Spraying robot capable of automatically adapting to spraying distance

Abstract

According to the spraying robot capable of achieving self-adaption to the spraying distance, through the matched design of an elastic rubber ring and an adjusting supporting rod, a self-adaption telescopic spraying gun assembly can stretch out and draw back in real time according to the surface curvature of a workpiece, and the contour change of the workpiece is converted into telescopic movement of a movable barrel through rolling contact that a roller abuts against the outer wall of the elastic rubber ring; therefore, the distance between the spray gun and the workpiece is dynamically adjusted, and the spraying uniformity is ensured; a pure mechanical self-adaptive adjusting mechanism is adopted, dependence on an electronic sensor is reduced, unpowered feedback adjustment is achieved through physical contact between a roller and an elastic rubber ring, reliability is improved, energy consumption is reduced, and the device is suitable for the high-dust and high-humidity industrial environment. The power device drives the rotary supporting rod (the workpiece bearing end) and the rotary vertical rod (the spray gun end) to synchronously rotate, so that the spray gun synchronously follows along the movement track of the workpiece all the time, the coating defect caused by relative movement deviation is eliminated, and the device is particularly suitable for all-round spraying of rotary workpieces.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying equipment, and particularly relates to a spraying robot capable of self-adapting to the spraying distance. Background Art

[0002] In industrial production, spraying robots are widely used in surface coating processes in fields such as automobiles, furniture, and electronic products. Traditional spraying robots usually adopt fixed spray guns or spraying devices with simple linear adjustment. Their spraying distance and angle need to be preset in advance and cannot be adjusted in real time and self-adaptively according to the shape or position change of the workpiece. Especially for irregular workpieces or rotating workpieces moving along the conveying chain, it is difficult to keep the distance between the spray gun and the workpiece surface constant, which easily leads to uneven coating thickness. In addition, existing self-adaptive adjustment mechanisms mostly rely on sensors and complex control systems, with redundant structures and high maintenance costs, and it is difficult to meet the production requirements of high efficiency and low consumption. Summary of the Invention

[0003] The present invention aims to solve at least one of the problems existing in the related art to a certain extent. For this purpose, the present invention provides a spraying robot capable of self-adapting to the spraying distance.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A spraying robot capable of self-adapting to the spraying distance includes a conveying chain and a connecting seat arranged on the conveying chain. A rotating support rod is rotatably installed on the connecting seat. A spraying tray is arranged at the upper end of the rotating support rod. A spraying device is arranged on one side of the conveying chain. The spraying device includes a base. A rotating vertical rod is rotatably installed on the base. There are several self-adaptive telescopic spray gun assemblies spaced up and down on the rotating vertical rod. The self-adaptive telescopic spray gun assembly includes a cylinder coaxially fixed on the rotating vertical rod. Adjusting support rods are densely arranged in a circumferential direction on the outer wall of the cylinder. An elastic rubber ring is sleeved outside all the adjusting support rods. The outer ends of each adjusting support rod are fixedly connected to the elastic rubber ring. It also includes a fixed cylinder and a movable cylinder that can move telescopically. A tension spring is connected between the fixed cylinder and the movable cylinder to keep them in a retracted state. A supporting vertical plate is also arranged on the base. Each fixed cylinder is fixed on the supporting vertical plate. An extension rod and a spray gun are arranged on the movable cylinder. The extension rod extends towards the fixed cylinder and is provided with a roller that can roll and abut against the outer wall of the elastic rubber ring. A power device is arranged between the conveying chain and the spraying device to drive the rotating support rod and the rotating vertical rod to rotate simultaneously.

[0006] In some embodiments, several of the adjusting struts are divided into an upper strut group and a lower strut group. The upper strut group and the lower strut group are respectively arranged at intervals above and below on the cylinder. Among them, the upper strut group includes upper struts that are evenly distributed along the circumference and telescopically arranged on the outer wall of the cylinder, and the lower strut group includes lower struts that are evenly distributed along the circumference and telescopically arranged on the outer wall of the cylinder. Moreover, the upper struts and the lower struts are arranged in sequence along the circumference in the horizontal direction.

[0007] In some embodiments, vertical rods are provided at the outer ends of the upper struts and the lower struts, and the outer ends of the vertical rods are fixedly connected to the inner wall of the elastic rubber ring.

[0008] In some embodiments, a first bolt for fixing the adjusting struts is provided above the cylinder and corresponding to each adjusting strut.

