A painting robot and its telescopic robotic arm

Abstract

The present invention discloses a painting robot and its telescopic robotic arm, belonging to the technical field of painting robots. The telescopic robotic arm includes a chassis, a ring is fixedly connected to the bottom of the chassis, an adjustment mechanism is installed on the top of the chassis, a link mechanism is installed at the rear end of the support plate, a telescopic mechanism is installed at the front end of the support plate, the other ends of the link mechanism and the telescopic mechanism are both movably connected to a fixed disk, and a painting mechanism is installed on one side surface of the fixed disk. By designing the adjustment mechanism, the link mechanism, the telescopic mechanism and the painting mechanism, the present invention ensures that the robot itself can have a certain degree of adjustability in height during work. The tilting and rotating function of the base of the painting robot makes the robot more flexible and accurate when processing complex workpieces, can improve the spraying quality, reduce dead angles, enhance the coating uniformity, save production time, and optimize production efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of painting robots, and particularly relates to a painting robot and its telescopic robotic arm. Background Art

[0002] In modern manufacturing, painting robots, as efficient automated equipment, are widely used in surface treatment in industries such as automotive, aviation, and household appliances. With the continuous progress of technology, these robots not only improve the efficiency and quality of painting but also reduce the safety risks in manual operations. Among them, the introduction of telescopic robotic arms brings greater flexibility and adaptability to painting robots. The telescopic robotic arm can achieve a larger working range within a limited space, flexibly adjust the spraying angle and height, and ensure uniform coating coverage of workpieces with various complex shapes. In addition, combined with advanced control systems and sensor technologies, painting robots can monitor the painting process in real time, automatically adjust spraying parameters, thereby optimizing the painting effect and reducing material waste. This series of technological advancements has played an important role in improving production efficiency and reducing operating costs.

[0003] With the rapid development of industry, for the physical health of operators and the painting speed, mechanical operations are mostly adopted. When existing painting robots are working, they mostly use single methods such as rotation and movement, usually adjusting by the length of the robotic arm, resulting in a fixed operation method of the painting robot itself, lacking flexibility, which in turn affects the painting speed. At the same time, for the telescopic robotic arm of the painting robot, spraying is generally carried out in a fixed direction, so local small areas cannot be completely sprayed, thus significantly reducing the working performance of the painting robot. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a painting robot and its telescopic robotic arm.

[0005] The technical solution adopted to solve the above technical problem is: A telescopic robotic arm includes a support plate. A link mechanism is installed at the rear end of the support plate, and a telescopic mechanism is installed at the front end of the support plate. The other ends of the link mechanism and the telescopic mechanism are both movably connected to a fixed disk, and a painting mechanism is installed on one side surface of the fixed disk.

[0006] Further, the link mechanism includes a second motor fixedly connected to the rear end of the support plate. The output end of the second motor is fixedly connected to a first drive shaft. A connecting plate is fixedly connected to the outer wall of the first drive shaft. The front end of the other side of the connecting plate is fixedly connected to a support plate. A first connecting rod is rotatably connected between the connecting plate and the support plate. The other end of the first connecting rod is rotatably connected to a second connecting rod, and a chute is opened inside the second connecting rod.

[0007] Through the above technical solution, during use, when the coating robot is working, the link mechanism can be used to adjust up and down according to the painting position to ensure precise adjustment of the painting position. At the same time, the up and down movement of the robotic arm enables the robot to precisely adjust the vertical position of the spray gun according to the height of the workpiece or the spraying requirements. This is particularly important for irregular shapes or multi-layer spraying, such as the upper, bottom, or side of an object, which can avoid spraying dead angles and ensure a uniform coating. Specifically, starting the second motor at the rear end of the support plate drives the connecting plate fixedly connected to the outer wall of the first drive shaft to rotate. When rotating counterclockwise, it can drive the first connecting rod to move downward, and then pull the second connecting rod to move, obtaining a certain adjustment.

