Integrated anodic oxidation automatic control teaching experiment device and method thereof

Abstract

The application provides an integrated anodic oxidation automatic control teaching experiment device and a method thereof, and relates to the technical field of anodic oxidation equipment.The device comprises a box body, which 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 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 experimental platform is used for completing the operation table of the entire anodic oxidation experiment, and is used for fixing the mechanical arm, the solution tank and the workpiece hanger.The mechanical arm is used for carrying and solution soaking operation of the workpiece hanger.The application has the advantages that the operator can avoid contacting with the chemical solution, thereby avoiding risks;the remote control automatic experiment can accurately control the time of each step, thereby improving the stability of the anodic oxidation finished product, improving the experimental quality, and setting the time of different steps to explore the factors affecting the quality of the anodic oxidation finished product.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of anodic oxidation equipment, in particular to an integrated anodic oxidation automatic control teaching experiment equipment and method. BACKGROUND

[0002] In order to overcome the defects of metal and alloy surface hardness, wear resistance, etc., expand its application range, and prolong its service life, surface treatment technology has become an indispensable part of the use of metal and alloy, and anodic oxidation technology is the most widely used surface treatment technology at present. Anodic oxidation generates an extremely thin oxide film on the surface of metal or alloy workpiece, thereby playing a protective, decorative, insulating and other roles. In order to overcome the defects of aluminum alloy surface hardness, wear resistance, etc., expand the application range, and prolong the service life, surface treatment technology has become an indispensable part of the use of aluminum alloy, and anodic oxidation technology is the most widely used and most successful at present.

[0003] However, the anodic oxidation equipment currently used in teaching experiments has the following defects: 1. Most of the current remote control experiments are mechanical arms used in factory assembly lines to complete material clamping, placement and transportation. In teaching, it can meet the needs of mechanical and automation professionals, but it is not used in interdisciplinary professional fields; 2. The electrolyte of anodic oxidation experiment is an acidic solution, which has the potential risk of corrosion; 3. Manual control of anodic oxidation experiment will have misoperation and unstable time control problems, resulting in low quality of the finished product after oxidation; 4. The anodic oxidation experiment process is long and time-consuming. That is, the existing technology still has room for improvement. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art and provides an integrated anodic oxidation automatic control teaching experiment equipment and method, which is safe, highly automated and helps to improve the stability of the experiment.

[0005] To solve the above technical problems, the present application is realized by the following technical scheme:

[0006] An integrated anodic oxidation automatic control teaching experiment equipment, comprising a box body, the inside of the box body is divided into three parts from top to bottom, i.e. an upper layer, a middle layer and a lower layer;

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

[0008] The middle layer is provided with an experimental platform for placing a mechanical arm, a solution tank and a workpiece;

[0009] The mechanical arm is used for carrying and solution soaking operation of the workpiece hanger.

[0010] The lower layer is provided with electrical devices and waste liquid barrels; the solution barrel is in communication with the solution tank,

[0011] The gripper of the mechanical arm end effector is designed with a hemispherical feature for cooperating with the spherical groove of the part to be gripped of the workpiece hanger to complete the grabbing of the workpiece hanger; wherein the diameter D of the hemispherical feature is larger than the size of the cooperating spherical groove of the workpiece hanger, and is obtained according to the positioning accuracy x of the mechanical arm and the number n of the motors controlled in the gripping movement,

[0012] D≥10*n*x

[0013] The hemispherical feature and the redundant size can ensure the close contact of the gripper with the workpiece hanger, and at the same time, realize self-correction by using the weight of the workpiece hanger itself, and vertically enter the solution tank.

[0014] Further, the number of the solution tanks is not less than 5, for placing various solutions required in the anodic oxidation process; each solution tank is provided with a water inlet and a water outlet, the water inlet is connected with the solution barrel located in the upper layer through a pipeline, the water outlet is connected with the waste liquid barrel located in the lower layer through a pipeline, 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 electrically controlled water valve to control the water outlet and realize the automatic replacement of the solution; the top of the box body is left with an exhaust hole for exhausting the gas generated in the anodic oxidation; the end effector of the mechanical arm is sprayed with anticorrosive paint to prevent corrosion by the electrolyte or other solutions; the bottom of the box body is provided with supporting feet and moving wheels.

[0015] Further, the solution tank is provided with an electrolytic cell, and the edge of each solution tank is provided with a boss for placing the workpiece hanger to prevent the workpiece hanger from sinking into the bottom of the electrolytic cell; the boss is provided with a conductive metal sheet, and the two ends of the conductive metal sheet are provided with springs for closely contacting the workpiece hanger with the conductive metal sheet during electrolysis to ensure the continuous anodic oxidation and improve the success rate; the conductive metal sheet is connected to the positive electrode of the direct current power supply for electrolysis and can contact the fixed shaft of the workpiece hanger, and the negative electrode is an aluminum plate connected to the negative electrode of the direct current power supply.

