A rust-proof treatment device for sanitation vehicle chassis parts

Abstract

The application relates to the technical field of automobile manufacturing, and particularly discloses a rust-proof treatment device for chassis parts of a sanitation vehicle, which comprises a machining workshop, a gantry, a workpiece carrying mechanism, a working channel, integral spraying mechanisms, a detail spraying mechanism, a controller, a power distribution cabinet, a paint supply device, a filling device, a conveying trolley and an air purification device; the workpiece carrying mechanism is arranged below the two gantries in the front-rear direction; the two integral spraying mechanisms are arranged at the bottom ends of the machining workshop respectively; and the detail spraying mechanism is arranged at the inner bottom end of the working channel. The application can realize automatic flow of workpieces, accurate alignment, self-adaptive clamping and automatic reversing of clamping points, realize full-coverage spraying of all exposed metal structures of a chassis frame, adapt to spraying requirements of different structural forms of the chassis, significantly improve the corrosion resistance, aging resistance and rust-proof capability of chassis parts, and prolong the service life of chassis components.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, specifically to a rust prevention treatment device for chassis components of sanitation vehicles. Background Technology

[0002] Rust-proof spraying of chassis components for sanitation vehicles is a specialized protective process designed for sanitation vehicles operating in humid, muddy, acidic, alkaline, and de-icing agent corrosive environments. It involves the chassis frame, suspension components, connectors, wheel arches, and various metal structural parts. Before application, pre-treatment processes such as degreasing and cleaning, sandblasting, and phosphating passivation thoroughly remove surface oxide scale and rust impurities. Then, cathodic electrophoresis, multi-layer spraying with epoxy primer and polyurethane topcoat, or protective wax spraying are used to form a uniform, dense, and highly adhesive protective coating on the surface of the components. This effectively isolates rainwater, mud, salt, and corrosive media from contact with the metal substrate, inhibits electrochemical corrosion, and prevents problems such as peeling, rust penetration, and reduced structural strength in chassis components. This improves the salt spray resistance, wear resistance, and aging resistance of chassis components, extends the service life of the entire chassis, reduces later maintenance costs, and ensures the structural stability and driving safety of sanitation vehicles during long-term operation. In the current field of rust-proofing spraying for chassis components of sanitation vehicles, traditional spraying operations generally suffer from low levels of automation and integration. The workpiece clamping and fixing methods are singular and cannot be adaptively adjusted, easily creating blind spots in the clamping. This leads to missed or insufficient spraying of irregularly shaped and concealed structures such as chassis frame welding points, bolt holes, narrow gaps, and thin-walled overlapping surfaces, making it difficult to achieve full coverage of the workpiece. At the same time, traditional spraying processes cannot distinguish between large-area main spraying and fine touch-up spraying of small areas, resulting in poor overall spraying accuracy. This easily leads to process defects such as uneven coating thickness, localized paint accumulation, numerous paint particles and impurities, and insufficient coating density, significantly reducing the rust-proofing, corrosion-resistant performance, and service life of chassis metal components. Summary of the Invention

[0003] The purpose of this invention is to provide a rust prevention treatment device for chassis components of sanitation vehicles, so as to at least solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a rust prevention treatment device for chassis components of sanitation vehicles, comprising: Processing workshop; Two gantry frames are respectively installed on the front and rear sides of the interior of the processing workshop. The workpiece handling mechanism is arranged below the front and rear gantry frames in the front-to-back direction; The work passage is located at the bottom center of the processing workshop in the front-to-back direction; The overall spraying mechanism consists of two units, which are respectively located at the bottom of the processing workshop and on the upper left and right sides of the outside of the working passage. The detail spraying mechanism is located at the bottom of the inner part of the working channel; The controller is installed on the outer front left surface of the processing workshop, and the processing workshop and the controller are electrically connected. A power distribution cabinet is installed on the right side of the outer surface of the processing workshop, extending into the interior of the processing workshop, and is electrically connected to the controller; A paint supply device is located at the exterior left front of the processing workshop, and the paint supply device and the controller are electrically connected. The filling device is located inside the processing workshop at the left front. The filling device and the paint supply device are connected through pipelines. The filling device and the controller are electrically connected. The conveyor trolley consists of two trolleys, which are installed on the front and rear sides of the exterior of the processing workshop in a front-rear direction, respectively. The conveyor trolleys are electrically connected to the controller. An air purification device is fixedly installed on the right rear side of the outer surface of the processing workshop. The air purification device is connected to the inner top of the processing workshop through a pipe, and the air purification device is electrically connected to the controller.

[0005] Preferably, the workpiece handling mechanism includes: a first track frame, a first track moving platform, a second track frame, a second track moving platform, and an electric lifting frame; there are two first track frames, which are fixedly installed on the left and right sides of the inner top of the front and rear gantry frames respectively in the front-rear direction; there are two sets of first track moving platforms, with four platforms in each set, and the two sets of first track moving platforms are respectively located at the four bottom corners of the front and rear of the left and right first track frames, and the first track moving platforms are electrically connected to the controller; there are two second track frames, which are fixedly installed on the bottom of the front and rear sets of first track moving platforms respectively in the left-right direction; there are two second track moving platforms, which are respectively installed on the bottom of the front and rear second track frames, and the second track moving platforms are electrically connected to the controller; there are two electric lifting frames, which are respectively installed on the inner side of the front and rear second track moving platforms in the up-down direction, and the electric lifting frames are electrically connected to the controller.

[0006] Preferably, clamping components are provided on the left and right sides below the telescopic ends of the front and rear electric lifting frames, and a spacing adjustment component is provided above the clamping components.

[0007] Preferably, the clamping component includes: a tank housing, rotating rods, a first motor, connecting seats, mounting brackets, telescopic modules, and clamping claws; the tank housing is disposed on the outer side below the telescopic end of the electric lifting frame in the vertical direction; there are two rotating rods, which are respectively rotatably mounted on the upper and lower ends of the inner side of the tank housing via a rotating shaft in the front-rear direction; the first motor is fixedly mounted on the upper inner side of the outer surface of the tank housing, the rotating end of the first motor extends into the interior of the tank housing and is fixedly connected to the shaft of the upper rotating rod, and the first motor is electrically connected to the controller; there are two connecting seats, which are respectively rotatably mounted on the upper inner side of the tank housing via a rotating shaft ... The connecting seats are rotatably mounted on the outer ends of the upper and lower rotating rods via rotating shafts in the vertical direction; there are two mounting brackets, which are respectively mounted on the outer ends of the front and rear connecting seats in the horizontal direction, and the mounting brackets are L-shaped; there are two sets of telescopic modules, with two telescopic modules in each set, and the two sets of telescopic modules are respectively mounted on the bottom left and right sides of the outer surface of the front and rear mounting brackets, and the telescopic modules are electrically connected to the controller; there are two sets of clamping claws, with two clamping claws in each set, and the two sets of clamping claws are respectively mounted on the outer sides of the telescopic ends of the two sets of telescopic modules.

[0008] Preferably, the overall spraying mechanism includes: a ground rail platform, a first robotic arm, and a spraying module; the ground rail platform is fixedly installed at the bottom of the processing workshop along the front-to-back direction and located on the upper left and right sides of the outside of the working passage, and the ground rail platform is electrically connected to the controller; the first robotic arm is fixedly installed on the top of the moving end of the ground rail platform, and the first robotic arm is electrically connected to the controller; the spraying module is installed inside the moving end of the first robotic arm, and the spraying module is connected to the paint supply equipment through a pipeline, and the spraying module is electrically connected to the controller.

[0009] Preferably, the detailed spraying mechanism includes: a mobile robot, a storage tank, an electrically controlled connector valve, a pump body, and an actuator; the mobile robot is movably placed at the bottom of the working channel, and can automatically charge after docking with the power distribution cabinet; the mobile robot and the controller are remotely network connected; the storage tank is fixedly installed on the rear side of the upper surface of the mobile robot; the electrically controlled connector valve is installed outside the liquid inlet of the storage tank and communicates with the liquid inlet of the storage tank; the electrically controlled connector valve can dock with the filling port of the filling equipment; the electrically controlled connector valve and the mobile robot are electrically connected; the pump body is embedded in the top of the inner cavity of the storage tank, the liquid inlet of the pump body extends into the inner cavity of the storage tank, and the pump body and the mobile robot are electrically connected; the actuator is located on the top of the mobile robot and on the front side of the storage tank.

