Lightning rod spraying robot and grabbing and clamping determination method based on genetic algorithm

Abstract

The invention relates to the field of robot spraying, and discloses a lightning rod spraying robot which comprises a lifting assembly, a spraying assembly and at least two clamping assemblies, the lifting assembly comprises an outer frame, and the inner side of the outer frame is slidably connected with an inner frame; the spraying assembly is connected to the top of the lifting assembly. The two clamping assemblies are connected to the outer frame and the inner frame correspondingly, each clamping assembly comprises a clamping jaw, the effective clamping length L of each clamping jaw is obtained based on a genetic algorithm, and the genetic algorithm considers the curvature radius R of the inner surface of each clamping jaw and the section thickness T of each clamping jaw based on comprehensive factors to solve the optimal effective clamping length L; the comprehensive factors comprise adaptability, safety and light weight. The device has the beneficial effects that alternate climbing type continuous lifting motion is achieved, surface indentation or structural damage of the lightning rod caused by improper clamping pressure is prevented, and the clamping stability of the robot in the whole spraying process is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotic spraying, and more specifically to a lightning rod spraying robot and a gripping determination method based on a genetic algorithm. Background Technology

[0002] In the operation and maintenance of lightning rods, the surface anti-corrosion spraying is of paramount importance. Lightning rods are exposed to the outdoors for extended periods, subjected to wind, rain, sun, and corrosive media. The surface coating is prone to aging and peeling. If not sprayed and maintained in a timely manner, the corrosion of the lightning rod will be accelerated, affecting its lightning protection performance and posing a threat to the safety of the protected buildings and equipment.

[0003] Currently, determining the effective gripping length of lightning rod coating robots relies heavily on manual experience, lacking a systematic optimization mechanism based on multiple performance objectives. This leads to numerous key problems in actual operations. When the gripper length is set to a shorter value based on experience, while it can grip smaller diameter lightning rods, the contact area between the gripper and the rod is too small, causing the gripping pressure to far exceed the 120N safety threshold. This easily damages the lightning rod surface and poses a risk of slippage due to pressure overload. Conversely, when the gripper length is set to a longer value to accommodate larger diameter lightning rods, although the maximum compatible diameter can be extended to 252mm, the weight of a single gripper approaches the 200g load limit, significantly increasing the operational burden on the lifting drive module. This not only reduces lifting stability but also indirectly slows down work efficiency. This experience-driven design mode struggles to balance the requirements of diameter adaptability, gripping safety, and lightweight design, directly resulting in poor robot gripping stability, easy damage to lightning rods, and an inability to meet the requirements of full-size adaptability and high efficiency in lightning rod coating operations. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the existing lightning rod spraying robots have poor clamping stability and are prone to damaging the lightning rod. The purpose is to provide a lightning rod spraying robot and a gripping determination method based on genetic algorithm, so as to realize the continuous lifting and lowering movement of alternating climbing, prevent the lightning rod surface indentation or structural damage caused by improper clamping pressure, and ensure the clamping stability of the robot throughout the spraying process.

[0005] This invention is achieved through the following technical solution:

[0006] A lightning rod painting robot includes a lifting assembly, a painting assembly, and at least two clamping assemblies. The lifting assembly includes an outer frame, and an inner frame is slidably connected to the inner side of the outer frame. The painting assembly is connected to the top of the lifting assembly. The two clamping assemblies are respectively connected to the outer frame and the inner frame. Each clamping assembly includes a gripper. The effective clamping length L of the gripper is obtained based on a genetic algorithm. The genetic algorithm solves for the optimal effective clamping length L based on comprehensive factors, including adaptability, safety, and lightweight.

