CN115069473B - Automatic spraying method and spraying system for vehicle body - Google Patents
Automatic spraying method and spraying system for vehicle body Download PDFInfo
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- CN115069473B CN115069473B CN202210516819.8A CN202210516819A CN115069473B CN 115069473 B CN115069473 B CN 115069473B CN 202210516819 A CN202210516819 A CN 202210516819A CN 115069473 B CN115069473 B CN 115069473B
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- vehicle body
- spraying
- traction mechanism
- end wall
- manipulator
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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
- B05B16/00—Spray booths
- B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
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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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
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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
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to a method for automatically spraying a vehicle body and a spraying system, which comprise a spraying room, a mechanical arm arranged in the spraying room, a mechanical arm running track and a control device, wherein a traction mechanism is also arranged in the spraying room and connected with the control device, the traction mechanism is connected with a stand vehicle through a detachable connecting structure, and the traction mechanism drives the vehicle body to move along the direction parallel to the running track and switch among a first end wall operation position, a side wall operation position and a second end wall operation position. The invention can realize the whole vehicle spraying of all types of vehicles by simply modifying the structure of the existing spraying room, and has low modification cost.
Description
Technical Field
The invention belongs to the technical field of spraying, and particularly relates to a method and a system for automatically spraying a vehicle body.
Background
With the development of the manufacturing technology of motor train units and high-speed rails and the requirement of a coating process, the traditional manual spraying cannot meet the requirement of the existing manufacturing technology, and the automatic spraying of a manipulator is taken as an automatic spraying technology and is generally used in the production of the motor train units and the high-speed rails at present.
At present, in order to ensure the spraying quality, the spraying operation of the vehicle body is finished in a spraying room. For a standard motor train unit, because a vehicle body is longer, the existing used spraying room is limited by the operation space in the spraying room, and when the vehicle body of the standard motor train unit is sprayed, the automatic spraying area of the manipulator only can comprise the side surface and the top surface of the vehicle body and cannot extend into the end part area for spraying. After the manipulator finishes spraying the car roof and the car body side wall, the whole car needs to be pulled to a manual spraying platform, and then the end walls at two ends are sprayed manually, so that the existing spraying room cannot realize automatic spraying of the whole standard motor train unit.
In addition, when the manipulator is used for automatic spraying, the tracks for the manipulator to walk need to be installed on the two sides of the vehicle body, and the length of the manipulator track is limited in the existing spraying room which is put into use, so that the end wall of the vehicle body cannot be sprayed. If the whole spraying of the standard motor train unit needs to be realized, the track needs to be prolonged, so that the transformation difficulty is high, and the transformation cost is too high.
Disclosure of Invention
The invention mainly solves the technical problem of providing the automatic spraying method for the vehicle body, which can realize the whole vehicle spraying of vehicles of all types by simply modifying the structure of the existing spraying room and has low modification cost.
The invention also provides a spraying system for realizing the automatic spraying method of the vehicle body.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for automatically spraying a vehicle body comprises the following steps:
s1, transferring a vehicle body into a spraying room, enabling a traction mechanism to be in an original position, connecting a frame trolley with the traction mechanism, closing the spraying room, and starting a spraying system;
s2, starting the traction mechanism to move the vehicle body to a first end wall operation position, controlling the traction mechanism to stop moving, and spraying the first end wall of the vehicle body by the manipulator;
s3, starting the traction mechanism to continuously move the vehicle body to the side wall operation position, controlling the traction mechanism to stop moving, and moving the manipulator along the operation track to perform spraying operation on the side wall and the vehicle roof of the vehicle body;
s4, starting the traction mechanism, continuously moving the vehicle body to a second end wall operation position, controlling the traction mechanism to stop moving, and spraying the second end wall of the vehicle body by the manipulator;
s5, after spraying is finished, controlling the manipulator to return to the original position;
and S6, separating the traction mechanism from the frame trolley, and pulling out the trolley body.
Further, the first end wall operation position is that the distance between the first end wall and the first end part of the running track is equal to or more than the shortest length required by the operation of the manipulator; the second end wall operation position is that the distance between the second end wall and the second end part of the operation track is equal to or more than the shortest length required by the operation of the manipulator.
Furthermore, the traction mechanism is installed at one end of the spraying room, and a scissor-type telescopic mechanism or a winch is adopted to drive the stand vehicle to move along the direction parallel to the rail.
Further, after the traction mechanism is started, when the vehicle body moves to reach a set distance before the preset operation position, the moving speed of the traction mechanism is controlled to be reduced until the vehicle body stops.
The other technical scheme of the invention is as follows:
the utility model provides a spraying system of automobile body automatic spraying, includes the spraying room, installs manipulator, manipulator orbit and the controlling means in the spraying room, still installs drive mechanism in the spraying room, drive mechanism is connected with controlling means, drive mechanism passes through detachable connection structure with the pallet car and is connected, drive mechanism drives the automobile body and removes along the direction parallel with the orbit, changes between first headwall operation position, side wall operation position, second headwall operation position.
