A vehicle chassis anticorrosion wax spraying system based on automation control

Abstract

The application discloses a vehicle chassis anticorrosive wax spraying system based on automatic control, wherein a recognition subsystem acquires and analyzes vehicle identity information and generates corresponding chassis spraying tracks; a positioning subsystem comprises a rotary drive module, a centering module and an axle distance adjusting module; a spraying subsystem comprises a multi-axis robot, and the multi-axis robot is provided with a spraying executor for spraying anticorrosive wax at the tail end; the positioning subsystem is in communication connection with the spraying subsystem, the vehicle is positioned to a spraying reference position by the centering module, then the spraying subsystem performs spraying work on the parts to be sprayed on the chassis according to the spraying tracks; during the execution of the spraying tracks, for the target rotary part rotating with the wheels on the chassis, the rotary drive module rotates the target rotary part to a predetermined station according to the requirements of the spraying tracks, and the spraying subsystem cooperates to perform spraying, so that the target rotary part is covered in all directions. The system realizes full-automatic chassis anticorrosive wax spraying and guarantees spraying consistency.

Description

Technical Field

[0001] This application relates to the field of vehicle chassis spraying equipment technology, specifically to a vehicle chassis anti-corrosion wax spraying system based on automated control. Background Technology

[0002] With the booming development of global automobile trade, the scope of automobile exports has been continuously expanding, gradually shifting from the traditional export of single models to a global supply model with multiple configurations and models. In this process, the usage environment faced by vehicles varies significantly, especially for vehicles exported to coastal areas, island regions, or transported by ocean. Their chassis are exposed to high-salinity air for extended periods. Particularly during sea transport, salts such as sodium chloride in the marine atmosphere adhere to the chassis surface with the humid air, creating a highly corrosive environment. Salt not only accelerates the electrochemical corrosion of chassis metal components but also penetrates into the tiny cracks in the chassis paint, damaging the protective structure of the paint, leading to paint peeling, exposure of the metal substrate, and ultimately chassis corrosion.

[0003] Traditional vehicle chassis protection primarily relies on the paint applied at the factory. However, the protective performance of this paint deteriorates rapidly under long-term salt corrosion. To address this issue, the automotive industry typically applies an additional layer of anti-corrosion wax to critical areas of the chassis. This wax's sealing and salt resistance create a secondary protective barrier. However, the protective lifespan of this anti-corrosion wax is limited, usually only about one year, shorter than the long-term protective effect of the paint. Therefore, regular touch-ups of the anti-corrosion wax on the vehicle chassis are necessary to maintain its protective performance.

[0004] Currently, the application of anti-corrosion wax to vehicle chassis mainly relies on handheld spray guns or traditional fixed equipment, which has several technical drawbacks: manual spraying depends on the operator memorizing the spraying points for different vehicle models, but export models have diverse configurations and significant differences in chassis structure, easily leading to missed or incorrect spraying. Furthermore, the uneven spraying pressure and speed result in inconsistent wax film thickness and insufficient protection in certain areas. Additionally, the volatile organic compounds generated during the spraying process can affect the operator's health. Existing technologies include some fixed or simply mobile automated spraying equipment, but these are typically designed for single vehicle models or simple components. These devices lack flexibility and cannot adapt to the complex and varied structures of chassis, especially in effectively handling blind spots obscured by other parts and rotating components requiring full coverage (such as drive shafts). Their fixed spray gun trajectories cannot accommodate the differences between multiple vehicle models, resulting in insufficient flexibility.

[0005] Currently, mature technologies related to painting in the automotive industry mainly focus on automated paint spraying systems used when vehicles leave the factory. However, these systems are fixed, highly integrated devices designed for vehicle production lines, making them difficult to adapt or directly apply to anti-corrosion wax spraying environments. This is mainly due to the following reasons: These systems have limited applicability; typically, one spraying system can only be used for one type of vehicle model, and can only complete a one-time paint spraying before the vehicle leaves the factory in a closed workshop. They cannot be migrated to after-sales stations for on-demand touch-ups. Furthermore, the systems are bulky and costly, making them unsuitable for standardized station deployment. Unlike paint spraying, which aims for large-area uniform coverage, anti-corrosion wax spraying has specific requirements. Due to its high viscosity and poor flowability, the application of anti-corrosion wax essentially involves forming a high-viscosity fluid jet to achieve localized thick-layer coverage, rather than the atomization of tiny paint particles. This necessitates a specialized spraying system using high-pressure, large-diameter spray guns and precise on / off control. Ordinary paint spraying equipment is not directly applicable. Furthermore, because of the high adhesion and non-flowability of anti-corrosion wax, it cannot be applied in a large-scale, cover-like manner like paint. The chassis contains numerous areas where spraying is prohibited, such as brake discs, brake pads, tire treads, various sensors, rubber bushings, and the exhaust system. If these areas are contaminated by the viscous anti-corrosion wax, it can range from affecting braking performance and damaging components to posing serious safety hazards. Therefore, anti-corrosion wax spraying must be a precise operation, requiring the spray trajectory to strictly avoid non-target areas. This places far higher demands on the path planning accuracy and repeatability of the spraying equipment than ordinary paint systems.

[0006] Therefore, there is a lack of a systematic solution in the existing technology that can simultaneously meet the three core requirements of adapting to multiple vehicle models, covering complex structures without blind spots, and avoiding non-target areas. Utility Model Content

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a vehicle chassis anti-corrosion wax spraying system based on automated control, which can realize automated processing, adapt to multiple vehicle configurations, and fine fixed-point anti-corrosion wax spraying, thereby improving or solving various problems caused by manual operation and traditional fixed equipment.

[0008] The technical solution adopted in this application is as follows: An automated control-based vehicle chassis anti-corrosion wax spraying system includes: an identification subsystem for acquiring and parsing vehicle identity information to generate a chassis spraying trajectory corresponding to the vehicle model; a positioning subsystem including a rotation drive module for supporting and rotating vehicle wheels, a centering module for centering and locking the vehicle before spraying, and a wheelbase adjustment module for adjusting the spacing of the rotation drive module to adapt to different vehicle wheelbases; and a spraying subsystem including at least one movable multi-axis robot, the end of which is equipped with a spraying actuator for spraying anti-corrosion wax. The positioning subsystem and the spraying subsystem are communicatively connected and controlled to work collaboratively. The centering module positions the vehicle to a spraying reference position, and the spraying subsystem performs spraying operations on the components to be sprayed on the chassis according to the spraying trajectory. For target rotating components on the chassis that rotate with the wheels, the rotation drive module rotates the target rotating component to a predetermined position according to the requirements of the spraying trajectory, while the spraying subsystem performs spraying to achieve omnidirectional coverage of the target rotating component.