[0007] The beneficial effects of this invention are that by slidably connecting the outer frame and inner frame of the lifting assembly and setting two clamping components, one clamping component can be fixed to the lightning rod as a support point during operation, while the other clamping component can be released and slide with the frame, realizing an alternating climbing-style continuous lifting motion. By using the core input parameters of the genetic algorithm (radius of curvature R of the inner surface of the gripper and thickness T of the gripper section) and the optimization objective (comprehensively considering adaptability, safety, and lightweight), the optimal effective clamping length L is obtained. This ensures that the final determined gripper length can achieve the optimal force distribution on lightning rods of different diameters (within the range of lightning rod diameters), avoiding excessive local stress. This prevents surface indentation or structural damage to the lightning rod caused by improper clamping force, ensuring the clamping stability of the robot throughout the spraying process, eliminating the risk of pause, reset, or even fall caused by clamping instability, and thus ensuring the continuity of the spraying process and overall work efficiency.

[0008] In some embodiments, the lifting assembly further includes a drive motor, two racks, and two gears. The two racks are respectively connected to the two side walls of the inner cavity of the outer frame and extend along the length of the side walls. The drive motor is a dual-axis extension servo motor connected to the inner frame. Each of the two output shafts of the drive motor is connected to a rotating shaft via a coupling. The gears are connected to the corresponding rotating shafts, and the rotating shafts mesh with the corresponding racks. By transmitting the torque of the two output shafts of the dual-axis extension servo motor through synchronous meshing on both sides and transmission via the racks, the off-center loading and jamming phenomena that may occur due to unilateral force during lifting are effectively avoided. This ensures the linear motion accuracy of the robot along the lightning rod axis, avoids abnormal friction between the grippers and the lightning rod surface caused by equipment shaking, and reduces the risk of scratching the lightning rod.

[0009] In some embodiments, a guide rail is provided on the inner side of the outer frame, and sliders that cooperate with the corresponding guide rails are provided on both sides of the inner frame. By setting the guide rails and sliders, high-precision linear guidance is provided for the lifting movement, limiting the radial sway and circumferential rotation of the inner frame during the lifting process, ensuring the accuracy of the spraying trajectory, improving the uniformity of the coating, and ensuring that the clamping assembly maintains the correct relative position with the lightning rod during the alternating clamping process, avoiding the edge of the clamps from biting or scratching the surface of the lightning rod due to positional misalignment.

[0010] In some embodiments, lifting cylinders are provided on both sides of the bottom of the outer frame. The free end of the piston rod of the lifting cylinder is connected to the mounting plate on which the spraying assembly is installed. Guide rods are provided on the outer side of the outer frame. The guide rods are telescopic rods, and the free end of the telescopic rods is connected to the mounting plate. By connecting the lifting cylinders at the bottom of the frame to the mounting plate, the spraying assembly can be quickly and precisely adjusted within a small range while the main lifting frame is fixed.

[0011] In some embodiments, the clamping assembly includes an electric actuator, a connector, and two clamping arms. The output shaft of the electric actuator is connected to the connector, the two clamping arms are hinged at their middle portions, and one end of each clamping arm is hinged to the connector. The grippers are connected to the free ends of the corresponding clamping arms. By using an electric actuator to drive the clamping assembly, the electric actuator drives the two centrally hinged clamping arms to open and close, forming a stable and reliable parallel four-bar linkage variant. This ensures that the two grippers move in an approximately linear fashion during clamping, allowing them to smoothly contact or leave the lightning rod surface at a near-vertical angle, avoiding the scratching that may occur with rotating grippers. Combined with the gripper length optimized by a genetic algorithm, this transmission method can most effectively convert the optimized clamping force into stable surface contact, balancing the reliability of clamping with the protection of the lightning rod.

[0012] In some embodiments, the clamping assembly further includes two housings and a central hinge. The central hinge is circular, and the inner sides of both clamping arms are provided with arcuate portions that can slide along the outer side of the central hinge. The two housings are respectively connected to the upper and lower sides of the clamping arms. Each housing has a guide hole, and the connecting member can move along the guide hole. The housing is connected to an inner frame or an outer frame. By providing housings and a central circular hinge, robust encapsulation and precise guidance are provided for the movement of the clamping arms. The sliding of the arcuate portions along the hinge and the movement of the connecting member within the guide hole together constrain the movement trajectory of the clamping arms, making their opening and closing process smoother.

