WO2020062487A1 - 清洁系统及清洁装置 - Google Patents

清洁系统及清洁装置 Download PDF

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Publication number
WO2020062487A1
WO2020062487A1 PCT/CN2018/115551 CN2018115551W WO2020062487A1 WO 2020062487 A1 WO2020062487 A1 WO 2020062487A1 CN 2018115551 W CN2018115551 W CN 2018115551W WO 2020062487 A1 WO2020062487 A1 WO 2020062487A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
locking sleeve
cleaning device
side walls
connecting rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/115551
Other languages
English (en)
French (fr)
Inventor
施杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan China Star Optoelectronics Technology Co Ltd
Original Assignee
Wuhan China Star Optoelectronics Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan China Star Optoelectronics Technology Co Ltd filed Critical Wuhan China Star Optoelectronics Technology Co Ltd
Priority to US16/311,682 priority Critical patent/US10974284B2/en
Publication of WO2020062487A1 publication Critical patent/WO2020062487A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
    • B08B1/143—Wipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/0028—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by adhesive surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0441—Connections means having vacuum or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B25J19/065—Mechanical fuse
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Program-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms

Definitions

  • the present application relates to the technical field of cleaning equipment, and in particular, to a cleaning system and a cleaning device.
  • a platform structure that is, a stage structure, to provide accurate horizontal placement conditions for glass substrates.
  • a coating machine Coater
  • pre-baking Pre -bake, HP
  • the platform is more susceptible to falling impurities or other foreign objects.
  • the height of the impurity formed on the platform during the photoresist coating process will affect the thickness of the photoresist coated on the surface of the glass substrate. It appears as butterfly Mura (uneven light and dark phenomenon), so the platform is a part that needs to be cleaned during maintenance.
  • the current platform structure needs to be maintained and cleaned frequently to ensure its cleanliness to avoid product defects.
  • the industry also mainly adopts manual cleaning methods.
  • the cleaning equipment has a complicated structure, and the manual cleaning can play an inspection role while ensuring direct contact with the cleaning effect.
  • the automatic cleaning function has not been developed in consideration of the cost of the cleaning equipment.
  • the manual cleaning method has the following two defects: (1) manual cleaning is more difficult to avoid artificial impurities from falling on the platform, causing secondary pollution; (2) manual cleaning is more complicated, and personnel need to first You can only enter the device after cleaning the whole body.
  • the wiping range is small and the wiping efficiency is low.
  • the purpose of the present application is to provide a cleaning system and a cleaning device to solve the problems existing because the platform cannot be cleaned automatically.
  • a cleaning device includes:
  • the transfer mechanism includes:
  • a locking sleeve having an open end
  • a connecting rod said connecting rod having a first end portion and a second end portion, said first end portion being connected to said locking sleeve, and,
  • a card slot which is connected to the second end of the connecting rod
  • a cleaning mechanism is connected to the card slot.
  • the connecting rod is provided with an elastic portion, and the elastic portion is located between the first end portion and the second end portion.
  • the elastic portion is a spring or a rubber member.
  • an inner wall of the locking sleeve near the open end is provided with a flexible inner lining surrounding the inner wall.
  • the locking sleeve has four side walls, the four side walls enclose the open end, and the ends of the four side walls close to the open end are not connected to each other.
  • one end of the four side walls which are not connected to each other is fastened by a fastening device.
  • the fastening device includes: a clamp, which is sleeved on one end of the four side walls that are not connected to each other; and a screw and a nut used in cooperation with the clamp.
  • the cleaning mechanism is connected to the card slot by means of magnet attraction.
  • a recessed area is provided on one side of the card slot, and at least two first magnet blocks are provided on a surface of the recessed area; and the cleaning mechanism is provided one by one with the first magnet block. Correspondingly the second magnet block.
  • the cleaning device includes four transfer mechanisms and a cleaning mechanism, and the four transfer mechanisms are commonly connected to the cleaning mechanism.
  • a cleaning system includes a cleaning device and a robot, the robot includes at least one robot arm, and the cleaning device includes:
  • the transfer mechanism includes:
  • a locking sleeve the locking sleeve has an open end connected to the robot arm, and the robot arm is inserted into the open end of the locking sleeve to connect with the transfer mechanism,
  • a connecting rod said connecting rod having a first end portion and a second end portion, said first end portion being connected to said locking sleeve, and,
  • a card slot which is connected to the second end of the connecting rod
  • a cleaning mechanism is connected to the card slot.
