CN211839465U

CN211839465U - Cleaning machine

Info

Publication number: CN211839465U
Application number: CN202020145530.6U
Authority: CN
Inventors: 苏义中; 曾奕霖; 赖凤仪
Original assignee: Jabil Circuit Singapore Pte Ltd
Current assignee: Jabil Circuit Singapore Pte Ltd
Priority date: 2020-01-22
Filing date: 2020-01-22
Publication date: 2020-11-03
Anticipated expiration: 2030-01-22

Abstract

A cleaning machine is adapted to clean a product, the product having a surface. The cleaning machine comprises a working platform, a mechanical arm and a wiping piece, wherein the working platform is used for bearing and positioning the product, the wiping piece is arranged at the tail end of the mechanical arm and is provided with wiping cloth used for wiping the product, and the wiping piece can be driven by the mechanical arm to move so as to wipe the surface of the product through the wiping cloth. Therefore, the cleaning speed and efficiency of the product can be effectively improved.

Description

Cleaning machine

Technical Field

The utility model relates to a cleaning machine especially relates to a be applied to product letter sorting equipment for carry out clear cleaning machine to judging as unqualified product after detecting.

Background

When the defects of the glass plate are detected by an automatic visual inspection (AOI) machine, the image of the glass plate is selected firstly, and then the image is processed by an image processing technology to judge whether the glass plate has the defects. Since the above method uses a two-dimensional plane image to determine whether there is a flaw, the height fluctuation state of the flaw on the glass plate cannot be known. Therefore, in addition to determining that the glass plate with scratches on the surface is not qualified, the automatic vision inspection machine often determines that the glass plate with dust adhered to the surface in the manufacturing environment or the glass plate with residual glue left on the surface after the protective film is removed is not qualified, thereby causing erroneous determination of the glass plate with foreign matters such as dust or residual glue left on the surface.

Therefore, after the automatic visual inspection machine sorts out the defective glass plates, the defective glass plates are further wiped and cleaned by a large amount of manual work. If the glass plate which cannot be wiped cleanly shows that the surface of the glass plate has scratch marks, the glass plate is directly judged to be unqualified. If the glass plate can be wiped and cleaned, the surface of the glass plate is only provided with the residual foreign matters such as dust, residual glue and the like, and the glass plate can enter a production line for subsequent operation after being cleaned. Therefore, the whole cleaning process consumes a lot of labor cost and time, and the cleaning efficiency is very poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a cleaning machine that can overcome at least one shortcoming of background art.

The utility model discloses an aim at and solve background technical problem adopt following technical scheme to realize, the foundation the utility model provides a cleaning machine is suitable for clean product, the product has the surface.

The cleaning machine comprises a working platform, a mechanical arm and a wiping piece, wherein the working platform is used for bearing and positioning the product, the wiping piece is arranged at the tail end of the mechanical arm and is provided with a wiping cloth used for wiping the product, and the wiping piece can be driven by the mechanical arm to move so as to wipe the surface of the product through the wiping cloth.

The cleaning machine of the utility model is characterized in that the wiping piece is also provided with a soft head, and the wiping cloth is coated on the soft head.

The utility model discloses a cleaner, soft head has the terminal surface, the terminal surface is for supplying wipe cloth cladding's arcwall face.

The utility model discloses a cleaning machine, soft head has the terminal surface, the terminal surface is for supplying wipe cloth cladding's spherical face.

The utility model discloses a cleaner, the wiper still has the confession the loading board that soft head set up, the loading board can assemble with dismantling in robotic arm is terminal.

The utility model discloses a cleaning machine still includes the cleaning solution feeding mechanism who is used for supplying the cleaning solution, it can be stained with to wipe the cloth to wipe the cleaning solution is in order to clean the product the surface.

The utility model discloses a cleaning machine, cleaning solution feeding mechanism includes the holding the box of cleaning solution, and set up in just the sponge on its top is exposed to the part in the box, the sponge adsorbs the cleaning solution is used for supplying it is stained with to wipe the cloth contact so that it is stained with and attaches the cleaning solution.

The utility model discloses a cleaning machine, cleaning solution feeding mechanism includes the holding the platform of being stained with of cleaning solution, it is used for supplying to be stained with wet the platform the wiper pushes down so that wiping cloth is stained with attaches the cleaning solution.

The utility model discloses a cleaning machine, cleaning solution supply arrangement include be used for with the cleaning solution spraying extremely the wiper the sprayer of wiping cloth.