[0016] Further, the solution tanks are distributed in a fan shape, and the number of the motors controlling the mechanical arm is at least 4, of which 1 is a steering motor for controlling the lateral rotation of the mechanical arm, and the other 2 are motors for controlling the vertical lifting of the mechanical arm end;

[0017] The length of each arm of the known mechanical arm is l1, l2, l3, l4, and the corresponding motors are M1, M2, M3, M4, respectively;

[0018] Then the radius R of the solution tank distribution must satisfy that the end of the mechanical arm can touch the surface of the workbench, that is,

[0019] l2cosα+l3cos(β-α)=R(1)

[0020] l2sinα+l1=l3sin (β-α) (2)

[0021] wherein, α∈(0, π), β∈(0, π);

[0022] Further, in order to make full use of the space, reduce the activity space of the mechanical arm, and arrange the solution tank on the right side of the mechanical arm, the angle is limited as α∈(0, π / 2);

[0023] In order to improve the grabbing precision, the motors M1 and M2 are fixed during grabbing and storing, only the motors M3 and M4 are moved, and the torque borne by the motors is minimized, and the torque borne by each motor is:

[0024] τ4=0, the gravity and the rod are always perpendicular

[0025]

[0026]

[0027] According to formula (3), for the torque of the motor M3:

[0028] When α<β, When β<(π / 2+α), the smaller the torque of M3 is, when β=(π / 2+α), that is, , the torque is minimized, which is 0, at this time, l3 and l4 are perpendicular to the ground; when β continues to increase, β>(π / 2+a), the torque gradually increases from 0.

[0029] When α>β, The smaller the torque is, the smaller β is, at this time, R is relatively large, which is not suitable for constructing a relatively compact space.

[0030] Therefore, in order to save space as much as possible and reduce the torque borne by the motor M3, the range of β can be further determined

[0031]

[0032] According to formula (4), for the torque of the motor M2:

[0033]

[0034] In order to minimize τ2, generally, is minimized, combined with the range of β, it can be found that , τ2 is minimized.

[0035] At this time

[0036] R = l2cosα (5)

[0037] Further, the cabinet is provided with a cabinet door, the minimum size L of the door corresponding to the entrance is less than 1.5m, and the width w, length d and height h of the solution tank satisfy the following:

[0038]

[0039] θ2 = θ1-θ3 (10) The arc length corresponding to θ2 is l = θ2*R min (11)

[0040] The workpiece hanger is a fingertip gyroscope, and its size is 65*25*10cm. Eight workpieces are needed at a time, and the workpieces are distributed on both sides, four on each side. The minimum width of the solution tank is:

[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 object of this time is a fingertip gyroscope, its size is 65*25*10cm, and eight workpieces are needed at a time, so the workpieces are distributed on both sides, four on each side, and the minimum width is:

[0043] w = 25*4+Δw (13)

[0044] Δw is the redundant distance, mainly the distance left for installing the workpiece and the frame structure for fixing the workpiece, which is generally 3 times the width of a single part, so:

[0045] w ≥ 25*4+Δw = 25*7 = 175cm (14)

[0046] At the same time, the length and height of the solution tank need to satisfy that no collision occurs during the operation of the end of the mechanical arm. At this time, the operation of the mechanical arm is that the end needs to rotate around the M3 motor, and the M4 motor needs to keep the jaws vertical, satisfying the following:

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

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

[0049] Where β1 = π / 2+α

[0050] And in order to ensure that the workpiece hanger does not collide with the solution tank during the process of leaving 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 two sides of the workpiece, the minimum distance should be:

[0053] Δh≥65+20*2=105cm (18)

[0054] Further, due to the need to consider the structure and installation size of the hanger, the longitudinal size needs to increase by half of the minimum distance as a redundancy for subsequent design:

[0055]

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

[0057]

[0058] Further, the main body of the workpiece hanger is a conductive metal, and a paint layer with anti-corrosion effect is provided on the surface to ensure that it does not participate in anodic oxidation reaction under the condition of power supply and to ensure that the weight is sufficient and will not float up in the solution;

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

[0060] The head of the workpiece hanger has a hemispherical groove feature that cooperates with the end effector of the mechanical arm to facilitate 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, and the fixing method is fixed by the distance left between the two titanium wires, the titanium wires are welded in the workpiece hanger, and the angle between the two titanium wires is wedge-shaped, which is used to fix small cylindrical hangers, to ensure close contact while ensuring electrolysis of the entire surface.

[0062] It has a cylindrical part, and the cylindrical part is designed with a titanium bolt combined with the features of the workpiece having a circular hole and a boss, and uses opposite fixing to achieve that one bolt can fix two workpieces at both ends.

[0063] Further, the lower layer is provided with a mechanical arm control box, a constant temperature control box, a waste liquid tank, and a transformer;

[0064] The waste liquid tank is mainly used for electrolyte, aluminum cleaning liquid, and dyed liquid after use, and this part of the solution cannot be directly discharged into the sewer, but needs to be discharged into the waste liquid tank;

[0065] The waste liquid tank is made of PP material and is packaged with chemical special reagent tank;

[0066] The water inlet of the waste liquid barrel is connected with the water outlet of the solution tank, only receives electrolyte, aluminum cleaning solution and dyeing solution after use, and the solutions are all acidic solutions, so the same waste liquid barrel can be used for collection;

[0067] A leakage prevention tray is arranged below the waste liquid barrel to prevent waste liquid from flowing out.

[0068] Further, the lower layer is further provided with an electrical cabinet, a mechanical arm control box, an embedded main control board, a voltage converter and a direct current power supply are arranged in the electrical cabinet;

[0069] The voltage converter is used for converting alternating current into direct current and providing a constant voltage source for the system, and is used for power supply of the main control and the sensor;

[0070] The embedded main control board is mainly used for collection of sensor data and control of electromagnetic valves.

[0071] The direct current power supply is used for power supply of the electrolytic cell in the solution tank, wherein the positive electrode is connected with the convex conductive metal sheet in the electrolytic cell, and the negative electrode is connected with the aluminum plate in the electrolytic cell.

