Spraying system for spraying energy storage cabinet

Abstract

The utility model belongs to the technical field of spraying, and particularly relates to a spraying system for spraying an energy storage cabinet. The energy storage cabinet is of a rectangular frame structure with an opening in one side, an inner cavity is formed in the energy storage cabinet, the spraying system comprises a conveying device and a plurality of manipulator workstations, the energy storage cabinet is provided with a hanging mechanism, the energy storage cabinet is detachably installed on the conveying device through the hanging mechanism, and the conveying device conveys the energy storage cabinet to the manipulator workstations. The manipulator workstations are provided with robots, spray guns are installed on the robots, and the spray guns of the multiple manipulator workstations conduct spraying on different positions of the energy storage cabinet. According to the spraying system, the spraying efficiency can be improved, the spraying quality of the energy storage cabinet is good, the overall efficiency is high, the spraying system is detachably installed on the conveying device through the hooking mechanism, the conveying device conveys the energy storage cabinet to the multiple mechanical arm workstations, and therefore the spraying system is suitable for automatic treatment.

Description

Technical Field

[0001] The utility model belongs to the technical field of spraying, and in particular relates to a spraying system for spraying an energy storage cabinet. Background Art

[0002] The energy storage cabinet spraying process mainly includes the following steps:

[0003] 1. Preparation before spraying: First, the surface of the energy storage cabinet needs to be cleaned to remove stains and impurities on the surface. Then, grind and polish to make the surface smooth and flat. Finally, degreasing, rust removal, passivation, and cleaning are carried out to ensure that the surface is clean and pollution-free.

[0004] 2. Primer: The purpose of spraying primer is to improve the adhesion of the energy storage cabinet surface and protect its shell from oxidation corrosion and UV damage. Primers are generally made of acrylic, polyurethane, alkyd and other materials. Different types of primers can be selected according to needs.

[0005] 3. Middle coating: The role of the middle coating is to fill the pores and defects of the primer, improve the smoothness of the energy storage cabinet surface, and also increase the density and hardness of the energy storage cabinet. Middle coating can generally choose a variety of materials such as colorless environmentally friendly water-based acrylic middle coating, colorless environmentally friendly water-based polyurethane middle coating, etc.

[0006] 4. Fine coating: Fine coating is used to improve the glossiness and protective ability of the energy storage cabinet surface to prevent damage from external dust, pollution, friction and other factors during use. Fine coating can generally be epoxy resin fine coating, polyurethane fine coating, etc.

[0007] 5. Spraying topcoat or varnish: Spraying topcoat is to make the color of the energy storage cabinet surface more vivid and beautiful, and can extend the life of the energy storage cabinet shell. The choice of topcoat and varnish should be determined according to the color of the energy storage cabinet.

[0008] Since the external and internal structures of the energy storage cabinet are very complex, spraying operation is generally difficult and requires professional skills and experience, and requires a high level of skill for the operator; at the same time, the spraying equipment needs to adjust various parameters according to actual needs, such as flow, speed, temperature, etc., which makes operation difficult. Furthermore, if the energy storage cabinet is directly sprayed as a whole, the spraying quality is likely to be poor. If the various components that make up the energy storage cabinet are sprayed separately and then assembled into an energy storage cabinet, the overall efficiency is low and the workload is heavy. Utility Model Content

[0009] In view of the deficiencies in the prior art, the utility model provides a spraying system for spraying an energy storage cabinet, wherein the energy storage cabinet is a rectangular frame structure with an opening on one side, and an inner cavity is formed in the energy storage cabinet. The spraying system comprises a conveying device and a plurality of multi-dimensional manipulator workstations, and the energy storage cabinet is provided with a hanging mechanism, and the energy storage cabinet is detachably mounted on the conveying device through the hanging mechanism, and the conveying device conveys the energy storage cabinet to the plurality of manipulator workstations, and the manipulator workstation is provided with a robot, and a spray gun is installed on the robot, and the spray guns of the plurality of manipulator workstations respectively spray different positions of the energy storage cabinet.

[0010] Preferably, the conveying device is a conveying chain, the energy storage cabinet is hung on the conveying chain, the hanging mechanism is a hanging hole arranged on the energy storage cabinet, and the energy storage cabinet is detachably mounted on the conveying chain through the hanging mechanism.

[0011] Preferably, the conveying device is a conveying chain, the conveying chain and the energy storage cabinet are electrically connected, and both are connected to one of the negative electrode and the positive electrode of the power supply, and the spray gun on the manipulator workstation is connected to the other electrode of the power supply.

[0012] Preferably, one of the conveying chain and the energy storage cabinet is connected to an electrostatic releaser, the other end of the electrostatic releaser is grounded, and the electrostatic releaser is used to flow the electrostatic charge on the energy storage cabinet after spraying into the ground.

[0013] Preferably, the manipulator workstation is used for electrostatic spraying, and the spray guns on different manipulator workstations that spray the same plane of the energy storage cabinet are connected to different electrodes.

[0014] Preferably, the inner cavity top wall of the energy storage cabinet is formed with reinforcing ribs and folded rib plates, the manipulator workstation includes station A, the spray gun on the robot of station A extends from the opening of the energy storage cabinet into the inner cavity to spray the reinforcing ribs and folded rib plates, and the robot of station A is equipped with two spray guns, one of which uses a corner nozzle and the other uses a straight nozzle;

[0015] The top of the energy storage cabinet is also provided with a plurality of folding plate members extending upward from the outer side of the top plate of the rectangular frame structure. The manipulator workstation includes a C station. The spray gun on the robot of the C station extends downward from the top of the energy storage cabinet into between the plurality of folding plate members to spray the inner side walls of the folding plate members. The robot of the C station is equipped with two spray guns, one of which adopts a corner nozzle and the other adopts a straight nozzle.

