Polyurethane spraying device based on automatic identification control principle

Abstract

The invention relates to the technical field of train side door spraying and sealing, in particular to a polyurethane spraying device based on an automatic identification control principle, which is provided with a bearing platform, a visual identification assembly, a linear telescopic piece, a spray gun and a controller, the inclination angle of the linear telescopic piece is suitable for enabling the horizontal component velocity to be matched with the train traveling speed during stretching, the highest point of the telescopic end of the linear telescopic piece is suitable for being matched with the height of the upper edge of the side door, and the spray gun is installed at the telescopic end of the linear telescopic piece. During spraying, the whole device is placed on one side of the advancing direction of the train, and the controller controls the right spray gun to sequentially complete spraying of the upper edge and the right edge of the side door according to a detection signal of the visual recognition assembly and controls the left spray gun to sequentially complete spraying of the left edge and the lower edge of the side door. Spraying control of the device is achieved through cooperation of the visual recognition assembly and the controller, and the spraying difficulty is small; meanwhile, manual operation is not needed, and labor force is saved.

Description

Technical Field

[0001] The invention relates to the technical field of spray sealing of train side doors, in particular to a polyurethane spraying device based on the automatic identification control principle. Background Art

[0002] Railway trains are one of the main modes of freight transport. To facilitate loading and unloading, train carriages are typically designed with open tops and side doors.

[0003] Due to the vibrations of long-term transportation and frequent opening and closing, the side door edges have become less smooth. When the side door is closed, a large gap remains. This can easily cause powder coatings such as coal, coke, or mineral powder to leak through this gap when the train is loaded. To ensure the airtightness of the train side door, the side door edges are sprayed with polyurethane before loading.

[0004] Currently, polyurethane is typically sprayed manually. However, this is difficult because trains are constantly moving while loading, and re-spraying after each unloading step is labor-intensive. Manual spraying is no longer sufficient to meet the demands of intelligent technology, leading to the urgent need for automated spraying equipment to replace manual labor in spraying and sealing the sides of trains. Summary of the Invention

[0005] In order to overcome the technical defects of the existing manual spraying of train side doors, such as the difficulty in operation and the large labor consumption, the present invention provides a polyurethane spraying device based on the automatic recognition control principle.

[0006] The polyurethane spraying device provided by the present invention based on the automatic identification control principle includes: Carrying platform; a visual recognition component mounted on the carrying platform and adapted to detect the position of a train side door; Two linear telescopic members are provided and are both mounted on the bearing platform via mounting assemblies. The linear telescopic members are arranged vertically and tilted, with the lower ends serving as telescopic ends. The tilt angle of the linear telescopic members is adapted to match the horizontal component of velocity during telescoping with the train's travel speed, and the highest point of the telescopic end of the linear telescopic member is adapted to match the height of the upper edge of the side door. There are two spray guns, which are respectively mounted on the telescopic ends of the two linear telescopic members, and both spray guns are connected to the mixing barrel; A controller is electrically connected to the visual recognition component, the linear telescopic member and the spray gun, and the controller is suitable for controlling the actions of the linear telescopic member and the spray gun according to the detection signal of the visual recognition component.

[0007] Optionally, the stroke of the linear telescopic member is adjustable and the inclination angle, telescopic speed and the highest point position of the telescopic end of the two linear telescopic members are the same, and the mounting assembly includes: A linear drive member, which is vertically fixed on the bearing platform and has an upper end configured as a movable end; a crossbeam connected to the moving end of the linear drive member and arranged horizontally; There are two rotating driving members, the fixing parts of the two rotating driving members are both located on the crossbeam, and the rotating parts are respectively connected to the fixing parts of the two linear telescopic members.