[0009] This technical solution provides a complete systemic solution for the problem of anti-corrosion wax spraying on vehicle chassis. It includes three subsystems: an identification subsystem, a positioning subsystem, and a spraying subsystem. This not only achieves automatic vehicle identification and spraying trajectory matching, solving the problems of missed or incorrect spraying caused by model memory errors in manual spraying, but also addresses the identification errors caused by manual visual vehicle identification due to human fatigue, ensuring accurate vehicle spraying points. Furthermore, considering the special requirements of high viscosity anti-corrosion wax spraying and the need to avoid non-target areas, a collaborative operation mechanism between the rotary drive module and the spraying subsystem is constructed. This mechanism differs from the large-area coverage design logic of traditional automated paint spraying systems, using wheels to drive rotation. The component rotation combined with multi-axis robot spraying not only solves the problem of blind spots caused by rotating components such as transmission half-shafts, but also ensures that the spraying trajectory avoids prohibited areas such as brake discs and sensors, meeting the needs of precise anti-corrosion wax spraying operations, thanks to the benchmark positioning of the positioning subsystem and the trajectory planning of the recognition subsystem. It also solves the problem of inconsistent vehicle positions on the equipment due to different drivers, ensuring that the vehicle centerline coincides with the equipment centerline and ensuring consistent spraying positions for the same vehicle model. At the same time, the system as a whole is lightweight and portable, adaptable to be deployed on demand at corresponding after-sales stations, realizing on-demand touch-up spraying scenarios and needs, and providing reliable technical support for vehicles used in high-salt environments and scenarios that require regular touch-up spraying of anti-corrosion wax.

[0010] The centering module has a liftable support unit, which is configured to: lift the wheels during the vehicle centering phase so that the wheels are detached from the rotary drive module to complete the centering; and lower and detach the wheels after the vehicle centering is completed so that the wheels fall back onto the rotary drive module.

[0011] In this technical solution, during the centering stage, the wheels are lifted and detached from the rotary drive module to avoid the tires being scratched by sliding friction between the wheels and the rotary drive module during the centering process. At the same time, it ensures that there is no interference from any parts when the vehicle is centered, thus guaranteeing the centering accuracy and the precision of the vehicle's reference position. This lays the foundation for the subsequent spraying trajectory that avoids non-target areas. After centering is completed, the support unit is lowered and detached from the wheels, so that the wheels are completely supported by the rotary drive module. This ensures that there is no interference from the support unit during the rotation of the wheels driven by the rotary drive module, thus avoiding the tires being scratched by sliding friction between the tires and the support unit during the wheel rotation.

[0012] The bearing unit includes a support base, a lifting mechanism for driving the support base to rise and fall, and a plurality of guide rollers mounted on the support base; the centering module also includes a centering drive cylinder mounted on the support base for pushing the vehicle to center.

[0013] In this technical solution, the combination of a support base, lifting mechanism, guide rollers, and centering drive cylinder enables the load-bearing unit to stably lift the wheels while the guide rollers assist in smooth vehicle alignment. The centering drive cylinder directly pushes the vehicle to achieve centering, simplifying the operation process and ensuring a smooth centering process without component collisions. This provides a low-resistance, high-stability moving platform for heavy vehicles during positioning. The centering drive cylinder can easily and smoothly push the vehicle, reducing energy consumption and mechanical wear during centering, and improving the efficiency of the centering action and its long-term durability.

[0014] The centering drive cylinder has at least one roller at its drive end. The roller's rotation axis is set vertically and is used to abut against the tire sidewall of the wheel during the centering phase to push the vehicle, and to maintain the abutment against the tire after centering is completed to lock the vehicle position.

[0015] In this technical solution, a roller with a vertical axis of rotation is installed at the drive end of the centering drive cylinder. This roller can achieve precise centering by clamping the wheel during the centering stage, and can also rotate synchronously with the wheel during subsequent wheel rotation. This solves the contradiction between the vehicle needing to be firmly locked and the wheel needing to rotate freely. It can provide a continuous locking force throughout the entire painting process to prevent the vehicle from shifting due to vibration or robot forces, ensuring the painting accuracy of each painting point. At the same time, it can utilize the rolling motion of the wheel during rotation to avoid scratches on the wheel sidewall that may be caused by traditional clamping mechanisms, thus balancing painting accuracy and vehicle asset safety.

[0016] The rotary drive module includes four roller groups, each corresponding to one of the four wheels of the vehicle. Each roller group includes an active roller and a driven roller. The active roller is driven to rotate by a servo motor. The active roller and the driven roller are arranged in parallel to form a clamping position to accommodate the wheel.

[0017] In this technical solution, four roller groups correspond to the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle, respectively. The active roller is driven by a servo motor to control the rotation angle of the wheel. The driven roller cooperates with the active roller to form a stable wheel positioning, preventing the wheel from moving back and forth. This structure is specifically designed to rotate target swivel components on the chassis via the wheels. The high-precision control of the servo motor can adapt to the multi-angle adjustment requirements of anti-corrosion wax spraying for swivel components, ensuring that there are no blind spots in the spraying of swivel components. Through the four roller groups, each controlled by a servo motor, the system gains the ability to drive any wheel to rotate precisely to any angle as needed. This is not only a prerequisite for achieving full coverage spraying of components such as drive shafts, but more importantly, this rotation control capability allows the multi-axis robot to spray components from an optimized, fixed angle, simplifying the complexity of obstacle avoidance trajectory planning for the multi-axis robot, thereby indirectly enhancing the system's ability to avoid non-target areas.

[0018] Each of the roller groups has a support portion arranged between the driving roller and the driven roller, and the roller group and the support portion are integrated and mounted on the mounting base; the wheelbase adjustment module includes slide rails disposed below two mounting bases at the rear wheel position of the vehicle and a drive assembly for driving the two mounting bases to move synchronously along the slide rails; or, the wheelbase adjustment module includes slide rails disposed below two mounting bases at the front wheel position of the vehicle and a drive assembly for driving the two mounting bases to move synchronously along the slide rails.

[0019] In this technical solution, the roller assembly and the load-bearing unit are integrated into the mounting base, and the synchronous movement of the corresponding rear wheel mounting base or the corresponding front wheel mounting base is achieved through the slide rail and drive assembly. The spacing of the positioning subsystem can be quickly adjusted according to the wheelbase of different vehicle models. Without changing the equipment, it can quickly and automatically adapt to the universality of the lifting system for different wheelbase models, such as compact cars to full-size SUVs.

[0020] The vehicle chassis anti-corrosion wax spraying system also includes a support body. The positioning subsystem is installed on the support body. The support body is provided with a support platform to guide the vehicle into or out of the positioning subsystem. The support platform has notches that correspond one-to-one with the corresponding mounting seats. The mounting seats installed on the slide rails have movable platforms installed on the front and rear sides. The movable platforms are slidably connected to the support platform and cover the notches.

[0021] In this technical solution, the moving platform fills the gap between the mounting base and the support platform. During the movement of the mounting base, the moving platform always maintains linkage with the mounting base, and the gap is always partially or completely covered by the moving platform, with no hollowed-out areas exposed.

[0022] The target rotating component includes a drive half-shaft for transmitting power to the vehicle wheels. The vehicle chassis anti-corrosion wax spraying system is configured with a cooperative spraying mode corresponding to the drive half-shaft. In the cooperative spraying mode, the rotary drive module is controlled to rotate the wheel in steps at multiple predetermined angles. During each rotational step pause of the wheel, the multi-axis robot executes a fixed spraying path. Through the cooperative action of the rotary drive module and the multi-axis robot, the full coverage spraying of the outer surface of the drive half-shaft is completed.

