Integrated anodic oxidation automatic control teaching experiment equipment and method thereof

Abstract

The invention provides integrated anodic oxidation automatic control teaching experiment equipment and a method thereof, and relates to the technical field of anodic oxidation equipment, the integrated anodic oxidation automatic control teaching experiment equipment comprises a box body, and the box body is divided into an upper layer, a middle layer and a lower layer from top to bottom; the upper layer is provided with a solution barrel for placing an experimental solution; the middle layer is provided with an experimental platform for placing a mechanical arm, a solution tank and a workpiece; the lower layer is provided with an electrical device and a waste liquid barrel; the experiment platform is an operation table for completing the whole anodic oxidation experiment and is also used for fixing the mechanical arm, the solution tank and the workpiece hanging tool; and the mechanical arm is used for carrying the workpiece hanger and soaking the workpiece hanger in a solution. The device has the beneficial effects that an operator is prevented from being in contact with a chemical solution, so that risks are avoided; the time of each step can be accurately controlled through the remote control automatic experiment, so that the stability of the anodized finished product is improved, the experiment quality is improved, the time of different steps can be set, and factors influencing the quality of the anodized finished product can be explored.

Description

Technical Field

[0001] The invention relates to the technical field of anodizing equipment, in particular to an integrated anodizing automatic control teaching experimental equipment and a method thereof. Background Art

[0002] In order to overcome the defects of metal and alloy surface hardness, wear resistance, etc., expand their application range and prolong their service life, surface treatment technology has become an indispensable part of the use of metals and alloys, and anodizing technology is currently the most widely used surface treatment technology. Anodizing generates an extremely thin oxide film on the surface of metal or alloy workpieces, thereby playing a role in protection, decoration, insulation, etc. In order to overcome the defects of aluminum alloy surface hardness, wear resistance, etc., expand their application range and prolong their service life, surface treatment technology has become an indispensable part of the use of aluminum alloys, and anodizing technology is currently the most widely used and successful.

[0003] However, the anodizing equipment currently used in teaching experiments has the following defects: 1. Most of the current remote control experiments use robotic arms on factory assembly lines to complete material clamping, placement and transportation. They can meet the needs of mechanical and automation majors in teaching, but are not used in interdisciplinary professional fields; 2. The electrolyte in the anodizing experiment is an acidic solution, which has the potential risk of contact corrosion; 3. Manual control of the anodizing experiment may cause misoperation and unstable time control, resulting in low quality of the oxidized finished product; 4. The anodizing experiment has many processes and takes a long time. In other words, there is still room for improvement in the existing technology. Summary of the invention

[0004] The present invention overcomes the shortcomings of the prior art and provides an integrated anodizing automated control teaching experiment device and method thereof, which has high safety and high automation, and helps to improve the stability of the experiment.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] An integrated anodizing automated control teaching experiment device comprises a box body, wherein the inside of the box body is divided into three parts from top to bottom: an upper layer, a middle layer and a lower layer;

[0007] The upper layer is provided with a solution barrel for placing the experimental solution;

[0008] The middle layer is equipped with an experimental platform for placing the robot arm, solution tank, and workpiece; the experimental platform is an operating table for completing the entire anodizing experiment, and is also used to fix the robot arm, solution tank, and workpiece hanger;

[0009] A robotic arm is used to carry and immerse the workpiece hanger in solution;

[0010] The lower layer is equipped with electrical devices and waste liquid barrels; the solution barrel is connected to the solution tank.

[0011] The gripper of the end effector of the robot arm is designed with a hemispherical feature, which is used to cooperate with the spherical groove of the workpiece hanger to complete the gripping of the workpiece hanger; wherein the diameter of the hemispherical feature is larger than the diameter of the spherical groove of the workpiece hanger, which is obtained according to the positioning accuracy x of the robot arm and the number n of motors controlled during the gripping movement, D≥10*n*x

[0012] The hemispherical feature and redundant size can ensure close contact between the clamping jaws and the workpiece hanger while using the weight of the workpiece hanger itself to achieve self-correction and vertically enter the solution tank.

[0013] Furthermore, the number of the solution tanks is no less than 5, which are used to place various solutions required in the anodizing process; each solution tank is provided with a water inlet and a water outlet, the water inlet is connected to the solution barrel on the upper layer through a pipe, and the water outlet is connected to the waste liquid barrel on the lower layer through a pipe, and the pipe between the water inlet and the solution barrel and the pipe between the water outlet and the waste liquid barrel are both provided with electric-controlled water valves to control the water outlet and realize automatic replacement of the solution; an exhaust hole is left on the top of the box body for discharging the gas generated by anodizing; the end effector of the robotic arm is sprayed with anti-corrosion paint to prevent corrosion by electrolyte or other solutions; the bottom of the box body is provided with supporting feet and moving wheels.

[0014] Furthermore, the solution tank is provided with an electrolytic tank, and the edge of each solution tank is provided with a boss for placing a workpiece hanger to prevent the tool hanger from sinking to the bottom of the electrolytic tank; the boss is provided with a conductive metal sheet, and springs are provided at both ends of the conductive metal sheet. When used for electrolysis, the mechanical arm clamps the workpiece hanger in close contact with the conductive metal sheet to ensure the continuous progress of anodizing and improve the success rate; the conductive metal sheet is connected to the positive electrode of the DC power supply used for electrolysis, and can be in contact with the fixed shaft of the workpiece hanger, and the negative electrode is an aluminum plate, which is connected to the negative electrode of the DC power supply.

