Continuous operation room for electric reactor and all-position spraying method implemented by continuous operation room

Abstract

The invention discloses a continuous operation room for an electric reactor and an all-position spraying method implemented by the continuous operation room, and aims to solve the problem that spraying equipment and a standard spraying method for standardizing and unifying a large amount of electric reactors are lacked. When the multi-connecting-rod hinged type lifting frame is located at the lowest limit position, the top face of the bottom rail is flush with the top face of the multi-connecting-rod hinged type lifting frame to form a conveying rail matched with the electric reactor, the self-rotating annular tray reciprocates in the length direction of the conveying rail, and the electric reactor is detachably connected to the self-rotating annular tray. When the self-rotating annular tray moves to the multi-connecting-rod hinged type lifting frame, the self-rotating annular tray is driven by the multi-connecting-rod hinged type lifting frame to do vertical lifting motion, the grinding suction assembly and the multi-position spraying assembly are both arranged towards the self-rotating annular tray, and the exhaust system is arranged at the top of the main supporting frame. And an air inlet of the exhaust system faces the self-rotating annular tray.

Description

Technical Field

[0001] The invention specifically relates to a continuous operation room for a reactor and an all-position spraying method implemented therein. Background Art

[0002] The reactor can act as an impedance in the circuit. Due to the use of the reactor, when a short circuit occurs, the voltage drop on the reactor is large, so it also plays a role in maintaining the bus voltage level, making the voltage fluctuation on the bus smaller, and ensuring the stability of the operation of user electrical equipment on the non-fault line.

[0003] Painting is an indispensable key link in the production process of reactors. Reactors need to be sprayed on planetary carriers, upper and lower end faces, outer walls, and inner walls before leaving the factory. The current painting schemes all involve manual grinding and manual painting. The dust and harmful gases generated by grinding and painting seriously affect the health of the painters, and manual painting cannot guarantee the process level of uniform paint adhesion and uniform paint thickness. Small reactors can be done manually, but large reactors are more difficult to operate. Currently, the known size parameters of large reactors are 4000mm high, 4600mm outer diameter, 16t weight, and the optimal spraying distance is 250mm. The spraying range required for the reactor is the outer wall, inner wall, upper end face, and lower end face. The traditional painting scheme can only be applied to small reactors, and lacks specialized equipment used in the painting process of increasingly large reactors in power systems.

[0004] The main problems are: In the process of spraying large reactors, the height of large reactors reaches 4000mm. Manual spraying requires a lifting frame, which increases the height of workers standing for spraying. The excessively high standing height threatens the personal safety of workers. In addition, the outer diameter of the reactor is 4600mm. When spraying the upper end surface manually, it is necessary to move the standing lifting frame to spray the upper end surface.

[0005] When workers need to spray the lower end surface, they need to use a gantry crane to lift the 16t reactor and spray the lower end surface, which is extremely dangerous.

[0006] The inner diameter of the reactor is only 1000mm. Manual spraying is almost impossible and requires the use of an extended bracket, which makes spraying extremely inconvenient and cannot guarantee the spraying process requirements.

[0007] Large-volume reactors are difficult to move, and manual spraying is time-consuming, difficult, and harmful to workers' health. In addition, the spraying effect is difficult to unify and defects cannot be discovered in time. There is a lack of standardized and unified spraying equipment and standardized spraying methods for large-volume reactors. Summary of the invention

[0008] In order to overcome the defects of the prior art, a continuous operation room for a reactor and a full-position spraying method thereof are provided to solve the above problems.

[0009] A continuous operation room for reactors, comprising a main support frame, a bottom track, a multi-link articulated lifting frame, a self-rotating annular tray, a grinding and suction assembly, a multi-position spraying assembly and an exhaust system, wherein the main support frame is arranged horizontally, the bottom track and the multi-link articulated lifting frame are arranged in parallel in the main support frame, when the multi-link articulated lifting frame is in the lowest limit position, the top surface of the bottom track is flush with the top surface of the multi-link articulated lifting frame to form a transport track for the reactor, the self-rotating annular tray reciprocates along the length direction of the transport track, and the reactor is detachably connected to the self-rotating annular tray; The grinding and suction assembly and the multi-position spraying assembly are both arranged in the main supporting frame. When the self-rotating annular tray moves to the multi-link articulated lifting frame, the self-rotating annular tray makes a vertical lifting movement driven by the multi-link articulated lifting frame. The grinding and suction assembly and the multi-position spraying assembly are both arranged toward the self-rotating annular tray. The exhaust system is arranged at the top of the main supporting frame, and the air inlet of the exhaust system is arranged toward the self-rotating annular tray.

[0010] As a preferred solution: the multi-position spraying assembly includes a first multi-degree-of-freedom spraying assembly, a second multi-degree-of-freedom spraying assembly and a bottom-mounted spraying component, and the first multi-degree-of-freedom spraying assembly, the second multi-degree-of-freedom spraying assembly and the bottom-mounted spraying component are sequentially arranged in the main support frame from top to bottom; The first multi-degree-of-freedom spraying assembly includes a first linear slide, a second linear slide, a first spraying rod and two third linear slides, wherein the two third linear slides are horizontally arranged side by side on both sides of the main support frame, the first linear slide is horizontally arranged between the two third linear slides, each end of the first linear slide is connected to a movable slide of a third linear slide close to it, the second linear slide is vertically arranged on the first linear slide, the first spraying rod is matched with the second linear slide, one end of the first spraying rod is connected to the second linear slide, and the other end of the first spraying rod is a first spraying end; The second multi-degree-of-freedom spraying assembly is arranged inside one side of the main support frame, and the second multi-degree-of-freedom spraying assembly includes a fourth linear slide, a second spraying rod and two fifth linear slides, the two fifth linear slides are arranged horizontally and side by side on the main support frame from top to bottom, the fourth linear slide is vertically arranged between the two fifth linear slides, the two ends of the fourth linear slide are respectively connected to the moving slides of the two fifth linear slides, the moving slide of the fourth linear slide is provided with a second spraying rod, one end of the second spraying rod is fixedly connected to the moving slide of the fourth linear slide, and the other end of the second spraying rod is a second spraying end; The bottom-mounted spraying part includes a sixth linear slide, a third spraying rod and two seventh linear slides. The two seventh linear slides are arranged side by side at the bottom of the multi-link articulated lifting frame along the length direction of the multi-link articulated lifting frame. The two ends of the sixth linear slide are respectively connected to the movable slides of the two seventh linear slides. The movable slide of the sixth linear slide is provided with a third spraying rod. One end of the third spraying rod is fixedly connected to the movable slide of the sixth linear slide, and the other end of the third spraying rod is a third spraying end.

[0011] As a preferred solution: a second linear slide is vertically arranged on the slide of the first linear slide, and a first spray rod is fixedly connected to the slide of the second linear slide.

[0012] As a preferred solution: the grinding and suction assembly is arranged inside the other side of the main supporting frame, the grinding and suction assembly includes a vertical lifting frame, a multi-hinged support rod, a dust suction pipe, a circumferential dust suction and grinding head and a storage box, the vertical lifting frame is vertically arranged on the bottom of the main supporting frame, a lifting platform is arranged on the vertical lifting frame, the lifting platform reciprocates along the height direction of the vertical lifting frame, one end of the multi-hinged support rod is hinged on the lifting platform, the other end of the multi-hinged support rod is provided with a circumferential dust suction and grinding head, the storage box is arranged on one side of the vertical lifting frame, the bottom of the storage box is connected to the bottom of the main supporting frame, and the circumferential dust suction and grinding head is connected to the storage box through the dust suction pipe.

[0013] As a preferred solution: a pressure sensor is provided in the circumferential dust suction and polishing head; a camera and an infrared distance measuring sensor are provided on the first spraying rod.

[0014] As a preferred solution: the exhaust system includes a main pipe, multiple intermediate pipes and multiple suction heads, the main pipe includes a U-shaped pipe body and two vertical pipes, the U-shaped pipe body is horizontally arranged on the top of the main supporting frame, two vertical pipes are vertically arranged in parallel at both ends of the U-shaped pipe body, multiple intermediate pipes are horizontally arranged in parallel between the inner walls of the two sides of the U-shaped pipe body, the two ends of each intermediate pipe are respectively connected to the interior of the U-shaped pipe body, each intermediate pipe is provided with multiple suction heads along its length direction, one end of each suction head is connected to the interior of the intermediate pipe, and the other end of each suction head is arranged toward the top surface of the multi-link articulated lifting frame.

