Steel structure module box spraying device and spraying method thereof

Abstract

The invention relates to the technical field of steel structure production, and discloses a steel structure module box spraying device and a spraying method thereof.The spraying device comprises a portal frame, a first spraying mechanism, a second spraying mechanism, a third spraying mechanism and a controller; the portal frame comprises a first vertical beam, a second vertical beam and a horizontal beam connected between the first vertical beam and the second vertical beam in the X direction. The first spraying mechanism is arranged on the first vertical beam and used for spraying the inner surface, the first outer side surface, the second outer side surface and the third outer side surface of the steel structure module box. The second spraying mechanism is arranged on the second vertical beam and is used for spraying the fourth outer side surface of the steel structure module box body; and the third spraying mechanism is arranged on the horizontal beam and used for spraying the outer top surface of the steel structure module box body, and efficient and uniform spraying operation can be conducted on the steel structure module box body while the labor amount of operators is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of steel structure production, and in particular to a steel structure module box spraying device and a spraying method thereof. Background Art

[0002] Steel structure box-type modular houses have unique advantages in the housing construction industry, meeting the four major standards of "safety and durability, health and comfort, green and low carbon, and smart and convenient". The core of this type of modular house lies in the production of steel structure module boxes. Among them, spraying anti-rust paint is an important part of the production process of steel structure module boxes, which plays a vital role in the anti-corrosion and anti-rust of steel structure module boxes. Figure 1 and Figure 2 The figure shows a common steel structure module box. During the production process, the inner surface 110, the first outer surface 120, the second outer surface 130, the third outer surface 140, the fourth outer surface 150 and the outer top surface 160 of the box need to be sprayed with anti-rust paint; currently, the spraying work on the surface of the steel structure module box is usually carried out by an operator holding a spray gun with the help of scaffolding and other climbing auxiliary tools, which is labor-intensive and has low spraying efficiency. Summary of the invention

[0003] In view of this, the present invention provides a steel structure module box spraying device and a spraying method thereof to solve the problem of low efficiency in spraying the surface of the steel structure module box.

[0004] In a first aspect, the present invention provides a steel structure module box spraying device, comprising:

[0005] The gantry comprises a first vertical beam, a second vertical beam and a horizontal beam, wherein the horizontal beam is connected between the first vertical beam and the second vertical beam along the X direction;

[0006] The first spraying mechanism comprises a Z-axis moving assembly, an industrial robot arm and a first spraying assembly, wherein the Z-axis moving assembly is arranged on the first vertical beam, the industrial robot arm is arranged on the Z-axis moving assembly and is driven by the Z-axis moving assembly to move along the Z direction; the first spraying assembly is arranged at the execution end of the industrial robot arm and is used to spray the inner surface, the first outer surface, the second outer surface and the third outer surface of the steel structure module box;

[0007] A second spraying mechanism, comprising a second spraying assembly and a first two-axis moving assembly arranged on the second vertical beam, wherein the second spraying assembly is driven by the first two-axis moving assembly to move along the Y direction and the Z direction, and is used to spray the fourth outer side surface of the steel structure module box;

[0008] A third spraying mechanism, comprising a third spraying assembly and a second two-axis moving assembly arranged on the horizontal beam, wherein the third spraying assembly is driven by the second two-axis moving assembly to move along the X direction and the Y direction and is used to spray the outer top surface of the steel structure module box;

[0009] A controller is electrically connected to the first spraying mechanism, the second spraying mechanism and the third spraying mechanism.

[0010] A steel structure module box spraying device according to the present invention has at least the following beneficial effects:

[0011] By respectively arranging the first spraying mechanism, the second spraying mechanism and the third spraying mechanism on the first vertical beam, the second vertical beam and the horizontal beam, the first spraying mechanism, the second spraying mechanism and the third spraying mechanism are electrically connected to the controller. In the process of placing the steel structure module box at the spraying station for spraying, the controller controls the first spraying component to move with the Z-axis moving component and the industrial robot arm according to the set trajectory to spray the first outer surface, the second outer surface, the inner surface and the third outer surface of the steel structure module box in sequence. At the same time, it can control the second spraying component to move with the first two-axis moving component according to the set trajectory to spray the fourth outer surface of the steel structure module box, and control the third spraying component to move with the second two-axis moving component according to the set trajectory to spray the outer top surface of the steel structure module box; the first outer surface, the second outer surface, the inner surface and the third outer surface of the steel structure module box are sprayed in sequence, and the fourth outer surface and the outer top surface of the steel structure module box are sprayed respectively, so that the steel structure module box can be sprayed efficiently and evenly while reducing the labor of the operator.

[0012] In an optional embodiment, the Z-axis moving assembly includes:

[0013] A first rack, arranged on the first vertical beam along the Z direction;

[0014] A first guide rail, arranged on one side of the first rack along the Y direction;

[0015] A first mounting plate is slidably disposed on the first guide rail along the Z direction, and the industrial robot arm is disposed on the first mounting plate;

[0016] The first motor is fixedly connected to the first mounting plate. The output end of the first motor is connected to a first gear, and the first gear is meshed with the first rack.

[0017] In an optional embodiment, the first two-axis moving assembly includes:

[0018] A Z-axis moving module, comprising a second rack arranged on the second vertical beam along the Z direction, a second guide rail being arranged on one side of the second rack along the Y direction, a second mounting plate being slidably arranged on the second guide rail along the Z direction, a second motor being arranged on the second mounting plate, an output end of the second motor being connected to a second gear, and the second gear being meshed with the second rack;

[0019] A first Y-axis moving driver is arranged on the second mounting plate, the first Y-axis moving driver is provided with a third mounting plate moving along the Y direction, and the second spraying assembly is arranged on the third mounting plate;

[0020] And / or, the second two-axis moving assembly includes:

[0021] Two X-axis belt modules are arranged on the horizontal beam at intervals along the Y direction;

[0022] a fourth mounting plate, connected between the two X-axis belt modules along the Y direction, and driven by the X-axis belt modules to move along the X direction;

[0023] The second Y-axis moving driver is arranged on the fourth mounting plate. The second Y-axis moving driver is provided with a fifth mounting plate moving along the Y direction. The third spraying assembly is arranged on the fifth mounting plate.

[0024] In an optional embodiment, the second spraying mechanism also includes an X-axis moving assembly, which is arranged between the third mounting plate and the second spraying assembly; the X-axis moving assembly includes an X-axis moving driver arranged on the third mounting plate, the X-axis moving driver is provided with a sixth mounting plate moving along the X-direction, and the second spraying assembly is arranged on the sixth mounting plate.

[0025] In an optional embodiment, the third spraying mechanism also includes a Z-axis moving driver, which is arranged on the fifth mounting plate; the Z-axis moving driver is provided with a seventh mounting plate moving along the Z direction, and the third spraying assembly is arranged on the seventh mounting plate.

