Manipulator for coating workshop

Abstract

The invention discloses a manipulator for a coating workshop, which belongs to the technical field of manipulators and comprises a support arm, a plurality of clamping rods are symmetrically arranged on the lower side of the support arm, two symmetrical clamping rods in each group clamp parts, rubber pads are fixedly mounted on the outer walls of the clamping rods, guide grooves are formed in one sides of the clamping rods, and electric push rods are arranged in the guide grooves. Compression springs are fixedly installed at the ends, located in the clamping rods, of the electric push rods, push plates are fixedly installed at the ends, away from the electric push rods, of the compression springs, first pressure sensors are embedded in the guide grooves, and information input modules and information processing modules are installed on the supporting arms. By means of the data processing module and the evaluation module, the pressure needing to be applied to the to-be-machined part can be effectively calculated, and the situation that the to-be-machined part is damaged due to the fact that the pressure applied to the to-be-machined part is too large is avoided; and the situation that the part shakes or falls off in the coating process due to insufficient clamping force caused by too small applied pressure can also be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and more specifically, to a manipulator for a paint shop. Background Art

[0002] The robots used in paint shops are mainly used to improve painting efficiency, improve painting quality, reduce labor costs and enhance safety. They are of various types and have different functions depending on the application scenarios and painting processes.

[0003] When the robot is in use, it is usually necessary to clamp or suck up the parts to be processed. Commonly used robots are clamping type and suction cup type. These robots can effectively lift the parts to be painted for easy painting. However, during the use of these robots, due to the different weights of the parts to be processed, when the staff controls the clamping force or suction force of the robot, it is easy for the clamping force to be too large, resulting in the parts to be painted being squeezed and deformed. When the clamping force or suction force is insufficient, as the coating material is added to the parts to be painted, the weight of the parts to be painted will also increase accordingly. At this time, the clamping force or suction force is insufficient, resulting in the parts being painted falling off the robot and being damaged. Therefore, the present invention provides a robot for a painting workshop, which reasonably controls the clamping force or suction force of the parts to be painted. Summary of the invention

[0004] In view of the problems existing in the prior art, an object of the present invention is to provide a robot for a paint shop.

[0005] To solve the above problems, the present invention adopts the following technical solutions.

[0006] A manipulator for a paint shop, comprising a support arm, a plurality of clamping rods are symmetrically arranged on the lower side of the support arm, each group of two symmetrical clamping rods are used to clamp parts, and a rubber pad is fixedly installed on the outer wall of the clamping rod; A guide groove is provided on one side of the clamp rod, an electric push rod is provided inside the guide groove, one end of the electric push rod away from the clamp rod is fixedly connected to the support arm, one end of the electric push rod located inside the clamp rod is fixedly installed with a compression spring, one end of the compression spring away from the electric push rod is fixedly installed with a push plate, a first pressure sensor is embedded in the guide groove, and one end of the push plate away from the compression spring presses the first pressure sensor; An information entry module is installed on the support arm to store the weight information and surface area information of each part; An information processing module is also installed on the support arm, and the information processing module determines the pressure that the clamping rod needs to apply to the part according to the information transmitted by the information input module.

[0007] Furthermore, a negative pressure chamber is provided inside the clamp rod, a vacuum machine for evacuating the negative pressure chamber is installed on the upper side of the clamp rod, air inlets are provided at the lower end and side surfaces of the clamp rod, and electronic valves are installed inside the air inlets.

[0008] Furthermore, a control module is installed on the support arm, and the control module is used to control the operation of the electronic valve, the vacuum machine and the electric push rod. Two second pressure sensors are provided between the rubber pad and the clamping rod, one of the second pressure sensors is installed on the side of the clamping rod, and the other second pressure sensor is installed at the lower end of the clamping rod. When the second pressure sensor detects pressure, it sends a signal to the control module.

[0009] Furthermore, a pressure detector is installed inside the negative pressure chamber, and the pressure detector sends the detected negative pressure intensity in the negative pressure chamber to the information processing module.

[0010] Furthermore, the information processing module calculates the overall pressure that needs to be applied to the part when the part is clamped and lifted by the following formula: ; Where F represents the overall pressure that needs to be applied to the part when the part is clamped and lifted, P is the value of the first pressure sensor, △P is the negative pressure strength in the negative pressure chamber, A is the cross-sectional area of ​​the connection between the air inlet and the outside, M is the friction coefficient between the rubber pad and the part, G 1 is the weight of the part to be processed, G is the weight of the standard part for comparison, K is the pressure difference required to clamp each kilogram of the part, S is the overall area of ​​the part to be coated, H is the thickness of the material to be coated, ρ is the density of the coating material, and g is the acceleration of gravity.

