JP2003019466A - Work cleaning apparatus having jetting nozzle changeable with a plurality of jetting nozzles - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work cleaning apparatus having a jetting nozzle changeable with a plurality of jetting nozzles, which is changed with the jetting nozzle adapted to the shape of each part of work to be cleaned automatically and attached in a short time at need. SOLUTION: In the work cleaning apparatus 1 having the jetting nozzle changeable with the jetting nozzles, which is operated by arranging the work W in a water tight booth 20, attaching the jetting nozzle to an articulate robot, turning the direction of a jetting port of the jetting nozzle three-dimensionally and jetting a cleaning liquid to a prescribed position of a work W to clean and jetting air from the same jetting port to blow off a sticking material, the work is cleaned by arranging and providing a plurality of kinds of adaptors 13, to each of which the jetting nozzle 12 adapted to the shape of each part of the work to be cleaned is attached, in a prescribed position in the booth, selecting the jetting nozzle adapted to the shape of each part to be cleaned and changing and attaching the nozzle to the articulate robot detachably.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is to detachably fix a work placed on a pallet on a table arranged in a watertight booth and wash it with a washing liquid, and then jet air. Involved in a work cleaning device that blows off adhered substances,
In particular, the present invention relates to a work cleaning device that can be replaced with a plurality of injection nozzles that can perform cleaning while exchanging the ejection nozzles 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, in machining of machining, chips are generated during machining. If the generated chips are left as they are, they will cause processing defects and defective products in finished products. or,
Since cutting oil is often used for cutting, the cutting oil facilitates the attachment of chips to the work. Therefore, it is necessary to wash the work and remove them during or after machining.

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

After that, a work of complicated shape, especially a small 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 that enter these holes are fixed. The conventional air injection nozzle cannot supply the pressurized air to the fine holes and deep holes as intended, and has a drawback that it cannot be sufficiently removed. Further, from the viewpoint of automating the process, a work cleaning device using a robot has been gradually used.

[0005]

However, in the conventional work cleaning device using the robot, the robot holds only one injection nozzle, and when cleaning a work having a complicated shape, the part to be cleaned is cleaned. It was necessary to appropriately replace and use the injection nozzle according to the shape of. If the on-site worker replaces the injection nozzle each time, there is a problem that the worker is excessively burdened and it takes time to replace the injection nozzle. Further, it is possible to automatically replace the injection nozzle by attaching an automatic replacement mechanism of the injection nozzle to the work cleaning device. However, this method has a problem that the automatic replacement mechanism must be separately installed in the work cleaning device, and the initial cost of the entire device increases.

Therefore, an object of the present invention is to be able to automatically and surely replace and mount the ejection nozzles according to the shape of each portion of the work to be cleaned, as needed. An object of the present invention is to provide a work cleaning device in which a plurality of jet nozzles can be replaced.

[0007]

In order to solve the above-mentioned problems, the present invention according to claim 1 detachably fixes a work placed on a pallet on a table arranged in a watertight booth. Then, an injection nozzle capable of selectively injecting cleaning water and pressurized air from the same injection port is attached to the articulated robot fixed at a predetermined position in the booth, and the injection port is attached. In a three-dimensional direction is changed to spray a cleaning liquid from the spray nozzle to a predetermined position on the workpiece for cleaning, and thereafter, in a work cleaning device that can be replaced with a plurality of spray nozzles that spray air to blow off adhering substances. , A plurality of injection nozzles suitable for the shape of each part of the workpiece to be cleaned are arranged and prepared in a predetermined position in the booth, and an appropriate injection nozzle is selected according to the shape of each part to be cleaned. The articulated robot Removably interchangeable wearing, providing interchangeable workpiece cleaning device to a plurality of injection nozzles, characterized in that cleaning the workpiece.

In order to solve the above problems, the present invention according to claim 2 provides a workpiece cleaning apparatus in which a plurality of injection nozzles according to claim 1 can be replaced, and each of the injection nozzles is of an articulated robot. It is characterized in that it is attached to an adapter detachably attached to the clamp device. According to a third aspect of the present invention, in the work cleaning device in which the plurality of jet nozzles according to the first or second aspect are replaceable, the adapter has a plurality of space portions of the nozzle stand on which the plurality of jet nozzles can be aligned. And has a pair of guide grooves that fit in parallel guide portions provided on both sides of each space, and a pair of guide grooves of the adapter are provided on both sides of a predetermined space. It is characterized in that it can be easily attached to and detached from the nozzle stand by sliding along parallel guide portions.