[0026] In an optional embodiment, it also includes two ground rails arranged opposite to each other along the X direction, the two ground rails are arranged parallel to the Y direction, and a travel drive component is arranged at the lower end of the first vertical beam and the second vertical beam along the Z direction, and the travel drive component is rollingly arranged on the corresponding ground rail, and the travel drive component is electrically connected to the controller; a roller encoder is arranged at the lower end of the first vertical beam and / or the second vertical beam along the Z direction, and the roller encoder rolls and abuts against the upper surface of the ground rail, and the roller encoder is electrically connected to the controller.

[0027] In an optional embodiment, the travel drive assembly includes a main travel wheel and a slave travel wheel arranged at the lower ends of the first vertical beam and the second vertical beam, the main travel wheel is driven to rotate by a third motor, and the third motor is electrically connected to the controller.

[0028] In an optional embodiment, a connecting plate is provided at the lower end of each of the first vertical beam and the second vertical beam, and the connecting plate is provided with two guide wheels, the two guide wheels are arranged opposite to each other along the X direction, and respectively abut against two sides of the ground rail along the X direction;

[0029] And / or, a clamp is provided at the lower end of at least one of the first vertical beam and the second vertical beam, and the clamp has a locking state in which it is tightly abutted against the two side walls of the floor rail along the X direction, and an unlocking state in which it is separated from the two side walls of the floor rail;

[0030] And / or, an anti-collision rubber pad is provided on the side of the secondary running wheel away from the main running wheel along the Y direction.

[0031] In an optional embodiment, a climbing ladder is provided on the side wall of the first vertical beam away from the industrial robot arm along the X direction, the upper end of the climbing ladder is connected to the horizontal beam, and a protective cover is provided around the outer periphery of the climbing ladder.

[0032] In a second aspect, the present invention further provides a spraying method, which is applied to the steel structure module box spraying device provided in the first aspect above, and the spraying method comprises the following steps:

[0033] The controller acquires first standard trajectory data of the first spraying mechanism, second standard trajectory data of the second spraying mechanism, and third standard trajectory data of the third spraying mechanism;

[0034] Controlling the movement of the Z-axis moving component and the industrial robot arm according to the first standard trajectory data, and controlling the first spraying component to spray;

[0035] Controlling the movement of the first two-axis moving component according to the second standard trajectory data, and controlling the second spraying component to spray;

[0036] The second two-axis moving component is controlled to move according to the third standard trajectory data, and the third spraying component is controlled to spray.

[0037] A spraying method according to the present invention has at least the following beneficial effects:

[0038] By respectively arranging the first spraying mechanism, the second spraying mechanism and the third spraying mechanism on the first vertical beam, the second vertical beam and the horizontal beam, the first spraying mechanism, the second spraying mechanism and the third spraying mechanism are electrically connected to the controller. In the process of placing the steel structure module box at the spraying station for spraying, the controller controls the first spraying component to move with the Z-axis moving component and the industrial robot arm according to the set trajectory to spray the first outer surface, the second outer surface, the inner surface and the third outer surface of the steel structure module box in sequence. At the same time, it can control the second spraying component to move with the first two-axis moving component according to the set trajectory to spray the fourth outer surface of the steel structure module box, and control the third spraying component to move with the second two-axis moving component according to the set trajectory to spray the outer top surface of the steel structure module box; the first outer surface, the second outer surface, the inner surface and the third outer surface of the steel structure module box are sprayed in sequence, and the fourth outer surface and the outer top surface of the steel structure module box are sprayed respectively, so that the steel structure module box can be sprayed efficiently and evenly while reducing the labor of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a structural schematic diagram of an existing steel structure module box;

[0041] Figure 2 for Figure 1 A structural diagram from another perspective;

[0042] Figure 3 This is a schematic structural diagram of a steel structure module box spraying device according to an embodiment of the present invention;

[0043] Figure 4 It is a structural schematic diagram of the assembly of the first spraying mechanism and the first vertical beam in an embodiment of the present invention;

[0044] Figure 5 for Figure 4 A structural diagram from another perspective;

[0045] Figure 6 It is a structural schematic diagram of the assembly of the third spraying mechanism and the horizontal beam in an embodiment of the present invention;

[0046] Figure 7It is a structural schematic diagram of the assembly of the second spraying mechanism and the second vertical beam in an embodiment of the present invention;

[0047] Figure 8 for Figure 7 A structural diagram from another perspective;

[0048] Fig. 9 for Figure 7 A schematic diagram of the structure of the first Y-axis moving driver and the X-axis moving component assembly;

[0049] Fig.10 for Fig. 9 A structural diagram from another perspective;

[0050] Fig.11 for Figure 7 Schematic diagram of the local structure;

[0051] Fig.12 for Fig.11 Schematic diagram of the local structure.

[0052] Description of reference numerals:

[0053] 110 - inner surface, 120 - first outer surface, 130 - second outer surface, 140 - third outer surface, 150 - fourth outer surface, 160 - top surface;

[0054] 210-first vertical beam, 211-climbing ladder, 212-protective cover, 220-second vertical beam, 230-horizontal beam, 231-guardrail;

[0055] 310-industrial robot arm, 321-first rack, 322-first guide rail, 323-first mounting plate, 324-first motor, 325-first gear, 326-first drag chain, 330-first spray gun;

[0056] 400-controller;

[0057] 511-second rack, 512-second guide rail, 513-second mounting plate, 514-second motor, 515-second gear, 516-first reducer, 517-second fixed plate, 518-second reducer, 520-first Y-axis moving driver, 521-third mounting plate, 530-X-axis moving driver, 531-sixth mounting plate, 541-second drag chain, 542-second drag chain bracket, 543-third drag chain, 544-third drag chain bracket, 545-fourth drag chain, 546-fourth drag chain bracket, 550-second spray gun, 561-first limit switch, 562-second limit switch;

[0058] 610-X-axis belt module, 611-fourth mounting plate, 620-second Y-axis mobile driver, 621-fifth mounting plate, 630-Z-axis mobile driver, 631-seventh mounting plate, 641-fifth drag chain, 642-sixth drag chain, 643-seventh drag chain, 650-third spray gun;

[0059] 700-ground rail;

[0060] 810-roller encoder, 820-main travel wheel, 830-slave travel wheel, 840-third motor, 850-connecting plate, 860-guide wheel, 870-anti-collision rubber pad;

[0061] 900-Clamp. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0063] In the description of this embodiment, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this embodiment and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting this embodiment. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0064] In the description of this embodiment, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0065] Related technologies in Figure 1 and Figure 2During the production of the common steel structure module box shown, an operator usually sprays anti-rust paint on the inner surface 110, the first outer surface 120, the second outer surface 130, the third outer surface 140, the fourth outer surface 150 and the outer top surface 160 of the box respectively by holding a spray gun with the help of climbing auxiliary tools such as scaffolding; however, this spraying operation method has high labor intensity for operators and low spraying efficiency; and the side length of the steel structure module box is between 5 meters and 12 meters, and the height is between 2.5 meters and 4 meters; the spraying operation area is large, and it is necessary to constantly move the climbing tools and repeatedly climb, which poses a safety hazard of falling from high-altitude operations. In order to solve the above technical defects, a steel structure module box spraying device and a spraying method thereof according to an embodiment of the present invention are provided.

