Automatic painting robot for railway

Abstract

The application discloses an automatic spraying manipulator for a railway and relates to the field of spraying manipulators.The automatic spraying manipulator comprises a moving base plate, the top end of the moving base plate is provided with a supporting platform, the top end of the supporting platform is provided with an angle and position adjusting mechanism, the angle and position adjusting mechanism comprises a translation sliding rail, the top end of the supporting platform is provided with the translation sliding rail, the inside of the translation sliding rail is clamped with a positioning screw rod, the outside of the positioning screw rod is sleeved with an internal thread cylinder, the angle and position adjusting mechanism is arranged, the internal cross cylinder, the cross rotating rod, the transmission adjusting rod, the transmission ring, the transmission gasket and the plane gear are matched to form a transmission assembly, power is transmitted, the driving motor is convenient to drive the worm to rotate, the worm wheel, the rotating tray and the intelligent sensing manipulator are further pushed to rotate, the angle of spraying is adjusted according to needs, the adaptability is improved, paint is convenient to spray from different angles, and dead angles are prevented from being missed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spraying manipulator, in particular to an automatic spraying manipulator for railway. BACKGROUND

[0002] The railway spraying intelligent sensing manipulator is an intelligent spraying equipment focusing on the field of rail transit, aiming to improve the automation level of rail facility maintenance, and plans the angle and position of spraying by integrating CPU processor, visual system and sensor array cooperation.

[0003] However, the patent is not convenient to use on the road surface and tunnel wall surface of the railway, and cannot adjust the angle and position of spraying as needed, which is easy to cause dead angle of spraying and affects the spraying effect. In addition, it is not convenient to replace the spraying material, which affects the applicability. Therefore, in order to avoid the above technical problems, it is necessary to provide an automatic spraying manipulator for railway to overcome the defects in the prior art. SUMMARY

[0004] The present application provides an automatic spraying manipulator for railway, which can effectively solve the problem of inconvenience in using on the road surface and tunnel wall surface of the railway, and cannot adjust the angle and position of spraying as needed, which is easy to cause dead angle of spraying and affects the spraying effect. In addition, it is not convenient to replace the spraying material, which affects the applicability.

[0005] To achieve the above purpose, the present application provides the following technical scheme: an automatic spraying manipulator for railway, comprising a moving base plate, a supporting platform is installed at the top end of the moving base plate, an angle and position adjusting mechanism is arranged at the top end of the supporting platform, and the angle and position adjusting mechanism comprises a translation slide rail.

[0006] The supporting platform is provided with a translation slide rail at the top end, a positioning lead screw is clamped in the translation slide rail, an internal thread cylinder is sleeved on the outside of the positioning lead screw, a translation slide carriage is sleeved on the outside of the internal thread cylinder, a rotating tray is rotatably connected to the top end of the translation slide carriage, and a worm gear is sleeved on the outside of the rotating tray.

[0007] The top end of the translation slide is provided with a concave frame, a worm is rotatably connected in the concave frame, the top end of the translation slide is symmetrically clamped with positioning lugs, an inner cross cylinder is rotatably connected in one of the positioning lugs, the inner cross cylinder is internally connected with a cross rod, the cross rod is clamped with a transmission adjusting rod at one end, the transmission adjusting rod is externally sleeved with a transmission ring, and the translation slide is provided with a driving motor at one end.

[0008] According to the above technical scheme, the bottom end of the movable base plate is symmetrically provided with universal wheels at equal intervals, the outer side of the positioning screw rod is threadedly connected with the inner wall of the inner threaded cylinder, the worm gear and the worm are engaged with each other, the both ends of the worm shaft penetrate through the both ends of the concave frame, the transmission adjusting rod penetrates through the worm, and the outer side of the transmission adjusting rod is slidably attached to the inner wall of the worm, the output shaft of the driving motor is connected with one end of the inner cross cylinder, and the driving motor is powered by an external power source.

[0009] According to the above technical scheme, the top end of the rotating tray is provided with an intelligent sensing mechanical hand;

[0010] The outer side of the transmission adjusting rod is movably sleeved with a traction push block, and the traction push block and one of the positioning lugs are both connected with an electric push rod through bolts;

[0011] The other positioning lug is rotatably connected with a transmission sleeve rod, the both ends of the transmission sleeve rod and the worm shaft are clamped with transmission washers, and the both ends of the two transmission washers and the both ends of the transmission ring are clamped with plane gears;

[0012] The one end of the translation slide is rotatably connected with a power transmission rod, the outer side of the power transmission rod and the outer side of the transmission sleeve rod are both sleeved with power transmission wheels, the outer side of the two power transmission wheels are both sleeved with power transmission tracks, and the outer side of the power transmission rod and the outer side of the inner threaded cylinder are both sleeved with transmission gear rings.

