JP5184291B2 - Dust removal system - Google Patents

Description

The present invention, for example, for removing dust on the surface of a vehicle body with a wiping member for wiping dust or sweeping dust before a top coating process in a painting factory or the like that paints a car body (an example of a dust removal object) of an automobile. about the dust removal system to be used.

  Conventionally, in this type of dust removal system, a rotating wipe brush (an example of a wipe member) that automatically removes the upper surface portion of a dust-deposited object that is sequentially conveyed by a conveying means cannot be moved between a pair of left and right side columns. An upper surface wiper (an example of a dust removal robot) installed in a state is provided, and a cleaning device (an example of a cleaning means) that sucks and removes dust adhering to the rotary wipe brush is provided on a brush housing that covers the upper half of the rotary wipe brush. Are known (for example, see Patent Document 1 below).

That is, in this dust removal system, the dust removal operation is performed to remove dust at the lower part of the wipe member that rotates around the horizontal axis in the region directly above the dust removal object in the region directly above the dust removal object. In parallel with the dust removal operation, the upper surface wiping apparatus performs an operation of cleaning the upper portion of the wiping member rotating around the horizontal axis by the cleaning means.
Japanese Patent Laid-Open No. 5-169038

  However, in the above conventional dust removal system, there is a problem that part of the dust that is separated from the wipe member during the cleaning process of the wipe member but remains uncleaned by the cleaning means is easily reattached to the dust removal object after the dust removal operation. there were.

  In view of this situation, a main problem of the present invention is to effectively solve the above-described problems by rationally improving the cleaning method of the wipe member.

As a first reference configuration to configure the dust removal system,
A dust removal robot equipped with a wipe member for dust wiping or dust sweeping is provided.
The dust removing robot is configured to execute a dust removing operation for removing dust to be removed by the wiper by the wiper,
Causing the dust removal robot to perform a cleaning operation for moving the wipe member after the dust removal operation to the cleaning region so that the cleaning of the wipe member can be performed in a cleaning region set at a position away from the dust removal object. It may be configured .

  According to the above configuration, the dust removal object can be removed by the wipe member by executing the dust removal operation by the dust removal robot, but is set at a position away from the dust removal object by the cleaning operation by the dust removal robot. The wipe member can be cleaned in the cleaned area.

  Therefore, even if some dust remains in the cleaning area in the cleaning operation of the wipe member, it will remain in the airspace away from the object to be removed, thereby increasing the probability that the dust will reattach to the object to be removed. It can be greatly reduced and the dust removal accuracy can be greatly improved.

  If the cleaning area is set at a position away from the area directly above the dust removal object, even if some dust remains in the cleaning area during the cleaning operation of the wipe member, It will remain in the airspace that requires lateral movement independent of the constant external force to the moving side (gravity or downward airflow over the entire space common to this type of system). The probability of redeposition can be further reduced.

As a second reference configuration to configure the dust removal system,
You may make it the structure which cleans the said wipe member moved to the said cleaning area by the said cleaning operation with a cleaning means .

  According to the above configuration, the wipe member can be cleaned unattended by cleaning by the cleaning means after the cleaning operation while adopting a configuration in which the wipe member after the dust removal operation is moved to the cleaning area. become.

As a third reference configuration to configure the dust removal system,
While having a configuration in which a plurality of dust removal objects are sequentially conveyed by the conveying means,
After the execution of the dust removal operation on the dust removal object to be removed, the cleaning robot may be configured to execute the cleaning operation before executing the dust removal operation on the dust removal object to be removed .

  According to the above configuration, since the plurality of dust removal objects are sequentially conveyed by the conveyance unit, the dust removal robot is caused to perform the dust removal operation on the new dust removal object with the cleaned wipe member. Therefore, it is possible to prevent dust adhering to the dust removal operation from adhering to a new dust removal object, and the dust removal accuracy can be further improved.

To configure the dust removal system, as a fourth reference configuration,
Wipe dust to be removed with the wipe member installed, or with both the wipe member and the air nozzle member for blowing dust or sucking dust, or with the air nozzle member removed from the state equipped with both members. Dust removal operation to remove dust with members,
Instead of the wipe member, the air nozzle member is used to remove the dust-removed object with the air nozzle member or with both the wipe member and the air nozzle member or with the wipe member removed from the state where both members are equipped. You may make it the structure which makes the said dust removal robot perform 2nd operation | movement for dust removal which removes dust .