[0015] As a preferred solution: a multi-link articulated lifting frame includes two single frames, the two single frames are arranged in parallel, each single frame includes a top plate, a convex strip, two bottom bars, two first component bars and two second component bars, the two bottom bars are arranged horizontally in parallel, the top plate is arranged directly above the two bottom bars, the convex strip is arranged on the top plate along the length direction of the top plate, the two first component bars and the two second component bars are hinged between the top plate and the two bottom bars, the first component bars and the second component bars are arranged in one-to-one correspondence, the first component bars and the bottom bars are arranged in one-to-one correspondence, the second component bars and the bottom bars are arranged in one-to-one correspondence, one end of each first component bar is hinged to one end of its corresponding bottom bar, the other end of each first component bar is hinged at one end of the top plate, one end of each second component bar is hinged to the other end of its corresponding bottom bar, and the other end of each second component bar is hinged to the other end of the top plate; the middle part of each first component bar is hinged to the middle part of its corresponding second component bar.

[0016] As a preferred solution: the self-rotating annular tray includes an upper annular disk, a lower annular disk, a first drive motor and a plurality of guide blocks. The upper annular disk and the lower annular disk are coaxially hinged in sequence from top to bottom. The first drive motor is arranged on the lower annular disk. A plurality of guide blocks are arranged at the bottom of the lower annular disk. The lower annular disk is slidably matched with a bottom track or a multi-link articulated lifting frame through the plurality of guide blocks. A plurality of teeth are processed on the outer circumferential wall of the upper annular disk. A gear is mounted on the power output shaft of the first drive motor. The gear is meshed with the plurality of teeth. Driven by the first drive motor, the upper annular disk rotates on the lower annular disk.

[0017] The full-position spraying method is realized by using the above-mentioned continuous operation room for the reactor. The full-position spraying method is: Shifting stage: adjusting the spraying path and path length of the multi-position spraying assembly according to the size of the electric controller, adjusting the multi-link articulated lifting frame until the top surface of the multi-link articulated lifting frame is flush with the top surface of the bottom track to form a transport track, and placing the reactor on the self-rotating annular tray; Grinding stage: When the self-rotating annular tray drives the reactor to move to the top of the multi-link articulated lifting frame through the transport track, the exhaust system and the grinding and suction assembly are started at the same time. The circumferential dust suction grinding head of the grinding and suction assembly performs comprehensive grinding on the outer circumferential wall of the reactor. During the grinding process, the pressure value obtained by the pressure sensor is ensured to be maintained between 20 and 50N, and the rotation speed of the circumferential dust suction grinding head is between 200 and 1500r / min, so as to ensure that the grinding surface of the circumferential dust suction grinding head makes a lifting movement along the axial direction of the reactor, and at the same time ensure that the grinding surface of the circumferential dust suction grinding head is accurately attached to the outer circumferential wall of the reactor, and the self-rotating annular tray is started. The rotation of the self-rotating annular tray drives the reactor to rotate synchronously, and the whole wall grinding process of the reactor is completed through the cooperation of the grinding and suction assembly. At the same time, the exhaust system performs top adsorption on the dust generated between the grinding and suction assembly and the reactor; After polishing, the painting stage begins: start the multi-position spraying assembly to spray paint the top, inside, sides and bottom of the reactor, and start the second multi-degree-of-freedom spraying component, the first multi-degree-of-freedom spraying component and the bottom-mounted spraying parts; The self-rotating annular tray is started to drive the reactor to continue to rotate after grinding, and the second multi-degree-of-freedom spraying assembly is started to start spraying. The second multi-degree-of-freedom spraying assembly cooperates with the fourth linear slide, the second spraying rod and the two fifth linear slides to complete the spraying operation on the outer wall of the reactor along the axial direction and / or the outer circumferential direction of the reactor; The first multi-degree-of-freedom spraying assembly is started to start spraying. The first multi-degree-of-freedom spraying assembly cooperates with the first linear slide, the second linear slide, the first spraying rod and the two third linear slides to complete the spraying operation on the top of the reactor, the planetary carrier and the inside, wherein the spraying operation inside the reactor is performed sequentially along the axial direction of the reactor; The bottom spraying part is started, and the bottom spraying part cooperates with the sixth linear slide, the third spraying rod and the two seventh linear slides to complete the spraying operation on the bottom of the reactor, thereby completing the full-position spraying operation of the reactor from the outside to the inside.

[0018] As a preferred solution: there are two starting sequences for the multi-position spray assembly. One is to start the second multi-degree-of-freedom spray component first, then start the first multi-degree-of-freedom spray component, and finally start the bottom spray component; the other is to start the first multi-degree-of-freedom spray component, the second multi-degree-of-freedom spray component and the bottom spray component at the same time.

[0019] The beneficial effects of the present invention are: The continuous operation room for the reactor in the present invention can realize the grinding of large-volume reactors and the full-circle inside and outside spraying process within a limited space through the mutual cooperation among the main support frame, the bottom track, the multi-link articulated lifting frame, the self-rotating annular tray, the grinding and suction assembly, the multi-position spraying assembly and the exhaust system, thereby ensuring that the spraying effect is effective and uniform. Among them, the multi-position spraying assembly is a structural form of multi-position nozzles, and the position coordination is reasonable and can realize a comprehensive and uniform spraying process for the planetary frame, the upper and lower end surfaces, the outer wall and the inner wall of the large-volume reactor. No human intervention is required throughout the process, thereby ensuring uniform spraying quality.

[0020] The multi-position spraying assembly in the present invention realizes the all-round and inner and outer circumferential spraying process of the large-volume reactor through the minimum number of positioning methods. The three positioning components are respectively the first multi-degree-of-freedom spraying component, the second multi-degree-of-freedom spraying component and the bottom spraying part. The spraying areas are reasonably arranged and the spraying areas overlap. The three positioning components are respectively the first multi-degree-of-freedom spraying component, the second multi-degree-of-freedom spraying component and the bottom spraying part. The first multi-degree-of-freedom spraying component is used for spraying the top, planetary carrier and interior of the large-volume reactor, the second multi-degree-of-freedom spraying component is used for spraying the outer circumferential wall of the large-volume reactor, and the bottom spraying part is used for spraying the bottom of the large-volume reactor. The first multi-degree-of-freedom spraying component, the second multi-degree-of-freedom spraying component and the bottom spraying part cooperate with each other reasonably, and the connection position is clear, and there is no spraying overlap area, ensuring a unified and uniform spraying quality, and the spraying trajectories are all multi-degree-of-freedom spraying trajectories.

