CN204976629U - Train spraying machine people - Google Patents
Train spraying machine people Download PDFInfo
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- CN204976629U CN204976629U CN201520503569.XU CN201520503569U CN204976629U CN 204976629 U CN204976629 U CN 204976629U CN 201520503569 U CN201520503569 U CN 201520503569U CN 204976629 U CN204976629 U CN 204976629U
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Abstract
The utility model discloses a train spraying machine people, including the spraying running gear of mutual gripping and walking track, wherein, spraying running gear includes the automobile body, and the top of automobile body is provided with the installation roof, is provided with robot spraying arm on should installing the roof, and the bottom of automobile body is provided with the driving base, and the middle part of driving base is close to one side department and is provided with actuating mechanism, is provided with drive gear on this actuating mechanism to, opposite one side with drive gear on the automobile body is provided with tank chain upper end, the walking track includes the ground, and the top of ground is provided with the recess, and the bottom of this recess is provided with the horizontal installation board, and the top of horizontal installation board is provided with rail body, and rail body's top is provided with the track panel, and the top and the corresponding position of drive gear of this track panel are provided with the rack that meshes with drive gear to, the opposite side that is located the rack is provided with tank chain lower extreme. The utility model discloses can ensure the reliable and stable operation of railcar.
Description
Technical field
The utility model relates to spraying technology field, specifically, relates to a kind of train spray robot.
Background technology
Train sprays, because its height body large (high 4.3 meters, wide 3.2 meters, long 27 meters) is operation difficult point always.Hand spray, not only difficulty is large, efficiency is low, and difficult quality guarantee.Automatic coating by the same token also comparatively difficulty, such as: the height of train spray robot is the height that the height of robot arm adds height and the driving mechanism got on the right track, and usually runs height more than 5 meters.This just brings a problem: center of gravity is too high.Add the deadweight of getting rid of pendulum momentum and robot and spray tool during robot arm operation, just make its operation stability (particularly in Y-axis side direction) problem become very serious, may turn on one's side when the spray body arm increased significantly swings rapidly.
For the problem in correlation technique, at present effective solution is not yet proposed.
Utility model content
The purpose of this utility model is to provide a kind of train spray robot, to overcome the above-mentioned technical problem that existing correlation technique exists.
The technical solution of the utility model is achieved in that
A kind of train spray robot, comprise the spraying walking mechanism and walking track that mutually grasp, wherein, described spraying walking mechanism comprises vehicle body, the top of described vehicle body is provided with installation top board, this installation top board is provided with Control During Paint Spraying by Robot arm, the bottom of described vehicle body is provided with driving base, the middle part of described driving base is provided with driving mechanism near side place, this driving mechanism is provided with driven wheel, further, described vehicle body is provided with tank chain upper end with the contrary side of described driven wheel; Described walking track comprises ground, the top of described ground is provided with groove, the bottom of this groove is provided with horizontal mounting plate, the top of described horizontal mounting plate is provided with track body, the top of described track body is provided with track panel, the position that the top of this track panel is corresponding with described driven wheel is provided with the tooth bar engaged with described driven wheel, and the opposite side being positioned at tooth bar is provided with tank chain lower end.
Wherein, described driving base is inverted analog-U shaped structure.And, the sidewall bottom of described U-shaped structure is provided with gripping structure, and the position that the bottom of described track panel is corresponding with described gripping structure is provided with line slideway, described line slideway is provided with slide block, and described slide block is fixedly connected with described gripping structure.
Wherein, described slide block is fixedly connected with described gripping structure by connecting bolt.
Wherein, described driving base is provided with some reinforcements.
Wherein, described driving mechanism comprises motor and reduction box, and, the electric drive axle of described motor towards described driving base bottom and be connected with driven wheel.
Wherein, the down either side being positioned at described horizontal mounting plate in described groove is symmetrically arranged with embedded board, and described horizontal mounting plate is connected to the top of two embedded boards.
Wherein, described horizontal mounting plate is fixedly connected with by the sole-plate of set bolt with described track body bottom.
Wherein, the side being positioned at described set bolt between described horizontal mounting plate and described sole-plate is also provided with adjustment bolt.
The beneficial effects of the utility model: by walking mechanism and walking track employing grasping type anatomical connectivity will be sprayed, and, at the middle part of driving base, side place is provided with driving mechanism, thus make when robot produces side direction impulse force, track upper and lower surface, the left and right sides is stressed (the sideshake power that upper and lower surface is driven a vehicle by the upper gear of driving mechanism and the field of conjugate action bearing part of tooth bar simultaneously, the sideshake power of driving a vehicle bearing part is carried out in the left and right sides by grasping type structure), stressed compared with the one-sided one side of train type rail, drastically increase lateral stability.Adopt grasping type structure simultaneously, also fundamentally stop the possibility of turning on one's side.This structure tilts all to have extremely strong resistivity to the center of gravity of locomotive in all directions, can guarantee the reliable and stable operation of railcar.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of train spray robot according to the utility model embodiment;
Fig. 2 is the structural representation of the spraying walking mechanism according to the utility model embodiment;
Fig. 3 is the structural representation of the walking track according to the utility model embodiment.
