Paint spraying robot

Abstract

The invention provides a paint spraying robot, and belongs to the technical field of robots. A main body cavity for loading paint is arranged in the main body box, a paint sprayer and a paint pump are mounted on the box, and the paint pump pumps the paint in the main body cavity to the sprayer; the camera assembly monitors the spraying state of the nozzle and the front environment. At least two groups of supporting leg assemblies are arranged on the lower surface of the main body box, the two groups are parallel in the X direction when overlooked, and each group comprises two branch legs parallel in the Y direction (perpendicular to the X direction). According to the branch leg structure, a mounting base is fixedly connected with the lower surface of the main box, and a first connecting rod is rotationally connected with the mounting base through a first Y-direction shaft and driven by a first steering engine; the second connecting rod is connected with the lower end of the first connecting rod through a second X-direction shaft and driven by a second steering engine. The third connecting rod is connected with the lower end of the second connecting rod through a third X-direction shaft and driven by a third steering engine, and walking wheels are arranged at the lower end of the third connecting rod and driven by a fifth steering engine to rotate. The robot adjusts the pitching angle of the nozzle through the supporting leg structure, reduces paint spraying dead angles and is suitable for operation in a complex environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of painting devices, and particularly relates to a painting robot. Background Art

[0002] With the development of technology, painting robots have gradually replaced manual labor to achieve metal surface spraying.

[0003] "A painting and touch-up repair robot" with application number CN118976617A discloses the following solution: The paint nozzle is driven to rotate horizontally by a telescopic cylinder to adjust the spraying direction; at the same time, a vertical movement mechanism is equipped to adjust the height of the nozzle, so as to adapt to different spraying positions.

[0004] However, this solution has a dead angle problem: in the prior art, the spraying direction of the paint nozzle always remains horizontal - the nozzle can only rotate horizontally to change the spraying orientation, but its own pitch angle remains fixed. For example, when the target spraying position is lower than the bottom plate of the robot, even if the nozzle descends to the lowest height of the vertical movement mechanism, the nozzle is still higher than the bottom plate. Since the spraying direction remains horizontal and cannot be tilted downward for spraying, the area below the bottom plate cannot be covered, forming a spraying blind area.

[0005] In summary, it is necessary to redesign a painting robot so that the paint nozzle can adjust the pitch angle and is no longer limited to horizontal spraying, thereby covering more positions and effectively reducing dead angles. Summary of the Invention

[0006] To solve the above problems, the present invention proposes a painting robot that can change the pitch angle of the nozzle and reduce the spraying blind area.

[0007] To achieve the above object, the present invention proposes the following technical solutions: A painting robot includes the following structures: A main body box, inside which there is a main body cavity for loading paint; A paint nozzle, installed on the main body box for spraying paint; a paint pump for pumping the paint in the main body cavity to the paint nozzle is installed on the main body box; A camera assembly, installed on the main body box for monitoring the spraying situation of the paint nozzle and the environment in front of the robot; At least two sets of leg assemblies, installed on the lower surface of the main body box; in a top-down view, it is set that the two sets of leg assemblies are arranged side by side in the X direction, and each set of leg assemblies includes two branch legs arranged side by side in the Y direction, and the Y direction is perpendicular to the X direction; Among them, the branch leg includes the following structures: A mounting seat, fixedly connected to the lower surface of the main body box; The first connecting rod has its upper end rotatably connected to the mounting base by shaft one. In a top-down view, the axis of shaft one is parallel to the Y direction. A first servo is mounted on the mounting base for rotating the first connecting rod. The second connecting rod has its upper end rotatably connected to the lower end of the first connecting rod by shaft two. In a top-down view, the axis of shaft two is parallel to the X direction. A second servo is mounted on the first connecting rod for rotating the second connecting rod. The third connecting rod has its upper end rotatably connected to the lower end of the second connecting rod by shaft three. In a top-down view, the axis of shaft three is parallel to the X direction. A third servo is mounted on the second connecting rod for rotating the third connecting rod. A walking wheel is mounted at the lower end of the third connecting rod, and a fifth servo for rotating the walking wheel is further included.