[0066] Combine the following Figures 3 to 12 , describing an embodiment of the present invention.

[0067] According to the first aspect of the embodiment of the present invention, a steel structure module box body spraying device is also provided, including a gantry, a first spraying mechanism, a second spraying mechanism, a third spraying mechanism and a controller 400, the gantry includes a first vertical beam 210, a second vertical beam 220 and a horizontal beam 230, the horizontal beam 230 is connected between the first vertical beam 210 and the second vertical beam 220 along the X direction; the first spraying mechanism includes a Z-axis moving component, an industrial robot arm 310 and a first spraying component, the Z-axis moving component is arranged on the first vertical beam 210, the industrial robot arm 310 is arranged on the Z-axis moving component, and is driven by the Z-axis moving component to move along the Z direction; the first spraying component is arranged at the execution end of the industrial robot arm 310, and is used to spray the steel structure module box body. The inner surface 110, the first outer surface 120, the second outer surface 130 and the third outer surface 140 are sprayed; the second spraying mechanism includes a second spraying assembly and a first two-axis moving assembly arranged on the second vertical beam 220, the second spraying assembly is driven by the first two-axis moving assembly to move along the Y direction and the Z direction, and is used to spray the fourth outer surface 150 of the steel structure module box; the third spraying mechanism includes a third spraying assembly and a second two-axis moving assembly arranged on the horizontal beam 230, the third spraying assembly is driven by the second two-axis moving assembly to move along the X direction and the Y direction, and is used to spray the outer top surface 160 of the steel structure module box; the controller 400 is electrically connected to the first spraying mechanism, the second spraying mechanism and the third spraying mechanism. It can be understood that the X direction, the Y direction and the Z direction in the text refer to Figure 1 The X, Y and Z directions are perpendicular to each other.

[0068] The spraying device of this embodiment is provided with a first spraying mechanism, a second spraying mechanism and a third spraying mechanism on the first vertical beam 210, the second vertical beam 220 and the horizontal beam 230 respectively, and the first spraying mechanism, the second spraying mechanism and the third spraying mechanism are all electrically connected to the controller 400. In the process of placing the steel structure module box body in the spraying station for spraying, the controller 400 controls the first spraying component to move along with the Z-axis moving component and the industrial robot arm 310 according to the set trajectory to spray the first outer surface 120, the second outer surface 130, the inner surface 110 and the third outer surface 140 of the steel structure module box body in sequence, while controlling the second spraying component The fourth outer side surface 150 of the steel structure module box is sprayed along with the first two-axis moving component moving along the set trajectory, and the third spraying component can be controlled to move along with the second two-axis moving component along the set trajectory to spray the outer top surface 160 of the steel structure module box; the first outer side surface 120, the second outer side surface 130, the inner surface 110 and the third outer side surface 140 of the steel structure module box are sprayed in sequence at the same time, and the fourth outer side surface 150 and the outer top surface 160 of the steel structure module box are sprayed respectively, so that the steel structure module box can be sprayed efficiently and evenly while reducing the workload of operators.

[0069] It should be noted that in the present embodiment, the first spraying mechanism, the second spraying mechanism and the third spraying mechanism automatically perform spraying operations on the steel structure module box under the control of the controller 400, eliminating the need for operators to climb up to spray with the help of auxiliary tools such as scaffolding, eliminating the safety hazard of operators falling while working at heights, and improving the efficiency of spraying.

[0070] It should be noted that the movement of the industrial robot arm 310 along the Z axis is compensated by the Z axis moving component, so that the structure of the industrial robot arm 310 is improved in the direction of miniaturization; so that the industrial robot arm 310 can withdraw from the steel structure module box after the spraying operation is completed.

[0071] It should be noted that the industrial robot arm 310 of this embodiment adopts a robot arm with mature technology currently available on the market. For example, the industrial robot arm 310 adopts the Efort robot model GR6100-3800.

[0072] The specific structure and distribution of the Z-axis moving assembly of this embodiment are described in detail below.

[0073] like Figure 4 and Figure 5As shown, in some embodiments, the Z-axis moving assembly includes a first rack 321, a first guide rail 322, a first mounting plate 323 and a first motor 324. Specifically, the first rack 321 is arranged on the first vertical beam 210 along the Z direction; the first guide rail 322 is arranged on one side of the first rack 321 along the Y direction; the first mounting plate 323 is slidably arranged on the first guide rail 322 along the Z direction, and the industrial robot arm 310 is arranged on the first mounting plate 323; the first motor 324 is fixedly connected to the first mounting plate 323, and the output end of the first motor 324 is connected to the first gear 325, and the first gear 325 is meshed with the first rack 321. The output end of the first motor 324 is meshed with the first rack 321 through the first gear 325, and the first motor 324 is connected to the first mounting plate 323 as a whole. When the first motor 324 is started to drive the first gear 325 to rotate forward or reverse, since the first rack 321 is fixedly connected to the first vertical beam 210, the first gear 325 can be smoothly lifted and moved along the first rack 321, so that the first mounting plate 323 drives the first spraying assembly and the industrial robot arm 310 to be smoothly lifted and moved together under the guidance of the first guide rail 322, thereby realizing automatic spraying operations at different heights of the inner surface 110 of the steel structure module box, with a high level of automation.

[0074] In order to reduce the space occupied by the Z-axis moving component along the Z direction, so that the first spraying component and the industrial robot arm 310 can be driven to have a larger displacement along the Z direction on the first vertical beam 210 of the same height dimension, thereby adapting to the spraying operation of the inner surface 110 of the steel structure module box with a larger height dimension; specifically, the first motor 324 is arranged parallel to the X direction and is connected to the first mounting plate 323 through the first fixed plate.

[0075] like Figure 4 As shown, specifically, a first reducer 516 is arranged between the output end of the first motor 324 and the first gear 325. The first reducer 516 amplifies the torque output by the first motor 324 and then transmits it to the first gear 325, so that the first gear 325 can drive the heavier first mounting plate 323, the industrial robot arm 310 and the first spraying assembly to rise and fall smoothly along the Z direction.

[0076] like Figure 5 As shown, specifically, a first drag chain 326 is provided on the first vertical beam 210 along the Z direction, and the first drag chain 326 is used for passing and binding the cables of the Z-axis moving assembly, and a first drag chain bracket is provided on the first mounting plate 323, and the movable end of the first drag chain 326 is connected to the first drag chain bracket. When the first mounting plate 323 moves along the Z direction, the first drag chain 326 moves synchronously along the Z direction with the first drag chain bracket, protects, stores, and pulls the cables of the Z-axis moving assembly, and improves the service life of the cables of the Z-axis moving assembly.