  • an elastic portion is provided on the connecting rod, and the elastic portion is located between the first end portion and the second end portion.
  • the elastic portion is a spring or a rubber member.
  • an inner wall of the locking sleeve near the open end is provided with a flexible inner lining surrounding the inner wall, and the flexible inner lining is located between the locking sleeve and the robot arm.
  • the locking sleeve has four side walls, the four side walls enclose the open end, and the ends of the four side walls near the open end are not connected to each other.
  • one end of the four side walls that are not connected to each other is fastened by a fastening device.
  • the fastening device includes a clamp, which is sleeved on one end of the four side walls that are not connected to each other, and a screw and a nut used in cooperation with the clamp.
  • the cleaning mechanism is connected to the card slot by means of magnet attraction.
  • a recessed area is provided on one side of the card slot, and at least two first magnet blocks are provided on a surface of the recessed area; and the cleaning mechanism is provided one by one with the first magnet block. Correspondingly the second magnet block.
  • the cleaning device includes four transfer mechanisms and a cleaning mechanism
  • the robot includes four robot arms
  • the four transfer mechanisms correspond to the four robot arms one-to-one respectively. Connected, the four transfer mechanisms are commonly connected to the cleaning mechanism.
  • the present application provides a cleaning system and a cleaning device.
  • the cleaning mechanism of the cleaning device is used to clean the platform by controlling the robotic arm of the robot in the cleaning system.
  • the cleaning system has continuous and efficient cleaning and the cleaning methods can be diversified. The advantages.
  • FIG. 1 is a side view of a first embodiment of a cleaning system of the present application
  • FIG. 2 is a front view of the switching mechanism of the cleaning system in FIG. 1;
  • FIG. 3 is a side view of a first cleaning mechanism of the cleaning system of the present application.
  • FIG. 4 is a side view of a second cleaning mechanism of the cleaning system of the present application.
  • FIG. 5 is a front view of a second embodiment of the cleaning system of the present application.
  • FIG. 1 is a cleaning system according to a first embodiment of the present application.
  • the cleaning system includes a cleaning device 10 and a robot.
  • the cleaning device 10 includes at least one transfer mechanism 12 and a cleaning mechanism 14.
  • the robot includes at least one mechanism.
  • the arm 20 and the transfer mechanism 12 connect the cleaning mechanism 14 and the robotic arm 20, and by controlling the robotic arm 20 of the robot, the cleaning mechanism 14 can contact the object to be cleaned for cleaning or away from the object to be cleaned.
  • the robot arm 20 may be a horizontally-set flat plate and can move in the horizontal direction and / or the vertical direction, or other shapes and structures designed according to actual needs.
  • the degrees of freedom of the robot arm can be one, two, three, or six, which can be selected according to actual needs.
  • the switching mechanism 12 includes a locking sleeve 120, a connecting rod 122 and a card slot 124.
  • the connecting rod 122 connects the locking sleeve 120 and the locking slot 124.
  • the connecting rod 122 can be fixedly or detachably connected with the locking sleeve 120 in one piece.
  • the locking slot 124 can be fixedly connected with the connecting rod 122 in one piece or can be connected. Disconnect ground connection.
  • the locking sleeve 120 has an open end 1200 connected to the robot arm 20, and the robot arm 20 is inserted into the open end 1200 of the locking sleeve 120 to be connected with the transfer mechanism 12.
  • the material of the locking sleeve is a steel material;
  • the connecting rod 122 has a first end portion and a second end portion, the first end portion is connected to the locking sleeve 120, the second end portion is connected to the slot 124, and the connecting rod 122 is made of a hard material, including hard plastic, steel
  • the card material slot 124 is used to connect the cleaning mechanism 14 and is made of a hard material, including a hard plastic or a steel material.
  • the cleaning mechanism 14 may be a dust sticking device for cleaning impurities, or a dust-free cloth cleaning plate for moisturizing and wiping to remove stains.
  • the cleaning mechanism may also be a variety of different cleaning equipments to facilitate replacement for different needs.