Further, the first end wall operation position is that the distance between the first end wall and the first end part of the operation track is equal to or more than the shortest length required by the operation of the manipulator; the second end wall operation position is that the distance between the second end wall and the second end part of the operation track is equal to or more than the shortest length required by the operation of the manipulator.
Further, install range unit in the spraying room for detect the shift position of automobile body, range unit is connected with controlling means, and when the automobile body removed to and predetermines the operation position, range unit sent the signal that targets in place and gives controlling means, and controlling means control drive mechanism stop motion.
Further, the control device controls the moving speed of the traction mechanism to be reduced until the traction mechanism stops when the vehicle body moves to a set distance before reaching the preset operation position.
Furthermore, a limit switch is installed at the end part of the traction mechanism connected with the stand vehicle, when the vehicle body moves to the position connected with the stand vehicle, the limit switch sends a target-in-place signal to the control device, and the control device controls the traction mechanism to stop moving.
Furthermore, the connecting structure is a manual bolt hinged seat; or the connecting structure is an automatic coupling and separating device.
Furthermore, traction mechanism installs in the one end in spraying room, traction mechanism's one end is fixed subaerial or is fixed on the wall body in spraying room, traction mechanism's the other end and pallet car are connected.
Furthermore, the traction mechanism adopts a scissor type telescopic mechanism or a winch.
Further, the scissor type telescopic mechanism comprises a driving mechanism, a scissor telescopic part, a first vertical plate and a second vertical plate, the driving mechanism is connected with the scissor telescopic part, two ends of the scissor telescopic part are respectively connected to the first vertical plate and the second vertical plate, the first vertical plate is fixed on the ground or on a wall body of the spraying room, and the second vertical plate is provided with a connecting structure used for being connected with the stand vehicle.
Furthermore, two parallel guide rails are arranged on the ground and are parallel to the rail, two pulleys are arranged at the bottom of the second vertical plate, and the two pulleys respectively slide on the two guide rails.
In summary, compared with the prior art, the method and the system for automatically spraying the vehicle body provided by the invention have the following advantages:
(1) The invention has simple integral structure and simple and reliable control mode, can fully utilize the limited space in the spraying room to realize the spraying of the whole train, improves the automatic spraying performance of the whole train, solves the problem that a manipulator can only spray the side wall and can not extend into an end part area for spraying because the space of the spraying room and the length of a manipulator running track are limited in the coating process of a standard motor train unit train body, and has important significance for improving the coating quality of the whole train, improving the coating construction environment and reducing the paint waste rate.
(2) The invention can realize the spraying of the whole vehicle only by installing the traction mechanism in the existing spraying room and can be realized only by simply modifying the structure of the existing spraying room, thereby solving the problem of limited space of the spraying room and the length of the operation track of the manipulator, avoiding the large-scale modification of the existing equipment such as the track and the spraying room, being economical and practical, having low modification cost and strong scheme implementation.
(3) The invention can also be applied to similar vehicle body production workshops in the rail industry which cannot be constructed due to limited space, and has strong universality and popularization.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic illustration of the present invention in a first endwall operating position;
FIG. 2 is a schematic illustration of the present invention in a second endwall operating position;
fig. 3 is a view showing a configuration of a traction mechanism according to the present invention in a contracted state.
As shown in fig. 1 to 3, a vehicle body 1, a first end wall 1a, a second end wall 1b, a vehicle body side wall 1c, a painting room 2, a first wall 2a, a second wall 2b, a pallet truck 3, an access door 4, a manipulator 5, a running rail 6, a first end 6a, a second end 6b, a traction mechanism 7, a scissor-type telescopic mechanism 8, a driving mechanism 81, a scissor-type telescopic portion 82, a first vertical plate 83, a second vertical plate 84, a linkage rod 85, a guide groove 86, a guide rail 87, a pulley 88, a connecting structure 9, a bolt 91, a bolt seat 92, a hinge seat 93, a first pin hole 94, and a towing hook 95.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 3, the invention provides a spraying system for automatically spraying a vehicle body, which is used for modifying the existing spraying room so that the existing spraying room can realize the whole vehicle spraying operation of all types of motor train units and high-speed rails.
The spraying system provided by the invention comprises a spraying room 2, a mechanical arm 5, a running track 6, a traction mechanism 7, a distance measuring device and a control device (not shown in the figure).
During spraying operation, the whole vehicle body 1 is placed in the spraying room 2, the vehicle body 1 to be sprayed is dropped on the rack trolley 3 when being out of the spraying room 2, and the vehicle body 1 and the rack trolley 3 are transferred into the spraying room 2 through a transfer locomotive (not shown in the figure). The spraying room 2 is matched with the vehicle body 1 in shape and is in the shape of a cuboid, and an access door 4 for the vehicle body 1 and the stand vehicle 3 to enter and exit is arranged on one end wall. Before spraying operation, the transfer-pull locomotive and the operators are withdrawn completely, and the access door 4 of the spraying room 2 is closed, so that the spraying room 2 forms a closed space. For convenience of explanation, in the present embodiment, the vehicle body end wall facing one end of the access door 4 is the first end wall 1a, and the vehicle body end wall at the other end is the second end wall 1b. The wall body of the spraying room 2 at one end of the access door 4 is a first wall body 2a, and the wall body at the other end is a second wall body 2b.
