A manipulator for a painting workshop

Abstract

The present invention discloses a manipulator for a painting workshop, belonging to the technical field of manipulators. It includes a support arm, and a plurality of clamping rods are symmetrically arranged on the lower side of the support arm. Each group of two symmetric clamping rods clamp the parts. A rubber pad is fixedly installed on the outer wall of the clamping rod. A guide groove is opened on one side of the clamping rod, and an electric push rod is arranged inside the guide groove. One end of the electric push rod located inside the clamping rod is fixedly installed with a compression spring, and one end of the compression spring far away from the electric push rod is fixedly installed with a push plate. A first pressure sensor is embedded in the guide groove. An information input module is installed on the support arm, and an information processing module is also installed on the support arm. Through the data processing module and the evaluation module provided by the present invention, the pressure that needs to be applied to the parts to be processed can be effectively calculated, avoiding damage to the parts to be processed caused by excessive pressure applied to them, and also avoiding insufficient clamping force caused by too small applied pressure, which may lead to shaking or dropping of the parts during the painting process.

Description

Technical Field

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

[0002] The manipulators used in painting workshops are mainly used to improve painting efficiency, improve painting quality, reduce labor costs and enhance safety. They come in a wide variety of types and have different functions according to different application scenarios and painting processes.

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

[0004] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a manipulator for a painting workshop.

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

[0006] A manipulator for a painting workshop includes a support arm. A plurality of clamping rods are symmetrically arranged on the lower side of the support arm. Each pair of symmetric clamping rods clamp the parts. A rubber pad is fixedly installed on the outer wall of the clamping rods;

[0007] A guide groove is opened on one side of the clamping rod. An electric push rod is arranged inside the guide groove. The end of the electric push rod far from the clamping rod is fixedly connected to the support arm. A compression spring is fixedly installed at the end of the electric push rod located inside the clamping rod. A push plate is fixedly installed at the end of the compression spring far from the electric push rod. A first pressure sensor is embedded in the guide groove. The end of the push plate far from the compression spring presses against the first pressure sensor;

[0008] An information input module is installed on the support arm to store the weight information and surface area information of each part;

[0009] An information processing module is also installed on the support arm. The information processing module judges the magnitude of the pressure that the clamping rod needs to exert on the part according to the information transmitted by the information input module.

[0010] Further, a negative pressure chamber is provided inside the clamping rod. A vacuum machine for evacuating the negative pressure chamber is installed on the upper side of the clamping rod. Air inlet holes are provided at the lower end and the side surface of the clamping rod, and electronic valves are installed inside the air inlet holes.

[0011] Further, a control module is installed on the support arm. The control module is used to control 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 second pressure sensor is installed on the side surface 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.

[0012] Further, a pressure detector is installed inside the negative pressure chamber. The pressure detector sends the detected negative pressure intensity inside the negative pressure chamber to the information processing module.

[0013] Further, the information processing module calculates the overall pressure that needs to be applied to the part when clamping and lifting the part through the following formula:

[0014] ;

[0015] where F represents the overall pressure that needs to be applied to the part when clamping and lifting the part, P is the value of the first pressure sensor, △P is the negative pressure intensity inside the negative pressure chamber, A is the cross-sectional area at the connection between the air inlet hole and the outside, M is the friction coefficient between the rubber pad and the part, G1 is the weight of the part to be processed, G is the weight of the reference part, K is the pressure difference that needs to be exceeded when clamping each kilogram of the part, S is the overall area that needs to be painted on the part, H is the thickness of the painting material required, ρ is the density of the painting material, and g is the acceleration due to gravity.

[0016] Further, an evaluation module is installed on the support arm. The thickness of the material of the part to be processed is input into the information input module, and the information is transmitted to the evaluation module through the information input module. Then, by training the random forest regression model, the number of clamps required, that is, the number of clamping rods required, is evaluated according to the material thickness and weight of the part to be processed.

[0017] Further, the evaluation module evaluates the number of clamping rods required in the following manner:

[0018] ;

[0019] where N is the number of clamping rods required, B1 is the thickness of the part to be processed that needs to be clamped and fixed, B is the material with a thickness of 1 mm, and L is the pressure that can be borne by each millimeter of the material without deformation;

[0020] The pressure applied by each clamping rod to the part is calculated through the following formula:

[0021] ;

[0022] Where 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.