[0009] In some embodiments, a U-shaped frame is provided at the rear end of the fixed cylinder body. The rotating vertical rod passes through the U-shaped frame, and one end of the U-shaped frame is fixedly connected to the supporting vertical plate. A first telescopic hole is provided at the front end of the fixed cylinder body. A guiding sliding groove is provided on the side wall of the first telescopic hole. A guiding sliding block is provided on one side of the movable cylinder body. One end of the movable cylinder body is movably arranged in the first telescopic hole, and the guiding sliding block is slidably arranged in the guiding sliding groove.

[0010] In some embodiments, the movable cylinder body includes an outer cylinder and an inner cylinder that movably telescopically extends at the front end of the outer cylinder. The rear end of the outer cylinder movably telescopically extends in the first telescopic hole. A second telescopic hole is provided at the front end of the outer cylinder. The inner cylinder movably telescopically extends in the second telescopic hole. A second bolt for locking the inner cylinder is provided on the outer side of the outer cylinder. The spray gun is arranged at the front end of the inner cylinder, and the extension rod is arranged on the outer cylinder.

[0011] In some embodiments, the power device includes a motor. A first belt pulley and a first gear are sequentially arranged on the output shaft of the motor. A second gear that can mesh with the first gear is arranged on the rotating support rod. A second belt pulley is arranged on the rotating vertical rod. A transmission belt is sleeved and connected between the first belt pulley and the second belt pulley.

[0012] In some embodiments, a rotating ring seat coaxially arranged with the rotating vertical rod is rotatably installed on the base. The supporting vertical plate is fixedly arranged on the rotating ring seat. A transmission component is connected between the rotating support rod and the rotating ring seat. When the rotating support rod performs a rotating operation, the rotating ring seat can be driven to rotate forward and backward reciprocally through the transmission component.

[0013] In some embodiments, the transmission assembly includes a third gear provided on the rotating vertical rod, an arched fixing frame is provided on the base, a fourth gear capable of meshing with the third gear is rotatably mounted on the arched fixing frame, an eccentric column is provided at the upper end of the fourth gear, an arched sliding frame slides back and forth at the upper end of the arched fixing frame, the arched sliding frame slides above the fourth gear, and a first transverse chute is provided on the arched sliding frame. The eccentric column is movably disposed in the first transverse chute. An extension plate is provided at the rear side of the arched sliding frame, a guide rod is provided at the lower end of the extension plate, a second transverse chute is provided on the rotating ring seat, and one end of the guide rod is movably disposed in the second transverse chute.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. Through the cooperative design of the elastic rubber ring and the adjusting strut, the self-adaptive telescopic spray gun assembly can telescopically adjust in real time according to the curvature of the workpiece surface. By using the rolling contact of the roller against the outer wall of the elastic rubber ring, the change in the workpiece contour is converted into the telescopic movement of the movable cylinder, thereby dynamically adjusting the distance between the spray gun and the workpiece to ensure the spraying uniformity.

[0016] 2. A pure mechanical self-adaptive adjustment mechanism is adopted to reduce the dependence on electronic sensors. The non-powered feedback adjustment is realized through the physical contact between the roller and the elastic rubber ring, improving the reliability and reducing the energy consumption, and being applicable to industrial environments with high dust and high humidity.

[0017] 3. The power device drives the synchronous rotation of the rotating support rod (workpiece bearing end) and the rotating vertical rod (spray gun end), so that the spray gun always follows synchronously along the movement trajectory of the workpiece, eliminating the coating defects caused by relative motion deviation, and being particularly applicable to the full-circumference spraying of rotating workpieces.

[0018] 4. The collaborative design of the conveyor chain and the spraying device supports continuous operation. The multi-stage distribution of the self-adaptive telescopic spray gun assembly can spray different height regions of the workpiece simultaneously. Combining with the self-adaptive telescopic function, it significantly reduces manual intervention and downtime adjustment time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the front view structural schematic diagram of the present invention;

[0020] Figure 2 It is the top view structural schematic diagram of the present invention;

[0021] Figure 3 It is one of the structural schematic diagrams of the self-adaptive telescopic spray gun assembly of the present invention;

[0022] Figure 4 It is the other structural schematic diagram of the self-adaptive telescopic spray gun assembly of the present invention;

[0023] Figure 5 For the present invention Figure 4 is a schematic cross-sectional structure diagram;

[0024] Figure 6 is the third schematic structure diagram of the adaptive telescopic spray gun assembly of the present invention;

