An intelligent accessory spray painting manipulator

Abstract

The present invention belongs to the technical field of manipulators, and specifically relates to an intelligent accessory painting manipulator, which includes a driving seat and a paint pipe. The driving seat is rotatably connected with an extension arm, the other end of the extension arm is connected with a movable arm, the other end of the movable arm is connected with a painting component, and the paint pipe is connected corresponding to the painting component from top to bottom. It further includes: a protection component, which is located above the painting component, and the protection component is provided with a sliding part, and the sliding part is slidably connected with a slider. The present invention uses the method of separating the manipulator and the paint pipeline up and down, avoiding the need to consider the paint pipe during the painting movement of the manipulator. Through the protection component and the traction component, the paint pipe always follows the movement of the painting component, effectively avoiding the situation of the paint pipe being bent and the paint pipe being twisted due to the movement track of the manipulator. At the same time, the paint pipe is easier to replace, which is beneficial to reducing the failure rate of the painting manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to an intelligent accessory painting manipulator. Background Art

[0002] Since the painting process is likely to damage the human body, more and more enterprises use manipulators to replace manual painting, especially in the automotive industry. However, when using a manipulator for painting, the flexible movement of the manipulator will generate torque on the paint pipe, and at the same time, the arrangement of the paint pipes will also limit the movement angle of the manipulator. These are the problems faced by the manipulator in painting applications.

[0003] Currently, the existing patent (Publication No.: CN108421668B) discloses a robotic arm device with an adjustable working area. In this patent, the driving elements of the robotic arm module are arranged on the bottom platform. Except for their own weights and the weights of the supporting connecting rods, the first arm and the second arm have no additional weights; the lengths of the first arm and the second arm can be adjusted, showing good adaptability to different working area sizes; the paint spraying head of the painting device has a pressure maintaining measure, which can continue to spray paint for a period of time in case of accidental material breakage, etc., to avoid accidents such as the stop of paint spraying caused by material breakage; the paint spraying head has a heating function, which can heat the paint material to make the paint material have higher power and pressure. While increasing the atomization effect of the paint material, it can also raise the temperature of the air and accelerate the drying speed of the paint material. During the painting process by the manipulator, when a situation of interrupted flow occurs, it is often because the paint pipeline is bent and the flow is not smooth, or the complex movement route of the manipulator causes the paint pipeline to be squeezed or affected by some components of the manipulator. The paint cavity of the above-mentioned painting manipulator is arranged inside the robotic arm, which will face the problems of difficult color change of the paint and difficult cleaning after the paint cavity is blocked;

[0004] Most of the painting manipulators on the market adopt external paint pipelines. During the moving spraying process of the robotic arm, the external paint pipelines are prone to be distorted, stressed and damaged, or the deformation or damage of the paint pipelines caused by the contact of the robotic arm with external structures during the movement process will directly affect the painting effect;

[0005] At the same time, the comparative document also mentions that material breakage will cause unevenness at the junction of the new paint material and the old paint material. During the painting process of more complex components, such as car doors or equipment shells, these components have multiple complex inclined surfaces, which will result in the need for secondary paint filling on the inclined surfaces and also cause the above problems.

[0006] Therefore, it is necessary to provide an intelligent accessory spraying manipulator to solve the above technical problems. By separating the manipulator and the paint pipe vertically, the problem of the paint pipe does not need to be considered during the spraying process of the manipulator, which can effectively avoid the bending of the paint pipe and the distortion of the paint pipe caused by the movement trajectory of the manipulator. At the same time, the paint pipe is easier to replace, which is beneficial to reducing the failure rate of the spraying manipulator. Summary of the Invention

[0007] To solve the above technical problems, the present invention provides an intelligent accessory spraying manipulator, which can achieve the effect that the movement trajectory of the robotic arm does not interfere with the paint pipeline, ensure the smooth and convenient replacement of the paint pipeline, and can spray paint on components with multiple inclined surfaces at one time.