  • the cleaning object may be any device that needs to be cleaned, which is not specifically limited in this application. Specifically, in this embodiment, the cleaning object is a platform for performing a coating operation and a pre-baking operation in the field of liquid crystal display panels.
  • the above cleaning system controls the robotic arm of the robot to bring the cleaning mechanism into contact with the platform.
  • the cleaning mechanism moves on the surface of the platform to complete the cleaning of the platform.
  • the robot arm can continuously and efficiently control the operation of the cleaning mechanism without fatigue, which can improve the efficiency of cleaning;
  • the cleaning mechanism includes multiple and replaceable, which can meet the platform's requirements for different degrees of cleaning, so
  • the cleaning system enables a variety of cleanings.
  • FIG. 2 is a front view of the transition mechanism 12.
  • An elastic portion 1221 is provided on the connecting rod 122.
  • the elastic portion 1221 is located between the first end portion and the second end portion.
  • the elastic portion 1221 allows the cleaning mechanism 14 to There is an elastic space when the force is applied so as to prevent the cleaning mechanism 14 from being partially damaged or the robot arm 20 being broken due to the rigid force.
  • the elastic portion 1221 may be multiple springs, and both ends of the spring are respectively connected to the connecting rod 122 where the first end portion is located and the connecting rod 122 where the second end portion is located.
  • the connection method may be a fixed connection, such as welding, or may be Removable connection, for example, one end of a spring passes through a through hole provided on the connecting rod 122 where the first end portion is located to connect with the connecting rod 122 where the first end portion is located;
  • the elastic portion may also be a rubber component, and the rubber component is detachably It is connected to the connecting rod 122 where the first end portion is located and the connecting rod 122 where the second end portion is located, for example, a clamping portion is provided on the connecting rod 122 where the first end portion is located to clamp one end of the rubber member
  • It can be in the shape of a drum or a plate, and the material for preparing the rubber component can be ethylene-propylene-diene rubber, polyurethane rubber, or other rubber materials.
  • the connection manner between the connecting rod 122 where the first end portion is located and the connecting rod 122 where the second end portion is located and the elastic portion 1221 may be the same or different, which is not specifically limited in this application.
  • the inner wall of the locking sleeve 120 near the open end 1200 is provided with a flexible inner liner 1202 surrounding the inner wall.
  • the flexible inner liner 1202 is located between the locking sleeve 120 and the robot arm 20.
  • the flexible inner liner 1202 prevents Sliding occurs between the robot arm 20 and the locking sleeve 120 to avoid affecting the cleaning efficiency.
  • the thickness of the inner wall of the locking sleeve 120 near the open end 1200 is greater than the thickness of the inner wall far from the open end 1200.
  • the flexible inner liner 1202 is arranged around the inner wall of the thicker and close to the open end 1200.
  • the flexible inner liner 1202 may be a rubber layer or a sponge, which is not specifically limited in this application.
  • the locking sleeve 120 has four side walls, and the four side walls are enclosed to form an open end 1200. One end of the four side walls near the open end 1200 is not connected to each other, that is, a gap 1204 exists between two adjacent side walls. One end of the four side walls near the open end 1200 is not connected to each other, which can facilitate the better insertion of the robot arm 20, that is, the robot arm 20 has an adjustable space when inserted.
  • the fastening device may be a combination of a clamp, a screw and a nut.
  • the clamp is sleeved on one end of the four side walls of the locking sleeve which are not connected to each other.
  • the clamp is tightened with the cooperation of the screw and the nut.
  • the clamp can be It is two vertical right-angle hoop bodies, or a frame-shaped hoop body. The two ends of the clamp are provided with through holes that cooperate with the screw to allow the screw to pass through.
  • the nut is screwed on the screw to fix the robot arm 20 and Lock sleeve 120.
  • the cleaning mechanism 14 is connected to the card slot 124 by means of magnet attraction.
  • a recessed area is provided on one side of the slot 124, and a surface is surrounded by two pairs of opposite sides on the four sides of the surface to form a recessed area.
  • At least two first magnet blocks 1240 are disposed on one surface of the recessed area.
  • the mechanism 14 is provided with a second magnet block 140 corresponding to the first magnet block 1240 on a one-to-one basis, and the cleaning mechanism 14 is detachably detached by the magnetic force between the first magnet block and the 1240 second magnet block 140 provided on a one-to-one basis. It is connected to the transfer mechanism 12 and the cleaning mechanism can be replaced as needed.
