Spraying robot for maintenance of high-speed railway platform

Abstract

The invention discloses a spraying robot for maintenance of a high-speed railway platform, a spraying manipulator is mounted at the tail end of a telescopic arm of a crank arm vehicle, the spraying manipulator comprises a first mechanical arm, a first 3D camera, a first mounting rack and a spray gun, the first 3D camera is mounted at the tail end of the first mechanical arm through the first mounting rack, and the spray gun is mounted at the upper part of the first 3D camera. The device has the beneficial effects that rust on the columns of the high-speed rail station is recognized through the 3D camera, then positioning spraying and coating are conducted, the maintenance effect is achieved, the visual recognition function and the spraying function are integrated, and automatic spraying and repairing are achieved through software system control; three-dimensional information of the surface of the platform is obtained through the 3D camera, spraying and grinding work can be automatically completed in combination with flexible movement of the mechanical arm, and the efficiency and quality of maintenance work are improved; the rotary table mechanism, the folding arm mechanism, the telescopic arm and the fly arm mechanism of the crank arm vehicle work cooperatively, so that the robot can adapt to maintenance work at different positions and angles.

Description

Technical Field

[0001] The present invention relates to the technical field of high-speed rail maintenance, and in particular to a spraying robot for high-speed rail platform maintenance. Background Art

[0002] As an important transportation infrastructure, the steel structure of high-speed railway platforms is exposed to complex environments for a long time and is susceptible to corrosion, aging and other problems. Regular maintenance of anti-corrosion and fire-retardant coatings is required. Traditional maintenance methods rely on manual operations, which have problems such as low efficiency, poor safety, and high costs9. In recent years, with the development of robot technology, automated spraying equipment has gradually been applied to construction, rail transit and other fields, but it still has limitations such as poor adaptability and insufficient intelligence.

[0003] High-speed railway platforms are exposed to the natural environment for a long time. Affected by factors such as rain, ultraviolet rays, oil pollution and train airflow impact, the surface coating is prone to aging and peeling, and regular spraying maintenance is required. Traditional manual spraying methods have the following problems:

[0004] 1. Low operating efficiency, which requires completion during high-speed rail outages and a long maintenance cycle;

[0005] 2. High-altitude operations have high safety risks, and manual operations are easily affected by fatigue;

[0006] 3. The uniformity of coating thickness is difficult to ensure, which affects the maintenance quality;

[0007] 4. The volatilization of solvent-based paint pollutes the environment and endangers the health of workers.

[0008] During long-term use, high-speed railway platforms will experience wear, aging, corrosion and other problems on the surface, requiring regular maintenance work, of which spraying and grinding are common maintenance operations. Traditional high-speed railway platform maintenance work is mostly done manually, which has problems such as high labor intensity, low work efficiency, and unstable maintenance quality. In addition, manual operation is difficult in some high places or narrow areas, and there are certain safety risks.

[0009] Therefore, in view of the above technical problems, it is necessary to propose a spraying robot for high-speed railway platform maintenance. Summary of the invention

[0010] The purpose of the present invention is to provide a spraying robot for high-speed railway platform maintenance to solve the above-mentioned technical problems.

[0011] To achieve the above object, the present invention provides the following technical solutions:

[0012] A spraying robot for high-speed railway platform maintenance comprises a boom truck and a spraying manipulator, wherein the spraying manipulator is mounted at the end of a telescopic arm of the boom truck, the spraying manipulator comprises a first manipulator arm, a first 3D camera, a first mounting frame and a spray gun, wherein the first 3D camera is mounted at the end of the first manipulator arm via a first mounting frame, and the spray gun is mounted on the upper part of the first 3D camera.

[0013] Preferably, a first camera protection mechanism is provided at the front lower portion of the first 3D camera.

[0014] Preferably, the first camera protection mechanism comprises a first cylinder and a first protection cover, the first cylinder is mounted on the first mounting frame, and the output end of the first cylinder is fixed to the protection cover.

