CN115872147A - Blanking manipulator module, blanking method thereof and full-automatic brushing plate cleaning equipment - Google Patents

Abstract

The invention relates to the technical field of camera modules, and provides a blanking manipulator module which comprises a first driver, a second driver, a third driver, a fourth driver and a fifth driver, wherein the first driver is used for driving in the X-axis direction, the second driver is used for driving in the Y-axis direction, the third driver is used for driving in the Z-axis direction, the fourth driver is used for driving in the Z-axis direction, the fifth driver is used for driving in the Z-axis direction, the second driver drives the first driver to move, the first driver drives the third driver to move, the third driver drives the fourth driver to move, the fourth driver drives the fifth driver to move, and the fifth driver is provided with a manipulator used for clamping a support plate. Still provide a full-automatic brush board cleaning device. The blanking method of the blanking manipulator module is also provided. The invention adopts three drivers driven in the Z-axis direction, can ensure that the manipulator can completely cover the carrier plate and stably and reliably grab the carrier plate.

Description

Blanking manipulator module, blanking method thereof and full-automatic brushing plate cleaning equipment

Technical Field

The invention relates to the technical field of camera modules, in particular to a blanking manipulator module, a blanking method thereof and full-automatic brushing plate cleaning equipment.

Background

In the production process of the camera module field, the biggest problem is the control of dirty points, also called Particle control.

Particularly, after the CSP chip is mounted by the SMT process, the surface of the chip is not good at 80% of dirty points. The conventional practice is the ultrasonic wave, transport to semi-automatic board brushing machine after plasma cleaning is brushed the back by artifical material loading and is placed in material storage water tank by the manual work for a short time and save, then further get rid of and wash, because partial personnel leak and the material is placed storage water tank and is untimely lead to harmful effects, and semi-automatic board brushing equipment can't accomplish sealedly to brushing in-process water smoke, seriously influence hundred grades of dustless workshop environment, huge harmful loss and manpower loss have been brought for the enterprise, also let the customer group appear the confidence not enough to the enterprise simultaneously, cause the customer loss even under the severe condition.

In addition, the automatic degree of the blanking mechanism of the existing semi-automatic plate brushing machine is not high, the blanking mechanism cannot grab accurately, and the requirement of full-automatic plate brushing cannot be met.

Disclosure of Invention

The invention aims to provide a blanking manipulator module, a blanking method thereof and full-automatic brush plate cleaning equipment, which can at least solve part of defects in the prior art.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions: the utility model provides a feeding mechanical arm module, is including being used for at the first driver of X axle direction upper drive, being used for at Y axle direction upper drive second driver, be used for at Z axle direction upper drive third driver, be used for at Z axle direction upper drive fourth driver and be used for at Z axle direction upper drive fifth driver, the second driver drives first driver removes, first driver drives the third driver removes, and the third driver drives the fourth driver removes, the fourth driver drives the fifth driver removes, install the manipulator that is used for pressing from both sides the support plate on the fifth driver.

Further, the manipulator comprises a rest table for placing the carrier plate and a clamping jaw assembly for clamping the carrier plate on the rest table.

Further, the clamping jaw assembly comprises a plurality of first clamping jaws used for pressing the outer edge of the carrier plate on the placing table and a first driving piece used for driving each first clamping jaw to move towards the direction close to or away from the placing table.

Further, the clamping jaw assembly further comprises a second clamping jaw used for pressing the inner edge of the carrier plate on the placing table and a second driving piece used for driving the second clamping jaw to move towards the direction close to or far away from the placing table.

Furthermore, the second clamping jaw is a circular clamping jaw, the placing table is also provided with the circular clamping jaw, and the two opposite circular clamping jaws are matched to clamp the inner edge of the carrier plate.

Further, the rest includes two side walls that are outwardly flared to assume a flared configuration.

The embodiment of the invention provides another technical scheme: the utility model provides a full-automatic brush board cleaning device, includes material storage water tank and foretell unloading manipulator module, unloading manipulator module puts into the support plate in the magazine in the material storage water tank.

Furthermore, a plurality of material boxes are arranged in the blanking manipulator module, and the material boxes are sequentially arranged along the Y-axis direction.

And the blanking manipulator module is used for taking materials from the blanking rotary module.

The embodiment of the invention provides another technical scheme: the blanking method of the blanking manipulator module comprises the following steps:

s1, the first driver and the second driver act to rapidly bring the manipulator to a material taking position;

s2, the third driver acts to quickly bring the manipulator to the vicinity of the carrier plate;

s3, the fourth driver acts to bring the manipulator to contact the carrier plate;

s4, the fifth driver acts to drive the manipulator to comprehensively grab the carrier plate;

s5, the third driver, the fourth driver and the fifth driver return to the original positions and are actuated by the first driver and the second driver, and the manipulator which grabs the carrier plate is brought to a blanking position;

s6, the third driver, the fourth driver and the fifth driver are matched to place the carrier plate into the groove of the material box

Compared with the prior art, the invention has the beneficial effects that: adopt three driver of drive in the Z axle direction, wherein the third driver can make the manipulator reach the position near the support plate fast, the material precision of getting has been improved, the fourth driver can slowly and accurately send the manipulator to the contact support plate, and the fifth driver takes the manipulator to remove in the Z axle direction again, can ensure that the manipulator can cover the support plate comprehensively, steadily and reliably grab the support plate, compare in current conventional manipulator grabbing, the support plate is grabbed to this module more easily and more accurately, and put down the microscope carrier, when being about to put into material storage water tank to the support plate, the cooperation action in three Z axle directions can ensure that the support plate inserts in the magazine in the material storage water tank, even the support plate has taken place the deformation, also can insert the support plate in the magazine slowly.

Drawings

Fig. 1 is a schematic flow chart of a fully automatic brush plate cleaning device according to an embodiment of the present invention;

fig. 2a is a schematic diagram of an automatic feeding module of a full-automatic brushing plate cleaning device according to an embodiment of the present invention (five material boxes are shown);

fig. 2b is a schematic diagram of an automatic feeding module of a full-automatic brush plate cleaning device according to an embodiment of the present invention (three material boxes are shown);

FIG. 2c is an enlarged partial schematic view of FIG. 2 b;

FIG. 3a is a schematic view of a feeding mechanism and an empty material storage box of a full-automatic board brushing cleaning device according to an embodiment of the present invention;

fig. 3b is a schematic diagram (showing a material box) of a material box taking device of a feeding mechanism of a full-automatic brush board cleaning device according to an embodiment of the invention;

fig. 3c is a schematic view of a feeding and pushing device of a feeding mechanism of a full-automatic brush board cleaning device according to an embodiment of the present invention;

fig. 3d is a schematic diagram of a material box taking device of a feeding mechanism of a full-automatic brush board cleaning device provided by an embodiment of the invention (a material box is not shown);

FIG. 3e is a partially enlarged schematic view of FIG. 3 d;

fig. 4a is a schematic partial structural view of a brushing board carrying platform of a full-automatic brushing board cleaning device according to an embodiment of the present invention;

fig. 4b is a schematic view of a first viewing angle of a carrier plate carrying platform of a brush plate carrying platform of the full-automatic brush plate cleaning apparatus according to the embodiment of the present invention;

fig. 4c is a second perspective view of a carrier plate supporting platform of a brush plate carrier of the full-automatic brush plate cleaning apparatus according to the embodiment of the present invention;

fig. 4d is a schematic view of a lower stage of a carrier plate bearing platform of a brush plate stage of the full-automatic brush plate cleaning device according to the embodiment of the present invention;

fig. 4e is a schematic view of an upper stage of a carrier plate bearing platform of a brush plate stage of the full-automatic brush plate cleaning device according to the embodiment of the present invention;

FIG. 4f is an enlarged partial schematic view (from another perspective) of FIG. 4 a;

FIG. 4g is an enlarged partial schematic view (from another perspective) of FIG. 4 a;

FIG. 5a is a schematic diagram of a bristle wheel cleaning mechanism of a fully automatic brush plate cleaning device according to an embodiment of the present invention;

FIG. 5b is a schematic diagram of a full-automatic brush board cleaning device according to an embodiment of the present invention, in which a cover plate of a brush wheel cleaning mechanism is removed;

FIG. 5c is an enlarged partial view of FIG. 5 b;

FIG. 5d is a schematic diagram of a water-blade removing assembly and a wind-blade removing assembly of a bristle wheel cleaning mechanism of a fully automatic brush plate cleaning device according to an embodiment of the present invention;

fig. 6a is a schematic diagram of a brush plate carrier, a brush wheel cleaning mechanism, a cleaning agent supply mechanism, a water collecting tank, a blanking rotating module, and a material storage water tank of the full-automatic brush plate cleaning device according to the embodiment of the present invention;

FIG. 6b is a schematic view of an alternative view of FIG. 6 a;

FIG. 6c is a schematic view from another perspective of FIG. 6 a;

FIG. 6d is a schematic view from another perspective of FIG. 6 a;

FIG. 7a is a schematic diagram of a cleaning agent supply mechanism of a fully automatic brush board cleaning device according to an embodiment of the present invention;

FIG. 7b is a schematic view of FIG. 7a with the cover removed;

fig. 8a is a schematic view of a first viewing angle of a blanking rotating module of a full-automatic brushing board cleaning apparatus according to an embodiment of the present invention (a state where a carrier board is turned over by 90 °);

fig. 8b is a schematic diagram of a second view angle of the blanking rotating module of the full-automatic brush board cleaning apparatus according to the embodiment of the present invention (the carrier board is turned by 90 °);

fig. 8c is a partially enlarged schematic view of a blanking rotating module of the full-automatic brush board cleaning apparatus according to the embodiment of the present invention (the carrier board is not turned over);

fig. 9a is a schematic view of a first viewing angle of a feeding manipulator module of a full-automatic brush board cleaning apparatus according to an embodiment of the present invention;

fig. 9b is a schematic diagram of a second view angle of the feeding manipulator module of the full-automatic brush board cleaning device according to the embodiment of the present invention;

fig. 9c is a partially enlarged schematic view of a blanking manipulator module of the full-automatic brush plate cleaning device according to the embodiment of the present invention;

fig. 9d is a partially enlarged schematic view of another view of the feeding manipulator module of the fully automatic brush plate cleaning apparatus according to the embodiment of the present invention;

fig. 9e is a schematic view of a carrier plate of a feeding manipulator module of a full-automatic brushing board cleaning device according to an embodiment of the present invention during a grabbing process (the carrier plate only grabs a portion);

FIG. 9f is an enlarged partial view of FIG. 9 e;

FIG. 10a is a schematic view of a material storage tank of a fully automatic brush plate cleaning device according to an embodiment of the present invention;

FIG. 10b is a schematic view of a material storage tank of a fully automatic brush plate cleaning apparatus according to an embodiment of the present invention with a housing removed;

FIG. 10c is a schematic view of a material storage tank of a fully automatic brush plate cleaning apparatus with a housing and a water tank removed according to an embodiment of the present invention;

FIG. 10d is a partial schematic view of the material storage tank of the fully automatic brush plate cleaning device according to the embodiment of the present invention with a material box removed;