[0008] Further, the telescopic mechanism includes a third motor fixedly connected to the front end of the support plate. The output end of the third motor is fixedly connected to a second drive shaft. A support rod is fixedly connected to the outer wall of the second drive shaft. A fixed groove is fixedly connected to one side of the support rod. A hydraulic cylinder is rotatably connected inside the fixed groove. The other end of the support rod is slidably connected to the chute. The other end of the second connecting rod is movably connected to the fixed disk. The piston end of the hydraulic cylinder is movably connected to the fixed disk.

[0009] Through the above technical solution, with the movement of the link mechanism, the telescopic mechanism can be used to cooperate with it for front and rear movement to initially adjust the painting position, and then precise painting can be carried out. In addition, the height can be further adjusted according to the structure of the link mechanism. The robotic arm can be adjusted back and forth, enabling the spraying angle to better adapt to workpieces of different shapes, especially those with more complex or protruding parts. Through front and rear movement, the robot can precisely control the spraying onto the target area, avoiding waste of paint and overspray. Specifically, starting the third motor at the front end of the support plate drives the support rod on the outer wall of the second drive shaft to rotate, causing the second connecting rod located thereon to be forced to move forward and backward. When the height needs to be adjusted, the link mechanism can be used to level the second connecting rod at this time. Then, the support rod is adjusted to slide on the chute. After the adjustment is completed, the second connecting rod is rotated to be stressed. At the same time, the hydraulic cylinder can be started to extend the telescopic rod to drive the fixed disk to be adjusted. Using the second connecting rod to cooperate with it can better adjust the painting angle and reduce the risk of missed spraying or uneven coatings.

[0010] Further, the painting mechanism includes a plurality of fourth motors fixedly connected to one side surface of the fixed disk. The output ends of the plurality of fourth motors are fixedly connected with third drive shafts. First gears are fixedly connected to the outer walls of the plurality of third drive shafts. A fixed pipe is fixedly connected to one side surface of the fixed disk. A plurality of second gears are rotatably connected to the outer wall of the fixed pipe. Corresponding drive rods are respectively sleeved on the inner walls of the plurality of second gears. The other ends of the plurality of drive rods are rotatably connected with movable rods. The other ends of the plurality of movable rods are rotatably connected with spray heads. The plurality of first gears are respectively meshed with the corresponding second gears.

[0011] Through the above technical solution, during the painting operation, the painting mechanism is used for fine adjustment, and in cooperation with the adjustment mechanism, the link mechanism and the telescopic mechanism, fine adjustment can be carried out to ensure the adjustment of the painting position, distance and height. The painting mechanism can rotate and adjust the tilt angle in a relatively small area. The rotation ability of the spray head enables the robot to spray in multiple directions without changing the overall position of the robot or readjusting the spraying path. This is particularly suitable for workpieces with complex surfaces, curved shapes or multi-faceted areas, and can ensure that a uniform and precise coating can be obtained at each angle. Specifically, the connecting spray pipe can be connected to the spray head through the fixed pipe to ensure the supply of materials. Then, a plurality of fourth motors are started simultaneously to drive the corresponding first gears on the third drive shafts to rotate. Since the second gears are connected to the collars on the drive rods through sleeves and the plurality of second gears are in a sleeved state, it is ensured that the rotation will not cause obstacles. The bottom of the lowermost drive rod is fixedly connected to the second gear of the uppermost layer. Subsequently, the collar of the middle drive rod passes through the collar of the lowermost drive rod through a sleeve and is fixedly connected to the second gear of the middle layer, and so on. At this time, the first gear drives the corresponding drive rod of the second gear to start rotating, and then the spray head on the movable rod connected thereto starts to rotate. By rotating the spray head, the robot can ensure that the coating is more uniform and smooth, and the surface quality is improved. In some specific areas, at this time, one of the fourth motors can be started to drive the drive rod to rotate, and then one of the movable rods is deflected, and then the spray head will deflect to one side, thus completing the spraying work.