[0016] A column and a bracket connected to the column are installed in the inner cavity of the energy storage cabinet, a U-shaped groove is formed in the bracket, and the manipulator workstation includes a B station. The spray gun on the robot of the B station extends into the inner cavity from the opening of the energy storage cabinet to spray the back of the column and the inner wall of the U-shaped groove of the bracket. The robot of the B station has a Z axis, a U axis, an R axis and a Y axis. The Z axis is an up and down motion mechanism, the U axis is a front and back motion mechanism, the R axis is a rotation mechanism, and the Y axis is a left and right motion mechanism. The Z axis is arranged on the Y axis, the U axis is arranged on the Z axis, the R axis is arranged on the U axis, and the spray gun is arranged on the R axis. The R axis drives the spray gun to rotate relative to the U axis, and the U axis drives the R axis and the spray gun to move forward and backward. The Z axis drives the U axis and the spray gun to move up and down, and the Y axis drives the Z axis, the U axis, and the spray gun to move left and right with the conveying mechanism;

[0017] A downward groove is formed at the bottom of the energy storage cabinet, and a rib plate is arranged in the groove; the manipulator workstation includes a D station and an L station, the spray gun on the robot of the D station sprays the rib plate from the bottom to the top from the bottom of the energy storage cabinet, and the robot of the D station has a rotating swing shaft, and a spray gun with a nozzle with an upward corner is installed on the rotating swing shaft; the spray gun on the robot of the L station sprays the lower surface of the bottom plate of the energy storage cabinet from the bottom to the top from the bottom of the energy storage cabinet, and the spray gun with a nozzle with an upward corner is installed on the robot of the L station;

[0018] The energy storage cabinet is provided with a plurality of end plates at intervals along the left and right directions; the manipulator workstation includes an E station, the robot of the E station has an X-axis, a Y-axis and a Z-axis, the Z-axis is arranged on the Y-axis, the X-axis is arranged on the Z-axis, an integrated gun rack is arranged on the Z-axis, eight sets of spray guns are mounted on the left and right sides of the gun rack, the gun rack extends from the opening of the energy storage cabinet into the inner cavity, the spray guns on the left and right sides embrace the left and right surfaces of the end plate, and spray the left and right surfaces of the end plate respectively;

[0019] The energy storage cabinet is provided with a door post at the opening, the door post is arranged in the up and down direction, and the door post is provided with an inward U-shaped groove; the manipulator workstation includes an F station, the robot of the F station has an X-axis, a Y-axis and a Z-axis, the Z-axis is arranged on the Y-axis, the X-axis is arranged on the Z-axis, and automatic spray guns are mounted on the left and right sides of the Z-axis, the spray gun extends into the inner cavity from the opening of the energy storage cabinet, and the spray gun sprays the U-shaped groove of the door post.

[0020] The top outer surface of the energy storage cabinet body forms an outer top plane to be sprayed, the bottom outer surface of the energy storage cabinet body forms an outer bottom surface to be sprayed, and the end of the top of the energy storage cabinet away from the opening is also provided with a top inner side surface to be sprayed, the top inner side surface is higher than the outer top plane and faces the inside of the energy storage cabinet; the front of the energy storage cabinet is located below the opening to form an area to be sprayed;

[0021] The manipulator workstation includes an H station, and the robot of the H station has a U axis and a Z axis, the U axis is a forward and backward motion mechanism, and the U axis is arranged on the Z axis; spray guns for spraying the outer top plane and the inner side surface of the top are arranged on the left and right sides of the upper end of the U axis; a spray gun is arranged in the middle of the U axis, and the spray gun sprays the area below the opening; a spray gun for spraying the outer bottom surface is arranged below the U axis;

[0022] The inner surface of the rear end of the inner cavity of the energy storage cabinet forms the inner side surface to be sprayed; the manipulator workstation includes a G station, the robot of the G station has an X-axis and a Z-axis, four automatic spray guns with straight nozzles are mounted on the Z-axis, the spray guns extend into the inner cavity from the opening of the energy storage cabinet, and the spray guns face the inner side surface and spray it;

[0023] The outer side wall of the energy storage cabinet away from the opening end forms the outer side to be sprayed, the manipulator workstation includes a K station, the robot of the K station has an X-axis and a Z-axis, the Z-axis is arranged on the X-axis, and three straight nozzle automatic spray guns are mounted on the Z-axis, and the spray guns are used to spray the outer side;

[0024] The outer surface of the top of the energy storage cabinet forms an outer top plane to be sprayed, the energy storage cabinet is provided with a top beam above the opening, the top of the inner cavity of the energy storage cabinet forms an inner side surface to be sprayed, and the front of the energy storage cabinet is located below the opening to form an area to be sprayed; the bottom of the energy storage cabinet forms an outer bottom surface to be sprayed; the manipulator workstation includes an I station, and the robot of the I station has an X-axis and a Z-axis, and the X-axis is arranged on the Z-axis; spray guns are respectively arranged on the left and right sides of the upper end of the X-axis, and the spray guns spray the back side of the top beam and the outer top plane respectively; a plurality of spray guns are arranged at intervals in the middle of the X-axis, and the spray guns spray the front of the top beam and the area to be sprayed of the opening, and one of the spray guns extends from the opening of the energy storage cabinet into the inner cavity to spray the inner side surface; a spray gun is arranged at the lower end of the X-axis, and the spray gun sprays the outer bottom surface;

[0025] The upper and lower ends of the inner cavity of the energy storage cabinet respectively form the inner cavity top and the inner cavity bottom to be sprayed; the manipulator workstation includes a J station, and the robot of the J station has a U axis and a Z axis, the Z axis is arranged on the Y axis, the U axis is arranged on the Z axis, two sets of U axes are mounted on the Z axis, and the two sets of U axes are provided with spray guns, and the spray guns extend into the inner cavity from the opening of the energy storage cabinet to spray the inner cavity top and the inner cavity bottom.

[0026] Preferably, two sets of U axes are mounted on the left side of the Z axis of the B station and two sets of UR axes are mounted on the right side, and the B station forms a mirror symmetry with the spraying area of ​​the energy storage cabinet.

[0027] Preferably, the end plate includes the left inner surface, left outer surface, right inner surface, right outer surface of the energy storage cabinet, and the left and right sides of the doorpost, bracket and column; the angles formed by the left and right spray guns of the E station and the left and right surfaces of the end plate are 75° to 90°.

[0028] Preferably, the angle between the automatic spray guns mounted on the left and right sides of the F station and the front surface of the energy storage cabinet is 75° to 90°.

[0029] Preferably, the spray guns of the H station spray synchronously; the spray guns of the I station spray synchronously.