Two parallel running rails 6 are installed in the painting room 2, the running rails 6 extend along the length direction of the vehicle body 1, a manipulator 5 for painting the vehicle body 1 is installed on the running rails 6, and the manipulator 5 moves along the running rails 6 to paint the vehicle body 1. A group of manipulators 5 are respectively arranged on the two running rails 6, and the vehicle body 1 is sprayed from two sides of the vehicle body 1. For convenience of explanation, in the present embodiment, one end of the door facing the access door 4 is a first end 6a of the running rail 6, and the other end is a second end 6b of the running rail 6.
In this embodiment, the drawing mechanism 7 is preferably installed at one end of the painting booth 2, and preferably at the other end opposite the doorway 4. Traction mechanism 7 is connected with controlling means, is connected through detachable connection structure 9 between traction mechanism 7 and the pallet car 3, and traction mechanism 7 drives automobile body 1 and moves along the direction parallel with orbit 6, and then makes automobile body 1 change between first end wall operation position, side wall operation position, second end wall operation position (all not marking in the picture).
The first end wall working position is preferably a position point having the shortest length required for the robot 5 to perform the painting work for the first end wall 1a between the first end wall 1a of the vehicle body 1 and the first end portion 6a of the travel rail 6. The first headwall operation position may be selected to be a position where the distance between the first headwall 1a of the vehicle body 1 and the first end 6a of the running rail 6 is greater than the shortest length required for the robot 5 to perform painting operation for the first headwall 1 a. Such as the first end wall working position, may be selected at a distance of 3m-4m from the first end 6a of the running track 6.
When the vehicle body 1 is at the first end wall operation position, a sufficient operation space for the manipulator 5 to perform the painting operation on the first end wall 1a is formed between the first end wall 1a of the vehicle body 1 and the first wall body 2a of the painting room 2. At this time, the vehicle body 1 is maximally close to one end of the second wall 2b of the painting booth 2, and the second end wall 1b of the vehicle body 1 may be disposed outside the second end 6b of the running rail 6, may be disposed inside the second end 6b, or may be flush with the second end 6b of the running rail 6.
The side wall operation position refers to that the vehicle body 1 is moved towards the first wall body 2a of the spraying room 2, so that the vehicle body 1 is arranged at a normal operation position to perform spraying operation on the side wall 1c and the roof of the vehicle body 1, and in the position, two end walls of the vehicle body 1 are positioned in the middle of two end parts of the running track 6.
The second end wall working position is preferably a position point at which the second end wall 1b of the vehicle body 1 and the second end portion 6b of the running rail 6 have a minimum length necessary for the robot 5 to perform painting work for the second end wall 1b. The second end wall working position may also be selected as a position point at which the distance between the second end wall 1b of the vehicle body 1 and the second end 6b of the running rail 6 is greater than the shortest length required for the robot 5 to perform painting work for the second end wall 1b. Such as the second end wall working position, may be selected at a distance of 3m-4m from the second end 6b of the running track 6.
When the vehicle body 1 is at the second end wall operation position, a sufficient operation space for the manipulator 5 to perform the painting operation on the second end wall 1b is formed between the second end wall 1b of the vehicle body 1 and the second wall body 2b of the painting room 2. At this time, the vehicle body 1 moves toward the first wall 2a of the painting booth 2, the vehicle body 1 is maximally close to one end of the first wall 2a of the painting booth 2, and the first end wall 1a of the vehicle body 1 may be disposed outside the first end 6a of the running rail 6, may be disposed inside the first end 6a, or may be flush with the first end 6a of the running rail.
In order to simplify the structure and to allow the traction mechanism 7 to smoothly push and pull the frame trolley 3, it is preferable in this embodiment that the traction mechanism 7 is a scissor type telescopic mechanism 8. One end of the scissor type telescopic mechanism 8 is detachably connected with the stand vehicle 3 through a connecting structure 9, and the other end of the scissor type telescopic mechanism is fixed on the second wall body 2b of the spraying room 2 or directly fixed on the ground close to the second wall body 2b. The telescopic length (i.e. the push-pull distance) of the scissor type telescopic mechanism 8 can be adjusted, and can be automatically controlled through a control device so as to accurately control the moving distance of the vehicle body 1, so that the vehicle body 1 can be accurately switched among a first end wall operation position, a side wall operation position and a second end wall operation position.
As shown in fig. 3, scissor jack 8 includes a drive mechanism 81, a scissor jack 82, a first riser 83, and a second riser 84.
The driving mechanism 81 preferably comprises an explosion-proof servo motor, a speed reducer and an electric push rod (not shown in the figure), wherein the movable end of the electric push rod is connected with the scissor telescopic part 82, and the extension and the contraction of the electric push rod can push the scissor telescopic part 82 to extend and contract, so that the frame trolley 3 and the trolley body 1 can move. Of course, the driving mechanism 81 may be a hydraulic mechanism or the like.
