CN210585507U - Spraying control system of high-speed railway automobile body - Google Patents

Spraying control system of high-speed railway automobile body Download PDF

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Publication number
CN210585507U
CN210585507U CN201921114762.9U CN201921114762U CN210585507U CN 210585507 U CN210585507 U CN 210585507U CN 201921114762 U CN201921114762 U CN 201921114762U CN 210585507 U CN210585507 U CN 210585507U
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China
Prior art keywords
spraying
robot
control
speed rail
vehicle
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CN201921114762.9U
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Chinese (zh)
Inventor
严思杰
程赵阳
刘占磊
李文斌
叶松涛
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HUST-WUXI RESEARCH INSTITUTE
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HUST-WUXI RESEARCH INSTITUTE
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Abstract

The utility model relates to a spraying control technical field specifically discloses a spraying control system of high-speed railway automobile body, wherein, include: the spraying device is in communication connection with the spraying control device of the high-speed rail vehicle body; the spraying device comprises a robot spraying walking unit, a vehicle body walking horizontal guide rail and a robot control cabinet, wherein the vehicle body walking horizontal guide rail is arranged in a spraying room and in a region before the spraying room, a sliding belt is arranged on the vehicle body walking horizontal guide rail and can drive a high-speed rail vehicle body to enter the spraying room, the robot spraying walking unit is in communication connection with the robot control cabinet, the robot control cabinet is in communication connection with a spraying control device of the high-speed rail vehicle body, and the robot spraying walking unit is positioned on two sides of the vehicle body walking horizontal guide rail; the spraying control device of the high-speed rail car body can send a spraying control instruction to the robot control cabinet. The utility model provides a spraying control system of high-speed railway automobile body has improved spraying efficiency.