[0012] A painting robot including a telescopic robotic arm includes an adjustment mechanism installed at the bottom of a support plate. A chassis is provided on the outer wall of the adjustment mechanism. A circular ring is fixedly connected to the bottom of the chassis.

[0013] Further, the adjustment mechanism includes a first motor fixedly connected to the top of the chassis. The output end of the first motor is fixedly connected to a connecting rod shaft. The other end of the connecting rod shaft is rotatably connected to a sphere. A first circular plate is fixedly connected to the outer wall of the sphere. A plurality of support columns are movably connected to the top surface of the first circular plate. Springs are fixedly connected to the bottoms of the outer walls of the plurality of support columns. The tops of the plurality of support columns are slidably connected to semi-circular sleeves. Second circular plates are fixedly connected to the tops of the plurality of semi-circular sleeves. The bottom of the sphere is rotatably connected to a circular ring. The other ends of the plurality of springs are fixedly connected to the top of the chassis.

[0014] Through the above technical solution, during use, the painting robot can be installed at a selected position. Subsequently, the adjustment mechanism is used to adjust the painting robot to ensure the working angle of the painting robot during operation. By tilting the base, the robot can better adapt to the spraying requirements at different angles. For complex workpiece shapes or difficult-to-reach areas, the tilting function can help the robot adjust the angle of the spray gun, thereby covering the coating more evenly and improving the painting quality. Specifically, start the first motor on the top of the chassis to drive the bent connecting rod shaft to rotate. Due to its own gravity and the inclined state of the connecting rod shaft, the sphere can be maintained in an inclined state. At this time, the robot on the mechanism moves downward and tilts towards the bottom. At the same time, when rotating, the first circular plate on the sphere is driven, enabling the plurality of support columns thereon to move up and down in a state of rising and falling on the first circular plate, thereby compressing the corresponding springs. The plurality of springs on the other side will restore elastic potential energy, thus forming an inclined state. Under the connection of the semi-circular sleeves, the second circular plate at the top can follow the floating up and down and inclined state.

[0015] The beneficial effects of the present invention are as follows: (1) By designing an adjustment mechanism, a linkage mechanism, a telescopic mechanism, and a coating mechanism, when the coating robot is working, the inclination of its bottom can be adjusted, ensuring that the robot itself can have a certain degree of height adjustment during work. The inclination and rotation function of the base of the coating robot makes the robot more flexible and precise when dealing with complex workpieces, can improve the spraying quality, reduce dead angles, enhance the coating uniformity, save production time, and optimize production efficiency. Especially in occasions where high-precision and high-quality coating are required, it has significant advantages; (2) By designing a linkage mechanism and a telescopic mechanism, when the coating robot is working, the position of the nozzle can be adjusted up and down and back and forth, ensuring that the spraying position is accurate enough. At the same time, after preliminary adjustment, it can be gradually adjusted. Through multi-directional adjustment of up and down and back and forth movements, combined with the inclination of the base, the robot can precisely control the spraying angle, position, and spraying path, greatly improving the coating quality, efficiency, and flexibility. Especially for workpieces with complex shapes and multi-angle spraying, it can effectively increase the spraying coverage range, reduce operation time, and optimize the use of paint; (3) By designing a coating mechanism, when the coating robot is coating, the nozzle can be adjusted according to the coating part, and it can cooperate with the coating robot itself for workpieces of various shapes, sizes, and complex surfaces, ensuring uniform, efficient spraying and saving paint, reducing manual intervention, and improving safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional structural schematic diagram of the first perspective of the present invention;

[0017] Figure 2 is a three-dimensional structural schematic diagram of the second perspective of the present invention;

[0018] Figure 3 is Figure 2 a partial enlarged view of A in

[0019] Figure 4 the front view of the present invention;

[0020] Figure 5 is a structural schematic diagram of the adjustment mechanism of the present invention;

[0021] Figure 6 is a cross-sectional view of the telescopic mechanism and the linkage mechanism of the present invention;

[0022] Figure 7 is a structural schematic diagram of the coating mechanism of the present invention.