According to a fourth aspect of the present invention, in the work cleaning apparatus in which the plurality of jet nozzles can be replaced with the plurality of injection nozzles according to the third aspect, the adapter is a substantially L-shaped tip provided on the clamp device of the articulated robot. The clamp lever has a bifurcated portion, and has a pair of second guide grooves that fit with the bifurcated tip end portion of the clamp lever, and the clamp lever bifurcates along the pair of second guide grooves of the adapter. It is characterized in that it can be easily attached to and detached from the clamp device by sliding the tip portion. According to a fifth aspect of the present invention, in the work cleaning device in which the plurality of injection nozzles according to the fourth aspect can be replaced, the bifurcated tip portion of the clamp lever is slightly tilted in a direction away from the adapter, The surface on the free end side is curved in an arc shape, whereby the adapter is tightly fixed to the articulated robot when the clamp is moved toward the adapter. The invention according to claim 6 is the invention according to claims 1 to 5.
In the work cleaning device in which the plurality of jet nozzles can be replaced, the number of jet nozzles is 6 to 10.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION A work cleaning apparatus in which a plurality of injection nozzles according to the present invention can be replaced will be described in detail with reference to a preferred embodiment shown in the drawings. FIG. 1 is a perspective view of a work cleaning device in which a plurality of injection nozzles according to the present invention can be replaced. FIG. 2 is an enlarged cross-sectional view of a main part of the work cleaning device shown in FIG. 1, and (a) and (b) respectively show before and after mounting the adapter on the clamp device.

First, the construction of the work cleaning apparatus according to the present invention, which is replaceable with a plurality of injection nozzles, will be described. The cleaning device main body 1 includes a boot 20, an intake fan 14 provided above the boot 20, and a base 2 for supporting the boot 20.
2, a wash water tank 40 that is movably provided below the boot 20, and a table 30 that is disposed inside the boot 20.
An articulated robot 10 suspended from the ceiling of the boot 20 above the table 30 and a clamp device 15 attached to the arm tip of the articulated robot 10.
And an adapter 13 detachably attached to the clamp device 15. In addition, each adapter 13
, One injection nozzle suitable for the shape of each part of the workpiece to be cleaned is fixed, and a plurality of the injection nozzles are arranged and prepared on an adapter stand 60 (not shown).

The boot 20 has a frame 20b formed in a rectangular parallelepiped shape using a pipe member having a quadrangular cross section as a structural member,
It is constituted by a shielding cover 20a stretched over six faces of a rectangular parallelepiped constituted by the frame 20b. The joint between the frame 20b and the shield cover 20a is sealed and sealed with a sealant or the like so as to prevent leakage of washing water. Further, the bottom surface of the boot 20 is an inclined surface slope provided toward the central portion. A discharge port for discharging the cleaning water is provided on the lower side thereof. It is preferable to use a stainless steel plate having high durability against corrosion for the inclined surface slope, the discharge port, and the wash water tank 40. This is because if paint or the like is applied to this portion, it may peel off and enter the cleaning liquid.

An intake fan 14 is provided above the boot 20 for cleaning the work inside the boot 20 and discharging the mist generated in the air blow to the outside of the machine. In addition, boots 2
0 is integrally connected to the lower part and is supported by a base 22 formed by a pipe having a quadrangular cross section as a structural member. In the space formed by the base 22, a wash water tank 40 for storing the wash water discharged from the discharge port is arranged immediately below the discharge port. Wash water tank 4
It is preferable that 0 is movable by providing casters 40a for replacement of cleaning water, cleaning of the tank, and the like. A so-called control system device such as a robot control panel 51 and a system control panel 50 is provided on one side of the wash water tank 40, and a wash water and air pressurizing device (not shown) is provided on the other side. Has been done. By disposing the control system devices away from the washing water pressurizing device, it is possible to prevent the influence of noise from the motor of the washing water pressurizing device.

As described above, the intake fan 14 is provided with a boot 20.
The wash water tank 40, the control system devices, and the drive system such as the pressurizing device for the wash water are arranged in the space formed by the base 22 to the upper part of the boots 2.
0 is slim and compact, and the boot 2
There is no need to provide mechanical equipment on the four side surfaces of 0.
Therefore, it is possible to provide window openings 20g on the left and right side surfaces and the back surface of the boot 20 except for the front surface of the four side surfaces. It is preferable to provide a transparent plate 26 having an acrylic plate or the like with a handle in the window opening 20g. Front work
The work carry-in door 28, which is mounted on the carry-in port 20f so as to be able to move up and down by a door guide 28c and a door lifting air cylinder (not shown), is also provided with a window 28b in which a transparent acrylic plate is fitted. Therefore, the articulated robot 1
Since the work W and the articulated robot 10 can be visually observed from four directions even in the teaching work of 0, the optimum injection nozzle position for the work W is easily taught to the articulated robot 10. can do.