[0008] Furthermore, a plurality of feed ports are provided on the side of the main body box, and a paint box is mounted at any one of the feed ports through a magnetic attraction structure. Among them, the magnetic attraction structure includes: A plurality of connecting grooves are provided on the outer wall of the main body box. A plurality of connecting posts are mounted on the outer wall of the paint box, which are arranged in one-to-one correspondence with the connecting grooves and have matching positions. During installation, each connecting post can be inserted into the corresponding connecting groove. Magnets are bonded to the bottom of the connecting grooves and can attract the connecting posts. A communicating pipe is mounted on the paint box, with one end communicating with the inside of the paint box and the other end exposed. The exposed end of the communicating pipe is inserted into the feed port and communicates with the feed port. A manual ball valve is located in the paint box and mounted on the communicating pipe. The handwheel of the manual ball valve penetrates through the upper surface of the paint box for a person to rotate the ball core of the manual ball valve.

[0009] Use the paint in the paint box to fill the main body box with paint. When the paint in the main body box is exhausted and the paint in the paint box has completely flowed into the main body box, through the design of the magnetic attraction structure, remove the empty paint box and replace it with a full paint box. After replacement, manually open the communicating pipe using the manual ball valve to replenish the paint from the paint box to the main body box.

[0010] Furthermore, a feed pipe is mounted at the suction end of the paint pump. The end of the feed pipe away from the paint pump is located in the main cavity of the main body box and its end is below the paint liquid level in the main cavity. Its discharge end is mounted with a discharge pipe, and the end of the discharge pipe away from the paint pump is communicated with the paint spray head.

[0011] Utilize the pressure generated by the paint pump to achieve spraying at the paint spray head. Since the pressure generated during the operation of the paint pump is almost constant, it can ensure that the state of the paint spray head during spraying will not change significantly, ensuring that the spraying effect remains consistent.

[0012] Further, the lower end of the third link is rotatably connected to a steering rod, and the axis of the rotation shaft of the steering rod is parallel to the length direction of the third link; a fourth servo is installed on the third link for rotating the steering rod; a transverse shaft is rotatably connected to the steering rod, and in a top-down view, the axis of the transverse shaft is along the Y direction; the driving wheels are fixedly connected to the transverse shaft, and a fifth servo causes the driving wheels and the transverse shaft to rotate as a whole.

[0013] When the paint spray head sprays paint downward or upward, the second driving method requires the driving wheels to generate a displacement along the Y direction. By designing the fourth servo and the steering rod, it is possible to make the driving wheels turn first before displacing along the Y direction; make the axis direction of the transverse shaft perpendicular to the rolling direction of the driving wheels, which helps the driving wheels to always maintain rolling. If the fourth servo and the steering rod are not designed, the displacement of the driving wheels along the Y direction will be sliding friction, which will cause abrasion marks on the surface of the material being sprayed. The design of the fourth servo and the steering rod solves the problem of abrasion marks.

[0014] Further, the exposed end of the communicating pipe is sealed with the inner wall of the feed port through a rubber ring.

[0015] It can effectively avoid liquid leakage at the feed port, which can not only avoid waste of paint but also prevent the robot from being soiled by paint leakage.

[0016] Further, the paint tank is transparent.

[0017] The transparent paint tank allows the operator to directly observe the situation of the paint flowing into the main body cavity. After observing that the paint has completely flowed into the main body cavity, the operator promptly closes the communicating pipe through the manual ball valve to prevent the paint from flowing back into the paint tank.

[0018] Adopting the above technical solutions, the beneficial effects that can be achieved are: Through the movement of the leg assembly, the height of the front leg assembly can be reduced, and the main body box can be tilted forward, so that the paint spray head sprays paint downward; similarly, the height of the rear leg assembly can also be reduced, and the main body box can be tilted backward, so that the paint spray head sprays paint upward. The pitch angle of the paint spray head is changed, and the dead angle of painting is reduced. Description of the Drawings

[0019] Figure 1 is the overall structural schematic diagram of the device; Figure 2 is the internal sectional view of the paint tank; Figure 3 is the structural schematic diagram of the paint spray head and the main body box Figure 4 The structural schematic diagram of the mounting seat and the first link; Figure 5 is the structural schematic diagram of the first link and the second link; Figure 6 It is a schematic structural diagram of the second link and the third link; Figure 7 It is a schematic structural diagram of the third link and the traveling wheel; Figure 8 It is a schematic diagram of the first downward spraying method; Figure 9 It is a schematic diagram of the second downward spraying method.