[0023] Reference numerals: 1, chassis; 2, ring; 3, adjustment mechanism; 301, first motor; 302, connecting rod shaft; 303, sphere; 304, first circular plate; 305, support column; 306, spring; 307, semi-circular sleeve; 308, second circular plate; 4, support plate; 5, connecting rod mechanism; 501, second motor; 502, first drive shaft; 503, connecting plate; 504, support plate; 505, first connecting rod; 506, second connecting rod; 507, chute; 6, telescopic mechanism; 601, third motor; 602, second drive shaft; 603, support rod; 604, fixed groove; 605, hydraulic cylinder; 7, fixed disk; 8, painting mechanism; 801, fourth motor; 802, third drive shaft; 803, first gear; 804, fixed pipe; 805, second gear; 806, drive rod; 807, movable rod; 808, nozzle. Detailed implementation manners

[0024] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] As Figures 1 - 5As shown in the figure, a painting robot in this embodiment includes a chassis 1. A circular ring 2 is fixedly connected to the bottom of the chassis 1. An adjustment mechanism 3 is installed on the top of the chassis 1. The adjustment mechanism 3 includes a first motor 301 fixedly connected to the top of the chassis 1. The output end of the first motor 301 is fixedly connected to a connecting rod shaft 302. The other end of the connecting rod shaft 302 is rotatably connected to a sphere 303. A first circular plate 304 is fixedly connected to the outer wall of the sphere 303. A plurality of support columns 305 are movably connected to the top surface of the first circular plate 304. Springs 306 are fixedly connected to the bottoms of the outer walls of the plurality of support columns 305. The tops of the plurality of support columns 305 are slidably connected to semi-circular sleeves 307. A second circular plate 308 is fixedly connected to the tops of the plurality of semi-circular sleeves 307. The bottom of the sphere 303 is rotatably connected to the circular ring 2. The other ends of the plurality of springs 306 are fixedly connected to the top of the chassis 1. When in use, a position can be selected to install the painting robot. Then, the adjustment mechanism 3 is used to adjust the painting robot to ensure the working angle of the painting robot during operation. By tilting the base, the robot can better adapt to the spraying requirements at different angles. For complex workpiece shapes or difficult-to-reach areas, the tilting function can help the robot adjust the angle of the spray gun, so as to cover the coating more evenly and improve the painting quality. Specifically, start the first motor 301 on the top of the chassis 1 to drive the bent connecting rod shaft 302 to rotate. Due to its own gravity and the inclined state of the connecting rod shaft 302, the sphere 303 can be maintained in an inclined state. At this time, the robot on the mechanism descends and tilts towards the bottom. At the same time, when rotating, the first circular plate 304 on the sphere 303 is driven, enabling the plurality of support columns 305 thereon to move up and down in the state of rising and falling of the first circular plate 304, thereby compressing the corresponding springs 306. The plurality of springs 306 on the other side will restore their elastic potential energy, so as to form an inclined state. Under the connection of the semi-circular sleeves 307, the second circular plate 308 on the top can follow the up-and-down floating and inclined states.