  • the slot 124 may also be connected to the cleaning mechanism in other detachable manners, such as a snapping manner or a screw fixing manner.
  • the dust sticking device includes a support portion 141 and a dust sticking roller 142.
  • the supporting portion 141 includes a plate, side plates at two ends of the plate, and a plurality of second magnet blocks. The side plates at both ends are vertically and fixedly connected to the plate. 140 second magnet blocks are disposed on the surfaces of the plates facing away from the side plates.
  • the dust sticking roller 142 includes a rotating shaft and a double-sided film and a double-sided film It consists of two layers of release film and an adhesive layer located between the two layers of release film. The two ends of the rotating shaft are movably connected to the two side plates.
  • the dust-free cleaning plate includes a plate 143, a dust-free cloth (not shown), and a plurality of second magnet blocks 140.
  • the size of the plate 143 matches the size of the recessed area of the card slot 124 so that the plate 143 can be connected to the card slot 124.
  • a dust-free cloth covers one surface of the plate 143, and the plate 143 is opposite to a surface covered with the dust-free cloth.
  • One surface is provided with a plurality of second magnet blocks 140, and when the dust-free cloth cleaning plate is connected to the slot 124, the second magnet blocks 140 are in one-to-one correspondence with the first magnet blocks 1240.
  • FIG. 5 is a schematic diagram of a cleaning system according to a second embodiment of the present application, which is similar to the cleaning system of the first embodiment, except that the cleaning device 10 includes four transfer structures 12 and a cleaning mechanism 14, and the robot includes The four robotic arms 20, the four transfer mechanisms 12 are connected to the four robotic arms 20 in a one-to-one correspondence, and the four transfer mechanisms 12 are commonly connected to the cleaning mechanism 14. Among them, the four robot arms are located on the same plane and horizontally.