[0077] In order to improve the stability of the first mounting plate 323 in the Z direction, Figure 4 As shown, specifically, two first guide rails 322 are provided, and two first racks 321 are arranged opposite to each other along the Y direction. The two first guide rails 322 increase the guide contact area, which can not only more stably drive the industrial robot arm 310 and the first spraying assembly to rise and fall together with the first mounting plate 323, but also ensure that the first mounting plate 323 is not easy to tilt when the first mounting plate 323 stays at a high position and the industrial robot arm 310 drives the first spraying assembly to move for spraying operation.

[0078] The above embodiment is only a preferred embodiment of the specific structure of the Z-axis moving component. In other embodiments, the Z-axis moving component can be set to one of an electric cylinder, a pneumatic cylinder, a linear motor, or a ball screw nut subassembly, and drives the industrial robot arm 310 to reciprocate along the Z direction.

[0079] The specific structure and distribution of the first two-axis moving assembly of this embodiment are described in detail below.

[0080] like Figures 7 to 10 As shown, in some embodiments, the first two-axis moving assembly includes a Z-axis moving module and a first Y-axis moving driver 520, the Z-axis moving module includes a second rack 511 arranged on the second vertical beam 220 along the Z direction, the second rack 511 is provided with a second guide rail 512 on one side along the Y direction, a second mounting plate 513 is slidingly arranged on the second guide rail 512 along the Z direction, a second motor 514 is arranged on the second mounting plate 513, the output end of the second motor 514 is connected to a second gear 515, and the second gear 515 is meshed with the second rack 511; the first Y-axis moving driver 520 is arranged on the second mounting plate 513, the first Y-axis moving driver 520 is provided with a third mounting plate 521 moving along the Y direction, and the second spraying assembly is arranged on the third mounting plate 521. During the spraying operation on the fourth outer surface 150 of the steel structure module box, the second spraying assembly can be driven to move along the Z direction and the Y direction by the Z-axis moving module and the first Y-axis moving driver 520, that is, the second spraying assembly can be driven to move to any position aligned with the fourth outer surface 150 of the steel structure module box, so that the spraying operation can be accurately and evenly performed on the fourth outer surface 150 of the steel structure module box, thereby improving the spraying quality and spraying efficiency. Specifically, the Z-axis moving module can also be set as an electric cylinder or a pneumatic cylinder or a linear motor, and drives the second mounting plate 513 to move back and forth along the Z direction; the first Y-axis moving driver 520 is set as an electric cylinder or a pneumatic cylinder or a linear motor, and drives the third mounting plate 521 to move back and forth along the Y direction.

[0081] In order to reduce the space occupied by the Z-axis moving module along the Z direction, so that the first Y-axis moving driver 520 and the second spraying assembly can be driven to have a larger displacement along the Z direction on the second vertical beam 220 of the same height dimension, so as to adapt to the spraying operation of the fourth outer side surface 150 of the steel structure module box with a larger height dimension; Fig.10 As shown, specifically, the second motor 514 is arranged parallel to the X direction, and is connected to the second mounting plate 513 via a second fixing plate 517 .

[0082] like Fig.10 As shown, specifically, a second reducer 518 is arranged between the output end of the second motor 514 and the second gear 515. The second reducer 518 amplifies the torque output by the second motor 514 and then transmits it to the second gear 515, so that the second gear 515 can drive the heavier second mounting plate 513, the first Y-axis moving assembly and the second spraying assembly to rise and fall smoothly along the Z direction.

[0083] like Figure 7 , Fig. 9 and Fig.10 As shown, specifically, a second drag chain 541 is provided on the second vertical beam 220 along the Z direction, and the second drag chain 541 is used for passing and binding the cables of the Z-axis moving module, and a second drag chain bracket 542 is provided on the second mounting plate 513, and the movable end of the second drag chain 541 is connected to the second drag chain bracket 542. When the second mounting plate 513 moves along the Z direction, the second drag chain 541 moves synchronously along the Z direction with the second drag chain bracket 542, so as to protect, store, and pull the cables of the Z-axis moving module, and improve the service life of the cables of the Z-axis moving module.

[0084] In order to improve the stability of the second mounting plate 513 rising to a high position and staying at a high position for spraying operation, as shown in FIG. Figure 7 As shown, specifically, two second racks 511 are provided, and the two second racks 511 are arranged opposite to each other along the Y direction. The meshing of the two second racks 511 and the two second gears 515 increases the meshing transmission area, which can not only more stably drive the first Y-axis moving driver 520 and the second spraying assembly to rise and fall together with the second mounting plate 513, but also ensure that the second mounting plate 513 does not tilt when the second mounting plate 513 stays at a high position and the first Y-axis moving driver 520 drives the second spraying assembly to move along the Y direction for spraying.

[0085] like Fig.10As shown, specifically, a first limit switch 561 is provided at the upper end of the second mounting plate 513 along the Z direction, and a first limit paddle is provided at the upper end of the second vertical beam 220 corresponding to the position of the first limit switch 561. When the second mounting plate 513 rises along the Z direction to the position where the first limit switch 561 contacts the first limit paddle, the first limit switch 561 is triggered and controls the second motor 514 to stop, preventing the second mounting plate 513 from exceeding the operating limit and escaping from the second vertical beam 220, thereby providing safety guarantee for the normal operation of the second spraying mechanism in this embodiment.

[0086] Specifically, a first shock absorber is provided at the upper end of the second vertical beam 220 along the Z direction corresponding to the position of the second mounting plate 513. When the first limit switch 561 is damaged and cannot be used normally, and when the second mounting plate 513 rises beyond the operating limit, the second mounting plate 513 preferentially makes soft contact with the first shock absorber for buffering, thereby reducing damage to the second spraying mechanism in this embodiment.

[0087] like Fig.10 As shown, specifically, a second limit switch 562 is provided at the lower end of the second mounting plate 513 along the Z direction, and a second limit paddle is provided at the lower end of the second vertical beam 220 corresponding to the position of the second limit switch 562. When the second mounting plate 513 is lowered along the Z direction to the position where the second limit switch 562 contacts the second limit paddle, the second limit switch 562 is triggered and controls the second motor 514 to stop, preventing the second mounting plate 513 from falling to the ground beyond the operating limit, thereby providing safety guarantee for the normal operation of the second spraying mechanism in this embodiment.

[0088] A second shock absorber is provided at the lower end of the second vertical beam 220 along the Z direction corresponding to the position of the second mounting plate 513. When the second limit switch 562 is damaged and cannot be used normally, and the second mounting plate 513 drops beyond the operating limit, the second mounting plate 513 preferentially makes soft contact with the second shock absorber for buffering, thereby reducing damage to the second spraying mechanism in this embodiment.

[0089] like Fig. 9 and Fig.10 As shown, specifically, a third drag chain 543 is arranged on the second mounting plate 513 along the Y direction, and the third drag chain 543 is used for passing and binding the cable of the first Y-axis moving driver 520, and a third drag chain bracket 544 is arranged on the third mounting plate 521, and the movable end of the third drag chain 543 is connected to the third drag chain bracket 544. When the third mounting plate 521 moves along the Y direction, the third drag chain 543 moves synchronously along the Y direction with the third drag chain bracket 544, so as to protect, store and pull the cable of the first Y-axis moving driver 520, and to increase the service life of the cable of the first Y-axis moving driver 520.