In the boot 20, a table 30 on which a work W is mounted and fixed, and a plurality of adapters 13 to which one injection nozzle 12 is attached respectively, preferably 6 to 10 are provided.
An injection nozzle stand 60 for arranging individual pieces and an articulated robot 10 are provided. The articulated robot 10 is located above the table 30 and in the boot 2
It is hung from the ceiling of 0. A clamp device 15 is attached to the arm tip of the articulated robot 10,
An adapter 13 to which one injection nozzle 12 is attached is detachably attached to the clamp device 15. The injection nozzle stand 60 is also fixed to a position where the clamp device 15 arranged on the ceiling of the boot 20 and at the tip of the articulated robot 10 can take out the adapter 13 to which each injection nozzle 12 is attached. It

The articulated robot 10 in this embodiment
Is a type that can perform a certain work repetitively by automatically performing the motion continuously according to a motion 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 preferably waterproof 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 shafts is divided into three arm drive shafts for position control of the jet nozzle 12 and two distal wrist shafts for posture angle control of the jet nozzle 12. If this control axis distribution is satisfied, an articulated robot having five or more control axes can be used.

At the tip of the articulated robot 10 is attached a support block 10d for guiding the washing water and the pressurized air from the inflow port 10a to the outflow port 10c through the flow path 10b. A high pressure hose 1 is installed at the inflow port 10a.
2a are connected, and wash water from the wash water pressurizing device or pressurized air from the air pressurizing device is supplied. Here, by providing an electromagnetic switching valve at the connecting portion between the high-pressure hose 12a and the washing water / air pressurizing device, the washing water and the pressurized air can be selectively supplied. The support block 10d at the tip of the articulated robot 10 is further provided with an adapter mounting lateral hole 15a and the adapter mounting lateral hole 15a.
A clamp device 15 is provided in which a vertical hole 15b that is fluidly connected to is disposed. The adapter 1 in which the injection nozzles 12 having different cleaning ranges, diameters, etc. are fixed to the adapter mounting lateral holes 15a of the clamp device 15 one by one.
3 is detachably attached. The clamp device 15 is
As shown in FIG. 2, the main body 15c attached to the tip of the articulated robot 10 and the side of the main body 15c opposite to the adapter attachment lateral hole 15a and the axial direction of the adapter attachment lateral hole 15a. Clamp lever 16 mounted so as to be able to reciprocate in a direction perpendicular to and a pneumatic actuator 17 that reciprocally drives clamp lever 16.
It is configured to include and.

FIG. 3 shows an example of a clamp lever attached to the clamp device 15 so as to be capable of reciprocating motion.
(A)-(c) is a front view, a top view, and a right side view, respectively. As shown in FIG. 3 (a), the clamp lever 16 is a member having a substantially L-shape when viewed from the front, and as shown in FIG. 3 (b), it rises when viewed from a plane. The leading end portions 16a, 16a are bifurcated. Faces 16b, 1 of the tips 16a, 16a facing each other
6b is a pair of second guide grooves 1 of the adapter 13 described later.
By fitting with 3d and 13d, the adapter 13 is precisely positioned and firmly fixed to the clamp device 15. Forked tip portions 16a, 16 of the clamp lever 16
a is slightly tilted with respect to the vertical axis Y in the direction away from the adapter by an angle X. The free end side surface 16c of the tip portion 16a is curved in an arc shape, so that when the clamp barrel 16 is moved in the direction of the adapter 13, the adapter 13 is clamped by the clamp device 15, and thus,
It can be detachably and tightly fixed to the articulated robot 10.

The adapter 13 has a vertical hole 13 extending in the axial direction.
It has a and a lateral hole 13b which is fluidly connected to the innermost part thereof. The horizontal hole 13b is fluidly connected to the vertical hole 15b of the main body 15c when the adapter 13 is tightly fixed to the clamp device 15 (see FIG. 2B).
At the right end of the vertical hole 13a, one of a plurality of injection nozzles suitable for the shape of each portion of the work W to be cleaned is selected and attached. The adapter 13 to which different jet nozzles are attached is the nozzle stand 6 shown in FIG.
Aligned to 0. As shown in the drawing, the injection nozzle mounting base 60 has a plurality of space portions 60a composed of a circular hole having a size into which the individual adapter 13 can be inserted and a rectangular hole located below the circular hole. Both sides of the rectangular hole of the space portion are parallel guide portions 60b, 60b for guiding and supporting the adapter 13.

