A paint color changing system and method for an automotive painting robot

Abstract

The application discloses a paint changing system for a car spraying robot, which comprises a paint mixing station, a first paint mixing device, a second paint mixing device, a paint gun station and a spraying robot; a first connecting pipe is connected between the paint mixing station and the first paint mixing device, a second connecting pipe is connected between the paint gun station and the second paint mixing device, and a third connecting pipe is connected between the paint gun station and the spraying robot; a guide pipe is connected between the first paint mixing device and the second paint mixing device, and a circulating channel is formed between the guide pipe, the first paint mixing device and the second paint mixing device; the first paint mixing device and the second paint mixing device each comprise a plurality of paint injection units, and a plurality of paint carrying units are slidably connected in the circulating channel; the application improves the flexibility of paint conveying, avoids paint waste caused by paint conveying pipes, saves waiting time in the paint changing process, achieves the effect of fast color changing, reduces solvent consumption, and is more economical and environment-friendly.

Description

Technical Field

[0001] This invention relates to the field of spraying technology, and in particular to a paint color-changing system for an automotive painting robot. Background Technology

[0002] As consumers' demand for personalized cars continues to increase, the demand for paint colors in painting workshops is also increasing rapidly. Currently, most car painting lines transport paint from the paint mixing station to the paint gun station through a paint circulation pipeline, which results in poor flexibility in paint delivery.

[0003] In addition, the paint circulation pipelines that were originally installed during the initial construction of the painting line are far from meeting the growing demand for personalized body colors. Re-laying the paint circulation pipelines is also costly. Therefore, the current practice is to drain the paint from the existing paint circulation pipelines, clean the pipelines, and then switch to another color. This results in a large waste of paint in the pipelines, a long switching process, and the consumption of a large amount of cleaning solvents, leading to decreased production efficiency and environmental pollution. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a paint color-changing system for automotive painting robots.

[0005] To achieve the above objectives, the specific solution of the present invention is as follows:

[0006] A paint color-changing system for an automotive painting robot includes a paint mixing station located on the paint mixing side for mixing paint, and a first paint dispensing device for dispensing paint from the paint mixing station.

[0007] It also includes a second paint mixing device located on the painting side for receiving paint, a paint gun station for storing paint, and a painting robot for painting the body-in-white; the paint mixing station is connected to the first paint mixing device by a first connecting pipe, the paint gun station is connected to the second paint mixing device by a second connecting pipe, and the paint gun station is connected to the painting robot by a third connecting pipe.

[0008] Two guide tubes are connected between the first paint mixing device and the second paint mixing device. A circulation channel is formed between the two guide tubes, the first paint mixing device, and the second paint mixing device, connecting the paint mixing side and the spraying side. Both the first paint mixing device and the second paint mixing device include multiple spaced-apart paint injection units. Multiple paint carrying units for carrying different colors of paint are slidably connected in the circulation channel. The paint carrying units can move along the circulation channel and can communicate with the corresponding paint injection unit when they move to a position corresponding to the first paint mixing device or the second paint mixing device.

[0009] The paint carrying unit further comprises a corrugated storage bag made of flexible material, both ends of the corrugated storage bag are fixedly provided with end cover seats, the corrugated storage bag and the two end cover seats form a paint storage cavity, a plurality of one-way valves are arranged on each end cover seat in a spaced manner, and each one-way valve is provided with a valve body protruding outward from the end cover seat.

[0010] The outer peripheral wall of each end cover seat is provided with a plurality of first bosses in a spaced manner in a circumferential direction, and each first boss is provided with a ball wheel in a spherical manner.

[0011] The center of each end cover seat is rotatably connected with a rotor blade located in the paint storage cavity, the rotor blade is fixedly sleeved with a ratchet located outside the end cover seat, the outer side of each end cover seat is further provided with two swing arms, one end of each swing arm is movably hinged to the center of the end cover seat, each swing arm is hinged with a pawl, the pawl and the swing arm are connected with a torsion spring, the pawl and the ratchet are unidirectionally engaged, the other end of each swing arm is connected with two spaced rollers, the end cover seat is provided with an arc slot corresponding to the positions of the two swing arms, the two swing arms are both provided with a locking pin, and the locking pin is movably embedded in the arc slot.

