A system and method for detecting the effectiveness of an anti-icing coating spray

Abstract

The application discloses an anti-icing coating spraying effect detection system, which comprises a moving trolley, a mechanical arm, a rotating mechanism, a spraying mechanism, a detection assembly and a controller. The mechanical arm is arranged above the moving trolley, the rotating mechanism is arranged at the output end of the mechanical arm, the spraying mechanism is arranged on the rotating mechanism, and the detection assembly is arranged on the spraying mechanism. The moving trolley is used for controlling the spraying effect detection system to move below a motor train unit train, the mechanical arm is used for driving the rotating mechanism to move to an expected position, the rotating mechanism is used for adjusting the positions of the spraying mechanism and the detection assembly at multiple angles, the spraying mechanism is used for spraying the anti-icing coating on the walking part at the bottom of the motor train unit train, the detection assembly is used for detecting the spraying effect of the anti-icing coating, and the controller is used for controlling the moving trolley, the mechanical arm, the rotating mechanism, the spraying mechanism and the detection assembly to operate. The anti-icing coating spraying effect can be detected, the anti-icing coating spraying effect is improved, and the motor train unit train has good anti-icing performance.

Description

Technical Field

[0001] This invention relates to the field of coating spraying effect testing technology, specifically to an anti-icing coating spraying effect testing system and testing method. Background Technology

[0002] With the continuous increase in the operating mileage of high-speed railways, the problem of icing on the underside of the running gear of high-speed trains has become increasingly prominent in northern winters. Icing on high-speed trains mainly occurs on the connecting rods, traction rods, shock absorbers, and brake calipers on the underside of the train. After icing, the relative movement of these components is restricted, resulting in the loss of some functions. Furthermore, it easily causes abnormal wear on the basic braking system, seriously affecting driving safety.

[0003] Currently, anti-icing measures for the running gear of high-speed trains can be divided into two types: active anti-icing and passive anti-icing. Active anti-icing involves modifying the structure of the running gear, such as adding heated components to areas prone to icing to melt ice, or adding anti-icing fluid spraying devices around these areas. However, this method may affect the aerodynamics of the undercarriage and requires extensive computer simulations and dynamic tests. Passive anti-icing is relatively simple and easy to implement. It mainly involves spraying anti-icing coatings onto the running gear of the train. These special coatings utilize physical or chemical properties to prevent water from condensing into ice or reduce the adhesion between ice and the running gear after icing, thus facilitating ice removal.

[0004] However, when using passive anti-icing methods, due to the numerous types and complex structures of train running gear components, there are often blind spots in the manual spraying of anti-icing coatings. These blind spots are difficult to detect during subsequent manual inspections, reducing the coating effect and consequently lowering the anti-icing performance of the train's running gear. Furthermore, manual spraying and inspection are labor-intensive. In addition, the spraying area cannot be controlled, affecting the localized coating effect. Summary of the Invention

[0005] The purpose of this invention is to provide an anti-icing coating spraying effect detection system and method, which can detect the anti-icing coating spraying effect, improve the anti-icing coating spraying effect, and thus ensure that the train set has good anti-icing performance, thereby solving the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] An anti-icing coating spraying effect detection system includes a mobile trolley, a robotic arm, a rotating mechanism, a spraying mechanism, a detection component, and a controller. The robotic arm is positioned above the mobile trolley, the rotating mechanism is located at the output end of the robotic arm, the spraying mechanism is mounted on the rotating mechanism, and the detection component is mounted on the spraying mechanism. The mobile trolley controls the spraying effect detection system to move under a high-speed train. The robotic arm drives the rotating mechanism to a predetermined position. The rotating mechanism adjusts the positions of the spraying mechanism and the detection component at multiple angles. The spraying mechanism sprays an anti-icing coating onto the running gear at the bottom of the high-speed train. The detection component detects the effect of the sprayed anti-icing coating. The controller controls the operation of the mobile trolley, robotic arm, rotating mechanism, spraying mechanism, and detection component. The spraying mechanism includes an adjustable protective component for controlling the protection range, a spray gun for spraying the anti-icing coating, and a light curing device for curing the sprayed anti-icing coating. The detection component includes a camera, a supplementary light, a thickness gauge, a thickness analysis module, and an image recognition module. The camera is electrically connected to the image recognition module, and the thickness gauge is electrically connected to the thickness analysis module. The camera is used to capture images of the anti-icing coating at the area to be detected. The supplementary light is used to provide supplementary lighting for the camera during image capture. The thickness gauge is used to measure the thickness of the sprayed anti-icing coating. The image recognition module is used to acquire the images captured by the camera and analyze the surface condition of the anti-icing coating. The thickness analysis module is used to analyze and determine the thickness of the sprayed anti-icing coating.

[0008] Preferably, the spraying mechanism further includes a connecting seat, which is fixed on the rotating mechanism. The adjustable protective component is disposed on the connecting seat and located around the connecting seat. A bracket is fixedly connected to the connecting seat, the photocuring device is fixed to the top of the bracket, and the spray gun is fixed to the side of the photocuring device.

