Orthogonal rail multi-robot collaborative spraying system for super-large special-shaped workpieces

Abstract

The application discloses a kind of orthogonal track multi-mechanical arm collaborative spraying systems for super large special-shaped parts, comprising: X direction support sliding member, it includes ground rail, X direction moving support and X direction moving power piece;Vertical surface spraying member, it includes vertical surface Z direction support plate, vertical surface Z direction power piece, vertical surface Z direction sliding seat and first spraying mechanical arm, the vertical surface Z direction support plate is arranged on the X direction moving support, the vertical surface Z direction power piece drives the vertical surface Z direction sliding seat to reciprocate and slide along Z axis direction on the vertical surface Z direction support plate;Inclined surface spraying member, it includes inclined surface Y direction displacement piece and inclined surface Z direction displacement spraying member, the inclined surface Y direction displacement piece drives the inclined surface Z direction displacement spraying member to reciprocate and move along Y axis direction on the vertical surface Z direction support plate.The application has compact structure, saves space, high spraying efficiency, is conducive to protecting worker's life and health, prevents overturning, and effectively reduces motor installation and maintenance difficulty.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship equipment, more particularly, to a normal rail multi-robot spraying system for super-large irregular workpieces. BACKGROUND

[0002] In recent years, with the continuous development and innovation of science and technology, spraying robots are gradually replacing manual work in the painting of ship sections. The application of the technology not only protects the health of workers but also improves production efficiency. However, in the existing automatic spraying equipment, a spraying gun is usually installed at the tail of a single-arm multi-axis serial mechanical arm to perform work. Since the ship sections are mostly triangular in cross-section, the mechanical arm needs to be moved to the side of the workpiece through a guide rail after spraying the top, which greatly reduces the production efficiency. Meanwhile, although the spraying work of ordinary gantry hoisting robots can improve the production efficiency to a certain extent, the gantry walking mechanism is placed on the top, and the motor is located on the top of the overhead traveling crane, which itself has the problems of difficult installation and maintenance. If the walking mechanism is placed at the bottom, the problem of easy overturning due to the high height cannot be solved, which becomes a hidden danger of safety production.

[0003] The present application adopts a double-arm structure, hoists the mechanical arm, and loads the mechanical arm on the side, which greatly improves the production efficiency when spraying the inclined surface of the ship section and simultaneously spraying the side vertical surface. Meanwhile, the present application adopts a mode in which one end of the overhead traveling crane walking mechanism is loaded with a driving motor at the bottom and the other end is placed at the top to prevent overturning, which solves the problems of difficult installation and maintenance of the motor and easy overturning. SUMMARY

[0004] In order to overcome the above-mentioned defects, the present application provides a normal rail multi-robot spraying system for super-large irregular workpieces, which specifically adopts the following technical solutions:

[0005] A normal rail multi-robot spraying system for super-large irregular workpieces, comprising:

[0006] An X-direction support sliding member, which comprises a ground rail, an X-direction moving support member, and an X-direction moving power member, wherein the X-direction moving power member drives the X-direction moving support member to reciprocate along the ground rail in the X-axis direction.

[0007] A vertical surface spraying member, which is arranged on the X-direction moving support member and comprises a vertical surface Z-direction support plate, a vertical surface Z-direction power member, a vertical surface Z-direction sliding seat, and a first spraying mechanical arm, wherein the vertical surface Z-direction support plate is arranged on the X-direction moving support member, the vertical surface Z-direction power member drives the vertical surface Z-direction sliding seat to reciprocate along the Z-axis direction on the vertical surface Z-direction support plate, and in turn drives the first spraying mechanical arm arranged thereon to automatically spray the vertical surface of the ship section.

[0008] An inclined spraying component is disposed on the vertical spraying component. It includes an inclined Y-axis displacement component and an inclined Z-axis displacement spraying component. The inclined Y-axis displacement component drives the inclined Z-axis displacement spraying component to reciprocate along the Y-axis direction on the vertical Z-axis support plate. At the same time, the inclined Z-axis displacement spraying component automatically moves along the Z-axis direction to the inclined surface of the ship section for automatic spraying operation.