[0013] According to the above technical scheme, the bottom end of the traction push block is slidably connected with the top end of the translation slide, the other end of the electric push rod is connected with one end of the positioning lug, the electric push rod is powered by an external power source, and the outer side of the transmission adjusting rod is slidably attached to the inner wall of the transmission sleeve rod.

[0014] According to the above technical scheme, the diameter of the power transmission wheel on the transmission sleeve rod is smaller than the diameter of the power transmission wheel on the power transmission rod, the two transmission gear rings are engaged with each other, and the diameter of the transmission gear ring on the inner threaded cylinder is larger than the diameter of the transmission gear ring on the power transmission rod.

[0015] According to the above technical scheme, the top end of the movable base plate is provided with a material spraying replacement and limiting mechanism, the material spraying replacement and limiting mechanism comprises a rotating base;

[0016] The rotating base is provided with a liquid storage cylinder at the top end, and the inside of the liquid storage cylinder is equally connected with a partition plate, the bottom of the liquid storage cylinder is provided with a sealing ring, the outside of the sealing ring is equally connected with a positioning support plate, and the inside of the liquid storage cylinder is equally provided with a liquid discharge hole.

[0017] One end of the sealing ring is connected with an extension channel, one end of the extension channel is rotatably connected with an adjusting rotating cylinder, the inside of the adjusting rotating cylinder is connected with a push rod through threads, the outside of the push rod is fixedly connected with a one-character anti-deviation plate, and the other end of the push rod is connected with a water plug pad.

[0018] The top end of the extension channel is connected with a liquid delivery pipe, the outside of the liquid delivery pipe is provided with a booster water pump, the inside of the liquid delivery pipe is movably connected with a telescopic adjusting pipe, the outside of the telescopic adjusting pipe and the outside of the liquid delivery pipe are fixedly connected with a fixed sleeve ring, the two fixed sleeve rings are connected with a reset spring, one end of the translation slide and the top end of the telescopic adjusting pipe are connected with a traction rope.

[0019] The two ends of the intelligent sensing mechanical hand are rotatably connected with swing frames, the top end of the swing frame is connected with a splicing frame through bolts, the bottom end of the splicing frame is provided with a spray head at the position corresponding to one side of the swing frame, one end of the spray head is connected with a liquid delivery hose, the top end of the intelligent sensing mechanical hand is connected with an N-shaped frame, and the inside of the N-shaped frame is rotatably connected with a guide wheel.

[0020] The bottom end of the swing frame is connected with a splicing screw rod, the bottom end of the splicing screw rod is connected with a counterweight ball through threads, the outside of the splicing screw rod is rotatably connected with a rotating traction frame, one end of the rotating traction frame is connected with a telescopic slide rod, the bottom end of the intelligent sensing mechanical hand is hingedly connected with a receiving sleeve, the outside of the telescopic slide rod is connected with an arc-shaped metal ring, and the outside of the receiving sleeve is provided with an electromagnetic sheet at the position corresponding to the inside of the arc-shaped metal ring.

[0021] According to the above technical scheme, the space inside the liquid storage cylinder is evenly divided into five parts by the partition plate, one part stores clean water, and the other four parts store different kinds and different colors of spraying materials, the two partition plates symmetrically arranged at the top of the liquid storage cylinder are connected with a liquid injection pipe, the bottom end of the positioning support plate is connected with the top end of the moving base plate, and the inside of the sealing ring is connected with sealing rubber.

[0022] According to the above technical scheme, grooves are symmetrically formed in the inside of the extension channel, and the two ends of the one-character anti-deviation plate are slidably connected with the inside of the grooves, the inside of the extension channel is connected with a stop ring, the inner diameter of the stop ring is equal to the inner diameter of the liquid discharge hole, and one end of the water plug pad is attached to one end of the stop ring.

[0023] According to the technical scheme, the connecting part of the telescopic adjusting pipe and the infusion pipe is filled with a leakage-proof ring, the booster water pump is powered by an external power source, and the other end of the infusion hose is connected to the top end of the telescopic adjusting pipe by bypassing the top end of the guide wheel.

[0024] According to the technical scheme, one end of the telescopic slide rod is embedded in the inside of the receiving sleeve, and the outer side of the telescopic slide rod is in sliding fit with the inner wall of the receiving sleeve, rectangular grooves are symmetrically formed in the outer side of the receiving sleeve, one end of the arc-shaped metal ring passes through the rectangular grooves, and the electromagnetic sheet is powered by an external power source.