[0015] Preferably, the first robotic arm includes a first fixed seat, a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm, one end of the first connecting arm is connected to one end of , one end of the second connecting arm is connected to the other end of the first connecting arm, and both ends of the third connecting arm are respectively connected to the second connecting arm and the fourth connecting arm.

[0016] Preferably, the articulated arm truck comprises a chassis, a turntable mechanism, a folding arm mechanism, a telescopic arm and a flying arm mechanism, the turntable mechanism is installed on the chassis, the folding arm mechanism is connected to the turntable mechanism, one end of the telescopic arm is connected to the folding arm mechanism, and the other end of the telescopic arm is connected to the flying arm mechanism.

[0017] Preferably, the chassis is provided with a generator, an air compressor, an electric airless sprayer and a paint tank, the generator provides power to the air compressor and the electric airless sprayer respectively, and the paint tank is connected to the electric airless sprayer.

[0018] Preferably, the air compressor provides air source power for the spray gun, and the electric airless sprayer is connected to the spray gun through a paint pipe.

[0019] A spraying robot for high-speed railway platform maintenance comprises a boom truck and a grinding manipulator, wherein the grinding manipulator is mounted at the end of a telescopic arm of the boom truck, and the spraying manipulator comprises a second manipulator arm, a second 3D camera, a second mounting frame and a grinder, wherein the second 3D camera is mounted at the end of the second manipulator arm via a second mounting frame, and the grinder is mounted on the upper part of the second 3D camera.

[0020] Preferably, a second camera protection mechanism is provided at the front lower part of the second 3D camera; the second camera protection mechanism comprises a second cylinder and a second protection cover, the second cylinder is mounted on the second mounting frame, and the output end of the second cylinder is fixed to the protection cover.

[0021] Preferably, the second robotic arm includes a second fixed base, a fifth connecting arm, a sixth connecting arm, a seventh connecting arm and an eighth connecting arm, one end of the fifth connecting arm is connected to one end of , one end of the sixth connecting arm is connected to the other end of the fifth connecting arm, and both ends of the seventh connecting arm are respectively connected to the sixth connecting arm and the eighth connecting arm.

[0022] Beneficial effects of the present invention:

[0023] 1. The present invention uses a 3D camera to identify rust on the pillars of the high-speed railway station, and then performs positioning spray painting to play a maintenance role, integrating visual recognition and spraying functions, and realizing automatic spray repair through software system control; the 3D camera obtains three-dimensional information of the platform surface, combined with the flexible movement of the robotic arm, it can automatically complete the spraying and polishing work, thereby improving the efficiency and quality of maintenance work.

[0024] 2. The turntable mechanism, folding arm mechanism, telescopic arm and flying arm mechanism of the articulated boom truck of the present invention work in coordination, and the multi-connected arm structure of the robot arm enables the robot to adapt to maintenance work at different positions and angles.

[0025] 3. The camera protection mechanism of the present invention can effectively protect the 3D camera, ensure its normal operation in harsh working environments, and reduce labor intensity and safety risks: it reduces manual operations, reduces the labor intensity of workers, and avoids the safety risks of manual operations in high places or narrow areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of the articulated boom truck of the present invention;

[0027] Figures 2 to 6 It is a schematic diagram of the spraying robot of the present invention;

[0028] Figure 7 and Figure 8 It is a structural diagram of the spray gun of the present invention;

[0029] Figures 9 to 12 It is a structural diagram of the grinding robot of the present invention;

[0030] Fig.13 and Fig.14 It is a structural diagram of the grinding machine of the present invention;

[0031] Fig.15 It is a communication flow chart of the 3D camera of the present invention.

[0032] 1. The 3D camera of the present invention is shown in Figure 1. The 3D camera of the present invention is shown in Figure 1. The 3D camera of the present invention is shown in Figure 1. The 3D camera of the present invention is shown in Figure 1. The 3D camera of the present invention is shown in Figure 1. DETAILED DESCRIPTION

[0033] 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.

[0034] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0035] The following is combined with Figure 1-15 The embodiments of the present invention are described in further detail.

