Robot reciprocating type automatic spraying mechanism

Abstract

The utility model relates to the technical field of reciprocating type automatic spraying mechanisms, and discloses a robot reciprocating type automatic spraying mechanism which comprises a fixing plate, a power assembly is arranged at the bottom of the fixing plate, the output end of the power assembly is fixedly connected with a transmission shaft, a reciprocating assembly is arranged at the top of the fixing plate, and the reciprocating assembly comprises a rocker arm. A plurality of positioning holes are formed in the rocker arm, one end of the rocker arm is rotationally connected with a movable column, a plurality of limiting seats are arranged on one side of the top of the fixing plate, and a spraying assembly is arranged at one end of the movable column. According to the utility model, the position of the transmission shaft on the rocker arm can be adjusted according to the actual spraying stroke requirement, and after the transmission shaft is fixed by the bolt, the driving motor drives the rocker arm to rotate through the transmission shaft, so that the movable column drives the sprayer to perform reciprocating spraying operation, and the effect of quickly adjusting the spraying stroke according to the requirement is achieved; the problems that a traditional spraying mechanism is fixed in stroke and difficult to adapt to different workpieces are solved, and the equipment applicability is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of reciprocating automatic spraying mechanisms, and in particular to a robotic reciprocating automatic spraying mechanism. Background Technology

[0002] In modern industrial production, robotic reciprocating automatic spraying mechanisms are widely used in many industries such as automobile manufacturing, machinery processing, and home appliance production as core equipment for achieving efficient and precise surface coating. As the market continues to raise the requirements for product appearance quality and production efficiency, automatic spraying mechanisms need to have high flexibility and adaptability to meet diverse production needs. Through the coordinated operation of robots and reciprocating motion systems, these mechanisms can replace manual labor in completing complex and repetitive spraying operations, which not only reduces labor intensity but also significantly reduces the problem of unstable spraying quality caused by human operation factors.

[0003] Existing robotic reciprocating automatic spraying mechanisms typically consist of an industrial robot body, a linear reciprocating motion device, a spraying system, and a control system. The industrial robot often employs a multi-joint structure, enabling it to flexibly adjust the position and orientation of the spray gun in three-dimensional space. The linear reciprocating motion device is generally based on linear guides and servo motors. By mounting the robot on a slider, it achieves linear reciprocating motion along the guide direction, thereby expanding the spraying coverage area. The spraying system includes a spray gun, paint supply pipelines, and an atomizing device. Compressed air or electrostatic action atomizes the paint and evenly adheres it to the workpiece surface. The control system precisely controls the robot's motion trajectory, reciprocating speed, and spraying parameters through preset program instructions. During operation, the robot, driven by the linear reciprocating motion device, drives the spray gun to continuously spray the workpiece at a fixed station according to the programmed path. The entire process is automated, requiring minimal human intervention.

[0004] However, existing robotic reciprocating automatic spraying mechanisms have significant limitations in practical applications. Their spraying stroke is often designed with a fixed parameters, making it difficult to quickly adjust to different workpiece sizes and spraying requirements once determined. When faced with workpieces of different specifications, operators either need to spend a lot of time readjusting the equipment and setting parameters, or they can only use a general spraying solution with poor adaptability. This not only leads to low spraying efficiency but also causes problems such as paint waste and uneven spraying, greatly limiting the applicability of the equipment. In addition, the process of changing the spray head of traditional spraying mechanisms is also cumbersome, usually requiring the use of multiple tools for disassembly and installation, and complex calibration work is required after reinstallation. This results in excessive downtime when changing the spray head, seriously affecting the overall production progress and work efficiency, and making it difficult to meet the urgent needs of modern industrial production for rapid switching and high-efficiency production. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a robotic reciprocating automatic spraying mechanism, which aims to improve the problems of fixed stroke and difficulty in adapting to different workpieces in the existing spraying mechanism.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A robotic reciprocating automatic spraying mechanism includes a fixed plate, a power component is provided at the bottom of the fixed plate, a drive shaft is fixedly connected to the output end of the power component, a reciprocating component is provided at the top of the fixed plate, and the outer wall of the drive shaft is slidably connected to the inside of the reciprocating component.

