Automatic spraying manipulator for railway

Abstract

The invention discloses an automatic spraying manipulator for a railway, and relates to the field of spraying manipulators, the automatic spraying manipulator comprises a movable base plate, a supporting platform is mounted at the top end of the movable base plate, an angle and position adjusting mechanism is arranged at the top end of the supporting platform, and the angle and position adjusting mechanism comprises a translation sliding rail; a translation sliding rail is installed at the top end of the supporting platform, a positioning lead screw is clamped in the translation sliding rail, the outer side of the positioning lead screw is sleeved with an inner threaded cylinder, an angle and position adjusting mechanism is arranged, and a transmission assembly is formed through cooperation of an inner cross cylinder, a cross rotating rod, a transmission adjusting rod, a transmission ring, a transmission gasket and a face gear. Power is transmitted, a driving motor conveniently drives a worm to rotate, then a worm gear, a rotating tray and an intelligent sensing mechanical arm are pushed to rotate, the spraying angle is adjusted according to needs, adaptability is improved, paint is conveniently sprayed from different angles, and missing of dead corners is prevented.

Description

Technical Field

[0001] The invention relates to the field of spraying manipulators, in particular to an automatic spraying manipulator for railways. Background Art

[0002] The railway spraying intelligent sensor manipulator is an intelligent spraying device focused on the rail transit field, aiming to improve the automation level of rail facility maintenance. By integrating a CPU processor, a visual system, and a sensor array, it plans the angle and position of the spraying. For example, an intelligent robot for spraying building walls, application number CN202011419307.7, is currently disclosed. This patent uses a foldable plate equipped with many nozzles to simultaneously spray a large area of building walls, with high efficiency and good spray uniformity. The shape of the foldable plate can also be changed.

[0003] However, this patent is not convenient for use on railway pavements and tunnel walls. At the same time, the spraying angle and position cannot be adjusted according to needs, and spraying dead angles are prone to occur, affecting the spraying effect. In addition, it is inconvenient to replace the spraying material, which affects the applicability. Therefore, in order to avoid the above technical problems in these situations, it is necessary to provide an automatic railway spraying robot to overcome the above defects in the prior art. Summary of the Invention

[0004] The present invention provides an automatic spraying robot for railways, which can effectively solve the problems raised in the above-mentioned background technology, such as the inconvenience of using it on railway pavements and tunnel walls, the inability to adjust the spraying angle and position as needed, the proneness to spraying dead angles, and the impact on the spraying effect. In addition, it is inconvenient to replace the spray material, which affects the applicability.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic spraying manipulator for railways, comprising a movable pad, a support platform mounted on the top of the movable pad, an angle and position adjustment mechanism provided on the top of the support platform, and the angle and position adjustment mechanism comprising a translation slide rail;

[0006] A translation rail is installed on the top of the support platform, a positioning screw is clamped inside the translation rail, an internal threaded barrel is sleeved on the outside of the positioning screw, a translation slide is sleeved on the outside of the internal threaded barrel, a rotating tray is rotatably connected to the top of the translation slide, and a worm gear is sleeved on the outside of the rotating tray;

[0007] A concave frame is installed at the top of the translation slide, and a worm is rotatably connected inside the concave frame. Positioning protrusions are symmetrically clamped at the top of the translation slide. An inner cross cylinder is rotatably connected inside one of the positioning protrusions. A cross rod is connected inside the inner cross cylinder. A transmission adjustment rod is clamped at one end of the cross rod, and a transmission ring is sleeved on the outer side of the transmission adjustment rod. A drive motor is installed at one end of the translation slide.

[0008] According to the above technical solution, universal wheels are symmetrically installed at the bottom end of the movable pad, the outer side of the positioning screw is connected to the inner wall of the internal threaded cylinder through a threaded connection, the worm wheel and the worm are engaged with each other, both ends of the worm shaft pass through the two ends of the concave frame, the transmission adjustment rod passes through the worm, and the outer side of the transmission adjustment rod slides in contact with the inner wall of the worm, the output shaft of the drive motor is connected to one end of the inner cross cylinder, and the drive motor is powered by an external power supply.

[0009] According to the above technical solution, an intelligent sensor manipulator is installed on the top of the rotating tray;

[0010] A traction push block is movably sleeved on the outer side of the transmission adjustment rod, and an electric push rod is connected between the traction push block and a positioning protrusion via bolts;

[0011] A transmission sleeve is rotatably connected inside the other positioning protrusion, one end of the transmission sleeve and one end of the worm shaft are both clamped with transmission washers, and adjacent ends of the two transmission washers and both ends of the transmission ring are clamped with plane gears;

[0012] One end of the translation slide is rotatably connected to a power transmission rod, the outer sides of the power transmission rod and the transmission sleeve rod are both sleeved with power transmission wheels, the outer sides of the two power transmission wheels are both sleeved with power transmission tracks, and the outer sides of the power transmission rod and the outer side of the internal threaded tube are both sleeved with transmission gear rings.