FIG. 10e is a schematic view of the bottom of the material storage tank of the fully automatic brush plate cleaning apparatus according to the embodiment of the present invention;

FIG. 10f is a schematic view of an air inlet joint and a sealing structure of a material storage water tank of the full-automatic brush board cleaning device according to the embodiment of the invention;

fig. 11 is a schematic view of an empty material box storage box of the full-automatic brush board cleaning device according to the embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, an embodiment of the present invention provides a full-automatic board brushing cleaning apparatus, including a feeding mechanism, a board brushing carrier, a cleaning device, a discharging mechanism, and a material storage water tank. The feeding mechanism is used for conveying the carrier plate with the attached product to the brushing board carrying platform; the board brushing carrier is used for clamping the carrier board, carrying the carrier board to pass through the cleaning device, processing the carrier board by the cleaning device, and conveying the carrier board to the blanking mechanism after the processing is finished; the blanking mechanism is used for taking the carrier plate treated by the cleaning device out of the brushing board carrying platform and putting the carrier plate into the material storage water tank; and the material storage water tank is used for temporarily soaking and storing the carrier plate. In this embodiment, establish on an automated production line through establishing cleaning device and material storage water tank, reduce personnel's leakage and place the material in storage water tank untimely, solved semi-automatic cleaning equipment in addition and need artifically get the defect that the material brought from top to bottom, automated production also greatly improved production efficiency than traditional semi-automatic production simultaneously, stability and reliability is also higher moreover. Specifically, the product is pasted on the support plate to be cleaned, the loading mechanism can convey the support plate to the brushing plate carrying platform one by one, the brushing plate carrying platform can be closed up and down to clamp the support plate, the support plate is conveyed in the flowing direction of the automatic production line, the cleaning device can be used for cleaning during conveying, the support plate is conveyed to a discharging area after the cleaning process of the cleaning device, the brushing plate carrying platform is opened up and down in the discharging area, the support plate is taken out of the brushing plate carrying platform by the discharging mechanism, and then the support plate is conveyed to the material storage water tank by the discharging mechanism to be temporarily stored. Preferably, the brush board carrying platform can drive the carrying plate to swing, the swinging direction can be perpendicular to the conveying direction of the brush board carrying platform, for example, the conveying direction of the brush board carrying platform is the X-axis direction, and the swinging direction can be the Y-axis direction, so that when the carrying plate passes through the cleaning device, the cleaning device can clean in multiple directions, and the cleaning effect can be improved.

The first embodiment is as follows:

referring to fig. 2a, 2b and 2c, an embodiment of the invention provides an automatic feeding module, including a box 101 for placing a material cartridge 100 and a driving member for moving a position of the material cartridge 100 in the box 101, wherein the box 101 has a material taking position 102 and a plurality of placement positions 103 for placing the material cartridge 100, the material taking position 102 and each placement position 103 are sequentially arranged, and the material taking position 102 is disposed adjacent to one of the placement positions 103; the direction of the placement locations 103 to the dispensing locations 102 corresponds to the direction of the drive for moving the magazine 100 from one of the placement locations 103 into the dispensing location 102. In this embodiment, the material taking positions 102 and the plurality of mounting positions 103 are arranged in sequence, and the material supplementing mechanism for supplementing one material box 100 by taking one material box 100 away can be realized through the matching of the driving part, so that the operation efficiency is greatly improved, and a foundation is laid for the full-automatic operation of the whole machine. This box 101 is used for depositing magazine 100, has filled water or other solvents in the box 101, keeps the preliminary cleanness of the support plate in magazine 100, for example can handle some floating, easily dissolved dirt etc. and still not cleaned through cleaning device, only preliminary cleanness this moment. The box 101 has a plurality of placement locations 103, such as the five placement locations 103 shown in the figure of this embodiment, five magazine 100 can be placed at the same time, and each magazine 100 can also have a plurality of carrier plates, so that a large number of carrier plates can be transferred to the next process, and the carrier plates can be automatically operated for a long time (i.e. the time for performing the automatic cleaning operation on the products on the carrier plates can be long). After the device is started, the feeding mechanism takes the prepared magazine 100 from the material taking position 102, at this time, the material taking position 102 is empty, and the driving member moves the other magazines 100 arranged on the position 103 to the material taking position 102 so as to be convenient for the feeding mechanism to take the magazine 100 again. The automatic material supplementing module can provide initial auxiliary preparation for full-automatic cleaning, is the basis for the non-stop work of equipment, and can greatly improve the efficiency. Preferably, the driving member is used for conveying the material boxes 100 in the placement positions 103 adjacent to the material taking positions 102, so that time can be saved, the material boxes can be moved by a simple translation motion, naturally, it is feasible to place the material boxes 100 on other placement positions 103 onto the material taking positions 102, and a manipulator capable of moving in the Z-axis direction is used for realizing accurate grabbing.

As an optimized solution of the embodiment of the present invention, please refer to fig. 2a, fig. 2b and fig. 2c, the driving member includes a holding assembly 104 for holding the cartridge 100 and a moving assembly 105 for driving the cartridge 100 to move. In this embodiment, the cartridge 100 may be held by the holding assembly 104, and then the cartridge 100 may be driven to move by the moving assembly 105 to deliver the held cartridge 100 to the pick location 102.

To further optimize the above solution, referring to fig. 2a, fig. 2b and fig. 2c, two of the clamping assemblies 104 are respectively disposed at two ends of the box 101, and a direction between the two clamping assemblies 104 is the same as a driving direction of the driving member. In this embodiment, two sets of clamping assemblies 104 may be employed to cooperatively clamp a plurality of cartridges 100. When the magazine 100 is held and the magazine 100 is moved, one magazine 100 may be held, or the magazine 100 may be entirely held and then moved to the position of the placement position 103, so that the second method may improve the efficiency. In order to avoid the situation that the magazine 100 is too much to clamp or deform during the entire clamping, the clamping members 104 may be provided at both ends.

To further optimize the above solution, referring to fig. 2a, fig. 2b and fig. 2c, the clamping assembly 104 includes an air cylinder and two clamping arms oppositely disposed, and a clamping area capable of clamping the magazine 100 is formed between the two clamping arms. In this embodiment, a pneumatic cylinder may be used to push the clamping arms closer or farther away for the purpose of clamping cartridge 100 or releasing cartridge 100. The centre gripping arm can be as required do a plurality of linkages, like in this embodiment, has designed first centre gripping arm 106 and second centre gripping arm 107, and first centre gripping arm 106 drives second centre gripping arm 107 and removes, and first centre gripping arm 106 is higher a bit than second centre gripping arm 107, has made things convenient for the cylinder drive.

As an optimized solution of the embodiment of the present invention, referring to fig. 2a, fig. 2b and fig. 2c, the moving assembly 105 includes a servo motor, and can provide a driving force in the form of a motor, a driving wheel and a belt, and then displace the magazine 100 by using a screw transmission or other transmission manners. Of course, in addition, an electric push rod, an air cylinder, etc. may also be used to realize driving, which is not limited in this embodiment.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 2a, fig. 2b, and fig. 2c, a material box rack 108 is disposed in the box body 101, the placement position 103 is disposed on the material box rack 108, and the material taking position 102 is located at one side of the material box rack 108. In this embodiment, the magazine rack 108 may be used to place the magazines 100 such that the magazine rack 108 is sized to allow the above-mentioned pick-up location 102 in the magazine 101. On the other hand, the purpose of the magazine rack 108 is to facilitate the clamping mechanism to clamp the magazine rack 108 together, so that a plurality of magazines 100 can move more smoothly, and the magazine rack 108 can avoid damaging the magazines 100 compared with the magazine rack 100 directly clamped. The magazine rack 108 is provided within the magazine body 101, which also has a certain length, so that the use of two clamping mechanisms ensures that the magazine rack 108 is clamped in place. The second gripper arm 107 described above can grip the magazine rack 108.

In order to further optimize the above solution, referring to fig. 2a, fig. 2b and fig. 2c, the magazine rack 108 includes a side frame 109 and a bottom frame 110, the side frame 109 and the bottom frame 110 enclose to form a frame structure, and the placement position 103 is disposed on the bottom frame 110. In this embodiment, the upper side of the box body 101 is open, and the magazine rack 108 is also open to facilitate the insertion of the magazine 100. Preferably, there are a plurality of side frames 109, and the base frame 110 and two side frames 109 arranged opposite to each other form a mounting position 103. The number of side frames 109 can thus be selected according to the number of magazines 100. When the material box is clamped specifically, the two oppositely arranged clamping arms are closed to extrude the two oppositely arranged side frames 109, the two side frames 109 can be matched with the material box 100 in the material box to be clamped, and the moving component 105 drives the clamping arms to move to drive the side frames 109 to move. The chassis 110 may not be movable.

In order to further optimize the above solution, referring to fig. 2a, fig. 2b and fig. 2c, the side frame 109 includes a vertical plate 111 and two baffles 112 disposed at two vertical lateral edges of the vertical plate 111, and the two baffles 112 are outwardly opened toward the vertical plate 111 to form a flared arrangement. In this embodiment, the expanded configuration facilitates the placement of magazine 100 into seating 103 by the worker. The two baffles 112 may be oriented perpendicular to the riser 111 relative to the baffles 112 or may be slotted to facilitate insertion of the cartridge 100 into the cartridge holder 108.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 2a, fig. 2b, and fig. 2c, a notch 113 is disposed on a side of the material taking position 102 away from the setting position 103, and the notch 113 is disposed in the box 101. In this embodiment, the notch 113 is provided to facilitate the feeding mechanism to extend into the box 101 to grab the magazine 100. The magazine 100 is formed in a cubic shape having a certain thickness, and the magazine 100 can be easily grasped by the feed mechanism protruding into the case 101. The magazine 100 has a plurality of grooves therein, and both end surfaces of the magazine 100 are open, so that the carrier plate can be conveniently inserted into the grooves from the openings.

As an optimized solution of the embodiment of the present invention, please refer to fig. 2a, fig. 2b, and fig. 2c, which further includes a circulation structure for water circulation in the tank 101. Preferably, the circulating structure includes a water tank 114 disposed on a side surface of the box 101, the water tank 114 serves as the baffle 112 on the side surface of the box 101, and a tank wall of the water tank 114 close to the inside of the box 101 is lower than an opposite tank wall. In this embodiment, the water in the tank 101 can flow into the water tank 114 from the lower tank wall, and after entering the water tank 114, the water is discharged from the water discharge hole at the bottom of the water tank 114, while on the other hand, the water is continuously replenished into the water tank, so as to ensure that the water in the water tank is always in a flowing circulation.

As an optimized solution of the embodiment of the present invention, please refer to fig. 2a, fig. 2b and fig. 2c, an inductor 115 for inducing the magazine 100 is disposed in the box 101. In this embodiment, the sensor 115 can sense whether the material box 100 in the box 101 reaches the material taking position 102, so as to prevent the material taking device of the material box 100 from running empty.