[0009] More preferably, the adjustable protective assembly includes a plurality of wing plates and a plurality of elastic membranes. The plurality of wing plates are arranged in a circumferential shape. The bottom of each wing plate is rotatably connected to a connecting seat. Each elastic membrane is used to connect two adjacent wing plates and is retractable.

[0010] More preferably, a rotating shaft is fixedly connected to the bottom of the wing plate, and a plurality of motors are fixedly installed on the connecting seat. The output end of the motors is fixedly connected to the rotating shaft. The rotating shaft and the rotating shaft are respectively supported on the connecting seat by bearings. The rotating shaft and the rotating shaft are connected by gear transmission.

[0011] More preferably, each of the two sides of the wing plate is provided with a storage groove, and the two storage grooves between two adjacent wing plates form a group; one of the storage grooves in each group is provided with a rotating shaft three, which is connected to the corresponding wing plate through a bearing, and the other storage groove is provided with a membrane roll, which is connected to the corresponding wing plate through a bearing. The output end of the motor three is fixedly connected to the membrane roll, and the motor three is fixed to the bottom of the wing plate; one end of the elastic membrane is wound on the membrane roll, and the other end is fixedly connected to the rotating shaft three in the same group.

[0012] Preferably, the detection assembly further includes a second connecting seat and two sets of detection arms. The second connecting seat is fixed to the spraying mechanism, and the two sets of detection arms are fixed to the second connecting seat. The two sets of detection arms are located on both sides of the second connecting seat. The camera and the supplementary light are set on one set of detection arms, and the thickness gauge is set on the other set of detection arms. The detection arms are used to adjust the positions of the camera, the supplementary light, and the thickness gauge during detection.

[0013] Preferably, the detection arm includes a cylinder, a drive housing, a rotating platform, a fixed block, a connecting block one, a connecting block two, several torsion springs, a motor four, and a connecting block three. The cylinder is fixed on the connecting seat two, the drive housing is connected to the output end of the cylinder, the rotating platform is connected to the top of the drive housing through a bearing, and the fixed block is fixed to the center of the top of the rotating platform. The fixed block, connecting block one, connecting block two, and connecting block three are arranged sequentially from bottom to top and are hinged in sequence. Each hinge is equipped with a torsion spring. The motor four is fixed to the side of the connecting block two, and the output end of the motor four is fixedly connected to the connecting block three.

[0014] Preferably, a groove is provided on one side of the connecting block three, an electric door is provided in the groove, and a top block is fixedly connected to the top of the connecting block three; The camera and the fill light are disposed in the groove of the connecting block three in one of the detection arms, and the fill light is disposed in the groove of the connecting block three in the other detection arm.

[0015] Preferably, the detection arm is provided with an air pipe on its side, and the inlet of the air pipe is connected to a dual-purpose air pump, which is used for both evacuation and air supply.

[0016] A method for testing the coating effect of an anti-icing coating includes the following steps: Step 1: Move the anti-icing coating spraying effect detection system to the position to be tested, and spray the anti-icing coating on the position to be tested; Step 2: Detect the thickness of the sprayed anti-icing coating to determine its thickness, and select different supplementary spraying methods based on the thickness of the anti-icing coating. Step 3: Dry and light-cur the portions that meet the anti-icing coating thickness requirements; Step 4: Perform surface condition inspection on the anti-icing coating after thickness testing and determine the surface condition.

[0017] Compared with the prior art, the advantages and positive effects of this invention are: 1. By setting up a mobile trolley, a robotic arm, and a rotating mechanism, the present invention can conveniently adjust the position of spraying and inspection, improve the flexibility of the spraying mechanism and inspection components, and reduce the labor intensity of manual spraying and manual inspection by workers. 2. By setting an adjustable protective component, the present invention can adjust the protective range according to actual needs, adapt to various applicable situations, and at the same time, it can use the airflow generated when adjusting the protective range to promote the deposition of dispersed paint to the area to be sprayed. 3. By setting up detection components, this invention can penetrate into irregular structures and achieve automatic posture adjustment, ensuring accurate alignment of the camera and thickness gauge. At the same time, based on the actual thickness data obtained, it can promptly supplement the coating on areas that are too thin by adjusting the protection range of the adjustable protective components and adding spraying, thereby improving the coating effect and quality of the anti-icing coating. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the detection system of the present invention; Figure 2 This is a schematic diagram of the detection system of the present invention in use; Figure 3 yes Figure 1 Enlarged structural diagram of region A in the middle; Figure 4 This is a partially exploded schematic diagram of the spraying mechanism and detection components of the present invention; Figure 5 This is a left-side schematic diagram of the spraying mechanism and detection components of the present invention; Figure 6 yes Figure 4 Enlarged structural diagram of region B in the middle; Figure 7 This is a bottom cross-sectional view of the adjustable protective component of the present invention; Figure 8 This is a right-side cross-sectional schematic diagram of the spraying mechanism and detection component of the present invention; Figure 9 yes Figure 4 Enlarged structural diagram of region C in the middle; Figure 10 yes Figure 8A magnified schematic diagram of the D region.