The two ends of the scissor telescopic part 82 are respectively connected to a first vertical plate 83 and a second vertical plate 84, the first vertical plate 83 is fixed on the ground or fixed on a second wall 2b of the spraying room 2, and the second vertical plate 84 is provided with a connecting structure 9 which is detachably connected with the stand vehicle 3. To ensure that the scissor jack 8 has sufficient thrust, the scissor jack 82 preferably employs two sets of X-shaped scissor arms (not shown) mounted in parallel between the first vertical plate 83 and the second vertical plate 84. The telescopic length of the scissor telescopic part 82 is controlled between 1m and 5m according to the requirement of the painting operation of the vehicle body 1.
In this embodiment, it is more preferable that the two sets of X-shaped scissor arms are linked through a linkage rod 85, that is, a set of driving mechanism 81 is used to simultaneously push the two sets of X-shaped scissor arms to extend. Each hinge point corresponding to the two groups of X-shaped scissor arms is connected through a linkage rod 85, and the movable end of a push rod of the driving mechanism 81 is fixedly connected to one linkage rod 85. Therefore, the bearing capacity of the whole X-shaped scissor fork arm can be improved, the structure of the scissor fork type telescopic mechanism 8 can be simplified on the premise of ensuring enough thrust, and the control of the scissor fork type telescopic mechanism 8 is facilitated to be simplified.
In this embodiment, the inner scissor member at the end of each group of X-shaped scissor arms is hinged to the first vertical plate 83 and the second vertical plate 84, and the outer scissor member at the end is connected to the first vertical plate 83 and the second vertical plate 84 in a sliding manner. Specifically, two guide grooves 86 extending in the vertical direction are respectively formed on the first vertical plate 83 and the second vertical plate 84, and a linkage rod 85 connecting two outer scissors fork members at the extreme ends is inserted into the guide grooves 86 and slides up and down in the guide grooves 86. When the X-shaped scissor arm is driven by the driving mechanism 81 to extend, the linkage rod 85 slides up and down in the guide groove 86, thereby ensuring the continuity and the stability of the scissor telescopic part 82 in the extension process. Of course, the structure of the guide groove 86 can also be replaced by a slide bar structure, two slide blocks are arranged on the linkage bar 85 of the two outer scissor members, and the two slide blocks are respectively sleeved on the two slide bars and respectively slide up and down along the slide bars.
To ensure the correct guidance of the telescopic part 82 of the fork, it is further preferred in this embodiment that two parallel guide rails 87 are mounted on the ground, the guide rails 87 being parallel to the running rails 6, at least a part of the guide rails 87 being located between the two running rails 6. Two pulleys 88 are arranged at the bottom of the second vertical plate 84, the guide rails 87 are U-shaped guide rails, and the two pulleys 88 slide on the two guide rails 87, so that the moving direction of the second vertical plate 84 can be ensured to be parallel to the running track 6. Through the structure, the supporting points of the scissor type telescopic mechanism 8 are increased, and the scissor type telescopic mechanism 8 is effectively prevented from generating large pulling force on the fixed end of the second wall 2b of the spraying room 2 due to the fact that the scissor type telescopic mechanism 8 stretches out excessively.
In this embodiment, preferably, the connection structure 9 between the scissor-type telescopic mechanism 8 and the rack trolley 3 adopts a structure of a manual bolt hinge seat, and the connection between the traction mechanism 7 and the rack trolley 3 is realized in a manual mode.
The connecting structure 9 comprises a bolt 91, a bolt seat 92 and a hinge seat 93, the bolt seat 92 is installed on the second vertical plate 84, the bolt 91 is a tapered bolt and is installed in the bolt seat 92, the hinge seat 93 is installed below the bolt seat 92, the hinge seat 93 is composed of an upper hinge plate and a lower hinge plate, a first pin hole 94 is formed in each hinge plate, a towing hook 95 is arranged at the tail end of the stand vehicle 3, and a second pin hole (not shown in the figure) is formed in each towing hook 95. During connection, the towing hook 95 of the frame trolley 3 is inserted between the two hinged plates, so that the first pin holes 94 on the two hinged plates and the second pin holes on the towing hook 95 are aligned, the pins 91 above are inserted into the first pin holes 94 and the second pin holes from top to bottom, and then the connection between the scissor-type telescopic mechanism 8 and the frame trolley 3 is completed.
A limit switch (not shown in the figure) is further installed at the front end of the scissor type telescopic mechanism 8 and connected with the control device, when the front end of the scissor type telescopic mechanism 8 reaches the butt joint position with the towing hook 95 at the tail end of the stand vehicle 3, the limit switch sends a position in-place signal to the control device, and the control device controls the scissor type telescopic mechanism 8 to stop moving.