[0012] The end cover seat is further provided with a locking spring, and the locking spring and the corresponding ratchet are unidirectionally engaged.

[0013] The inner wall of the end cover seat is provided with a plurality of mixing grooves corresponding to the positions of the rotor blades for forming rolling flow of the paint in the paint storage cavity.

[0014] The first paint mixing device and the second paint mixing device both further comprise a paint mixing body, the circulating channel penetrates through the paint mixing body, and the plurality of paint injection units are arranged on the top of the paint mixing body.

[0015] Each of the paint injection units comprises a push rod and a paint dispensing seat, the push rod is installed on a paint dispensing body, the paint dispensing body is provided with a sliding hole in communication with the circulating channel corresponding to each paint dispensing seat, the paint dispensing seat is sealingly and slidingly inserted into the sliding hole, each of the paint dispensing seats is provided with a through hole, a plurality of mounting holes are arranged on the circumference of the through hole, a first channel for connecting the mounting holes is further arranged in the paint dispensing seat, a push shaft is axially arranged in each of the mounting holes, a sealing valve is slidingly arranged on the outer wall of the push shaft, a spring is arranged between one end of the sealing valve and the bottom wall of the mounting hole, a liquid groove is arranged in the other end of the sealing valve, two connecting holes in communication with the liquid groove are arranged on the circumferential wall of the sealing valve, a second channel is further arranged in the paint dispensing seat, one end of the second channel is in communication with the first channel, the other end of the second channel of the first paint dispensing device is in communication with the first connecting pipe, and the other end of the second channel of the second paint dispensing device is in communication with the second connecting pipe.

[0016] After the sealing valve is extruded to compress the spring, the connecting hole can be in communication with the first channel; and a plurality of one-way valves are in one-to-one correspondence with the sealing valves when the paint dispensing seat slidingly extends into the circulating channel.

[0017] Further, the valve body is provided with a first taper surface, and the mounting hole is provided with a second taper surface matched with the first taper surface.

[0018] The present application has the following advantages: the present application uses a plurality of paint carrying units to transport different color paints in the circulating channel, thereby improving the flexibility of paint transportation, avoiding the problem of paint waste caused by using paint conveying pipelines, and saving the waiting time of the paint color changing process when changing color, achieving the effect of rapid color changing, reducing the consumption of solvents, and being more economical and environmentally friendly.

[0019] Meanwhile, when increasing the color paints in the spraying line, the present application only needs to correspondingly increase the number of paint carrying units and paint injection units, so as to quickly realize the increase of paint color, without the need of additional laying of paint conveying pipelines, thereby saving costs and being more flexible in structure. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of the present application;

[0021] Figure 2 is a cross-sectional schematic diagram of the present application when the paint carrying unit and the paint injection unit abut against each other;

[0022] Figure 3 is a structural schematic diagram of the paint carrying unit of the present application;

[0023] Figure 4 is an exploded schematic diagram of the paint carrying unit of the present application;

[0024] Figure 5 is a structural schematic diagram of a paint carrying unit partial structure of the present application;

[0025] Figure 6 is a structural schematic diagram of another view of a paint carrying unit partial structure of the present application;

[0026] Figure 7 is a structural schematic diagram of a guide pipe of the present application;

[0027] Figure 8 is a structural schematic diagram of a first paint dispensing device or a second paint dispensing device of the present application;

[0028] Figure 9 is a structural schematic diagram of a paint injection unit of the present application;

[0029] Figure 10 is an exploded schematic diagram of a paint injection unit partial structure of the present application;