[0021] The full-position spraying method of the present invention has a unified operation mode, the spraying mode can be switched as needed during the implementation process, grinding and spraying are reasonably coordinated, and the dust and flying paint generated by grinding and spraying can be effectively collected on the top throughout the whole process. The operation process is complete, and the uniformity and standardization of the complete operation process of grinding and spraying are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the main structure of the continuous operation room for the reactor in the present invention; Figure 2 It is a schematic diagram of a first three-dimensional structure of a continuous operation room for a reactor in the present invention; Figure 3 It is a second three-dimensional structural schematic diagram of a continuous operation room for a reactor in the present invention; Figure 4 The third three-dimensional structural schematic diagram of the continuous operation room for the reactor in the present invention, in which the exhaust system is removed; Figure 5 It is a three-dimensional structural schematic diagram of the relative arrangement positions of the bottom track, the multi-link articulated lifting frame, the self-rotating annular tray, the grinding and suction assembly and the multi-position spraying assembly; Figure 6 is a schematic diagram of the three-dimensional structure of the first spraying rod; Figure 7 is a schematic diagram of the three-dimensional structure of the second spray rod; Figure 8 is a schematic diagram of the three-dimensional structure of the first multi-degree-of-freedom spraying assembly; Fig. 9 is a first three-dimensional structural schematic diagram of the grinding and suction assembly; Fig.10 is a second three-dimensional structural schematic diagram of the grinding and suction assembly; Fig.11It is a schematic diagram of the three-dimensional structure of a multi-link articulated lifting frame; Fig.12 A three-dimensional structural schematic diagram of the connection relationship between the bottom track and the multi-link articulated lifting frame; Fig.13 A three-dimensional structural diagram showing the connection between the bottom-mounted spraying parts and the multi-link articulated lifting frame Fig.14 It is a schematic diagram of the three-dimensional structure of the circumferential dust suction and grinding head; Fig.15 This is a schematic diagram of the internal structure of the circumferential dust suction and grinding head; Fig.16 It is a structural schematic diagram of a first multi-degree-of-freedom spraying assembly in a first layout relationship when cooperating with a reactor for spraying operation; Fig.17 It is a structural schematic diagram of a first multi-degree-of-freedom spraying assembly in a second layout relationship when cooperating with a reactor to perform a spraying operation; Fig.18 It is a structural schematic diagram of the first multi-degree-of-freedom spraying assembly in a third layout relationship when cooperating with the reactor for spraying operation; Fig.19 It is a structural schematic diagram of a first multi-degree-of-freedom spraying assembly in a fourth layout relationship when cooperating with a reactor to perform a spraying operation; Fig. 20 It is a partial side view structural schematic diagram of the first multi-degree-of-freedom spraying assembly in the fifth layout relationship when the first multi-degree-of-freedom spraying assembly cooperates with the reactor to perform the spraying operation; Fig.21 Schematic diagram of the rotation principle of the first spray rod in the first multi-degree-of-freedom spray assembly, where the arrow direction is the rotation direction of the first spray rod; Fig. 22 It is a partial top view structural schematic diagram of the first multi-degree-of-freedom spraying assembly in the fifth layout relationship when the first multi-degree-of-freedom spraying assembly cooperates with the reactor to perform the spraying operation; Fig.23 It is a schematic diagram of the top view of the structure of the first multi-degree-of-freedom spraying assembly in a sixth layout relationship when performing a spraying operation in cooperation with the reactor; Fig.24 It is a side view structural schematic diagram of the second multi-degree-of-freedom spraying assembly in a first layout relationship when performing a spraying operation in cooperation with the reactor; Fig.25 It is a schematic diagram of the structure of the self-rotating annular tray viewed from above; Fig.26 is a schematic diagram of the three-dimensional structure of the second spray rod in the second multi-degree-of-freedom spray assembly in a telescopic state; Fig. 27 This is a schematic diagram of the first working state of the bottom-mounted spraying part; Fig.28 It is a schematic diagram of the second working state of the bottom-mounted spraying part; Fig.29 It is a schematic three-dimensional structure diagram of the third spraying rod.

[0023] In the figure: 1 - main support frame; 1-1 - bottom plate; 2 - bottom track; 3 - multi-link articulated lifting frame; 3-1 - top plate; 3-2 - rib; 3-3 - bottom rod; 3-4 - first component rod; 3-5 - second component rod; 4 - self-rotating annular tray; 4-1 - upper annular plate; 4-2 - lower annular plate; 4-3 - first driving motor; 4-4 - guide block; 4-5 - tooth; 5 - grinding and suction assembly; 5-1 - vertical lifting frame; 5-2 - multi-articulated support rod; 5-2-1 - first component rod; 5-2-2 - second component rod; 5-2-3 - third component rod; 5-2-4 - main support; 5-2-5 - auxiliary support rod; 5-3 - dust suction pipe; 5-4 - circumferential dust suction and grinding head; 5-4-1 - circular grinding disc; 5-5 - storage box; 5-6 - lifting platform; 6 - multi-position spraying assembly; 7 - exhaust system; 7-1 - main pipe; 7-1-1 - C-shaped pipe body; 7-1-2 - vertical pipe; 7-2 - intermediate pipe; 7-3 - suction head; 8 - first multi-degree-of-freedom spraying component; 8-1 - first linear slide; 8-2 - second linear slide; 8-3 - first spraying rod; 8-4 - third linear slide; 9 - second multi-degree-of-freedom spraying component; 9-1 - fourth linear slide; 9-1-1 - moving slide; 9-2 - second spraying rod; 9-3 - fifth linear slide; 10 - bottom spraying part; 10-1 - sixth linear slide; 10-2 - third spraying rod; 10-3 - seventh linear slide; 12 - limit frame; 13 - first articulated telescopic rod; 14 - second articulated telescopic rod; 16 - circumferential dust suction port; 20 - reactor; 20-1 - planet carrier. Specific embodiments

[0024] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through different specific implementation manners, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0025] Specific embodiment one: In combination with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 , Fig.18 , Fig.19 , Fig. 20 , Fig.21 , Fig. 22 , Fig.23 , Fig.24 , Fig.25 , Fig.26 , Fig. 27 , Fig.28 and Fig.29 The present embodiment is described. In the present embodiment, the continuous operation room for the reactor is a rectangular frame structure, which is suitable for grinding and uniform spraying of the reactor 20. The reactor 20 is a large-volume reactor. The size parameters of the reactor 20 are 4000mm in height, 4600mm in outer diameter, and 16t in weight. The optimal spraying distance is 250mm. The internal space of the continuous operation room for the reactor is suitable for the horizontal micro-movement, lifting micro-movement, and rotational movement of the large-volume reactor. The continuous operation room for the reactor includes a main support frame 1, a bottom rail The main support frame 1 is provided with a bottom track 2, a multi-link articulated lifting frame 3, a self-rotating annular tray 4, a grinding and suction assembly 5, a multi-position spraying assembly 6 and an exhaust system 7. The main support frame 1 is arranged horizontally, and the bottom track 2 and the multi-link articulated lifting frame 3 are arranged in parallel in the main support frame 1. When the multi-link articulated lifting frame 3 is in the lowest limit position, the top surface of the bottom track 2 is flush with the top surface of the multi-link articulated lifting frame 3 to form a transport track for matching the reactor 20. The self-rotating annular tray 4 reciprocates along the length direction of the transport track, and the reactor 20 is detachably connected to the self-rotating annular tray 4; The grinding and suction assembly 5 and the multi-position spraying assembly 6 are both arranged in the main supporting frame 1. When the self-rotating annular tray 4 moves onto the multi-link articulated lifting frame 3, the self-rotating annular tray 4 makes a vertical lifting movement driven by the multi-link articulated lifting frame 3. The grinding and suction assembly 5 and the multi-position spraying assembly 6 are both arranged toward the self-rotating annular tray 4. The exhaust system 7 is arranged at the top of the main supporting frame 1, and the air inlet of the exhaust system 7 is arranged toward the self-rotating annular tray 4.

[0026] In this embodiment, the main support frame 1 is a rectangular frame, and a bottom plate 1 - 1 is arranged at the bottom of the rectangular frame. The bottom plate 1 - 1 is used to support the multi-link articulated lifting frame 3 .

[0027] Furthermore, the bottom plate 1-1 is a porous hollow plate body, which is used to cooperate with the drainage during the grinding and spraying process. The bottom of the bottom plate 1-1 is provided with a drainage trough plate for cooperating with the drainage, which is used to centrally collect the discharged sewage.

[0028] Furthermore, a limit frame 12 is provided on both sides of the main support frame 1 , and the limit frame 12 is a square frame body, which is used to provide a placement position for the installation of the multi-position spraying assembly 6 and the grinding and suction assembly 5 .

[0029] In this embodiment, the self-rotating annular tray 4 is a circular rotating platform, which is used to perform self-rotation motion in cooperation with the reactor 20. The self-rotating annular tray 4 is a supporting structure in a hollowed-out form.

[0030] The continuous operation room for the reactor in this embodiment is equipped with an electric control system. The electric control system is an existing electric control program that realizes the intelligent control process of the multi-link articulated lifting frame 3, the self-rotating annular tray 4, the grinding and suction assembly 5, the multi-position spraying assembly 6 and the exhaust system 7, so as to realize the grinding and spraying operation mode of the unmanned workshop. The electric control program in the electric control system cooperates with the existing PLC control panel to realize the electric control process. For reactors 20 of different sizes, the dimensional parameters of different types of reactors, including weight, outer wall size, inner wall size, planetary carrier 20-1 size, etc., are input to realize the control of the multi-link articulated lifting frame 3, the self-rotating annular tray 4, the grinding and suction assembly 5, the multi-position spraying assembly 6, and the specific continuous operation process of the reactor is realized by changing the corresponding grinding or spraying path.

