A spray posture adjusting device

Abstract

The utility model provides a kind of spraying posture adjusting device, including mounting bracket, the spraying equipment of being installed in mounting bracket, spraying mounting seat, spraying rack, first adjusting drive source, second adjusting drive source and all be installed in the first distance sensor, second distance sensor and third distance sensor of mounting bracket;Spraying rack is rotatably installed in spraying mounting seat, first adjusting drive source is connected with spraying rack transmission, for drive spraying rack rotates around first axis;Mounting bracket is rotatably installed in spraying rack, second adjusting drive source is connected with mounting bracket transmission, for drive mounting bracket rotates around second axis;First distance sensor is set apart along first axis with second distance sensor and third distance sensor, and second distance sensor and third distance sensor are side by side along second axis setting.This application adjusts the spraying posture of spraying equipment according to the curved surface form of the outer surface of ship, improves the uniformity of spraying quality and paint film thickness.

Description

Technical Field

[0001] This utility model relates to the field of ship exterior coating technology, and in particular to a coating attitude adjustment device. Background Technology

[0002] In shipbuilding and repair operations, a ship exterior painting process is involved to form a paint film on the ship's surface, serving functions such as corrosion protection, stain prevention, aesthetics, and labeling. There are two main methods of ship exterior painting: manual painting and automatic painting. Manual painting involves workers holding spray guns and performing the painting operation from an aerial work platform; this method has drawbacks such as low painting efficiency, high risk of working at heights, and uneven paint film thickness. Automatic painting refers to the use of automated ship exterior painting equipment to perform the painting operation automatically. It improves the uniformity of paint film thickness and painting efficiency, and has been widely used.

[0003] Prior art 1: Chinese invention patent application No. 202110573747.6 discloses an automated operation platform for ship painting, which is equipped with a painting arm and a painting head installed at the outer end of the painting arm. The painting arm is raised, lowered, and extended to coordinate with the painting head for painting operations. However, the outer surface of a ship is curved, and the spraying posture of the painting head relative to the ship's outer surface directly affects the paint film quality. Clearly, prior art 1 cannot specifically adjust the spraying posture of the painting head according to the curved shape of the ship's outer surface, and therefore cannot reliably guarantee the painting quality. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved by this utility model is to provide a spraying posture adjustment device that can adjust the spraying posture of the spraying equipment in real time according to the curved shape of the area to be sprayed (such as the outer surface of a ship).

[0005] To achieve the above objectives, this utility model provides a spraying posture adjustment device, including a mounting bracket, at least one spraying device mounted on the mounting bracket, a spraying mounting base, a spraying frame, a first adjustment drive source, a second adjustment drive source, and a first distance sensor, a second distance sensor, and a third distance sensor all mounted on the mounting bracket. The first distance sensor, the second distance sensor, and the third distance sensor are used to detect the distance between the mounting bracket and the area to be sprayed at their respective positions.

[0006] The spraying frame is rotatably mounted on the spraying mounting base. The first adjustment drive source is driven by the spraying frame and is used to drive the spraying frame to rotate around a first axis. The mounting bracket is rotatably mounted on the spraying frame. The second adjustment drive source is driven by the mounting bracket and is used to drive the mounting bracket to rotate around a second axis. The first axis and the second axis are perpendicular to each other.

[0007] The first distance sensor, the second distance sensor, and the third distance sensor are arranged in a triangular configuration. The first distance sensor is offset from the second distance sensor and the third distance sensor along the first axis, while the second distance sensor and the third distance sensor are arranged side by side along the second axis.

[0008] Furthermore, the sensing end of the first distance sensor is perpendicular to both the first axis and the second axis.

[0009] Furthermore, the spraying mounting base is distributed on the upper side of the spraying frame, and a rotating shaft extending along the first axis is fixed at the bottom of the spraying mounting base. The spraying frame is rotatably mounted on the outer periphery of the rotating shaft via a rotating assembly.

[0010] Furthermore, the spraying frame is distributed on the upper side of the mounting bracket, the bottom of the spraying frame is fixed with a first connecting lug, and the top of the mounting bracket is fixed with a second connecting lug. The first connecting lug and the second connecting lug are hinged together by a pin extending along the second axis.