[0072] Further, the lower layer is further provided with a sensor system, and the sensor types mainly include liquid level sensors and temperature sensors.

[0073] The liquid level sensor is installed in the anodic oxidation solution tank and is used for detecting the liquid level of the solution tank, judging whether the required consumables are lower than the lowest threshold value set in the experiment, and judging whether the current workpiece hanger is in the current water tank, so as to perform electrolytic timing.

[0074] The liquid level sensor is installed in the solution barrel and the waste liquid barrel and is used for monitoring the storage state of the consumables and the waste liquid and timely reminding the administrator to handle.

[0075] The temperature sensor is installed in the sealed solution tank and is used for monitoring the temperature of the water bath sealing.

[0076] The application also claims a use method of the integrated anodic oxidation automatic control teaching experiment equipment, which comprises the following steps:

[0077] S1, before the experiment starts, the operator clamps the workpiece on the workpiece hanger and places the workpiece hanger in the specified 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 instruction, the experiment starts;

[0078] S2, first, whether the solution tank has corresponding solution is detected through the liquid level sensor; if there is no solution, the main control board receives the signal of the liquid level sensor, controls the electric water valve to supplement the solution tank with solution, and stops after the solution is supplemented to the set solution height;

[0079] S3, after the experiment starts, the mechanical arm automatically clamps the hanger, according to the set process time, sequentially carries out cleaning, electrolysis, dyeing, hole sealing process, completes the anodic oxidation processing of the workpiece; wherein, between every two processes, water washing is carried out to remove the solution remaining in the workpiece in the previous process;

[0080] S4, cleaning: the mechanical arm places the workpiece hanger on the boss in the cleaning tank, at this time the workpiece hanger completely enters the cleaning tank, and the cleaning process is carried out; the aluminum cleaning solution is placed in the cleaning tank, and whether the workpiece is placed is detected by the liquid level sensor; after the water level height is changed, timing starts, and the time is 8 to 12 minutes;

[0081] S5, water washing: the mechanical arm takes out the workpiece hanger from the solution tank and places it in the water washing tank; after the workpiece is placed, the liquid level sensor detects the water level height and sends a signal to the embedded main control board; the main control board controls the water valve to complete the inflow and outflow of water flow, realizes cleaning, and the time is 2 to 5 minutes.

[0082] S6, electrolysis: the mechanical arm takes out the workpiece hanger from the water washing tank and places it in the electrolysis tank; the transverse metal shaft of the hanger contacts the boss outside the electrolysis tank; the boss surface is made of metal and can conduct electricity; the boss is below the spring; the mechanical arm places the workpiece hanger on the boss with a certain downward pressure to ensure the close contact of the circuit; the boss is connected with the positive electrode of the direct current power supply in the lower layer; the direct current power supply is in the open state; the electrolysis tank starts electrolysis, and the time is 20 to 40 minutes; after electrolysis is completed, water washing is carried out;

[0083] S7, dyeing: the mechanical arm takes out the workpiece hanger from the water washing tank and places it in the dyeing tank; the transverse 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 the water level height through the liquid level sensor, timing starts; after dyeing for 10 to 20 minutes, it is taken out and enters water washing;

[0084] S8, hole sealing: the mechanical arm takes out the workpiece hanger from the water washing tank and places it in the hole sealing tank; the transverse metal shaft of the hanger cooperates with the boss outside the dyeing tank; the workpiece hanger is immersed in the dyeing tank; the hole sealing tank adopts water bath sealing; the water temperature is detected by the temperature sensor to ensure that the water temperature is always kept at 95-100 degrees Celsius; after the main control board detects the change of the water level height through the liquid level sensor, timing starts; after hole sealing for 15 minutes, it is taken out and enters water washing;

[0085] S9, the anodic oxidation work is completed.

[0086] Compared with the prior art, the beneficial effects of the present application are:

[0087] 1、The experimental device combines chemistry, machinery, automation and computer science, integrates multi-professional knowledge, and realizes automatic control experiment of anodic oxidation.

[0088] 2. Remote-controlled automated experimental devices for anodizing can avoid contact between operators and chemical solutions, thereby mitigating risks.

[0089] 3. Remote-controlled automated experiments can precisely control the time required for each step, thereby improving the stability and quality of the anodized product.

[0090] 4. This frees up operators to perform hands-on work, allowing them more time to familiarize themselves with and understand the anodizing reaction process, and to learn other knowledge and skills.

[0091] 5. On the experimental device, you can learn and understand the anodizing process, as well as learn how to control the robotic arm, acquire data from the sensors, and execute the controller. Attached Figure Description

[0092] The accompanying drawings are provided to further illustrate the invention and are used together with the embodiments of the invention to explain the invention. They do not constitute a limitation of the invention. In the drawings:

[0093] Figure 1 It is the overall integrated anodizing automated control teaching experimental equipment Figure One ;

[0094] Figure 2 It is the overall integrated anodizing automated control teaching experimental equipment Figure Two ;

[0095] Figure 3 This is an internal diagram of an integrated automated control teaching experimental device for anodizing.

[0096] Figure 4 This is a top view of the experimental platform inside the enclosure;

[0097] Figure 5 This is a schematic diagram of the workpiece hanger structure;

[0098] Figure 6 This is a schematic diagram showing the connection between each segment of the robotic arm and its corresponding motor.

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

[0100] Figure 8 yes Figure 7 The diagram shows the end effector of the robotic arm rotating around the M3 motor, while the M4 motor is required to keep the gripper vertical.