[0008] Optionally, the supporting platform is also provided with a speed sensor suitable for detecting the running speed of the train, and the speed sensor is electrically connected to the controller. The controller is also suitable for controlling the action of the rotary drive member to adjust the inclination angle of the linear telescopic member according to the detection signal of the speed sensor, controlling the action of the linear drive member to adjust the highest point position of the telescopic end of the linear telescopic member, and controlling the stroke adjustment of the linear telescopic member to adapt to the side door height.

[0009] Optionally, the linear drive member is an electric push rod, and the rotary drive member is a rotary motor.

[0010] Optionally, two mixing barrels are provided and both are located on the carrying platform, and the two mixing barrels are respectively connected to two spray guns.

[0011] Optionally, a pump is provided at the top of the mixing barrel, an inlet of the pump is connected to the interior of the mixing barrel, and an outlet is connected to the spray gun through a delivery pipe.

[0012] Optionally, the mixing barrel is provided with two feeding ports.

[0013] Optionally, the mixing barrel is provided with a stirring assembly.

[0014] Optionally, an air compressor is further provided on the carrying platform, and the air compressor is connected to the two spray guns.

[0015] Optionally, the linear telescopic member is a cylinder.

[0016] The technical solution provided by the present invention has the following advantages compared with the prior art: The polyurethane spraying device based on the automatic identification control principle comprises a bearing platform, a visual identification assembly, a linear telescopic piece, a spraying gun and a controller, the linear telescopic piece is vertically inclined arranged and the lower end is provided as a telescopic end, the inclination angle of the linear telescopic piece is suitable for matching the horizontal speed during telescoping with the train running speed, the highest point of the telescopic end of the linear telescopic piece is suitable for matching the upper edge height of the side door, and the spraying gun is installed on the telescopic end of the linear telescopic piece. When spraying, the whole device is placed on one side of the train running direction, the controller controls the right side (based on the side facing the train side wall) spraying gun to complete the spraying of the upper edge and the right edge of the side door in turn according to the detection signal of the visual identification assembly, and controls the left side spraying gun to complete the spraying of the left edge and the lower edge of the side door in turn, so that the automatic spraying equipment is used to replace manual work to complete the spraying sealing of the train side door. The spraying control of the device is realized by the cooperation of the visual identification assembly and the controller, and the spraying difficulty is small; meanwhile, manual operation is not needed, and labor is saved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below, and obviously, other drawings can also be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0019] Figure 1 Fig. 1 shows a perspective structural schematic diagram of the polyurethane spraying device in the embodiment of the present application; Figure 2 Fig. 2 shows a top view structural schematic diagram of the polyurethane spraying device in the embodiment of the present application.

[0020] In the drawings: 1, bearing platform; 2, visual identification assembly; 3, linear telescopic piece; 4, mounting assembly; 41, linear driving piece; 42, crossbeam; 43, rotary driving piece; 5, spraying gun; 6, mixing barrel; 61, pumping pump; 62, feeding port; 63, stirring assembly; 7, speed sensor; 8, air compressor; 100, side door. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0022] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms based on specific circumstances.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] Reference Figure 1 and Figure 2 This embodiment provides a polyurethane spraying device based on the automatic recognition control principle, including a carrying platform 1, a visual recognition component 2, a linear telescopic member 3, a spray gun 5 and a controller.

[0026] Carrying platform 1: It is easy to understand that the main function of the supporting platform 1 is to provide hardware support for each component so that the components form a whole, so that the relative position relationship between the components can always meet the requirements. When in use, the formed device can be directly moved to the side of the train's travel direction.

[0027] Visual Identity Component 2: The visual recognition component 2 is mounted on the carrying platform 1 and is suitable for detecting the position of the train side door 100 .

[0028] It should be noted that the visual recognition component 2 can be a structure capable of collecting visual information, such as an existing camera system.

[0029] Linear telescopic part 3: Two linear telescopic members 3 are provided and both are mounted on the supporting platform 1 through the mounting assembly 4. The linear telescopic members 3 are arranged vertically inclined and the lower end is set as the telescopic end. The inclination angle of the linear telescopic member 3 is suitable for matching the horizontal component velocity during telescoping with the travel speed of the train. The highest point of the telescopic end of the linear telescopic member 3 is suitable for matching the height of the upper edge of the side door 100.