[0010] Preferably, the execution component includes: a fixed base, a first support arm, a second support arm, a third motor, a mounting base plate, and a second robotic arm; the fixed base consists of two sets, with two fixed bases in each set, and the two sets of fixed bases are fixedly installed at a 90-degree angle on the left and right sides of the front and rear ends of the upper surface of the mobile robot; the first support arm consists of two sets, with two first support arms in each set, and one end of each set of first support arms is rotatably mounted on the inner side of the two sets of fixed bases via a rotating shaft; the second support arm consists of two sets, with two second support arms in each set, and one end of each set of second support arms is rotatably mounted on the inner side of the other end of each set of first support arms via a rotating shaft; the third motor consists of two sets. Each group of the third motors consists of two motors, which are respectively mounted on the outside of two sets of fixed bases. The rotating end of the third motor extends into the inside of the fixed base and is fixedly connected to the axis of the first support arm. The third motor is electrically connected to the mobile robot. There are two mounting bases, which are respectively mounted on the outer side of the other end of the two sets of second support arms via rotating shafts. There are two second robotic arms, which are respectively fixedly mounted on the top of the two mounting bases. The second robotic arms are electrically connected to the mobile robot. One side of the second robotic arm has a fixed-point spraying unit mounted on its moving end, and the other side of the second robotic arm has a fixed-point range spraying unit mounted on its moving end.

[0011] Preferably, the fixed-point spraying unit includes: a mounting base, a rotating base, a first nozzle, a first micro motor, and a transmission gear set; the mounting base is fixedly installed in the vertical direction at the moving end of the fixed-point spraying unit; the rotating base is rotatably installed in the vertical direction at the inner left end of the mounting base via bearings; the first nozzle is fixedly installed on the left side of the outer surface of the rotating base, and the first nozzle is connected to one side of the pump body's liquid outlet via a pipeline, and the first nozzle is electrically connected to the mobile robot; the first micro motor is fixedly installed in the vertical direction at the inner right end of the mounting base, and the first micro motor is electrically connected to the mobile robot; one side of the transmission gear set is keyed to the rotating end of the first micro motor, and the other side of the transmission gear set is connected to the upper outer side of the rotating base's shaft.

[0012] Preferably, the fixed-point spraying unit includes: a fixed frame, a tank frame, a support rod, a second nozzle, a slide block, a second micro motor, a rotating frame, and a slider; the fixed frame is fixedly installed at the moving end of the fixed-point spraying unit; the tank frame is fixedly installed on the upper left side of the outer surface of the fixed frame; the support rod is rotatably installed on the inner top of the tank frame via a rotating shaft; the second nozzle is fixedly installed on the right side of the outer surface of the support rod, and the second nozzle is connected to one side outlet of the pump body via a pipeline, and the second nozzle is electrically connected to the mobile robot; the slide block is installed on the outer side of the bottom end of the support rod in a left-right direction; the second micro motor is fixedly installed on the lower left side of the bottom end of the outer surface of the fixed frame in a up-down direction, and the rotating end of the second micro motor extends to the lower inner side of the tank frame, and the second micro motor is electrically connected to the mobile robot; the rotating frame is fixedly installed on the top of the rotating end of the second micro motor, and the rotating frame is V-shaped; the slider is fixedly installed on the upper inner side of the rotating frame, and the outside of the slider is inserted into the inner cavity of the slide block.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. The first robotic arm is driven by the ground rail platform in the overall spraying mechanism on both sides to move horizontally in the front-back direction to the designated position. The first robotic arm drives the spraying module to move in multiple angle directions so that the spraying module moves to the designated position outside the chassis frame. The paint supply equipment supplies anti-rust paint into the spraying module and the spraying module sprays it on the outside of the chassis frame, thereby realizing a large-area spraying operation on the outside of the chassis frame. When the spraying reaches the part held by the clamping component in the current workpiece handling mechanism, the front and rear telescopic modules below extend to drive the clamping claws to move outward, releasing the clamping and fixing state while leaving spraying space. The first motor drives the rotating rod to rotate, and then with the cooperation of the rotating rod on the other side, the rotating rods on both sides drive the connecting seat below to move the mounting frame upward. The connecting seat above drives the mounting frame to rotate downward and drives the left and right clamping claws at the corresponding positions to move to the designated position outside the chassis frame. The telescopic modules on both sides shorten to drive the clamping claws to move inward, thereby re-clamping and fixing the chassis frame to maintain the fixed state of the chassis frame.

[0014] 2. According to the work requirements, the two third motors in the front and rear groups drive the first support arm at the corresponding position, so that the first support arm rotates upward or downward about the axis at the connection position inside the fixed seat. Then, with the cooperation of the second support arm at the corresponding position, the mounting base plate at the corresponding position is driven to move upward or downward, so that the second mechanical arm on the top of the mounting base plate on the front and rear sides is raised and lowered to the execution position. When a small area of ​​sweeping and coating is required, the fixed-point spraying unit moves to the corresponding position, the first micro motor drives the gear in the transmission gear set to rotate, and through the transmission gear set, drives the rotating seat to rotate inside the mounting base. Then, the rotating seat drives the first nozzle to rotate to the designated direction, so that the first nozzle is aligned with the spraying position of the chassis frame. The pump body pumps the anti-rust coating stored in the storage box along the corresponding... The pipeline pumps the coating into the first nozzle, which then sprays it onto a designated location on the chassis frame, achieving point-to-point spraying. When a small area needs to be coated, the point-to-point spraying unit moves to the corresponding workstation. The pre-programmed program inside the mobile robot controls the second micro motor and the second nozzle to start. The second micro motor drives the rotating frame to rotate axially, which in turn causes the rotating frame to move the slider circumferentially. This causes the slider to move back and forth along the inner cavity of the slide seat. Simultaneously, with the cooperation of the slide seat, the support rod is driven to rotate back and forth about the axis at the position where it is connected to the inner side of the slot frame. This causes the second micro motor to drive the second nozzle to swing back and forth. The pump pumps the anti-rust coating stored in the storage box into the second nozzle along the corresponding pipeline, and the second nozzle sprays it onto a designated location on the chassis frame, achieving a flat sweeping spraying operation in a designated small area.

[0015] In summary, this invention enables automated workpiece transfer, precise alignment, adaptive clamping, and automatic reversal of clamping points, eliminating blind spots in the coating caused by workpiece clamping. It achieves full coverage coating of all exposed metal structures of the chassis frame. By differentiating between large-area overall coating, micro-point spot spraying, and reciprocating sweeping coating of narrow areas, it can adapt to the coating needs of different chassis structures, effectively improving defects such as uneven coating, missed coating, paint accumulation, and paint impurities. This results in a smoother, denser, and more uniform anti-rust coating, significantly enhancing the corrosion resistance, aging resistance, and rust prevention capabilities of chassis components, and extending the service life of chassis components. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Exploded view of the interior; Figure 3 for Figure 2 Exploded view of the workpiece handling mechanism in the diagram; Figure 4 for Figure 3 Enlarged view of point A in the image; Figure 5for Figure 3 Enlarged view of point B in the image; Figure 6 for Figure 2 Exploded view of the overall spraying mechanism; Figure 7 for Figure 2 Enlarged view of the detailed spraying mechanism; Figure 8 for Figure 7 Enlarged view of the execution component in the diagram; Figure 9 for Figure 8 Enlarged view of point C in the image; Figure 10 for Figure 8 Enlarged view of point D in the image; Figure 11 for Figure 8 A diagram showing the fixed-point spraying unit.