[0011] Furthermore, both the first and second adjustment drive sources are electric cylinders, pneumatic cylinders, or hydraulic cylinders.

[0012] The first adjustment drive source is mounted on the spraying mounting base and is offset from the first axis. The cylinder and piston rod of the first adjustment drive source are rotatably connected to the spraying mounting base and the spraying frame, respectively.

[0013] The second adjustment drive source is mounted on the spraying machine frame and is offset from the second axis. The cylinder and piston rod of the second adjustment drive source are rotatably connected to the spraying machine frame and the mounting bracket, respectively.

[0014] Furthermore, the spraying posture adjustment device also includes a fourth distance sensor, which is mounted on the spraying mounting base; the detection distances of the first distance sensor, the second distance sensor, and the third distance sensor are all equal and less than the detection distance of the fourth distance sensor.

[0015] Furthermore, the first distance sensor, the second distance sensor, the third distance sensor, and the fourth distance sensor are all ultrasonic sensors.

[0016] Furthermore, the spraying posture adjustment device also includes a paint spray hood installed on the mounting bracket, the paint spray hood covering the outer periphery of the spraying equipment; the opening of the paint spray hood gradually expands along the spraying direction of the spraying equipment.

[0017] Furthermore, the spraying posture adjustment device also includes an adjustment bracket, on which a horizontally extending adjustment and fixing groove is provided. The adjustment bracket is fixed to the mounting bracket by bolts passing through the adjustment and fixing groove. The spraying equipment and the paint spray hood are both fixed on the adjustment bracket.

[0018] Furthermore, the spraying equipment is a spray gun.

[0019] As described above, the spraying posture adjustment device of this utility model has the following beneficial effects:

[0020] In this application, the first, second, and third distance sensors are all used to detect the distance between the mounting bracket and the area to be sprayed. A first adjustment drive source adjusts the horizontal swing angle of the mounting bracket and the spraying equipment based on the feedback data from these three distance sensors. A second adjustment drive source adjusts the pitch swing angle of the mounting bracket and the spraying equipment based on the feedback data from these three distance sensors, ensuring that the distances reported by the three distance sensors are equal. This allows the spraying posture of the spraying equipment to be adjusted according to the curved shape of the area to be sprayed (such as the outer surface of a ship). When the distances reported by the three distance sensors are equal, spraying operations are performed on a flat surface on the outer surface of the ship, effectively improving the spraying quality and the uniformity of the paint film thickness. Attached Figure Description

[0021] Figure 1 and Figure 2 The diagram shows the structure of the spraying posture adjustment device of this application from different angles.

[0022] Figure 3 This is a schematic diagram of the spray paint hood in this application.

[0023] Figure 4 This is a schematic diagram of the installation of the spraying attitude adjustment device of this application on the ship's exterior spraying device.

[0024] Component designation explanation

[0025] 10 Mounting bracket

[0026] 101 Second Connecting Earpiece

[0027] 102 Adjusting fixing groove

[0028] 20 Spraying equipment

[0029] 30 Spray Painting Mount

[0030] 40 Spray Painting Frame

[0031] 41 First connecting ear socket

[0032] 50 First adjustment drive source

[0033] 60 Second Adjustment Drive Source

[0034] 71 First Distance Sensor

[0035] 72 Second Distance Sensor

[0036] 73 Third Distance Sensor

[0037] 74 Fourth Distance Sensor

[0038] 80 Rotation axis

[0039] 90 Rotating Component

[0040] 110 Spray Paint Cover

[0041] 120 Adjustable bracket

[0042] 131 Chassis Assembly

[0043] 132 Lifting Drive Source

[0044] 133 tower

[0045] 134 Control Tower

[0046] 135 telescopic boom Detailed Implementation

[0047] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0048] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of this invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of this invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0049] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0050] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0051] This utility model provides a spraying posture adjustment device for automatic painting operations on surfaces to be painted. The spraying posture adjustment device can be used in various applications, such as painting the hull surfaces of ships, automobiles, and trains. The following description uses the application of the spraying posture adjustment device to the hull surface of a ship as an example. In this case, the spraying posture adjustment device is installed within a ship exterior painting device. During the automatic painting process on the ship's exterior, the entire ship exterior painting device moves along a predetermined path parallel to the curve of the ship's exterior, thus achieving the goal of moving along the predetermined path. For ease of description, the direction of movement of the ship exterior painting device is defined as the left-right direction, and the horizontal direction perpendicular to the direction of movement is defined as the front-back direction. The front-back direction is also the parallel direction between the ship exterior painting device and the ship's exterior.