[0008] The reciprocating assembly includes a rocker arm with multiple positioning holes arranged in an array inside. The outer wall of the drive shaft is slidably connected to the inner wall of the positioning holes. A limit assembly is provided inside the drive shaft. A movable column is rotatably connected to one end of the rocker arm. Multiple limit seats are provided on one side of the top of the fixed plate, arranged in an array. The bottom of each limit seat is fixedly connected to the top of the fixed plate. The outer wall of the movable column is slidably connected to the inside of the movable column. A spraying assembly is provided at one end of the movable column.

[0009] Furthermore, the power assembly includes a drive motor, and multiple support arms are fixedly connected to the outer wall of the drive motor. The support arms are distributed in a circumferential shape, and the top of each support arm is fixedly connected to the bottom of the fixed plate. The output end of the drive motor is fixedly connected to the bottom of the transmission shaft.

[0010] Furthermore, the limiting component includes symmetrical limiting blocks, the outer wall of the limiting block is slidably connected to the inside of the transmission shaft, and each limiting block is provided with a limiting spring on its side wall. One end of each limiting spring is fixedly connected to the inside of the transmission shaft, and the other end of each limiting spring is fixedly connected to the side wall of the limiting block.

[0011] Furthermore, a pin is slidably connected inside the drive shaft, and a pull ring is slidably connected inside one end of the pin. The outer walls of the limiting blocks are all slidably connected in the grooves corresponding to the pin.

[0012] Furthermore, the spraying assembly includes a sprayer, the sidewall of which is fixedly connected to one end of the movable column, a connecting pipe is fixedly connected to the top of the sprayer, and a base is fixedly connected to the bottom of the sprayer. Multiple limiting balls are slidably connected inside the base, and the limiting balls are distributed in a circumferential shape.

[0013] Furthermore, a spray head is slidably connected to the inner wall of the base, and multiple guide rails are fixedly connected to the top of the outer wall of the spray head. The guide rails are distributed in a circumferential shape, and the outer walls of the guide rails are slidably connected to grooves inside the base. A limiting groove is formed on the top of the outer wall of the spray head.

[0014] Furthermore, a sleeve is slidably connected to the outer wall of the base, and a limit ring is fixedly connected to the inner wall of the sleeve. The inner wall of the limit ring is slidably connected to the outer wall of the base.

[0015] Furthermore, a second limiting spring is sleeved on the upper part of the outer wall of the base. One end of the second limiting spring is fixedly connected to the outer wall of the base, and the other end of the second limiting spring is fixedly connected to the top of the outer wall of the limiting ring.

[0016] This utility model has the following beneficial effects:

[0017] 1. In this utility model, the operator adjusts the position of the transmission shaft inserted into the rocker arm positioning hole according to the actual spraying stroke requirements. After fixing it with a pin, the drive motor drives the transmission shaft to rotate, causing the rocker arm to drive the movable column to slide back and forth in the limit seat, thereby driving the sprayer to perform reciprocating spraying operations. This achieves the effect of quickly adjusting the spraying stroke according to the requirements, solving the problem of fixed stroke and difficulty in adapting to different workpieces in traditional spraying mechanisms, and improving the applicability and spraying efficiency of the equipment.

[0018] 2. In this utility model, when the spray head needs to be replaced, the operator slides the sleeve upward, causing the limiting ring to move upward and compress the limiting spring, so that the limiting ball slides out of the limiting groove, releasing the limitation on the spray head, and the spray head can be removed. When installing a new spray head, its guide rail is aligned with the base groove and inserted. The sleeve is then released, and under the push of the limiting spring, the limiting ring squeezes the limiting ball and re-locks it into the limiting groove, achieving the effect of quickly replacing different spray heads. This solves the problem of cumbersome and time-consuming replacement of traditional spray heads, and improves the flexibility and efficiency of equipment use. Attached Figure Description

[0019] Figure 1 This is a perspective view of a robotic reciprocating automatic spraying mechanism proposed in this utility model;

[0020] Figure 2 This is a schematic diagram of the rocker arm structure of a robotic reciprocating automatic spraying mechanism proposed in this utility model.

[0021] Figure 3 for Figure 2 Enlarged view of the structure at point A in the middle;

[0022] Figure 4 This is a schematic diagram of the sprayer structure of a robot reciprocating automatic spraying mechanism proposed in this utility model;

[0023] Figure 5 for Figure 4 Enlarged view of the structure at point B.