Description

Spraying control system of high-speed railway automobile body
Technical Field
The utility model relates to a spraying control technical field especially relates to a spraying control system of high-speed railway automobile body.
Background
High-speed rail is taken as a beautiful business card which moves to the world in China, and the development level of the high-speed rail represents the core competitiveness of the country. In order to meet the requirements of leveling, attractiveness, color and the like of a high-speed rail vehicle body, the outer surface of the high-speed rail vehicle body needs to be polished and painted for multiple times, the conventional high-speed rail vehicle body painting process is mainly implemented by adopting a manual painting operation mode and relying on the experience of workers, so that a series of problems such as low manual painting production efficiency (frequent movement of a gun held manually), severe working environment of workers (a large amount of volatile solvent exists in paint, and harm caused by explosion, poisoning of workers and the like), poor operation stability (influenced by the state, emotion, proficiency and the like of the workers), high cost and the like are brought about, although some commercialized small part painting systems exist in the current industrial application, the small part painting systems are used for painting small parts, and no perfect automatic painting system solution exists so far for large-sized components with large size range of the high-speed rail vehicle body, therefore, it is desirable to provide a spraying system for a high-speed rail car body to solve the problems in the prior art.
Disclosure of Invention
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least, provide a spraying control system of high-speed railway automobile body to solve the problem among the prior art.
As an aspect of the utility model provides a spraying control system of high-speed railway automobile body, wherein, spraying control system of high-speed railway automobile body includes: the spraying device is in communication connection with the spraying control device of the high-speed rail vehicle body; the spraying device comprises a robot spraying walking unit, a vehicle body walking horizontal guide rail and a robot control cabinet, wherein the vehicle body walking horizontal guide rail is arranged in a spraying room and in a region before the spraying room, a sliding belt is arranged on the vehicle body walking horizontal guide rail and can drive the high-speed rail vehicle body to enter the spraying room, the robot spraying walking unit is in communication connection with the robot control cabinet, the robot control cabinet is in communication connection with a spraying control device of the high-speed rail vehicle body, and the robot spraying walking unit is positioned on two sides of the vehicle body walking horizontal guide rail; and the spraying control device of the high-speed rail car body can send a spraying control instruction to the robot control cabinet.
Preferably, robot spraying walking unit includes two robot walking guide rails and two robots, and two robot walking guide rails set up respectively the both sides of automobile body walking horizontal guide rail, every robot remove on a robot walking guide rail, robot walking guide rail with the robot all with robot control cabinet communication connection, robot walking guide rail can drive under robot control cabinet's the control the robot removes, the robot can right under robot control cabinet's the surface of high-speed railway automobile body carries out the spraying.
Preferably, each robot all includes the robot body and sets up rotatory spray gun on the robot body, rotatory spray gun with robot control cabinet communication connection for carry out the spraying to the surface of high-speed railway automobile body under the control of robot control cabinet.
Preferably, the spraying control system of the high-speed rail car body further comprises a car body positioning device, the car body positioning device is in communication connection with the spraying control device of the high-speed rail car body, and the car body positioning device is used for positioning the position of the high-speed rail car body in the spraying area.
Preferably, the vehicle body positioning device includes an ultrasonic sensor.
Preferably, the spraying control device of the high-speed rail car body comprises a PLC controller.
The utility model provides a spraying control system of high-speed railway automobile body, the spraying controlling means through the high-speed railway automobile body confirms spraying area and spraying route, and control spraying device sprays the high-speed railway automobile body, and the spraying control method of this kind of high-speed railway automobile body has realized the automatic spraying to the high-speed railway automobile body, has solved the inefficiency that needs artifical spraying to bring among the prior art, the environment is abominable and the poor problem of operational stability, has improved spraying efficiency, and has effectively reduced the cost.
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. In the drawings:
fig. 1 is a block diagram of a spraying control system of a high-speed rail vehicle body according to the present invention.
Fig. 2 is the structural schematic diagram of the spraying control system of the high-speed rail car body provided by the utility model.
Fig. 3 is a flowchart of the work flow of the spraying control system of the high-speed rail car body provided by the present invention.
Fig. 4 is a flowchart of a spraying control method for a high-speed rail car body according to the present invention.
Fig. 5 is a schematic diagram of the division of the spraying area of the high-speed rail car body provided by the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
As an aspect of the present invention, there is provided a painting control system for a high-speed railway vehicle body, wherein, as shown in fig. 1 and 2, the painting control system 10 for the high-speed railway vehicle body includes: the spraying device 200 and the spraying control device 100 of the high-speed rail vehicle body, wherein the spraying device 200 is in communication connection with the spraying control device 100 of the high-speed rail vehicle body;
the spraying device 200 comprises a robot spraying walking unit, a vehicle body walking horizontal guide rail 3 and a robot control cabinet 7, wherein the vehicle body walking horizontal guide rail 3 is arranged in a spraying room and in a region before the spraying room, a sliding belt is arranged on the vehicle body walking horizontal guide rail 3 and can drive the high-speed rail vehicle body 4 to enter the spraying room, the robot spraying walking unit is in communication connection with the robot control cabinet 7, the robot control cabinet 7 is in communication connection with a spraying control device 100 of the high-speed rail vehicle body, and the robot spraying walking unit is positioned on two sides of the vehicle body walking horizontal guide rail 3;
the painting control device 100 of the high-speed rail car body can send a painting control command to the robot control cabinet.
The utility model provides a spraying control system of high-speed railway automobile body through confirming spraying region and spraying route, controls spraying device and carries out the spraying to the high-speed railway automobile body, and the spraying control system of this kind of high-speed railway automobile body has realized the automatic spraying to the high-speed railway automobile body, has solved the inefficiency that needs artifical spraying to bring among the prior art, the abominable and poor problem of operational stability of environment, has improved spraying efficiency, and has effectively reduced the cost.
