Carriage door gap glue spraying plugging method suitable for movable freight train carriages

Abstract

The invention discloses a compartment door gap glue spraying plugging method suitable for a mobile freight train compartment, comprising glue spraying equipment workstations respectively arranged on two sides of a rail, glue spraying equipment of the glue spraying equipment workstations comprises two swing mechanical arms, the two swing mechanical arms can respectively extend and rotate, nozzles are arranged on the swing mechanical arms, and the two swing mechanical arms are connected with the glue spraying equipment workstations. The two swing mechanical arms are the first glue spraying mechanical arm and the second glue spraying mechanical arm respectively, the glue spraying equipment is further provided with a camera and a speed sensor through a support, the camera and the speed sensor directly face the front and do not rotate along with the horizontal rotating machine table, and the speed sensor is used for detecting the running speed of a train in real time. And the two swinging mechanical arms complete glue spraying and blocking of a gap of the compartment door. According to the invention, machine vision is adopted to obtain the vehicle speed and the vehicle door crack position information of the non-uniform-speed moving carriage, and the glue spraying operation of the door crack is completed through autonomous trajectory planning and tracking of the glue spraying equipment.

Description

Technical Field

[0001] The invention relates to a method for spraying glue to seal a door gap of a carriage suitable for a mobile freight train carriage. Background Art

[0002] Railway freight open wagons are the basic transport units of railway freight. After a period of use, the doors of railway freight open wagons are generally squeezed and deformed, and the doors are not closed tightly, which can easily lead to material leakage, threatening driving safety and causing environmental pollution. At present, the main method to prevent material leakage is to spray glue and fill the seams of open wagons manually, which is labor-intensive, time-consuming, inefficient and unsafe. It cannot meet the needs of railway freight informatization, modernization and intelligence.

[0003] At present, when manual work is performed, the train is stationary, and the workers move along the direction of the train section by section to complete the door seam spraying. The operation time is long, which affects the transportation efficiency of the train on the railway line. If the spraying operation and the loading operation can be carried out simultaneously, the full process loading time of the entire train will inevitably be shortened. However, the speed of the train is time-varying and non-uniform, which requires the spraying operation device to be able to adapt to the non-uniform moving carriages, obtain the speed of the car in real time, and accurately identify the position of the door seam on the carriage. Usually, there are six doors on one side of a carriage, and each door needs to be sprayed with glue. The door seam is in a "U" shape, and the spraying device is required to complete the "U"-shaped operation trajectory. Therefore, improving the spraying operation, improving the loading efficiency of railway freight carriages, and then improving the carriage turnover rate are of great strategic significance for promoting technological progress and industrial upgrading in the railway transportation industry. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a method for spraying glue to seal the gap of the door of a mobile freight train compartment.

