WO2018196100A1

WO2018196100A1 - Dual-manipulator washing machine and cleaning method thereof

Info

Publication number: WO2018196100A1
Application number: PCT/CN2017/086919
Authority: WO
Inventors: 名越正生; 顾�卓; 王永锋
Original assignee: 喻小秋
Priority date: 2017-04-25
Filing date: 2017-06-02
Publication date: 2018-11-01
Also published as: JP3227674U; DE112017000110B4; JP2019516538A; DE112017000110T5; CN107413718A

Abstract

Disclosed are a dual-manipulator washing machine and a cleaning method thereof, the dual-manipulator washing machine comprising a rotary workbench (5), a high-pressure washing chamber (1) and a vacuum drying chamber (2), wherein the rotary workbench (5) is arranged between the high-pressure washing chamber (1) and the vacuum drying chamber (2); the high-pressure washing chamber (1) and the vacuum drying chamber (2) are independent from each other; two manipulators (3, 4) are arranged on the rotary workbench (5); and the two manipulators (3, 4) can switch between the high-pressure washing chamber (1) and the vacuum drying chamber (2) so as to achieve high-pressure washing and vacuum drying in the apparatus. The high-pressure washing chamber (1) and the vacuum drying chamber (2) have a compact structure; the entire process of grabbing a workpiece, carrying a workpiece, high-pressure washing and vacuum drying can be completed in the apparatus; high-pressure washing and vacuum drying can be carried out at the same time; the manipulators (3, 4) may be completely waterproof; and clamps on the manipulators (3, 4) can be replaced according to requirements, thereby improving work efficiency, reducing production costs, and saving work space.

Description

Double robot cleaning machine and cleaning method thereof

[Technical field]

The invention relates to the technical field of high pressure cleaning, in particular to a double robot cleaning machine and a cleaning method thereof.

[Background technique]

Nowadays, the area of the high-pressure cleaner workpiece or the nozzle moving device is too large to be miniaturized, and it is difficult to set two robots on the rotary table. If the workpiece is grasped by the straight-line assembly of the truss robot, the device becomes large, and the robot The range of motion will become smaller, and it is difficult to realize the automatic transfer of the workpiece. This results in a relatively large equipment footprint and relatively low production efficiency, and the existing robots on the market are poor in water resistance, and need to be replaced once in 1-2 years. This increases the cost of industrial production. Therefore, it is necessary to design a new type of high pressure cleaner system and a cleaning method.

[Summary of the Invention]

The object of the present invention is to solve the deficiencies of the prior art, and provide a dual robot cleaning machine and a cleaning method thereof. The cleaning machine has novel structure, safety, reliability, and practicability, and solves the workpiece or nozzle of the high pressure cleaning machine in the prior art. The area of the mobile device is too large to be miniaturized.

In order to achieve the above object, a dual robot cleaner is designed, comprising a high pressure cleaning chamber, a vacuum drying chamber, two robots and a rotary table, characterized in that the rotary table is arranged between the high pressure cleaning chamber and the vacuum drying chamber. The high-pressure cleaning chamber and the vacuum drying chamber are independent of each other, and two robots are arranged on the rotary table, and the two robots can switch between the high-pressure cleaning chamber and the vacuum drying chamber to realize high-pressure cleaning and vacuum drying in the interior of the device. .

The mechanical waterproof structure of the robot is as follows: the mechanical hand includes a sealed casing, and the sealed casing structure is provided with an upper casing, a lower casing and a gasket, and the gasket is installed between the upper and lower casings. The hollow sealing structure is formed to prevent external water and oil from entering the robot arm. The output shaft of the mechanical arm joint is a hollow shaft structure, and the mechanical arm wiring and the pipe can pass through the hollow shaft, and the mechanical arm joint structure is also A secondary reduction assembly consisting of a reduction gear set and a reducer is provided. The secondary reduction assembly is provided with a reduction gear set and a reducer. The pinion gear in the reduction gear set is fixed to the output shaft of the reduction gear, and the large gear is fixed to the machine. The arm output shaft, the motor is fixed to the input shaft of the reducer to provide power; the motor is first decelerated by the reducer, and then decelerated by the reduction gear set to achieve secondary deceleration.