[0024] Legend:

[0025] 1. Fixed plate; 2. Drive motor; 3. Support arm; 4. Drive shaft; 5. Rocker arm; 6. Positioning hole; 7. Pin; 8. Pull ring; 9. Limiting spring one; 10. Limiting block; 11. Movable column; 12. Limiting seat; 13. Sprayer; 14. Connecting pipe; 15. Spray head; 16. Guide rail; 17. Limiting groove; 18. Base; 19. Limiting ball; 20. Sleeve; 21. Limiting ring; 22. Limiting spring two. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Reference Figure 1 - Figure 3 The present invention provides an embodiment of a robot reciprocating automatic spraying mechanism, comprising a fixed plate 1, which is made of aluminum alloy and has high strength and stability. The fixed plate 1 is used to connect the robot's robotic arm with other components of the mechanism and to provide an installation base for the entire spraying mechanism. A power component is provided at the bottom of the fixed plate 1 to provide power to the mechanism. A transmission shaft 4 is fixedly connected to the output end of the power component. The transmission shaft 4 is made of stainless steel. A reciprocating component is provided at the top of the fixed plate 1. The outer wall of the transmission shaft 4 is slidably connected to the inside of the reciprocating component. The reciprocating component is responsible for converting the rotation of the transmission shaft 4 into the reciprocating motion of the spraying component.

[0028] The reciprocating assembly includes a rocker arm 5, made of alloy steel, which has good strength and toughness and can withstand large torque and impact forces. Multiple positioning holes 6 are arranged in an array inside the rocker arm 5. These positioning holes 6 are formed inside the rocker arm 5 through machining and are used to adjust the insertion position of the drive shaft 4, thereby changing the rotation radius of the rocker arm 5 and achieving different reciprocating strokes. The outer wall of the drive shaft 4 is slidably connected to the inner wall of the positioning holes 6. A limit assembly is installed inside the drive shaft 4 to fix its position in the positioning holes 6 and prevent it from loosening during operation. One end of the rocker arm 5 is rotatably connected to a movable column 11 via a pin. The movable column 11 is made of aluminum alloy and is used to convert the rotation of the rocker arm 5 into linear reciprocating motion. The movable column 11 is reciprocating along a predetermined trajectory. Multiple limiting seats 12 are arranged in an array on one side of the top of the fixed plate 1. The bottom of each limiting seat 12 is fixedly connected to the top of the fixed plate 1 by bolts. These limiting seats provide guidance and limitation for the sliding of the movable column 11, ensuring that the movable column 11 reciprocates along a predetermined trajectory. The outer wall of the movable column 11 is slidably connected to the interior of the movable column 11. One end of the movable column 11 is equipped with a spraying assembly for spraying operations. The power assembly includes a drive motor 2, which converts electrical energy into mechanical energy. A servo motor is selected to meet the requirements of different spraying operations for power output accuracy and stability. Multiple support arms 3 are fixedly connected to the outer wall of the drive motor 2 by bolts. The support arms 3 are L-shaped. The steel plate supports and fixes the drive motor 2, ensuring its stability during operation. The support arms 3 are circumferentially distributed, and their tops are bolted to the bottom of the fixing plate 1. The output end of the drive motor 2 is fixed to the bottom of the transmission shaft 4 via a coupling, transmitting power to the transmission shaft 4 and causing it to rotate. The limiting assembly includes symmetrical upper and lower limiting blocks 10 made of copper alloy, which cooperate with the pins 7 to fix the position of the transmission shaft 4. The outer wall of the limiting blocks 10 is slidably connected to the inside of the transmission shaft 4. Limiting springs 9, made of spring steel, are provided on the side walls of the limiting blocks 10 to provide a restoring force, allowing them to lock. The pin 7 is inserted into the recess of the drive shaft 4. One end of the limiting spring 9 is fixedly connected to the inside of the drive shaft 4, and the other end of the limiting spring 9 is fixedly connected to the side wall of the limiting block 10. The drive shaft 4 is slidably connected to the pin 7. The pin 7 is made of metal and is used to insert into the hole inside the drive shaft 4. It cooperates with the limiting block 10 to fix the drive shaft 4. One end of the pin 7 is slidably connected to the pull ring 8. The pull ring 8 is a metal ring, which makes it convenient for the operator to insert and remove the pin 7. The pin 7 can be inserted into or removed from the drive shaft 4 more easily through the pull ring 8. The outer wall of the limiting block 10 is slidably connected to the groove corresponding to the pin 7. When the pin 7 is inserted into the drive shaft 4, the limiting block 10 is locked into the groove of the pin 7 under the action of the limiting spring 9, thereby fixing the drive shaft 4.