[0023] In this technical solution, the collaborative spraying mode designed for the transmission half-shaft utilizes the cooperation of a rotary drive module's stepping rotating wheel and a multi-axis robot's fixed-path spraying to decompose the outer surface of the transmission half-shaft into multiple precisely covered areas, gradually achieving full coverage spraying. In other words, the challenge of full coverage of a complex three-dimensional rotating body is broken down into multiple spraying tasks performed in a simple two-dimensional plane, avoiding the complexity of having a robot track rotating parts for spraying. This mode is suitable for the high viscosity and non-flow properties of anti-corrosion wax, avoiding spraying omissions or wax accumulation caused by excessive rotation angles in a single operation. Furthermore, the fixed-path spraying by multiple spraying robots ensures uniform wax film thickness in each area while avoiding surrounding non-target parts.

[0024] The identification subsystem includes a scanning terminal and a human-machine interaction prompting unit. The scanning terminal is used for the operator to input vehicle identification information, and the human-machine interaction prompting unit is used to issue an entry command after the trajectory analysis is completed.

[0025] In this technical solution, the scanning terminal of the identification subsystem facilitates quick input of vehicle information by the driver, and the human-machine interaction prompt unit promptly informs the operator of the operation progress, reducing the operational threshold for non-professionals. This design can meet the needs of after-sales site users for independent operation, improve ease of use, reduce the operational threshold and training costs, and reduce the risk of errors in the vehicle painting trajectory due to human error. It is particularly suitable for the after-sales market environment with high personnel turnover, ensuring the reliability of the system output.

[0026] The multi-axis robot includes a linear guide rail and at least one six-axis robot mounted on the linear guide rail.

[0027] In this technical solution, the six-axis robot has three rotary joints to enable large-range spatial movement and three wrist joints to enable arbitrary posture adjustment of the end effector, which can flexibly adapt to complex non-standard structured spaces under the chassis; by adding a linear guide rail to the six-axis robot, the movement of the six-axis robot along the linear guide rail can achieve full coverage of the multi-axis robot in the front and rear directions of the vehicle. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of the vehicle chassis anti-corrosion wax spraying system provided in the embodiments of this application. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the vehicle chassis anti-corrosion wax spraying system provided in the embodiments of this application. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the spraying subsystem provided in the embodiments of this application; Figure 4 This is an assembly drawing of the six-axis robot and the spraying actuator provided in an embodiment of this application; Figure 5 This is an assembly diagram of the rotary drive module, centering module, and mounting base provided in the embodiments of this application; Figure 6 An assembly drawing of the centering module and mounting base provided in an embodiment of this application; Figure 7 This is an assembly diagram of the rotary drive module and mounting base provided in the embodiments of this application; Figure 8 A schematic diagram showing that the mounting base provided in the embodiment of this application forms a sliding connection with the support platform of the support body through a movable stage; Figure 9 This is an assembly diagram of the wheelbase adjustment module and mounting base provided in the embodiments of this application.

[0029] List of components and reference numerals: 1. Identification Subsystem; 2. Positioning subsystem; 21. Rotary drive module; 211. Driven roller; 212. Driven roller; 213. Servo motor; 214. Coupling; 215. Bearing with seat; 22. Centering module; 221. Support base; 222. Lifting mechanism; 223. Guide roller; 224. Centering drive cylinder; 225. Roller; 23. Axle distance adjustment module; 231. Slide rail; 232. Slider; 233. Stepper motor; 234. Ball screw; 24. Mounting base. 3. Spraying subsystem, 31. Multi-axis robot, 311. Six-axis robot, 312. Linear guide rail, 32. Spraying actuator; 4 supporting main body, 41 supporting platform; 5 mobile stations. Detailed Implementation

[0030] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0034] In the embodiments of this application, reference is made to Figures 1 to 9 This application provides an automated control-based vehicle chassis anti-corrosion wax spraying system. For ease of explanation and understanding, the following descriptions are based on the illustrated product structure. Of course, those skilled in the art will understand that the above structure is merely a specific example and illustrative illustration, and does not constitute a specific limitation on the technical solution provided in this application.

[0035] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the vehicle chassis anti-corrosion wax spraying system includes an identification subsystem 1, a positioning subsystem 2, and a spraying subsystem 3. The identification subsystem 1 acquires and parses vehicle identification information to generate a chassis spraying trajectory corresponding to the vehicle's model. The positioning subsystem 2 includes a rotation drive module 21 for supporting and rotating the vehicle wheels, an alignment module 22 for centering and locking the vehicle before spraying, and a wheelbase adjustment module 23 for adjusting the spacing of the rotation drive module 21 to accommodate different vehicle wheelbases. The spraying subsystem 3 includes at least one movable multi-axis robot 31. The robot 31 is equipped with a spraying actuator 32 for spraying anti-corrosion wax at its end. The positioning subsystem 2 and the spraying subsystem 3 are connected and controlled to work together. The centering module 22 positions the vehicle to the spraying reference position, and the spraying subsystem 3 performs spraying operations on the parts to be sprayed on the chassis according to the spraying trajectory. During the execution of the spraying trajectory, for the target rotating parts on the chassis that rotate with the wheels, the rotation drive module 21 rotates the target rotating parts to the predetermined work position according to the requirements of the spraying trajectory. At the same time, the spraying subsystem 3 cooperates to perform spraying to achieve all-round coverage of the target rotating parts.

[0036] The specific workflow of this system can be referenced in the following stages: Initialization stage: The system is powered on, the wheelbase adjustment module 23 of the positioning subsystem 2 is reset to the set default wheelbase, the multi-axis robot 31 of the painting subsystem 3 returns to the origin, and the identification subsystem 1 completes database loading and equipment self-check; Information identification stage: After the identification subsystem 1 obtains and parses the vehicle's identity information, it generates a unique painting trajectory and simultaneously sends the wheelbase data to the positioning subsystem 2; Positioning preparation stage: The positioning subsystem 2 controls the rotary drive module 21 to complete the adjustment according to the wheelbase data, and the centering module 22 enters the waiting centering state; Vehicle centering stage: After the vehicle enters, the centering module 22 positions the vehicle to the painting reference position and locks it; Painting operation stage: The painting subsystem 3 performs fixed component painting according to the trajectory. For target rotating components such as the transmission half shaft, the rotary drive module 21 and the painting subsystem 3 work together to complete all-round painting; Operation completion stage: The multi-axis robot 31 returns to its position, the centering module 22 unlocks the vehicle, the system issues an operation completion prompt, and the vehicle drives out.

[0037] The vehicle chassis anti-corrosion wax spraying system of this application integrates identification, positioning, and spraying into a single structure. In a preferred embodiment, the identification subsystem 1, positioning subsystem 2, and spraying subsystem 3 can establish a communication connection with a central controller via an industrial Ethernet. The central controller uses a PLC as the core control unit, integrating functions such as trajectory planning, motion coordination, and status monitoring. The identification subsystem 1 manages the storage of vehicle configurations and retrieves spraying trajectories through database architecture design, information matching logic, and trajectory generation mechanisms. The system can pre-store a basic vehicle database, a customized configuration database associated with the basic vehicle database, and a trajectory template database uniquely determined by the basic vehicle database and the customized configuration database. When vehicle identity information is input, vehicle features are extracted from the basic vehicle database based on preset coding rules, and configuration parameters are extracted from the customized configuration database. After locating and matching a unique vehicle configuration, the system directly retrieves the corresponding pre-generated trajectory data from the trajectory template database and transmits it to the controller of the multi-axis robot 31 in the spraying subsystem 3 via an industrial Ethernet.