[0025] Figure 7 is an exploded schematic diagram of the cylinder and the adjusting support rod of the present invention;

[0026] Figure 8 is a schematic structure diagram of the transmission assembly of the present invention;

[0027] Figure 9 is a schematic diagram when the adaptive telescopic spray gun assembly of the present invention swings. Specific embodiments

[0028] The following specific implementation content provides various different embodiments or examples for implementing the present invention. Of course, these are only embodiments or examples and are not intended to be restrictive. Additionally, repeated reference numerals may be used in different embodiments, such as repeated numbers and / or letters. These repetitions are for the purpose of simply and clearly describing the present invention and do not represent a specific relationship between the different embodiments and / or structures discussed.

[0029] Such as Figures 1-9 shown, a spraying robot capable of adapting to the spraying distance includes a conveying chain 1 and a connecting seat 2 provided on the conveying chain 1. A rotating support rod 3 is rotatably installed on the connecting seat 2. A spraying tray 4 is provided at the upper end of the rotating support rod 3. A spraying device is provided on one side of the conveying chain 1. The spraying device includes a base 5. A rotating vertical rod 6 is rotatably installed on the base 5. There are several adaptive telescopic spray gun assemblies spaced up and down on the rotating vertical rod 6. The adaptive telescopic spray gun assembly includes a cylinder 7 coaxially fixed on the rotating vertical rod 6. Adjusting support rods 8 are densely arranged and telescoped along the circumference of the outer wall of the cylinder 7. An elastic rubber ring 9 is sleeved outside all the adjusting support rods 8. The outer ends of each adjusting support rod 8 are fixedly connected to the elastic rubber ring 9. It also includes a fixed cylinder 10 and a movable cylinder 11 that can move telescopically. A tension spring 16 is connected between the fixed cylinder 10 and the movable cylinder 11 to keep the two in a retracted state. A support vertical plate 17 is also provided on the base 5. Each fixed cylinder 10 is fixed on the support vertical plate 17. An extension rod 14 and a spray gun 12 are provided on the movable cylinder 11. The extension rod 14 extends towards the fixed cylinder 10 and is provided with a roller 15 that can roll and abut against the outer wall of the elastic rubber ring 9. A power device is provided between the conveying chain 1 and the spraying device to drive the rotating support rod 3 and the rotating vertical rod 6 to rotate simultaneously.

[0030] According to the above structure, firstly, through the cooperative design of the elastic rubber ring 9 and the adjusting strut 8, the self-adaptive telescopic spray gun assembly can telescopically adjust in real time according to the curvature of the workpiece surface. By using the rolling contact of the roller 15 against the outer wall of the elastic rubber ring 9, the change in the workpiece contour is converted into the telescopic movement of the movable cylinder 11, thereby dynamically adjusting the distance between the spray gun 12 and the workpiece to ensure the spraying uniformity.

[0031] It should be noted that the adjusting struts 8 are arranged relatively densely. When the roller 15 abuts between two adjusting struts 8, it will not get stuck between the two adjusting struts 8. At the same time, the pulling force of the tension spring 16 is not too large and will not press down the elastic rubber ring 9, so that the roller 15 can roll on the outer wall of the elastic rubber ring 9.

[0032] This application adopts a pure mechanical self-adaptive adjustment mechanism, reducing the dependence on electronic sensors. Through the physical contact between the roller 15 and the elastic rubber ring 9, it realizes power-free feedback adjustment, improves reliability and reduces energy consumption, and is applicable to industrial environments with high dust and high humidity.

[0033] The power device drives the synchronous rotation of the rotating support rod 3 (workpiece bearing end) and the rotating vertical rod 6 (spray gun end), so that the spray gun 12 always follows synchronously along the movement trajectory of the workpiece, eliminating coating defects caused by relative movement deviation, especially suitable for full-circle spraying of rotating workpieces.

[0034] The collaborative design of the conveying chain 1 and the spraying device supports continuous operation. The multi-stage distribution of the self-adaptive telescopic spray gun assembly can spray different height areas of the workpiece simultaneously. Combining with the self-adaptive telescopic function, it significantly reduces manual intervention and downtime adjustment time.