[0013] This invention also provides a gripper determination method based on a genetic algorithm, used to determine the effective gripping length L of the gripper in the lightning rod spraying robot, comprising:

[0014] S1. Determine the main factors affecting the clamping stability of the gripper and obtain the factors, which include the effective clamping length L of the gripper, the radius of curvature R of the inner surface of the gripper, and the cross-sectional thickness T of the gripper;

[0015] S2. Establish a gripper optimization configuration model, encode the effective gripping length L, the radius of curvature R of the inner surface of the gripper, and the cross-sectional thickness T of the gripper, and perform iterative optimization based on a genetic algorithm to solve for the optimal effective gripping length L.

[0016] S3. Set the gripper according to the calculated optimal gripper effective gripping length L.

[0017] In some embodiments, the specific steps of S2 are as follows:

[0018] The specific steps of S2 are as follows:

[0019] S2.1 Set the number of iterations for the genetic algorithm and the number of individuals in each generation of the population;

[0020] S2.2 Establish a gripper optimization configuration model, which includes an objective function and constraints;

[0021] The objective function is:

[0022] ;

[0023] in, , and These are the weighting coefficients. To adapt the sub-function, For security subfunctions, For lightweight subfunctions;

[0024] S2.3. Encode the effective clamping length L, the radius of curvature R of the inner surface of the gripper, and the thickness T of the gripper section to obtain the encoding value of the individual. Based on the constraints, randomly generate an initial population of several individuals and let this initial population be the parent population. The encoding value of each individual includes the effective clamping length L, the radius of curvature R of the inner surface of the gripper, and the thickness T of the gripper section.

[0025] S2.4. Input the encoded values ​​of each individual in the parent population into the simulation system for mechanical simulation to obtain the performance index corresponding to each combination of design variables. The performance index includes the effective contact area between the gripper and the lightning rod. Uniformity of pressure distribution Diameter coverage area The ratio of the maximum working stress of the gripper to the allowable stress of the material. Total mass of gripper design ;

[0026] S2.5. Based on the performance index obtained in S2.4, calculate the objective function value of each individual in the parent population, and use the objective function value F directly as the fitness value of the individual. Then, sort all individuals in the population according to their fitness values.

[0027] S2.6. Save the top M individuals with the largest fitness values ​​in the parent population. Select individuals from all individuals other than the top M individuals with the largest fitness values ​​using a roulette wheel to perform crossover and mutation operations to obtain offspring individuals. Calculate the fitness values ​​of the offspring individuals after crossover and mutation, sort them, and reinsert the offspring individuals into the parent population according to their fitness values. Select a set number of individuals to form a new parent population, and then return to S2.4.

[0028] S2.7. Repeat S2.4-S2.6 until the required number of iterations is reached or the objective function value is within a specified threshold range. The resulting parent population is the feasible solution set, and the parent individuals in the parent population are the feasible individuals. Through iteration, the population continuously evolves towards higher fitness (i.e., better overall performance), ultimately outputting a fully validated and reliable gripper length L, thus ensuring high performance and high reliability of the gripping component from the design and manufacturing stage.

[0029] In some embodiments, the fitness function .

[0030] In some embodiments, the expression of the adaptability subfunction is:

[0031] ;

[0032] in, This refers to the effective contact area between the clamping claw and the lightning rod. For uniform pressure distribution, The diameter coverage area;

[0033] The expression for the security sub-function is:

[0034] ;

[0035] in, This is the ratio of the maximum working stress of the gripper to the allowable stress of the material. For overload protection performance;

[0036] The expression for the lightweight subfunction is:

[0037] ;

[0038] in, The total mass of the gripper is designed for... The maximum acceptable gripper mass is defined by the following subfunctions: the adaptability subfunction multiplies the effective contact area, uniform pressure distribution, and wide adaptability range; any deficiency in any of these factors directly reduces the total score, forcing the optimization result to simultaneously meet all three requirements. The safety subfunction also uses a product form, emphasizing that material strength and overload protection are both indispensable. The lightweight subfunction is directly guided by the mass ratio. All three factors work together to ensure the optimized gripper length L, guaranteeing robot gripping stability, preventing damage to the lightning rod, and meeting the requirements of full-size adaptability and safety / efficiency in lightning rod spraying operations.