[0008] An intelligent accessory spraying manipulator provided by the present invention includes a driving seat and a paint pipe. The driving seat is rotatably connected with an extension arm, the other end of the extension arm is connected with a movable arm, the other end of the movable arm is connected with a spraying component, and the paint pipe is connected to the spraying component from top to bottom. It further includes: a protection component, which is located above the spraying component. The protection component is provided with a sliding part, the sliding part is slidably connected with a slider, the bottom surface of the slider is connected with a swing arm through a torsion spring, and limiting platforms are arranged on the upper and lower sides of the outer wall of the swing arm. The paint pipe passes around between the two groups of limiting platforms;

[0009] A traction component is arranged on the outer wall of the movable arm, a traction shaft is installed on the other outer wall of the swing arm. When the spraying component moves along the Y-axis, the paint pipe follows the spraying component through the connection between the traction component and the traction shaft.

[0010] Preferably, the traction component includes a bearing, a slip ring is installed on the outer shaft of the bearing, a fixed ring is welded on the outer wall of the slip ring, a traction rope is tied to the fixed ring, and the other end of the traction rope is connected to the traction shaft correspondingly.

[0011] Preferably, when the spraying component moves along the Y-axis, the traction component makes the swing arm unfold through the traction rope to drive the paint pipe to move along the Y-axis following the spraying component.

[0012] Preferably, the sliding part is an electric slide rail, which is internally provided with a travel sensor, and the driving seat is internally provided with an angle sensor. The signal output end of the driving seat is connected to the signal input end of the electric slide rail.

[0013] Preferably, the paint pipe passes through the two groups of limiting platforms in an "S" shape, and the torsion spring drives the swing arm to reset and form an acute angle with the slider.

[0014] Preferably, the spraying component is divided into two parts: a main nozzle and an auxiliary nozzle, and the included angle between the auxiliary nozzle and the main nozzle is between 30° and 165°.

[0015] Preferably, the end of the movable arm is connected with a movable frame through a rotating assembly. A swing head is installed at the clamping end of the movable frame. A swing motor is installed on the outer wall of the movable frame. The output shaft of the swing motor is connected with the swing head. A main spray head is installed at the end of the swing head. The feeding port of the paint pipe is correspondingly connected with the main spray head.

[0016] Preferably, a memory and a driving motor are built in the movable frame. The paint pipe is communicated with the memory. The output shaft of the driving motor is connected with a driving gear. The driving gear meshes with a driven gear. The driven gear is connected with an angle plate. An auxiliary spray head is installed on the side wall of the angle plate. The outer wall of the memory is connected with the auxiliary spray head through a hose.

[0017] Preferably, the sliding part is a track. When the movable arm drives the painting assembly to move along the X-axis, the movable arm drives the slider to move along the track along the X-axis.

[0018] Compared with the related art, an intelligent accessory painting manipulator provided by the present invention has the following beneficial effects:

[0019] 1. The present invention uses the method of separating the manipulator and the paint pipe up and down, avoiding the need to consider the paint pipe problem during the painting path of the manipulator. Through the protection component and the traction component, the paint pipe always moves with the painting component, effectively avoiding the situation that the paint pipe is bent and the paint pipe is twisted due to the movement track of the manipulator. At the same time, the paint pipe is easier to replace, which is beneficial to reducing the failure rate of the painting manipulator.

[0020] 2. Through the settings of the main spray head and two groups of auxiliary spray heads, the driving motor drives the driven gear through the driving gear to adjust the angle of the angle plate, and then adjusts the angle between the auxiliary spray head and the main spray head. When the spraying component moves to a certain path range by relying on the robotic arm, the angle between the auxiliary spray head and the main spray head is adjusted so that the main spray head and a single auxiliary spray head work simultaneously to face another inclined surface of the painting surface on the part to be painted, so that the painting surface and the inclined surface connected thereto are painted simultaneously, avoiding unevenness at the junction of the new paint and the old paint when the above two surfaces are painted separately. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the structure of the manipulator and the protection component of an intelligent accessory painting manipulator provided by the present invention;

[0022] Figure 2 Schematic diagram of the structure of the manipulator of an intelligent accessory painting manipulator provided by the present invention;

[0023] Figure 3 Schematic diagram of the structure of the auxiliary spray head of the painting component of an intelligent accessory painting manipulator provided by the present invention;

[0024] Figure 4 Schematic diagram of the main nozzle structure of the painting component of an intelligent accessory painting manipulator provided by the present invention;