Example two:

referring to fig. 3a, fig. 3b, fig. 3c, fig. 3d, and fig. 3e, an embodiment of the present invention provides a feeding mechanism, which includes a material box taking device 200 and a feeding and pushing device 201 for pushing a carrier plate grasped by the material box taking device 200 onto a brush plate carrying platform, where the material box taking device 200 includes a manipulator for grasping a material box and a driving element for driving the manipulator to move in an X-axis direction and a Z-axis direction, and a pushing direction of the feeding and pushing device 201 is a Y-axis direction. In this embodiment, the movement in the two directions of the X axis and the Z axis is provided, so that the magazine is accurately and rapidly taken out from the automatic material supplementing module 211, and then the feeding and pushing device 201 is matched to push the carrier plate in the magazine to the brush plate carrier, and the matching of the feeding and pushing device and the brush plate carrier can improve the operation efficiency of cleaning the full-automatic brush plate. Specifically, the manipulator is fed into the automatic material supplementing module 211 through the Z axis, and under the driving action in the X axis direction, the manipulator approaches the magazine, starts to act to grasp the magazine, then retracts in the X axis direction, and returns to the original position along the Z axis, so that the action of taking out the magazine from the box body of the automatic material supplementing module 211 is completed. Then, the feeding and pushing device 201 pushes the carrier plate in the magazine out of the magazine onto the brush plate carrier, thereby completing the feeding operation. The driving member may be a cylinder or other driving means known in the art, and is not limited herein. Preferably, empty cartridges are placed into the empty cartridge storage bin 210.

In order to further optimize the above solution, referring to fig. 3a, 3b, 3c, 3d and 3e, the robot includes an upper clamp plate 202, a lower clamp plate 203, and a cylinder for driving the upper clamp plate 202 and the lower clamp plate 203 to open and close, and a clamping area for clamping the magazine is between the upper clamp plate 202 and the lower clamp plate 203. In this embodiment, the air cylinder drives the upper clamp plate 202 and the lower clamp plate 203 to open and close to clamp the upper and lower surfaces of the magazine in the automatic feeding module 211. The breach in the box in the cooperation embodiment one can make things convenient for the manipulator to get into the box and get the material, has reserved sufficient activity space for it.

To further optimize the above solution, referring to fig. 3a, fig. 3b, fig. 3c, fig. 3d and fig. 3e, a spring guide pillar 204 is installed on the upper clamp plate 202 or the lower clamp plate 203. In this embodiment, establish this spring guide pillar 204, can cushion the drive power of cylinder to control the centre gripping dynamics, ensure the tight magazine of centre gripping on the one hand, on the other hand avoids the clamping power to increase suddenly and injure the magazine.

Referring to fig. 3a, 3b, 3c, 3d and 3e as an optimized solution of the embodiment of the present invention, the upper clamp plate 202 and the lower clamp plate 203 are both provided with a stopper 205 capable of holding a cartridge, and the stopper 205 expands outward of the clamping area to be flared. In this embodiment, dog 205 can guarantee that the clamp is got after living the magazine, and the magazine can not fall out from the centre gripping interval, in addition, designs into flaring structure, can make things convenient for the centre gripping magazine, and the degree of freedom is higher relatively.

To further optimize the above solution, referring to fig. 3a, 3b, 3c, 3d and 3e, the robot further comprises a pad 206 for abutting the magazine against the stop 205. In this embodiment, the pad 206 is provided to ensure the cartridge to be clamped, and the pad 206 can provide a certain force in the horizontal direction, and can form a stable clamping force by matching with the vertical force of the upper clamp plate 202 and the lower clamp plate 203.

As an optimized solution of the embodiment of the present invention, please refer to fig. 3a, fig. 3b, fig. 3c, fig. 3d, and fig. 3e, the feeding and pushing device 201 includes a pushing rod 207 and a pushing member for driving the pushing rod 207 to move along the Y-axis direction, the pushing rod 207 is long, and the length of the pushing rod 207 is not less than the length of the carrier plate. In this embodiment, the manner of pushing the carrier plate out of the magazine by the feeding and pushing device 201 is via the pushing rod 207, the pushing rod 207 is in a shape of a long strip, and may be specifically a sheet, and the thickness of the pushing rod may be designed to be almost the same as that of the carrier plate, so that when the pushing rod moves in the Y-axis direction, the carrier plate to be pushed out is pushed out of the magazine without interfering with other carrier plates. In the first embodiment, the magazine structure is described, which has a plurality of grooves in the magazine, and the carrier can be placed in the grooves, so that the material pushing rod 207 can push the carrier out of the grooves only by entering the grooves. Preferably, the feeding and pushing device 201 is integrally erected on one side of the material box taking device 200 through a support, the support has a certain height, and the support is matched with the position, in which the material box taking device 200 moves to the position, on the Z axis.

In order to further optimize the above solution, referring to fig. 3a, 3b, 3c, 3d and 3e, the pushing member includes an upper guide wheel 208, a lower guide wheel 209 and a servo motor for driving the upper guide wheel 208 and the lower guide wheel 209 to rotate, the upper guide wheel 208 and the lower guide wheel 209 are disposed opposite to each other, and the pushing rod 207 passes through between the upper guide wheel 208 and the lower guide wheel 209. In the embodiment, the motor drives the guide wheel to rotate to push the material pushing rod 207 out, and the material pushing rod 207 can be guided out in a rotating mode, so that compared with the conventional method of directly pushing the material pushing rod 207 in a linear driving mode, the accuracy is prevented from being influenced by too much stretching of the material pushing rod 207.

As an optimization scheme of the embodiment of the present invention, referring to fig. 3a, fig. 3b, fig. 3c, fig. 3d, and fig. 3e, the feeding and pushing device 201 further includes a buffer structure for limiting the pushing rod 207 from pushing excessively. Preferably, the buffering structure comprises a buffering spring arranged at the tail end of the material pushing rod 207. In this embodiment, by designing the buffer spring, the material pushing rod 207 can be pushed to the limit and then retracted for a distance by using the resilience of the spring, thereby avoiding the deformation of the carrier plate with the product due to the excessive pushing force.

Example three:

referring to fig. 4a, a partial structure of the brush plate carrier 314 is shown, and the guide rail parallel to the Y-axis linear module 301 is omitted, which prevents the side from being too heavy and collapsing.

Referring to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, and fig. 4g, a carrier platform 300 according to an embodiment of the present invention includes an upper stage 302 and a lower stage 303 that can be opened and closed, a clamping area for clamping a carrier is between the upper stage 302 and the lower stage 303, the upper stage 302 has a hollow position for exposing a product of the carrier, and the lower stage 303 has a bump 305 for lifting up the product on the carrier. In this embodiment, the feeding and pushing device pushes the carrier plate in the magazine into the clamping area, and then the carrier plate is clamped tightly by the cooperation of the uploading table 302 and the downloading table 303. Since the product on the carrier plate is cleaned, the product on the carrier plate is lifted up by the bumps 305, so that the brush wheel cleaning mechanism 318 above the brush plate carrier 314 brushes the product.

As an optimized solution of the embodiment of the invention, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, and fig. 4g, a cover plate 306 is disposed at a hollow position of the upper carrier 302, and the cover plate 306 has a plurality of windows for exposing the product on the carrier. In this embodiment, to avoid the brush from doing useless work elsewhere, the cover plate 306 may be designed to have a shape with a plurality of windows matching the position of the product on the carrier plate.

As an optimized solution of the embodiment of the present invention, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, and fig. 4g, further including a pushing rod 307 for pushing up the upper stage 302, and an air cylinder for driving the pushing rod 307 to extend and retract, where the pushing rod 307 penetrates through the lower stage 303 and extends to the upper stage 302, and the air cylinder is disposed below the lower stage 303. In this embodiment, the action of the upper loading table 302 is driven by the cooperation of the ejector rod 307 and the cylinder, before the carrier board enters the clamping area, the ejector rod 307 is ejected, the clamping area between the upper loading table 302 and the lower loading table 303 is opened, so that the carrier board can enter conveniently, and when clamping is needed, the ejector rod 307 is retracted to drive the upper loading table 302 to press on the lower loading table 303, so as to complete clamping of the carrier board. The carrier loading platform 300 can stably carry the carrier to the subsequent process.

In order to further optimize the above solution, referring to fig. 4a, 4b, 4c, 4d, 4e, 4f and 4g, the ejector rods 307 have a plurality of rods, adjacent ejector rods 307 are connected by a connecting arm, and the cylinder drives the connecting arm to move. In the embodiment, the connecting arms are adopted, so that the number of cylinders can be reduced, and the space and the cost are saved.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 4a, 4b, 4c, 4d, 4e, 4f, and 4g, a leveling structure for adjusting the pressing degree of the upper stage 302 is disposed on the lower stage 303. In the present embodiment, in order to avoid over-pressing of the upper stage 302, the position of the upper stage 302 in the vertical direction may be adjusted by a leveling structure. The leveling structure can also adjust whether the attitude of the loading platform 302 is horizontal.

In order to further optimize the above solution, referring to fig. 4a, 4b, 4c, 4d, 4e, 4f and 4g, the leveling structure includes a plurality of leveling rods 308 penetrating through the lower stage 303, and each leveling rod 308 is screwed on the lower stage 303. In this embodiment, the leveling manner may be implemented by driving the leveling rod 308 to extend out of the lower stage 303 by a distance in a threaded manner, so as to abut against the upper stage 302, thereby achieving the purpose of adjusting the position of the upper stage 302.

As an optimized solution of the embodiment of the present invention, please refer to fig. 4a, 4b, 4c, 4d, 4e, 4f, and 4g, wherein the lower stage 303 has a guiding structure. Preferably, the guide structure comprises a guide rod 309 and a shaft sleeve 310, the shaft sleeve 310 is arranged on the lower stage 303, and the guide rod 309 vertically penetrates through the lower stage 303. The above-mentioned top bar 307 is vertically lifted and lowered by the designed guiding structure.

As an optimized solution of the embodiment of the present invention, please refer to fig. 4a, 4b, 4c, 4d, 4e, 4f, and 4g, a drainage ditch 311 is disposed on the lower stage 303. Preferably, drainage ditches 311 are also provided on both sides of the lower stage 303. In this embodiment, the drainage ditch 311 is designed to quickly drain the sewage at the time of washing.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, and fig. 4g, a card board 312 is disposed on an edge of a surface of the upper stage 302 facing the lower stage 303, and the lower stage 303 has a card slot into which the card board 312 is inserted. In this embodiment, the edge of the clamping plate 312 is provided with a structure matching with the clamping groove, so as to play a role of water retaining. The clamping groove can be the drainage ditch 311, and the two purposes are achieved at one time. Preferably, the feeding end of the clamping plate 312 is inclined toward the upper stage 302, so as to play a role of guiding, and even if the posture of the carrier plate when entering is not good, the guiding can be performed through the inclined surface 3120.

As an optimized solution of the embodiment of the invention, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f and fig. 4g, a limit structure 313 is disposed at the tail end of the lower carrier. In the embodiment, the limit structure 313 is provided to ensure that the carrier is inserted into the clamping area in place and to block the carrier so as to prevent the carrier from being pushed out of the clamping area.