[0019] In the diagram: 1. Mobile trolley; 11. Vehicle body; 12. Motor 1; 13. Base; 14. Electric handle; 2. Robotic arm; 3. Rotating mechanism; 31. Rotating arm one; 32. Rotating arm two; 33. Turntable; 4. Spraying mechanism; 41. Connecting seat one; 42. Adjustable protective component; 421. Wing plate; 422. Elastic membrane; 423. Motor two; 424. Storage slot; 425. Rotating shaft three; 426. Membrane roll; 427. Motor three; 428. Rotating shaft one; 429. Rotating shaft two; 43. Bracket; 44. Connecting frame one; 45. Spray gun; 46. UV curing equipment; 47. Connecting frame two; 5. Detection components; 51. Connector II; 52. Detection arm; 521. Cylinder; 522. Drive housing; 523. Rotary table; 524. Fixing block; 525. Connecting block I; 526. Connecting block II; 527. Torsion spring; 528. Motor IV; 529. Connecting block III; 5210. Electric door; 5211. Top block; 53. Camera; 54. Fill light; 55. Thickness gauge; 56. Air pipe. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Please see Figures 1-10 This invention provides an anti-icing coating spraying effect testing system, including a mobile trolley 1, a robotic arm 2, a rotating mechanism 3, a spraying mechanism 4, a testing component 5, and a controller. The robotic arm 2 is positioned above the mobile trolley 1, the rotating mechanism 3 is positioned at the output end of the robotic arm 2, the spraying mechanism 4 is positioned on the rotating mechanism 3, and the testing component 5 is positioned on the spraying mechanism 4. The mobile trolley 1 is used to control the spraying effect testing system to move to the underside of the EMU train. The robotic arm 2 is used to drive the rotating mechanism 3 to move to the expected position. The rotating mechanism 3 is used to adjust the positions of the spraying mechanism 4 and the testing component 5 at multiple angles. The spraying mechanism 4 is used to spray an anti-icing coating onto the running gear at the bottom of the EMU train. The testing component 5 is used to test the effect of the sprayed anti-icing coating. The controller is used to control the operation of the mobile trolley 1, the robotic arm 2, the rotating mechanism 3, the spraying mechanism 4, and the testing component 5.

[0024] Specifically, such as Figure 1 and Figure 2 As shown, the mobile trolley 1 includes a body 11, a motor 12, a base 13, and an electric handle 14. The bottom of the body 11 is provided with several wheels. The motor 12 is fixed to one side of the body 11. A lead screw is fixedly connected to the output end of the motor 12. The lead screw is threadedly connected to the top slider of the body 11. The base 13 is fixed on the slider. The bottom of the electric handle 14 is provided with a bracket. The bottom of the bracket is hinged to one side of the body 11 and located above the motor 12.

[0025] In actual operation, the operator drives the vehicle body 11 to move by using the electric handle 14, and then starts the motor 12 to rotate forward, which drives the lead screw to rotate forward and drive the slider to move, thereby driving the base 13 to move away from the motor 12. Conversely, the motor 12 rotates in reverse, driving the base 13 to move closer to the motor 12.

[0026] Specifically, such as Figure 3 As shown, the rotating mechanism 3 includes a first rotating arm 31, a second rotating arm 32, and a turntable 33. The mechanical arm 2 is fixed on the base 13. The output end of the mechanical arm 2 is connected to the first rotating arm 31 through a bearing. The first rotating arm 31 is L-shaped. The other end of the first rotating arm 31 is connected to the second rotating arm 32 through a bearing. The other end of the second rotating arm 32 is connected to the turntable 33 through a bearing. The first rotating arm 31 and the second rotating arm 32 are used to change the rotation direction during output, thereby enabling the spraying mechanism 4 to rotate in multiple directions, which facilitates subsequent precise spraying and spraying effect detection.

[0027] It should be noted that the connection points of rotating arm 31 and robotic arm 2, rotating arm 32 and rotating arm 31, and turntable 33 and rotating arm 32 are all equipped with drive mechanisms to drive the corresponding connection points to rotate. This is a well-known technology in the field and will not be described in detail here.

[0028] Specifically, such as Figures 4-9 As shown, the spraying mechanism 4 includes a connecting seat 41, an adjustable protective component 42, a spray gun 45, and a UV curing device 46. The connecting seat 41 is fixedly connected to the side of the turntable 33 away from the rotating arm 32. The adjustable protective component 42 is disposed on the connecting seat 41 and located around the connecting seat 41. A bracket 43 is fixedly connected to the connecting seat 41. The UV curing device 46 is fixed to the top of the bracket 43, and the spray gun 45 is fixed to the side of the UV curing device 46. The input pipe of the spray gun 45 is supported and fixed by a connecting bracket 44 on one side of the bracket 43. The protective range of the adjustable protective component 42 can be retracted to control the spraying range of the spray gun 45, prevent paint from scattering during spraying, and facilitate precise spraying. The bracket 43 provides support for the spray gun 45, the UV curing device 46, and the detection component 5. The spray gun 45 is used to spray the anti-icing coating, and the UV curing device 46 is used to UV cure the sprayed anti-icing coating.