[0023] Further, a plurality of metal tubes are provided through the position of the rubber pad corresponding to the air inlet holes, and the metal tubes are slidably connected to the clamping rods.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] (1) Through the data processing module and the evaluation module provided in the present invention, the pressure that needs to be applied to the part to be processed can be effectively calculated, avoiding damage to the part to be processed caused by excessive pressure applied, and also avoiding insufficient clamping force caused by too small pressure applied, which may lead to shaking or falling of the part during the painting process.

[0026] (2) Through the evaluation module provided in the present invention, the number of clamping rods required can be reasonably judged according to the thickness of the material at the fixed point of the part to be processed, so as to effectively control the number within a reasonable range and avoid damage to the part to be processed caused by excessive suction force.

[0027] (3) Through the data processing module and the evaluation module provided in the present invention, the increased weight of the part to be processed after painting can be estimated, and the required clamping force can be predicted in advance, so as to ensure that the part can remain stable during the painting process and will not be damaged by excessive force applied to the part. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 is a schematic diagram of the internal structure of the clamping rod of the present invention;

[0030] Figure 3 is the Figure 2 enlarged schematic diagram of the structure at A in the present invention;

[0031] Figure 4 is a schematic diagram of the partial structure of the air inlet hole of the present invention;

[0032] Figure 5 is a schematic diagram of the system framework of the present invention;

[0033] Figure 6 is a schematic diagram of the system flow of the present invention.

[0034] Explanation of the reference numerals in the drawings:

[0035] 1. Support arm; 101. Information input module; 102. Information processing module; 103. Control module; 104. Evaluation module;

[0036] 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 hole; 210. Electronic valve; 211. Second pressure sensor; 212. Pressure detector; 213. Metal pipe. Detailed implementation manner

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] Please refer to Figures 1 to 6 , a manipulator for a painting workshop, including 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 symmetric clamping rods 2 clamp parts, and a rubber pad 201 is fixedly installed on the outer wall of the clamping rod 2;

[0039] A guide groove 202 is opened on one side of the clamping rod 2. An electric push rod 203 is arranged 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 installed with a compression spring 204. One end of the compression spring 204 away from the electric push rod 203 is fixedly installed with a push plate 205. A first pressure sensor 206 is embedded inside the guide groove 202. One end of the push plate 205 away from the compression spring 204 presses against the first pressure sensor 206;

[0040] An information input module 101 is installed on the support arm 1 to store the weight information and surface area information of each part;

[0041] An information processing module 102 is also installed on the support arm 1. The information processing module 102 judges the magnitude of the pressure that the clamping rod 2 needs to exert on the part according to the information transmitted by the information input module 101. A negative pressure chamber 207 is opened 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 opened at the lower end and the side of the clamping rod 2, and electronic valves 210 are installed inside the air inlet holes 209.

[0042] 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, generating suction through the air inlet hole 209, and thus pulling the part.

[0043] A control module 103 is installed on the support arm 1. 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. There are two second pressure sensors 211 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.

[0044] By adopting the above technical solution, the two second pressure sensors 211 can automatically determine whether the pressure comes from the lower end or the side of the clamping rod 2 when under pressure, thereby controlling the opening of the corresponding electronic valve 210 through the control module 103. At the same time, the other electronic valve 210 is controlled to close.

[0045] A pressure detector 212 is installed inside the negative pressure chamber 207. The pressure detector 212 sends the detected negative pressure intensity inside the negative pressure chamber 207 to the information processing module 102.

[0046] The information processing module 102 calculates the overall pressure that needs to be applied to the part when clamping and lifting the part through the following formula:

[0047] ;

[0048] Where, F represents the overall pressure that needs to be applied to the part when clamping and lifting the part, P is the value of the first pressure sensor 206, △P is the negative pressure intensity inside the negative pressure chamber 207, A is the cross-sectional area at the connection between the air inlet hole 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 reference part, 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 to be painted, H is the thickness of the painting material required, ρ is the density of the painting material, and g is the acceleration due to gravity.

[0049] By adopting the above technical solution, through the information input module 101, the force required to stably clamp the part can be calculated, ensuring that the part will not break away from the clamping rod 2 and fall during the painting process, and ensuring the stability of the part during the painting process.

[0050] An evaluation module 104 is installed on the support arm 1. The thickness of the part material 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 jigs required, that is, the number of clamping rods 2 required, is evaluated according to the material thickness and weight of the part to be processed.

