CN117816437A - Nozzle tip residual glue removal device and spraying system having the same - Google Patents

Abstract

The present invention provides a device for removing residual glue from the nozzle tip and a spraying system having the same. The device for removing residual glue from the nozzle tip is used to remove residual glue from the nozzle, and comprises: a base; a clamping device, the clamping device is arranged on the base, and the clamping device is used to clamp the nozzle; a wiping device, the wiping device is arranged on the base and located below the clamping device, and the wiping device is used to wipe the residual glue from the nozzle tip. The device for removing residual glue from the nozzle tip according to an embodiment of the present invention clamps the nozzle by the clamping device, and then wipes the nozzle tip by the wiping device, so that the residual glue from the nozzle tip can be effectively removed, and the residual glue can be prevented from dripping onto the product and the inside of the equipment, thereby improving the utilization rate and maintainability of the spraying system.

Description

Nozzle tip residual glue removal device and spraying system having the same

Technical Field

The invention relates to the technical field of PCB product production, and in particular to a nozzle tip residual glue removal device and a spraying system with the device.

Background technique

Sealant or heat dissipation glue is used as product sealing material and component heat dissipation material in the ECU/TCU production process. The coating state directly affects the sealing of the product and the heat dissipation performance of the components. The nozzle used in the coating will have residual glue at the tip of the nozzle after completing one coating due to the fluidity of the glue. If the residual glue at the tip of the nozzle is not removed, it will not only affect the coating state of the next product, but also cause the residual glue to drip into the prohibited coating area of the product or clog the nozzle, resulting in poor coating and scrapping of the product.

Summary of the invention

In view of this, the present invention provides a nozzle tip residual glue removal device and a spraying system having the same, through which the nozzle tip residual glue removal device can efficiently remove the nozzle tip residual glue, reduce the product scrap rate, and improve the utilization rate of the sprayer.

In order to solve the above technical problems, the present invention adopts the following technical solutions:

The nozzle tip residual glue removal device according to the first aspect of the present invention is used to remove the residual glue on the nozzle, comprising:

A clamping device, the clamping device is used to clamp the nozzle;

A wiping device is connected to the clamping device and is located below the clamping device, and is used to wipe off the residual glue at the tip of the nozzle.

Furthermore, the clamping device comprises:

a first mounting seat;

A pair of first driving mechanisms, wherein the pair of first driving mechanisms are mounted on both sides of the first mounting seat;

A pair of clamping blocks, wherein the pair of clamping blocks are connected to a pair of the first driving mechanisms one by one, and the pair of the first driving mechanisms respectively drive the pair of clamping blocks to move toward/away from each other to clamp/release the nozzle.

Furthermore, the first driving mechanism comprises:

A power unit, wherein the power unit is a servo motor or a cylinder;

The transmission part is connected to the power part, and the power part drives the clamping block to perform linear reciprocating motion through the transmission part.

Furthermore, the power unit is a cylinder, and the first driving mechanism further includes:

A limiting portion, which is arranged on the first mounting seat and is used to limit the stroke of the power unit.

Furthermore, the transmission part comprises:

A fixing portion, the fixing portion being arranged on the first mounting seat;

a sliding portion, the sliding portion being connected to the fixing portion and being slidable along the fixing portion;

A rack, the rack is connected to the sliding part, and the clamping block is connected to the end of the rack.

Wherein, a gear meshing with the rack is sleeved on the driving shaft of the power unit.

Furthermore, the clamping block is a flexible material piece and a free end of the clamping block is provided with an arc-shaped notch adapted to the nozzle.

Furthermore, a mounting slot is provided at the end of the rack, and one end of the clamping block is fitted in the mounting slot.

Furthermore, the clamping device further comprises:

A second driving mechanism, wherein the second driving mechanism is arranged on the wiping device, the first mounting seat is connected to the wiping device via the second driving mechanism, and the second driving mechanism is used to drive the first mounting seat to move up and down.