[0020] 1. Main body box; 3. Paint box; 4. Feed inlet; 5. Connection groove; 6. Magnet; 7. Connection column; 8. Manual ball valve; 9. Handwheel; 10. Paint pump; 11. Paint spray head; 12. Camera assembly; 13. Leg assembly; 14. Mounting seat; 15. First link; 16. First servo; 17. Second link; 18. Second servo; 19. Third link; 20. Third servo; 21. Traveling wheel; 22. Fourth servo; 23. Connecting pipe; 24. Shaft 1; 25. Shaft 2; 26. Shaft 3. Specific embodiments

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0022] As Figure 1 shown, a painting robot includes the following structures: The main body box 1 has a main body cavity formed inside it for storing paint.

[0023] A plurality of paint boxes 3 are detachably mounted on the side wall of the main body box 1 through a magnetic attraction structure, and each paint box 3 does not interfere with each other. A feed inlet 2 (see Figure 2 ) is provided at the position between each paint box 3 and the side wall of the main body box 1. The feed inlet 2 is opened on the side wall of the main body box 1, and the corresponding paint box 3 is communicated with the main body cavity through the feed inlet 2.

[0024] As Figure 3, the connection method between the paint tank 3 and the main body tank 1 is as follows: Taking any one paint tank 3 as an example, a plurality of connecting grooves 5 are formed on the side wall of the main body tank 1. They are formed by cutting inward from the outer wall of the main body tank 1 and do not penetrate the side wall of the main body tank 1. A magnet 6, such as a neodymium magnet, is bonded to the bottom of the connecting groove 5. A plurality of iron connecting columns 7 are installed on the outer wall of the paint tank 3; the connecting grooves 5 and the connecting columns 7 are arranged in one-to-one correspondence and the positions match. During installation, the connecting column 7 is inserted into a connecting groove 5 at the corresponding position and is adsorbed and fixed by the magnet 6. A communicating pipe 23 is installed on the paint tank 3. One end of the communicating pipe 23 communicates with the internal cavity of the paint tank 3, and the other end is exposed. During installation, the exposed end is inserted into the feed port 42 of the main body tank 1. Thus, the paint tank 3 and the main body tank 1 are connected. The outer wall of the exposed end is sealed with the inner wall of the feed port 2 through a rubber ring. The rubber ring is sleeved on the exposed end of the communicating pipe 23, the outer wall of the rubber ring is closely attached to the inner wall of the feed port 2, and the inner wall of the rubber ring is closely attached to the outer wall of the communicating pipe 23.

[0025] A manual ball valve 8 is installed at one end of the communicating pipe 23 in the cavity of the paint tank 3, and its handwheel 9 extends out of the upper surface of the paint tank 3. When an operator fills the main body tank 1 with paint from the paint tank 3, the operator needs to rotate the handwheel 9, and the ball core of the ball valve 8 rotates to open the communicating pipe 23. At this time, the paint tank 3 and the main body tank 1 are connected. Since the pressure in the paint tank 3 is greater than the pressure in the main body tank 1, under the action of the pressure difference, the paint in the paint tank 3 flows into the main body cavity; when the communicating pipe 23 is closed, the paint does not flow into the main body cavity for the time being. In other embodiments, the communicating pipe 23 needs to be inclined so that the paint in the paint tank 3 naturally flows into the main body tank 1. The paint tank 3 is made of a transparent material, and the operator can directly observe the remaining paint in the paint tank 3. After almost all the paint in the paint tank 3 has entered the main body tank 1, the operator manually rotates the handwheel 9 and closes the communicating pipe 23. The paint in the main body tank 1 is sprayed out from the paint spray head 11. When the paint spray head 11 on the main body tank 1 can no longer spray paint, the empty paint tank 3 is removed and a paint tank 3 filled with paint is reinstalled, and the above operation is repeated.