[0038] In a preferred embodiment, the identification subsystem 1 includes a scanning terminal and a human-machine interaction prompting unit. The scanning terminal is used for the operator to input vehicle identification information, and the human-machine interaction prompting unit is used to issue an entry command after trajectory analysis is completed. The scanning terminal can be wall-mounted with the scanning window facing the vehicle's direction of travel for easy operation while standing. The scanning terminal can also be equipped with a waterproof and dustproof casing to adapt to outdoor site environments. The human-machine interaction prompting unit can use a touch screen display and an audible and visual alarm. The following example illustrates the practical application of this system: The driver drives the vehicle to the station entrance, stops at the scanning area, and then places the identification barcode on the car key or the electronic barcode generated by the mobile app close to the scanning window of the scanning terminal. After the scanning terminal reads the information, the control module transmits the information to the central controller, which analyzes the vehicle model and generates a painting trajectory. Once the trajectory is generated, the display screen of the human-machine interface unit shows "Trajectory generation successful, please drive into the positioning area," while a green indicator light flashes and an audible and visual alarm sounds a short beep. If the scan fails, the display screen shows "Scan failed, please try again," and a yellow indicator light flashes. The driver can rescan or manually enter the vehicle identification code through the display screen. After the vehicle enters the positioning area, the display screen shows "Vehicle positioning in progress, please wait," until alignment is complete. To improve ease of operation, the scanning terminal can be replaced with a reader / writer. For example, a tag with built-in vehicle identification information can be installed on the vehicle. After the vehicle enters the scanning area, the reader / writer automatically reads the information without the driver needing to get out of the vehicle.

[0039] In a preferred embodiment, such as Figure 3 and Figure 4As shown, the multi-axis robot 31 is preferably a 6+1 axis robot, specifically including a linear guide rail 312 and at least one six-axis robot 311 mounted on the linear guide rail 312. The six-axis robot 311 has three rotary joints for wide-range spatial movement and three wrist joints for arbitrary posture adjustment of the end effector, allowing for flexible adaptation to complex, non-standard structures under the chassis. For example, in continuous painting from the chassis crossbeam to the suspension arm, the joint linkage of the six-axis robot 311 can achieve a smooth height transition, avoiding interference with chassis components. For chassis longitudinal beams obscured by exhaust pipes and drive shafts, the six-axis robot 311 can use multi-angle rotation of its wrist joints to allow the painting actuator 32 to extend through narrow gaps. To address the issue of manual or low-axis robots being unable to reach the target area, a linear guide rail 312 is added to the six-axis system. This linear guide rail 312 can be set as a ground rail below the positioning subsystem 2, arranged along the length of the vehicle. The working radius of a single six-axis robot 311 is typically 1.5m-2m, while the length of a vehicle chassis is generally 2m-5m. Through the movement of the linear guide rail 312, the multi-axis robot 31 can achieve full coverage along the front and rear directions of the vehicle. In addition, the wheelbase difference of different vehicle models will cause changes in the position of key chassis components. The linear guide rail 312 can quickly adapt to the painting starting point of different vehicle models through high-precision displacement in conjunction with the joint movement of the six-axis robot 311, avoiding reprogramming due to changes in vehicle models. For rotating components such as transmission half-shafts that require rotational coordination, the 6+1 axis robot's multi-joint and linear movement combination allows the six-axis robot 311 to lock the posture of the spraying actuator 32 through its wrist joints during the pause in the wheel's stepping rotation, ensuring that the wax film thickness of each spraying path is uniform. After completing one spraying section, the linear guide rail 312 drives the six-axis robot 311 to quickly move to the starting position of the next spraying section, coordinating with the stepping rhythm of the rotation drive module 21 to improve collaborative work efficiency.

[0040] In a preferred embodiment, such as Figure 2 and Figure 3 As shown, two six-axis robots 311 are arranged one in front of the other on the linear guide rail 312. The work area can be divided into front and rear sections. For example, the front robot focuses on areas such as the engine underbody, front suspension control arm, and front section of the drive shaft; the rear robot focuses on areas such as the rear suspension spring seat, rear axle crossbeam, and rear section of the drive shaft. When a single robot handles long-wheelbase vehicles, it needs to move back and forth along the linear guide rail 312 multiple times, resulting in a high proportion of idle travel. However, with the division of labor between the two robots, they move independently and work synchronously on the linear guide rail 312, avoiding the time wasted by a single robot painting serially from start to finish. Parallel operation of the two robots can improve painting efficiency by more than 50%.

[0041] The anti-corrosion wax spraying actuator 32 needs to simultaneously meet the requirements of high-viscosity fluid delivery, flow control, and anti-clogging. In a preferred embodiment, it can adopt an air-assisted high-pressure airless spray gun or a special spray gun for high-viscosity fluids. Such spray guns combine the high delivery capacity of airless spraying with the atomization control capability of air-assisted spraying, making them particularly suitable for handling high-viscosity, high-solids-content media such as anti-corrosion wax. The nozzle diameter is preferably in the range of 0.71mm to 0.84mm, and particularly preferably 0.75mm. A smaller nozzle diameter can generate a higher fluid velocity and impact force, ensuring that the high-viscosity wax can effectively penetrate the air resistance between the complex structures of the chassis and adhere to vertical and inclined surfaces. Otherwise, if the diameter is too small, it will easily clog; if it is too large, it will lead to uncontrolled flow, excessively thick wax film, and material waste. The spray gun nozzle is preferably a fan-shaped nozzle, which produces a flat, clearly defined elliptical spray pattern. Compared to conical atomization, fan-shaped atomization is more conducive to forming a uniform and continuous strip-shaped coating, and facilitates path planning and overlapping, avoiding localized missed areas or excessively thick overlaps. The fluid pressure is preferably maintained between 4.0 Bar and 5.5 Bar, with 4.5 Bar being preferred. This pressure range provides stable output power and sufficient atomization energy for the high-viscosity anti-corrosion wax, ensuring the formation of a stable and uniform fan-shaped coating. Otherwise, if the pressure is too low, the wax will atomize poorly, resulting in dripping; if the pressure is too high, excessive drifting paint mist will be generated, causing waste and environmental pollution. The spray gun must be equipped with a high-response normally closed pneumatic solenoid valve for on / off control, ensuring the start and end points of the spray trajectory's response speed and preventing accidental spraying or trailing in prohibited areas such as brake discs and sensors.

[0042] Therefore, this application provides a complete systematic solution to the problem of anti-corrosion wax spraying on vehicle chassis, specifically including three subsystems: identification subsystem 1, positioning subsystem 2, and spraying subsystem 3. This not only achieves automatic vehicle identification and spraying trajectory matching, solving the problems of missed or incorrect spraying caused by vehicle model memory deviations during manual spraying, but also addresses the identification errors caused by manual visual vehicle identification due to human fatigue, ensuring accurate vehicle spraying points. Furthermore, considering the special requirements of high viscosity anti-corrosion wax spraying and the need to avoid non-target areas, a collaborative operation mechanism between the rotary drive module 21 and the spraying subsystem 3 is constructed. This mechanism differs from the large-area coverage design logic of traditional automated paint spraying systems, using a wheel-driven mechanism... The rotating components, in conjunction with the multi-axis robot 31 for spraying, not only solve the problem of blind spots caused by rotating components such as the transmission half-shaft, but also, relying on the reference positioning of the positioning subsystem 2 and the trajectory planning of the recognition subsystem 1, ensure that the spraying trajectory avoids prohibited areas such as brake discs and sensors, meeting the needs of precise anti-corrosion wax spraying operations. Furthermore, it solves the problem of inconsistent vehicle positions on the equipment due to different drivers, ensuring that the vehicle's centerline coincides with the equipment's centerline, guaranteeing consistent spraying positions for the same vehicle model. Simultaneously, the system is lightweight and portable, adaptable to be deployed as needed at relevant after-sales stations, enabling on-demand touch-up spraying scenarios and providing reliable technical support for vehicles used in high-salt environments and scenarios requiring regular touch-up anti-corrosion wax spraying.