[0025] Figure 5 Schematic diagram of the protection component structure of an intelligent accessory painting manipulator provided by the present invention;

[0026] Figure 6 Schematic diagram of the traction component structure of an intelligent accessory painting manipulator provided by the present invention;

[0027] Reference numerals in the figure: 1, driving seat; 2, extension arm; 3, movable arm; 4, paint pipe; 5, protection component; 51, electric slide rail; 52, slider; 53, torsion spring; 54, limiting platform; 55, pipe clamp; 56, swing arm; 57, traction shaft; 6, painting component; 611, memory; 612, auxiliary nozzle; 613, angle plate; 614, driven gear; 615, driving gear; 616, driving motor; 621, main nozzle; 622, swing head; 623, movable frame; 624, swing motor; 7, traction component; 71, bearing; 72, slip ring; 73, fixed ring; 74, traction rope. Detailed implementation manners

[0028] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0031] Embodiment 1

[0032] An intelligent accessory painting manipulator includes a driving seat 1 and a paint pipe 4. The driving seat 1 is rotatably connected to an extension arm 2. The driving seat 1 mainly adopts a rotating platform structure, which drives the overall manipulator to perform an angular turning function. The specific structure of the rotating platform usually includes the following key parts: a driving part, a transmission mechanism, a bearing 71 system, a bearing 71 system, and a connecting component. It often uses a motor drive to achieve automatic angular adjustment. Among them, a stepper motor is a common choice. In order to achieve smooth and precise rotation, a finely machined worm and worm gear or gear transmission is adopted, which can achieve infinite-angle rotation. And a precision bearing 71 system is the key to ensuring the high precision and large load-bearing capacity of the rotating platform, which can reduce friction, improve the service life and reliability of the rotating platform. The stepper motor and the transmission part are usually connected through an elastic coupling, which can effectively eliminate the non-concentricity and angular deviation between the shafts, and ensure the stability and reliability of the transmission. It should be noted that a hollow design is adopted, which can not only reduce the weight but also facilitate the passage of cables, pipes, etc.

[0033] The other end of the extension arm 2 is connected to a movable arm 3. A motor is installed at the bottom of the extension arm 2, and the motor drives the extension arm 2 to perform a swinging action. Reference can be made to Figure 1 . The motor drives the extension arm 2 to perform a sector swinging action with the motor shaft as the center point. The other end of the movable arm 3 is connected to a painting assembly 6. A motor is also provided at the connection between the extension arm 2 and the movable arm 3. The extension arm 2 drives the movable arm 3 to perform a nodding action through this motor. Reference can be made to Figure 1 . The motor drives the movable arm 3 to perform a nodding action with the motor shaft as the center point. The above is the basic mechanical structure of the manipulator's movement. According to the usage scenarios, there are certain changes in the specific structure, which will not be elaborated here too much.

[0034] The feeding of the paint pipe 4 needs to be connected to a container for storing paint. The container is connected with a component for transporting paint, and a diaphragm pump can be used, which is used to transport the paint from the paint storage tank to the painting assembly 6. It should be noted that the diaphragm pump needs to be maintained regularly, such as replacing or cleaning the Teflon diaphragm, to ensure its normal operation and paint supply stability;

[0035] The paint pipe 4 is connected to the paint spraying assembly 6 from top to bottom correspondingly. The paint pipe 4 and the paint spraying assembly 6 are separated vertically. The multi-directional angle adjustment of the manipulator will not directly affect the paint pipe 4 path.

[0036] The protection assembly 5 is located above the paint spraying assembly 6. The protection assembly 5 is provided with a sliding member, and the sliding member is an electric slide rail 51 which is built-in with a travel sensor. The position of the slider 52 on the electric slide rail 51 is detected through the travel sensor. The driving seat 1 is built-in with an angle sensor to determine the angle of the driving seat 1. The signal output end of the driving seat 1 is connected to the signal input end of the electric slide rail 51. That is, while the driving seat 1 drives the manipulator to make an overall angle adjustment, the electric slide rail 51 is started to drive the paint pipe 4 to make a position adjustment accordingly. The relationship between the two needs to be adjusted according to the actual situation, including the maximum length of the part to be sprayed and the travel length of the electric slide rail 51.