[0026] A paint pump 10 (see Figure 3 ), its suction end is installed with a feed pipe. The end of the feed pipe away from the paint pump 10 is in the main body cavity of the main body tank 1 and the end is below the paint liquid level in the main body cavity; its discharge end is installed with a discharge pipe, and the end of the discharge pipe away from the paint pump 10 is installed with a paint spray head 11 and is connected to the paint spray head 11. The paint pump 10 is electrically connected to the control module on the robot and is controlled by the signal of the control module to realize the opening or closing of the paint pump 10. The paint pump 10 pumps the paint in the main body cavity to the paint spray head 11 for spraying to achieve the purpose of painting. It is set that the spraying direction of the paint spray head 11 is Figure 1 the X direction in

[0027] The camera assembly 12 is fixedly installed on the lower surface of the main body box 1. The lens axis of the camera assembly 12 is parallel to the X direction and faces the spraying direction of the paint spray head 11. The camera assembly 12 is also electrically connected to the control module and is controlled by the signal of the control module to realize the opening and closing of the camera assembly 12. The image captured by the camera assembly 12 is transmitted to the control module and then transmitted by the control module to the upper computer for display.

[0028] At least two sets of leg assemblies 13 are installed on the lower surface of the main body box 1. In the top-down view, the two sets of leg assemblies 13 are arranged in parallel along the X direction. Each set of leg assemblies 13 further includes two branch legs arranged in parallel along the Y direction, and the Y direction is perpendicular to the X direction. Each set of leg assemblies 13 is electrically connected to the control module on the robot and is controlled by the control module.

[0029] As Figure 4 、 Figure 5 and Figure 6 shown, the branch leg includes: The mounting seat 14 is fixedly installed on the lower surface of the main body box 1; The first connecting rod 15, the upper end of which is rotatably connected to the mounting seat 14 by the first shaft 24; the specific installation method is: the first shaft 24 is fixedly connected to the first connecting rod 15, and the first shaft 24 is rotatably connected to the mounting seat 14 by a bearing. In the top-down view, the axis of the first shaft 24 is parallel to the Y direction. The first servo motor 16 (a servo motor with a reducer, having a power-off self-locking structure) on the mounting seat 14 drives the first connecting rod 15 to rotate through gear meshing. The first servo motor 16 is electrically connected to the control module and relies on self-locking to prevent the first connecting rod 15 from freely rotating when there is no signal. The specific structure of the gear meshing is: a first driven gear is installed at one end of the first shaft 24, and a first driving gear is installed at the output end of the reducer of the first servo motor 16, and the first driving gear meshes with the first driven gear.

[0030] The second connecting rod 17 (see Figure 5 ), the upper end of which is rotatably connected to the lower end of the first connecting rod 15 by the second shaft 25; the specific installation method is: the second shaft 25 is fixedly connected to the second connecting rod 17, and the second shaft 25 is rotatably connected to the lower end of the second connecting rod 17 by a bearing. In the top-down view, the axis of the second shaft 25 is parallel to the X direction. The second servo motor 18 (a servo motor with a reducer, having a power-off self-locking structure) is installed on the first connecting rod 15. The output end of the reducer of the second servo motor 18 is fixedly connected to the second shaft 25, and the second servo motor 18 drives the second connecting rod 17 to rotate through its reducer; the same as the aforementioned first servo motor 16, the second servo motor 18 is controlled by the control module to realize rotation, which will not be elaborated here.

[0031] The third connecting rod 19 has its upper end rotatably connected to the lower end of the second connecting rod 17 by means of shaft three 26; specifically, the installation method is as follows: Shaft three 26 is fixedly connected to the third connecting rod 19, and shaft three 26 is rotatably connected to the lower end of the second connecting rod 17 by means of a bearing. In a top-down view, the axis of shaft three 26 is parallel to the X direction. A third servo 20 (a servo motor with a reducer, having a power-off self-locking structure) is installed on the second connecting rod 17, which causes the third connecting rod 19 to rotate relative to the second connecting rod 17. The output end of the reducer of the third servo 20 is fixedly connected to shaft three 26, and the third servo 20 drives the third connecting rod 19 to rotate through its reducer. Similar to the aforementioned first servo 16 and second servo 18, the third servo 20 is controlled by the control module to achieve rotation, which will not be elaborated here.

[0032] The steering rod (see Figure 7 ), is rotatably connected to the lower end of the third connecting rod 19, and the axis of the rotating shaft of the steering rod is parallel to the length direction of the third connecting rod 19; A fourth servo 22 (a servo motor with a reducer, having a power-off self-locking structure) is installed on the third connecting rod 19. The output end of the reducer of the fourth servo 22 is connected to a second driving gear, and a second driven gear is fixedly connected to the steering rod. The second driving gear meshes with the second driven gear, and the fourth servo 22 drives the steering rod to rotate. The fourth servo 22 is controlled by the control module to achieve rotation, which will not be elaborated here.