[0017] In the diagram: 1. Processing workshop; 2. Gantry frame; 3. Workpiece handling mechanism; 31. First track frame; 32. First track moving platform; 33. Second track frame; 34. Second track moving platform; 35. Electric lifting frame; 36. Tank shell; 37. Rotating rod; 38. First motor; 39. Connecting seat; 310. Mounting frame; 311. Telescopic module; 312. Gripping claw; 313. Mounting plate; 314. Limiting component; 315. Belt assembly; 316. Second motor; 317. Support seat; 4. Working channel; 5. Overall painting mechanism; 51. Ground rail platform; 52. First robotic arm; 53. Painting module; 6. Detail painting mechanism; 61. Mobile robot; 62. Storage. 63. Storage tank, 64. Electrically controlled connector valve, 75. Pump body, 76. Actuating component, 77. Fixed base, 78. First support arm, 79. Second support arm, 70. Third motor, 71. Mounting base plate, 72. Second robotic arm, 73. Mounting base, 74. Rotating base, 75. First nozzle, 76. First micro motor, 77. Transmission gear set, 88. Fixed-point spraying unit, 89. Fixed frame, 80. Tank frame, 81. Support rod, 82. Second nozzle, 83. Slide seat, 84. Second micro motor, 85. Rotating frame, 86. Slider, 9. Controller, 10. Power distribution cabinet, 11. Paint supply equipment, 12. Filling equipment, 13. Conveying trolley, 14. Air purification equipment. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-11This invention provides a technical solution: a rust prevention treatment device for chassis components of sanitation vehicles, comprising: a processing workshop 1, a gantry frame 2, a workpiece handling mechanism 3, a working passage 4, an overall spraying mechanism 5, a detail spraying mechanism 6, a controller 9, a power distribution cabinet 10, a paint supply device 11, a filling device 12, a conveyor trolley 13, and an air purification device 14. The processing workshop 1 is an overall enclosed rust prevention spraying special operating chamber, which is formed by welding and splicing cold-rolled steel plate frames. The outer wall is equipped with sound-insulating and heat-insulating rock wool, and the inner wall is made of anti-static and paint corrosion-resistant epoxy resin sprayed board, which has the characteristics of dustproof, moisture-proof, corrosion-proof, sound insulation, and anti-static, and can effectively isolate external dust. Moisture and impurities enter the work area. Both the front and rear ends of processing workshop 1 are equipped with electrically operated automatic sealing doors. The door frames are fitted with sealing strips, ensuring complete sealing of the workshop interior after closing, preventing external environmental interference with spraying quality and effectively preventing paint mist overflow. A waste gas collection pipe interface is pre-installed on the top of processing workshop 1. Two gantry frames 2 are installed on the front and rear sides of processing workshop 1, respectively. The workpiece handling mechanism 3 is positioned below the two gantry frames 2 along the front-rear direction. The working passage 4 is located at the bottom center of processing workshop 1 along the front-rear direction. The working passage 4 is a sunken, regular channel structure. The floor inside the passage is made of non-slip, wear-resistant epoxy flooring and is pre-installed. The robot's walking positioning markings and embedded positioning sensing module, along with the working channel 4 serving as the dedicated work area and movement passage for the detail painting mechanism 6, are designed to accommodate the omnidirectional walking, turning, and alignment operations of the mobile robot 61. Simultaneously, they provide ample working space for detailed touch-up painting operations on the chassis frame's underside and inner concealed structures, effectively distinguishing between large-area overall painting and detailed local painting areas. This achieves zoning and modularization of the workshop's internal operations, avoiding equipment interference. Two overall painting mechanisms 5 are located at the bottom of the processing workshop 1, situated on the upper left and right sides of the working channel 4. The detail painting mechanism 6 is located... The bottom of the working channel 4 is located inside the controller 9, which is installed on the front left side of the outer surface of the processing workshop 1. The processing workshop 1 and the controller 9 are electrically connected. The controller 9 adopts an industrial PLC programmable logic controller and is electrically connected to all automated execution equipment inside the processing workshop 1. As the core electrical control hub of the whole device, it has a built-in preset standardized spraying, handling, repositioning, material replenishment, purification, and reset full set of automated control programs. It can uniformly receive work signals, issue power control commands, and accurately control the start, stop, speed adjustment, positioning, and linkage of all electromechanical components to realize the automated collaborative operation of the whole set of anti-rust spraying equipment. It also has fault self-checking, overload protection, program storage, and one-button start and stop functions.The power distribution cabinet 10 is installed on the right side of the outer surface of the processing workshop 1, extending into the interior of the processing workshop 1. The power distribution cabinet 10 is an industrial standard waterproof and dustproof power distribution cabinet, fixedly installed on the right side of the outer surface of the processing workshop 1. The internal wiring of the cabinet is neat and tidy, equipped with an air switch, leakage current protector, voltage regulator module, overload protection module, and terminal blocks. The wiring of the power distribution cabinet 10 extends through the wall into the interior of the processing workshop 1. The power distribution cabinet 10 and the controller 9 are electrically connected. As the power supply assembly for the entire system, the power distribution cabinet 10 is responsible for providing a stable and safe industrial power supply to all equipment inside the workshop and the charging structure of the mobile robot 61, and is equipped with short-circuit protection. It features overload protection, voltage stabilization, and leakage protection. The paint supply equipment 11 is located on the exterior left front of the processing workshop 1. The paint supply equipment 11 is electrically connected to the controller 9. The paint supply equipment 11 is an industrial fully automatic high-pressure paint supply machine. The equipment includes a sealed storage silo, a high-pressure booster pump, a filter assembly, and a pressure regulating valve. The paint supply equipment 11 is used for the unified storage, filtration, and pressurized delivery of rust-preventive paint to a dedicated chassis. It can filter impurities and stabilize the pressure of the paint to prevent paint particles from clogging the spray nozzles. Simultaneously, it can precisely adjust the paint output flow and spray pressure according to the spraying operation requirements, continuously providing a stable supply to the overall spraying mechanism 5. Uniform and clean anti-rust coating raw materials ensure uniform coating thickness over large areas. The filling device 12 is located inside the processing workshop 1 at the front left. The filling device 12 and the coating supply device 11 are connected via pipelines. The filling device 12 is electrically connected to the controller 9. The filling device 12 is an automated docking-type coating replenishment device connected to the external coating supply device 11 via a pressure-resistant and corrosion-resistant high-pressure pipeline. The filling device 12 is equipped with an automatic alignment sensing component, an electrically controlled opening and closing valve, and a quantitative metering module. It can receive electrical control signals from the controller 9 to complete automatic docking with the electrically controlled connector valve 63 on the top of the mobile robot 61, quantitative filling, and automatic material cut-off. Separation and reset, providing automated material replenishment for the mobile robot of the detail spraying mechanism 6; there are two conveyor trolleys 13, which are installed on the front and rear sides of the exterior of the processing workshop 1 in the front and rear directions respectively. The conveyor trolleys 13 and the controller 9 are electrically connected. The conveyor trolleys 13 adopt a heavy-duty silent rail transport vehicle structure, equipped with servo drive motors, high-precision walking wheels, rail limiters and load-bearing platforms. The rear conveyor trolley 13 is used for automatic loading and warehousing of the chassis frame to be processed, and the front conveyor trolley 13 is used for unloading and transferring the workpiece after spraying, realizing the automated entry and exit of workpieces and connecting the upstream and downstream processes;Air purification equipment 14 is fixedly installed on the right rear of the outer surface of processing workshop 1. Air purification equipment 14 is connected to the interior ceiling of processing workshop 1 via a pipe. Air purification equipment 14 is electrically connected to controller 9. Air purification equipment 14 is an integrated exhaust gas purification machine specifically designed for industrial spraying. The equipment is connected to the exhaust gas collection chamber at the interior ceiling of processing workshop 1 via a high-temperature and corrosion-resistant dedicated ventilation duct. Air purification equipment 14 integrates primary filtration, medium-efficiency filtration, activated carbon adsorption, exhaust gas purification, and ventilation structures. It can continuously extract paint mist, volatile harmful gases, and dust impurities generated inside the workshop throughout the spraying operation. After multi-stage purification and filtration, the emissions meet standards, effectively purifying the workshop working environment, reducing spraying exhaust gas pollution, meeting industrial environmental protection standards, and preventing paint mist accumulation and adhesion to the workpiece surface, further improving the rust prevention quality of chassis frame spraying.