[0052] like Figure 4As shown, the ship exterior painting device includes a mobile chassis assembly 131, a lifting drive source 132 fixed to the top surface of the mobile chassis assembly 131, a tower 133 extending vertically and fixed to the top surface of the mobile chassis assembly 131, a lifting transmission mechanism, a tower platform 134 movably mounted on the right side of the tower platform 133, a telescopic boom 135 horizontally extendable in the front-rear direction, and a painting device 20. The lifting drive source 132 is connected to the tower platform 134 through the lifting transmission mechanism, driving the tower platform 134 to move up or down. The rear end of the telescopic boom 135 is mounted on the tower platform 134, and the painting device 20 is mounted on the front end of the telescopic boom 135. Preferably, the lifting drive source 132 is a winch, and the lifting transmission mechanism includes a wire rope and a pulley assembly. The wire rope is wound in the winch and is fixed to the top of the tower platform 133 after passing over each pulley in the pulley assembly. One pulley in the pulley assembly is a fixed pulley mounted on the tower platform 134. During the ship exterior painting operation, the traveling chassis assembly 131 moves along a path parallel to the curve of the ship's exterior, thereby driving the ship exterior painting device as a whole to move along a path parallel to the curve of the ship's exterior. The lifting drive source 132 drives the tower 134 to rise and fall along the tower 133 via a steel wire rope and pulley assembly. The telescopic arm 135 and the painting equipment 20 rise and fall synchronously with the tower 134. The telescopic arm 135 extends forward, driving the painting equipment 20 to move forward to the area to be painted. Combined with the movement of the traveling chassis and the rising and falling of the tower 134, the ship's exterior surface is automatically painted.

[0053] The spraying posture adjustment device involved in this utility model is connected between the front end of the telescopic arm 135 and the spraying equipment 20. For example... Figure 1 and Figure 2As shown, the spraying posture adjustment device includes a mounting bracket 10, at least one spraying device 20 mounted on the mounting bracket 10, a spraying mounting base 30, a spraying frame 40, a first adjustment drive source 50, a second adjustment drive source 60, and a first distance sensor 71, a second distance sensor 72, and a third distance sensor 73, all mounted on the mounting bracket 10. The spraying mounting base 30 is fixed to the front end of the telescopic arm 135 by several bolts, thereby mounting the entire spraying posture adjustment device on the front end of the telescopic arm 135. The spraying frame 40 is rotatably mounted on the underside of the spraying mounting base 30, and the spraying frame 40 can rotate relative to the spraying mounting base 30 about a first axis; the first adjustment drive source 50 is mounted on the spraying mounting base 30 and is connected to the spraying frame 40 in a transmission connection, driving the spraying frame 40 to rotate about the first axis. Mounting bracket 10 is rotatably mounted on the lower side of spraying frame 40, and mounting bracket 10 can rotate relative to spraying frame 40 about a second axis extending left and right. Second adjustment drive source 60 is mounted on spraying frame 40 and is connected to mounting bracket 10, driving mounting bracket 10 to rotate about the second axis. The first axis and the second axis are perpendicular, but both are parallel to the outer surface of the ship; that is, the first axis is the longitudinal tangent of the area to be sprayed on the outer surface of the ship, and the second axis is the transverse tangent of the area to be sprayed on the outer surface of the ship. First distance sensor 71, second distance sensor 72, and third distance sensor 73 are arranged in a triangular configuration. First distance sensor 71 is offset from second distance sensor 72 and third distance sensor 73 along the first axis. Second distance sensor 72 and third distance sensor 73 are arranged side-by-side along the second axis and are both located below first distance sensor 71, with second distance sensor 72 located to the right of third distance sensor 73.