[0013] According to the above technical solution, the bottom end of the traction push block is slidably connected to the top end of the translation slide, the other end of the electric push rod is connected to one end of a positioning protrusion, the electric push rod is powered by an external power supply, and the outer side of the transmission adjustment rod is slidably fitted with the inner wall of the transmission sleeve rod.

[0014] According to the above technical solution, the diameter of the power transmission wheel on the transmission sleeve is smaller than the diameter of the power transmission wheel on the power transmission rod, the two transmission gear rings are engaged with each other, and the diameter of the transmission gear ring on the internal threaded cylinder is larger than the diameter of the transmission gear ring on the power transmission rod.

[0015] According to the above technical solution, a spray material replacement and limiting mechanism is provided on the top of the movable pad, and the spray material replacement and limiting mechanism includes a rotating base;

[0016] A rotating base is installed at the middle position of the top of the movable pad, the top of the rotating base is connected to a liquid storage cylinder by bolts, and a partition plate is equidistantly clamped inside the liquid storage cylinder, a sealing ring is sleeved at the bottom position of the outer side of the liquid storage cylinder, and a positioning support plate is equidistantly clamped on the outer side of the sealing ring, and drainage holes are equidistantly opened on the inner wall of the liquid storage cylinder at positions corresponding to the inner side of the sealing ring;

[0017] One end of the sealing ring is clamped with an extension channel, one end of the extension channel is rotatably connected to an adjustment drum, a push rod is connected to the inside of the adjustment drum through a thread, and a straight anti-deflection plate is fixedly sleeved on the outside of the push rod, and a water blocking plug pad is clamped on the other end of the push rod;

[0018] An infusion tube is clamped at the top of the extension channel, and a booster water pump is installed on the outside of the infusion tube. A telescopic adjustment tube is movably sleeved inside the infusion tube. Fixed collars are fixedly sleeved on the outsides of the telescopic adjustment tube and the infusion tube, and a return spring is clamped between the two fixed collars. A traction rope is clamped at one end of the translation slide and the top of the telescopic adjustment tube.

[0019] The top positions of both ends of the intelligent sensing manipulator are rotatably connected to the swing frame, the top of the swing frame is connected to a splicing frame by bolts, the bottom of the splicing frame is installed at a position corresponding to one side of the swing frame, and one end of the splicing frame is clamped with an infusion hose, and the middle position of the top of the intelligent sensing manipulator is clamped with an N-shaped frame, and the inside of the N-shaped frame is rotatably connected to a guide wheel;

[0020] A splicing screw is clamped at the bottom end of the swing frame, a counterweight ball head is threadedly sleeved at the bottom position of the outer side of the splicing screw, a rotating traction frame is rotatably connected to the outer side of the splicing screw, a telescopic slide rod is clamped at one end of the rotating traction frame, a storage sleeve is hinged at the bottom end of the intelligent sensing manipulator, an arc-shaped metal ring is clamped at the outer side of the telescopic slide rod, and an electromagnetic sheet is installed at the outer side of the storage sleeve corresponding to the inner side of the arc-shaped metal ring.

[0021] According to the above technical solution, the partition plate evenly divides the space inside the liquid storage cylinder into five parts, one of which stores clean water, and the other four stores spray materials of different types and colors. A liquid injection tube is clamped between two symmetrically adjacent partition plates at the top position of the outer side of the liquid storage cylinder, the bottom end of the positioning support plate is connected to the top of the movable pad, and the inner wall of the sealing ring is clamped with sealing rubber.

[0022] According to the above technical solution, grooves are symmetrically opened on the inner wall of the extended channel, and the two ends of the anti-deflection plate are respectively slidably connected to the inner wall of the groove. A retaining ring is clamped on the inner wall of the extended channel, and the inner diameter of the retaining ring is equal to the inner diameter of the drainage hole. One end of the water blocking pad is fitted with one end of the retaining ring.

[0023] According to the above technical solution, the connection between the telescopic adjustment tube and the infusion tube is filled with a leak-proof ring, the booster water pump is powered by an external power supply, and the other end of the infusion hose passes around the top of the guide wheel and is connected to the top of the telescopic adjustment tube.