[0031] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. In this embodiment, the multi-position spray assembly 6 includes a first multi-degree-of-freedom spray assembly 8, a second multi-degree-of-freedom spray assembly 9 and a bottom-mounted spray component 10. The first multi-degree-of-freedom spray assembly 8, the second multi-degree-of-freedom spray assembly 9 and the bottom-mounted spray component 10 are sequentially arranged in the main support frame 1 from top to bottom; Among them, the limit frame 12 on one side of the main support frame 1 provides a side connection for the arrangement of the grinding and suction assembly 5 and also has a dual function of limiting. The limit frame 12 on the other side of the support frame 1 provides a side connection for the arrangement of the grinding and suction assembly 5 and also has a dual function of limiting. The tops of the two limit frames 12 are used to provide a placement position for the installation of the multi-position spraying assembly 6.

[0032] The first multi-degree-of-freedom spraying assembly 8 includes a first linear slide 8-1, a second linear slide 8-2, a first spraying rod 8-3 and two third linear slides 8-4. The first linear slide 8-1, the second linear slide 8-2 and the two third linear slides 8-4 are all existing linear slides, including a lead screw, a slide and other necessary components of the linear slide. The working principles of the first linear slide 8-1, the second linear slide 8-2 and the two third linear slides 8-4 are the same as the working principles of the existing linear slides. The two third linear slides 8-4 are horizontally arranged in parallel on both sides of the main support frame 1, the first linear slide 8-1 is horizontally arranged between the two third linear slides 8-4, each end of the first linear slide 8-1 is connected to the movable slide of a third linear slide 8-4 close to it, the second linear slide 8-2 is vertically arranged on the first linear slide 8-1, the first spraying rod 8-3 is matched with the second linear slide 8-2, one end of the first spraying rod 8-3 is connected to the second linear slide 8-2, and the other end of the first spraying rod 8-3 is the first spraying end; Further, combined with Figure 6 As shown, the first spray rod 8-3 is equipped with a first articulated telescopic rod 13, one end of the first articulated telescopic rod 13 is a hinged end, which is directly connected to the second linear slide 8-2 through a rotating shaft, or one end of the first articulated telescopic rod 13 is hinged to one end of a connecting rod through a rotating shaft, and the other end of the connecting rod is connected to the second linear slide 8-2; Furthermore, the first articulated telescopic rod 13 itself is a telescopic rod body in the form of an inner and outer sleeve structure, and the manner in which its length is extended or shortened is consistent with the structure of the existing telescopic sleeve.

[0033] The second multi-degree-of-freedom spraying assembly 9 is arranged inside one side of the main support frame 1. The second multi-degree-of-freedom spraying assembly 9 includes a fourth linear slide 9-1, a second spraying rod 9-2 and two fifth linear slides 9-3. The fourth linear slide 9-1 and the two fifth linear slides 9-3 are both existing linear slides, including screws, slides and other necessary components that constitute the linear slides, and the working principle is the same as the working principle of the existing linear slides. The two fifth linear slides 9-3 are arranged horizontally and side by side on the main support frame 1 from top to bottom, and the fourth linear slide 9-1 is vertically arranged between the two fifth linear slides 9-3. The two ends of the fourth linear slide 9-1 are respectively connected to the moving slides of the two fifth linear slides 9-3. The second spraying rod 9-2 is arranged on the moving slide 9-1-1 of the fourth linear slide 9-1. One end of the second spraying rod 9-2 is fixedly connected to the moving slide 9-1-1 of the fourth linear slide 9-1, and the other end of the second spraying rod 9-2 is the second spraying end; Further, combined with Figure 7As shown, the second spray rod 9-2 is equipped with a second articulated telescopic rod 14, one end of the second articulated telescopic rod 14 is a hinged end, which is directly connected to the mobile slide 9-1-1 of the fourth linear slide 9-1 through another rotating shaft, or one end of the second articulated telescopic rod 14 is hinged to one end of another connecting rod through a rotating shaft, and the other end of the connecting rod is connected to the mobile slide 9-1-1 of the fourth linear slide 9-1; Furthermore, the first articulated telescopic rod 13 itself is a telescopic rod body in the form of an inner and outer sleeve structure, and the manner in which its length is extended or shortened is consistent with the structure of the existing telescopic sleeve.

[0034] The bottom-mounted spraying part 10 includes a sixth linear slide 10-1, a third spraying rod 10-2 and two seventh linear slides 10-3. The sixth linear slide 10-1 and the two seventh linear slides 10-3 are both existing linear slides, and the working principles of the sixth linear slide 10-1 and the two seventh linear slides 10-3 are the same as those of existing linear slides. The two seventh linear slides 10-3 are arranged side by side at the bottom of the multi-link articulated lifting frame 3 along the length direction of the multi-link articulated lifting frame 3. The two ends of the sixth linear slide 10-1 are respectively connected to the moving slides of the two seventh linear slides 10-3. The moving slide of the sixth linear slide 10-1 is provided with a third spraying rod 10-2. One end of the third spraying rod 10-2 is fixedly connected to the moving slide of the sixth linear slide 10-1, and the other end of the third spraying rod 10-2 is a third spraying end.

[0035] Specific implementation method three: This implementation method is a further limitation of specific implementation method one or two, in which a second linear slide 8-2 is vertically arranged on the slide of the first linear slide 8-1, and a first spray rod 8-3 is fixedly connected to the slide of the second linear slide 8-2.

[0036] Specific implementation mode four: This implementation mode is a further limitation of specific implementation modes one, two or three. The grinding and suction assembly 5 is arranged inside the other side of the main supporting frame 1. The grinding and suction assembly 5 includes a vertical lifting frame 5-1, a multi-hinged support rod 5-2, a dust suction pipe 5-3, a circumferential dust suction and grinding head 5-4 and a storage box 5-5. The vertical lifting frame 5-1 is vertically arranged on the bottom of the main supporting frame 1. A lifting platform 5-6 is arranged on the vertical lifting frame 5-1. The lifting platform 5-6 reciprocates along the height direction of the vertical lifting frame 5-1. One end of the multi-hinged support rod 5-2 is hinged on the lifting platform 5-6. The other end of the multi-hinged support rod 5-2 is provided with a circumferential dust suction and grinding head 5-4. The storage box 5-5 is arranged on one side of the vertical lifting frame 5-1. The bottom of the storage box 5-5 is connected to the bottom of the main supporting frame 1. The circumferential dust suction and grinding head 5-4 is connected to the storage box 5-5 through the dust suction pipe 5-3.

[0037] In this embodiment, the multi-hinged support rod 5-2 includes a first group of rods 5-2-1, a second group of rods 5-2-2, a third group of rods 5-2-3, a main support rod 5-2-4 and a secondary support rod 5-2-5. One end of the main support rod 5-2-4 is hinged on the lifting platform 5-6, and the other end of the main support rod 5-2-4 is hinged to one end of the third group of rods 5-2-3. The other end of the third group of rods 5-2-3 passes through the secondary support rod 5-2-5 and is hinged to the tail of the circumferential dust suction and grinding head 5-4. One end of the secondary support rod 5-2-5 is hinged to the middle part of the circumferential dust suction and grinding head 5-4. The other end of the secondary support rod 5-2-5 passes through the second group The rod 5-2-2 is hinged to the middle part of the main support rod 5-2-4, one end of the first group rod 5-2-1 is hinged to the middle part of the main support rod 5-2-4, and the other end of the first group rod 5-2-1 is hinged on the lifting platform 5-6. Through the cooperation between the first group rod 5-2-1, the second group rod 5-2-2, the third group rod 5-2-3, the main support rod 5-2-4 and the auxiliary support rod 5-2-5, a multi-angle swing motion of the circumferential dust suction and grinding head 5-4 is formed, which can realize micro-swing action within a refined angle range, and adapt to the abutment conditions of different positions and different outer diameters between the circumferential dust suction and grinding head 5-4 and the reactor 20.

[0038] In this embodiment, a pressure sensor is provided in the circumferential dust suction and grinding head 5 - 4 ; the pressure sensor is an existing pressure sensor, and its working principle is the same as that of the existing pressure sensor.