Furthermore, the wiping device comprises:

A second mounting seat, wherein the second mounting seat is located below the first mounting seat;

A pair of support shafts, the pair of support shafts are arranged on the second mounting seat and correspond to the clamping block, and the support shafts are used to support a wiping cloth to wipe the residual glue at the tip of the nozzle;

The wiping cloth driving mechanism is mounted on the second mounting seat and is used for driving the wiping cloth to move on the supporting shaft.

Furthermore, the wiping cloth driving mechanism comprises:

A first reel and a second reel, the first reel and the second reel are spaced apart and rotatably mounted on the second mounting seat, the first reel is used to sleeve a clean wiping cloth roll, and the second reel is used to sleeve a used recycled wiping cloth roll;

A rotary motor is mounted on the second mounting seat, and the rotary motor is connected to the second reel to drive the second reel to rotate.

Furthermore, the wiping device further comprises:

A tensioning mechanism is installed on the second mounting seat, and the tensioning mechanism is arranged between the wiping cloth driving mechanism and the supporting shaft, and is used to cooperate with the wiping cloth driving mechanism and the supporting shaft so that the wiping cloth is tensioned on a pair of the supporting shafts.

Furthermore, the tensioning mechanism comprises:

A tension spring, one end of which is connected to the second mounting seat;

A tensioning wheel is connected to the other end of the tensioning spring.

Furthermore, the wiping device also includes:

A wiping cloth detection sensor is mounted on the second mounting seat to monitor the size of the wiping cloth roll on the first reel.

A spraying system according to a second aspect of the present invention includes:

sprayers; and

A device for removing residual glue from the nozzle tip according to any embodiment of the first aspect above.

The above technical solution of the present invention has at least one of the following beneficial effects:

According to the nozzle tip residual glue removal device of the embodiment of the present invention, the nozzle is clamped by a clamping device, and the nozzle tip is wiped by a wiping device, which can effectively remove the residual glue at the nozzle tip, prevent the residual glue from dripping onto the product and inside the device, and improve the utilization rate and maintainability of the spraying system;

Furthermore, in the process of removing residual glue, by moving the clamping device up and down, the residual glue around the nozzle can be scraped to the tip of the nozzle, and then the residual glue left on the entire nozzle can be effectively removed by wiping with the wiping device, further improving the cleaning effect.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of a nozzle tip residual glue removal device according to an embodiment of the present invention;

Fig. 2 is a front view of Fig. 1;

FIG3 is a top view of FIG2 ;

FIG4 is a rear view of FIG2;

FIG5 is a right side view of FIG2;

6 is a schematic diagram of the operation process of the nozzle tip residual glue removal device according to an embodiment of the present invention, wherein (a) is a starting state, (b) is a clamping state, and (c) is a wiping state.

Reference numerals: 100. Clamping device;

110. First mounting seat;

120. First driving mechanism; 121. Power unit; 1211. Gear;

122. Transmission part; 1221. Sliding part; 1222. Fixed part; 1223. Rack;

130. Clamping block; 140. Second driving mechanism;

200. Wiping device;

210. Second mounting seat; 220. Support shaft;

230. Wiping cloth driving mechanism; 231. First reel; 232. Second reel; 233. Rotating motor;

240. Tensioning mechanism; 241. Tensioning spring; 242. Tensioning wheel;

250. Wiping cloth detection sensor;

300. Nozzle; 400. Robotic arm;

500. Wiping cloth roll.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

Firstly, the nozzle tip residual glue removing device according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 , a nozzle tip residual glue removal device according to an embodiment of the present invention is used to remove residual glue on a coating nozzle. The nozzle tip residual glue removal device includes: a clamping device 100 and a wiping device 200 .

Here, it should be noted that the nozzle tip residual glue removal device may also include a base to mount the clamping device 100 and/or the wiping device 200 on the base. Of course, the nozzle tip residual glue removal device may not have a separate base. For example, when used in conjunction with a sprayer, the clamping device 100 and/or the wiping device 200 may be directly mounted on the sprayer.