As an optimized solution of the embodiment of the present invention, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, and fig. 4g, the feeding end of the lower stage 303 has an inclined surface, and the inclined surface is inclined upward along a direction from the feeding end to the discharging end of the lower stage 303. By arranging the inclined plane 3030, the carrier plate can be prevented from being damaged, because the inclined plane can play a role in guiding and buffering. Preferably, the discharging end of the lower stage 303 also has a slope 3031, and the function is the same.

Referring to fig. 4a, 4b, 4c, 4d, 4e, 4f, and 4g, an embodiment of the invention provides a brush board carrying platform 314, which includes the above-mentioned carrier board carrying platform 300 and a driving component for driving the carrier board carrying platform 300 to move, the carrier board carrying platform 300 includes an upper carrying platform 302 and a lower carrying platform 303 that can be opened and closed, a clamping area for clamping the carrier board is between the upper carrying platform 302 and the lower carrying platform 303, the upper carrying platform 302 has a hollow position for exposing a product of the carrier board, and the lower carrying platform 303 has a bump 305 for jacking up the product on the carrier board. In the embodiment, the carrier board carrying platform 300 is moved by the driving component to reach the working range of the capillary wheel cleaning mechanism 318, and the carrier board carrying platform 300 is moved to the blanking rotating module 319 after passing through the capillary wheel cleaning mechanism 318. Here the drive assembly is the Y-axis linear module 301 described above. The Y-axis linear module 301 of the brush board carrier 314 is very long, extends from feeding to discharging, specifically from a feeding and pushing device to a discharging and rotating module 319, and is also moved by a bristle wheel cleaning mechanism 318 in the middle, which is the longest displacement in the whole equipment.

Referring to fig. 4a, 4b, 4c, 4d, 4e, 4f and 4g as an optimized solution of the embodiment of the present invention, the carrier platform 300 is installed on the water blocking structure. In this embodiment, the carrier platform 300 is installed on the water-retaining structure, so that the sewage, cleaning agent, etc. during cleaning can be kept out, thereby avoiding damaging some driving components.

To further optimize the above solution, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f and fig. 4g, the water blocking structure includes a water blocking plate 315 disposed below the carrier loading platform 300, and the water blocking plate 315 is disposed in the driving direction of the carrier loading platform 300. In this embodiment, water baffles 315 are disposed at the front and the back of the carrier platform 300 to block the sewage and the cleaning agent.

In order to further optimize the above solution, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, and fig. 4g, the water blocking structure further includes retractable organ covers 316, and the organ covers 316 are disposed on two sides of the carrier platform 300. In this embodiment, the two sides are positions parallel to the driving direction of the carrier platform 300, and after being matched with the water baffles 315 arranged in front and at the back of the upper surface, the two sides block the left and right sewage and cleaning agent, so as to avoid damage to the Y-axis linear module 301 and the guide rail on the side opposite to the Y-axis linear module 301. The organ cover 316 has a telescopic property and can completely block sewage and cleaning agents.

As an optimized solution of the embodiment of the invention, please refer to fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, and fig. 4g, further comprising a swing mechanism 317 for driving the carrier platform 300 to swing in the X-axis direction. In this embodiment, the Y-axis linear module 301 carries the carrier plate platform 300 to move in the Y-axis direction, so that the rotating wheels of the wheel cleaning mechanism 318 can be used to clean the products on the carrier plate. However, the cleaning is not the cleanest state, and the carrier board carrying platform 300 can be moved in the X-axis direction by the swing mechanism 317, so that the cleaning in both the X-axis and Y-axis directions can be realized, which is similar to the concept of "scrubbing", and the cleaning degree can be further improved. The swing frequency can be controlled by setting the output frequency of the swing mechanism 317, and higher-frequency swing can achieve a better scrubbing effect.

To further optimize the above solution, referring to fig. 4a, 4b, 4c, 4d, 4e, 4f and 4g, the swing mechanism 317 includes an eccentric wheel and a motor, the eccentric wheel is connected to an output shaft of the motor, and the eccentric wheel provides a force for the carrier plate supporting platform 300 to repeatedly vibrate. In this embodiment, the swinging manner may be implemented by matching an eccentric wheel and a motor, so as to achieve the effect of swinging back, and then the eccentric wheel outputs the swinging force to the downloading platform 303 of the carrier board platform 300, and the downloading platform 303 drives the whole carrier board platform 300 to swing. Of course, other swing manners are possible, and the present embodiment is not limited thereto.

Referring to fig. 4a, 4b, 4c, 4d, 4e, 4f, 4g, and 6a, an embodiment of the present invention provides a full-automatic brush plate cleaning apparatus, including a bristle wheel cleaning mechanism 318 and the above-mentioned brush plate carrier 314, where the brush plate carrier 314 is located below the bristle wheel cleaning mechanism 318, and the bristle wheel cleaning mechanism 318 brushes a product on a carrier plate on the brush plate carrier 314. In this embodiment, the position relationship between the brush board carrier 314 and the bristle wheel cleaning mechanism 318 is embodied, and due to the effect of the projection 305, the product can be lifted up, so that the bristle wheel of the bristle wheel cleaning mechanism 318 can act on the product more conveniently.

As an optimized solution of the embodiment of the present invention, please refer to fig. 4a, 4b, 4c, 4d, 4e, 4f, 4g, and 6a, which further includes a water collecting tank, the water collecting tank is located below the brush board carrying platform 314, and the water collecting tank is used for collecting the sewage and the cleaning agent left after the bristle wheel cleaning mechanism 318 cleans the product on the carrying plate. In the present embodiment, the positional relationship between the brush plate stage 314 and the water collection tank is shown. Thus, along the height dimension, the bristle wheel cleaning mechanism 318, the brush plate carrier 314, and the water collection sump are arranged in that order.

As an optimized solution of the embodiment of the present invention, please refer to fig. 4a, 4b, 4c, 4d, 4e, 4f, 4g, and 6a, further comprising a blanking rotating module 319, wherein the blanking rotating module 319 is located at the discharging end of the brushing board carrier 314. In this embodiment, when the carrier plate is transported to the blanking rotating module 319 by the board brushing carrier 314, the end point is reached, and after the blanking rotating module 319 takes the carrier plate away, the board brushing carrier 314 will bring the empty carrier plate carrying platform 300 back to the starting point to catch a carrier plate to be cleaned, and certainly, a circular path can be designed, that is, a plurality of carrier plate carrying platforms 300 are arranged on the board brushing carrier 314, and a plurality of carrier plate carrying platforms 300 are continuously circulated and carried on a circular line, so that the waiting time can be saved, and the working efficiency is further improved. The circulation path may be a horizontal circulation path or a circulation path using a height space.

As an optimized solution of the embodiment of the invention, please refer to fig. 3c, fig. 4a, fig. 4b, fig. 4c, fig. 4d, fig. 4e, fig. 4f, fig. 4g, and fig. 6a, and further include a feeding and pushing device, which pushes the carrier plate in the magazine onto the carrier plate carrying platform 300 of the brush plate carrying platform 314. In this embodiment, at the loading side, the feeding and pushing device pushes the carrier in the magazine to the carrier platform 300, and then the carrier is taken away by the Y-axis linear module 301.

Example four:

referring to fig. 5a, 5b, 5c, and 5d, an embodiment of the present invention provides a cleaning apparatus, including a hair wheel cleaning mechanism 400, where the hair wheel cleaning mechanism 400 includes a cleaning box 401, a plurality of hair wheels 402 are sequentially disposed in the cleaning box 401 along a transport direction of a carrier plate, a spraying assembly 410 for spraying a cleaning agent is disposed in the cleaning box 401, and a brushing area is disposed below each hair wheel. In this embodiment, the cleaning carrier plate is cleaned by rotating the capillary, the carrier plate passes through the cleaning zone where the cleaning box 401 is located, the capillary rotates to wash the carrier plate below the cleaning carrier plate, and the cleaning carrier plate is sprayed into the cleaning box 401 by matching with the spraying assembly 410, so that a better cleaning effect can be achieved. Of course, other cleaning methods than brushing the hair wheel are also feasible, and the embodiment is not limited to this. As for the number of the hair wheels, the hair wheels can be set according to actual requirements, and the adjacent hair wheels are arranged at intervals.

As an optimized solution of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, a hollow position 403 is provided above the cleaning box 401, and each of the hair rollers is loaded into the cleaning box 401 from the hollow position 403. In this embodiment, the cleaning box 401 has an opening above it, so that the hair roller can be conveniently installed. Preferably, a cover plate 404 is installed on the cleaning box 401, and the cover plate 404 seals the hollow position 403. Preferably, the wash cassette 401 is gantry mounted by a gantry 405. The fur wheel can be shielded by the cover plate 404 when working, so that potential safety hazards are avoided. The cover 404 is hinged to the washing box 401. The gantry 405 can be used to increase the stability of the washing box 401 and the hair wheels therein.

To further optimize the above solution, referring to fig. 5a, 5b, 5c and 5d, a weight reduction structure 406 is installed between the gantry 405 and the cleaning box 401. In the present embodiment, the weight of the cleaning cartridge 401 can be reduced by installing the weight-reducing structure 406, thereby reducing the load amount of the Z-axis. The weight-reducing structure 406 may be a pulling structure with pulling force, such as a spring, or a cylinder, and one end of the pulling structure is mounted on the gantry 405, and the other end is mounted on the washing box 401, or a connecting component is provided on the washing box 401 according to the design size requirement, and then one end of the pulling structure is mounted on the gantry 405, and the other end of the pulling structure is connected to the connecting component, which is a vertical plate in this embodiment.

As an optimized solution of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, further comprising an adjusting component 407 for adjusting the horizontal position of the cleaning box 401. In this embodiment, the horizontal position, or height, of the cleaning box 401 is adjustable, and on one hand, the horizontal position, or height, is adjusted to a proper position before use to clean the carrier plate carried by the brushing board carrier, and on the other hand, if the capillary wheel is damaged during use, the position of the cleaning box 401 is finely adjusted, so that the capillary wheel can be ensured to brush the carrier plate all the time. The adjusting assembly 407 may employ a lifting mechanism such as an air cylinder.

Referring to fig. 5a, 5b, 5c and 5d as an optimized solution of the embodiment of the present invention, the hair wheel is mounted on the cleaning box 401 through a semi-open coupling 408. In this embodiment, the fur wheel can be easily replaced by using the semi-open coupling 408.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, wherein each of the hair wheels is configured with an independent driver. In this embodiment, each of the hair wheels 402 operates independently, so that the rotation speed, the rotation direction, and the like can be controlled independently, thereby ensuring the cleaning effect. The driver may employ a servo motor.

As an optimized solution of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, further comprising a hair wheel cleaning assembly 409 for cleaning the hair wheel. In this embodiment, the hair roller cleaning assembly 409 is designed to clean the hair roller since the hair roller is inevitably contaminated when it is operated. Preferably, the hair roller cleaning assembly 409 comprises a nozzle arranged adjacent to the hair roller, and can spray clear water, cleaning agent and the like to the hair roller, so that the hair roller can be cleaned in the rotating process of the hair roller. The sprayed clean water, the cleaning agent and the like can also be used as a solvent for cleaning the carrier plate. Of course, the hair wheels may be detached for cleaning, which is not limited in this embodiment.

