving member 304, and the wiping transverse driving member 304 is configured to drive the dust wiping seat 34 to move along the Y-axis direction. The dust wiping driving member 36 is configured to drive the dust wiping wheel 35 to move along the Z-axis direction. It will be appreciated that the wiper cross drive 304 includes, but is not limited to, a linear motor, a screw nut mechanism, a pneumatic cylinder, a hydraulic cylinder, etc.; specifically, since the length of the portion of the cleaning member 100 to be cleaned that needs to be wiped is long, the wiping transverse driving member 304 can drive the dust wiping seat 34 to move along the Y-axis direction, so that the dust wiping wheel 35 can wipe a relatively long wiping area. Further, if a plurality of the cleaning members 100 are disposed below the wiping device 3, the lateral driving member may drive the wiping device 3 to wipe the plurality of the cleaning members 100. In this embodiment, the design of the transverse driving member improves the applicability and versatility of the wiping device 3.
In an embodiment, as shown in fig. 6 and 8, the dust wiping seat 34 is provided with a guide rail 305 disposed along the Z-axis direction, the wiping device 3 further includes a second elastic member 306, a slider 307, and an adjusting wheel 308 rotatably mounted on the slider 307, the slider 307 is slidably mounted on the guide rail 305, one end of the third elastic member 49 is connected to the dust wiping seat 34, the other end of the third elastic member 49 is connected to the slider 307, and the wiping belt 33 is wound around the adjusting wheel 308. It will be appreciated that the third resilient member 49 includes, but is not limited to, a tension spring or the like. Specifically, in the process that the dust wiping driving member 36 drives the dust wiping wheel 35 to move downwards, in order to avoid that the dust wiping wheel 35 pulls the wiping belt 33, the downwards moved wiping belt 33 drives the sliding block 307 provided with the adjusting wheel 308 to move downwards along the guide rail 305; when the dust wiping driving member 36 drives the dust wiping wheel 35 to move upwards, the elastic force of the stretched third elastic member 49 drives the sliding block 307 provided with the adjusting wheel 308 to move upwards along the guide rail 305, and in this embodiment, the design of the adjusting wheel 308 ensures that the wiping belt 33 is always wound on the driving wheel 37, the adjusting wheel 308 and the dust wiping wheel 35, thereby ensuring the normal operation of the wiping device 3.
In one embodiment, as shown in fig. 9 and 10, the dust-binding apparatus 4 includes a dust-binding rod 41, a dust-binding rod mounting base 42, a dust-binding transverse driving member 43, a dust-binding vertical driving member 44, a clamping jaw 45, and a clamping jaw mounting base 46; the vertical dust sticking driving piece 44 is installed at the output end of the horizontal dust sticking driving piece 43, the clamping jaw mounting seat 46 is installed at the output end of the vertical dust sticking driving piece 44, a plurality of dust sticking rods 41 are arranged on the clamping rod mounting seat 42, the clamping jaws 45 are installed on the clamping jaw mounting seat 46, and the clamping jaws 45 are used for clamping the dust sticking rods 41 on the clamping rod mounting seat 42. It will be appreciated that the dust-sticking transverse driving member 43 may drive the dust-sticking vertical driving member 44 to move along the Y-axis direction, the dust-sticking vertical driving member 44 may drive the clamping jaw mounting seat 46 to move along the Z-axis direction, and the dust-sticking transverse driving member 43 and the dust-sticking vertical driving member 44 may include, but are not limited to, a linear motor, a pneumatic cylinder, a hydraulic cylinder, a screw-nut mechanism, and the like. Preferably, the dust-sticking transverse driving member 43 and the dust-sticking vertical driving member 44 are both screw-nut mechanisms.