[0029] Furthermore, such as Figures 4-7 As shown, the adjustable protective assembly 42 includes several wing plates 421 and several elastic membranes 422. The wing plates 421 are arranged in a circumferential shape, and the elastic membranes 422 are used to connect two adjacent wing plates 421. A rotating shaft 428 is fixedly connected to the bottom of the wing plate 421. Several motors 423 are fixedly installed on the connecting seat 41. The output end of the motors 423 is fixedly connected to the rotating shaft 429. The rotating shaft 428 and the rotating shaft 429 are respectively supported on the connecting seat 41 by bearings. The rotating shaft 428 and the rotating shaft 429 are connected by gear transmission, that is, gears are fixed on the rotating shaft 428 and the rotating shaft 429 respectively, and the two gears mesh. A storage slot 424 is provided on both sides of the wing plate 421. The two storage slots 424 between two adjacent wing plates 421 form a group. One of the storage slots 424 in each group is provided with a rotating shaft 425. The rotating shaft 425 is connected to the corresponding wing plate 421 through a bearing. The other storage slot 424 is provided with a membrane roll 426. The membrane roll 426 is connected to the corresponding wing plate 421 through a bearing. The output end of the motor 427 is fixedly connected to the membrane roll 426. The motor 427 is fixed to the bottom of the wing plate 421. One end of the elastic membrane 422 is wound on the membrane roll 426, and the other end is fixedly connected to the rotating shaft 425 in the same group.

[0030] It should be noted that the height of bracket 43 is adjustable; the opening angle of wing plate 421 is the angle between it and connecting seat 41, and the angle is acute. The larger the angle, the smaller the protection range, and the smaller the angle, the larger the protection range.

[0031] In actual operation, motor 2 (423) starts rotating forward, driving shaft 2 (429) to rotate, which in turn drives shaft 1 (428) connected to it by gear transmission to rotate. This causes shaft 1 (428) to rotate around the bearing connection point with connecting seat 1 (41), thereby reducing the opening angle of wing plate 421 and expanding the protection range of adjustable protective component 42. Simultaneously, motor 3 (427) starts rotating in reverse, driving membrane roll 426 to rotate in reverse, releasing the elastic membrane 422 wound on membrane roll 426. Since the opening angle of wing plate 421 is reduced at this time, the released elastic membrane 422 can be stretched and supported by the open wing plate 421, thereby expanding the protection range of adjustable protective component 42 and ensuring the effectiveness of protection. Conversely, if motor 2 (423) starts rotating in reverse and motor 3 (427) starts rotating forward, the protection range of adjustable protective component 42 can be reduced, achieving the effect of adjustable protection range.

[0032] Furthermore, such as Figure 4 , Figures 8-10 As shown, the detection component 5 is fixed to the connecting frame 47 on the other side of the bracket 43. The detection component 5 includes a connecting seat 51, two sets of detection arms 52, a camera 53, a fill light 54, a thickness gauge 55, a thickness analysis module, and an image recognition module. The connecting seat 51 is fixed to the bottom of the connecting frame 47. The two sets of detection arms 52 are fixed to the connecting seat 51 and are located on both sides of the connecting frame 47. The camera 53 and the fill light 54 are set on one set of detection arms 52, and the thickness gauge 55 is set on the other set of detection arms 52. The camera 53 and the image recognition module are connected to the connecting frame 47. The block is electrically connected, and the thickness gauge 55 is electrically connected to the thickness analysis module; the detection arm 52 is used to adjust the position of the camera 53, the supplementary light 54, and the thickness gauge 55 during detection; the camera 53 is used to capture the image of the anti-icing coating at the point to be detected; the supplementary light 54 is used to provide supplementary lighting for the camera 53 when it captures the image; the thickness gauge 55 is used to measure the thickness of the sprayed anti-icing coating; the image recognition module is used to acquire the image of the anti-icing coating at the point to be detected captured by the camera 53 and analyze the surface condition of the anti-icing coating; and the thickness analysis module is used to analyze and judge the thickness of the sprayed anti-icing coating.

[0033] It should be noted that the thickness gauge 55 can be either a thermal wave thickness gauge or an ultrasonic thickness gauge. For non-contact measurement of coating thickness, a thermal wave thickness gauge is preferred, as it can also obtain thicknesses within a certain range.