[0033] The horizontal shaft is passed through the steering rod. In a top-down view, the axis of the horizontal shaft is along the Y direction. The horizontal shaft is rotatably connected to the steering rod by means of a bearing, and walking wheels 21 are fixedly connected to both ends of the horizontal shaft respectively. The walking wheels are magnetic attraction wheels and can rely on magnetic force to adsorb the surface of the working area (ferrous material). A fifth servo (a servo motor with a reducer, having a power-off self-locking structure) is installed on the steering rod. A third driving gear is fixedly connected to the output shaft of the reducer of the fifth servo, and a third driven gear is fixedly connected to the horizontal shaft. The third driving gear meshes with the third driven gear, and the fifth servo drives the walking wheels 21 to rotate through the third driving gear and the third driven gear. The fifth servo is electrically connected to the control module. Similar to the aforementioned other servos, the fifth servo is controlled by the control module to achieve rotation, which will not be elaborated here.

[0034] The usage process of this device is as follows: The operator places this robot in the area to be spray-painted. The control module is sent a camera-on instruction through the host computer. After receiving the instruction, the control module turns on the camera assembly (with night vision function). The images captured by the camera assembly are transmitted to the control terminal (host computer) by means of wired transmission. The operator observes the images of the working area according to the images and manually judges whether to move forward or spray paint. If forward movement is required, the controller sends a walking instruction to the control module of the robot through the control terminal (such as the host computer). After receiving the corresponding instruction, the control module controls the fifth servos on each leg assembly 13 to act, thereby achieving walking.

[0035] When the operator observes the area to be painted or repainted in the image transmitted to the host computer by the camera component, the operator first stops sending the walking command, the fifth servo stops rotating, and the entire robot remains in a certain position.

[0036] If the paint spray head needs to spray downward or tilted, there are two ways to achieve it: Take the downward spraying as an example: for the convenience of description, the two groups of leg assemblies 13 are respectively recorded as the front leg assembly and the rear leg assembly. Among them, the front leg assembly is close to the paint spray head.

[0037] The first method of spraying in a downward direction: the operator controls the two first steering gears 16 of the front leg assembly to rotate, and in the Y direction, the two running wheels on the entire front leg assembly are displaced along the X direction, so that the front end of the main box 1 is lower than the rear end, so that the paint spray head sprays in an inclined direction toward the front side. Figure 8 .

[0038] The second method of spraying in a downward direction: the operator first drives the two fourth steering gears 22 of the front outrigger assembly to rotate the steering rod, the horizontal axis, and the running wheel 21 on the corresponding outrigger assembly by 90 degrees as a whole, so that the running wheel 21 can move in the Y direction. Then, by driving the second steering gear 18 and the third steering gear 20, the running wheels 21 on the two outrigger assemblies are separated from each other, so that the front end of the main box 1 is lower than the rear end, so that the paint spray head sprays in an inclined direction toward the front side. Figure 9 .

[0039] In both control methods, the host computer sends control instructions to the control module, and the control module controls the first steering gear 16, the second steering gear 19, the third steering gear 20 or the fourth steering gear 22 accordingly, thereby achieving the above-mentioned actions.

[0040] In the two modes, the walking wheels 21 of the front leg assembly move in different directions and are suitable for different working environments. The first mode is suitable for the case where the working length is long in the X direction; the second mode is suitable for the case where the working length is long in the Y direction. The operator needs to use different modes for control according to the actual situation and his own experience. By spraying the paint nozzle in a downward or upward direction, the pitch angle of the paint nozzle is changed, and the dead angle of the paint spraying is reduced. Moreover, the robot of this solution itself is suitable for working environments that cannot be reached by manual painting.

[0041] The upward spraying method is the same as the above method, the difference is that it is necessary to control the rear leg assembly to perform corresponding actions, so it will not be repeated here.

[0042] After changing the pitch angle of the paint nozzle, the operator uses the host computer to send a paint spraying instruction to the control module via wired means. After receiving the paint spraying instruction, the control module starts the paint spraying pump, and the paint spraying pump draws the paint to the paint nozzle and sprays it out, thus completing the painting work at that location.