[0039] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0040] 1. Achieve continuous lifting and lowering motion in an alternating climbing manner, so that the final determined gripper length can achieve optimal force distribution on lightning rods of different diameters (within the range of lightning rod diameters), preventing surface indentations or structural damage to the lightning rod caused by improper gripping force, and ensuring the stability of the robot's gripping throughout the entire spraying process.

[0041] 2. The maximizing gripping adaptability subfunction ensures the gripper's fit and anti-slip capability with lightning rods of different diameters; the structural safety subfunction directly relates to the material's strength limit and the system's overload protection mechanism, preventing gripper failure or crushing of the lightning rod; the minimizing lightweight subfunction optimizes energy consumption and motion inertia while maintaining performance. The synergistic consideration of these three subfunctions results in a final gripper length L that achieves an optimal balance among multiple conflicting objectives (diameter adaptability, gripping safety, and lightweighting), ensuring robot gripping stability, preventing damage to the lightning rod, and meeting the requirements of full-size adaptability and safety / efficiency in lightning rod painting operations. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0043] Figure 1 This is a structural diagram of the present invention;

[0044] Figure 2 This is a structural diagram of the invention from another perspective;

[0045] Figure 3 This is a structural diagram of the clamping component in this invention;

[0046] Figure 4 This is a partial structural diagram of the clamping component in this invention.

[0047] The attached diagram shows the markings and corresponding component names:

[0048] Clamping assembly 10, gripper 11, clamping arm 12, electric push rod 13, connector 14, central hinge 15, outer shell 16, guide hole 161, lifting assembly 20, outer frame 21, lifting cylinder 211, guide rod 22, drive motor 23, rack 25, inner frame 26, robotic arm 30, mounting plate 31, fixture 32, spray gun 33. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0050] Throughout this specification, references to "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases "an embodiment," "an example," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] In the description of this invention, the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0052] The terms "first," "second," etc., used in this invention are merely for clarity of description and are not intended to limit any order or emphasize importance. Furthermore, the term "connection" as used herein, unless otherwise specified, can refer to a direct connection or an indirect connection via other components.

[0053] Example 1

[0054] like Figures 1-4 As shown in Embodiment 1, a lightning rod painting robot is provided, including a lifting assembly 20, a painting assembly, and at least two clamping assemblies 10. The lifting assembly 20 includes an outer frame 21, and an inner frame 26 is slidably connected to the inner side of the outer frame 21. The painting assembly is connected to the top of the lifting assembly 20. The two clamping assemblies 10 are respectively connected to the outer frame 21 and the inner frame 26. Each clamping assembly 10 includes a gripper 11, and the effective clamping length L of the gripper 11 is obtained based on a genetic algorithm. Through multi-objective optimization using a genetic algorithm, the final determined gripper 11 length can achieve optimal force distribution on lightning rods of different diameters (within the range of lightning rod diameters), avoiding excessive local stress. This prevents surface indentation or structural damage to the lightning rod caused by improper clamping force, ensuring the robot's clamping stability throughout the painting process, eliminating the risk of pauses, resets, or even falls caused by clamping instability, and thus ensuring the continuity of the painting process and overall work efficiency.

[0055] See Figure 1 and Figure 2 The lifting assembly 20 also includes a drive motor 23, two racks 25, and two gears. The two racks 25 are respectively connected to the two side walls of the inner cavity of the outer frame 21 and extend along the length of the side walls. The drive motor 23 is a dual-axis extension servo motor, which is connected to the inner frame 26. Each of the two output shafts of the drive motor 23 is connected to a rotating shaft via a coupling. The gears are connected to the corresponding rotating shafts, and the rotating shafts mesh with the corresponding racks 25. By transmitting the torque of the two output shafts of the dual-axis extension servo motor through synchronous meshing on both sides and transmission with the racks 25, the off-center loading and jamming phenomena that may occur due to unilateral force during lifting are effectively avoided. This ensures the linear motion accuracy of the robot along the lightning rod axis, avoids abnormal friction between the gripper 11 and the lightning rod surface due to equipment shaking, and reduces the risk of scratching the lightning rod.