[0034] like Figures 8-9As shown, the detection arm 52 includes a cylinder 521, a drive housing 522, a rotating platform 523, a fixing block 524, a connecting block 1 525, a connecting block 2 526, several torsion springs 527, a motor 4 528, and a connecting block 3 529. The cylinder 521 is fixed on the connecting seat 2 51. The drive housing 522 is connected to the output end of the cylinder 521. The rotating platform 523 is connected to the top of the drive housing 522 through a bearing. The rotating platform 523 adopts a motor gear transmission structure, which is set inside the drive housing 522. The fixing block 524 is fixed at the top center of the rotating platform 523. Fixed block 524, connecting block 1 525, connecting block 2 526, and connecting block 3 529 are arranged sequentially from bottom to top and are hinged in sequence. Each hinge is equipped with a torsion spring 527. Motor 4 528 is fixed to the side of connecting block 2 526, and the output end of motor 4 528 is fixedly connected to connecting block 3 529. A groove is provided on one side of the connecting block 3 529, and an electric door 5210 is provided in the groove. A top block 5211 is fixedly connected to the top of the connecting block 3 529, and the top surface of the top block 5211 has an arc-shaped structure.

[0035] The camera 53 and the fill light 54 are located in the groove of the connecting block 3 529 of one set of detection arms 52, and the fill light 54 is located in the groove of the connecting block 3 529 of the other set of detection arms 52.

[0036] An air pipe 56 is provided on the side of the detection arm 52. The air pipe 56 is connected to connecting block 2 526, connecting block 3 529, and fixing block 524. A dual-purpose air pump is connected to the inlet of the air pipe 56, which is used for both air extraction and air supply. A paint recovery component is provided on the air pipe 56 for air extraction, which can recover the paint dispersed in the air after spraying. A temperature regulation component is also provided on the air pipe 56 for air supply, which can dry and cool the sprayed paint. The paint recovery component and the temperature regulation component are located on the pipe connecting the air pipe and the air pump (not shown in the specific structural diagram).

[0037] It should be noted that, in order to ensure the normal movement of connecting block 1 525, connecting block 2 526, and connecting block 3 529, the air tube 56 can be a telescopic tube or a tube with an arc-shaped bending structure to accommodate changes in tube length when connecting block 1 525, connecting block 2 526, and connecting block 3 529 are adjusted. Multiple sets of connecting blocks 1 525 and connecting block 2 526 can also be provided; only one set is shown in the figure. Connecting blocks 1 525 and connecting block 2 526 can also have a rotatable structure in their respective middle parts. The rotation direction of this rotatable structure is perpendicular to the existing direction, and a torsion spring is provided at the rotation point, thereby enabling further automatic adjustment in multiple directions.

[0038] In actual operation, the initial state is that the fixed block 524, connecting block one 525, connecting block two 526, and connecting block three 529 are kept in a vertical position, and the electric door 5210 is closed to prevent paint from entering the groove and affecting the shooting and recognition efficiency of the camera 53, the supplementary lighting effect of the supplementary light 54, and the thickness recognition effect of the thickness gauge 55. After the electric door 5210 is opened, the camera 53, supplementary light 54, and thickness gauge 55 can shoot, supplement light, and detect the area to be inspected. The extension and retraction of the cylinder 521 can adjust the height of the connecting block three 529, and the rotating table 523 can adjust the direction of the groove on the connecting block three 529. When the motor four 528 starts to rotate forward, it can drive the connecting block three 529 to rotate clockwise around its own hinge. Conversely, when the motor four 528 starts to rotate in reverse, it can drive the connecting block three 529 to rotate counterclockwise around its own hinge, so as to actively adjust the tilt angle of the connecting block three 529. When encountering an irregularly shaped detection position, the rotating table 523 adjusts the side of the connecting block 3 529 with the groove to align with the side to be detected. The extension cylinder 521 pushes the connecting block 3 529 in, so that the top block 5211 contacts the sprayed surface. Under the interaction force between the top block 5211 and the sprayed surface, the hinged connecting blocks 1 525, 2 526, and 3 529 can bend to fit different shapes. Then, the motor 4 528 is started to further adjust the side of the connecting block 3 529 with the groove to align with the detection position for detection. After the detection is completed, the cylinder 521 retracts, bringing the connecting block 3 529 out of the detection position. Under the action of the torsion spring 527, the connecting blocks 1 525, 2 526, and 3 529 return to their initial state.

[0039] Methods for testing the effectiveness of anti-icing coating spraying: Step 1: Move the anti-icing coating spraying effect detection system to the position to be tested, and spray the anti-icing coating on the position to be tested; Specifically, the staff moves the mobile trolley 1 to below the position to be sprayed and inspected on the train, drives the robotic arm 2 and the rotating mechanism 3 to adjust the position of the spraying mechanism 4 so that the spraying mechanism 4 corresponds to the position to be sprayed. By controlling the motor 2 423 and the motor 3 427 to start, the opening angle of the wing plate 421 is adjusted to 45°, and the protection range of the wing plate 421 and the elastic membrane 422 is adjusted. Then, the spray gun 45 is started, and the paint is sprayed on the position to be sprayed according to the set spraying trajectory.

