CN204976629U - Train spraying machine people - Google Patents

Abstract

The utility model discloses a train spraying robot, which comprises a spraying walking mechanism and a walking track grasped by each other, wherein the spraying walking mechanism includes a vehicle body, the top of the vehicle body is provided with a mounting top plate, the mounting top plate is provided with a robot spraying arm, and the vehicle body The bottom end of the driving base is provided with a driving base, and the middle part of the driving base is provided with a driving mechanism near one side. The driving mechanism is provided with a driving gear, and the upper end of the tank chain is provided on the opposite side of the vehicle body to the driving gear; the walking track Including the foundation, the top of the foundation is provided with a groove, the bottom of the groove is provided with a horizontal mounting plate, the top of the horizontal mounting plate is provided with a track body, the top of the track body is provided with a track panel, and the top of the track panel is connected to the drive gear The corresponding position is provided with a toothed rack meshed with the driving gear, and the lower end of the tank chain is provided on the other side of the toothed rack. The utility model can ensure the stable and reliable operation of the rail car.

Description

A train spraying robot

technical field

The utility model relates to the technical field of spraying, in particular to a train spraying robot.

Background technique

Train spraying has always been a difficult task because of its large height (4.3 meters high, 3.2 meters wide, and 27 meters long). Manual spraying is not only difficult and inefficient, but also difficult to guarantee quality. Automatic spraying is also relatively difficult due to the same reason. For example, the height of a train spraying robot is the height of the robot arm plus the height of the track and the height of the driving mechanism, and the operating height is usually more than 5 meters. This brings up a problem: the center of gravity is too high. Coupled with the swing impulse of the robot arm during operation and the self-weight of the robot and the spray tool, the problem of its running stability (especially in the Y-axis side direction) becomes very serious. May tip over when swinging.

Aiming at the problems in the related technologies, no effective solution has been proposed yet.

Utility model content

The purpose of the utility model is to provide a train spraying robot to overcome the above-mentioned technical problems existing in the related art.

The technical scheme of the utility model is achieved in that:

A train spraying robot includes a spraying walking mechanism and a walking track grasping each other, wherein the spraying walking mechanism includes a vehicle body, and the top of the vehicle body is provided with an installation top plate, and the installation top plate is provided with a robot spraying arm. The bottom end of the vehicle body is provided with a driving base, and the middle part of the driving base is provided with a driving mechanism near one side. The driving mechanism is provided with a driving gear, and the opposite side of the driving gear is provided on the vehicle body. There is an upper end of the tank chain; the walking track includes a foundation, the top of the foundation is provided with a groove, the bottom of the groove is provided with a horizontal mounting plate, and the top of the horizontal mounting plate is provided with a track body, and the track body The top of the track panel is provided with a track panel, and the top of the track panel is provided with a rack meshed with the drive gear at a position corresponding to the drive gear, and the lower end of the tank chain is provided on the other side of the rack.

Wherein, the driving base is an inverted U-like structure. Moreover, the bottom end of the side wall of the U-shaped structure is provided with a handle structure, and the bottom end of the track panel is provided with a linear guide rail at a position corresponding to the handle structure, and a slider is provided on the linear guide rail , the slider is fixedly connected with the handle structure.

Wherein, the slider is fixedly connected with the gripper structure through connecting bolts.

Wherein, several reinforcing ribs are arranged on the vehicle base.

Wherein, the driving mechanism includes an electric motor and a reduction box, and the electric shaft of the electric motor faces the bottom end of the vehicle base and is connected with the driving gear.

Wherein, embedded panels are arranged symmetrically below both sides of the horizontal installation plate in the groove, and the horizontal installation panel is connected to top ends of the two embedded panels.

Wherein, the horizontal mounting plate is fixedly connected to the track bottom plate at the bottom end of the track body through fixing bolts.

Wherein, an adjusting bolt is further arranged on one side of the fixing bolt between the horizontal installation plate and the track bottom plate.

