Wheel set painting equipment and painting method

Abstract

The invention discloses wheel set painting equipment and a painting method. The wheel set painting equipment comprises two racks, six-axis mechanical arms are installed at the top ends of the two racks, paint brushes used for dressing on the peripheral surfaces of wheel sets are installed at the tail ends of the movable ends of the six-axis mechanical arms, and paint tanks used for containing paint are installed in the racks; the six-axis mechanical arm comprises a six-axis mechanical arm and two racks, the six-axis mechanical arm comprises a rectangular-ambulatory-plane bottom frame, the rectangular-ambulatory-plane bottom frame is arranged between the two racks, the top end of the rectangular-ambulatory-plane bottom frame is provided with a double-belt type transverse pushing module used for bearing and driving a wheel pair to move in the direction of the six-axis mechanical arm, and a U-shaped joist plate is fixed in the rectangular-ambulatory-plane bottom frame. The wheel set can be automatically fed into a brushing work area, manual intervention is not needed, and compared with manual control over wheel set movement, positioning of the wheel set can be completed within a shorter time, so that the production cycle is shortened, and the production capacity is improved.

Description

Technical Field

[0001] The invention relates to the technical field of wheelset processing, in particular to wheelset painting equipment and a wheelset painting method. Background Art

[0002] The wheel set painting equipment based on the robot arm is a highly automated spraying system, which is mainly composed of a robot arm, a spraying system, a control system, a sensor system and a workbench. The structure of the robot arm is usually composed of multiple joints and connecting rods, which can move flexibly in three-dimensional space, and is equipped with a spray gun at the end for spraying paint. The control system is usually composed of a PLC or an industrial computer, which is used to program and control the robot arm's motion trajectory, speed, spraying time and other parameters to ensure the accuracy and consistency of the spraying process. The sensor system monitors the position and spraying quality of the workpiece in real time, and adjusts the spraying parameters through a feedback mechanism to ensure the uniformity and thickness of the coating. The workbench is used to fix the wheelset to be sprayed, and its height and angle can usually be adjusted to facilitate the spraying operation. The workpiece is positioned by the workbench, and then the movement of the robotic arm is controlled according to the set program. The spray gun sprays the paint along a predetermined path. At the same time, the sensor monitors the spraying quality and adjusts the parameters in real time to ensure that the expected spraying effect is achieved; such as the wheelset painting equipment and wheelset painting method disclosed in the application announcement number CN113976382A, including a rotary drive device, a robotic arm and a paint brush; the rotary drive device and the robotic arm are both installed in the painting operation area, and the output end of the rotary drive device can be connected to the wheel of the wheelset to be painted in the painting operation area to drive the wheelset to be painted to rotate; a paint brush is installed at the output end of the robotic arm, and the robotic arm is used to drive the paint brush to approach or move away from the wheelset to be painted, so that the paint brush abuts against any wheelset to be painted The paint part is or is far away from the wheelset to be painted, and the robot arm is used to drive the paint brush to move along the axial direction of the wheelset to be painted. The position of the paint brush can be flexibly adjusted by using the robot arm in conjunction with the rotary drive device, so that all the parts to be painted of the wheelset to be painted can be painted with anti-rust paint. However, in the process of painting, this technical solution mainly uses the guide rail on the hood to assist the wheelset to move until the wheelset moves into or out of the painting operation area. Although the robot arm can complete the spraying operation quickly, the staff still needs to manually control the wheelset to move in or out of the painting operation area during the process, that is, manual intervention is constantly performed. Manual operation is not only time-consuming, but also in a busy production environment, especially in large-scale production, frequent manual intervention and loading and unloading of wheelsets will significantly increase the processing time of each wheelset and reduce the working efficiency of the robot arm. Summary of the invention

[0003] The purpose of the present invention is to provide a wheelset painting device and a painting method, which utilizes a double-belt transverse pushing module to actively send the wheelset with paint to the painting work area where the six-axis robot arm is located. When the wheelset is sent to the painting work area, the double-axis lifting and pushing mechanism lifts the wheelset away from the double-belt transverse pushing module, and the spacing-adjustable rotating drive mechanism drives the wheelset to rotate so that the six-axis robot arm and the paint brush can complete the painting work. After the painting is completed, the double-axis lifting and pushing mechanism places the wheelset back on the double-belt transverse pushing module and sends the wheelset out for the next wheelset to be painted, thereby solving the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a wheelset painting device, comprising:

[0005] A rack, wherein two racks are provided, and a six-axis robotic arm is installed at the top of each of the two racks, and a paint brush for applying paint to the outer peripheral surface of the wheel is installed at the movable end of the six-axis robotic arm, and a paint tank for containing paint is installed inside the rack;

[0006] A circular bottom frame, the circular bottom frame is arranged between the two frames, a double-belt horizontal push module for carrying and driving the wheelset to move toward the six-axis robot arm is installed on the top of the circular bottom frame, a U-shaped support beam plate is fixed inside the circular bottom frame, and a double-axis lifting and pushing mechanism for lifting the wheelset upward is installed on the top of the U-shaped support beam plate;

[0007] A right-angle machine, wherein the right-angle machine is fixed inside a frame, and a spacing-adjustable rotary drive mechanism is installed on the top of the right-angle machine, and the spacing-adjustable rotary drive mechanism is used to drive the wheel pair to rotate. A PLC control panel is installed on the outer wall of one side of one of the frames, and the output end of the PLC control panel is electrically connected to the input end of the six-axis robot arm, the dual-belt horizontal push module, the dual-axis lifting and pushing mechanism, and the spacing-adjustable rotary drive mechanism.

[0008] Preferably, the dual-belt transverse push module includes an X-axis pulley transfer structure installed on the front and rear sides of the top of the circular bottom frame, a connecting shaft for connecting the two X-axis pulley transfer structures, and a stepper motor installed on the outer wall of one side of the circular bottom frame for driving one of the X-axis pulley transfer structures to work, and the outer peripheral surface of the belt of the X-axis pulley transfer structure is provided with a plurality of concave wedge blocks for engaging with the wheel pair.

[0009] Preferably, the X-axis pulley transfer structure includes two U-shaped wheel seats symmetrically installed on the same side of the top of the circular bottom frame, track wheels rotatably installed inside the U-shaped wheel seats, and a multi-V belt wrapped between the two track wheels in the same X-axis direction, and the top wall of the multi-V belt is in contact with the upper surface of the U-shaped support beam plate.

[0010] Preferably, the output end of the stepper motor is fixedly connected to one end of the connecting shaft via a coupling.

[0011] Preferably, the dual-axis lifting and pushing mechanism includes a partition plate fixed to the top of the U-shaped support beam plate, an X-axis screw linear module installed on the front and rear outer walls of the partition plate, and a Z-axis double-rod cylinder installed on the movable end of the X-axis screw linear module, a right-angle arm is installed on the movable end of the Z-axis double-rod cylinder, and a bracket with an arc-shaped notch is installed on the top of the right-angle arm.

[0012] Preferably, a photoelectric switch for detecting the moving position of the Z-axis double-rod cylinder is installed on an outer wall of one side of the partition plate, and the output end of the photoelectric switch is electrically connected to the input end of the PLC control panel.

[0013] Preferably, the adjustable spacing rotation drive mechanism includes a motor seat slidably mounted on a flat plate, fixed at the top of the flat plate, and a second motor mounted on an outer wall on one side of the motor seat, the output end of the second motor is mounted with a rotating shaft through a coupling, and after the wheelset is lifted by the dual-axis lifting and pushing mechanism, the center axis of the wheelset is colinear with the center axis of the rotating shaft, and the adjustable spacing rotation drive mechanism also includes a Y-axis cylinder mounted on the outer wall on one side of the right-angle machine, and the top end of the piston rod of the Y-axis cylinder is fixedly connected to the bottom end of the flat plate.

[0014] Preferably, a bearing seat for assisting the rotation of the rotating shaft is installed at the top end of the flat plate, and the end of the rotating shaft passes through the inner ring of the bearing seat.

[0015] Preferably, guide rails are fixed on both sides of the top of the right-angle machine platform, and a sliding sleeve for slidingly cooperating with the guide rails is installed on the lower surface of the flat plate.

