A spray robot capable of adapting to spray distance

Abstract

The present application relates to a kind of spraying robots of adaptive spraying distance, by the cooperation design of elastic rubber ring and adjusting strut, self-adapting telescopic spray gun assembly can be according to the real-time telescopic of workpiece surface curvature, utilize the rolling contact of roller against the outer wall of elastic rubber ring, change workpiece profile into telescopic movement of movable cylinder, to dynamically adjust the distance between spray gun and workpiece, ensure spraying uniformity;Adopt pure mechanical type self-adapting adjusting mechanism, reduce the dependence on electronic sensor, realize power-free feedback regulation by the physical contact of roller and elastic rubber ring, improve reliability and reduce energy consumption, suitable for high dust, high humidity industrial environment;Power device drives rotating support rod (workpiece bearing end) and rotating vertical rod (spray gun end) synchronous rotation, so that spray gun always follow along workpiece motion locus synchronous, eliminate the coating defects caused by relative motion deviation, especially suitable for full circle spraying of rotating workpiece.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying equipment, and in particular to a spraying robot capable of adaptively adjusting spraying distance. Background Art

[0002] In industrial production, spray robots are widely used in surface coating processes for automobiles, furniture, electronics, and other fields. Traditional spray robots typically use fixed spray guns or simple linearly adjustable spray devices. Their spray distance and angle must be pre-set, and they cannot adaptively adjust in real time based on changes in the shape or position of the workpiece. Especially for irregularly shaped workpieces or rotating workpieces moving on conveyor chains, it is difficult to maintain a constant distance between the spray gun and the workpiece surface, which can easily lead to uneven coating thickness. In addition, existing adaptive adjustment mechanisms often rely on sensors and complex control systems, resulting in redundant structures and high maintenance costs, making it difficult to meet the needs of efficient and low-cost production. Summary of the Invention

[0003] The present invention aims to solve one of the problems existing in the existing related technologies to at least a certain extent. To this end, the present invention proposes a spraying robot that can adapt to the spraying distance.

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

[0005] A spraying robot with adaptive spraying distance includes a conveyor chain and a connecting seat arranged on the conveyor chain, a rotating support rod is rotatably mounted on the connecting seat, a spray tray is arranged on the upper end of the rotating support rod, a spraying device is arranged on one side of the conveyor chain, the spraying device includes a base, a rotating vertical rod is rotatably mounted on the base, a plurality of adaptive telescopic spray gun assemblies are spaced apart above and below the rotating vertical rod, the adaptive telescopic spray gun assembly includes a cylinder coaxially fixed to the rotating vertical rod, and adjusting struts are densely distributed and telescopic along the circumference of the outer wall of the cylinder, and all the adjusting struts are arranged outside. The ends are jointly sleeved with an elastic rubber ring, the outer ends of each adjusting support rod are fixedly connected to the elastic rubber ring, and also include a fixed cylinder and a movable cylinder that can be flexibly extended and retracted, and a tension spring is connected between the fixed cylinder and the movable cylinder to enable both to maintain a retracted shape. A supporting vertical plate is also provided on the base, and each of the fixed cylinders is fixed on the supporting vertical plate. An extension rod and a spray gun are provided on the movable cylinder, and the extension rod extends toward the direction of the fixed cylinder and is provided with a roller that can roll against the outer wall of the elastic rubber ring. A power device that can drive the rotating support rod and the rotating vertical rod to rotate simultaneously is provided between the conveying chain and the spraying device.

[0006] In some embodiments, several of the adjustment struts 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 at upper and lower intervals, wherein the upper strut group includes upper struts that are evenly distributed along the circumference and telescoped on the outer wall of the cylinder, and the lower strut group includes lower struts that are evenly distributed along the circumference and telescoped on the outer wall of the cylinder, and 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 support rod and the lower support rod, 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 adjustment strut is provided at the upper end of the cylinder and above each adjustment strut.

[0009] In some embodiments, a U-shaped frame is provided at the rear end of the fixed cylinder, the rotating vertical rod is passed 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, a guide groove is provided on the side wall of the first telescopic hole, and a guide slider is provided on one side of the movable cylinder, one end of the movable cylinder is movably provided in the first telescopic hole, and the guide slider is slidably provided in the guide groove.

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

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

[0012] In some embodiments, a rotating annular seat coaxially arranged with the rotating vertical rod is rotatably mounted on the base, the supporting vertical plate is fixed on the rotating annular seat, and a transmission assembly is connected between the rotating support rod and the rotating annular seat. When the rotating support rod rotates, the rotating annular seat can be driven to rotate back and forth in the forward and reverse directions through the transmission assembly.