[0101] In the diagram: 1. Box body; 101. Upper layer; 102. Middle layer; 103. Lower layer; 104. Vent; 105. Support leg; 106. Casters; 2. Solution tank; 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 Implementation

[0102] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0103] like Figures 1 to 3 As shown, the present invention provides an integrated anodizing automated control teaching experimental device, including a housing 1. The bottom of the housing 1 is provided with a support foot 105, which can support the entire housing 1. It is also provided with a caster wheel 106 to facilitate the overall movement of the housing 1. The support foot 105 is a height-adjustable support foot, which supports the housing 1 according to actual use, or is raised to allow the caster wheel 106 to work.

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

[0105] The upper layer 101 holds three solution tanks 2, namely aluminum cleaning solution, electrolyte and dyeing solution; the solution tank 2 has an opening at the top for easy pouring of the original solution, a faucet at the bottom for connecting to the corresponding solution tank 4, and a handle on the side for taking out and storing.

[0106] The dimensions of the cabinet 1 are set according to the size that allows entry. In this embodiment, the door is 2.3m high and 1.5m wide, so the cabinet dimensions are: length < 1.5m, width < 1.5m, and height < 2.3m.

[0107] The gripper of the end effector of the robotic arm 3 has a hemispherical feature designed to mate with the spherical groove of the workpiece holder 6 to complete the gripping of the workpiece holder 6; the diameter D of the hemispherical feature is larger than the size of the spherical groove of the workpiece holder 6, which is determined based on the positioning accuracy x of the robotic arm 3 and the number n of motors controlled during the gripping motion.

[0108] D≥10*n*x

[0109] The hemispherical shape and redundant dimensions ensure close contact between the gripper and the workpiece holder 6, while the weight of the workpiece holder 6 itself enables self-correction and vertical entry into the solution tank 4.

[0110] In this embodiment, there are no fewer than five solution tanks 4, which are used to hold various solutions required in the anodizing process, such as aluminum cleaning solution, electrolyte, dyeing solution, sealing solution, and pure water. Each solution tank 4 is equipped with an inlet and an outlet. The inlet is connected to the solution tank 2 located on the upper layer through a pipe, and the outlet is connected to the waste liquid tank located on the lower layer through a pipe. The pipes between the inlet and the solution tank 2 and the pipes between the outlet and the waste liquid tank are equipped with electrically controlled water valves to control the water output and realize automatic solution replacement. The top of the tank is provided with an exhaust hole 104 to discharge the gas generated by anodizing. The end effector of the robotic arm 3 is sprayed with anti-corrosion coating to prevent corrosion from electrolyte or other solutions.

[0111] Furthermore, the solution tank 4 is equipped with an electrolytic cell, and each solution tank 4 has a boss on its edge for placing the workpiece hanger 6 to prevent the hanger from sinking to the bottom of the electrolytic cell; the boss is equipped with a conductive metal sheet, and springs are provided at both ends of the conductive metal sheet, so that during electrolysis, the robotic arm 3 clamps the workpiece hanger 6 in close contact with the conductive metal sheet to ensure continuous anodizing and improve the success rate; the conductive metal sheet is connected to the positive terminal of the DC power supply used for electrolysis and can contact the fixed shaft of the workpiece hanger 6, and the negative terminal is an aluminum plate connected to the negative terminal of the DC power supply.

[0112] like Figures 4 to 8 As shown, the solution tanks 4 are arranged in a fan shape. The minimum number of motors controlling the robotic arm 3 is 3, one of which is a steering motor that controls the lateral rotation of the robotic arm 3, and the other two motors control the vertical lifting and lowering of the end of the robotic arm 3.

[0113] Given that the lengths of each segment of robotic arm 3 are l1, l2, l3, and l4, and the corresponding motors are M1, M2, M3, and M4, respectively;

[0114] The radius R of the solution tank 4 must satisfy the condition that the end of the robotic arm 3 can touch the surface of the worktable. Therefore:

[0115] l2cosα+l3cos(β-α)=R(1)

[0116] l2sinα+l1=l3sin (β-α) (2)

[0117] Among them, α∈(0,π), β∈(0,π);

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

[0119] In order to improve the grabbing accuracy, when grabbing and storing, the motors M1 and M2 are fixed, only the motors M3 and M4 are moved, and the torque borne by each motor is:

[0120] τ4=0, the gravity is always perpendicular to the rod

[0121]

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

[0123] When α<β, When β<(π / 2+α), the smaller the M3 torque is, when β=(π / 2+α), that is, , the torque is minimum, which is 0, at this time l3 and l4 are both perpendicular to the ground; when β continues to increase, β>(π / 2+α), the torque gradually increases from 0.

[0124] When α>β, The smaller β is, the smaller the torque is, at this time R will be relatively large, which is not suitable for constructing a relatively compact space.

[0125] Therefore, in order to save space as much as possible and reduce the torque borne by the M3 motor, the range of β can be further determined

[0126]

[0127] According to formula (4), for the torque of the motor M2:

[0128]

[0129] In order to make τ2 minimum, generally, Minimum, combined with the range of β, it can be found that , τ2 is minimum.