[0030] Specifically, the linear telescopic member 3 is a cylinder. The fixed stroke of the cylinder makes control more convenient. Of course, in other embodiments, the linear telescopic member 3 can also be a linear motor or other commonly used linear power elements.

[0031] Specifically, the travel of the linear telescopic member 3 is adjustable, and the inclination angle, telescopic speed, and the highest point position of the telescopic end of the two linear telescopic members 3 are all the same. The mounting assembly 4 includes a linear drive member 41, a crossbeam 42, and a rotary drive member 43. The linear drive member 41 is vertically fixed to the supporting platform 1, and its upper end is configured as a movable end. The crossbeam 42 is connected to the movable end of the linear drive member 41 and is arranged horizontally. There are two rotary drives 43, each with a fixed portion located on the crossbeam 42 and a rotary portion connected to the fixed portion of the two linear telescopic members 3. The rotation of the rotary drive member 43 can adjust the inclination angle of the linear telescopic member 3, and the movement of the linear drive member 41 can simultaneously adjust the highest point position of the telescopic end of the two linear telescopic members 3, so that the highest point of the telescopic end after the inclination angle is re-aligned with the height of the upper edge of the side door 100. This makes the device suitable for trains with different travel speeds. At the same time, the two linear telescopic members 3 of this embodiment are identical and share the same linear drive member 41, making control more convenient. In other embodiments, the two linear telescopic members 3 may have different inclination angles, telescopic speeds or the highest point positions of the telescopic ends, and each may be connected to a set of mounting components 4 to be installed on a support platform, and may be controlled separately during use.

[0032] More specifically, the linear drive 41 is an electric push rod, and the rotary drive 43 is a rotary motor. In other embodiments, the linear drive 41 can also be a linear motor or other commonly used linear drive 41 with controllable displacement; the rotary drive 43 can also be a rotary cylinder or other commonly used rotary power element.

[0033] It should be noted that when the mounting assembly 4 includes a linear drive component 41, a crossbeam 42 and a rotary drive component 43, if the linear telescopic component 3 adopts a cylinder, a cylinder with adjustable stroke must be used. This is because after the tilt angle is adjusted, the lower end of the cylinder in the longest stroke state is no longer aligned with the bottom edge of the side door 100, and the telescopic stroke needs to be adjusted to readapt.

[0034] It is easy to understand that vertical tilt is the tilt in the vertical plane, such as Figure 1 As shown in FIG, when facing the side wall of the train, the lower end of the linear telescopic member 3 is tilted to the left on the basis of the vertical arrangement.

[0035] It is easy to understand that when it is in a vertical tilt state, Figure 1 As shown in , when facing the side wall of the train, the linear telescopic member 3 extends in an oblique downward direction, which can be decomposed into a horizontal extension to the left and a vertical extension downward. The cleverness of this solution lies in that the horizontal component speed during extension is designed to match the travel speed of the train. When the linear telescopic member 3 extends obliquely downward, it extends vertically downward relative to the train, thereby completing the spraying of the vertical edge of the train side door 100.

[0036] Further, the embodiment further provides a speed sensor 7 on the bearing platform 1, which is adapted to detect the running speed of the train and is electrically connected with the controller. The controller is further adapted to control the rotation driving member 43 to act to adjust the tilt angle of the linear telescopic member 3, control the linear driving member 41 to act to adjust the highest point position of the telescopic end of the linear telescopic member 3 and control the stroke adjustment of the linear telescopic member 3 to adapt to the height of the side door 100 according to the detection signal of the speed sensor 7. In this way, when the running speed of the train changes, the controller cooperates with the speed sensor 7 to realize the automatic adjustment of the tilt angle, the highest point position of the telescopic end and the telescopic stroke, further saving the labor.