[0013] In some embodiments, the transmission assembly includes a third gear arranged on the rotating vertical pole, an arched fixing frame is provided on the base, a fourth gear that can mesh 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 is provided for sliding back and forth at the upper end of the arched fixing frame, the arched sliding frame slides above the fourth gear, and a first horizontal slide groove is provided on the arched sliding frame, the eccentric column is movably arranged in the first horizontal slide groove, an extension plate is provided on the rear side of the arched sliding frame, a guide rod is provided at the lower end of the extension plate, a second horizontal slide groove is provided on the rotating annular seat, and one end of the guide rod is movably arranged in the second horizontal slide groove.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Through the coordinated design of the elastic rubber ring and the adjustable support rod, the adaptive telescopic spray gun assembly can expand and contract 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 of 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 spraying uniformity.

[0016] 2. It adopts a purely mechanical adaptive adjustment mechanism to reduce dependence on electronic sensors. It realizes non-powered feedback adjustment through the physical contact between the roller and the elastic rubber ring, which improves reliability and reduces energy consumption. It is suitable for industrial environments with high dust and high humidity.

[0017] 3. The power device drives the rotating support rod (workpiece bearing end) and the rotating vertical rod (spray gun end) to rotate synchronously, so that the spray gun always follows the workpiece motion trajectory synchronously, eliminating coating defects caused by relative motion deviation. It is especially suitable for full-circle spraying of rotating workpieces.

[0018] 4. The coordinated design of the conveyor chain and the spraying device supports continuous operation. The multi-level distribution of the adaptive telescopic spray gun assembly can spray different height areas of the workpiece at the same time. Combined with the adaptive telescopic function, it significantly reduces manual intervention and downtime adjustment time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of the present invention;

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

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

[0022] Figure 4 This is the second structural diagram of the adaptive telescopic spray gun assembly of the present invention;

[0023] Figure 5 For the present invention Figure 4 Schematic diagram of the cross-sectional structure;

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

[0025] Figure 7 Schematic diagram of the cylinder and the adjustment rod of the present invention;

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

[0027] Figure 9 This is a schematic diagram of the adaptive telescopic spray gun assembly of the present invention when it swings. DETAILED DESCRIPTION

[0028] The following detailed description provides various embodiments or examples for implementing the present invention. Of course, these are merely examples or embodiments and are not intended to be limiting. Furthermore, repeated reference numerals, such as repeated numbers and / or letters, may be used in different embodiments. Such repetition is for simplicity and clarity in describing the present invention and does not imply a specific relationship between the different embodiments and / or configurations discussed.

[0029] like Figures 1-9 The spraying robot shown in the figure can adapt to the spraying distance, including a conveyor chain 1 and a connecting seat 2 arranged on the conveyor chain 1, a rotating support rod 3 is rotatably mounted on the connecting seat 2, a spray tray 4 is arranged at the upper end of the rotating support rod 3, and a spraying device is arranged on one side of the conveyor chain 1, the spraying device includes a base 5, a rotating vertical rod 6 is rotatably mounted on the base 5, and a plurality of adaptive telescopic spray gun assemblies are spaced apart above and below the rotating vertical rod 6, and the adaptive telescopic spray gun assembly includes a cylinder 7 coaxially fixed on the rotating vertical rod 6, and adjusting struts 8 are densely telescopically arranged on the outer wall of the cylinder 7 along the circumference, and elastic springs are commonly sleeved on the outer ends of all the adjusting struts 8. The outer ends of the adjusting struts 8 are fixedly connected to the elastic rubber ring 9, and also include a fixed cylinder 10 and a movable cylinder 11 that can be flexibly extended and retracted. A tension spring 16 is connected between the fixed cylinder 10 and the movable cylinder 11 to keep both in a retracted state. A support vertical plate 17 is also provided on the base 5, and each of the fixed cylinders 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 toward 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 provided between the conveying chain 1 and the spraying device.

[0030] According to the above structure, firstly, through the coordinated design of the elastic rubber ring 9 and the adjusting support rod 8, the adaptive telescopic spray gun assembly can be extended and retracted in real time according to the curvature of the workpiece surface. The roller 15 is used to roll against the outer wall of the elastic rubber ring 9 to convert the contour change of the workpiece into the telescopic movement of the movable cylinder 11, thereby dynamically adjusting the distance between the spray gun 12 and the workpiece to ensure uniformity of spraying.