[0030] The spraying system provided by the utility model can improve the spraying efficiency, has better spraying quality for the energy storage cabinet, has high overall efficiency, and can be detachably mounted on a conveying device through a hanging mechanism. The conveying device conveys the energy storage cabinet to multiple manipulator workstations for suitable automated processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other purposes, features and advantages of the present invention will become clearer through a more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts in all the accompanying drawings, and the accompanying drawings are not deliberately scaled to the actual size, but the focus is on illustrating the main purpose of the present invention.

[0032] Figure 1 The spraying principle diagram of the workpiece entering station A and station C;

[0033] Figure 2 for Figure 1 Another structural diagram from another perspective;

[0034] Figure 3 for Figure 1 A structural diagram from another perspective;

[0035] Figure 4 This is the spraying principle diagram of the workpiece entering station B;

[0036] Figure 5 for Figure 4 Another structural diagram from another perspective;

[0037] Figure 6 for Figure 4 A structural diagram from another perspective;

[0038] Figure 7 This is the spraying principle diagram of the workpiece entering station D;

[0039] Figure 8 This is the spraying principle diagram of the workpiece entering station E;

[0040] Fig. 9 for Figure 8 Another structural diagram from another perspective;

[0041] Fig.10 This is the spraying principle diagram of the workpiece entering the L station;

[0042] Fig.11 This is the spraying principle diagram of the workpiece entering station F;

[0043] Fig.12 for Fig.11 Another structural diagram from another perspective;

[0044] Fig.13 This is the spraying principle diagram of the workpiece entering the H station;

[0045] Fig.14 for Fig.13 Another structural diagram from another perspective;

[0046] Fig.15 The spraying principle diagram of the workpiece entering the G station;

[0047] Fig.16 The spraying principle diagram of the workpiece entering the K station;

[0048] Fig.17 The spraying principle diagram of the workpiece entering station I;

[0049] Fig.18 for Fig.17 Another structural diagram from another perspective;

[0050] Fig.19 This is the spraying principle diagram of the workpiece entering station J;

[0051] Fig. 20 It is a structural diagram of the hooking mechanism;

[0052] Fig.21 It is the structural diagram of the door post and bracket;

[0053] Fig. 22 This is a structural diagram of the bracket. DETAILED DESCRIPTION

[0054] In order to facilitate the understanding of the present invention, a more comprehensive description of the present invention will be given below with reference to the relevant drawings.

[0055] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to another element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0057] Please refer to Figure 1-Figure 3 , the robot at station A is equipped with two sets of spray guns to spray 100A in spraying area A. One of the spray guns uses a 60-degree corner nozzle, and the other spray gun uses a straight nozzle to adapt to flexible and efficient spraying operations in different spraying areas.

[0058] When the workpiece 100 to be sprayed (that is, the product of the energy storage cabinet to be sprayed) enters the working area of ​​station A, the 6-axis robot of station A sprays the angle of the reinforcing rib 101A and the folded rib plate 102A at the top of the workpiece 100, that is, the angle of the reinforcing rib 101A and the folded rib plate 102A of the A spraying area 100A corresponding to the dotted box in the accompanying drawing.

[0059] Please refer to Figure 1-Figure 3 , Two sets of spray guns are installed on the robot at station C to spray the C spraying area 100C. One of the spray guns uses a 90-degree corner nozzle, and the other spray gun uses a straight nozzle to adapt to flexible and efficient spraying operations in different spraying areas.

[0060] When the workpiece 100 to be sprayed enters the working area of ​​station C, the 6-axis robot of station C blocks the top folding plate and the hanger chain of the workpiece 100, and the spraying area 100C is the inner side of the two left and right side panels on the top, as shown in the right figure 100C (the missed spraying area formed by the chain that needs to be avoided when the top U-axis advances the gun is fully supplemented by the C station robot spray gun).

[0061] Please refer to Figure 4-Figure 6 Station B adopts a 4-dimensional axial (Z-axis 104B reciprocates up and down, U-axis telescopes forward and backward, R-axis rotates, and Y-axis 103B accompanies synchronously) multifunctional spray reciprocating machine combination; two sets of U-axis 101B are mounted on the left side of Z-axis 104B and two sets of UR-axis 102B are mounted on the right side. Z-axis 104B is located on the accompanying Y-axis 103B, so that the workpiece 100 can be sprayed with the spray gun in a dynamic state. The two sets of U-axis spray guns on the left are mainly used to spray the U-groove internal cavity 108B of the bracket 105B behind the door column 107B; the two sets of UR axes on the right are used to spray the back of the column 106B in the cabinet. The implementation method is to complete the overall coordinated spraying of the station through pre-programming. Forward and backward movement refers to approaching / moving away from the rear side wall of the cabinet (that is, the side wall opposite to the opening). Left and right movement refers to reciprocating movement parallel to the conveying direction of the conveying device.

[0062] When the workpiece 100 to be sprayed enters the working area of ​​station B, the inner cavity of the U-shaped groove of the workpiece 100 and the back of the middle column 106B are sprayed. First, the Y-axis 103B starts to track the chain speed, and the two UR axes on the right side extend and rotate to point the spray gun to the back of the middle column 106B. Then the Z-axis 104B reciprocates up and down to complete the spraying of the back of the column 106B. After the spraying is completed, the UR axis retracts to the standby position, and then the Y-axis 103B ends the tracking and quickly returns to the origin; next, after the door column 107B of the workpiece 100 reaches the predetermined position, the two U axes on the left side enter the door opening, and after the U-shaped groove cavity reaches above the spray gun, the Y-axis 103B starts to track the chain speed. B starts the synchronous tracking chain operation, and the two U-axes on the left side reciprocate to spray the inner cavity area of ​​the bracket 105BU groove. After the spraying is completed, the Y-axis 103B moves rapidly in the chain forward direction at a speed greater than the chain speed. After the spray gun is away from the door column 107B, the two U-axes on the left side retract to the origin, and finally the Y-axis 103B quickly returns to the operation origin to wait for the arrival of the next spraying position. Repeat this step to complete the spraying of the inner cavity of the bracket 105BU groove and the back of the column 106B of the entire cabinet. The inner cavity of the U-shaped groove of the bracket 105B faces downward.

[0063] Please refer to Figure 7 Station D adopts a one-dimensional axial direction (rotating and swinging axis), and three spray guns 101D equipped with 90-degree corner nozzles are mounted on the rotating axis. The spray gun nozzles are aligned according to the position of the deep groove on the outer bottom of the workpiece 100 for fixed-point spraying.