[0056] See Figure 1 and Figure 2 The outer frame 21 has a guide rail on its inner side, and the inner frame 26 has sliders on both sides that cooperate with the corresponding guide rails. By setting the guide rails and sliders, high-precision linear guidance is provided for the lifting movement, limiting the radial sway and circumferential rotation of the inner frame 26 during the lifting process, ensuring the accuracy of the spraying trajectory, improving the uniformity of the coating, and ensuring that the clamping assembly 10 maintains the correct relative position with the lightning rod during the alternating clamping process, avoiding the edge of the clamp 11 from biting or scratching the surface of the lightning rod due to positional deviation.

[0057] See Figure 1 and Figure 2The outer frame 21 has lifting cylinders 211 on both sides of its bottom. The free end of the piston rod of the lifting cylinder 211 is connected to the mounting plate 31 on which the spraying assembly is installed. Guide rods 22 are provided on the outer side of the outer frame 21. These guide rods 22 are telescopic rods, and their free ends are connected to the mounting plate. By connecting the lifting cylinders 211 at the bottom of the frame to the mounting plate 31, the spraying assembly can be quickly and precisely adjusted within a small range while the main lifting frame is fixed.

[0058] See Figures 1-4 The clamping assembly 10 includes an electric push rod 13, a connector 14, and two clamping arms 12. The output shaft of the electric push rod 13 is connected to the connector 14. The two clamping arms 12 are hinged at their middle sections, and one end of each clamping arm 12 is hinged to the connector 14. The grippers 11 are connected to the free ends of the corresponding clamping arms 12. By using the electric push rod 13 to drive the clamping assembly 10, the electric push rod 13 drives the two centrally hinged clamping arms 12 to open and close, forming a stable and reliable parallel four-bar linkage variant. This ensures that the two grippers 11 move in an approximately linear motion during clamping, allowing them to smoothly contact or leave the lightning rod surface at a near-vertical angle, avoiding possible scratching by the rotating grippers 11. Combined with the genetic algorithm-optimized gripper 11 length, this transmission method can most effectively convert the optimized clamping force into stable surface contact, balancing clamping reliability and protection of the lightning rod. The inner surface of the gripper 11 is provided with an anti-slip structure (such as rubber bumps or anti-slip texture).

[0059] See Figures 1-4 The clamping assembly 10 further includes two outer shells 16 and a central hinge 15. The central hinge 15 is circular, and the inner sides of both clamping arms 12 are provided with arc-shaped portions. The arc-shaped portions can slide along the outer side of the central hinge 15. The two outer shells 16 are respectively connected to the upper and lower sides of the clamping arms 12. The outer shells 16 are provided with guide holes 161, and the connecting member 14 can move along the guide holes 161. The outer shells 16 are connected to the inner frame 26 or the outer frame 21. By setting the outer shells and the central circular hinge, a robust enclosure and precise guidance are provided for the movement of the clamping arms 12. The sliding of the arc-shaped portions along the hinge and the movement of the connecting member 14 within the guide holes 161 together constrain the movement trajectory of the clamping arms 12, making its opening and closing process smoother.

[0060] See Figure 1 and Figure 2 The spraying assembly includes a robotic arm 30 connected to the upper end of the mounting plate 31, and a clamp 32 is mounted on the other end of the robotic arm 30, on which a spray gun 33 is mounted.

