DE112017000110B4 - Cleaning machine with two robot arms and associated cleaning method - Google Patents

Abstract

Cleaning machine with two robot arms, comprising a high-pressure cleaning room (1), a vacuum drying room (2), two robot arms (3, 4) and a turntable (5), characterized in that the turntable (5) is between the high-pressure cleaning room (1) and the Vacuum drying room (2), which high-pressure cleaning room (1) and which vacuum drying room (2) are designed independently of one another, the two robot arms (3, 4) being attached to the turntable (5) in such a way that they are between the high-pressure cleaning room (1) and the vacuum drying room (2) to complete the high-pressure cleaning and vacuum drying within the machine.

Description

Field of invention

The present invention relates to the field of high-pressure cleaning technology, in particular to a cleaning machine with two robot arms and an associated cleaning method.

Technical background

In today's high-pressure cleaning machines, the workpiece or nozzle conveyor device has too large an area and cannot be miniaturized, so it is difficult to arrange two robot arms on a turntable. If you try to grasp a workpiece using the straight shaft assembly of a gantry robot, the machine must be dimensioned correspondingly larger and at the same time a reduced range of motion of the robot arm is to be expected, which makes automatic handling of workpieces more difficult. This results in a relatively large overall footprint of the machine and a relatively low production output. In addition, the robot arms currently available on the market offer poor waterproofing and usually need to be replaced once every one to two years, which increases industrial production costs.

CN 205904767 U discloses a rotating table CNC cleaning machine in duplex position. A pivoting working head is installed in the middle of the drying chamber with the rinsing chamber. The swiveling work head is used to grasp two workpieces and place them in the appropriate area. Each workpiece is placed in sections within the chamber and lies in the drying chamber or the rinsing chamber after the pivoting work head has rotated. A main shaft is installed in the washing chamber with a tool magazine and a high pressure cleaning nozzle is provided on the main shaft. The internally mounted drying chamber has a blast drying device, the internally mounted drive chamber has an XYZ drive assembly, a water tank is provided in a recess and is connected to the rinsing chamber and the drying chamber. A tertiary filter system for high pressure is provided in the water tank. A pump runs through an elevator pump and is connected to the water tank. The high pressure pump can provide high pressure water to the high pressure cleaning nozzle installed on the main shaft, tool magazine and XYZ drive assembly.

CN 202336448 U discloses a robot cleaning device consisting of a conveyor roller track, a cleaning room, a robot, a machine body, a drying chamber, a high pressure nozzle, a slide block, an air cylinder, a water tank, a guide plate and guide rails. The conveyor roller conveyor is arranged on the machine body, the machine body being equipped with the water tank and the drying chamber inside. In the upper part of the water tank, the washing room is arranged, the high pressure nozzle and two guide rails are arranged on the side wall of the machine body, a guide rod of the air cylinder is connected to the guide plate in a transmission device. The guide plate is slidably connected to a pair of guide rails. The robot is permanently mounted in the gearbox and attached to the machine body. The robot cleaning device is used to clean automobile components.

For these reasons, a novel high-pressure cleaning machine system and associated cleaning method are desired.

Disclosure of the invention

In order to improve the state of the art, it is the object of the present invention to provide a cleaning machine with two robot arms and an associated cleaning method, which is characterized by a new structure, high safety and reliability and good applicability and with which the disadvantages of the known high-pressure cleaning machines with one workpiece or nozzle conveyor device that is too large in terms of area and cannot be miniaturized.

According to the invention, the object is achieved by a cleaning machine with two robot arms, which includes a high-pressure cleaning room, a vacuum drying room, two robot arms and a turntable and is characterized in that the turntable is located between the high-pressure cleaning room and the vacuum drying room, which high-pressure cleaning room and which vacuum drying room are designed independently of one another are, wherein the two robot arms are attached to the turntable such that they can switch between the high-pressure cleaning room and the vacuum drying room to complete the high-pressure cleaning and vacuum drying within the machine.

A waterproof structure for the robot arm is created by the robot arm comprising a sealed housing, which is sealed ted housing structure comprises an upper housing, a lower housing and a sealing shim, which sealing shim is attached between the upper and the lower housings to create a sealed hollow structure with which entry of water and oil from the outside into the robot arm can be prevented, wherein the robot arm joint output shaft is a hollow shaft structure through which associated cables and piping for the robot arm can pass, wherein within the joint structure of the robot arm there is further provided a two-stage reduction gear set consisting of a reduction gear set and a reduction gear, which includes a reduction gear set and a reduction gear, wherein a small gear of the reduction gear set is attached to an output shaft of the reduction gear and a large gear is attached to an output shaft of the robot arm, while an electric motor is attached to an input shaft of the reduction gear to supply driving power, the electric motor first through the reduction gear and then is reduced by the reduction gear set in order to realize a two-stage reduction.

