Shaft part paint production line with truss robot and vertical inlet and outlet chamber body

Abstract

The shaft part paint production line is characterized in that the paint production line comprises an equipment module and the truss robot, and the vertical chamber body module comprises a vertical chamber body, a vertical inlet, a vertical outlet and an indoor conveying device; the indoor conveying device located in the vertical chamber body comprises an indoor starting end and an indoor tail end. The truss robot clamps the shaft part through a clamping jaw, and the shaft part is placed at the indoor starting end through a vertical inlet; the shaft part enters a set position in the vertical chamber body through the indoor conveying device, reaches the indoor tail end through the indoor conveying device after set operation is completed, and then is hoisted to other set positions through the truss robot, that is, the shaft part is conveyed in the shortest path among the functional chamber bodies through the truss robot. The device has the main advantages of simple structure, easiness in equipment arrangement, small occupied area and low manufacturing cost.

Description

Technical Field

[0001] The present invention relates to the technical field of coating equipment, in particular to a shaft-type paint production line with a truss robot and a vertical access chamber body. Background Art

[0002] Currently, paint production lines, once they have a certain production capacity, almost all use traditional conveyors to form a broadly defined one-dimensional space—the "line." This means that functional rooms such as spray booths, leveling rooms, drying rooms, and forced cooling rooms are connected to form a conveying system along the process routes of pre-treatment, primer, first coat, and second coat. For example, in the air, traditional conveyors such as suspension chains, power-and-free chains, and self-propelled trolleys are commonly used; on the ground, conveying methods such as plate chains with translational or rotary motion, reverse power-and-free chains, and RGVs are commonly used.

[0003] Although traditional paint production lines occasionally use elevators and other transportation methods in certain specific locations, they are essentially a "generalized one-dimensional space" transportation system composed of "lines" (conveyor lines), rather than a true three-dimensional space transportation system.

[0004] Just like the railway transportation system, if we only understand it from a narrow physical concept, the railway network is indeed three-dimensional in space. However, if there is no connection between the tracks, the train cannot reach even if it is only one meter away. Therefore, from a broad concept, the railway network system can still be regarded as a "generalized one-dimensional space" system composed of "lines" (tracks).

[0005] Traditional paint production lines are like railway vehicles that can only run on "one-dimensional" tracks, while truss robots can operate in "three-dimensional space" like airplanes.

[0006] If the shaft being transported is considered a "point," it can only find its way within the established "one-dimensional space" of lines. Without a conveyor line, no matter how close the equipment is, the shaft cannot reach it. Furthermore, most production lines operate in only one direction, and once a line is established, changing the process route is extremely difficult. Therefore, the main drawbacks of traditional shaft painting production lines are: complex structure, difficult equipment layout, large floor space, and high cost. Summary of the Invention

[0007] In view of the problems existing in the prior art, the purpose of the present invention is to provide a shaft-type paint production line with a truss robot and a vertical entry and exit body to solve the problems mentioned in the above background technology.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a paint production line for shaft components 1 includes an equipment module 1A, a track 1X, and a truss robot 4 running on the track 1X. The equipment module 1A includes a vertical chamber module 3. The vertical chamber module 3 includes a vertical chamber 3A, a vertical inlet 3B, a vertical outlet 3C, and an indoor conveying device 3E. The indoor conveying device 3E located in the vertical chamber 3A includes an indoor starting end 3E1 located directly below the vertical inlet 3B and an indoor tail end 3E2 located directly below the vertical outlet 3C. The truss robot 4 includes a gripper 4A. The truss robot 4 clamps the shaft part 1 through the clamp 4A and places it at the indoor starting end 3E1 through the vertical entrance 3B; the shaft part 1 enters the set position in the vertical chamber body 3A through the indoor conveying device 3E, and after completing the set operation, it reaches the indoor tail end 3E2 through the indoor conveying device 3E, and then the truss robot 4 lifts the shaft part 1 to other set positions, that is, the transportation of the shaft part 1 between all or part of the vertical chamber body modules 3 is completed by the truss robot 4.

