Intelligent spraying equipment of rail transit robot

Abstract

The invention provides intelligent spraying equipment for rail transit robots, and belongs to the technical field of intelligent spraying equipment for locomotive maintenance robots. The intelligent spraying equipment comprises a feeding and carrying mechanism, a conveying line mechanism, a jacking mechanism and a plurality of spraying robots; the feeding carrying mechanism is used for carrying wheels to the conveying line mechanism. The jacking mechanism is installed on one side of the conveying line mechanism and used for jacking and rotating the wheels. The spraying robot is installed in the conveying line mechanism and used for spraying the wheels. According to the spraying robot, after the wheel is carried to the conveying line mechanism through the feeding carrying mechanism, the wheel is jacked up and rotated through the jacking mechanism, so that after the wheel is positioned and aligned on the conveying line mechanism, the spraying robot sprays the wheel, and the automation level is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of locomotive maintenance robot intelligent spraying equipment, and in particular to a rail transit robot intelligent spraying equipment. Background Art

[0002] In train maintenance depots, it is usually necessary to spray molybdenum disulfide on wheels and other parts. In related technologies, the spraying of molybdenum disulfide on wheels is mainly done manually, that is, the wheels are disassembled and sent to the spraying area, and the operators use handheld spraying equipment to spray the wheels to meet their spraying requirements.

[0003] However, manual spraying is time-consuming and inconvenient due to the heavy weight and large size of the wheels. It cannot guarantee uniform and full coverage of the spraying and there are certain safety hazards. These will greatly reduce the efficiency and reliability of spraying. Summary of the invention

[0004] The present invention provides a rail transit robot intelligent spraying equipment, which is used to solve the defects of manual spraying in the prior art and improve the spraying efficiency of wheels in a rail transit train maintenance depot.

[0005] The present invention provides a rail transit robot intelligent spraying equipment, comprising: a loading and transporting mechanism, a conveyor line mechanism, a lifting mechanism and a plurality of spraying robots; the loading and transporting mechanism is used to transport wheels to the conveyor line mechanism; the lifting mechanism is installed on one side of the conveyor line mechanism, and is used to lift and rotate the wheels; the spraying robot is installed in the conveyor line mechanism, and is used to spray the wheels.

[0006] According to a rail transit robot intelligent spraying equipment provided by the present invention, the conveyor line mechanism includes a steel frame structure, a roller, a pulley, a conveyor line motor and a screw; the steel frame structure is a supporting component of the conveyor line mechanism, the lower end of the steel frame structure is in contact with the ground, and the upper end of the steel frame structure supports the roller; the roller is connected to the pulley to enable the wheel to move smoothly on a horizontal plane; the conveyor line motor drives the screw, and the screw drives the roller to roll.

[0007] According to a rail transit robot intelligent spraying equipment provided by the present invention, the conveyor line mechanism is divided into four parts in sequence: a loading roller conveyor line, a spraying roller conveyor line, a thickness measuring roller conveyor line and a unloading conveyor roller line; the loading and transporting mechanism transports the wheel to the loading roller conveyor line, the spraying roller conveyor line is connected to the loading roller conveyor line, and the wheel is conveyed to the spraying roller conveyor line through the loading roller conveyor line for spraying operation; the thickness measuring roller conveyor line is connected to the spraying roller conveyor line, and the wheel is conveyed to the thickness measuring roller conveyor line for paint thickness measurement after the spraying operation on the spraying roller conveyor line; the unloading conveyor roller line is connected to the thickness measuring roller conveyor line, and the wheel is conveyed to the unloading conveyor roller line through the thickness measuring roller conveyor line to wait for lifting.

[0008] According to a rail transit robot intelligent spraying equipment provided by the present invention, the jacking mechanism is installed on the lower side of the spraying roller conveyor line and the thickness measuring roller conveyor line; the jacking mechanism includes a jacking assembly and a rotating mechanism. When the wheel moves to the area of ​​the spraying roller conveyor line and the thickness measuring roller conveyor line, the jacking assembly extends into the wheel hub hole of the wheel to lift the wheel, and the rotating mechanism drives the wheel to rotate so that it is evenly sprayed and detected.

