CN104148226B - 3D (three-dimensional) spray painting robot device - Google Patents
3D (three-dimensional) spray painting robot device Download PDFInfo
- Publication number
- CN104148226B CN104148226B CN201410335423.9A CN201410335423A CN104148226B CN 104148226 B CN104148226 B CN 104148226B CN 201410335423 A CN201410335423 A CN 201410335423A CN 104148226 B CN104148226 B CN 104148226B
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- Prior art keywords
- spray robot
- spray
- sprayed
- hydraulic
- robot device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0457—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads
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- Spray Control Apparatus (AREA)
Abstract
The invention discloses a 3D (three-dimensional) spray painting robot device, and relates to the field of steel rail spray painting machinery. The 3D spray painting robot device comprises a driving mechanism, a transmission mechanism, a hydraulic mechanism, a printing head, an inclined alarming device, an instrument panel and a shell, wherein a 3D spray painting robot walks on steel rails; a power portion of the 3D spray painting robot drives wheels and the hydraulic mechanism to move through a chain or a belt; hydraulic pressure is applied to sprayers, so that liquid is sprayed out of the sprayers; the 3D spray painting robot is provided with the three sprayers by which different materials can be sprayed out; and three layers of materials are accumulated and solidified on the steel rails. By the 3D spray painting robot, nanometer conductive materials and macromolecule insulating materials can be uniformly sprayed on surfaces of the steel rails; the problem that a switch rail and broken rail detecting system is inconvenient to operate in a construction process is solved; the construction quality is guaranteed; and the construction intensity is reduced.
Description
Technical field
The invention belongs to spray coating mechanical field, particularly to a kind of 3D spray aiming at tongue rail break detecting system detail design
Apply robot device.
Background technology
At present, with the expanding day of railway transportation scale, the increase of train speed, density and freight volume, accelerate bent point
The abrasion of rail and sharp curve rail and scrapping, average every three months will once be changed, and cause great waste,
The expense considerably increasing railroad maintenance puts into.Particularly main road hair line train reception and departure and laterally through bent stock tongue, by
In being affected by laterally through the columns of train and speed, side grinding is even more serious.By it, the safety problem causing and accident are also got over
Come more, so the safety laying of railway track and the detection of tongue rail break system and maintenance become more and more important.In addition, point tongue
Hurt detection is one of emphasis and difficult point of works department track switch Safety Maintenance, and track switch equipment is the weak ring of ground installation
How section, ensure that the intact of track switch equipment is of great significance to safe train operation.
The tongue rail break detection technique of railway track has repeatedly broken through on the basis of the artificial detection of tradition and has improved.Mesh
, due to exposing in atmosphere, perishable aging, service life is short, by extraneous factor shadow for the checkout facility of front conventional detecting system
Sound is larger, and construction quality is unstable.High labor intensive simultaneously, safety coefficient is low, easily causes human accident, and the paving of circuit
If improper also cause the wasting of resources simultaneously.
In order to solve the above problems, the present invention provides a kind of saving, durable, high degree of automation 3D spray robot,
This 3D spray robot can be by nanometer conductive material and insulating polymeric material even application in Rail Surface, for rail break inspection
Survey.
Content of the invention
For solving the deficiencies in the prior art, object of the present invention is to provide a kind of 3D spray robot device, its solution
During railway track of having determined laying, need to aim at based on tongue rail break detecting system construction operation, construction quality is poor, construction intensity is high
Problem, the present invention can will be uniform to nanometer conductive material and insulating polymeric material in tongue rail break detecting system work progress
It is sprayed at Rail Surface it is ensured that construction quality, reduce construction intensity.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：A kind of 3D spray robot device, its feature
It is：Including
Shell, transmission mechanism, hydraulic mechanism, printhead, inclination alarming device, instrument board and bottom wheel, described biography
Motivation structure delivers power to described bottom wheel and described hydraulic mechanism, described hydraulic pressure by power gear and chain or belt
Mechanism is used for storing sprayed on material and by conduit under fluid pressure, sprayed on material being delivered to nozzle, and described printhead includes spray nozzle device,
It is used for for different materials being sprayed on Rail Surface successively,
Wherein said inclination alarming device is used for when 3D spray robot machine tip alarm in operation, described
Instrument board is used for receiving the information gathering feedback of 3D spray robot ruuning situation.