[0009] Preferably, the ground track includes a first ground track and a second ground track. The first ground track is horizontally set on the workshop floor, and the second ground track is horizontally set on the support frame. The support frame is set on the workshop floor, and the first ground track and the second ground track are parallel.

[0010] Preferably, the X-direction moving support includes a first X-direction slide and a second X-direction slide, the first X-direction slide is fastened to the first ground rail, the second X-direction slide is fastened to the second ground rail, and the first X-direction slide is connected to the second X-direction slide through the inclined spraying component and the vertical spraying component.

[0011] Preferably, the X-direction moving power component includes an X-direction power motor, a first gear, and a first rack. The X-direction power motor is mounted on the first X-direction slide, the first gear is mounted on the rotating shaft of the X-direction power motor, and the first rack is mounted on the first ground rail, and the first rack meshes with the first gear.

[0012] Preferably, the bottom end of the vertical Z-axis support plate is vertically mounted on the first X-axis slide block, the vertical Z-axis power component includes a vertical Z-axis power motor and a lead screw, the vertical Z-axis power motor is mounted on the vertical Z-axis support plate, and one end of the lead screw is vertically mounted on the shaft of the vertical Z-axis power motor; the vertical Z-axis slide block is fastened to the first slide rail on the vertical Z-axis support plate via the first slide block, and the first nut on the vertical Z-axis slide block is fitted onto the lead screw.

[0013] Preferably, the bottom of the first spraying robotic arm is fixedly mounted on the vertical Z-axis sliding seat, and the top of the first spraying robotic arm is provided with a first spray gun, which is connected to the high-pressure spraying equipment through a first high-pressure hose.

[0014] Preferably, the inclined Y-direction displacement component includes a Y-direction support beam, a cable tray, a crossbeam, and an inclined Y-direction transmission power component. One end of the Y-direction support beam is disposed at the top of the vertical Z-direction support plate, and the other end of the Y-direction support beam is disposed on the second X-direction slide block. Multiple Y-direction support beams are distributed in parallel. The cable tray is fastened to the second slide rail on the Y-direction support beam via the second slide block disposed thereon. Multiple cable trays correspond one-to-one with multiple Y-direction support beams. The crossbeam is disposed on two cable trays and is used to install the inclined Z-direction displacement spraying component.

[0015] Preferably, the inclined Y-direction transmission power component includes a Y-direction power motor, a second gear, and a second rack. The Y-direction power motor is mounted on the bridge frame, the second gear is mounted on the shaft of the Y-direction power motor, and the second rack is mounted on the Y-direction support beam, and the second rack meshes with the second gear.

[0016] Preferably, the inclined Z-axis displacement spraying component includes a fixed guide tube, an inclined Z-axis power component, a telescopic frame, and a second spraying robotic arm. The fixed guide tube is vertically mounted on the inclined Z-axis displacement component. The inclined Z-axis power component and the telescopic frame are both mounted on the fixed guide tube, and the second spraying robotic arm is mounted on the telescopic frame. The fixed guide tube is vertically fixed on the crossbeam. The inclined Z-axis power component includes an inclined Z-axis power motor and a screw. The inclined Z-axis power motor is fixedly embedded in the fixed guide tube, and one end of the screw is vertically mounted on the shaft of the inclined Z-axis power motor.

[0017] Preferably, the telescopic frame is embedded in the fixed guide tube, and the third slide rail on the telescopic frame cooperates with the third slide block in the fixed guide tube. At the same time, the second nut on the telescopic frame is fitted onto the screw. The bottom of the second spraying robot arm is located on the bottom end of the telescopic frame, and the top of the second spraying robot arm is provided with a second spray gun. The second spray gun is connected to the high-pressure spraying equipment through a second high-pressure hose.

[0018] The present invention has at least the following beneficial effects:

[0019] 1) The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregular parts of the present invention adopts a dual-arm structure. That is, during the automatic spraying of the vertical surface of the ship section by the vertical spraying part, the inclined surface spraying part automatically sprays the inclined surface of the ship section, which significantly improves the spraying efficiency.