[0020] As a preferred option, further, such as Figure 3 , Figure 4 and Figure 5As shown, the workpiece handling mechanism 3 includes: a first track frame 31, a first track moving platform 32, a second track frame 33, a second track moving platform 34, and an electric lifting frame 35; there are two first track frames 31, which are fixedly installed on the left and right sides of the inner top of the front and rear gantry frames 2 respectively along the front and rear directions. The first track frames 31 are made of high-precision heavy-duty linear track profiles and serve as the reference bearing track for the horizontal movement of the upper layer of the workpiece handling mechanism 3, providing a stable and accurate front and rear sliding reference for the first track moving platform 32; there are two sets of first track moving platforms 32, with four first track moving platforms 32 in each set, and the two sets of first track moving platforms 32 are respectively set on the left and right sides of the first track frame 34. At the four bottom corners of the front and rear of the track frame 31, the first track moving platform 32 and the controller 9 are electrically connected. The first track moving platform 32 is a servo-driven linear sliding platform with a built-in high-precision servo motor, planetary reducer and roller sliding assembly. This structure relies on the servo electronic control system to achieve programmable precise start and stop, uniform speed sliding and fixed-point locking, and can stably support the structure below to achieve precise front and rear horizontal displacement of the overall structure. There are two second track frames 33, which are fixedly installed at the bottom of the front and rear sets of first track moving platforms 32 along the left and right directions respectively. The second track frames 33 are made of rectangular high-strength steel beams in one piece. The second track frames 33 and the upper first track frame 31 form a cross track structure. A planar multi-dimensional mobile operation framework is constructed to adapt to the alignment requirements of workpieces with chassis of different widths. Two second track moving platforms 34 are installed at the bottom of the front and rear second track frames 33, respectively. The second track moving platforms 34 are electrically connected to the controller 9. Each second track moving platform 34 is a high-precision lateral servo sliding module, incorporating a high-precision servo motor, planetary reducer, and roller sliding assembly. The second track moving platform 34 supports the upper longitudinal moving structure, achieving precise lateral displacement. It cooperates with the first track moving platform 32 to achieve precise positioning at any point in the two-dimensional plane, ensuring workpiece alignment accuracy. Two electric lifting frames 35 are also constructed. 5 are respectively installed on the inner side of the front and rear second track moving platforms 34 in the vertical direction. The electric lifting frame 35 and the controller 9 are electrically connected. The electric lifting frame 35 is a servo electric push rod type heavy lifting module with self-locking load-bearing function. It can realize high-precision vertical lifting adjustment, adapt to different height spraying operation positions, and meet the spraying height adaptation requirements of irregular chassis parts. Among them, clamping components are provided on the left and right sides below the telescopic ends of the front and rear electric lifting frames 35. The clamping components include: tank shell 36, rotating rod 37, first motor 38, connecting seat 39, mounting bracket 310, telescopic module 311 and clamping claw 312. The tank shell 36 is located on the outer side below the telescopic end of the electric lifting frame 35 in the vertical direction.There are two rotating rods 37, which are respectively mounted on the upper and lower ends of the inner side of the tank shell 36 via a rotating shaft in the front-back direction. The first motor 38 is fixedly mounted on the upper inner side of the outer surface of the tank shell 36. The rotating end of the first motor 38 extends into the interior of the tank shell 36 and is fixedly connected to the shaft of the upper rotating rod 37. The first motor 38 is electrically connected to the controller 9. The first motor 38 is a small, high-precision servo flipping motor. The first motor 38 can accurately control the rotation angle and speed of the rotating rod 37 to realize the switching of the clamping point. There are two connecting seats 39, which are respectively mounted on the upper and lower rotating rods via a rotating shaft in the up-down direction. The outer end of 37; there are two mounting brackets 310, which are installed on the outer ends of the front and rear connecting seats 39 in the left and right directions respectively. The shape of the mounting brackets 310 is L-shaped; there are two sets of telescopic modules 311, with two telescopic modules 311 in each set. The two sets of telescopic modules 311 are installed on the bottom left and right sides of the outer surface of the front and rear mounting brackets 310 respectively. The telescopic modules 311 are electrically connected to the controller 9. The telescopic modules 311 are micro servo electric telescopic modules. The telescopic modules 311 serve as the power components for clamping opening and closing, and can accurately realize telescopic start and stop and stroke control, providing stable power for the clamping and releasing actions of the gripper 312, and are suitable for different thicknesses, The chassis frame is clamped according to specifications; there are two sets of clamping claws 312, with two clamping claws 312 in each set. The two sets of clamping claws 312 are respectively installed on the outside of the telescopic ends of the two telescopic modules 311. The clamping claws 312 are special workpiece clamping heads with anti-slip and wear-resistant properties. The clamping contact surface is provided with an anti-slip and wear-resistant rubber pad layer, which can avoid scratching the paint surface and metal substrate of the workpiece by rigid clamping, while improving the clamping friction. A spacing adjustment component is provided above the clamping component. The spacing adjustment component includes: mounting plate 313, limit component 314, belt assembly 315, second motor 316 and support base 317; the mounting plate 313 is fixedly installed at the bottom of the telescopic end of the electric lifting frame 35 in the left and right direction. There are two limiting components 314. The two limiting components 314 are fixedly installed on the bottom front and rear sides of the outer surface of the mounting plate 313 in the left and right directions respectively. The limiting components 314 are high-precision linear limiting guide modules, which have the functions of sliding guidance, displacement limiting, and anti-deviation. They can limit and guide the left and right displacement of the support 317. The belt assembly 315 is installed on the bottom of the outer surface of the mounting plate 313 in the left and right directions respectively, and is located inside the two limiting components 314. The belt assembly 315 is a synchronous belt drive module, which consists of a wear-resistant synchronous belt and an alloy pulley. It realizes the synchronous reverse displacement of the left and right support 317 and accurately completes the adaptive adjustment of the clamping distance.The second motor 316 is embedded in the through slot on the right side of the mounting plate 313. The rotating end of the second motor 316 is fixedly connected to the shaft of the right pulley of the belt assembly 315. The second motor 316 is electrically connected to the controller 9. The second motor 316 is a low-speed, high-torque servo-adjustable motor. As a dedicated power source for clamping distance adjustment, the second motor 316 can rotate in both directions with precise control and stable speed. It achieves bidirectional belt transmission by driving the pulley to rotate, providing stable and precise power output for clamping distance adjustment. There are two support seats 317. The two support seats 317 are fixedly installed at the bottom of the left and right limit ends of the front and rear limit assemblies 314 along the front and rear directions, respectively. The tops of the two support seats 317 are connected to the left and right ends of the belt on the front and rear sides of the belt assembly 315, and the bottom ends of the support seats 317 are fixedly connected to the top of the outer shell 36 of the groove.