Specifically, the dust-sticking transverse driving member 43 drives the clamping jaw mounting seat 46 to move along the Y-axis direction, and when the clamping jaw 45 moves to a position right above the stick mounting seat 42, the dust-sticking vertical driving member 44 drives the clamping jaw mounting seat 46 to move downwards until the clamping jaw 45 clamps the dust-sticking rod 41 on the stick mounting seat 42, and then the dust-sticking transverse driving member 43 drives the clamping jaw mounting seat 46 to move along the Y-axis direction; when the conveying device 6 conveys the cleaning member 100 to the dust adhering station along the X-axis direction, and the clamping jaw mounting seat 46 moves to the dust adhering station, the vertical dust adhering driving member 44 drives the clamping jaw mounting seat 46 to move downwards until the dust adhering rod 41 clamped by the clamping jaw 45 adheres to dust on the cleaning member 100. In this embodiment, the dust-binding device 4 can automatically complete the dust-binding operation of the cleaning member 100, thereby improving the dust-binding efficiency and the dust-binding cleanliness.
In an embodiment, as shown in fig. 10, the dust-sticking device 4 further includes a positioning sensor 47, the positioning sensor 47 is mounted on the jaw mount 46, and the positioning sensor 47 is used for positioning the adhesive portion of the dust-sticking rod 41 clamped on the jaw 45. It will be appreciated that, in the process that the dust-sticking vertical driving member 44 drives the dust-sticking rod 41 to move downwards, the positioning sensor 47 can detect the spatial position of the bonding portion of the dust-sticking rod 41, and since the distance between the positioning sensor 47 and the cleaning member 100 is constant, the dust-sticking rod 41 can be accurately controlled to abut against the cleaning member 100 by the dust-sticking vertical driving member 44, and then the dust-sticking rod 41 can stick off dust on the cleaning member 100, so that the dust-sticking precision of the dust-sticking device 4 is improved, and the condition that the dust-sticking vertical driving member 44 drives the dust-sticking rod 41 to move downwards too much to damage the cleaning member 100 is avoided.
In an embodiment, as shown in fig. 10 and 11, the dust-sticking device 4 further includes a dust-sticking rotation driving member 48, and the clamping jaw 45 is mounted on the clamping jaw mounting seat 46 by the dust-sticking rotation driving member 48. It can be appreciated that the bonding portion of the dust-sticking rod 41 inserted on the mounting seat 42 faces upward (because the outer diameter of the bonding portion is relatively large, the bonding portion faces upward, so that the clamping jaw 45 can be guaranteed to smoothly draw the dust-sticking rod 41 from the mounting seat 42), and when the dust-sticking rod 41 clamped by the clamping jaw 45 sticks off dust on the cleaning member 100, the bonding portion of the dust-sticking rod 41 needs to face downward, so that the dust-sticking rotation driving member 48 needs to drive the clamping jaw 45 to rotate 180 degrees. In this embodiment, the design of the dust adhering rotary driving member 48 ensures that the clamping jaw 45 can smoothly withdraw the dust adhering rod 41 from the dust adhering rod mounting seat 42.
In an embodiment, as shown in fig. 11, the dust-binding apparatus 4 further includes a third elastic member 49, a connection post 401, and a connection block 402 provided with a through slot, the clamping jaw 45 is rotatably mounted at an output end of the dust-binding rotary driving member 48, the connection block 402 is fixedly mounted at an output end of the dust-binding rotary driving member 48, one end of the connection post 401 is connected with the clamping jaw 45, the other end of the connection post 401 extends into the through slot, the third elastic member 49 is sleeved on the connection post 401, and the third elastic member 49 is located between the clamping jaw 45 and the connection block 402. It will be appreciated that the third resilient member 49 includes, but is not limited to, a spring or the like. Specifically, when the vertical dust-sticking driving member 44 clamps the clamping jaw 45 of the dust-sticking rod 41 and moves towards the member to be cleaned 100, the dust-sticking rod 41 abuts against the member to be cleaned 100 and presses the clamping jaw 45 upwards, so that the clamping jaw 45 drives the connecting column 401 to rotate, the connecting column 401 compresses the third elastic member 49, the compressed third elastic member 49 can play a role of buffering the dust-sticking rod 41 and the member to be cleaned 100, an accident that the dust-sticking rod 41 and the member to be cleaned 100 are damaged is avoided, and the quality of the member to be cleaned 100 is improved.