[0016] The present invention also provides a wheelset painting method, such as the wheelset painting device described above, comprising the following steps:

[0017] S101: The wheelset to be painted is placed on the double-belt push module by using a lifting device, and the double-belt push module sends the wheelset to be painted from its starting point to the painting work area where the six-axis robot arm and the double-axis lifting and pushing mechanism are located;

[0018] S102: When the wheelset is sent to the painting work area, the double-axis lifting and pushing mechanism starts to work, and the double-axis lifting and pushing mechanism stably lifts the wheelset from the double-belt transverse pushing module to a suitable height, so that it is away from the double-belt transverse pushing module, so as to facilitate the subsequent painting operation;

[0019] S103: After the wheelset is lifted, the PLC control panel drives the adjustable spacing rotary drive mechanism to work, and adjusts the spacing and controls the rotation of the wheelset to ensure that all surfaces of the wheelset can be evenly painted;

[0020] S104: The six-axis robot arm cooperates with the pre-set spraying path and uses a paint brush to evenly apply the paint on the surface of the wheelset. The paint tank provides the paint required for the painting.

[0021] S105: After the wheelset is sprayed, the double-axis lifting and pushing mechanism places the wheelset back on the double-belt transverse pushing module, ready to be sent out of the painting work area and prepare for the processing of the next wheelset.

[0022] Compared with the prior art, the beneficial effects of the present invention are: the wheelset painting equipment and painting method can automatically send the wheelset into the painting work area through the double-belt transverse pushing module without manual intervention. This process is fast and accurate, which greatly improves the spraying efficiency of the equipment. Compared with manually controlling the movement of the wheelset, the positioning of the wheelset can be completed in a shorter time, thereby shortening the production cycle, increasing production capacity, and the equipment can realize continuous operation. Once the painting is completed, the dual-axis lifting and pushing mechanism sends the wheelset back to the transverse pushing module to prepare for the next wheelset to be sprayed. This automated process eliminates the pause caused by waiting for manual operation, so that the production line remains efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0024] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 3 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0026] Figure 4 The three-dimensional structure of the present invention is shown in FIG. Figure 3 ;

[0027] Figure 5 The three-dimensional structure of the present invention is shown in FIG. Figure 4 ;

[0028] Figure 6 It is a schematic diagram of the three-dimensional structure of the double-belt type horizontal push module of the present invention;

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure of the dual-axis lifting and pushing mechanism of the second embodiment of the present invention.

[0030] In the figure: 1. rack; 2. PLC control panel; 3. paint can; 4. six-axis robot arm; 5. paint brush; 6. circular bottom frame; 7. double-belt horizontal push module; 701. U-shaped support beam plate; 702. X-axis pulley transfer structure; 703. concave wedge block; 704. connecting shaft; 705. stepping motor; 8. right-angle machine; 9. adjustable spacing rotation drive mechanism; 901. Y-axis cylinder; 902. flat plate; 903. motor seat; 904. bearing seat; 905. rotating shaft; 906. second motor; 10. double-axis lifting and pushing mechanism; 1001. partition plate; 1002. X-axis lead screw linear module; 1003. photoelectric switch; 1004. Z-axis double-rod cylinder; 1005. right-angle arm; 1006. bracket. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. 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.

[0032] Embodiment 1, by Figures 1 to 6 The present invention comprises a frame 1, two frames 1 are provided, the top of each of the two frames 1 is installed with a six-axis robot arm 4, the movable end of the six-axis robot arm 4 is installed with a paint brush 5 for applying paint to the outer peripheral surface of the wheel, and a paint tank 3 for containing paint is installed inside the frame 1;

[0033] The circular bottom frame 6 is arranged between the two frames 1, and a double-belt horizontal push module 7 for carrying and driving the wheelset to move toward the six-axis robot arm 4 is installed on the top of the circular bottom frame 6. A U-shaped support beam plate 701 is fixed inside the circular bottom frame 6, and a double-axis lifting and pushing mechanism 10 for lifting the wheelset upward is installed on the top of the U-shaped support beam plate 701;