[0015] Furthermore, the solution tanks are distributed in a fan shape, and the number of motors controlling the robotic arm is at least 3, of which one is a steering motor to control the lateral rotation of the robotic arm, and the other two motors are to control the vertical lifting of the end of the robotic arm;

[0016] It is known that the length of each arm of the robot is l1, l2, l3, l4, and the corresponding motors are M1, M2, M3, M4 respectively;

[0017] Then the radius R of the solution tank distribution must satisfy the requirement that the end of the robot arm can touch the workbench surface, then:

[0018] l2cosα+l3cos(β-α)=R (1)

[0019] l2sinα+l1=l3sin (β-α) (2)

[0020] Among them, α∈(0,π), β∈(0,π);

[0021] Furthermore, in order to make full use of the overall space, reduce the activity space of the robot arm, and arrange the solution tank on the right side of the robot arm, the angle is limited to α∈(0,π / 2);

[0022] In order to improve the grasping accuracy, when grasping and storing, motors M1 and M2 will be fixed, and only motors M3 and M4 will move. It is hoped that the torque borne by the motors is minimal. The torque borne by each motor is:

[0023] τ4=0, gravity and the rod always remain perpendicular

[0024]

[0025] According to formula (3), for the torque of motor M3:

[0026] When α<β, When β<(π / 2+a), the M3 torque is smaller. When β=(π / 2+

[0027] a) When , the torque is minimum, which is 0, and both l3 and l4 are perpendicular to the ground; when β continues to increase, β>(π / 2+a), the torque gradually increases from 0.

[0028] When α>β, When β is smaller, the torque is smaller, and R will be larger, which is not suitable for building a compact space.

[0029] Therefore, in order to save space as much as possible and reduce the torque of the M3 motor, the range of β can be further determined.

[0030]

[0031] According to formula (4), for the torque of motor M2:

[0032]

[0033] To minimize τ2, in general, we can let Minimum, combined with the range of β, can be found When , τ2 is the smallest.

[0034] at this time

[0035] R=l2cosα (5)

[0036] Furthermore, the box body is provided with a cabinet door, and the minimum door size L corresponding to the cabinet door is less than 1.5m, then the width w, length d and height h of the solution tank meet the following requirements:

[0037]

[0038] θ2=θ1-θ3 (10)

[0039] The arc length corresponding to θ2 is l = θ2*R min (11)

[0040] Need to be in R min There are 5 solution tanks distributed on the arc, and there is a gap between two solution tanks. If the gap distance is Δx, then:

[0041] 2l=2θ2*R min ≥4w+4Δx (12)

[0042] At the same time, the width w of the solution tank needs to be considered in combination with the specific workpiece hanger. Since the target this time is a fidget spinner, its size is: 65*25*10cm, and 8 workpieces need to be made at a time, so the workpieces are distributed on the opposite sides, 4 on each side, and the minimum width is:

[0043] w=25*4+Δw (13)

[0044] Δw is the redundant distance, which is mainly the distance reserved for installing the workpiece and the frame structure for fixing the workpiece. It is generally three times the width of a single part. Therefore:

[0045] w≥25*4+Δw=25*7=175cm (14)

[0046] At the same time, the length and height of the solution tank need to ensure that there will be no collision during the operation of the end of the robot arm. At this time, the operation of the robot arm is that the end needs to rotate around the M3 motor, and the M4 motor needs to keep the gripper in a vertical state, meeting the following requirements:

[0047] Δh=l3sin(β1-α)-l3sin (β2-α) (15)

[0048] Δd=l3cos(β2-α)-l3cos (β1-α) (16)

[0049] Where β1=π / 2+a

[0050] In order to ensure that the workpiece hanger does not collide with the solution when it is out of the solution tank, the minimum length of the solution tank is:

[0051] d>2Δd (17)

[0052] Δh is the height of the workpiece hanger. According to the symmetrical distribution of the workpiece on both sides, the minimum distance should be:

[0053] Δh≥65+20*2=105cm (18)

[0054] Furthermore, due to the need to consider the structure and installation dimensions of the pendant, the longitudinal dimension needs to be increased by half of the minimum distance as redundancy to facilitate subsequent design:

[0055]

[0056] Therefore, the size of the solution tank can be determined as:

[0057]

[0058] Furthermore, the main body of the workpiece hanger is a conductive metal, and a corrosion-resistant paint layer is provided on the surface to ensure that it does not participate in the anodic oxidation reaction when powered on, and also to ensure that it has sufficient weight and does not float in the solution;

[0059] The top of the workpiece hanger has a transverse metal shaft, which cooperates with the small boss at the edge of the solution tank to achieve the suspension of the workpiece hanger;

[0060] The head of the workpiece hanger has a hemispherical groove feature that matches the end effector of the robot arm, which is convenient for clamping and handling; the diameter of the hemispherical groove is about 1 / 8 of the width of the workpiece hanger;

[0061] The workpiece hanger is provided with a disc-shaped hanger, which is fixed by the distance left between two titanium wires. The titanium wire is welded in the workpiece hanger, and there is a wedge angle between the two titanium wires, which is used to fix the small cylindrical hanger, ensuring close contact while ensuring electrolysis of the entire surface;

[0062] The cylindrical parts are designed with bolts made of titanium metal based on the characteristics of the workpiece, which have round holes and bosses. They are fixed in opposite directions, so that two workpieces can be fixed at both ends of one bolt.

[0063] Furthermore, the lower layer is provided with a robot control box, a constant temperature control box, a waste liquid barrel, and a transformer;

[0064] Waste liquid barrels are mainly electrolytes, aluminum cleaning solutions, and dyeing solutions that are contaminated after use. This part of the solution cannot be discharged directly into the drain, but needs to be discharged into the waste liquid barrel;

[0065] The waste liquid barrel is made of PP material and is packaged in a special chemical reagent barrel;

[0066] The water inlet of the waste liquid barrel is connected to the water outlet of the solution tank, and only receives the electrolyte, aluminum cleaning solution, and the used solution of the dyeing solution, which are all acidic solutions and can be collected in the same waste liquid barrel;

[0067] A leak-proof tray is placed under the waste liquid barrel to prevent the waste liquid from flowing out.