[0005] In order to achieve the above object, the scheme of the present invention is: A method for spraying glue to seal the gap of a door of a moving freight train compartment is to spray glue to seal the vertical gaps on the left and right sides of the door and the lower horizontal gap, and the train travels at a speed of no more than 0.2 m / s, wherein: the method includes spraying glue equipment workstations respectively arranged on both sides of the track, the spraying glue equipment of the spraying glue equipment workstation includes two swinging mechanical arms, the two swinging mechanical arms can be extended and rotated respectively, and nozzles are arranged on the swinging mechanical arms, the two swinging mechanical arms are respectively a first spraying glue mechanical arm and a second spraying glue mechanical arm, the spraying glue equipment is also provided with a camera and a speed sensor through a bracket, the camera and the speed sensor are facing forward, and the speed sensor is used to detect the travel speed of the train in real time, the method further includes establishing an image frame for the camera to acquire an image according to the actual size of the compartment, and establishing a plane coordinate system of the image frame according to the actual size, the image frame covering the compartment door; calibrating the origin coordinates of the nozzle of the swinging mechanical arm and the image frame, and when the train enters the spraying glue equipment workstation from right to left, the blocking method steps include: Step 1: Continuously acquire the moving carriage image frame image in real time according to the established image frame, and acquire the train speed in real time; Step 2: Process the image frame to determine whether a compartment door appears; Step 3: If the door appears, determine the four corner coordinates of the door in the image frame plane coordinate system and determine the length of the horizontal seam and the length of the vertical seam at the lower side of the door; if the door does not appear, return to step 1; Step 4: Move the first glue spraying robot arm and the second glue spraying robot arm to align the two nozzles with the lower left coordinate point of the four-corner coordinates at the same time and start spraying glue; Step 5: The glue spraying equipment control execution includes the following execution steps: Execution step 1: The first glue spraying mechanical arm does not move, and the nozzle of the first glue spraying mechanical arm follows the movement of the train and continues to spray glue until the distance moved by the train is equal to the length of the transverse seam of the door, and the glue spraying of the transverse seam on the lower side of the door is completed, and the glue spraying stops; Execute step 2, the second glue spraying mechanical arm swings upward, and the nozzle of the second glue spraying mechanical arm continues to spray glue until the distance the second glue spraying mechanical arm swings upward is equal to the length of the vertical seam of the door, and the glue spraying of the vertical seam on the left side of the door is completed, and the glue spraying stops; wherein, while the second glue spraying mechanical arm swings upward, the second glue spraying mechanical arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the second glue spraying mechanical arm always sprays glue along the vertical seam on the left side of the door until the glue spraying of the vertical seam on the left side of the door is completed, and the rotation stops; Execute step 3, use the first glue spraying robot arm or the second glue spraying robot arm to spray glue on the right side vertical seam of the door; Step 6: Reset the first glue spraying robot arm and the second glue spraying robot arm, and return to step 1 until the glue spraying of the train compartment door is completed.

[0006] The scheme is further as follows: in the step five, the use of the first glue spraying robot arm to complete the glue spraying of the vertical seam on the right side of the door is as follows: when the nozzle of the first glue spraying robot arm completes the glue spraying of the lower side transverse seam of the door, that is, when the train moves a distance equal to the length of the transverse seam of the door, the first glue spraying robot arm turns and swings upward, and the nozzle of the first glue spraying robot arm continues to spray glue until the distance the first glue spraying robot arm swings upward is equal to the length of the vertical seam of the door, the glue spraying of the vertical seam on the right side of the door is completed, and the glue spraying is stopped; at the same time as the first glue spraying robot arm turns and starts to swing upward, the first glue spraying robot arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the first glue spraying robot arm always sprays glue along the vertical seam on the right side of the door until the glue spraying of the vertical seam on the right side of the door is completed, and the rotation stops.

[0007] The solution is further as follows: in the step five, the use of the second glue spraying robot arm to complete the glue spraying of the second vertical seam is as follows: after the second glue spraying robot arm completes the glue spraying of the vertical seam on the left side of the car door, the second glue spraying robot arm rotates to the right so that the nozzle of the second glue spraying robot arm is positioned at the upper right coordinate point of the four corners of the car door and then swings downward, and the nozzle of the second glue spraying robot arm continues to spray glue until the distance the second glue spraying robot arm swings downward is equal to the length of the vertical seam on the right side of the car door, and the glue spraying of the vertical seam on the right side of the car door is completed, and the glue spraying is stopped; wherein, while the second glue spraying robot arm swings downward, the second glue spraying robot arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the second glue spraying robot arm always sprays glue along the right side of the car door until the glue spraying of the vertical seam on the right side of the car door is completed, and the rotation stops.

[0008] The solution is further that: in the step 2, the judgment of whether the door is present is made by comparing the acquired image frame image with the previously stored door image data, and the previously stored door image data is obtained by processing the previously acquired image frame image containing the door; In step three, the determination of the transverse seam length and the vertical seam length is determined by calculation based on the four-corner coordinates, or is obtained from a pre-stored database corresponding to the pre-stored transverse seam length and vertical seam length of the lower side of the door.

[0009] The solution is further as follows: in step five, execution of step one and execution of step two are performed synchronously.

[0010] The solution is further that: the speed sensor is a radar speed sensor or a grating visual speed sensor. The grating visual speed sensor illuminates the carriage through a grating light, receives the grating image by a camera, and calculates the travel speed of the carriage according to the change of the grating during travel.

[0011] The solution is further that: the angular velocity of the rotation follows the speed of the train, and the arc length of the nozzle of the second glue spraying mechanical arm driven by the rotation is equal to the distance that the vertical seam on the left side of the door moves to the left at the speed of the train.