The clamping device 100 is used to clamp the nozzle 300 .

The wiping device 200 is connected to the clamping device 100 and is disposed below the clamping device 100 . The wiping device 200 is used to wipe off the residual glue at the tip of the nozzle 300 .

Specifically, according to the nozzle tip residual glue removal device of the embodiment of the present invention, after the nozzle 300 moves to the predetermined position, the nozzle 300 is clamped and fixed by the clamping device 100, and then the residual glue at the tip of the nozzle 300 is wiped off by the wiping device 200. The device has a simple and reliable structure and is easy to implement, and can effectively remove the residual glue at the nozzle tip, thereby effectively preventing the residual glue from dripping into the prohibited glue setting area on the product and preventing the residual glue from dripping into the inside of the device, which helps to reduce the unqualified rate of products and improve the utilization rate and maintainability of the spraying system.

Further, as shown in FIG. 1 , the clamping device may include 100 : a first mounting seat 110 , a pair of first driving mechanisms 120 , and a pair of clamping blocks 130 .

The first mounting seat 110 may be disposed on a base, for example, or may be directly mounted on the sprayer during use, or may be mounted on the sprayer via a wiping device 200 .

A pair of first driving mechanisms 120 are installed on both sides of the first mounting seat 110 .

The pair of clamping blocks 130 are respectively connected to the pair of first driving mechanisms 120 in a one-to-one correspondence, and the pair of first driving mechanisms 120 respectively drive the pair of clamping blocks 130 to move toward/away from each other to clamp/release the nozzle 300 .

That is, the clamping device 100 is respectively installed with the first driving mechanism 120 on both sides of the first mounting seat 110, and the first driving mechanism 120 on both sides is connected with the clamping block 130 correspondingly, and the first driving mechanism 120 drives the clamping blocks 130 on both sides to move towards each other to clamp the nozzle 300, so as to avoid the deformation and movement of the nozzle in the process of wiping the nozzle tip by the wiping device 200, and after the cleaning is completed, the first driving mechanism 120 is controlled to drive the clamping blocks 130 on both sides to move in opposite directions to loosen the nozzle 300, so that the nozzle 300 after cleaning is moved to the operation point. The structure is simple and reliable, easy to implement, and can ensure the efficiency of the nozzle 300 cleaning work, while avoiding the deformation of the nozzle 300.

In some embodiments, as shown in FIG. 1 , the first driving mechanism 120 may include: a power unit 121 and a transmission unit 122 .

The power unit 121 is a servo motor or a cylinder.

The transmission part 122 is connected to the power part 121 , and the power part 121 drives the clamping block 130 to perform linear reciprocating motion through the transmission part 122 .

That is, by providing a power unit 121 in the form of a servo motor or a cylinder to drive the transmission unit to drive the clamping block 130 to perform linear reciprocating motion, the movement of the clamping block 130 is reliable and easy to control.

In the case of a servo motor, the closed-loop control of the clamping blocks 130 on both sides for synchronous clamping and loosening can be implemented through a program, so that the clamping action is more precise, which helps to improve work efficiency.

In other embodiments, the power unit 121 is a cylinder (not shown), and the first driving mechanism 120 further includes: a limiting unit (not shown).

The limiting portion is disposed on the first mounting seat 110 and is used to limit the stroke of the power portion 121 .

That is to say, when the power unit 121 is designed in the form of a cylinder, a limit portion is set on the first mounting seat 110 to limit the stroke of the cylinder during movement. On the one hand, it can prevent the cylinder from being driven beyond a certain stroke so that the clamping block 130 is damaged by stress when clamping. On the other hand, it can effectively prevent the nozzle position offset caused by the lack of synchronization between the two cylinders from affecting subsequent coating operations.

In some embodiments, as shown in FIGS. 1 , 3 , and 5 , the transmission portion 122 may include: a fixing portion 1222 , a sliding portion 1221 , and a rack 1223 .