[0036] A spraying robot for high-speed railway platform maintenance includes a boom truck 1 and a spraying manipulator 2, wherein the spraying manipulator 2 is installed at the end of a telescopic arm 14 of the boom truck 1, and the spraying manipulator 2 includes a first manipulator 21, a first 3D camera 22, a first mounting frame 23 and a spray gun 24, wherein the first 3D camera 22 is installed at the end of the first manipulator 21 through the first mounting frame 23, and the spray gun 24 is installed on the upper part of the first 3D camera 22.

[0037] The first 3D camera is used to obtain three-dimensional information of the platform surface, providing data support for the spraying work, so that the spray gun can accurately spray the platform surface.

[0038] Furthermore, a first camera protection mechanism 3 is provided at the front lower portion of the first 3D camera 22 .

[0039] Furthermore, the first camera protection mechanism 3 includes a first cylinder 31 and a first protective cover 32 , the first cylinder 31 is mounted on the first mounting frame 23 , and the output end of the first cylinder 31 is fixed to the first protective cover 32 .

[0040] The further technical solution has the following beneficial effects: during the spraying process, the first cylinder 31 can drive the first protective cover 32 to unfold, thereby protecting the first 3D camera 22 and preventing paint from splashing onto the camera and affecting its normal operation.

[0041] Furthermore, the first robotic arm 21 includes a first fixed base 211, a first connecting arm 212, a second connecting arm 213, a third connecting arm 214 and a fourth connecting arm 215, one end of the first connecting arm 212 is connected to one end of the first fixed base 211, one end of the second connecting arm 213 is connected to the other end of the first connecting arm 212, and both ends of the third connecting arm 214 are respectively connected to the second connecting arm 213 and the fourth connecting arm 215.

[0042] Furthermore, the articulated arm truck 1 includes a chassis 11, a turntable mechanism 12, a folding arm mechanism 13, a telescopic arm 14 and a flying arm mechanism 15. The turntable mechanism 12 is installed on the chassis 11, the folding arm mechanism 13 is connected to the turntable mechanism 12, one end of the telescopic arm 14 is connected to the folding arm mechanism 13, and the other end of the telescopic arm 14 is connected to the flying arm mechanism 15.

[0043] The further technical solution has the beneficial effect that the spraying robot 2 can be accurately moved to the position where spraying is required through the coordinated work of the turntable mechanism 12, the folding arm mechanism 14, the telescopic arm 14 and the flying arm mechanism 15.

[0044] Furthermore, the chassis 11 is provided with a generator, an air compressor, an electric airless sprayer and a paint tank, the generator provides power to the air compressor and the electric airless sprayer respectively, and the paint tank is connected to the electric airless sprayer.

[0045] Furthermore, the air compressor 112 provides air source power for the spray gun 24, and the electric airless sprayer is connected to the spray gun 24 through a paint pipe.

[0046] The beneficial effects of adopting further technical solutions are as follows: the generator provides power support for the operation of the entire robot, the air compressor provides the air source required by the spray gun, and the electric airless sprayer draws paint from the paint can and transports it to the spray gun for spraying.

[0047] A spraying robot for high-speed railway platform maintenance includes a boom truck 1 and a grinding manipulator 4, wherein the grinding manipulator 4 is installed at the end of a telescopic arm 14 of the boom truck 1, and the grinding manipulator 4 includes a second manipulator arm 41, a second 3D camera 42, a second mounting frame 43 and a grinder 44, wherein the second 3D camera 42 is installed at the end of the second manipulator arm 41 through the second mounting frame 43, and the grinder 44 is installed on the upper part of the second 3D camera 42.

[0048] The beneficial effect of adopting a further technical solution is as follows: the second 3D camera is used to obtain three-dimensional information of the platform surface, providing data support for the grinding work, so that the grinder can accurately grind the platform surface.

[0049] Furthermore, a second camera protection mechanism 5 is provided at the front lower part of the second 3D camera 42 ; the second camera protection mechanism 5 includes a second cylinder 51 and a second protective cover 52 , the second cylinder 51 is installed on the second mounting frame 43 , and the output end of the second cylinder 51 is fixed to the second protective cover 52 .