[0068] Furthermore, the lower layer is also provided with an electrical cabinet, in which a robotic arm control box, an embedded main control board, a voltage converter, and a DC power supply are provided;

[0069] The voltage converter is used to convert AC power into DC power and provide a constant voltage source for the system to power the main control and sensors;

[0070] The embedded main control board is mainly used for collecting sensor data and controlling the solenoid valve;

[0071] The DC power supply is used to supply power to the electrolytic cell in the solution tank, wherein the positive electrode is connected to the boss conductive metal sheet in the electrolytic cell, and the negative electrode is connected to the aluminum plate in the electrolytic cell.

[0072] Furthermore, the lower layer is also provided with a sensor system: the types of sensors are mainly liquid level sensors and temperature sensors;

[0073] The liquid level sensor is installed inside the anodizing solution tank to detect the liquid level of the solution tank, determine whether the required consumables are lower than the minimum threshold of the experimental setting, and determine whether the current workpiece hanger is in the current tank for electrolysis timing;

[0074] Liquid level sensors are installed in solution barrels and waste liquid barrels to monitor the storage status of consumables and waste liquids and promptly remind administrators to handle them;

[0075] The temperature sensor is installed in the sealing solution tank to monitor the temperature of the water bath sealing.

[0076] The present invention also claims a method for using an integrated anodizing automated control teaching experimental device, comprising the following steps:

[0077] S1. Before the experiment begins, the operator clamps the workpiece on the workpiece hanger and places the workpiece hanger at the designated initial position. After the placement is completed, the operator exits the experimental site and clicks the device start button. After the device receives the experiment start command, the experiment begins;

[0078] S2. First, the liquid level sensor is used to detect whether there is a corresponding solution in the solution tank. If there is no solution, the main control board receives the signal from the liquid level sensor and controls the electric control valve to replenish the solution tank. After the solution is replenished to the set height, the process stops.

[0079] S3. After the experiment starts, the robot automatically clamps the hanger and performs the cleaning, electrolysis, dyeing, and sealing processes in sequence according to the set process time to complete the anodizing process of the workpiece; water washing will be performed between each two processes to remove the residual solution of the workpiece in the previous process;

[0080] S4, cleaning: the robot arm places the workpiece hanger on the boss in the cleaning tank. At this time, the workpiece hanger is completely placed in the cleaning tank for cleaning. Aluminum cleaning liquid is placed in the cleaning tank. The liquid level sensor detects whether the workpiece is placed in the tank. After the water level changes, the timing starts, and the time is 8 to 12 minutes.

[0081] S5, water washing: The robot arm takes the workpiece hanger out of the solution tank and places it in the water washing tank. After the workpiece is placed in the water tank, the liquid level sensor detects the water level height and transmits the signal to the embedded main control board. The main control board completes the inflow and outflow of water through the electronically controlled water valve to achieve cleaning, which takes 2 to 5 minutes.

[0082] S6, electrolysis: The robot arm takes the workpiece hanger out of the water washing tank and puts it into the electrolytic tank. The horizontal metal shaft of the hanger contacts the boss outside the electrolytic tank. The boss surface is made of metal and can conduct electricity. There is a spring under the boss. The robot arm places the workpiece hanger on the boss and maintains a certain downward pressure to ensure close contact of the circuit. The boss is connected to the positive pole of the DC power supply on the lower layer. The DC power supply is turned on and the electrolytic tank starts electrolysis for 20 to 40 minutes. After the electrolysis is completed, it is washed with water;

[0083] S7, dyeing: The robot arm takes the workpiece hanger out of the water washing tank and puts it into the dyeing tank. The horizontal metal shaft of the hanger cooperates with the boss outside the dyeing tank. The workpiece hanger is immersed in the dyeing tank. After the main control board detects the change of water level through the liquid level sensor, it starts timing. After dyeing for 10 to 20 minutes, it is taken out and put into water washing;

[0084] S8, Sealing: The robot arm takes the workpiece hanger out of the water washing tank and puts it into the sealing tank. The horizontal metal shaft of the hanger cooperates with the boss outside the dyeing tank, and the workpiece hanger is immersed in the dyeing tank. The sealing tank adopts water bath sealing. The water temperature is detected by the temperature sensor to ensure that the water temperature is always maintained at 95-100 degrees Celsius. After the main control board detects the change of water level height through the liquid level sensor, it starts timing. After sealing for 15 minutes, it is taken out and put into water washing;

[0085] S9. Complete the anodizing work.

[0086] Compared with the prior art, the present invention has the following beneficial effects:

[0087] 1. This experimental device combines chemistry, mechanics, automation, and computer science, integrating multiple professional knowledge to realize the automatic control experiment of anodizing.

[0088] 2. The remote-controlled automated experimental device for anodizing can prevent operators from coming into contact with chemical solutions, thereby avoiding risks.

[0089] 3. Remote control automated experiments can accurately control the time used for each step, thereby improving the stability of the anodized finished product and improving the quality.

[0090] 4. Free operators from hands-on operations, leaving more time for them to become familiar with and understand the anodizing reaction process and learn other knowledge and skills.

[0091] 5. You can learn and understand the anodizing process on the experimental device, and learn the control of the robotic arm, data collection of the sensor, and execution of the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] The accompanying drawings are used to provide a further understanding of the present invention and are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0093] Figure 1 It is the overall design of the integrated anodizing automation control teaching experimental equipment. Figure 1 ;

[0094] Figure 2 It is the overall design of the integrated anodizing automation control teaching experimental equipment. Figure 2 ;

[0095] Figure 3 It is the internal diagram of the integrated anodizing automated control teaching experimental equipment;

[0096] Figure 4 It is a top view of the experimental platform in the box;

[0097] Figure 5 It is a structural schematic diagram of a workpiece hanger;

[0098] Figure 6 It is a schematic diagram of the connection between each arm length of the robot arm and the corresponding motor;

[0099] Figure 7 It is a schematic diagram of the relationship between the width and length of the solution tank and the minimum dimension L of the entrance;

[0100] Figure 8 yes Figure 7 Schematic diagram showing that the end of the robot arm rotates around the M3 motor, and the M4 motor is needed to keep the gripper in a vertical state.

