CN104148226A - 3D (three-dimensional) spray painting robot device - Google Patents
3D (three-dimensional) spray painting robot device Download PDFInfo
- Publication number
- CN104148226A CN104148226A CN201410335423.9A CN201410335423A CN104148226A CN 104148226 A CN104148226 A CN 104148226A CN 201410335423 A CN201410335423 A CN 201410335423A CN 104148226 A CN104148226 A CN 104148226A
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- Prior art keywords
- spray robot
- turbine
- spray
- hydraulic
- robot device
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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 a kind of 3D spray robot device that aims at the disconnected rail detection system detail design of tongue.
Background technology
At present, along with the expanding day of railway transportation scale, the increase of train speed, density and freight volume, accelerated the wearing and tearing of bent tongue and sharp curve rail and scrapped, average every three months will once be changed, and cause great waste, and the expense that has greatly increased railroad maintenance drops into.The bent strand tongue that particularly main road hair line train reception and departure and side direction are passed through, owing to being subject to side direction to pass through the columns of train and the impact of speed, side grinding is even more serious.Safety problem and accident by its initiation are also more and more, so the safety of railway track is laid and detection and the maintenance of the disconnected rail system of tongue become more and more important.In addition, it is one of Focal point and difficult point of works department track switch Safety Maintenance that point tongue hurt detects, and track switch equipment is the weak link of ground installation, how to ensure that the intact of track switch equipment is of great significance to safe train operation.
The disconnected rail detection technique of tongue of railway track repeatedly breaks through and improves on the artificial basis of detecting of tradition.The checkout facility of at present conventional detection system is owing to being exposed in air, and perishable aging, service life is short, affected by extraneous factor larger, and construction quality is unstable.Simultaneously labour intensity is large, and safety coefficient is low, easily causes human accident, and the laying of circuit is improper also causes the wasting of resources simultaneously.
In order to address the above problem, the invention provides a kind of saving, the 3D spray robot that durable, automaticity is high, this 3D spray robot can evenly be sprayed at Rail Surface by nanometer conductive material and insulating polymeric material, for disconnected rail, detects.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of 3D spray robot device, when it has solved railway track laying, need to aim at based on the disconnected rail detection system construction operation of tongue, construction quality is poor, the problem that construction intensity is high, and the present invention can evenly be sprayed at Rail Surface by nanometer conductive material and insulating polymeric material in the disconnected rail detection system work progress of tongue, guarantee construction quality, reduce construction intensity.
In order to realize above-mentioned target, the present invention adopts following technical scheme: a kind of 3D spray robot device, is characterized in that: comprise
Shell, transmission mechanism, hydraulic mechanism, printhead, inclination alarming device, instrument board and bottom wheel, described transmission mechanism is given described bottom wheel and described hydraulic mechanism by power gear and chain or belt by power transmission, described hydraulic mechanism is used for storing sprayed on material and by conduit under fluid pressure, sprayed on material is delivered to nozzle, described printhead comprises spray nozzle device, it is for being sprayed on successively Rail Surface by different materials
Wherein said inclination alarming device is for working as 3D spray robot at operating process machine tip alarm, and described instrument board is for receiving the information gathering feedback of 3D spray robot ruuning situation.
Wherein said 3D spray robot device also comprises driving mechanism, and described driving mechanism is wind or electro-motor.
Wherein said transmission mechanism comprises power gear, the first turbine, flywheel and chain, and described power gear is connected to described bottom wheel and the hydraulic mechanism with gear by described chain.
Wherein said hydraulic mechanism comprises linkage, the second turbine, hydraulic cavities, the conduit under fluid pressure with piston, the described linkage with piston is connected with described the second turbine by the screw thread of its connecting rod shank, described the second turbine is connected with described the first turbine, and the connecting rod shank upper end of the described linkage with piston is provided with a nut with touch switch, in described hydraulic cavities, different sprayed on material is housed.
Wherein said printhead is provided with a plurality of described spray nozzle devices along the equidistant arrangement of rail bearing of trend, and described in each, spray nozzle device is connected in described hydraulic cavities by described conduit under fluid pressure, and described printhead is provided with two fixing holes of adjustable distance.
Wherein said inclination alarming device comprises weight fixed head, weight and weight guide plate, described weight is suspended on weight fixed head, described weight guide plate is with circular hole, described weight fixed head and weight guide plate are concentric with respect to the earth's core direction, and the bottom of described weight is through the circular hole of described weight guide plate.