[0024] According to the above technical solution, one end of the telescopic slide rod is embedded in the storage sleeve, and the outer side of the telescopic slide rod slides and fits with the inner wall of the storage sleeve. A rectangular groove is symmetrically opened on the outer side of the storage sleeve, and one end of the arc-shaped metal ring passes through the rectangular groove. The electromagnetic sheet is powered by an external power supply.

[0025] Compared with the prior art, the present invention has the following beneficial effects: the structure of the present invention is scientific and reasonable, and it is safe and convenient to use:

[0026] 1. An angle and position adjustment mechanism is set up. Through the cooperation of the inner cross cylinder, cross rotating rod, transmission adjustment rod, transmission ring, transmission gasket and plane gear, a transmission assembly is formed to transmit power, which makes it convenient for the drive motor to drive the worm to rotate, and then drives the worm wheel, rotating tray and intelligent sensor manipulator to rotate. The spraying angle can be adjusted according to needs, which improves adaptability and facilitates spraying paint from different angles to prevent omissions in blind spots.

[0027] At the same time, the cooperation of the electric push rod and the traction push block is used to facilitate the movement of the cross-rotating rod, the transmission adjustment rod and the transmission ring. Adjustments can be made as needed to release the power transmission to the worm, which facilitates the rotation of the transmission sleeve. The power transmission rod, power transmission wheel, power transmission track and transmission gear ring are then used to transmit power, drive the internal threaded barrel to rotate, and push the translation slide and the rotating tray to slide along the inside of the translation slide rail, and adjust the spraying position laterally. Angle adjustment and position adjustment can be achieved simultaneously with one motor, which improves the utilization rate of power and reduces costs. In addition, the intelligent sensing manipulator can further adjust the nozzle to facilitate spraying at different positions and angles, thereby improving adaptability.

[0028] 2. A spray material replacement and limiting mechanism is set up. By rotating the base, liquid storage cylinder, partition plate and sealing ring, the liquid storage cylinder can be rotated conveniently, and the color and type of spray material can be selected according to needs, which improves adaptability. After the spray material is selected, the seal of the discharge port is released by adjusting the cooperation of the rotating cylinder, push rod, one-line anti-deflection plate and water plug pad, which facilitates the spray material to enter the extension channel. Then, through the cooperation of the booster water pump, infusion pipe, telescopic adjustment pipe and infusion hose, the spray material is transported to the inside of the nozzle and sprayed out. At the same time, the color and type of the spray material can be changed at any time according to needs to meet different spraying requirements. When changing, the pipe and nozzle can be flushed to prevent different colors of spray materials from mixing together, thereby ensuring the effect of subsequent spraying.

[0029] The gravity of the counterweight ball head is used to drive the splicing screw and the swing frame to rotate, so that the splicing screw and the swing frame are always kept perpendicular to the horizontal plane, ensuring the levelness of the nozzle. After the swing frame is stably vertical, the electromagnetic plate is energized to adsorb and position the arc-shaped metal ring, ensuring the stability of the splicing screw, the swing frame and the nozzle. When adjusting the spraying angle and position, the stability of the nozzle is guaranteed, thereby improving the spraying effect.

[0030] Through the cooperation of the traction rope, telescopic adjustment tube, infusion tube and reset spring, when the translation slide moves, the telescopic adjustment tube is pulled to slide and rise, thereby increasing the height of the telescopic adjustment tube and the stretching distance of the infusion hose to prevent it from being torn. When resetting, the telescopic adjustment tube and the fixed ring are lowered and reset to maintain the tautness of the infusion hose, preventing wrinkles and bends, and ensuring the paint delivery effect.

[0031] In summary, the angle and position of the spraying are automatically adjusted as needed through the angle and position adjustment mechanism, which further improves the spraying effect and prevents the omission of dead angles. In addition, the cooperation between the spray material replacement and the limiting mechanism allows the spray material of different colors and types to be replaced according to needs during the spraying process, thereby improving adaptability and meeting different work needs. At the same time, during the adjustment process, the stability of the nozzle is guaranteed, thereby improving the spraying effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0033] In the attached figure:

[0034] Figure 1 It is a structural schematic diagram of the present invention;

[0035] Figure 2 Schematic diagram of the installation structure of the positioning screw rod of the present invention;

[0036] Figure 3 It is a structural schematic diagram of the angle and position adjustment mechanism of the present invention;

[0037] Figure 4 Schematic diagram of the installation structure of the transmission adjustment rod of the present invention;

[0038] Figure 5 Schematic diagram of the installation structure of the partition plate of the present invention;

[0039] Figure 6 This invention Figure 5 Schematic diagram of the structure of area A;

[0040] Figure 7 This is a schematic diagram of the installation structure of the telescopic adjustment tube of the present invention;

[0041] Figure 8 It is a structural diagram of the spray material replacement and limiting mechanism of the present invention;

[0042] Figure 9 This invention Figure 8 Schematic diagram of the structure of area B in the middle.

