JP2000350968A - Work washing apparatus comprising plural spraying nozzles - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work washing apparatus capable of reliably and automatically select jetting nozzles within a short time corresponding to the shapes of respective parts of a work to be washed. SOLUTION: This work washing apparatus carries out washing by fixing a work W in a detachable manner on a table 30 installed in a booth 20, attaching jetting nozzles 12 capable of selectively jetting washing water and compressed air to an articulated robot fixed in the booth 20, and three- dimensionally turning the direction of the jetting nozzle 12 so as to jet a washing liquid to a prescribed position of the work from the jetting nozzle 12 and, after that, blow out adhering substances by jetting air. A plurality of the jetting nozzles 12 suitable for the shapes of respective parts of the work W to be washed are attached to the articulated robot to carry out washing while the jetting nozzles 12 being automatically selected corresponding to the respective parts to be washed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for cleaning a work placed on a pallet on a table arranged in a watertight booth, and detachably fixing the work on the table with a cleaning liquid. In connection with a work cleaning device that blows off deposits,
In particular, the present invention relates to a work cleaning apparatus having a plurality of spray nozzles that can perform cleaning while automatically selecting a spray nozzle according to the shape of each part of the work to be cleaned.

[0002]

2. Description of the Related Art In a machine parts manufacturing factory, various machine tools are installed in a machining process to perform various processes. For example, chips are generated during machining during cutting in mechanical processing. If the generated chips are left as they are, they cause processing defects and defective products in finished products. or,
Since cutting oil is often used for cutting, the cutting oil tends to attach chips to the work. Therefore, the work must be cleaned and removed during or at the end of processing.

Conventionally, the work has been washed by a so-called shower type work washing apparatus. That is, the cleaning liquid injection nozzle for injecting the cleaning liquid and the air injection nozzle for injecting air, or the injection nozzle capable of selectively injecting the cleaning liquid and the pressurized air from the same injection port are located at predetermined positions in a watertight booth. A plurality of workpiece cleaning devices are provided so as to surround the work, all of which are fixed in the booth, and the cleaning liquid and the air are sprayed from all directions toward the work.

[0004] Thereafter, a work having a complicated shape, particularly a fine hole,
For a work such as a manifold with many deep holes, it is difficult to clean the inside of the important holes, and the cutting oil and chips entering these holes are fixed. The air jet nozzle of the type cannot supply pressurized air to the narrow hole and the deep hole as intended, and has a disadvantage that it cannot be sufficiently removed. In addition, from the viewpoint of automating the process, a workpiece cleaning apparatus using a robot has been increasingly used.

[0005]

However, in a conventional work cleaning apparatus using a robot, the robot has only one injection nozzle, and when cleaning a work having a complicated shape, the cleaning portion is used. It was necessary to appropriately replace and use the injection nozzle according to the shape of the nozzle. If a field worker replaces the injection nozzle each time, there is a problem that an excessive burden is imposed on the worker and that it takes time to replace the injection nozzle. In addition, it is possible to automatically replace the spray nozzles by attaching an automatic replacement mechanism of the spray nozzles to the work cleaning device, but even if this method is used, the burden on the operator is certainly released. However, there is still a problem that it takes time to replace the injection nozzle.

Accordingly, an object of the present invention is to provide a work cleaning apparatus capable of automatically and reliably selecting a jet nozzle according to the shape of each part of the work to be cleaned in a short time. Is to do.

[0007]

According to the present invention, in order to solve the above-mentioned problems, a work placed on a pallet is detachably fixed on a table arranged in a watertight booth. Then, an injection nozzle capable of selectively injecting washing water and pressurized air from the same injection port is attached to an articulated robot fixed at a predetermined position in the booth, and the injection port is tertiary. In a work cleaning device that originally changes direction and ejects a cleaning liquid from a spray nozzle to a predetermined position of a work to wash the work, and then blows air to blow off attached matter, the shape of each part of the work to be cleaned is adjusted. A plurality of suitable spray nozzles are attached to the articulated robot, and cleaning is performed while automatically selecting the spray nozzles according to the shape of each part to be cleaned.