A cleaning method using the double robot cleaning machine is also designed, characterized in that during operation, the robot 3 grabs the workpiece A to be cleaned from the outside of the device and enters the high pressure cleaning chamber 1. After the cleaning is completed, the rotary table 5 drives the robot 3 And the robot 4 rotates, the robot 3 holds the cleaned workpiece A into the vacuum drying chamber 2, and starts vacuum drying. At the same time, the robot 4 grabs the workpiece B to be cleaned from the outside of the device and enters the high pressure cleaning chamber 1 to start high pressure cleaning. After drying A, the robot 3 carries the workpiece A out of the apparatus, the rotary table 5 drives the robot 3 and the robot 4 to rotate, and the robot 4 holds the cleaned workpiece B into the vacuum drying chamber 2 to start vacuum drying, and at the same time, the robot 3 The workpiece C to be cleaned outside the equipment enters the high pressure cleaning chamber 1 and starts high pressure cleaning.

Compared with the prior art, the invention has the advantages of simple and feasible combination structure and novel process, and the advantages thereof are: the high-pressure cleaning machine and the vacuum dryer are compact in structure, and can complete the process from grasping the workpiece, conveying the workpiece, to high-pressure cleaning and vacuum drying in the device. The whole process, high pressure cleaning and vacuum drying can be carried out at the same time, and the robot can be completely waterproof, and the fixture on the robot can be replaced as needed, greatly improving work efficiency, reducing production cost and saving work space.

[Description of the Drawings]

Figure 1 is a layout view of the dual robot cleaner of the present invention;

2 is a schematic view showing the operation of a rotary table of the dual robot cleaner of the present invention;

Figure 3 is a plan view showing the waterproof structure of the manipulator of the dual robot cleaner of the present invention;

Figure 4 is a cross-sectional view taken along line A-A of Figure 3;

In the figure: 1. High pressure cleaning chamber; 2. Vacuum drying chamber; 3. Robot; 4. Robot; 5. Rotating table; 6. Large gear; 7. Pinion; 8. Reducer; 9. Motor; Lower casing; 11. gasket; 12. upper casing; 13. output shaft 1; 14. output shaft 2;

[detailed description]

The invention will now be further described in conjunction with the drawings, the structure and principle of which is well understood by those skilled in the art. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to Figure 1, the dual robot cleaning machine is provided with a high pressure cleaning chamber 1, a vacuum drying chamber 2, a robot 3, a robot 4, and a rotary table 5, and the two robots can respectively grab and transport the workpiece. The jig of the robot can be replaced according to requirements. The rotary table 5 is disposed between the high pressure cleaning chamber 1 and the vacuum drying chamber 2. The high pressure cleaning chamber and the vacuum drying chamber are independent of each other, and the cleaning and drying of the workpiece can be performed simultaneously, the robot 3 and the robot 4 are disposed on the rotary table 5. Referring to Fig. 2, the rotary table 5 can drive the robot 3 and the robot 4 to switch between the high pressure cleaning chamber 1 and the vacuum drying chamber 2.

Referring to Figures 3-4, the mechanical waterproof structure of the robot is as follows. The robot includes a sealed housing, and the mechanical arm joint structure is provided with a speed reducing device, a sealed housing structure, and a hollow shaft structure.

The speed reduction device is provided with a reduction gear set composed of a large gear 6 and a pinion gear 7 and a speed reducer. The reduction gear set and the speed reducer form a secondary deceleration, and the motor 9 provides power.

The sealed casing structure is provided with an upper casing 12, a gasket 11 and a lower casing 10, and the three constitute a hollow sealing structure.

The hollow shaft structure is a hollow mechanical arm joint output shaft 113 and an output shaft 214, and the mechanical arm wiring and the pipe can pass through the output shaft 113 and the output shaft 214.

In summary, the motor 9 is decelerated by the reduction gear set composed of the large gear 6 and the pinion gear 7 and the speed reducer, and the upper casing 12, the gasket 11 and the lower casing 10 form a hollow sealing structure, and the mechanical arm wiring The piping passes through the mechanical arm joint output shaft 113 and the output shaft 214 to form a new type of mechanical arm joint structure.

When in use, the pinion gear in the reduction gear set is fixed to the output shaft of the reducer, the large gear is fixed to the output shaft of the robot arm, and the motor is fixed to the input shaft of the reducer to provide power. The motor is decelerated by the reducer first, and then decelerated by the reduction gear set to achieve two-stage deceleration. Due to the existence of the reduction gear set, the load of the reducer is reduced, the rigidity and load requirements of the reducer are small, and the deceleration structure is relatively compact. The upper casing 12, the gasket 11 and the lower casing 10 form a hollow sealing structure to prevent outside water and oil from entering the robot arm. The arm wiring and the piping can pass through the output shaft 113 and the output shaft 214.