The fixing portion 1222 is fixedly disposed on the first mounting seat 110 . The sliding portion 1221 is connected to the fixing portion 1222 and can slide along the fixing portion 1222 . The rack 1223 is connected to the sliding portion 1221 .

As an example, as shown in FIG1 , the fixed portion 1222 can be formed as a fixed block, in which a slide groove is formed, and the sliding portion 1221 is formed as a linear slide rail adapted to the slide groove. Of course, the fixed portion 1222 can also be formed as a linear rail, and the sliding portion 1221 can be formed as a slider matched with the linear rail. The present invention does not impose specific restrictions on this.

In addition, it should be noted that the rack 1223 can be directly formed on the top surface of the sliding portion 1221, that is, the rack 1223 and the sliding portion 1221 are formed integrally, or the rack 1223 can be fixed on the sliding portion 1221 after being formed separately.

The clamping block 130 is connected to the end of the rack 1223. The driving shaft of the power unit 121 is sleeved with a gear 1211 meshing with the rack 1223. That is, when the driving shaft of the power unit 121 rotates, the gear 1211 drives the rack 1223 and the clamping block 130 at its end to perform linear motion. By changing the rotation direction of the driving shaft, the two clamping blocks 130 on both sides can move toward or away from each other, thereby clamping and releasing the nozzle.

In some embodiments, the clamping block 130 is made of a flexible material and a free end of the clamping block 130 is provided with an arc-shaped notch (not shown) adapted to fit the nozzle 300 .

That is to say, by setting the clamping block 130 to be a flexible material, it can be more tightly and reliably clamped on the outer surface of the nozzle 300, which is convenient for fully removing the colloid; in addition, the free end of the clamping block 130 is opened into an arc shape that matches the nozzle, which is beneficial for fully wrapping the outer wall of the nozzle 300 during clamping, and also facilitates the clamping and positioning of the nozzle 300 by the clamping block 130; and, the use of a flexible material can avoid the generation of metal dust from the nozzle 300 during the process of clamping the nozzle 300, which would affect the electrical performance of the product.

More specifically, the clamping block 130 may be made of, for example, antistatic polyurethane material, which has a certain hardness and can prevent the generation of static electricity, thereby avoiding the destructive effects of static electricity on the product.

In some embodiments, a mounting slot (not shown) is provided at the end of the rack 1223, and one end of the clamping block 130 fits in the mounting slot.

That is to say, a mounting slot is provided at the end of the rack 1223 to position the clamping block 130 , so as to prevent the clamping block 130 from interfering with the nozzle 300 during the cleaning process due to position deviation during installation, thereby affecting the verticality of the nozzle 300 .

Furthermore, the clamping block 130 can be detachably installed in the installation slot, so as to facilitate maintenance and replacement of the clamping block 130 when it is used for a long time.

In some embodiments, as shown in FIGS. 4 and 5 , the clamping device 100 may further include: a second driving mechanism 140 .

The second driving mechanism 140 is disposed on the wiping device 200, and the first mounting seat 110 is connected to the wiping device 200 via the second driving mechanism 140, and the second driving mechanism 140 is used to drive the first mounting seat 110 to move up and down. That is, in this embodiment, the clamping device 100 is connected to the wiping device 200 via the second driving mechanism 140, so that the first mounting seat 110, the first driving mechanism 120, and the clamping block 130 can move up and down relative to the wiping device 200 as a whole.

Specifically, the second driving mechanism 140 is provided on the wiping device 200 to connect the first mounting seat 100 so as to drive the first mounting seat 110 to move up and down. Thus, after the clamping block 130 clamps the nozzle 300, the first mounting seat 110 is driven to move downward as a whole by the second driving mechanism 140, that is, the clamping block 130 moves downward relative to the nozzle 300, so that the colloid on the outer wall of the clamped nozzle 300 can be scraped off and concentrated to the tip by the clamping block 130, and then wiped by the wiping cloth, so that the residual glue on the surface of the nozzle 300 can be completely removed, thereby improving the efficiency of cleaning the nozzle 300.