[0009] As a further solution of the present invention: the indoor conveying device 3E includes a chain conveyor 6, the chain conveyor 6 includes a conveying chain 6A and a V-shaped chain plate 6B with a V-shaped groove installed on the conveying chain 6A, and the outer circle of the shaft part 1 is placed in the V-shaped groove of the V-shaped chain plate 6B.

[0010] As a further embodiment of the present invention, the vertical chamber body 3A includes a fixed seat 3A1, the top surface of the fixed seat 3A1 includes a fixed V-shaped groove 3A1V, the indoor conveying device 3E includes a walking conveyor 7, the walking conveyor 7 includes a movable rod 7A, a rod lifting device 7B and a push-pull device 7C, the top surface of the movable rod 7A includes a movable V-shaped groove 7A1, and the spacing between several adjacent fixed V-shaped grooves 3A1V on the fixed seat 3A1 is equal to the spacing between several adjacent movable V-shaped grooves 7A1 on the movable rod 7A; When the movable rod 7A is in the lowest position, the movable V-groove 7A1 is lower than the fixed V-groove 3A1V, and the movable rod 7A can run below the shaft part 1 on the fixed V-groove 3A1V through the push-pull device 7C; when the movable V-groove 7A1 is aligned with the fixed V-groove 3A1V in the vertical direction, the movable rod 7A rises to the highest position through the rod lifting device 7B, the movable rod 7A can lift the shaft part 1 away from the fixed V-groove 3A1V, and the movable rod 7A runs forward a distance through the push-pull device 7C; then it descends through the rod lifting device 7B to place the shaft part 1 on the movable V-groove 7A1 in the fixed V-groove 3A1V on the fixed seat 3A1.

[0011] As a further solution of the present invention: the indoor conveying device 3E includes an inclined rail conveyor 8, and the inclined rail conveyor 8 includes an inclined rail 8A and a stopper 8B; the shaft component 1 rolls forward on the rail 8A using its own weight and stops at the position set by the rail 8A through the stopper 8B.

[0012] As a further solution of the present invention: the vertical chamber module 3 includes a vertical single-cover chamber 3D, the vertical single-cover chamber 3D includes a vertical single entrance and exit 3D1, and the vertical single entrance and exit 3D1 includes a vertical single cover 3D1A.

[0013] As a further solution of the present invention: the vertical chamber module 3 includes a roller device 9 located in the vertical chamber 3A, and the roller device 9 can realize the rotation of the shaft component 1.

[0014] As a further solution of the present invention: the paint production line includes columns 1F located outside both sides of the vertical chamber body 3A, and the track 1X is installed on the column 1F. The truss robot 4 includes a cart 4B, a trolley 4C and a lifting device 4D. The cart 4B includes a walking device 4B1. The cart 4B walks on the track 1X through the walking device 4B1. The gripper 4A is installed on the lifting device 4D, and the lifting device 4D is installed on the trolley 4C. The trolley 4C runs horizontally on the cart 4B.

[0015] As a further solution of the present invention: the truss robot 4 includes a small truss robot 41 and / or a large truss robot 42. The small truss robot 41 can only realize the transportation of shaft parts 1 between adjacent vertical chamber modules 3, and the large truss robot 42 can not only realize the transportation of shaft parts 1 between adjacent vertical chamber modules 3, but also realize the transportation between non-adjacent vertical chamber modules 3.

[0016] As a further solution of the present invention: the shaft component 1 includes an axle 1E of a railway wheelset.

[0017] To sum up, compared with the existing technology, the characteristics of the present invention are: the operation of shaft parts between all or part of the functional chambers can be realized through a truss robot. Because the truss robot can operate in three-dimensional space, as long as it is within the range covered by the truss robot, each functional chamber can be flexibly arranged according to process requirements, and the process routes can also be flexibly set according to production needs.