[0026] As Figures 3 - 7As shown in the figure, a telescopic robotic arm of a painting robot in this embodiment includes a support plate 4. A linkage mechanism 5 is installed at the rear end of the support plate 4. The linkage mechanism 5 includes a second motor 501 fixedly connected to the rear end of the support plate 4. The output end of the second motor 501 is fixedly connected to a first drive shaft 502. A connecting plate 503 is fixedly connected to the outer wall of the first drive shaft 502. The front end of the other side of the connecting plate 503 is fixedly connected to a support plate 504. A first connecting rod 505 is rotatably connected between the connecting plate 503 and the support plate 504. The other end of the first connecting rod 505 is rotatably connected to a second connecting rod 506. A chute 507 is provided inside the second connecting rod 506. During use, when the painting robot is working, the linkage mechanism 5 can be used to adjust up and down according to the painting position to ensure precise adjustment of the painting position. At the same time, the up and down movement of the robotic arm enables the robot to precisely adjust the vertical position of the spray gun according to the height of the workpiece or the spraying requirements. This is particularly important for irregular shapes or multi-layer spraying, such as the upper, bottom, or side of an object, which can avoid spraying dead corners and ensure a uniform coating. Specifically, when the second motor 501 at the rear end of the support plate 4 is started, it drives the connecting plate 503 fixedly connected to the outer wall of the first drive shaft 502 to rotate. When rotating counterclockwise, it can drive the first connecting rod 505 to move downward, and then pull the second connecting rod 506 to move, enabling a certain adjustment.

[0027] As Figures 3 - 4 and Figure 6As shown in the figure, a telescopic mechanism 6 is installed at the front end of the support plate 4. The telescopic mechanism 6 includes a third motor 601 fixedly connected to the front end of the support plate 4. The output end of the third motor 601 is fixedly connected to a second drive shaft 602. A support rod 603 is fixedly connected to the outer wall of the second drive shaft 602. A fixed groove 604 is fixedly connected to one side of the support rod 603. A hydraulic cylinder 605 is rotatably connected inside the fixed groove 604. The other end of the support rod 603 is slidably connected to the chute 507. The other end of the second connecting rod 506 is movably connected to the fixed disk 7. The piston end of the hydraulic cylinder 605 is movably connected to the fixed disk 7. With the movement of the link mechanism 5, the telescopic mechanism 6 can be used to cooperate with it for forward and backward movement to preliminarily adjust the painting position, and then precise painting can be carried out. In addition, according to the structure of the link mechanism 5, the height can be further adjusted. The robotic arm can be adjusted back and forth, so that the spraying angle can better adapt to workpieces of different shapes, especially those with more complex or protruding parts. Through the forward and backward movement, the robot can precisely control the spraying to the target area, avoiding waste of paint and overspray. Specifically, start the third motor 601 at the front end of the support plate 4 to drive the support rod 603 on the outer wall of the second drive shaft 602 to rotate, so that the second connecting rod 506 located thereon can be forced to move forward and backward. When the height needs to be adjusted, at this time, the link mechanism 5 can be used to level the second connecting rod 506, and then adjust the support rod 603 to slide on the chute 507. After the adjustment is completed, rotate and apply force to the second connecting rod 506. At the same time, the hydraulic cylinder 605 can be started to extend the telescopic rod to drive the fixed disk 7 to be adjusted. By cooperating with the second connecting rod 506, the painting angle can be better adjusted, reducing the risk of missed spraying or uneven coating.