The utility model discloses a cleaning machine, cleaning solution supply arrangement still include with the cleaning solution supply the control unit of sprayer fluid intercommunication, cleaning solution supply the control unit is used for control the sprayer will the cleaning solution spraying extremely wipe cloth.

The beneficial effects of the utility model reside in that: the cleaning machine can automatically clean the products which are judged to be unqualified, and can omit a large amount of manual cleaning operation, so that the cleaning speed and efficiency of the products can be effectively improved.

Drawings

FIG. 1 is a flow chart of a first embodiment of the cleaning machine of the present invention applied to a product sorting facility;

FIG. 2 is a schematic illustration of the first embodiment in cooperation with the product sorting apparatus for detecting products;

FIG. 3 is a perspective view of the first embodiment, illustrating the arrangement relationship among the work platform, the cleaning liquid supply device and the cleaning device;

FIG. 4 is a partial schematic view of the first embodiment illustrating the wipe's wipes contacting the sponge and adhering cleaning solution;

FIG. 5 is a partial schematic view of the first embodiment illustrating a robotic arm translating the wiper to wipe the surface of the product with the wipe;

FIG. 6 is a partial schematic view of the first embodiment illustrating the robot arm translating the wiper to wipe the surface of the product with the wipe;

FIG. 7 is a perspective view of the first embodiment illustrating the soft head of the wipe being cylindrical;

FIG. 8 is a schematic view of a second embodiment of the cleaning machine illustrating the wiper pressing down the wetting plate of the wetting table to cause the cleaning cloth to adhere to the cleaning liquid in the wetting plate; and

fig. 9 is a partial schematic view of a third embodiment of the cleaning machine of the present invention, illustrating the cleaning liquid supply control unit controlling the sprayer to spray the cleaning liquid to the wiping cloth.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

Referring to fig. 1 and 2, fig. 1 is a flow chart illustrating a first embodiment of the cleaning machine applied to a product sorting device 300, wherein the product sorting device 300 is suitable for detecting and sorting a plurality of products 1. Each product 1 of the first embodiment is a glass plate made of glass material. Of course, each product 1 may be a metal plate, a plastic plate, or a ceramic plate, and is not limited to a glass plate. Each product 1 is rectangular and has two opposite surfaces 11, said surfaces 11 being respectively glued by means of glue to two protective films 2.

The product sorting apparatus 300 includes an automatic vision inspection machine 3 and a cleaning machine 4. The automatic vision inspection machine 3 is a high-speed high-precision optical image inspection system for performing defect inspection on the product 1 to determine whether the product is qualified. The automatic visual inspection machine 3 is arranged to sort out the products 1 when they are judged to be qualified; and performing automatic cleaning by the cleaning machine 4 when the product 1 is judged to be unqualified. The cleaning machine 4 is located downstream of the automatic vision inspection machine 3, and the cleaning machine 4 is configured to clean the products 1 that have been determined to be defective by the automatic vision inspection machine 3, and to return the cleaned products 1 to the automatic vision inspection machine 3 for inspection again. The automatic visual inspection machine 3 is arranged to pick out the products 1 which are judged to be unqualified after the returned products 1 are repeatedly inspected for a plurality of times, and judge the products 1 to be unqualified after the picked products 1 are finally confirmed to be correct. The automatic visual inspection machine 3 determines that the returned product 1 is not qualified after repeatedly detecting for multiple times, which indicates that the returned product 1 is always unclean after being cleaned by the cleaning machine 4 for multiple times, for example, the surface 11 of the product 1 itself has a mark of scratch and dent and cannot be cleaned by the cleaning machine 4. Therefore, the product 1 which is judged to be unqualified after repeated detection is picked out and finally confirmed, the product 1 is judged to be unqualified after the confirmation is correct, and the unqualified product 1 is discarded or returned subsequently.

Specifically, the automatic vision inspection machine 3 includes a vision inspection device 31 and a count determination device 32. The visual inspection device 31 is used for detecting flaws in the product 1. The counting and judging means 32 is located downstream of the visual inspection means 31 to count the number of times of returning the returned product 1 and judge whether the number of times of returning reaches a preset returning number. The counting judgment means 32 of the automatic vision inspection machine 3 is arranged to convey the product 1 to the cleaning machine 4 for cleaning when judging that the number of times of return is less than the preset number of times of return, and to sort out the product 1 when judging that the number of times of return is the same as the preset number of times of return. In the first embodiment, the preset number of times of returning is three, that is, when the number of times of returning is less than three, it is determined that the product 1 can be conveyed to the cleaning machine 4 again for cleaning. When the number of times of return is equal to three, the product 1 is judged to be not qualified and is sorted out, the sorted product 1 is finally confirmed by, for example, a manual method, and the product 1 is judged to be finally not qualified without fail. Of course, the preset loopback number can be adjusted to increase or decrease according to actual requirements, and is not limited to the three times disclosed above.