[0040] Step 2: Detect the thickness of the sprayed anti-icing coating to determine its thickness, and select different supplementary spraying methods based on the thickness of the anti-icing coating. Specifically, the position of the detection arm 52, which houses the thickness gauge 55, in the detection assembly 5 is adjusted. This is achieved by controlling the extension and retraction of the corresponding cylinder 521, the rotation adjustment of the rotating table 523, and the tilting angle adjustment of the connecting block 3 529. This controls the opening of the corresponding electric door 5210, aligning the groove of the connecting block 3 529 with the area to be detected. This ensures that the thickness gauge 55 is aligned with the area to be detected. The thickness analysis module then obtains the thickness of the anti-icing coating. The maximum thickness of the anti-icing coating is denoted as h. max The minimum thickness of the anti-icing coating is denoted as h. min .

[0041] The thickness analysis module includes a standard anti-icing coating thickness, an anti-icing coating thickness deviation, and an anti-icing coating thickness judgment coefficient. The standard anti-icing coating thickness is denoted as H, and the anti-icing coating thickness deviation is denoted as n. Therefore, the maximum allowable anti-icing coating thickness is H+n, and the minimum allowable anti-icing coating thickness is Hn. The anti-icing coating thickness judgment coefficient is denoted as k, which is used to determine whether the actual thickness is too thin, k∈(0,1).

[0042] Scenario 1: When h max ∈[Hn, H+n] and h min When h ∈ [Hn, H+n], the thickness of the sprayed anti-icing coating meets the standard, and the anti-icing coating can be dried, cured, and its surface condition inspected. max =h min =H represents the ideal state.

[0043] Case 2: Only h exists max When Hn is less than 0, the anti-icing coating is too thin and needs to be recoated. The recoating method should be selected according to the actual thickness and range of the anti-icing coating.

[0044] It should be noted that, assuming the spraying range of the spray gun 45 is s', and the actual continuous range of excessive thinness is S, when S≥2s', it is judged that the anti-icing coating thickness is too thin over a large area, and the thickness analysis module obtains the optimal motion trajectory within this range; when S<2s', it is judged that the anti-icing coating thickness is too thin over a small area.

[0045] Supplementary spraying method 1: When there is a large area h maxWhen <k(Hn), the spraying time is increased according to the spraying method in step one, and the spraying time is supplemented by uniformly moving along the optimal motion trajectory within this range. The spraying time is set according to the actual thickness difference and the spraying amount of the spray gun 45. At the same time, in order to avoid the paint from scattering during spraying due to the small opening angle of the wing plate 421, thus reducing the actual spraying thickness, it is also necessary to control the motor 2 423 to start reversing and the motor 3 427 to start forward rotation, reduce the protection range formed by the adjustable protective component 42, reduce the amount of paint scattered in the air, and promote the deposition of the scattered paint to the position to be sprayed. For example, if the spraying thickness per second within the spraying range of the spray gun 45 is m, then the total spraying time is .

[0046] Supplementary spraying method two: When there is a large area h max When ≥k(Hn), the spraying time is increased according to the spraying method in step one, and the spraying time is supplemented by uniformly moving along the optimal motion trajectory within the range. The spraying time is set according to the actual thickness difference and the spraying amount of the spray gun 45. At this time, since the thickness difference between the actual thickness and the standard thickness is small, it is not necessary to adjust the protection range of the adjustable protective component 42.

[0047] Supplementary spraying method three: When there is a small area h max When <k(Hn), the spraying time is increased according to the spraying method in step one. However, since the range of the anti-icing coating thickness is too thin at this time is small, and in order to avoid the paint from being scattered during spraying due to the small opening angle of the wing plate 421, thereby reducing the actual thickness of the paint that needs to be supplemented and increasing the thickness of the paint outside this range, it is also necessary to control the motor 2 423 to start reversing and the motor 3 427 to start rotating forward, reduce the protection range formed by the adjustable protective component 42, reduce the amount of paint scattered in the air, and promote the deposition of the scattered paint to the position to be supplemented.

[0048] It should be noted that, when necessary, after the spraying is completed, the motor 2 423 can be started to reverse and the motor 3 427 can be started to rotate forward. By adjusting the protection range of the adjustable protective component 42 to reduce or increase the angle between the wing plate 421 and the connecting seat 1 41, the airflow driven by the wing plate 421 and the elastic membrane 422 will push the paint dispersed in the protection range formed by the wing plate 421 and the elastic membrane 422 to the area to be sprayed. For irregularly shaped positions, the extension and retraction of the cylinder 521, the rotation adjustment of the rotating table 523, and the tilting angle adjustment of the connecting block 3 529 can be adjusted so that the air pipe 56 is aligned with the area to be sprayed. Then, the dual-purpose air pump can be started to supply air to promote the flow of the paint dispersed during spraying, so that the paint quickly settles in the area to be sprayed, avoiding the paint from being continuously dispersed in the air or settling in non-spraying areas.

[0049] Case 3: Only h exists minWhen the thickness exceeds H+n, the coating thickness is too thick, and the thickness analysis module will issue an alarm, requiring staff to handle the situation.