[0064] When the workpiece enters the working area of ​​station D, the rotating axis of station D swings within the range of 10 to 30 degrees to strengthen the spraying of the ribs in the deep groove without dead angles, and at the same time, three automatic spray guns are automatically turned on; when the workpiece stops, the spray guns also stop spraying synchronously; when the workpiece moves, the spray guns continue to spray until the entire cabinet is sprayed.

[0065] Please refer to Figures 8 to 9 Station E adopts a three-dimensional axial (Z-axis 103E reciprocates up and down, X-axis 104E stretches forward and backward, and Y-axis 105E accompanies synchronously) multifunctional spray reciprocating machine combination; Z-axis 103E is equipped with 8 sets of spray guns E100 on the left and right sides of the integrated gun rack 101E, and Z-axis 103E is located on the accompanying Y-axis 105E, so that the workpiece 100 can be sprayed with the spray gun in a dynamic state. The spray guns on both sides embrace and complete the appearance spraying of each page of the end plate 102E at the same time. The implementation method is to complete the overall coordinated spraying of the station through pre-programming. The end face of the end plate 102E includes the left inner surface, left outer surface, right inner surface, right outer surface of the workpiece 100, and the left and right sides of the doorpost, bracket and column.

[0066] When the workpiece 100 enters the working area of ​​the E station, the X, Y, and Z axes 103E are linked together and the spray gun is started. The X axis 104E slowly extends into the workpiece 100 at a speed of 100mm / s to 200mm / s, the Y axis 105E keeps tracking at the same speed as the conveyor chain, and the Z axis 103E makes a small reciprocating up and down motion in the spacious area inside to improve the automatic spraying coverage rate of the spacious area; each end face of the end plate 102E is fully sprayed in the process of the spray guns E100 on both sides of the entire gun rack 101E of the E station moving in and out.

[0067] Please refer to Fig.10 The L station adopts one-dimensional axial direction (Z-axis up and down movement), and 8 spray guns 100L equipped with 90-degree corner nozzles are mounted on the gun rack. The spray guns are evenly distributed at intervals of 220mm, and a fixed spraying distance of 250mm is maintained from the bottom surface of the workpiece 100 to achieve the spraying requirement of full coverage of the appearance surface.

[0068] When the workpiece 100 enters the working area of ​​the L station, the 8 automatic spray guns on the L station start spraying powder; when the workpiece 100 stops, the spray guns also stop spraying synchronously; when the workpiece 100 moves, the spray guns continue spraying until the entire cabinet is sprayed. The combination of the L station and the D station can fully spray the simple and complex spraying surfaces at the bottom of the workpiece 100 to meet the standards.

[0069] The L station has a redundant configuration, which completely solves the problem that the bottom of the workpiece 100 cannot be automatically sprayed in place, and avoids workers going down to the bottom of the workpiece 100 to operate.

[0070] Please refer to Figure 11-Figure 12 Station F adopts a three-dimensional axial (Z-axis 103F reciprocates up and down, X-axis telescopes forward and backward, and Y-axis 104F accompanies synchronously) multifunctional spray reciprocating machine combination; 4 sets of automatic spray guns 100F are mounted on the left and right sides of the Z-axis 103F, and the Z-axis 103F is located on the accompanying Y-axis 104F, so that the workpiece 100 can be sprayed with the spray gun in a dynamic state. The gun rack is installed in reverse through two vertical and two horizontal spray guns, and the spray guns on both sides surround the door column 101F (corresponding to the door column 107B of station B) that focuses on the workpiece and sprays in the U-shaped groove 102F behind. The implementation method is to complete the overall coordinated spraying of the station through pre-programming.

[0071] When the workpiece 100 enters the working area of ​​station F, the X, Y, and Z axes 103F are linked at the same time, and the spray gun is started. The X axis quickly reaches the spray target area at a speed of 300mm / s to 400mm / s, and the Y axis 104F keeps tracking at the same speed as the conveyor chain. After the X axis is in place, the Z axis 103F reciprocates up and down at a speed of 150mm / s to 200mm / s, spraying 2 times back and forth. After the spraying is completed, the X axis quickly retracts, avoids the door column of the workpiece 100, and the Y axis 101F ends and quickly returns to the origin to wait for the spraying of the next door column 101F. The overall linkage of station F completes the spraying of the deep U-groove 102F on the back of each door column 101F of the cabinet. The door column 101F of the cabinet is an inward-facing U-groove 102F-shaped column.

[0072] Please refer to Figure 13-Figure 14 In the embodiment, the left and right sides of the spray gun are located behind the workpiece 100 and viewed toward the open end. The H station adopts a two-dimensional axial (Z-axis reciprocating up and down, U-axis telescopic) + fixed gun position, a multifunctional composite station; the left side of the Z axis is mounted with a U-axis gun 100H-4 fixed on the top and a fixed spray gun 100H-2 for spraying complex parts, and the right side is mounted with a U-axis spray gun 100H-3 for spraying the top inner side H3 of the workpiece 100 and a reciprocating U-axis spray gun 100H-1 for spraying the outer bottom of the workpiece 100. Implementation method The overall coordinated spraying of the station is completed through pre-programming + laser automatic profiling recognition.

[0073] When the workpiece 100 enters the working area of ​​station H, the U-axis gun 100H-4 on the top left side automatically avoids the hanger chain and starts to spray the outer top plane H4 of the workpiece 100 at a speed of 150mm / s to 200mm / s; the fixed spray gun 100H-2 on the lower left side automatically turns on the spray gun to spray in the area H2 that needs to be sprayed through programming; the U-axis spray gun fixed spray gun 100H-3 on the top right side extends the U axis to the top of the area that needs to be sprayed after avoiding the hanger chain, and then the Z-axis independent slider 102H drops to a suitable position to spray the top inner side surface H3 of the workpiece, and the U-axis spray gun H100-1 on the bottom right side adaptively sprays the outer bottom surface H1 of the workpiece 100 reciprocatingly through automatic recognition by laser scanning. When the workpiece 100 stops, the spray gun also stops spraying synchronously; when the workpiece 100 moves, the spray gun continues to spray until the entire cabinet is sprayed, and the U-axis retracts the gun and returns to the standby position in turn to wait for the arrival of the next workpiece 100 to be sprayed.