[0028] As Figure 7As shown, both the other ends of the link mechanism 5 and the telescopic mechanism 6 are movably connected to a fixed disk 7. On one side surface of the fixed disk 7, a painting mechanism 8 is installed. The painting mechanism 8 includes a plurality of fourth motors 801 fixedly connected to one side surface of the fixed disk 7. The output ends of the plurality of fourth motors 801 are fixedly connected to third drive shafts 802. A first gear 803 is fixedly connected to the outer wall of each of the plurality of third drive shafts 802. A fixed pipe 804 is fixedly connected to one side surface of the fixed disk 7. A plurality of second gears 805 are rotatably connected to the outer wall of the fixed pipe 804. A corresponding drive rod 806 is sleeved inside each of the plurality of second gears 805. The other ends of the plurality of drive rods 806 are rotatably connected to a movable rod 807. The other ends of the plurality of movable rods 807 are rotatably connected to a spray head 808. Each of the plurality of first gears 803 meshes with a corresponding second gear 805. During the painting operation, the painting mechanism 8 is used for detailed adjustment, and in cooperation with the adjustment mechanism 3, the link mechanism 5 and the telescopic mechanism 6, fine adjustment can be carried out to ensure the adjustment of the painting position, distance and height. The painting mechanism 8 can rotate and adjust the tilt angle in a relatively small area. The rotation ability of the spray head 808 enables the robot to spray in multiple directions without changing the overall position of the robot or readjusting the spraying path. This is especially suitable for workpieces with complex surfaces, curved shapes or multi-faceted areas, and can ensure that a uniform and precise coating can be obtained at each angle. Specifically, the connecting spray pipe can be connected to the spray head 808 through the fixed pipe 804 to ensure the supply of materials. Subsequently, a plurality of fourth motors 801 are simultaneously started to drive the corresponding first gears 803 on the third drive shafts 802 to rotate. Since the second gears 805 are connected to the collars on the drive rods 806 through sleeves and the plurality of second gears 805 form a sleeved state, it is ensured that the rotation will not cause obstacles. The bottom of the lowermost drive rod 806 is fixedly connected to the uppermost second gear 805. Subsequently, the collar of the middle drive rod 806 passes through the collar of the lowermost drive rod 806 through a sleeve and is fixedly connected to the middle second gear 805, and so on. At this time, the first gear 803 drives the corresponding drive rod 806 of the second gear 805 to start rotating, and then the spray head 808 on the movable rod 807 connected thereto starts to rotate. By rotating the spray head 808, the robot can ensure that the coating is more uniform and smooth, and the surface quality is improved. In some specific areas, at this time, one of the fourth motors 801 can be started to drive the drive rod 806 to rotate, at this time one of the movable rods 807 is driven to deflect, and then the spray head 808 will deflect to one side, thus completing the spraying operation.

[0029] The working principle of this embodiment is as follows. When in use, the painting robot can be installed at a selected position. Start the first motor 301 at the top of the chassis 1 to drive the bent connecting rod shaft 302 to rotate. At this time, the robot on the mechanism descends and tilts towards the bottom. At the same time, when rotating, the first circular plate 304 on the sphere 303 is driven, enabling the multiple support columns 305 thereon to move up and down in a state where they rise and fall on the first circular plate 304, thereby compressing the corresponding springs 306. The multiple springs 306 on the other side will restore their elastic potential energy. Then, start the second motor 501 at the rear end of the support plate 4 to drive the connecting plate 503 fixedly connected to the outer wall of the first drive shaft 502 to rotate. When rotating counterclockwise, it can drive the first connecting rod 505 to move downward, and then pull the second connecting rod 506 to move. At the same time, start the third motor 601 at the front end of the support plate 4 to drive the support rod 603 on the outer wall of the second drive shaft 602 to rotate, so that the second connecting rod 506 thereon can be forced to move forward and backward. When the height needs to be adjusted, the connecting rod mechanism 5 can be used to level the second connecting rod 506. Then, adjust the support rod 603 to slide on the chute 507. After the adjustment is completed, the second connecting rod 506 is rotated and stressed. At the same time, the hydraulic cylinder 605 can be started to extend the telescopic rod to drive the fixed disk 7 to be adjusted. By cooperating with the second connecting rod 506, the connecting spraying pipe can be connected to the nozzle 808 through the fixed pipe 804 to ensure the supply of materials. Then, start multiple fourth motors 801 at the same time to drive the corresponding first gears 803 on the third drive shaft 802 to rotate. At this time, the first gear 803 drives the drive rod 806 corresponding to the second gear 805 to start rotating, and then the nozzle 808 on the movable rod 807 connected thereto starts to rotate. In some specific areas, one of the fourth motors 801 can be started to drive the drive rod 806 to rotate. At this time, one of the movable rods 807 is driven to deflect, and then the nozzle 808 will deflect to one side. Thus, the spraying process of the entire painting robot is completed.