[0025] Compared with the prior art, the present application has the advantages of scientific and reasonable structure, safe and convenient use, and the like.

[0026] 1. The angle and position adjusting mechanism is provided, the transmission assembly is formed by the cooperation of the inner cross cylinder, the cross rotating rod, the transmission adjusting rod, the transmission ring, the transmission gasket and the plane gear, power transmission is formed, the drive motor is conveniently driven to rotate the worm, and the worm gear, the rotating tray and the intelligent sensing mechanical hand are further rotated, the spraying angle is adjusted as required, the adaptability is improved, and the paint is conveniently sprayed from different angles to prevent missing in dead angles.

[0027] Meanwhile, the cooperation of the electric push rod and the traction push block facilitates the movement of the cross rotating rod, the transmission adjusting rod and the transmission ring, the power transmission to the worm is released as required, the transmission sleeve rod is conveniently rotated, the cooperation of the power transmission rod, the power transmission wheel, the power transmission track and the transmission gear ring facilitates power transmission, the inner threaded cylinder is rotated, the translation slide frame and the rotating tray are pushed to slide along the inside of the translation slide rail, the position of the spraying is adjusted horizontally, one motor is used to simultaneously realize angle adjustment and position adjustment, the utilization rate of power is improved, the cost is reduced, the intelligent sensing mechanical hand can further adjust the spray head, different positions and angles are sprayed, and the adaptability is improved.

[0028] 2. The paint replacement and limiting mechanism is provided, the cooperation of the rotating base, the liquid storage cylinder, the partition plate and the sealing ring facilitates the rotation of the liquid storage cylinder, the color and type of the paint are selected as required, the adaptability is improved, the sealing of the liquid discharge port is released through the cooperation of the adjusting drum, the push rod, the one-word anti-deviation plate and the water plug gasket after the paint is selected, the paint is conveniently introduced into the extension channel, the cooperation of the booster water pump, the infusion pipe, the telescopic adjusting pipe and the infusion hose is used to deliver the paint into the spray head and spray it out, the color and type of the paint can be changed at any time as required to meet different spraying requirements, the pipeline and the spray head can be flushed when the color and type of the paint are changed, different colors of paint are prevented from being mixed together, and the effect of subsequent spraying is guaranteed.

[0029] By utilizing the weight of the counterweight ball head, the splicing screw and swing frame are rotated, ensuring that the splicing screw and swing frame remain perpendicular to the horizontal plane, thus guaranteeing the level of the nozzle. Through the cooperation of the rotating traction frame, telescopic slide bar, arc-shaped metal ring, storage sleeve, and electromagnetic plate, after the swing frame is stabilized and vertical, the electromagnetic plate is energized to attract and position the arc-shaped metal ring, ensuring the stability of the splicing screw, swing frame, and nozzle. This, in turn, ensures the stability of the nozzle when adjusting the spraying angle and position, thereby improving the spraying effect.

[0030] By coordinating the traction rope, telescopic adjustment tube, infusion tube, and return spring, the telescopic adjustment tube is pulled upwards during the translational slide, increasing its height and extending the infusion tubing's extension distance to prevent tearing. During reset, the telescopic adjustment tube and fixing collar descend and return to their original positions, maintaining the infusion tubing's tension and preventing wrinkles or bends, thus ensuring effective coating delivery.

[0031] In summary, the angle and position adjustment mechanism automatically adjusts the spraying angle and position as needed, further improving the spraying effect and preventing blind spots. In addition, the cooperation between the spray material replacement and limiting mechanism allows for the automatic replacement of different colors and types of spray materials during the spraying process, improving adaptability and meeting different work requirements. At the same time, the stability of the nozzle is ensured during the adjustment process, thus improving the spraying effect. Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0033] In the attached diagram:

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the installation structure of the positioning lead screw of the present invention;

[0036] Figure 3 This is a schematic diagram of the angle and position adjustment mechanism of the present invention;

[0037] Figure 4 This is a schematic diagram of the installation structure of the transmission adjusting rod of the present invention;

[0038] Figure 5 This is a schematic diagram of the installation structure of the partition plate of the present invention;

[0039] Figure 6 This is the present invention. Figure 5 Schematic diagram of the structure of region A in the middle;

[0040] Figure 7 is the installation structure diagram of the telescopic adjusting pipe of the present application;

[0041] Figure 8 is the structure diagram of the material spraying replacement and limiting mechanism of the present application;

[0042] Figure 9 is the structure diagram of the B area in the present application Figure 8 .