Specifically, the spray control device 100 of the high-speed rail vehicle body can determine a spray area, and can send a spray control command to the spray device and a stop control command to the spray device 200 after receiving a spray completion command fed back by the spray device 200, the spray device 200 can perform a spray operation on the spray area along the spray path under the control of the spray control command, and can feed back a spray completion command to the spray control device 100 of the high-speed rail vehicle body after the spray of the high-speed rail vehicle body is completed.
Preferably, the spraying control device 100 as the high-speed rail vehicle body can be specifically realized by a PLC controller.
Specifically, as shown in fig. 2, the painting device 200 includes a robot painting walking unit, a vehicle body walking horizontal guide rail 3 and a robot control cabinet 7, the horizontal car body walking guide rail 3 is arranged in the spraying room and in the area in front of the spraying room, a sliding belt is arranged on the horizontal car body walking guide rail 3, the sliding belt can drive the high-speed rail car body 4 to enter the spraying room, the robot spraying traveling unit is in communication connection with the robot control cabinet 7, the robot control cabinet 7 is in communication connection with the spraying control device 100 of the high-speed rail car body, the robot spraying walking units are located on two sides of the vehicle body walking horizontal guide rail 3, and the robot spraying walking units move on two sides of the vehicle body walking horizontal guide rail 3 under the control of the spraying control instruction and spray the surface of the high-speed rail vehicle body 4.
The high-speed rail vehicle body 4 is mounted on the vehicle body traveling horizontal guide rail 3 and can move in the horizontal direction under the instruction of the painting control device 100 of the high-speed rail vehicle body, wherein the vehicle body traveling horizontal guide rail 3 is fixedly mounted on the ground, the painting control device 100 connected to the high-speed rail vehicle body is controlled by the painting control device 100 of the high-speed rail vehicle body in starting, stopping and rotating speed of the sliding servo motor.
Further specifically, as shown in fig. 2, the robot spraying traveling unit includes two robot traveling guide rails 2 and two robots, the two robot traveling guide rails 2 are respectively disposed on two sides of the vehicle body traveling horizontal guide rail, each robot moves on one robot traveling guide rail, the robot traveling guide rails 2 and the robots are both in communication connection with the robot control cabinet 7, the robot traveling guide rails 2 can drive the robots to move under the control of the robot control cabinet 7, and the robots can spray the surface of the high-speed rail vehicle body 4 under the control of the robot control cabinet 7;
each robot includes robot 5 and sets up rotatory spray gun 6 on the robot 5, rotatory spray gun 6 with robot control cabinet 7 communication connection for carry out the spraying to the surface of high-speed railway automobile body under the control of robot control cabinet 7.
It should be noted that the rotary spray gun 6 is arranged at the tail end of the robot, so that the uniformity of the spraying thickness is effectively ensured, and the spraying quality of the high-speed rail car body is guaranteed.
It should be understood that, according to the effective spraying range of the robot in the spraying device, the spraying areas are effectively divided by the path planning software, as shown in fig. 2, then the spraying path of the high-speed rail body is effectively planned by the off-line programming software, the spraying device sequentially enters each spraying area under the horizontal movement of the robot walking guide rail 2, and then the spraying device performs the spraying operation according to the planned spraying path. The moving range of the robot walking guide rail 2 is equivalent to the length range of the high-speed rail vehicle body 4, so that the spraying device can effectively act on the surface of the high-speed rail vehicle body.
In order to realize cleaning after the robot spraying operation is completed, as shown in fig. 5, the spraying device further includes a spray gun cleaning device 8, and the spray gun cleaning device 8 is in communication connection with the robot control cabinet 7 and is used for cleaning the rotary spray gun.
In order to realize the positioning after the high-speed rail vehicle body enters the spraying room, the spraying control system of the high-speed rail vehicle body further comprises a vehicle body positioning device, the vehicle body positioning device is in communication connection with the spraying control device of the high-speed rail vehicle body, and the vehicle body positioning device is used for positioning the position of the high-speed rail vehicle body in the spraying area.
As shown in fig. 2, the vehicle body positioning device includes a first ultrasonic sensor 1 provided on the first side wall, a second ultrasonic sensor 9 provided on the second side wall, and a third ultrasonic sensor (not shown) provided on the bottom wall.
The three ultrasonic sensors respectively record the distance between the first ultrasonic sensor and the outer surface of the high-speed rail vehicle body, wherein the first high-speed rail vehicle body entering a spray booth needs to manually teach a coordinate system of a high-speed rail workpiece, the ith high-speed rail vehicle body 4 entering the spray booth is automatically positioned, after the ith high-speed rail vehicle body 4 enters the spray booth, the first position is firstly positioned and recorded, the second position is then positioned and recorded, and then the robot positioning system automatically calculates the coordinate system of the high-speed rail vehicle body 4 to ensure the accuracy of the spraying position.
It should be noted that the spraying control device 100 of the high-speed rail car body and the robot control cabinet 7 are connected together through a PROFIBUS bus protocol, the spraying control device 100 of the high-speed rail car body sends an instruction to the robot control cabinet 7 to move the robot control cabinet to a to-be-sprayed area j (j is a natural number greater than 0) along a horizontal guide rail, after the spraying of the spraying device to a specified area is finished, the spraying control device 100 of the high-speed rail car body feeds back a signal instruction to the spraying control device 100 of the high-speed rail car body, and controls the spraying devices to sequentially enter a next to-be-sprayed operation area, so that the high-speed rail car body is sequentially sprayed by the spraying devices until all to-be-sprayed areas of the high-speed rail car body are.
It should be further noted that the painting control system 10 of the high-speed rail car body may include a plurality of painting devices 200, which are specifically configured according to needs and are not limited herein.
The operation of the spraying control system 10 for a high-speed train body according to the present invention will be described in detail with reference to fig. 3.
A001, determining a spraying area according to a CAD model of the high-speed rail body and robot model selection;
a002, planning a path of a spraying area according to a CAD model of the high-speed rail car body;
a003, performing analog simulation on the planned path to ensure that the robot does not interfere with a high-speed rail vehicle body in the spraying process and optimize the spraying path;
it should be noted that the specific simulation may be performed by using simulation software, and the simulation software may be written according to needs or may be implemented by using commercially available simulation software.