Referring to fig. 3 and 4, the cleaning machine 4 includes a working platform 40, a cleaning liquid supply device 43, and a cleaning device 44. The working platform 40 includes a table 41 and a positioning fixture 42. The positioning fixture 42 is disposed on the table 41 for carrying and positioning the product 1 that is determined to be unqualified and needs to be cleaned. Cleaning liquid supply 43 includes a cartridge 431, a cleaning liquid 432, and a sponge 433. The cassette 431 is disposed on the table 41. The cleaning liquid 432 is contained in the box 431, and the cleaning liquid 432 is, for example, absolute alcohol which has a good glue removing effect and does not leave water marks or wiping marks. Of course, the cleaning solution 432 may also be a glass cleaning solution containing a surfactant, wherein the surfactant refers to a chemical component containing fatty alcohol polyoxyethylene ether, polyoxyethylene cocoate, ethylene glycol butyl ether, propylene glycol monobutyl ether, 2-hexyloxyethanol, isopropanolamine, ammonium hydroxide, and the like. The glass cleaning liquid has the functions of removing oil stains, not needing to be washed, not leaving water marks and wiping marks and the like. The sponge 433 is disposed in the box 431 and partially exposed from the top of the box 431, and the sponge 433 absorbs the cleaning solution 432 to be in a wet state.

The cleaning device 44 includes a robot arm 441 and a wiper 442. Robot arm 441 is a six-axis robot arm and has a pivot joint 443 at the distal end. The wiper 442 has a carrier plate 444, a flexible head 445 and a wiping cloth 446. The carrier plate 444 is a rigid plate and is detachably assembled to the pivot joint 443, and the carrier plate 444 of the first embodiment is fastened to the pivot joint 443 by a plurality of screws 447. The flexible head 445 is disposed on the supporting plate 444, and the flexible head 445 of the first embodiment is a latex head made of flexible latex material. Of course, the flexible head 445 may also be made of a flexible material such as rubber, silicon rubber, or Liquid Silicon Rubber (LSR). The flexible head 445 is shaped as a long block, the length of the flexible head 445 being greater than the width of the product 1. The flexible head 445 has an end face 448, and the end face 448 is an arc-shaped face. The wiping cloth 446 is wrapped on the end surface 448 of the soft head 445 to contact the sponge 433 and adhere the cleaning liquid 432 thereon to wipe the product 1 on the positioning fixture 42. The wiping cloth 446 of the first embodiment is a dust-free cloth.

The following description will be made in detail about the operation of the product sorting apparatus 300 applied to the cleaning machine 4 of the first embodiment to detect and sort the products 1:

referring to fig. 1 and 2, first, the protective film 2 on each product 1 is peeled off the surface 11. The product 1 is then conveyed into an automatic visual inspection machine 3. The vision inspection device 31 selects images of each product 1, and then processes the images by using an image processing technique to determine whether the product 1 has defects. After the product 1 passes through the visual inspection device 31, it passes through the counting device 32, and the counting device 32 scans the bar code of the product 1 to record the information of the detected product 1. When the vision inspection device 31 of the automatic vision inspection machine 3 determines that the product 1 is qualified, the product is picked out and conveyed to the production line 5 for subsequent processing. When the vision inspection device 31 of the automatic vision inspection machine 3 determines that the product 1 is not acceptable, the cleaning machine 4 automatically cleans the unacceptable product 1.

Referring to fig. 3, 4, 5 and 6, the unqualified product 1 can be transferred from the automatic vision inspection machine 3 to the cleaning machine 4 by an automatic transfer mechanism (not shown) or manually by an operator, and assembled and positioned on the positioning fixture 42, so that one surface 11 of the product 1 faces upward.

After the product 1 is positioned, the robot arm 441 drives the flexible head 445 of the wiping member 442 to press down toward the sponge 433 of the cleaning liquid supplying device 43, so that the wiping cloth 446 contacts the sponge 433 and adheres to the cleaning liquid 432 to be in a wet state.