The beneficial effects of the utility model: by connecting the spraying walking mechanism and the walking track with a grasping structure, and setting a driving mechanism near one side of the middle part of the driving base, so that when the robot generates lateral momentum, the track goes up and down Both sides, left and right sides are stressed at the same time (the upper and lower sides are partly carried by the meshing surface of the gear and rack on the driving mechanism, and part of the lateral swing force of the driving is carried by the left and right sides by the grip structure. ), which greatly improves the lateral stability compared with the one-sided and one-sided force of the train-type rail. At the same time, the grip structure is adopted, and the possibility of rollover is fundamentally eliminated. This structure has strong resistance to the inclination of the center of gravity of the mobile car in all directions, which can ensure the stable and reliable operation of the rail car.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only the present invention. For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic structural view of a train spraying robot according to an embodiment of the present invention;

Fig. 2 is a schematic structural view of a spraying walking mechanism according to an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a walking track according to an embodiment of the present invention.

In the picture:

1. Body; 2. Installation top plate; 3. Robot spraying arm; 4. Driving base; 5. Driving gear; 6. Upper end of tank chain; 7. Foundation; 8. Groove; 9. Horizontal mounting plate; ;11. Track panel; 12. Rack; 13. Lower end of tank chain; 14. Grab structure; 15. Linear guide rail; 16. Slider; 17. Connecting bolt; 18. Motor; Buried plate; 21. Fixing bolts; 22. Track bottom plate; 23. Adjusting bolts.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

According to an embodiment of the utility model, a train spraying robot is provided.

As shown in Figures 1-3, the train spraying robot according to the embodiment of the utility model includes: a spraying traveling mechanism and a walking track grasped by each other, wherein the spraying traveling mechanism includes a vehicle body 1, and the top of the vehicle body 1 is provided with Install the top plate 2, the installation top plate 2 is provided with a robot spraying arm 3, the bottom end of the vehicle body 1 is provided with a driving base 4, the middle part of the driving base 4 is provided with a driving mechanism near one side, and the driving mechanism is provided with There is a drive gear 5, and the vehicle body 1 is provided with a tank chain upper end 6 on the side opposite to the drive gear 5; the walking track includes a foundation 7, and a groove 8 is provided on the 7 top of the foundation, The bottom end of the groove 8 is provided with a horizontal mounting plate 9, the top of the horizontal mounting plate 9 is provided with a track body 10, and the top of the track body 10 is provided with a track panel 11, and the top of the track panel 11 is connected to the A rack 12 meshing with the drive gear 5 is provided at a position corresponding to the drive gear 5 , and a tank chain lower end 13 is provided on the other side of the rack 12 .

Wherein, the vehicle chassis 4 is an inverted U-like structure. And, the bottom end of the side wall of the U-shaped structure is provided with a symmetrical handle structure 14, and the bottom end of the track panel 11 is provided with a linear guide rail 15 at a position corresponding to the handle structure 14, and the straight line A slide block 16 is arranged on the guide rail 15 , and the slide block 16 is fixedly connected with the handle structure 14 .

Wherein, the slider 16 is fixedly connected to the handle structure 14 through a connecting bolt 17 .

Wherein, several reinforcing ribs are arranged on the vehicle chassis 4 .

Wherein, the driving mechanism includes an electric motor 18 and a reduction box 19 , and the electric shaft of the electric motor 18 faces the bottom end of the vehicle base 4 and is connected with the driving gear 5 .

Wherein, embedded panels 20 are arranged symmetrically below both sides of the horizontal installation plate 9 in the groove 8 , and the horizontal installation panel 9 is connected to top ends of the two embedded panels 20 .

Wherein, the horizontal mounting plate 9 is fixedly connected with the track bottom plate 22 at the bottom end of the track body 10 through fixing bolts 21 .

Wherein, an adjusting bolt 23 is also provided on one side of the fixing bolt 21 between the horizontal installation plate 9 and the track bottom plate 22 .

In specific use, the surface requirements of trains (especially locomotives) are very high, and robots must be used for fine spraying. However, no matter whether the robot is spraying while walking or stop-and-go, its spraying accuracy is related to the accuracy, smoothness, and stability of the walking mechanism; the positional accuracy requirements are generally at the millimeter or even submillimeter level. Such high requirements are guaranteed by the accuracy of the track/linear guide, the accuracy of the rack and pinion, and the accuracy of the drive device. For this reason, in addition to adopting high-precision components, the utility model also adopts servo motor drive, and its pulse drive mode, walking positioning accuracy and position maintaining function can ensure that the above requirements are met.