[0030] BRIEF DESCRIPTION OF THE DRAWINGS: 1, paint mixing station; 2, first paint dispensing device; 3, second paint dispensing device; 4, paint gun station; 5, spraying robot; 6, guide pipe; 7, circulation channel; 71, sliding groove; 72, wavy track; 8, paint carrying unit; 81, corrugated storage bag; 82, end cap seat; 821, circular arc groove; 822, mixed flow groove; 83, one-way valve; 831, valve body; 84, ball wheel; 851, rotor blade; 852, ratchet wheel; 853, swing arm; 8531, locking pin; 854, pawl; 855, torsional spring; 856, roller; 857, locking spring sheet;

[0031] 10, paint dispensing body; 20, paint injection unit; 201, push rod; 202, paint dispensing seat; 2021, mounting hole; 2022, first channel; 2023, second channel; 2024, push shaft; 203, sealing valve; 2031, liquid tank; 2032, connecting hole; 204, spring. DETAILED DESCRIPTION

[0032] The present application will be further described in conjunction with the drawings and specific embodiments, which are not intended to limit the scope of the present application.

[0033] As shown in the drawings, the paint color changing system for a car spraying robot according to the present embodiment comprises a paint mixing station 1 provided at a paint mixing side for mixing paint, a first paint dispensing device 2 for dispensing paint of the paint mixing station 1; Figures 1 to 10

[0034] ​The second paint mixing device 3 is arranged on the paint spraying side for receiving paint, the paint gun station 4 is used for storing paint, and the spraying robot 5 is used for spraying the white car body; the first connecting pipe is connected between the paint mixing station 1 and the first paint mixing device 2, the second connecting pipe is connected between the paint gun station 4 and the second paint mixing device 3, and the third connecting pipe is connected between the paint gun station 4 and the spraying robot 5;

[0035] The two guide pipes 6 are connected between the first paint mixing device 2 and the second paint mixing device 3, the circulating channel 7 connecting the paint mixing side and the paint spraying side is formed between the two guide pipes 6, the first paint mixing device 2, and the second paint mixing device 3; the first paint mixing device 2 and the second paint mixing device 3 each include a plurality of spaced-apart paint injection units 20, and the circulating channel 7 slidably connects a plurality of paint carrying units 8 for carrying different colors of paint; the paint carrying unit 8 can move along the circulating channel 7 and can be in communication with the corresponding paint injection unit 20 when it is moved to a position corresponding to the first paint mixing device 2 or the second paint mixing device 3.

[0036] The working mode of the embodiment is as follows: during operation, the paint mixing station 1 delivers the mixed paint (such as purple, red, black, pink, or blue) to the corresponding paint injection unit 20 of the first paint mixing device 2 through the first connecting pipe, and simultaneously, the corresponding paint carrying unit 8 (such as a pink paint carrying unit for carrying pink paint or a blue paint carrying unit for carrying blue paint) is slid along the circulating channel 7 to the paint mixing side and is in communication with the corresponding paint injection unit 20 of the first paint mixing device 2, then the paint mixing station 1 injects the mixed paint into the paint carrying unit 8 through the corresponding paint injection unit 20 of the first paint mixing device 2 through the first connecting pipe, and then the paint carrying unit 8 after the paint injection moves along the circulating channel 7 to the paint spraying side and corresponds to the paint injection unit 20 of the second paint mixing device 3, the corresponding paint injection unit 20 of the second paint mixing device 3 injects the paint in the paint carrying unit 8 into the paint gun station 4 through the second connecting pipe for storage for use by the spraying robot 5, thereby completing the delivery of paint of one color; then the paint gun station 4 delivers the stored paint to the spraying robot 5 through the third connecting pipe, and the spraying robot 5 sprays the paint on the white car body.

[0037] When color change is needed, the corresponding paint carrying unit 8 is removed from the circulating channel 7, and the corresponding paint injection unit 20 of the first paint mixing device 2 and the corresponding paint injection unit 20 of the second paint mixing device 3 are also removed, then the removed paint carrying unit 8 and the paint injection unit 20 are cleaned, after cleaning, the cleaned paint carrying unit 8 is installed back into the circulating channel 7, and the cleaned paint injection unit 20 is installed back into the first paint mixing device 2 and the second paint mixing device 3, then the above paint delivery process is repeated to realize the rapid color change of paint.