The LCD device that is provided with low pressure, scarce material and inclination indicator lamp on wherein said instrument board and is connected camera, is positioned at machine top and is convenient to monitor in real time machine.
Wherein said wind or electro-motor drive 3D spray robot to move on rail by described power gear transmission, and drive the turbine action of hydraulic mechanism to produce hydraulic pressure, thereby by the spray nozzle device on described printhead, sprayed on material is sprayed to Rail Surface, the fluid pressure of described hydraulic mechanism is directly proportional to the gait of march of robot.
Beneficial effect of the present invention is: 1) 3D spray robot device can evenly be sprayed at Rail Surface by nanometer conductive material and insulating polymeric material, guarantees construction quality, reduces construction intensity; 2) be not subject to geographical environment and climate change effect; 3) transmission mechanism available step motor is done power source to improve automaticity, reduces manpower work in engineering construction; 4) in operating process, operator understands spraying process more intuitively by instrument board, guarantees construction quality; 5) three nozzles spray different materials successively, form the accumulation of trilaminate material and solidify on rail, save material, long service life; 6) each layer of protective material of Control During Paint Spraying by Robot is with strong points, and can use and regulate fluent material output according to reality, reduces and pollutes and the wasting of resources.
Accompanying drawing explanation
Fig. 1 is 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.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
As shown in Figure 1, it shows the basic principle of 3D spray robot device, and 3D spray robot is walked on rail, and its driving mechanism 1 is wind, wind shakes clockwise, and the chain by transmission device 2 or belt drive two wheels that contact with rail to move on rail.Another gear of wind drives the first turbine rotation of hydraulic mechanism 3 by belt, rotate the hydraulic pressure producing sprayed on material is pressed into the nozzle on printhead 4, liquid spray material pressure is directly proportional with machine gait of march, and it is more that translational speed sprays liquid sooner.
Driving mechanism also can be done power source to improve automaticity with stepping electro-motor, reduces manpower work in engineering construction.
In operating process, operator is by the indicator lamp of the scarce material warning device of hydraulic mechanism 3 upper ends of instrument board 6, the indicator lamp of inclination alarming device 5 and machine low pressure indicator lamp observation spraying process, at shower nozzle, partly increase a video probe and on instrument board 6, increase a liquid crystal display, this combination can allow operator understand more intuitively spraying process simultaneously.
3D spraying effect as shown in Figure 2, three shower nozzles spray different materials successively, form the accumulation of trilaminate material and solidify on rail, and concrete effect is: bottom insulating polymeric material a covers Rail Surface, plays insulating effect between intermediate layer and rail; Intermediate layer nanometer conductive material b, its break-make is synchronizeed with the break-make of rail; Top layer protective layer c, makes intermediate layer conductive layer and external insulation, prevents extraneous steam, and greasy dirt etc. affect intermediate layer.
Each parts are introduced:
1) transmission mechanism
Transmission mechanism comprises gear, the first turbine, flywheel, chain etc. and partly as the wind of driving mechanism, can rotate by driven gear, and wind also can substitute with stepping electro-motor certainly.
Shake clockwise wind the wheel of itself and two the compressed steel rails in bottom is synchronously rotated by chain, whole machine is walked about on rail.When wind rotates counterclockwise, because of the existence of flywheel, not driving two wheels in bottom, is that hydraulic connecting rod exits but drive turbine, is convenient to reload to hydraulic cavities.
Driving mechanism parts are introduced as shown in Figure 3:
Wind 101, is controlled by operator's left hand, increases in motor-driven situation, and handle orientations is reversed 90 °, by operator's right hand, is controlled.
Wind 103, is shaken by operator's right hand, and transmission of power, to gear 102, is transmitted to power by chain.Shaking clockwise machine starts to spray and advance.Shake hydraulic connecting rod is exited to hydraulic cavities counterclockwise.
As shown in Figure 4, between the gear 201 of wind and bottom wheel 203, there is chain 202, by the diameter ratio row of each gear of adjusted design, make velocity of rotation and machine gait of march reach proper ratio, two of bottoms wheel is designed to synchronously, reach by two wheels and drive, machine is advanced smooth and easy.
The contained assembly of transmission mechanism Fig. 4:
Power gear 201, is driven by wind or electro-motor, with the gear of motor car wheel 203, has flywheel mechanism, and action band dynamic component wheel 203 clockwise, are not with counterclockwise motor car wheel 203;
Chain 202, connects wheel 203 and the first turbine 204 by chain;
With the wheel 203 of gear, totally two, be directly pressed on rail;
The first turbine 204, drives hydraulic unit action.