[0030] The above is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A telescopic mechanical arm, comprising a support plate (4), characterized in that: A connecting rod mechanism (5) is installed at the rear end of the support plate (4), and the connecting rod mechanism (5) includes a second motor (501) fixedly connected to the rear end of the support plate (4); the output end of the second motor (501) is fixedly connected to the first drive shaft (502); the outer wall of the first drive shaft (502) is fixedly connected to a connecting plate (503); the front end of the other side of the connecting plate (503) is fixedly connected to a support plate (504); a first connecting rod (505) is rotatably connected between the connecting plate (503) and the support plate (504); the other end of the first connecting rod (505) is rotatably connected to a second connecting rod (506); a sliding groove (507) is provided inside the second connecting rod (506); A telescopic mechanism (6) is installed at the front end of the support plate (4), and the telescopic mechanism (6) includes a third motor (601) fixedly connected to the front end of the support plate (4); the output end of the third motor (601) is fixedly connected to the second drive shaft (602); the outer wall of the second drive shaft (602) is fixedly connected to a support rod (603); one side of the support rod (603) is fixedly connected to a fixed groove (604); a hydraulic cylinder (605) is rotatably connected inside the fixed groove (604); the other end of the support rod (603) is slidably connected to a slide groove (507); the other end of the second connecting rod (506) is movably connected to a fixed plate (7); and the piston end of the hydraulic cylinder (605) is movably connected to the fixed plate (7); The other ends of the connecting rod mechanism (5) and the telescopic mechanism (6) are both movably connected to a fixed disk (7), and a coating mechanism (8) is installed on one side surface of the fixed disk (7).

2. The telescopic mechanical arm according to claim 1, characterized in that: The coating mechanism (8) comprises a plurality of fourth motors (801) fixedly connected to the surface of one side of the fixed disk (7); the output ends of the plurality of fourth motors (801) are fixedly connected to the third drive shaft (802); the outer walls of the plurality of third drive shafts (802) are fixedly connected to the first gear (803); a fixed tube (804) is fixedly connected to the surface of one side of the fixed disk (7); the outer wall of the fixed tube (804) is rotatably connected to a plurality of second gears (805); the inner walls of the plurality of second gears (805) are respectively sleeved with corresponding drive rods (806); the other ends of the plurality of drive rods (806) are rotatably connected to movable rods (807); the other ends of the plurality of movable rods (807) are rotatably connected to spray heads (808).

3. The telescopic mechanical arm according to claim 2, characterized in that: The plurality of first gears (803) are respectively meshed with corresponding second gears (805).

4. A painting robot comprising the telescopic mechanical arm according to any one of claims 1 to 3, characterized in that: It comprises an adjustment mechanism (3) installed at the bottom of a support plate (4); the outer wall of the adjustment mechanism (3) is provided with a base frame (1); and the bottom of the base frame (1) is fixedly connected with a circular ring (2).

5. The painting robot according to claim 4, characterized in that: The adjustment mechanism (3) comprises a first motor (301) fixedly connected to the top of the base frame (1); the output end of the first motor (301) is fixedly connected to a connecting rod shaft (302); the other end of the connecting rod shaft (302) is rotatably connected to a sphere (303); the outer wall of the sphere (303) is fixedly connected to a first circular plate (304); the top surface of the first circular plate (304) is movably connected to a plurality of support columns (305); the bottoms of the outer walls of the plurality of support columns (305) are fixedly connected to springs (306); the tops of the plurality of support columns (305) are slidably connected to semicircular sleeves (307); the tops of the plurality of semicircular sleeves (307) are fixedly connected to second circular plates (308).

6. The painting robot according to claim 5, characterized in that: The bottom of the sphere (303) is rotatably connected to the ring (2), and the other ends of the plurality of springs (306) are fixedly connected to the top of the base frame (1).

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