[0038] The embodiment improves the flexibility of paint delivery by using multiple paint carrying units 8 to deliver different color paints in the circulation channel 7, avoids the problem of paint waste caused by using paint delivery pipelines, and only needs to clean the corresponding paint carrying unit 8 and paint injection unit 20 when changing color, thereby saving the waiting time of the paint changing process, achieving fast color changing, reducing the consumption of solvent, and being more economical and environmentally friendly.

[0039] Meanwhile, the embodiment only needs to increase the number of paint carrying units 8 and paint injection units 20 correspondingly when adding color paints in the spraying line, so that the increase of paint color can be quickly realized without additional laying of paint delivery pipelines, which is conducive to saving costs and has a more flexible structure.

[0040] As shown in Figures 2 to 6 Based on the above embodiment, further, each of the paint carrying units 8 comprises a corrugated storage bag 81 made of flexible material, both ends of the corrugated storage bag 81 are sealingly fixed with end cover seats 82, the corrugated storage bag 81 and the two end cover seats 82 form a paint storage cavity, a plurality of one-way valves 83 are protruded on each of the end cover seats 82 in intervals, and each of the one-way valves 83 is provided with a valve body 831 protruding outward from the end cover seat 82.

[0041] Specifically, when the paint carrying unit 8 moves to correspond to the paint injection unit 20 of the first paint dispensing device 2, each one-way valve 83 abuts and cooperates with the paint injection unit 20 of the first paint dispensing device 2, at this time each one-way valve 83 is opened, then the paint injection unit 20 of the first paint dispensing device 2 injects the corresponding color paint into the paint storage cavity until the paint injection is completed; then the paint carrying unit 8 storing the paint moves along the circulation channel 7 to correspond to the paint injection unit 20 of the second paint dispensing device 3, at this time each one-way valve 83 abuts and cooperates with the paint injection unit 20 of the second paint dispensing device 3, at this time each one-way valve 83 is opened, and the paint injection unit 20 of the second paint dispensing device 3 guides the paint in the paint storage cavity to be stored in the paint gun station 4.

[0042] As shown in Figures 2 to 6 Based on the above embodiment, further, the outer peripheral wall of each of the end cover seats 82 is circumferentially and in intervals provided with a plurality of first bosses, and each of the first bosses is ball-jointed with a ball wheel 84; a plurality of sliding grooves 71 extending along the circulation channel 7 are circumferentially and in intervals provided in the circulation channel 7; and the ball wheel 84 is movably and in one-to-one correspondence clamped in the sliding groove 71. The embodiment ball-joints the ball wheel 84 on the outer peripheral wall of the end cover seat 82, and sets the sliding groove 71 in the circulation channel 7, so that the ball wheel 84 and the sliding groove 71 cooperate to make the paint carrying unit 8 move more smoothly in the circulation channel 7, and also limit the paint carrying unit 8 to prevent the paint carrying unit 8 from rotating during movement.

[0043] As Figures 2 to 6 shown in the above embodiment, further, the center of each said end cover seat 82 is rotatably connected with a rotor blade 851 located in the paint storage cavity, the rotor blade 851 is fixedly sleeved with a ratchet wheel 852 located outside the end cover seat 82, the outside of each said end cover seat 82 is further provided with two swing arms 853, one end of each said swing arm 853 is movably hinged to the center of the end cover seat 82, a pawl 854 is hinged on each said swing arm 853, the pawl 854 and the swing arm 853 are connected with a torsion spring 855, the pawl 854 and the ratchet wheel 852 are one-way meshed, the other end of each said swing arm 853 is connected with two spaced apart rollers 856, the position of the end cover seat 82 corresponding to the two swing arms 853 is respectively provided with a circular arc groove 821, the two said swing arms 853 are protrudingly provided with a locking pin 8531, the locking pin 8531 is movably embedded in the circular arc groove 821; two wave-shaped tracks 72 extending along the circulation channel 7 are spaced apart along the circumference in the circulation channel 7, the two rollers 856 on each said swing arm 853 are clamped on both sides of the wave-shaped track 72.