[0043] Regarding the structure of the centering module 22, in a preferred embodiment of this application, the centering module 22 has a liftable support unit. The support unit is configured to: during the vehicle centering stage, lift the wheel so that the wheel is detached from the rotary drive module 21 to complete the centering; after the vehicle centering is completed, lower and detach the wheel so that the wheel falls back onto the rotary drive module 21. Those skilled in the art will understand that during the centering stage, the support unit lifts the wheel detached from the rotary drive module 21 to avoid the wheel sliding and rubbing against the rotary drive module 21 during the centering process, thus preventing scratches on the tire. Simultaneously, it ensures no interference from any component during vehicle centering, guaranteeing centering accuracy and the precision of the vehicle's reference position, thus laying the foundation for subsequent spraying trajectories that avoid non-target areas. After centering is completed, the support unit lowers and detaches from the wheel, so that the wheel is completely supported by the rotary drive module 21, ensuring no interference from the support unit during the rotation of the wheel by the rotary drive module 21, and preventing the tire from being scratched by sliding and rubbing against the support unit during wheel rotation.

[0044] As a preferred embodiment of this implementation, such as Figure 5 and Figure 6As shown, the support unit includes a support base 221, a lifting mechanism 222 for driving the support base 221 to rise and fall, and multiple guide rollers 223 mounted on the support base 221. The centering module 22 also includes a centering drive cylinder 224, which is mounted on the support base 221 and used to push the vehicle for centering. The lifting and lowering action of the support unit of the centering module 22 can be automatically triggered by the central controller according to the vehicle's entry status. The specific control process is as follows: Before the vehicle enters, the support unit is in a lowered reset state, with its upper surface lower than the rotary drive module 21 to ensure smooth vehicle entry. After the identification subsystem 1 confirms the vehicle's identity and generates a trajectory, the central controller sends a lifting command to the lifting mechanism 222, and the support unit rises until the wheels are completely detached from the rotary drive module 21. The limit switch of the lifting mechanism 222 is triggered, and the lifting action stops. After centering is completed, the central controller sends a lowering command, and the support unit descends smoothly until the wheels fall back to the rotary drive module 21. The lifting mechanism 222 resets, the limit switch is triggered again, and the lowering action stops. The combination of support base 221, lifting mechanism 222, guide roller 223, and centering drive cylinder 224 enables the load-bearing unit to stably lift the wheels and, with the assistance of guide roller 223, smoothly align the vehicle. The centering drive cylinder 224 directly pushes the vehicle to achieve centering, simplifying the operation process while ensuring a smooth centering process without component collisions. This provides a low-resistance, high-stability moving platform for heavy vehicles during positioning. The centering drive cylinder 224 can easily and smoothly push the vehicle, reducing energy consumption and mechanical wear during centering, and improving the efficiency and long-term durability of the centering action. In this embodiment, the lifting mechanism 222 can be an electric push rod, suitable for the lifting needs of small and medium-sized vehicles. For painting scenarios of heavy vehicles such as pickup trucks and off-road vehicles, the lifting mechanism 222 can be replaced with a hydraulic lifting cylinder to ensure lifting stability under heavy loads. Both types of lifting mechanisms 222 are equipped with upper and lower limit switches and pressure sensors. When an abnormal load is detected, the system immediately stops the lifting action and issues an alarm. In a preferred embodiment, the lifting mechanism 222 can also be an airbag structure, such as an air spring. The airbag generates support force through compressed air, and the contact with the vehicle chassis is a flexible buffer. The contact pressure can be adjusted by air pressure. It is especially suitable for fragile components such as battery packs and sensors in the chassis of new energy vehicles, avoiding deformation or scratches caused by the rigid pushing of traditional hydraulic and screw lifting mechanisms. Moreover, the chassis weight of different models varies significantly. The airbag can dynamically match the load by adjusting the inflation volume. There is no need to replace mechanical parts. A single mechanism can cover the lifting needs of most models. More importantly, the core component of the airbag lifting mechanism is a rubber airbag, which can be driven by a small air pump. Compared with hydraulic cylinders or screw lifts, the overall size is smaller, which is especially suitable for the limited space of underground recesses in semi-underground installations.

[0045] In a preferred embodiment, the guide roller 223 can be configured as a structure that is thicker at both ends and thinner in the middle, which can limit the front and rear movement of the wheels and reduce the risk of the vehicle moving forward or backward during the centering stage. The centering drive cylinder 224 is horizontally mounted on the upper side of the support base 221. The cylinder body is fixed to the support base 221 by a flange. The piston rod axis is perpendicular to the axis of the guide roller 223 to ensure the accuracy of the centering thrust direction. The centering drive cylinder 224 can be equipped with a magnetic switch to provide real-time feedback on the extension and retraction status of the piston rod and provide an action signal to the central controller. It can also be equipped with a position sensor to control the extension position and ensure that the vehicle is centered.

[0046] Furthermore, such as Figure 6 As shown, the driving end of the centering drive cylinder 224 is provided with at least one roller 225. The rotation axis of the roller 225 is arranged in the vertical direction, which is used to abut against the tire sidewall of the wheel during the centering stage to push the vehicle, and to maintain the abutment against the tire after centering to lock the vehicle position. Figure 6 The diagram illustrates an embodiment with two rollers 225 arranged front and rear. The rollers 225 are connected to the drive end of the centering drive cylinder 224 via pins and brackets. Thrust bearings are installed at both ends of the pins to ensure flexible rotation of the rollers 225. The rotation axis of the rollers 225 is set vertically, perpendicular to the tangent direction of the tire sidewall, ensuring line contact between the rollers 225 and the tire during centering and preventing excessive local pressure from scratching the tire. After centering, the centering drive cylinder 224 keeps the piston rod extended, and the rollers 225 continuously press against the tire sidewall. The pressing pressure can be controlled within a reasonable range by a pressure regulating valve, which can lock the vehicle position without causing tire deformation. When the rotation drive module 21 drives the wheel to rotate, friction is generated between the tire sidewall and the rollers 225, driving the rollers 225 to rotate synchronously, converting sliding friction into rolling friction, effectively reducing friction and preventing scratches on the tire sidewall.