In the present embodiment, the distance measuring device is preferably a laser distance meter (not shown) installed in the painting booth 2 for detecting the moving position of the vehicle body 1 in real time, and the laser distance meter is connected to the control device. Install laser range finder respectively on the both sides wall of spraying room 2, detectable automobile body 1 is in the stroke range of scissor-fork telescopic machanism 8 to can carry out real-time position detection to automobile body 1 position in 1 motion process of automobile body, laser range finder transmits automobile body 1's positional information for controlling means in real time.
When the vehicle body 1 moves to a preset operation position, the laser range finder sends an in-place signal to the control device, and the control device controls the scissor type telescopic mechanism 8 to stop moving. In this embodiment, laser range finder directly uses automobile body 1 as the location object, has cancelled and has used frame platform truck 3 to fix a position the mode of automobile body position as the basis among the prior art more, can avoid like this because of the automobile body 1 falls off the relative displacement that the position offset brought with frame platform truck 3, realizes the accurate positioning of automobile body 1.
Because the weight of the vehicle body 1 and the pallet truck 3 is heavy and the running inertia is large, in the embodiment, preferably, a program is set in the control device, before the scissor type telescopic mechanism 8 pushes the vehicle body 1 to move to a preset operation position (a first end wall operation position, a side wall operation position and a second end wall operation position), the telescopic speed of the scissor type telescopic mechanism 8 is controlled to be gradually reduced so as to buffer the impact force caused by the inertia of the vehicle body 1, the damage to the scissor type telescopic mechanism 8 and the second wall body 2b is reduced, and meanwhile, due to the reduction of the speed, the positioning accuracy of the scissor type telescopic mechanism 8 is also favorably improved. The starting point position (with a set distance from the preset operation position) for controlling the scissor type telescopic mechanism 8 to start decelerating is preset in the control device, and when the laser range finder detects that the vehicle body 1 reaches the starting point position, the driving mechanism 81 of the scissor type telescopic mechanism 8 is controlled to start decelerating until the preset operation position is reached. A one-way throttle valve (not shown in the figure) can be added in the scissor type telescopic mechanism 8 for properly reducing the telescopic speed and buffering impact force caused by inertia of the vehicle body 1.
As shown in fig. 1 and 2, the invention also provides a spraying method for automatically spraying the vehicle body, which comprises the following steps:
s1, transferring the vehicle body 1 into a spraying room 2, connecting the rack trolley 3 with a traction mechanism 7, closing an access door 4 of the spraying room 2, and starting a spraying system.
Specifically, outside spray booth 2, fall dress automobile body 1 on a platform truck 3, utilize the transfer machine car to transfer into spray booth 2 with the pallet truck that carries automobile body 1, will cut articulated seat 93 of fork telescopic machanism 8 front end and the tow hook 95 of pallet truck 3 to be connected through bolt 91 by equipment operation personnel, equipment operation personnel withdraws from spray booth 2, guarantees that unmanned in the spray booth 2, closes and opens the spray system after entering door 4.
In this step, the scissor-type telescopic mechanism 8 is in a contracted state with the shortest length.
S2, starting the traction mechanism 7, moving the vehicle body 1 to a first end wall operation position, controlling the traction mechanism 7 to stop moving, spraying the first end wall 1a by the manipulator 5, and sending a completion signal to the control device by the manipulator 5 after the spraying operation is completed.
Specifically, as shown in fig. 1, when it is detected that the scissor type telescopic mechanism 8 is in the retracted state with the shortest length, the vehicle body 1 is already at the first end wall operation position, and then the scissor type telescopic mechanism 8 does not need to be started. When the scissor type telescopic mechanism 8 is in the contraction state with the shortest length and the first end wall 1a of the vehicle body 1 does not reach the first end wall operation position, the scissor type telescopic mechanism 8 is started, the scissor type telescopic mechanism 8 extends, and the vehicle body 1 is pushed to the first end wall operation position. At this time, the first end wall working position is 4m from the first end 6a of the running rail 6, the distance between the second end wall 1b of the vehicle body 1 and the second wall 2b of the painting booth 2 is 0.85 m, and the second end wall 1b of the vehicle body 1 is located outside the second end 6b of the running rail 6.
When the laser range finder detects that the vehicle body 1 reaches the first end wall operation position, a signal is sent to the control device, the control device controls the scissor type telescopic mechanism 8 to stop extending, the control device controls the manipulator 5 to automatically spray the first end wall 1a of the vehicle body 1, and the manipulator 5 sends a completion signal to the control device after the spraying operation is completed.
And S3, starting the traction mechanism 7, continuously moving the vehicle body 1 forward to the side wall operation position 11, controlling the traction mechanism 7 to stop moving, moving the manipulator 5 along the running track 6 to perform spraying operation on the side wall 1c and the roof of the vehicle body, and sending a completion signal to the control device by the manipulator 5 after the spraying operation is completed.
In the process, when the laser range finder detects that the vehicle body 1 reaches the side wall operation position, a signal is sent to the control device, the control device controls the scissor type telescopic mechanism 8 to stop extending, the control device controls the manipulator 5 to move along the running track 6 to automatically spray the vehicle body side wall 1c and the vehicle roof of the vehicle body 1, and after the spraying operation is completed, the manipulator 5 sends a completion signal to the control device.