[0020] 2) The orthogonal track multi-robotic arm collaborative spraying system of the present invention for ultra-large irregular parts achieves unmanned automatic spraying through a predetermined program, which is beneficial to protecting the life and health of workers;

[0021] 3) The orthogonal track multi-robotic arm collaborative spraying system of the present invention for ultra-large irregular parts is equipped with vertical spraying parts and inclined spraying parts. The vertical spraying parts and the inclined spraying parts are connected at right angles, and the free ends of the vertical spraying parts and the inclined spraying parts are respectively connected to two ground rails at different heights. This effectively prevents the connection between the vertical spraying parts and the inclined spraying parts from tipping over due to excessive height; and effectively reduces the difficulty of motor installation and maintenance.

[0022] 4) The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregular parts of the present invention is equipped with a sloped Z-axis displacement spraying component. The sloped Z-axis displacement spraying component is fixed on the sloped Y-axis displacement component through a fixed guide tube to achieve square movement on the Y-axis, thereby reducing the size of the entire mechanism and saving space.

[0023] 5) The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregular parts of this invention uses lead screw for transmission, which makes reasonable use of the advantages of lead screw in transmission reversibility and low friction loss, and can realize the rapid up and down movement of robotic arms.

[0024] 6) The orthogonal track multi-robotic arm collaborative spraying system of the present invention for ultra-large irregular parts is equipped with an X-axis support sliding component, a vertical spraying component and an inclined spraying component. During the spraying operation, when the X-axis support sliding component moves along the X-axis direction, it will simultaneously drive the two robotic arms on the vertical spraying component and the inclined spraying component to move and spray together, which saves space and improves production efficiency.

[0025] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0026] Figure 1 This is a front view of the orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to the present invention;

[0027] Figure 2 This is a three-dimensional structural diagram of the orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregular parts according to the present invention;

[0028] Figure 3 This is a three-dimensional structural diagram of the orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregular parts according to the present invention;

[0029] Figure 4 This is a front view of a vertically sprayed component in the orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to the present invention;

[0030] Figure 5This is a three-dimensional structural diagram of the inclined Y-axis displacement component in the orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregular parts according to the present invention;

[0031] Figure 6 This is a three-dimensional structural diagram of the inclined Z-direction displacement spraying part in the orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregular parts according to the present invention.

[0032] Wherein: 1-First ground rail, 2-Second ground rail, 3-Support scaffold, 4-First X-direction slide, 5-Second X-direction slide, 6-X-direction power motor, 7-First gear, 8-First rack, 9-Vertical Z-direction support plate, 10-Vertical Z-direction slide, 11-First painting robot arm, 12-Vertical Z-direction power motor, 13-Screw, 15-First slide, 16-First slide rail, 17-Y-direction support beam, 18-Bridge frame, 19-Crossbeam, 20-Y-direction power motor, 21-Second gear, 22-Second rack, 23-Second slide, 24-Second slide rail, 25-Fixed guide tube, 26-Telescopic frame, 27-Second painting robot arm, 28-Inclined Z-direction power motor, 29-Ship section. Detailed Implementation

[0033] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and by way of embodiments. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0034] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another type of relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it are in an "or" relationship.

[0035] according to Figures 1-6As shown, an orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts includes an X-axis support sliding component, a vertical spraying component, and an inclined spraying component. Both the vertical and inclined spraying components are mounted on the X-axis support sliding component. The X-axis support sliding component includes a ground rail, an X-axis moving support component, and an X-axis moving power component. The X-axis moving support component is mounted on the ground rail, and the X-axis moving power component is mounted on the X-axis moving support component. The ground rail includes a first ground rail 1 and a second ground rail 2. The first ground rail 1 is horizontally mounted on the workshop floor, and the second ground rail 2 is horizontally mounted on a support frame 3. The support frame 3 is vertically fixed on the workshop floor, and the first ground rail 1 and the second ground rail 2 are parallel, with the height of the second ground rail 2 being greater than the height of the first ground rail 1.