  According to the above configuration, at least two dust removal operations, that is, a dust removal operation for removing dust from the dust removal object by the wipe member and a second dust removal operation for removing dust removal by the air nozzle member in one dust removal robot. Therefore, for example, the system can be simplified and more efficient than a case where a plurality of dust removing robots dedicated to each dust removing operation are provided.

To configure the dust removal system, as a fifth reference configuration,
In addition to providing a mounting means for mounting the wipe member on the dust removal robot in a state in which the dust removal robot can be attached and detached, an air nozzle member for dust blowing or dust suction is further provided on the dust removal robot,
In the cleaning operation, the dust removing robot is caused to perform an operation of detaching the wipe member in the cleaning area, and the dust nozzle is configured to clean the wipe member in the cleaning area with the cleaning means in parallel with the air nozzle. You may make it the structure which makes the said dust removal robot perform 2nd operation | movement for dust removal which removes dust with a member .

  According to the above configuration, since the second dust removal operation is performed using the time for cleaning the wipe member in the cleaning area after the dust removal operation is performed, the wipe member and the air nozzle member that employ different dust removal methods are used. Although it is possible to obtain high dust removal accuracy by removing each dust, the time required for the dust removal operation can be shortened as much as possible.

  In addition, since the second dust removing operation is executed in a state where the wipe member after the dust removing operation is detached in the cleaning area, dust is scattered from the wipe member in the vicinity of the dust-deposited object in the process of the second dust removing operation. Can be suppressed, and the dust removal accuracy can be further improved.

As a sixth reference configuration for configuring the dust removal system,
A wipe member working space for causing the dust removing robot to perform a dust removing operation on the wipe member and an air nozzle member working space for causing the dust removing robot to execute a second dust removing operation on the air nozzle member are formed separately.
You may provide the space static elimination means which neutralizes the inside of space by generation | occurrence | production of ionized air only in the said working space for air nozzle members among both working spaces .

  According to the above configuration, the second dust removal operation at the air nozzle member is performed in a state where the interior of the space is not neutralized or almost neutralized with respect to the work space for the wipe member that causes the dust removal robot to perform the dust removal operation on the wipe member. Since the inside of the work space for the air nozzle member that performs the air discharge can be neutralized, the dust removal work by the wipe member can be efficiently performed using the electrostatic adhesion action in the work space for the wipe member. In the work space for members, it is possible to efficiently perform dust removal work with the air nozzle member in a situation where the electrostatic adhesion between dust and debris is reduced or absent due to ionized air, and floating with ionized air It is also possible to drop and remove suspended dust by the electrostatic adsorption action between the dust, which can further improve the dust removal accuracy. That.

To configure the dust removal system, as a seventh reference configuration,
Attaching the wipe member to the arm of the dust removal robot in a state where the dust removal robot can be attached and detached,
A wipe member holding portion capable of holding the wipe member detached from the arm by the attaching / detaching operation in the cleaning area is used as a base portion of the dust removing robot or a traveling portion of the dust removing robot holding the arm in an operable state. It may be provided .

  According to the above configuration, since the wipe member is attached to the arm in a state where the dust removal robot can be attached and detached, when the dust removal robot performs an operation without using the wipe member, the wipe member is detached. As a result, it is possible to prevent dust from being scattered from the wipe member in the vicinity of the object to be removed in the course of operation without using the wipe member, thereby further improving the dust removal accuracy. be able to.

  In addition, since a wipe member holding portion that can hold the wipe member detached from the arm by the attaching / detaching operation in a cleaning area is provided in the base portion of the dust removing robot or the traveling portion of the dust removing robot, for example, the wipe member holding portion It is possible to average and shorten the time required for the operation of attaching and detaching the wipe member as compared with the case where is provided at a position away from the dust removal robot. In addition, it is particularly effective to employ this configuration when using a dust removal robot including a traveling unit that enables a moving operation.

To configure the dust removal system, as an eighth reference configuration,
There may be provided mounting means for mounting the wipe member on the dust removal robot in a state where the attachment / detachment operation by the dust removal robot is possible .

  According to the above configuration, the wiping member can be attached and detached by the dust removing robot. Therefore, when the dust removing robot performs an operation not using the wipe member, it can be executed with the wipe member detached. Thus, dust can be prevented from scattering from the wipe member in the vicinity of the object to be removed in the course of operation without using the wipe member, and the dust removal accuracy can be further improved.