[0011] Furthermore, an evaluation module is installed on the support arm, which inputs the material thickness of the parts to be processed into the information entry module, and transmits the information to the evaluation module through the information entry module. Then, by training the random forest regression model, the required number of fixtures, that is, the required number of clamping rods, is evaluated according to the material thickness and weight of the parts to be processed.

[0012] Furthermore, the evaluation module evaluates the required number of clamping rods in the following manner: ; Where N is the number of clamping rods required, B1 is the thickness of the clamping point of the part to be processed, B is the material with a thickness of 1 mm, and L is the pressure that each millimeter of material can withstand without deformation; The pressure exerted by each clamping bar on the part is calculated using the following formula: ; Wherein V is the pressure that each clamping rod needs to apply to the part. When the value received by the second pressure sensor is equal to V, the control module controls the electric push rod and the vacuum machine to stop working.

[0013] Furthermore, a plurality of metal tubes are provided through the positions of the rubber pad corresponding to the air inlet holes, and the metal tubes are slidably connected to the clamping rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The data processing module and the evaluation module provided in the present invention can effectively calculate the pressure that needs to be applied to the parts to be processed, thereby avoiding excessive pressure on the parts to be processed that may cause damage to the parts to be processed, and also avoiding insufficient clamping force that may cause the parts to shake or fall during the coating process due to insufficient pressure.

[0015] (2) The present invention can reasonably determine the required number of clamping rods according to the thickness of the material at the fixed point of the part to be processed by setting an evaluation module, thereby effectively controlling the number within a reasonable range and avoiding damage to the part to be processed due to excessive suction.

[0016] (3) The data processing module and the evaluation module provided in the present invention can estimate the increased weight of the parts to be processed after painting, and estimate the required clamping force in advance, thereby ensuring that the parts can remain stable during the painting process and will not be squeezed and damaged due to excessive force. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the internal structure of the clamping rod of the present invention; Figure 3 For the present invention Figure 2 A schematic diagram of the structure enlargement in the middle; Figure 4 It is a schematic diagram of the structure of the air inlet portion of the present invention; Figure 5 It is a schematic diagram of the system framework of the present invention; Figure 6 It is a schematic diagram of the system flow of the present invention.

[0018] Description of the numbers in the figure: 1. Support arm; 101. Information input module; 102. Information processing module; 103. Control module; 104. Evaluation module; 2. Clamping rod; 201. Rubber pad; 202. Guide groove; 203. Electric push rod; 204. Compression spring; 205. Push plate; 206. First pressure sensor; 207. Negative pressure chamber; 208. Vacuum machine; 209. Air inlet; 210. Electronic valve; 211. Second pressure sensor; 212. Pressure detector; 213. Metal pipe. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0020] See also Figures 1 to 6 A manipulator for a paint shop comprises a support arm 1, a plurality of clamping rods 2 are symmetrically arranged on the lower side of the support arm 1, each group of two symmetrical clamping rods 2 are used to clamp parts, and a rubber pad 201 is fixedly installed on the outer wall of the clamping rod 2; A guide groove 202 is provided on one side of the clamping rod 2, and an electric push rod 203 is provided inside the guide groove 202. The end of the electric push rod 203 away from the clamping rod 2 is fixedly connected to the support arm 1. A compression spring 204 is fixedly installed on the end of the electric push rod 203 located inside the clamping rod 2. A push plate 205 is fixedly installed on the end of the compression spring 204 away from the electric push rod 203. A first pressure sensor 206 is embedded inside the guide groove 202, and the end of the push plate 205 away from the compression spring 204 presses the first pressure sensor 206; An information input module 101 is installed on the support arm 1 to store the weight information and surface area information of each part; An information processing module 102 is also installed on the support arm 1. The information processing module 102 determines the amount of pressure that the clamping rod 2 needs to apply to the part based on the information transmitted by the information input module 101. A negative pressure chamber 207 is provided inside the clamping rod 2. A vacuum machine 208 for evacuating the negative pressure chamber 207 is installed on the upper side of the clamping rod 2. Air inlet holes 209 are provided at the lower end and side surfaces of the clamping rod 2, and electronic valves 210 are installed inside the air inlet holes 209.

