Multi-lance parallel spraying system and spraying robot

Abstract

The application is suitable for the technical field of industrial coating equipment, and provides a multi-spray-gun parallel type spraying system and a spraying robot, the spraying system comprising a plurality of three-way joints, a plurality of pressure regulating valves and a plurality of spray guns; all the three-way joints are cascaded according to a binary tree structure, the first layer of three-way joints is connected with one end of a main pipeline, the last layer of three-way joints is connected with the spray guns; the other end of the main pipeline is connected with a supply tank through an airless spraying machine; the main pipeline is connected with a plurality of branch pipelines through the three-way joints, and the pressure regulating valves are installed on the branch pipelines. The application adopts the parallel mode of a plurality of spray guns to perform a coating operation, can greatly improve the working range and the spraying operation efficiency, meanwhile, the pressure of each spray gun is stabilized through the pressure regulating valves, the final spraying effect is ensured, in addition, the airless spraying machine is adopted to perform the spraying operation, the pollution is smaller, the coating adhesion is good and the spraying quality is better.

Description

Technical Field

[0001] This application belongs to the field of industrial coating equipment technology, and particularly relates to multi-spray gun parallel spraying system and spraying robot. Background Technology

[0002] Spray painting operations typically rely heavily on manual labor. Manual spray painting suffers from high risks, high labor intensity, and inconsistent paint quality. These drawbacks have led to a significant portion of manual spray painting work being replaced by intelligent spray painting robots. However, most traditional spray painting robots rely on compressed air to atomize the paint, resulting in low paint utilization and the generation of large amounts of paint mist during the spraying process. This not only wastes paint but also pollutes the environment. Furthermore, when the spray painting system includes multiple spray guns, it is difficult to maintain consistent spray quality between different guns, leading to uneven spraying, affecting the overall paint quality, requiring multiple touch-ups, and resulting in low spray painting efficiency. Summary of the Invention

[0003] This application provides a multi-spray gun parallel spraying system and a spraying robot, which can solve the problems of high pollution, unstable spraying quality and low spraying efficiency during spraying operations.

[0004] In a first aspect, embodiments of this application provide a multi-spray gun parallel spraying system, which includes multiple T-joints, multiple pressure regulating valves, and multiple spray guns;

[0005] All T-connectors are cascaded in a binary tree structure, with the first layer of T-connectors connected to one end of the main pipeline and the last layer of T-connectors connected to the spray gun.

[0006] The other end of the main pipeline is connected to the material supply tank via an airless sprayer.

[0007] The main pipeline is connected to multiple branch pipelines via the tee joint, and the pressure regulating valve is installed on the branch pipelines.

[0008] In one embodiment of the first aspect, the number of the tee connectors is three;

[0009] And / or, the number of spray guns is four;

[0010] And / or, the number of pressure regulating valves is two.

[0011] In one embodiment of the first aspect, a rotary joint and an extension component are further installed between the main pipeline and the first-layer tee joint;

[0012] The rotary joint includes a rotating component and a stationary component, and the rotating component is in communication with the stationary component;

[0013] The rotary joint is connected to the main pipeline through the stationary component and to one end of the extension component through the rotary component. The other end of the extension component is connected to the first layer tee joint.

[0014] In one embodiment of the first aspect, when there are multiple feed hoppers, the main pipeline is connected to multiple manifolds via a manifold plate, and each manifold is connected to the feed hopper via the airless sprayer; wherein the number of manifolds is the same as the number of airless sprayers.

[0015] In one embodiment of the first aspect, a filter is installed on the main conduit and / or the manifold.

[0016] In a second aspect, embodiments of this application provide a spraying robot, which includes a frame and a multi-spray gun parallel spraying system as described in any one of the first aspects;

[0017] The multi-spray gun parallel spraying system is installed on the frame;

[0018] The frame includes a vehicle frame, a spray gun assembly support frame, and a spray gun adjustment frame; the spray gun assembly support frame is vertically mounted on the vehicle frame, and the spray gun adjustment frame is mounted on the spray gun assembly support frame;

[0019] The spray gun adjustment bracket can move vertically along the spray gun assembly support frame;

[0020] The spray gun is mounted on the spray gun adjustment frame, and the spray gun can move horizontally along the spray gun adjustment frame.