[0037] The electric slide rail 51 is slidably connected with a slider 52. The slider 52 linearly slides on the electric slide rail 51. The bottom surface of the slider 52 is connected with a swing arm 56 through a torsion spring 53. The swing arm 56 can complete a sector-shaped swing through the torsion spring 53. Refer to Figure 5 ., limiting platforms 54 are arranged on the upper and lower sides of the outer wall of the swing arm 56. The limiting platforms 54 are cylindrical. The paint pipe 4 is wound around between the two groups of limiting platforms 54. When the paint pipe 4 is wound around the limiting platforms 54, the situation of the paint pipe 4 being bent can be avoided. The torsion spring 53 drives the swing arm 56 to reset and forms an acute angle with the slider 52. Without external force, the swing arm 56 forms an acute angle with the slider 52 under the restriction of the torsion spring 53, and the paint pipe 4 passes through the two groups of limiting platforms 54 in an "S" shape. It should be noted that the paint pipe 4 fits against the side wall of the swing arm 56 from top to bottom, and a pipe clamp 55 is added to the side wall of the swing arm 56 to fix and limit the paint pipe 4.

[0038] A traction assembly 7 is arranged on the outer wall of the movable arm 3. A traction shaft 57 is installed on the other outer wall of the swing arm 56. The traction shaft 57 is preferably located at the bottom end of the swing arm 56. The structure of the traction shaft 57 is the same as the function of the bearing 71. It is divided into an inner shaft and an outer shaft, and the inner shaft and the outer shaft are annularly slidably connected. When the paint spraying assembly 6 moves along the Y-axis, refer to Figure 1 ., it can be simply understood as an up and down movement. The paint pipe 4 is made to follow the paint spraying assembly 6 through the traction assembly 7 connecting the traction shaft 57. That is, when the movable arm 3 drives the paint spraying assembly 6 to descend in height, the traction shaft 57 located at the bottom of the swing arm 56 is pulled through the traction assembly 7, so that the torsion spring 53 is stressed to drive the swing arm 56 to unfold. The angle between the swing arm 56 and the slider 52 unfolds to form an obtuse angle greater than 90° and less than 180°, and then the "S"-shaped paint pipe 4 is straightened, so that the paint pipe 4 descends in height along with the paint spraying assembly 6.

[0039] The traction assembly 7 includes a bearing 71. The inner shaft of the bearing 71 is fixed to the outer wall of the movable arm 3, and a slip ring 72 is installed on the outer shaft of the bearing 71. The slip ring 72 rotates synchronously with the outer shaft of the bearing 71. A fixed ring 73 is welded to the outer wall of the slip ring 72. A traction rope 74 is tied to the fixed ring 73, and the other end of the traction rope 74 is connected to the corresponding traction shaft 57.

[0040] When the painting assembly 6 moves along the Y-axis, the traction assembly 7 drives the swing arm 56 to unfold through the traction rope 74, driving the paint pipe 4 to move along the Y-axis following the painting assembly 6. It should be noted that when the movable arm 3 drives the painting assembly 6 to move upward in height, due to the elastic reset of the torsion spring 53 itself, the torsion spring 53 drives the swing arm 56 to reset and return to an acute angle with the sliding block, that is, the traction rope 74 between the traction shaft 57 and the fixed ring 73 is always in a taut state. Therefore, the traction rope 74 will not get entangled with the paint pipe 4.

[0041] Among them, the painting assembly 6 is divided into two parts: a main spray head 621 and an auxiliary spray head 612. The included angle between the auxiliary spray head 612 and the main spray head 621 is between 30° and 165°. Among them, there is one main spray head 621 and two auxiliary spray heads 612. When the external angle formed by the two surfaces to be painted is between 0° and 30° or greater than 165°, the part can be directly flipped and adjusted, and separate painting of the two painting surfaces will not result in unevenness at the junction of the new paint and the old paint.