In figure:
1, vehicle body; 2, top board is installed; 3, Control During Paint Spraying by Robot arm; 4, driving base; 5, driven wheel; 6, tank chain upper end; 7, ground; 8, groove; 9, horizontal mounting plate; 10, track body; 11, track panel; 12, tooth bar; 13, tank chain lower end; 14, gripping structure; 15, line slideway; 16, slide block; 17, connecting bolt; 18, motor; 19, reduction box; 20, embedded board; 21, set bolt; 22, sole-plate; 23, bolt is adjusted.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of the utility model protection.
According to embodiment of the present utility model, provide a kind of train spray robot.
As Figure 1-3, train spray robot according to the utility model embodiment comprises: the spraying walking mechanism mutually grasped and walking track, wherein, described spraying walking mechanism comprises vehicle body 1, the top of described vehicle body 1 is provided with installs top board 2, this installation top board 2 is provided with Control During Paint Spraying by Robot arm 3, the bottom of described vehicle body 1 is provided with driving base 4, the middle part of described driving base 4 is provided with driving mechanism near side place, this driving mechanism is provided with driven wheel 5, and, described vehicle body 1 is provided with tank chain upper end 6 with the contrary side of described driven wheel 5, described walking track comprises ground 7,7 tops of described ground are provided with groove 8, the bottom of this groove 8 is provided with horizontal mounting plate 9, the top of described horizontal mounting plate 9 is provided with track body 10, the top of described track body 10 is provided with track panel 11, the position that the top of this track panel 11 is corresponding with described driven wheel 5 is provided with the tooth bar 12 engaged with described driven wheel 5, and the opposite side being positioned at tooth bar 12 is provided with tank chain lower end 13.
Wherein, described driving base 4 is inverted analog-U shaped structure.And, the sidewall bottom of described U-shaped structure is provided with symmetrical gripping structure 14, and, the position that the bottom of described track panel 11 is corresponding with described gripping structure 14 is provided with line slideway 15, described line slideway 15 is provided with slide block 16, and described slide block 16 is fixedly connected with described gripping structure 14.
Wherein, described slide block 16 is fixedly connected with described gripping structure 14 by connecting bolt 17.
Wherein, described driving base 4 is provided with some reinforcements.
Wherein, described driving mechanism comprises motor 18 and reduction box 19, and, the electric drive axle of described motor 18 towards described driving base 4 bottom and be connected with driven wheel 5.
Wherein, the down either side being positioned at described horizontal mounting plate 9 in described groove 8 is symmetrically arranged with embedded board 20, and described horizontal mounting plate 9 is connected to the top of two embedded boards 20.
Wherein, described horizontal mounting plate 9 is fixedly connected with by the sole-plate 22 of set bolt 21 with described track body 10 bottom.
Wherein, the side being positioned at described set bolt 21 between described horizontal mounting plate 9 and described sole-plate 22 is also provided with and adjusts bolt 23.
During concrete use, train (particularly locomotive) surface requirements is very high, and robot must be used to carry out meticulous spraying.But no matter robot walks while spray or walk stop-spraying, its deposition accuracies is all relevant with the precision of walking mechanism, smoothness, stability; Position accuracy demand is generally millimeter even submillimeter level.Requirement high is like this by track/line slideway precision, rack-and-pinion precision, drive unit accuracy guarantee.For this reason, the utility model is except employing high precision components, and also adopt driven by servomotor, its pulse drive mode, traveling positioning precision and position retaining function can be guaranteed to meet above-mentioned requirements.
Whole system, by middle control conputer controlled, manages, coordinates each several part work, follow procedure operation.Because this system is general-purpose system, be applicable to various workpiece operation; So to the workpiece of often kind of model all important affair first carry out process programming.To programme mainly two parts: one is robot arm action (spraying), two is carry a car motor program.Both coordinating and unifyings.
The operation process of this system is: workpiece by carry vehicle-mounted enter spray booth, by position sensor and workpiece identification device determination initial point, vehicle; Recall this work procedure be stored in computer; Robot carries car to be sailed to end points; The people that starts the machine corrects initial point; Connect coating, power supply; Spray by process.Whole spraying process is full-automatic, until operation completes.