[0021] In one embodiment of the second aspect, the painting robot further includes a walking system mounted on the bottom surface of the frame, the bottom surface of the frame being the side that contacts the work surface to be painted;

[0022] The walking system includes casters, a drive wheel assembly, and a drive motor connected to the drive wheel assembly.

[0023] In one embodiment of the second aspect, the walking system further includes a magnet assembly for generating an adsorption force that causes the bottom of the frame to adhere to the surface to be coated.

[0024] In one embodiment of the second aspect, the painting robot further includes a control system, the control system including a power supply module, a detection module and an electrical control box, the detection module and the electrical control box being mounted on the chassis;

[0025] The power supply module is connected to the electrical control box;

[0026] The electrical control box is connected to the detection module, the drive motor, and the spray gun, respectively.

[0027] In one embodiment of the second aspect, a slip ring is installed between the power supply module and the electrical control box;

[0028] The slip ring includes a slip ring stator, a slip ring rotor, a conductive ring, and a brush. The conductive ring is disposed on the slip ring rotor, and the brush is disposed on the slip ring stator. The conductive ring and the brush are in contact.

[0029] The slip ring stator is mounted on the stationary component, and the slip ring rotor is mounted on the extension component;

[0030] The slip ring stator is connected to the power supply module.

[0031] The slip ring rotor is connected to the electrical control box.

[0032] In one embodiment of the second aspect, the frame further includes lifting rings mounted on the vehicle frame;

[0033] The painting robot is connected to a traction rope via the lifting ring.

[0034] The beneficial effects of this utility model are:

[0035] Using multiple spray guns in parallel for painting operations can greatly improve the working range and spraying efficiency. At the same time, the pressure of each spray gun is stabilized by the pressure regulating valve to ensure the final spraying effect.

[0036] Using an airless sprayer for paint delivery simplifies the paint delivery route and reduces paint loss compared to using an air compressor. At the same time, airless sprayers produce less pollution, have better coating adhesion, and produce higher quality paint.

[0037] By using the spray gun assembly support frame to adjust the height of the spray gun and the spray gun interval to adjust the spray gun spacing, the spray gun can be flexibly adapted to various spraying needs.

[0038] In the connection between the spray gun robot and other equipment, the problem of pipe twisting and tangling when the spray gun robot moves freely is solved by using a rotary joint, and the problem of circuit twisting and tangling is solved by using a slip ring, which ensures the normal delivery of paint and the normal transmission of electrical signals, and further improves the applicability of the spray gun robot.

[0039] The painting robot is attached to the work surface by magnets and moves on the work surface with drive wheels and casters. At the same time, the connection between the lifting ring and the traction rope serves as a safety protection. It can handle various complex work surfaces, and the stable movement of the painting robot can also ensure the consistency of the painting quality.

[0040] Equipped with a control system, the robot's electrical equipment is centrally managed through an electrical control box, simplifying system wiring. The control system can monitor the spraying process in real time, ensuring the consistency and stability of spraying quality. This enables the robot to perform autonomous spraying operations, reducing the impact of manual operation on spraying quality and increasing spraying efficiency. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a multi-spray gun parallel spraying system provided in one embodiment of this application;

[0043] Figure 2 This is a schematic diagram of another multi-spray gun parallel spraying system provided in one embodiment of this application;

[0044] Figure 3 This is a schematic diagram of another structure of a multi-spray gun parallel spraying system provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the structure of a painting robot provided in one embodiment of this application;

[0046] Figure 5 This is a side view of a painting robot provided in one embodiment of this application;

[0047] Figure 6 This is a rear view of a painting robot provided in one embodiment of this application;

[0048] Figure 7 This is a schematic diagram of the structure of a control system provided in an embodiment of this application.

[0049] Legend:

[0050] 101. Main pipeline; 102. Branch pipeline; 103. Manifold pipeline; 11. Feed hopper; 12. Airless sprayer; 13. T-joint; 131. First-layer t-joint; 132. Last-layer t-joint; 14. Pressure regulating valve; 15. Spray gun; 16. Rotary joint; 161. Stationary component; 162. Rotating component; 17. Extension component; 18. Filter; 19. Manifold; 1. Multi-spray gun parallel spraying system; 2. Frame; 21. Chassis; 22. Spray gun assembly support frame; 23. Spray gun adjustment frame; 24. Lifting ring; 3. Walking system; 31. Magnet assembly; 32. Drive wheel assembly; 33. Drive motor; 34. Casters; 4. Control system; 40. Electrical control box; 41. Power supply module; 42. Detection module. Detailed Implementation