[0101] In the figure: 1. Box body; 101. Upper layer; 102. Middle layer; 103. Lower layer; 104. Exhaust hole; 105. Support foot; 106. Moving wheel; 2. Solution barrel; 3. Robotic arm; 4. Solution tank; 5. Experimental platform; 6. Workpiece hanger; 601. Metal shaft; 602. Hemispherical groove feature; 603. Disc-shaped hanger; 604. Titanium wire; 605. Cylindrical part; 606. Bolt. DETAILED DESCRIPTION

[0102] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0103] like Figures 1 to 3 As shown, the present invention is an integrated anodizing automatic control teaching experiment equipment, including a box body 1, the bottom of the box body 1 is provided with supporting feet 105, which can support the entire box body 1, and is also provided with moving wheels 106 to facilitate the overall movement of the box body 1; the supporting feet 105 are a kind of liftable supporting feet, which support the box body 1 according to actual use, or are lifted up to allow the moving wheels 106 to work.

[0104] The interior of the box 1 is divided into three parts from top to bottom: an upper layer 101, a middle layer 102, and a lower layer 103; the upper layer 101 is provided with a solution barrel 2 for placing the experimental solution; the middle layer 102 is provided with an experimental platform 5 for placing a robot arm 3, a solution tank 4, and a workpiece; the experimental platform 5 is an operating table for completing the entire anodizing experiment, and is also used to fix the robot arm 3, the solution tank 4, and the workpiece hanger 6; the robot arm 3 is used to carry the workpiece hanger 6 and perform solution immersion operations; the lower layer is provided with electrical devices and a waste liquid barrel; the solution barrel 2 is connected to the solution tank 4;

[0105] The upper layer 101 is provided with three solution barrels 2, which are aluminum cleaning solution, electrolyte solution and dyeing solution. The solution barrel 2 has an opening at the top for convenient pouring of the original solution, a faucet at the bottom for connecting the pipe to the corresponding solution tank 4 for use, and a handle on the side for taking and storing.

[0106] The size of the box 1 is set according to the size of the door. In this embodiment, the door is 2.3m high and 1.5m wide, so the size of the box is length<1.5m, width<1.5m, and height<2.3m.

[0107] The gripper of the end effector of the robot arm 3 is designed with a hemispherical feature, which is used to cooperate with the spherical groove of the workpiece hanger 6 to complete the gripping of the workpiece hanger 6; wherein the diameter of the hemispherical feature is larger than the diameter of the matching spherical groove of the workpiece hanger 6, which is obtained according to the positioning accuracy x of the robot arm 3 and the number n of motors controlled during the gripping movement.

[0108] D≥10*n*x

[0109] The hemispherical feature and the redundant size can ensure the close contact between the clamping jaws and the workpiece hanger 6 while utilizing the weight of the workpiece hanger 6 itself to achieve self-correction and vertically enter the solution tank 4.

[0110] In this embodiment, the number of solution tanks 4 is not less than 5, which are used to place various solutions required in the anodizing process, such as aluminum cleaning solution, electrolyte, dyeing solution, sealing solution, pure water, etc.; each solution tank 4 is provided with a water inlet and a water outlet, the water inlet is connected to the solution barrel 2 located on the upper layer through a pipeline, and the water outlet is connected to the waste liquid barrel located on the lower layer through a pipeline, and the pipeline between the water inlet and the solution barrel 2 and the pipeline between the water outlet and the waste liquid barrel are provided with an electrically controlled water valve to control the water outlet and realize automatic replacement of the solution; an exhaust hole 104 is left on the top of the box body for discharging the gas generated by the anodizing; the end effector of the robot arm 3 is sprayed with an anti-corrosion coating to prevent corrosion by the electrolyte or other solutions;

[0111] Furthermore, the solution tank 4 is provided with an electrolytic tank, and the edge of each solution tank 4 is provided with a boss for placing a workpiece hanger 6 to prevent the tool hanger from sinking to the bottom of the electrolytic tank; the boss is provided with a conductive metal sheet, and springs are provided at both ends of the conductive metal sheet. When used for electrolysis, the robot arm 3 clamps the workpiece hanger 6 in close contact with the conductive metal sheet to ensure the continuous progress of anodizing and improve the success rate; the conductive metal sheet is connected to the positive electrode of the DC power supply used for electrolysis, and can be in contact with the fixed axis of the workpiece hanger 6, and the negative electrode is an aluminum plate, which is connected to the negative electrode of the DC power supply.

[0112] like Figures 4 to 8 As shown, the solution tank 4 is distributed in a fan shape, and the number of motors controlling the mechanical arm 3 is at least 3, of which one is a steering motor to control the lateral rotation of the mechanical arm 3, and the other two motors are used to control the vertical lifting of the end of the mechanical arm 3:

[0113] It is known that the length of each arm section of the robot arm 3 is l1, l2, l3, l4, and the corresponding motors are M1, M2, M3, M4 respectively;

[0114] Then the radius R of the solution tank 4 must satisfy the requirement that the end of the robot arm 3 can touch the surface of the workbench, so:

[0115] l2cosα+l3cos(β-α)=R (1)

[0116] l2sinα+l1=l3sin (β-α) (2)

[0117] Among them, α∈(0,π), β∈(0,π);

[0118] Furthermore, in order to make full use of the overall space, reduce the activity space of the robot arm 3, and arrange the solution tank 4 on the right side of the robot arm 3, the angle is limited to α∈(0,π / 2);

[0119] In order to improve the grasping accuracy, when grasping and storing, motors M1 and M2 will be fixed, and only motors M3 and M4 will move. It is hoped that the torque borne by the motors is minimal. The torque borne by each motor is:

[0120] τ4=0, gravity and the rod always remain perpendicular

[0121]

[0122] According to formula (3), for the torque of motor M3:

[0123] When α<β, When β<(π / 2+a), the M3 torque is smaller. When β=(π / 2+

[0124] a) When , the torque is minimum, which is 0, and both l3 and l4 are perpendicular to the ground; when β continues to increase, β>(π / 2+a), the torque gradually increases from 0.