[0021] By adopting the above technical solution, the vacuum machine 208 can extract the air inside the negative pressure chamber 207, thereby reducing the pressure inside the negative pressure chamber 207, and generating suction through the air inlet 209, thereby pulling the parts.

[0022] A control module 103 is installed on the support arm 1, and the control module 103 is used to control the operation of the electronic valve 210, the vacuum machine 208 and the electric push rod 203. Two second pressure sensors 211 are provided between the rubber pad 201 and the clamping rod 2, one of the second pressure sensors 211 is installed on the side of the clamping rod 2, and the other second pressure sensor 211 is installed at the lower end of the clamping rod 2. When the second pressure sensor 211 detects pressure, it sends a signal to the control module 103.

[0023] By adopting the above technical solution, the two second pressure sensors 211 can automatically determine whether the pressure comes from the lower end of the clamping rod 2 or the side of the clamping rod 2 when subjected to pressure, thereby controlling the opening of the corresponding electronic valve 210 through the control module 103, and at the same time, controlling the closing of the other electronic valve 210.

[0024] A pressure detector 212 is installed inside the negative pressure chamber 207 , and the pressure detector 212 sends the detected negative pressure intensity inside the negative pressure chamber 207 to the information processing module 102 .

[0025] The information processing module 102 calculates the overall pressure that needs to be applied to the part when the part is clamped and lifted using the following formula: ; Wherein, F represents the overall pressure that needs to be applied to the part when the part is clamped and lifted, P is the value of the first pressure sensor 206, ΔP is the negative pressure strength in the negative pressure chamber 207, A is the cross-sectional area of ​​the connection between the air inlet 209 and the outside, M is the friction coefficient between the rubber pad 201 and the part, G 1 is the weight of the part to be processed, G is the weight of the standard part for comparison, K is the pressure difference required to clamp each kilogram of the part, S is the overall area of ​​the part to be coated, H is the thickness of the material to be coated, ρ is the density of the coating material, and g is the acceleration of gravity.

[0026] By adopting the above technical solution, the information input module 101 can calculate the force required to stably clamp the parts, ensuring that the parts will not fall off the clamping rod 2 during the painting process, thereby ensuring the stability of the parts during the painting process.

[0027] An evaluation module 104 is installed on the support arm 1, and the material thickness of the parts to be processed is input into the information entry module 101, and the information is transmitted to the evaluation module 104 through the information entry module 101. Then, by training the random forest regression model, the required number of clamps, that is, the number of 2 clamping rods required, is evaluated according to the material thickness and weight of the parts to be processed.

[0028] The evaluation module 104 evaluates the required number of clamping rods 2 in the following manner: ; Wherein, N is the number of clamping rods 2 required, B1 is the thickness of the clamping point of the part to be processed, B is the material with a thickness of 1 mm, and L is the pressure that each millimeter of material can withstand without deformation; The pressure exerted by each clamping rod 2 on the part is calculated by the following formula: ; Wherein V is the pressure that each clamping rod 2 needs to apply to the part. When the value received by the second pressure sensor 211 is equal to V, the control module 103 controls the electric push rod 203 and the vacuum machine 208 to stop working.

[0029] By adopting the above technical solution, by evaluating the required number of clamping rods 2, it is possible to avoid deformation and damage of the parts to be processed due to excessive force on the same fixed force point, where 1 is an added group of clamping rods 2, which can avoid uneven force on the parts during the painting process, resulting in excessive force on the clamping points and damage to the parts, and by calculating the pressure that each clamping rod 2 needs to apply to the surface of the part, the electric push rod 203 and the vacuum machine 208 can be controlled to stop working when the pressure data received by the second pressure sensor 211 is the same as V, thereby avoiding the electric push rod 203 and the vacuum machine 208 continuing to work, resulting in an increase in pressure between the clamping rod 2 and the surface of the part, resulting in damage to the pressure point of the part.

[0030] A plurality of metal tubes 213 are provided through the rubber pad 201 at positions corresponding to the air inlet 209 , and the metal tubes 213 are slidably connected to the clamp rod 2 ; when the rubber pad 201 is compressed, the metal tubes 213 will move along with the rubber pad 201 , so that the air inlet 209 can always remain open.