[0050] Scenario 4: When h max <Hn, h min When H+n are present simultaneously, it indicates an abnormal coating thickness. Adjust the position of the detection arm 52 equipped with camera 53 and supplementary light 54. Control the extension and retraction of the corresponding cylinder 521, the rotation adjustment of the rotating table 523, and the tilting angle adjustment of the connecting block 3 529 to open the corresponding electric door 5210, so that the groove of the connecting block 3 529 is aligned with the area to be detected. This ensures that camera 53 and supplementary light 54 are aligned with the area to be detected, the supplementary light 54 is lit, and camera 53 captures the image of the anti-icing coating at the area to be detected. The image recognition module acquires the image captured by camera 53, identifies the surface condition of the anti-icing coating, and determines the cause of the anti-icing coating abnormality.

[0051] If the coating has obvious wavy, fan-shaped flakes, or stripes parallel to the spray trajectory, it is caused by an abnormality in the spray gun nozzle (45). If there are obvious dots, drips, or unsprayed dots on the coating, it is caused by an abnormality in the paint, which may be due to the paint being too thick or too thin. If there are large areas that are too thick, too thin, or unsprayed, it is caused by an abnormal spray trajectory. If there are air bubbles or pinholes, it is caused by the sprayed area not being cleaned properly. The thickness analysis module will issue an alarm, and the staff will handle the situation.

[0052] Step 3: Dry and light-cur the portions that meet the anti-icing coating thickness requirements; Specifically, the spraying mechanism 4 and the detection component 5 are driven to operate according to the spraying trajectory set in step one. The dual-purpose air pump connected to the air pipe 56 is controlled to start and supply air to the spraying area. At the same time, the temperature adjustment component on the air pipe 56 is controlled to adjust the temperature of the supplied air to promote the drying of the sprayed paint. After drying, the light curing equipment 46 is controlled to start and the light curing equipment 46 is driven to operate repeatedly according to the spraying trajectory to cure the dried paint.

[0053] Step 4: Perform surface condition inspection on the anti-icing coating after thickness testing and determine the surface condition.

[0054] Specifically, the detection method is similar to the processing and judgment method of situation four in step two. Adjust the position of the detection arm 52 in the detection component 5, which is equipped with camera 53 and supplementary light 54. By controlling the extension and retraction of the corresponding cylinder 521, the rotation adjustment of the rotating table 523, and the tilting angle adjustment of the connecting block three 529, control the opening of the corresponding electric door 5210 so that the groove of the connecting block three 529 is aligned with the place to be detected, so that the camera 53 and supplementary light 54 are aligned with the place to be detected. After the supplementary light 54 is lit, the camera 53 captures the anti-icing coating image of the place to be detected. The image recognition module obtains the image captured by the camera 53 and identifies the surface condition of the anti-icing coating.

[0055] If the anti-icing coating is smooth, it indicates that the spraying, drying, and curing were normal; otherwise, it indicates that the drying and curing were abnormal, the coating is not smooth, and it cannot achieve a good anti-icing effect.

[0056] If the anti-icing coating has obvious ripples, it is caused by excessive airflow when blowing air with the dual-purpose air pump; if there are drips, it is caused by high air temperature, which causes the coating to heat up and increase its fluidity; if there are raised bubbles, bubble pits or pinholes, it is caused by the sprayed area not being cleaned properly or the coating having a high water content. The image recognition module will issue an alarm prompt, and the staff will handle the situation.

[0057] The present invention enables the application of an anti-icing coating to the running gear of a high-speed train through the above-described method. Simultaneously, the thickness and surface condition of the applied anti-icing coating are inspected to ensure that the entire running gear can be coated and inspected, thereby improving the coating effect and quality of the anti-icing coating on the running gear of the high-speed train.