And S4, starting the traction mechanism 7, continuously moving the vehicle body 1 forwards to the second end wall operation position 12, controlling the traction mechanism 7 to stop moving, carrying out spraying operation on the second end wall 1b by the manipulator 5, and sending a completion signal to the control device by the manipulator 5 after the spraying operation is completed.
As shown in fig. 2, in this process, when the laser range finder detects that the vehicle body 1 reaches the second end wall operation position, a signal is sent to the control device, the control device controls the scissor-type telescopic mechanism 8 to stop extending, the control device controls the manipulator 5 to automatically spray the second end wall 1b of the vehicle body 1, and after the spraying operation is completed, the manipulator 5 sends a completion signal to the control device.
At this time, the second headwall working position is 3m away from the second end 6b of the running rail 6, and the first headwall 1a of the vehicle body 1 is flush with the first end 6a of the running rail 6.
And S5, after the spraying is finished, controlling the manipulator to return to the original position.
Specifically, after the second end wall 1b is completely painted, the control device controls the manipulator 5 to return to the original point, and sends a signal to the control device. In the process, the control device can also control the scissor type telescopic mechanism 8 to automatically return to the original point and send a signal to the control device; the scissor type telescopic mechanism 8 can be directly kept at the operation position of the second end wall 1b without being restored to the original position, and is separated from the stand vehicle 3 to be restored to the original position after the vehicle body 1 is pulled out.
And S6, separating the traction mechanism 7 from the frame trolley 3 and pulling out the vehicle body 1.
Specifically, the control device feeds back a spraying end signal to the control platform, the control platform informs an equipment operator through a green signal lamp, the equipment operator manually separates the scissor type telescopic mechanism 8 from the stand vehicle 3, and finally the adjusting and pulling vehicle pulls out the vehicle body 1 through the stand vehicle 3.
After each time the scissor type telescopic mechanism 8 is started, when the vehicle body 1 moves to reach a set distance before a preset operation position, the moving speed of the scissor type telescopic mechanism 8 is controlled to be reduced until the vehicle body stops, and the impact force caused by the inertia of the vehicle body 1 is buffered.
The spraying method provided by the invention comprises the steps of firstly moving the vehicle body 1 to a first end wall operation position, spraying the first end wall 1a, then sequentially moving the vehicle body 1 to a side wall operation position and a second end wall operation position in the direction of the access door 4, sequentially completing the spraying operation of the side wall 1c, the roof and the second end wall 1b of the vehicle body, and further completing the whole spraying operation of the vehicle body 1, so that the method is favorable for simplifying the process, ensures the spraying route to be smooth, fully utilizes the distance between one end part of the running track 6 and the end wall body of the spraying room 2, and leaves enough operation space for the end wall operation position at the other end.
Based on the spraying method, the transformation scheme can be respectively planned according to the length of the vehicle to be sprayed on the transformation of the existing spraying room:
if only the length of the running track 6 is short, a certain distance exists between the two ends of the running track 6 and the wall body of the spraying room 2, when the vehicle body 1 is close to one end, the other end can meet the requirement of spraying operation space, and only a traction mechanism 7 is needed to be installed on one side of the spraying room 2, and equipment such as a limit switch and a laser range finder is correspondingly installed.
If the distance between the two ends of the running track 6 and the wall of the spraying room 2 is insufficient, the wall of the spraying room 2 is properly extended outwards, and although the wall needs to be expanded, the wall does not need to be long, and a weighing column in a plant can be avoided. The above two transformation schemes do not need to transform the operation track 6, and can utilize the original operation track 6.
Example two:
the difference from the first embodiment is that in the present embodiment, the connecting structure 9 for connecting the traction mechanism 7 and the stand car 3 is preferably an automatic coupling and decoupling device. When the traction mechanism 7 is started and stops running, automatic identification can be realized, and connection and separation between the traction mechanism and the stand vehicle 3 are realized.
The automatic coupling and separating device comprises a hinged seat 93 arranged at the front end part of the scissor type telescopic mechanism 8, in the embodiment, the hinged seat 93 is designed into a C-shaped opening, a free hanging bolt 91 connected with the upper plane through a rotating shaft, a limiting cylinder (in a default extending state, the function is only to allow the C-shaped opening to enter and cannot be pulled out reversely) is arranged on the inner side of the plane bolt on the C-shaped opening, when a towing hook 95 of the trolley 3 is pushed into the C-shaped opening of the hinged seat 93, an inductive proximity sensor arranged in the C-shaped opening receives a coupled signal and sends the coupled signal to a control device, and automatic coupling is completed. After the spraying operation is finished, the control device controls the limiting cylinder on the inner side of the plane bolt on the C-shaped opening to retract, the traction mechanism 7 starts to retract, after the inductive proximity sensor cannot sense the towing hook 95, a separated signal is sent to the control device, the control device controls the traction mechanism 7 to finish the operation and recover the extending state of the limiting cylinder, and the automatic separation is finished.