[0047] As a preferred embodiment of this implementation, such as Figure 2 , Figure 5 and Figure 7As shown, the rotary drive module 21 includes four roller groups, each corresponding to one of the four wheels of the vehicle. Each roller group includes a driving roller 211 and a driven roller 212. The driving roller 211 is driven to rotate by a servo motor 213. The driving roller 211 and the driven roller 212 are arranged in parallel to form a wheel-accommodating position. Specifically, the driving roller 211 and the driven roller 212 can be supported and rotated by bearings 215. The driving roller 211 is connected to the output shaft of the servo motor 213 via a coupling 214, while the driven roller 212 can rotate freely. The four roller groups correspond to the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle. The driving roller 211 is driven by the servo motor 213 to control the rotation angle of the wheel. The driven roller 212 cooperates with the driving roller 211 to form a stable wheel position, preventing the wheel from moving back and forth. This structure is specifically designed to rotate the target rotating component on the chassis via wheels. The high-precision control of the servo motor 213 can adapt to the multi-angle adjustment requirements of the rotating component during anti-corrosion wax spraying, ensuring that there are no dead angles in the spraying of the rotating component. Through four roller groups controlled by the servo motor 213 respectively, the system has the ability to drive any wheel to rotate precisely to any angle as needed. This is not only a prerequisite for achieving full coverage spraying of components such as the transmission half shaft, but more importantly, this rotation control capability enables the multi-axis robot 31 to spray the component from an optimized and fixed angle, simplifying the complexity of obstacle avoidance trajectory planning of the multi-axis robot 31, thereby indirectly enhancing the system's ability to avoid non-target areas.

[0048] Furthermore, such as Figure 5 , Figure 8 and Figure 9As shown, each roller assembly has a support unit arranged between the driving roller 211 and the driven roller 212. The roller assembly and the support unit are integrated and mounted on the mounting base 24. The wheelbase adjustment module 23 includes a slide rail 231 located below the two mounting bases 24 at the rear wheel position of the vehicle and a drive assembly that drives the two mounting bases 24 to move synchronously along the slide rail 231. Alternatively, the wheelbase adjustment module 23 includes a slide rail 231 located below the two mounting bases 24 at the front wheel position of the vehicle and a drive assembly that drives the two mounting bases 24 to move synchronously along the slide rail 231. Specifically, the lifting mechanism 222 can be fixed to the mounting base 24, and a support base 221 can be installed above the lifting mechanism 222. The support base 221 and the mounting base 24 can be directly provided with a shaft hole type guide structure or a guide wheel can be provided on the mounting base 24. The shaft hole type guide structure and the guide wheel can guide the lifting process of the support unit to ensure that there is no deviation during the lifting process. The bearings 215 of the driving roller 211 and the driven roller 212 are fixed to the mounting base 24. Since the positioning subsystem 2 needs to adapt to vehicles with different wheelbases, this can be achieved by adjusting the distance between the front and rear mounting seats 24. Specifically, the two mounting seats 24 corresponding to the rear wheel positions of the vehicle can be configured to move back and forth, or the two mounting seats 24 corresponding to the front wheel positions of the vehicle can be configured to move back and forth. Figure 1 The diagram uses arrow Y to indicate the direction in which the vehicle enters the positioning subsystem 2, and illustrates an embodiment where the two mounting seats 24 corresponding to the rear wheel positions of the vehicle are configured to move forward and backward. Specifically, the bottom of these two mounting seats 24 is provided with sliders 232, and slide rails 231 are fixedly set along the forward and backward direction of the vehicle; limit blocks are provided at both ends of the slide rails 231 to prevent the mounting seats 24 from sliding beyond their travel range and colliding. Preferably, the drive component can adopt a transmission method of stepper motor 233 combined with ball screw 234. The specific working process is as follows: after the identification subsystem 1 resolves the vehicle wheelbase, the central controller calculates the distance that the mounting seats 24 need to move; the stepper motor 233 receives the drive signal and drives the ball screw 234 to rotate, and the ball screw 234 converts the rotational motion into linear motion, driving the mounting seats 24 to move along the slide rails 231; the displacement sensor on the mounting seat 24 provides real-time feedback on the moving distance, and when the moving distance reaches the target value, the central controller sends a stop signal, the stepper motor 233 is powered off and self-locked, completing the wheelbase adjustment.

[0049] In a preferred embodiment, such as Figure 1 and Figure 2As shown, the system also includes a support body 4, on which the positioning subsystem 2 is mounted. The support body 4 has a support platform 41 for guiding vehicles into or out of the positioning subsystem. The support platform 41 has notches corresponding to the mounting seats 24. Movable platforms 5 are mounted on the front and rear sides of the mounting seats 24 mounted on the slide rail 231, and these platforms slidably connect to the support platform 41 and cover the notches. More preferably, the system can be semi-underground, specifically with the support body 4 located below ground level, supporting the positioning subsystem 2 above ground. The spraying subsystem 3 is located below ground level, while the positioning subsystem 2 is directly mounted above ground. The spraying subsystem 3, being underground, can directly fit the area below the chassis, allowing the multi-axis robot 31 to reach the spraying point without excessive lifting or lowering, shortening the work journey and avoiding interference with ground obstacles. The positioning subsystem 2, mounted above ground level, facilitates vehicle entry and parking without requiring complex ramp designs. This design requires no large area of ​​ground space; only an underground recess needs to be excavated to accommodate the supporting main body 4 and the spraying subsystem 3. Only the working area of ​​the positioning subsystem 2 remains above ground, meeting the after-sales service site's need for small spaces and high turnover. Furthermore, the relatively enclosed underground environment effectively protects the linear guide rail 312, the six-axis robot 311, and the wax supply pipeline of the spraying subsystem 3, preventing equipment malfunctions caused by sun exposure, rain, and dust accumulation. It also reduces the diffusion of VOCs (volatile organic compounds) during the anti-corrosion wax spraying process, minimizing the impact on the surrounding environment.

[0050] Four rectangular notches are made on the support platform 41, corresponding to the mounting seats 24 of the four wheels respectively. In order to accommodate the front and rear movement of the mounting seats 24 corresponding to the rear wheels, the last two notches need to leave space for the mounting seats 24 to move back and forth, so that the length of the last two notches in the front and rear directions is greater than the length of the first two notches. However, in order to avoid the gaps between the last two mounting seats 24 and the support platform 41 due to the space allowance, which would further prevent the vehicle from moving, a movable platform 5 needs to be connected to the front and rear of each of the two mounting seats 24. The movable platform 5 is slidably connected to the support platform 41 of the support body 4. The surface of the movable platform 5 is basically flush with the support platform 41 and moves back and forth with the mounting seat 24. The two movable platforms 5 fill the gaps between the mounting seats 24 and the support platform 41, so that the vehicle can move along the movable platform 5 to the positioning subsystem 2. In the initial state of the system, the mounting seat 24 corresponding to the rear wheel can be set in the middle of the notch, and the front and rear moving platforms 5 completely cover both sides of the notch. The support platform 41 has no open space, and the vehicle can drive smoothly along the moving platform 5 to the roller group position of the mounting seat 24. When adjusting the wheelbase, the central controller drives the mounting seat 24 to move back and forth along the slide rail 231. The mounting seat 24 drives the front and rear moving platforms 5 to slide synchronously through bolts. During the movement, the moving platform 5 always maintains linkage with the mounting seat 24, and the notch is always partially or completely covered by the moving platform 5, with no open area exposed. After the adjustment is completed, the mounting seat 24 stops at the target position, and the moving platform 5, the support platform 41, and the mounting seat 24 form a complete plane to ensure that the vehicle is stably stressed after parking and there is no risk of shaking.