[0012] The solution is further as follows: in the step five, the nozzle of the second glue spraying robot arm is controlled to spray glue on the vertical seam on the left side of the door and the nozzle of the first glue spraying robot arm is controlled to spray glue on the horizontal seam of the door at the same time; or, the nozzle of the second glue spraying robot arm completes spraying glue on the vertical seam on the left side of the door earlier than the nozzle of the first glue spraying robot arm completes spraying glue on the horizontal seam of the door.

[0013] The beneficial effects of the present invention are: (1) The present invention uses machine vision to obtain the vehicle speed and door seam position information of the non-uniformly moving carriage, and completes the door seam glue spraying operation through autonomous trajectory planning and tracking of the glue spraying equipment; (2) The present invention realizes intelligent glue spraying operation, which is safe and efficient, is less affected by the external environment, can operate sustainably, and can run for a long time; (3) The present invention can realize synchronous operation with loading of non-uniformly moving carriages, with an average operation time of 45 minutes per train, greatly improving the carriage turnover efficiency, and the operation is stable, reliable and efficient.

[0014] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic plan view of the glue spraying and plugging structure for implementing the method of the present invention; Figure 2 It is a schematic diagram of the image frame established. DETAILED DESCRIPTION

[0016] A method for spraying glue to seal the gaps of compartment doors of a moving freight train compartment. Usually, there are six doors on one side of a compartment, and the gaps of each compartment door are in a "U" shape. Therefore, the spraying glue sealing method is to spray glue to seal the vertical gaps on the left and right sides of the compartment door and the lower horizontal gap. The train travels at a speed of no more than 0.2 meters per second. Figure 1 and Figure 2As shown: the method includes a glue spraying equipment workstation 2 respectively arranged on both sides of the track 1, the glue spraying equipment 201 of the glue spraying equipment workstation includes two swinging mechanical arms and a glue dispensing and supplying device (not shown in the figure), the two swinging mechanical arms can be extended and rotated respectively, and nozzles are arranged on the swinging mechanical arms. The two swinging mechanical arms are respectively a first glue spraying mechanical arm 3 and a second glue spraying mechanical arm 4. The swinging mechanical arms are simulated robot arms that can be purchased on the market and widely used on the production line. The simulated robot arms have a joint shaft in the middle and a rotating base at the lower end, and are retractable and rotatable mechanical arms; the glue spraying equipment A camera 5 and a speed sensor 6 are also provided through the bracket. The camera 5 and the speed sensor 6 face forward and do not rotate with the horizontal rotating platform 202. The speed sensor 6 is used to detect the traveling speed of the train 7 in real time. The method further includes establishing an image frame 8 for the camera to actually capture and obtain an image according to the actual size of the carriage, and establishing an XY plane coordinate system of the image frame according to the actual size, wherein the image frame includes the door 701 of the carriage; calibrating the nozzle of the swinging mechanical arm and the origin coordinate O set in the image frame. When the train enters the glue spraying equipment workstation 2 from right to left, the steps performed by the blocking method include: Step 1: Continuously acquire the moving carriage image frame image in real time according to the established image frame, and acquire the train speed in real time; Step 2: Process the image frame to determine whether a compartment door appears; Step 3: If a door appears, determine the four corner coordinates A, B, C, and D of the door in the image frame plane coordinate system and determine the length of the horizontal seam and the length of the vertical seam at the lower side of the door; if no door appears, return to step 1; Step 4: Move the first glue spraying robot arm and the second glue spraying robot arm to align the two nozzles with the lower left coordinate point of the four-corner coordinates at the same time and start spraying glue; Step 5: The glue spraying equipment control execution includes the following execution steps: Execution step 1: The first glue spraying mechanical arm does not move, and the nozzle of the first glue spraying mechanical arm follows the movement of the train and continues to spray glue until the distance moved by the train is equal to the length of the transverse seam of the door, and the glue spraying of the transverse seam on the lower side of the door is completed, and the glue spraying is stopped; the distance moved by the train is calculated according to the time point when the glue spraying starts and the travel speed of the train; Execute step 2, the second glue spraying mechanical arm swings upward, and the nozzle of the second glue spraying mechanical arm continues to spray glue until the distance the second glue spraying mechanical arm swings upward is equal to the length of the vertical seam of the door, and the glue spraying of the vertical seam on the left side of the door is completed, and the glue spraying stops; wherein, while the second glue spraying mechanical arm swings upward, the second glue spraying mechanical arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the second glue spraying mechanical arm always sprays glue along the vertical seam on the left side of the door until the glue spraying of the vertical seam on the left side of the door is completed, and the rotation stops; Execute step 3, use the first glue spraying robot arm or the second glue spraying robot arm to spray glue on the right side vertical seam of the door; Step 6: Reset the first glue spraying robot arm and the second glue spraying robot arm, and return to step 1 until the glue spraying of the train compartment door is completed.