[0043] After the painting at this location is completed, the operator continues to control the movement and painting of the robot in the above manner according to the images fed back by the camera assembly until the painting of all positions is completed. When the operator observes that no more paint is being sprayed in the images captured by the camera assembly, it indicates that the paint in the main tank has been exhausted. The operator drives the robot out of the working area, replaces the full paint tank, waits for the paint in the paint tank to completely flow into the main tank, closes the corresponding manual ball valve, and resumes the above painting work.

[0044] Inspired by the ideal embodiments of the present invention described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A spray painting robot, characterized in that, It includes the following structures: A main body box with a main cavity for loading paint opened inside; A paint spray head installed on the main body box for spraying paint; a paint pump for pumping the paint in the main cavity to the paint spray head is installed on the main body box; A camera assembly installed on the main body box for monitoring the spraying condition of the paint spray head and the environment in front of the robot; At least two sets of leg assemblies installed on the lower surface of the main body box; in a top-down view, it is set that the two sets of leg assemblies are arranged side by side in the X direction, and each set of leg assemblies includes two branch legs arranged side by side in the Y direction, and the Y direction is perpendicular to the X direction; Among them, the branch leg includes the following structures: A mounting seat fixedly connected to the lower surface of the main body box; A first connecting rod, the upper end of which is rotatably connected to the mounting seat by a shaft one. In a top-down view, the axis of the shaft one is parallel to the Y direction; a first servo motor for rotating the first connecting rod is installed on the mounting seat; A second connecting rod, the upper end of which is rotatably connected to the lower end of the first connecting rod by a shaft two. In a top-down view, the axis of the shaft two is parallel to the X direction; a second servo motor for rotating the second connecting rod is installed on the first connecting rod; A third connecting rod, the upper end of which is rotatably connected to the lower end of the second connecting rod by a shaft three. In a top-down view, the axis of the shaft three is parallel to the X direction; a third servo motor for rotating the third connecting rod is installed on the second connecting rod; A walking wheel is installed at the lower end of the third connecting rod, and a fifth servo motor for rotating the walking wheel is also included.

2. The paint spraying robot according to claim 1, wherein, A plurality of feeding ports are opened on the side surface of the main body box, and a paint box is installed at any one of the feeding ports through a magnetic attraction structure; among them, the magnetic attraction structure includes: A plurality of connecting grooves opened on the outer wall of the main body box; A plurality of connecting columns installed on the outer wall of the paint box, which are arranged in one-to-one correspondence with the connecting grooves and have matching positions; during installation, each connecting column can be inserted into the corresponding connecting groove; A magnet adhered to the bottom of the connecting groove, which can adsorb the connecting column; A connecting pipe is installed on the paint box, one end of which is communicated with the inside of the paint box, and the other end is exposed. The exposed end of the connecting pipe is inserted into the feeding port and communicated with the feeding port; A manual ball valve is in the paint box and installed on the connecting pipe. The handwheel of the manual ball valve penetrates through the upper surface of the paint box for a person to rotate the ball core of the manual ball valve.

3. A paint spraying robot according to claim 1, characterized in that, The suction end of the paint pump is installed with a feeding pipe. The end of the feeding pipe far from the paint pump is in the main cavity of the main body box and the end is below the paint liquid level in the main cavity. Its discharge end is installed with a discharge pipe, and the end of the discharge pipe far from the paint pump is communicated with the paint spray head.

4. A paint spraying robot according to claim 1, characterized in that, The lower end of the third connecting rod is rotatably connected with a steering rod. The axis of the rotating shaft of the steering rod is parallel to the length direction of the third connecting rod; a fourth servo motor for rotating the steering rod is installed on the third connecting rod; a horizontal shaft is rotatably connected to the steering rod. In a top-down view, the axis of the horizontal shaft is along the Y direction; the walking wheel is fixedly connected to the horizontal shaft, and the fifth servo motor makes the walking wheel and the horizontal shaft rotate as a whole.

5. A paint spraying robot according to claim 1, characterized in that, The exposed end of the connecting pipe is kept sealed with the inner wall of the feeding port through a rubber ring.

6. A paint spraying robot according to claim 2, wherein, The paint box is transparent.

Images