[0039] The circumferential dust suction and grinding head 5-4 includes a shell and a circular grinding disc 5-4-1. A circular hole is processed on the shell. The circular grinding disc 5-4-1 is arranged in the circular hole. The side of the circular grinding disc 5-4-1 facing the circular hole is the grinding surface. The pressure sensor is arranged in the shell. The pressure sensor is arranged on the inner wall of the circular grinding disc 5-4-1. The grinding and suction assembly 5 uses the pressure sensor to accurately grasp the grinding force, evenly grind the outer wall of the reactor 20, and can adjust the grinding force in the electronic control system. The rotation speed of the circular grinding disc 5-4-1 in the grinding and suction assembly 5 and the pressing pressure during the grinding process are controlled by the PLC controller. Different types of reactors 20 correspond to different grinding pressures and rotation speeds. The grinding disc rotation speed is between 200r / min and 1500r / min, and the grinding pressure is between 20N and 50N. The pressure is detected by the pressure sensor. In order to meet the process requirements, grinding is performed twice. The first time, the grinding speed is fast and the grinding pressure is high. The second time, the grinding speed is reduced and the pressure is reduced to ensure the roughness and uniformity of the grinding.

[0040] A circumferential dust suction port 16 is formed between the housing and the circular grinding disc 5 - 4 - 1 , and grinding dust is promptly sucked by a high-power vacuum cleaner.

[0041] The circumferential dust suction and grinding head 5-4 can achieve multi-directional grinding in the X, Y, and Z directions under the cooperation of the vertical lifting frame 5-1 and the multi-articulated support rod 5-2. The operating grinding trajectory is specifically defined according to the specifications and dimensional parameters of the specific reactor 20.

[0042] Specific Embodiment 5: This embodiment is a further limitation of Specific Embodiments 1, 2, 3, or 4. The exhaust system 7 includes a main pipe 7-1, a plurality of intermediate pipes 7-2, and a plurality of suction heads 7-3. The main pipe 7-1 includes a U-shaped pipe body 7-1-1 and two vertical pipes 7-1-2. The U-shaped pipe body 7-1-1 is horizontally arranged on the top of the main support frame 1. Two vertical pipes 7-1-2 are vertically arranged in parallel at both ends of the U-shaped pipe body 7-1-1. A plurality of intermediate pipes 7-2 are horizontally arranged in parallel between the inner walls on both sides of the U-shaped pipe body 7-1-1. The two ends of each intermediate pipe 7-2 are respectively connected and communicated with the inside of the U-shaped pipe body 7-1-1. A plurality of suction heads 7-3 are arranged along the length direction of each intermediate pipe 7-2. One end of each suction head 7-3 is connected and communicated with the inside of the intermediate pipe 7-2, and the other end of each suction head 7-3 faces the top surface of the multi-link articulated lifting frame 3.

[0043] The exhaust system 7 in this embodiment is configured with a high-power exhaust fan, and a harmful gas detection sensor is configured in the exhaust system 7, and activated carbon and the like are configured to remove harmful gases, so as to facilitate real-time monitoring to meet the environmental protection emission standards.

[0044] Specific Embodiment 6: This embodiment is a further limitation of Specific Embodiments 1, 2, 3, 4, or 5. In this embodiment, the multi-link articulated lifting frame 3 includes two single frames, which are arranged in parallel. Each single frame includes a top plate 3-1, a rib 3-2, two bottom rods 3-3, two first component rods 3-4, and two second component rods 3-5. The two bottom rods 3-3 are horizontally arranged in parallel. The top plate 3-1 is arranged directly above the two bottom rods 3-3. The rib 3-2 is arranged on the top plate 3-1 along the length direction of the top plate 3-1. The two first component rods 3-4 and the two second component rods 3-5 are articulated between the top plate 3-1 and the two bottom rods 3-3. The first component rods 3-4 and the second component rods 3-5 are arranged in one-to-one correspondence. The first component rods 3-4 and the bottom rods 3-3 are arranged in one-to-one correspondence. The second component rods 3-5 and the bottom rods 3-3 are arranged in one-to-one correspondence. One end of each first component rod 3-4 is articulated to one end of its corresponding bottom rod 3-3, and the other end of each first component rod 3-4 is articulated to one end of the top plate 3-1. One end of each second component rod 3-5 is articulated to the other end of its corresponding bottom rod 3-3, and the other end of each second component rod 3-5 is articulated to the other end of the top plate 3-1; the middle of each first component rod 3-4 is articulated to the middle of its corresponding second component rod 3-5.

[0045] Specific embodiment seven: This embodiment is a further limitation of specific embodiments one, two, three, four, five or six. The self-rotating annular tray 4 includes an upper annular disk 4-1, a lower annular disk 4-2, a first drive motor 4-3 and a plurality of guide blocks 4-4. The upper annular disk 4-1 and the lower annular disk 4-2 are coaxially hinged in sequence from top to bottom. The first drive motor 4-3 is arranged on the lower annular disk 4-2. A plurality of guide blocks 4-4 are arranged at the bottom of the lower annular disk 4-2. The lower annular disk 4-2 is slidably matched with the bottom track 2 or the multi-link articulated lifting frame 3 through the plurality of guide blocks 4-4. A plurality of teeth 4-5 are processed on the outer circumferential wall of the upper annular disk 4-1. A gear is mounted on the power output shaft of the first drive motor 4-3. The gear is meshed with the plurality of teeth 4-5. The upper annular disk 4-1 rotates on the lower annular disk 4-2 driven by the first drive motor 4-3.

[0046] Specific embodiment eight: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six or seven. In this embodiment, a camera and an infrared distance measuring sensor are provided on the first spraying rod 8-3. An infrared distance detection sensor is provided at the circumferential dust suction and polishing head 5-4 to control the distance between the circumferential dust suction and polishing head 5-4 and the wall surface of the reactor 20; The first spray rod 8-3 in the first multi-degree-of-freedom spray assembly 8 is equipped with an infrared distance detection sensor for controlling the spraying distance between the first spray rod 8-3 and the wall of the reactor 20; the first spray rod 8-3 is also equipped with a camera for performing a corresponding close-range scan of the planetary carrier 20-1 in the reactor 20, so as to obtain real-time data on the spraying position, area and spraying thickness of the first spray rod 8-3.

[0047] The second spray rod 9-2 in the second multi-degree-of-freedom spray assembly 9 is equipped with an infrared distance detection sensor for controlling the spraying distance between the second spray rod 9-2 and the wall of the reactor 20; the second spray rod 9-2 is also equipped with a camera for performing a corresponding close-range scan of the outer circumferential wall of the reactor 20, so as to obtain real-time data on the spraying position, area and spraying thickness of the second spray rod 9-2.

[0048] Further, the infrared distance detection sensor is an existing infrared distance measuring sensor, and its working principle is the same as that of the existing infrared distance measuring sensor. The camera is an existing camera, and its working principle is the same as that of the existing camera.

[0049] Specific implementation method nine: Combination Figures 1 to 29The present embodiment is described. The full-position spraying method in the present embodiment is realized by a continuous operation room for the reactor in the specific embodiment one, two, three, four, five, six, seven or eight, wherein the continuous operation room for the reactor comprises a main support frame 1, a bottom track 2, a multi-link articulated lifting frame 3, a self-rotating annular tray 4, a grinding and suction assembly 5, a multi-position spraying assembly 6 and an exhaust system 7. The main support frame 1 is horizontally arranged, and the bottom track 2 and the multi-link articulated lifting frame 3 are arranged in parallel in the main support frame 1. When the multi-link articulated lifting frame 3 is in the lowest limit position, the top surface of the bottom track 2 is flush with the top surface of the multi-link articulated lifting frame 3 to form a transport track for the reactor 20. The self-rotating annular tray 4 reciprocates along the length direction of the transport track, and the reactor 20 is detachably connected to the self-rotating annular tray 4. The grinding and suction assembly 5 and the multi-position spraying assembly 6 are both arranged in the main supporting frame 1. When the self-rotating annular tray 4 moves onto the multi-link articulated lifting frame 3, the self-rotating annular tray 4 makes a vertical lifting movement driven by the multi-link articulated lifting frame 3. The grinding and suction assembly 5 and the multi-position spraying assembly 6 are both arranged toward the self-rotating annular tray 4. The exhaust system 7 is arranged at the top of the main supporting frame 1, and the air inlet of the exhaust system 7 is arranged toward the self-rotating annular tray 4.

[0050] In this embodiment, the main support frame 1 is a rectangular frame, and a bottom plate 1 - 1 is arranged at the bottom of the rectangular frame. The bottom plate 1 - 1 is used to support the multi-link articulated lifting frame 3 .