[0017] The above-mentioned execution step 1 and execution step 2 are performed synchronously.

[0018] Wherein: in the step five, the use of the first glue spraying mechanical arm to complete the glue spraying of the vertical seam on the right side of the door is: when the nozzle of the first glue spraying mechanical arm completes the glue spraying of the lower side transverse seam of the door, that is, when the train moving distance is equal to the length of the transverse seam of the door, the first glue spraying mechanical arm turns and swings upward, and the nozzle of the first glue spraying mechanical arm continues to spray glue until the distance the first glue spraying mechanical arm swings upward is equal to the length of the vertical seam of the door, the glue spraying of the vertical seam on the right side of the door is completed, and the glue spraying is stopped; at the same time when the first glue spraying mechanical arm turns and starts to swing upward, the first glue spraying mechanical arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the first glue spraying mechanical arm always sprays glue along the vertical seam on the right side of the door until the glue spraying of the vertical seam on the right side of the door is completed, and the rotation stops.

[0019] In the step five, the use of the second glue spraying mechanical arm to complete the glue spraying of the second vertical seam is: after the second glue spraying mechanical arm completes the glue spraying of the vertical seam on the left side of the car door, the second glue spraying mechanical arm rotates to the right so that the nozzle of the second glue spraying mechanical arm is positioned at the upper right coordinate point of the four corners of the car door coordinates and then swings downward, and the nozzle of the second glue spraying mechanical arm continues to spray glue until the distance the second glue spraying mechanical arm swings downward is equal to the length of the vertical seam on the right side of the car door, the glue spraying of the vertical seam on the right side of the car door is completed, and the glue spraying is stopped; wherein, while the second glue spraying mechanical arm swings downward, the second glue spraying mechanical arm rotates to the left following the movement of the train, and the angular velocity of the rotation is As the train travels at a faster speed, the nozzle of the second glue spraying robot arm always sprays glue along the right side of the door until the glue spraying of the vertical seam on the right side of the door is completed, and then stops rotating. The second glue spraying robot arm rotates to the right so that the nozzle of the second glue spraying robot arm is positioned at the upper right coordinate point of the four corners of the door. The distance that the upper right coordinate point of the four corners moves to the left is calculated based on the time taken by the second glue spraying robot arm to complete the glue spraying of the vertical seam on the left side of the door and the known speed of the train. The distance that the second glue spraying robot arm rotates to the right is calculated based on the length of the horizontal seam of the door so that the nozzle of the second glue spraying robot arm is positioned at the upper right coordinate point of the four corners of the door.

[0020] Processing the image frame image to determine whether the door is present is a mature technology, but the processing takes a certain amount of time. Usually, the glue spraying operation time for a single door seam needs to be less than 5s. During the processing time, the train is moving, so when the result comes out, the door will deviate. Although the processing time will not exceed 50ms and the listed travel speed is limited, the 50ms deviation distance can be ignored for glue spraying. However, in this embodiment, in order to further reduce the processing time, the judgment of whether the door appears in the step 2 is made by comparing the acquired image frame image with the pre-stored door image data. The pre-stored door image data is obtained by processing the image frame image containing the door that was acquired in advance; for example, a discrimination model can be learned in advance by establishing a neural network model. During image processing, only feature data of the gap in the image needs to be obtained, and then the feature data is input into the model for comparison to determine whether the door appears.

[0021] Furthermore, in step three, the determination of the transverse seam length and the vertical seam length may be determined by calculation based on the four-corner coordinates, or may be obtained from a pre-stored database of corresponding pre-stored transverse seam lengths and vertical seam lengths on the lower side of the door.