To configure the dust removal system,
The wipe member may be removed from the dust removal robot by a constant external force applied to the wipe member in a state where the wipe member is attached to the dust removal robot .

  That is, for example, when the dust removal object is displaced from the design position, the wipe member interferes with the dust removal object during the operation of the wipe member by the dust removal operation, and the dust removal object is caused by the interference pressure. There is a risk of damage.

  On the other hand, according to the above configuration in which the wipe member is detached from the mounting robot by a constant external force on the wipe member, when the wipe member interferes with the dust removal object during the operation of the wipe member by the dust removing operation. However, when the external force on the wipe member reaches a certain external force, the wipe member falls off, so that it is possible to automatically prevent the interference pressure against the object to be dusted from further increasing. It is possible to effectively suppress the problem that the dust removal object is damaged by the interference.

To configure the dust removal system, as the 10th reference configuration,
The wipe member may be attached to the dust removal robot by magnetic force .

  According to the above configuration, as described above, the effect of suppressing the trouble that the dust removal object is damaged due to the interference with the wipe member by dropping the wipe member has a simple structure mainly including means for generating a magnetic force such as a magnet. You can definitely get it.

To configure the dust removal system, as the 11th reference configuration,
You may provide the detection means which detects whether the said wipe member is mounted | worn with the said dust removal robot .

  According to the above configuration, the dust removal robot performs a dust removal operation when the wipe member is not attached, and the dust removal accuracy is lowered, or the wipe member is not used when the wipe member is attached. Thus, it is possible to easily prevent the dust removal accuracy from being lowered.

On the other hand, as a twelfth reference configuration for configuring a dust removal robot,
The arm is equipped with a wipe member for dust wiping or dust wiping,
A cleaning device for cleaning the wipe member is provided in a base portion or a traveling portion that holds the arm in an operable state, and
A dust removing operation for removing dust by the wipe member can be performed, and a cleaning operation for moving the wipe member to a cleaning unit of the cleaning device by the operation of the arm may be performed. .