[0125] When α>β, When β is smaller, the torque is smaller, and R will be larger, which is not suitable for building a compact space.

[0126] Therefore, in order to save space as much as possible and reduce the torque of the M3 motor, the range of β can be further determined.

[0127]

[0128] According to formula (4), for the torque of motor M2:

[0129]

[0130] To minimize τ2, generally, we can let Minimum, combined with the range of β, can be found When , τ2 is the smallest.

[0131] at this time

[0132] R=l2cosα (5)

[0133] Furthermore, the box body is provided with a cabinet door, and the minimum door size L corresponding to the cabinet door is less than 1.5m, then the width w, length d and height h of the solution tank 4 meet the following requirements:

[0134]

[0135] θ2=θ1-θ3 (10)

[0136] The arc length corresponding to θ2 is l = θ2*R min (11)

[0137] Need to be in R min There are five solution tanks 4 distributed on the arc, and there is a gap between two solution tanks 4. If the gap distance is Δx, then:

[0138] 2l=2θ2*R min ≥4w+4Δx (12)

[0139] At the same time, the width w of the solution tank 4 needs to be considered in combination with the specific workpiece hanger 6. Since the target object this time is a fidget spinner, its size is: 65*25*10cm, and 8 workpieces need to be made at a time, so the workpieces are distributed on the opposite sides, 4 on one side, and the minimum width is:

[0140] w=25*4+Δw (13)

[0141] Δw is the redundant distance, which is mainly the distance reserved for installing the workpiece and the frame structure for fixing the workpiece. It is generally three times the width of a single part. Therefore:

[0142] w≥25*4+Δw=25*7=175cm (14)

[0143] At the same time, the length and height of the solution tank 4 need to ensure that no collision occurs during the operation of the end of the robot arm 3. At this time, the operation of the robot arm 3 is that the end needs to rotate around the M3 motor, and the M4 motor needs to keep the gripper in a vertical state, satisfying the following:

[0144] Δh=l3sin(β1-α)-l3sin (β2-α) (15)

[0145] Δd=l3cos(β2-α)-l3cos (β1-α) (16)

[0146] Where β1=π / 2+a

[0147] In order to ensure that the workpiece hanger 6 does not collide with the solution when it leaves the solution tank, the minimum length of the solution tank is:

[0148] d>2Δd (17)

[0149] Δh is the height of the workpiece hanger 6. According to the symmetrical distribution of the workpieces on both sides, the minimum distance should be:

[0150] Δh≥65+20*2=105cm (18)

[0151] Furthermore, due to the need to consider the structure and installation dimensions of the pendant, the longitudinal dimension needs to be increased by half of the minimum distance as redundancy to facilitate subsequent design:

[0152]

[0153] Therefore, the size of the solution tank 4 can be determined as:

[0154]

[0155] The workpiece hanger 6 is used for fixing and electrolyzing the workpiece to be anodized. This experimental hanger is suitable for processing small batches of small-sized disc and pipe column parts. The mass of the workpiece hanger is less than the load of the robot arm.

[0156] In this embodiment, the main body of the workpiece hanger 6 is a conductive metal, and a corrosion-resistant paint layer is provided on the surface to ensure that it does not participate in the anodic oxidation reaction when powered on, and also to ensure that it has sufficient weight and does not float in the solution;

[0157] like Figure 5 As shown, the top of the workpiece hanger 6 has a transverse metal shaft 601, which cooperates with the small boss at the edge of the solution tank 4 to achieve the suspension of the workpiece hanger 6;

[0158] The head of the workpiece hanger 6 has a hemispherical groove feature 602 that matches the end effector of the robot arm 3, which is convenient for clamping and carrying; the diameter of the hemispherical groove is about 1 / 8 of the width of the workpiece hanger 6;

[0159] The workpiece hanger 6 is provided with a disc-shaped hanger 603, which is fixed by the distance left between two titanium wires, and the titanium wires are welded in the workpiece hanger 6, and the two titanium wires are at a wedge angle, which is used to fix the small cylindrical hanger, ensuring close contact while also ensuring electrolysis of the entire surface;

[0160] The cylindrical part 604 is designed with a bolt 605 made of titanium metal in combination with the characteristics of the workpiece having a round hole and a boss. The bolt 605 is fixed in opposite directions so that two workpieces can be fixed at both ends.

[0161] The lower layer 103 is equipped with a control box for the robot arm 3, a constant temperature control box, a waste liquid barrel, and a transformer;

[0162] Waste liquid barrels are mainly electrolytes, aluminum cleaning solutions, and dyeing solutions that are contaminated after use. This part of the solution cannot be discharged directly into the drain, but needs to be discharged into the waste liquid barrel;

[0163] The waste liquid barrel is made of PP material and is packaged in a special chemical reagent barrel;

[0164] The water inlet of the waste liquid barrel is connected to the water outlet of the solution tank 4, and only receives the electrolyte, aluminum cleaning solution, and the used solution of the dyeing solution, which are all acidic solutions and can be collected in the same waste liquid barrel;

[0165] A leak-proof tray is placed under the waste liquid barrel to prevent the waste liquid from flowing out.

[0166] The lower layer 103 is also provided with an electrical cabinet, in which a control box for the robot arm 3, an embedded main control board, a voltage converter, and a DC power supply are arranged;

[0167] The voltage converter is used to convert AC power into DC power and provide a constant voltage source for the system to power the main control and sensors;

[0168] The embedded main control board is mainly used for collecting sensor data and controlling the solenoid valve;

[0169] The DC power supply is used to supply power to the electrolytic cell in the solution tank 4, wherein the positive electrode is connected to the boss conductive metal sheet in the electrolytic cell, and the negative electrode is connected to the aluminum plate in the electrolytic cell.