[0050] The further technical solution has the following beneficial effects: during the grinding process, the second cylinder 51 can drive the second protective cover 52 to unfold, thereby protecting the second 3D camera 42 and preventing dust and other impurities from entering the camera and affecting its normal operation.

[0051] Furthermore, the second robotic arm 41 includes a second fixed base 411, a fifth connecting arm 412, a sixth connecting arm 413, a seventh connecting arm 414 and an eighth connecting arm 415, one end of the fifth connecting arm 412 is connected to one end of the second fixed base 411, one end of the sixth connecting arm 413 is connected to the other end of the fifth connecting arm 412, and both ends of the seventh connecting arm 414 are respectively connected to the sixth connecting arm 413 and the eighth connecting arm 415.

[0052] The beneficial effect of adopting a further technical solution is that the multi-connected arm structure enables the second robot arm 41 to have a larger range of motion and flexibility, and can adapt to grinding work at different positions and angles.

[0053] Beneficial effects of the present invention:

[0054] 1. The present invention uses a 3D camera to identify rust on the pillars of the high-speed railway station, and then performs positioning spray painting to play a maintenance role, integrating visual recognition and spraying functions, and realizing automatic spray repair through software system control; the 3D camera obtains three-dimensional information of the platform surface, combined with the flexible movement of the robotic arm, it can automatically complete the spraying and polishing work, thereby improving the efficiency and quality of maintenance work.

[0055] 2. The turntable mechanism 12, folding arm mechanism 13, telescopic arm 14 and flying arm mechanism 15 of the articulated boom truck 1 of the present invention work in coordination, and the multi-connected arm structure of the robot arm enables the robot to adapt to maintenance work at different positions and angles.

[0056] 3. The camera protection mechanism of the present invention can effectively protect the 3D camera, ensure its normal operation in harsh working environments, and reduce labor intensity and safety risks: it reduces manual operations, reduces the labor intensity of workers, and avoids the safety risks of manual operations in high places or narrow areas.

[0057] Working process of spraying robot:

[0058] (1) Start the generator to provide power to the air compressor and electric airless sprayer.

[0059] (2) Operate the articulated arm vehicle 1, and move the spraying robot 2 to the position where spraying is required through the turntable mechanism 12, the folding arm mechanism 13, the telescopic arm 14 and the flying arm mechanism 15.

[0060] (3) The first 3D camera 22 acquires three-dimensional information of the platform surface and transmits the data to the control system.

[0061] (4) The control system controls the movement of the first robot arm 21 based on the acquired information, so that the spray gun 24 can spray the platform surface accurately.

[0062] (5) During the spraying process, the first cylinder 31 is started as needed to drive the first protective cover 32 to unfold and protect the first 3D camera 22.

[0063] Working process of grinding robot:

[0064] (1) Start the generator to provide power for related equipment.

[0065] (2) Operate the articulated boom truck 1 to move the grinding robot 4 to the position where grinding is required.

[0066] (3) The second 3D camera 42 acquires three-dimensional information of the platform surface and transmits the data to the control system.

[0067] (4) The control system controls the movement of the second robot arm 41 based on the acquired information, so that the grinder 44 can accurately grind the platform surface.

[0068] (5) During the polishing process, the second cylinder 51 is started as needed to drive the second protective cover 52 to unfold and protect the second 3D camera 42.

[0069] like Fig.15As shown in the figure, the communication process of the 3D camera is as follows: the camera and the robot are connected through a socket, the robot sends "RunPrj" to run the project, and after receiving it, the camera sends "REQ_RobotCoord" to the robot, and the robot replies with the current pose "REQ_RobotCoord, X, Y, Z, Rx, Ry, Rz" to the camera. After receiving it, the camera collects the point cloud and extracts the trajectory data. After processing, it sends the first pose to the robot in the format of "X, Y, Z, Rx, Ry, Rz". After receiving it, the robotic arm parses the data and replies "ReqPos" to the camera. The camera continues to send the second pose to the robot, and the cycle continues until the camera replies "PosDone", indicating that all trajectory data has been sent.