[0090] like Figures 7 to 10As shown, in some embodiments, the second spraying mechanism further includes an X-axis moving assembly, which is disposed between the third mounting plate 521 and the second spraying assembly; the X-axis moving assembly includes an X-axis moving driver 530 disposed on the third mounting plate 521, the X-axis moving driver 530 is provided with a sixth mounting plate 531 that moves along the X direction, and the second spraying assembly is disposed on the sixth mounting plate 531. By adding an X-axis moving assembly, during the spraying operation on the fourth outer side surface 150 of the steel structure module box, the second spraying assembly can be driven by the first two-axis moving assembly and the X-axis moving assembly to move three-dimensionally along the X direction, the Y direction and the Z direction, so that the fourth outer side surface 150 of the steel structure module box can be sprayed to form anti-corrosion and anti-rust coatings of different thicknesses; and the fourth outer side surface 150 of the concave-convex structure of the steel structure module box can be sprayed.

[0091] In a specific application, the X-axis moving driver 530 can be configured as an electric cylinder, a pneumatic cylinder, a linear motor, or a ball screw nut subassembly, and drives the sixth mounting plate 531 to reciprocate along the Y direction.

[0092] like Fig. 9 and Fig.10 As shown, specifically, a fourth drag chain 545 is arranged on the third drag chain bracket 544 along the X direction, and the fourth drag chain 545 is used for passing and binding the cables of the X-axis moving assembly, and a fourth drag chain bracket 546 is arranged on the sixth mounting plate 531, and the movable end of the fourth drag chain 545 is connected to the fourth drag chain bracket 546. When the sixth mounting plate 531 moves along the X direction, the fourth drag chain 545 moves synchronously along the X direction with the fourth drag chain bracket 546, so as to protect, store and pull the cables of the X-axis moving assembly, and improve the service life of the cables of the X-axis moving assembly.

[0093] The specific structure and distribution of the second two-axis moving assembly of this embodiment are described in detail below.

[0094] like Figure 6As shown, in some embodiments, the second two-axis moving assembly includes two X-axis belt modules 610, and the two X-axis belt modules 610 are arranged on the horizontal beam 230 at intervals along the Y direction; a fourth mounting plate 611 is connected between the two X-axis belt modules 610 along the Y direction, and the fourth mounting plate 611 is driven by the X-axis belt module 610 to move along the X direction; the fourth mounting plate 611 is provided with a second Y-axis moving driver 620, and the second Y-axis moving driver 620 is provided with a fifth mounting plate 621 moving along the Y direction, and the third spraying assembly is provided on the fifth mounting plate 621. In the process of spraying the outer top surface 160 of the steel structure module box, the third spraying assembly can be driven to move along the X and Y directions by the X-axis belt module 610 and the second Y-axis moving driver 620, that is, the third spraying assembly can be driven to move to any position aligned with the outer top surface 160 of the steel structure module box, so that the outer top surface 160 of the steel structure module box can be sprayed accurately and evenly, thereby improving the spraying quality and spraying efficiency. Specifically, the second Y-axis moving driver 620 is configured as an electric cylinder, a pneumatic cylinder, or a linear motor, and drives the fifth mounting plate 621 to reciprocate along the Y direction.

[0095] Specifically, a fifth drag chain 641 is provided on the horizontal beam 230 along the X direction, and the fifth drag chain 641 is used for passing and binding the cables of the X-axis belt module 610, and a fifth drag chain bracket is provided on the fourth mounting plate 611, and the movable end of the fifth drag chain 641 is connected to the fifth drag chain bracket. When the fourth mounting plate 611 moves along the X direction, the fifth drag chain 641 moves synchronously along the X direction with the fifth drag chain bracket, and the cables of the X-axis belt module 610 are protected, stored, and pulled, and the service life of the cables of the X-axis belt module 610 is increased.

[0096] Specifically, a sixth drag chain 642 is provided on the fourth mounting plate 611 along the Y direction, and the sixth drag chain 642 is used for passing and binding the cable of the second Y-axis moving driver 620, and a sixth drag chain bracket is provided on the fifth mounting plate 621, and the movable end of the sixth drag chain 642 is connected to the sixth drag chain bracket. When the fifth mounting plate 621 moves along the Y direction, the sixth drag chain 642 moves synchronously along the Y direction with the sixth drag chain bracket, and protects, stores, and pulls the cable of the second Y-axis moving driver 620, and improves the service life of the cable of the second Y-axis moving driver 620.

[0097] In some embodiments, the third spraying mechanism further includes a Z-axis moving driver 630, which is disposed on the fifth mounting plate 621; the Z-axis moving driver 630 is provided with a seventh mounting plate 631 that moves along the Z direction, and the third spraying assembly is disposed on the seventh mounting plate 631. By adding the Z-axis moving driver 630, during the spraying operation on the fourth outer side surface 150 of the steel structure module box, the third spraying assembly can be driven by the second two-axis moving assembly and the Z-axis moving driver 630 to move three-dimensionally along the X direction, the Y direction and the Z direction, so that the outer top surface 160 of the steel structure module box can be sprayed to form anti-corrosion and anti-rust coatings of different thicknesses; and the outer top surface 160 of the concave-convex structure of the steel structure module box can be sprayed.

[0098] In a specific application, the Z-axis moving driver 630 can be configured as an electric cylinder, a pneumatic cylinder, a linear motor, or a ball screw nut subassembly, and drives the seventh mounting plate 631 to reciprocate along the Z direction.

[0099] Specifically, a seventh drag chain 643 is arranged on the fifth mounting plate 621 along the Z direction, and the seventh drag chain 643 is used for passing and binding the cables of the Z-axis moving driver 630, and a seventh drag chain bracket is arranged on the seventh mounting plate 631, and the movable end of the seventh drag chain 643 is connected to the seventh drag chain bracket. When the seventh mounting plate 631 moves along the Z direction, the seventh drag chain 643 moves synchronously in the Z direction with the seventh drag chain bracket, protects, stores, and pulls the cables of the Z-axis moving driver 630, and improves the service life of the cables of the Z-axis moving driver 630.

[0100] In some embodiments, the first spray assembly, the second spray assembly and the third spray assembly adopt the same structure. The first spray assembly includes a spray gun, which is connected to a color-changing valve through a feed pipe. The first inlet of the color-changing valve is connected to a spray pump through a paint conduit. The spray pump is used to store paint. The second inlet of the color-changing valve is connected to a cleaning pump through a first conduit. The cleaning pump is used to store cleaning liquid. During the spraying operation, the controller 400 controls the spray pump to start and controls the first inlet and outlet of the color-changing valve to be connected, so that the spray pump delivers the spray material to the spray gun for spraying; after the spraying operation is completed, the controller 400 controls the cleaning pump to start and controls the second inlet and outlet of the color-changing valve to be connected, so that the cleaning pump delivers the cleaning liquid to the feed pipe and the spray gun in turn for cleaning, so as to prevent the feed pipe and the spray gun from being blocked after the spraying operation is completed. Specifically, the first spray gun 330 of the first spray mechanism is disposed at the execution end of the industrial robot arm 310 ; the second spray gun 550 of the second spray mechanism is disposed on the sixth mounting plate 531 ; and the third spray gun 650 of the third spray mechanism is disposed on the seventh mounting plate 631 .