[0170] The lower layer 103 is also provided with a sensor system: the types of sensors are mainly liquid level sensors and temperature sensors;

[0171] The liquid level sensor is installed inside the anodizing solution tank 4 to detect the liquid level of the solution tank 4, to determine whether the required consumables are lower than the minimum threshold of the experimental setting, and to determine whether the current workpiece hanger 6 is in the current tank, for electrolysis timing;

[0172] Liquid level sensors are installed in solution barrel 2 and waste liquid barrel to monitor the storage status of consumables and waste liquid and remind the administrator to handle them in time;

[0173] The temperature sensor is installed in the sealing solution tank 4 to monitor the temperature of the water bath sealing.

[0174] The present invention also claims a method for using an integrated anodizing automated control teaching experimental device, comprising the following steps:

[0175] S1. Before the experiment begins, the operator clamps the workpiece on the workpiece hanger 6 and places the workpiece hanger 6 at the designated initial position. After the placement is completed, the operator exits the experimental site and clicks the device start button. After the device receives the experiment start instruction, the experiment begins;

[0176] S2, firstly, the liquid level sensor is used to detect whether there is a corresponding solution in the solution tank 4. If there is no solution, the main control board receives the signal from the liquid level sensor and controls the electric control water valve to replenish the solution tank 4 with solution. After the solution is replenished to the set height, the process stops;

[0177] S3. After the experiment starts, the robot arm 3 automatically clamps the hanger and performs the cleaning, electrolysis, dyeing, and sealing processes in sequence according to the set process time to complete the anodizing process of the workpiece; wherein, water washing is performed between each two processes to remove the residual solution of the workpiece in the previous process;

[0178] S4, cleaning: the robot arm 3 places the workpiece hanger 6 on the boss in the cleaning tank, at which time the workpiece hanger 6 is completely in the cleaning tank, and the cleaning process is carried out. Aluminum cleaning liquid is placed in the cleaning tank, and the liquid level sensor is used to detect whether the workpiece is placed in. After the water level height changes, the timing starts, and the time is 8 to 12 minutes, and the preferred time is 10 minutes;

[0179] S5, water washing: the robot arm 3 takes out the workpiece hanger 6 from the solution tank 4 and places it in the water washing tank. After the workpiece is placed in the water washing tank, the liquid level sensor detects the water level height and transmits the signal to the embedded main control board. The main control board completes the inflow and outflow of water through the electronically controlled water valve to achieve washing. The time is 2 to 5 minutes, and the preferred time is 3 minutes.

[0180] S6, electrolysis: the robot arm 3 takes the workpiece hanger 6 out of the water washing tank and puts it into the electrolytic tank. The horizontal metal shaft 601 of the hanger contacts the boss outside the electrolytic tank. The boss surface is made of metal and is conductive. There is a spring under the boss. The robot arm 3 places the workpiece hanger 6 on the boss and maintains a certain downward pressure to ensure close contact of the circuit. The boss is connected to the positive pole of the DC power supply at the lower layer. The DC power supply is turned on and the electrolytic tank starts electrolysis for 20 to 40 minutes, preferably 30 minutes. After the electrolysis is completed, it is washed with water;

[0181] S7, dyeing: the robot arm 3 takes the workpiece hanger 6 out of the washing tank and puts it into the dyeing tank. The horizontal metal shaft 601 of the hanger cooperates with the boss outside the dyeing tank. The workpiece hanger 6 is immersed in the dyeing tank. After the main control board detects the change of the water level through the liquid level sensor, it starts timing. After dyeing for 10 to 20 minutes, preferably 15 minutes, the workpiece hanger is taken out and put into water washing;

[0182] S8, sealing: The robot arm 3 takes the workpiece hanger 6 out of the water washing tank and puts it into the sealing tank. The horizontal metal shaft 601 of the hanger cooperates with the boss outside the dyeing tank, and the workpiece hanger 6 is immersed in the dyeing tank. The sealing tank adopts water bath sealing. The water temperature is detected by the temperature sensor to ensure that the water temperature is always maintained at 95-100 degrees Celsius. After the main control board detects the change of water level height through the liquid level sensor, it starts timing. After sealing for 15 minutes, it is taken out and put into water washing;

[0183] S9. Complete the anodizing work.

[0184] The present invention discloses a concept of an integrated anodizing experimental device. The whole device is made into a box, which is convenient for transportation and application. A control method for anodizing automation is realized by using a mechanical arm + sensor, as well as a design method and a power-on method for a fixture of small disc-shaped parts and parts with bosses. This can not only avoid contact between operators and chemical solutions, thereby avoiding risks, but the remote-controlled automated experiment can accurately control the time used for each step, thereby improving the stability of the anodized finished product and improving the quality.

[0185] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An integrated anodizing automated control teaching experimental equipment, characterized in that: Including a box body, the inside of the box body is divided into three parts from top to bottom: upper layer, middle layer and lower layer; The upper layer is provided with a solution barrel for placing the experimental solution; The middle layer is equipped with an experimental platform for placing the robot arm, solution tank, and workpiece; the experimental platform is an operating table for completing the entire anodizing experiment, and is also used to fix the robot arm, solution tank, and workpiece hanger; A robotic arm is used to carry and immerse the workpiece hanger in solution; The lower layer is equipped with electrical devices and waste liquid barrels; the solution barrel is connected to the solution tank. The gripper of the end effector of the robot arm is designed with a hemispherical feature, which is used to cooperate with the spherical groove of the workpiece hanger to complete the gripping of the workpiece hanger; wherein the diameter of the hemispherical feature is larger than the diameter of the spherical groove of the workpiece hanger, which is obtained according to the positioning accuracy x of the robot arm and the number n of motors controlled during the gripping movement. D≥10*n*x The hemispherical feature and redundant size can ensure close contact between the clamping jaws and the workpiece hanger while using the weight of the workpiece hanger itself to achieve self-correction and vertically enter the solution tank.