[0044] Specifically, when the paint carrying unit 8 moves along the circulation channel 7, the rollers 856 move along the track of the wave-shaped track 72, driving the swing arms 853 to reciprocate, the swing arms 853 drive the ratchet wheels 852 to rotate one-way by the pawls 854, the torsion spring 855 provides torsion to the pawl 854, the circular arc groove 821 cooperates with the locking pin 8531 to limit the swing amplitude of the swing arm 853, so that the two swing arms 853 synchronously make the ratchet wheels 852 drive the rotor blades 851 to intermittently rotate, stirring the paint in the paint storage cavity, avoiding the pigment sinking phenomenon due to standing, and improving the effect of paint spraying.

[0045] As Figures 3 to 5 shown in the above embodiment, further, the center of each said end cover seat 82 is rotatably connected with a rotor blade 851 located in the paint storage cavity, the rotor blade 851 is fixedly sleeved with a ratchet wheel 852 located outside the end cover seat 82, the outside of each said end cover seat 82 is further provided with two swing arms 853, one end of each said swing arm 853 is movably hinged to the center of the end cover seat 82, a pawl 854 is hinged on each said swing arm 853, the pawl 854 and the swing arm 853 are connected with a torsion spring 855, the pawl 854 and the ratchet wheel 852 are one-way meshed, the other end of each said swing arm 853 is connected with two spaced apart rollers 856, the position of the end cover seat 82 corresponding to the two swing arms 853 is respectively provided with a circular arc groove 821, the two said swing arms 853 are protrudingly provided with a locking pin 8531, the locking pin 8531 is movably embedded in the circular arc groove 821; two wave-shaped tracks 72 extending along the circulation channel 7 are spaced apart along the circumference in the circulation channel 7, the two rollers 856 on each said swing arm 853 are clamped on both sides of the wave-shaped track 72.

[0046] As Figure 4 and Figure 6As shown, based on the above embodiment, further, the inner wall of the end cover seat 82 is provided with a plurality of mixing grooves 822 corresponding to the position of the rotor blade 851 for forming the rolling flow of the paint in the paint storage cavity. The embodiment forms a rolling flow of paint in the paint storage cavity by providing a mixing groove 822 on the inner wall of the end cover seat 82, further avoiding the phenomenon of pigment sinking due to standing, and improving the effect of paint spraying.

[0047] As shown in Figure 1 , Figures 8 to 10 As shown, based on the above embodiment, further, the first paint mixing device 2 and the second paint mixing device 3 each further include a paint mixing body 10, the circulating channel 7 penetrates the paint mixing body 10, and the plurality of paint injection units 20 are arranged at the top of the paint mixing body 10.

[0048] Each of the paint injection units 20 includes a push rod 201 and a paint mixing seat 202, the push rod 201 is installed on the paint mixing body 10, the paint mixing body 10 is provided with a sliding hole in communication with the circulating channel 7 corresponding to each paint mixing seat 202, the paint mixing seat 202 is sealingly and slidingly inserted into the sliding hole, each of the paint mixing seats 202 is provided with a through hole, the paint mixing seat 202 is provided with a plurality of mounting holes 2021 spaced apart along the circumference of the through hole, the paint mixing seat 202 is further provided with a first channel 2022 for communicating the mounting holes 2021, each of the mounting holes 2021 is provided with a push shaft 2024 protruding in the axial direction, the outer wall of the push shaft 2024 is slidingly provided with a sealing valve 203, one end of the sealing valve 203 is connected with the bottom wall of the mounting hole 2021 through a spring 204, the other end of the sealing valve 203 is recessed to form a liquid groove 2031, the circumferential wall of the sealing valve 203 is provided with two connection holes 2032 spaced apart and in communication with the liquid groove 2031, the paint mixing seat 202 is further provided with a second channel 2023, one end of the second channel 2023 is in communication with the first channel 2022; the other end of the second channel 2023 of the first paint mixing device 2 is in communication with the first connecting pipe, and the other end of the second channel 2023 of the second paint mixing device 3 is in communication with the second connecting pipe.