[0101] like Figures 3 to 5 as well as Figures 7 to 12As shown, in some embodiments, the spraying device also includes two ground rails 700 arranged relatively along the X direction, and the two ground rails 700 are arranged parallel to the Y direction. A walking drive component is arranged at the lower end of the first vertical beam 210 and the second vertical beam 220 along the Z direction, and the walking drive component is rollingly arranged on the corresponding ground rail 700, and the walking drive component is electrically connected to the controller 400; a roller encoder 810 is arranged at the lower end of the first vertical beam 210 and the second vertical beam 220 along the Z direction, and the roller encoder 810 rolls against the upper surface of the ground rail 700, and the roller encoder 810 is electrically connected to the controller 400. At least two spraying stations of steel structure module boxes are connected through the ground rail 700, and the gantry is rolled on the ground rail 700 through the walking drive assembly. During the process of the spraying device of this embodiment spraying the steel structure module box located at one of the spraying stations, the operator can simultaneously place another steel structure module box to be sprayed at another idle spraying station, so that after the spraying device of this embodiment completes the spraying station, it automatically moves along the ground rail 700 to the spraying station corresponding to the other steel structure module box to be sprayed, thereby saving the waiting time for replacing the steel structure module box and further improving the spraying efficiency. At the same time, by arranging a roller encoder 810 at the lower end of the gantry, when the gantry moves along the ground rail 700, the roller encoder 810 measures the movement of the gantry along the Y direction and feeds back to the controller 400, ensuring that when the gantry moves to align with the spraying station, the controller 400 controls the walking drive assembly to stop accurately, thereby ensuring the quality of the spraying. It is understandable that, in other embodiments, the roller encoder 810 may be provided only at the lower end of any one of the first vertical beam 210 and the second vertical beam 220 .

[0102] It should be noted that the roller encoder 810 adopts the E6B2-CWZ1X rotary encoder currently sold on the market.

[0103] like Figure 4 , Figure 8 and Fig.11 As shown, specifically, the travel drive assembly includes a main travel wheel 820 and a slave travel wheel 830 arranged at the lower ends of the first vertical beam 210 and the second vertical beam 220, and the main travel wheel 820 is driven to rotate by a third motor 840, and the third motor 840 is electrically connected to the controller 400. The slave travel wheel 830 is used to support and assist the gantry to travel, and the main travel wheel 820 is connected to the third motor 840. By adjusting the forward and reverse travel modes, the spraying device of this embodiment is automatically moved to the corresponding spraying station according to the set travel trajectory to perform the spraying operation.

[0104] like Fig.11 and Fig.12As shown, specifically, a connecting plate 850 is provided at the lower end of each of the first vertical beam 210 and the second vertical beam 220, and the connecting plate 850 is provided with two guide wheels 860, which are arranged opposite to each other along the X direction and respectively abut against the two sides of the ground rail 700 along the X direction. The two guide wheels 860 play a role of limiting and guiding, effectively preventing the gantry from tipping over during the movement along the Y direction.

[0105] like Figure 4 , Figure 5 , Figure 7 , Figure 8 and Fig.11 As shown, specifically, a clamp 900 is provided at the lower end of at least one of the first vertical beam 210 and the second vertical beam 220, and the clamp 900 has a locking state in which it is tightly abutted against the two side walls of the ground rail 700 along the X direction, and an unlocking state in which it is separated from the two side walls of the ground rail 700. When the gantry moves to the set position and stops, the clamp 900 is switched from the unlocking state to the locking state, so that the gantry is fixed to the ground rail 700, ensuring that the gantry is not easy to slide relative to the ground rail 700 when the spraying device of this embodiment performs a spraying operation on the steel structure module box.

[0106] Specifically, the clamp 900 includes two hydraulic rods arranged relatively to the ground rail 700 along the X direction, and the piston ends of the two hydraulic rods facing each other are provided with clamping parts; when the clamp 900 is in a locked state, the two clamping parts move close to each other until they are tightly abutted against the two side walls of the ground rail 700 along the X direction; when the clamp 900 is in an unlocked state, the two clamping parts move away from each other until they are disengaged from the two side walls of the ground rail 700.

[0107] In specific applications, the clamp 900 may also adopt a mature clamp system currently available on the market, such as a clamp system model YJJ250-P43 produced by Henan Zhongyuan Brake Co., Ltd.

[0108] like Fig.11 As shown, specifically, an anti-collision rubber pad 870 is provided on the side of the secondary running wheel 830 away from the main running wheel 820 along the Y direction. When there is an obstacle on the route of the secondary running wheel 830 moving away from the main running wheel 820 along the Y direction, the anti-collision rubber pad 870 preferentially contacts the obstacle for buffering, thereby reducing damage to the spraying device of this embodiment.

[0109] like Figure 1 , Figure 4 and Figure 5As shown, in some embodiments, a ladder 211 is provided on the side wall of the first vertical beam 210 away from the industrial robot arm 310 along the X direction, the upper end of the ladder 211 is connected to the horizontal beam 230, and a protective cover 212 is provided around the outer periphery of the ladder 211. When the third spraying mechanism needs to be inspected, the ladder 211 can assist the operator to climb onto the horizontal beam 230 so as to inspect the third spraying mechanism; at the same time, the protective cover 212 is used to prevent the operator from falling when climbing up and down the ladder 211, thereby ensuring the safety of the operator when climbing.

[0110] like Figure 1 and Figure 6 As shown, specifically, a guardrail 231 is provided along the outer edge of the horizontal beam 230; a passage is provided at the position of the guardrail 231 corresponding to the climbing ladder 211. The guardrail 231 is used to provide anti-fall protection, effectively preventing the operator from falling from a high altitude when walking on the horizontal beam 230 to inspect the third spraying mechanism.

[0111] According to a second aspect of an embodiment of the present invention, a spraying method is further provided, including the steel structure module box spraying device provided by the first aspect of an embodiment of the present invention; the spraying method comprises the following steps:

[0112] The controller 400 obtains the first standard trajectory data of the first spraying mechanism, the second standard trajectory data of the second spraying mechanism, and the third standard trajectory data of the third spraying mechanism;

[0113] Control the Z-axis moving component and the industrial robot arm 310 to move according to the first standard trajectory data, and control the first spraying component to spray;

[0114] Controlling the movement of the first two-axis moving component according to the second standard trajectory data, and controlling the second spraying component to spray;

[0115] The movement of the second two-axis moving component is controlled according to the third standard trajectory data, and the third spraying component is controlled to spray.

