A GIS shell surface spraying device

Abstract

The present application relates to the technical field of spraying, and particularly relates to a GIS shell surface spraying device, which comprises a rack, a spraying mechanical arm, a spraying gun and a GIS shell. The GIS shell surface spraying device is characterized in that a sealing plate is preassembled at a branch pipe opening of the GIS shell, so that paint mist is effectively prevented from entering the inside of the GIS shell during the spraying process. Meanwhile, the sealing plate is integrated with a pair of positioning rods, so that the sealing tool and the spraying positioning reference are combined into one. After the main cylinder of the GIS shell is sprayed, the spraying gun is preliminarily positioned by contacting the upper positioning plate and the positioning rods. Then, the positioning rods are inserted into the positioning grooves by controlling the upper electric telescopic cylinder. Then, the lower positioning plate is driven to move by the positioning electric telescopic cylinder. The positioning rods are extruded by the inclined grooves of the lower positioning plate, so that the two positioning rods are moved to the side close to the lower positioning plate, so that the rapid coincidence of the axis of the disc and the axis of the sealing plate is realized. Finally, the spraying mechanical arm and the spraying gun are driven to rotate by the rotating mechanism, so that the rapid positioning and spraying of the branch pipe of the GIS shell are realized.

Description

Technical Field

[0001] This invention relates to the field of spraying technology, and more particularly to a spraying device for the surface of a GIS housing. Background Technology

[0002] GIS, or Gas Insulated Metal Enclosed Switchgear, consists of a large cylindrical metal casing. Operating in substation environments for extended periods, its surface is susceptible to corrosion from moisture and salt spray. Therefore, an anti-corrosion coating is applied to protect the casing. The coating system primarily comprises a frame, rotating rollers, a traversing mechanism, a spray gun, a paint supply system, and a control system. During operation, the casing is hoisted onto the rotating rollers, which drive the casing to rotate uniformly around its own axis. The paint supply system pressurizes and delivers the paint to the spray gun. Driven by the traversing mechanism, the spray gun reciprocates along the casing's axial direction, uniformly spraying the rotating casing surface. Once the coating is complete, the casing is lifted out, thus completing the operation.

[0003] Existing GIS shell surface spraying equipment typically uses a clamp to hold the shell and rotate it when spraying the main cylinder, allowing the spray gun to spray the outer surface of the main cylinder evenly. However, when spraying the branch pipes on the shell, due to the varying spatial orientations of the branch pipes and the intersecting connection areas with the main cylinder, the existing rotary spraying method cannot cover the outer surface of the branch pipes and their root transition areas. Therefore, workers need to manually spray the branch pipes with the spray gun. This manual spraying method not only results in uneven paint film thickness and poor spraying consistency on the surface of the branch pipes, but also requires workers to operate the spraying equipment at close range, and the paint mist can easily cause health hazards to the operators. In addition, manual spraying is inefficient and cannot meet the needs of mass production.

[0004] Therefore, a GIS shell surface spraying device is proposed to solve the above problems. Summary of the Invention

[0005] To address the technical problems of uneven paint film and low efficiency caused by manual touch-up spraying in existing GIS shell branch pipe spraying, this invention provides a GIS shell surface spraying device.

[0006] The technical solutions provided by the embodiments of the present invention are as follows: The present invention provides a GIS shell surface spraying device, including a frame, a spraying robotic arm, a spraying gun and a GIS shell, wherein the bottom of the frame is provided with a clamping platform that can drive the GIS shell to rotate; A sealing plate is inserted into the branch pipe of the GIS shell. A pair of positioning rods are fixedly connected to the front side of the sealing plate. A pair of positioning bolts are inserted through the front side of the sealing plate. The positioning bolts are threaded into the threaded holes of the branch pipe of the GIS shell. By pre-installing the sealing plate at the branch pipe opening of the GIS shell, paint droplets are effectively prevented from entering the interior of the GIS shell during the spraying process. At the same time, the sealing plate integrates a pair of positioning rods, combining the sealing fixture and the spraying positioning reference into one. A vertical moving frame is fixedly connected to the front side of the frame. A vertical moving seat is slidably connected to the inner side of the vertical moving frame. An installation frame is provided inside the vertical moving seat. A pair of upper electric telescopic cylinders are fixedly connected to the inner side of the installation frame. A transverse moving plate is fixedly connected between the output ends of the upper electric telescopic cylinders. A transverse moving frame is slidably connected to the rear side of the transverse moving plate. A lower electric telescopic cylinder is fixedly connected to the rear side of the transverse moving plate. The output end of the lower electric telescopic cylinder is fixedly connected to the inner side of the transverse moving frame. A disc is provided behind the transverse moving frame. A positioning mechanism for locating the center position of the GIS shell branch pipe is provided behind the disc. A rotating mechanism for driving the spraying robot arm to rotate is also provided on the disc. A moving mechanism for driving the vertical moving seat to move up and down is also provided.