On the other hand, the outer surface of the adapter 13 is provided with a pair of guide grooves 13c, 13c to be fitted into the guide portions 60b, 60b of the jet nozzle mounting base 60. Therefore,
After inserting the adapter 13 into the circular hole of the space portion 60a, the pair of guide grooves 13c, 13c of the adapter are slid down along the parallel guide portions 60b, 60b of the predetermined space portion 60a, so that the nozzle stand can be easily mounted. 60 can be supported. On the contrary, after fixing the adapter 13 to the clamp device 15 of the articulated robot 10, lift it up,
When the adapter 13 is pulled out when it reaches the position of the circular hole of the space 60a, the adapter 13 can be easily removed from the injection nozzle mount 60.

The outer surface of the adapter 13 is further provided with a pair of second guide grooves 13d, 13d for fitting with the guide surfaces 16b, 16b provided on the forked tip portions 16a, 16a of the clamp lever 16. . To fix the adapter 13 to the clamp device 15, the pneumatic actuator 17
Is operated to move the clamp lever 16 to the articulated robot 10
In the direction of. Thereby, the forked tip portions 16a, 16a of the clamp lever 16 can be slid along the pair of second guide grooves 13d, 13d of the adapter 13. By the operation of the pneumatic actuator 17,
By reciprocating the clamp lever 16, the adapter 13 can be easily attached to and detached from the clamp device 15.

Next, the operation of the work cleaning device in which a plurality of jet nozzles according to the present invention can be replaced will be described. First, as an operation preparation stage, the teaching work of the articulated robot 10 is performed on the work W. Since the boot 20 can see the work W and the articulated robot 10 from four directions, the optimum injection nozzle position for the work W can be easily taught to the articulated robot 10. it can. or,
The transparent plate 26 attached to the window opening 20g can be attached to and detached from the booth 20, and the interior can be illuminated by a Z light type (product name) illumination or the like to facilitate the teaching work.

In this embodiment, the articulated robot 1 is used.
The teaching work of 0 requires only the cleaning process. If the cleaning water is switched to pressurized air, the air blow process can be performed by the cleaning process program. Therefore, the teaching work time can be shortened. Of course, the cleaning process and the air blow process can be performed by different programs. In addition, the articulated robot 10 according to the present embodiment performs point-injection of washing water or pressurized air to a predetermined position in an optimal posture for the work shape even for different works by teaching. Therefore, one machine can handle a wide variety of works and the cleaning quality can be kept constant.

In the operation standby state, the work carry-in door 28 is located above, the work carry-in port 20f is open, and the table 30 is moved to the pallet exchange position in the overhang state. The worker fixes the pallet on which the work W is placed on the table 30. When the operation is started, the table 30 is drawn into the booth 20 by an air cylinder (not shown) and moves to the work cleaning position. The work carry-in door 28 is closed and the cleaning process is started. Depending on the portion of the work W to be cleaned, the injection nozzle stand 60 fixed to the ceiling surface of the boot 20 is replaced with an adapter 13 having an optimum injection nozzle, and the injection nozzle is determined by robot control. Rotate in the direction to wash. When the cleaning process is completed, the air is switched to the pressurized air and the air blow is performed in the same operation as the cleaning process. Since the cleaning process and the air blow have the same program, the air blow is always done at the cleaned place.

[0025]

According to the present invention, in the work cleaning device, a plurality of injection nozzles suitable for the shape of each part of the work to be cleaned are attached to the adapter to prepare a plurality of them, and the ejection is performed according to the shape of each part to be cleaned. Since the nozzles are washed while being exchangeably mounted on the articulated robot, it is possible to automatically and reliably select the ejection nozzles in a short time.
Further, it becomes possible to inject the cleaning water or the pressurizing air at a predetermined position at a predetermined position in an optimum posture with respect to the workpiece. Furthermore, the type of nozzle is also
As many types as possible can be placed in the booth, so even if there are many types of hole diameters and depths, it is possible to prepare the optimum injection nozzle for each and ensure that the work is cleaned properly. There is an effect that can be. Furthermore, the cleaning quality does not depend on the work shape because the teaching is performed according to the work shape.

[Brief description of drawings]

FIG. 1 is a perspective view of an embodiment of a work cleaning apparatus in which a plurality of injection nozzles according to the present invention can be replaced.