[0034] A right-angle machine platform 8 is fixed inside the frame 1, and a pitch-adjustable rotary drive mechanism 9 is installed on the top of the right-angle machine platform 8, and the pitch-adjustable rotary drive mechanism 9 is used to drive the wheel pair to rotate. A PLC control panel 2 is installed on the outer wall of one side of one frame 1, and the output end of the PLC control panel 2 is electrically connected to the six-axis robot arm 4, the dual-belt horizontal push module 7, the dual-axis lifting and pushing mechanism 10, and the input end of the pitch-adjustable rotary drive mechanism 9;

[0035] The PLC control panel 2 controls the six-axis robot 4 to move to the brushing starting position and then moves along the re-planned preset path, that is, drives the paint brush 5 to move along the axial direction of the wheel pair to be painted, so that the six-axis robot 4 can paint the wheel pair after dipping in the anti-rust paint. Its multi-axis degrees of freedom enable it to complete a complex motion trajectory in three-dimensional space, thereby ensuring uniform coverage of the paint and high-quality spraying effect;

[0036] The double-belt transverse push module 7 includes an X-axis pulley transfer structure 702 installed on the front and rear sides of the top of the circular bottom frame 6, a connecting shaft 704 for connecting the two X-axis pulley transfer structures 702, and a stepping motor 705 installed on the outer wall of one side of the circular bottom frame 6 for driving one of the X-axis pulley transfer structures 702 to work. The outer peripheral surface of the belt of the X-axis pulley transfer structure 702 is provided with a plurality of concave wedges 703 for engaging with the wheel pair;

[0037] The X-axis pulley transfer structure 702 includes two U-shaped wheel seats symmetrically mounted on the same side of the top of the circular bottom frame 6, track wheels rotatably mounted inside the U-shaped wheel seats, and a multi-V belt wound between the two track wheels in the same X-axis direction, and the top wall of the multi-V belt is in contact with the upper surface of the U-shaped support beam plate 701;

[0038] The output end of the stepper motor 705 is fixedly connected to one end of the connecting shaft 704 through a coupling. When the double-belt horizontal push module 7 actively sends the wheel set to the painting area where the circular bottom frame 6 is located, the PLC control panel 2 controls the stepper motor 705 to work, and the stepper motor 705 drives the two X-axis pulley transfer structures 702 to work synchronously through the connecting shaft 704. During this process, the wheel body of the wheel set is located on the concave wedge block 703 on the belt surface of the X-axis pulley transfer structure 702. The concave wedge block 703 is used to ensure that the wheel set remains stable, and the U-shaped support beam plate 701 actively supports the belt in the X-axis pulley transfer structure 702, so that the belt in the X-axis pulley transfer structure 702 can stably push the wheel set to move until it is sent to the double-axis lifting and pushing mechanism 10, which can automatically send the wheel set to be painted from the conveyor line to the painting work area without manual intervention. Its conveying process is faster and more accurate than manual operation.

[0039] The adjustable spacing rotary drive mechanism 9 can be adjusted according to the size and type of different wheel sets, so that the equipment can handle wheel sets of various specifications and models, and by accurately controlling the rotation speed and angle of the wheel sets, the uniform coverage of the paint is ensured, avoiding the problems of paint waste and uneven coating. The adjustable spacing rotary drive mechanism 9 includes a motor seat 903 slidably mounted on a flat plate 902, a motor seat 903 fixed at the top of the flat plate 902, and a second motor 906 mounted on the outer wall of one side of the motor seat 903. The output end of the second motor 906 is mounted with a rotating shaft 905 through a coupling. After the wheel set is lifted by the double-axis lifting and pushing mechanism 10, the central axis of the wheel set is collinear with the central axis of the rotating shaft 905. The adjustable spacing rotary drive mechanism 9 also includes a Y-axis cylinder 901 mounted on the outer wall of one side of the right-angle machine table 8, and the top of the piston rod of the Y-axis cylinder 901 is fixedly connected to the bottom end of the flat plate 902.

[0040] A bearing seat 904 for assisting the rotation of the rotating shaft 905 is installed at the top of the flat plate 902. The end of the rotating shaft 905 penetrates from the inner ring of the bearing seat 904. Guide rails are fixed on both sides of the top of the right-angle machine 8. A sliding sleeve for sliding with the guide rail is installed on the lower surface of the flat plate 902.