[0022] In the embodiment: the speed sensor is a radar speed sensor or a grating visual speed sensor. The grating visual speed sensor illuminates the carriage through a grating light, receives the grating image by a camera, and calculates the travel speed of the carriage according to the change of the grating during travel.

[0023] Among them: the angular velocity of the rotation follows the speed of the train, that is, the arc length of the nozzle of the second glue spraying robot arm driven by the rotation is equal to the distance that the vertical seam on the left side of the door moves to the left at the speed of the train, or, it can also be said that when the nozzle of the first glue spraying robot arm is at the vertical seam on the right side of the door, the arc length of the nozzle of the first glue spraying robot arm driven by the rotation is equal to the distance that the vertical seam on the right side of the door moves to the left at the speed of the train.

[0024] In the embodiment: in the step five, the nozzle of the second glue spraying robot arm is controlled to spray glue on the vertical seam on the left side of the door and the nozzle of the first glue spraying robot arm is controlled to spray glue on the horizontal seam of the door at the same time; or, the nozzle of the second glue spraying robot arm completes spraying glue on the vertical seam on the left side of the door earlier than the nozzle of the first glue spraying robot arm completes spraying glue on the horizontal seam of the door.

[0025] The above-mentioned embodiment of the method for spraying glue to seal the gap of the door of a mobile freight train compartment demonstrates that the glue spraying operation of the door gap is completed through the autonomous trajectory planning and tracking of the glue spraying equipment; it can achieve synchronous operation with the loading of non-uniformly moving compartments, and the glue spraying operation time of a single compartment door gap needs to be less than 5s. Usually, there are six compartment doors on one side of a compartment, and the average operation time of a train is not more than 45 minutes, which greatly improves the turnover efficiency of the compartment, and the operation is stable, reliable and efficient.

Claims

1. A method for spraying glue to seal the gap of a door of a moving freight train compartment is to spray glue to seal the vertical gaps on the left and right sides of the door and the lower horizontal gap, and the train travels at a speed of no more than 0.2 m / s, characterized in that: The method includes glue spraying equipment workstations respectively arranged on both sides of the track, the glue spraying equipment of the glue spraying equipment workstation includes two swinging mechanical arms, the two swinging mechanical arms can be extended and rotated respectively, and nozzles are arranged on the swinging mechanical arms, and the two swinging mechanical arms are respectively a first glue spraying mechanical arm and a second glue spraying mechanical arm. The glue spraying equipment is also provided with a camera and a speed sensor through a bracket, the camera and the speed sensor are facing the front, and the speed sensor is used to detect the speed of the train in real time. The method further includes establishing an image frame for the camera to obtain an image according to the actual size of the carriage, and establishing an image frame plane coordinate system according to the actual size, wherein the image frame covers the door of the carriage; calibrating the origin coordinates of the nozzle of the swinging mechanical arm and the image frame setting, and when the train enters the glue spraying equipment workstation from right to left, the blocking method steps include: Step 1: Continuously acquire the moving carriage image frame image in real time according to the established image frame, and acquire the train speed in real time; Step 2: Process the image frame to determine whether a compartment door appears; Step 3: If the door appears, determine the four corner coordinates of the door in the image frame plane coordinate system and determine the length of the horizontal seam and the length of the vertical seam at the lower side of the door; if the door does not appear, return to step 1; Step 4: Move the first glue spraying robot arm and the second glue spraying robot arm to align the two nozzles with the lower left coordinate point of the four-corner coordinates at the same time and start spraying glue; Step 5: The glue spraying equipment control execution includes the following execution steps: Execution step 1: The first glue spraying mechanical arm does not move, and the nozzle of the first glue spraying mechanical arm follows the movement of the train and continues to spray glue until the distance moved by the train is equal to the length of the transverse seam of the door, and the glue spraying of the transverse seam on the lower side of the door is completed, and the glue spraying stops; Execute step 2, the second glue spraying mechanical arm swings upward, and the nozzle of the second glue spraying mechanical arm continues to spray glue until the distance the second glue spraying mechanical arm swings upward is equal to the length of the vertical seam of the door, and the glue spraying of the vertical seam on the left side of the door is completed, and the glue spraying stops; wherein, while the second glue spraying mechanical arm swings upward, the second glue spraying mechanical arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the second glue spraying mechanical arm always sprays glue along the vertical seam on the left side of the door until the glue spraying of the vertical seam on the left side of the door is completed, and the rotation stops; Execute step 3, use the first glue spraying robot arm or the second glue spraying robot arm to spray glue on the right side vertical seam of the door; Step 6: Reset the first glue spraying robot arm and the second glue spraying robot arm, and return to step 1 until the glue spraying of the train compartment door is completed.