According to the above configuration, the dust removal system with high dust removal accuracy and unmanned operation that can remove dust from the upper surface portion of the dust removal object with the wipe member in an unattended state and clean the wipe member at a position away from the dust removal object. Can be configured easily.
Here, the first characteristic configuration of the present invention relates to a dust removal system,
A dust removal robot equipped with a wipe member for dust wiping or dust sweeping is provided.
The dust removing robot is configured to execute a dust removing operation for removing dust to be removed by the wiper by the wiper,
Causing the dust removal robot to perform a cleaning operation for moving the wipe member after the dust removal operation to the cleaning region so that the cleaning of the wipe member can be performed in a cleaning region set at a position away from the dust removal object. In the configuration,
A dust removal system configured to clean the wipe member moved to the cleaning area by the cleaning operation with a cleaning unit,
In addition to providing a mounting means for mounting the wipe member on the dust removal robot in a state in which the dust removal robot can be attached and detached, an air nozzle member for dust blowing or dust suction is further provided on the dust removal robot,
In the cleaning operation, the dust removing robot is caused to perform an operation of detaching the wipe member in the cleaning area, and the dust nozzle is configured to clean the wipe member in the cleaning area with the cleaning means in parallel with the air nozzle. The second aspect is that the dust removing robot is configured to execute the second dust removing operation for removing dust by the member.
According to this configuration, basically the same effects as those of the first and second reference configurations described above can be obtained, and in addition, the same effects as those of the fifth reference configuration described above can be obtained.
The second feature configuration of the present invention relates to a dust removal system,
A dust removal robot equipped with a wipe member for dust wiping or dust sweeping is provided.
The dust removing robot is configured to execute a dust removing operation for removing dust to be removed by the wiper by the wiper,
Causing the dust removal robot to perform a cleaning operation for moving the wipe member after the dust removal operation to the cleaning region so that the cleaning of the wipe member can be performed in a cleaning region set at a position away from the dust removal object. In the configuration,
A dust removal system configured to clean the wipe member moved to the cleaning area by the cleaning operation with a cleaning unit,
Wipe dust to be removed with the wipe member installed, or with both the wipe member and the air nozzle member for blowing dust or sucking dust, or with the air nozzle member removed from the state equipped with both members. Dust removal operation to remove dust with members,
Instead of the wipe member, the air nozzle member is used to remove the dust-removed object with the air nozzle member or with both the wipe member and the air nozzle member or with the wipe member removed from the state where both members are equipped. A configuration for causing the dust removal robot to execute a second dust removal operation for dust removal;
A wipe member working space for causing the dust removing robot to perform a dust removing operation on the wipe member and an air nozzle member working space for causing the dust removing robot to execute a second dust removing operation on the air nozzle member are formed separately.
A space neutralizing means for neutralizing the interior of the space by generating ionized air is provided only in the working space for the air nozzle member, out of both working spaces,
The cleaning area in which the wipe member is cleaned by the cleaning means is set in the space of the work space for the air nozzle member.
According to this configuration, basically the same effects as those of the first, second, fourth, and sixth reference configurations described above can be obtained. In addition, in the cleaning of the wipe member by the cleaning unit, the wipe member The adhered dust can be efficiently removed while neutralizing the electrostatic adhesion force with ionized air.
The third characteristic configuration of the present invention is a preferable configuration in the implementation of the second characteristic configuration.
In the working space for the air nozzle member, the air containing the ionized air is attracted to the inside of the cleaning unit in a state where the wipe member is inserted.
The fourth feature configuration of the present invention is a preferred configuration in the implementation of the second or third feature configuration.
The dust removal robot is configured to perform a raising operation in the work space for the air nozzle member, in which the wipe member after being cleaned by the cleaning means is shaken and raised by a centrifugal force.
The fifth characteristic configuration of the present invention is a preferable configuration in the implementation of any one of the first to fourth characteristic configurations.
While having a configuration in which a plurality of dust removal objects are sequentially conveyed by the conveying means,
After the execution of the dust removal operation on the dust removal object to be removed, the cleaning robot is configured to execute the cleaning operation before the dust removal operation on the dust removal object to be removed next. There is .
According to this configuration, the same effects as those of the third reference configuration described above can be obtained.
The sixth feature configuration of the present invention is a preferred configuration in the implementation of any of the first to fifth feature configurations,
Attaching the wipe member to the arm of the dust removal robot in a state where the dust removal robot can be attached and detached,
A wipe member holding portion capable of holding the wipe member detached from the arm by the attaching / detaching operation in the cleaning area is used as a base portion of the dust removing robot or a traveling portion of the dust removing robot holding the arm in an operable state. It is in the point provided.
According to this configuration, the same effects as those of the seventh reference configuration described above can be obtained.
The seventh characteristic configuration of the present invention is a preferable configuration in the implementation of any one of the first to sixth characteristic configurations.
An attachment means for attaching the wipe member to the dust removal robot in a state in which the attachment / detachment operation by the dust removal robot is possible is provided.
According to this configuration, the same effects as those of the eighth reference configuration described above can be obtained.
The eighth feature configuration of the present invention is a preferred configuration in the implementation of any of the first to seventh feature configurations.
The wipe member is configured to drop off from the dust removal robot by a constant external force applied to the wipe member in a state where the wipe member is attached to the dust removal robot.
According to this configuration, the same effect as the ninth reference configuration described above can be obtained.
The ninth characteristic configuration of the present invention is a preferable configuration in the implementation of the eighth characteristic configuration.
The wipe member is configured to be attached to the dust removal robot by magnetic force.
According to this configuration, the same effects as those of the tenth reference configuration described above can be obtained.
The tenth characteristic configuration of the present invention is a preferable configuration in the implementation of any one of the first to ninth characteristic configurations.
There exists a detection means which detects whether the said wipe member is mounted | worn with the said dust removal robot.
According to this configuration, the same effect as the eleventh reference configuration described above can be obtained.

  FIG. 1 and FIG. 2 show a part of a dust removal equipment adopting the dust removal system of the present invention, 1 is a tunnel-like dust removal booth, and 2 is a dust removal object (in this embodiment, a truck body before top coating). In the dust removal booth 1, a plurality of dust removal objects 2 that are continuously conveyed at a predetermined interval by a conveying device 3 (an example of conveying means) such as a conveyor are used for wiping the wipe member 4 and dust blowing away. A plurality of dust removing robots 6 for sequentially removing dust with the air nozzle member 5 are provided.

  The dust removal booth 1 is configured to supply clean air A1 into the booth from almost the entire surface of the ceiling surface portion 1A having a breathable structure so that a downward air flow is generated in the entire area of the booth. The booth air is exhausted from almost the entire surface of the floor portion 1B having a structure having a property.

