Automatic coating robot

Abstract

The invention relates to the technical field of coating robots, in particular to an automatic coating robot which comprises a coating base, a coating mechanical arm is arranged in the coating base, a coating pipeline is arranged in the coating base, and a coating connecting box is fixedly mounted at one end of the coating mechanical arm; one end of the coating pipeline is connected with a coating connecting box, and the fusion structure is fixedly mounted on the outer side of the coating connecting box through a fixing strip and a spraying structure; the second spray head box is driven by the movable frame to move in a reciprocating track, so that paint is sprayed on an object in a reciprocating track from the interior of the second spray head box through a second spray head piece pair, and the paint sprayed from the second spray head piece is staggered and fused with the paint sprayed from the first spray head piece; and then the spraying position of the spraying piece is covered with another set of paint sprayed from the first spraying head piece, the paint sprayed for three times is fused to fill the vacancy, then the fluidity of the paint is improved, and the form and uniformity of the paint sprayed on the surface of an object are improved.

Description

Technical Field

[0001] The invention relates to the technical field of painting robots, in particular to an automatic painting robot. Background Art

[0002] Painting robots are robotic systems specially designed for automatically painting (spraying) surfaces. They are commonly used for painting tasks in industrial production, such as automobile manufacturing, furniture production, shipbuilding and other fields. Painting robots usually have flexible program control functions and can easily adapt to the painting needs of workpieces of different shapes, sizes and materials. This enables them to be used in a variety of production environments and have high applicability and versatility. Painting robots usually have robotic arms with multiple joints to accurately move the spray gun in three-dimensional space. These robotic arms are usually made of lightweight but strong materials to provide the required precision and stability.

[0003] It is found in existing equipment that when a painting robot sprays an object, after the paint particles come into contact with the surface of the object, they begin to interact physically and chemically with the surface, which may include adsorption and chemical reactions between the paint and the surface of the object. Some paints contain solvents to dilute the paint and help it flow. After the paint is sprayed, the solvent will gradually evaporate, allowing the paint to form a solid film. However, this process takes some time, during which the painting robot continues to spray back and forth on the surface of the object through the nozzle, and the thickness of the paint during the spraying process exceeds the required range, resulting in overlapping between the paint layers. Therefore, too much paint will form protrusions on the surface, making the interface between the coatings irregular and affecting the coating quality and the appearance of the final product.

[0004] In view of this, the present invention proposes an automated painting robot to solve the above problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automated painting robot that solves the technical problem that during the spraying process of the prior art painting robots, the thickness of the paint exceeds the required range, resulting in overlapping paint layers, making the interfaces between the coatings irregular and affecting the painting quality and the appearance of the final product.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The technical solution adopted by the present invention to solve its technical problems is an automated painting robot, comprising a painting base, a painting robot arm is arranged inside the painting base, a painting pipe is arranged inside the painting base, a painting connection box is fixedly installed on one end of the painting robot arm, one end of the painting pipe is connected to the painting connection box, the fusion structure is fixedly installed on the outside of the painting connection box through a fixing bar and a spraying structure, the fusion structure is used to achieve a coating reinforcement effect for wave spraying of objects, the fusion structure comprises a driving box, and the driving box is fixedly installed on the outside of the fixing bar, a fixing box is fixedly installed on the outside of the driving box, a motor is fixedly installed on the other side of the driving box, a reciprocating unit is inserted into the inside of the driving box, and the reciprocating unit is connected to the rotating output shaft of the motor, a spraying part is fixedly installed on the outside of the reciprocating unit, a shunt pipe is fixedly installed on the outside of the spraying structure, and the spraying structure is connected to the spraying part through the shunt pipe.

[0008] Preferably, the reciprocating unit includes a rotating shaft 1, and the rotating shaft 1 is inserted into the interior of the driving box, a half gear is fixedly installed on the outer side of the rotating shaft 1, and a movable frame is sleeved on the outer side of the half gear, a fixed block is fixedly installed on the outer side of the movable frame, and the fixed block is located on the outer side of one end of the spraying part.

[0009] Preferably, the other end of the rotating shaft is fixedly mounted on the rotating output shaft of the motor, and teeth matching the half gears are arranged on both sides of the inner wall of the movable frame, and the half gears are meshed with the movable frame through the teeth.