[0074] Please refer to Fig.15Station G adopts a three-dimensional axial (Z-axis 103G reciprocates up and down, X-axis 101G stretches forward and backward, and Y-axis 102G accompanies synchronously) multifunctional spray reciprocating machine combination; 4 automatic spray guns 100G with straight nozzles are mounted on the Z-axis 103G, and the spray guns 100G are evenly distributed at intervals of 480mm. The spray guns 100G maintain a spraying distance of 250mm from the inner side of the workpiece 100 for reciprocating spraying. In order to achieve uniform and efficient spraying of the inner side 104G. The implementation method is to complete the overall coordinated spraying of the station through pre-programming. The inner side 104G is the inner side wall of the inner cavity of the workpiece 100 away from the opening end, that is, the inner surface of the rear end of the inner cavity of the workpiece 100.

[0075] When the workpiece 100 enters the working area of ​​the G station, the X-axis 101G, Y-axis 102G, and Z-axis 103G are linked simultaneously. The X-axis 101G reaches the spray target area at a speed of 400mm / s, maintaining a distance of 70mm close to the end face. When the X-axis 101G enters the workpiece 100 and exits the workpiece 100, the Y-axis 102G keeps tracking with the conveyor chain at the same speed. This is to ensure that the spray gun does not miss a large amount of spraying area before reaching the target spraying area. The automatic spraying coverage rate is affected; after the X-axis 101G is in place, the spray gun is turned on, and the Z-axis 103G reciprocates up and down at a speed of 150-200mm / s. When it approaches the other end, the Y-axis 102G starts again, and the X-axis 101G quickly retracts to avoid the workpiece 100. After the spray gun exits the workpiece 100, the Y-axis 102G ends and quickly returns to the origin to wait for the spraying of the next grid inner side 104G. In this way, the automatic spraying of the inner side 104G of the workpiece 100 is fully completed. When the workpiece 100 stops, the spray gun also stops spraying synchronously; when the workpiece 100 moves, the spray gun continues to spray until the entire cabinet is sprayed. The G station is also accompanied by the Y-axis, and the opening extends into the inner cavity under the condition of synchronous tracking of the Y-axis.

[0076] Please refer to Fig.16 The K station uses a two-dimensional axial (Z-axis reciprocating up and down, X-axis 101K telescopic) reciprocating machine combination; 3 straight nozzle automatic spray guns 100K are mounted on the Z axis, and the spray guns 100K are evenly distributed at intervals of 900mm, maintaining a spraying distance of 250mm from the outer side of the workpiece 100 for reciprocating spraying, so as to achieve uniform and efficient spraying of the outer side 104K. The implementation method is to complete the overall coordinated spraying of the station through laser detection adaptation. The outer side 104K is the outer side wall of the workpiece 100 away from the opening end, that is, the outer surface of the rear end of the workpiece 100.

[0077] When the workpiece 100 enters the working area of ​​the K station, the X-axis 101K automatically maintains a spraying distance of 250mm from the workpiece 100mm in combination with the position data detected by the laser, and the Z-axis moves up and down to evenly spray the outer side 104K of the workpiece 100. When the workpiece 100 stops, the spray gun also stops spraying synchronously; when the workpiece 100 moves, the spray gun continues to spray until the rear end outer surface of the entire workpiece cabinet is sprayed.

[0078] Please refer to Fig.17 and Fig.18 Station I adopts two-dimensional axial (Z axis reciprocating up and down, U axis telescopic forward and backward) + fixed gun position, multifunctional composite station; the left side of the Z axis is mounted with a fixed top U axis spray gun 100I-1 and the left side of the Z axis is mounted with a spray gun 100I-2 for directional spraying of complex parts and areas that cannot be sprayed by other workstations, and the right side is mounted with a U axis spray gun 100I-3 for spraying the top inner side I3 of the workpiece, a U axis spray gun 100I-4 for directional spraying of the back of the top beam I4, and a reciprocating U axis spray gun 100I-5 for the outer bottom I5 of the workpiece 100. The implementation method is to complete the overall coordinated spraying of the station through pre-programming + laser automatic profiling recognition.

[0079] When the workpiece 100 enters the working area of ​​station I, the left top U-axis gun 100I-1 automatically avoids the hanger chain and starts spraying the outer top plane I1 of the workpiece 100 at a speed of 150mm / s to 200mm / s; the spray gun 100I-2 fixed at a specific position on the left automatically starts spraying in the spraying area I2 through programming. The spraying area I2 includes the front of the top beam I101 and the upper and lower areas of the front opening of the workpiece 100, that is, the upper and lower ends of the opening of the spray gun 100I-2 on the front of the workpiece 100 in the figure. The spray gun 100I-3 on the top U axis on the right side extends the U axis to the area above the required spraying after avoiding the hanger chain, and then the independent slider of the Z axis drops to the appropriate position to spray the inner side surface I3 of the top of the workpiece 100; the spray gun 100I-4 on the middle U axis on the right side automatically avoids the door column of the workpiece 100 through programming and extends to the back side I4 of the top beam I101 of the door column for fixed-point spraying; the spray gun 100I-5 on the bottom U axis on the right side automatically recognizes the outer bottom surface I5 of the workpiece 100 through laser scanning and adaptive reciprocating spraying. When the workpiece 100 stops, the spray gun also stops spraying synchronously; when the workpiece 100 moves, the spray gun continues to spray until the entire cabinet is sprayed, and the U axis retracts the guns in turn and retracts to the standby position to wait for the arrival of the next workpiece 100 to be sprayed.

[0080] Please refer to Fig.19Station J adopts a three-dimensional axial (Z-axis 102J reciprocates up and down, U-axis 101J stretches forward and backward, and Y-axis accompanies synchronously) multifunctional spray reciprocating machine combination; two sets of U-axis 101J are mounted on the Z-axis 102J, and the Z-axis 102J is located on the accompanying Y-axis, so that the workpiece 100 can be sprayed with the spray gun in a dynamic state. The spray guns on the two sets of U-axis 101J mainly spray the top 103J and bottom 104J of the inner cavity of the workpiece 100 automatically; the implementation method is to complete the overall coordinated spraying of the station through pre-programming.