[0029] Specifically, when using the reciprocating automatic spraying mechanism of this robot, the operator first aligns the fixing plate 1 with the mounting holes on the robot's robotic arm and installs the fixing plate 1 on the robot's robotic arm using bolts or other connectors. Then, based on the actual reciprocating stroke requirements, the operator determines the insertion position of the drive shaft 4 in the rocker arm 5. After selecting a suitable positioning hole 6, the operator inserts the drive shaft 4 into the positioning hole 6. After insertion, the operator picks up the pin 7 and pushes it towards the hole inside the drive shaft 4. Under the pushing force of the operator's hand, the pin 7 moves linearly from its external position to the internal hole of the drive shaft 4, inserting into the hole inside the drive shaft 4. As the pin 7 is inserted, the limiting block 10 is compressed and retracts towards the inside of the drive shaft 4, compressing the limiting spring 9. When the pin 7 is fully inserted, the limiting spring 9... The elastic potential energy is released, pushing the limiting block 10 to move towards the pin 7. The limiting block 10 finally gets into the recess of the pin 7, thus fixing the transmission shaft 4. After fixing the transmission shaft 4, the operator operates the control equipment to send a start signal to the drive motor 2. The output end of the drive motor 2 drives the transmission shaft 4, which is fixedly connected to it, to rotate. The transmission shaft 4 and the rocker arm 5 are fixedly connected through the positioning hole 6 and the pin 7. When the transmission shaft 4 rotates, the transmission shaft 4 drives the rocker arm 5 to rotate around the rotation connection point between it and the fixed plate 1. When the rocker arm 5 rotates, the rocker arm 5 applies a pulling or pushing force to the movable column 11. This reciprocating motion causes the displacement of the movable column 11 to drive the spraying assembly to reciprocate. During the motion, the spraying operation is carried out, and the paint is evenly sprayed onto the surface of the target object, thus completing the reciprocating spraying operation. This achieves the effect of quickly adjusting the spraying stroke according to the needs.

[0030] Reference Figure 4 and Figure 5The spraying assembly includes a sprayer 13, which is composed of a high-strength metal shell and internal components such as a pressure booster. The sprayer 13 supports and mounts components such as the spray head 15, and reciprocates under the drive of the movable column 11 to complete the spraying task. The sidewall of the sprayer 13 is fixedly connected to one end of the movable column 11 by bolts. A connecting pipe 14, typically made of chemically corrosion-resistant metal, is fixedly connected to the top of the sprayer 13. This connecting pipe connects to an external paint delivery pipeline, introducing paint into the sprayer 13 to ensure stable paint delivery. A base is fixedly connected to the bottom of the sprayer 13. 18. The base 18 is made of stainless steel, possessing high strength and wear resistance. It is used to install and fix the spray head 15 and related limiting components. Multiple limiting balls 19, also made of stainless steel, are slidably connected inside the base 18, arranged in a circumferential pattern. These balls limit the position of the spray head 15, preventing displacement during spraying. The spray head 15 is slidably connected to the inner wall of the base 18. The spray head 15 is the core component for paint spraying and is made of metal and a special material resistant to paint corrosion. Multiple guide rails 16 are fixedly connected to the top of the outer wall of the spray head 15 by welding. The guide rails 16 are distributed in a circumferential shape, and their outer walls are slidably connected to grooves inside the base 18. These guide rails provide guidance for the installation and removal of the spray head 15 and ensure its stable operation during spraying. A limiting groove 17 is formed at the top of the outer wall of the spray head 15 through machining. This groove 17 engages with a limiting ball 19 to limit and fix the spray head 15. A sleeve 20 is slidably connected to the outer wall of the base 18. The sleeve 20 is made of metal and has anti-slip textures on its outer wall. A limiting ring 21 is fixedly connected to the inner wall of the sleeve 20. The limiting ring 21 is made of the same material as the sleeve 20. After the spray head 15 is installed in place, the limiting ball 19 is squeezed to lock into the limiting groove 17, thus fixing the position of the spray head 15. The inner wall of the limiting ring 21 is slidably connected to the outer wall of the base 18. A limiting spring 22 is sleeved on the upper part of the outer wall of the base 18. The limiting spring 22 is made of spring steel and has good elasticity. It is used to provide a restoring force for the limiting ring 21, ensuring that the limiting ring 21 can stably squeeze the limiting ball 19 and achieve reliable limiting of the spray head 15. One end of the limiting spring 22 is fixedly connected to the outer wall of the base 18, and the other end of the limiting spring 22 is fixedly connected to the top of the outer wall of the limiting ring 21.