[0010] Preferably, two groups of the fixing blocks are arranged at equal distances, and the two groups of the fixing blocks are arranged symmetrically with respect to the central symmetry plane of the movable frame, and a slide groove adapted to the fixing blocks is provided inside the fixing box.

[0011] Preferably, the spraying part includes a second spray head box, and the second spray head box is fixedly installed on the outside of the fixed block, and a second spray head sheet is fixedly installed on the other end of the second spray head box.

[0012] Preferably, four groups of the diverter pipes are evenly arranged, and two groups of diverter pipes of the four groups of the diverter pipes connect one group of the two groups of the spraying structures with the second spray head box.

[0013] Preferably, a driving unit is fixedly installed on the outer side of the rotating shaft 1, and the driving unit includes a driving gear. A rotating shaft 2 is inserted into the interior of the driving box, and a slave gear 1 is fixedly installed on the outer side of the rotating shaft 2, and a slave gear 2 is fixedly installed on the outer side of the rotating shaft 2, and the slave gear 2 is located inside the spraying structure, and a hollow gear is inserted inside the spraying structure.

[0014] Preferably, the driving gear is meshed with the slave gear 1 through teeth, and the slave gear 2 is meshed with the hollow gear through teeth.

[0015] Preferably, a pressure assisting unit is inserted inside the spraying structure, and the pressure assisting unit includes a rotating shaft three, the rotating shaft three is inserted inside the spraying structure, and a fan blade is fixedly installed on the outer side of the rotating shaft three.

[0016] Preferably, the hollow gear has connecting rings inside, and two groups of connecting rings are arranged at equal distances. The two groups of connecting rings are symmetrically arranged with respect to the central symmetry plane of the hollow gear, and the hollow gear has rotating grooves adapted to the two groups of connecting rings inside.

[0017] The beneficial effects of the present invention are:

[0018] (1) In the present invention, the movable frame drives the second nozzle box to move in a reciprocating trajectory, so that the paint is sprayed on the object from the inside of the second nozzle box through the second pair of nozzle pieces in a reciprocating trajectory, so that the paint sprayed from the second nozzle piece is staggered and merged with the paint sprayed from the first nozzle piece. Then another group of paint sprayed from the first nozzle piece covers the spraying position of the spraying part. The three sprayed paints merge with each other to fill the gaps, thereby improving the fluidity of the paint and improving the shape and uniformity of the paint sprayed on the surface of the object.

[0019] (2) In the present invention, the fan blades rotate so that downward pressure is exerted on the paint inside the nozzle box one, so that the paint inside the nozzle box one can be transported to the inside of the nozzle box two, and sufficient paint can be provided to the inside of the nozzle box two, so that the nozzle box two can spray the paint on the object through the nozzle piece two.

[0020] (3) In the present invention, the nozzle piece 1 rotates along with the rotating shaft 3. The rotation of the nozzle piece 1 allows the paint to cover the surface of the object more evenly and helps the device to adapt to surfaces of objects of different shapes and sizes. This improves the flexibility of the coating process and facilitates the handling of workpieces of various complex shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front perspective schematic diagram of the structure of the present invention;

[0022] Figure 2 It is a schematic front view of the structure of the spraying structure of the present invention;

[0023] Figure 3 It is a schematic top view of the structure of the bent pipe and the fixing strip of the present invention;

[0024] Figure 4 For the present invention Figure 3 A schematic side view of the structure in FIG.

[0025] Figure 5 For the present invention Figure 3 A schematic side view of the structure in FIG.

[0026] Figure 6 It is a schematic diagram of a partial cross-section of the structure of the nozzle box 1 and the fixed box of the present invention from a top view;

[0027] Figure 7 It is a schematic diagram of a top view of a partial cross-section of the structure of the nozzle box 1 and the fixed box of the present invention;

[0028] Figure 8 It is a schematic side view of the structure of the motor and the driving gear of the present invention;

[0029] Fig. 9 It is a schematic side view of the structure of the rotating shaft 1 and the driving gear of the present invention;

[0030] Fig.10 It is an exploded three-dimensional schematic diagram of the structure of the second and third rotating shafts of the present invention;

[0031] Fig.11 It is a partial cross-sectional perspective schematic diagram of the structure of the driving box and the fixed box of the present invention;

[0032] Fig.12 For the present invention Fig.11 Exploded three-dimensional schematic diagram of the structure;

[0033] Fig.13 It is a schematic structural side view of the rotating shaft 1 and the movable frame of the present invention.