[0031] It should be noted that the adjustment struts 8 are arranged relatively densely. When the roller 15 rests between the two adjustment struts 8, it will not be stuck in the two adjustment struts 8. At the same time, the tension of the tension spring 16 will not be too large, and will not press the elastic rubber ring 9 down, so that the roller 15 can roll in contact with the outer wall of the elastic rubber ring 9.

[0032] This application adopts a purely mechanical adaptive adjustment mechanism to reduce dependence on electronic sensors, and realizes unpowered feedback adjustment through physical contact between the roller 15 and the elastic rubber ring 9, thereby improving reliability and reducing energy consumption, and is suitable for industrial environments with high dust and high humidity.

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

[0034] The coordinated design of the conveyor chain 1 and the spraying device supports continuous operation. The multi-level distribution of the adaptive telescopic spray gun assembly can spray different height areas of the workpiece at the same time. Combined with the adaptive telescopic function, it significantly reduces manual intervention and downtime adjustment time.

[0035] See also Figure 3 、 Figure 7 As shown, several of the adjustment 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 up and down, 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; through the design of the upper strut group and the lower strut group distributed up and down, the adjacent upper struts 21 and the lower strut 22 can be made closer in the horizontal direction, ensuring that the roller 15 rolls more smoothly on the elastic rubber ring 9.

[0036] Furthermore, 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 can be fixedly connected to the inner wall of the elastic rubber ring 9 by glue.

[0037] Furthermore, a first bolt 41 for fixing the adjusting strut 8 is provided at the upper end of the cylinder 7 and above each adjusting strut 8. 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 tightened by the first bolt 41.

[0038] See also Figure 3-Figure 5 As shown, a U-shaped frame 51 is provided at the rear end of the fixed cylinder 10, the rotating vertical rod 6 is passed through the U-shaped frame 51, and one end of the U-shaped frame 51 is fixedly connected to the supporting vertical plate 17, and a first telescopic hole 52 is provided at the front end of the fixed cylinder 10, and a guide slide groove 53 is provided on the side wall of the first telescopic hole 52, and a guide slider 54 is provided on one side of the movable cylinder 11, one end of the movable cylinder 11 is movably provided in the first telescopic hole 52, and the guide slider 54 is slidably provided in the guide slide groove 53.

[0039] Furthermore, the movable cylinder body 11 includes an outer cylinder 61 and an inner cylinder 62 that can be movably extended at the front end of the outer cylinder 61. The rear end of the outer cylinder 61 can be movably extended in the first telescopic hole 52. The front end of the outer cylinder 61 is provided with a second telescopic hole 63. The inner cylinder 62 can be movably extended in the second telescopic 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.

[0040] The inner tube 62 can be telescoped forward and backward relative to the outer tube 61 to adjust the position, thereby adjusting the position of the spray gun 12, and has a wider range of applications.

[0041] See also Figure 1 、 Figure 8 As shown, the power device includes a motor 71, on the output shaft of the motor 71 are sequentially provided with a first pulley 72 and a first gear 73, on the rotating support rod 3 is provided with a second gear 74 that can engage with the first gear 73, on the rotating vertical rod 6 is provided with a second pulley 75, and a transmission belt 76 is 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 engages 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 thereby 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 pole 6 can drive the cylinder 7, the adjusting support rod 8 and the elastic rubber ring 9 to rotate, so that the movable cylinder 11 and the spray gun 12 can achieve unpowered 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 spray tray 4 and the workpiece on the spray tray 4 to rotate.

[0044] Furthermore, a rotating annular seat 81 coaxially arranged with the rotating vertical rod 6 is rotatably mounted on the base 5, the supporting vertical plate 17 is fixed on the rotating annular seat 81, and 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 to rotate back and forth in the forward and reverse directions through the transmission assembly.

[0045] The transmission assembly includes a third gear 91 provided on the rotating upright 6, an arched fixing frame 92 is provided on the base 5, a fourth gear 93 that can mesh with the third gear 91 is rotatably mounted on the arched fixing frame 92, an eccentric column 94 is provided at the upper end of the fourth gear 93, an arched sliding frame 95 is sliding back and forth at the upper end of the arched fixing frame 92, the arched sliding frame 95 slides above the fourth gear 93, and a first horizontal sliding groove 96 is provided on the arched sliding frame 95, the eccentric column 94 is movably provided in the first horizontal sliding groove 96, an extension plate 97 is provided on the rear side of the arched sliding frame 95, a guide rod 98 is provided at the lower end of the extension plate 97, a second horizontal sliding groove 99 is provided on the rotating annular seat 81, and one end of the guide rod 98 is movably provided in the second horizontal sliding groove 99.