Wherein said 3D spray robot device also includes drive mechanism, and described drive mechanism is wind or electronic horse
Reach.
Wherein said transmission mechanism includes power gear, the first turbine, flywheel and chain, and described power gear passes through institute
State chain and be connected to the described bottom wheel with gear and hydraulic mechanism.
Wherein said hydraulic mechanism includes the linkage with piston, the second turbine, hydraulic cavities, conduit under fluid pressure, described band
The linkage of piston is connected with described second turbine by the screw thread of its connecting rod shank, described second turbine and described first whirlpool
Wheel connects, and the connecting rod shank upper end of the described linkage with piston is provided with a nut with touch switch, described hydraulic pressure
Chamber is built with different sprayed on material.
Wherein said printhead is provided with multiple described spray nozzle devices along rail bearing of trend equidistant arrangement, described in each
Spray nozzle device is connected to described hydraulic cavities by described conduit under fluid pressure, and described printhead is provided with two fixations of adjustable distance
Hole.
Wherein said inclination alarming device includes weight fixed plate, weight and weight guide plate, and described weight is suspended in weight
In hammer fixed plate, described weight guide plate carries circular hole, and described weight fixed plate and weight guide plate are same with respect to the earth's core direction
The heart, the bottom of described weight passes through the circular hole of described weight guide plate.
Low pressure is provided with wherein said instrument board, lacks material and the LCDs tilting indicator lamp and connecting camera
Device, is easy to monitor in real time machine positioned at machine top.
Wherein said wind or electro-motor are driven by described power gear and drive 3D spray robot on rail
Mobile, and drive the turbine action of hydraulic mechanism to produce hydraulic pressure, thus material will be sprayed by the spray nozzle device on described printhead
Material sprays to Rail Surface, and the fluid pressure of described hydraulic mechanism is directly proportional to the gait of march of robot.
The beneficial effects of the present invention is：1) 3D spray robot device can be by nanometer conductive material and polymer insulation material
Material even application reduces construction intensity in Rail Surface it is ensured that construction quality；2) it is not subject to geographical environment and climate change effect；
3) transmission mechanism available step motor does power source to improve automaticity, reduces manual labor in engineering construction；4) operate
During operator spraying process is more intuitively understood by instrument board it is ensured that construction quality；5) three nozzles spray not successively
Same material, forms accumulation and the solidification of trilaminate material on rail, saves material, long service life；6) Control During Paint Spraying by Robot is each
Layer protection materials are with strong points, and can reduce pollution and the wasting of resources according to actually used regulation fluent material output.
Brief description
Fig. 1 is the 3D spray robot apparatus structure schematic diagram of the present invention；
Fig. 2 is spraying effect schematic diagram of the present invention；
Fig. 3 is the driving mechanism structure schematic diagram of 3D spray robot device of the present invention；
Fig. 4 is the transmission mechanism structural representation of 3D spray robot device of the present invention；
Fig. 5 is the hydraulic mechanism structural representation of 3D spray robot device of the present invention；
Fig. 6 is the running part structural representation of the hydraulic mechanism of 3D spray robot device of the present invention；
Fig. 7 is the inclination alarming device structural representation of 3D spray robot device of the present invention；
Fig. 8 is the instrument board topology layout schematic diagram of 3D spray robot device of the present invention.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention realizes are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in figure 1, it illustrates the general principle of 3D spray robot device, 3D spray robot is up in rail
Walk, its drive mechanism 1 is wind, and wind shakes clockwise, is connect with rail by the chain or belt drive of transmission device 2
Two tactile wheels move on rail.Another gear of wind is turned by the first turbine of belt drive hydraulic mechanism 3
Dynamic, rotate the nozzle that sprayed on material is pressed on printhead 4 by the hydraulic pressure producing, liquid spray material pressure is advanced fast with machine
Degree is directly proportional, and it is more that translational speed sprays liquid sooner.