When the cleaning liquid 432 is adhered to the wiping cloth 446, the robot arm 441 drives the flexible head 445 of the wiping element 442 to move to a proper position on one of the short sides of the product 1, so that the bottom end of the wiping cloth 446 has a height equivalent to the height of the upward surface 11 of the product 1. Subsequently, the robot arm 441 will move the wiper 442 from the position shown in fig. 5 to translate along the first moving direction I. During the translation of the wiper 442, the robot arm 441 applies a downward force to the wiping cloth 446 through the soft head 445 of the wiper 442, so that the wiping cloth 446 in a wet state can wipe the surface 11 with the predetermined downward force to remove the foreign matters such as dust and residual glue adhered on the surface 11. The robot arm 441 can prevent the product 1 from being worn or scratched by the pressing of the hard structure by applying a downward force to the wiping cloth 446 through the soft head 445. When the wiper 442 is translated by the robot arm 441 to the position shown in fig. 6, the first wiping of the surface 11 is completed. Since the length of the soft head 445 is greater than the width of the product 1, the wiping member 442 moves to the position of fig. 6 to wipe all parts of the surface 11 completely to remove foreign matters such as dust or residual glue adhered to the surface 11. Thereafter, the robot arm 441 moves the wiping element 442 in a second moving direction II opposite to the first moving direction I to translate from the position shown in fig. 6 and return to the position shown in fig. 5, so as to perform a second wiping operation on the surface 11. When the second wiping action is completed, the wiping of the surface 11 is completed.

It should be noted that, by the design that the end face 448 of the flexible head 445 is an arc-shaped face, when the robot arm 441 applies a downward force to the wiping cloth 446 through the flexible head 445 to press the wiping cloth 446 against the surface 11, the wiping cloth 446 can increase the contact area with the surface 11 due to the deformation of the flexible head 445.

The product 1 is turned over automatically by a turning robot arm (not shown) or the product 1 is manually turned over by an operator with the other surface 11 of the product 1 facing upwards. By wiping the other surface 11 of the product 1 in the above manner, the automatic cleaning operation of the product 1 can be completed.

Referring to fig. 1, 2 and 3, after the cleaning operation of the product 1 is completed, the cleaned product 1 is returned to the automatic vision inspection machine 3 for inspection again by an automatic transferring mechanism or by an operator by a manual transferring method. The count judgment means 32 counts the number of times of returning the returned product 1 by scanning the bar code of the product 1. When the visual inspection device 31 determines that the cleaned returned product 1 is qualified, it is picked out and conveyed to the production line 5 for subsequent processes. When the visual inspection device 31 determines that the cleaned returned product 1 is defective, the defective product 1 needs to be cleaned again by the cleaning machine 4 in the aforementioned cleaning manner.

It should be noted that, if the surface 11 of the product 1 is only adhered with dust or has residual adhesive, the surface 11 can be cleaned by cleaning the cleaning machine 4 once or twice to remove the foreign matters, so that the product 1 can be determined to be qualified when the visual inspection device 31 inspects the cleaned product 1 again. However, if the surface 11 of the product 1 has a mark of structural damage such as a scratch or a dent, the scratch mark cannot be removed even if the cleaning machine 4 performs cleaning on the product 1 for a plurality of times, so that the product 1 is continuously judged to be unqualified because of the scratch mark. Therefore, the number of times of returning the product 1 is counted by the counting and judging means 32, and the product 1 is sorted out by judging that the number of times of returning is the same as the preset number of times of returning, whereby the number of times of continuous cleaning and returning detection of the product 1 judged to be defective due to the dent mark can be reduced. And finally manually confirming the sorted unqualified products 1 by an operator, and judging the products 1 as the final unqualified products after confirming that no errors exist so as to avoid the occurrence of misjudgment.

The cleaning machine 4 can automatically clean the products 1 which are judged to be unqualified, thereby saving a large amount of labor for cleaning. In addition, the automatic visual inspection machine 3 can be used for automatically inspecting the product 1 cleaned by the cleaning machine 4 again, so that a large amount of manual inspection work after cleaning can be saved. Therefore, the speed and the efficiency of detecting, sorting and cleaning of the product sorting equipment 300 can be effectively improved.

Referring to fig. 7, since the carrier plate 444 (shown in fig. 4) of the wiping element 442 can be detachably assembled to the pivot joint 443, the wiping element 442 having the soft head 445 with different shapes can be selected according to the wiping manner of the surface 11 of the wiping product 1 and the requirements of the wiping specific area or area. Thereby, the elasticity of the cleaning product 1 can be increased. For example, the soft tip 445 of the wiping member 442 in fig. 7 has a cylindrical shape, and the end surface 448 of the soft tip 445 is a spherical surface to which the wiping cloth 446 is wrapped. Thereby, the soft head 445 of the wiper 442 can wipe a localized area of the surface 11 through the wipe 446. Moreover, the end face 448 of the soft head 445 is designed to be a spherical face, so that the wiping piece 442 can be driven to rotate simultaneously when the pivoting joint 443 drives the wiping piece 442 to translate, and therefore, the soft head 445 can drive the wiping cloth 446 to wipe the surface 11 in a translation and rotation motion manner, so as to improve the removal efficiency of removing foreign matters.