[0036] The X-axis movable support includes a first X-axis slide block 4 and a second X-axis slide block 5. The first X-axis slide block 4 is fastened to the first ground rail 1, allowing it to slide on the first ground rail 1. The second X-axis slide block 5 is fastened to the second ground rail 2, allowing it to slide on the second ground rail 2. The first X-axis slide block 4 is connected to the second X-axis slide block 5 via the inclined spraying component and the vertical spraying component.

[0037] The X-axis moving power component includes an X-axis power motor 6, a first gear 7, and a first rack 8. The X-axis power motor 6 is mounted on the first X-axis slide 4, the first gear 7 is mounted on the shaft of the X-axis power motor 6, and the first rack 8 is mounted on the first ground rail 1, with the first rack 8 meshing with the first gear 7. When the X-axis power motor 6 drives the first gear 7 to rotate, it will push the first X-axis slide 4 along the first ground rail 1 by acting in the opposite direction to the first rack 8. That is, the first X-axis slide 4 and the second X-axis slide 5 drive the inclined spraying part and the vertical spraying part to move in the X-axis. Further, the X-axis power motor 6 is a servo motor.

[0038] The vertical spraying component includes a vertical Z-axis support plate 9, a vertical Z-axis power component, a vertical Z-axis sliding seat 10, and a first spraying robotic arm 11. The vertical Z-axis support plate 9 is mounted on the first X-axis sliding seat 4. The vertical Z-axis power component and the vertical Z-axis sliding seat 10 are both mounted on the vertical Z-axis support plate 9. The first spraying robotic arm 11 is mounted on the vertical Z-axis support plate 9. The bottom end of the vertical Z-axis support plate 9 is vertically fixed on the first X-axis sliding seat 4.

[0039] The vertical Z-axis power component includes a vertical Z-axis power motor 12 and a lead screw 13. The vertical Z-axis power motor 12 is fixedly mounted on the vertical Z-axis support plate 9. One end of the lead screw 13 is vertically fixed on the shaft of the vertical Z-axis power motor 12, and the lead screw 13 is connected to the vertical Z-axis support plate 9 through a lead screw mounting seat to improve the stability of the lead screw 13. Furthermore, the vertical Z-axis power motor 12 is a servo motor.

[0040] The vertical Z-axis sliding seat 10 is fastened to the first slide rail 16 on the vertical Z-axis support plate 9 via the first slide seat 15, allowing the vertical Z-axis sliding seat 10 to move along the vertical Z-axis support plate 9 in the Z-direction via the first slide seat 15 and the first slide rail 16. Furthermore, the first nut on the vertical Z-axis sliding seat 10 is fitted onto the lead screw 13, and the first nut engages with the lead screw 13. When the vertical Z-axis power motor 12 drives the lead screw 13 to rotate, the lead screw 13 will drive the vertical Z-axis sliding seat 10 to move along the vertical Z-axis support plate 9 in the Z-direction via the first nut.

[0041] The bottom of the first spraying robotic arm 11 is fixedly mounted on the vertical Z-axis sliding seat 10, and the top of the first spraying robotic arm 11 is equipped with a first spray gun, which is connected to a high-pressure spraying device through a first high-pressure hose. After the first spray gun is moved to a predetermined position by the X-axis support sliding member and the vertical Z-axis power member according to a predetermined program, it performs automatic and rapid spraying operations on the vertical surface of the ship section 29.

[0042] The inclined surface spraying component includes an inclined Y-axis displacement component and an inclined Z-axis displacement spraying component. The inclined Y-axis displacement component is mounted on the vertical Z-axis support plate 9, and the inclined Z-axis displacement spraying component is mounted on the inclined Y-axis displacement component. The inclined Y-axis displacement component includes a Y-axis support beam 17, a cable tray 18, a crossbeam 19, and an inclined Y-axis transmission power component. The Y-axis support beam 17 is mounted on the vertical Z-axis support plate 9, the cable tray 18 is mounted on the Y-axis support beam 17, and the crossbeam 19 and the inclined Y-axis transmission power component are both mounted on the cable tray 18.