In addition, system is also furnished with multiple multiple sensor, when occurring any accident in operation process, as people/foreign matter enter, adynamia, position are abnormal, middle control coordination all can send reports to the police and enters render safe procedures.
In addition, in such scheme, because walking mechanism drives robot arm to spray in walking, the cable needed for robot arm, coating pipe, air hose etc. all want follow-up telescoping.These pipes, cable are placed in tank chain; Its one end (upper end, moved end) is arranged on robot arm, and the other end (lower end, fixed end) is connected in rail end point, then is connected with various power source coating source.Like this, tank chain serves umbilical motion guidance, protective effect.
In sum, by means of technique scheme of the present utility model, by walking mechanism and walking track employing grasping type anatomical connectivity will be sprayed, and, at the middle part of driving base, side place is provided with driving mechanism, thus make when robot produces side direction impulse force, track upper and lower surface, the left and right sides is stressed (the sideshake power that upper and lower surface is driven a vehicle by the upper gear of driving mechanism and the field of conjugate action bearing part of tooth bar simultaneously, the sideshake power of driving a vehicle bearing part is carried out in the left and right sides by grasping type structure), it is stressed that this plays the one-sided one side of train type rail, drastically increase lateral stability.Adopt grasping type structure simultaneously, also fundamentally stop the possibility of turning on one's side.This structure tilts all to have extremely strong resistivity to the center of gravity of locomotive in all directions, can guarantee the reliable and stable operation of railcar.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (8)
1. a train spray robot, comprise the spraying walking mechanism and walking track that mutually grasp, wherein, described spraying walking mechanism comprises vehicle body, the top of described vehicle body is provided with installation top board, this installation top board is provided with Control During Paint Spraying by Robot arm, the bottom of described vehicle body is provided with driving base, the middle part of described driving base is provided with driving mechanism near side place, this driving mechanism is provided with driven wheel, further, described vehicle body is provided with tank chain upper end with the contrary side of described driven wheel; Described walking track comprises ground, the top of described ground is provided with groove, the bottom of this groove is provided with horizontal mounting plate, the top of described horizontal mounting plate is provided with track body, the top of described track body is provided with track panel, the position that the top of this track panel is corresponding with described driven wheel is provided with the tooth bar engaged with described driven wheel, and the opposite side being positioned at tooth bar is provided with tank chain lower end.
2. train spray robot according to claim 1, is characterized in that, described driving base is inverted analog-U shaped structure.
3. train spray robot according to claim 2, it is characterized in that, the sidewall bottom of described U-shaped structure is provided with gripping structure, and the position that the bottom of described track panel is corresponding with described gripping structure is provided with line slideway, described line slideway is provided with slide block, and described slide block is fixedly connected with described gripping structure.
4. train spray robot according to claim 3, is characterized in that, described slide block is fixedly connected with described gripping structure by connecting bolt.
5. train spray robot according to claim 1, is characterized in that, described driving base is provided with some reinforcements.
6. train spray robot according to claim 1, is characterized in that, described driving mechanism comprises motor and reduction box, and, the electric drive axle of described motor towards described driving base bottom and be connected with driven wheel.
7. train spray robot according to claim 1, is characterized in that, the down either side being positioned at described horizontal mounting plate in described groove is symmetrically arranged with embedded board, and described horizontal mounting plate is connected to embedded board.
8. train spray robot according to claim 1, is characterized in that, described horizontal mounting plate is fixedly connected with by the sole-plate of set bolt with described track body bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520503569.XU CN204976629U (en) | 2015-07-14 | 2015-07-14 | Train spraying machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520503569.XU CN204976629U (en) | 2015-07-14 | 2015-07-14 | Train spraying machine people |
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| CN204976629U true CN204976629U (en) | 2016-01-20 |
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| CN201520503569.XU Active CN204976629U (en) | 2015-07-14 | 2015-07-14 | Train spraying machine people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527390A (en) * | 2018-04-27 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of high protection gluing track |
| CN108527391A (en) * | 2018-04-28 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of explosion-proof rail mechanism of large-scale workpiece spray robot |
| CN109927018A (en) * | 2019-04-29 | 2019-06-25 | 盐城工学院 | A kind of movement chassis of movable six-joint robot |
-
2015
- 2015-07-14 CN CN201520503569.XU patent/CN204976629U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527390A (en) * | 2018-04-27 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of high protection gluing track |
| CN108527391A (en) * | 2018-04-28 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of explosion-proof rail mechanism of large-scale workpiece spray robot |
| CN109927018A (en) * | 2019-04-29 | 2019-06-25 | 盐城工学院 | A kind of movement chassis of movable six-joint robot |
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