Referring to fig. 8, which is a partial schematic view of a second embodiment of the cleaning machine of the present invention, the overall structure of the cleaning machine 4 is substantially the same as that of the first embodiment, except for the structure of the cleaning liquid supply device 43.

In the present second embodiment, the cleaning liquid supply device 43 includes a wetting stage 434. The wetting station 434 can be disposed on the table 41 or other suitable location. The wetting table 434 includes a liquid storage barrel 435, a wetting plate 436 positioned above the liquid storage barrel 435, and a liquid pumping mechanism 437 connected between the liquid storage barrel 435 and the wetting plate 436. The cleaning liquid 432 is stored in the liquid storage barrel 435. The dip pan 436 can be depressed to actuate the pumping mechanism 437 to pump the cleaning liquid 432 in the reservoir 435 into the dip pan 436. The pivotal joint 443 of the robot arm 441 drives the wiping member 442 to move into the dip pan 436 and press the dip pan 436 downward, and the liquid pumping mechanism 437 pumps the cleaning liquid 432 in the liquid storage barrel 435 to flow into the dip pan 436, so that the cleaning cloth 446 can be wet by the cleaning liquid 432 in the dip pan 436.

Referring to fig. 9, which is a partial schematic view of a third embodiment of the cleaning machine of the present invention, the overall structure of the cleaning machine 4 is substantially the same as that of the first embodiment, except for the structure of the cleaning liquid supply device 43.

In the present third embodiment, the cleaning liquid supply device 43 includes a sprayer 438, and a cleaning liquid supply control unit 439. The sprayer 438 and the cleaning liquid supply control unit 439 are disposed on the table 41. The sprayer 438 is a pneumatic spray gun. The cleaning liquid supply control unit 439 is in fluid communication with the sprayer 438 for supplying the cleaning liquid 432 and gas to the sprayer 438. The cleaning liquid supply control unit 439 is used for controlling the sprayer 438 to spray the cleaning liquid 432 to the wiping cloth 446 of the wiping piece 442 in a timed and quantitative manner, so that the wiping cloth 446 is wet by the cleaning liquid 432.

Concluding up the aforesaid, cleaner 4 of each embodiment borrows by carrying out the automation to being judged unqualified product 1 and cleans, can save a large amount of manual works and clean the operation, borrow this, can promote the clear speed and the efficiency of product 1 effectively, can reach really the utility model discloses the purpose of seeking.

Claims

1. A cleaning machine adapted to clean a product, said product having a surface, said cleaning machine comprising a work platform for carrying and positioning said product, a robotic arm, and a wiper member disposed at the end of said robotic arm and having a wiping cloth for wiping said product, said wiper member being movable by said robotic arm to wipe said surface of said product through said wiping cloth.

2. The cleaning machine of claim 1 wherein said wiper member further has a soft head, said wiping cloth being wrapped over said soft head.

3. The cleaning machine of claim 2 wherein said soft head has an end face, said end face being an arcuate face for wrapping said wiping cloth.

4. The cleaning machine of claim 2 wherein said soft head has an end surface, said end surface being a spherical surface for coating said wiping cloth.

5. The cleaning machine of claim 2 wherein said wiper further has a carrier plate for said flexible head, said carrier plate being removably assembled to said robot arm distal end.

6. The cleaning machine of claim 1 further comprising a cleaning liquid supply for supplying a cleaning liquid, said wiping cloth capable of being adhered to said cleaning liquid to wipe said surface of said product.

7. The cleaning machine of claim 6 wherein the cleaning solution supply device includes a box for containing the cleaning solution and a sponge disposed in the box and partially exposed from the top end thereof, the sponge absorbing the cleaning solution for contacting the wiping cloth to adhere the cleaning solution.

8. The cleaning machine of claim 6 wherein said cleaning solution supply means includes a wetting table for receiving said cleaning solution, said wetting table being adapted to be depressed by said wiper to cause said wiper to adhere to said cleaning solution.

9. The cleaning machine of claim 6 wherein said cleaning liquid supply includes an applicator for applying said cleaning liquid to said wipes of said wiper.

10. The cleaning machine of claim 9 wherein said cleaning liquid supply device further includes a cleaning liquid supply control unit in fluid communication with said sprayer, said cleaning liquid supply control unit for controlling said sprayer to spray said cleaning liquid to said wipes.