In one embodiment, as shown in fig. 10, the dust-binding apparatus 4 further includes a reset sensing assembly including a transmitter 403 mounted on the jaw mount 46, and a sensing piece 404 mounted on the jaw 45; the sensing piece 404 is disposed opposite the emitter 403. It can be appreciated that, in the process that the dust adhering rotation driving member 48 drives the clamping jaw 45 to rotate, the sensing piece 404 will rotate along with the rotation of the clamping jaw 45, when the sensing piece 404 rotates into the groove of the emitter 403, the rotation angle of the clamping jaw 45 can be accurately obtained, and then the dust adhering rotation driving member 48 can accurately control the rotation angle of the clamping jaw 45. In this embodiment, the design of the reset sensing assembly ensures smooth operation of the dust-binding device 4.
In an embodiment, as shown in fig. 10, the dust-sticking apparatus 4 further includes a stick sensor 405 for detecting whether the stick 41 is held on the jaw 45, the stick sensor 405 is mounted on the jaw mount 46, and the jaw 45 is located between the stick sensor 405 and the positioning sensor 47. As will be appreciated, when the clamping jaw 45 clamps the dust stick 41 from the stick mount 42, the clamping jaw 45 may not clamp to the dust stick 41, and in order to avoid a malfunction caused by the clamping jaw 45 not clamping to the dust stick 41, a stick sensor 405 (preferably a laser sensor) is disposed above the clamping jaw 45, and when the stick sensor 405 shields a sensing laser beam emitted by the stick sensor 405, it is indicated that the clamping jaw 45 has clamped to the dust stick 41; when the laser beam emitted from the stick sensor 405 cannot be blocked by the stick 41, it is indicated that the grip 45 does not grip the stick 41. In this embodiment, the design of the stick sensor 405 ensures smooth operation of the dust-sticking device 4.
In one embodiment, as shown in fig. 1, the stick mounting base 42 includes a rotating member and a stick base provided with a socket, the stick base is mounted on an output end of the rotating member, and the dust stick 41 is inserted into the socket. As can be appreciated, the stick holder has a cylindrical structure, and a plurality of insertion grooves are arranged along the circumferential direction of the stick holder, and the dust stick 41 is inserted into the insertion grooves; the rotating member can drive the stick-sticking seat to rotate, so that the inserting groove inserted with the dust-sticking stick 41 aligns with the clamping station of the clamping jaw 45, thereby ensuring that the clamping jaw 45 can clamp to the dust-sticking stick 41 from the stick-sticking mounting seat 42.
In an embodiment, as shown in fig. 4, the dust-sticking device 4 further includes a stick vision camera 406 for detecting whether the stick 41 is inserted into the insertion slot. It will be appreciated that the dust stick 41 is manually inserted into the insertion groove, and some of the insertion grooves may not be inserted into the dust stick 41 due to manual errors; the stick vision camera 406 may capture a real-time image of the stick mounting base 42, and compare the real-time image with a preset image to determine whether the dust stick 41 is inserted into the insertion slot rotated to the clamping station; if the stick vision camera 406 detects that the insertion groove in the clamping station does not have the dust stick 41, the rotating member will drive the stick seat to rotate by a preset angle until the stick vision camera 406 detects that the insertion groove inserted with the dust stick 41 rotates to the clamping station. In this embodiment, the design of the stick vision camera 406 further ensures smooth operation of the dust-sticking device 4.
In an embodiment, the dust-sticking apparatus 4 further includes a waste rod box for storing the waste dust-sticking rods 41, the waste rod box being disposed opposite to the dust-sticking rods 41. As will be appreciated, after the dust stick 41 sticks out dust on the cleaning member 100, the dust transverse driving member 43 and the dust vertical driving member 44 drive the clamping jaw 45 to move above the waste stick box, and the clamping jaw 45 drops the dust stick 41 clamped by the clamping jaw 45 into the waste stick box. In this embodiment, the waste rod box is designed to facilitate recovery of the dust stick 41.