[0009] According to a rail transit robot intelligent spraying equipment provided by the present invention, the rail transit robot intelligent spraying equipment also includes an incoming material blocking mechanism, which is installed on the two inner cross beams of the spraying roller conveyor line and the thickness measuring roller conveyor line, and is used to block the parking wheels.

[0010] According to a rail transit robot intelligent spraying equipment provided by the present invention, the rail transit robot intelligent spraying equipment also includes a centering mechanism, which is installed on the cross beams on both sides of the spraying roller conveyor line and the thickness measuring roller conveyor line. The centering mechanism includes: a centering motor, a telescopic handle, an arc caliper and an L-shaped steel structure stabilizing device.

[0011] According to a rail transit robot intelligent spraying equipment provided by the present invention, the rail transit robot intelligent spraying equipment also includes a thickness measuring robot, which is installed in the thickness measuring roller conveyor line and is used to measure the paint thickness of the sprayed wheels.

[0012] According to a rail transit robot intelligent spraying equipment provided by the present invention, the rail transit robot intelligent spraying equipment also includes a beam sensor, which is installed at the end of the side beams of the spraying roller conveyor line and the thickness measuring roller conveyor line.

[0013] According to a rail transit robot intelligent spraying equipment provided by the present invention, the rail transit robot intelligent spraying equipment also includes an air blowing adjustment device, and the air blowing adjustment device is installed on the side beam of the spray roller conveyor line.

[0014] According to a rail transit robot intelligent spraying equipment provided by the present invention, the rail transit robot intelligent spraying equipment also includes a material storage platform, and the material storage platform is located between the two spraying robots.

[0015] The rail transit robot intelligent spraying equipment provided by the present invention transports the wheel to the conveyor line mechanism through the loading and transporting mechanism, and then the lifting mechanism lifts and rotates the wheel, so that after the wheel is positioned and aligned on the conveyor line mechanism, the spraying robot sprays the wheel, thereby improving the level of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the rail transit robot intelligent spraying equipment provided by the present invention; Figure 2 It is a schematic diagram of the structure of the spray roller conveyor line provided by the present invention; Figure 3 It is a structural schematic diagram of the loading and handling mechanism provided by the present invention; Figure 4 It is a structural schematic diagram of the jacking mechanism provided by the present invention; Figure 5 It is a structural schematic diagram of the centering mechanism provided by the present invention; Figure 6 It is a schematic diagram of the structure of the spraying robot provided by the present invention; Figure 7 It is a schematic diagram of the structure of the activated carbon centrifugal fan provided by the present invention; Figure 8 It is a structural schematic diagram of the control console provided by the present invention.

[0018] Reference numerals: 100. Loading and handling mechanism; 110. Steel frame structure support; 200. Conveyor line mechanism; 210, steel frame structure; 220, roller; 230, conveyor line motor; 21. Loading roller conveyor line; 22. Spraying roller conveyor line; 23. Thickness measuring roller conveyor line; 24. Unloading roller conveyor line; 300, lifting mechanism; 310, lifting assembly; 311, turbine screw lift; 312, gear; 320, rotating mechanism; 400. Spraying robot; 410, fixed base; 420, robot motor; 430, transmission mechanism; 440, robot arm; 450, spray bottle taking and placing mechanism; 500, centering mechanism; 510, telescopic handle; 520, arc-shaped caliper; 530, L-shaped steel structure stabilizing device; 600, control panel; 700, activated carbon centrifugal fan; 710. Fan; 720. Activated carbon environmental protection filter box; 730. Pipeline. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0021] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on Figure 1 The orientation and position of the rail transit robot intelligent spraying equipment when normally placed are shown only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words 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, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

[0022] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0023] The present invention provides a rail transit robot intelligent spraying equipment, comprising: a loading and transporting mechanism 100, a conveyor line mechanism 200, a lifting mechanism 300 and multiple spraying robots 400; the loading and transporting mechanism 100 is used to transport the wheel to the conveyor line mechanism 200; the lifting mechanism 300 is installed on one side of the conveyor line mechanism 200, and is used to lift and rotate the wheel; the spraying robot 400 is installed in the conveyor line mechanism 200, and is used to spray the wheel.