2A and 2B are enlarged cross-sectional views of a main part of the work cleaning apparatus shown in FIG. 1, and FIGS. 2A and 2B respectively show a front side and a rear side of mounting the adapter on the clamp apparatus.

FIG. 3 shows an example of a clamp lever attached to a clamp device so as to be able to reciprocate, and FIGS.
FIG. 4A is a front view, a plan view and a right side view, respectively.

FIG. 4 shows an example of an adapter detachably attached to a clamp device, and FIGS. 4A to 4C are a plan view, a front view, and a right side view, respectively.

FIG. 5 is a perspective view of an example of a nozzle stand on which a plurality of types of adapters, each having a different ejection nozzle attached thereto, are arranged in an array.

[Explanation of symbols]

1 Cleaning device body 10 Articulated robot 10a Inflow port 10b flow path 10c Outflow port 10d support block 12 injection nozzles 12a high pressure hose 13 Adapter 14 Intake fan 15 Clamp device 15a Adapter mounting side hole 15b vertical hole 15c body 16 Clamp lever 16a tip 16b facing surface 17 Pneumatic actuator 20 boots 20a shield cover 20b frame 20f work entrance 20g window opening 22 base 26 Transparent plate 28 Work entrance door 30 tables 40 wash water tank 40a caster 50 system control panel 60 injection nozzle stand 60a space part 60b Guide part W work

Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) // B05C 11/10 B05C 11/10 F term (reference) 3B201 AA46 AB01 AB42 BB23 BB43 BB52 BB90 BB92 CC12 3C011 BB11 4F033 AA04 BA02 BA04 DA01 EA01 4F035 AA01 AA04 BA12 BA15 BB02 BC02 CA02 CA05 CB03 CC02 CD06 CD11 CD18 4F042 AA13 BA08 CB03 DA01 DD32 DE01 ED05

Claims (6)

[Claims] 1. A work placed on a pallet is detachably fixed to a table arranged in a watertight booth, and cleaning water and pressurized air pressurized from the same injection port are selectively selected. A jet nozzle capable of jetting is attached to an articulated robot fixed at a predetermined position in the booth, the jet port is three-dimensionally redirected, and a cleaning liquid is jetted from the jet nozzle to a predetermined position on a workpiece. In a work cleaning device that can be replaced with a plurality of spray nozzles that spray air to blow off adhering substances, a plurality of spray nozzles suitable for the shape of each part of the workpiece to be cleaned are installed in the booth. It is arranged in a predetermined position and prepared, and an appropriate injection nozzle is selected according to the shape of each portion to be washed, and the work piece is washed by detachably replacing the articulated robot. Characteristic multiple A work cleaning device that can be replaced with a spray nozzle. 2. The work cleaning device according to claim 1, wherein the plurality of jet nozzles are replaceable, and the jet nozzles are
A work cleaning device replaceable with a plurality of injection nozzles, each of which is mounted on an adapter detachably attached to the clamp device of the articulated robot. 3. The work cleaning device according to claim 1, wherein the plurality of jet nozzles are replaceable, and the adapter is a plurality of space portions of a nozzle stand on which the plurality of jet nozzles can be arranged. , Having a pair of guide grooves that fit in parallel guide portions provided on both sides of each space portion, and a pair of guide grooves of the adapter are provided on each side of the predetermined space portion. A work cleaning device capable of being replaced with a plurality of ejection nozzles, which can be easily attached to and detached from a nozzle stand by sliding along a guide portion. 4. The work cleaning device according to claim 3, wherein the plurality of injection nozzles are replaceable, and the adapter is a general L provided on a clamp device of the articulated robot.
A clamp lever having a bifurcated distal end, which has a pair of second guide grooves that fit with the bifurcated distal end, and is arranged along the pair of second guide grooves of the adapter. A work cleaning device capable of being replaced with a plurality of injection nozzles, which can be easily attached to and detached from a clamp device by sliding a forked end of a clamp lever. 5. The workpiece cleaning apparatus according to claim 4, wherein the plurality of injection nozzles are replaceable, and the forked tip portion of the clamp lever is slightly tilted in a direction away from the adapter, and A surface on the free end side is curved in an arc shape, so that when the clamp is moved in the direction of the adapter, the adapter is tightly fixed to the articulated robot. Possible work cleaning device. 6. A work cleaning device in which a plurality of injection nozzles according to claim 1 can be replaced.
The number of the spray nozzles is 6 to 10, and the workpiece cleaning device is replaceable with a plurality of spray nozzles.