[0130] At this time

[0131] R=l2cosα (5)

[0132] Further, the cabinet is provided with a cabinet door, the minimum size L of the door corresponding to the door is less than 1.5m, and the width w, length d and height h of the solution tank 4 satisfy the following:

[0133]

[0134] θ2=θ1-θ3(10) The arc length corresponding to θ2 is l=θ2*R min (11)

[0135] Need to R min Five solution tanks 4 are distributed on the circular arc, with a gap between any two solution tanks 4. Let the distance between these gaps be Δx, then:

[0136] 2l=2θ2*R min ≥4w+4Δx (12)

[0137] Meanwhile, the width w of the solution tank 4 needs to be considered in conjunction with the specific workpiece fixture 6. Since the object being processed is a fidget spinner with dimensions of 65*25*10cm, and 8 workpieces need to be made at a time, the workpieces are distributed on opposite sides, with 4 on each side. The minimum width of the solution tank 4 is:

[0138] w = 25 * 4 + Δw (13)

[0139] Δw is the redundancy distance, mainly reserved for installing workpieces and the frame structure to fix them. It is generally three times the width of a single part. Therefore:

[0140] w≥25*4+Δw=25*7=175cm(14)

[0141] Meanwhile, the length and height of the solution tank 4 must be such that no collision occurs during the operation of the robotic arm 3's end effector. At this point, the robotic arm 3 operates such that its end effector rotates around motor M3, while motor M4 maintains the gripper in a vertical position, satisfying the following conditions:

[0142] Δh=l3sin(β1-α)-l3sin (β2-α) (15)

[0143] Δd=l3cos(β2-α)-l3cos (β1-α) (16)

[0144] Where β1=π / 2+α

[0145] Furthermore, to ensure that the workpiece hanger 6 does not collide with the solution tank during the process of exiting the solution tank, the minimum length of the solution tank is:

[0146] d>2Δd(17)

[0147] Δh is the height of workpiece hanger 6. Based on the symmetrical distribution of the workpiece on both sides, the minimum distance should be:

[0148] Δh≥65+20*2=105cm (18)

[0149] Further, due to the need to consider the structure and installation size of the hanging piece, the longitudinal size needs to be increased by half of the minimum distance as a redundancy for subsequent design:

[0150]

[0151] Therefore, the size of the solution tank 4 can be determined as:

[0152]

[0153] The workpiece hanger 6 is used for the fixation and electrolysis of the workpiece to be anodized. The hanger in this experiment is suitable for small-batch small-size disc and columnar parts processing. The mass of the workpiece hanger is less than the load of the mechanical arm.

[0154] In this embodiment, the main body of the workpiece hanger 6 is made of conductive metal, and the surface is provided with a paint layer for corrosion protection, which ensures that it does not participate in the anodizing reaction under the condition of power supply, and also ensures that the weight is sufficient and will not float up in the solution;

[0155] As shown in Figure 5 The top of the workpiece hanger 6 has a horizontal metal shaft 601 that cooperates with a small boss at the edge of the solution tank 4 to achieve the suspension of the workpiece hanger 6;

[0156] The head of the workpiece hanger 6 has a hemispherical groove feature 602 that cooperates with the end effector of the mechanical arm 3 to facilitate clamping and handling; the diameter of the hemispherical groove is about 1 / 8 of the width of the workpiece hanger 6;

[0157] The workpiece hanger 6 is provided with a disc-shaped hanger 603, and the fixation is achieved by the distance left between the two titanium wires, which are welded in the workpiece hanger 6. The angle between the two titanium wires is wedge-shaped, which is used to fix small cylindrical hangers and ensure close contact while ensuring electrolysis of the entire surface.

[0158] The cylinder part 604 has a cylindrical part 604, which is combined with the features of the workpiece having a circular hole and a boss, and a titanium bolt 605 is designed, which is used in the form of opposite fixation to realize that one bolt 605 can fix two workpieces at both ends.

[0159] The lower layer 103 is placed with the mechanical arm 3 control box, constant temperature control box, waste liquid barrel, transformer;

[0160] The waste liquid barrel is mainly used for electrolyte, aluminum cleaning liquid, and dyed liquid after use. The solution in this part cannot be directly discharged into the sewer, but needs to be discharged into the waste liquid barrel;

[0161] The waste liquid barrel is made of PP material and is packaged with chemical special reagent barrels;

[0162] The water inlet of the waste liquid barrel is connected with the water outlet of the solution tank 4, only receives electrolyte, aluminum cleaning solution and dyestuff solution after use, and the solutions are all acidic solutions, so the same waste liquid barrel can be used for collection;

[0163] The waste liquid barrel is placed below a leakage prevention tray to prevent waste liquid from flowing out.

[0164] The lower layer 103 is further provided with an electrical cabinet, a mechanical arm 3 control box, an embedded main control board, a voltage converter and a direct current power supply arranged in the electrical cabinet;

[0165] The voltage converter is used for converting alternating current into direct current and providing a constant voltage source for the system, and is used for power supply of the main control and the sensor;

[0166] The embedded main control board is mainly used for collection of sensor data and control of electromagnetic valves.

[0167] The direct current power supply is used for power supply of the electrolytic tank in the solution tank 4, wherein the positive electrode is connected with the convex conductive metal sheet in the electrolytic tank, and the negative electrode is connected with the aluminum plate in the electrolytic tank.

[0168] The lower layer 103 is further provided with a sensor system, and the sensor types mainly include liquid level sensors and temperature sensors.

[0169] The liquid level sensor is installed in the anodic oxidation solution tank 4 and is used for detecting the liquid level of the solution tank 4, judging whether the required consumables are lower than the lowest threshold value set in the experiment, and judging whether the current workpiece hanger 6 is in the current water tank, so as to perform electrolytic timing.