[0021] As a preferred option, further, such as Figure 6As shown, the overall painting mechanism 5 includes: a ground rail platform 51, a first robotic arm 52, and a painting module 53. The ground rail platform 51 is fixedly installed at the bottom of the processing workshop 1 along the front-to-back direction and is located on the upper left and right sides of the outside of the working passage 4. The ground rail platform 51 is electrically connected to the controller 9. The ground rail platform 51 adopts an industrial heavy-duty precision servo ground rail module. The main base is made of high-strength die-cast aluminum alloy, and the guide rail is made of quenched precision steel linear guide rail. The surface is treated with hard anodizing and anti-corrosion, making it wear-resistant, deformation-resistant, and resistant to paint mist corrosion. The ground rail platform 51 integrates a servo motor. The system, consisting of a drive motor, precision gear rack, electromagnetic self-locking assembly, and front and rear limit sensors, features quiet operation, high load capacity, stable self-locking upon shutdown, and dust and impurity prevention. It stably supports the entire structure of the first robotic arm 52, providing a high-precision, high-stability horizontal movement reference for large-area spraying operations. The first robotic arm 52 is fixedly mounted on the top of the moving end of the ground rail platform 51. The first robotic arm 52 is electrically connected to the controller 9. The first robotic arm 52 is a small, six-axis explosion-proof industrial robotic arm specifically designed for spraying, driven by an independent servo system with multi-axis linkage. Equipped with multi-angle rotation, pitch, extension, and fine-tuning functions, it boasts high freedom of movement, rapid action response, and the ability to adjust the working posture and spatial position of the end-spraying module 53 in all directions. It adapts to chassis frame outer contours of different sizes and shapes, providing multi-dimensional motion support for large-area automated spraying. The spraying module 53 is installed inside the moving end of the first robotic arm 52. The spraying module 53 is connected to the paint supply equipment 11 via pipelines and electrically connected to the controller 9. The spraying module 53 is a high-voltage electrostatic atomization spraying component, specifically adapted for chassis rust prevention and protection. The anti-corrosion coating spraying operation is detachably installed on the moving end of the first robotic arm 52. It is connected to the coating supply equipment 11 through a high-pressure corrosion-resistant PTFE dedicated delivery pipeline. The spraying module 53 integrates a high-precision electromagnetic flow valve, a pressure stabilizing module, an atomization adjustment component, and a detachable wear-resistant atomizing nozzle. It can precisely control the coating delivery pressure, paint flow rate, and atomization width, and can refine and atomize the liquid anti-rust coating under high pressure to ensure that the coating particles are fine and uniform. It can form a smooth and dense anti-rust coating on the surface of metal substrates, and is suitable for large-area spraying operations of various chassis steel structures.

[0022] As a preferred option, further, such as Figure 7As shown, the detailed painting mechanism 6 includes: a mobile robot 61, a storage box 62, an electrically controlled connector valve 63, a pump body 64, and an actuator 7. The mobile robot 61 is movably placed at the bottom of the working channel 4. The mobile robot 61 can automatically charge after docking with the power distribution cabinet 10. The mobile robot 61 and the controller 9 are remotely connected via network. The mobile robot 61 is an industrial explosion-proof AGV intelligent mobile robot with a built-in embedded industrial single-chip microcomputer control system, a laser radar positioning module, a magnetic strip tracking module, and an automatic charging docking module. The mobile robot 61 supports 5G remote network data transmission and establishes real-time remote communication with the controller 9. The mobile robot 61 is integrated with a dedicated charging port on its side, allowing for precise docking with the power distribution cabinet 10 to achieve autonomous positioning, automatic power replenishment, and power outage recovery. It possesses intelligent functions such as autonomous obstacle avoidance, fixed-point parking, program memory, and fault self-diagnosis, enabling precise multi-station mobile positioning operations within the work channel 4. The storage box 62 is fixedly installed on the rear of the upper surface of the mobile robot 61. The storage box 62 uses a high-density polyethylene anti-corrosion sealed enclosure, which is resistant to organic solvent corrosion, aging, seepage prevention, and insulation and explosion-proof. An independent storage cavity is reserved inside, with a smooth and flat interior to effectively prevent the sedimentation and clumping of anti-rust coating. The sealed structure prevents external paint mist, dust, and moisture from entering the cavity and contaminating the coating, thus continuously ensuring the purity and quality of the coating during fine spraying operations. The electrically controlled connector valve 63 is installed outside and connected to the inlet of the storage tank 62. It can dock with the filling port of the filling device 12 and is electrically connected to the mobile robot 61. The electrically controlled connector valve 63 is an explosion-proof electromagnetic automatic docking ball valve, suitable for automated industrial fluid docking operations. It integrates a high-precision alignment sensor and an elastic sealing gasket, enabling automatic alignment, electrically controlled opening and closing, and pressure self-regulation. The device features a locking and leak-proof function, allowing for precise sealing and docking with the filling port of the filling device 12, enabling unmanned automatic quantitative liquid replenishment. The pump body 64 is embedded in the top of the inner cavity of the storage tank 62, with its inlet extending into the inner cavity of the storage tank 62. The pump body 64 is electrically connected to the mobile robot 61. The pump body 64 is a miniature high-pressure corrosion-resistant diaphragm pump, with its inlet pipe extending downwards to the bottom of the inner cavity of the storage tank 62, completely submerged in the coating. The pump body material is compatible with various anti-corrosion and anti-rust coatings, enabling stable pressurized delivery of the anti-rust coating inside the storage tank 62. The actuator 7 is located on the top of the mobile robot 61 and at the front of the storage tank 62.

[0023] As a preferred option, further, such as Figure 8 , Figure 9 and Figure 10As shown, the execution component 7 includes: a fixed base 71, a first support arm 72, a second support arm 73, a third motor 74, a mounting base plate 75, and a second robotic arm 76. There are two sets of fixed bases 71, with two fixed bases in each set. The two sets of fixed bases 71 are fixedly installed at a 90-degree angle on the left and right sides of the front and rear ends of the upper surface of the mobile robot 61. There are also two sets of first support arms 72, with two first support arms in each set. One end of each first support arm 72 is rotatably mounted on the inner side of the two sets of fixed bases 71 via a rotating shaft. The first support arms 72 are symmetrical hinged transmission arms, integrally formed from high-strength aerospace aluminum alloy, exhibiting high structural rigidity, fatigue resistance, and the ability to withstand long-term high-frequency reciprocating transmission without deformation. The first support arm 72 is hinged to the inner side of the corresponding two sets of fixed seats 71 via a high-precision sealed bearing. It can rotate and swing stably around the hinge axis, serving as the first-stage lifting transmission structure of the actuator 7. It works with the second support arm 73 to complete the height adjustment and posture correction of the spraying mechanism. There are two sets of second support arms 73, with two arms in each set. One end of each set of second support arms 73 is rotatably mounted on the inner side of the other end of the two sets of first support arms 72 via a rotating shaft. The second support arm 73 is a two-stage linkage support arm structure. It is made of the same material as the first support arm 72 and has the characteristics of being lightweight, highly tough, and wear-resistant. One end of each set of second support arms 73 is hinged to the other end of the corresponding first support arm 72 via a damping rotating shaft. On one inner side, it forms a double-stage articulated lifting support system with the first support arm 72. The double-stage arm linkage structure can significantly improve the lifting adjustment stroke and fine-tuning accuracy of the equipment, while also having a damping buffer effect, effectively reducing mechanical transmission vibration and ensuring the stability of the top spraying unit operation; there are two sets of third motors 74, with two motors in each set. The two sets of third motors 74 are respectively installed on the outside of the two sets of fixed seats 71. The rotating end of the third motor 74 extends into the inner side of the fixed seat 71 and is fixedly connected to the axis of the first support arm 72. The third motor 74 is electrically connected to the mobile robot 61. The third motor 74 adopts a miniature explosion-proof servo motor, supports precise angle self-locking, and can precisely control the rotation of the first support arm 72 through the program. The rotation angle, swing speed, and start / stop position provide dedicated power output for the entire lifting articulation structure; there are two mounting base plates 75, which are respectively mounted on the outer side of the other end of the two sets of second support arms 73 via rotating shafts; there are two second robotic arms 76, which are respectively fixedly mounted on the top of the two mounting base plates 75. The second robotic arms 76 are electrically connected to the mobile robot 61. The second robotic arms 76 are small four-axis explosion-proof fine spraying special robotic arms. The multi-axis can independently rotate, pitch, and extend, and can adapt to the fine spraying posture adjustment needs of various narrow, hidden, and irregular areas of the chassis. They respectively carry the fixed-point spraying unit and the fixed-point range spraying unit 8 to complete the fine touch-up spraying operation;One side of the second robotic arm 76 has a fixed-point spraying unit installed on its moving end. The fixed-point spraying unit includes: a mounting base 77, a rotating base 78, a first nozzle 79, a first micro motor 710, and a transmission gear set 711. The mounting base 77 is fixedly installed vertically on the moving end of the fixed-point spraying unit 8. The rotating base 78 is rotatably installed vertically on the inner left side of the mounting base 77 via bearings. The first nozzle 79 is fixedly installed on the left side of the outer surface of the rotating base 78. The first nozzle 79 is connected to the liquid outlet on one side of the pump body 64 via a pipeline. The first nozzle 79 is electrically connected to the mobile robot 61. The first nozzle 79 is a micro high-pressure atomizing fixed-point nozzle, detachably mounted on the left side of the outer surface of the rotating base 78, and connected to the liquid outlet of the pump body 64 via a corrosion-resistant and pressure-resistant delivery pipeline. The first nozzle 79 has a built-in micro electromagnetic on / off valve and a microporous atomizing core, enabling precise dispensing and high-pressure fine atomization of micro-volume coatings. The paint output is controllable, and the atomized particles are fine, allowing for precise application of targeted reinforcement and rust prevention spraying to tiny points. A first micro motor 710 is fixedly mounted on the inner right side of the mounting base 77 along the vertical direction. The first micro motor 710 is electrically connected to the mobile robot 61. As a micro high-precision stepper motor, it serves as the dedicated power source for angle adjustment of the targeted spraying unit, accurately outputting stable torque to drive multi-angle fine-tuning of the spray head. A gear key on one side of the transmission gear set 711 is connected to the rotating end of the first micro motor 710, and the gear on the other side is connected to the upper outer side of the shaft of the rotating base 78. The transmission gear set 711 is a precision micro meshing gear pair, which can precisely transmit the rotational power of the first micro motor 710 to the rotating base 78, achieving micron-level precise adjustment of the first spray head 79 angle. A targeted range spraying unit 8 is installed on the moving end of the second robotic arm 76 on the other side.