[0043] Numbers in the figure: 1, moving pad; 2, supporting platform;

[0044] 3. Angle and position adjustment mechanism; 301. Translational slide; 302. Positioning screw; 303. Internally threaded barrel; 304. Translational slide; 305. Rotating tray; 306. Worm gear; 307. Concave frame; 308. Worm; 309. Positioning bump; 310. Internal cross barrel; 311. Transmission adjustment rod; 312. Transmission ring; 313. Drive motor; 314. Traction push block; 315. Electric push rod; 316. Transmission sleeve; 317. Transmission gasket; 318. Plane gear; 319. Power transmission rod; 320. Power transmission wheel; 321. Power transmission track; 322. Transmission gear ring; 323. Intelligent sensing manipulator; 324. Cross rod;

[0045] 4. Spray material replacement and limit mechanism; 401. Rotating base; 402. Liquid storage cylinder; 403. Separator; 404. Sealing ring; 405. Positioning support plate; 406. Drain hole; 407. Extension channel; 408. Adjustable rotating cylinder; 409. Push rod; 410. One-line anti-deflection plate; 411. Water blocking pad; 412. Infusion tube; 413. Booster pump; 414. Telescopic adjustment tube; 41 5. Fixed collar; 416. Return spring; 417. Traction rope; 418. Swing frame; 419. Splicing frame; 420. Nozzle; 421. Infusion hose; 422. N-type frame; 423. Guide wheel; 424. Splicing screw; 425. Counterweight ball head; 426. Rotating traction frame; 427. Telescopic slide; 428. Storage sleeve; 429. Arc-shaped metal ring; 430. Electromagnetic plate. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0047] Example: Figure 1-9As shown, the present invention provides a technical solution, an automatic spraying manipulator for railways, comprising a movable pad 1, a support platform 2 is mounted on the top of the movable pad 1, an angle and position adjustment mechanism 3 is provided on the top of the support platform 2, and the angle and position adjustment mechanism 3 includes a translation slide rail 301;

[0048] A translation rail 301 is installed on the top of the support platform 2. A positioning screw 302 is clamped inside the translation rail 301. An internal threaded barrel 303 is sleeved on the outside of the positioning screw 302. A translation slide 304 is sleeved on the outside of the internal threaded barrel 303. A rotating tray 305 is rotatably connected to the top of the translation slide 304. A worm gear 306 is sleeved on the outside of the rotating tray 305.

[0049] The top of the translation slide 304 is equipped with a concave frame 307, and the concave frame 307 is internally connected to a worm 308 for rotation. The top of the translation slide 304 is symmetrically connected with a positioning protrusion 309, and an inner cross cylinder 310 is internally connected to a positioning protrusion 309 for rotation. The inner cross cylinder 310 is internally connected with a cross rod 324, and one end of the cross rod 324 is connected to a transmission adjustment rod 311, and a transmission ring 312 is sleeved on the outer side of the transmission adjustment rod 311. A driving motor 313 is installed at one end of the translation slide 304 to facilitate the driving of the rotating support. As the disk 305 rotates, universal wheels are symmetrically installed at the bottom of the movable pad 1 at equal distances. The outer side of the positioning screw 302 is connected to the inner wall of the internal threaded cylinder 303 through a threaded connection. The worm wheel 306 and the worm 308 are meshed with each other. Both ends of the rotating shaft of the worm 308 pass through the two ends of the concave frame 307. The transmission adjustment rod 311 passes through the worm 308, and the outer side of the transmission adjustment rod 311 slides and fits in contact with the inner wall of the worm 308. The output shaft of the drive motor 313 is connected to one end of the inner cross cylinder 310. The drive motor 313 is powered by an external power supply.