[0007] In the above technical solution, the moving mechanism further includes a moving motor and a threaded rod. The threaded rod is rotatably connected to the inner side of the vertical moving frame, and the moving motor is fixedly connected to the top of the vertical moving frame. The output end of the moving motor passes through the inner side of the vertical moving frame and is fixedly connected to the top of the threaded rod. The threaded rod is threaded through and connected to the inner wall of the vertical moving seat. Through the setting of the moving mechanism, the spraying robot arm and the spray gun can be driven to move up and down, and the clamping table can drive the GIS shell to rotate, so as to realize the comprehensive spraying of the main cylinder of the GIS shell.

[0008] In the above technical solution, further, a number of insertion rods for inserting into the remaining threaded holes on the GIS shell branch pipe are fixedly connected at equal intervals on the rear side of the sealing plate. The insertion rods can seal the threaded holes on the GIS shell branch pipe. A support frame is fixedly connected to the top of the frame, and a vision camera for detecting the position of the sealing plate is fixedly connected through the top of the support frame. A detection groove is opened on the front side of the sealing plate. Through the setting of the detection groove and the vision camera, the position of the GIS shell branch pipe can be detected and adjusted to ensure that the GIS shell branch pipe is flush with the disc, thereby ensuring the subsequent spraying quality.

[0009] In the above technical solution, the positioning mechanism further includes a positioning electric telescopic cylinder, a connecting rod, an upper positioning plate, a lower positioning plate, and a touch sensor. A positioning block is fixedly connected to the rear side of the disc. A positioning groove is formed through the rear side of the positioning block. The width of the positioning groove is the same as the diameter of the positioning rod. A telescopic groove is formed through the rear side of the positioning block. The upper positioning plate is laterally slidably connected to the inner side of the telescopic groove. The touch sensor is fixedly connected to the side wall of the upper positioning plate. A transverse groove is formed inside the positioning groove. A pair of lower positioning plates are provided. The lower positioning plates are laterally slidably connected to the inner side of the transverse groove. The connecting rod is fixedly connected between the lower positioning plates. The positioning electric telescopic cylinder is fixedly connected through the transverse groove. The output end of the positioning electric telescopic cylinder is fixedly connected to the side wall of the connecting rod. The touch sensor is electrically connected to the lower electric telescopic cylinder through a controller. The lower positioning plate has inclined grooves on its adjacent side, and these grooves are located on the side away from the connecting rod. Several upper springs are fixedly connected at equal intervals between the rear side of the disc and the front side of the upper positioning plate. The sidewall of the touch sensor is flush with the inner side of the positioning groove. A vertical groove is formed on the front side of the disc, and a vertical block is slidably connected to the inner side of the vertical groove. The vertical block is fixedly connected to the rear side of the transverse frame. Lower springs are fixedly connected to the upper and lower sides of the vertical block and the inner wall of the vertical groove. An electromagnet is fixedly connected through the front side of the disc. The transverse frame is made of iron. Through the positioning mechanism, the upper positioning plate first contacts the positioning rod for initial positioning. Then, the upper electric telescopic cylinder is controlled to insert the positioning rod into the positioning groove. Then, the lower positioning plate is moved by the positioning electric telescopic cylinder. The inclined groove of the lower positioning plate squeezes the positioning rod, causing the two positioning rods to move to the adjacent side of the lower positioning plate, thereby achieving rapid alignment of the disc axis and the sealing plate axis. Finally, the rotating mechanism drives the spraying robot arm and spray gun to rotate, thus achieving rapid positioning and spraying of the GIS outer shell branch pipe.

[0010] In the above technical solution, the rotating mechanism further includes a drive motor, a gear, and a gear ring. A ring is rotatably connected to the outer wall of the disk. The gear ring is fixedly connected to the rear side of the ring. The gear is rotatably connected to the rear side of the disk, and the gear and the gear ring mesh with each other. The drive motor is fixedly connected to the front side of the disk. The output end of the drive motor passes through the rear side of the disk and is fixedly connected to the side wall of the gear. The spraying robot arm is fixedly connected to the outer wall of the ring. The spray gun is fixedly connected to the moving end of the spraying robot arm. The rotating mechanism can drive the spray gun to rotate and spray around the branch pipe of the GIS shell.