As shown in fig. 12, another embodiment of the present invention further provides a cleaning method applied to the cleaning apparatus, including:
s100, when the feeding assembly 12 conveys the to-be-cleaned piece 100 to a blowing station, controlling the dust blowing assembly 11 to blow the to-be-cleaned piece 100 on the feeding assembly 12; as can be appreciated, the feeding assembly 12 conveys the cleaning member 100 to the blowing station along the X-axis direction, and the cleaning wind blown by the dust blowing assembly 11 can blow away the foreign matters attached to the cleaning member 100.
S200, controlling a feeding manipulator device to convey the cleaned piece 100 which is purged on the feeding assembly 12 to a conveying device 6; as can be appreciated, the blowing and sucking device 1 conveys the cleaned object 100 after purging to the feeding station of the feeding manipulator device 2 along the X-axis direction, and the feeding manipulator device 2 may convey the cleaned object 100 on the feeding assembly 12 to a plurality of conveying devices 6.
S300, when the conveying device 6 conveys the to-be-cleaned piece 100 to a wiping station, controlling the wiping device 3 to wipe a preset wiping part of the to-be-cleaned piece 100; as will be appreciated, when the transport device 6 transports the cleaning member 100 in the X-axis direction to the wiping station, the wiping device 3 will wipe off foreign substances from the cleaning member 100 with the wiping belt 33 to which the wiping agent is adhered. Further, since the plurality of the transmission devices 6 are arranged below the wiping device 3, the screen detection device and the dust adhering device 4 in parallel and at intervals along the Y-axis direction, the wiping device 3 can wipe the cleaning pieces 100 on the transmission devices 6 at different positions, thereby improving the working efficiency of the wiping device 3.
S400, when the transmission device 6 conveys the cleaned piece 100 to a detection station, controlling the visual detection device 5 to detect the cleaned piece 100; as can be appreciated, the visual inspection device 5 can detect whether the foreign matters are present at the long side and the short side of the cleaning member 100 when the conveying device 6 conveys the cleaning member 100 to the inspection station in the X-axis direction.
S500, when the conveying device 6 conveys the detected to-be-cleaned piece 100 to a dust adhering station, the dust adhering device 4 is controlled to adhere an uncleaned part detected by the visual detection device 5; it will be appreciated that the visual inspection device 5 may detect that the cleaning part is a cleaning part that is further provided with impurities on the discharging cleaning member 100, and the dust adhesion device 4 is operated according to the uncleaned part to adhere the impurities remaining on the cleaning member 100 by using the dust adhesion rod 41.
Further, after the dust adhering device 4 adheres the cleaning member 100, the conveying device 6 may convey the cleaning member 100 to the detection station again, the visual detection device 5 detects whether the impurity on the uncleaned portion is adhered, if the impurity exists in the uncleaned portion, the conveying device 6 may convey the cleaning member 100 to the dust adhering station, and the dust adhering device 4 may perform the dust adhering station again on the uncleaned portion where the impurity exists.
And S600, controlling the conveying device 6 to convey the dust-adhered to the cleaning piece 100 to a blanking station. It will be appreciated that the conveyor 6 conveys the cleaning members 100 in the X-axis direction to a blanking station, so that the blanking station conveys the cleaning members 100 that have been cleaned.
In the invention, the cleaning method can sequentially complete the purging work, the wiping work and the dust adhering work of the to-be-cleaned piece 100, thereby ensuring the cleanliness of the to-be-cleaned piece 100.
In one embodiment, before the control feeding robot delivers the cleaned part 100 purged on the feeding assembly 12 to the conveying device 6 (i.e. before step S100), the control feeding robot further includes:
detecting the front quality of the to-be-cleaned piece 100 on the feeding assembly line 7 to remove the to-be-cleaned piece 100 with unqualified front quality on the feeding assembly line 7; it will be appreciated that whether the front surface of the cleaning member 100 on the feeding line 7 is acceptable may be manually detected, and whether the front surface of the cleaning member 100 on the feeding line 7 is acceptable may be automatically detected by a vision camera.