[0018] The main advantages of the present invention are: utilizing the shortest path selected by the computer system and adopting a truss robot to complete the transportation of shaft parts between various functional rooms; therefore, the production line has a simple structure, easy equipment layout, small footprint and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a structural schematic diagram of the column 1F, track 1X, equipment module 1A, and truss robot 4 that constitute the shaft-type parts paint production line, a structural schematic diagram of the vertical chamber module 3 that constitutes the equipment module 1A, a structural schematic diagram of the vertical chamber body 3A, vertical inlet 3B, vertical outlet 3C, and indoor conveying device 3E that constitute the vertical chamber body module 3, a structural schematic diagram of the indoor starting end 3E1 and indoor tail end 3E2 that constitute the indoor conveying device 3E, a structural schematic diagram of the vertical inlet cover 3B1 that constitutes the vertical inlet 3B, a structural schematic diagram of the vertical outlet cover 3C1 that constitutes the vertical outlet 3C, a structural schematic diagram of the axle 1E that constitutes the shaft-type parts 1, and a structural schematic diagram of the small truss robot 41 and the large truss robot 42 that constitute the truss robot 4; Figure 2 yes Figure 1 The AA view is also a schematic diagram of the structure of the gripper 4A, the trolley 4B, the trolley 4C and the lifting device 4D that constitute the truss robot 4, and a schematic diagram of the structure of the walking device 4B1 that constitutes the trolley 4B. Figure 3 yes Figure 2 P-direction view; Figure 4 yes Figure 1 BB view, which is also a schematic structural diagram of the multi-stage lifting device 4D1 that constitutes the lifting device 4D; Figure 5 yes Figure 4 M-direction view; Figure 6 3E is a schematic structural diagram of the chain conveyor 6 constituting the indoor conveying device 3E, and is also a schematic structural diagram of the conveying chain 6A and the V-shaped chain plate 6B constituting the chain conveyor 6; Figure 7 It is a schematic diagram of the structure of the fixed base 3A1 constituting the vertical chamber body 3A, a schematic diagram of the structure of the fixed V-shaped groove 3A1V constituting the fixed base 3A1, a schematic diagram of the structure of the walking conveyor 7 constituting the indoor conveying device 3E, a schematic diagram of the structure of the movable rod 7A, the rod lifting device 7B and the push-pull device 7C constituting the walking conveyor 7, and a schematic diagram of the structure of the movable V-shaped groove 7A1 constituting the movable rod 7A; Figure 8 yes Figure 7 A-direction view; Figure 9 This is a structural diagram of the movable rod 7A being lifted by the rod lifting device 7B to lift the shaft component 1 out of the fixed V-shaped groove 3A1V; Figure 10 This is a schematic diagram of the structure in which the push-pull device 7C is in motion, causing the movable rod 7A to move forward one pitch; Figure 11This is a structural diagram showing the lifting device 7B retracted and the shaft member 1 on the movable rod 7A resting on the fixed V-shaped groove 3A1V; Figure 12 7 is a schematic structural diagram of the push-pull device 7C retracted and the walking conveyor 7 restored to its original state; Figure 13 3E is a schematic structural diagram of the inclined rail conveyor 8 constituting the indoor conveying device 3E, and is also a schematic structural diagram of the rail 8A and the stopper 8B constituting the inclined rail conveyor 8; Figure 14 It is a structural diagram of the vertical single-cover chamber body 3D constituting the vertical chamber body module 3, a structural diagram of the vertical single entrance and exit 3D1 constituting the vertical single-cover chamber body 3D, and a structural diagram of the vertical single cover 3D1A constituting the vertical single entrance and exit 3D1: Figure 15 1 is a schematic structural diagram of a fixed V-shaped frame 9A1 and a fixed roller 9A2 constituting a fixed roller device 9A; Figure 16 Schematic diagram of the structure of the roller device 9 constituting the vertical chamber module 3, a schematic diagram of the structure of the fixed roller device 9A and the lifting roller device 9B constituting the roller device 9, and a schematic diagram of the structure of the lifting roller 9B1 and the lifting V-shaped frame 9B2 constituting the lifting roller device 9B; Figure 17 It is a structural diagram showing that the lifting roller device 9B lifts and lifts the shaft component 1 to leave the indoor conveying device 3E and can rotate the shaft component 1.