[0054] During automatic spraying, the telescopic arm 135 extends forward to a position close to the area to be sprayed on the outer surface of the ship. At this time, the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73 detect the distance between the mounting bracket 10 and the area to be sprayed (i.e., the outer surface of the ship) in real time. When the distance data fed back by the three sensors are equal, it indicates that the area to be sprayed corresponding to the current posture of the mounting bracket 10 and the spraying equipment 20 is a plane. At this time, when the spraying equipment 20 performs the spraying operation, the uniformity of the paint film thickness is high. Therefore, the first adjustment drive source 50 and the second adjustment drive source 60 of this application adjust the real-time posture of the mounting bracket 10 and the spraying equipment 20 according to the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73. For example, when the distance detected by the first distance sensor 71 is not equal to the distance detected by the second distance sensor 72 or the third distance sensor 73, it indicates that the area to be sprayed is a longitudinal curved surface. At this time, the second adjustment drive source 60 is activated, causing the mounting bracket 10 to swing up or down around its second axis that is rotatably coupled with the spraying frame 40, adjusting the pitch angle until the distance detected by the first distance sensor 71 is equal to the distance detected by the second distance sensor 72. As another example, when the distance detected by the second distance sensor 72 is not equal to the distance detected by the third distance sensor 73, it indicates that the area to be sprayed is a transverse curved surface. At this time, the first adjustment drive source 50 is activated, causing the spraying frame 40 to swing left or right around its first axis that is rotatably coupled with the spraying mounting base 30. The spraying frame 40 drives the mounting bracket 10 to swing left or right together, adjusting the horizontal swing angle until the distance detected by the second distance sensor 72 is equal to the distance detected by the third distance sensor 73.

[0055] Therefore, in the automatic painting process, the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73 provide real-time feedback on the distance between the mounting bracket 10 and the outer surface of the ship at their respective positions. The first adjustment drive source 50 adjusts the horizontal swing angle of the mounting bracket 10 and the painting equipment 20 based on the feedback data from these three distance sensors, and the second adjustment drive source 60 adjusts the pitch swing angle of the mounting bracket 10 and the painting equipment 20 based on the feedback data from these three distance sensors, ensuring that the distances fed back by the three distance sensors are equal. This achieves the adjustment of the painting posture of the painting equipment 20 according to the curved shape of the ship's outer surface, and the painting operation is carried out when the area to be painted on the ship's outer surface is flat, effectively improving the painting quality and the uniformity of the paint film thickness, and greatly improving the painting effect.

[0056] Preferably, the spraying device 20 is a spray gun; and since the spraying device 20 is perpendicular to the plane formed by the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73, the spraying device 20 is also perpendicular to the area to be sprayed on the outer surface of the ship, resulting in a better spraying effect. Furthermore, there are two spraying devices 20, arranged side-by-side.

[0057] Furthermore, such as Figure 2 As shown, the spraying posture adjustment device also includes a fourth distance sensor 74, which is mounted on the front end face of the spraying mounting base 30. The fourth distance sensor 74 is used to detect the distance between the spraying mounting base 30 and the outer surface of the ship, and is used to control the extension and retraction speed of the telescopic arm 135. The detection distances of the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73 are all equal and less than the detection distance of the fourth distance sensor 74. In this application, the detection distance of the fourth distance sensor 74 is 2m, and the detection distances of the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73 are all 400mm. Of course, in other embodiments, the detection distances of the fourth distance sensor 74, and the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73 can be other values, determined according to the actual working conditions. When the telescopic arm 135 begins to extend forward, the distance between the spraying mounting base 30 and the outer surface of the ship is relatively large, much greater than 2m. During this process, the telescopic arm 135 extends rapidly. When the telescopic arm 135 extends forward to a distance of 2m between the spraying mounting base 30 and the outer surface of the ship, the fourth distance sensor 74 receives a signal, but the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73 still do not receive a signal. Based on the signal from the fourth distance sensor 74, the extension speed of the telescopic arm 135 is controlled to decrease, extending forward at a slower speed until the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73 all receive a signal. Afterward, based on the signals from the first distance sensor 71, the second distance sensor 72, and the third distance sensor 73, the first adjustment drive source 50 and the second adjustment drive source 60 are controlled to adjust the spraying posture of the mounting bracket 10 and the spraying equipment 20 in real time according to the curved shape of the ship's outer surface. Preferably, the first distance sensor 71, the second distance sensor 72, the third distance sensor 73, and the fourth distance sensor 74 are all ultrasonic sensors.