[0061] Specifically, it also includes an intelligent control module, a sensing module containing a displacement sensor, a pressure sensor inside the gripper 11, a vision sensor, and a wireless interaction module supporting 5G signals, allowing the ground terminal to display data in real time; power management uses a 24V, 20Ah lithium battery pack, equipped with an intelligent charging module (fast charging), triggering a return command when the battery level drops below 10%. Through precise control by the intelligent control module, real-time monitoring by multiple sensors (displacement, pressure, vision), and remote interaction, dynamic adjustment of spraying parameters is achieved, ensuring spraying quality and efficiency.

[0062] During operation, the four grippers 11 are simultaneously opened to their maximum extent and inserted into the side of the lightning rod. The miniature electric push rod 13 then drives the grippers 11 to close. A pressure sensor monitors the clamping force in real time, stopping once a preset value is reached, thus completing the fixation. The intelligent control module triggers a preset program, causing the 6-axis robotic arm 30 to unfold. The rotating joints rotate at a set speed, driving the spray gun 33 to move in a 360° circle around the lightning rod. Simultaneously, the gear and rack assembly 25 of the lifting drive module, along with a displacement sensor, monitors the lifting position and triggers the top spraying mode (spray gun 33 tilts to a set angle). A vision sensor collects coating images in real time, analyzes the thickness, and adjusts the rotation speed or lifting speed in case of abnormalities. After spraying, the spray arm joints automatically fold, fitting snugly against the main body to eliminate circumferential obstruction. The miniature electric push rod 13 then drives the grippers 11 to open, allowing the equipment to be removed from the side of the lightning rod.

[0063] Example 2

[0064] This embodiment 2 provides a gripper determination method based on a genetic algorithm to determine the effective gripping length L of the gripper in the lightning rod spraying robot, including:

[0065] S1. Determine the main influencing factors affecting the clamping stability of the gripper and obtain the influencing factors, which include the effective clamping length L of the gripper, the radius of curvature R of the inner surface of the gripper, and the cross-sectional thickness T of the gripper; at the same time, preset optimized fixed parameters, including the physical properties of the gripper material, the working load conditions, and the drive control constraints.

[0066] S2. Establish a gripper optimization configuration model. Based on the fixed parameters, encode the effective gripping length L, the radius of curvature R of the inner surface of the gripper, and the cross-sectional thickness T of the gripper. Then, perform iterative optimization based on a genetic algorithm to solve for the optimal effective gripping length L.

[0067] S3. Set the gripper according to the calculated optimal gripper effective gripping length L.

[0068] Specifically, the steps of S2 are as follows:

[0069] The specific steps of S2 are as follows:

[0070] S2.1 Set the number of iterations for the genetic algorithm and the number of individuals in each generation of the population;

[0071] S2.2 Establish a gripper optimization configuration model, which includes an objective function and constraints;

[0072] The objective function is:

[0073] ;

[0074] in, , and These are the weighting coefficients. To adapt the sub-function, For security subfunctions, For lightweight subfunctions;

[0075] S2.3. Encode the effective clamping length L, the radius of curvature R of the inner surface of the gripper, and the thickness T of the gripper section to obtain the encoding value of the individual. Based on the constraints, randomly generate an initial population of several individuals and let this initial population be the parent population. The encoding value of each individual includes the effective clamping length L, the radius of curvature R of the inner surface of the gripper, and the thickness T of the gripper section.

[0076] S2.4. Input the encoded values ​​of each individual in the parent population into the simulation system for mechanical simulation to obtain the performance index corresponding to each combination of design variables. The performance index includes the effective contact area between the gripper and the lightning rod. Uniformity of pressure distribution Diameter coverage area The ratio of the maximum working stress of the gripper to the allowable stress of the material. Total mass of gripper design ;

[0077] S2.5. Based on the performance indicators obtained in S2.4, calculate the objective function value for each individual in the parent population, and assign the objective function value F( Calculate the objective function value for each individual and define a fitness function, using the objective function value F directly as the individual's fitness value; finally, sort all individuals in the population according to their fitness values.