Referring to fig. 5a, 5b, 5c and 5d as an optimized solution of the embodiment of the present invention, the spraying component 410 is disposed at the inlet of the washing box 401. In this embodiment, the spraying component 410 is disposed at the entrance of the cleaning box 401, and when the carrier plate enters the cleaning box 401, the cleaning agent can cover the whole carrier plate along with the movement of the brush plate carrier, so as to ensure that each place can be cleaned better.

Referring to fig. 5a, 5b, 5c and 5d as an optimized solution of the embodiment of the present invention, the spraying assembly 410 includes a spray head with pressure. In this embodiment, after the cleaning agent enters into the shower nozzle, because the shower nozzle is the shower nozzle of area pressure, can the vaporific cleaning agent of blowout, make the cleaning agent evenly and cover more comprehensively on the support plate, practice thrift the cleaning agent quantity and promote the cleaning performance simultaneously.

As an optimized solution of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, further comprising a water knife removing assembly 411 for removing the cleaning agent and an air knife removing assembly 412 for removing the excess water. In this embodiment, after all parts of the carrier plate are cleaned by the capillary, a water knife removing assembly 411 may be disposed at the tail of the cleaning box 401 to remove the cleaning agent, and an air knife removing assembly 412 may be used to remove excess water on the carrier plate. Preferably, the water jet removing assembly 411 and the air jet removing assembly 412 both use nozzles with pressure, one for water and one for air. Preferably, a long-strip-shaped pipeline is adopted, and then a plurality of spray heads are arranged along the length direction of the pipeline, so that a better effect can be achieved.

As an optimized solution of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, which further includes a grating ruler for positioning the cleaning box 401 on the Z axis. In this embodiment, the grating ruler can be accurately positioned at a position convenient for cleaning the box 401, so as to ensure the cleaning of the carrier plate below the grating ruler.

As an optimized solution of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, a height measuring instrument is disposed outside both ends of the cleaning box 401. In this embodiment, a designed altimeter can be used to accurately monitor the level of the fur wheel cleaning mechanism 400.

As an optimized solution of the embodiment of the present invention, please refer to fig. 5a, fig. 5b, fig. 5c, and fig. 5d, wherein the cleaning box 401 is a transparent box. In this embodiment, the cleaning box 401 is designed to be transparent, and particularly, the side plate is made of transparent material, so that the cleaning condition can be conveniently observed by a worker, and the cleaning box can be timely modified if abnormal conditions occur.

Example five:

referring to fig. 6a, 6b, 6c and 6d, an embodiment of the present invention provides a water collecting tank, which includes a base plate 500 that can be disposed under a bristle wheel cleaning mechanism, wherein the base plate 500 has a drainage port for draining washing wastewater, a water collecting tank (not shown) that can shield the drainage port is mounted on the base plate 500, the water collecting tank is detachably mounted on the base plate 500, and the water collecting tank has a drainage hole. In this embodiment, a water retaining base plate 500 is disposed below the bristle wheel cleaning mechanism, and when the bristle wheel cleaning mechanism works, wastewater falls down and is completely received by the base plate 500, and then flows into the water collecting tank through a water outlet on the base plate 500 to be collected, and then is discharged through the water collecting tank. The water collecting tank has two drainage modes, one mode is drainage through a drainage hole arranged on the water collecting tank, the other mode is drainage after the water collecting tank is detached, and both modes are feasible schemes.

As an optimized solution of the embodiment of the present invention, please refer to fig. 6a, fig. 6b, fig. 6c, and fig. 6d, a slide rail 502 is disposed on the substrate 500, and the water collecting tank is disposed on the substrate 500 by drawing the slide rail 502. In this embodiment, the water collecting tank may be installed on the base plate 500 like a drawer type, and may be detached from the base plate 500 by pulling out.

Referring to fig. 6a, 6b, 6c and 6d as an optimized solution of the embodiment of the present invention, a filtering structure is disposed in the water collecting tank. In this embodiment, a filtering structure may be provided in the water collecting tank to filter the contaminated water and then drain the contaminated water through the drain hole. On one hand, the blockage of the drainage pipeline connected with the drain hole after the blockage of the drain hole is avoided, and on the other hand, the detachable water collecting tank is matched, so that the filtered dirt can be conveniently removed, and the environmental pollution is avoided. Preferably, the filtering structure may adopt a filtering net, for example, a plurality of layers of filtering nets are arranged along the height direction of the water collecting tank to realize layer-by-layer filtering, and other existing filtering methods, for example, adsorption filtering, etc., are feasible, and the present embodiment does not limit this.

Referring to fig. 6a, 6b, 6c, and 6d, an embodiment of the present invention further provides a cleaning device, which includes a bristle wheel cleaning mechanism and the water collecting tank, wherein the water collecting tank is disposed below the bristle wheel cleaning mechanism, and a cleaning area for the carrier plate to pass through is disposed between the water collecting tank and the bristle wheel cleaning mechanism. In this embodiment, when the support plate is taken the clean mechanism of the brush board microscope carrier through the hair wheel, the clean mechanism of hair wheel can wash the product (chip, or the camera module) on the support plate, and abluent sewage will fall into the water catch bowl naturally and collect, avoids making dirty the factory building.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 6a, fig. 6b, fig. 6c, and fig. 6d, wherein the drainage port is an access hole 501. In this embodiment, the brush wheel cleaning mechanism and the brush plate carrying platform are very large devices, and once the brush wheel cleaning mechanism breaks down or the maintenance time is up, the brush wheel cleaning mechanism and the brush plate carrying platform need to be detached, which brings very large workload, so that the water outlet can be used as the access opening 501, and only the size of the water outlet needs to be designed slightly, so that the water outlet is convenient to overhaul and large in size design, and sewage can conveniently fall into the water collecting tank. Therefore, the water collecting tank not only can be used for collecting sewage, but also has the function of maintenance.

Example six:

referring to fig. 7a and 7b, an embodiment of the invention provides a cleaning agent supply mechanism, including a tank 600 for storing cleaning agent, wherein the tank 600 sends the cleaning agent to an external mechanism through a siphon pipe; the top end opening of the box body 600 is covered with a box cover 601, a balancing weight 602 used for pressing and sinking the siphon pipeline in the box body 600 is installed on the box cover 601, and the balancing weight 602 is provided with an opening 603 for the pipeline to penetrate out. In this embodiment, the box 600 can store the cleaning agent, and the cleaning agent is delivered to the hair wheel cleaning mechanism through the pipeline, and the pipeline supplies the cleaning agent to the hair wheel cleaning mechanism in a siphon manner, so that the amount of the cleaning agent can be reduced as much as possible. The pipeline is lighter, and adoption balancing weight 602 can make the pipeline stretch into in the box 600 and can not float, makes things convenient for the formation of siphon effect. The weight 602 has an opening 603, and the pipe can enter the box 600 through the opening 603, but it is ensured that the opening 603 can lock the pipe and prevent the pipe from moving freely.

As an optimized solution of the embodiment of the present invention, please refer to fig. 7a and 7b, the weight 602 is screwed on the case cover 601, and the extending direction of the screw thread is consistent with the height direction of the case body 600. In this embodiment, the weight 602 may be adjusted in position by a screw thread, thereby adjusting the position of the pipe. Normally, the pipe cannot touch the bottom of the box 600, because the bottom of the detergent crystallizes, the pipe is easily blocked by the crystals and the normal operation cannot be performed. When in use, most of the pipeline is inserted into the box body 600, and then fine adjustment is carried out through the balancing weight 602, so that the pipeline does not contact the bottom of the box body 600, but can be at the bottom position, and the supply of cleaning agents is ensured.

As an optimized solution of the embodiment of the present invention, please refer to fig. 7a and 7b, which further include a heating component for heating the cleaning agent in the box 600. In this embodiment, the heating assembly is used to heat the cleaning agent in the box 600, so as to improve the activity and the cleaning yield.

In order to further optimize the above solution, please refer to fig. 7a and fig. 7b, the heating assembly includes a control end 604 disposed on the box cover 601 and a heating coil 605 disposed in the box body 600, and the heating coil 605 is electrically connected to the control end 604. In this embodiment, the control end 604 can adjust the heating temperature and the heating time of the heating ring 605. Preferably, the heating ring 605 is heated by a heating wire, for example, a resistor with an adjustable resistance, and then the heating value is adjusted by adjusting the resistance through the control terminal 604. The control end 604 is installed on the case cover 601, the case cover 601 is detachably connected with the case body 600, and the case cover 601 can be directly taken away when the heating assembly needs to be taken out.

To further optimize the above solution, please refer to fig. 7a and 7b, the heating ring 605 is disposed at the bottom of the box 600. In this embodiment, the heating ring 605 is disposed at the bottom of the box 600, so that the temperature of the cleaning agent is continuously emitted from the bottom to the top, thereby ensuring that the cleaning agent in the whole box 600 is warm and the cleaning agent at the bottom absorbed by the siphon pipe is hot.

As an optimized solution of the embodiment of the present invention, please refer to fig. 7a and 7b, which further include a filter assembly for filtering cleaning agent. In this embodiment, because the cleaner has some impurity, can not directly absorb the use, adopt filtering component can filter the cleaner, ensure that the cleaner that sends to the clean mechanism of brush is clean.

To further optimize the above solution, please refer to fig. 7a and 7b, the filtering assembly includes a filtering funnel 606, the filtering funnel 606 is installed below the counterweight 602 and is placed in the box 600; the siphon pipe includes a first pipe outside the case 600 and communicating with the opening 603 of the case cover 601, and a second pipe communicating with the filter bowl 606 and located outside the filter bowl 606. In this embodiment, the second pipeline sends the cleaning agent to the filter funnel 606 for filtering, and the cleaning agent filtered by the filter funnel 606 is sent to the fur wheel cleaning mechanism by the first pipeline. Thus, the weight 602 can be fine tuned with the filter basket 606, and the filter basket 606 can be fine tuned with the second pipe. The filter funnel 606 is sealed inside, and when the filter funnel 606 is filled with the cleaning agent, the first pipeline can still pump away the cleaning agent by adopting a siphon effect. In this solution, the filtering hopper 606 and the counterweight 602 can be regarded as a whole, and both can be used as a counterweight component of the second pipeline, but the counterweight accessory has more filtering functions, and can be used for two purposes at a time.

To further optimize the above solution, referring to fig. 7a and 7b, the filter hopper 606 includes a filter screen at the bottom, and the second pipeline is disposed on the filter screen. In this embodiment, the filtering mode of the filtering funnel 606 adopts the filtering net to filter, and the filtering net can be made of steel plate, so that the filtering net has certain strength, and the filtering net can play a role in driving the second pipeline, then a plurality of densely distributed small holes are formed in the steel plate, and impurities are filtered through the small holes. Thus, the box cover 601 is provided with the weight block 602, the filter bucket 606 and the heating component, and when all of them need to be taken away, only the box cover 601 needs to be taken away. The cleaning of the tank 600 at a later stage is facilitated. The box body 600 is not needed to be cleaned usually, when the cleaning agent in the box body is used up, the cleaning agent can be added into the box body, the box cover 601 can be taken away if the box body is cleaned after a long time, parts on the box cover 601 can be taken away together, and the box body 600 is convenient to clean.