Drive mechanism can also do power source to improve automaticity with stepping electro-motor, reduces people in engineering construction
Power is worked.
In operating process, operator passes through the indicator lamp of the scarce material warning device of hydraulic mechanism 3 upper end of instrument board 6, tilts
The indicator lamp of warning device 5 and machine low pressure indicator lamp observation spraying process, increase a video in shower nozzle part simultaneously and visit
Head simultaneously increases a liquid crystal display on instrument board 6, and this combination can allow operator more intuitively understand spraying process.
3D spraying effect as shown in Figure 2, three shower nozzles spray different materials successively, form the heap of trilaminate material on rail
Amass and solidify, concrete effect is：Bottom insulating polymeric material a covers in Rail Surface, plays between intermediate layer and rail absolutely
Edge acts on；Intermediate layer nanometer conductive material b, its break-make is synchronous with the break-make of rail；Top layer protective layer c, makes intermediate layer conductive layer
And external insulation, prevent extraneous steam, greasy dirt etc. affects intermediate layer.
Each part introduction：
1) transmission mechanism
Transmission mechanism comprises the part such as gear, the first turbine, flywheel, chain and can drive as the wind of drive mechanism
Pinion rotation, certain wind can also be substituted with stepping electro-motor.
Clockwise shake wind makes the wheel of itself and the two compressed steel rails in bottom rotate by chain syn-chro-step so that entirely
Machine is walked about on rail.When wind rotates counterclockwise because of the presence of flywheel, do not drive bottom two wheel, but drive whirlpool
Wheel makes hydraulic connecting rod exit, and is easy to reload to hydraulic cavities.
Drive mechanism part is introduced as shown in Figure 3：
Left hand rocking handle 101, is held by operator's left hand, and in the case of increasing Motor drive, handle orientations reverse 90 °, by
Operator's right hand holds.
Right hand rocking handle 103, is shaken by operator's right hand, imparts power to power gear 201, dynamic by chain transmission
Power.Shake machine starts to spray and advances clockwise.Hydraulic connecting rod is exited hydraulic cavities by shake counterclockwise.
As shown in figure 4, having chain 202, by adjusted design between the power gear 201 of wind and bottom wheel 203
The diameter ratio row of each gear are so that velocity of rotation and machine gait of march reach proper ratio, and bottom two wheel then designs
Become synchronous, reach and driven by two wheels, so that machine is advanced smooth.
Assembly contained by transmission mechanism Fig. 4：
Power gear 201, is driven by wind or electro-motor, drives the gear of bottom wheel 203 to have flywheel mechanism, suitable
Hour hands action drives bottom wheel 203, does not drive bottom wheel 203 counterclockwise；
Chain 202, connects bottom wheel 203 and the first turbine 204 by chain；
With the bottom wheel 203 of gear, totally two, directly bear against on rail；
First turbine 204, drives hydraulic unit action.
2) hydraulic mechanism
As shown in Figure 5 and Figure 6, hydraulic mechanism is made up of the second turbine, connecting rod, hydraulic cavities etc..The rotation of drive mechanism is led to
Cross chain and be connected to the gear synchronous with the first turbine, power direction is changed 90 degree by two worm-gear combination.It is connected with connecting rod
It is screw thread cooperation between turbine and connecting rod, after turbine rotation, drivening rod moves up and down.Moving up and down of connecting rod leads to hydraulic cavities
Internal closed portion Volume Changes, and then make liquid pressure change in hydraulic cavities, its pressure is sent to shower nozzle by conduit under fluid pressure.