[0051] Furthermore, the bottom plate 1-1 is a porous hollow plate body, which is used to cooperate with the drainage during the grinding and spraying process. The bottom of the bottom plate 1-1 is provided with a drainage trough plate for cooperating with the drainage, which is used to centrally collect the discharged sewage.

[0052] Furthermore, a limit frame 12 is provided on both sides of the main support frame 1 , and the limit frame 12 is a square frame body, which is used to provide a placement position for the installation of the multi-position spraying assembly 6 and the grinding and suction assembly 5 .

[0053] In this embodiment, the self-rotating annular tray 4 is a circular rotating platform, which is used to perform self-rotation motion in cooperation with the reactor 20. The self-rotating annular tray 4 is a supporting structure in a hollowed-out form.

[0054] The continuous operation room for the reactor in this embodiment is equipped with an electric control system. The electric control system is an existing electric control program that realizes the intelligent control process of the multi-link articulated lifting frame 3, the self-rotating annular tray 4, the grinding and suction assembly 5, the multi-position spraying assembly 6 and the exhaust system 7, so as to realize the grinding and spraying operation mode of the unmanned workshop. The electric control program in the electric control system cooperates with the existing PLC control panel to realize the electric control process. For reactors 20 of different sizes, the dimensional parameters of different types of reactors, including weight, outer wall size, inner wall size, planetary carrier 20-1 size, etc., are input to realize the control of the multi-link articulated lifting frame 3, the self-rotating annular tray 4, the grinding and suction assembly 5, the multi-position spraying assembly 6, and the specific continuous operation process of the reactor is realized by changing the corresponding grinding or spraying path.

[0055] The full-position spraying method is as follows: Shifting stage: adjusting the spraying path and path length of the multi-position spraying assembly 6 according to the size of the reactor 20, adjusting the multi-link articulated lifting frame 3 until the top surface of the multi-link articulated lifting frame 3 is flush with the top surface of the bottom track 2 to form a transport track, and placing the reactor 20 on the self-rotating annular tray 4; Grinding stage: When the self-rotating annular tray 4 drives the reactor 20 to move to the top of the multi-link articulated lifting frame 3 through the transport track, the exhaust system 7 and the grinding and suction assembly 5 are started at the same time, and the circumferential dust suction grinding head 5-4 of the grinding and suction assembly 5 performs a comprehensive grinding of the outer circumferential wall of the reactor 20. In order to improve the grinding efficiency, during the grinding process, the pressure value obtained by the pressure sensor is ensured to be maintained between 20 and 50N, and the rotation speed of the circumferential dust suction grinding head 5-4 is between 200 and 1500r / min. , thereby ensuring that the grinding surface of the circumferential dust suction grinding head 5-4 makes a lifting movement along the axial direction of the reactor 20, and at the same time ensuring that the grinding surface of the circumferential dust suction grinding head 5-4 is accurately attached to the outer circumferential wall of the reactor 20, starting the self-rotating annular tray 4, the self-rotating annular tray 4 rotates to drive the reactor 20 to rotate synchronously, and the whole wall grinding process of the reactor 20 is completed through the cooperation of the grinding and suction assembly 5, and the exhaust system 7 simultaneously absorbs the dust generated between the grinding and suction assembly 5 and the reactor 20 at the top; After the polishing is completed, the painting stage begins: the multi-position spraying assembly 6 is started to perform a comprehensive painting operation on the top, inside, side and bottom of the reactor 20, and the second multi-degree-of-freedom spraying component 9, the first multi-degree-of-freedom spraying component 8 and the bottom spraying part 10 are started; Start the self-rotating annular tray 4 to drive the reactor 20 to continue to rotate after grinding, start the second multi-degree-of-freedom spraying assembly 9 to start spraying, and the second multi-degree-of-freedom spraying assembly 9 cooperates with the fourth linear slide 9-1, the second spraying rod 9-2 and the two fifth linear slides 9-3 to complete the spraying operation of the outer wall of the reactor 20 along the axial direction and / or the outer circumferential direction of the reactor 20; The first multi-degree-of-freedom spraying assembly 8 is started to spray, and the first multi-degree-of-freedom spraying assembly 8 cooperates with the first linear slide 8-1, the second linear slide 8-2, the first spraying rod 8-3 and the two third linear slides 8-4 to complete the spraying operation on the top of the reactor 20, the planet carrier 20-1 and the inside, wherein the spraying operation inside the reactor 20 is performed sequentially along the axial direction of the reactor 20; The bottom spraying member 10 is started, and the bottom spraying member 10 cooperates with each other between the sixth linear slide 10-1, the third spraying rod 10-2 and the two seventh linear slides 10-3 to complete the spraying operation at the bottom of the reactor 20, thereby completing the full-position spraying operation from the outside to the inside of the reactor 20. The structures and connection relationships not mentioned in this embodiment are the same as those in the specific embodiments one, two, three, four, five, six, seven, eight or nine.

[0056] Specific embodiment ten: This embodiment is a further limitation of specific embodiment nine. There are two starting sequences for the multi-position spray assembly 6. One is to start the second multi-degree-of-freedom spray component 9 first, then start the first multi-degree-of-freedom spray component 8, and finally start the bottom spray part 10; the other is to start the first multi-degree-of-freedom spray component 8, the second multi-degree-of-freedom spray component 9 and the bottom spray part 10 at the same time.

[0057] Among them, the working process of the first multi-degree-of-freedom spraying component 8 itself is mainly the following movement forms: A horizontal movement: the first linear slide 8-1 is horizontally moved to a predetermined position by two third linear slides 8-4; Another horizontal movement: Then the slide movement of the first linear slide 8-1 drives the second linear slide 8-2 to move horizontally to another predetermined position; Vertical movement: The slide of the second linear slide 8-2 drives the first spray rod 8-3 to make a vertical lifting movement, thereby realizing the spraying process of the top of the reactor 20, the planetary carrier 20-1 and the inner circumferential wall in the extended posture state; Each of the above three directions can be configured multiple times, and the alternating form and configuration order are carried out according to the specific electronic control program.

[0058] Among them, the working process of the second multi-degree-of-freedom spraying component 9 itself is mainly the following movement forms: Movement in the horizontal direction: The two fifth linear slides 9-3 drive the fourth linear slide 9-1 to move in the horizontal direction; Vertical movement: The slide of the fourth linear slide 9-1 drives the second spraying rod 9-2 to perform vertical lifting movement to realize the spraying process of the outer circumferential wall of the reactor 20; The configuration times of each of the above two directions can be multiple times, and the alternating form and configuration sequence are carried out according to the specific electronic control program.

[0059] Among them, the working process of the bottom spraying part 10 itself is mainly the following movement forms: Movement in the horizontal direction: the two seventh linear slides 10 - 3 drive the sixth linear slide 10 - 1 to move in the horizontal direction; Vertical movement: The slide of the sixth linear slide 10 - 1 drives the third spray rod 10 - 2 to perform vertical lifting movement, thereby realizing the spraying operation process on the bottom of the reactor 20 and on the bottom of the inner circumferential wall of the reactor 20 from bottom to top.

[0060] The configuration times of each of the above two directions can be multiple times, and the alternating form and configuration sequence are carried out according to the specific electronic control program.

[0061] Specific embodiment eleven: This embodiment is a further operation of specific embodiment nine or ten. A spraying process of this embodiment is as follows: After polishing, the painting stage begins; the first spraying rod 8-3 in the first multi-degree-of-freedom spraying assembly 8 is the first station; the second spraying rod 9-2 in the second multi-degree-of-freedom spraying assembly 9 is the second station; the third spraying rod 10-2 in the bottom spraying part 10 is the third station; The reactor 20 does not stop rotating after polishing, and the second station starts spraying. The horizontal lead screw and slide in the linear slide corresponding to the second station are controlled by the servo motor for horizontal movement; the longitudinal lead screw and slide are configured on the horizontal slide, and the longitudinal movement is controlled by the servo motor. During the rotation of the reactor 20, the circumferential and axial spraying of the side of the reactor 20 is realized; a telescopic rod is configured at the rear of the spray head, which is controlled by the servo motor; it can meet the use requirements of different types of reactors 20. In this process, an infrared distance monitor is used to control the distance between the spray head and the outer wall of the reactor 20.