[0043] One end of the Y-axis support beam 17 is horizontally fixed to the top of the vertical Z-axis support plate 9, and the other end of the Y-axis support beam 17 is horizontally fixed to the second X-axis slide block 5. The two Y-axis support beams 17 are distributed in parallel. The cable tray 18 is fastened to the second slide rail 24 on the Y-axis support beam 17 via the second slide block 23, so that the cable tray 18 can move along the Y-axis support beam 17 along the second slide rail 24 via the second slide block 23. The two cable trays 18 correspond one-to-one with the two Y-axis support beams 17. The two ends of the crossbeam 19 are horizontally fixed to the two cable trays 18 for mounting the inclined Z-axis displacement spraying component. The inclined plane Y-axis transmission power component includes a Y-axis power motor 20, a second gear 21, and a second rack 22. The Y-axis power motor 20 is mounted on the bridge frame 18. The second gear 21 is fixedly mounted on the shaft of the Y-axis power motor 20. The second rack 22 is mounted on the Y-axis support beam 17 and meshes with the second gear 21. When the Y-axis power motor 20 drives the second gear 21 to rotate, the reverse force of the second rack 22 will push the bridge frame 18 and the crossbeam 19 to move in the Y direction, thereby driving the inclined plane Z-axis displacement spraying component to achieve Y-axis displacement. Furthermore, the Y-axis power motor 20 is a servo motor.

[0044] The inclined Z-axis displacement spraying component includes a fixed guide tube 25, an inclined Z-axis power component, a telescopic frame 26, and a second spraying robotic arm 27. The fixed guide tube 25 is vertically fixed on the inclined Y-axis displacement component. The inclined Z-axis power component and the telescopic frame 26 are both mounted on the fixed guide tube 25, and the second spraying robotic arm 27 is mounted on the telescopic frame 26. The fixed guide tube 25 is vertically fixed on the crossbeam 19. The inclined Z-axis power component includes an inclined Z-axis power motor 28 and a screw. The inclined Z-axis power motor 28 is fixedly embedded at the top of the fixed guide tube 25, and one end of the screw is vertically fixed on the shaft of the inclined Z-axis power motor 28.

[0045] The telescopic frame 26 is embedded in the fixed guide tube 25, and the third slide rail on the telescopic frame 26 cooperates with the third slide block in the fixed guide tube 25. Simultaneously, the second nut on the telescopic frame 26 is fitted onto the screw. When the inclined plane Z-axis power motor 28 drives the screw to rotate, it will drive the telescopic frame 26 to move along the Z-axis within the fixed guide tube 25 via the second nut. The bottom of the second spraying robotic arm 27 is located on the bottom end of the telescopic frame 26, and the top of the second spraying robotic arm 27 is equipped with a second spray gun. The second spray gun is connected to the high-pressure spraying equipment via a second high-pressure hose. The second spray gun, according to a predetermined program, is moved to a predetermined position on the inclined plane of the ship section 29 by the X-axis support sliding member, the inclined plane Y-axis displacement member, and the inclined plane Z-axis displacement spraying member, and then performs automatic and rapid spraying operations on the inclined plane of the ship section 29.

[0046] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A multi-robotic arm collaborative spraying system with orthogonal tracks for ultra-large irregularly shaped parts, characterized in that, include: The X-axis support sliding member includes a ground rail, an X-axis moving support member, and an X-axis moving power member. The X-axis moving power member is on the X-axis moving support member and drives the X-axis moving support member to slide back and forth along the ground rail in the X-axis direction. A vertical spraying component, mounted on the X-axis movable support, includes a vertical Z-axis support plate, a vertical Z-axis power component, a vertical Z-axis sliding seat, and a first spraying robotic arm. The vertical Z-axis support plate is mounted on the X-axis movable support. The vertical Z-axis power component drives the vertical Z-axis sliding seat to slide back and forth along the Z-axis on the vertical Z-axis support plate, thereby driving the first spraying robotic arm mounted on it to automatically spray the vertical surfaces of the ship sections. An inclined spraying component is disposed on the vertical spraying component. It includes an inclined Y-axis displacement component and an inclined Z-axis displacement spraying component. The inclined Y-axis displacement component drives the inclined Z-axis displacement spraying component to reciprocate along the Y-axis direction on the vertical Z-axis support plate. At the same time, the inclined Z-axis displacement spraying component automatically moves along the Z-axis direction to the inclined surface of the ship section for automatic spraying operation.

2. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 1, characterized in that, The ground track includes a first ground track and a second ground track. The first ground track is horizontally set on the workshop floor, and the second ground track is horizontally set on the support frame. The support frame is set on the workshop floor, and the first ground track and the second ground track are parallel.

3. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 2, characterized in that, The X-axis movable support includes a first X-axis slide and a second X-axis slide. The first X-axis slide is fastened to the first ground rail, and the second X-axis slide is fastened to the second ground rail. The first X-axis slide is connected to the second X-axis slide through the inclined spraying component and the vertical spraying component.

4. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 3, characterized in that, The X-axis moving power component includes an X-axis power motor, a first gear, and a first rack. The X-axis power motor is mounted on the first X-axis slide, the first gear is mounted on the rotating shaft of the X-axis power motor, and the first rack is mounted on the first ground rail, and the first rack meshes with the first gear.

5. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 4, characterized in that, The bottom end of the vertical Z-axis support plate is vertically mounted on the first X-axis slide block. The vertical Z-axis power component includes a vertical Z-axis power motor and a lead screw. The vertical Z-axis power motor is mounted on the vertical Z-axis support plate, and one end of the lead screw is vertically mounted on the shaft of the vertical Z-axis power motor. The vertical Z-axis slide block is fastened to the first slide rail on the vertical Z-axis support plate via the first slide block, and the first nut on the vertical Z-axis slide block is fitted onto the lead screw.

6. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to any one of claims 1-5, characterized in that, The bottom of the first spraying robotic arm is fixedly mounted on the vertical Z-axis sliding seat, and the top of the first spraying robotic arm is equipped with a first spray gun, which is connected to the high-pressure spraying equipment through a first high-pressure hose.

7. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 5, characterized in that, The inclined Y-direction displacement component includes a Y-direction support beam, a cable tray, a crossbeam, and an inclined Y-direction transmission power component. One end of the Y-direction support beam is located at the top of the vertical Z-direction support plate, and the other end of the Y-direction support beam is located on the second X-direction slide block. Multiple Y-direction support beams are distributed in parallel. The cable tray is fastened to the second slide rail on the Y-direction support beam via the second slide block provided thereon. Multiple cable trays correspond one-to-one with multiple Y-direction support beams. The crossbeam is located on two cable trays and is used to install the inclined Z-direction displacement spraying component.

8. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 7, characterized in that, The inclined Y-direction transmission power component includes a Y-direction power motor, a second gear, and a second rack. The Y-direction power motor is mounted on the bridge frame, the second gear is mounted on the shaft of the Y-direction power motor, and the second rack is mounted on the Y-direction support beam, with the second rack meshing with the second gear.

9. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 8, characterized in that, The inclined Z-axis displacement spraying component includes a fixed guide tube, an inclined Z-axis power component, a telescopic frame, and a second spraying robotic arm. The fixed guide tube is vertically mounted on the inclined Z-axis displacement component. The inclined Z-axis power component and the telescopic frame are both mounted on the fixed guide tube, and the second spraying robotic arm is mounted on the telescopic frame. The fixed guide tube is vertically fixed on the crossbeam. The inclined Z-axis power component includes an inclined Z-axis power motor and a screw. The inclined Z-axis power motor is fixedly embedded in the fixed guide tube, and one end of the screw is vertically mounted on the shaft of the inclined Z-axis power motor.

10. The orthogonal track multi-robotic arm collaborative spraying system for ultra-large irregularly shaped parts according to claim 9, characterized in that, The telescopic frame is embedded in the fixed guide tube, and the third slide rail on the telescopic frame cooperates with the third slide block in the fixed guide tube. At the same time, the second nut on the telescopic frame is fitted onto the screw. The bottom of the second spraying robot arm is set on the bottom end of the telescopic frame, and the top of the second spraying robot arm is equipped with a second spray gun. The second spray gun is connected to the high-pressure spraying equipment through a second high-pressure hose.

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