When the feeding assembly line 7 conveys the cleaning member 100 with qualified front quality to the feeding overturning station, the feeding overturning device 8 is controlled to forward overturn the cleaning member 100 by 180 degrees and then place the cleaning member on the conveying assembly. It will be appreciated that the feeding assembly 12 and the cleaning member 100 conveyed on the conveying device 6 are both back-up, so that the dust blowing assembly 11, the wiping device 3 and the dust adhering device 4 can clean the back of the cleaning member 100.
Further, after the conveying device 6 is controlled to convey the cleaning member 100 with dust adhering thereto to the blanking station (i.e. step S600), the cleaning device further includes:
controlling a discharging manipulator to convey the cleaning pieces 100 conveyed to the discharging station by the conveying devices 6 to the discharging turnover device 9; it will be appreciated that the outfeed robot may place the cleaning elements 100 on different conveyors 6 on the same outfeed flipping device 9.
The discharging turnover device 9 is controlled to reversely turn the to-be-cleaned piece 100 for 180 degrees and then is placed on the discharging assembly line 101; it will be appreciated that the front surface of the cleaning member 100 faces upward after the cleaning member 100 is turned upside down by 180 degrees.
The discharging line 101 is controlled to convey the cleaning member 100 to the discharging port. It will be appreciated that the discharge port collects the cleaning members 100 in an upward direction, thereby facilitating the collection of the cleaning members 100.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The cleaning equipment is characterized by comprising a blowing and sucking device, a feeding manipulator device, a wiping device, a dust adhering device, a visual detection device and a plurality of parallel and spaced conveying devices;
The blowing and sucking device comprises a dust blowing component and a feeding component for conveying the to-be-cleaned piece, and the dust blowing component is used for blowing the to-be-cleaned piece on the feeding component;
the feeding mechanical arm device is used for conveying the cleaned piece which is purged on the feeding assembly to the conveying device;
the transmission device is arranged opposite to the wiping device, the visual detection device and the dust adhering device, and is used for conveying the to-be-cleaned piece among the wiping device, the visual detection device and the dust adhering device; the conveying device comprises a conveying driving piece and a rotary adsorption platform for adsorbing the to-be-cleaned piece, the rotary adsorption platform is arranged at the output end of the conveying driving piece, and the conveying driving piece is used for moving the rotary adsorption platform along the X-axis direction;
the wiping device is used for wiping the to-be-cleaned piece on the conveying device; the visual detection device is used for detecting the to-be-cleaned piece on the transmission device; the dust adhering device is used for adhering and removing impurities on the to-be-cleaned piece.
2. The cleaning apparatus of claim 1, further comprising a feed line, a feed inverter, a discharge inverter, and a discharge line; the feeding turnover device is used for forward turning the to-be-cleaned piece on the feeding assembly line by 180 degrees, and the feeding assembly is also used for forking the to-be-cleaned piece on the feeding turnover device;
The discharging turnover device is used for reversely turnover the to-be-cleaned piece on the conveying device by 180 degrees and then placing the to-be-cleaned piece on the discharging assembly line.
3. The cleaning apparatus of claim 2, wherein the feed turnover device comprises a feed turnover driving member and a feed adsorption platform for adsorbing the cleaning member, and an output end of the feed turnover driving member is connected to the feed adsorption platform;
the discharging turnover device comprises a discharging turnover driving piece and a discharging adsorption platform for adsorbing the piece to be cleaned, and the output end of the discharging turnover driving piece is connected with the discharging adsorption platform.
4. The cleaning apparatus of claim 2, further comprising an outfeed robot device for delivering the cleaning member on the conveyor to the infeed inverter device.
5. The cleaning apparatus of claim 1, wherein the feed assembly comprises a feed drive, a feed lift drive, and a feed fork having a feed suction aperture; the feeding jacking driving piece is arranged at the output end of the feeding driving piece, and the feeding fork is arranged at the output end of the feeding jacking driving piece; the feeding adsorption hole is used for adsorbing the to-be-cleaned piece, the feeding jacking driving piece is used for moving the feeding fork along the Z-axis direction, and the feeding driving piece is used for moving the feeding jacking driving piece along the X-axis direction.