[0011] In the above technical solution, a rotary motor is fixedly connected to the side wall of the vertical moving seat, and the mounting frame is rotatably connected to the inside of the vertical moving seat. The output end of the rotary motor passes through the inside of the vertical moving seat and is fixedly connected to the rotating shaft of the mounting frame. The rotary motor drives the mounting frame, the disc, and the positioning mechanism to rotate. After adjusting the positioning block and the spray gun to the angle corresponding to the oblique branch, the positioning mechanism is activated, thereby realizing the rapid and accurate positioning and rotary spraying of the oblique branch pipe.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention effectively prevents paint droplets from entering the GIS shell during spraying by pre-installing a sealing plate at the branch pipe opening. Simultaneously, the sealing plate integrates a pair of positioning rods, combining the sealing fixture with the spraying positioning reference. After the main cylinder of the GIS shell is sprayed, the spray gun is initially positioned by contacting the positioning rods through the upper positioning plate. Then, the upper electric telescopic cylinder is controlled to insert the positioning rods into the positioning grooves. Next, the lower positioning plate is moved by the positioning electric telescopic cylinder, and the inclined groove of the lower positioning plate presses the positioning rods, causing the two positioning rods to move to the side of the lower positioning plate that is close to each other. This achieves rapid alignment of the disc axis and the sealing plate axis. Finally, a rotating mechanism drives the spraying robotic arm and spray gun to rotate, enabling rapid positioning and spraying of the GIS shell branch pipes. This significantly improves the automation and positioning accuracy of the branch pipe spraying, and substantially enhances the spraying quality and production efficiency.

[0013] 2. This invention, through the setting of a rotary motor, enables the overall angle between the positioning block and the spray gun to be adaptively adjusted according to the tilt posture of the branch pipe on the GIS design drawings. After adjusting the positioning block and the spray gun to the angle corresponding to the inclined branch, the positioning process of inserting the positioning rod into the positioning groove and the inclined groove extrusion centering of the lower positioning plate is repeated. This enables rapid and accurate positioning and rotary spraying of the inclined branch pipe, breaking through the limitations of existing spraying equipment that can only handle vertical branches or require the design of special tooling for each tilt angle. This allows the same spraying device to adapt to branch pipes with various spatial postures, significantly enhancing the versatility and flexible production capacity of the spraying device. Attached Figure Description

[0014] Figure 1 This is a front perspective view of the spraying device of the present invention; Figure 2 This is a rear-view three-dimensional structural diagram of the vertical moving frame, clamping platform, and GIS shell of the present invention; Figure 3 This is a rear-view three-dimensional structural diagram of the vertical moving frame and the disk of the present invention; Figure 4 This is a three-dimensional structural diagram of the clamping platform of the present invention. Figure 5This is a frontal three-dimensional structural diagram of the sealing plate of the present invention when it is installed on the inclined branch pipe of the GIS shell; Figure 6 This is a three-dimensional structural diagram of the sealing plate and positioning bolt separated from the front of the present invention; Figure 7 This is a top-view three-dimensional structural diagram showing the separation of the disc, horizontal moving frame, mounting frame, and vertical moving base of the present invention. Figure 8 This is a frontal three-dimensional structural diagram of the disc, spray gun, transverse frame, and transverse plate of the present invention. Figure 9 This is a rear-view three-dimensional structural diagram of the disc, positioning block, and spray gun of the present invention. Figure 10 This is a partial cross-sectional three-dimensional structural diagram of the positioning block of the present invention.

[0015] In the diagram: 1. Frame; 2. Spraying robotic arm; 3. Spray gun; 4. GIS housing; 5. Clamping platform; 6. Sealing plate; 7. Positioning rod; 8. Positioning bolt; 9. Vertical moving frame; 10. Vertical moving base; 11. Mounting frame; 12. Upper electric telescopic cylinder; 13. Horizontal moving plate; 14. Horizontal moving frame; 15. Lower electric telescopic cylinder; 16. Disc; 17. Moving motor; 18. Threaded rod; 19. Insert rod; 20. Detection slot; 21. Support frame; 22. Vision camera; 23. Positioning electric telescopic cylinder; 24. Connecting rod; 25. Upper positioning plate; 26. Lower positioning plate; 27. Touch sensor; 28. Positioning block; 29. ​​Positioning groove; 30. Telescopic groove; 31. Horizontal groove; 32. Inclined groove; 33. Upper spring; 34. Vertical groove; 35. Vertical block; 36. Lower spring; 37. Electromagnet; 38. Drive motor; 39. Gear; 40. Gear ring; 41. Circular ring; 42. Rotary motor. Detailed Implementation

[0016] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the invention is not limited to the specific embodiments disclosed below.