[0024] As a preferred option, further, such as Figure 11As shown, the fixed-point spraying unit 8 includes: a fixed frame 81, a tank frame 82, a support rod 83, a second nozzle 84, a slide seat 85, a second micro motor 86, a rotating frame 87, and a slider 88; the fixed frame 81 is fixedly installed on the moving end of the fixed-point spraying unit 8; the tank frame 82 is fixedly installed on the upper left side of the outer surface of the fixed frame 81; the support rod 83 is rotatably installed on the inner top of the tank frame 82 via a rotating shaft; the second nozzle 84 is fixedly installed on the right side of the outer surface of the support rod 83, and liquid is discharged from one side of the second nozzle 84 and the pump body 64. The nozzle is connected to the pump body 64 via a pipeline. The second nozzle 84 is electrically connected to the mobile robot 61. The second nozzle 84 is a miniature fan-shaped atomizing explosion-proof spray nozzle, which is detachably and fixedly installed on the right side of the outer surface of the support rod 83. It is connected to the liquid outlet port of the pump body 64 through a high-pressure resistant, corrosion-resistant, and aging-resistant delivery pipeline. The second nozzle 84 has a built-in miniature electromagnetic on / off valve, a fan-shaped atomizing core, and a flow fine-tuning component. It supports start / stop to prevent dripping, adjustable atomization width, and precise control of paint flow. It can form a uniform fan-shaped atomization surface and is specially adapted to long slits and thin-walled planes. Continuous spraying ensures uniform coating thickness and continuous coverage, effectively improving the integrity of the anti-rust coating on delicate components. The sliding base 85 is mounted horizontally on the outer side of the bottom end of the support rod 83. The second micro motor 86 is fixedly mounted vertically on the left side of the bottom end of the outer surface of the fixing frame 81. The rotating end of the second micro motor 86 extends to the lower inner side of the groove frame 82. The second micro motor 86 is electrically connected to the mobile robot 61. The second micro motor 86 is a micro explosion-proof stepper motor and serves as the sole power input source for the entire oscillating spraying module. It can accurately output constant speed and torque; the rotating frame 87 is fixedly installed on the top of the rotating end of the second micro motor 86, and the rotating frame 87 is V-shaped; the slider 88 is fixedly installed on the upper inner side of the rotating frame 87, and the outside of the slider 88 is inserted into the inner cavity of the slide seat 85. The slider 88 is made of high wear-resistant polyoxymethylene material and is integrally processed. The surface is smooth and has self-lubricating properties. The slider 88 can reciprocate and slide inside the slide seat 85 while rotating with the rotating frame 87, ensuring that the second nozzle 84 reciprocates evenly and moves regularly.