[0078] S2.6. Save the top M individuals with the largest fitness values ​​in the parent population. Select individuals from all individuals other than the top M individuals with the largest fitness values ​​using a roulette wheel to perform crossover and mutation operations to obtain offspring individuals. Calculate the fitness values ​​of the offspring individuals after crossover and mutation, sort them, and reinsert the offspring individuals into the parent population according to their fitness values. Select a set number of individuals to form a new parent population, and then return to S2.4.

[0079] S2.7. Repeat S2.4-S2.6 until the required number of iterations is reached or the objective function value is within a specified threshold range. The resulting parent population is the feasible solution set, and the parent individuals in the parent population are the feasible individuals. Through iteration, the population continuously evolves towards higher fitness (i.e., better overall performance), ultimately outputting a fully validated and reliable gripper length L, thus ensuring high performance and high reliability of the gripping component from the design and manufacturing stage.

[0080] Specifically, the fitness function .

[0081] In some embodiments, the expression of the adaptability subfunction is:

[0082] ;

[0083] in, This refers to the effective contact area between the clamping claw and the lightning rod. For uniform pressure distribution, The diameter coverage area;

[0084] The expression for the security sub-function is:

[0085] ;

[0086] in, This is the ratio of the maximum working stress of the gripper to the allowable stress of the material. For overload protection performance;

[0087] The expression for the lightweight subfunction is:

[0088] ;

[0089] in, The total mass of the gripper is designed for... The maximum acceptable gripper mass is defined by the following sub-functions: the adaptability sub-function multiplies the effective contact area, uniform pressure distribution, and wide adaptability range; any deficiency in any of these factors directly reduces the total score, forcing the optimization result to simultaneously meet all three requirements. The safety sub-function also uses a product form, emphasizing that material strength and overload protection are both indispensable. The lightweight sub-function is directly guided by the mass ratio. Together, these three factors ensure that the optimized gripper length L is a scientific, objective, and optimal engineering design.

[0090] Among them, overload protection performance ,in, The actual clamping force fed back by the pressure sensor. The preset safety clamping force. Uniform pressure distribution. ),in, The standard deviation of the pressure on the contact surface, This represents the average pressure on the contact surface. The closer the value is to 1, the more uniform the pressure distribution, the less stress concentration, and the more stable the clamping.

[0091] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lightning rod spraying robot, characterized in that, include: A lifting assembly, the lifting assembly including an outer frame, the inner side of which is slidably connected to an inner frame; A spraying assembly, which is connected to the top of the lifting assembly; At least two clamping components are provided, which are respectively connected to the outer frame and the inner frame. Each clamping component includes a gripper. The effective clamping length L of the gripper is obtained based on a genetic algorithm. The genetic algorithm solves for the optimal effective clamping length L based on a combination of factors, including adaptability, safety, and lightweight.

2. The lightning rod spraying robot according to claim 1, characterized in that, The lifting assembly also includes a drive motor, two racks and two gears. The two racks are respectively connected to the two side walls of the inner cavity of the outer frame and extend along the length of the side walls. The drive motor is a dual-axis extension servo motor. The drive motor is connected to the inner frame. The two output shafts of the drive motor are connected to rotating shafts through couplings. The gears are connected to the corresponding rotating shafts, and the rotating shafts mesh with the corresponding racks.

3. The lightning rod spraying robot according to claim 2, characterized in that, The inner side of the outer frame is provided with a guide rail, and both sides of the inner frame are provided with sliders that cooperate with the corresponding guide rails.

4. The lightning rod spraying robot according to claim 2, characterized in that, Lifting cylinders are provided on both sides of the bottom of the outer frame. The free end of the piston rod of the lifting cylinder is connected to the mounting plate on which the spraying assembly is installed. Guide rods are provided on the outer side of the outer frame. The guide rods are telescopic rods, and the free end of the telescopic rods is connected to the mounting plate.

5. The lightning rod spraying robot according to claim 1, characterized in that, The clamping assembly includes an electric push rod, a connector, and two clamping arms. The output shaft of the electric push rod is connected to the connector. The two clamping arms are hinged together at the middle. One end of each clamping arm is hinged to the connector. The gripper is connected to the free end of the corresponding clamping arm.