A004, positioning operation of the high-speed rail vehicle body entering a spraying area;
specifically, the positioning step a004 of the high-speed rail car body includes,
b001, manually teaching operation after the first high-speed rail vehicle body enters a specified spraying area, recording the distance from the 3 ultrasonic sensors in the positioning area to three surfaces of the high-speed rail vehicle body at the moment, and feeding back to a system control unit;
b002, after the ith (i is a natural number more than or equal to 2) high-speed rail vehicle body enters the spraying area, sequentially recording the distance between 3 ultrasonic sensors and the high-speed rail vehicle body for 2 times, and realizing the automatic positioning of the high-speed rail vehicle body according to an algorithm formula written by the user;
a005, the robot establishes a coordinate position relation between a robot end tool coordinate system and a spraying area by calibrating the coordinate system of the spraying device;
a006, the spraying device enters a j (j >0) th section spraying area under the drive of a horizontal guide rail;
a007, performing spraying operation on a j (j is a natural number greater than 0) th section of area by the robot, and after the operation is finished, entering the next section of spraying area to perform spraying operation;
and A008, after the spraying operation is completely finished, the spraying control device 100 of the high-speed rail vehicle body controls all the units to stop operating.
As another aspect of the present invention, there is provided a method for controlling a blast furnace car body, as shown in fig. 4, the method for controlling a blast furnace car body including:
s110, determining a spraying area according to a preset CAD model of the high-speed rail car body and a spraying device, wherein the spraying area represents an area to be sprayed on the high-speed rail car body;
s120, planning a spraying path according to a preset CAD model of the high-speed rail body, wherein the spraying path represents a path of the spraying device for spraying the spraying area;
s130, sending a spraying control instruction to the spraying device, wherein the spraying control instruction is an instruction for controlling the spraying device to spray the high-speed rail body, and the spraying device can perform spraying operation on the spraying area along the spraying path;
and S140, after receiving a spraying finishing instruction fed back by the spraying device, sending a stopping control instruction to the spraying device.
The utility model provides a spraying control method of high-speed railway automobile body through confirming spraying region and spraying route, controls the spraying device and carries out the spraying to the high-speed railway automobile body, and this kind of spraying control method of high-speed railway automobile body has realized the automatic spraying to the high-speed railway automobile body, has solved the inefficiency that needs artifical spraying to bring among the prior art, the environment is abominable and the poor problem of operational stability, has improved spraying efficiency, and has effectively reduced the cost.
It should be noted that, a spraying area on the high-speed rail vehicle body, specifically, the spraying area shown in fig. 5, may be determined according to a preset CAD model of the high-speed rail vehicle body and a spraying device, where the high-speed rail vehicle body in fig. 5 is divided into a plurality of spraying areas, and the spraying device performs spraying operations on the spraying areas in sequence, and the spraying device performs spraying operations starting from spraying area 1 and then sequentially performs spraying in the sequence of spraying area 2-spraying area 3-spraying area 4-spraying area 5.
It should be further noted that the CAD model of the high-speed rail car body may specifically be a CAD source file directly provided by a manufacturer of the high-speed rail car body.
Specifically, in order to further improve the spraying efficiency, the method for controlling the spraying of the high-speed rail car body further includes, before the step of sending the spraying control command to the spraying device:
and simulating the spraying path to obtain an optimal path for spraying the high-speed rail vehicle body, wherein the optimal path represents the shortest distance which the spraying device needs to move for spraying the high-speed rail vehicle body.
It can be understood that an optimal spraying path is determined by performing simulation experiments on a plurality of planned spraying paths, so that spraying can be completed most quickly when the spraying device performs spraying operation, and the spraying efficiency is improved.
Specifically, the method for controlling the spraying of the high-speed train body further comprises, before the step of sending the spraying control command to the spraying device:
and positioning the high-speed rail vehicle body.
It can be understood that the spraying device can conveniently and accurately carry out spraying operation on the area to be sprayed on the high-speed rail vehicle body by positioning the high-speed rail vehicle body.
Further specifically, the positioning the high-speed rail vehicle body comprises:
respectively obtaining the distance between the high-speed rail vehicle body and the bottom wall, the first side wall and the second side wall of the spraying room, wherein the first side wall and the second side wall are both vertical to the bottom wall, and the first bottom wall is adjacent to the second bottom wall;
and positioning the high-speed rail vehicle body according to the distance between the high-speed rail vehicle body and the bottom wall, the distance between the high-speed rail vehicle body and the first side wall and the distance between the high-speed rail vehicle body and the second side wall and the preset positioning distance of the high-speed rail vehicle body.
It should be noted that the bottom wall of the spray booth is specifically the ground in the spray booth, and the first side wall and the second side wall are specifically two adjacent wall surfaces of the spray booth.
Specifically, in order to obtain the distance between the bottom wall, the first side wall and the second side wall and the high-speed rail car body, car body positioning devices are arranged on the bottom wall, the first side wall and the second side wall and are used for detecting the distance between the positions of the car body positioning devices and the high-speed rail car body.
Preferably, the car body positioning device can be specifically an ultrasonic sensor, namely, the ultrasonic sensor is arranged on the ground and two wall surfaces of the spray room, so that the distance between the car body of the high-speed rail and the ground and the distance between the car body of the high-speed rail and the two wall surfaces can be positioned.
After the first high-speed rail vehicle body enters the spraying room, teaching operation is performed manually, the three ultrasonic sensors record and feed back the distances from the three surfaces of the high-speed rail vehicle body, and after the ith high-speed rail vehicle body (i is a natural number greater than or equal to 2) enters the spraying room, the distances between the three ultrasonic sensors and the high-speed rail vehicle body are recorded twice in sequence, and the high-speed rail vehicle body is automatically positioned according to the preset positioning distance of the high-speed rail vehicle body.
It is to be understood that the above embodiments are merely exemplary embodiments that have been employed to illustrate the principles of the present invention, and that the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims (6)