[0043] Figure label: 1, moving base plate; 2, support platform;

[0044] 3, angle and position adjusting mechanism; 301, translation sliding rail; 302, positioning screw rod; 303, internal thread cylinder; 304, translation sliding carriage; 305, rotating tray; 306, worm gear; 307, concave frame; 308, worm; 309, positioning protrusion; 310, internal cross cylinder; 311, transmission adjusting rod; 312, transmission ring; 313, driving motor; 314, traction push block; 315, electric push rod; 316, transmission sleeve rod; 317, transmission gasket; 318, plane gear; 319, power transmission rod; 320, power transmission wheel; 321, power transmission track; 322, transmission tooth ring; 323, intelligent sensing mechanical hand; 324, cross rod;

[0045] 4, material spraying replacement and limiting mechanism; 401, rotating base; 402, liquid storage cylinder; 403, partition plate; 404, sealing ring; 405, positioning support plate; 406, liquid discharge hole; 407, extension channel; 408, adjusting rotating cylinder; 409, push rod; 410, linear anti-deviation plate; 411, water plug gasket; 412, liquid delivery pipe; 413, booster water pump; 414, telescopic adjusting pipe; 415, fixed sleeve ring; 416, reset spring; 417, traction rope; 418, swinging frame; 419, splicing frame; 420, spray head; 421, liquid delivery hose; 422, N-shaped frame; 423, guide wheel; 424, splicing screw; 425, counterweight ball head; 426, rotating traction frame; 427, telescopic sliding rod; 428, storage sleeve; 429, arc-shaped metal ring; 430, electromagnetic sheet. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0047] Embodiment: as Figures 1-9As shown, the present application provides a technical scheme, an automatic spraying manipulator of railway, including moving base plate 1, moving base plate 1 top end installs support platform 2, support platform 2 top end is provided with angle and position adjusting mechanism 3, angle and position adjusting mechanism 3 includes translation slide rail 301;

[0048] Support platform 2 top end is installed with translation slide rail 301, translation slide rail 301 inside is clamped with locating screw rod 302, locating screw rod 302 outside is sleeved with internal thread cylinder 303, internal thread cylinder 303 outside is sleeved with translation slide 304, translation slide 304 top end is rotatably connected with rotary tray 305, and rotary tray 305 outside is sleeved with worm wheel 306;

[0049] Translation slide 304 top end is installed with concave frame 307, concave frame 307 inside is rotatably connected with worm 308, translation slide 304 top end is symmetrically clamped with locating lug 309, one locating lug 309 inside is rotatably connected with inner cross cylinder 310, inner cross cylinder 310 is connected with cross rod 324, one end of cross rod 324 is clamped with transmission adjusting rod 311, transmission adjusting rod 311 outside is sleeved with transmission ring 312, one end of translation slide 304 is installed with driving motor 313, in order to facilitate the rotation of rotary tray 305, equidistantly symmetrical universal wheels are installed at the bottom end of moving base plate 1, the outer side of locating screw rod 302 and the inner wall of internal thread cylinder 303 are connected by threads, worm wheel 306 and worm 308 are engaged with each other, the both ends of worm 308 shaft penetrate through the both ends of concave frame 307, transmission adjusting rod 311 penetrates worm 308, and the outer side of transmission adjusting rod 311 and the inner wall of worm 308 are slidingly fitted, the output shaft of driving motor 313 is connected with one end of inner cross cylinder 310, driving motor 313 is powered by external power supply;

[0050] Rotary tray 305 top end is installed with intelligent sensing manipulator 323;

[0051] Transmission adjusting rod 311 outside is movably sleeved with traction push block 314, and the both ends of traction push block 314 and one locating lug 309 are connected by bolt with electric push rod 315;

[0052] The other end of transmission adjusting rod 311 is movably sleeved with transmission sleeve rod 316, one end of transmission sleeve rod 316 and one end of worm 308 shaft are clamped with transmission gasket 317, and the both ends of two transmission gaskets 317 are clamped with plane gear 318;In order to facilitate the movement of transmission adjusting rod 311, the bottom end of traction push block 314 is slidingly connected with the top end of translation slide 304, the other end of electric push rod 315 is connected with one end of one locating lug 309, electric push rod 315 is powered by external power supply, the outer side of transmission adjusting rod 311 and the inner wall of transmission sleeve rod 316 are slidingly fitted;

[0053] The power transmission rod 319 is rotatably connected to one end of the translation slide 304. The outer side of the power transmission rod 319 and the outer side of the transmission sleeve rod 316 are both sleeved with a power transmission wheel 320. The outer sides of the two power transmission wheels 320 are both sleeved with a power transmission track 321. The outer side of the power transmission rod 319 and the outer side of the internally threaded cylinder 303 are both sleeved with a transmission gear ring 322. In order to transmit power, the diameter of the power transmission wheel 320 on the transmission sleeve rod 316 is smaller than the diameter of the power transmission wheel 320 on the power transmission rod 319. The two transmission gear rings 322 are meshed with each other. The diameter of the transmission gear ring 322 on the internally threaded cylinder 303 is larger than the diameter of the transmission gear ring 322 on the power transmission rod 319.