[0031] Specifically, when the spray head 15 needs to be changed according to different spraying tasks, the operator holds the outer wall of the sleeve 20 and slides the sleeve 20 upward with the base 18 as the support point. The sleeve 20 is fixedly connected to the limiting ring 21. When the sleeve 20 moves, the limiting ring 21 moves synchronously. At the same time, the upward movement of the limiting ring 21 causes the limiting spring 22, which is sleeved on the outer wall of the base 18, to be gradually compressed, and its elastic potential energy continuously increases. As the limiting ring 21 moves, the elastic potential energy of the limiting spring 22, which was originally compressed by the outer wall of the limiting ring 21, increases. The multiple limiting balls 19 pressed against the inner wall of the limiting groove 17 lose their lateral compressive force. When the limiting ring 21 is no longer pressing down, the limiting balls 19 slide out of the limiting groove 17. The limiting balls 19 change from being embedded in the limiting groove 17 and restricting the position of the spray head 15 to being completely detached from the limiting groove 17, thus eliminating the restriction on the spray head 15. At this point, the worker holds the spray head 15 with both hands and applies a downward pulling force, allowing the worker to remove the spray head 15. The worker then places the removed spray head 15 aside and picks up... The new spray head 15 is aligned with the guide rail 16 on its top and the groove on the inner wall of the base 18. The operator then holds the new spray head 15, aligns the guide rail 16 with the groove on the inner wall of the base 18, and moves it linearly inwards into the base 18, inserting the guide rail 16 into the groove. After the new spray head 15 is fully inserted, the limiting groove 17 on its outer top also aligns with the position of the limiting ball 19. The operator then releases their grip on the sleeve 20. At this point, the previously compressed limiting ball... Spring 22 begins to release its elastic potential energy. Sleeve 20 and limiting ring 21 return to their original positions under the pushing force of limiting spring 22. As limiting ring 21 resets, the outer wall of limiting ring 21 re-presses limiting ball 19. Under the pressure of limiting ring 21, limiting ball 19 is finally squeezed into limiting groove 17. After limiting ball 19 is inserted into limiting groove 17, it fits tightly with limiting groove 17, restricting the movement of spray head 15, thereby completing the limiting of spray head 15, thus achieving the effect of quickly changing different spray heads 15.

[0032] Working principle: When using the reciprocating automatic spraying mechanism of this robot, the operator first installs the fixing plate 1 on the robot's mechanical arm. Then, the operator adjusts the insertion position of the drive shaft 4 according to the actual reciprocating stroke requirements. After confirmation, the operator inserts the drive shaft 4 into the positioning hole 6 inside the rocker arm 5, and then inserts the pin 7 into the hole inside the drive shaft 4. This causes the limit springs 9 on the upper and lower sides of the drive shaft 4 to push the limit block 10 into the recess of the pin 7, thus completing the fixation. Then, the drive motor 2 drives the drive shaft 4 to rotate, which in turn drives the rocker arm 5 to rotate. The rotation of the rocker arm 5 causes the movable column 11 to slide back and forth inside the limit seat 12. The displacement of the limit seat 12 then drives the sprayer 13 to reciprocate, thus completing the reciprocating spraying operation. This achieves the effect of quickly adjusting the spraying stroke according to the requirements.