[0024] With this design, after the wheel is transported to the conveyor line mechanism 200 through the loading and transporting mechanism 100, the lifting mechanism 300 lifts and rotates the wheel, so that after the wheel is positioned and aligned on the conveyor line mechanism 200, the spraying robot 400 sprays the wheel, thereby improving the level of automation.

[0025] In one embodiment, the conveyor line mechanism 200 includes a steel frame structure 210, a roller 220, a pulley (not shown in the figure), a conveyor line motor 230 and a screw (not shown in the figure); the steel frame structure 210 is a supporting component of the conveyor line mechanism 200, the lower end of the steel frame structure 210 is in contact with the ground, and the upper end of the steel frame structure 210 supports the roller 220; the roller is connected to the pulley to enable the wheel to move smoothly on a horizontal plane; the conveyor line motor 230 drives the screw, and the screw drives the roller 220 to roll.

[0026] In one embodiment, the conveyor line mechanism 200 is divided into four parts, namely, a loading roller conveyor line 21, a spraying roller conveyor line 22, a thickness measuring roller conveyor line 23 and a unloading conveyor roller line 24; the loading and transporting mechanism 100 transports the wheel to the loading roller conveyor line 21, the spraying roller conveyor line 22 is connected to the loading roller conveyor line 21, and the wheel is conveyed to the spraying roller conveyor line 22 through the loading roller conveyor line 21 for spraying operation; the thickness measuring roller conveyor line 23 is connected to the spraying roller conveyor line 22, and the wheel is conveyed to the thickness measuring roller conveyor line 23 after being sprayed on the spraying roller conveyor line 22 for coating thickness measurement; the unloading conveyor roller line 24 is connected to the thickness measuring roller conveyor line 23, and the wheel is conveyed to the unloading conveyor roller line 24 through the thickness measuring roller conveyor line 23 to wait for lifting.

[0027] Exemplarily, the spray roller conveyor line 22 is located in a closed space (not shown in the figure) to ensure that the paint will not leak into the air to harm the body and pollute the environment.

[0028] Exemplarily, the wheel is subjected to coating thickness measurement on the thickness measuring roller conveyor line 23. If the coating thickness meets the requirement, the wheel enters the next process. If the coating thickness does not meet the requirement, the wheel is conveyed to the re-coating area.

[0029] In one embodiment, the loading and transporting mechanism 100 is composed of a steel frame structure 210, a bracket 110 and a roller, and the loading and transporting mechanism 100 assists the crane in loading materials.

[0030] In one embodiment, the lifting mechanism 300 is installed on the lower side of the spray roller conveyor line 22 and the thickness measuring roller conveyor line 23; the lifting mechanism 300 includes a lifting assembly 310 and a rotating mechanism 320 (not shown in the figure). When the wheel moves to the area of ​​the spray roller conveyor line 22 and the thickness measuring roller conveyor line 23, the lifting assembly 310 extends into the wheel hub hole to lift the wheel, and the rotating mechanism 320 drives the wheel to rotate so that it is evenly sprayed and detected.

[0031] Exemplarily, the lifting assembly 310 includes a worm screw lift 311 , a clamp (not shown) and a gear 312 .

[0032] In one embodiment, the rail transit robot intelligent spraying equipment also includes an incoming material blocking mechanism, which is installed on the inner cross beams of the spraying roller conveyor line 22 and the thickness measuring roller conveyor line 23 to block the parking wheels.

[0033] In one embodiment, the rail transit robot intelligent spraying equipment also includes a centering mechanism 500, which is installed on the cross beams on both sides of the spraying roller conveyor line 22 and the thickness measuring roller conveyor line 23. The centering mechanism 500 includes: a centering motor (not shown in the figure), a telescopic handle 510, an arc caliper 520 and an L-shaped steel structure stabilizing device 530.

[0034] When the wheel is transferred to the spraying and thickness measurement work area, it is first stopped by the incoming material blocking mechanism, and then the telescopic handle 510 is extended forward under the drive of the centering motor until the arc calipers 520 on both sides are aligned with the wheel, completing the centering operation and ensuring the longitudinal stability of the wheel during the rotation spraying process.