[0034] In the figure:

[0035] 1. Painting base; 2. Painting robot arm; 3. Painting pipeline; 4. Painting connection box; 5. Spraying structure;

[0036] 510, elbow; 520, nozzle box one; 530, nozzle piece one;

[0037] 6. Fixing strip; 7. Fusion structure;

[0038] 710, driving box; 720, fixed box; 730, motor; 740, reciprocating unit; 750, spraying part; 760, shunt pipe; 770, driving unit; 780, pressure auxiliary unit; 790, connecting ring;

[0039] 741, rotating shaft 1; 742, half gear; 743, movable frame; 744, fixed block;

[0040] 751, nozzle box 2; 752, nozzle piece 2;

[0041] 771, driving gear; 772, rotating shaft 2; 773, slave gear 1; 774, slave gear 2; 775, hollow gear;

[0042] 781. Axis three; 782. Fan blades. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0044] Example 1

[0045] like Figure 1-Figure 13 As shown, an automatic painting robot of the present invention comprises a painting base 1, a painting mechanical arm 2 is arranged inside the painting base 1, a painting pipeline 3 is arranged inside the painting base 1, a painting connection box 4 is fixedly installed at one end of the painting mechanical arm 2, one end of the painting pipeline 3 is connected to the painting connection box 4, a spraying structure 5 is fixedly installed on the outside of the painting connection box 4, and the spraying structure 5 is used to spray objects;

[0046] Two groups of spray structures 5 are arranged at equal distances, and both groups of spray structures 5 are fixedly installed on the outside of the coating connection box 4. The spray structure 5 includes a curved pipe 510, and the curved pipe 510 is fixedly installed on the outside of the coating connection box 4. A nozzle box 520 is fixedly installed on the other end of the curved pipe 510. The coating connection box 4 is connected to the nozzle box 520 in a through-type manner through the curved pipe 510. A nozzle sheet 530 is inserted inside the nozzle box 520, and the nozzle sheet 530 is located inside the other end of the nozzle box 520.

[0047] A fixing strip 6, which is fixedly mounted on the outside of the spraying structure 5, and is used to connect two groups of spraying structures 5;

[0048] Fusion structure 7, the fusion structure 7 is fixedly installed on the outside of the coating connection box 4 through the fixing strip 6 and the spraying structure 5, and the fusion structure 7 is fixedly installed on the outside of the fixing strip 6. The fusion structure 7 is used to achieve a coating reinforcement effect for the wave spraying of the object;

[0049] The fusion structure 7 includes a drive box 710, and the drive box 710 is fixedly installed on the outside of the fixed bar 6, a fixed box 720 is fixedly installed on the outside of the drive box 710, a motor 730 is fixedly installed on the other side of the drive box 710, a reciprocating unit 740 is inserted into the interior of the drive box 710, and the reciprocating unit 740 is connected to the rotating output shaft of the motor 730, the reciprocating unit 740 is inserted into the interior of the fixed box 720, a spraying member 750 is fixedly installed on the outside of the reciprocating unit 740, a shunt pipe 760 is fixedly installed on the outside of the spraying structure 5, the spraying structure 5 is connected to the spraying member 750 through the shunt pipe 760, the reciprocating unit 740 includes a rotating shaft 741, and the rotating shaft 741 is inserted into the drive box 710. 0, a half gear 742 is fixedly installed on the outside of the rotating shaft 741, and a movable frame 743 is sleeved on the outside of the half gear 742, a fixed block 744 is fixedly installed on the outside of the movable frame 743, and the fixed block 744 is located on the outside of one end of the spraying part 750, and the other end of the rotating shaft 741 is fixedly installed on the rotating output shaft of the motor 730, and teeth matching the half gear 742 are arranged on both sides of the inner wall of the movable frame 743, and the half gear 742 is meshed with the movable frame 743 through the teeth, and two groups of fixed blocks 744 are arranged at equal distances, and the two groups of fixed blocks 744 are symmetrically arranged with the central symmetry plane of the movable frame 743, and a slide groove matching the fixed block 744 is opened inside the fixed box 720.