[0037] Spray guns 5: The spray guns 5 are provided with two and are respectively installed on the telescopic ends of the two linear telescopic members 3, and the two spray guns 5 are both communicated with the mixing barrels 6.

[0038] Specifically, the mixing barrels 6 are provided with two and are both located on the bearing platform 1, and the two mixing barrels 6 are respectively communicated with the two spray guns 5. Each spray gun 5 is connected with one mixing barrel 6, and the control is easier. In other embodiments, the two spray guns 5 can also be connected with the same mixing barrel 6.

[0039] It is easy to understand that the paint needs to be pumped from the mixing barrel 6 to the spray gun 5. The embodiment provides the pumping pump 61 at the top end of the mixing barrel 6, the inlet of the pumping pump 61 is communicated with the inside of the mixing barrel 6, and the outlet is communicated with the spray gun 5 through the conveying pipe. The whole structure is more reasonable and stable. In other embodiments, the pumping pump 61 can also be fixed on the side wall of the mixing barrel 6 or directly fixed on the bearing platform 1.

[0040] Specifically, the mixing barrel 6 is provided with two inlets 62, which can be used to input two different paints to complete the on-site mixing of the paint. In other embodiments, the mixing barrel 6 can also have only one inlet 62 to directly input the mixed paint.

[0041] More specifically, the mixing barrel 6 is provided with a stirring assembly 63, which is used to mix the two materials uniformly. In detail, the stirring assembly 63 includes a stirring motor installed on the top of the mixing barrel 6 and a stirring paddle connected to the output shaft of the stirring motor and extending into the mixing barrel.

[0042] It is easy to understand that the spray gun 5 needs to be connected with a high-pressure gas source. The embodiment further provides an air compressor 8 on the bearing platform 1, which is communicated with the two spray guns 5 to provide high-pressure gas flow for the spray guns 5.

[0043] Controller: The controller is electrically connected with the visual recognition assembly 2, the linear telescopic member 3 and the spray gun 5, and the controller is adapted to control the linear telescopic member 3 and the spray gun 5 to act according to the detection signal of the visual recognition assembly 2.

[0044] It should be noted that, as shown in Figure 1 The specific control process of the controller is as follows, taking the side wall of the train as the direction reference: When the controller receives that the left end of the upper edge of the side door 100 reaches the spraying position of the right linear extension 3, the right spraying gun 5 is controlled to start spraying the upper edge of the side door 100, until the controller receives that the right end of the upper edge of the side door 100 reaches the spraying position of the right linear extension 3, the right linear extension 3 is controlled to extend to spray the right edge of the side door 100, until the preset maximum stroke is reached; when the controller receives that the left end of the upper edge of the side door 100 reaches the spraying position of the left linear extension 3, the left spraying gun 5 is controlled to start spraying the left edge of the side door 100, and the left linear extension 3 is controlled to extend at the same time, and the spraying is kept until the controller receives that the right end of the lower edge of the side door 100 reaches the spraying position of the left linear extension 3, and the spraying of the lower edge of the side door 100 is completed. After the spraying is completed, each mechanism is reset, and the next spraying is prepared.

[0045] The working principle of the polyurethane spraying device based on the automatic recognition control principle of the embodiment is as follows: Firstly, the speed sensor 7 measures the speed of the train and transmits the detection signal to the controller, the controller calculates the adaptive tilt angle, the vertical adjustment displacement of the highest point of the extension end and the extension stroke, and controls the linear drive 41, the rotary drive 43 and the linear extension 3 to act respectively; then, the visual recognition component 2 detects the position of the side door 100, and the controller controls the two linear extensions 3 and the two spraying guns 5 to act to complete the spraying according to the above control process; finally, each part is reset, and the next spraying is waited.

[0046] The above is only a specific embodiment of the present application, which enables those skilled in the art to understand or implement the present application. Although the foregoing embodiments are described in detail, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments, and they should be covered in the protection scope of the claims.