According to a second aspect of the present invention, there is provided a workpiece cleaning apparatus having a plurality of injection nozzles according to the first aspect, wherein the injection nozzle is a turret attached to an articulated robot. And the turret has an automatic rotation indexing mechanism with respect to the rotation axis.

The invention described in claim 3 is the first or second invention.
In the work cleaning apparatus having a plurality of spray nozzles described in above, two to four spray nozzles corresponding to the shape of each part of the work to be cleaned are attached to the turret.

[0010] The invention described in claim 4 is the invention according to claims 1 to 3.
The work cleaning apparatus having a plurality of spray nozzles according to any one of the above, wherein the spray nozzles are replaceable.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A work cleaning apparatus having a plurality of injection nozzles according to the present invention will be described in detail based on a preferred embodiment shown in the drawings. FIG. 1 is a perspective view of a work cleaning apparatus having a plurality of injection nozzles according to the present invention. 2 and 3 are a front view and a right side view of the work cleaning apparatus of FIG.

First, the configuration of a work cleaning apparatus having a plurality of injection nozzles according to the present invention will be described. The cleaning device body 1 includes a boot 20, an intake fan 14 provided above the boot 20, and a base 22 for supporting the boot 20.
A washing water tank 40 movably provided below the booth 20, a table 30 disposed in the booth 20,
An articulated robot 10 suspended from the ceiling of the boot 20 above the table 30, a turret 15 attached to the arm end of the articulated robot 10, and a turret 15 And three injection nozzles 12 arranged at the same position.

The boot 20 has a rectangular parallelepiped frame 20b using a pipe member having a square cross section as a structural member.
And a shielding cover 20a which is stretched on six surfaces of a rectangular parallelepiped formed by the frame 20b. Frame
The joint between the chamber 20b and the shielding cover 20a is sealed and sealed with a sealant or the like in order to prevent leakage of cleaning water.

The bottom surface of the boot 20 is provided with an inclined surface slope 20e provided toward the center and an outlet 20d provided at the center for discharging washing water. It is preferable that a stainless steel plate having high corrosion resistance is used for the slope 20e, the outlet 20d and the washing water tank 40. This is because if a paint or the like is applied to this portion, it may be peeled off and mixed into the cleaning liquid.

An intake fan 14 is provided above the booth 20 for cleaning the work inside the booth 20 and discharging mist generated in the air blow to the outside of the machine.

Further, the bush 20 is integrally connected to the lower part, and is supported by a base 22 formed of a pipe having a square cross section as a structural member. A level adjusting mechanism 2 for horizontally installing the cleaning device main body 1 is provided below the base 22.
4 is preferably provided.

In the space formed by the base 22, a washing water tank 40 for storing the washing water discharged from the outlet 20d is disposed directly below the outlet 20d. It is preferable that the washing water tank 40 be movable by providing a caster 40a for replacement of washing water, cleaning of the tank, and the like. On one side of the washing water tank 40, so-called control system devices such as a robot control panel 10a and a system control panel 50 are arranged, and on the other side, a washing water and air pressurizing device (not shown) are arranged. Have been. By arranging the equipment of the control system at a distance from the cleaning water pressurizing device, it is possible to prevent the influence of noise from the motor of the cleaning water pressurizing device.

As described above, the intake fan 14 is connected to the bush 20.
By disposing a washing water tank 40, control system equipment, and a driving system such as a pressurizing apparatus for washing water in the space formed by the base 22, respectively,
0 is slim and compact, and
There is no need to provide mechanical equipment on the four sides of the zero side.
For this reason, it is possible to provide the window opening 20g on the left and right side surfaces and the back surface except for the front surface of the four side surfaces of the boot 20. It is preferable to provide a transparent plate 26 provided with a handle 26a on an acrylic plate or the like in the window opening 20g. A window 28b in which a transparent acrylic plate is fitted is also provided on the work carry-in door 28 which is attached to the front work carry-in entrance 20f so as to be able to move up and down by a door guide 28c and a door elevating air cylinder 28a.
Is provided. Accordingly, in the teaching operation of the articulated robot 10, the work W and the articulated robot 10 can be viewed from four directions. The robot 10 can be easily taught.