[0018] In practical use, it was found that existing GIS shell surface spraying devices typically use a clamp to hold the shell and rotate it when spraying the main cylinder, so that the spray gun can spray the outer surface of the main cylinder evenly. However, when spraying the branch pipes on the shell, due to the different spatial orientations of the branch pipes and the intersecting connection area with the main cylinder, the existing rotary spraying method cannot cover the outer surface of the branch pipes and the transition area at their roots. Therefore, workers need to hold the spray gun and spray the branch pipes to make up for the problem. To solve the above problems, the following structure was invented.

[0019] like Figures 1-10 The GIS shell surface spraying device shown includes a frame 1, a spraying robotic arm 2, a spray gun 3, and a GIS shell 4. The frame 1 has a clamping platform 5 at its bottom that can rotate the GIS shell 4. A support frame 21 is fixedly connected to the top of the frame 1, and a vision camera 22 for detecting the position of a sealing plate 6 is fixedly connected through the top of the support frame 21. The clamping platform 5 consists of a base, a chuck, and a motor. The chuck is used to clamp the GIS shell 4, and then the motor drives the chuck to rotate, achieving rotational spraying of the GIS shell 4. Simultaneously, the rotation angle can be finely adjusted based on feedback signals from the vision camera 22 to ensure precise alignment of the branch pipe with the positioning mechanism. The vision camera 22 is located above the branch pipe of the GIS shell, acquiring real-time images of the branch pipe opening and the sealing plate 6 through top-down shooting. Image processing algorithms extract the center coordinates and angle information of the branch pipe, and the detection results are transmitted to the controller. The controller controls the clamping platform 5 to rotate the GIS shell 4, ensuring precise alignment of the branch pipe with the disc 16, providing visual feedback for the subsequent positioning of the spray gun 3.

[0020] A sealing plate 6 is inserted into the branch pipe of the GIS housing 4. A pair of positioning rods 7 are fixedly connected to the front side of the sealing plate 6. A pair of positioning bolts 8 are inserted through the front side of the sealing plate 6. The positioning bolts 8 are threaded into the threaded holes of the branch pipe of the GIS housing 4. Several insertion rods 19 for inserting into the remaining threaded holes on the branch pipe of the GIS housing 4 are fixedly connected at equal intervals on the rear side of the sealing plate 6. The insertion rods 19 can seal the threaded holes on the remaining branch pipe to avoid being affected by the spraying. A vertical moving frame 9 is fixedly connected to the front side of the frame 1. A vertical moving seat 10 is slidably connected to the inner side of the vertical moving frame 9. An installation frame 11 is provided inside the vertical moving seat 10. A pair of upper electric telescopic cylinders 12 are fixedly connected to the inner side of the installation frame 11. A transverse moving plate 13 is fixedly connected between the output ends of the upper electric telescopic cylinders 12. A transverse moving frame 14 is slidably connected to the rear side of the transverse moving plate 13. A lower electric telescopic cylinder 15 is fixedly connected to the rear side of the transverse moving plate 13. The output end of the lower electric telescopic cylinder 15 is fixedly connected to the inner side of the transverse moving frame 14. A disc 16 is provided behind the transverse moving frame 14. A positioning mechanism for positioning the center position of the branch pipe of the GIS shell 4 is provided behind the disc 16. A rotating mechanism for driving the spraying robot arm 2 to rotate is also provided on the disc 16. A moving mechanism for driving the vertical moving seat 10 to move up and down is also provided.

[0021] The moving mechanism includes a moving motor 17 and a threaded rod 18. The threaded rod 18 is rotatably connected to the inside of the vertical moving frame 9. The moving motor 17 is fixedly connected to the top of the vertical moving frame 9. The output end of the moving motor 17 passes through the inside of the vertical moving frame 9 and is fixedly connected to the top of the threaded rod 18. The threaded rod 18 is threadedly connected to the inner wall of the vertical moving seat 10.