[0050] An intelligent sensor manipulator 323 is installed on the top of the rotating tray 305;

[0051] A traction push block 314 is movably sleeved on the outer side of the transmission adjustment rod 311, and an electric push rod 315 is connected between the traction push block 314 and a positioning protrusion 309 by bolts;

[0052] Another positioning protrusion 309 is internally connected to a transmission sleeve rod 316, one end of the transmission sleeve rod 316 and one end of the worm shaft 308 are clamped with a transmission gasket 317, and the adjacent ends of the two transmission gaskets 317 and the two ends of the transmission ring 312 are clamped with a flat gear 318; in order to facilitate the movement of the transmission adjustment rod 311, the bottom end of the traction push block 314 is slidably connected to the top of the translation slide 304, and the other end of the electric push rod 315 is connected to one end of a positioning protrusion 309. The electric push rod 315 is powered by an external power supply, and the outer side of the transmission adjustment rod 311 slides and fits in contact with the inner wall of the transmission sleeve rod 316;

[0053] One end of the translation slide 304 is rotatably connected to a power transmission rod 319. A power transmission wheel 320 is sleeved on the outer side of the power transmission rod 319 and the outer side of the transmission sleeve rod 316. A power transmission track 321 is sleeved on the outer side of the two power transmission wheels 320. A transmission gear ring 322 is sleeved on the outer side of the power transmission rod 319 and the outer side of the internal threaded cylinder 303. In order to transmit power, the diameter of the power transmission wheel 320 on the transmission sleeve rod 316 is smaller than the diameter of the power transmission wheel 320 on the power transmission rod 319. The two transmission gear rings 322 are meshed with each other, and the diameter of the transmission gear ring 322 on the internal threaded cylinder 303 is larger than the diameter of the transmission gear ring 322 on the power transmission rod 319.

[0054] A spray material replacement and limiting mechanism 4 is provided on the top of the movable pad 1, and the spray material replacement and limiting mechanism 4 includes a rotating base 401;

[0055] A rotating base 401 is installed at the middle position of the top of the movable pad 1, and a liquid storage cylinder 402 is connected to the top of the rotating base 401 by bolts, and a partition plate 403 is equidistantly clamped inside the liquid storage cylinder 402, a sealing ring 404 is sleeved at the bottom position of the outer side of the liquid storage cylinder 402, and a positioning support plate 405 is equidistantly clamped on the outer side of the sealing ring 404. Drain holes 406 are equidistantly opened on the inner wall of the liquid storage cylinder 402 corresponding to the inner position of the sealing ring 404. In order to facilitate the storage of a variety of spray materials, the partition plate 403 divides the space inside the liquid storage cylinder 402 into five parts, one of which stores clean water, and the other four stores spray materials of different types and colors. A liquid injection pipe is clamped between two symmetrically adjacent partition plates 403 at the top position of the outer side of the liquid storage cylinder 402, the bottom end of the positioning support plate 405 is connected to the top of the movable pad 1, and a sealing rubber is clamped on the inner wall of the sealing ring 404;

[0056] One end of the sealing ring 404 is clamped with an extension channel 407, and one end of the extension channel 407 is rotatably connected to an adjusting rotary cylinder 408. A push rod 409 is connected to the inside of the adjusting rotary cylinder 408 through a thread, and a straight anti-deflection plate 410 is fixedly sleeved on the outside of the push rod 409. A water blocking plug pad 411 is clamped on the other end of the push rod 409. In order to facilitate the limiting of the push rod 409, grooves are symmetrically provided on the inner wall of the extension channel 407, and the two ends of the straight anti-deflection plate 410 are respectively slidably connected to the inner wall of the groove. A retaining ring is clamped on the inner wall of the extension channel 407, and the inner diameter of the retaining ring is equal to the inner diameter of the drain hole 406. One end of the water blocking plug pad 411 fits with one end of the retaining ring;

[0057] An infusion tube 412 is clamped to the top of the extension channel 407, and a booster water pump 413 is installed on the outside of the infusion tube 412. A telescopic adjustment tube 414 is movably sleeved inside the infusion tube 412. A fixing ring 415 is fixedly sleeved on the outside of the telescopic adjustment tube 414 and the outside of the infusion tube 412, and a return spring 416 is clamped between the two fixing rings 415. A traction rope 417 is clamped to one end of the translation slide 304 and the top of the telescopic adjustment tube 414.

[0058] The top positions of both ends of the intelligent sensing manipulator 323 are rotatably connected to the swing frame 418. The top of the swing frame 418 is connected to the splicing frame 419 by bolts. A nozzle 420 is installed at the bottom of the splicing frame 419 at a position corresponding to one side of the swing frame 418. An infusion hose 421 is clamped at one end of the nozzle 420. An N-shaped frame 422 is clamped at the middle position of the top of the intelligent sensing manipulator 323. The inside of the N-shaped frame 422 is rotatably connected to the guide wheel 423. In order to prevent water leakage, the connection between the telescopic adjustment tube 414 and the infusion tube 412 is filled with a leak-proof ring. The booster water pump 413 is powered by an external power supply. The other end of the infusion hose 421 passes around the top of the guide wheel 423 and is connected to the top of the telescopic adjustment tube 414.