2. The integrated anodizing automated control teaching experimental equipment according to claim 1 is characterized in that: The number of the solution tanks is not less than 5, and they are used to place various solutions required in the anodizing process; each solution tank is provided with a water inlet and a water outlet, the water inlet is connected to the solution barrel located at the upper layer through a pipeline, and the water outlet is connected to the waste liquid barrel located at the lower layer through a pipeline, and the pipeline between the water inlet and the solution barrel and the pipeline between the water outlet and the waste liquid barrel are both provided with an electric control water valve to control the water output and realize the automatic replacement of the solution; An exhaust hole is left on the top of the box to discharge the gas generated by anodizing; the end effector of the robot arm is sprayed with anti-corrosion paint to prevent corrosion from electrolyte or other solutions; and supporting feet and moving wheels are provided at the bottom of the box.

3. The integrated anodizing automated control teaching experimental equipment according to claim 2 is characterized in that: The solution tank is provided with an electrolytic tank, and a boss for placing a workpiece hanger is provided on the edge of each solution tank to prevent the tool hanger from sinking into the bottom of the electrolytic tank; the boss is provided with a conductive metal sheet, and springs are provided at both ends of the conductive metal sheet. When used for electrolysis, the mechanical arm clamps the workpiece hanger in close contact with the conductive metal sheet to ensure the continuous progress of anodizing and improve the success rate; the conductive metal sheet is connected to the positive electrode of the DC power supply used for electrolysis and can be in contact with the fixed shaft of the workpiece hanger, and the negative electrode is an aluminum plate, which is connected to the negative electrode of the DC power supply.

4. The integrated anodizing automated control teaching experimental equipment according to claim 3 is characterized in that: The solution tanks are distributed in a fan shape, and the number of motors controlling the robotic arm is at least 3, of which one is a steering motor to control the lateral rotation of the robotic arm, and the other two motors are to control the vertical lifting of the end of the robotic arm; It is known that the length of each arm of the robot is l1, l2, l3, l4, and the corresponding motors are M1, M2, M3, M4 respectively; Then the radius R of the solution tank distribution must satisfy the requirement that the end of the robot arm can touch the workbench surface, then: l2cosα+l3cos(β-α)=R (1) l2sinα+l1=l3sin(β-α) (2) Among them, α∈(0,π), β∈(0,π); Furthermore, in order to make full use of the overall space, reduce the activity space of the robot arm, and arrange the solution tank on the right side of the robot arm, the angle is limited to α∈(0,π / 2); In order to improve the grasping accuracy, when grasping and storing, motors M1 and M2 will be fixed, and only motors M3 and M4 will move. It is hoped that the torque borne by the motors is minimal. The torque borne by each motor is: τ4=0, gravity and the rod always remain perpendicular According to formula (3), for the torque of motor M3: When α<β, When β<(π / 2+a), the M3 torque is smaller, and when β=(π / 2+a), that is, When , the torque is minimum, which is 0, and both l3 and l4 are perpendicular to the ground; when β continues to increase, β>(π / 2+a), the torque gradually increases from 0; When α>β, When β is smaller, the torque is smaller, and R will be larger, which is not suitable for building a compact space. Therefore, in order to save space as much as possible and reduce the torque of the M3 motor, the range of β can be further determined. According to formula (4), for the torque of motor M2: To minimize τ2, generally, we can let Minimum, combined with the range of β, can be found When , τ2 is the smallest; at this time R=l2cosα (5) 5. The integrated anodizing automated control teaching experimental equipment according to claim 4 is characterized in that: The box body is provided with a cabinet door, and the minimum door size L corresponding to the cabinet door is less than 1.5m, and the width w, length d and height h of the solution tank meet the following requirements: θ2=θ1-θ3 (10) The arc length corresponding to θ2 is l = θ2*R min (11) Need to be in R min There are 5 solution tanks distributed on the arc, and there is a gap between two solution tanks. If the gap distance is Δx, then: 2l=2θ2*R min ≥4w+4Δx (12) At the same time, the width w of the solution tank needs to be considered in combination with the specific workpiece hanger. Since the target this time is a fidget spinner, its size is: 65*25*10cm, and 8 workpieces need to be made at a time, so the workpieces are distributed on the opposite sides, 4 on each side, and the minimum width is: w=25*4+Δw (13) Δw is the redundant distance, which is mainly the distance reserved for installing the workpiece and the frame structure for fixing the workpiece. It is generally three times the width of a single part. Therefore: w≥25*4+Δw=25*7=175cm (14) At the same time, the length and height of the solution tank need to ensure that there is no collision during the operation of the end of the robot arm. At this time, the operation of the robot arm is that the end needs to rotate around the M3 motor, and the M4 motor needs to keep the gripper in a vertical state, satisfying the following: Δh=l3sin(β1-α)-l3sin (β2-α) (15) Δd=l3cos(β2-α)-l3cos (β1-α) (16) Where β1=π / 2+a In order to ensure that the workpiece hanger does not collide with the solution when it is out of the solution tank, the minimum length of the solution tank is: d>2Δd (17) Δh is the height of the workpiece hanger. According to the symmetrical distribution of the workpiece on both sides, the minimum distance should be: Δh≥65+20*2=105cm (18) Furthermore, due to the need to consider the structure and installation dimensions of the pendant, the longitudinal dimension needs to be increased by half of the minimum distance as redundancy to facilitate subsequent design: Therefore, the size of the solution tank can be determined as:

6. The integrated anodizing automated control teaching experimental equipment according to claim 5 is characterized in that: The main body of the workpiece hanger is made of conductive metal, and a spray paint layer with an anti-corrosion effect is provided on the surface to ensure that it does not participate in the anodic oxidation reaction when powered on, and also to ensure that it has sufficient weight and does not float in the solution; The top of the workpiece hanger has a transverse metal shaft, which cooperates with the small boss at the edge of the solution tank to achieve the suspension of the workpiece hanger; The head of the workpiece hanger has a hemispherical groove feature that matches the end effector of the robot arm, which is convenient for clamping and handling; the diameter of the hemispherical groove is about 1 / 8 of the width of the workpiece hanger; The workpiece hanger is provided with a disc-shaped hanger, which is fixed by the distance left between two titanium wires. The titanium wire is welded in the workpiece hanger, and there is a wedge angle between the two titanium wires, which is used to fix the small cylindrical hanger, ensuring close contact while ensuring electrolysis of the entire surface; The cylindrical parts are designed with bolts made of titanium metal based on the characteristics of the workpiece, which have round holes and bosses. They are fixed in opposite directions, so that two workpieces can be fixed at both ends of one bolt.