[0022] The positioning mechanism includes a positioning electric telescopic cylinder 23, a connecting rod 24, an upper positioning plate 25, a lower positioning plate 26, and a touch sensor 27. A positioning block 28 is fixedly connected to the rear side of the disc 16. A positioning groove 29 is formed through the rear side of the positioning block 28. The width of the positioning groove 29 is the same as the diameter of the positioning rod 7. A telescopic groove 30 is formed through the rear side of the positioning block 28. The upper positioning plate 25 is laterally slidably connected to the inside of the telescopic groove 30. The touch sensor 27 is fixedly connected to the side wall of the upper positioning plate 25. A transverse groove 31 is formed inside the positioning groove 29. A pair of lower positioning plates 26 are provided. The lower positioning plates 26 are laterally slidably connected to the inside of the transverse groove 31. The connecting rod 24 is fixedly connected between the lower positioning plates 26. The positioning electric telescopic cylinder 23 is fixedly connected through the inside of the transverse groove 31. The output end of the positioning electric telescopic cylinder 23 is fixedly connected to the side wall of the connecting rod 24. The touch sensor 27 is electrically connected to the lower electric telescopic cylinder 15 through a controller.

[0023] The lower positioning plate 26 has inclined grooves 32 on the side closest to each other. The inclined grooves 32 are located on the side away from the connecting rod 24. Several upper springs 33 are fixedly connected at equal intervals between the rear side of the disc 16 and the front side of the upper positioning plate 25. The side wall of the touch sensor 27 is flush with the inner side of the positioning groove 29.

[0024] A vertical groove 34 is provided on the front side of the disc 16. A vertical block 35 is slidably connected to the inner side of the vertical groove 34. The vertical block 35 is fixedly connected to the rear side of the transverse frame 14. Lower springs 36 are fixedly connected between the upper and lower sides of the vertical block 35 and the inner wall of the vertical groove 34. With the arrangement of the vertical groove 34, the vertical block 35 and the lower springs 36, the disc 16 can be driven to slide on the transverse frame 14 when the inclined groove 32 squeezes the positioning rod 7, so that the axis of the disc 16 can be quickly aligned with the axis of the sealing plate 6. An electromagnet 37 is fixedly connected through the front side of the disc 16. The transverse frame 14 is made of iron. With the arrangement of the electromagnet 37, the disc 16 can be fixed on the transverse frame 14 when the GIS shell 4 is sprayed, ensuring the stability of the equipment during the spraying process.

[0025] The rotating mechanism includes a drive motor 38, a gear 39, and a gear ring 40. A ring 41 is rotatably connected to the outer wall of the disk 16. The gear ring 40 is fixedly connected to the rear side of the ring 41. The gear 39 is rotatably connected to the rear side of the disk 16, and the gear 39 meshes with the gear ring 40. The drive motor 38 is fixedly connected to the front side of the disk 16, and its output end passes through the rear side of the disk 16 and is fixedly connected to the side wall of the gear 39. The spraying robotic arm 2 is fixedly connected to the outer wall of the ring 41, and the spray gun 3 is fixedly connected to the moving end of the spraying robotic arm 2. The spraying robotic arm 2 has multi-degree-of-freedom motion capabilities. The controller commands drive the spray gun 3 to move in three-dimensional space, enabling precise positioning and attitude adjustment of the spray gun 3 at different positions of the GIS shell. The spray gun 3 is fixed at the end of the spraying robot arm 2. Through the positioning mechanism and the branch pipe, it is quickly centered, then rotates around the branch axis and spirals downward, evenly spraying paint onto the outer surface of the branch pipe and the connection with the main cylinder. The spraying pipe of the spray gun 3 is connected to the disc 16 through a rotary joint. The rotary joint allows the spraying pipe to rotate freely when the ring 41 drives the spraying robot arm 2 to rotate, avoiding pipe entanglement and ensuring a continuous and stable supply of paint.