[0059] A splicing screw 424 is clamped at the bottom end of the swing frame 418, and a counterweight ball head 425 is threadedly sleeved at the bottom position of the outer side of the splicing screw 424. The outer side of the splicing screw 424 is rotatably connected to a rotating traction frame 426, and one end of the rotating traction frame 426 is clamped at a telescopic slide 427. The bottom end of the intelligent sensing manipulator 323 is hinged with a storage sleeve 428, and an arc-shaped metal ring 429 is clamped at the outer side of the telescopic slide 427. An electromagnetic sheet 430 is installed at the outer side of the storage sleeve 428 corresponding to the inner position of the arc-shaped metal ring 429. In order to facilitate the limiting of the swing frame 418, one end of the telescopic slide 427 is embedded in the storage sleeve 428, and the outer side of the telescopic slide 427 slides and fits with the inner wall of the storage sleeve 428. Rectangular grooves are symmetrically opened on the outer side of the storage sleeve 428, and one end of the arc-shaped metal ring 429 passes through the rectangular groove. The electromagnetic sheet 430 is powered by an external power supply.

[0060] The working principle and use process of the present invention are as follows: first, the device is pushed to the working position by moving the pad 1, and then the liquid storage cylinder 402 is rotated by the rotating base 401, and the color and type of the spray material are selected according to the needs, and then the adjusting rotary cylinder 408 is rotated to drive the pushing rod 409 to slide. At the same time, the pushing rod 409 and the water blocking plug pad 411 are moved along the inner wall of the adjusting rotary cylinder 408 through the limitation of the straight anti-deflection plate 410, and the seal of the drainage hole 406 is released, so that the spray material inside the liquid storage cylinder 402 can enter the extension channel 407. Then, through the cooperation of the booster water pump 413, the infusion tube 412, the telescopic adjustment tube 414 and the infusion hose 421, the spray material is transported to the inside of the nozzle 420 for easy spraying;

[0061] When the color of the spray material needs to be changed, the adjusting drum 408 is first rotated to push the pushing rod 409, the straight anti-deflection plate 410 and the water blocking pad 411 to reset, and the drainage hole 406 is sealed again, so that the rotating base 401 and the liquid storage cylinder 402 can be rotated to make the side filled with clean water correspond to the extension channel 407, and then the sealing of the drainage hole 406 is released to facilitate the tooth delivery of clean water, and the inside of the pipeline and the inside of the nozzle 420 are flushed to prevent the different colors of spray materials from mixing together and affecting the effect of subsequent spraying;

[0062] After the internal flushing of the pipe and the nozzle 420 is completed, the drainage hole 406 is resealed, and the rotating base 401 and the liquid storage cylinder 402 are rotated again so that the spray material color that meets the requirements is re-aligned with the extension channel 407. Then, after the sealing of the drainage hole 406 is released, new spray material is sprayed, which improves the adaptability and facilitates the direct replacement of the color and type of the spray material to meet different spraying requirements;

[0063] Next, the drive motor 313 is started to drive the inner cross cylinder 310, the cross rotating rod 324, and the transmission adjustment rod 311 to rotate, and the power is transmitted through the cooperation of the transmission ring 312, the transmission gasket 317 and the plane gear 318, driving the worm 308 to rotate, thereby facilitating the worm 308 to drive the worm wheel 306, the rotating tray 305 and the intelligent sensing manipulator 323 to rotate, thereby adjusting the spraying angle and improving adaptability;

[0064] The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308. The worm gear 308 is engaged with the worm gear 308, and the worm gear 308 is engaged with the worm gear 308.

[0065] Next, the sensors in the intelligent sensing manipulator 323 are used to identify the locations that need to be sprayed, and the angle and position of the spraying are intelligently planned. The angle and position of the nozzle 420 are automatically adjusted, so that the railway ground and tunnel walls are evenly sprayed, improving the spraying effect. In addition, the gravity of the counterweight ball head 425 itself is used to drive the splicing screw 424 and the swing frame 418 to rotate, so that the splicing screw 424 and the swing frame 418 are always kept perpendicular to the horizontal plane.

[0066] Next, when the splicing screw 424 rotates, the rotating traction frame 426 causes the telescopic slide rod 427 and the arc-shaped metal ring 429 to slide along the storage sleeve 428. After the splicing screw 424 and the swing frame 418 are stably vertical, the electromagnetic sheet 430 is energized to generate suction, thereby adsorbing and positioning the arc-shaped metal ring 429, preventing the splicing screw 424 and the swing frame 418 from rotating. When adjusting the spraying angle and position, the stability of the nozzle 420 is ensured, thereby improving the spraying effect.