[0035] Exemplarily, the L-shaped steel structure stabilizing device 530 is the main bearing structure of the centering mechanism 500 and is installed on the beams on both sides of the conveyor line mechanism 200 by bolt connection.

[0036] In one embodiment, the rail transit robot intelligent spraying equipment also includes a thickness measuring robot, which is installed in the thickness measuring roller conveyor line 23 and is used to measure the coating thickness of the sprayed wheels.

[0037] In one embodiment, the rail transit robot intelligent spraying equipment also includes a control console 600, which is the core control unit of the entire operation process, controlling the operation rhythm, coordination, safety, etc. of each link. The control console 600 can upload the information of each device to the Internet of Things IOT system and the digital twin device management module.

[0038] Exemplarily, the control console 600 includes a robot electric control cabinet, which controls the operation process of the spray robot 400 and the thickness measuring robot, and uploads information to the Internet of Things (IoT) system and the digital twin device management module.

[0039] For example, the control console 600 includes a display screen to meet the visualization requirements of the entire operation process and display the operating status of each link of the equipment in real time. In one embodiment, the rail transit robot intelligent spraying equipment further includes a beam sensor (not shown in the figure), which is installed at the end of the side beams of the spraying roller conveyor line 22 and the thickness measuring roller conveyor line 23.

[0040] When the wheel is stopped by the blocking mechanism, it will no longer move forward, and the through-shooting sensor plays a preventive warning role. If the wheel does not stop and continues to move forward, the through-shooting sensor receives the signal and sends the signal to the control console 600 to stop the roller 220 immediately.

[0041] In one embodiment, the rail transit robot intelligent spraying equipment also includes an air blowing adjustment device (not shown in the figure), and the air blowing adjustment device is installed on the side beam of the spray roller conveyor line 22.

[0042] The air blowing regulating device cooperates with the spraying robot 400 to perform the spraying operation to solidify the paint.

[0043] Exemplarily, the spraying robot 400 is composed of a fixed base 410 , a robot motor 420 , a transmission mechanism 430 , a robot arm 440 , and a spray bottle picking and placing mechanism 450 .

[0044] In one embodiment, the rail transit robot intelligent spraying equipment further includes a material storage platform (not shown in the figure), which is located between the two spraying robots 400. The material storage platform is supported by a steel structure and has a platform on it for storing paint.

[0045] In one embodiment, the rail transit robot intelligent spraying equipment further includes an activated carbon centrifugal fan 700, which is located in a closed space and consists of a fan 710, an activated carbon environmental filter box 720, and a pipeline 730. The paint is sucked into the activated carbon environmental filter box 720 through the pipeline 730 by the attraction of the fan 710 for adsorption.

[0046] The specific use steps are as follows: After the wheel is disassembled and assembled, it is moved to the spraying work area through the loading and transporting mechanism 100 and placed on the loading roller conveyor line 21 for loading. The wheel is conveyed to the spraying roller conveyor line 22, and the wheel stops when it hits the incoming material blocking mechanism. When the wheel stops moving, the centering mechanism 500 aligns the wheel to ensure that the wheel hub hole is above the clamping claw of the lifting mechanism 300, and the clamping claw extends into the wheel hub hole and slowly stretches to lift the wheel. The spraying robot 400 clamps the sprayer through the spraying agent pick-up and place mechanism to spray the wheel, and drives the wheel to rotate and spray the other side through the rotation of the lifting mechanism 300. During the spraying process, the activated carbon centrifugal fan 700 adsorbs and filters the paint. When the spraying operation is completed, the wheel is conveyed to the thickness measuring roller conveyor line 23, and the thickness measuring robot measures the thickness of its paint. If the paint thickness meets the requirements, the wheel is conveyed to the next process through the unloading conveyor roller line 24; if the paint thickness does not meet the requirements, the wheel will be conveyed to the re-coating area through the unloading conveyor roller line 24.

[0047] The entire process is controlled by the control console 600, and the status information of each device is transmitted to the Internet of Things (IoT) system, and the device management is performed by the digital twin device management module.