[0051] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0052] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0053] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0054] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0055] This application provides a multi-spray gun parallel spraying system. See [link to relevant documentation] Figure 1 The multi-spray gun parallel spraying system includes multiple T-joints 13, multiple pressure regulating valves 14, and multiple spray guns 15. All T-joints 13 are cascaded in a binary tree structure. The first layer of T-joints 131 is connected to one end of the main pipeline 101, and the last layer of T-joints 132 is connected to the spray guns. The other end of the main pipeline 101 is connected to the feed tank 11 through the airless sprayer 12. The airless sprayer 12 can deliver the paint in the feed tank 11 to each spray gun 15.

[0056] In one of the optional implementation methods, such as Figures 1 to 3 As shown, the multi-spray gun parallel spraying system is mounted on a frame. Since the frame needs to support the entire multi-spray gun parallel spraying system, after comprehensively considering the overall structure, weight, and spraying process quality, this embodiment uses three T-joints 13, and the number of spray guns 15 is four. Specifically, there is one first-layer T-joint 131, and two last-layer T-joints 132, with the two last-layer T-joints 132 connected to four spray guns 15.

[0057] In this embodiment, the main pipeline 101 is connected to multiple branch pipelines 102 via a tee connector 13, and a pressure regulating valve 14 is installed on the branch pipelines 102.

[0058] In one alternative implementation, when the pipe between the tee fitting and the spray gun is short, a single pressure regulating valve can be used to stabilize multiple spray guns. See also Figure 1 and Figure 2 In this embodiment, two pressure regulating valves 14 are used, each of which stabilizes two spray guns 15. The pressure regulating valves 14 are specifically set on the diversion pipeline 102 after the first layer tee joint 131.

[0059] In an alternative implementation, where the overall system weight allows, each spray gun 15 can be connected to a separate pressure regulating valve 14, thereby allowing for more precise control of the pressure of each spray gun. Figure 3 As shown, this embodiment uses four pressure regulating valves 14, which are specifically installed on the branch pipe 102 after the last layer tee joint 132.

[0060] It should be noted that the multi-gun parallel spraying system of this embodiment needs to move freely on the work surface during spraying operations, while the feeding system consisting of the airless sprayer and the feeding hopper is placed on a platform, such as the ground, during the spraying operation and usually does not move actively with the multi-gun parallel spraying system. Therefore, to avoid the problem of twisting and entanglement in the main pipeline 101 connecting the multi-gun parallel spraying system and the feeding system when the multi-gun parallel spraying system moves freely, see [reference needed]. Figures 1 to 3 A rotary joint 16 and an extension component 17 are also installed between the main pipeline 101 and the first-layer tee joint 13.

[0061] The rotary joint 16 includes a stationary component 161 and a rotating component 162, which are connected and achieve dynamic sealing rotation through mechanical sealing technology. Optionally, this embodiment uses a PTFE gasket for sealing, but other sealing materials, such as fluororubber, can also be selected.

[0062] In this embodiment, the rotary joint 16 is connected to the main pipeline through the stationary component 161, and one end of the extension component 17 is connected through the rotary component. The other end of the extension component 17 is connected to the first-layer tee joint. The extension component 17 is used to extend the structure of the rotary component 162. The rotary joint 16 introduces the paint delivered by the feeding system from the stationary component 161 into the rotary component 162, and then through the extension component 17, the paint enters the first-layer tee joint 131, thereby delivering the paint to the multi-spray gun parallel spraying system.

[0063] In one feasible option, such as Figure 1 As shown, a filter 18 is also installed on the main pipeline to filter the paint and improve its fineness.

[0064] In one alternative implementation, to avoid insufficient paint during a single spraying operation, the feeding system can be equipped with multiple feeding hoppers, such as... Figure 2 and Figure 3 As shown, when there are multiple material supply barrels, the main pipeline 101 is connected to multiple manifolds 103 through the manifold plate 18. The number of manifolds 103 is the same as the number of airless sprayers 12. Each manifold 103 is connected to the corresponding material supply barrel 11 through the airless sprayer 12.

[0065] In this embodiment, the multi-spray gun parallel spraying system is mainly used for spraying operations on large surfaces, such as ship hull surfaces, building exterior walls, and various large storage tanks. The main pipeline uses a high-pressure hose of about 30 meters in length, and the manifold uses a high-pressure hose of about 10 meters in length.