[0067] Finally, through the cooperation of the traction rope 417, during the movement of the translation slide 304, the telescopic adjustment tube 414 is driven to slide and rise along the inner wall of the infusion tube 412, thereby increasing the height of the telescopic adjustment tube 414, facilitating the movement of the infusion hose 421, and preventing it from being torn. During resetting, the telescopic adjustment tube 414 and the fixed ring 415 are pulled down and reset through the contraction characteristics of the reset spring 416, while maintaining the tension of the infusion hose 421 to prevent wrinkles and bends, thereby ensuring the paint delivery effect.

[0068] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An automatic spraying manipulator for railways, comprising a movable pad (1), characterized in that: A support platform (2) is installed on the top of the movable pad (1), and an angle and position adjustment mechanism (3) is provided on the top of the support platform (2), and the angle and position adjustment mechanism (3) includes a translation slide rail (301); A translation rail (301) is installed at the top of the support platform (2), a positioning screw (302) is clamped inside the translation rail (301), an internal threaded barrel (303) is sleeved on the outside of the positioning screw (302), a translation slide (304) is sleeved on the outside of the internal threaded barrel (303), a rotating tray (305) is rotatably connected to the top of the translation slide (304), and a worm gear (306) is sleeved on the outside of the rotating tray (305); A concave frame (307) is installed at the top of the translation slide (304), a worm (308) is rotatably connected inside the concave frame (307), a positioning protrusion (309) is symmetrically clamped at the top of the translation slide (304), an inner cross cylinder (310) is rotatably connected inside one of the positioning protrusions (309), a cross rod (324) is connected inside the inner cross cylinder (310), a transmission adjustment rod (311) is clamped at one end of the cross rod (324), a transmission ring (312) is sleeved on the outer side of the transmission adjustment rod (311), and a driving motor (313) is installed at one end of the translation slide (304).

2. The automatic spraying manipulator for railway according to claim 1, characterized in that: Universal wheels are symmetrically mounted at the bottom end of the movable pad (1). The outer side of the positioning screw (302) is connected to the inner wall of the internal threaded cylinder (303) through a thread. The worm wheel (306) and the worm (308) are meshed with each other. Both ends of the rotating shaft of the worm (308) pass through the two ends of the concave frame (307). The transmission adjustment rod (311) passes through the worm (308), and the outer side of the transmission adjustment rod (311) is slidably fitted with the inner wall of the worm (308). The output shaft of the drive motor (313) is connected to one end of the inner cross cylinder (310). The drive motor (313) is powered by an external power supply.

3. The automatic spraying manipulator for railway according to claim 1, characterized in that: An intelligent sensing manipulator (323) is installed on the top of the rotating tray (305); A traction push block (314) is movably sleeved on the outer side of the transmission adjustment rod (311), and an electric push rod (315) is connected between the traction push block (314) and a positioning protrusion (309) via bolts. Another positioning protrusion (309) is internally rotatably connected to a transmission sleeve (316), one end of the transmission sleeve (316) and one end of the worm (308) shaft are both clamped with transmission washers (317), and adjacent ends of the two transmission washers (317) and both ends of the transmission ring (312) are clamped with plane gears (318); One end of the translation slide (304) is rotatably connected to a power transmission rod (319); the outer side of the power transmission rod (319) and the outer side of the transmission sleeve rod (316) are both sleeved with a power transmission wheel (320); the outer sides of the two power transmission wheels (320) are both sleeved with a power transmission crawler (321); the outer side of the power transmission rod (319) and the outer side of the internal threaded cylinder (303) are both sleeved with a transmission gear ring (322).

4. The automatic spraying manipulator for railway according to claim 3, characterized in that: The bottom end of the traction push block (314) is slidably connected to the top end of the translation slide (304), the other end of the electric push rod (315) is connected to one end of a positioning protrusion (309), the electric push rod (315) is powered by an external power supply, and the outer side of the transmission adjustment rod (311) is slidably fitted with the inner wall of the transmission sleeve rod (316).

5. The automatic spraying manipulator for railway according to claim 3, characterized in that: The diameter of the power transmission wheel (320) on the transmission sleeve (316) is smaller than the diameter of the power transmission wheel (320) on the power transmission rod (319), the two transmission gear rings (322) are engaged with each other, and the diameter of the transmission gear ring (322) on the internal threaded cylinder (303) is larger than the diameter of the transmission gear ring (322) on the power transmission rod (319).