The freely hanging bolt 91 connected by the rotating shaft can be replaced by a stop bolt controlled by an air cylinder to move up and down, the initial state is a non-stop position, when the towing hook 95 of the stand vehicle 3 is pushed into the C-shaped opening of the hinged seat 93, the inductive proximity sensor arranged in the C-shaped opening receives a connected signal and sends the connected signal to the control device, and the control device controls the air cylinder to move to the stop position, so that automatic connection is completed. After the spraying operation is finished, the control device controls the cylinder to return to a non-stop gear, the traction mechanism 7 starts to retract, and after the inductive proximity sensor cannot sense the towing hook 95, a separated signal is sent to the control device, the control device controls the traction mechanism 7 to finish operation, and the automatic separation is finished.
Of course, the automatic coupling and separating device may also adopt any one of other mechanisms capable of realizing automatic coupling and separating in the prior art, such as the simplest coupling and separating structure which can adopt an electromagnet.
Example three:
the difference from the first embodiment is that, in the present embodiment, preferably, the traction mechanism 7 may also be installed on the ground between the two running rails 6, the gantry 3 is placed above the traction mechanism 7 after entering, and the traction mechanism 7 utilizes the space below the gantry 3, which may also save the space for installing the traction mechanism 7 at one end.
The traction mechanism 7 can adopt a telescopic mechanism or a motor push rod and other mechanisms, and the end part of the traction mechanism 7 is connected with the towing hook of the stand vehicle 3 through a connecting structure.
Example four:
the difference from the first embodiment is that in the present embodiment, preferably, the traction mechanism 7 is a winch, and the winch is connected to the towing hook 95 at the tail end of the gantry 3 through a hook (not shown) at one end of the steel wire rope. The car body 1 can be transported to each spraying position described in the first embodiment by being driven by the winch. If the parking position is not suitable, the winch can be started reversely, namely the position of the vehicle body 1 can be adjusted.
In order to ensure the operation stability of the frame trolley 3 and the trolley body 1, it is more preferable that the hook at one end of the wire rope is connected to a connecting base (not shown), and the connecting base is further connected to the towing hook 95 at the tail end of the stand trolley 3 through the connecting structure 9 described in the above embodiment. The vehicle body 1 can be conveyed to each spraying position described in the first embodiment under the driving of the winch.
As in the first embodiment, two guide rails are also provided on the ground below the connecting base, and pulleys are mounted below the connecting base and slide along the guide rails.
The invention has the following advantages:
(1) The invention has simple integral structure and simple and reliable control mode, can fully utilize the limited space in the spraying room, realizes the spraying of the whole train, improves the automatic spraying performance of the whole train, solves the problem that in the coating process of the train body of the standard motor train unit, the manipulator can only spray the side wall and can not extend into the end part area for spraying because the space of the spraying room and the length of the operation track of the manipulator are limited, and has important significance for improving the coating quality of the whole train, improving the coating construction environment and reducing the paint waste rate.
(2) The invention can realize the spraying of the whole vehicle only by installing the traction mechanism in the existing spraying room and can be realized only by simply modifying the structure of the existing spraying room, thereby solving the problem of limited space of the spraying room and the length of the operation track of the manipulator, avoiding the large-scale modification of the existing equipment such as the track and the spraying room, being economical and practical, having low modification cost and strong scheme implementation.
(3) The invention can also be applied to similar vehicle body production workshops in the rail industry which cannot be constructed due to limited space, and has strong universality and popularization.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (12)
1. The automatic vehicle body spraying method is characterized by comprising the following steps:
s1, transferring a vehicle body into a spraying room, enabling a traction mechanism to be in an original position, connecting a frame trolley with the traction mechanism, closing the spraying room, and starting a spraying system;
s2, starting the traction mechanism to move the vehicle body to a first end wall operation position, controlling the traction mechanism to stop moving, and spraying the first end wall of the vehicle body by the manipulator;
s3, starting the traction mechanism to continuously move the vehicle body to the side wall operation position, controlling the traction mechanism to stop moving, and moving the manipulator along the operation track to perform spraying operation on the side wall and the vehicle roof of the vehicle body;
s4, starting the traction mechanism, continuously moving the vehicle body to a second end wall operation position, controlling the traction mechanism to stop moving, and spraying the second end wall of the vehicle body by the manipulator;
s5, after spraying is finished, controlling the manipulator to return to the original position;
s6, separating the traction mechanism from the stand vehicle, and pulling out the vehicle body;
the first end wall operation position is that the distance between the first end wall and the first end part of the operation track is equal to or more than the shortest length required by the operation of the manipulator; the second end wall operation position is that the distance between the second end wall and the second end part of the operation track is equal to or more than the shortest length required by the operation of the manipulator.
2. The method for automatically painting a vehicle body according to claim 1, wherein: the traction mechanism is arranged at one end of the spraying room, and a scissor type telescopic mechanism or a winch is adopted to drive the frame trolley to move along the direction parallel to the track.
3. The method for automatically painting a vehicle body according to claim 1, wherein: after the traction mechanism is started, when the vehicle body moves to reach a set distance before a preset operation position, the moving speed of the traction mechanism is controlled to be reduced until the vehicle body stops.