[0041] After the wheelset is lifted up by the dual-axis lifting and pushing mechanism 10, the PLC control panel 2 drives the Y-axis cylinder 901 to work, and the Y-axis cylinder 901 drives the motor seat 903, the bearing seat 904, the rotating shaft 905 and other components to move toward the wheelset direction until the end of the rotating shaft 905 is connected to the end of the middle axis of the wheelset, and then the second motor 906 starts to work, and the second motor 906 actively drives the rotating shaft 905 and the wheelset to rotate. By controlling the rotation of the wheelset, it is ensured that the six-axis robot arm 4 and the paint brush 5 can cover all surfaces of the wheelset when they are in action, so as to maintain the uniformity and consistency of the coating.

[0042] The wheelset painting method of this embodiment, such as the wheelset painting device described above, comprises the following steps:

[0043] S101: Use a lifting device to place the wheelset workpiece to be painted on the double-belt transverse push module 7, and the double-belt transverse push module 7 sends the wheelset to be painted from its own starting point to the painting work area where the six-axis robot arm 4 and the double-axis lifting and pushing mechanism 10 are located;

[0044] S102: When the wheelset is sent to the painting work area, the double-axle lifting and pushing mechanism 10 starts to work, and the double-axle lifting and pushing mechanism 10 stably lifts the wheelset from the double-belt transverse pushing module 7 to a suitable height, so that it is away from the double-belt transverse pushing module 7, so as to facilitate the subsequent painting operation;

[0045] S103: After the wheelset is lifted, the PLC control panel 2 drives the adjustable spacing rotary drive mechanism 9 to work, and adjusts the spacing and controls the rotation of the wheelset to ensure that all surfaces of the wheelset can be evenly painted;

[0046] S104: The six-axis robot arm 4 cooperates with the pre-set spraying path and uses the paint brush 5 to evenly apply the paint on the surface of the wheelset, and the paint tank 3 provides the paint required for the painting;

[0047] S105: After the wheelset is sprayed, the double-axis lifting and pushing mechanism 10 places the wheelset back on the double-belt transverse pushing module 7, ready to be sent out of the painting work area, and prepare for the processing of the next wheelset.

[0048] Embodiment 2, based on embodiment 1, Figure 7It is given that the double-axis lifting and pushing mechanism 10 includes a partition plate 1001 fixed on the top of the U-shaped support beam plate 701, an X-axis screw linear module 1002 installed on the front and rear outer walls of the partition plate 1001, and a Z-axis double-rod cylinder 1004 installed on the movable end of the X-axis screw linear module 1002, a right-angle arm 1005 is installed on the movable end of the Z-axis double-rod cylinder 1004, and a bracket 1006 with an arc-shaped notch is installed on the top of the right-angle arm 1005, and a photoelectric switch 1003 for detecting the moving position of the Z-axis double-rod cylinder 1004 is installed on one side outer wall of the partition plate 1001, and the photoelectric switch The output end of 1003 is electrically connected to the input end of the PLC control panel 2. When the wheelset is moved to the dual-axis lifting and pushing mechanism 10, the PLC control panel 2 controls the X-axis screw linear module 1002 and the Z-axis double-rod cylinder 1004 to work, and the X-axis screw linear module 1002 drives the Z-axis double-rod cylinder 1004, the right-angle arm 1005 and other components to move in the X-axis until the central axis of the through hole of the bracket 1006 and the central axis of the wheelset are on the same vertical reference plane. In this process, the photoelectric switch 1003 detects the sliding position of the Z-axis double-rod cylinder 1004 and the right-angle arm 1005;

[0049] The Z-axis double-rod cylinder 1004 starts to move, so that the Z-axis double-rod cylinder 1004 drives the right-angle arm 1005 and the support seat 1006 to move upward until the circular notch of the support seat 1006 docks with the center axis of the wheelset, until the wheelset is lifted up, and the wheelset is lifted from the double-belt horizontal push module 7 to a suitable height, so that it is away from the conveying module, which is convenient for subsequent spraying operations.