  • the cleaning system of this embodiment can clean a platform with a larger area.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

一种清洁系统及清洁装置，清洁系统包括清洁装置（10）和机器人，机器人包括至少一机械手臂（20），清洁装置（10）包括至少一转接机构（12）以及一清洁机构（14），转接机构（12）将清洁机构（14）与机械手臂（20）连接起来，通过控制机械手臂（20）以使清洁装置（10）的清洁机构（14）对平台进行清洁，此清洁系统具有能持续且高效地清洁以及清洁方式可多样化的优点。

Description

清洁系统及清洁装置 技术领域
本申请涉及清洁设备技术领域，尤其涉及一种清洁系统及清洁装置。
 背景技术
液晶显示行业较多工序需使用到平台结构，即Stage结构，以为玻璃基板提供精准的水平放置条件，例如涂布机（Coater）需在平台上对玻璃基板进行均一涂布，预烘烤（Pre-bake, HP）设备需在平台上进行均匀加热。平台作为精准的平台结构，较易受掉落的杂质或其他异物的影响，例如，光阻涂布过程中平台上杂质形成的高度会影响玻璃基板表面涂布的光阻厚度，常见显示面板上出现为蝶状Mura（明暗不均的现象），故在维护保养中平台是需要重点清洁的部件。
现行平台结构需经常维护清洁，保证其洁净度避免出现产品不良。业内也主要采用人工擦拭清洁的方式，一方面清洁设备结构复杂，人工擦拭直接接触的同时能起到检查作用，能保证擦拭效果；另一方面考虑清洁设备成本未开发自动清洁功能。然而，人工擦拭清洁的方式存在以下两个方面的缺陷：（1）人工擦拭清洁较难避免人为带入的杂质掉落平台上，造成二次污染；（2）人力擦拭较为繁琐，人员需先进行全身清洁后才可进入设备，擦拭范围较小，擦拭效率低。
因此，有必要提出一种技术方案以解决由于无法对平台进行自动化清洁而存在的问题。
 技术问题
鉴于此，本申请的目的在于提供一种清洁系统及清洁装置，以解决由于无法对平台进行自动化清洁而存在的问题。
 技术解决方案
一种清洁装置，所述清洁装置包括：
至少一转接机构，所述转接机构包括：
一锁紧套，所述锁紧套具有一开口端；
一连接杆，所述连接杆具有第一端部和第二端部，所述第一端部与所述锁紧套连接，以及，
一卡槽，所述卡槽与所述连接杆的第二端部连接；
一清洁机构，所述清洁机构与所述卡槽连接。
在上述清洁装置中，所述连接杆上设置有弹性部，所述弹性部位于所述第一端部和所述第二端部之间。
在上述清洁装置中，所述弹性部为弹簧或橡胶部件。
在上述清洁装置中，所述锁紧套靠近所述开口端的内壁上设置有环绕所述内壁的柔性内衬。
在上述清洁装置中，所述锁紧套具有四个侧壁，所述四个侧壁围合而成所述开口端，所述四个侧壁靠近所述开口端的一端互相不连接。
在上述清洁装置中，所述互相不连接的四个侧壁的一端通过紧固装置进行紧固。
在上述清洁装置中，所述紧固装置包括：卡箍，所述卡箍套在所述互相不连接的四个侧壁的一端；以及，与所述卡箍配合使用的螺杆和螺母。
在上述清洁装置中，所述清洁机构通过磁铁吸附的方式与所述卡槽连接。
在上述清洁装置中，所述卡槽的一侧设有凹陷区，所述凹陷区的表面上设置有至少两第一磁铁块；所述清洁机构上设置有与所述第一磁铁块一一对应地第二磁铁块。
在上述清洁装置，所述清洁装置包括四个转接机构以及一清洁机构，所述四个转接机构共同连接所述清洁机构。
一种清洁系统，所述清洁系统包括清洁装置和机械人，所述机械人包括至少一机械手臂，所述清洁装置包括：
至少一转接机构，所述转接机构包括：
一锁紧套，所述锁紧套具有与所述机械手臂连接的一开口端，所述机械手臂插入所述锁紧套的开口端以与所述转接机构连接，
一连接杆，所述连接杆具有第一端部和第二端部，所述第一端部与所述锁紧套连接，以及，
一卡槽，所述卡槽与所述连接杆的第二端部连接；
一清洁机构，所述清洁机构与所述卡槽连接。