[0035] See Figure 3 、 Figure 7 As shown, a number of the adjusting struts 8 are divided into an upper strut group and a lower strut group. The upper strut group and the lower strut group are respectively arranged at upper and lower intervals on the cylinder 7. Among them, the upper strut group includes upper struts 21 evenly distributed along the circumference and telescopically arranged on the outer wall of the cylinder 7, and the lower strut group includes lower struts 22 evenly distributed along the circumference and telescopically arranged on the outer wall of the cylinder 7. And the upper struts 21 and the lower struts 22 are arranged in sequence along the circumference in the horizontal direction. Through the design of the upper strut group and the lower strut group arranged up and down, the adjacent upper struts 21 and lower struts 22 can be closer in the horizontal direction, ensuring that the roller 15 rolls more smoothly on the elastic rubber ring 9.

[0036] Furthermore, vertical rods 31 are provided at the outer ends of the upper struts 21 and the lower struts 22, and the outer ends of the vertical rods 31 can be fixedly connected to the inner wall of the elastic rubber ring 9 by glue.

[0037] Further, at the upper end of the cylinder 7 and above the corresponding adjusting struts 8, a first bolt 41 for fixing the adjusting struts 8 is provided. Each adjusting strut 8 can slide along the diameter direction of the cylinder 7. After the sliding adjustment is completed, the adjusting strut 8 can be directly pressed by the first bolt 41.

[0038] See Figures 3-5 As shown, a U-shaped frame 51 is provided at the rear end of the fixed cylinder 10. The rotating vertical rod 6 passes through the U-shaped frame 51, and one end of the U-shaped frame 51 is fixedly connected to the support vertical plate 17. A first telescopic hole 52 is provided at the front end of the fixed cylinder 10. A guiding chute 53 is provided on the side wall of the first telescopic hole 52. A guiding slider 54 is provided on one side of the movable cylinder 11. One end of the movable cylinder 11 is movably arranged in the first telescopic hole 52, and the guiding slider 54 slides in the guiding chute 53.

[0039] Further, the movable cylinder 11 includes an outer cylinder 61 and an inner cylinder 62 that movably extends and retracts at the front end of the outer cylinder 61. The rear end of the outer cylinder 61 movably extends and retracts in the first telescopic hole 52. A second telescopic hole 63 is provided at the front end of the outer cylinder 61. The inner cylinder 62 movably extends and retracts in the second telescopic hole 63. A second bolt 64 for locking the inner cylinder 62 is provided on the outer side of the outer cylinder 61. The spray gun 12 is provided at the front end of the inner cylinder 62. The extension rod 14 is provided on the outer cylinder 61.

[0040] The inner cylinder 62 can be adjusted in the front-back direction relative to the outer cylinder 61 to adjust the position of the spray gun 12, with a wider application range.

[0041] See Figure 1 、 Figure 8 As shown, the power device includes a motor 71. A first pulley 72 and a first gear 73 are sequentially provided on the output shaft of the motor 71. A second gear 74 that can mesh with the first gear 73 is provided on the rotating support rod 3. A second pulley 75 is provided on the rotating vertical rod 6. A transmission belt 76 is sleeved and connected between the first pulley 72 and the second pulley 75.

[0042] The conveying chain 1 drives the rotating support rod 3 for conveying. When it is conveyed to one side of the spraying device, the second gear 74 on the rotating support rod 3 meshes with the first gear 73. At this time, the conveying chain 1 stops conveying. When the motor 71 works to drive the first pulley 72 and the first gear 73 to rotate, the first gear 73 and the second gear 74 drive the rotating support rod 3 to rotate. And the first pulley 72 drives the second pulley 75 to rotate under the transmission of the transmission belt 76, thereby driving the rotating vertical rod 6 to rotate, realizing the simultaneous rotation of the rotating vertical rod 6 and the rotating support rod 3.

[0043] The rotation of the rotating vertical rod 6 can drive the rotation of the cylinder 7, the adjusting support rod 8 and the elastic rubber ring 9, so that the movable cylinder 11 and the spray gun 12 achieve power-free feedback adjustment through the physical contact between the roller 15 and the elastic rubber ring 9; and the rotation of the rotating support rod 3 can directly drive the spraying tray 4 and the workpiece on the spraying tray 4 to rotate.

[0044] Furthermore, a rotating ring seat 81 coaxially arranged with the rotating vertical rod 6 is rotatably installed on the base 5, the supporting vertical plate 17 is fixedly arranged on the rotating ring seat 81, and a transmission component is connected between the rotating support rod 3 and the rotating ring seat 81. When the rotating support rod 3 performs a rotating operation, the transmission component can drive the rotating ring seat 81 to rotate forward and backward reciprocally.