During wind counterclockwise motion, drivening rod exits, and can reload after exiting hydraulic cavities in connecting rod position.
Three shower nozzles need three hydraulic mechanisms, and in figure only draws one.
Hydraulic mechanism Fig. 5 part：
Linkage 301 with piston, connecting rod shank designs for full thread, and its screw thread and the second turbine 302 coordinate.Connecting rod
Mechanism 301 topmost also needs to increase nut one touch-switch of drive, controls " lacking material " instruction lamp on/off.
Second turbine 302, drives the second turbine 302 rotating by drive mechanism, before and after turbine rotating linkage 301
Motion.Hydraulic cavities 303 internal capacity is determined by the position of linkage 301.Conduit under fluid pressure 304, highly pressurised liquid is delivered to printing
Head.
The running part of hydraulic mechanism such as Fig. 6 part is introduced：Second turbine 302 (straight-tooth umbrella), same with element gear 305
Step；Element gear 305, passes through chain-driving by drive mechanism；Second turbine 302 (straight-tooth umbrella), is driven by the first turbine 204；
Linkage 301 with piston, is driven by the second turbine 302, and the forward and reverse rotation of the second turbine 302 leads to linkage 301
Up and down motion.
3) printhead
The nozzle of 3D spray robot has three, along machine direction namely rail bearing of trend equidistant arrangement successively,
Each nozzle is ined succession the hydraulic cavities of built-in different materials, and the material that a nozzle of foremost sprays, in bottom, sprays
Go out polymer insulation protection materials, be attached to Rail Surface, what middle shower nozzle sprayed is nanometer conductive material, backmost a spray
Head is polymer protection material.
Two fixing holes of print head assembly can adjust the vertical range between nozzle and rail level.To spray not collinear
Bar.
4) inclination alarming device
As shown in fig. 7, in order to prevent machine tip in operating process, being provided with this device.Its main body is weight 501,
Parallel with centrifugal force under Action of Gravity Field.It is all conductive that the bottom of weight 501 passes through an annulus, annulus and weight 501, one
Denier machine tip reaches certain angle, and annulus contacts with weight 501, and the inclination indicator lamp on instrument board is bright, needs operator to adjust
Whole machine location, continues spraying operation in guarantee machine location behind the earth's core.
Gap between adjustment annulus and weight, can reach the perpendicularity of adjustment machine and the earth's core.Required precision Gao Ze
Both gaps are designed little.
This mechanism can ensure that vertical with the earth's core in the range of 360 ° on ground level of machine.
Inclination alarming device includes：Weight 501；Weight guide plate 502, inside has a conductive circular hole, and weight passes through conduction
Circular hole, when machine tip, weight 501 contacts with weight guide plate 502, drives " inclination " alarm lamp；Weight fixed plate
503, the circular hole of its fixed plate and weight guide plate concentric for the earth's core direction.
5) instrument board
As shown in figure 8, " low pressure ", " lacking material ", " inclination " three indicator lamps 602 are provided with instrument board 601, and leave a blank in advance
Between install LCDs 603.
When device battery electricity is inadequate, low pressure indicator lamp dodges red, prompting operator's replacing battery.
Lack material indicator lamp during fluid low bright in hydraulic cavities, point out operator charging.
In machine tip, it is bright to tilt indicator lamp, points out operator's adjustment machine location it is ensured that coating quality.
Reserved LCDs is installed together with camera, and just to shower nozzle and location of rail, liquid crystal display works camera
Operator can be intuitively allowed to understand spraying process and coating quality under state.