[0051] The evaluation module 104 evaluates the required number of clamping rods 2 in the following way:

[0052] ;

[0053] Where N is the required number of clamping rods 2, B1 is the thickness of the part to be processed at the clamping and fixing points, B is the material with a thickness of 1 mm, and L is the pressure that each millimeter of the material can withstand without deformation;

[0054] The pressure exerted by each clamping rod 2 on the part is calculated by the following formula:

[0055] ;

[0056] Where V is the pressure that each clamping rod 2 needs to exert on 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.

[0057] 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 part to be processed caused by excessive force on the same fixed stress point. Among them, 1 is an additional set of clamping rods 2, which can avoid damage to the part caused by excessive force on the clamping points due to uneven force on the part during the painting process. And by calculating the pressure that each clamping rod 2 needs to exert on the surface of the part, it is possible to control the electric push rod 203 and the vacuum machine 208 to stop working when the pressure data received by the second pressure sensor 211 is the same as V, avoiding damage to the pressure point of the part caused by the continuous operation of the electric push rod 203 and the vacuum machine 208 resulting in an increase in the pressure between the clamping rod 2 and the surface of the part.

[0058] 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 rods 2; when the rubber pad 201 is compressed, the metal tubes 213 will move with the rubber pad 201, so that the air inlet holes 209 can always remain open.

[0059] The above is only a preferred specific embodiment of the present invention; however, the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its improved concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A manipulator for a painting workshop, comprising a support arm (1), characterized in that: A plurality of clamping rods (2) are symmetrically arranged on the lower side of the support arm (1). Each pair of symmetric clamping rods (2) clamps a part, and a rubber pad (201) is fixedly installed on the outer wall of the clamping rod (2); A guide groove (202) is formed on one side of the clamping rod (2). An electric push rod (203) is arranged 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 installed with a compression spring (204). One end of the compression spring (204) away from the electric push rod (203) is fixedly installed with a push plate (205). A first pressure sensor (206) is embedded inside the guide groove (202). One 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) judges the magnitude of the pressure that the clamping rod (2) needs to apply to the part according to the information transmitted by the information input module (101); A negative pressure cavity (207) is formed inside the clamping rod (2). A vacuum machine (208) for evacuating the negative pressure cavity (207) is installed on the upper side of the clamping rod (2). Air inlet holes (209) are formed in the lower end and the side surface of the clamping rod (2), and electronic valves (210) are installed inside the air inlet holes (209); A control module (103) is installed on the support arm (1). The control module (103) is used to control the electronic valve (210), the vacuum machine (208) and the electric push rod (203) to work. Two second pressure sensors (211) are arranged between the rubber pad (201) and the clamping rod (2). One second pressure sensor (211) is installed on the side surface 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); A pressure detector (212) is installed inside the negative pressure cavity (207). The pressure detector (212) sends the detected negative pressure intensity inside the negative pressure cavity (207) to the information processing module (102); The information processing module (102) calculates the overall pressure that needs to be applied to the part when clamping and lifting the part through the following formula: ； Wherein, F represents the overall pressure that needs to be applied to the part when clamping and lifting the part, P is the value of the first pressure sensor (206), △P is the negative pressure intensity inside the negative pressure cavity (207), A is the cross-sectional area at the connection between the air inlet hole (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 reference part, K is the pressure difference that needs to be exceeded when clamping each kilogram of the part, S is the overall area that the part needs to be painted, H is the thickness of the painting material required, ρ is the density of the painting material, and g is the acceleration due to gravity.

2. The manipulator for a painting workshop according to claim 1, characterized in that: An evaluation module (104) is installed on the support arm (1). The thickness of the part material 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 jigs required, that is, the number of clamping rods (2) required, is evaluated according to the material thickness and weight of the part to be processed.

3. The manipulator for a painting workshop according to claim 2, characterized in that: The evaluation module (104) evaluates the required number of clamping rods (2) in the following manner: ； Where N is the required number of clamping rods (2), B1 is the thickness of the clamping and fixing points required for the part to be processed, B is the material with a thickness of 1 mm, and L is the pressure that each millimeter of the material can withstand without deformation; The pressure exerted on the part by each clamping rod (2) is calculated by the following formula: ； Where V is the pressure that each clamping rod (2) needs to exert on 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.

4. The manipulator for a painting workshop according to claim 3, 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 rods (2).

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