As an optimized solution of the embodiment of the present invention, please refer to fig. 7a and 7b, a functional hole 607 is reserved on the case cover 601. In this embodiment, some functional holes 607 can be reserved on the case cover 601, so that the cleaning agent supply mechanism has more functions, and when the cleaning agent supply mechanism needs to be taken away, the case cover 601 is taken away.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 7a and fig. 7b, wherein the box body 600 is a transparent box body 600. In this embodiment, the case 600 is designed to be transparent, which facilitates the staff to observe the amount of the cleaning agent in the case 600, thereby facilitating the fluid replacement.

Referring to fig. 7a and 7b as an optimized solution of the embodiment of the present invention, a liquid level meter is installed on the tank cover 601, and the liquid level meter extends into the tank body 600. In this embodiment, the level gauge is not shown in the figure, and it can monitor the liquid level of the cleaner in the box 600 constantly, can connect the alarm to report to the police after reaching the settlement liquid level, and the suggestion staff replenishes liquid, and this function can need not the staff constantly to pay close attention to the liquid level change in the box 600. The gauge is mounted through the functional hole 607 described above.

Referring to fig. 7a and 7b as an optimized solution of the embodiment of the present invention, a scale 608 is installed on the box 600. In this embodiment, the scales 608 can provide visual feeling for the operator, and the operator can know the current liquid level, so that the operator can conveniently perform fluid infusion operation.

Example seven:

referring to fig. 8a, 8b and 8c, an embodiment of the invention provides a blanking rotary module, which includes a receiving module 700 for receiving a carrier 712, a circulation module 702 carrying the receiving module 700 through a circulation channel 701 and delivering to a turnover position 704, and a turnover module 703 for turning the carrier 712 on the turnover position 704 to an external mechanism, wherein in an initial state, the receiving module 700 and the turnover position 704 are respectively located at two ends of the circulation channel 701. In this embodiment, the carrier 712 cleaned by the capillary wheel cleaning mechanism is continuously transferred along with the board brushing carrier, and after being sent to the blanking rotating module, the receiving component 700 receives the carrier 712 and locks the carrier 712, and then the circulating component 702 carries the whole receiving component 700 through the circulating channel 701 to the turning position 704 at the end of the circulating channel 701, at this time, the carrier 712 also reaches the turning position 704 along with the receiving component 700, and then the receiving component 700 is removed, only the carrier 712 is on the turning position 704, and then the turning component 703 turns the carrier 712 on the turning position 704 to the external mechanism, thereby completing the turning operation. Here, the external mechanism is a feeding robot module, which is used to take the carrier plate 712 and put it into the material storage tank, which will be described in detail later. The moving direction of the carrier plate 712 can be changed through the blanking rotating module, so that an external mechanism can take the carrier plate 712 away conveniently, and the height space is reasonably utilized. The turning angle can be set according to actual conditions, for example, in the embodiment, the turning angle is 90 °, the carrier plate 712 sent by the previous brush plate carrier is horizontal, and the movement of the receiving assembly 700 is also horizontal, so that the carrier plate 712 is in a vertical state after being turned by 90 °, and the unloading manipulator module is convenient to grab the carrier plate 712.

As an optimized solution of the embodiment of the present invention, please refer to fig. 8a, 8b and 8c, further comprising a positioning assembly 705 for aligning and positioning the carrier plate 712. In the embodiment, the positioning component 705 is provided to ensure the position of the carrier 712 transferred from the receiving component 700 is accurate, thereby ensuring the precision of the grabbing and aligning of the subsequent feeding manipulator module.

To further optimize the above solution, referring to fig. 8a, 8b and 8c, the positioning assembly 705 includes a pushing member disposed on one side of the carrier plate 712, and the pushing member pushes the carrier plate 712 to the sidewall of the circulation channel 701. In this embodiment, after the carrier plate 712 reaches the flipping position 704, the pushing element pushes one side of the carrier plate 712, so that the carrier plate 712 abuts against the sidewall of the flowing channel 701, thereby positioning the carrier plate.

As an optimized solution of the embodiment of the present invention, referring to fig. 8a, 8b, and 8c, the receiving assembly 700 includes an upper clamping plate 706, a lower clamping plate 707, and a driving element for driving the upper clamping plate 706 and the lower clamping plate 707 to close, and a gap for the carrier plate 712 to pass through is formed between the upper clamping plate 706 and the lower clamping plate 707. In this embodiment, the receiving manner of the receiving assembly 700 is realized by using a nozzle, the upper clamping plate 706 and the lower clamping plate 707 form the nozzle, the upper clamping plate 706 and the lower clamping plate 707 do not need to be too long, and when the carrier plate 712 penetrates through a gap between the two for a large part, the two are driven by the driving member to clamp, so as to clamp the carrier plate 712. The dimensioning can of course be chosen according to the actual circumstances. Preferably, the driving member is a cylinder, and the cylinder pushes the lower clamping plate 707 to be close to the upper clamping plate 706, so as to realize clamping.

In order to further optimize the above solution, referring to fig. 8a, 8b and 8c, a sliding plate 708 is mounted on the driving member, the sliding plate 708 is slidably disposed on a mating plate 709 of the circulation component 702, and an extending direction of the mating plate 709 is consistent with a length direction of the circulation channel 701. In this embodiment, the driving member is also moved together so as to achieve a continuous clamping force against the lower clamping plate 707. To ensure smooth movement of the driving member, a slide plate 708 may be provided for guiding. The fitting plate 709 of the circulation unit 702 is a plate body extending in the X-axis direction, and the extending direction of the plate body is also the same as the conveying direction of the brush plate carrier.

Referring to fig. 8a, 8b and 8c as an optimized solution of the embodiment of the present invention, the circulation assembly 702 includes several sets of guide wheels 710 disposed in the circulation channel 701 and a rotating member for driving each of the guide wheels 710 to rotate synchronously, and two adjacent sets of the guide wheels 710 cooperatively rest the nipples of the receiving assembly 700. In this embodiment, the nozzle, i.e. the structure consisting of the upper clamping plate 706 and the lower clamping plate 707, is advanced and retracted by the guide wheels 710, so as to prevent the material-carrying plate 712 from falling off the track. The sets of guide wheels 710 are spaced apart a distance that ensures that two adjacent sets of guide wheels 710 can just act as a nip.

In order to further optimize the above solution, please refer to fig. 8a, 8b and 8c, the rotating member includes a pulley set and a motor for driving the pulley set to rotate. In this embodiment, a pulley set may be used to achieve the synchronous rotation of the guide wheels 710, and a motor may be used to provide power. The pulley set is prior art and its specific structure will not be described in detail here.

As an optimized solution of the embodiment of the present invention, please refer to fig. 8a, 8b and 8c, the circulation passage 701 is formed by a space between two opposite risers 711 arranged at intervals, and the receiving assembly 700 is located in the space. In this embodiment, the two vertical plates 711 are long to form the whole circulation passage 701, and the pulley set can be installed on the vertical plates 711. The vertical plate 711 has a hollow position for the sliding plate 708 to pass through.

Example eight:

referring to fig. 9a, 9b, 9c, 9d, 9e, and 9f, an embodiment of the present invention further provides a feeding manipulator module, which includes a first driver 800 for driving in the X-axis direction, a second driver 801 for driving in the Y-axis direction, a third driver 802 for driving in the Z-axis direction, a fourth driver 803 for driving in the Z-axis direction, and a fifth driver 804 for driving in the Z-axis direction, where the second driver 801 drives the first driver 800 to move, the first driver 800 drives the third driver 802 to move, the third driver 802 drives the fourth driver 803 to move, the fourth driver 803 drives the fifth driver 804 to move, and the fifth driver 804 is provided with a manipulator for gripping 809. In this embodiment, three drivers are used, wherein the third driver 802 can enable the manipulator to rapidly reach a position near the carrier plate 809, so as to improve the material taking precision, the fourth driver 803 can slowly and accurately send the manipulator to contact the carrier plate 809, and the fifth driver 804 drives the manipulator to move in the Z-axis direction, so as to ensure that the manipulator can completely cover the carrier plate 809 and stably and accurately grasp the carrier plate 809. When grabbing, the carrier plate 809 needs to be overturned to a vertical state by matching with the overturning assembly, so that the carrier plate 809 is easier to grab by the manipulator.

As an optimized solution of the embodiment of the present invention, please refer to fig. 9a, 9b, 9c, 9d, 9e, and 9f, the robot comprises a rest 805 for placing a carrier 809 and a jaw assembly for clamping the carrier 809 on the rest 805. In this embodiment, the carrier 809 is grasped by a jaw assembly to press the carrier 809 against the rest 805.

To further optimize the above solution, please refer to fig. 9a, 9b, 9c, 9d, 9e and 9f, the clamping jaw assembly includes a plurality of first clamping jaws 806 for pressing the outer edge of the carrier plate 809 on the rest 805 and a first driving member for driving each of the first clamping jaws 806 to move toward or away from the rest 805. In this embodiment, the carrier plate 809 can be gripped by the first clamping jaws 806 outside the edges of the carrier plate 809, and since there are a plurality of first clamping jaws 806, the carrier plate 809 can be gripped omnidirectionally, so as to ensure that the carrier plate 809 cannot fall off when being gripped.

In order to further optimize the above solution, referring to fig. 9a, 9b, 9c, 9d, 9e and 9f, the clamping jaw assembly further includes a second clamping jaw 807 for pressing the inner edge of the carrier plate 809 on the rest 805 and a second driving member for driving the second clamping jaw 807 to move toward or away from the rest 805. In this embodiment, the clamping position of the second clamping jaw 807 is different from that of the first clamping jaw 806, and the second clamping jaw 807 clamps the inner edge of the carrier plate 809, namely the inner side of the edge, so that the stable clamping of the carrier plate 809 can be ensured by cooperation with the first clamping jaw 806.

To further optimize the above solution, please refer to fig. 9a, 9b, 9c, 9d, 9e, and 9f, the second clamping jaw 807 is a circular clamping jaw, and the placing table 805 is also provided with the circular clamping jaw, and the two circular clamping jaws oppositely disposed cooperate to clamp the inner edge of the carrier 809. In this embodiment, circular clamping jaws are adopted, and circular clamping jaws are also arranged on the placement table 805, when clamping, the two circular clamping jaws clamp the carrier plate 809 like fingers, and can cooperate with the fifth driver 804 to slowly clamp the whole carrier plate 809 like eating food, so that the carrier plate 809 can be eaten one by one, which mainly acts on blanking, after the carrier plate 809 is inserted into the groove of the magazine, the first clamping jaw 806 is completely released, only the second clamping jaw 807 continues to clamp the carrier plate 809, the fifth driver 804 drives the manipulator to advance for a distance, the second clamping jaw 807 releases, the fifth driver 804 drives the manipulator to retract for a distance, the second clamping jaw further clamps the carrier plate 809, the fifth driver 804 drives the manipulator to advance for a distance, the second clamping jaw releases again, and the reciprocating motion is carried out until the carrier plate 809 is completely inserted into the groove of the magazine. This ensures insertion of carrier 809 despite deformation of carrier 809. As to how to determine the insertion, a sensor may be used to sense the position of the carrier 809, or the distance that the fifth driver 804 is displaced, for example, how many centimeters forward, may indicate that the carrier 809 is completely inserted.