[0045] The transmission component includes a third gear 91 arranged on the rotating vertical rod 6, an arched fixing frame 92 is arranged on the base 5, a fourth gear 93 capable of meshing with the third gear 91 is rotatably installed on the arched fixing frame 92, an eccentric column 94 is arranged at the upper end of the fourth gear 93, an arched sliding frame 95 slides back and forth in the front and rear directions at the upper end of the arched fixing frame 92. The arched sliding frame 95 slides above the fourth gear 93, and a first transverse sliding groove 96 is arranged on the arched sliding frame 95. The eccentric column 94 is movably arranged in the first transverse sliding groove 96. An extension plate 97 is arranged at the rear side of the arched sliding frame 95, a guide rod 98 is arranged at the lower end of the extension plate 97, a second transverse sliding groove 99 is arranged on the rotating ring seat 81, and one end of the guide rod 98 is movably arranged in the second transverse sliding groove 99.

[0046] The specific working principle of the transmission component is as follows:

[0047] The rotation of the rotating vertical rod 6 drives the rotation of the third gear 91. The third gear 91 meshes with the fourth gear 93 to drive the rotation of the fourth gear 93. Then, through the cooperation between the eccentric column 94 at the upper end of the fourth gear 93 and the first transverse sliding groove 96 on the arched sliding frame 95, the arched sliding frame 95 can be driven to slide back and forth in the front and rear directions. While the arched sliding frame 95 slides back and forth, the guide rod 98 on the arched sliding frame 95 moves in the second transverse sliding groove 99, thereby driving the rotating ring seat 81 to rotate forward and backward reciprocally, realizing the reciprocating swing of the supporting vertical plate 17, the fixed cylinder 10, the movable cylinder 11 and the spray gun 12 (as Figure 9 shown), thereby greatly improving the spraying effect.

[0048] It should be noted that with the rotating vertical rod 6 as the center, the spray gun 12 is arranged in front of the rotating vertical rod 6, and the supporting vertical plate 17 is arranged behind the rotating vertical rod 6. At the same time, the rotating vertical rod 6, the rotating ring seat 81, the fixed cylinder 10, the movable cylinder 11 and the spray gun 12 are in a straight line in the front-back direction, while the guide rod 98 and the second transverse chute 99 are located on one side of this straight line. Thus, when the guide rod 98 pushes the second transverse chute 99 in the front-back direction, the rotating ring seat 81 can rotate and swing, and then drive the fixed cylinder 10, the movable cylinder 11 and the spray gun 12 to swing left and right.

[0049] The basic principles, main features and advantages of the present invention have been shown and described above in conjunction with the accompanying drawings. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A spraying robot capable of adaptively adjusting the spraying distance, comprising a conveying chain (1) and a connecting seat (2) arranged on the conveying chain (1), a rotating support rod (3) rotatably mounted on the connecting seat (2), a spraying tray (4) arranged at the upper end of the rotating support rod (3), and a spraying device arranged on one side of the conveying chain (1), characterized in that: The spraying device comprises a base (5), a rotating upright pole (6) is rotatably mounted on the base (5), a plurality of adaptive telescopic spray gun assemblies are spaced apart above and below the rotating upright pole (6), the adaptive telescopic spray gun assembly comprises a cylinder (7) coaxially fixed to the rotating upright pole (6), adjusting struts (8) are densely telescopically arranged along the circumference of the outer wall of the cylinder (7), an elastic rubber ring (9) is commonly sleeved on the outer ends of all the adjusting struts (8), the outer ends of each adjusting strut (8) are fixedly connected to the elastic rubber ring (9), and the adaptive telescopic spray gun assembly also comprises a fixed cylinder (10) and a movable cylinder (11) that can be flexibly extended and retracted, and the fixed cylinder (10) and the movable cylinder (11) are fixedly connected to the movable cylinder (1 ... A tension spring (16) is connected between the cylinder (10) and the movable cylinder (11) to keep the two in a retracted state. A support vertical plate (17) is also arranged on the base (5). Each of the fixed cylinders (10) is fixed on the support vertical plate (17). An extension rod (14) and a spray gun (12) are arranged on the movable cylinder (11). The extension rod (14) extends in the direction of the fixed cylinder (10) and is provided with a roller (15) that can roll against the outer wall of the elastic rubber ring (9). A power device that can drive the rotating support rod (3) and the rotating vertical rod (6) to rotate simultaneously is arranged between the conveying chain (1) and the spraying device.