1. A spraying control system of a high-speed rail car body is characterized by comprising: the spraying device is in communication connection with the spraying control device of the high-speed rail vehicle body;
the spraying device comprises a robot spraying walking unit, a vehicle body walking horizontal guide rail and a robot control cabinet, wherein the vehicle body walking horizontal guide rail is arranged in a spraying room and in a region before the spraying room, a sliding belt is arranged on the vehicle body walking horizontal guide rail and can drive the high-speed rail vehicle body to enter the spraying room, the robot spraying walking unit is in communication connection with the robot control cabinet, the robot control cabinet is in communication connection with a spraying control device of the high-speed rail vehicle body, and the robot spraying walking unit is positioned on two sides of the vehicle body walking horizontal guide rail;
and the spraying control device of the high-speed rail car body can send a spraying control instruction to the robot control cabinet.
2. The spraying control system of the high-speed rail car body according to claim 1, wherein the robot spraying traveling unit comprises two robot traveling guide rails and two robots, the two robot traveling guide rails are respectively arranged on two sides of the car body traveling horizontal guide rail, each robot moves on one robot traveling guide rail, the robot traveling guide rails and the robots are both in communication connection with the robot control cabinet, the robot traveling guide rails can drive the robots to move under the control of the robot control cabinet, and the robots can spray the surface of the high-speed rail car body under the control of the robot control cabinet.
3. The spraying control system of the high-speed rail car body according to claim 2, wherein each robot comprises a robot body and a rotary spray gun arranged on the robot body, and the rotary spray gun is in communication connection with the robot control cabinet and used for spraying the surface of the high-speed rail car body under the control of the robot control cabinet.
4. The spray control system of a high-speed rail car body according to claim 1, further comprising a car body positioning device in communication with the spray control device of the high-speed rail car body, the car body positioning device being configured to position the high-speed rail car body within a spray area.
5. The high-speed rail car body painting control system of claim 4, wherein the car body positioning device comprises an ultrasonic sensor.
6. The blast-vehicle body painting control system according to any one of claims 1 to 5, wherein the blast-vehicle body painting control device includes a PLC controller.
CN201921114762.9U 2019-07-16 2019-07-16 Spraying control system of high-speed railway automobile body Active CN210585507U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921114762.9U CN210585507U (en) 2019-07-16 2019-07-16 Spraying control system of high-speed railway automobile body

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921114762.9U CN210585507U (en) 2019-07-16 2019-07-16 Spraying control system of high-speed railway automobile body

Publications (1)

Publication Number Publication Date
CN210585507U true CN210585507U (en) 2020-05-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201921114762.9U Active CN210585507U (en) 2019-07-16 2019-07-16 Spraying control system of high-speed railway automobile body

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112246469A (en) * 2020-10-13 2021-01-22 华晨宝马汽车有限公司 Method and apparatus for controlling spray coating of vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112246469A (en) * 2020-10-13 2021-01-22 华晨宝马汽车有限公司 Method and apparatus for controlling spray coating of vehicle

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