[0020] Axle 1, equipment module 1A, axle 1E, column 1F, track 1X, vertical chamber module 3, vertical chamber 3A, fixed seat 3A1, fixed V-shaped groove 3A1V, vertical inlet 3B, vertical inlet cover 3B1, vertical outlet 3C, vertical outlet cover 3C1, vertical single cover chamber 3D, vertical single entrance and exit 3D1, vertical single cover 3D1A, indoor conveying device 3E, indoor starting end 3E1, indoor tail end 3E2, truss robot 4, gripper 4A, cart 4B, walking device 4B1, cart 4 C, lifting device 4D, multi-stage lifting device 4D1, small truss robot 41, large truss robot 42, chain conveyor 6, conveyor chain 6A, V-shaped chain plate 6B, step conveyor 7, movable rod 7A, movable V-shaped groove 7A1, rod lifting device 7B, push-pull device 7C, inclined rail conveyor 8, steel rail 8A, stopper 8B, roller device 9, fixed roller device 9A, fixed V-shaped frame 9A1, fixed roller 9A2, jacking roller device 9B, jacking roller 9B1, jacking V-shaped frame 9B2. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] See also Figures 1-17 In an embodiment of the present invention, a paint production line for shaft components 1 includes an equipment module 1A, a track 1X, and a truss robot 4 running on the track 1X. The equipment module 1A includes a vertical chamber module 3, which includes a vertical chamber 3A, a vertical inlet 3B, a vertical outlet 3C, and an indoor conveying device 3E. The indoor conveying device 3E located in the vertical chamber 3A includes an indoor starting end 3E1 located directly below the vertical inlet 3B and an indoor tail end 3E2 located directly below the vertical outlet 3C. The truss robot 4 includes a gripper 4A. The truss robot 4 clamps the shaft part 1 through the clamp 4A and places it at the indoor starting end 3E1 through the vertical entrance 3B; the shaft part 1 enters the set position in the vertical chamber body 3A through the indoor conveying device 3E, and after completing the set operation, it reaches the indoor tail end 3E2 through the indoor conveying device 3E, and then the truss robot 4 lifts the shaft part 1 to other set positions, that is, the transportation of the shaft part 1 between all or part of the vertical chamber body modules 3 is completed by the truss robot 4.

[0023] It should be noted that the vertical chamber body 3A can be an open chamber body, can be a cleaning device, can be a paint spraying room, or can be a drying room.

[0024] It should also be noted that the vertical inlet 3B may be provided with a vertical inlet cover 3B1 , and the vertical outlet 3C may be provided with a vertical outlet cover 3C1 .

[0025] The indoor conveying device 3E includes a chain conveyor 6, which includes a conveying chain 6A and a V-shaped chain plate 6B with a V-shaped groove installed on the conveying chain 6A. The outer circle of the shaft part 1 is placed in the V-shaped groove of the V-shaped chain plate 6B.

[0026] The vertical chamber body 3A includes a fixed seat 3A1, the top surface of the fixed seat 3A1 includes a fixed V-shaped groove 3A1V, the indoor conveying device 3E includes a walking conveyor 7, the walking conveyor 7 includes a movable rod 7A, a rod lifting device 7B and a push-pull device 7C, the top surface of the movable rod 7A includes a movable V-shaped groove 7A1, and the spacing between several adjacent fixed V-shaped grooves 3A1V on the fixed seat 3A1 is equal to the spacing between several adjacent movable V-shaped grooves 7A1 on the movable rod 7A; When the movable rod 7A is in the lowest position, the movable V-groove 7A1 is lower than the fixed V-groove 3A1V, and the movable rod 7A can run below the shaft part 1 on the fixed V-groove 3A1V through the push-pull device 7C; when the movable V-groove 7A1 is aligned with the fixed V-groove 3A1V in the vertical direction, the movable rod 7A rises to the highest position through the rod lifting device 7B, the movable rod 7A can lift the shaft part 1 away from the fixed V-groove 3A1V, and the movable rod 7A runs forward a distance through the push-pull device 7C; then it descends through the rod lifting device 7B to place the shaft part 1 on the movable V-groove 7A1 in the fixed V-groove 3A1V on the fixed seat 3A1.