[0042] Among them, the end of the movable arm 3 is connected with a movable frame 623 through a rotating assembly. The rotating assembly can drive the movable frame 623 to rotate, that is, the two auxiliary spray heads 612 distributed on the upper and lower sides of the main spray head 621 can be rotated to the left and right sides of the main spray head 621, which can be further applied to painting two surfaces to be painted in different orientations. The specific structure of the rotating assembly can refer to the structure of the above-mentioned rotating platform. A swing head 622 is installed at the clamping end of the movable frame 623, and a swing motor 624 is installed on the outer wall of the movable frame 623. The output shaft of the swing motor 624 is connected to the swing head 622. The swing head 622 can be driven by the swing motor 624 to make an angular adjustment of ±15°. The main spray head 621 is installed at the end of the swing head 622, and the feeding port of the paint pipe 4 is connected to the corresponding main spray head 621.

[0043] It should be noted that because the movable arm 3 needs to drive the movable frame 623 to rotate, the traction assembly 7 needs to adopt the structure of the bearing 71, the slip ring 72 and the fixed ring 73. That is, no matter how the movable arm 3 rotates, the inner shaft of the bearing 71 rotates with the movable arm 3, ensuring that the outer shaft of the bearing 71 and the slip ring 72 keep the fixed ring 73 above, avoiding the problem of the traction rope 74 getting entangled.

[0044] Among them, the movable frame 623 is internally provided with a memory 611 and a driving motor 616. The paint pipe 4 is connected to the memory 611. The memory 611 is a temporary storage container for paint. The output shaft of the driving motor 616 is connected with a driving gear 615. The driving gear 615 meshes with a driven gear 614. The driven gear 614 is connected with an angle plate 613. By starting the driving motor 616, the driving gear 615 drives the driven gear 614 to rotate. Furthermore, the driven gear 614 drives the stirring plate to rotate. The rotation range of the angle plate 613 is between 30° and 165°. An auxiliary spray head 612 is installed on the side wall of the angle plate 613. The outer wall of the memory 611 is connected to the auxiliary spray head 612 through a hose.

[0045] Embodiment 2

[0046] Different from Embodiment 1: Among them, the sliding part is an orbit. When the movable arm 3 drives the painting assembly 6 to move along the X-axis, the movable arm 3 drives the slider 52 to move along the orbit along the X-axis.

[0047] Reference Figure 1 , when the driving seat 1 drives the whole manipulator to make an angle adjustment, the position of the movable arm 3 will shift accordingly. Furthermore, the position of the traction assembly 7 will also change accordingly. The fixed ring 73 of the traction assembly 7 will pull the traction shaft 57 of the swing arm 56 to move through the traction rope 74. Under the pulling force generated by the movement of the movable arm 3, the swing arm 56 pulls the slider 52 to slide on the slide rail. Furthermore, the position of the slider 52 on the orbit changes with the change of the movable arm 3;

[0048] Compared with the upper electric slide rail 51, this structure is simpler and does not require a control program. However, the inertia generated by the pulling of the movable arm 3 may affect the paint pipe 4.

[0049] The working principle of an intelligent accessory painting manipulator provided by the present invention is as follows: Install the movable parts of the manipulator in sequence. Place the driving seat 1 at a fixed position, and then install the extension arm 2 and the movable arm 3 in sequence. Set the movement route of the manipulator driving the painting assembly 6 through PLC programming. Connect the feed of the paint pipe 4 to an external paint container and a diaphragm pump. By synchronously starting the diaphragm pump and the operating stroke of the manipulator, the paint enters the memory 611 through the paint pipe 4, and then is sprayed by the main spray head 621 and two groups of auxiliary spray heads 612;

[0050] When the painting component 6 moves along the Y-axis, that is, when the movable arm 3 drives the painting component 6 to descend in height, the traction component 7 pulls the traction shaft 57 located at the bottom of the swing arm 56, causing the torsion spring 53 to be stressed and drive the swing arm 56 to unfold. An obtuse angle greater than 90° and less than 180° is formed between the swing arm 56 and the slider 52. Furthermore, the S-shaped paint pipe 4 is straightened, so that the paint pipe 4 descends in height as the painting component 6 does. When the movable arm 3 drives the painting component 6 to move up in height, due to the elastic reset of the torsion spring 53 itself, the torsion spring 53 drives the swing arm 56 to reset and return to an acute angle with the sliding block, that is, the traction rope 74 between the traction shaft 57 and the fixed ring 73 is always in a taut state;