2) hydraulic mechanism
As shown in Figure 5 and Figure 6, hydraulic mechanism is comprised of the second turbine, connecting rod, hydraulic cavities etc.The rotation of driving mechanism is connected to the gear synchronous with the first turbine by chain, and two turbine combinations are by power direction conversion 90 degree.Between the turbine being connected with connecting rod and connecting rod, be threaded engagement, after turbine rotation, drivening rod moves up and down.Moving up and down of connecting rod causes the inner airtight partial volume of hydraulic cavities to change, and then liquid pressure in hydraulic cavities is changed, and its pressure is sent to shower nozzle by conduit under fluid pressure.When wind moves counterclockwise, drivening rod exits, and can reload after exiting hydraulic cavities in connecting rod position.
Three shower nozzles need three hydraulic mechanisms, only draw one in figure.
Hydraulic mechanism Fig. 5 parts:
With the linkage 301 of piston, connecting rod shank designs for full thread, and its screw thread and the second turbine 302 coordinate.Parts 301 also need to increase a nut topmost and drive a touch-switch, control " lacking material " indicator lamp light on and off.
The second turbine 302, drives turbine 302 rotatings by driving mechanism, and turbine rotating driver part 301 seesaws.Hydraulic cavities 303 internal capacities are by the location positioning of driver part 301.Conduit under fluid pressure 304, delivers to printhead by highly pressurised liquid.
The running part of hydraulic mechanism is introduced as Fig. 6 parts: the second turbine 302(straight-tooth umbrella), synchronize with parts gear 305; Gear 305, passes through chain-driving by driving mechanism; The second turbine 302(straight-tooth umbrella), by the first turbine 204, driven; Linkage 301 with piston, is driven by parts 302, and the forward and reverse rotation of parts 302 causes moving up and down of parts 301.
3) printhead
The nozzle of 3D spray robot has three; along machine direction, be also that rail bearing of trend is equidistantly arranged successively; the in succession hydraulic cavities of an in-built different materials of each nozzle; the material of top nozzle ejection is in bottom; ejection macromolecule isolation protective material; be attached to Rail Surface, what middle shower nozzle sprayed is nanometer conductive material, and backmost a shower nozzle is polymer protection material.
Two fixing holes of print head assembly can be adjusted the vertical range between nozzle and rail level.To spray different lines.
4) inclination alarming device
As shown in Figure 7, in order to prevent machine tip in operating process, be provided with this device.Its main body is weight 501, parallel with centrifugal force under Action of Gravity Field.The bottom of weight 501 is through an annulus, and annulus and weight 501 all conduct electricity, once machine tip reaches certain angle, annulus contacts with weight 501, inclination indicator lamp on instrument board is bright, needs operator to adjust machine location, is guaranteeing after machine location is perpendicular to the earth's core to continue spraying operation.
Adjust the gap between annulus and weight, can reach and adjust machine in the perpendicularity in the earth's core.Required precision height is little by both gap design.
This mechanism can guarantee that machine is vertical with the earth's core within the scope of 360 ° on ground level.
Inclination alarming device comprises: weight 501; Weight guide plate 502, inside has a conduction circular hole, and weight is through conduction circular hole, and when machine tip, weight 501 contacts with weight guide plate 502, drives " inclination " alarm lamp; Weight fixed head 503, the circular hole of its fixed head and weight guide plate are concentric for the earth's core direction.
5) instrument board
As shown in Figure 8, on instrument board, be provided with " low pressure ", " lacking material ", " inclination " three indicator lamps, and headspace is installed LCDs.
When device battery electric weight is inadequate, low pressure indicator lamp dodges redly, and prompting operation person changes battery.
In hydraulic cavities, lack material indicator lamp during fluid low bright, prompting operation person is reinforced.
When machine tip, inclination indicator lamp is bright, and prompting operation person adjusts machine location, guarantees coating quality.
Reserved LCDs is installed together with camera, and camera, over against shower nozzle and location of rail, can allow operator understand spraying process and coating quality intuitively under liquid crystal display duty.
6) shell
Shell is comprised of parts such as side panel and cover plates, reaches the effect in machine by each positioning parts.Gear, turbine, chain etc. are packaged in to machine intimate simultaneously, avoid the possibility of operator and actuating mechanism Body contact in operating process.The outward appearance of shell can be carried out Beautification design, and the material of shell, color, thickness etc. can be adjusted according to actual needs.Reach complete machine weight suitable, the object that operator is easy to operate.Ergonomic designs is carried out according to height 175cm in the position of handle and handle.