According to the invention, a cleaning method using the above-described cleaning machine with two robot arms is also proposed, which is characterized in that during operation the robot arm (3) grabs a workpiece A to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1), whereby At the end of the cleaning, the robot arm (3) and the robot arm (4) are rotated by the turntable (5) in such a way that the cleaned workpiece A is clamped to the robot arm (3) and introduced into the vacuum drying room (2) for vacuum drying , while at the same time the robot arm (4) grabs a workpiece B to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1) for high-pressure cleaning, the workpiece A being conveyed out of the machine after drying by the robot arm (3) and the robot arm (3) and the robot arm (4) are rotated by the turntable (5) in such a way that the cleaned workpiece B is introduced into the vacuum drying room (2) for vacuum drying by the robot arm (4), clamped to it, while the robot arm ( 3) at the same time grabs a workpiece C to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1) for high-pressure cleaning.

Compared to the prior art, the present invention is characterized by a simple combination structure and a novel method and offers the following advantages: The high-pressure cleaning machine and the vacuum dryer are compact and allow the entire process from gripping the workpiece, workpiece handling to high-pressure cleaning and vacuum drying to be completed within the machine, whereby high-pressure cleaning and vacuum drying can take place at the same time. The robot arms can be completely protected from water ingress and the clamping devices on the robot arms can be changed as needed, which results in a significant increase in work performance, a reduction in production costs and a saving in operating space.

Presentation of the illustrations

• 1 eine Anordnungszeichnung einer erfindungsgemäßen Reinigungsmaschine mit zwei Roboterarmen;
• 2 in schematischer Darstellung einen Drehtisch einer erfindungsgemäßen Reinigungsmaschine mit zwei Roboterarmen während des Betriebs;
• 3 eine Draufsicht auf eine wasserdichte Struktur für den Roboterarm einer erfindungsgemäßen Reinigungsmaschine mit zwei Roboterarmen;
• 4 eine Schnittansicht von 3 in A-A-Richtung.

Show it

• 1 an arrangement drawing of a cleaning machine according to the invention with two robot arms;
• 2 a schematic representation of a turntable of a cleaning machine according to the invention with two robot arms during operation;
• 3 a top view of a waterproof structure for the robot arm of a cleaning machine according to the invention with two robot arms;
• 4 a sectional view of 3 in AA direction.

Reference symbol list

1

High pressure cleaning room

2

Vacuum drying room

3

Robot arm

4

Robot arm

5

Rotary table

6

big wheel

7

Small bike

8th

reduction gear

9

Electric motor

10

Lower case

11

sealing insert

12

Upper case

13

First output wave

14

Second output wave

15

Associated cable

Concrete embodiments

The invention is described in more detail below with reference to the accompanying drawings. The structure and principles of such a device and method are easy to understand for those skilled in the art. It is understood that the exemplary embodiments described here do not represent a limitation of the invention, but merely serve to explain the invention.

As in 1 can be seen, the cleaning machine with two robot arms includes a high-pressure cleaning room (1), a vacuum drying room (2), a robot arm (3), a robot arm (4) and a turntable (5). The two robot arms can each grip and handle a workpiece and are equipped with clamping devices that can be changed as needed. The turntable (5) is located between the high-pressure cleaning room (1) and the vacuum drying room (2), with the high-pressure cleaning room and vacuum drying room being designed independently of one another so that the cleaning and drying of workpieces can take place at the same time. As in 2 is shown, the robot arm (3) and the robot arm (4) are attached to the turntable (5) in such a way that the robot arm (3) and the robot arm (4) can be moved via the turntable (5) between the high-pressure cleaning room (1) and the Vacuum drying room (2) can be switched.

Out of 3 and 4 discloses a waterproof structure for the robot arm, which is created by the robot arm comprising a sealed housing and the joint structure of the robot arm comprising a reduction device, a sealed housing structure and a hollow shaft structure.

The reduction device comprises a reduction gear set consisting of a large gear (6) and a small gear (7) and a reduction gear, wherein the reduction gear set and the reduction gear form a two-stage reduction and an electric motor (9) is used to supply driving force.

The sealed housing structure comprises an upper housing (12), a sealing insert (11) and a lower housing (10), which together form a sealed hollow structure.

The hollow shaft structure consists of a hollow robot arm joint output shaft (13) and an output shaft (14), with associated cables and piping for the robot arm being able to pass through the output shaft (13) and the output shaft (14).

The electric motor (9) is therefore reduced by the reduction gear set consisting of the large gear (6) and the small gear (7) and the reduction gear, with the upper housing (12), the sealing insert (11) and the lower housing (10) together form a sealed hollow structure and associated cables and pipes for the robot arm are passed through the robot arm joint output shaft (13) and the output shaft (14) to create a novel robot arm joint structure.