[0066] Optionally, to avoid overloading a single filter and resulting in low paint transfer efficiency, multiple filters with different mesh sizes can be used for graded filtration. For example... Figure 2 and Figure 3 As shown, filters 18 can be installed on both the manifold 103 and the main duct 101, with the filter mesh size on the main duct being higher than that on the manifold duct. For example, an 80-mesh filter can be installed on the manifold duct, and a 100-mesh filter on the main duct. Of course, the number and mesh size of the filters in this embodiment can be adjusted according to the actual requirements of the coating and spraying process.

[0067] In one feasible embodiment, although not shown in the figure, a one-way valve is also installed on the transmission pipeline (mainly the main pipeline 101 and the manifold 103) connecting the airless sprayer 12 to the multi-spray gun parallel spraying system. The one-way valve is usually installed near the airless sprayer 12, that is, at the outlet of the airless sprayer 12, to prevent paint backflow.

[0068] In one feasible implementation, although not shown in the figure, a pressure switch is also installed on the aforementioned transmission pipeline, similarly at the outlet of the airless sprayer 12, to monitor the paint pressure in real time. The control circuit of the airless sprayer 12 and other equipment is switched on or off based on the paint pressure. It should be noted that paint pressure affects both spraying quality and equipment safety. For example, too low a pressure may lead to poor atomization, thus affecting spraying quality, while too high a pressure may damage the equipment. A preset pressure threshold range for the paint can be established, and the airless sprayer 12 and other equipment can be stopped promptly when the paint pressure does not exceed this threshold range. Optionally, the pressure switch can also be connected to an alarm, activating the alarm when the paint pressure does not exceed the pressure threshold range.

[0069] This application also provides a painting robot, including a multi-spray gun parallel painting system 1, a frame 2, and a walking system 3, the structure of which is described below. Figures 4 to 6 .in, Figure 4 This can be viewed as a front view with the bottom surface of the chassis 21 (the bottom surface of the chassis 21 is the side that contacts the surface to be painted) as the frontal perspective. Figure 5 for Figure 4 Side view, Figure 6 for Figure 4 The rear view. It should be noted that the piping of the multi-spray gun parallel spraying system 1 and some components on the piping are not shown. Figures 4 to 6 As shown, the specific structure of the multi-spray gun parallel spraying system 1 can be referred to the above embodiments and... Figures 1 to 3 The multi-gun parallel spraying system in the text will not be described in detail here.

[0070] See Figure 4 The frame 2 includes a vehicle frame 21, a spray gun assembly support frame 22, a spray gun adjustment frame 23, and a lifting ring 24. The spray gun assembly support frame 22 is vertically mounted on the vehicle frame 21, the spray gun adjustment frame 23 is horizontally mounted on the spray gun assembly support frame 22, and the spray gun 15 is mounted on the spray gun adjustment frame 23.

[0071] In this embodiment, multiple lifting rings 24 are provided, and as shown... Figures 4 to 6 As shown, the painting robot is mounted on the frame 21. It can be connected to a traction rope via a lifting ring 24, and then connected to a fixing device via the traction rope. For example, when the painting robot is used for ship hull painting, it can be connected to a pendant installed on the ship via the traction rope, thus providing a safety protection function.

[0072] In one optional embodiment, the spray gun assembly support frame 22 is provided with multiple longitudinal mounting slots, and the spray gun adjustment frame 23 can move vertically along the spray gun assembly support frame 22, that is, move up and down, thereby adjusting the height of the spray gun 15. After the height is determined, the spray gun adjustment frame 23 is fixed. Similarly, the spray gun adjustment frame 23 is provided with multiple transverse mounting slots, and the spray gun 15 can move horizontally along the spray gun adjustment frame 23, that is, move left and right, thereby adjusting the interval distance of the spray gun 15. After the interval distance is determined, the spray gun 15 is fixed.