在上述清洁系统中，所述连接杆上设置有弹性部，所述弹性部位于所述第一端部和所述第二端部之间。
在上述清洁系统中，所述弹性部为弹簧或橡胶部件。
在上述清洁系统中，所述锁紧套靠近所述开口端的内壁上设置有环绕所述内壁的柔性内衬，所述柔性内衬位于所述锁紧套和所述机械手臂之间。
在上述清洁系统中，所述锁紧套具有四个侧壁，所述四个侧壁围合而成所述开口端，所述四个侧壁靠近所述开口端的一端互相不连接。
在上述清洁系统中，所述互相不连接的四个侧壁的一端通过紧固装置进行紧固。
在上述清洁系统中，所述紧固装置包括：卡箍，所述卡箍套在所述互相不连接的四个侧壁的一端；以及，与所述卡箍配合使用的螺杆和螺母。
在上述清洁系统中，所述清洁机构通过磁铁吸附的方式与所述卡槽连接。
在上述清洁系统中，所述卡槽的一侧设有凹陷区，所述凹陷区的表面上设置有至少两第一磁铁块；所述清洁机构上设置有与所述第一磁铁块一一对应地第二磁铁块。
在上述清洁系统中，所述清洁装置包括四个转接机构以及一清洁机构，所述机械人包括四个机械手臂，所述四个转接机构分别与四个所述机械手臂一一对应地连接，所述四个转接机构共同连接所述清洁机构。
 有益效果
本申请提供一种清洁系统及清洁装置，通过控制清洁系统中的机械人的机械手臂以使清洁装置的清洁机构对平台进行清洁，此清洁系统具有能持续且高效地清洁以及清洁方式可多样化的优点。
 附图说明
为了更清楚地说明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单介绍，显而易见地，下面描述中的附图仅仅是发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请的清洁系统的第一实施例的侧视图；
图2为图1中的清洁系统的转接机构的主视图；
图3为本申请的清洁系统的第一种清洁机构的侧视图；
图4为本申请的清洁系统的第二种清洁机构的侧视图；
图5为本申请的清洁系统的第二实施例的主视图。
附图标注如下：
10 清洁装置 20机械手臂 12转接结构
120锁紧套 1200开口端 1202柔性内衬  1204缺口
122 连接杆   1221弹性部
124卡槽 1240 第一磁铁块  126紧固装置
14清洁机构140第二磁铁块 141支撑部 142 粘尘滚轮143板材
 本发明的实施方式
以下各实施例的说明是参考附加的图示，用以例示本申请可用以实施的特定实施例。本申请所提到的方向用语，例如[上]、[下]、[前]、[后]、[左]、[右]、[内]、[外]、[侧面]等，仅是参考附加图式的方向。因此，使用的方向用语是用以说明及理解本申请，而非用以限制本申请。在图中，结构相似的单元是用以相同标号表示。
请参阅图1，其为本申请第一实施例的一种清洁系统，该清洁系统包括清洁装置10和机器人，清洁装置10包括至少一转接机构12和一清洁机构14；机器人包括至少一机械手臂20，转接机构12将清洁机构14和机械手臂20连接起来，通过控制机器人的机械手臂20以使清洁机构14接触需要清洁的对象以进行清洁或者远离需要清洁的对象。
机械手臂20可以是水平设置的平板且能沿水平方向或/和竖直方向移动，或者其他根据实际需要而进行设计的形状和结构。机械手臂的自由度可以是一个、两个、三个或者六个，可根据实际需要进行选择。
转接机构12包括一锁紧套120、一连接杆122以及一卡槽124。连接杆122将锁紧套120和卡槽124连接起来，连接杆122可以和锁紧套120一体成型地固定连接或者可拆卸地连接，卡槽124可以和连接杆122一体成型地固定连接或者可拆卸地连接。其中，锁紧套120具有与机械手臂20连接的一开口端1200，机械手臂20插入锁紧套120的开口端1200以与转接机构12连接，锁紧套的材料为钢质材料；连接杆122具有第一端部和第二端部，第一端部与锁紧套120连接，第二端部与卡槽124连接，连接杆122是由硬质材料制成，包括硬质塑料、钢质材料等，可以根据实际需要进行选择；卡槽124用于连接清洁机构14，其由硬质材料制成，包括硬质塑料或钢质材料等。
清洁机构14可以为用于清洁杂质的粘尘装置，也可以是用于湿润擦拭以去除污渍的无尘布清洁板，清洁机构还可以为多种不同的清洁设备以便于不同需要替换使用。清洁对象可以为任意需要进行清洁的设备，本申请不做具体的限定，具体在本实施例中，清洁对象为液晶显示面板领域进行涂布操作和预烘烤操作的平台。