[0050] In this embodiment, the coating robot arm 2 drives the spray structure 5, the fixing bar 6 and the fusion structure 7 to swing through the coating connection box 4, so that the device can spray the object, and then the coating pipe 3 transports the coating to the inside of the coating connection box 4, and then the coating connection box 4 transports the coating to the inside of the nozzle box 1 520 through the curved pipe 510, so that the coating passes through the nozzle piece 1 530 from the nozzle box 1 520 to spray the object, and then the nozzle box 1 520 transports the coating to the inside of the spray part 750 through the shunt pipe 760, and drives the half gear 742 and the movable frame through the rotating shaft 1 741. 743 is meshed with teeth so that the movable frame 743 drives the spraying part 750 to move in a reciprocating trajectory through the fixed block 744. Therefore, the spraying part 750 sprays the object, so that the paint sprayed from the spraying part 750 is staggered and merged with the paint sprayed from the nozzle piece 530, and then another group of paint sprayed from the nozzle piece 530 covers the spraying place of the spraying part 750. The paints sprayed three times merge with each other to fill the gaps, thereby improving the fluidity of the paint, and at the same time improving the natural flow and smooth spreading of the paint during the spraying process, making the interface of the sprayed object regular, and improving the coating quality and the appearance of the final product.

[0051] Example 2

[0052] like Figures 2 to 7 ,as well as Fig.11As shown, on the basis of Example 1, the spray part 750 includes a second nozzle box 751, and the second nozzle box 751 is fixedly installed on the outside of the fixed block 744, and the other end of the second nozzle box 751 is fixedly installed with a second nozzle piece 752, and the nozzle box 1 520 is connected to the second nozzle box 751 through a shunt pipe 760, and the shunt pipe 760 is evenly arranged in four groups, and two groups of shunt pipes 760 of the four groups of shunt pipes 760 connect one group of the two spray structures 5 with the nozzle box 2 751.

[0053] In this embodiment, two groups of nozzle boxes 1 520 are respectively connected to nozzle box 2 751 through two groups of manifolds 760, thereby increasing the amount of paint sprayed from nozzle box 2 751 and improving the pressure inside nozzle box 2 751, ensuring that the pressure in the internal area of ​​nozzle box 2 751 is basically the same, which is beneficial for nozzle box 2 751 to spray the paint on the object through nozzle piece 2 752, thereby improving the efficiency and reliability of spraying the surface of the object by the spray part 750.

[0054] Example 3

[0055] like Figures 6 to 10 As shown, on the basis of Example 1, a driving unit 770 is fixedly installed on the outer side of the rotating shaft 1 741, and the driving unit 770 includes a driving gear 771, and the driving gear 771 is located inside the driving box 710, and a rotating shaft 2 772 is inserted inside the driving box 710, and a slave gear 1 773 is fixedly installed on the outer side of the rotating shaft 2 772, and the slave gear 1 773 is located inside the driving box 710, and a slave gear 2 774 is fixedly installed on the outer side of the rotating shaft 2 772, and the slave gear 2 774 is located inside the spray structure 5, and a hollow gear 775 is inserted inside the spray structure 5, the rotating shaft 2 772 is inserted inside the nozzle box 1 520, and the slave gear 2 774 and the hollow gear 775 are both arranged inside the nozzle box 1 520, and the driving gear 771 is meshed with the slave gear 1 773 through teeth, The gear 2 774 is meshed with the hollow gear 775 through teeth, and a pressure auxiliary unit 780 is inserted into the interior of the spray structure 5, and the pressure auxiliary unit 780 includes a rotating shaft 3 781, which is inserted into the interior of the spray structure 5, and a fan blade 782 is fixedly installed on the outer side of the rotating shaft 3 781, and the rotating shaft 3 781 and the fan blade 782 are both arranged in the interior of the nozzle box 1 520, and the fan blade 782 is fixedly installed on the inner wall of the hollow gear 775, and a connecting ring 790 is provided inside the hollow gear 775, and two groups of connecting rings 790 are arranged at equal distances, and the two groups of connecting rings 790 are symmetrically arranged with the central symmetry plane of the hollow gear 775, and a rotating groove compatible with the two groups of connecting rings 790 is opened inside the hollow gear 775, and the two groups of connecting rings 790 are fixedly installed on the inner wall of the nozzle box 1 520.