[0073] like Figure 4 As shown, the walking system 3 is mounted on the bottom surface of the frame 21. The walking system 3 includes a magnet assembly 31, a drive wheel assembly 32, a drive motor 33 controlled by the drive wheel assembly 32, and omnidirectional wheels 34. The magnet assembly 31 generates an adsorption force that causes the bottom of the frame to adhere to the work surface to be sprayed, allowing the spray gun robot to firmly adhere to the work surface. The drive wheel assembly 32 is responsible for the movement of the spray gun robot. Optionally, the drive wheel assembly 32 consists of a pair of drive wheels, respectively located on both sides of the bottom surface of the frame. The drive wheel assembly 32 can achieve steering movement through differential speed. The drive motor 33 provides power to the drive wheel assembly 32. The omnidirectional wheels 34, as auxiliary components, not only facilitate the flexible steering of the spraying robot, but also form a triangular structure with the drive wheel assembly, making the entire walking system 3 more stable.

[0074] In this embodiment, the painting robot also includes a control system 4, as shown in Figure 7. The control system 4 includes a power supply module 41, a detection module 42, and an electrical control box 40. The detection module 42 and the electrical control box 40 are mounted on the frame 21 of the painting robot. Specifically, the power supply module 41 is connected to the electrical control box 40; the electrical control box 40 is connected to the detection module 43, the drive motor 33, and the spray gun 15, respectively.

[0075] In one feasible solution, the power supply module 41 represents the power source, supplying power to various systems; the detection module 42 can be various sensors, which can be used to monitor the working environment, robot status, and detect spraying effects, such as the operating speed of the spraying robot, the position of the spraying robot on the working surface, pipeline pressure, paint flow rate, shape and size of the working surface, shape and size of the paint surface, and paint color parameters. Currently, there are various sensors for collecting the above data and transmitting it to the electrical control box 40; the electrical control box 40 includes various main control chips for intelligently analyzing data and making decisions, such as performing path planning by analyzing parameters such as the size and shape of the working surface and controlling the drive motor 33 to move on the working surface according to the planned path, or controlling the spray gun switch based on the actual spraying effect and preset spraying requirements (such as controlling the opening and closing of the spray gun by controlling the solenoid valve built into the spray gun 15), and controlling the detection module 42 to collect paint effect data, etc. Currently, there are various chips for realizing the above functions. The electrical control box 40 can be used for centralized management of electrical equipment, and has both power supply and control functions. It can supply power to the solenoid valves in the detection module 42, drive motor 33 and spray gun 15, and transmit various command signals.

[0076] In one feasible solution, to prevent the circuit connecting the control box 40 and the power supply module 41 from twisting and turning when the painting robot moves freely, a slip ring is installed between the power supply module 41 and the control box 40. The slip ring includes a slip ring stator, a slip ring rotor, a conductive ring, and a brush. The conductive ring is disposed on the slip ring rotor, and the brush is disposed on the slip ring stator. The conductive ring and the brush are in contact. The slip ring stator is mounted on the stationary component 161, and the slip ring rotor is mounted on the extension component 17. The slip ring stator is connected to the power supply module 41, and the slip ring rotor is connected to the control box 40.

[0077] As an example, the workflow of this spraying robot during spraying operations may include: before performing the spraying operation, taking photos and sampling the work surface to be sprayed, designing standard paint surface parameters and the robot's walking path, and then the spraying robot performs the spraying operation, acquiring the current status information of the robot in real time. This ensures the safety of the spraying operation and allows for timely adjustment of the walking path. During the spraying process, the actual paint surface parameters after each spray are collected and compared with the standard paint surface parameters. When the actual paint surface parameters do not match the standard paint surface parameters, it is determined to be a spraying defect, and automatic repair is performed. After the entire work surface to be sprayed reaches the standard, the spraying operation is completed.

[0078] Based on the above embodiments, the beneficial effects of this utility model can be obtained as follows:

[0079] 1. Using multiple spray guns in parallel for painting operations can greatly improve the working range and spraying efficiency. At the same time, the pressure of each spray gun is stabilized by the pressure regulating valve to ensure the final spraying effect.

[0080] 2. Using an airless sprayer for paint delivery simplifies the paint delivery route and reduces paint loss compared to using an air compressor. At the same time, airless sprayers cause less pollution, have better coating adhesion, and produce better spray quality.

[0081] 3. By using the spray gun assembly support frame to adjust the height of the spray gun and the spray gun adjustment frame to adjust the spray gun spacing, the spray gun can be flexibly adapted to various spraying needs.