上述清洁系统通过控制机械人的机械手臂以使清洁机构与平台进行接触，清洁机构在平台表面移动以完成平台的清洁工作，相对于传统的人工清洁，可以避免人工带入的杂质从而造成二次污染，而且，机械手臂具有能持续且高效地控制清洁机构运作而不会疲劳的特点，能提高清洁的效率；清洁机构包括多种且可更换，能够满足平台对不同程度的清洁的要求，故该清洁系统能进行多样化的清洁。
进一步的，图2为转接机构12的主视图，连接杆122上设置有弹性部1221，弹性部1221位于第一端部和第二端部之间，弹性部1221是使清洁机构14在受力时存在弹性空间从而避免受刚性力作用导致清洁机构14部分损坏或机械手臂20折断。弹性部1221可以是多个弹簧，弹簧的两端分别与第一端部所在的连接杆122和第二端部所在的连接杆122连接，连接方式可以是固定连接，例如焊接，也可以是可拆卸地连接，例如弹簧的一端穿过第一端部所在的连接杆122上设置的通孔以与第一端部所在的连接杆122连接；弹性部也可以是橡胶部件，橡胶部件可拆卸地连接在第一端部所在的连接杆122和第二端部所在的连接杆122上，例如在第一端部所在的连接杆122上设置夹持部以夹持橡胶部件的一端，夹持部可以是滚筒状或者板状，橡胶部件的制备材料可以是三元乙丙橡胶、聚氨酯橡胶或者其他橡胶材料。第一端部所在的连接杆122和第二端部所在的连接杆122与弹性部1221的连接方式可以相同，也可以不同，本申请不做具体的限定。
请参阅图1和图2，锁紧套120靠近开口端1200的内壁上设置有环绕内壁的柔性内衬1202，柔性内衬1202位于锁紧套120和机械手臂20之间，柔性内衬1202防止机械手臂20和锁紧套120之间发生滑动，避免影响清洁效率。锁紧套120靠近开口端1200的内壁的厚度大于远离开口端1200的内壁的厚度，柔性内衬1202环绕设置在厚度大且靠近开口端1200的内壁上。柔性内衬1202可以是橡胶层或海绵等，本申请不作具体的限定。
锁紧套120具有四个侧壁，四个侧壁围合而成开口端1200，四个侧壁靠近开口端1200的一端互相不连接，即相邻两侧壁之间有缺口1204。四个侧壁靠近开口端1200的一端互相不连接可以方便机械手臂20更好地插入，即机械手臂20插入时具有可调节的空间。
互相不连接的四个侧壁的一端通过紧固装置126（见图1）进行紧固，以保证机械手臂20与锁紧套120之间被牢固地连接。紧固装置可以是卡箍、螺杆以及螺母构成的组合件，卡箍套在锁紧套互相不连接的四个侧壁的一端，用螺杆和螺母的配合对卡箍进行紧固，卡箍可以是两个垂直直角式箍体，也可以是一框状箍体，卡箍的两端设置有与螺杆配合的通孔以使螺杆穿过，在螺杆上旋上螺母从而固定住机械手臂20和锁紧套120。
进一步地，如图1所示，清洁机构14通过磁铁吸附的方式与卡槽124连接。卡槽124的一侧设有凹陷区，一表面和位于表面四侧的两对相对的侧面围合而成凹陷区，构成凹陷区的一表面上设置有至少两第一磁铁块1240，在清洁机构14上设置有与第一磁铁块1240一一对应地第二磁铁块140，通过一一对应设置的第一磁铁块和1240第二磁铁块140之间的磁力作用将清洁机构14可拆卸地连接在转接机构12上，且可以根据需要以更换清洁机构。可以理解的是，卡槽124也可以通过其他可拆卸地方式与清洁机构连接，例如卡合的方式或者螺钉固定的方式等。
如图3所示，其为用于初步清洁平台杂质的粘尘装置，该粘尘装置包括支撑部141及粘尘滚轮142。支撑部141包括一板材、位于板材两端的侧板以及多个第二磁铁块，两端的侧板都与板材垂直固定连接，第二磁铁块140块设置在两侧板所背对的板材的表面上，粘尘装置与卡槽124连接时，第二磁铁块140是与第一磁铁块1240是一一对应的；粘尘滚轮142包括一转轴和套在转轴上的双面胶卷，双面胶卷由两层离型膜和位于两层离型膜之间的胶黏层组成，转轴的两端分别与两侧板活动连接。该粘尘装置进行粘尘时，需要揭开一离型膜以使胶黏层与平台接触从而粘住平台上的杂质。
如图4所示，其为用于润湿擦拭以去除污渍的无尘布清洁板，该无尘清洁板包括一板材143、无尘布（未示出）及多个第二磁铁块140。板材143的尺寸与卡槽124的凹陷区的尺寸相配合以便于板材143能与卡槽124连接，无尘布覆盖在板材143一表面，板材143上与覆盖无尘布的一表面相对的另一表面上设置有与多个第二磁铁块140，无尘布清洁板连接在卡槽124上时，第二磁铁块140是与第一磁铁块1240是一一对应的。
图5为本申请第二实施例的清洁系统的示意图，其与第一实施例的清洁系统相似，不同之处在于，清洁装置10包括四个转接结构12和一清洁机构14，机械人包括四个机械手臂20，四个转接机构12分别与四个机械手臂20一一对应地连接，四个转接机构12共同连接清洁机构14。其中，四个机械手臂位于同一平面且水平设置。本实施例的清洁系统能对面积更大的平台进行清洁。