[0056] In this embodiment, when the rotating shaft 1 741 drives the driving gear 771 to rotate, at this moment, the rotating shaft 1 741 is meshed with the slave gear 1 773 through the teeth, and the slave gear 1 773 and the slave gear 2 774 are coaxial with the rotating shaft 2 772. At this moment, the slave gear 2 774 is meshed with the hollow gear 775 through the teeth, so that the hollow gear 775 drives the rotating shaft 3 781 to rotate through the fan blade 782. The hollow gear 775 is limited by two sets of connecting rings 790 to improve the stability of the rotation of the hollow gear 775 inside the nozzle box 1 520. When the fan blade 782 rotates inside the nozzle box 1 520, it exerts a certain downward pressure on the paint inside the nozzle box 1 520, which is beneficial to the paint inside the nozzle box 1 520 being transported to the nozzle box 2 751 through the shunt pipe 760. Inside, the fan blade 782 exerts downward pressure on the paint inside the nozzle box 520 when rotating, so that the internal pressure of the nozzle box 520 is normal, so that the nozzle box 520 can spray the paint on the object through the nozzle piece 530. At the same time, the nozzle piece 530 rotates along the rotating shaft 3 781. Through the rotation of the nozzle piece 530, the paint can cover the surface of the object more evenly, and the rotation of the nozzle piece 530 can ensure that the paint covers different angles and positions during the spraying process, thereby improving the uniformity and quality of the coating, and the rotation of the nozzle piece 530 can help reduce the overlapping area during spraying and avoid excessive accumulation of paint, which helps to reduce coating waste and improve coating efficiency. Uniform coverage and reduced overlap can improve the quality and appearance of the coating.

[0057] Working principle: the user connects the device to an external power source and then turns on the switch. The coating base 1 supports the coating robot arm 2, and then starts the coating robot arm 2 and the motor 730. The coating connection box 4 drives the spray structure 5, the fixing bar 6 and the fusion structure 7 to swing, so that the device can spray the object. Then, the coating is transported to the inside of the coating pipeline 3 and the coating connection box 4 through the coating pump, and then the coating connection box 4 transports the coating to the inside of the nozzle box 1 520 through the curved pipe 510, so that the coating passes from the nozzle box 1 520 through the nozzle piece 1 530 to spray the object. The rotating output shaft of the motor 730 drives the rotating shaft 1 741 to rotate. At this moment, when the rotating shaft 1 741 drives the driving gear 771 to rotate, the rotating shaft 1 741 and the slave gear 1 773 are meshed through the teeth, and the slave gear 1 773 and the slave gear 2 774 are coaxial with the rotating shaft 2 772. At this moment, the slave gear 2 774 and the hollow gear 775 are meshed through the teeth, so that The hollow gear 775 drives the rotating shaft 3 781 to rotate through the fan blade 782. The hollow gear 775 is limited by two sets of connecting rings 790 to improve the stability of the rotation of the hollow gear 775 inside the nozzle box 1 520. When the fan blade 782 rotates inside the nozzle box 1 520, it exerts a certain downward pressure on the paint inside the nozzle box 1 520, which is conducive to the paint inside the nozzle box 1 520 being transported to the inside of the nozzle box 2 751 through the shunt pipe 760. At the same time, the rotating shaft One 741 drives the half gear 742 to mesh with the movable frame 743 through the teeth, so that the movable frame 743 drives the nozzle box two 751 to move in a reciprocating trajectory through the fixed block 744. Therefore, the nozzle box two 751 sprays the paint on the object through the nozzle piece two 752, so that the paint sprayed from the nozzle piece two 752 is interlaced and merged with the paint sprayed from the nozzle piece one 530, and then another group of paint sprayed from the nozzle piece one 530 covers the paint sprayed from the fixed box 720.