[0031] The above are only preferred specific implementations of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and improved concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot for a paint shop, comprising an arm (1), characterized in that: A plurality of clamping rods (2) are symmetrically arranged on the lower side of the support arm (1), and each group of two symmetrical clamping rods (2) are used to clamp parts, and a rubber pad (201) is fixedly mounted on the outer wall of the clamping rod (2); A guide groove (202) is provided on one side of the clamping rod (2), an electric push rod (203) is provided inside the guide groove (202), one end of the electric push rod (203) away from the clamping rod (2) is fixedly connected to the support arm (1), one end of the electric push rod (203) located inside the clamping rod (2) is fixedly mounted with a compression spring (204), one end of the compression spring (204) away from the electric push rod (203) is fixedly mounted with a push plate (205), a first pressure sensor (206) is embedded inside the guide groove (202), and one end of the push plate (205) away from the compression spring (204) presses the first pressure sensor (206); The support arm (1) is equipped with an information input module (101) for storing weight information and surface area information of each part; An information processing module (102) is also installed on the support arm (1), and the information processing module (102) determines the amount of pressure that the clamping rod (2) needs to apply to the part based on the information transmitted by the information input module (101).

2. A coating workshop robot according to claim 1, characterized in that: A negative pressure chamber (207) is provided inside the clamp rod (2), a vacuum machine (208) for evacuating the negative pressure chamber (207) is installed on the upper side of the clamp rod (2), an air inlet (209) is provided at the lower end and side of the clamp rod (2), and an electronic valve (210) is installed inside the air inlet (209).

3. A coating workshop robot according to claim 2, characterized in that: A control module (103) is installed on the support arm (1), and the control module (103) is used to control the operation of the electronic valve (210), the vacuum machine (208) and the electric push rod (203). Two second pressure sensors (211) are provided between the rubber pad (201) and the clamping rod (2), wherein one of the second pressure sensors (211) is installed on the side of the clamping rod (2), and the other second pressure sensor (211) is installed at the lower end of the clamping rod (2). When the second pressure sensor (211) detects pressure, it sends a signal to the control module (103).

4. A coating workshop robot according to claim 3, characterized in that: A pressure detector (212) is installed inside the negative pressure chamber (207), and the pressure detector (212) sends the detected negative pressure intensity inside the negative pressure chamber (207) to the information processing module (102).

5. A coating workshop robot according to claim 4, characterized in that: The information processing module (102) calculates the overall pressure that needs to be applied to the part when the part is clamped and lifted by the following formula: ； Wherein, F represents the overall pressure that needs to be applied to the part when the part is clamped and lifted, P is the value of the first pressure sensor (206), ΔP is the negative pressure strength in the negative pressure chamber (207), A is the cross-sectional area of ​​the connection between the air inlet (209) and the outside, M is the friction coefficient between the rubber pad (201) and the part, G1 is the weight of the part to be processed, G is the weight of the standard part used as a comparison, K is the pressure difference that needs to be exceeded when clamping each kilogram of the part, S is the overall area of ​​the part that needs to be coated, H is the thickness of the material to be coated, ρ is the density of the coating material, and g is the acceleration of gravity.

6. A coating workshop robot according to claim 5, characterized in that: An evaluation module (104) is installed on the support arm (1), and the material thickness of the part to be processed is input into the information input module (101), and the information is transmitted to the evaluation module (104) through the information input module (101). Then, by training a random forest regression model, the number of clamps required, that is, the number of clamping rods (2) required, is evaluated based on the material thickness and weight of the part to be processed.

7. A coating workshop robot according to claim 6, characterized in that: The evaluation module (104) evaluates the required number of clamping rods (2) in the following manner: ； Wherein, N is the number of clamping rods (2) required, B1 is the thickness of the clamping point of the workpiece to be processed, B is the material with a thickness of 1 mm, and L is the pressure that the material can withstand per millimeter without deformation; The pressure exerted by each clamping bar (2) on the part is calculated using the following formula: ； Wherein V is the pressure that each clamping rod (2) needs to apply to the part, and when the value received by the second pressure sensor (211) is equal to V, the control module (103) controls the electric push rod (203) and the vacuum machine (208) to stop working.

8. A coating workshop robot according to claim 7, characterized in that: A plurality of metal tubes (213) are provided through the rubber pad (201) at positions corresponding to the air inlet holes (209), and the metal tubes (213) are slidably connected to the clamping rod (2).

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