  Further, in the dust removal booth 1, a wipe member work space 7 for causing the dust removal robot 6 to execute the first dust removal operation on the wipe member 4, and the direction in which the dust removal object 2 is transported from the wipe member work space 7. On the lower side (X direction in FIG. 1), the air nozzle member working space 8 for causing the dust removing robot 6 to execute the second dust removing operation on the air nozzle member 5 is caused by the downward air flow generated in the entire area of the booth. They are formed separately in a state that inhibits air flow. Of these spaces 7 and 8, on the ceiling side of the air nozzle member working space 8, a space neutralizing device 9 (an example of a space neutralizing means) that generates both positive and negative ionized air A <b> 2 and neutralizes the inside of the space. Is provided.

  As shown in FIGS. 3 to 6, the dust removing robot 6 includes a traveling carriage 11 (moving part of the traveling unit) that is movable on the rail 10 laid on the floor portion 1 </ b> B of the dust removal booth 1 along the conveying direction of the dust removal object 2. The main part is provided with a base part 12 having an example) and an articulated arm 13 connected and held in an operable state to the base part 12.

  A wipe member mounting portion 14 and the air nozzle member 5 that can be mounted in a state where the wipe member 4 can be attached and detached can be provided at the distal end portion of the arm 13.

  As the wipe member 4, a member in which an algae-like wipe body 15 made of an aggregate of synthetic fibers is attached to the distal end side of a metal rod-shaped body 16 is employed. The wipe body 15 is preferably composed of a positive and negative phase with respect to the dust electrification row to be dust-removed, in order to obtain a high electrostatic adhesion action. In this example, the dust mainly adhering to the dust removal object 2 is used. In contrast to a positive charge train (for example, rayon, nylon, hair, etc.), the charge train is made of polypropylene fibers, which is an example of a negative material.

  Further, as the air nozzle member 5, a member provided with a slit-like jet outlet along a direction orthogonal to the axis of the arm 13 is employed. The air nozzle member 5 is provided on the arm 13 in such a state that dust-removing air A3 supplied through the arm 13 can be ejected from the slit-shaped ejection port, and the dust-removed object 2 is discharged by the ejection air A3 from the slit-shaped ejection port. It is configured to be able to blow off dust adhering to.

  The wipe member mounting portion 14 (an example of a mounting means) is composed of a mounting recess that is recessed at the tip of the work arm 13. The bottom of the wipe member mounting portion 14 is a permanent magnet 18 (an example of means for generating a magnetic force) that can hold the mounted portion 17 with a magnetic force while the mounted portion 17 on the proximal end side of the wipe member 4 is fitted. Is provided.

  The permanent magnet 18 is based on the time of interference between the dust removal object 2 and the wipe member 4 so as to prevent the dust removal object 2 from being damaged by the wipe member 4 due to the positional deviation of the dust removal object 2 or the like. The wiper member 4 has a magnetic force with such a strength that the wiper member 4 drops from the dust removal robot 6 by a certain external force.

  The dust removal robot 6 includes a detection unit (an example of a detection unit) that detects whether or not the wipe member 4 is mounted. The detection unit changes the air supply pressure in the detection air supply path (specifically, air leakage) that is communicated from the inside of the arm 13 to the through hole 19 formed in the center of the bottom of the wipe member mounting unit 14. ) To detect whether or not the wipe member 14 is mounted.

  The base 12 includes a cleaning device 20 (an example of a cleaning unit) that cleans the wipe member 4 with the wipe member 4 inserted therein, and a wipe that holds the wipe member 4 in an insertion posture with respect to the cleaning device 20. A member holding device 21 (an example of a wipe member holding portion) is provided.

  As shown in FIG. 5, the cleaning device 20 includes a straight tubular member 22 made of metal or the like, and an annular cleaning air blowing member 23 provided on one end side of the tubular member 22. On the inner peripheral surface of the cylindrical member 22, a plurality of annular portions forming a step portion for urging the detachment of dust from the cylindrical member 22 by contact with the wipe member 4 inserted in the cylindrical member 22. A wall portion 24 is formed.

  On the inner peripheral surface of the cleaning air ejection member 23, an annular air ejection port 25 that ejects cleaning air A4 supplied from the outside toward the other side in the cylindrical member 22 is slightly converged. It is provided. That is, the cleaning device 20 is interpolated by the air flow formed by the air A4 ejected from the air ejection port 25 and the induced air from the booth accompanying the air ejection (that is, the air containing the ionized air A2). The dust adhering to the wipe member 4 in the state is efficiently removed by neutralizing the electrostatic adhesion force with the ionized air A2.