6. The lightning rod spraying robot according to claim 5, characterized in that, The clamping assembly also includes two outer shells and a central hinge. The central hinge is circular, and the inner sides of both clamping arms are provided with arc-shaped portions. The arc-shaped portions can slide along the outer side of the central hinge. The two outer shells are respectively connected to the upper and lower sides of the clamping arms. The outer shells are provided with guide holes, and the connecting members can move along the guide holes. The outer shells are connected to the inner frame or the outer frame.

7. A gripper determination method based on a genetic algorithm, used to determine the effective gripping length L of the gripper in the lightning rod spraying robot according to any one of claims 1-6, characterized in that, include: S1. Determine the influencing factors affecting the clamping stability of the gripper and obtain the influencing factors, which include the effective clamping length L of the gripper, the radius of curvature R of the inner surface of the gripper, and the cross-sectional thickness T of the gripper; S2. Establish a gripper optimization configuration model, encode the effective gripping length L, the radius of curvature R of the inner surface of the gripper, and the cross-sectional thickness T of the gripper, and perform iterative optimization based on a genetic algorithm to solve for the optimal effective gripping length L. S3. Set the gripper according to the calculated optimal gripper effective gripping length L.

8. The gripping determination method based on genetic algorithm according to claim 7, characterized in that, The specific steps of S2 are as follows: S2.1 Set the number of iterations for the genetic algorithm and the number of individuals in each generation of the population; S2.2 Establish a gripper optimization configuration model, which includes an objective function and constraints; The objective function is: ； in, , and These are the weighting coefficients. To adapt the sub-function, For security subfunctions, For lightweight subfunctions; S2.

3. Encode the effective clamping length L, the radius of curvature R of the inner surface of the gripper, and the thickness T of the gripper section to obtain the encoding value of the individual. Based on the constraints, randomly generate an initial population of several individuals and let this initial population be the parent population. The encoding value of each individual includes the effective clamping length L, the radius of curvature R of the inner surface of the gripper, and the thickness T of the gripper section. S2.

4. Input the encoded values ​​of each individual in the parent population into the simulation system for mechanical simulation to obtain the performance index corresponding to each combination of design variables. The performance index includes the effective contact area between the gripper and the lightning rod. Uniformity of pressure distribution Diameter coverage area The ratio of the maximum working stress of the gripper to the allowable stress of the material. Total mass of gripper design ; S2.

5. Based on the performance index obtained in S2.4, calculate the objective function value of each individual in the parent population, and use the objective function value F to calculate the objective function value of each individual. Define a fitness function, and use the objective function value F directly as the fitness value of the individual. Sort all individuals in the population according to their fitness values. S2.

6. Save the top M individuals with the largest fitness values ​​in the parent population. Select individuals from all individuals other than the top M individuals with the largest fitness values ​​using a roulette wheel to perform crossover and mutation operations to obtain offspring individuals. Calculate the fitness values ​​of the offspring individuals after crossover and mutation, sort them, and reinsert the offspring individuals into the parent population according to their fitness values. Select a set number of individuals to form a new parent population, and then return to S2.

4. S2.7 Repeat S2.4-S2.6 until the number of iterations is reached or the objective function value is within the specified threshold range. The resulting parent population is the feasible solution set, and the parent individuals in the parent population are the feasible individuals.

9. The gripping determination method based on genetic algorithm according to claim 8, characterized in that, The fitness function .

10. The gripping determination method based on genetic algorithm according to claim 8, characterized in that, The expression for the adaptability subfunction is: ； in, This refers to the effective contact area between the clamping claw and the lightning rod. For uniform pressure distribution, The diameter coverage area; The expression for the security sub-function is: ； in, This is the ratio of the maximum working stress of the gripper to the allowable stress of the material. For overload protection performance; The expression for the lightweight subfunction is: ； in, The total mass of the gripper is designed for... This represents the upper limit of the acceptable maximum gripper mass.

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