Further, as shown in FIGS. 1 and 2 , the wiping device 200 may include: a second mounting seat 210 , a pair of supporting shafts 220 and a wiping cloth driving mechanism 230 .

The second mounting seat 210 can be mounted on a base, or directly mounted on a spraying machine. The second mounting seat 210 is located below the first mounting seat 110 .

A pair of support shafts 220 are disposed on the second mounting seat 210 and correspond to the clamping block 130 . The support shafts 220 are used to support the wiping cloth to wipe the residual glue at the tip of the nozzle 300 .

The wiping cloth driving mechanism 230 is mounted on the second mounting seat 210 and is used to drive the wiping cloth to move on the supporting shaft 220 .

Specifically, the wiping device 200 is located below the clamping device 100, wherein a pair of support shafts 220 are arranged in parallel on the second mounting seat 210 and correspond to the clamping block 130 (that is, when performing the cleaning work, the clamping block 130 is located above the support shaft 220 and between the pair of support shafts 220), so as to wipe the tip of the nozzle 300 to wipe off and take away the residual glue scraped to the tip of the nozzle 300 by the clamping block 130 in the clamping device 100, which is simple and efficient; in addition, the wiping cloths on the pair of support shafts 220 are driven and replaced by the wiping cloth driving mechanism 230 to ensure the cleanliness of the wiping cloths when the colloid is cleaned next time.

In some embodiments, as shown in FIGS. 1-5 , the wiping cloth driving mechanism 230 may include: a first reel 231 , a second reel 232 , and a rotary motor 233 .

The first reel 231 and the second reel 232 are spaced apart and rotatably mounted on the second mounting seat 210 , the first reel 231 is used to mount the cleaning wiping cloth roll 500 , and the second reel 232 is used to mount the used recycled wiping cloth roll 500 .

The rotary motor 233 is mounted on the second mounting base 210 , and the rotary motor 233 is connected to the second reel 232 to drive the second reel 232 to rotate.

Specifically, the wiping cloth driving mechanism 230 includes a first reel 231, a second reel 232 and a rotary motor 233. The first reel 231 and the second reel 232 are respectively arranged on the second mounting seat 210 at intervals, and the rotary motor 233 drives the second reel 232 to rotate, that is, the clean wiping cloth roll 500 is sleeved on the first reel 231, and the rotary motor 233 drives the second reel 232 to rotate to rewind the used wiping cloth, and at the same time, the movement of the wiping cloth drives the first reel 231 to rotate to release a clean new wiping cloth. The driving is convenient and reliable, so that the wiping cloth can be adaptively moved and updated during the use of the wiping nozzle 300, effectively improving the cleaning efficiency of the nozzle 300. In addition, the used wiping cloth and the residual glue on it are directly rolled into the roll to prevent the residual glue from falling into the equipment, effectively improving the utilization rate of the equipment.

In addition, the input ends of the first reel 231 and the second reel 232 can be connected by a synchronous belt, that is, to ensure that when the rotary motor 233 drives the second reel 232 to rotate, the first reel 231 also rotates synchronously therewith. In this way, the wiping cloth can be stably moved during the process of being released and retracted, and no slack or excessive tension will occur, thereby stably ensuring the cleaning effect of wiping.

In some embodiments, as shown in FIG. 6 , the wiping device 200 may further include a tensioning mechanism 240 .

The tensioning mechanism 240 is mounted on the second mounting seat 210 and is disposed between the wiping cloth driving mechanism 230 and the support shaft 220 to cooperate with the wiping cloth driving mechanism 230 and the support shaft 220 so that the wiping cloth is tensioned on a pair of support shafts 220 during tape travel.

That is to say, when the wiping cloth 500 is released from the first reel 231, passes between a pair of support shafts 220 and is retracted by the second reel 232, the travel path of the wiping cloth changes in height and direction, and the tensioning degree may not be guaranteed at this time. By adding a tensioning mechanism between the wiping cloth driving mechanism 230 and the support shaft 220, the tensioning degree of the wiping cloth traveling between the wiping cloth driving mechanism 230 and the support shaft 220 can be controlled and improved, thereby ensuring the efficiency of the wiping cloth in wiping the nozzle 300.