[0062] After the side spraying is completed, the reactor 20 stops rotating and the first station starts spraying. The first station nozzle has a mobile configuration in the three directions of X, Y, and Z. The gravity direction is the Z direction and the direction of entering the track is described as the Y direction. A double screw slide is configured in the Y direction to realize the movement in the Y direction. The X-direction screw and slide are configured on the Y-direction slide to realize the movement in the X direction; the Z-direction screw and slide are configured on the X-direction slide, and the X, Y, and Z directions are all controlled by a servo motor; the Z-direction design is relatively special, with a slide rail with a telescopic rod structure, which is composed of an extension rod connected to a rotatable telescopic rod. The connection between the telescopic rod and the extension rod is equipped with a servo motor for angle bending, and a servo motor and a transmission rod are configured at the upper end of the extension rod to realize the circumferential rotation of the nozzle.

[0063] After the reactor 20 stops rotating, the nozzle enters the inner wall of the reactor 20 from the bracket gap on the planetary frame 20-1 of the reactor 20 through the XYZ direction adjustment, and first reaches the bottom. The extension and retraction amount of the telescopic rod is controlled by the camera and the infrared ranging sensor to control the spraying distance from the inner wall, and circumferential rotation spraying is performed, and the height of the nozzle is continuously raised until the inner wall spraying is completed; after completion, the telescopic rod is controlled by the servo motor to withdraw downward from the inner wall spraying area, and the upper end face of the spraying is first sprayed on the planetary frame 20-1 through the scanning of the camera, and then the upper end face of the encapsulation tube is sprayed.

[0064] After the side spraying is completed, the reactor 20 stops rotating and the third station starts spraying. The third station nozzle has a mobile configuration in the three directions of X, Y, and Z. The gravity direction is the Z direction and the direction of entering the track is described as the Y direction. A double screw slide is configured in the Y direction to realize the movement in the Y direction. The screw and slide in the X direction are configured on the slide in the Y direction to realize the movement in the X direction; a telescopic rod in the Z direction is configured on the slide in the X direction, and the three directions of X, Y, and Z are all controlled by a servo motor; the planetary frame at the lower end of the reactor 20 is scanned by a camera and an infrared ranging sensor, and the system controls the servo motor to spray the planetary frame 20-1 and the lower end face of the reactor 20. At this point, the spraying is completed.

[0065] Path Planning First station: The first spraying rod 8-3 is in the initial position. After the reactor 20 stops rotating, the lead screw in the Y direction starts to rotate, and the first spraying rod 8-3 starts to move in the Y direction and stops when it moves to more than half of the upper end surface of the reactor 20. The lead screw in the X direction starts to move, and the camera carried by the first spraying rod 8-3 starts to identify the position of the planetary frame 20-1, and plans the X-axis stop position to meet the Z-axis descent to avoid the planetary frame 20-1. Then the Z-axis lead screw starts to rotate, and the first spraying rod 8-3 moves downward. Bend the telescopic rod and push it out to reach the optimal spraying distance. The spraying distance is fed back in real time by the infrared distance detection sensor. After the inner wall spraying is completed, the first spraying rod 8-3 returns to the upper end surface, the nozzle scans the planetary frame 20-1, rotates to spray the planetary frame 20-1 and the upper end surface, and returns to the initial position after completion.

[0066] Second station: During the rotation of the reactor, the second spraying rod 9-2 is in the initial position. The second spraying rod 9-2 moves in the Y direction and the X direction respectively. The infrared distance sensor on the second spraying rod 9-2 detects that the reactor 20 reaches the optimal spraying distance and stops. Then the telescopic rod is pushed out to the optimal spraying position to realize spraying; during the spraying process, according to the rotation speed of the reactor 20, the second spraying rod 9-2 moves in the Z direction until the spraying is completed and returns to the initial position.

[0067] The third workstation: the third spraying rod 10-2 is in the initial position. After the reactor 20 stops rotating, the lead screw starts rotating. The third spraying rod 10-2 moves in the Y direction and the X direction respectively, and starts scanning the position of the planet carrier 20-1. The telescopic rod is pushed out to spray the lower end surface, and finally returns to the initial position.

Claims

1. A continuous operation room for reactors, characterized in that: The invention comprises a main support frame (1), a bottom track (2), a multi-link articulated lifting frame (3), a self-rotating annular tray (4), a grinding suction assembly (5), a multi-position spraying assembly (6) and an exhaust system (7), wherein the main support frame (1) is arranged horizontally, the bottom track (2) and the multi-link articulated lifting frame (3) are arranged in parallel in the main support frame (1), when the multi-link articulated lifting frame (3) is in the lowest limit position, the top surface of the bottom track (2) is flush with the top surface of the multi-link articulated lifting frame (3) to form a transport track for matching the reactor (20), the self-rotating annular tray (4) reciprocates along the length direction of the transport track, and the reactor (20) is detachably connected to the self-rotating annular tray (4); The grinding and suction assembly (5) and the multi-position spraying assembly (6) are both arranged in the main supporting frame (1); when the self-rotating annular tray (4) moves onto the multi-link articulated lifting frame (3), the self-rotating annular tray (4) performs a vertical lifting movement driven by the multi-link articulated lifting frame (3); the grinding and suction assembly (5) and the multi-position spraying assembly (6) are both arranged toward the self-rotating annular tray (4); the exhaust system (7) is arranged at the top of the main supporting frame (1); and the air inlet of the exhaust system (7) is arranged toward the self-rotating annular tray (4).

2. A continuous operation room for reactors according to claim 1, characterized in that: The multi-position spraying assembly (6) comprises a first multi-degree-of-freedom spraying component (8), a second multi-degree-of-freedom spraying component (9) and a bottom-mounted spraying component (10), wherein the first multi-degree-of-freedom spraying component (8), the second multi-degree-of-freedom spraying component (9) and the bottom-mounted spraying component (10) are arranged in sequence from top to bottom in the main support frame (1); The first multi-degree-of-freedom spraying assembly (8) comprises a first linear slide (8-1), a second linear slide (8-2), a first spraying rod (8-3) and two third linear slides (8-4); the two third linear slides (8-4) are horizontally arranged in parallel on both sides of the main support frame (1); the first linear slide (8-1) is horizontally arranged between the two third linear slides (8-4); each end of the first linear slide (8-1) is connected to a movable slide of a third linear slide (8-4) adjacent to it; the second linear slide (8-2) is vertically arranged on the first linear slide (8-1); the first spraying rod (8-3) is matched with the second linear slide (8-2); one end of the first spraying rod (8-3) is connected to the second linear slide (8-2); and the other end of the first spraying rod (8-3) is a first spraying end; The second multi-degree-of-freedom spraying assembly (9) is arranged inside one side of the main support frame (1), and the second multi-degree-of-freedom spraying assembly (9) comprises a fourth linear slide (9-1), a second spraying rod (9-2) and two fifth linear slides (9-3), the two fifth linear slides (9-3) are arranged horizontally and side by side on the main support frame (1) from top to bottom, the fourth linear slide (9-1) is arranged vertically between the two fifth linear slides (9-3), the two ends of the fourth linear slide (9-1) are respectively connected to the movable slides of the two fifth linear slides (9-3), the second spraying rod (9-2) is arranged on the movable slide of the fourth linear slide (9-1), one end of the second spraying rod (9-2) is fixedly connected to the movable slide of the fourth linear slide (9-1), and the other end of the second spraying rod (9-2) is a second spraying end; The bottom-mounted spraying component (10) comprises a sixth linear slide (10-1), a third spraying rod (10-2) and two seventh linear slides (10-3); the two seventh linear slides (10-3) are arranged in parallel at the bottom of the multi-link articulated lifting frame (3) along the length direction of the multi-link articulated lifting frame (3); the two ends of the sixth linear slide (10-1) are respectively connected to the movable slides of the two seventh linear slides (10-3); the third spraying rod (10-2) is arranged on the movable slide of the sixth linear slide (10-1); one end of the third spraying rod (10-2) is fixedly connected to the movable slide of the sixth linear slide (10-1); and the other end of the third spraying rod (10-2) is a third spraying end.

3. A continuous operation room for reactors according to claim 2, characterized in that: A second linear slide (8-2) is vertically arranged on the slide of the first linear slide (8-1), and a first spraying rod (8-3) is fixedly connected to the slide of the second linear slide (8-2).