[0058] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0059] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A system for detecting the effect of anti-icing coating spraying, comprising a mobile trolley (1), a robotic arm (2), and a rotating mechanism (3), characterized in that, It also includes a spraying mechanism (4), a detection component (5), and a controller. The robotic arm (2) is located above the mobile trolley (1), the rotating mechanism (3) is located at the output end of the robotic arm (2), the spraying mechanism (4) is located on the rotating mechanism (3), and the detection component (5) is located on the spraying mechanism (4). The mobile trolley (1) is used to control the spraying effect detection system to move to the bottom of the EMU train. The robotic arm (2) is used to drive the rotating mechanism (3) to move to the expected position. The rotating mechanism (3) is used to adjust the position of the spraying mechanism (4) and the detection component (5) at multiple angles. The spraying mechanism (4) is used to spray an anti-icing coating on the running part at the bottom of the EMU train. The detection component (5) is used to detect the effect of the sprayed anti-icing coating. The controller is used to control the operation of the mobile trolley (1), the robotic arm (2), the rotating mechanism (3), the spraying mechanism (4), and the detection component (5). The spraying mechanism (4) includes an adjustable protection component (42) for controlling the protection range, a spray gun (45) for spraying the anti-icing coating, and a light curing device (46) for curing the sprayed anti-icing coating. The detection component (5) includes a camera (53), a fill light (54), a thickness gauge (55), a thickness analysis module, and an image recognition module. The camera (53) is electrically connected to the image recognition module, and the thickness gauge (55) is electrically connected to the thickness analysis module. The camera (53) is used to capture images of the anti-icing coating at the location to be detected. The fill light (54) is used to provide supplementary lighting when the camera (53) captures images. The thickness gauge (55) is used to measure the thickness of the sprayed anti-icing coating. The image recognition module is used to acquire images captured by the camera (53) and analyze the surface condition of the anti-icing coating. The thickness analysis module is used to analyze and determine the thickness of the sprayed anti-icing coating. The detection component (5) also includes a second connecting seat (51) and two sets of detection arms (52). The second connecting seat (51) is fixed on the spraying mechanism (4), and the two sets of detection arms (52) are fixed on the second connecting seat (51). The camera (53) and the fill light (54) are set on one set of detection arms (52), and the thickness gauge (55) is set on the other set of detection arms (52). The detection arms (52) are used to adjust the position of the camera (53), the fill light (54), and the thickness gauge (55) during detection. The detection arm (52) includes a cylinder (521), a drive housing (522), a rotating platform (523), a fixing block (524), a first connecting block (525), a second connecting block (526), ​​several torsion springs (527), a motor C (528), and a third connecting block (529). The cylinder (521) is fixed on the second connecting seat (51). The drive housing (522) is connected to the output end of the cylinder (521). The rotating platform (523) is connected to the top of the drive housing (522) through a bearing. The fixing block (524) is fixed at the center of the top of the rotating platform (523). The fixed block (524), connecting block one (525), connecting block two (526), ​​and connecting block three (529) are arranged sequentially from bottom to top and are hinged in sequence. Each hinge is provided with a torsion spring (527). The motor C (528) is fixed to the side of the connecting block two (526), ​​and the output end of the motor C (528) is fixedly connected to the connecting block three (529). A groove is provided on one side of the connecting block three (529), an electric door (5210) is provided in the groove, and a top block (5211) is fixedly connected to the top of the connecting block three (529). The camera (53) and the fill light (54) are located in the groove of the connecting block three (529) in one of the detection arms (52), and the fill light (54) is located in the groove of the connecting block three (529) in the other detection arm (52).

2. The anti-icing coating spraying effect detection system according to claim 1, characterized in that, The spraying mechanism (4) also includes a connecting seat (41), which is fixed on the rotating mechanism (3). The adjustable protective component (42) is disposed on the connecting seat (41) and located around the connecting seat (41). A bracket (43) is fixedly connected to the connecting seat (41). The light curing device (46) is fixed on the top of the bracket (43), and the spray gun (45) is fixed on the side of the light curing device (46).

3. The anti-icing coating spraying effect detection system according to claim 2, characterized in that, The adjustable protective assembly (42) includes several wing plates (421) and several elastic membranes (422). The wing plates (421) are arranged in a circumferential shape. The bottom of each wing plate (421) is rotatably connected to the connecting seat (41). Each elastic membrane (422) is used to connect two adjacent wing plates (421). The elastic membrane (422) is retractable.

4. The anti-icing coating spraying effect detection system according to claim 3, characterized in that, The bottom of the wing plate (421) is fixedly connected to a rotating shaft (428). Several motors A (423) are fixedly installed on the connecting seat (41). The output end of the motors A (423) is fixedly connected to the rotating shaft (429). The rotating shaft (428) and the rotating shaft (429) are respectively supported on the connecting seat (41) by bearings. The rotating shaft (428) and the rotating shaft (429) are connected by gear transmission.

5. The anti-icing coating spraying effect detection system according to claim 3, characterized in that, The wing plate (421) is provided with a storage groove (424) on both sides. The two storage grooves (424) between two adjacent wing plates (421) form a group. One of the storage grooves (424) in each group is provided with a rotating shaft three (425). The rotating shaft three (425) is connected to the corresponding wing plate (421) through a bearing. The other storage groove (424) is provided with a membrane roll (426). The membrane roll (426) is connected to the corresponding wing plate (421) through a bearing. The output end of the motor B (427) is fixedly connected to the membrane roll (426). The motor B (427) is fixed at the bottom of the wing plate (421). One end of the elastic membrane (422) is wound on the membrane roll (426), and the other end is fixedly connected to the rotating shaft three (425) in the same group.

6. The anti-icing coating spraying effect detection system according to claim 1, characterized in that, The detection arm (52) is provided with an air pipe (56) on its side. The inlet of the air pipe (56) is connected to a dual-purpose air pump, which is used for evacuation and air supply.

7. A method for detecting the spraying effect of an anti-icing coating, wherein the method is implemented based on the detection system described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Move the anti-icing coating spraying effect detection system to the position to be tested, and spray the anti-icing coating on the position to be tested; Step 2: Detect the thickness of the sprayed anti-icing coating to determine its thickness, and select different supplementary spraying methods based on the thickness of the anti-icing coating. Step 3: Dry and light-cur the portions that meet the anti-icing coating thickness requirements; Step 4: Perform surface condition inspection on the anti-icing coating after thickness testing and determine the surface condition.

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