  Further, an elbow member 26 that guides the air flow in the cylindrical member 22 in the direction toward the floor portion 1B of the dust removal booth 1 is attached to the other end side of the cylindrical member 22. Thus, the dust removed from the wipe member 4 is immediately discharged from the dust removal booth 1.

  As shown in FIG. 6, the wipe member holding device 21 includes a substrate portion 27 provided on the base portion 12 of the dust removal robot 6 and an air cylinder 28 (an example of a driving unit) provided on the substrate portion 27. It comprises a pair of holding members 29 that move up and down along the surface of the portion 27, and is configured to be able to hold the wipe member 4 in a form in which the mounted portion 17 of the wipe member 4 is sandwiched between the holding members 29.

  In addition, the annular taper surface portion 17a whose diameter increases toward the distal end side of the wipe member 4 is formed on the outer peripheral surface of the mounted portion 17 of the wipe member 4, whereas the distal end portion of the holding member 29 also has a wipe member. By forming a tapered surface portion 29a having a diameter that increases toward the tip end side of the wire 4, the wiping member is moved by the holding operation of the holding member 29 (the operation of moving from the state of FIG. 6A to the state of FIG. 6B). The four mounted portions 17 are moved away from the mounted portion 17 of the wipe member and the wipe member mounted portion 14 of the arm 13 in the form of moving to the distal end side.

  In this system, the dust removing robot 6 configured as described above is subjected to at least the first dust removing operation for removing the dust removal object 2 with the wipe member 4 and the dust member 4 after the first dust removing operation to remove the dust. The cleaning area (in this example, the conveyance path of the dust removal object 2) set at a position (an example of a position away from the dust removal object 2) that is out of the area 30 directly above the article 2 and the area 31 directly above the conveyance path of the dust removal object 2 , And more specifically, a second dust removing operation for removing dust 2 with the air nozzle member 5 according to an operation command from the control panel. It is made the composition to make it.

  Specifically, in the first dust removal operation, the dust removal robot 6 is positioned on the upper side in the conveyance direction of the dust removal object 2 with respect to the dust removal object 2 conveyed into the dust removal booth 1 by the conveyance means 3. In the wipe member working space 7, an operation (see FIG. 3) of wiping almost the entire area of the outer surface portion of the dust removal object 2 with the wipe member 4 is performed by the arm operation with the wipe member 4 mounted.

  In the cleaning operation, the dust removal robot 6 moves the used wipe member 4 after the first dust removal operation to the inside of the cylindrical member 22 of the operating cleaning device 20 (an example of a cleaning unit) by arm operation. Executes the action of inserting and moving. Then, when the holding operation of the holding member 29 of the wipe member holding device 21 is executed, the wipe member 4 is detached from the arm 13 and held by the wipe member holding device 21. The wipe member 4 in the detached state is gradually cleaned while being exposed to a cleaning air flow in the cylindrical member 22 of the cleaning device 20.

  In the second dust removal operation, the dust removal robot 6 is poor in the transport direction with the wipe member holding device 21 holding the wipe member 4 (ie, the wipe member 4 being cleaned by the cleaning device 20). To the air nozzle member working space 8 on the side, and in the air nozzle member working space 8, a part of the outer surface portion of the dust removal object 2 that is flat to some extent (dust removal object) by the arm operation in a state where the wipe member is not attached. The dust from the air nozzle member 5 is used to remove dust from parts (except for the upper surface, the front surface, and the lower portion of the side surface) of the object 2 (the rear surface of the object 2 and the upper portion of the side surface and the joint between the sheet metals). A blow-off operation (see FIG. 4) is performed.

  Further, as an operation between the second dust removal operation and the first dust removal operation, the dust removal robot 6 moves the wipe member mounting portion 14 of the arm 13 to a predetermined position with respect to the wipe member holding device 21 by the arm operation. The member mounting operation is executed, and the wipe member 4 is released by the wipe member holding device 21 following this operation, so that the wipe member 4 is released from the holding state, and at the same time, the wipe member 4 is moved by the magnetic force of the permanent magnet 18. The wipe member 4 is attached to the wipe member attachment portion 14 of the dust removal robot 6 by being drawn toward the arm 13 side.