[0025] The working principle is as follows: Step 1: Before the rust-proofing spraying of the sanitation vehicle chassis components begins, workers use external hoisting and handling equipment to place the chassis frame workpiece on the transport end face of the conveyor trolley 13 at the rear of the processing workshop 1. Workers then activate the controller 9 to run the internally preset automated spraying program. The controller 9 sends a unified power control signal, simultaneously activating the conveyor trolley 13, the first track moving platform 32, the second track moving platform 34, the electric lifting frame 35, the second motor 316 of the spacing adjustment component, and the telescopic module 311 of the clamping component within the workpiece transport mechanism 3. After receiving the power control command, the rear conveyor trolley 13 transports the chassis frame to be processed along the preset track to the standard loading station at the rear of the processing workshop 1, completing the workpiece placement. Simultaneously, the two sets of first track moving platforms 32 on the left and right sides move along the first track frame 35... 1. Perform precise front-to-back horizontal sliding, driving the bottom second track frame 33 to move forward and backward to the designated work coordinates. Simultaneously, the second track moving platform 34 at the bottom of the second track frame 33 slides left and right along the track, driving the bottom electric lifting frame 35 to complete the left and right horizontal alignment, achieving precise planar positioning of the clamping components. After completing the planar positioning, the electric lifting frame 35 drives the bottom overall spacing adjustment component and clamping components to complete the height adjustment through its own telescopic structure, adapting to the working height of different chassis frames. For sanitation vehicle chassis frames of different widths and spacings, the spacing adjustment component drives the pulley of the belt assembly 315 to rotate through the second motor 316, driving the transmission belt to move clockwise or counterclockwise. At the same time, relying on the limiting and guiding effect of the limit components 314 on both sides, it drives the support seats 317 on both sides to adjust the left and right spacing. The support base 317 drives the entire set of clamping components connected to the bottom to move synchronously, so that the clamping components on both sides are accurately aligned with the clamping points on both sides of the chassis frame. After the alignment is completed, the telescopic modules 311 on the left and right sides of the bottom of the clamping components retract synchronously, driving the clamping claws 312 to clamp inward and fit against the clamping end face of the chassis frame, thus completing the stable clamping and fixing of the large chassis frame. Step 2: After the workpiece handling mechanism 3 completes the clamping and fixing of the chassis frame, the rear conveyor trolley 13 drives out of the processing workshop 1 unloaded. At the same time, the rear sealing door of the processing workshop 1 automatically closes to isolate external dust and impurities, ensuring the internal spraying environment. The controller 9 continues to run the automation program, controlling the ground rail platform 51, the first robotic arm 52, the paint supply equipment 11, the first motor 38, and the air purification equipment 14 to start. The workpiece handling mechanism 3 moves forward, clamping the chassis frame, and transports the workpiece to the working channel 4 at the bottom center of the processing workshop 1. At the upper spraying station, the overall spraying mechanisms 5 on both sides of the processing workshop 1 are driven by the ground rail platform 51 to move the top first robotic arm 52 in the front-to-back direction, adjusting the horizontal working position of the first robotic arm 52. Combined with the multi-degree-of-freedom rotation of the first robotic arm 52, this drives the end spraying module 53 to adjust the spraying angle and working position in all directions, allowing the spraying module 53 to cover a large working area on the outer surface of the chassis frame. The paint supply equipment 11 continuously supplies special chassis anti-rust paint to the spraying module 53 through the delivery pipeline, completing the outer contour of the chassis frame. The automated anti-rust spraying operation covers a large area, including the main frame. Throughout the entire spraying process, the air purification equipment 14 continuously extracts paint mist and harmful exhaust gases generated during spraying through a pipe connected to the top of the processing workshop 1. After filtration and purification, the gases are discharged in compliance with standards. When the spraying operation reaches the area where the clamping claws 312 are in contact with the chassis frame, in order to solve the clamping blind spots and avoid local missed spraying, the controller 9 controls the extension module 311 at the corresponding position to extend, causing the clamping claws 312 to open outward and release the local clamping fixation of the workpiece. Release the blind spot space for spraying. At the same time, the first motor 38 starts and drives the upper and lower sets of rotating rods 37 inside the tank shell 36 to rotate synchronously. This drives the connecting seat 39 and the mounting bracket 310 to complete the up-and-down flip-up and down-and-down conversion, transferring the original clamping point to the sprayed area. After the conversion is completed, the telescopic module 311 retracts again, driving the clamping claw 312 to clamp and fix the chassis frame again. Through the workpiece clamping and repositioning structure, the spraying dead corner is completely eliminated, ensuring the overall integrity of the chassis frame spraying. At the same time, the workpiece is kept stable and fixed throughout the process, and there will be no problems of falling off or shifting. Step 3: After the overall spraying mechanism 5 completes the large-area spraying of the chassis body, the controller 9 automatically switches the operation program, controls the power distribution cabinet 10 to disconnect the charging docking circuit with the mobile robot 61 inside the working channel 4, ends the standby charging state of the mobile robot 61, and the mobile robot 61 calls the internal preset walking program, automatically moves along the preset track of the working channel 4 to the material replenishment station outside the filling equipment 12 on the left front inside the processing workshop 1 to complete the alignment and docking. After docking, the filling port of the filling equipment 12 docks with the electric control connector valve 63 on the outside of the storage box 62 on the top of the mobile robot 61. The built-in program of the mobile robot 61 issues an instruction to open the electric control connector valve 63, and the filling equipment 12 adds a quantitative amount of anti-rust coating to the storage box 62 and the pump body 64 through the pipeline. After the material is added, the electric control connector valve 63 automatically closes, the adding device 12 is disconnected from the storage box 62, and the automatic material replenishment process is completed. Then, the mobile robot 61 carries a sufficient amount of anti-rust coating and moves to the designated fine spraying station at the bottom of the working channel 4 according to the preset walking route. According to the spraying requirements of complex irregular parts such as the corners, gaps, and connecting holes of the chassis frame, the controller 9 controls the third motor 74 to start, driving the first support arm 72 inside the fixed seat 71 to rotate and swing up and down around the axis. Combined with the linkage transmission of the second support arm 73, a multi-degree-of-freedom hinged support structure is formed, which drives the mounting base plate 75 to complete the lifting and lowering, thereby adjusting the working height and working posture of the top second robotic arm 76, so that the two second robotic arms 76 are lifted and lowered to the execution station in sequence. Step 4: For narrow areas requiring high-precision point spraying, such as chassis frame bolt holes, welding points, and protruding corners, after the mobile robot 61 is positioned, the mobile robot 61 controls the first micro motor 710, pump body 64, and first nozzle 79 of the point spraying unit to start synchronously. The first micro motor 710 outputs power to drive the gear transmission structure to rotate, which drives the transmission gear set 711 to rotate in conjunction, further driving the rotating seat 78 inside the mounting base 77 to rotate at a precise angle, driving the first nozzle 79 installed at the end to complete multi-angle fine adjustment, so that the first nozzle 79 is accurately aligned with various narrow and hidden point spraying positions on the chassis frame. At the same time, the pump body 64 starts to operate, and stably delivers the anti-rust coating stored in the storage box 62 to the first nozzle 79 through the pipeline. It is sprayed out in the form of high-pressure atomization, and precise point spraying is performed on key points of the chassis to make up for the micro blind spots that the overall robotic arm cannot cover, strengthen the anti-rust protection capability of key stress points and welding points of the chassis, and improve the corrosion resistance of parts. Step 5: For areas requiring uniform small-area coating, such as chassis frame gaps, long strip connection surfaces, and thin-walled components, the equipment starts the swinging sweeping operation mode. After the mobile robot 61 fine-tunes its position according to the work point, the mobile robot 61 controls the second micro motor 86 and the second nozzle 84 to start working. The second micro motor 86 outputs rotational power to drive the top V-shaped rotating frame 87 to rotate axially, causing the top slider 88 to slide back and forth along the inner cavity of the slide seat 85. Relying on the limiting guide of the slide seat 85, the support rod 83 at the top of the slot frame 82 is driven to complete a small-angle reciprocating swing, which ultimately drives the second nozzle 84 to achieve a stable and regular reciprocating swing motion. At the same time, the pump body 64 continuously delivers anti-rust coating to the second nozzle 84 to complete the small-area, uniform reciprocating sweeping operation, ensuring that the coating thickness is uniform in narrow gaps and thin-walled areas. Step 6: After the entire process of large-area spraying, precise spot spraying, and small-area oscillating sweeping of the chassis frame is completed, and the coating evenly covers all exposed metal structures of the workpiece, the front sealed door of processing workshop 1 automatically opens, and the front conveyor trolley 13 drives into the front unloading station inside processing workshop 1 along the preset track. The workpiece handling mechanism 3 resets and aligns, clamps the sprayed chassis frame and moves it horizontally to directly above the carrying end face of the front conveyor trolley 13, and lowers the workpiece, completing the smooth unloading and transfer of the workpiece. After unloading, the front conveyor trolley 13 carries the sprayed chassis frame out of processing workshop 1 and flows to the subsequent processing process. At the same time, the workpiece handling mechanism 3 and the mobile robot 61 return to the initial standby position, completing a single fully automatic anti-rust spraying operation cycle for the chassis parts of the sanitation vehicle, waiting for the next batch of workpieces to be processed.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rust prevention treatment device for chassis components of sanitation vehicles, characterized in that, include: Processing workshop (1); Gantry (2), the number of gantry (2) is two, and the two gantry (2) are respectively set on the front and back sides of the interior of the processing workshop (1); The workpiece handling mechanism (3) is arranged below the front and rear gantry frames (2) in the front-rear direction; The working passage (4) is opened at the bottom center of the processing workshop (1) in the front-to-back direction; The overall spraying mechanism (5) consists of two units, which are respectively located at the bottom of the processing workshop (1) and on the left and right sides above the outside of the working passage (4). The detail spraying mechanism (6) is located at the bottom of the interior of the working channel (4); The controller (9) is installed on the left front of the outer surface of the processing workshop (1), and the processing workshop (1) and the controller (9) are electrically connected; A power distribution cabinet (10) is installed on the right side of the outer surface of the processing workshop (1), the power distribution cabinet (10) extends into the interior of the processing workshop (1), and the power distribution cabinet (10) and the controller (9) are electrically connected; A paint supply device (11) is located outside the left front of the processing workshop (1), and the paint supply device (11) and the controller (9) are electrically connected. The filling device (12) is located inside the processing workshop (1) on the left front. The filling device (12) and the paint supply device (11) are connected by a pipeline. The filling device (12) and the controller (9) are electrically connected. The conveyor trolley (13) has two trolleys (13), which are installed on the front and rear sides of the processing workshop (1) in the front and rear directions respectively. The conveyor trolley (13) and the controller (9) are electrically connected. An air purification device (14) is fixedly installed on the right rear side of the outer surface of the processing workshop (1). The air purification device (14) and the inner top of the processing workshop (1) are connected by a pipe. The air purification device (14) and the controller (9) are electrically connected.