[0051] In a preferred embodiment of this application, the target rotating component includes a drive half-shaft for transmitting power to the vehicle wheels. The vehicle chassis anti-corrosion wax spraying system is configured with a corresponding collaborative spraying mode for the drive half-shaft. In the collaborative spraying mode, the rotary drive module 21 is controlled to rotate the wheel in a step-by-step manner at multiple predetermined angles. During each rotational step pause of the wheel, the multi-axis robot 31 executes a fixed spraying path. Through the collaborative action of the rotary drive module 21 and the multi-axis robot 31, the full coverage spraying of the outer surface of the drive half-shaft is completed. Those skilled in the art will understand that drive shafts need to withstand enormous torque and are typically forged from high-strength alloy steel. To achieve this high strength, their carbon content is usually high, but this reduces their corrosion resistance. Furthermore, unlike the body panels which undergo complete electrophoresis, intermediate coating, and color paint treatments, drive shafts typically only receive basic rust prevention treatment. Their original protective layer is very thin and easily damaged. In addition, the drive shaft's low position on the chassis exposes it directly to salty mud, gravel, and water kicked up by the wheels. Impacts from gravel can easily tear through its fragile original protective layer, exposing the metal substrate. In high-salt environments, the salt water adhering to the surface becomes a strong electrolyte, forming a galvanic cell effect at the scratches, accelerating steel corrosion. Therefore, compared to smooth surfaces, the geometry of the drive shaft makes it more prone to accumulating corrosive media. Thus, the drive shaft is one of the components in the chassis system with the highest corrosion risk and the most severe corrosion consequences, making it a crucial component for chassis anti-corrosion wax coating. Meanwhile, the drive shaft is also a relatively difficult part to paint for the following reasons: The drive shaft is not a simple cylinder; it usually has a dust cover, universal joint, and the shaft itself may have variations in diameter, forming a complex geometry composed of multiple irregular three-dimensional curved surfaces. The drive shaft is deeply hidden under the chassis and is tightly surrounded by components such as suspension links, stabilizer bars, wheels, brake calipers, and discs, severely obstructing the view and path of the robot spray gun, limiting the angle and path available for painting. Traditional fixed spray guns or robots with simple trajectories cannot achieve full surface coverage, and manual painting relies on the operator's experience and flexibility, but even so, it is impossible to reliably cover all surfaces. The two ends of the drive shaft are directly connected to the brake disc and wheel speed sensor, which are prohibited areas for painting. For example, if the brake disc is contaminated with viscous anti-corrosion wax, it will cause a serious decrease in braking performance and lead to major safety accidents. If the wheel speed sensor is covered with wax, it will affect the accuracy of its signal and interfere with the normal operation of safety systems such as ABS and ESP.Therefore, this system has set a collaborative spraying mode for the transmission half-shaft. This mode can be preset by the central controller. The specific logic is as follows: The central controller sends a collaborative spraying command to the rotary drive module 21 and the spraying subsystem 3. The multi-axis robot 31 moves to the starting position of the transmission half-shaft spraying. The rotary drive module 21 rotates the wheel step by step at a predetermined angle. During the rotation, the multi-axis robot 31 remains in standby mode. After rotating to the correct position, the rotary drive module 21 sends a position signal. The robot immediately executes the preset fixed path spraying. The spraying time is set according to the wax film thickness requirement. After a section of the path is sprayed, the multi-axis robot 31 returns to the starting position. The rotary drive module 21 continues to rotate to the next angle and repeats the above steps until the entire surface of the transmission half-shaft is sprayed. Alternatively, the following logic can be used: The central controller sends a collaborative spraying command to the rotary drive module 21 and the spraying subsystem 3. The multi-axis robot 31 moves to the starting position of the transmission half-shaft spraying and executes the spraying of the first fixed path. After the spraying of one path is completed, the multi-axis robot 31 resets to the starting position. The rotary drive module 21 rotates the wheel step by step at a predetermined angle. After the wheel is rotated into position, the rotary drive module 21 sends an in place signal. The robot then executes the spraying of the next fixed path. This process is repeated multiple times until the full surface of the transmission half-shaft is sprayed.

[0052] As a preferred embodiment of this application, based on the above-described vehicle chassis anti-corrosion wax spraying system, this application also provides a vehicle chassis anti-corrosion wax spraying method, which employs the vehicle chassis anti-corrosion wax spraying system described above and includes the following steps: Vehicle information identification and trajectory generation steps: Vehicle identity information is obtained through the identification subsystem 1, and the corresponding chassis painting trajectory is parsed and generated. Based on the vehicle identity information, the wheelbase adjustment module 23 is controlled to adjust the positioning subsystem 2 to a state that matches the vehicle wheelbase, and an entry command is issued to the operator. In this step, during actual operation, the operator uses a scanning terminal to scan the vehicle identification code. The scanning terminal reads the vehicle identification information. The central controller retrieves the chassis structure data of the corresponding vehicle model from the database according to the vehicle identification information and automatically generates a personalized painting trajectory. The central controller sends an adjustment command to the wheelbase adjustment module 23 of the positioning subsystem 2 according to the vehicle model wheelbase data, driving the mounting base 24 to move to the target position. After the adjustment is completed, a positioning signal is fed back, and then the human-machine interaction prompt unit issues an entry command, including text prompts on the display screen, flashing green indicator lights, and audible and visual alarm prompts.

[0053] Vehicle positioning and centering steps: Drive the vehicle into the positioning subsystem 2, and position and lock the vehicle to the spraying reference position through the centering module 22. In this step, during actual operation, the operator drives the vehicle into the positioning subsystem 2 along the guide line according to the prompts, aligning the four wheels with the four roller group positions respectively. After the positioning subsystem 2 detects that the vehicle is in place, it sends a signal to the central controller. The central controller controls the lifting mechanism 222 to lift the support unit, so that the wheels are disengaged from the roller group. Then, the centering drive cylinder 224 extends to push the vehicle to center. After it is in place, it is kept in a tight state to complete the positioning and locking.

[0054] Fixed component painting steps: The control painting subsystem 3 performs painting operations on the fixed components on the chassis according to the painting trajectory. In this step, during actual operation, the central controller controls the painting subsystem 3 to start, and two six-axis robots 311 move along the linear guide rail 312 to the starting position of the fixed component painting. The six-axis robots 311 perform painting operations on specific fixed components on the chassis according to the preset trajectory. During the painting process, the robots strictly follow the trajectory plan to avoid prohibited painting areas such as brake discs and sensors. After the fixed component painting is completed, the robots move to the starting position of the rotary component painting and wait for the coordination command.

[0055] Cooperative painting steps for rotating components: For the target rotating component on the chassis that rotates with the wheels, the control rotary drive module 21 rotates it to multiple predetermined stations according to the requirements of the painting trajectory, and controls the painting subsystem 3 to perform painting at each station to achieve full coverage of the target rotating component. In this step, during actual operation, after the central controller confirms that the rotary drive module 21 and the painting subsystem 3 are in normal status, it sends a cooperative painting command. The rotary drive module 21 rotates the wheels step by step at a predetermined angle, and the six-axis robot 311 performs fixed-path painting during each pause. The operation is repeated until the rotating component is fully covered. After the painting is completed, the two six-axis robots 311 return to their positions, the rotary drive module 21 stops working, the centering drive cylinder 224 resets, the load-bearing part lowers, and the cover of the painting subsystem 3 closes. The human-machine interaction prompt unit issues a work completion prompt, and the driver drives the vehicle out of the station.