[0050] When the embodiment of the present application is in use, the staff first uses the lifting equipment to place the wheelset workpiece to be painted on the double-belt horizontal pushing module 7. The double-belt horizontal pushing module 7 runs through the upper and lower cargo areas, storage areas, painting work areas, etc. of the equipment. The double-belt horizontal pushing module 7 sends the wheelset to be sprayed from its own starting point to the painting work area where the six-axis robot arm 4 and the double-axis lifting and pushing mechanism 10 are located. That is, without the need for human intervention, the wheelset is accurately sent to the position of the painting work area. When the wheelset is sent to the painting work area, the double-axis lifting and pushing mechanism 10 starts to work. The double-axis lifting and pushing mechanism 10 stably lifts the wheelset from the double-belt horizontal pushing module 7 to a suitable height, keeping it away from the double-belt horizontal pushing module 7, for subsequent painting operations. After the wheelset is lifted, the PLC control panel 2 drives the spacing-adjustable rotary drive mechanism 9 to work. By adjusting the spacing, the mechanism can adapt to different sizes and types. type wheelset, and controls the rotation of the wheelset to ensure that all surfaces of the wheelset can be evenly painted. After the wheelset is in the correct position and starts to rotate, the two six-axis robotic arms 4 enter the working state. The six-axis robotic arms 4 use a paint brush 5 to evenly spray the paint on the surface of the wheelset through its flexible multi-joint structure and precise control system, in conjunction with the pre-set spraying path. The paint tank 3 provides the paint required for painting. The PLC control panel 2 serves as the control center of the equipment, responsible for programming and managing the operation of the entire spraying process. According to the preset program, the coordinated actions of the dual-belt transverse push module 7, the dual-axis lifting and pushing mechanism 10, the adjustable spacing rotation drive mechanism 9 and the six-axis robotic arms 4 are precisely controlled to ensure the spraying quality and efficiency of each wheelset. After the wheelset is sprayed, the dual-axis lifting and pushing mechanism 10 will put the wheelset back on the dual-belt transverse push module 7, ready to be sent out of the painting work area, and prepare for the processing of the next wheelset.

[0051] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Wheel set painting equipment, characterized in that: include: A frame (1), wherein two frames (1) are provided, and a six-axis mechanical arm (4) is installed at the top of each of the two frames (1), and a paint brush (5) for applying paint to the outer peripheral surface of the wheel is installed at the movable end of the six-axis mechanical arm (4), and a paint tank (3) for containing paint is installed inside the frame (1); A circular bottom frame (6), the circular bottom frame (6) is arranged between the two frames (1), a double-belt horizontal push module (7) for carrying and driving the wheelset to move toward the six-axis robot arm (4) is installed at the top of the circular bottom frame (6), a U-shaped support beam plate (701) is fixed inside the circular bottom frame (6), and a double-axis lifting and pushing mechanism (10) for lifting the wheelset upward is installed at the top of the U-shaped support beam plate (701); A right-angle machine platform (8), the right-angle machine platform (8) is fixed inside a frame (1), and a pitch-adjustable rotary drive mechanism (9) is installed on the top of the right-angle machine platform (8), the pitch-adjustable rotary drive mechanism (9) is used to drive the wheel pair to rotate, and a PLC control panel (2) is installed on one side outer wall of the frame (1), and the output end of the PLC control panel (2) is electrically connected to the six-axis robot arm (4), the dual-belt horizontal push module (7), the dual-axis lifting and pushing mechanism (10), and the input end of the pitch-adjustable rotary drive mechanism (9).

2. The wheelset painting equipment according to claim 1, characterized in that: The double-belt transverse push module (7) comprises an X-axis pulley transfer structure (702) mounted on the front and rear sides of the top of the circular bottom frame (6), a connecting shaft (704) for connecting the two X-axis pulley transfer structures (702), and a stepping motor (705) mounted on the outer wall of one side of the circular bottom frame (6) for driving one of the X-axis pulley transfer structures (702) to work, and the outer peripheral surface of the belt of the X-axis pulley transfer structure (702) is provided with a plurality of concave wedge blocks (703) for engaging with the wheel pair.