[0170] The liquid level sensor is installed in the solution barrel 2 and the waste liquid barrel and is used for monitoring the storage state of the consumables and the waste liquid and timely reminding the administrator to handle.

[0171] The temperature sensor is installed in the sealed solution tank 4 and is used for monitoring the temperature of the water bath sealing.

[0172] The application further requests to protect a use method of the integrated anodic oxidation automatic control teaching experiment equipment, and the use method comprises the following steps:

[0173] S1, before the experiment starts, the operator clamps the workpiece on the workpiece hanger 6 and places the workpiece hanger 6 in the specified initial position; after the placement is completed, the operator exits the experiment site and clicks the equipment start button. After the equipment receives the experiment start instruction, the experiment starts;

[0174] S2, first, the liquid level sensor is used to detect whether the solution tank 4 has corresponding solution, if there is no solution, the main control board receives the signal of the liquid level sensor, controls the electric water valve to supplement the solution tank 4 with solution, and stops after the solution is supplemented to the set solution height;

[0175] S3, after the experiment starts, the mechanical arm 3 automatically clamps the hanger, according to the set process time, sequentially carries out cleaning, electrolysis, dyeing, sealing process, completes the workpiece anodizing processing; Among them, between every two processes, water washing will be carried out to remove the solution remaining in the workpiece in the last process;

[0176] S4, cleaning: the mechanical arm 3 places the workpiece hanger 6 on the boss in the cleaning tank, at this time the workpiece hanger 6 completely enters the cleaning tank, carries out the cleaning process, the cleaning tank is placed with aluminum cleaning solution, whether the workpiece is put in is detected by the liquid level sensor, after the water level height is changed, timing starts, the time is 8 to 12 minutes, the preferred time is 10 minutes;

[0177] S5, water washing: the mechanical arm 3 takes out the workpiece hanger 6 from the solution tank 4 and places it in the water washing tank. The liquid level sensor detects the workpiece after placing it in the water washing tank, and sends a signal to the embedded main control board. The main control board controls the water valve to complete the inflow and outflow of water flow, realizes cleaning, and the time is 2 to 5 minutes, preferably 3 minutes.

[0178] S6, electrolysis: the mechanical arm 3 takes out the workpiece hanger 6 from the water washing tank and places it in the electrolysis tank. The horizontal metal shaft 601 of the hanger contacts the boss outside the electrolysis tank. The boss surface is made of metal and can conduct electricity. There is a spring below the boss. The mechanical arm 3 places the workpiece hanger 6 on the boss with a certain downward pressure to ensure close contact of the circuit. The boss is connected to the positive electrode of the direct current power supply below. The direct current power supply is in the open state. The electrolysis tank starts electrolysis. The time is 20 to 40 minutes, preferably 30 minutes. After electrolysis, water washing is carried out.

[0179] S7, dyeing: the mechanical arm 3 takes out the workpiece hanger 6 from the water washing tank and places it in 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 water level height through the liquid level sensor, timing starts. After dyeing for 10 to 20 minutes, the preferred time is 15 minutes, take out and enter water washing;

[0180] S8, sealing: the mechanical arm 3 takes out the workpiece hanger 6 from the water washing tank and places it in the sealing 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. The sealing tank adopts water bath sealing. The temperature sensor detects the water temperature to ensure that the water temperature is always kept at 95-100 degrees Celsius. After the main control board detects the change of water level height through the liquid level sensor, timing starts. After sealing for 15 minutes, take out and enter water washing;

[0181] S9, complete anodizing work.

[0182] The application discloses a concept of an integrated anodic oxidation experiment device, the whole device is made into a box body, convenient transportation and application; a mechanical arm+sensor is adopted to realize an automatic control method of anodic oxidation, and a design method and an electrifying method of a clamp of small disc-shaped and bossed parts, so that the operator can be prevented from contacting the chemical solution, risks are avoided, the remote control automatic experiment can accurately control the time used in each step, and the stability of anodic oxidation products is improved, and the quality is improved.