[0049] After the sealing valve 203 extrudes the spring 204 to be compressed, the connection hole 2032 can be in communication with the first channel 2022; a plurality of one-way valves 83 are in one-to-one correspondence with each sealing valve 203 when the paint mixing seat 202 slidingly extends into the circulating channel 7.

[0050] In actual use, when the corresponding paint carrying unit 8 moves along the circulating channel 7 to the corresponding paint injection unit 20 on the first paint dispensing device 2, the push rod 201 of the corresponding paint injection unit 20 pushes the paint dispensing seat 202 to extend into the circulating channel 7 along the sliding hole, so that each sealing valve 203 corresponds to each one-way valve 83 one by one, and then the corresponding paint carrying unit 8 is continuously moved, so that the end surface of each valve body 831 corresponds to and sealingly abuts against the end surface of the sealing valve 203 one by one, until the valve body 831 extrudes the corresponding sealing valve 203 to compress the spring 204, so that the sealing valve 203 slides until the connecting hole 2032 is in communication with the first channel 2022, and at the same time the push shaft 2024 in the mounting hole 2021 pushes the one-way valve 83 to open, so that the second channel 2023 is in communication with the paint storage cavity through the first channel 2022, the connecting hole 2032, the liquid groove 2031 and the one-way valve 83 in sequence, so as to quantitatively add paint into the paint storage cavity; after the addition is completed, the pushing force on the paint carrying unit 8 is released, at this time the spring 204 pushes the sealing valve 203 to reset, and the sealing valve 203 pushes the valve body 831 of the one-way valve 83 to exit the mounting hole 2021, at this time the connecting hole 2032 is disconnected from the first channel 2022.

[0051] Then the push rod 201 drives the paint dispensing seat 202 to slide out of the circulating channel 7, the paint carrying unit 8 is separated from the paint injection unit 20, and then the paint carrying unit 8 for adding paint is continuously pushed to move along the circulating channel 7 to the corresponding paint injection unit 20 on the second paint dispensing device 3, and then the above-mentioned process of adding paint is repeated, so that the second channel 2023 is in communication with the paint storage cavity storing paint through the first channel 2022, the connecting hole 2032, the liquid groove 2031 and the one-way valve 83, and then the paint in the paint storage cavity is guided out to the paint gun station 4 for storage for use by the spraying robot 5; after the guiding out is completed, the push rod 201 of the corresponding second paint dispensing device 3 drives the paint dispensing seat 202 to slide out of the circulating channel 7, so that the paint injection unit 20 is separated from the paint carrying unit 8 to cooperate with the next batch of paint carrying.

[0052] Based on the above-mentioned embodiment, further, the valve body 831 is provided with a first taper surface, and the mounting hole 2021 is provided with a second taper surface for cooperating with the first taper surface. In this embodiment, the first taper surface and the second taper surface are arranged to facilitate the valve body 831 to smoothly push into the corresponding mounting hole 2021, extrude the sealing valve 203, and make the connecting hole 2032 in communication with the first channel 2022; at the same time, it is also convenient for the paint injection unit 20 to separate from the paint carrying unit 8.

[0053] In this embodiment, compressed air is used as power to drive the paint carrying unit 8 in the circulating channel 7 to move along the circulating channel 7; specifically, air inlet and outlet for compressed air circulation are arranged on the side wall of the paint dispensing body 10. Of course, other structural modes can also be used, such as transmission chain transmission mode to realize the movement of the paint carrying unit 8 in the circulating channel 7.