The new mechanical arm joint structure is simple and effective, and solves the problem that the existing mechanical arm waterproof structure has a large load on the reducer, wiring, and the piping is not easy to arrange and is difficult to operate.

Example

During operation, the robot 3 grabs the workpiece A to be cleaned from the outside of the device and enters the high pressure cleaning chamber 1. After the cleaning is completed, the rotary table 5 drives the robot 3 and the robot 4 to rotate, and the robot 3 holds the cleaned workpiece A into vacuum drying. In the chamber 2, vacuum drying is started, and at the same time, the robot 4 grabs the workpiece B to be cleaned from the outside of the apparatus and enters the high pressure cleaning chamber 1, and starts high pressure cleaning. After the workpiece A is dried, the robot 3 will work on the workpiece A transports the device. The rotary table 5 drives the robot 3 and the robot 4 to rotate, and the robot 4 holds the cleaned workpiece B into the vacuum drying chamber 2 to start vacuum drying. At the same time, the robot 3 grabs the workpiece C to be cleaned from the outside of the device and enters the high pressure cleaning chamber. 1, start high pressure cleaning.

According to the above design, the high-pressure cleaner and the vacuum dryer are compact in structure, and the entire process from grasping the workpiece, transferring the workpiece, to high-pressure cleaning and vacuum drying can be completed in the interior of the device, and the high-pressure cleaning and the vacuum drying can be performed simultaneously, and the robot can be completely Waterproof, the fixture on the robot can be replaced as needed, greatly improving work efficiency, reducing production costs and saving work space.

The embodiments of the present invention are intended to be illustrative only and not to limit the scope of the claims, and other substantially equivalent alternatives that are apparent to those skilled in the art are within the scope of the invention.

Claims

A dual robot cleaning machine comprising a high pressure cleaning chamber, a vacuum drying chamber, two robots and a rotary table, wherein the rotary table is disposed between the high pressure cleaning chamber and the vacuum drying chamber, the high pressure cleaning The chamber and the vacuum drying chamber are independent of each other. Two robots are arranged on the rotary table. The two robots can switch between the high pressure cleaning chamber and the vacuum drying chamber to achieve high pressure cleaning and vacuum drying in the interior of the device.
A dual robot cleaner according to claim 1, wherein said robot waterproof structure is as follows: said robot includes a sealed casing, and said sealed casing structure is provided with an upper casing and a lower casing. The body, the gasket and the gasket are installed between the upper and lower casings to form a hollow sealing structure to prevent external water and oil from entering the robot arm. The output shaft of the mechanical arm joint is a hollow shaft structure, and the mechanical arm is wired. The pipe can pass through the hollow shaft, and the mechanical arm joint structure is further provided with a secondary reduction assembly composed of a reduction gear set and a reducer, and the secondary reduction assembly is provided with a reduction gear set, a reducer, and a reduction gear The pinion gear in the group is fixed to the output shaft of the reducer, the large gear is fixed to the output shaft of the mechanical arm, and the motor is fixed to the input shaft of the reducer to provide power; the motor is first decelerated by the reducer, and then decelerated by the reduction gear set to achieve two-stage deceleration. .
A cleaning method using the dual robot cleaner according to claim 1, wherein the robot (3) grabs the workpiece A to be cleaned from the outside of the device and enters the high pressure cleaning chamber (1). After the cleaning is finished, the rotation is performed. The worktable (5) drives the robot (3) and the robot (4) to rotate, and the robot (3) holds the cleaned workpiece A into the vacuum drying chamber (2), starts vacuum drying, and at the same time, the robot (4) is outside the device. Grab the workpiece B to be cleaned into the high pressure cleaning chamber (1), start high pressure cleaning, after the workpiece A is dried, the robot (3) carries the workpiece A out of the equipment, and the rotating table (5) drives the robot (3) and the robot (4) ) Rotating, the robot (4) holds the clear The washed workpiece B enters the vacuum drying chamber (2) and begins vacuum drying. At the same time, the robot (3) grabs the workpiece C to be cleaned from the outside of the device and enters the high pressure cleaning chamber (1) to start high pressure cleaning.