[0056] It should be noted that in the spraying trajectory described in the above embodiments of this application, the fixed component spraying step is arranged before the rotating component collaborative spraying step. However, in other embodiments, the fixed component spraying step may be arranged after the rotating component collaborative spraying step, or the two may even be carried out alternately.

[0057] Furthermore, in the collaborative spraying step of the rotating component, when the target rotating component is a drive half-shaft, the specific steps include: controlling the multi-axis robot 31 to execute a fixed spraying path; controlling the rotary drive module 21 to rotate the wheel by a predetermined angle and pause; repeating the above steps until the outer surface of the drive half-shaft is completely covered. Those skilled in the art will understand that, since the drive half-shaft is typically a regular cylindrical structure, or has no significant irregular structure on its outer surface, by combining a fixed axial path with a fixed angle step, the cylindrical symmetry can be utilized to ensure the integrity of the spraying, transforming the challenge of fully covering the rotating component into a simple periodic action. This method simplifies the complexity of the system structure and control program, reduces costs, and, since the drive half-shaft is a regular cylinder, the equally divided spraying method ensures that regardless of the initial posture of the drive half-shaft, multiple rotations and spraying operations can achieve a 360° full coverage of its outer surface without repetition or omission, ensuring protective effectiveness while achieving high operational reliability and efficiency. In a preferred embodiment, the predetermined angle can be 120°. The multi-axis robot 31 performs the first fixed-path spraying, with the first spraying area roughly covering one-third of the fan-shaped area circumferentially around the drive half-shaft. Then, the rotation drive module 21 drives the wheel to rotate in the first direction, causing the drive half-shaft to rotate 120°. The multi-axis robot 31 then performs the second fixed-path spraying, with the second spraying area also roughly covering the other one-third of the fan-shaped area circumferentially around the drive half-shaft. The rotation drive module 21 continues to drive the wheel to rotate in the first direction, causing the drive half-shaft to rotate another 120° in the same direction. The multi-axis robot 31 then performs the third fixed-path spraying, with the third spraying area covering the final one-third of the fan-shaped area circumferentially around the drive half-shaft. By coordinating two stepping rotations with three fixed-path sprayings, full coverage of the drive half-shaft can be efficiently achieved. It is understood that the predetermined angle can also be 90°, 60°, or other angles that can equally or reasonably divide the circumference. Through corresponding multiple rotations and sprayings, the purpose of this invention can also be achieved.

[0058] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0059] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0060] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle chassis anti-corrosion wax spraying system based on automated control, characterized in that, include: The identification subsystem (1) is used to acquire and parse vehicle identity information to generate a chassis painting trajectory corresponding to the vehicle model. The positioning subsystem (2) includes a rotation drive module (21) for supporting and rotating the vehicle wheels, an alignment module (22) for centering and locking the vehicle before painting, and a wheelbase adjustment module (23) for adjusting the spacing of the rotation drive module (21) to accommodate different vehicle wheelbases. The spraying subsystem (3) includes at least one movable multi-axis robot (31), the end of which is equipped with a spraying actuator (32) for spraying anti-corrosion wax; The positioning subsystem (2) is connected to the spraying subsystem (3) and operates in a controlled manner. The centering module (22) positions the vehicle to the spraying reference position, and the spraying subsystem (3) performs spraying operations on the parts to be sprayed on the chassis according to the spraying trajectory. For the target rotating parts on the chassis that rotate with the wheels, the rotation drive module (21) rotates the target rotating parts to the predetermined work position according to the requirements of the spraying trajectory. At the same time, the spraying subsystem (3) cooperates to perform spraying to achieve all-round coverage of the target rotating parts.

2. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 1, characterized in that, The centering module (22) has a liftable support section, which is configured as follows: During the vehicle centering phase, the wheels are lifted so that centering is completed while the wheels are disengaged from the rotary drive module (21); After the vehicle is aligned, it descends and detaches from the wheels, allowing the wheels to fall back onto the rotary drive module (21).

3. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 2, characterized in that, The bearing unit includes a support base (221), a lifting mechanism (222) for driving the support base (221) to rise and fall, and a plurality of guide rollers (223) mounted on the support base (221); the centering module (22) also includes a centering drive cylinder (224), which is mounted on the support base (221) and is used to push the vehicle to center.

4. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 3, characterized in that, The centering drive cylinder (224) has at least one roller (225) at its drive end. The rotation axis of the roller (225) is arranged in the vertical direction. It is used to abut against the tire sidewall of the wheel during the centering stage to push the vehicle, and to maintain the abutment against the tire after centering to lock the vehicle position.

5. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 2, characterized in that, The rotary drive module (21) includes four roller groups, each corresponding to one of the four wheels of the vehicle. Each roller group includes an active roller (211) and a driven roller (212). The active roller (211) is driven to rotate by a servo motor (213). The active roller (211) and the driven roller (212) are arranged in parallel to form a slot for accommodating the wheel.

6. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 5, characterized in that, The bearing portion is arranged between the driving roller (211) and the driven roller (212) of each roller assembly, and the roller assembly and the bearing portion are integrated and installed on the mounting base (24); The wheelbase adjustment module (23) includes a slide rail (231) located below two mounting seats (24) at the rear wheel position of the vehicle and a drive assembly that drives the two mounting seats (24) to move synchronously along the slide rail (231); or, the wheelbase adjustment module (23) includes a slide rail (231) located below two mounting seats (24) at the front wheel position of the vehicle and a drive assembly that drives the two mounting seats (24) to move synchronously along the slide rail (231).

7. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 6, characterized in that, It also includes a support body (4), on which the positioning subsystem (2) is installed, and the support body (4) is provided with a support platform (41) for guiding vehicles into or out of the positioning subsystem (2); The support platform (41) has notches that correspond one-to-one with the corresponding mounting bases (24). Movable platforms (5) are installed on the front and rear sides of the mounting bases (24) mounted on the slide rail (231). The movable platforms (5) are slidably connected to the support platform (41) and cover the notches.

8. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 1, characterized in that, The target rotating component includes a drive shaft for transmitting power to the vehicle wheels. The vehicle chassis anti-corrosion wax spraying system is configured with a cooperative spraying mode corresponding to the drive shaft. In the cooperative spraying mode: The rotary drive module (21) is controlled to rotate the wheel in a step-by-step manner at multiple predetermined angles. During each rotational step pause of the wheel, the multi-axis robot (31) executes a fixed spraying path. Through the coordinated action of the rotary drive module (21) and the multi-axis robot (31), the full-coverage spraying of the outer surface of the transmission half-shaft is completed.

9. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 1, characterized in that, The identification subsystem (1) includes a scanning terminal and a human-machine interaction prompting unit. The scanning terminal is used for the operator to input vehicle identification information, and the human-machine interaction prompting unit is used to issue an entry command after the trajectory analysis is completed.

10. The vehicle chassis anti-corrosion wax spraying system based on automated control according to claim 1, characterized in that, The multi-axis robot (31) includes a linear guide rail (312) and at least one six-axis robot (311) mounted on the linear guide rail (312).

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