Claims

1. A polyurethane spraying device based on the principle of automatic identification control, characterized in that: include: Carrying platform (1); A visual recognition component (2) mounted on the carrying platform (1) and adapted to detect the position of a train side door (100); Two linear telescopic members (3) are provided and are both mounted on the bearing platform (1) via a mounting assembly (4); the linear telescopic members (3) are arranged vertically and tilted, and the lower end is set as the telescopic end; the tilt angle of the linear telescopic member (3) is suitable for matching the horizontal component speed during telescoping with the train's travel speed; and the highest point of the telescopic end of the linear telescopic member (3) is suitable for matching the height of the upper edge of the side door (100); Two spray guns (5) are provided and are respectively mounted on the telescopic ends of the two linear telescopic members (3), and both spray guns (5) are connected to a mixing barrel (6); A controller is electrically connected to the visual recognition component (2), the linear telescopic member (3) and the spray gun (5), and the controller is suitable for controlling the actions of the linear telescopic member (3) and the spray gun (5) according to the detection signal of the visual recognition component (2).

2. The polyurethane spraying device based on the automatic identification control principle according to claim 1 is characterized in that: The travel of the linear telescopic member (3) is adjustable and the inclination angle, telescopic speed and the highest point position of the telescopic end of the two linear telescopic members (3) are all the same. The mounting assembly (4) includes: A linear drive member (41) is vertically fixed on the carrying platform (1) and its upper end is configured as a moving end; A crossbeam (42) connected to the moving end of the linear drive member (41) and arranged horizontally; There are two rotating drive members (43), the fixed parts of the two rotating drive members (43) are both located on the crossbeam (42), and the rotating parts are respectively connected to the fixed parts of the two linear telescopic members (3).

3. The polyurethane spraying device based on the automatic identification control principle according to claim 2 is characterized in that: The carrying platform (1) is also provided with a speed sensor (7) suitable for detecting the running speed of the train. The speed sensor (7) is electrically connected to the controller. The controller is also suitable for controlling the movement of the rotary drive member (43) to adjust the tilt angle of the linear telescopic member (3), controlling the movement of the linear drive member (41) to adjust the highest point position of the telescopic end of the linear telescopic member (3), and controlling the stroke adjustment of the linear telescopic member (3) to adapt to the height of the side door (100) according to the detection signal of the speed sensor (7).

4. The polyurethane spraying device based on the automatic identification control principle according to claim 2 is characterized in that: The linear drive member (41) is an electric push rod, and the rotary drive member (43) is a rotary motor.

5. The polyurethane spraying device based on the automatic identification control principle according to any one of claims 1 to 4, characterized in that: The mixing barrels (6) are provided with two and both are located on the carrying platform (1), and the two mixing barrels (6) are respectively connected to two spray guns (5).

6. The polyurethane spraying device based on the automatic identification control principle according to claim 5 is characterized in that: A pumping pump (61) is provided at the top of the mixing barrel (6); an inlet of the pumping pump (61) is connected to the interior of the mixing barrel (6), and an outlet of the pumping pump (61) is connected to the spray gun (5) via a feed pipe.

7. The polyurethane spraying device based on the automatic identification control principle according to claim 5 is characterized in that: The mixing barrel (6) is provided with two feeding ports (62).

8. The polyurethane spraying device based on the automatic identification control principle according to claim 7 is characterized in that: The mixing barrel (6) is provided with a stirring assembly (63).

9. The polyurethane spraying device based on the automatic identification control principle according to any one of claims 1 to 4, characterized in that: An air compressor (8) is also provided on the carrying platform (1), and the air compressor (8) is connected to the two spray guns (5).

10. The polyurethane spraying device based on the automatic identification control principle according to any one of claims 1 to 4, characterized in that: The linear telescopic member (3) is a cylinder.

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