In the boot 20, a table 30 for detachably fixing a pallet 60 to which the work W is fixed by an air chuck, and an articulated robot 10 are provided. The articulated robot 10 is provided above the table 30 and suspended from the ceiling of the boot 20. A turret 15 is attached to the arm tip of the articulated robot 10, and the turret 15 has three injection nozzles 1.
2 are arranged radially.

The articulated robot 10 in the present embodiment
Is of a type in which a certain operation can be repeatedly performed by automatically performing the operation continuously in accordance with an operation taught in advance. The articulated robot 10 is preferably a general-purpose articulated robot sold by a robot manufacturer as an industrial machine. Further, it is preferable to be a waterproof specification because it is exposed to washing water.

The articulated robot 10 used in this embodiment has five control axes. It is preferable that each of the control axes is divided into three arm drive shafts for position control of the injection nozzle 12 and two tip wrist axes for attitude angle control of the injection nozzle 12. As long as the control axis distribution is satisfied, an articulated robot having five or more control axes can be used.

A turret 15 in which a plurality of injection ports 15a are radially arranged is attached to the articulated robot 10, and each of the injection ports 15a is attached with an injection nozzle 12 having a different cleaning range or the like. With such a configuration, the injection port is three-dimensionally changed while appropriately selecting the injection nozzle 12 suitable for the shape of the portion to be cleaned of the work W without exchanging it. The cleaning water or the pressurized air can be point-injected to a predetermined position in an appropriate posture. Each injection nozzle 12 can be made replaceable using a general-purpose coupler.

Attachment of the turret 15 to the articulated robot 10, as shown in FIG.
A bearing holder 10d having a hole formed in a hollow shape is provided in a support 10c at the tip of the arm 0.
A port shaft 18 having a flow path through which cleaning water and pressurized air flow inside the hole 0d is attached. Port axis 18
Is provided with an inflow port 18a for sending cleaning water and pressurized air. Then, the turret 15 is attached to the tip of the port shaft 18. The support 10
c, The port shaft 18 is preferably made of stainless steel, which is a material having high corrosion resistance.

The turret 15 has a generally disk-shaped rotating flange 15b and a fixed flange 1 that rotatably supports the rotating flange 15b with a small clearance.
5c. The fixed flange 15c is fixed to an end portion of the port shaft 18 and has a port shaft 1 therein.
8, a flow path is provided that communicates with one of the plurality of injection ports 15a provided on the rotating flange 15b, which will be described later. Plunger bolts 17 for indexing and positioning the rotating flange 15b are provided at two places on the fixed flange 15c. The rotating flange 15b, the fixed flange 15c, and the plunger bolt 17 are preferably made of stainless steel, which is a material having high corrosion resistance.

On the other hand, the rotary flange 15b has three injection ports 15a radially provided on the outer peripheral surface thereof.
Injection nozzles 12 having different cleaning ranges and the like are attached to the respective injection ports 15a. The number of the injection ports 15a is not particularly limited.
If the number of a is too large, machining of the rotary flange 15b becomes difficult, and if the injection nozzles 12 are frequently switched, the cleaning time becomes longer. Therefore, the number of the injection ports 15a is preferably about 2 to 4. Further, on the surface of the rotating flange 15b which is in contact with the fixed flange 15c, there are provided not-shown positioning portions which are engaged with the plunger bolt 17 and are positioned at six locations on a concentric circle.

Each of the injection ports 15a is provided with a flow path through which washing water and pressurized air flow, and is provided in the fixed flange 15c when the rotary flange 15b is rotated and indexed to a predetermined position. The cleaning water and the pressurized air are jetted from one jet nozzle 12 in communication with the flow path. As shown in FIG. 5 (a), the rotation of the rotating flange 15b is performed by forming holes 19b at two places on the surface of the rotating flange 15b opposite to the surface in contact with the fixed flange 15c. After the hole 19b is fitted into the hook 19a having two projections fixed to the ceiling surface, the rotation of the fixed flange 15c side is performed by robot control. Thereby, the rotating flange 15b fixed to the hook 19a is automatically rotated and indexed, and the injection nozzle 12 to be used is appropriately selected.