7. The integrated anodizing automated control teaching experimental equipment according to claim 6 is characterized in that: The lower layer is provided with a robot control box, a constant temperature control box, a waste liquid barrel, and a transformer; Waste liquid barrels are mainly electrolytes, aluminum cleaning solutions, and dyeing solutions that are contaminated after use. This part of the solution cannot be discharged directly into the drain, but needs to be discharged into the waste liquid barrel; The waste liquid barrel is made of PP material and is packaged in a special chemical reagent barrel; The water inlet of the waste liquid barrel is connected to the water outlet of the solution tank, and only receives the electrolyte, aluminum cleaning solution, and the used solution of the dyeing solution, which are all acidic solutions and can be collected in the same waste liquid barrel; A leak-proof tray is placed under the waste liquid barrel to prevent the waste liquid from flowing out.

8. The integrated anodizing automated control teaching experimental equipment according to claim 7 is characterized in that: The lower layer is also provided with an electrical cabinet, in which a robotic arm control box, an embedded main control board, a voltage converter, and a DC power supply are arranged; The voltage converter is used to convert AC power into DC power and provide a constant voltage source for the system, which is used to power the main control and sensors. The embedded main control board is mainly used for collecting sensor data and controlling the solenoid valve. The DC power supply is used to supply power to the electrolytic cell in the solution tank, wherein the positive electrode is connected to the boss conductive metal sheet in the electrolytic cell, and the negative electrode is connected to the aluminum plate in the electrolytic cell.

9. The integrated anodizing automated control teaching experimental equipment according to claim 8 is characterized in that: The lower layer is also provided with a sensor system: the types of sensors are mainly liquid level sensors and temperature sensors; The liquid level sensor is installed inside the anodizing solution tank to detect the liquid level of the solution tank, determine whether the required consumables are lower than the minimum threshold of the experimental setting, and determine whether the current workpiece hanger is in the current tank for electrolysis timing; Liquid level sensors are installed in solution barrels and waste liquid barrels to monitor the storage status of consumables and waste liquids and promptly remind administrators to handle them; The temperature sensor is installed in the sealing solution tank to monitor the temperature of the water bath sealing.

10. A method for using an integrated anodizing automated control teaching experimental device, characterized in that: The steps include: S1. Before the experiment starts, the operator clamps the workpiece on the workpiece hanger and places the workpiece hanger at the designated initial position. After the placement is completed, the operator exits the experimental site and clicks the equipment start button. After the equipment receives the experiment start command, the experiment starts. S2. First, the liquid level sensor is used to detect whether there is a corresponding solution in the solution tank. If there is no solution, the main control board receives the signal from the liquid level sensor and controls the electric control valve to replenish the solution tank. After the solution is replenished to the set height, the process stops. S3. After the experiment starts, the robot automatically clamps the hanger and performs the cleaning, electrolysis, dyeing, and sealing processes in sequence according to the set process time to complete the anodizing process of the workpiece; water washing will be performed between each two processes to remove the residual solution of the workpiece in the previous process; S4, cleaning: the robot arm places the workpiece hanger on the boss in the cleaning tank. At this time, the workpiece hanger is completely placed in the cleaning tank for cleaning. Aluminum cleaning liquid is placed in the cleaning tank. The liquid level sensor detects whether the workpiece is placed in the tank. After the water level changes, the timing starts, and the time is 8 to 12 minutes. S5, water washing: The robot arm takes the workpiece hanger out of the solution tank and places it in the water washing tank. After the workpiece is placed in the water tank, the liquid level sensor detects the water level height and transmits the signal to the embedded main control board. The main control board completes the inflow and outflow of water through the electronically controlled water valve to achieve washing. The time is 2 to 5 minutes. S6. Electrolysis: The robot arm takes the workpiece hanger out of the water washing tank and puts it into the electrolytic tank. The horizontal metal shaft of the hanger contacts the boss outside the electrolytic tank. The boss surface is made of metal and is conductive. There is a spring under the boss. The robot arm places the workpiece hanger on the boss and maintains a certain downward pressure to ensure close contact of the circuit. The boss is connected to the positive pole of the DC power supply on the lower layer. The DC power supply is turned on and the electrolytic tank starts electrolysis for 20 to 40 minutes. After the electrolysis is completed, it is washed with water. S7, dyeing: The robot arm takes the workpiece hanger out of the water washing tank and puts it into the dyeing tank. The horizontal metal shaft of the hanger cooperates with the boss outside the dyeing tank. The workpiece hanger is immersed in the dyeing tank. After the main control board detects the change of water level through the liquid level sensor, it starts timing. After dyeing for 10 to 20 minutes, it is taken out and put into water washing; S8, Sealing: The robot arm takes out the workpiece hanger from the water washing tank and puts it into the sealing tank. The horizontal metal shaft of the hanger cooperates with the boss outside the dyeing tank, and the workpiece hanger is immersed in the dyeing tank. The sealing tank adopts water bath sealing. The water temperature is detected by the temperature sensor to ensure that the water temperature is always maintained at 95-100 degrees Celsius. After the main control board detects the change of water level height through the liquid level sensor, it starts timing. After sealing for 15 minutes, it is taken out and put into water washing. S9. Complete the anodizing work.

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