The invention provides a kind of 3D spray robot, nanometer conductive material and insulating polymeric material evenly can be sprayed to Rail Surface.Guarantee construction quality, reduce construction intensity.Transmission mechanism also can be done power source to improve automaticity with stepping electro-motor, reduces manpower work in engineering construction.In operating process, operator observes spraying process by instrument board, can partly increase a video probe and increase a liquid crystal display at instrument board at shower nozzle, and this combination can allow operator understand more intuitively spraying process.Three shower nozzles spray different materials successively, form the accumulation of trilaminate material and solidify on rail.
More than show and described basic principle of the present invention, principal character and advantage.The technical staff of the industry should understand, and above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technical scheme that the mode of equivalent transformation obtains, all drops in protection scope of the present invention.
Claims (9)
1. a 3D spray robot device, is characterized in that: comprise
Shell, transmission mechanism, hydraulic mechanism, printhead, inclination alarming device, instrument board and bottom wheel, described transmission mechanism is given described bottom wheel and described hydraulic mechanism by power gear and chain or belt by power transmission, described hydraulic mechanism is used for storing sprayed on material and by conduit under fluid pressure, sprayed on material is delivered to nozzle, described printhead comprises spray nozzle device, and it is for being sprayed on successively Rail Surface by different materials.
2. described in, inclination alarming device is for working as 3D spray robot at operating process machine tip alarm, and described instrument board is for receiving the information gathering feedback of 3D spray robot ruuning situation.
3. 3D spray robot device according to claim 1, is characterized in that: described 3D spray robot device also comprises driving mechanism, and described driving mechanism is wind or electro-motor.
4. 3D spray robot device according to claim 1, it is characterized in that: described transmission mechanism comprises power gear, the first turbine, flywheel and chain, described power gear is connected to described bottom wheel and the hydraulic mechanism with gear by described chain.
5. 3D spray robot device according to claim 1, it is characterized in that: described hydraulic mechanism comprises linkage, the second turbine, hydraulic cavities, the conduit under fluid pressure with piston, the described linkage with piston is connected with described the second turbine by the screw thread of its connecting rod shank, described the second turbine is connected with described the first turbine, and the connecting rod shank upper end of the described linkage with piston is provided with a nut with touch switch, in described hydraulic cavities, different sprayed on material is housed.
6. 3D spray robot device according to claim 3, it is characterized in that: described printhead is provided with a plurality of along the equidistant described spray nozzle device of arranging of rail bearing of trend, described in each, spray nozzle device is connected in described hydraulic cavities by described conduit under fluid pressure, and described printhead is provided with two fixing holes of adjustable distance.
7. 3D spray robot device according to claim 1, it is characterized in that: described inclination alarming device comprises weight fixed head, weight and weight guide plate, described weight is suspended on weight fixed head, described weight guide plate is with circular hole, described weight fixed head and weight guide plate are concentric with respect to the earth's core direction, and the bottom of described weight is through the circular hole of described weight guide plate.
8. 3D spray robot device according to claim 1, is characterized in that: the LCD device that is provided with low pressure, scarce material and inclination indicator lamp on described instrument board and is connected camera, is positioned at machine top and is convenient to monitor in real time machine.
9. 3D spray robot device according to claim 2, it is characterized in that: described wind or electro-motor are connected to described power gear, and drive 3D spray robot to move on rail by described power gear transmission, drive the turbine action of hydraulic mechanism to produce hydraulic pressure simultaneously, thereby by the spray nozzle device on described printhead, sprayed on material is sprayed to Rail Surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410335423.9A CN104148226B (en) | 2014-07-15 | 2014-07-15 | 3D (three-dimensional) spray painting robot device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410335423.9A CN104148226B (en) | 2014-07-15 | 2014-07-15 | 3D (three-dimensional) spray painting robot device |
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| CN104148226A true CN104148226A (en) | 2014-11-19 |
| CN104148226B CN104148226B (en) | 2017-02-08 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107520088A (en) * | 2016-06-15 | 2017-12-29 | 精工爱普生株式会社 | robot, control device and robot system |
| CN108772231A (en) * | 2018-08-22 | 2018-11-09 | 南通理工学院 | Auxiliary spraying robot for semi-closed space |
| 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 |
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| 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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| Publication number | Publication date |
|---|---|
| CN104148226B (en) | 2017-02-08 |
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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. |