[0026] Before spraying the GIS housing 4, first insert the sealing plate 6 into the branch pipe opening of the GIS housing 4, and then thread the two positioning bolts 8 into the corresponding threaded holes (these threaded holes are the threaded holes on the branch pipe opening of the GIS housing 4, and during installation, it is necessary to ensure that the two positioning rods 7 are in a vertical state, that is, the two positioning bolts 8 are threaded into the upper and lower threaded holes respectively). Then, the GIS housing 4 is hoisted onto the clamping platform 5 by a crane, and the GIS housing 4 is clamped and fixed by the clamps of the clamping platform 5. Then, the spray gun 3 can be started to spray the GIS housing 4, and at the same time, the clamping platform 5 is controlled to drive the GIS housing 4 to rotate, so as to achieve full spraying of the GIS housing 4. After the main cylinder of the GIS housing 4 is coated, the clamping table 5 can be controlled to rotate the branch gate of the GIS housing 4 to the front. The vision camera 22 ensures that the sealing plate 6 is in a horizontal position. At the same time, the moving motor 17 is started to drive the threaded rod 18 to rotate, which in turn drives the threaded vertical moving seat 10 to move, so that the disc 16 moves to the front position of the sealing plate 6 (at this time, the sealing plate 6 and the disc 16 should be aligned under the worker's observation). Then, the upper electric telescopic cylinder 12 can be started to drive the horizontal moving plate 13 and the lower electric telescopic cylinder 1 5. The horizontal frame 14 and the disc 16 move to the rear side, which will drive the upper positioning plate 25 to move to the position next to the positioning rod 7. Then, the lower electric telescopic cylinder 15 can be controlled to start and push the horizontal frame 14 to slide on the horizontal plate 13. At the same time, the vertical block 35 drives the disc 16 to move together, thereby driving the positioning block 28, the upper positioning plate 25 and the touch sensor 27 to move. Then the touch sensor 27 will move to the position next to the positioning rod 7. At this time, the touch sensor 27 will transmit a signal to the controller, and the controller will control the lower electric telescopic cylinder 15 to stop operating. Then, the upper electric telescopic cylinder 12 continues to start, pushing the disc 16 and the positioning block 28 to continue moving (since the side wall of the touch sensor 27 is flush with the inner wall of the positioning groove 29, when the positioning rod 7 touches the touch sensor 27, the positioning rod 7 will be aligned with the inside of the positioning groove 29). Then, as the positioning block 28 moves backward, the positioning rod 7 will be inserted into the positioning groove 29 (during this process, the upper positioning plate 25 will be squeezed by the sealing plate 6, thereby pushing the upper positioning plate 25 to slide into the telescopic groove 30 and gradually compressing the upper spring 3). 3) However, at this time, the disc 16 and the sealing plate 6 are still not aligned when they move upward. Therefore, it is necessary to control the starting of the positioning electric telescopic cylinder 23 and at the same time control the de-energization of the electromagnet 37 to release the fixed connection between the vertical block 35 and the disc 16. Then, the positioning electric telescopic cylinder 23 drives the connecting rod 24 and the lower positioning plate 26 to move. During the movement of the lower positioning plate 26, the inclined surface of the inclined groove 32 on the lower positioning plate 26 will be squeezed by the arc surface of the positioning rod 7. The disc 16 will move upward or downward, while gradually compressing and stretching the two lower springs 36. Once the two positioning rods 7 have moved completely to the horizontal position inside the lower positioning plate 26, the axis of the disc 16 and the axis of the sealing plate 6 can be quickly aligned. Then, the spraying robot arm 2 drives the spray gun 3 to turn so that the spray gun 3 is aligned with the outer surface of the branch pipe of the GIS housing 4. Then, the drive motor 38 is controlled to drive the gear 39 to start, which in turn drives the meshing gear ring 40 to rotate, thereby driving the ring 41, the spraying robot arm 2 and the spray gun 3 to rotate, so as to achieve full spraying of the branch pipe of the GIS housing 4. Finally, after the spraying is completed, the above operation is repeated in reverse to reset.

[0027] In summary, through the above structural design, by pre-installing the sealing plate 6 at the branch pipe opening of the GIS housing 4, paint droplets are effectively prevented from entering the interior of the GIS housing 4 during the spraying process. At the same time, the sealing plate 6 integrates a pair of positioning rods 7, combining the sealing fixture and the spraying positioning reference into one. After the main cylinder of the GIS housing 4 is sprayed, the spray gun 3 is initially positioned by contacting the positioning rods 7 through the upper positioning plate 25. Then, the upper electric telescopic cylinder 12 is controlled to insert the positioning rods 7 into the positioning groove 29. Then, the lower positioning plate 26 is moved by the positioning electric telescopic cylinder 23. The positioning rods 7 are squeezed by the inclined groove 32 of the lower positioning plate 26, so that the two positioning rods 7 move to the side of the lower positioning plate 26 that are close to each other, thereby achieving rapid alignment of the axis of the disc 16 with the axis of the sealing plate 6. Finally, the spraying robot arm 2 and the spray gun 3 are rotated by the rotating mechanism, which can realize the rapid positioning and spraying of the branch pipe of the GIS housing 4, greatly improving the automation and positioning accuracy of the branch pipe spraying, and significantly improving the spraying quality and production efficiency.

[0028] Based on the above embodiments, it was found during use that although the above can achieve rapid positioning and automatic rotational spraying of branch pipes, the angle between the positioning block 28 and the spray gun 3 is fixed. When the branch pipes on the GIS housing 4 are arranged at an angle, the axis of the positioning block 28 cannot coincide with the axis of the angled branch pipe, which causes the positioning rod 7 to be unable to be smoothly inserted into the positioning groove 29. As a result, the angled branch pipes cannot be effectively sprayed, and manual hand-held spray gun is still required to re-spray the angled branches. This restricts the adaptability of the spraying device to branches with multiple postures. In order to solve the above problems, the above structure has been further improved.