[0183] Finally, it should be noted that: the above is only the preferred embodiment of the present application, and is not intended to limit the present application, although the present application is described in detail with reference to the embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, but any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An integrated anodization automated control teaching experiment equipment, characterized in that, The box is internally divided into upper, middle and lower layers from top to bottom; The upper layer is provided with a solution barrel for placing experimental solution; The middle layer is provided with an experimental platform for placing a mechanical arm, a solution tank and a workpiece; the experimental platform is used as an operating table for completing the entire anodic oxidation experiment, and is used for fixing the mechanical arm, the solution tank and the workpiece hanger; The mechanical arm is used for carrying and solution soaking operation of the workpiece hanger; The lower layer is provided with electrical devices and a waste liquid barrel; the solution barrel is communicated with the solution tank, The gripper of the mechanical arm end effector is designed with a hemispherical feature for cooperating with a spherical groove of a to-be-picked part of the workpiece hanger to complete workpiece hanger picking; wherein the diameter D of the hemispherical feature is larger than the size of the spherical groove of the workpiece hanger, and D≥10*n*x is obtained according to the positioning accuracy x of the mechanical arm and the number n of motors controlled in the picking motion, The hemispherical feature and the redundant size ensure that the gripper is in close contact with the workpiece hanger, and at the same time, the weight of the workpiece hanger itself is used to realize self-correction and vertical entry into the solution tank; The solution tank is provided with an electrolytic tank, and the edge of each solution tank is provided with a boss for placing the workpiece hanger to prevent the workpiece hanger from sinking into the bottom of the electrolytic tank; the boss is provided with a conductive metal sheet, and the two ends of the conductive metal sheet are provided with springs for close contact between the workpiece hanger gripped by the mechanical arm and the conductive metal sheet during electrolysis, so as to ensure the continuous anodic oxidation and improve the success rate; the conductive metal sheet is connected to the positive electrode of a direct current power supply for electrolysis, and the fixed shaft of the workpiece hanger is in contact with the negative electrode which is an aluminum plate and is connected to the negative electrode of the direct current power supply; The main body of the workpiece hanger is made of conductive metal, and the surface is provided with a paint layer for corrosion prevention, so as to ensure that it does not participate in the anodic oxidation reaction under the condition of power supply, and also ensure that the weight is sufficient and the workpiece hanger will not float up in the solution; The top of the workpiece hanger has a horizontal metal shaft which cooperates with a small boss at the edge of the solution tank to realize the suspension of the workpiece hanger; The head of the workpiece hanger has a hemispherical groove feature which cooperates with the mechanical arm end effector to facilitate picking and carrying; the diameter of the hemispherical groove is 1 / 8 of the width of the workpiece hanger; The workpiece hanger is provided with a disc-shaped hanger, and the fixing method is fixed by the distance left between the two titanium wires, the titanium wires are welded in the workpiece hanger, and the angle between the two titanium wires is wedge-shaped, which is used for fixing small cylindrical hangers, so as to ensure close contact and also ensure electrolysis of the entire surface; The solution tank has a number not less than 5 for placing various solutions required in the anodic oxidation process; each solution tank is provided with a water inlet and a water outlet, the water inlet is connected to the solution barrel in the upper layer through a pipeline, the water outlet is connected to the waste liquid barrel in 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 electrically controlled water valves to control water outlet and realize automatic replacement of the solution; ​ 2. The integrated anodization automated control teaching experiment apparatus according to claim 1, wherein ​ The top of the box is left with an exhaust hole for discharging the gas generated by anodic oxidation; the end effector of the mechanical arm is sprayed with anticorrosive paint to prevent corrosion by electrolyte or other solutions; the bottom of the box is provided with support feet and moving wheels.

3. The integrated anodization automated control teaching experiment apparatus according to claim 2, wherein The solution tank is distributed in a fan shape, and the number of motors controlling the mechanical arm is at least 4, of which 1 is a steering motor controlling the lateral rotation of the mechanical arm, and the other 2 are motors controlling the vertical lifting of the end of the mechanical arm; The length of each segment of the known mechanical arm 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 that the end of the mechanical arm touches the surface of the workbench, so that: l2cosα+l3cos(β-α)=R;(1) l2sinα+l1=l3sin(β-α);(2) Wherein, α∈(0,π), β∈(0,π); Further, in order to make full use of the space and reduce the activity space of the mechanical arm, and arrange the solution tank on the right side of the mechanical arm, the angle is limited to α∈(0,π / 2); In order to improve the grabbing accuracy, when grabbing and storing, motors M1 and M2 will be fixed, only motors M3 and M4 will move, the torque borne by the motors is minimized, and the torque borne by each motor is: τ4=0, the gravity and the rod always keep vertical According to formula (3), for the torque of motor M3: When α < β, When β < (π / 2 + α), the smaller the M3 torque is, when β = (π / 2 + α), that is, When β = (π / 2 + α), the torque is 0, at this time, l3 and l4 are both perpendicular to the ground; when β continues to increase, β > (π / 2 + α), the torque gradually increases from 0 again; When α > β, When β is smaller, the torque is smaller, and R is relatively large, which is not suitable for constructing a relatively compact space. Therefore, in order to save space as much as possible and reduce the torque bearing of the M3 motor, the range of β is further determined According to formula (4), for the torque of the motor M2: To minimize τ2, let minimize τ2, the range of β is determined τ2 is minimized; At this time R=l2cosα (5)。 4. The integrated anodization automated control teaching experiment apparatus according to claim 3, wherein The box is provided with a cabinet door, and the minimum size L of the door is less than 1.5m, so the width w, length d and height h of the solution tank satisfy the following: θ2= θ1- θ3; (10) θ2 corresponds to the arc length l = θ2 * R min ; (11) R min Five solution grooves are distributed on the circular arc, and there is a gap between two solution grooves. The gap distance is Δx. 2l = 2θ2 * R min ≥ 4w + 4Δx ; (12) The workpiece hanger is a fingertip top, and its size is: 65*25*10cm, 8 workpieces are needed at a time, the workpieces are distributed on the opposite sides, 4 on each side, and the minimum width of the solution tank is: w=25*4+Δw ; (13) Δw is the redundant distance, which is the distance left for installing the workpiece and the frame structure for fixing the workpiece, which is 3 times the width of a single part, so: w≥25*4+Δw=25*7=175cm; (14) At the same time, the length and height of the solution tank satisfy that no collision occurs during the operation of the end of the mechanical arm; at this time, the operation of the mechanical arm is that the end needs to rotate around the M3 motor, and the M4 motor needs to keep the vertical state of the gripper, satisfying the following: Δh=l3sin(β1-α)-l3sin (β2-α); (15) Δd=l3cos(β2-α)-l3cos (β1-α); (16) Where β1=π / 2+α; And in order to ensure that the workpiece hanger does not collide with the solution tank during the process of leaving the solution tank, the minimum length of the solution tank is: d>2Δd; (17) Δh is the height of the workpiece hanger, and according to the symmetrical distribution of the workpieces on both sides, the minimum distance should be: Δh≥65+20*2=105cm ; (18) Further, since the structure and installation size of the workpiece hanger need to be considered, the longitudinal dimension needs to be increased by half of the minimum distance as a redundancy for subsequent design: Therefore, the size of the solution tank is determined as:

5. The integrated anodic oxidation automatic control teaching experiment equipment according to claim 4, characterized in that, the lower layer is provided with a mechanical arm control box, a constant temperature control box, a waste liquid barrel and a transformer; the waste liquid barrel is used for electrolyte or aluminum cleaning liquid, and the dyeing liquid is a solution contaminated after use, which cannot be directly discharged into a water outlet and needs to be discharged into the waste liquid barrel; the waste liquid barrel is made of PP material and is packaged as a chemical special reagent barrel; the water inlet of the waste liquid barrel is connected with the water outlet of the solution tank, and only receives electrolyte, aluminum cleaning liquid and solution after use of the dyeing liquid, which are all acidic solutions and are collected in the same waste liquid barrel; a leakage prevention tray is arranged below the waste liquid barrel to prevent waste liquid from flowing out.

6. The integrated anodization automated control teaching experiment apparatus according to claim 5, wherein the lower layer is further provided with an electrical cabinet, and the electrical cabinet is provided with a mechanical arm control box, an embedded main control board, a voltage converter and a direct current power supply; the voltage converter is used for converting alternating current into direct current and providing a constant voltage source for the system, which is used for power supply of the main control and the sensor; the embedded main control board is used for collection of sensor data and control of electromagnetic valves; the direct current power supply is used for power supply of the electrolytic tank in the solution tank, wherein a convex boss conductive metal sheet in the electrolytic tank is connected with the positive electrode, and an aluminum plate in the electrolytic tank is connected with the negative electrode.

7. The integrated anodization automated control teaching experiment apparatus according to claim 6, wherein the lower layer is further provided with a sensor system, and the sensor system includes a liquid level sensor and a temperature sensor; the liquid level sensor is installed in the anodic oxidation solution tank and is used for detecting the liquid level of the solution tank, judging whether the required consumables are lower than the lowest threshold value of the experiment setting, and judging whether the current workpiece hanger is in the current water tank, so as to perform electrolytic timing; the liquid level sensor is installed in the solution barrel and the waste liquid barrel, and is used for monitoring the storage state of the consumables and the waste liquid, and timely reminding the administrator to handle; the temperature sensor is installed in the sealed solution tank and is used for monitoring the temperature of the water bath sealing.

8. The method of using the integrated anodization automated control teaching experiment apparatus according to claim 1, wherein, The method comprises the following steps: S1. Before the experiment starts, the operator clamps the workpiece on the workpiece hanger and places the workpiece hanger in the specified 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 instruction, the experiment starts; S2. First, the liquid level sensor detects whether there is corresponding solution in the solution tank; if there is no solution, the main control board receives the signal of the liquid level sensor, controls the electric water valve to supplement the solution in the solution tank, and stops after the solution is supplemented to the set solution height; S3. After the experiment starts, the mechanical arm automatically clamps the hanger, and sequentially performs the cleaning, electrolysis, dyeing and sealing processes according to the set process time, so as to complete the anodic oxidation processing of the workpiece; between every two processes, water washing is performed to remove the solution remaining on the workpiece in the previous process; S4. Cleaning: the mechanical arm places the workpiece hanger on the convex boss in the cleaning tank, at this time the workpiece hanger completely enters the cleaning tank, and the cleaning process is performed; the aluminum cleaning liquid is placed in the cleaning tank, the liquid level sensor detects whether the workpiece is placed, and the water level is changed after detection, and then timing starts, and the time is 8 to 12 minutes. S5, water washing: the mechanical arm takes the workpiece hanger out of the solution tank and places it in the water washing tank. The liquid level sensor detects the water level after the workpiece is placed and transmits a signal to the embedded main control board. The main control board controls the water valve to complete the inflow and outflow of water, realizes cleaning, and the time is 2 to 5 minutes; S6, electrolysis: the mechanical arm takes the workpiece hanger out of the water washing tank and places it in the electrolysis tank. The horizontal metal shaft of the hanger contacts the boss outside the electrolysis tank. The boss surface is made of metal and can conduct electricity. There is a spring below the boss. The mechanical arm places the workpiece hanger on the boss with a certain downward pressure to ensure close contact of the circuit. The boss is connected to the positive electrode of the DC power supply below. The DC power supply is in the open state. The electrolysis tank starts electrolysis, and the time is 20 to 40 minutes. After electrolysis is completed, water washing is performed; S7, dyeing: the mechanical arm takes the workpiece hanger out of the water washing tank and places it in 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. The main control board starts timing after detecting the change in water level by the liquid level sensor. Dyeing is performed for 10 to 20 minutes, and then the workpiece hanger is taken out and washed with water; S8, hole sealing: the mechanical arm takes the workpiece hanger out of the water washing tank and places it in the hole sealing 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. The hole sealing tank uses water bath sealing. The temperature sensor detects the water temperature to ensure that the water temperature is always maintained at 95-100 degrees Celsius. The main control board starts timing after detecting the change in water level by the liquid level sensor. Hole sealing is performed for 15 minutes, and then the workpiece hanger is taken out and washed with water; S9, complete anodic oxidation work.

Images