[0058] Furthermore, such as Figure 1 and Figure 2 As shown, the sensing end of the first distance sensor 71 is perpendicular to both the first and second axes, meaning the sensing end of the first distance sensor 71 points to the normal direction of the area to be painted on the outer surface of the ship. The first distance sensor 71 and the second distance sensor 72 are symmetrically arranged in the left-right direction with the first distance sensor 71 as the center.

[0059] Furthermore, such as Figure 1 and Figure 2 As shown, the spraying mounting base 30 is distributed on the upper side of the spraying frame 40. A rotating shaft 80 extending along a first axis is fixed to the bottom of the spraying mounting base 30. The central axis of this rotating shaft 80 constitutes the rotation center of the spraying frame 40, i.e., the aforementioned first axis. The spraying frame 40 is rotatably mounted on the outer periphery of the rotating shaft 80 via a rotating assembly 90, which may be a bearing, copper sleeve, etc. The spraying frame 40 is distributed on the upper side of the mounting bracket 10. First connecting lugs 41 are fixed to the left and right sides of the bottom of the spraying frame 40, and second connecting lugs 101 are fixed to the left and right sides of the top of the mounting bracket 10. The first connecting lugs 41 and the second connecting lugs 101 are hinged together by a pin extending along a second axis. This pin constitutes the rotation center of the mounting bracket 10, i.e., the aforementioned second axis.

[0060] Furthermore, such as Figure 1 and Figure 2 As shown, both the first adjustment drive source 50 and the second adjustment drive source 60 are electric cylinders, pneumatic cylinders, or hydraulic cylinders. The cylinder body and piston rod of the first adjustment drive source 50 are rotatably connected to the spraying mounting base 30 and the spraying frame 40, respectively. The first adjustment drive source 50 is located on the outer periphery of the rotating shaft 80 and is offset from the first axis, avoiding self-locking. The cylinder body and piston rod of the second adjustment drive source 60 are rotatably connected to the spraying frame 40 and the mounting bracket 10, respectively. The second adjustment drive source 60 is located on the outer periphery of the pin that hinges the first connecting lug 41 and the second connecting lug 101. The second adjustment drive source 60 is offset from the second axis, avoiding self-locking.

[0061] Furthermore, such as Figure 2 and Figure 3 As shown, the spraying posture adjustment device also includes a paint spray hood 110 installed on the mounting bracket 10. Each spraying device 20 is covered with a paint spray hood 110 on its outer periphery. The paint spray hood 110 has a flared structure, and the opening of the paint spray hood 110 gradually widens along the spraying direction of the spraying device 20. The paint spray hood 110 can prevent the paint mist sprayed by the spraying device 20 from drifting away and improve the spraying effect.

[0062] Furthermore, such as Figure 1 and Figure 2As shown, the spraying posture adjustment device also includes an adjustment bracket 120. An adjustment fixing groove 102 extending horizontally in the left-right direction is provided on the mounting bracket 10. The adjustment bracket 120 is fixed to the mounting bracket 10 by bolts passing through the adjustment fixing groove 102. The spraying equipment 20 and the paint sprayer 110 are both fixed on the adjustment bracket 120. On one hand, this achieves the fixed installation of the spraying equipment 20 and the paint sprayer 110 on the mounting bracket 10; on the other hand, the setting of the adjustment fixing groove 102 on the mounting bracket 10 allows adjustment of the horizontal position of the adjustment bracket 120 in the extension direction of the adjustment fixing groove 102, that is, adjustment of the installation position in the left-right direction, thereby adjusting the installation position of the spraying equipment 20 and the paint sprayer 110 in the left-right direction and ensuring the painting effect of the spraying equipment 20.