[0054] The above merely describes one preferred embodiment of the present application, and equivalent changes or modifications made to the structure, features and principles described in the scope of the present application are included in the protection scope of the present application.

Claims

1. A paint change system for an automotive painting robot, characterized in that The application relates to a paint mixing and dispensing system for a vehicle painting line. The system comprises a paint mixing station (1) for mixing paint on the paint mixing side, a first paint dispensing device (2) for dispensing paint from the paint mixing station (1), a second paint dispensing device (3) for receiving paint on the paint spraying side, a paint gun station (4) for storing paint, and a spraying robot (5) for spraying the white body; the paint mixing station (1) and the first paint dispensing device (2) are connected by a first connecting pipe, the paint gun station (4) and the second paint dispensing device (3) are connected by a second connecting pipe, and the paint gun station (4) and the spraying robot (5) are connected by a third connecting pipe. The first paint dispensing device (2) and the second paint dispensing device (3) are connected by two guide pipes (6), the two guide pipes (6), the first paint dispensing device (2) and the second paint dispensing device (3) form a circulating channel (7) connecting the paint mixing side and the paint spraying side; the first paint dispensing device (2) and the second paint dispensing device (3) each comprise a plurality of spaced-apart paint injection units (20), and the circulating channel (7) is slidably connected with a plurality of paint carrying units (8) for carrying paint of different colors; the paint carrying units (8) can move along the circulating channel (7) and can be in communication with the corresponding paint injection units (20) when they are moved to positions corresponding to the first paint dispensing device (2) or the second paint dispensing device (3); Each paint carrying unit (8) comprises a corrugated storage bag (81) made of flexible material, both ends of the corrugated storage bag (81) are sealingly fixed with end cover seats (82), the corrugated storage bag (81) and the two end cover seats (82) form a paint storage cavity, a plurality of one-way valves (83) are protruded on each end cover seat (82) in a spaced-apart manner, and each one-way valve (83) is provided with a valve body (831) protruding outward from the end cover seat (82); The first paint dispensing device (2) and the second paint dispensing device (3) each further comprise a paint dispensing body (10), the circulating channel (7) penetrates through the paint dispensing body (10), and the plurality of paint injection units (20) are arranged on the top of the paint dispensing body (10). Each of the paint injection units (20) comprises a push rod (201) and a paint dispensing seat (202), the push rod (201) is installed on a paint dispensing body (10), the paint dispensing body (10) is provided with a sliding hole in communication with the circulating channel (7) corresponding to each paint dispensing seat (202), the paint dispensing seat (202) is sealingly and slidingly inserted into the sliding hole, each of the paint dispensing seats (202) is provided with a through hole, the paint dispensing seat (202) is provided with a plurality of mounting holes (2021) along the circumference of the through hole, the paint dispensing seat (202) is further provided with a first channel (2022) for connecting the mounting holes (2021), each of the mounting holes (2021) is provided with a push shaft (2024) protruding along the axial direction, the outer wall of the push shaft (2024) is slidingly provided with a sealing valve (203), one end of the sealing valve (203) is connected with the bottom wall of the mounting hole (2021) through a spring (204), the other end of the sealing valve (203) is recessed with a liquid groove (2031), the circumferential wall of the sealing valve (203) is provided with two connecting holes (2032) in communication with the liquid groove (2031), the paint dispensing seat (202) is further provided with a second channel (2023), one end of the second channel (2023) is in communication with the first channel (2022); the other end of the second channel (2023) of the first paint dispensing device (2) is in communication with the first connecting pipe, the other end of the second channel (2023) of the second paint dispensing device (3) is in communication with the second connecting pipe. After the sealing valve (203) extrudes the spring (204) and is compressed, the connecting hole (2032) can be in communication with the first channel (2022); a plurality of one-way valves (83) are slidingly inserted into the circulating channel (7) in the paint dispensing seat (202), and each one-way valve (83) corresponds to each sealing valve (203).