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

[0047] The rotation of the rotating upright 6 drives the third gear 91 to rotate, and the third gear 91 meshes with the fourth gear 93 to drive the fourth gear 93 to rotate, and then the eccentric column 94 at the upper end of the fourth gear 93 cooperates with the first horizontal slide groove 96 on the arched sliding frame 95, thereby driving the arched sliding frame 95 to slide back and forth in the front and back 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 horizontal slide groove 99, thereby driving the rotating annular seat 81 to reciprocate in the forward and reverse directions, thereby driving the supporting upright plate 17, the fixed cylinder 10, the movable cylinder 11 and the spray gun 12 to swing back and forth (such as Figure 9 As shown), the spraying effect is greatly improved.

[0048] It should be noted that, with the rotating upright 6 as the center, the spray gun 12 is arranged in front of the rotating upright 6, and the support plate 17 is arranged behind the rotating upright 6. At the same time, the rotating upright 6, the rotating annular seat 81, the fixed cylinder 10, the movable cylinder 11 and the spray gun 12 are in a straight line in the front-to-back direction, and the guide rod 98 and the second horizontal slide groove 99 are located on one side of the straight line. Therefore, when the guide rod 98 pushes the second horizontal slide groove 99 in the front-to-back direction, the rotating annular seat 81 can rotate and swing, thereby driving 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 are shown and described above in conjunction with the accompanying drawings. Those skilled in the art should understand that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention as claimed. The scope of protection claimed in 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 conveyor chain (1) and a connecting seat (2) provided on the conveyor chain (1), a rotating support rod (3) rotatably mounted on the connecting seat (2), a spraying tray (4) provided at the upper end of the rotating support rod (3), and a spraying device provided on one side of the conveyor chain (1), characterized in that: The spraying device includes a base (5), a rotating vertical rod (6) is rotatably mounted on the base (5), and a plurality of adaptive telescopic spray gun assemblies are spaced apart above and below the rotating vertical rod (6), and the adaptive telescopic spray gun assembly includes a cylinder (7) coaxially fixed on the rotating vertical rod (6), and adjustment struts (8) are densely distributed along the circumference of the outer wall of the cylinder (7), and an elastic rubber ring (9) is commonly sleeved on the outer ends of all the adjustment struts (8), and the outer ends of each adjustment strut (8) are fixedly connected to the elastic rubber ring (9), and also includes a fixed cylinder (10) and a movable cylinder (11) that can be movably extended and retracted, and a tension spring (16) is connected between the fixed cylinder (10) and the movable cylinder (11) to keep the two in a retracted state, and a support vertical plate (17) is also provided on the base (5), and each of the fixed cylinders (10) is fixed on the support vertical plate (17), and an extension rod (14) and a spray gun (11) are provided on the movable cylinder (11). 2), 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), and a power device that can drive the rotating support rod (3) and the rotating vertical rod (6) to rotate simultaneously is provided between the conveying chain (1) and the spraying device, and the plurality of the adjusting support rods (8) are divided into an upper support rod group and a lower support rod group, and the upper support rod group and the lower support rod group are respectively provided on the cylinder (7) at an upper and lower interval, wherein, The upper support rod group includes an upper support rod (21) that is uniformly distributed along the circumference and is telescopically attached to the outer wall of the cylinder (7); the lower support rod group includes a lower support rod (22) that is uniformly distributed along the circumference and is telescopically attached to the outer wall of the cylinder (7); and the upper support rod (21) and the lower support rod (22) are arranged in sequence along the circumference in the horizontal direction. A vertical rod (31) is provided at the outer end of each of the upper support rod (21) and the lower support rod (22), and the outer end of the vertical rod (31) is fixedly connected to the inner wall of the elastic rubber ring (9).

2. 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 provided at the upper end of the cylinder (7) and above each adjusting strut (8).

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

4. The spraying robot with adaptive spraying distance according to claim 3, characterized in that: The movable cylinder (11) includes an outer cylinder (61) and an inner cylinder (62) that is movable and retractable at the front end of the outer cylinder (61). The rear end of the outer cylinder (61) is movable and retractable in the first telescopic hole (52). The front end of the outer cylinder (61) is provided with a second telescopic hole (63). The inner cylinder (62) is movable and retractable in the second telescopic 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).

5. 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 sequentially arranged 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 vertical rod (6), and a transmission belt (76) is connected between the first pulley (72) and the second pulley (75).

6. The spraying robot with adaptive spraying distance according to claim 5, characterized in that: A rotating annular seat (81) coaxially arranged with the rotating vertical rod (6) is rotatably mounted on the base (5); the supporting vertical 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 rotate back and forth in both directions.

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

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