[0116] The spraying method of this embodiment is provided with a first spraying mechanism, a second spraying mechanism and a third spraying mechanism on the first vertical beam 210, the second vertical beam 220 and the horizontal beam 230 respectively, and the first spraying mechanism, the second spraying mechanism and the third spraying mechanism are all electrically connected to the controller 400. In the process of placing the steel structure module box body in the spraying station for spraying, the controller 400 controls the first spraying component to move with the Z-axis moving component and the industrial robot arm 310 according to the set trajectory to spray the first outer surface 120, the second outer surface 130, the inner surface 110 and the third outer surface 140 of the steel structure module box body in sequence, while controlling the second spraying component As the first two-axis moving component moves along a set trajectory, the fourth outer surface 150 of the steel structure module box is sprayed, and the third spraying component can be controlled to move along the second two-axis moving component along a set trajectory to spray the outer top surface 160 of the steel structure module box; while the first outer surface 120, the second outer surface 130, the inner surface 110 and the third outer surface 140 of the steel structure module box are sprayed in sequence, the fourth outer surface 150 and the outer top surface 160 of the steel structure module box are sprayed respectively, thereby reducing the workload of operators while performing efficient and uniform spraying operations on the steel structure module box.

[0117] It should be noted that the first standard trajectory data refers to the motion trajectory data and spraying data of the first spraying mechanism spraying the first outer surface 120, the second outer surface 130, the inner surface 110 and the third outer surface 140 of the steel structure module box in sequence; the second standard trajectory data refers to the motion trajectory data and spraying data of the second spraying mechanism spraying the fourth outer surface 150 of the steel structure module box; the third standard trajectory data refers to the motion trajectory data and spraying data of the third spraying mechanism spraying the outer top surface 160 of the steel structure module box. The first standard trajectory data, the second standard trajectory data and the third standard trajectory data are pre-stored in the controller 400.

[0118] Specifically, the first spraying mechanism also includes a first visual detection unit, which is arranged on the first mounting plate 323 and is used to capture the first outer surface 120 of the steel structure module box to obtain a first image, and transmit the first image to the controller 400. The controller 400 compares the first image with the first standard image to determine whether the steel structure module box placed at the spraying station is offset. If the placement of the steel structure module box is offset, the controller 400 obtains a first offset value based on the first image and the first standard image, corrects the movement trajectory based on the first offset value, and controls the movement of the Z-axis moving component and the industrial robot arm 310 based on the corrected movement trajectory, thereby controlling the first spraying mechanism. The coating component moves and corrects the initial position of the first spraying component according to the moving trajectory corrected by the first offset value of the steel structure module box that actually produces the offset, and then moves according to the first standard trajectory data to spray the first outer surface 120, the second outer surface 130, the inner surface 110 and the third outer surface 140 of the steel structure module box in turn, thereby automatically adjusting and controlling the first spraying component to move and correct the initial position along the corresponding moving trajectory according to the placement state of the steel structure module box, ensuring the spraying quality of the inner surface 110, the first outer surface 120, the second outer surface 130 and the third outer surface 140 of the steel structure module box, and effectively reducing the probability of producing defective products.

[0119] It should be noted that when the steel structure module box placed at the spraying station does not deviate, the first offset value is zero, that is, there is no need to correct the initial position of the first spraying component.

[0120] Specifically, the first standard image refers to an image obtained by photographing the first outer side surface 120 of the steel structure module box without any deviation.

[0121] Specifically, the second spraying mechanism also includes a second visual inspection unit, which is arranged on the third mounting plate 521 and is used to capture the fourth outer surface 150 of the steel structure module box to obtain a second image, and transmit the second image to the controller 400. The controller 400 compares the second image with the second standard image to determine whether the steel structure module box placed at the spraying station is offset. If the placement of the steel structure module box is offset, the controller 400 obtains a second offset value based on the second image and the second standard image, corrects the movement trajectory based on the second offset value, and controls the movement of the first two-axis moving component according to the corrected movement trajectory, thereby controlling the second spraying component to move and correct the initial position of the second spraying component according to the movement trajectory corrected by the second offset value of the steel structure module box that actually generates the offset, and then sprays the fourth outer surface 150 of the steel structure module box according to the second standard trajectory data movement, so as to realize automatic adjustment and control of the second spraying component to move and correct the initial position along the corresponding movement trajectory according to the placement state of the steel structure module box, thereby ensuring the spraying quality of the fourth outer surface 150 of the steel structure module box and effectively reducing the probability of producing defective products.

[0122] It should be noted that when the steel structure module box placed at the spraying station does not deviate, the second offset value is zero, that is, there is no need to correct the initial position of the second spraying assembly.

[0123] Specifically, the second standard image refers to an image obtained by photographing the fourth outer side surface 150 of the steel structure module box body without any deviation.

[0124] Specifically, the third spraying mechanism also includes a third visual inspection unit, which is arranged on the fifth mounting plate 621 and is used to capture the outer top surface 160 of the steel structure module box to obtain a third image, and transmit the third image to the controller 400. The controller 400 compares the third image with the third standard image to determine whether the steel structure module box placed at the spraying station is offset. If the placement of the steel structure module box is offset, the controller 400 obtains a third offset value based on the third image and the third standard image, corrects the movement trajectory based on the third offset value, and controls the movement of the second two-axis moving component according to the corrected movement trajectory, thereby controlling the third spraying component to move and correct the initial position of the third spraying component according to the movement trajectory corrected by the third offset value of the steel structure module box that actually generates the offset, and then sprays the outer top surface 160 of the steel structure module box according to the third standard trajectory data movement, so as to realize automatic adjustment and control of the third spraying component to move and correct the initial position along the corresponding movement trajectory according to the placement state of the steel structure module box, thereby ensuring the spraying quality of the outer top surface 160 of the steel structure module box and effectively reducing the probability of producing defective products.

[0125] It should be noted that when the steel structure module box placed at the spraying station does not deviate, the third offset value is zero, that is, there is no need to correct the initial position of the third spraying component.

[0126] Specifically, the third standard image refers to an image obtained by photographing the outer top surface 160 of the steel structure module box without any deviation.

[0127] In some embodiments, the spraying device also includes a QR code, which is used to be installed on the ground of the spraying station of the steel structure module box. A fourth visual detection unit is arranged at the lower end of the gantry along the Z direction. The fourth visual detection unit is used to shoot the QR code to obtain a fourth image, and transmit the fourth image to the controller 400. The controller 400 obtains a stop signal, first standard trajectory data, second standard trajectory data and third standard trajectory data according to the fourth image. The controller 400 controls the walking drive component to stop according to the stop signal, and controls the first spraying mechanism, the second spraying mechanism and the third spraying mechanism according to the first standard trajectory data, the second standard trajectory data and the third standard trajectory data; ensuring that the spraying device of this embodiment accurately sprays the steel structure module box.

[0128] Specifically, the first visual detection unit, the second visual detection unit, the third visual detection unit and the fourth visual detection unit are all configured as CCD cameras.