[0054] The moving base plate 1 is provided with a material spraying replacement and limiting mechanism 4 at the top end. The material spraying replacement and limiting mechanism 4 comprises a rotating base 401.

[0055] The rotating base 401 is installed at the middle position of the top end of the moving base plate 1. The rotating base 401 is connected with a liquid storage cylinder 402 at the top end through bolts. The inside of the liquid storage cylinder 402 is equidistantly clamped with a partition plate 403. The outer side of the bottom position of the liquid storage cylinder 402 is sleeved with a sealing ring 404. The outer side of the equidistant clamping of the sealing ring 404 is clamped with a positioning support plate 405. The inside of the liquid storage cylinder 402 is equidistantly provided with a liquid discharge hole 406 corresponding to the position of the inner side of the sealing ring 404. In order to store a variety of spraying materials, the space inside the liquid storage cylinder 402 is evenly divided into five parts. One part stores clean water, and the other four parts store different kinds and different colors of spraying materials. The equidistantly clamped between the two partition plates 403 on the outer side of the top position of the liquid storage cylinder 402 is clamped with a liquid injection pipe. The bottom end of the positioning support plate 405 is connected with the top end of the moving base plate 1. The inner wall of the sealing ring 404 is clamped with a sealing rubber;

[0056] One end of the sealing ring 404 is clamped with an extension channel 407. One end of the extension channel 407 is rotatably connected with an adjusting rotating cylinder 408. The inside of the adjusting rotating cylinder 408 is connected with a push rod 409 through threads. The outer side of the push rod 409 is fixedly sleeved with a one-character anti-deviation plate 410. The other end of the push rod 409 is clamped with a water plug pad 411. In order to conveniently limit the push rod 409, the inner wall of the extension channel 407 is symmetrically provided with a groove. The two ends of the one-character anti-deviation plate 410 are respectively connected with the inner wall of the groove through sliding. The inner wall of the extension channel 407 is clamped with a stop ring. The inner diameter of the stop ring is equal to the inner diameter of the liquid discharge hole 406. One end of the water plug pad 411 is attached to one end of the stop ring.

[0057] The top end of the extension channel 407 is clamped with the infusion tube 412, and the outer side of the infusion tube 412 is provided with a booster water pump 413; the inside of the infusion tube 412 is movably sleeved with a telescopic adjusting tube 414; the outer side of the telescopic adjusting tube 414 and the outer side of the infusion tube 412 are fixedly sleeved with fixed sleeve rings 415; the two fixed sleeve rings 415 are clamped with return springs 416; one end of the translation slide 304 and the top end of the telescopic adjusting tube 414 are clamped with traction ropes 417.

[0058] The two ends of the intelligent sensing mechanical hand 323 are rotatably connected with swing frames 418 at the top positions; the top end of the swing frame 418 is connected with a splicing frame 419 through bolts; the bottom end of the splicing frame 419 is provided with a spray head 420 at the side position corresponding to the swing frame 418; one end of the spray head 420 is clamped with an infusion hose 421; the top middle position of the intelligent sensing mechanical hand 323 is clamped with an N-shaped frame 422; the inside of the N-shaped frame 422 is rotatably connected with a guide wheel 423; in order to prevent the phenomenon of water leakage, the connection position of the telescopic adjusting tube 414 and the infusion tube 412 is filled with a leakage-proof ring; the booster water pump 413 is powered by an external power supply; the other end of the infusion hose 421 is connected with the top end of the telescopic adjusting tube 414 by passing around the top end of the guide wheel 423.

[0059] The bottom end of the swing frame 418 is clamped with a splicing screw 424; the outer side bottom position of the splicing screw 424 is sleeved with a counterweight ball head 425 through threads; the outer side of the splicing screw 424 is rotatably connected with a rotary traction frame 426; one end of the rotary traction frame 426 is clamped with a telescopic slide rod 427; the bottom end of the intelligent sensing mechanical hand 323 is hingedly connected with a receiving sleeve 428; the outer side of the telescopic slide rod 427 is clamped with an arc-shaped metal ring 429; the outer side of the receiving sleeve 428 is provided with an electromagnetic sheet 430 at the position corresponding to the inner side of the arc-shaped metal ring 429; in order to facilitate the positioning of the swing frame 418, one end of the telescopic slide rod 427 is embedded in the inside of the receiving sleeve 428, and the outer side of the telescopic slide rod 427 is in sliding fit with the inner wall of the receiving sleeve 428; the outer side of the receiving sleeve 428 is symmetrically provided with a rectangular slot; one end of the arc-shaped metal ring 429 passes through the rectangular slot; the electromagnetic sheet 430 is powered by an external power supply.