6. The automatic spraying manipulator for railway according to claim 3, characterized in that: A spray material replacement and position limiting mechanism (4) is provided at the top end of the movable pad (1), and the spray material replacement and position limiting mechanism (4) comprises a rotating base (401); A rotating base (401) is installed at the middle position of the top of the movable pad (1), and the top of the rotating base (401) is connected to a liquid storage cylinder (402) through bolts, and a partition plate (403) is equidistantly clamped inside the liquid storage cylinder (402), a sealing ring (404) is sleeved at the bottom position of the outer side of the liquid storage cylinder (402), and a positioning support plate (405) is equidistantly clamped outside the sealing ring (404), and drainage holes (406) are equidistantly opened on the inner wall of the liquid storage cylinder (402) at positions corresponding to the inner side of the sealing ring (404); One end of the sealing ring (404) is clamped with an extension channel (407), one end of the extension channel (407) is rotatably connected to an adjustment rotary cylinder (408), the interior of the adjustment rotary cylinder (408) is connected to a push rod (409) through a thread, and the outer side of the push rod (409) is fixedly sleeved with a straight anti-deflection plate (410), and the other end of the push rod (409) is clamped with a water blocking pad (411); The top of the extension channel (407) is clamped with an infusion tube (412), and a booster water pump (413) is installed on the outside of the infusion tube (412). A telescopic adjustment tube (414) is movably sleeved inside the infusion tube (412). The outside of the telescopic adjustment tube (414) and the outside of the infusion tube (412) are fixedly sleeved with a fixed collar (415), and a return spring (416) is clamped between the two fixed collars (415). A traction rope (417) is clamped between one end of the translation slide (304) and the top of the telescopic adjustment tube (414). The top positions of both ends of the intelligent sensing manipulator (323) are rotatably connected to a swing frame (418), the top of the swing frame (418) is connected to a splicing frame (419) by bolts, the bottom of the splicing frame (419) is installed with a nozzle (420) at a position corresponding to one side of the swing frame (418), one end of the nozzle (420) is clamped with an infusion hose (421), the middle position of the top of the intelligent sensing manipulator (323) is clamped with an N-shaped frame (422), and the inside of the N-shaped frame (422) is rotatably connected to a guide wheel (423); The bottom end of the swing frame (418) is clamped with a splicing screw (424), and a counterweight ball head (425) is sleeved at the bottom position of the outer side of the splicing screw (424) through a thread. The outer side of the splicing screw (424) is rotatably connected to a rotating traction frame (426), and one end of the rotating traction frame (426) is clamped with a telescopic slide (427). The bottom end of the intelligent sensing manipulator (323) is hinged with a storage sleeve (428), and the outer side of the telescopic slide (427) is clamped with an arc-shaped metal ring (429). An electromagnetic sheet (430) is installed at a position on the outer side of the storage sleeve (428) corresponding to the inner side of the arc-shaped metal ring (429).

7. The automatic spraying manipulator for railway according to claim 6, characterized in that: The partition plate (403) evenly divides the space inside the liquid storage cylinder (402) into five parts, one of which stores clean water, and the other four stores spray materials of different types and colors. A liquid injection pipe is clamped between two symmetrically adjacent partition plates (403) at the top position outside the liquid storage cylinder (402). The bottom end of the positioning support plate (405) is connected to the top of the movable pad (1), and the inner wall of the sealing ring (404) is clamped with a sealing rubber.

8. The automatic spraying manipulator for railway according to claim 6, characterized in that: The inner wall of the extended channel (407) is symmetrically provided with grooves, and both ends of the straight anti-deflection plate (410) are respectively slidably connected to the inner wall of the groove. The inner wall of the extended channel (407) is clamped with a retaining ring, and the inner diameter of the retaining ring is equal to the inner diameter of the drainage hole (406). One end of the water blocking pad (411) is in contact with one end of the retaining ring.

9. The automatic spraying manipulator for railway according to claim 6, characterized in that: The connection between the telescopic adjustment tube (414) and the infusion tube (412) is filled with a leak-proof ring, the booster water pump (413) is powered by an external power supply, and the other end of the infusion hose (421) passes around the top of the guide wheel (423) and is connected to the top of the telescopic adjustment tube (414).

10. The automatic spraying manipulator for railway according to claim 6, characterized in that: One end of the telescopic slide rod (427) is embedded in the interior of the storage sleeve (428), and the outer side of the telescopic slide rod (427) is slidably fitted with the inner wall of the storage sleeve (428). A rectangular groove is symmetrically opened on the outer side of the storage sleeve (428), and one end of the arc-shaped metal ring (429) passes through the rectangular groove. The electromagnetic sheet (430) is powered by an external power supply.

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