[0048] The rail transit robot spraying equipment provided by the example of the present invention can automatically spray the wheels, thereby improving the spraying efficiency and reliability, effectively reducing the labor cost, and solving the potential safety hazards caused by manual handling or hoisting.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rail transit robot intelligent spraying equipment, characterized in that: include: Loading and handling mechanism, conveyor line mechanism, lifting mechanism and multiple spraying robots; The loading and transporting mechanism is used to transport the wheels to the conveyor line mechanism; The lifting mechanism is installed on one side of the conveyor line mechanism and is used to lift and rotate the wheel; The spraying robot is installed in the conveyor line mechanism and is used for spraying wheels.

2. The rail transit robot intelligent spraying equipment according to claim 1 is characterized in that: The conveyor line mechanism comprises a steel frame structure, a roller, a pulley, a conveyor line motor and a lead screw; The steel frame structure is a supporting component of the conveyor line mechanism, the lower end of the steel frame structure is in contact with the ground, and the upper end of the steel frame structure supports the roller; The roller is connected to the pulley to enable the wheel to move smoothly on a horizontal plane; The conveyor line motor drives the lead screw, and the lead screw drives the roller to roll.

3. The rail transit robot intelligent spraying equipment according to claim 2 is characterized in that: The conveyor line mechanism is divided into four parts: a loading roller conveyor line, a spraying roller conveyor line, a thickness measuring roller conveyor line and a unloading roller conveyor line; The loading and transporting mechanism transports the wheel to the loading roller conveyor line, the spraying roller conveyor line is connected to the loading roller conveyor line, and the wheel is transported to the spraying roller conveyor line through the loading roller conveyor line for spraying operation; The thickness measuring roller conveyor line is connected to the spraying roller conveyor line, and the wheels are transported to the thickness measuring roller conveyor line for coating thickness measurement after being sprayed on the spraying roller conveyor line; The unloading conveying roller line is connected to the thickness measuring roller conveying line, and the wheel is transmitted to the unloading conveying roller line through the thickness measuring roller conveying line to wait for hoisting.

4. The rail transit robot intelligent spraying equipment according to claim 3 is characterized in that: The lifting mechanism is installed on the lower side of the spraying roller conveyor line and the thickness measuring roller conveyor line; The lifting mechanism includes a lifting assembly and a rotating mechanism. When the wheel moves to the spray roller conveyor line and the thickness measuring roller conveyor line area, the lifting assembly extends into the wheel hub hole to lift the wheel, and the rotating mechanism drives the wheel to rotate so that it is evenly sprayed and inspected.

5. The rail transit robot intelligent spraying equipment according to claim 3 is characterized in that: The rail transit robot intelligent spraying equipment also includes an incoming material blocking mechanism, which is installed on the two inner cross beams of the spraying roller conveyor line and the thickness measuring roller conveyor line, and is used to block the parking wheels.

6. The rail transit robot intelligent spraying equipment according to claim 5 is characterized in that: The rail transit robot intelligent spraying equipment also includes a centering mechanism, which is installed on the cross beams on both sides of the spraying roller conveyor line and the thickness measuring roller conveyor line. The centering mechanism includes: a centering motor, a telescopic handle, an arc caliper and an L-shaped steel structure stabilizing device.

7. The rail transit robot intelligent spraying equipment according to claim 3 is characterized in that: The rail transit robot intelligent spraying equipment also includes a thickness measuring robot, which is installed in the thickness measuring roller conveyor line and is used to measure the paint thickness of the sprayed wheels.

8. The rail transit robot intelligent spraying equipment according to claim 3 is characterized in that: The rail transit robot intelligent spraying equipment also includes a beam sensor, which is installed at the end of the side beams of the spray roller conveyor line and the thickness measuring roller conveyor line.

9. The rail transit robot intelligent spraying equipment according to claim 3 is characterized in that: The rail transit robot intelligent spraying equipment also includes an air blowing adjustment device, which is installed on the side beam of the spray roller conveyor line.

10. The rail transit robot intelligent spraying equipment according to claim 3, characterized in that: The rail transit robot intelligent spraying equipment also includes a material storage platform, which is located between the two spraying robots.

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