  When the dust removal robot 6 detects that the wipe member 4 is mounted, the dust removal robot 6 performs a dust removal action on the wall portion 24 formed on the inner peripheral surface of the cylindrical member 22 as a cleaning finish of the wipe member 4. After the wipe member 4 is reciprocated a plurality of times (2 to 3 times in this example) along the axial direction of the cylindrical member 22 inside the cylindrical member 22 (see FIG. 7A), the cylindrical shape The wiping member 4 is pulled up from the member 22 and the wiping member 4 is raised by centrifugal force by executing a raising operation (see FIG. 7B) that quickly shakes the wiping member 4 in the vertical direction. After that, the first dust removal operation is performed again by moving to the wipe member working space 7.

  The dust removal object 2 that has completed the dust removal operation by the dust removal robot 6 passes through the gate-shaped dust removal gate 32 installed on the lower side of the conveyance direction in the dust removal booth 1 by the conveyance means, and is removed by the dust removal gate 32. After further dust removal by air jets from above and from both sides, the dust removal process is completed and the dust removal booth 1 is moved out.

[Another embodiment]
Next, another embodiment will be listed.
In the above-described embodiment, the wipe member 4 is a type that wipes off dust, but may be a brush type that wipes off dust.

In the above-described embodiment, the case where the dust removal robot 6 is caused to execute the first dust removal operation, the cleaning operation, and the second dust removal operation is shown as an example. However, as a reference example, the second dust removal operation is not executed. Also good.

  In the above-described embodiment, the cleaning device 20 is illustrated as an example of the cleaning unit 20 that cleans the wipe member 4 that has been moved to the cleaning area by the cleaning operation. However, for example, the arm operation of the dust removal robot 6 (the quick swing in the vertical direction) The wiper member 4 may be cleaned by centrifugal force due to operation or the like. In this case, the arm 13 of the dust removing robot 6 constitutes a cleaning means.

In the above-described embodiment, the case where the cleaning means for cleaning the wipe member 4 moved to the cleaning area by the cleaning operation is provided as an example, but as a reference example, the wipe member 4 moved to the cleaning area is used. A worker such as a worker may be cleaned.

  In the above-described embodiment, the case where the dust removal robot 6 performs the cleaning operation every time the first dust removal operation is executed is shown as an example, but each time the first dust removal operation is executed a plurality of times, or A cleaning operation may be performed when the detection unit detects a dirty state of the wipe member 4.

  In the above-described embodiment, the air nozzle member 5 of the type that ejects air is shown as an example, but an air nozzle member of the type that sucks air may be used.

  In the above-described embodiment, the wipe member holding device 21 that can mechanically hold the wipe member 4 is shown as an example of the wipe member holding portion that can hold the wipe member 4 in the cleaning area. You may receive and support.

  The mounting means is not limited to the one configured to be detachable by the magnetic force as shown in the above-described embodiment, but may be configured to be detachable by the shape of the engaging means including the engaging portion and the engaged portion. There may be.

  In the above-described embodiment, the lower part of the side area of the transport path is shown as an example as the position away from the dust-deposited object 2 that sets the cleaning area. In other words, it may be an air space between the dust removal object 2 and the upper area of the dust removal object 2, in other words, a position away from the dust removal position (in other words, the dust removal object 2 is moved away from the dust removal position. The position may be any position as long as it is a required position.

  In the above embodiment, the wipe member 4 is mounted on the dust removal robot 6 by the mounting means, and the air nozzle member 5 is fixed to the dust removal robot 6 as an example. The attachment means is attached to the dust removal robot 6 and the air nozzle member 5 is attached to the dust removal robot 6 by the attachment means instead of the wipe member 4 (in short, the wipe member 4 and the air nozzle member 5 are exchanged and attached. Configuration).

  Further, for example, the air nozzle member 5 is mounted on the dust removal robot 6 by the mounting means, and the wipe member 4 is fixed to the dust removal robot 6. Both the wipe member 4 and the air nozzle member 5 are individually mounted by the mounting means. A configuration in which the dust removal robot 6 is attached to the dust removal robot 6 or a configuration in which both the wipe member 4 and the air nozzle member 6 are fixed to the dust removal robot 6 may be used.