[0029] A rotary motor 42 is fixedly connected to the side wall of the vertical moving seat 10. The mounting frame 11 is rotatably connected to the inside of the vertical moving seat 10. The output end of the rotary motor 42 passes through the inside of the vertical moving seat 10 and is fixedly connected to the rotating shaft of the mounting frame 11.

[0030] The sealing plate 6 has a detection groove 20 on its front side. With the setting of the detection groove 20, when the sealing plate 6 is installed on the inclined branch pipe, the vision camera 22 can take a picture of the detection groove 20 on the front side of the sealing plate 6 from above. By identifying the tilt angle of the detection groove 20, the spatial posture of the inclined branch pipe can be determined, and then the clamping table 5 can be controlled to adjust the angle of the GIS shell 4 so that it is aligned with the disc 16.

[0031] Before spraying the oblique branch pipe of the GIS housing 4, repeat the above operation to install the sealing plate 6 on the branch pipe opening of the GIS housing 4 using the positioning bolts 8. Then, after the main cylinder of the GIS housing 4 is sprayed, control the clamping table 5 to rotate the oblique branch pipe of the GIS housing 4 to the front, and use the vision camera 22 to inspect the detection groove 20 to ensure that the detection groove 20 is in a horizontal state. Then, control the moving mechanism to move the disc 16 to the front of the sealing plate 6. Then, according to the tilt angle of the branch pipe on the GIS design drawing, control the rotary motor 42 to drive the mounting frame 11 to rotate, thereby driving the disc 16 to rotate, so that the disc 16 is in contact with the sealing plate 6. With the blocking plates 6 parallel, the lower electric telescopic cylinder 15 can then be controlled to push the transverse frame 14, disc 16, positioning block 28, and upper positioning plate 25 to move, so that the upper positioning plate 25 contacts the positioning rod 7. Then, the lower electric telescopic cylinder 15 is controlled to push the disc 16 and positioning block 28 to the rear side, so that the positioning rod 7 is inserted into the positioning groove 29. Then, the electromagnet 37 is de-energized, and the positioning electric telescopic cylinder 23 is started. The positioning rod 7 is pressed by the inclined surface of the lower positioning plate 26 to perform various positioning. Finally, the spraying robot arm 2 is controlled to adjust the angle of the spray gun 3, and then the rotating mechanism is controlled to drive the spray gun 3 to rotate, so as to spray the inclined branch pipe.

[0032] In summary, through the design of the above structure, the overall angle of the positioning block 28 and the spray gun 3 can be adaptively adjusted according to the tilt posture of the branch pipe on the GIS design drawing. After adjusting the positioning block 28 and the spray gun 3 to the angle corresponding to the inclined branch, the positioning process of inserting the positioning rod 7 into the positioning groove 29 and pressing and centering the inclined groove 32 of the lower positioning plate 26 is repeated. This enables rapid and accurate positioning and rotary spraying of the inclined branch pipe, breaking through the limitations of existing spraying equipment that can only handle vertical branches or require separate design of special tooling for each tilt angle. This allows the same spraying device to adapt to branch pipes with various spatial postures, significantly enhancing the versatility and flexible production capacity of the spraying device.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention.