As an optimized solution of the embodiment of the present invention, please refer to fig. 9a, 9b, 9c, 9d, 9e and 9f, the rest 805 includes two sidewalls 808, and the two sidewalls 808 are outwardly expanded to be in a flaring configuration. In this embodiment, by designing the flaring structure, the carrier 809 can be prevented from being damaged, and the carrier 809 can enter conveniently.

Referring to fig. 6a, 9b, 9c, 9d, 9e, 9f and 10a, an embodiment of the present invention further provides a discharging mechanism, which includes a material storage water tank and the above-mentioned discharging manipulator module, where the discharging manipulator module puts a carrier 809 into a material box in the material storage water tank. In this embodiment, the feeding robot module places the carrier 809 in the material storage tank. Please refer to the ninth embodiment for the specific structure of the material storage water tank.

In order to further optimize the scheme, referring to fig. 6a, 9b, 9c, 9d, 9e, 9f and 10a, a plurality of material boxes are arranged in the blanking manipulator module, and the material boxes are sequentially arranged along the Y-axis direction. In the embodiment, the cartridges are designed in the Y-axis direction, which facilitates the second driver 801 to bring the manipulator above each cartridge for blanking.

Referring to fig. 6a, 9b, 9c, 9d, 9e, 9f and 10a, an embodiment of the present invention further provides a full-automatic brush plate cleaning apparatus, including a blanking rotating module and the above-mentioned blanking mechanism, wherein the blanking manipulator module takes materials from the blanking rotating module. In this embodiment, the unloading robot module takes the carrier 809 away from the unloading rotation module. Please refer to the seventh embodiment for the specific structure of the blanking rotating module.

Referring to fig. 6a, 9b, 9c, 9d, 9e, 9f and 10a, an embodiment of the present invention provides a method for blanking a blanking manipulator module, including the following steps: s1, the first driver 800 and the second driver 801 act to rapidly bring the manipulator to a material taking position; s2, the third driver 802 acts to rapidly bring the manipulator to the vicinity of the carrier plate 809; s3, the fourth driver 803 acts to bring the manipulator to the contact carrier 809; s4, the fifth driver 804 acts to drive the manipulator to comprehensively grab the carrier plate 809; s5, the third driver 802, the fourth driver 803 and the fifth driver 804 return to the original positions, and the first driver 800 and the second driver 801 operate to bring the manipulator gripping the carrier plate 809 to a blanking position; s6, the third driver 802, the fourth driver 803 and the fifth driver 804 are matched to put the carrier plate 809 into the groove of the magazine. In this embodiment, three drivers are used, wherein the third driver 802 can enable the manipulator to rapidly reach a position near the carrier plate 809, so as to improve the material taking precision, the fourth driver 803 can slowly and accurately send the manipulator to contact the carrier plate 809, and the fifth driver 804 drives the manipulator to move in the Z-axis direction, so as to ensure that the manipulator can completely cover the carrier plate 809 and stably and accurately grasp the carrier plate 809. When grabbing, the carrier plate 809 needs to be overturned to a vertical state by matching with the overturning assembly, so that the carrier plate 809 is easier to grab by the manipulator.

As an optimized solution of the embodiment of the present invention, please refer to fig. 9a, 9b, 9c, 9d, 9e, and 9f, the robot employs a clamping jaw assembly to clamp the carrier plate 809. The clamping jaw assembly comprises a first clamping jaw 806 and a second clamping jaw 807, the second clamping jaw 807 is a circular clamping jaw, the circular clamping jaw is also arranged on the placing table 805, and the two opposite circular clamping jaws are matched to clamp the inner edge of the carrier plate 809. During blanking, after the carrier plate 809 is inserted into the groove of the magazine, the first clamping jaws 806 are all released, only the second clamping jaws 807 continue to clamp the carrier plate 809, the fifth driver 804 drives the manipulator to advance for a certain distance, the second clamping jaws 807 are released, then the fifth driver 804 drives the manipulator to retract for a certain distance, the second clamping jaws 807 clamp the carrier plate 809 again, the fifth driver 804 drives the manipulator to advance for a certain distance, the second clamping jaws 807 are released again, and the reciprocating motion is carried out until the carrier plate 809 is completely inserted into the groove of the magazine.

Example nine:

referring to fig. 10a, 10b, 10c, 10d, 10e and 10f, an embodiment of the invention provides a material storage tank, which includes a tank 900 capable of being filled with liquid, the tank 900 having a placement position 901 for placing a supply box 912 therein; the material storage tank further includes a liquid pumping structure for pumping the liquid in the tank body 900 and an overflow water structure for discharging dirt on the surface of the liquid. In this embodiment, the cartridge 912 is completely immersed in a liquid, which may be clear water or other liquid. By adopting the liquid-blowing structure, the liquid in the box body 900 can be blown to enable the liquid to be in a movable state all the time, so that the dirt is prevented from being attached to the surface of the product, and the overflow water structure is matched to discharge the dirt floating on the surface of the liquid out of the box body 900, so that the product on the carrier plate is prevented from being polluted. The cleanliness of the product can be well maintained by these two structures.

Referring to fig. 10a, 10b, 10c, 10d, 10e and 10f as an optimized solution of the embodiment of the present invention, the liquid blowing structure includes an air inlet joint 902, the box 900 includes a closed and open casing 904, a bottom plate 903 is disposed on an inner bottom of the casing 904, an air blowing plate 905 is disposed on the bottom plate 903, and the air inlet joint 902 passes through the casing 904 through a sealing structure and is fixed on an opening of the bottom plate 903. In this embodiment, the liquid is blown by introducing gas through the gas inlet connector 902 and then the gas is introduced into the gas blowing plate 905, so that a bubbling effect is generated on the gas blowing plate 905, thereby blowing the liquid in the tank 900. The bottom plate 903 and the sealing structure are both used for achieving a better sealing effect and avoiding water leakage.

In order to further optimize the above solution, referring to fig. 10a, 10b, 10c, 10d, 10e and 10f, the sealing structure includes a first sealing ring 906 sandwiched between the air blowing plate 905 and the bottom plate 903, and a second sealing ring 908 locked on the housing 904 by a nut 907. In this embodiment, after the bottom plate 903 is designed, two layers of sealing rings are used for sealing, so that the sealing effect can be ensured.

To further optimize the above solution, referring to fig. 10a, 10b, 10c, 10d, 10e and 10f, a gasket 909 is further disposed in the second sealing ring 908, and the gasket 909 is pressed on the housing 904 by the second seal. In this embodiment, a gasket 909 is further designed to prevent damage to the housing 904 during locking, and to provide a sealing effect.

To further optimize the above solution, referring to fig. 10a, 10b, 10c, 10d, 10e and 10f, the air inlet connector 902 is screwed on the opening of the bottom plate 903. In this embodiment, a threaded connection may be used to facilitate installation or removal of the air inlet connector 902.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 10a, fig. 10b, fig. 10c, fig. 10d, fig. 10e, and fig. 10f, wherein there are a plurality of liquid-blowing structures, and each liquid-blowing structure is arranged in a line. In this embodiment, a plurality of liquid-blowing structures may be provided to ensure the liquid in the tank 900 to be blown. The number of the liquid-blowing structures can be matched with the number of the material boxes 912, and one liquid-blowing structure is arranged on each material box 912.

Referring to fig. 10a, 10b, 10c, 10d, 10e and 10f as an optimized solution of the embodiment of the present invention, the overflow water structure includes a water tank 910, the water tank 910 is disposed on an outer edge of the housing 904, an upper portion of the housing 904 has a notch, the housing 904 is communicated with the water tank 910 through the notch, and the water tank 910 has a water outlet. In this embodiment, the overflow structure is realized by the water tank 910, and the liquid in the housing 904 can enter the water tank 910 through the gap, so that the liquid in the water tank near the upper part can be drained away, because the dirt can float on the surface of the liquid, and the liquid in the tank 900 can be kept clean by draining away the liquid above.

To further optimize the above solution, referring to fig. 10a, 10b, 10c, 10d, 10e and 10f, the water tank 910 is disposed around the housing 904, and the water outlet is disposed at a corner of the water tank 910. In this embodiment, the water tank 910 is designed for one circle, so as to increase the liquid draining efficiency.

Referring to fig. 10a, 10b, 10c, 10d, 10e and 10f as an optimized solution of the embodiment of the present invention, an inductor 911 for inducing the magazine 912 is disposed in the case 900. In this embodiment, the presence or absence of the cartridge 912 in the casing 900 can be sensed by the sensor 911.

Example ten:

referring to fig. 3a and fig. 11, an embodiment of the present invention provides an empty material box 1006 storage box, including a box body 1000, an opening on a feeding side of the box body 1000 is used for entering a material feeding box 1006, a water receiving plate 1001 for receiving water is installed in the box body 1000, a hole 1002 for allowing water to flow into the box body 1000 is formed in the water receiving plate 1001, a gap 1003 is formed in a plate body of the water receiving plate 1001 close to the feeding side, and a lower clamp plate of a material feeding box 1006 taking device is inserted into the gap 1003. In this embodiment, the magazine 1006 is taken out from the automatic feeding module by the magazine 1006 taking device, so that water is present on the magazine 1006, after the carrier plates in the magazine 1006 are all pushed out layer by the feeding and pushing device, the magazine 1006 is an empty magazine 1006 at this time, the magazine 1006 taking device can put the empty magazine 1006 into the box 1000 of the storage box of the empty magazine 1006, the water receiving plate 1001 can receive the water, and the water receiving plate 1001 is provided with a notch 1003, so that the lower clamping plate of the magazine 1006 taking device can be conveniently inserted from the notch 1003 to put the magazine 1006 on the water receiving plate 1001, the shape of the notch matches with that of the lower clamping plate, the lower clamping plate has several ribs, and then the notch 1003 is a matched groove for the insertion of the rib 1003. The material taking device of the material box 1006 is shown in the second embodiment.

As an optimized solution of the embodiment of the present invention, please refer to fig. 3a and fig. 11, a supply box 1006 and a slide rail 1004 sliding thereon are disposed on the water receiving plate 1001. In this embodiment, set up slide rail 1004 feed box 1006 and slide on it, be convenient for on the one hand magazine 1006 enters into the deep department of box 1000, and on the other hand erects magazine 1006, also conveniently dries magazine 1006. When the material boxes 1006 are placed into the box 1000, the first material box 1006 is placed at a position close to the feeding side, the second material box 1006 pushes the first material box 1006 to a little deep when being placed, and the third material box 1006 pushes the second material box 1006 to a little deep continuously when being placed until the first material box 1006 is pushed to the deepest.

Referring to fig. 3a and 11 as an optimized solution of the embodiment of the present invention, an inductor 1005 for inducing the magazine 1006 is disposed on a position of the box 1000 away from the feeding side. In this embodiment, since the magazines 1006 are pushed to the depth of the box 1000 one by one, a sensor 1005 is provided at the depth, and when the magazine 1006 is sensed, it means that the box 1000 is full.