In some embodiments, as shown in FIG. 6 , the tensioning mechanism 240 may include: a tensioning spring 241 and a tensioning wheel 242 .

One end of the tension spring 241 is connected to the second mounting seat 210 .

The tensioning wheel 242 is connected to the other end of the tensioning spring 241 .

Specifically, the tensioning mechanism 240 includes a tensioning spring 241 and a tensioning wheel 242. When setting, one end of the tensioning spring 241 can be connected and fixed to the second mounting seat 210 through an extension rod, and the other end of the tensioning spring 241 is connected to a tensioning wheel 242. When the wiping cloth is passed through, it passes through the space between the tensioning wheel 242 and the corresponding support shaft 220, and the tensioning wheel 242 applies force from the outside of the wiping cloth to the inside to achieve tensioning.

In addition, there can be one or two tensioning mechanisms 240. When only one is provided, since the wiping cloth is prone to loosening on the driven side, the tensioning mechanism 240 can be matched with the driven reel, i.e., the first reel 231, thereby satisfying the tensioning effect of the wiping cloth.

In some embodiments, as shown in FIG. 2 , the wiping device 200 further includes: a wiping cloth detection sensor 250 .

The wiping cloth detection sensor 250 is mounted on the second mounting base 210 to monitor the size of the wiping cloth roll 500 on the first reel 231 .

That is to say, a wiping cloth detection sensor 250 is installed on the second mounting seat 210 to monitor the size of the wiping cloth roll 500 on the first reel 231, that is, the outer diameter size of the wiping cloth roll 500 on the first reel 231. If the measured size is lower than the set size value, the wiping cloth detection sensor 250 sends a signal to control the wiping device to stop running and replace the wiping cloth roll 500, thereby ensuring that the process of wiping and removing the colloid proceeds normally.

In addition, according to the second aspect of the present invention, a spraying system comprising a sprayer and the above-mentioned nozzle tip residual glue removal device is also provided.

Next, the operation method of the nozzle tip residual glue removing device according to the embodiment of the present invention will be described with reference to FIG. 6 .

The operation process of the nozzle tip residual glue removal device according to the embodiment of the present invention is as follows:

(1) As shown in FIG. (a), first, the robot arm 400 is driven to move the nozzle 300 to a predetermined cleaning position.

(2) As shown in FIG. 2( b ), the first driving mechanism 120 of the clamping device 100 drives the clamping block 130 to clamp the nozzle 300 .

(3) As shown in FIG. 5( c ), the second driving mechanism 140 drives the first mounting seat 110 to drive the clamping block 130 to move downward as a whole, thereby scraping the colloid on the outer wall of the nozzle 300 to the tip of the nozzle 300 .

(4) Thereafter, the wiping cloth driving mechanism 230 is started to rotate the second reel 232, so that a new wiping cloth moves and wipes past the nozzle tip to wipe away the residual glue at the nozzle tip 300.

(5) After wiping is completed, the robot arm 400 is driven to move the nozzle 300 back to the operation standby point.

Here, it should be noted that in FIG6 , in order to facilitate the clear display of various components, the second mounting base 210 and the wiping cloth thereon are moved downward as a whole for display. In actual use, at the cleaning station, the tip (i.e., the sharp end) of the nozzle 300 should be located at approximately the same height as the wiping cloth 500, so that after the scraping action is completed, the residual glue at the tip of the nozzle 300 can be wiped off by the wiping cloth 500 while the clamping block 130 clamps the nozzle 300.