[0058] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automated painting robot, comprising a painting base (1), a painting robot arm (2) disposed inside the painting base (1), a painting pipeline (3) disposed inside the painting base (1), a painting connection box (4) fixedly mounted on one end of the painting robot arm (2), one end of the painting pipeline (3) connected to the painting connection box (4), characterized in that: Also includes: A fusion structure (7), wherein the fusion structure (7) is fixedly mounted on the outside of the coating connection box (4) via a fixing strip (6) and a spraying structure (5), and the fusion structure (7) is used to achieve a coating reinforcement effect on the object by wave spraying; The fusion structure (7) comprises a driving box (710), and the driving box (710) is fixedly mounted on the outer side of the fixing bar (6), a fixing box (720) is fixedly mounted on the outer side of the driving box (710), a motor (730) is fixedly mounted on the other side of the driving box (710), a reciprocating unit (740) is inserted into the interior of the driving box (710), and the reciprocating unit (740) is connected to the rotating output shaft of the motor (730), a spraying part (750) is fixedly mounted on the outer side of the reciprocating unit (740), a shunt pipe (760) is fixedly mounted on the outer side of the spraying structure (5), and the spraying structure (5) is connected to the spraying part (750) via the shunt pipe (760).

2. The automatic painting robot according to claim 1, characterized in that: The reciprocating unit (740) includes a rotating shaft (741), and the rotating shaft (741) is inserted into the interior of the driving box (710), a half gear (742) is fixedly installed on the outer side of the rotating shaft (741), and a movable frame (743) is sleeved on the outer side of the half gear (742), a fixed block (744) is fixedly installed on the outer side of the movable frame (743), and the fixed block (744) is located on the outer side of one end of the spraying part (750).

3. The automatic painting robot according to claim 2, characterized in that: The other end of the rotating shaft (741) is fixedly mounted on the rotating output shaft of the motor (730), and teeth matching the half gear (742) are arranged on both sides of the inner wall of the movable frame (743), and the half gear (742) and the movable frame (743) are meshed through the teeth.

4. The automatic painting robot according to claim 2, characterized in that: The fixing blocks (744) are arranged in two groups at equal distances. The two groups of fixing blocks (744) are arranged symmetrically with respect to the central symmetry plane of the movable frame (743). The fixing box (720) is provided with a sliding groove adapted to the fixing blocks (744) inside.

5. The automated painting robot according to claim 1, characterized in that: The spraying part (750) comprises a second spray head box (751), and the second spray head box (751) is fixedly mounted on the outside of the fixed block (744), and a second spray head sheet (752) is fixedly mounted on the other end of the second spray head box (751).

6. The automated painting robot according to claim 1, characterized in that: Four groups of the diverter tubes (760) are evenly arranged, and two groups of the diverter tubes (760) of the four groups of the diverter tubes (760) connect one group of the two groups of the spraying structures (5) to the second spray head box (751).

7. The automated painting robot according to claim 2, characterized in that: A driving unit (770) is fixedly mounted on the outer side of the rotating shaft 1 (741), and the driving unit (770) includes a driving gear (771). A rotating shaft 2 (772) is inserted into the interior of the driving box (710), and a slave gear 1 (773) is fixedly mounted on the outer side of the rotating shaft 2 (772). A slave gear 2 (774) is fixedly mounted on the outer side of the rotating shaft 2 (772), and the slave gear 2 (774) is located inside the spraying structure (5), and a hollow gear (775) is inserted into the interior of the spraying structure (5).

8. The automatic painting robot according to claim 7, characterized in that: The driving gear (771) is meshed with the slave gear 1 (773) through teeth, and the slave gear 2 (774) is meshed with the hollow gear (775) through teeth.

9. The automatic painting robot according to claim 1, characterized in that: A pressure auxiliary unit (780) is inserted inside the spraying structure (5), and the pressure auxiliary unit (780) includes a rotating shaft (781). The rotating shaft (781) is inserted inside the spraying structure (5), and a fan blade (782) is fixedly installed on the outer side of the rotating shaft (781).

10. The automatic painting robot according to claim 7, characterized in that: The hollow gear (775) has a connecting ring (790) inside, and two groups of the connecting rings (790) are arranged at equal distances. The two groups of connecting rings (790) are symmetrically arranged on the central symmetry plane of the hollow gear (775), and the hollow gear (775) has a rotating groove adapted to the two groups of connecting rings (790) inside.

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