4. A continuous operation room for reactors according to claim 2, characterized in that: The grinding and suction assembly (5) is arranged inside the other side of the main support frame (1), and comprises a vertical lifting frame (5-1), a multi-hinged support rod (5-2), a dust suction pipe (5-3), a circumferential dust suction grinding head (5-4) and a storage box (5-5). The vertical lifting frame (5-1) is vertically arranged on the bottom of the main support frame (1), and a lifting platform (5-6) is arranged on the vertical lifting frame (5-1). The lifting platform (5-6) is arranged along the vertical lifting frame (5-1). The multi-hinged support rod (5-2) reciprocates in the height direction, one end of the multi-hinged support rod (5-2) is hinged on the lifting platform (5-6), the other end of the multi-hinged support rod (5-2) is provided with a circumferential dust suction and grinding head (5-4), the storage box (5-5) is arranged on one side of the vertical lifting frame (5-1), the bottom of the storage box (5-5) is connected to the bottom of the main support frame (1), and the circumferential dust suction and grinding head (5-4) is connected to the storage box (5-5) through a dust suction pipe (5-3).

5. A continuous operation room for reactors according to claim 4, characterized in that: A pressure sensor is provided in the circumferential dust suction and grinding head (5-4); and a camera and an infrared distance measuring sensor are provided on the first spraying rod (8-3).

6. A continuous operation room for reactors according to claim 5, characterized in that: The exhaust system (7) includes a main pipe (7-1), a plurality of intermediate pipes (7-2), and a plurality of suction nozzles (7-3). The main pipe (7-1) includes a U-shaped pipe body (7-1-1) and two vertical pipes (7-1-2). The U-shaped pipe body (7-1-1) is horizontally arranged at the top of the main support frame (1). Two vertical pipes (7-1-2) are vertically arranged in parallel at both ends of the U-shaped pipe body (7-1-1). A plurality of intermediate pipes (7-2) are horizontally arranged in parallel between the inner walls on both sides of the U-shaped pipe body (7-1-1). The two ends of each intermediate pipe (7-2) are respectively communicated with the inside of the U-shaped pipe body (7-1-1). A plurality of suction nozzles (7-3) are arranged along the length direction of each intermediate pipe (7-2). One end of each suction nozzle (7-3) is communicated with the inside of the intermediate pipe (7-2), and the other end of each suction nozzle (7-3) faces the top surface of the multi-link articulated lifting frame (3).

7. The continuous operation room for reactors according to claim 1, characterized in that: The multi-link articulated lifting frame (3) includes two single frames arranged in parallel. Each single frame includes a top plate (3-1), a rib (3-2), two bottom rods (3-3), two first component rods (3-4), and two second component rods (3-5). The two bottom rods (3-3) are horizontally arranged in parallel. The top plate (3-1) is arranged directly above the two bottom rods (3-3). The rib (3-2) is arranged on the top plate (3-1) along the length direction of the top plate (3-1). The two first component rods (3-4) and the two second component rods (3-5) are articulated between the top plate (3-1) and the two bottom rods (3-3). The first component rods (3-4) and the second component rods (3-5) are arranged in one-to-one correspondence. The first component rods (3-4) and the bottom rods (3-3) are arranged in one-to-one correspondence. The second component rods (3-5) and the bottom rods (3-3) are arranged in one-to-one correspondence. One end of each first component rod (3-4) is articulated to one end of its corresponding bottom rod (3-3), and the other end of each first component rod (3-4) is articulated to one end of the top plate (3-1). One end of each second component rod (3-5) is articulated to the other end of its corresponding bottom rod (3-3), and the other end of each second component rod (3-5) is articulated to the other end of the top plate (3-1). The middle of each first component rod (3-4) is articulated to the middle of its corresponding second component rod (3-5).

8. A continuous operation room for reactors according to claim 1, 2, 3, 4, 5, 6 or 7, characterized in that: The self-rotating annular tray (4) comprises an upper annular disk (4-1), a lower annular disk (4-2), a first drive motor (4-3) and a plurality of guide blocks (4-4); the upper annular disk (4-1) and the lower annular disk (4-2) are coaxially hinged in sequence from top to bottom; the first drive motor (4-3) is arranged on the lower annular disk (4-2); a plurality of guide blocks (4-4) are arranged at the bottom of the lower annular disk (4-2); the lower annular disk (4-2) is slidably matched with a bottom track (2) or a multi-link articulated lifting frame (3) through the plurality of guide blocks (4-4); a plurality of teeth (4-5) are machined on the outer circumferential wall of the upper annular disk (4-1); a gear is mounted on the power output shaft of the first drive motor (4-3); the gear is meshed with the plurality of teeth (4-5); the upper annular disk (4-1) performs self-rotation on the lower annular disk (4-2) driven by the first drive motor (4-3).

9. A full-position spraying method, implemented using the continuous operation room for reactors according to claim 1, 2, 3, 4, 5, 6, 7 or 8, characterized in that: The full-position spraying method is: Shifting stage: adjusting the spraying path and path length of the multi-position spraying assembly (6) according to the size of the reactor (20), adjusting the multi-link articulated lifting frame (3) until the top surface of the multi-link articulated lifting frame (3) is flush with the top surface of the bottom track (2) to form a transport track, and placing the reactor (20) on the self-rotating annular tray (4); Grinding stage: When the self-rotating annular tray (4) drives the reactor (20) to move to the top of the multi-link articulated lifting frame (3) through the transport track, the exhaust system (7) and the grinding and suction assembly (5) are started at the same time, and the circumferential dust suction grinding head (5-4) of the grinding and suction assembly (5) performs a comprehensive grinding of the outer circumferential wall of the reactor (20). During the grinding process, the pressure value obtained by the pressure sensor is maintained between 20 and 50N, and the rotation speed of the circumferential dust suction grinding head (5-4) is between 200 and 1500r / min, so as to ensure the circumferential The grinding surface of the dust suction and grinding head (5-4) performs a lifting movement along the axial direction of the reactor (20), and at the same time ensures that the grinding surface of the circumferential dust suction and grinding head (5-4) is accurately attached to the outer circumferential wall of the reactor (20), and the self-rotating annular tray (4) is started, and the self-rotating annular tray (4) rotates to drive the reactor (20) to rotate synchronously, and the whole wall grinding process of the reactor (20) is completed through the cooperation of the grinding and suction assembly (5), and the exhaust system (7) simultaneously absorbs the dust generated between the grinding and suction assembly (5) and the reactor (20) at the top; After the polishing is completed, the painting stage begins: the multi-position spraying assembly (6) is started to spray paint the top, inside, side and bottom of the reactor (20), and the second multi-degree-of-freedom spraying component (9), the first multi-degree-of-freedom spraying component (8) and the bottom spraying part (10) are started; Starting the self-rotating annular tray (4) to drive the reactor (20) to continue to rotate after grinding, starting the second multi-degree-of-freedom spraying assembly (9) to start spraying, and the second multi-degree-of-freedom spraying assembly (9) cooperates with each other between the fourth linear slide (9-1), the second spraying rod (9-2) and the two fifth linear slides (9-3) to complete the spraying operation on the outer wall of the reactor (20) along the axial direction and / or the outer circumferential direction of the reactor (20); The first multi-degree-of-freedom spraying assembly (8) is started to start spraying, wherein the first multi-degree-of-freedom spraying assembly (8) cooperates with the first linear slide (8-1), the second linear slide (8-2), the first spraying rod (8-3) and the two third linear slides (8-4) to complete the spraying operation on the top of the reactor (20), the planet carrier (20-1) and the interior thereof, wherein the spraying operation inside the reactor (20) is performed sequentially along the axial direction of the reactor (20); The bottom spraying member (10) is started, and the bottom spraying member (10) cooperates with each other between the sixth linear slide (10-1), the third spraying rod (10-2) and the two seventh linear slides (10-3) to complete the spraying operation on the bottom of the reactor (20), thereby completing the full-position spraying operation on the reactor (20) from the outside to the inside.

10. The all-position spraying method according to claim 9, characterized in that: There are two starting sequences for the multi-position spray assembly (6): one is to first start the second multi-degree-of-freedom spray component (9), then start the first multi-degree-of-freedom spray component (8), and finally start the bottom spray component (10); the other is to start the first multi-degree-of-freedom spray component (8), the second multi-degree-of-freedom spray component (9), and the bottom spray component (10) at the same time.

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