The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims (14)

1. A nozzle tip residual glue removal device, used for removing residual glue on the nozzle, characterized in that it includes: A clamping device, the clamping device is used to clamp the nozzle; A wiping device is connected to the clamping device and is located below the clamping device, and is used to wipe off the residual glue at the tip of the nozzle. 2. The nozzle tip residual glue removal device according to claim 1, characterized in that the clamping device comprises: a first mounting seat; A pair of first driving mechanisms, wherein the pair of first driving mechanisms are mounted on both sides of the first mounting seat; A pair of clamping blocks, wherein the pair of clamping blocks are connected to a pair of the first driving mechanisms one by one, and the pair of the first driving mechanisms respectively drive the pair of clamping blocks to move toward/away from each other to clamp/release the nozzle. 3. The nozzle tip residual glue removal device according to claim 2, characterized in that the first driving mechanism comprises: A power unit, wherein the power unit is a servo motor or a cylinder; The transmission part is connected to the power part, and the power part drives the clamping block to perform linear reciprocating motion through the transmission part. 4. The nozzle tip residual glue removal device according to claim 3, characterized in that the power unit is a cylinder, and the first driving mechanism further comprises: A limiting portion, which is arranged on the first mounting seat and is used to limit the stroke of the power unit. 5. The nozzle tip residual glue removal device according to claim 3, characterized in that the transmission part comprises: A fixing portion, the fixing portion being arranged on the first mounting seat; a sliding portion, the sliding portion being connected to the fixing portion and being slidable along the fixing portion; A rack, the rack is connected to the sliding part, and the clamping block is connected to the end of the rack. Wherein, a gear meshing with the rack is sleeved on the driving shaft of the power unit. 6. The nozzle tip residual glue removal device according to claim 5 is characterized in that the clamping block is made of a flexible material and a free end of the clamping block is provided with an arc-shaped notch adapted to the nozzle. 7. The nozzle tip residual glue removal device according to claim 5, characterized in that a mounting groove is provided at the end of the rack, and one end of the clamping block is fitted in the mounting groove. 8. The nozzle tip residual glue removal device according to claim 2, characterized in that the clamping device further comprises: A second driving mechanism, wherein the second driving mechanism is arranged on the wiping device, the first mounting seat is connected to the wiping device via the second driving mechanism, and the second driving mechanism is used to drive the first mounting seat to move up and down. 9. The nozzle tip residual glue removal device according to claim 2, characterized in that the wiping device comprises: A second mounting seat, wherein the second mounting seat is located below the first mounting seat; A pair of support shafts, the pair of support shafts are arranged on the second mounting seat and correspond to the clamping block, and the support shafts are used to support a wiping cloth to wipe the residual glue at the tip of the nozzle; The wiping cloth driving mechanism is mounted on the second mounting seat and is used for driving the wiping cloth to move on the supporting shaft. 10. The nozzle tip residual glue removal device according to claim 9, characterized in that the wiping cloth driving mechanism comprises: A first reel and a second reel, the first reel and the second reel are spaced apart and rotatably mounted on the second mounting seat, the first reel is used to sleeve a clean wiping cloth roll, and the second reel is used to sleeve a used recycled wiping cloth roll; A rotary motor is mounted on the second mounting seat, and the rotary motor is connected to the second reel to drive the second reel to rotate. 11. The nozzle tip residual glue removal device according to claim 10, characterized in that the wiping device further comprises: A tensioning mechanism is installed on the second mounting seat, and the tensioning mechanism is arranged between the wiping cloth driving mechanism and the supporting shaft, and is used to cooperate with the wiping cloth driving mechanism and the supporting shaft so that the wiping cloth is tensioned on a pair of the supporting shafts. 12. The nozzle tip residual glue removal device according to claim 11, characterized in that the tensioning mechanism comprises: A tension spring, one end of which is connected to the second mounting seat; A tensioning wheel is connected to the other end of the tensioning spring. 13. The nozzle tip residual glue removal device according to claim 10, characterized in that the wiping device further comprises: A wiping cloth detection sensor is mounted on the second mounting seat to monitor the size of the wiping cloth roll on the first reel. 14. A spraying system, comprising: sprayers; and A device for removing residual glue from the nozzle tip according to any one of claims 1 to 13.