6. The cleaning apparatus according to claim 1, wherein the visual inspection device includes a long side inspection group for inspecting a long side of the cleaning member and a short side inspection group for inspecting a short side of the cleaning member; the long side detection group comprises a first visual camera and a second visual camera which are arranged at intervals, and the short side detection group comprises a third visual camera and a fourth visual camera which are arranged at intervals.
7. The cleaning apparatus of claim 1, wherein the wiping device comprises a new reel, an old reel, a wiping belt, a dust wiping seat, a dust wiping wheel, a dust wiping drive, and a plurality of drive wheels; the new reel, the old reel and the driving wheel are all rotatably arranged on the dust wiping seat, the dust wiping driving piece is arranged on the dust wiping seat, and the dust wiping wheel is arranged at the output end of the dust wiping driving piece; one end of the wiping belt is connected with the new belt disc, the other end of the wiping belt is wound around the driving wheel and the dust wiping wheel and then connected with the old belt disc, and the dust wiping driving piece is used for driving the wiping belt to wipe the piece to be cleaned through the dust wiping wheel.
8. The cleaning apparatus of claim 1, wherein the dust binding device comprises a dust binding rod, a dust binding rod mount, a dust binding transverse drive, a dust binding vertical drive, a jaw, and a jaw mount; the vertical dust-binding driving piece is installed at the output end of the horizontal dust-binding driving piece, the clamping jaw mounting seat is installed at the output end of the vertical dust-binding driving piece, a plurality of dust-binding rods are arranged on the clamping jaw mounting seat, the clamping jaws are installed on the clamping jaw mounting seat, and the clamping jaws are used for clamping the dust-binding rods on the clamping jaw mounting seat.
9. A cleaning method applied to the cleaning apparatus as claimed in any one of claims 1 to 8, comprising:
when the feeding component conveys the to-be-cleaned piece to the purging station, controlling the dust blowing component to purge the to-be-cleaned piece on the feeding component;
controlling a feeding mechanical arm device to convey the cleaned piece on the feeding assembly to a conveying device;
when the conveying device conveys the to-be-cleaned piece to a wiping station, a wiping device is controlled to wipe a preset wiping part of the to-be-cleaned piece;
when the transmission device conveys the cleaned piece to a detection station, controlling a visual detection device to detect the cleaned piece;
when the conveying device conveys the detected piece to be cleaned to a dust adhering station, the dust adhering device is controlled to adhere the uncleaned part detected by the visual detection device;
and controlling the conveying device to convey the dust-adhered cleaning piece to a blanking station.
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| CN115430669B (en) * | 2022-09-02 | 2023-03-17 | 浙江金连接科技股份有限公司 | Automatic chip blowing device and method for linear probe sleeve |
| CN115351007B (en) * | 2022-10-20 | 2023-01-24 | 歌尔股份有限公司 | Screen cleaning system and screen assembling equipment |
| CN115870295B (en) * | 2022-12-05 | 2023-10-03 | 苏州天准科技股份有限公司 | Full-automatic cleaning device and method for lower surface of glass lens in carrier |
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| CN109550718A (en) * | 2018-12-29 | 2019-04-02 | 大族激光科技产业集团股份有限公司 | A kind of wiping arrangement |
| CN110076140A (en) * | 2019-04-03 | 2019-08-02 | 东莞广达智能科技有限公司 | Camera module cleaning equipment |
| CN111790693A (en) * | 2019-04-05 | 2020-10-20 | 先进科技新加坡有限公司 | Automatic particle removal system |
| CN210884106U (en) * | 2019-08-12 | 2020-06-30 | 惠州帆声智创科技有限公司 | Screen turnover device |
| CN110947698A (en) * | 2019-12-19 | 2020-04-03 | 深圳市鹰眼在线电子科技有限公司 | Electronic product surface dirt cleaning device and online optical detector |
| CN111158176A (en) * | 2020-01-21 | 2020-05-15 | 苏州凌云视界智能设备有限责任公司 | Clean system of liquid crystal display screen delivery |
| CN113610919A (en) * | 2021-07-30 | 2021-11-05 | 深圳明锐理想科技有限公司 | Attitude correction method and attitude correction system for dust sticking device |
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