2. The glue spraying plugging method according to claim 1, characterized in that: In the step five, the use of the first glue spraying mechanical arm to complete the glue spraying of the vertical seam on the right side of the door is: when the nozzle of the first glue spraying mechanical arm completes the glue spraying of the lower side transverse seam of the door, that is, when the train moves a distance equal to the length of the transverse seam of the door, the first glue spraying mechanical arm turns and swings upward, and the nozzle of the first glue spraying mechanical arm continues to spray glue until the distance the first glue spraying mechanical arm swings upward is equal to the length of the vertical seam of the door, the glue spraying of the vertical seam on the right side of the door is completed, and the glue spraying is stopped; while the first glue spraying mechanical arm turns and starts to swing upward, the first glue spraying mechanical arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the first glue spraying mechanical arm always sprays glue along the vertical seam on the right side of the door until the glue spraying of the vertical seam on the right side of the door is completed, and the rotation stops.

3. The glue spraying plugging method according to claim 1, characterized in that: In the step five, the use of the second glue spraying robot arm to complete the glue spraying of the second vertical seam is: after the second glue spraying robot arm completes the glue spraying of the vertical seam on the left side of the car door, the second glue spraying robot arm rotates to the right so that the nozzle of the second glue spraying robot arm is positioned at the upper right coordinate point of the four corners of the car door and then swings downward, and the nozzle of the second glue spraying robot arm continues to spray glue until the distance the second glue spraying robot arm swings downward is equal to the length of the vertical seam on the right side of the car door, and the glue spraying of the vertical seam on the right side of the car door is completed, and the glue spraying is stopped; wherein, while the second glue spraying robot arm swings downward, the second glue spraying robot arm rotates to the left following the movement of the train, and the angular velocity of the rotation follows the travel speed of the train, so that the nozzle of the second glue spraying robot arm always sprays glue along the right side of the car door until the glue spraying of the vertical seam on the right side of the car door is completed, and the rotation stops.

4. The glue spraying plugging method according to claim 1, characterized in that: In the step 2, the judgment of whether the door is present is made by comparing the acquired image frame image with the previously stored door image data, the previously stored door image data being obtained by processing the previously acquired image frame image containing the door; In step three, the determination of the transverse seam length and the vertical seam length is determined by calculation based on the four-corner coordinates, or is obtained from a pre-stored database corresponding to the pre-stored transverse seam length and vertical seam length of the lower side of the door.

5. The glue spraying plugging method according to claim 1, characterized in that: In the step 5, the execution of step 1 and the execution of step 2 are performed synchronously.

6. The glue spraying plugging method according to claim 1, characterized in that: The speed sensor is a radar speed sensor or a grating visual speed sensor. The grating visual speed sensor illuminates the carriage through a grating light, receives the grating image by a camera, and calculates the travel speed of the carriage according to the change of the grating during travel.

7. The glue spraying plugging method according to claim 1, characterized in that: The angular velocity of the rotation follows the speed of the train, and the arc length of the nozzle of the second glue spraying mechanical arm driven by the rotation is equal to the distance that the left vertical seam of the door moves to the left at the speed of the train.

8. The glue spraying plugging method according to claim 1, characterized in that: In the step five, the nozzle of the second glue spraying robot arm is controlled to spray glue on the vertical seam on the left side of the door and the nozzle of the first glue spraying robot arm is controlled to spray glue on the horizontal seam of the door at the same time; or, the nozzle of the second glue spraying robot arm completes spraying glue on the vertical seam on the left side of the door earlier than the nozzle of the first glue spraying robot arm completes spraying glue on the horizontal seam of the door.

Images