[0027] It should be noted that the V-shaped grooves in different vertical chamber modules 3 may have different spacings.

[0028] The indoor conveying device 3E includes an inclined rail conveyor 8, which includes an inclined rail 8A and a stopper 8B; the shaft component 1 rolls forward on the rail 8A using its own weight and stops at the position set by the rail 8A through the stopper 8B.

[0029] The vertical chamber module 3 includes a vertical single-cover chamber 3D, the vertical single-cover chamber 3D includes a vertical single entrance 3D1, and the vertical single entrance 3D1 includes a vertical single cover 3D1A.

[0030] It should be noted that: the vertical single-cover chamber body 3D may not have the indoor conveying device 3E, and the operation may be performed directly below the vertical single cover 3D1A; the vertical single-cover chamber body 3D may be a paint spraying booth body.

[0031] The vertical chamber module 3 includes a roller device 9 located in the vertical chamber 3A, and the roller device 9 can realize the rotation of the shaft component 1.

[0032] It should be noted that the roller device 9 can be a fixed roller device 9A for the walking conveyor 7. The fixed roller device 9A includes a fixed V-frame 9A1 and a fixed roller 9A2. The fixed roller 9A2 is installed on the fixed V-frame 9A1. When the fixed roller 9A2 rotates, it can drive the axle 1E placed on the fixed roller 9A2 to rotate.

[0033] It should also be noted that the roller device 9 can also be a lifting roller device 9B used in the chain conveyor 6 or the inclined rail conveyor 8. The lifting roller device 9B includes a lifting roller 9B1 and a lifting V-shaped frame 9B2.

[0034] The roller device 9 can be used in a paint spraying room to allow the shaft component 1 to be painted while rotating.

[0035] The paint production line includes columns 1F located outside both sides of the vertical chamber body 3A, and a track 1X is installed on the column 1F. The truss robot 4 includes a cart 4B, a trolley 4C and a lifting device 4D. The cart 4B includes a walking device 4B1, and the cart 4B walks on the track 1X through the walking device 4B1. The gripper 4A is installed on the lifting device 4D, and the lifting device 4D is installed on the trolley 4C. The trolley 4C runs horizontally on the cart 4B.

[0036] It should be noted that the truss robot 4 may not have the trolley 4C, and in this case the lifting device 4D is directly installed on the trolley 4B.

[0037] It should also be noted that the lifting device 4D can be a multi-stage lifting device 4D1.

[0038] The truss robot 4 includes a small truss robot 41 and / or a large truss robot 42. The small truss robot 41 can only realize the transportation of shaft parts 1 between adjacent vertical chamber modules 3. The large truss robot 42 can not only realize the transportation of shaft parts 1 between adjacent vertical chamber modules 3, but also realize the transportation between non-adjacent vertical chamber modules 3.

[0039] The shaft component 1 includes an axle 1E of a railway wheelset.

[0040] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. In the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium. The specific meaning of the terms in the present invention can be understood based on the specific circumstances.

[0041] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A shaft painting production line with a truss robot and a vertical access chamber, characterized by The paint production line for shaft parts (1) includes an equipment module (1A), a track (1X) and a truss robot (4) running on the track (1X), the equipment module (1A) includes a vertical chamber module (3), the vertical chamber module (3) includes a vertical chamber (3A), a vertical inlet (3B), a vertical outlet (3C) and an indoor conveying device (3E), the indoor conveying device (3E) located in the vertical chamber (3A) includes an indoor starting end (3E1) located directly below the vertical inlet (3B) and an indoor tail end (3E2) located directly below the vertical outlet (3C), the truss robot (4) includes a clamp (4A); the truss robot (4) clamps the shaft part (1) through the clamp (4A) and places it at the starting end (3E1) of the room through the vertical entrance (3B); the shaft part (1) enters the set position in the vertical room body (3A) through the indoor conveying device (3E), and after completing the set operation, it reaches the indoor tail end (3E2) through the indoor conveying device (3E), and then the truss robot (4) lifts the shaft part (1) to other set positions, that is, the transportation of the shaft part (1) between all or part of the vertical room body modules (3) is completed by the truss robot (4).