[0129] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A steel structure module box spraying device, characterized in that: include: A gantry, comprising a first vertical beam (210), a second vertical beam (220) and a horizontal beam (230), wherein the horizontal beam (230) is connected between the first vertical beam (210) and the second vertical beam (220) along an X direction; A first spraying mechanism comprises a Z-axis moving assembly, an industrial robot arm (310) and a first spraying assembly, wherein the Z-axis moving assembly is arranged on the first vertical beam (210), the industrial robot arm (310) is arranged on the Z-axis moving assembly and is driven by the Z-axis moving assembly to move along the Z direction; the first spraying assembly is arranged at the execution end of the industrial robot arm (310) and is used to spray the inner surface (110), the first outer surface (120), the second outer surface (130) and the third outer surface (140) of the steel structure module box; A second spraying mechanism comprises a second spraying assembly and a first two-axis moving assembly arranged on the second vertical beam (220), wherein the second spraying assembly is driven by the first two-axis moving assembly to move along the Y direction and the Z direction and is used to spray the fourth outer side surface (150) of the steel structure module box; A third spraying mechanism comprises a third spraying assembly and a second two-axis moving assembly arranged on the horizontal beam (230), wherein the third spraying assembly is driven by the second two-axis moving assembly to move along the X direction and the Y direction and is used to spray the outer top surface (160) of the steel structure module box; A controller (400) is electrically connected to the first spraying mechanism, the second spraying mechanism and the third spraying mechanism.

2. A steel structure module box spraying device according to claim 1, characterized in that: The Z-axis moving assembly includes: A first rack (321) is arranged on the first vertical beam (210) along the Z direction; A first guide rail (322) is arranged on one side of the first rack (321) along the Y direction; A first mounting plate (323) is slidably disposed on the first guide rail (322) along the Z direction, and the industrial robot arm (310) is disposed on the first mounting plate (323); The first motor (324) is fixedly connected to the first mounting plate (323); the output end of the first motor (324) is connected to a first gear (325); and the first gear (325) is meshed with the first rack (321).

3. A steel structure module box spraying device according to claim 1 or 2, characterized in that: The first two-axis moving assembly comprises: The Z-axis moving module comprises a second rack (511) arranged on the second vertical beam (220) along the Z direction, a second guide rail (512) is arranged on one side of the second rack (511) along the Y direction, a second mounting plate (513) is slidably arranged on the second guide rail (512) along the Z direction, a second motor (514) is arranged on the second mounting plate (513), an output end of the second motor (514) is connected to a second gear (515), and the second gear (515) is meshed with the second rack (511); A first Y-axis moving driver (520) is arranged on the second mounting plate (513); the first Y-axis moving driver (520) is provided with a third mounting plate (521) moving along the Y direction; and the second spraying assembly is arranged on the third mounting plate (521); And / or, the second two-axis moving assembly includes: Two X-axis belt modules (610) are arranged on the horizontal beam (230) at intervals along the Y direction; a fourth mounting plate (611), connected between the two X-axis belt modules (610) along the Y direction, and driven by the X-axis belt modules (610) to move along the X direction; The second Y-axis moving driver (620) is arranged on the fourth mounting plate (611), the second Y-axis moving driver (620) is provided with a fifth mounting plate (621) moving along the Y direction, and the third spraying assembly is arranged on the fifth mounting plate (621).

4. A steel structure module box spraying device according to claim 3, characterized in that: The second spraying mechanism also includes an X-axis moving component, which is arranged between the third mounting plate (521) and the second spraying component; the X-axis moving component includes an X-axis moving driver (530) arranged on the third mounting plate (521), and the X-axis moving driver (530) is provided with a sixth mounting plate (531) that moves along the X direction, and the second spraying component is arranged on the sixth mounting plate (531).

5. The steel structure module box spraying device according to claim 3 is characterized in that: The third spraying mechanism further comprises a Z-axis moving driver (630), and the Z-axis moving driver (630) is arranged on the fifth mounting plate (621); the Z-axis moving driver (630) is provided with a seventh mounting plate (631) that moves along the Z direction, and the third spraying assembly is arranged on the seventh mounting plate (631).

6. A steel structure module box spraying device according to claim 1, characterized in that: The invention also comprises two ground rails (700) arranged opposite to each other along the X direction, wherein the two ground rails (700) are arranged parallel to the Y direction, and a travel drive assembly is arranged at the lower end of the first vertical beam (210) and the second vertical beam (220) along the Z direction, wherein the travel drive assembly is rollably arranged on the corresponding ground rail (700), and the travel drive assembly is electrically connected to the controller (400); and a roller encoder (810) is arranged at the lower end of the first vertical beam (210) and / or the second vertical beam (220) along the Z direction, wherein the roller encoder (810) rollably abuts against the upper surface of the ground rail (700), and the roller encoder (810) is electrically connected to the controller (400).

7. A steel structure module box spraying device according to claim 6, characterized in that: The travel drive assembly comprises a main travel wheel (820) and a slave travel wheel (830) arranged at the lower ends of the first vertical beam (210) and the second vertical beam (220); the main travel wheel (820) is driven to rotate by a third motor (840); and the third motor (840) is electrically connected to the controller (400).

8. A steel structure module box spraying device according to claim 7, characterized in that: A connecting plate (850) is provided at the lower end of each of the first vertical beam (210) and the second vertical beam (220); the connecting plate (850) is provided with two guide wheels (860); the two guide wheels (860) are arranged opposite to each other along the X direction and respectively abut against two sides of the ground rail (700) along the X direction; And / or, a clamp (900) is provided at the lower end of at least one of the first vertical beam (210) and the second vertical beam (220), and the clamp (900) has a locking state in which it is tightly abutted against two side walls of the ground rail (700) along the X direction, and an unlocking state in which it is separated from the two side walls of the ground rail (700); And / or, an anti-collision rubber pad (870) is provided on the side of the secondary running wheel (830) away from the primary running wheel (820) along the Y direction.

9. The steel structure module box spraying device according to claim 1, characterized in that: A climbing ladder (211) is provided on the side wall of the first vertical beam (210) away from the industrial robot arm (310) along the X direction, the upper end of the climbing ladder (211) is connected to the horizontal beam (230), and a protective cover (212) is provided around the outer periphery of the climbing ladder (211).

10. A spraying method, applied to the steel structure module box spraying device according to any one of claims 1 to 9, characterized in that: The spraying method comprises the following steps: The controller (400) acquires first standard trajectory data of the first spraying mechanism, second standard trajectory data of the second spraying mechanism, and third standard trajectory data of the third spraying mechanism; Controlling the movement of the Z-axis moving component and the industrial robot arm (310) according to the first standard trajectory data, and controlling the first spraying component to spray; Controlling the movement of the first two-axis moving component according to the second standard trajectory data, and controlling the second spraying component to spray; The second two-axis moving component is controlled to move according to the third standard trajectory data, and the third spraying component is controlled to spray.

Images