As an optimized solution of the embodiment of the present invention, please refer to fig. 3a and fig. 11, a drain hole is disposed at the bottom of the box 1000. In this embodiment, the water dropped from the cartridge 1006 can be discharged from the drain hole.

Referring to fig. 3a and fig. 11, an embodiment of the present invention further provides a full-automatic brush cleaning apparatus, including a material box 1006 taking device and the empty material box 1006 storage box, wherein the empty material box 1006 on the material box 1006 taking device is fed into the empty material box 1006 storage box.

As an optimized solution of the embodiment of the present invention, please refer to fig. 3a and fig. 11, the material taking device of the material box 1006 includes an upper clamping plate, a lower clamping plate, and a cylinder for driving the upper clamping plate and the lower clamping plate to open and close, and the notch 1003 is used for the lower clamping plate to insert.

As an optimized solution of the embodiment of the present invention, please refer to fig. 3a and 11, the empty magazine 1006 storage box is mounted on the X-axis linear module of the magazine 1006 taking device through a vertical plate. In this embodiment, the empty magazine 1006 storage box is suspended in the air and is just on the X-axis motion trajectory of the magazine 1006 taking device, which facilitates the magazine 1006 taking device to place the empty magazine 1006 into the empty magazine 1006 storage box.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 3a and fig. 11, further comprising an automatic feeding module, wherein the empty magazine 1006 storage box is located right above the automatic feeding module. In this embodiment, the automatic feeding module is used for feeding materials to the feeding mechanism, specifically, providing the feeding box 1006 for the feeding device of the feeding mechanism, and after the feeding box 1006 is taken out by the feeding device of the feeding mechanism, the feeding box 1006 is manually placed in the feeding mechanism. The storage box of the empty material box 1006 is arranged right above the automatic material supplementing module, so that water falling from the empty material box 1006 can conveniently enter the automatic material supplementing module again through the drain hole for use. Of course, the drain hole can be connected with a pipeline to drain water, and whether the water is drained depends on the cleanness degree of the water.

Example eleven:

referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, an embodiment of the present invention further provides a full-automatic brush plate cleaning method, including the following steps: s1, conveying the carrier plate with the attached product to a board brushing carrier 314 by using a feeding mechanism, and S2, driving the carrier plate to move by the board brushing carrier 314 and driving the carrier plate to swing in the moving process; s3, the carrier plate is conveyed to a cleaning device by the brush plate carrying platform 314 to be cleaned; s4, after cleaning, the board brushing carrier 314 takes the carrier board to leave a cleaning area where the cleaning device is located and send the carrier board to a blanking mechanism; and S5, the discharging mechanism puts the carrier plate processed by the cleaning device into the material storage water tank 320. In this embodiment, establish on an automated production line through with cleaning device and material storage water tank 320, reduce personnel's leakage and place the material untimely in storage water tank, solved semi-automatic cleaning equipment in addition and need artifically get the defect that the material brought from top to bottom, automated production also greatly improved production efficiency than traditional semi-automatic production simultaneously, and stability and reliability is also higher.

Referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, as an optimization scheme of the embodiment of the present invention, before feeding, an automatic feeding module 211 is used to supplement materials for the feeding mechanism. In this embodiment, the automatic feeding module 211 is used for feeding materials to the feeding mechanism, and specifically, providing the material box for the material box taking device 200 of the feeding mechanism, and the material box is manually placed after being taken out by the material box taking device 200. Because each material box is provided with a plurality of grooves, and a carrier plate can be arranged in each groove, the carrier plate is provided with a plurality of blocks, a plurality of material boxes can be arranged by designing the size of the automatic material supplementing module 211, and the requirement of full-automatic operation can be basically met. The cleaning is to clean the products on the carrier plate, so the carrier plate is circulated downwards along with the cleaning process.

Referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11 as an optimized solution of the embodiment of the present invention, during feeding, a magazine is taken out from the automatic material feeding module 211 by the magazine taking device 200 of the feeding mechanism, and then one of the carrier plates in the magazine is pushed into the brush plate carrier 314 by the feeding and pushing device 201 of the feeding mechanism. In the embodiment, the feeding is divided into two steps, one step is to take the magazine out of the automatic feeding module 211 by the operation of the magazine taking device 200, and the second step is to push one of the carrier plates in the magazine onto the brushing plate carrier 314 by the feeding and pushing device 201, and the brushing plate carrier 314 carries the carrier plate to flow to the following steps. The actions in three directions are involved, firstly, the magazine taking device 200 involves actions in two directions, namely an X axis and a Z axis, so as to take out the magazine from the automatic material supplementing module 211 into the air, and then, after moving to the working position of the feeding and material pushing device 201 in the Z axis direction, the feeding and material pushing device 201 pushes the carrier plate onto the brush plate carrier 314 in the Y axis direction. After going through other separate processes, the respective directions may be redefined for convenience of description. If the cleaning is performed according to the overall circulation direction, the direction of the movement of the brush carrier 314 with the carrier plate is the Y-axis direction, and the movement is accompanied by the swing in the X-axis direction, so that the cleaning device can be conveniently cleaned from multiple directions, and the cleaning of the product on the carrier plate is more thorough.

Referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, as an optimized solution of the embodiment of the present invention, when performing the cleaning process, the carrier plate is brushed by using the fur wheel cleaning mechanism 400. In this embodiment, the cleaning mode can be brushing by using the rotation of the bristle wheels.

To further optimize the above solution, referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, the bristle wheel cleaning mechanism 400 has a plurality of bristle wheels, each of which can rotate independently. In this embodiment, a plurality of hair wheels can independently work for can control the slew velocity and the direction of rotation of every hair wheel, provide omnidirectional cleanness, promote clean effect.

To further optimize the above solution, referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, a water collecting tank is disposed below the fur wheel cleaning mechanism 400 to collect the wastewater. In this embodiment, the water collecting tank is arranged to collect the wastewater, so that the wastewater after cleaning can be prevented from polluting the environment.

Referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, as an optimized solution of the embodiment of the present invention, during blanking, a carrier plate sent by a brush plate carrier 314 is received by a blanking rotating module, and then rotated 90 ° so that the carrier plate in a horizontal state is in a vertical state. In this embodiment, change the position state of support plate, can make things convenient for subsequent unloading manipulator module to snatch the support plate, also can rationally utilize the high space to set up unloading manipulator module.

To further optimize the above solution, referring to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, the blanking rotating module first moves the carrier plate sent by the brush carrier 314 for a certain distance in the flow channel, and then turns the carrier plate 90 °. In the embodiment, as described above, the blanking rotating module first carries the carrier plate to move a distance, which is the Y-axis direction and is the same as the moving direction of the brush plate carrier 314. The carrier plate can be buffered before being turned through the circulation, and deviation is avoided. After the turnover position is reached, the alignment is performed for one time to ensure that the turnover is free from deviation.

As an optimized solution of the embodiment of the present invention, please refer to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a and fig. 11, a loading robot module is used to pick the carrier turned by 90 ° by the loading rotation module, and then send the carrier to the material storage water tank 320. In the embodiment, as described in the above orientation, after the loading robot grabs the carrier, the loading robot moves in the X-axis direction to bring the carrier to the material storage tank 320, and then inserts the carrier into the magazine in the material storage tank 320.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 1, fig. 2a, fig. 3a, fig. 4a, fig. 5a, fig. 6a, fig. 7a, fig. 8a, fig. 9a, fig. 10a, and fig. 11, after the feeding and pushing device 201 pushes all carrier plates in the cartridges gripped by the cartridge taking device 200 onto the brush plate carrier 314, the feeding and pushing device 201 puts empty cartridges into empty cartridge storage bins. In this embodiment, as described in the above direction, the material box taking device 200 first ascends a distance along the Z axis, and then moves along the X axis after reaching the empty material box storage box, so as to place the empty material box into the empty material box storage box. After the material is placed, the material taking (i.e. grabbing the material box from the automatic material feeding module 211) is repeated. The empty material box storage box is arranged, so that the automation degree of cleaning operation can be further improved.

So far, the description of the whole full-automatic board brushing cleaning method is completed, and for the specific structures of the various components involved in the method, reference is made to the first embodiment through the tenth embodiment, which are not described herein again.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a feeding mechanical arm module which characterized in that: including being used for at the first driver of X axle direction upper drive, be used for at the second driver of Y axle direction upper drive, be used for at the third driver of Z axle direction upper drive, be used for at the fourth driver of Z axle direction upper drive and be used for at the fifth driver of Z axle direction upper drive, the second driver drives first driver removes, first driver drives the third driver removes, and the third driver drives the fourth driver removes, the fourth driver drives the fifth driver removes, install the manipulator that is used for pressing from both sides the clamp and gets the support plate on the fifth driver.

2. The blanking manipulator module of claim 1, wherein: the manipulator comprises a placing table for placing a carrier plate and a clamping jaw assembly for clamping the carrier plate on the placing table.

3. The blanking manipulator module of claim 2, wherein: the clamping jaw assembly comprises a plurality of first clamping jaws used for pressing the outer edge of the carrier plate on the placing table and a first driving piece used for driving each first clamping jaw to move towards the direction close to or away from the placing table.

4. The blanking manipulator module of claim 2, wherein: the clamping jaw assembly further comprises a second clamping jaw used for pressing the inner edge of the carrier plate on the placing table and a second driving piece used for driving the second clamping jaw to move towards the direction close to or far away from the placing table.

5. The blanking manipulator module of claim 4, wherein: the second clamping jaw is a circular clamping jaw, the placing table is also provided with the circular clamping jaw, and the two opposite circular clamping jaws are matched to clamp the inner edge of the carrier plate.

6. The feeding robot module of claim 2, wherein: the rest comprises two side walls which expand outwards to be arranged in a flaring shape.

7. The utility model provides a full-automatic brush board cleaning device which characterized in that: comprising a material storage tank and an unloading manipulator module as claimed in any of claims 1 to 6, which puts a carrier plate into a magazine in the material storage tank.

8. The fully automatic brush plate cleaning apparatus of claim 7, wherein: a plurality of material boxes are arranged in the blanking manipulator module, and the material boxes are sequentially arranged along the Y-axis direction.

9. The fully automatic brush plate cleaning apparatus of claim 7, wherein: the automatic feeding device is characterized by further comprising a discharging rotating module, and the discharging manipulator module takes materials from the discharging rotating module.

10. The blanking method of a blanking robot module as claimed in any one of claims 1 to 6, comprising the steps of:

s1, the first driver and the second driver act to rapidly bring the manipulator to a material taking position;

s2, the third driver acts to quickly bring the manipulator to the vicinity of the carrier plate;

s3, the fourth driver acts to bring the manipulator to contact the carrier plate;

s4, the fifth driver acts to drive the manipulator to comprehensively grab the carrier plate;

s5, the third driver, the fourth driver and the fifth driver return to the original positions and are actuated by the first driver and the second driver, and the manipulator which grabs the carrier plate is brought to a blanking position;

and S6, the third driver, the fourth driver and the fifth driver are matched to place the carrier plate into the groove of the material box.

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