[0060] The working principle and use process of the application are as follows: first, the device is pushed to the working position by moving the base plate 1; then the liquid storage cylinder 402 is rotated by using the rotary base 401; the color and type of the sprayed material are selected according to the requirements; then the push rod 409 is slid by rotating the adjusting rotating cylinder 408 and driving the push rod 409, and the water plug pad 411 moves along the inner wall of the adjusting rotating cylinder 408 by limiting the one-word anti-deviation plate 410, so that the sealing of the liquid discharge hole 406 is released, and the sprayed material in the inside of the liquid storage cylinder 402 is conveniently introduced into the inside of the extension channel 407; then the sprayed material is conveyed into the inside of the spray head 420 by the cooperation of the booster water pump 413, the infusion tube 412, the telescopic adjusting tube 414 and the infusion hose 421, so as to be conveniently sprayed out.

[0061] When the color of the spray material needs to be changed, the rotating base 401 and the liquid storage cylinder 402 are rotated by rotating the adjusting drum 408, pushing the push rod 409, the one-character anti-deviation plate 410, and the water plug pad 411 back to reset, resealing the liquid outlet hole 406, and then unsealing the liquid outlet hole 406 to facilitate the tooth conveying of the cleaning water, flushing the inside of the pipeline and the inside of the spray head 420, and preventing different colors of spray materials from mixing together and affecting the subsequent spraying effect.

[0062] After the flushing of the inside of the pipeline and the inside of the spray head 420 is completed, the liquid outlet hole 406 is resealed, and the rotating base 401 and the liquid storage cylinder 402 are rotated again to make the spray material color that meets the requirements correspond to the extension channel 407, and then the new spray material is sprayed after the liquid outlet hole 406 is unsealed, which improves the adaptability and facilitates the direct replacement of the color and type of the spray material to meet different spraying requirements.

[0063] Next, the inner cross cylinder 310, the cross rotating rod 324, and the transmission adjusting rod 311 are rotated by starting the drive motor 313, and the power is transmitted through the cooperation of the transmission ring 312, the transmission gasket 317, and the plane gear 318 to drive the worm 308 to rotate, thereby facilitating the rotation of the worm gear 306, the rotating tray 305, and the intelligent sensing mechanical hand 323 driven by the worm 308, adjusting the angle of spraying, and improving the adaptability.

[0064] In addition, the transmission adjusting rod 311 and the traction push block 314 are slid by starting the electric push rod 315, the transmission ring 312 is separated from the transmission gasket 317 on the worm 308, and the transmission gasket 317 on the transmission sleeve rod 316 is attached, thereby facilitating the rotation of the transmission sleeve rod 316 by using the transmission of the plane gear 318, and then the power is transmitted multiple times through the cooperation of the power transmission rod 319, the power transmission wheel 320, the power transmission track 321, and the transmission gear ring 322 to drive the inner threaded cylinder 303 to rotate, thereby translating the translating carriage 304 and the rotating tray 305 along the positioning lead screw 302, while the worm 308, the worm gear 306, and the rotating tray 305 do not rotate, changing the position of the spraying, and further increasing the adaptability.

[0065] Next, the sensor in the intelligent sensing mechanical hand 323 identifies the position that needs to be sprayed, and simultaneously intelligently plans the angle and position of the spraying, automatically adjusts the angle and position of the spray head 420, thereby uniformly spraying the railway ground and the tunnel wall surface, improving the spraying effect, and in addition, the weight ball head 425 itself is rotated by using its own gravity to drive the splicing screw 424 and the swinging frame 418, so that the splicing screw 424 and the swinging frame 418 always remain perpendicular to the horizontal plane.

[0066] Then, when the splicing screw 424 rotates, the arc-shaped metal ring 429 is adsorbed and positioned by the rotation of the traction frame 426, the telescopic slide rod 427 and the arc-shaped metal ring 429 along the receiving sleeve 428, and the generation of the suction force of the electromagnetic sheet 430 after the splicing screw 424 and the swing frame 418 are stabilized vertically, thereby preventing the rotation of the splicing screw 424 and the swing frame 418, and ensuring the stability of the spray head 420 and improving the spraying effect when the spraying angle and position are adjusted.