[0081] When the workpiece 100 enters the working area of ​​the J station, the U-axis 101J, the Y-axis, and the Z-axis 102J are linked simultaneously, the Z-axis 102J quickly and automatically slides to a position 250mm away from the spraying surface of the workpiece 100, the spray gun is turned on, and the U-axis 101J slowly extends into the workpiece 100 at a speed of 150mm / s to 200mm / s, keeping a distance of 70mm close to the end face. After reaching the deepest part of the sprayed workpiece 100, the Y-axis ends, and the U-axis 101J maintains the original reciprocating motion to fully spray the inner cavity top 103J and the inner cavity bottom 104J of the workpiece 100; when approaching the other end face, the Y-axis starts again, and the U-axis 101J maintains the speed to return to the operation origin, turn off the gun and stop spraying; after the spray gun exits the workpiece 100, the Y-axis ends and quickly returns to the origin to wait for the spraying of the top and bottom surfaces of the next grid, and in this way, the automatic spraying of the inner cavity top and bottom surfaces of the workpiece 100 is fully completed. When the U-axis 101J enters the workpiece 100 stage and exits the workpiece 100 stage, the Y-axis keeps tracking with the conveyor chain at the same speed. This is to ensure that the spray gun does not miss a large amount of spraying area before reaching the target spraying area, affecting the automatic spraying coverage rate; when the workpiece 100 stops, the spray gun also stops spraying synchronously; when the workpiece 100 moves, the spray gun continues to spray until the entire cabinet is sprayed.

[0082] The spraying system may include one or several of the above-mentioned stations (station A, station B, station C, station D, station E, station F, station G, station H, station I, station J, station K and station L), while other stations may be combined or deleted, and the spraying system may also include all of the above-mentioned stations. In some embodiments, station A, station B, station C, station D, station E, station F, station G, station H, station I, station J, station K and station L are arranged in sequence; in other embodiments, the stations may be switched in order. Some of the above-mentioned stations may repeatedly spray the same part of the workpiece 100. If there is no special description in the text or there is a contradiction with other descriptions, left and right, front and back, and up and down are based on the workpiece opening forward as a reference. The X, Y and Z coordinates in the accompanying drawings are the directions of movement of the spray gun and the workpiece. If there is no special description in the text or there is a contradiction with other descriptions, X, Y and Z are left and right movement, front and back movement, and up and down movement, respectively.

[0083] The utility model can also be detachably mounted on a conveying device through a hanging mechanism, and the conveying device conveys the energy storage cabinet to a plurality of manipulator workstations for suitable automated processing.

[0084] Please refer to Fig. 20 In a preferred embodiment, the conveying device is a conveying chain, and the energy storage cabinet is hung on the conveying chain. The hanging mechanism 120 is a hanging hole set on the energy storage cabinet. The hanging holes are set on the four corner columns of the energy storage cabinet. Three interconnected hanging holes are set on the top of the corner columns. The conveying chain passes through the hanging holes, and the energy storage cabinet is detachably installed on the conveying chain through the hanging mechanism 120.

[0085] In a preferred embodiment, the conveying device is a conveyor chain, and the conveyor chain and the energy storage cabinet are electrically connected, and both are connected to one of the negative and positive electrodes of the power supply, and the spray gun on the manipulator workstation is connected to the other electrode of the power supply. Preferably, both maintain a good grounding effect. Through the above arrangement, the spraying system is an electrostatic spraying system. Improve the spraying efficiency. Electrostatic spraying uses the object to be coated as the anode, which is generally grounded; the paint atomization structure is the cathode, which is connected to the negative high voltage of the power supply, so that a high-voltage electrostatic field is formed at the two poles. Due to the corona discharge generated at the cathode, the sprayed paint medium can be charged and further atomized. According to the principle of "like repels like, and opposites attract", the charged paint medium is directed along the electric field force to the positively charged surface of the object to be coated, and is deposited into a uniform and firmly adhered film. In theory, both positive and negative corona can be used for powder charging. However, in practice, negative corona is mostly used in electrostatic spraying. Since the breakdown voltage of the occasional spark generated by positive corona is lower than that of negative corona, the corona discharge current obtained is relatively small, so the charging efficiency is lower; therefore, negative polarity (negative high voltage) electrostatic powder spraying is often used in actual applications.

[0086] In a preferred embodiment, one of the conveyor chain and the energy storage cabinet is connected to an electrostatic discharger, and the other end of the electrostatic discharger is grounded. The electrostatic discharger is used to flow the electrostatic charge on the energy storage cabinet after spraying into the ground. When the spray gun sprays the workpiece, only a small part of the negative charge is combined with the powder and adsorbed on the workpiece together, while most of the negative charge is in a free state (i.e., in a free ion state) and is also adsorbed on the workpiece. When the spraying just starts, the workpiece is grounded through the electrostatic discharger, and the negative charge in a free state is taken away by the grounding point of the electrostatic discharger (i.e., the conveyor chain); when the powder on the workpiece reaches a certain thickness, due to the insulating properties of the plastic powder, the negative charge in a free state cannot be taken away by the grounding point of the workpiece (i.e., the conveyor chain). When this part of the negative charge in a free state accumulates to a certain extent on the workpiece, a saturation value will be generated. When this saturation value is exceeded, the repulsive force generated by static electricity will reduce the adhesion and reduce the powdering. If the voltage is too high, the powder will be broken down, causing surface defects of the coating (especially obvious in the spraying of insulating powder).

[0087] In a preferred embodiment, the manipulator workstation is used for electrostatic spraying, and the spray guns on different manipulator workstations that spray the same plane of the energy storage cabinet are connected to different electrodes. For example, at station H, the spray gun is positive and the outer top plane H4 is negative, and the outer top plane H4 of the workpiece 100 is sprayed; while at station I, the spray gun is negative and the outer top plane I1 is positive, and the outer top plane I1 (the same position as the outer top plane H4) of the workpiece 100 is sprayed. The surface defects caused by high film thickness when the insulating powder is sprayed can be well solved. By utilizing the attraction characteristics of heterogeneous charges, saturation can be avoided in theory, thereby breaking through the upper limit of the film thickness to obtain the required high film thickness. However, in the actual test of insulating powder spraying, it was found that the spray guns of each station all used negative electrodes or the spray guns of each station all used positive electrodes. Although high film thickness can be easily obtained, there are defects on the surface of the high film thickness coating (such as pinholes, craters, etc.). Therefore, to address this problem, the electrodes connected to the spray guns on different manipulator workstations that are sprayed on the same plane of the above-mentioned energy storage cabinet can be different, or a special gun arrangement method can be adopted to utilize the attraction characteristics of heterogeneous charges to weaken the free charge of the negative electrode gun and increase the adsorption performance of the powder, thereby solving the surface defects caused by high film thickness of insulating powder spraying.