The jet nozzle 12 is supplied with washing water from a washing water pressurizing device and pressurized air from an air pressurizing device via a high pressure hose 12a connected to an inflow port 18a.
Here, by providing an electromagnetic switching valve at a connection portion between the high-pressure hose 12a and the cleaning water and air pressurizing device, the cleaning water and the pressurized air can be selectively supplied.

Rotating flange 15b and fixed flange 15c
An O-ring 15f and a resin ring 15e are attached between them to prevent leakage of cleaning water and pressurized air, and foreign matter enters into the rotating flange 15b and the fixed flange 15b.
In order to prevent the surface c from being damaged, a dust prevention ring 15d made of resin is attached so as to surround the outer peripheral portion.

FIG. 6 is a sectional view of one embodiment of the table 30.
(A) and (b). FIGS. 6A and 6B show the state of the work cleaning position and the pallet replacement position, respectively. Under the pallet changing position, the tray 20c is
It is preferable that the pallet is fixed at 0 and that the floor surface is not stained with the washing water and that the pallet can be captured in the event of a fall accident. The table 30 has a first track rail 31 fixed to a bottom surface in the booth 20.
And a pair of first bearing blocks 31 a slidably fitted to the first track rail 31, a second track rail 34 fixed to the back surface of the table 30, and the second track rail 34. A pair of slidably fitted second bearing blocks 34a and first bearing blocks 31a
An intermediate block 36 fixed to the second bearing block 34a, a pair of pinion gears 37 rotatably mounted on the intermediate block 36, and a bottom surface in the booth 20 so as to be parallel to the first track rail 31. A first rack gear 32 fixed to and meshing with a pinion gear 37;
A second rack gear 35 fixed to the back surface of the table 30 so as to be parallel to the second track rail 34 and meshing with a pair of pinion gears 37;
And an air cylinder 38 for reciprocating sliding movement along the first track rail 31.

When the air cylinder 38 is driven to slide the intermediate block 36 back and forth along the first track rail 31, the table 30
It can be moved in an overhang state from the work cleaning position inside the pallet to the pallet changing position outside the booth 20.

By providing the overhang type linear guide mechanism, there is no need to provide a track rail from the work washing position to the outer pallet changing position through the booth 20 and the hermeticity of the bush 20 is further improved. Rinsing water and mist can be prevented.
Further, the configuration of the overhang type linear guide mechanism is not limited to the present embodiment, and another configuration of the overhang type linear guide mechanism can be used.

Next, the operation of the work cleaning apparatus having a plurality of injection nozzles according to the present invention will be described. First, in the operation preparation stage, the articulated robot 1
0 teaching operation is performed. The teaching operation is performed by the teaching box 10b. Booth 20 is 4
Since the work W and the articulated robot 10 can be viewed from the direction, the optimal injection nozzle position for the work W can be easily taught to the articulated robot 10.
The transparent plate 26 attached to the window opening 20g is detachable from the booth 20, and the teaching operation can be easily performed by illuminating the inside with a Z-light type (trade name) lighting or the like.

In the present embodiment, the articulated robot 1
The teaching operation of 0 may be performed only in the cleaning step. If the cleaning water is switched to pressurized air, the air blowing process can be performed by the cleaning process program. Therefore, the teaching work time can be reduced. Of course, the cleaning step and the air blowing step can be performed by different programs.

Further, the articulated robot 10 in the present embodiment performs cleaning so that washing water or pressurized air is supplied to a predetermined position in a posture optimal for the shape of the work by teaching. Since point injection can be performed, a single unit can cope with various types of work and the cleaning quality can be kept constant.

In the operation standby state, the work cleaning apparatus of this embodiment has the work carry-in door 28 located above, the work carry-in entrance 20f opened, the table 30 overhanged, and the pallet exchange. It has moved to the position. The operator fixes the pallet 60 on which the work W is placed to the table 30.