[0063] In summary, this utility model effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0064] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A spraying posture adjustment device, comprising a mounting bracket (10) and at least one spraying device (20) mounted on the mounting bracket (10), characterized in that: It also includes a spraying mounting base (30), a spraying frame (40), a first adjustment drive source (50), a second adjustment drive source (60), and a first distance sensor (71), a second distance sensor (72), and a third distance sensor (73) all mounted on the mounting bracket (10). The first distance sensor (71), the second distance sensor (72), and the third distance sensor (73) are used to detect the distance between the mounting bracket (10) and the area to be sprayed at their respective positions. The spraying frame (40) is rotatably mounted on the spraying mounting base (30). The first adjustment drive source (50) is driven to the spraying frame (40) to drive the spraying frame (40) to rotate around a first axis. The mounting bracket (10) is rotatably mounted on the spraying frame (40). The second adjustment drive source (60) is driven to the mounting bracket (10) to drive the mounting bracket (10) to rotate around a second axis. The first axis and the second axis are perpendicular to each other. The first distance sensor (71), the second distance sensor (72), and the third distance sensor (73) are arranged in a triangular pattern. The first distance sensor (71), the second distance sensor (72), and the third distance sensor (73) are offset along the first axis, and the second distance sensor (72) and the third distance sensor (73) are arranged side by side along the second axis.

2. The spraying posture adjustment device according to claim 1, characterized in that: The sensing end of the first distance sensor (71) is perpendicular to both the first axis and the second axis.

3. The spraying posture adjustment device according to claim 1, characterized in that: The spraying mounting base (30) is distributed on the upper side of the spraying frame (40). The bottom of the spraying mounting base (30) is fixed with a rotating shaft (80) extending along the first axis. The spraying frame (40) is rotatably mounted on the outer periphery of the rotating shaft (80) by a rotating assembly (90).

4. The spraying posture adjustment device according to claim 1, characterized in that: The spraying frame (40) is located on the upper side of the mounting bracket (10). The bottom of the spraying frame (40) is fixed with a first connecting lug (41), and the top of the mounting bracket (10) is fixed with a second connecting lug (101). The first connecting lug (41) and the second connecting lug (101) are hinged together by a pin extending along the second axis.

5. The spraying posture adjustment device according to claim 1, characterized in that: Both the first adjustment drive source (50) and the second adjustment drive source (60) are electric cylinders, pneumatic cylinders, or hydraulic cylinders; The first adjustment drive source (50) is mounted on the spraying mounting base (30) and is offset from the first axis. The cylinder and piston rod of the first adjustment drive source (50) are rotatably connected to the spraying mounting base (30) and the spraying frame (40), respectively. The second adjustment drive source (60) is mounted on the spraying frame (40) and is offset from the second axis. The cylinder and piston rod of the second adjustment drive source (60) are rotatably connected to the spraying frame (40) and the mounting bracket (10), respectively.

6. The spraying posture adjustment device according to claim 1, characterized in that: It also includes a fourth distance sensor (74), which is mounted on the spraying mounting base (30); the detection distances of the first distance sensor (71), the second distance sensor (72), and the third distance sensor (73) are all equal and less than the detection distance of the fourth distance sensor (74).

7. The spraying posture adjustment device according to claim 6, characterized in that: The first distance sensor (71), the second distance sensor (72), the third distance sensor (73) and the fourth distance sensor (74) are all ultrasonic sensors.

8. The spraying posture adjustment device according to claim 1, characterized in that: It also includes a paint spray hood (110) installed on the mounting bracket (10), the paint spray hood (110) covering the outer periphery of the spraying equipment (20); the opening of the paint spray hood (110) gradually expands along the spraying direction of the spraying equipment (20).

9. The spraying posture adjustment device according to claim 8, characterized in that: It also includes an adjustment bracket (120), on which a horizontally extending adjustment and fixing groove (102) is provided. The adjustment bracket (120) is fixed to the mounting bracket (10) by bolts passing through the adjustment and fixing groove (102). The spraying equipment (20) and the paint sprayer (110) are both fixed on the adjustment bracket (120).

10. The spraying posture adjustment device according to claim 1, characterized in that: The spraying equipment (20) is a spray gun.

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