6) shell
As shown in figure 1, shell 7 is made up of parts such as side panel and cover plates, reach the work in the machine by each positioning parts
With.Gear, turbine, chain etc. are packaged in inside machine, it is to avoid in operating process, operator and actuating mechanism body connect simultaneously
Tactile possibility.The outward appearance of shell can carry out Beautification design, and the material of shell, color, thickness etc. can be according to actual needs
It is adjusted.Reach main screw lift suitable, the easy to operate purpose of operator.The position of handle and handle is according to height 175cm
To carry out ergonomic designs.
The invention provides a kind of 3D spray robot, can be by nanometer conductive material and insulating polymeric material even application
In Rail Surface.Ensure construction quality, reduce construction intensity.Transmission mechanism can also do power source to carry with stepping electro-motor
High automaticity, reduces manual labor in engineering construction.In operating process, operator observes spraying process by instrument board, can
To increase a video probe in shower nozzle part and to increase a liquid crystal display in instrument board, this combination can allow operator
More intuitively understand spraying process.Three shower nozzles spray different materials successively, form the accumulation of trilaminate material and consolidate on rail
Change.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way for above-described embodiment, all obtained by the way of equivalent or equivalent transformation
Technical scheme, all falls within protection scope of the present invention.
Claims (9)
1. a kind of 3D spray robot device it is characterised in that：Including
Shell, transmission mechanism, hydraulic mechanism, printhead, inclination alarming device, instrument board and bottom wheel, described driver
Structure delivers power to described bottom wheel and described hydraulic mechanism, described hydraulic mechanism by power gear and chain or belt
Including multiple hydraulic cavities, described printhead is provided with multiple spray nozzle devices along rail bearing of trend successively equidistant arrangement, each
Described spray nozzle device is all ined succession the hydraulic cavities of built-in difference sprayed on material, and described hydraulic cavities are used for storing sprayed on material and leading to
Cross conduit under fluid pressure and sprayed on material is delivered to described spray nozzle device, described spray nozzle device is used for being sprayed on different sprayed on material successively
Rail Surface.
2. 3D spray robot device according to claim 1 it is characterised in that：Described inclination alarming device is used for working as 3D
Spray robot tilts alarm in operation, and described instrument board is used for receiving the information of 3D spray robot ruuning situation
Collection feedback.
3. 3D spray robot device according to claim 1 it is characterised in that：Described 3D spray robot device also wraps
Include drive mechanism, described drive mechanism is wind or electro-motor.
4. 3D spray robot device according to claim 3 it is characterised in that：Described transmission mechanism includes power teeth
Wheel, the first turbine, flywheel and chain, described power gear by described chain be connected to the described bottom wheel with gear and
Hydraulic mechanism.
5. 3D spray robot device according to claim 3 it is characterised in that：Being provided with two on described printhead can
The fixing hole of vertical range between adjustment nozzle and rail level.
6. 3D spray robot device according to claim 4 it is characterised in that：Described wind or electro-motor connect
To described power gear, and drive 3D spray robot to move on rail by the transmission of described power gear, drive institute simultaneously
State hydraulic mechanism and produce hydraulic pressure, thus sprayed on material is sprayed to by Rail Surface by the spray nozzle device on described printhead.
7. 3D spray robot device according to claim 4 it is characterised in that：Described hydraulic mechanism is included with piston
Linkage, the second turbine, hydraulic cavities, conduit under fluid pressure, the described linkage with piston by the screw thread of its connecting rod shank with
Described second turbine connects, and described second turbine is connected with described first turbine, and the company of the described linkage with piston
Rod handle portion upper end is provided with a nut with touch switch, and described hydraulic cavities are built with sprayed on material.
8. 3D spray robot device according to claim 1 it is characterised in that：Described inclination alarming device includes weight
Fixed plate, weight and weight guide plate, described weight is suspended in weight fixed plate, and described weight guide plate carries circular hole, institute
State weight fixed plate and weight guide plate with respect to the earth's core direction with one heart, the bottom of described weight passes through described weight guide plate
Circular hole.