[0088] Please refer to Figure 20 to Figure 21 In the preferred embodiment, two sets of U axes are mounted on the left side of the Z axis of the B station and two sets of UR axes are mounted on the right side, so that the B station forms a mirror symmetry with the spraying area of ​​the energy storage cabinet. This workstation combines the characteristics of mirror symmetry formed by the workpiece spraying area, and integrates the rotating R axis on the basis of the traditional U axis, which not only simplifies the equipment hardware configuration and saves equipment cost and installation space; at the same time, it can also meet the spraying requirements of different directions on the left and right and improve the utilization rate of the equipment.

[0089] Please refer to Figures 4 to 6 ,as well as Fig. 20 In the preferred embodiment, the E station uses a four-dimensional axial reciprocating machine, and the spray guns are arranged in two rows on the left and right sides, so that the workpiece to be sprayed can be sprayed on both sides synchronously without dead angles during the uniform speed transportation process, thereby improving the spraying efficiency and quality. The end plate includes the left inner surface, left outer surface, right inner surface, right outer surface of the energy storage cabinet, and the left and right sides of the doorpost, bracket and column; the angle between the left and right spray guns of the E station and the left and right surfaces of the end plate is 75° to 90°, and the spray guns set at this angle have a better spraying effect.

[0090] Please refer to Figures 4 to 6 ,as well as Fig. 20In the preferred embodiment, the multi-functionality of the H station is the main feature of the workstation. In combination with the characteristic differences of different spraying surfaces, the U-axis spray guns are mounted on both sides of the Z-axis reciprocating machine respectively, and integrated on the same workstation for synchronous spraying, which greatly saves equipment installation space and reduces equipment costs. The angle between the automatic spray guns mounted on the left and right sides of the F station and the front surface of the energy storage cabinet is 75° to 90°, and the spray guns set at this angle have a better spraying effect. The automatic spray gun of the F station extends into the inner cavity from the open front surface of the energy storage cabinet, and the spray hole of the automatic spray gun is set in the opposite direction and faces the opening direction of the energy storage cabinet.

[0091] Furthermore, the spray guns of the H station are sprayed synchronously; one station with multiple functions is the main feature of the H station. In combination with the characteristic differences of different spraying surfaces, the U-axis spray guns are mounted on both sides of the Z-axis reciprocating machine respectively, and integrated on the same workstation for synchronous spraying, which greatly saves equipment installation space and reduces equipment costs. The spray guns of the I station are sprayed synchronously; one station with multiple functions is the main feature of the I station. In combination with the characteristic differences of different spraying surfaces, the U-axis spray guns are mounted on both sides of the Z-axis reciprocating machine respectively, and integrated on the same workstation for synchronous spraying, which greatly saves equipment installation space and reduces equipment costs.

[0092] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0093] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0094] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A spraying system for spraying an energy storage cabinet, characterized in that: The energy storage cabinet is in the form of a rectangular frame structure with one side open, an inner cavity is formed in the energy storage cabinet, the spraying system includes a conveying device and a plurality of manipulator workstations, the energy storage cabinet is provided with a hanging mechanism, the energy storage cabinet is detachably mounted on the conveying device through the hanging mechanism, the conveying device conveys the energy storage cabinet to the plurality of manipulator workstations, the manipulator workstation is provided with a robot, a spray gun is installed on the robot, and the spray guns of the plurality of manipulator workstations spray different positions of the energy storage cabinet respectively.

2. The spraying system for spraying an energy storage cabinet according to claim 1, characterized in that: The conveying device is a conveying chain, the energy storage cabinet is hung on the conveying chain, the hanging mechanism is a hanging hole arranged on the energy storage cabinet, and the energy storage cabinet is detachably mounted on the conveying chain through the hanging mechanism.

3. The spraying system for spraying an energy storage cabinet according to claim 1, characterized in that: The conveying device is a conveying chain, the conveying chain and the energy storage cabinet are electrically connected, and both are connected to one of the negative electrode and the positive electrode of the power supply, and the spray gun on the manipulator workstation is connected to the other electrode of the power supply.

4. The spraying system for spraying an energy storage cabinet according to claim 3, characterized in that: One of the conveying chain and the energy storage cabinet is connected to an electrostatic releaser, the other end of the electrostatic releaser is grounded, and the electrostatic releaser is used to flow the electrostatic charge on the energy storage cabinet after spraying into the ground.

5. The spraying system for spraying an energy storage cabinet according to claim 1, characterized in that: The manipulator workstation is used for electrostatic spraying, and the spray guns on different manipulator workstations that spray the same plane of the energy storage cabinet are connected to different electrodes.