4. The utility model provides a spraying system of automobile body automatic spraying, includes the spraying room, installs manipulator, manipulator orbit and the controlling means in the spraying room, its characterized in that: the spraying room is also internally provided with a traction mechanism, the traction mechanism is connected with a control device, the traction mechanism is connected with a stand vehicle through a detachable connecting structure, and the traction mechanism drives a vehicle body to move along a direction parallel to the running track and switch among a first end wall operation position, a side wall operation position and a second end wall operation position;
the first end wall operation position is that the distance between the first end wall and the first end part of the operation track is equal to or more than the shortest length required by the operation of the manipulator; the second end wall operation position is that the distance between the second end wall and the second end part of the operation track is equal to or more than the shortest length required by the operation of the manipulator.
5. The spray system of claim 4, wherein: install range unit in the spraying room for detect the shift position of automobile body, range unit is connected with controlling means, and when the automobile body removed to predetermineeing the operation position, range unit sent the signal that targets in place and gives controlling means, and controlling means control drive mechanism stop motion.
6. The spray system of claim 5, wherein: and the control device controls the moving speed of the traction mechanism to be reduced until the traction mechanism stops when the vehicle body moves to a set distance before reaching the preset operation position.
7. The spray system of claim 4, wherein: the end part of the traction mechanism connected with the stand vehicle is provided with a limit switch, when the vehicle body moves to the position connected with the stand vehicle, the limit switch sends a signal in place to the control device, and the control device controls the traction mechanism to stop moving.
8. The spray system of claim 4, wherein: the connecting structure is a manual bolt hinged seat;
or the connecting structure is an automatic connecting and separating device.
9. The spray system of any of claims 4-8, wherein: the traction mechanism is installed at one end of the spraying room, one end of the traction mechanism is fixed on the ground or on a wall body of the spraying room, and the other end of the traction mechanism is connected with the stand vehicle.
10. The spray system of claim 9, wherein: the traction mechanism adopts a scissor type telescopic mechanism or a winch.
11. The spray coating system of claim 10 wherein: the scissor type telescopic mechanism comprises a driving mechanism, a scissor telescopic part, a first vertical plate and a second vertical plate, the driving mechanism is connected with the scissor telescopic part, two ends of the scissor telescopic part are respectively connected to the first vertical plate and the second vertical plate, the first vertical plate is fixed on the ground or on a wall body of a spraying room, and a connecting structure used for being connected with a stand vehicle is installed on the second vertical plate.
12. The spray system of claim 11, wherein: two parallel guide rails are arranged on the ground and are parallel to the rail, two pulleys are arranged at the bottom of the second vertical plate, and the two pulleys slide on the two guide rails respectively.
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| CN109718984A (en) * | 2019-01-16 | 2019-05-07 | 中汽（天津）系统工程有限公司 | A kind of automatic paragraphing Temperature Control Type vehicle spray painting baking room |
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| IT1153412B (en) * | 1982-01-15 | 1987-01-14 | Basfer Srl | PROCEDURE FOR THE AUTOMATIC PAINTING OF FORWARD OBJECTS ALONG A PROCESSING AND EQUIPMENT LINE FOR THE IMPLEMENTATION OF THE SAME PROCEDURE |
| DE4126891A1 (en) * | 1991-08-14 | 1993-02-18 | Gema Volstatic Ag | ELECTROSTATIC POWDER SPRAY COATING SYSTEM FOR AUTOMOTIVE BODIES |
| CN104264573B (en) * | 2014-10-17 | 2016-03-09 | 上海向彤智能科技有限公司 | Control system and the scribble method of the cold spray line-marking vehicle of camera are housed |
| CN108722763A (en) * | 2018-07-26 | 2018-11-02 | 佛山奎丰商务咨询服务有限公司 | A kind of outer surface of automobile paint spraying apparatus |
| CN108993803A (en) * | 2018-09-06 | 2018-12-14 | 石家庄金多利专用汽车有限公司 | A kind of spray equipment and its spraying method of semitrailer vehicle body |
| CN209379278U (en) * | 2018-12-27 | 2019-09-13 | 北京铁道工程机电技术研究所股份有限公司 | A kind of locomotive surface automatic spray apparatus |
| CN210585507U (en) * | 2019-07-16 | 2020-05-22 | 华中科技大学无锡研究院 | Spraying control system of high-speed railway automobile body |
| CN212018314U (en) * | 2019-12-06 | 2020-11-27 | 上海广成涂装技术工程有限公司 | Gantry type paint spraying and sand blasting system capable of treating 5 surfaces of train |
| CN215542098U (en) * | 2021-09-14 | 2022-01-18 | 芜湖荣纳达智能装备有限公司 | Steel member of vision guide robot processing structure that sprays paint |
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| CN109718984A (en) * | 2019-01-16 | 2019-05-07 | 中汽（天津）系统工程有限公司 | A kind of automatic paragraphing Temperature Control Type vehicle spray painting baking room |
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