[0067] Finally, through the cooperation of the traction rope 417, the telescopic adjusting pipe 414 is driven to slide and rise along the inner wall of the infusion pipe 412 during the movement of the translation slide 304, the height of the telescopic adjusting pipe 414 is increased, the movement of the infusion hose 421 is facilitated, and the phenomenon of being torn is prevented. When resetting, the telescopic adjusting pipe 414 and the fixed sleeve ring 415 are pulled down and reset through the contraction characteristics of the reset spring 416, the tension of the infusion hose 421 is maintained, the phenomenon of creases and bending is prevented, and the conveying effect of the paint is ensured.

[0068] Finally, it should be noted that: the above only describes the preferred examples of the present application and does not limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or replace some technical features with equivalent ones. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic spraying robot for a railway, comprising a mobile bedplate (1), characterized in that: The mobile base plate (1) top is equipped with support platform (2), support platform (2) top is equipped with angle and position adjusting mechanism (3), angle and position adjusting mechanism (3) includes translation slide rail (301); The support platform (2) top is equipped with translation slide rail (301), the translation slide rail (301) is connected with the positioning screw rod (302) in the inside, the positioning screw rod (302) is connected with the internal thread cylinder (303) outside, the internal thread cylinder (303) is connected with the translation slide bracket (304) outside, the translation slide bracket (304) top is rotatably connected with the rotary tray (305), and the rotary tray (305) is connected with the worm wheel (306) outside; The translation slide bracket (304) top is equipped with concave frame (307), the concave frame (307) is rotatably connected with the worm (308) in the inside, the translation slide bracket (304) top is connected with the positioning lug (309) in the inside, one The positioning lug (309) is rotatably connected with the inner cross cylinder (310) in the inside, the inner cross cylinder (310) is connected with the cross rod (324) in the inside, one end of the cross rod (324) is connected with the transmission adjusting rod (311), the transmission adjusting rod (311) is connected with the transmission ring (312) outside, one end of the translation slide bracket (304) is equipped with the driving motor (313); The rotary tray (305) top is equipped with intelligent sensing mechanical hand (323); The transmission adjusting rod (311) is movably connected with the traction push block (314) outside, and the traction push block (314) and one positioning lug (309) are both connected with the electric push rod (315) through the bolt; The other positioning lug (309) is rotatably connected with the transmission sleeve rod (316) in the inside, one end of the transmission sleeve rod (316) and the shaft of the worm (308) are both connected with the transmission washer (317), and two transmission washers (317) adjacent one end and the transmission ring (312) two ends are both connected with the plane gear (318); One end of the translation slide bracket (304) is rotatably connected with the power transmission rod (319), the power transmission rod (319) and the transmission sleeve rod (316) are both connected with the power transmission wheel (320) outside, two power transmission wheels (320) are both connected with the power transmission track (321) outside, the power transmission rod (319) and the internal thread cylinder (303) are both connected with the transmission gear ring (322) outside; The intelligent sensing mechanical hand (323) both ends top position is rotatably connected with the swing frame (418), the swing frame (418) top is connected with the splicing frame (419) through the bolt, the splicing frame (419) bottom is equipped with the spray head (420) at the position corresponding to one side of the swing frame (418), one end of the spray head (420) is connected with the infusion hose (421), the intelligent sensing mechanical hand (323) top middle position is connected with the N-shaped frame (422), the N-shaped frame (422) is rotatably connected with the guide wheel (423) in the inside; The swing frame (418) is clamped at the bottom end of the splicing screw rod (424), the splicing screw rod (424) is sleeved with a counterweight ball head (425) at the outer bottom position through a threaded sleeve, the outer side of the splicing screw rod (424) is rotationally connected with a rotary traction frame (426), one end of the rotary traction frame (426) is clamped with an extension slide rod (427), the bottom end of the intelligent sensing mechanical hand (323) is hingedly connected with a receiving sleeve (428), the outer side of the extension slide rod (427) is clamped with an arc-shaped metal ring (429), and the outer side of the receiving sleeve (428) is mounted with an electromagnetic sheet (430) at the inner side position of the corresponding arc-shaped metal ring (429).

2. An automated painting robot for a railway according to claim 1, characterized in that: The mobile base plate (1) is symmetrically installed with universal wheels at the bottom end, the outer side of the positioning screw rod (302) is connected with the inner wall of the inner threaded cylinder (303) through threads, the worm gear (306) and the worm (308) are engaged with each other, the both ends of the worm shaft of the worm (308) penetrate through the both ends of the concave frame (307), the transmission adjusting rod (311) penetrates through the worm (308), and the outer side of the transmission adjusting rod (311) is in sliding fit with the inner wall of the worm (308), and the output shaft of the driving motor (313) is connected with one end of the inner cross cylinder (310).