In use, the small gear of the reduction gear set is attached to an output shaft of the reduction gear and the large gear is attached to an output shaft of the robot arm, while the electric motor is attached to an input shaft of the reduction gear to provide driving power. The electric motor is first reduced by the reduction gear and then by the reduction gear set in order to achieve a two-stage reduction. The presence of the reduction gear set relieves the load on the reduction gear, so that it no longer has to be designed to be as rigid and resilient as before. Overall, this results in a relatively compact reduction structure. The sealed hollow structure formed by the upper housing (12), the sealing insert (11) and the lower housing (10) can prevent water and oil from entering the robot arm from outside. Associated cables and piping for the robot arm can pass through the output shaft (13) and the output shaft (14).

With this novel robot arm joint structure, the problems existing in the known waterproof structures for robot arms, such as high load on the reduction gear, complex wiring and piping, and operational inconvenience, are effectively solved in a simple manner.

Example embodiment

During operation, the robot arm (3) grabs a workpiece A to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1). After the cleaning has been completed, the robot arm (3) and the robot arm (4) are rotated by the turntable (5) so that the cleaned workpiece A is clamped to the robot arm (3) and introduced into the vacuum drying room (2) for vacuum drying becomes. At the same time, the robot arm (4) grabs a workpiece B to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1) for high-pressure cleaning. After the workpiece A has been dried, the robot arm (3) conveys the workpiece A out of the machine. The robot arm (3) and the robot arm (4) are then rotated by the turntable (5) in such a way that the cleaned workpiece B is clamped to the robot arm (4) and introduced into the vacuum drying room (2) for vacuum drying. At the same time, the robot arm (3) grabs a workpiece C to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1) for high-pressure cleaning.

With this configuration, a compact structure of the high-pressure cleaning machine and the vacuum dryer can be achieved and the entire process from workpiece gripping, workpiece handling to high-pressure cleaning and vacuum drying can be completed within the machine, whereby the high-pressure cleaning and vacuum drying can be carried out at the same time. The robot arms can be completely protected from water ingress and the clamping devices on the robot arms can be changed as needed, which results in a significant increase in work performance, a reduction in production costs and a saving in operating space.

Claims (3)

Cleaning machine with two robot arms, comprising a high-pressure cleaning room (1), a vacuum drying room (2), two robot arms (3, 4) and a turntable (5), characterized in that the turntable (5) is between the high-pressure cleaning room (1) and the Vacuum drying room (2) is located, which high-pressure cleaning room (1) and which vacuum drying room (2) are designed independently of one another, the two robot arms (3, 4) being attached to the turntable (5) in such a way that they are between the high-pressure cleaning room (1) and the vacuum drying room (2) to complete the high-pressure cleaning and vacuum drying within the machine. Cleaning machine with two robot arms Claim 1 , characterized by a waterproof structure for the robot arm, which is created by the robot arm comprising a sealed housing, which sealed housing structure comprises an upper housing (12), a lower housing (10) and a sealing insert (11), which sealing insert (11 ) is mounted between the upper and lower housings to create a sealed hollow structure that can prevent water and oil from entering the robot arm (3, 4) from the outside, which is the robot arm joint output shaft (13 ) is a hollow shaft structure through which associated cables (15) and pipes for the robot arm can pass, a two-stage reduction assembly consisting of a reduction gear set and a reduction gear (8) being further provided within the joint structure of the robot arm, which has a reduction gear set and a reduction gear (8), wherein a small gear (7) of the reduction gear set is attached to an output shaft (13) of the reduction gear and a large gear (6) is attached to an output shaft (14) of the robot arm, while an electric motor (9) is attached to an input shaft of the reduction gear ( 8) is attached to supply driving power, the electric motor (9) being reduced first by the reduction gear (8) and then by the reduction gear set to realize a two-stage reduction. Cleaning procedure using a cleaning machine with two robotic arms Claim 1 , characterized in that during operation the robot arm (3) grabs a workpiece A to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1), with the robot arm (3) and the robot arm (4) passing through the turntable after the cleaning has been completed (5) can be rotated so that the cleaned workpiece A is brought into the vacuum drying room (2) for vacuum drying by the robot arm (3), clamped to it, while the robot arm (4) simultaneously grabs a workpiece B to be cleaned outside the machine and conveys it into the high-pressure cleaning room (1) for high-pressure cleaning, the workpiece A being conveyed out of the machine after drying by the robot arm (3) and the robot arm (3) and the robot arm (4) being rotated by the turntable (5). the cleaned workpiece B is brought into the vacuum drying room (2) for vacuum drying by the robot arm (4), clamped to it, while at the same time the robot arm (3) grabs a workpiece C to be cleaned outside the machine and places it in the high-pressure cleaning room (1) promotes high-pressure cleaning.

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