3. The wheelset painting equipment according to claim 2, characterized in that: The X-axis pulley transfer structure (702) comprises two U-shaped wheel seats symmetrically mounted on the same side of the top of the circular bottom frame (6), track wheels rotatably mounted inside the U-shaped wheel seats, and a multi-V belt wound between the two track wheels in the same X-axis direction, wherein the top wall of the multi-V belt contacts the upper surface of the U-shaped support beam plate (701).

4. The wheelset painting equipment according to claim 2, characterized in that: The output end of the stepper motor (705) is fixedly connected to one end of the connecting shaft (704) via a coupling.

5. The wheelset painting equipment according to claim 1, characterized in that: The dual-axis lifting and pushing mechanism (10) comprises a partition plate (1001) fixed to the top end of a U-shaped support beam plate (701), an X-axis screw linear module (1002) installed on the front and rear outer walls of the partition plate (1001), and a Z-axis dual-rod cylinder (1004) installed on the movable end of the X-axis screw linear module (1002), a right-angle arm (1005) installed on the movable end of the Z-axis dual-rod cylinder (1004), and a bracket (1006) with an arc-shaped notch installed on the top end of the right-angle arm (1005).

6. The wheelset painting equipment according to claim 5, characterized in that: A photoelectric switch (1003) for detecting the moving position of the Z-axis double-rod cylinder (1004) is installed on one side outer wall of the partition plate (1001), and the output end of the photoelectric switch (1003) is electrically connected to the input end of the PLC control panel (2).

7. The wheelset painting equipment according to claim 1, characterized in that: The adjustable-pitch rotary drive mechanism (9) comprises a motor seat (903) slidably mounted on a flat plate (902), a motor seat (903) fixed at the top of the flat plate (902), and a second motor (906) mounted on an outer wall of one side of the motor seat (903); a rotating shaft (905) is mounted on the output end of the second motor (906) via a coupling; after the wheelset is lifted by the double-axis lifting and pushing mechanism (10), the center axis of the wheelset is collinear with the center axis of the rotating shaft (905); the adjustable-pitch rotary drive mechanism (9) further comprises a Y-axis cylinder (901) mounted on an outer wall of one side of the right-angle machine platform (8); the top end of a piston rod of the Y-axis cylinder (901) is fixedly connected to the bottom end of the flat plate (902).

8. The wheelset painting equipment according to claim 7, characterized in that: A bearing seat (904) for assisting the rotation of the rotating shaft (905) is installed at the top end of the flat plate (902), and the end of the rotating shaft (905) passes through the inner ring of the bearing seat (904).

9. The wheelset painting equipment according to claim 7, characterized in that: Guide rails are fixed on both sides of the top of the right-angle machine platform (8), and a sliding sleeve for slidingly cooperating with the guide rails is installed on the lower surface of the flat plate (902).

10. A wheelset painting method, comprising the wheelset painting device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S101: Using a lifting device, the wheelset workpiece to be painted is placed on a double-belt transverse push module (7), and the double-belt transverse push module (7) sends the wheelset to be painted from its starting point to a painting work area where a six-axis robot arm (4) and a double-axis lifting and pushing mechanism (10) are located; S102: When the wheelset is delivered to the painting work area, the double-axle lifting and pushing mechanism (10) starts to work, and the double-axle lifting and pushing mechanism (10) stably lifts the wheelset from the double-belt transverse pushing module (7) to a suitable height, so that it is away from the double-belt transverse pushing module (7) to facilitate the subsequent painting operation; S103: After the wheelset is lifted, the PLC control panel (2) drives the pitch-adjustable rotary drive mechanism (9) to work, and adjusts the pitch and controls the rotation of the wheelset to ensure that all surfaces of the wheelset can be evenly painted; S104: The six-axis robot arm (4) cooperates with a pre-set spraying path and uses a paint brush (5) to evenly apply paint on the surface of the wheelset, and the paint tank (3) provides the paint required for the painting; S105: After the wheelset is sprayed, the double-axis lifting and pushing mechanism (10) places the wheelset back on the double-belt transverse pushing module (7), ready to be sent out of the painting work area, and prepare for the processing of the next wheelset.

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