6. The spraying system for spraying an energy storage cabinet according to claim 1, characterized in that: The inner cavity top wall of the energy storage cabinet is formed with reinforcing ribs and folded rib plates, the manipulator workstation includes station A, the spray gun on the robot of station A extends from the opening of the energy storage cabinet into the inner cavity to spray the reinforcing ribs and folded rib plates, and the robot of station A is equipped with two spray guns, one of which uses a corner nozzle and the other uses a straight nozzle; The top of the energy storage cabinet is also provided with a plurality of folding plate members extending upward from the outer side of the top plate of the rectangular frame structure. The manipulator workstation includes a C station. The spray gun on the robot of the C station extends downward from the top of the energy storage cabinet into between the plurality of folding plate members to spray the inner side walls of the folding plate members. The robot of the C station is equipped with two spray guns, one of which adopts a corner nozzle and the other adopts a straight nozzle. A column and a bracket connected to the column are installed in the inner cavity of the energy storage cabinet, a U-shaped groove is formed in the bracket, and the manipulator workstation includes a B station. The spray gun on the robot of the B station extends into the inner cavity from the opening of the energy storage cabinet to spray the back of the column and the inner wall of the U-shaped groove of the bracket. The robot of the B station has a Z axis, a U axis, an R axis and a Y axis. The Z axis is an up and down motion mechanism, the U axis is a front and back motion mechanism, the R axis is a rotation mechanism, and the Y axis is a left and right motion mechanism. The Z axis is arranged on the Y axis, the U axis is arranged on the Z axis, the R axis is arranged on the U axis, and the spray gun is arranged on the R axis. The R axis drives the spray gun to rotate relative to the U axis, and the U axis drives the R axis and the spray gun to move forward and backward. The Z axis drives the U axis and the spray gun to move up and down, and the Y axis drives the Z axis, the U axis, and the spray gun to move left and right with the conveying mechanism; A downward groove is formed at the bottom of the energy storage cabinet, and a rib plate is arranged in the groove; the manipulator workstation includes a D station and an L station, the spray gun on the robot of the D station sprays the rib plate from the bottom to the top from the bottom of the energy storage cabinet, and the robot of the D station has a rotating swing shaft, and a spray gun with a nozzle with an upward corner is installed on the rotating swing shaft; the spray gun on the robot of the L station sprays the lower surface of the bottom plate of the energy storage cabinet from the bottom to the top from the bottom of the energy storage cabinet, and the spray gun with a nozzle with an upward corner is installed on the robot of the L station; The energy storage cabinet is provided with a plurality of end plates at intervals along the left and right directions; the manipulator workstation includes an E station, the robot of the E station has an X-axis, a Y-axis and a Z-axis, the Z-axis is arranged on the Y-axis, the Y-axis is arranged on the X-axis, an integrated gun rack is arranged on the Z-axis, eight sets of spray guns are mounted on the left and right sides of the gun rack, the gun rack extends from the opening of the energy storage cabinet into the inner cavity, the spray guns on the left and right sides embrace the left and right surfaces of the end plate, and spray the left and right surfaces of the end plate respectively; The energy storage cabinet is provided with a door post at the opening, the door post is arranged in the up-down direction, and the door post is provided with an inward U-shaped groove; the manipulator workstation includes an F station, the robot of the F station has an X-axis, a Y-axis and a Z-axis, the Z-axis is arranged on the Y-axis, the Y-axis is arranged on the X-axis, and automatic spray guns are mounted on the left and right sides of the Z-axis, the spray guns extend from the opening of the energy storage cabinet into the inner cavity, and the spray guns spray the U-shaped groove of the door post; The top outer surface of the energy storage cabinet body forms an outer top plane to be sprayed, the bottom outer surface of the energy storage cabinet body forms an outer bottom surface to be sprayed, and the end of the top of the energy storage cabinet away from the opening is also provided with a top inner side surface to be sprayed, the top inner side surface is higher than the outer top plane and faces the inside of the energy storage cabinet; the front of the energy storage cabinet is located below the opening to form an area to be sprayed; The manipulator workstation includes an H station, and the robot of the H station has a U axis and a Z axis, the U axis is a forward and backward motion mechanism, and the U axis is arranged on the Z axis; spray guns for spraying the outer top plane and the inner side surface of the top are arranged on the left and right sides of the upper end of the U axis; a spray gun is arranged in the middle of the U axis, and the spray gun sprays the area below the opening; a spray gun for spraying the outer bottom surface is arranged below the U axis; The inner surface of the rear end of the inner cavity of the energy storage cabinet forms the inner side surface to be sprayed; the manipulator workstation includes a G station, the robot of the G station has an X-axis and a Z-axis, four automatic spray guns with straight nozzles are mounted on the Z-axis, the spray guns extend into the inner cavity from the opening of the energy storage cabinet, and the spray guns face the inner side surface and spray it; The outer side wall of the energy storage cabinet away from the opening end forms the outer side to be sprayed, the manipulator workstation includes a K station, the robot of the K station has an X-axis and a Z-axis, the Z-axis is arranged on the X-axis, and three straight nozzle automatic spray guns are mounted on the Z-axis, and the spray guns are used to spray the outer side; The outer surface of the top of the energy storage cabinet forms an outer top plane to be sprayed, the energy storage cabinet is provided with a top beam above the opening, the top of the inner cavity of the energy storage cabinet forms an inner side surface to be sprayed, and the front of the energy storage cabinet is located below the opening to form an area to be sprayed; the bottom of the energy storage cabinet forms an outer bottom surface to be sprayed; the manipulator workstation includes an I station, and the robot of the I station has an X-axis and a Z-axis, and the X-axis is arranged on the Z-axis; spray guns are respectively arranged on the left and right sides of the upper end of the X-axis, and the spray guns spray the back side of the top beam and the outer top plane respectively; a plurality of spray guns are arranged at intervals in the middle of the X-axis, and the spray guns spray the front of the top beam and the area to be sprayed of the opening, and one of the spray guns extends from the opening of the energy storage cabinet into the inner cavity to spray the inner side surface; a spray gun is arranged at the lower end of the X-axis, and the spray gun sprays the outer bottom surface; The upper and lower ends of the inner cavity of the energy storage cabinet respectively form the inner cavity top and the inner cavity bottom to be sprayed; the manipulator workstation includes a J station, and the robot of the J station has a U axis and a Z axis, the Z axis is arranged on the Y axis, the U axis is arranged on the Z axis, two sets of U axes are mounted on the Z axis, and the two sets of U axes are provided with spray guns, and the spray guns extend into the inner cavity from the opening of the energy storage cabinet to spray the inner cavity top and the inner cavity bottom.

7. The spraying system for spraying an energy storage cabinet according to claim 6, characterized in that: Two sets of U axes are mounted on the left side of the Z axis of the B station and two sets of UR axes are mounted on the right side. The B station forms a mirror symmetry with the spraying area of ​​the energy storage cabinet.

8. The spraying system for spraying an energy storage cabinet according to claim 6, characterized in that: The end plate includes the left inner surface, left outer surface, right inner surface, right outer surface of the energy storage cabinet, and the left and right sides of the doorpost, bracket and column; the angle between the left and right spray guns of the E station and the left and right surfaces of the end plate is 75° to 90°.

9. The spraying system for spraying an energy storage cabinet according to claim 6, characterized in that: The angle between the automatic spray guns mounted on the left and right sides of the F station and the front surface of the energy storage cabinet is 75° to 90°.

10. The spraying system for spraying an energy storage cabinet according to claim 6, characterized in that: The spray guns of the H station spray synchronously; the spray guns of the I station spray synchronously.

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