Configuration diagram of dust removal equipment (plan view) Configuration diagram of dust removal equipment (side view) Perspective view showing the dust removal robot Perspective view showing the dust removal robot Side sectional view showing the cleaning device Side surface sectional view showing a wipe member holding device Explanatory drawing showing the operation of the dust removal robot

2 Dust removal object 3 Conveying means 4 Wiping member 5 Air nozzle member 6 Dust removal robot 7 Wiping member working space 8 Air nozzle member working space 9 Space discharging means 12 Base 13 Arm 14 Mounting means (wiping member mounting part)
20 Cleaning means (cleaning device)
21 Wipe member holding part

Claims (10)

A dust removal robot equipped with a wipe member for dust wiping or dust sweeping is provided.
The dust removing robot is configured to execute a dust removing operation for removing dust to be removed by the wiper by the wiper,
Causing the dust removal robot to perform a cleaning operation for moving the wipe member after the dust removal operation to the cleaning region so that the cleaning of the wipe member can be performed in a cleaning region set at a position away from the dust removal object. In the configuration ,
A dust removal system configured to clean the wipe member moved to the cleaning area by the cleaning operation with a cleaning unit,
In addition to providing a mounting means for mounting the wipe member on the dust removal robot in a state in which the dust removal robot can be attached and detached, an air nozzle member for dust blowing or dust suction is further provided on the dust removal robot,
In the cleaning operation, the dust removing robot is caused to perform an operation of detaching the wipe member in the cleaning area, and the dust nozzle is configured to clean the wipe member in the cleaning area with the cleaning means in parallel with the air nozzle. A dust removal system configured to cause the dust removal robot to execute a second dust removal operation for dust removal by a member . A dust removal robot equipped with a wipe member for dust wiping or dust sweeping is provided.
The dust removing robot is configured to execute a dust removing operation for removing dust to be removed by the wiper by the wiper,
Causing the dust removal robot to perform a cleaning operation for moving the wipe member after the dust removal operation to the cleaning region so that the cleaning of the wipe member can be performed in a cleaning region set at a position away from the dust removal object. In the configuration,
A dust removal system configured to clean the wipe member moved to the cleaning area by the cleaning operation with a cleaning unit,
Wipe dust to be removed with the wipe member installed, or with both the wipe member and the air nozzle member for blowing dust or sucking dust, or with the air nozzle member removed from the state equipped with both members. Dust removal operation to remove dust with members,
Instead of the wipe member, the air nozzle member is used to remove the dust-removed object with the air nozzle member or with both the wipe member and the air nozzle member or with the wipe member removed from the state where both members are equipped. A configuration for causing the dust removal robot to execute a second dust removal operation for dust removal;
A wipe member working space for causing the dust removing robot to perform a dust removing operation on the wipe member and an air nozzle member working space for causing the dust removing robot to execute a second dust removing operation on the air nozzle member are formed separately.
A space neutralizing means for neutralizing the interior of the space by generating ionized air is provided only in the working space for the air nozzle member, out of both working spaces,
The dust removal system in which the cleaning area for cleaning the wipe member by the cleaning means is set in a space of the work space for the air nozzle member . The dust removal system according to claim 2, wherein the air containing the ionized air is attracted to the inside of the cleaning means in a state where the wipe member is inserted in the work space for the air nozzle member . The dust removal robot according to claim 2 or 3, wherein the dust removal robot is configured to perform a brushing operation in the work space for the air nozzle member, in which the wipe member after being cleaned by the cleaning means is shaken and raised by centrifugal force. system. While having a configuration in which a plurality of dust removal objects are sequentially conveyed by the conveying means,
A configuration in which the dust removal robot is configured to execute the cleaning operation after the dust removal operation on the dust removal object to be dusted is performed and before the dust removal operation is performed on the dust removal object to be removed next. The dust removal system of any one of 1-4 . Attaching the wipe member to the arm of the dust removal robot in a state where the dust removal robot can be attached and detached,
A wipe member holding portion capable of holding the wipe member detached from the arm by the attaching / detaching operation in the cleaning area is used as a base portion of the dust removing robot or a traveling portion of the dust removing robot holding the arm in an operable state. The dust removal system of any one of Claims 1-5 provided . The dust removal system according to any one of claims 1 to 6, further comprising attachment means for attaching the wipe member to the dust removal robot in a state where the attachment / detachment operation by the dust removal robot is possible . The dust removal system according to any one of claims 1 to 7, wherein the wipe member is configured to drop from the dust removal robot by a constant external force applied to the wipe member in a state where the wipe member is attached to the dust removal robot . The dust removal system according to claim 8, wherein the wiper member is attached to the dust removal robot by magnetic force . The dust removal system according to any one of claims 1 to 9, further comprising detection means for detecting whether or not the wipe member is attached to the dust removal robot .

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