2. A spraying robot with adaptive spraying distance according to claim 1, characterized in that: The plurality of adjusting struts (8) are divided into an upper strut group and a lower strut group, and the upper strut group and the lower strut group are respectively arranged on the cylinder (7) at intervals from top to bottom, wherein the upper strut group includes an upper strut (21) that is evenly distributed along the circumference and telescoped on the outer wall of the cylinder (7), and the lower strut group includes a lower strut (22) that is evenly distributed along the circumference and telescoped on the outer wall of the cylinder (7), and the upper strut (21) and the lower strut (22) are arranged in sequence along the circumference in the horizontal direction.

3. A spraying robot with adaptive spraying distance according to claim 2, characterized in that: A vertical rod (31) is provided at the outer ends of the upper support rod (21) and the lower support rod (22), and the outer ends of the vertical rod (31) are fixedly connected to the inner wall of the elastic rubber ring (9).

4. The spraying robot with adaptive spraying distance according to claim 1, characterized in that: A first bolt (41) for fixing the adjusting strut (8) is arranged at the upper end of the cylindrical body (7) and above each adjusting strut (8).

5. The spraying robot with adaptive spraying distance according to claim 1, characterized in that: A U-shaped frame (51) is arranged at the rear end of the fixed cylinder (10), the rotating vertical rod (6) is inserted into the U-shaped frame (51), and one end of the U-shaped frame (51) is fixedly connected to the supporting vertical plate (17), a first telescopic hole (52) is arranged at the front end of the fixed cylinder (10), a guide slide groove (53) is arranged on the side wall of the first telescopic hole (52), a guide slider (54) is arranged on one side of the movable cylinder (11), one end of the movable cylinder (11) is movably arranged in the first telescopic hole (52), and the guide slider (54) is slidably arranged in the guide slide groove (53).

6. The spraying robot with adaptive spraying distance according to claim 5, characterized in that: The movable cylinder body (11) comprises an outer cylinder (61) and an inner cylinder (62) which is movably retractable at the front end of the outer cylinder (61); the rear end of the outer cylinder (61) is movably retractable in a first retractable hole (52); a second retractable hole (63) is provided at the front end of the outer cylinder (61); the inner cylinder (62) is movably retractable in the second retractable hole (63); a second bolt (64) for locking the inner cylinder (62) is provided on the outside of the outer cylinder (61); the spray gun (12) is provided at the front end of the inner cylinder (62); and the extension rod (14) is provided on the outer cylinder (61).

7. The spraying robot with adaptive spraying distance according to claim 1, characterized in that: The power device comprises a motor (71), a first pulley (72) and a first gear (73) are arranged in sequence on the output shaft of the motor (71), a second gear (74) capable of meshing with the first gear (73) is arranged on the rotating support rod (3), a second pulley (75) is arranged on the rotating upright rod (6), and a transmission belt (76) is connected between the first pulley (72) and the second pulley (75).

8. The spraying robot with adaptive spraying distance according to claim 7, characterized in that: A rotating annular seat (81) coaxially arranged with the rotating upright rod (6) is rotatably mounted on the base (5); the supporting upright plate (17) is fixedly mounted on the rotating annular seat (81); a transmission assembly is connected between the rotating support rod (3) and the rotating annular seat (81); when the rotating support rod (3) rotates, the rotating annular seat (81) can be driven by the transmission assembly to reciprocate in forward and reverse directions.

9. The spraying robot with adaptive spraying distance according to claim 8, characterized in that: The transmission assembly comprises a third gear (91) arranged on the rotating upright pole (6); an arched fixing frame (92) is arranged on the base (5); a fourth gear (93) which can mesh with the third gear (91) is rotatably mounted on the arched fixing frame (92); an eccentric column (94) is arranged at the upper end of the fourth gear (93); an arched sliding frame (95) is slidable forward and backward on the upper end of the arched fixing frame (92); the arched sliding frame (95) slides on the fourth gear (91) 93), and a first transverse slide groove (96) is arranged on the arched sliding frame (95), the eccentric column (94) is movably arranged in the first transverse slide groove (96), an extension plate (97) is arranged on the rear side of the arched sliding frame (95), a guide rod (98) is arranged at the lower end of the extension plate (97), and a second transverse slide groove (99) is arranged on the rotating annular seat (81), and one end of the guide rod (98) is movably arranged in the second transverse slide groove (99).

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