3. An automated painting robot for a railway according to claim 2, characterized in that: The bottom end of the traction push block (314) is in sliding connection with the top end of the translation slide (304), one end of the electric push rod (315) is connected with one end of a positioning protruding block (309), the electric push rod (315) is powered by an external power supply, and the outer side of the transmission adjusting rod (311) is in sliding fit with the inner wall of the transmission sleeve rod (316).

4. An automated painting robot for a railway according to claim 3, characterized in that: The diameter of the power transmission wheel (320) on the transmission sleeve rod (316) is smaller than that of the power transmission wheel (320) on the power transmission rod (319), the two transmission gear rings (322) are engaged with each other, and the diameter of the transmission gear ring (322) on the inner threaded cylinder (303) is greater than that of the transmission gear ring (322) on the power transmission rod (319).

5. An automated painting robot for a railroad according to claim 3, wherein: The mobile base plate (1) is provided with a material spraying replacement and limiting mechanism (4) at the top end, the material spraying replacement and limiting mechanism (4) comprises a rotary base (401); The rotary base (401) is mounted at the top end of the mobile base plate (1), the rotary base (401) is connected with a liquid storage cylinder (402) at the top end through bolts, and the liquid storage cylinder (402) is clamped with a partition plate (403) at equal intervals inside, the liquid storage cylinder (402) is sleeved with a sealing ring (404) at the bottom position outside, the sealing ring (404) is clamped with a positioning support plate (405) at equal intervals outside, and the inner wall of the liquid storage cylinder (402) is provided with liquid discharge holes (406) at equal intervals at the position corresponding to the inner side of the sealing ring (404). One end of the sealing ring (404) is clamped with an extension channel (407), one end of the extension channel (407) is rotatably connected with an adjusting rotating drum (408), the inside of the adjusting rotating drum (408) is connected with a push rod (409) through threads, and the outside of the push rod (409) is fixedly sleeved with a one-word anti-deviation plate (410), the other end of the push rod (409) is clamped with a water plug pad (411); The top end of the extension channel (407) is clamped with a transfusion tube (412), and the outside of the transfusion tube (412) is provided with a booster water pump (413), the inside of the transfusion tube (412) is movably sleeved with a telescopic adjusting tube (414), the outside of the telescopic adjusting tube (414) and the outside of the transfusion tube (412) are both fixedly sleeved with a fixed sleeve ring (415), and the two fixed sleeve rings (415) are both clamped with a reset spring (416), one end of the translation slide (304) and the top end of the telescopic adjusting tube (414) are both clamped with a traction rope (417).

6. An automated painting robot for a railway according to claim 5, characterized in that: The partition plate (403) uniformly divides the space inside the liquid storage cylinder (402) into five parts, one of which stores clean water, and the other four store different kinds and different colors of spraying materials, the liquid injection pipe is clamped between the two symmetrical and adjacent partition plates (403) on the top of the liquid storage cylinder (402), the bottom end of the positioning support plate (405) is connected with the top end of the moving base plate (1), and the inner wall of the sealing ring (404) is clamped with sealing rubber.

7. An automated painting robot for a railroad according to claim 5 wherein: The extension channel (407) is symmetrically provided with a groove in the inner wall, and the one-word anti-deviation plate (410) is respectively connected with the inner wall of the groove through sliding, the extension channel (407) is clamped with a blocking ring, and the inner diameter of the blocking ring is equal to the inner diameter of the drainage hole (406), and one end of the water plug pad (411) is attached to one end of the blocking ring.

8. An automated painting robot for a railroad according to claim 5, wherein: The connection between the telescopic adjusting tube (414) and the transfusion tube (412) is filled with a leakage-proof ring, the booster water pump (413) is powered by an external power source, and the other end of the transfusion hose (421) is connected with the top end of the telescopic adjusting tube (414) by passing around the top end of the guide wheel (423).

9. An automated painting robot for a railroad according to claim 5, wherein: One end of the telescopic slide rod (427) is embedded in the inside of the storage sleeve (428), and the telescopic slide rod (427) is slidably attached to the inner wall of the storage sleeve (428), the outside of the storage sleeve (428) is symmetrically provided with a rectangular groove, one end of the arc-shaped metal ring (429) passes through the rectangular groove, and the electromagnetic sheet (430) is powered by an external power source.

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