2. A shaft parts painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The indoor conveying device (3E) includes a chain conveyor (6), which includes a conveying chain (6A) and a V-shaped chain plate (6B) with a V-shaped groove installed on the conveying chain (6A), and the outer circle of the shaft member (1) is placed in the V-shaped groove of the V-shaped chain plate (6B).

3. A shaft parts painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The vertical chamber body (3A) includes a fixed seat (3A1), the top surface of the fixed seat (3A1) includes a fixed V-shaped groove (3A1V), the indoor conveying device (3E) includes a walking conveyor (7), the walking conveyor (7) includes a movable rod (7A), a rod lifting device (7B) and a push-pull device (7C), the top surface of the movable rod (7A) includes a movable V-shaped groove (7A1), the spacing between several adjacent fixed V-shaped grooves (3A1V) on the fixed seat (3A1) is equal to the spacing between several adjacent movable V-shaped grooves (7A1) on the movable rod (7A); when the movable rod (7A) is at the lowest position, the movable V-shaped groove (7A1) is lower than the fixed V-shaped groove ( 3A1V), the movable rod (7A) can run below the shaft-like part (1) on the fixed V-shaped groove (3A1V) through the push-pull device (7C); when the movable V-shaped groove (7A1) is aligned with the fixed V-shaped groove (3A1V) in the vertical direction, the movable rod (7A) is raised to the highest position through the rod lifting device (7B), and the movable rod (7A) can lift the shaft-like part (1) away from the fixed V-shaped groove (3A1V), and the movable rod (7A) runs forward a distance through the push-pull device (7C); and then it is lowered through the rod lifting device (7B) to place the shaft-like part (1) on the movable V-shaped groove (7A1) in the fixed V-shaped groove (3A1V) on the fixed seat (3A1).

4. A shaft parts painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The indoor conveying device (3E) includes an inclined rail conveyor (8), which includes an inclined steel rail (8A) and a stopper (8B); the shaft component (1) rolls forward on the steel rail (8A) using its own weight and stops at a position set by the steel rail (8A) through the stopper (8B).

5. The shaft parts painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The vertical chamber module (3) includes a vertical single-cover chamber (3D), the vertical single-cover chamber (3D) includes a vertical single entrance and exit (3D1), and the vertical single entrance and exit (3D1) includes a vertical single cover (3D1A).

6. A shaft parts painting production line with a truss robot and a vertical access chamber according to claim 2, 3, 4 or 5, characterized in that The vertical chamber module (3) includes a roller device (9) located in the vertical chamber (3A), and the rotation of the shaft component (1) can be achieved through the roller device (9).

7. A shaft parts painting production line with a truss robot and a vertical access chamber according to claim 6, characterized in that The paint production line includes columns (1F) located outside both sides of a vertical chamber body (3A), a track (1X) is installed on the columns (1F), a truss robot (4) includes a trolley (4B), a trolley (4C) and a lifting device (4D), the trolley (4B) includes a walking device (4B1), the trolley (4B) walks on the track (1X) via the walking device (4B1), the gripper (4A) is installed on the lifting device (4D), the lifting device (4D) is installed on the trolley (4C), and the trolley (4C) moves horizontally on the trolley (4B).

8. A shaft parts painting production line with a truss robot and a vertical access chamber according to claim 7, characterized in that The truss robot (4) includes a small truss robot (41) and / or a large truss robot (42). The small truss robot (41) can only realize the transportation of shaft parts (1) between adjacent vertical chamber modules (3), and the large truss robot (42) can not only realize the transportation of shaft parts (1) between adjacent vertical chamber modules (3), but also realize the transportation between non-adjacent vertical chamber modules (3).

9. The shaft parts painting production line with a truss robot and a vertical access chamber according to claim 1, characterized in that The shaft-type component (1) includes an axle (1E) of a railway wheelset.

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