When the operation is started, the table 30 is drawn into the booth 20 by the air cylinder 38 and moves to the work washing position. The work entrance door 28 closes and the cleaning process starts. An injection nozzle used by fitting holes 19b into two hooks 19a fixed to the ceiling surface of the booth 20 according to the portion of the work W to be cleaned and rotating the rotary flange 15b by robot control. Washing is performed while appropriately selecting No. 12. When the cleaning process is completed, the air is blown by the same operation as the cleaning process by switching to pressurized air. Since the cleaning process and the air blow are the same program, the place where the cleaning is performed is always air blown.

[0037]

According to the present invention, in a work cleaning apparatus, a plurality of spray nozzles suitable for the shape of each part of the work to be cleaned are attached to the articulated robot, and the spray nozzle is ejected according to the shape of each part to be cleaned. Since the cleaning is performed while selecting the nozzles, it is possible to automatically and reliably select the ejection nozzles in a short time, and the effect that the burden on the operator to replace the ejection nozzles is released. is there. Further, it is possible to perform point injection of the cleaning water or the pressurized air using an optimal injection nozzle at a predetermined position in an optimal posture with respect to the workpiece. Therefore, even a work having many small holes or deep holes can be reliably washed. Further, by performing teaching according to the work shape, the cleaning quality is not affected by the work shape.

[Brief description of the drawings]

FIG. 1 is a perspective view of a work cleaning apparatus having a plurality of injection nozzles according to the present invention.

FIG. 2 is a front view of the work cleaning device of FIG. 1;

FIG. 3 is a right side view of the work cleaning device of FIG. 1;

FIG. 4 is a sectional view of a port shaft and a turret.

5A is a side view showing a rotating operation of the rotating flange, and FIG. 5B is a front view of the rotating flange.

FIGS. 6 (a) and (b) are cross-sectional views illustrating an overhang mechanism of a table.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cleaning apparatus main body 10 Articulated robot 10a Robot control panel 10b Teaching box 10c Support tool 10d Bearing holder 12 Injection nozzle 12a High pressure hose 14 Intake fan 15 Turret 15a Injection port 15b Rotating flange 15c Fixed flange 15d Dust prevention ring 15e Resin ring 15f O-ring 17 Plunger bolt 18 Port shaft 18a Inflow port 20 Bush 20a Shielding cover 20b Frame 20c Receiving tray 20d Cleaning liquid outlet 20e Slope 20f Work carry-in port 20g Window opening 22 Base Reference Signs List 24 Level adjustment mechanism 26 Transparent plate 26a Handle 28 Work loading door 28a Door elevating air cylinder 28b Window 28c Door guide 30 Table 31 First track rail 31a First bearing block 32 First rack Car 34 second trajectory Le - Le 34a second bearing block 35 the second gear rack 36 intermediate block 37 the pinion gear 38 the air cylinder 40 the washing water tank 40a caster 50 system control panel 60 pallets W Wa - click

Claims (4)

[Claims] 1. A work placed on a pallet is detachably fixed on a table arranged in a watertight booth, and washing water and pressurized air applied with pressure from the same injection port are selectively provided. Attach a spray nozzle that can be sprayed to the articulated robot fixed at a predetermined position in the booth, change the direction of the spray port three-dimensionally, and spray the cleaning liquid from the spray nozzle to a predetermined position on the work. Then, in a work cleaning apparatus that blows air and blows off adherents, a plurality of spray nozzles suitable for the shape of each part of the work to be cleaned are attached to the articulated robot to perform cleaning. A work cleaning apparatus having a plurality of spray nozzles, wherein the cleaning is performed while automatically selecting the spray nozzle according to the shape of each part to be cleaned. 2. The workpiece cleaning apparatus according to claim 1, wherein the plurality of injection nozzles are arranged radially on a turret attached to the articulated robot, and the turret is a rotary shaft. A work cleaning apparatus having a plurality of injection nozzles, which has an automatic rotation indexing mechanism. 3. The work cleaning apparatus having a plurality of spray nozzles according to claim 1, wherein two to four spray nozzles corresponding to the shape of each part of the work to be cleaned are attached to the turret. A work cleaning apparatus having a plurality of spray nozzles. 4. A workpiece cleaning apparatus having a plurality of injection nozzles according to claim 1, wherein the plurality of injection nozzles are replaceable. apparatus.