2. The rust prevention treatment device for chassis components of sanitation vehicles according to claim 1, characterized in that, The workpiece handling mechanism (3) includes: The first track frame (31) has two components, and the two first track frames (31) are fixedly installed on the left and right sides of the inner top of the front and rear gantry frames (2) respectively along the front and rear directions; The first track moving platform (32) has two sets, with four first track moving platforms (32) in each set. The two sets of first track moving platforms (32) are respectively set at the front and rear bottom four corners of the left and right first track frames (31). The first track moving platform (32) is electrically connected to the controller (9). The second track frame (33) has two components, and the two second track frames (33) are fixedly installed at the bottom of the front and rear sets of first track moving platforms (32) in the left and right directions respectively; The second track moving platform (34) has two components. The two second track moving platforms (34) are respectively installed at the bottom of the front and rear second track frames (33). The second track moving platform (34) is electrically connected to the controller (9). Electric lifting frame (35), there are two electric lifting frames (35), the two electric lifting frames (35) are respectively installed on the inner side of the front and rear second track moving platforms (34) in the vertical direction, and the electric lifting frame (35) is electrically connected to the controller (9).

3. The rust prevention treatment device for chassis components of sanitation vehicles according to claim 2, characterized in that, Clamping components are provided on the left and right sides below the telescopic ends of the two electric lifting frames (35) at the front and rear, and a spacing adjustment component is provided above the clamping components.

4. The rust prevention treatment device for chassis components of sanitation vehicles according to claim 3, characterized in that, The clamping component includes: The tank shell (36) is located on the outside below the telescopic end of the electric lifting frame (35) in the vertical direction; Rotating rod (37), there are two rotating rods (37), and the two rotating rods (37) are respectively installed on the upper and lower ends of the inner side of the tank shell (36) through a rotating shaft in the front and rear direction; The first motor (38) is fixedly installed on the upper inner side of the outer surface of the tank shell (36). The rotating end of the first motor (38) extends into the interior of the tank shell (36) and is fixedly connected to the axis of the upper rotating rod (37). The first motor (38) and the controller (9) are electrically connected. Connecting seat (39), there are two connecting seats (39), and the two connecting seats (39) are respectively rotatably installed on the outer ends of the upper and lower rotating rods (37) via rotating shafts in the vertical direction; Mounting bracket (310), there are two mounting brackets (310), the two mounting brackets (310) are respectively installed on the outer ends of the front and rear connecting seats (39) in the left and right directions, and the shape of the mounting bracket (310) is L-shaped; The telescopic module (311) is in two sets, with two telescopic modules (311) in each set. The two sets of telescopic modules (311) are respectively installed on the bottom left and right sides of the outer surface of the front and rear mounting brackets (310). The telescopic module (311) is electrically connected to the controller (9). The clamping claws (312) are in two sets, with two clamping claws (312) in each set. The two sets of clamping claws (312) are respectively installed on the outside of the telescopic ends of the two sets of telescopic modules (311).

5. A rust prevention treatment device for chassis components of sanitation vehicles according to claim 4, characterized in that, The overall spraying mechanism (5) includes: The ground rail platform (51) is fixedly installed at the bottom of the processing workshop (1) along the front-back direction and located on the left and right sides above the outside of the working passage (4). The ground rail platform (51) and the controller (9) are electrically connected. The first robotic arm (52) is fixedly installed on the top of the moving end of the ground rail platform (51), and the first robotic arm (52) is electrically connected to the controller (9); The spraying module (53) is installed inside the moving end of the first robotic arm (52). The spraying module (53) and the paint supply equipment (11) are connected by a pipeline. The spraying module (53) and the controller (9) are electrically connected.

6. A rust prevention treatment device for chassis components of sanitation vehicles according to claim 5, characterized in that, The detailed painting mechanism (6) includes: A mobile robot (61) is movable and placed at the bottom of the working channel (4). The mobile robot (61) can be automatically charged after docking with the power distribution cabinet (10). The mobile robot (61) and the controller (9) are remotely connected via a network. Storage box (62) is fixedly installed on the rear side of the upper surface of the mobile robot (61); An electrically controlled connector valve (63) is installed outside the liquid inlet of the storage tank (62) and communicates with the liquid inlet of the storage tank (62). The electrically controlled connector valve (63) can be connected to the filling port of the filling device (12). The electrically controlled connector valve (63) is electrically connected to the mobile robot (61). The pump body (64) is embedded in the top of the inner cavity of the storage tank (62), the inlet of the pump body (64) extends into the inner cavity of the storage tank (62), and the pump body (64) is electrically connected to the mobile robot (61). The execution component (7) is located on top of the mobile robot (61) and in front of the storage box (62).

7. A rust prevention treatment device for chassis components of sanitation vehicles according to claim 6, characterized in that, The execution component (7) includes: Fixed base (71), the number of fixed bases (71) is two sets, the number of fixed bases (71) in each set is two, and the two sets of fixed bases (71) are fixedly installed at ninety degrees on the left and right sides of the front and rear ends of the upper surface of the mobile robot (61). The first support arm (72) has two sets, with two first support arms (72) in each set. One end of each set of first support arms (72) is rotatably mounted on the inner side of the two sets of fixed seats (71) via a rotating shaft. The second support arm (73) has two sets, with two second support arms (73) in each set. One end of each set of the second support arms (73) is rotatably mounted on the inner side of the other end of the two sets of first support arms (72) via a rotating shaft. The third motor (74) is in two sets, with two motors in each set. The two sets of third motors (74) are respectively installed on the outside of two sets of fixed seats (71). The rotating end of the third motor (74) extends into the inside of the fixed seat (71) and is fixedly connected to the axis of the first support arm (72). The third motor (74) is electrically connected to the mobile robot (61). The mounting base plate (75) is two in number, and the two mounting base plates (75) are respectively mounted on the outer side of the other end of the two sets of second support arms (73) by rotating shafts; The second robotic arm (76) has two components. The two second robotic arms (76) are fixedly installed on the top of the two mounting base plates (75) respectively. The second robotic arms (76) are electrically connected to the mobile robot (61). One side of the second robotic arm (76) has a fixed-point spraying unit installed on its moving end, and the other side of the second robotic arm (76) has a fixed-point range spraying unit (8) installed on its moving end.

8. A rust prevention treatment device for chassis components of sanitation vehicles according to claim 7, characterized in that, The fixed-point spraying unit includes: Mounting base (77) is fixedly installed in the vertical direction on the moving end of the fixed-point range spraying unit (8); The rotating seat (78) is rotatably mounted on the inner left end of the mounting seat (77) via a bearing in the vertical direction; The first nozzle (79) is fixedly installed on the left side of the outer surface of the rotating seat (78). The first nozzle (79) and the liquid outlet on one side of the pump body (64) are connected by a pipeline. The first nozzle (79) and the mobile robot (61) are electrically connected. The first micro motor (710) is fixedly installed on the inner right end of the mounting base (77) in the vertical direction, and the first micro motor (710) is electrically connected to the mobile robot (61). The transmission gear set (711) has a gear key on one side connected to the rotating end of the first micro motor (710), and the other gear of the transmission gear set (711) is connected to the upper outer side of the shaft of the rotating seat (78).

9. A rust prevention treatment device for chassis components of sanitation vehicles according to claim 8, characterized in that, The fixed-point spraying unit (8) includes: A fixed frame (81) is fixedly installed on the moving end of the fixed-point range spraying unit (8); The tank frame (82) is fixedly installed on the upper left side of the outer surface of the fixed frame (81); The support rod (83) is rotatably mounted on the inner top of the trough frame (82) via a pivot. The second nozzle (84) is fixedly installed on the right side of the outer surface of the support rod (83). The second nozzle (84) and the liquid outlet on one side of the pump body (64) are connected by a pipeline. The second nozzle (84) and the mobile robot (61) are electrically connected. The sliding seat (85) is installed on the outer side of the bottom end of the support rod (83) in the left-right direction; The second micro motor (86) is fixedly installed on the left side of the bottom of the outer surface of the fixed frame (81) in the vertical direction. The rotating end of the second micro motor (86) extends to the lower inner side of the slot frame (82). The second micro motor (86) and the mobile robot (61) are electrically connected. A rotating frame (87) is fixedly installed on the top of the rotating end of the second micro motor (86), and the rotating frame (87) is V-shaped. The slider (88) is fixedly installed on the upper inner side of the rotating frame (87), and the outside of the slider (88) is inserted into the inner cavity of the slide seat (85).

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