9. 3D spray robot device according to claim 1 it is characterised in that：Be provided with described instrument board low pressure,
Lack material and the LCD device tilting indicator lamp and connecting camera, described instrument board is located at described 3D spray robot
Monitor in real time machine is easy at device top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410335423.9A CN104148226B (en) | 2014-07-15 | 2014-07-15 | 3D (three-dimensional) spray painting robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410335423.9A CN104148226B (en) | 2014-07-15 | 2014-07-15 | 3D (three-dimensional) spray painting robot device |
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| CN104148226A CN104148226A (en) | 2014-11-19 |
| CN104148226B true CN104148226B (en) | 2017-02-08 |
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| CN201410335423.9A Active CN104148226B (en) | 2014-07-15 | 2014-07-15 | 3D (three-dimensional) spray painting robot device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017222001A (en) * | 2016-06-15 | 2017-12-21 | セイコーエプソン株式会社 | Robot, control device, and robot system |
| CN106078738A (en) * | 2016-06-20 | 2016-11-09 | 许昌市大力电机制造有限公司 | A kind of motor control system of full-automatic paint-spray robot |
| CN108861409A (en) * | 2018-07-20 | 2018-11-23 | 深圳市速购商务有限公司 | A kind of Multifunctional Motion Control |
| CN108772231A (en) * | 2018-08-22 | 2018-11-09 | 南通理工学院 | Auxiliary spraying robot for semi-closed space |
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| CN2145140Y (en) * | 1992-04-23 | 1993-11-03 | 兰州铁路局科学技术研究所 | Hand injector for rail with vehicle |
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| US4921732A (en) * | 1988-05-31 | 1990-05-01 | Herzog Contracting Corporation | Railroad tie service vehicle and method for spray application of a preservative |
| CN2044232U (en) * | 1989-02-28 | 1989-09-13 | 大连铁路分局大连工务段 | Automatic oil applier mounted on bus for curved rail bar |
| CN2319135Y (en) * | 1998-01-15 | 1999-05-19 | 刘志俊 | Transmission sprayer |
| CN2644009Y (en) * | 2003-08-18 | 2004-09-29 | 徐益民 | Multifunctional automatic spraying vehicle |
| CN2799088Y (en) * | 2005-04-23 | 2006-07-26 | 葛茂林 | Automatic-inflating spraying vehicle |
| CN2818837Y (en) * | 2005-09-27 | 2006-09-20 | 陈存启 | Double-row plunger pump |
| CN201015757Y (en) * | 2007-03-18 | 2008-02-06 | 徐西元 | Device for sprinkling water or medicinal liquid |
| CN201143472Y (en) * | 2007-11-22 | 2008-11-05 | 阿卜力米提·麦麦提 | Three-wheel push type atomizing machine |
| CN101823044A (en) * | 2009-03-06 | 2010-09-08 | 李志诚 | Integration method of steel tube inner wall and outer wall powder spraying, curing and film-forming and device thereof |
| CN201791624U (en) * | 2010-08-26 | 2011-04-13 | 攀钢集团冶金工程技术有限公司 | Steel rail spraying device |
| CN202657048U (en) * | 2012-05-15 | 2013-01-09 | 宝鸡铠丰科技发展有限公司 | Special film forming paste spraying vehicle for railway wheel track |
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| CN2145140Y (en) * | 1992-04-23 | 1993-11-03 | 兰州铁路局科学技术研究所 | Hand injector for rail with vehicle |
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| CN104148226A (en) | 2014-11-19 |
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Address after: Room 1190, Building 4, No. 2666 Panjing Road, Baoshan District, Shanghai, 2019 Patentee after: Shanghai Tongxi Electronic Technology Co.,Ltd. Address before: Room 620, building 5, 1132 Liuxiang Road, Jiading District, Shanghai, 201802 Patentee before: SHANGHAI TONGXI ELECTRONICS TECHNOLOGY CO.,LTD. |
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