[0034] Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. A GIS shell surface spraying device, comprising a frame (1), a spraying robotic arm (2), a spraying gun (3), and a GIS shell (4), characterized in that, The bottom of the frame (1) is provided with a clamping platform (5) that can drive the GIS shell (4) to rotate. A sealing plate (6) is inserted into the branch pipe of the GIS shell (4). A pair of positioning rods (7) are fixedly connected to the front side of the sealing plate (6). A pair of positioning bolts (8) are inserted through the front side of the sealing plate (6). The positioning bolts (8) are threaded into the threaded hole of the branch pipe of the GIS shell (4). A vertical moving frame (9) is fixedly connected to the front side of the frame (1). A vertical moving seat (10) is slidably connected to the inner side of the vertical moving frame (9). An installation frame (11) is provided inside the vertical moving seat (10). A pair of upper electric telescopic cylinders (12) are fixedly connected to the inner side of the installation frame (11). A transverse moving plate (13) is fixedly connected between the output ends of the upper electric telescopic cylinders (12). A transverse moving frame (14) is slidably connected to the rear side of the transverse moving plate (13). A lower electric telescopic cylinder (15) is fixedly connected to the rear side. The output end of the lower electric telescopic cylinder (15) is fixedly connected to the inner side of the transverse frame (14). A disc (16) is provided on the rear side of the transverse frame (14). A positioning mechanism for positioning the center position of the branch pipe of the GIS shell (4) is provided on the rear side of the disc (16). A rotating mechanism for driving the spraying robot arm (2) to rotate is also provided on the disc (16). A moving mechanism for driving the vertical moving seat (10) to move up and down is also provided. The positioning mechanism includes a positioning electric telescopic cylinder (23), a connecting rod (24), an upper positioning plate (25), a lower positioning plate (26), and a touch sensor (27). A positioning block (28) is fixedly connected to the rear side of the disc (16). A positioning groove (29) is formed through the rear side of the positioning block (28). The width of the positioning groove (29) is the same as the diameter of the positioning rod (7). A telescopic groove (30) is formed through the rear side of the positioning block (28). The upper positioning plate (25) is laterally slidably connected to the inside of the telescopic groove (30). The touch sensor (27) is fixedly connected to... On the side wall of the upper positioning plate (25), a transverse groove (31) is provided inside the positioning groove (29). A pair of lower positioning plates (26) are provided. The lower positioning plate (26) is slidably connected to the inside of the transverse groove (31). The connecting rod (24) is fixedly connected between the lower positioning plates (26). The positioning electric telescopic cylinder (23) is fixedly connected through the inside of the transverse groove (31). The output end of the positioning electric telescopic cylinder (23) is fixedly connected to the side wall of the connecting rod (24). The touch sensor (27) is electrically connected to the lower electric telescopic cylinder (15) through the controller. The lower positioning plate (26) is provided with inclined grooves (32) on the side close to each other. The inclined grooves (32) are located on the side away from the connecting rod (24). Several upper springs (33) are fixedly connected at equal intervals between the rear side of the disc (16) and the front side of the upper positioning plate (25). The side wall of the touch sensor (27) is flush with the inner side of the positioning groove (29). The disc (16) has a vertical groove (34) on its front side. A vertical block (35) is slidably connected to the inside of the vertical groove (34). The vertical block (35) is fixedly connected to the rear side of the horizontal frame (14). A lower spring (36) is fixedly connected between the upper and lower sides of the vertical block (35) and the inner wall of the vertical groove (34). An electromagnet (37) is fixedly connected through the front side of the disc (16). The horizontal frame (14) is made of iron.

2. The GIS shell surface spraying device according to claim 1, characterized in that, The moving mechanism includes a moving motor (17) and a threaded rod (18). The threaded rod (18) is rotatably connected to the inside of the vertical moving frame (9). The moving motor (17) is fixedly connected to the top of the vertical moving frame (9). The output end of the moving motor (17) passes through the inside of the vertical moving frame (9) and is fixedly connected to the top of the threaded rod (18). The threaded rod (18) is threadedly connected to the inner wall of the vertical moving seat (10).

3. The GIS shell surface spraying device according to claim 1, characterized in that, The sealing plate (6) has several rods (19) fixedly connected at equal intervals on the rear side for inserting into the remaining threaded holes on the branch pipe of the GIS shell (4), and the sealing plate (6) has a detection groove (20) on the front side.

4. The GIS shell surface spraying device according to claim 1, characterized in that, The top of the frame (1) is fixedly connected to a support frame (21), and a vision camera (22) for detecting the position of the sealing plate (6) is fixedly connected through the top of the support frame (21).

5. The GIS shell surface spraying device according to claim 1, characterized in that, The rotating mechanism includes a drive motor (38), a gear (39), and a gear ring (40). A ring (41) is rotatably connected to the outer wall of the disk (16). The gear ring (40) is fixedly connected to the rear side of the ring (41). The gear (39) is rotatably connected to the rear side of the disk (16), and the gear (39) and the gear ring (40) mesh with each other. The drive motor (38) is fixedly connected to the front side of the disk (16). The output end of the drive motor (38) passes through the rear side of the disk (16) and is fixedly connected to the side wall of the gear (39). The spraying robot arm (2) is fixedly connected to the outer wall of the ring (41), and the spray gun (3) is fixedly connected to the moving end of the spraying robot arm (2).

6. The GIS shell surface spraying device according to claim 1, characterized in that, A rotary motor (42) is fixedly connected to the side wall of the vertical shift seat (10), and the mounting frame (11) is rotatably connected to the inside of the vertical shift seat (10). The output end of the rotary motor (42) passes through the inside of the vertical shift seat (10) and is fixedly connected to the rotating shaft of the mounting frame (11).

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