[0082] 4. In the connection between the spray gun robot and other equipment, the problem of pipe twisting and entanglement during the free movement of the spray gun robot is solved by using a rotary joint, and the problem of circuit twisting and entanglement is solved by using a slip ring, which ensures the normal delivery of paint and the normal transmission of electrical signals, and further improves the applicability of the spray gun robot.

[0083] 5. The painting robot is attached to the work surface by magnets and moves on the work surface with the help of drive wheels and casters. At the same time, the connection between the lifting ring and the traction rope serves as a safety protection. It can cope with various complex work surfaces, and the stable movement of the painting robot can also ensure the stability of the painting quality.

[0084] 6. Equipped with a control system, the electrical equipment on the painting robot is centrally managed through the electrical control box, simplifying system wiring. The control system can monitor the painting process in real time, ensuring the consistency and stability of the painting quality, enabling the painting robot to perform autonomous painting operations, reducing the impact of manual operation on the painting quality, and making the painting operation more efficient.

[0085] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A multi-spray gun parallel spraying system, characterized in that, The multi-spray gun parallel spraying system includes multiple T-joints, multiple pressure regulating valves, and multiple spray guns; All T-connectors are cascaded in a binary tree structure, with the first layer of T-connectors connected to one end of the main pipeline and the last layer of T-connectors connected to the spray gun. The other end of the main pipeline is connected to the material supply tank via an airless sprayer. The main pipeline is connected to multiple branch pipelines via the tee joint, and the pressure regulating valve is installed on the branch pipelines.

2. The multi-spray gun parallel spraying system as described in claim 1, characterized in that, The number of the three-way connectors is three; And / or, the number of spray guns is four; And / or, the number of pressure regulating valves is two.

3. The multi-spray gun parallel spraying system as described in claim 1, characterized in that, A rotary joint and an extension component are also installed between the main pipeline and the first-layer tee joint; The rotary joint includes a rotating component and a stationary component, and the rotating component is in communication with the stationary component; The rotary joint is connected to the main pipeline through the stationary component and to one end of the extension component through the rotary component. The other end of the extension component is connected to the first layer tee joint.

4. The multi-spray gun parallel spraying system as described in claim 1, characterized in that, When there are multiple feed hoppers, the main pipeline is connected to multiple manifolds via a manifold plate, and each manifold is connected to the feed hopper via an airless sprayer; wherein, the number of manifolds is the same as the number of airless sprayers.

5. The multi-spray gun parallel spraying system as described in claim 4, characterized in that, A filter is installed on the main pipeline and / or the manifold.

6. A painting robot, characterized in that, The painting robot includes a frame and a multi-spray gun parallel painting system as described in any one of claims 1-5; The multi-spray gun parallel spraying system is installed on the frame; The frame includes a vehicle frame, a spray gun assembly support frame, and a spray gun adjustment frame; the spray gun assembly support frame is mounted on the vehicle frame, and the spray gun adjustment frame is mounted on the spray gun assembly support frame; The spray gun adjustment bracket can move vertically along the spray gun assembly support frame; The spray gun is mounted on the spray gun adjustment frame, and the spray gun can move horizontally along the spray gun adjustment frame.

7. The painting robot as described in claim 6, characterized in that, The painting robot also includes a walking system, which is installed on the bottom surface of the frame, and the bottom surface of the frame is the side that contacts the work surface to be painted; The walking system includes a magnet assembly, omnidirectional wheels, a drive wheel assembly, and a drive motor connected to the drive wheel assembly.

8. The painting robot as described in claim 7, characterized in that, The painting robot also includes a control system, which includes a power supply module, a detection module, and an electrical control box. The detection module and the electrical control box are mounted on the vehicle frame. The power supply module is connected to the electrical control box; The electrical control box is connected to the detection module, the drive motor, and the spray gun, respectively.

9. The painting robot as described in claim 8, characterized in that, A slip ring is installed between the power supply module and the electrical control box; The slip ring includes a slip ring stator, a slip ring rotor, a conductive ring, and a brush. The conductive ring is disposed on the slip ring rotor, and the brush is disposed on the slip ring stator. The conductive ring and the brush are in contact. The slip ring stator is mounted on the stationary component, and the slip ring rotor is mounted on the extension component; The slip ring stator is connected to the power supply module. The slip ring rotor is connected to the electrical control box.

10. The painting robot as described in claim 6, characterized in that, The frame also includes lifting rings, which are mounted on the vehicle frame; The painting robot is connected to a traction rope via the lifting ring.

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