The whole system is controlled by the central control computer, manages and coordinates the work of each part, and operates according to the program. Because this system is a general system, it can be applied to various workpiece operations; therefore, process programming must be carried out in advance for each type of workpiece. The programming is mainly composed of two parts: one is the robot arm movement (spraying), and the other is the vehicle movement program. The two are in harmony.

The working process of this system is: the workpiece is loaded into the spray booth by the vehicle, and the origin and vehicle type are determined by the position sensor and the workpiece identifier; the workpiece program stored in the computer is called; the robot drives the vehicle to the end point; the robot is started to correct the origin ; Connect the paint and power supply; spray according to the process procedure. The entire spraying process is fully automatic until the job is completed.

In addition, the system is also equipped with a variety of sensors. When any accident occurs during the operation, such as the entry of people/foreign objects, power loss, abnormal parts, etc., the central control coordination will issue an alarm and enter the safety processing procedure.

In addition, in the above scheme, since the walking mechanism drives the robot arm to spray while walking, the cables, paint pipes, air pipes, etc. required by the robot arm will expand and contract accordingly. These pipes and cables are placed in the tank chain; one end (upper end, moving end) is installed on the robot arm, and the other end (lower end, fixed end) is connected to the end of the track, and then connected to various power source paint sources. In this way, the tank chain plays the role of guiding and protecting the movement of the pipe cable.

To sum up, with the help of the above-mentioned technical solution of the present utility model, the spraying traveling mechanism and the traveling track are connected by a grasping structure, and a driving mechanism is provided near one side of the middle part of the traveling base, so that when the robot When the lateral impulse is generated, the upper and lower sides of the track, and the left and right sides are simultaneously stressed (the upper and lower sides are carried by the meshing surface of the gear and the rack on the driving mechanism to carry part of the lateral swing force of the driving, and the left and right sides are controlled by the grip structure. bearing part of the lateral swinging force of the train), this train-type rail is loaded on one side and one side, which greatly improves the lateral stability. At the same time, the grip structure is adopted, and the possibility of rollover is fundamentally eliminated. This structure has strong resistance to the inclination of the center of gravity of the mobile car in all directions, which can ensure the stable and reliable operation of the rail car.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present utility model shall be included in the Within the protection scope of the present utility model.

Claims (8)

1. a train spray robot, comprise the spraying walking mechanism and walking track that mutually grasp, wherein, described spraying walking mechanism comprises vehicle body, the top of described vehicle body is provided with installation top board, this installation top board is provided with Control During Paint Spraying by Robot arm, the bottom of described vehicle body is provided with driving base, the middle part of described driving base is provided with driving mechanism near side place, this driving mechanism is provided with driven wheel, further, described vehicle body is provided with tank chain upper end with the contrary side of described driven wheel; Described walking track comprises ground, the top of described ground is provided with groove, the bottom of this groove is provided with horizontal mounting plate, the top of described horizontal mounting plate is provided with track body, the top of described track body is provided with track panel, the position that the top of this track panel is corresponding with described driven wheel is provided with the tooth bar engaged with described driven wheel, and the opposite side being positioned at tooth bar is provided with tank chain lower end.

2. train spray robot according to claim 1, is characterized in that, described driving base is inverted analog-U shaped structure.

3. train spray robot according to claim 2, it is characterized in that, the sidewall bottom of described U-shaped structure is provided with gripping structure, and the position that the bottom of described track panel is corresponding with described gripping structure is provided with line slideway, described line slideway is provided with slide block, and described slide block is fixedly connected with described gripping structure.

4. train spray robot according to claim 3, is characterized in that, described slide block is fixedly connected with described gripping structure by connecting bolt.

5. train spray robot according to claim 1, is characterized in that, described driving base is provided with some reinforcements.

6. train spray robot according to claim 1, is characterized in that, described driving mechanism comprises motor and reduction box, and, the electric drive axle of described motor towards described driving base bottom and be connected with driven wheel.

7. train spray robot according to claim 1, is characterized in that, the down either side being positioned at described horizontal mounting plate in described groove is symmetrically arranged with embedded board, and described horizontal mounting plate is connected to embedded board.

8. train spray robot according to claim 1, is characterized in that, described horizontal mounting plate is fixedly connected with by the sole-plate of set bolt with described track body bottom.