2. The paint change system for a robot painting vehicle according to claim 1, wherein The outer circumferential wall of each of the end cover seats (82) is provided with a plurality of first bosses protruding along the circumference, and each of the first bosses is provided with a ball wheel (84) connected through a ball; a plurality of sliding grooves (71) extending along the circulating channel (7) are provided in the circulating channel (7) along the circumference; the ball wheels (84) are correspondingly and movably connected in the sliding grooves (71).

3. The paint change system for a robot painting vehicle according to claim 1, wherein The center of each end cover seat (82) is rotationally connected with a rotor blade (851) located in the paint storage cavity, the rotor blade (851) is fixedly sleeved with a ratchet (852) located outside the end cover seat (82), the outside of each end cover seat (82) is also provided with two swing arms (853), one end of each swing arm (853) is movably hinged to the center of the end cover seat (82), a pawl (854) is hinged to each swing arm (853), a torsion spring (855) is connected between the pawl (854) and the swing arm (853), the pawl (854) and the ratchet (852) are one-way meshed, the other end of each swing arm (853) is connected with two spaced roller wheels (856), the end cover seat (82) is provided with a circular arc groove (821) corresponding to the position of the two swing arms (853), the two swing arms (853) are provided with a locking pin (8531), and the locking pin (8531) is movably embedded in the circular arc groove (821); two wave-shaped tracks (72) extending along the circulation channel (7) are arranged on the circulation channel (7) in a circumferential direction, and the two roller wheels (856) on each swing arm (853) are clamped on both sides of the wave-shaped track (72).

4. The paint change system for a robot painting vehicle according to claim 3, wherein A locking spring (857) is mounted on each end cover seat (82), and the locking spring (857) is one-way meshed with the corresponding ratchet (852).

5. The paint change system for a robotic painting machine according to claim 3, wherein The inner wall of the end cover seat (82) is provided with a plurality of mixing grooves (822) corresponding to the position of the rotor blade (851) for forming rolling flow of the paint in the paint storage cavity.

6. The paint change system for a robotic paint sprayer according to claim 1, wherein, The valve body (831) is provided with a first taper surface, and the mounting hole (2021) is provided with a second taper surface matched with the first taper surface.

7. A paint changing method using the paint changing system for a mobile robot according to any one of claims 1 to 6, characterized by, The method comprises the following steps: S100: The paint mixing station (1) delivers the mixed paint to the corresponding paint injection unit (20) on the first paint mixing device (2) through the first connecting pipe, simultaneously, the corresponding paint carrying unit (8) is slid along the circulation channel (7) to the paint mixing side and is communicated with the corresponding paint injection unit (20) on the first paint mixing device (2), then the paint mixing station (1) injects the mixed paint into the paint carrying unit (8) through the corresponding paint injection unit (20) on the first paint mixing device (2) through the first connecting pipe; S200: Then the paint carrying unit (8) after injecting paint moves along the circulation channel (7) to the spraying side and corresponds to the paint injection unit (20) on the second paint mixing device (3), the paint injection unit (20) on the second paint mixing device (3) injects the paint in the paint carrying unit (8) into the paint gun station (4) through the second connecting pipe for storage, so as to be used by the spraying robot (5), thereby completing the delivery of paint of one color; S300: Then the paint gun station (4) delivers the stored paint to the spraying robot (5) through the third connecting pipe, and the spraying robot (5) sprays the paint on the white car body. S400: when color change is needed, the corresponding paint carrying unit (8) is removed from the circulating channel (7), and the first paint matching device (2) corresponding paint injection unit (20), the second paint matching device (3) corresponding paint injection unit (20) is removed; Then the paint carrying unit (8) and the paint injection unit (20) are cleaned, and after cleaning, the cleaned paint carrying unit (8) is installed back into the circulating channel (7), and the cleaned paint injection unit (20) is installed back into the first paint matching device (2) and the second paint matching device (3), and then the paint conveying process is repeated from step S100 to step S300 to realize the rapid color change of the paint.

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