[0070] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A spraying robot for high-speed railway platform maintenance, characterized in that: The invention comprises a crankshaft vehicle (1) and a spraying robot (2), wherein the spraying robot (2) is mounted at the end of a telescopic arm (14) of the crankshaft vehicle (1), and the spraying robot (2) comprises a first robot arm (21), a first 3D camera (22), a first mounting frame (23) and a spray gun (24), wherein the first 3D camera (22) is mounted at the end of the first robot arm (21) via the first mounting frame (23), and the spray gun (24) is mounted on the upper part of the first 3D camera (22).

2. A spraying robot for high-speed railway platform maintenance as claimed in claim 1, characterized in that: A first camera protection mechanism (3) is provided at the front lower part of the first 3D camera (22).

3. A spraying robot for high-speed railway platform maintenance as claimed in claim 2, characterized in that: The first camera protection mechanism (3) comprises a first cylinder (31) and a first protection cover (32); the first cylinder (31) is mounted on the first mounting frame (23); and the output end of the first cylinder (31) is fixed to the first protection cover (32).

4. A spraying robot for high-speed railway platform maintenance as claimed in claim 1, characterized in that: The first mechanical arm (21) comprises a first fixed seat (211), a first connecting arm (212), a second connecting arm (213), a third connecting arm (214) and a fourth connecting arm (215), one end of the first connecting arm (212) is connected to one end of the first fixed seat (211), one end of the second connecting arm (213) is connected to the other end of the first connecting arm (212), and two ends of the third connecting arm (214) are respectively connected to the second connecting arm (213) and the fourth connecting arm (215).

5. A spraying robot for high-speed railway platform maintenance as claimed in claim 1, characterized in that: The articulated boom truck (1) comprises a chassis (11), a turntable mechanism (12), a folding arm mechanism (13), a telescopic arm (14) and a flying arm mechanism (15); the turntable mechanism (12) is mounted on the chassis (11); the folding arm mechanism (13) is connected to the turntable mechanism (12); one end of the telescopic arm (14) is connected to the folding arm mechanism (13); and the other end of the telescopic arm (14) is connected to the flying arm mechanism (15).

6. A spraying robot for high-speed railway platform maintenance as claimed in claim 5, characterized in that: The chassis (11) is provided with a generator, an air compressor, an electric airless sprayer and a paint tank, wherein the generator provides power to the air compressor and the electric airless sprayer respectively, and the paint tank is connected to the electric airless sprayer.

7. A spraying robot for high-speed railway platform maintenance as claimed in claim 1, characterized in that: The air compressor provides air source power for the spray gun (24), and the electric airless sprayer is connected to the spray gun (24) through a paint pipe.

8. A spraying robot for high-speed railway platform maintenance, characterized in that: The invention comprises a crankshaft vehicle (1) and a grinding robot (4), wherein the grinding robot (4) is mounted at the end of a telescopic arm (14) of the crankshaft vehicle (1), and the grinding robot (4) comprises a second robot arm (41), a second 3D camera (42), a second mounting frame (43) and a grinding machine (44), wherein the second 3D camera (42) is mounted at the end of the second robot arm (41) via the second mounting frame (43), and the grinding machine (44) is mounted on the upper part of the second 3D camera (42).

9. A spraying robot for high-speed railway platform maintenance as claimed in claim 8, characterized in that: A second camera protection mechanism (5) is provided at the front lower part of the second 3D camera (42); the second camera protection mechanism (5) comprises a second cylinder (51) and a second protection cover (52); the second cylinder (51) is mounted on the second mounting frame (43); and the output end of the second cylinder (51) is fixed to the second protection cover (52).

10. A spraying robot for high-speed railway platform maintenance as claimed in claim 8, characterized in that: The second mechanical arm (41) comprises a second fixed seat (411), a fifth connecting arm (412), a sixth connecting arm (413), a seventh connecting arm (414) and an eighth connecting arm (415), one end of the fifth connecting arm (412) is connected to one end of the second fixed seat (411), one end of the sixth connecting arm (413) is connected to the other end of the fifth connecting arm (412), and both ends of the seventh connecting arm (414) are respectively connected to the sixth connecting arm (413) and the eighth connecting arm (415).

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