[0051] When the angle between the two painted surfaces of the component to be painted is 30° - 165°, when the painting component 6 moves to the predetermined area, the drive motor 616 is started to drive the driven gear 614 to rotate by the driving gear 615. Furthermore, the driven gear 614 drives the stirring plate to rotate. The rotation range of the angle plate 613 is 30° - 165°. Furthermore, the auxiliary spray head 612 on the angle plate 613 is started to spray paint. After completion, the drive motor 616 drives the angle plate 613 to reset, and the auxiliary spray head 612 is closed;

[0052] It should be noted that during the process of changing the path of the manipulator, it is necessary to consider the area where the two painted surfaces are sprayed simultaneously, the angular relationship between the main spray head 621 and the auxiliary spray head 612, the orientations of the two groups of auxiliary spray heads 612, and the relationship between the angle of the drive seat 1 and the position of the slider 52 on the electric slide rail 51.

[0053] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. An intelligent accessory painting robot, comprising a drive seat (1) and a paint tube (4), wherein the drive seat (1) is rotatably connected to an extension arm (2), the other end of the extension arm (2) is connected to a movable arm (3), the other end of the movable arm (3) is connected to a paint spraying assembly (6), and the paint tube (4) is connected to the corresponding paint spraying assembly (6) from top to bottom, characterized in that: Also includes: A protection component (5), the protection component (5) being located above the paint spraying component (6), the protection component (5) being provided with a sliding component, the sliding component being slidably connected to a slider (52), the bottom surface of the slider (52) being connected to a swing arm (56) via a torsion spring (53), limiting platforms (54) being provided on upper and lower sides of an outer wall of the swing arm (56), a paint tube (4) being wound between two sets of the limiting platforms (54); The outer wall of the movable arm (3) is provided with a traction assembly (7), and the other outer wall of the swing arm (56) is provided with a traction shaft (57), the traction shaft (57) is divided into an inner shaft and an outer shaft, and the inner shaft and the outer shaft are connected in an annular sliding manner. When the paint spraying assembly (6) moves along the Y axis, the traction shaft (57) is connected via the traction assembly (7) so that the paint tube (4) follows the paint spraying assembly (6); The traction assembly (7) comprises a bearing (71), the outer shaft of the bearing (71) is mounted with a slip ring (72), the inner shaft of the bearing (71) rotates along with the movable arm (3), a fixing ring (73) is welded to the outer wall of the slip ring (72), a traction rope (74) is tied to the fixing ring (73), and the other end of the traction rope (74) is connected to the corresponding traction shaft (57); The sliding component is an electric slide rail (51) having a built-in travel sensor, the drive seat (1) having a built-in angle sensor, and the signal output end of the drive seat (1) is connected to the signal input end of the electric slide rail (51); The paint tube (4) passes through the two sets of limit platforms (54) to form an "S" shape, and the torsion spring (53) drives the swing arm (56) to reset and the slider (52) to form an acute angle shape.

2. The intelligent accessory painting robot according to claim 1, characterized in that: The paint spraying assembly (6) is divided into two parts: a main spray head (621) and an auxiliary spray head (612); the angle between the auxiliary spray head (612) and the main spray head (621) is between 30° and 165°.

3. The intelligent accessory painting robot according to claim 1, characterized in that: The end of the movable arm (3) is connected to a movable frame (623) via a rotating assembly; a swing head (622) is installed at the clamping end of the movable frame (623); a swing motor (624) is installed on the outer wall of the movable frame (623); an output shaft of the swing motor (624) is connected to the swing head (622); a main spray head (621) is installed at the end of the swing head (622); and a feeding port of the paint tube (4) is connected to the main spray head (621).

4. The intelligent accessory painting robot according to claim 3, characterized in that: The movable frame (623) has a storage device (611) and a driving motor (616) built therein; the paint tube (4) is connected to the storage device (611); the output shaft of the driving motor (616) is connected to a driving tooth (615); the driving tooth (615) is meshed with a driven tooth (614); the driven tooth (614) is connected to an angle plate (613); an auxiliary nozzle (612) is installed on the side wall of the angle plate (613); and the outer wall of the storage device (611) is connected to the auxiliary nozzle (612) via a hose.

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