综上所述，虽然本申请已以优选实施例揭露如上，但上述优选实施例并非用以限制本申请，本领域的普通技术人员，在不脱离本申请的精神和范围内，均可作各种更动与润饰，因此本申请的保护范围以权利要求界定的范围为准。

Claims (20)

  1. 一种清洁装置，其中，所述清洁装置包括：
    至少一转接机构，所述转接机构包括：
    一锁紧套，所述锁紧套具有一开口端；
    一连接杆，所述连接杆具有第一端部和第二端部，所述第一端部与所述锁紧套连接，以及，
    一卡槽，所述卡槽与所述连接杆的第二端部连接；
    一清洁机构，所述清洁机构与所述卡槽连接。
  2. 根据权利要求1所述的清洁装置，其中，所述连接杆上设置有弹性部，所述弹性部位于所述第一端部和所述第二端部之间。
  3. 根据权利要求2所述的清洁装置，其中，所述弹性部为弹簧或橡胶部件。
  4. 根据权利要求1所述的清洁装置，其中，所述锁紧套靠近所述开口端的内壁上设置有环绕所述内壁的柔性内衬。
  5. 根据权利要求1所述的清洁装置，其中，所述锁紧套具有四个侧壁，所述四个侧壁围合而成所述开口端，所述四个侧壁靠近所述开口端的一端互相不连接。
  6. 根据权利要求5所述的清洁装置，其中，所述互相不连接的四个侧壁的一端通过紧固装置进行紧固。
  7. 根据权利要求6所述的清洁装置，其中，所述紧固装置包括：卡箍，所述卡箍套在所述互相不连接的四个侧壁的一端；以及，与所述卡箍配合使用的螺杆和螺母。
  8. 根据权利要求1所述的清洁装置，其中，所述清洁机构通过磁铁吸附的方式与所述卡槽连接。
  9. 根据权利要求8所述的清洁装置，其中，所述卡槽的一侧设有凹陷区，所述凹陷区的表面上设置有至少两第一磁铁块；所述清洁机构上设置有与所述第一磁铁块一一对应地第二磁铁块。
  10. 根据权利要求1所述的清洁装置，其中，所述清洁装置包括四个转接机构以及一清洁机构，所述四个转接机构共同连接所述清洁机构。
  11. 一种清洁系统，其中，所述清洁系统包括清洁装置和机器人，所述机器人包括至少一机械手臂，所述清洁装置包括：
    至少一转接机构，所述转接机构包括：
    一锁紧套，所述锁紧套具有与所述机械手臂连接的一开口端，所述机械手臂插入所述锁紧套的开口端以与所述转接机构连接，
    一连接杆，所述连接杆具有第一端部和第二端部，所述第一端部与所述锁紧套连接，以及，
    一卡槽，所述卡槽与所述连接杆的第二端部连接；
    一清洁机构，所述清洁机构与所述卡槽连接。
  12. 根据权利要求11所述的清洁系统，其中，所述连接杆上设置有弹性部，所述弹性部位于所述第一端部和所述第二端部之间。
  13. 根据权利要求12所述的清洁系统，其中，所述弹性部为弹簧或橡胶部件。
  14. 根据权利要求11所述的清洁系统，其中，所述锁紧套靠近所述开口端的内壁上设置有环绕所述内壁的柔性内衬，所述柔性内衬位于所述锁紧套和所述机械手臂之间。
  15. 根据权利要求11所述的清洁系统，其中，所述锁紧套具有四个侧壁，所述四个侧壁围合而成所述开口端，所述四个侧壁靠近所述开口端的一端互相不连接。
  16. 根据权利要求15所述的清洁系统，其中，所述互相不连接的四个侧壁的一端通过紧固装置进行紧固。
  17. 根据权利要求16所述的清洁系统，其中，所述紧固装置包括：卡箍，所述卡箍套在所述互相不连接的四个侧壁的一端；以及，与所述卡箍配合使用的螺杆和螺母。
  18. 根据权利要求11所述的清洁系统，其中，所述清洁机构通过磁铁吸附的方式与所述卡槽连接。
  19. 根据权利要求18所述的清洁系统，其中，所述卡槽的一侧设有凹陷区，所述凹陷区的表面上设置有至少两第一磁铁块；所述清洁机构上设置有与所述第一磁铁块一一对应地第二磁铁块。
  20. 根据权利要求11所述的清洁系统，其中，所述清洁装置包括四个转接机构以及一清洁机构，所述机器人包括四个机械手臂，所述四个转接机构分别与四个所述机械手臂一一对应地连接，所述四个转接机构共同连接所述清洁机构。
PCT/CN2018/115551 2018-09-29 2018-11-15 清洁系统及清洁装置 Ceased WO2020062487A1 (zh)

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