[0033] When the spray head 15 needs to be replaced according to different spraying tasks, the operator first slides the sleeve 20 upward. The displacement of the sleeve 20 causes the limiting ring 21 on its inner wall to also move upward. At the same time, the limiting spring 22 is compressed. The displacement of the limiting ring 21 causes the multiple limiting balls 19, which were originally pressed against the inner wall of the limiting groove 17 by the outer wall of the limiting ring 21, to lose the lateral pressure and slide out from the inside of the limiting groove 17. This makes the limitation on the spray head 15 disappear. At this time, the operator can remove the spray head 15. Then, the guide rail 16 on the top of the new spray head 15 is aligned with the groove on the inner wall of the base 18 and inserted into it. Then, the sleeve 20 is released. The limiting spring 22 pushes the sleeve 20 and the limiting ring 21 back to their original positions, which causes the outer wall of the limiting ring 21 to press the limiting balls 19 back into the limiting groove 17, thus completing the limitation on the spray head 15. This achieves the effect of quickly replacing different spray heads 15.

[0034] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotically reciprocating automatic spray mechanism comprising a fixed plate (1), characterised in that: The bottom of the fixed plate (1) is provided with a power component, the output end of the power component is fixedly connected to a transmission shaft (4), the top of the fixed plate (1) is provided with a reciprocating component, and the outer wall of the transmission shaft (4) is slidably connected to the inside of the reciprocating component; The reciprocating assembly includes a rocker arm (5), which has multiple positioning holes (6) inside. The positioning holes (6) are arranged in an array. The outer wall of the drive shaft (4) is slidably connected to the inner wall of the positioning holes (6). The drive shaft (4) is provided with a limit assembly inside. One end of the rocker arm (5) is rotatably connected to a movable column (11). The top side of the fixed plate (1) is provided with multiple limit seats (12), which are arranged in an array. The bottom of each limit seat (12) is fixedly connected to the top of the fixed plate (1). The outer wall of the movable column (11) is slidably connected to the inside of the movable column (11). One end of the movable column (11) is provided with a spraying assembly.

2. A robotically reciprocating automatic spray mechanism according to claim 1, wherein: The power assembly includes a drive motor (2), and multiple support arms (3) are fixedly connected to the outer wall of the drive motor (2). The support arms (3) are distributed in a circular shape. The top of each support arm (3) is fixedly connected to the bottom of the fixed plate (1). The output end of the drive motor (2) is fixedly connected to the bottom of the transmission shaft (4).

3. A robotically reciprocating automatic spray mechanism according to claim 1, wherein: The limiting assembly includes symmetrical limiting blocks (10) on the upper and lower sides. The outer wall of the limiting block (10) is slidably connected to the inside of the transmission shaft (4). Each side wall of the limiting block (10) is provided with a limiting spring (9). One end of each limiting spring (9) is fixedly connected to the inside of the transmission shaft (4), and the other end of each limiting spring (9) is fixedly connected to the side wall of the limiting block (10).

4. A robotically reciprocating automatic spray mechanism according to claim 3, wherein: The drive shaft (4) is internally slidably connected to a pin (7), and one end of the pin (7) is internally slidably connected to a pull ring (8). The outer wall of the limiting block (10) is slidably connected to the groove corresponding to the pin (7).

5. A robotically-controlled reciprocating automated spray mechanism according to claim 1, wherein: The spraying assembly includes a sprayer (13), the sidewall of which is fixedly connected to one end of the sidewall of the movable column (11), the top of which is fixedly connected to a connecting pipe (14), and the bottom of which is fixedly connected to a base (18). Multiple limiting balls (19) are slidably connected inside the base (18), and the limiting balls (19) are distributed in a circumferential shape.

6. A robotically reciprocating automatic spray mechanism according to claim 5, wherein: A spray head (15) is slidably connected to the inner wall of the base (18), and a plurality of guide rails (16) are fixedly connected to the top of the outer wall of the spray head (15). The guide rails (16) are distributed in a circular shape, and the outer walls of the guide rails (16) are slidably connected to the grooves inside the base (18). A limiting groove (17) is opened on the top of the outer wall of the spray head (15).

7. A robotically reciprocating automatic spray mechanism according to claim 6, wherein: A sleeve (20) is slidably connected to the outer wall of the base (18), and a limiting ring (21) is fixedly connected to the inner wall of the sleeve (20). The inner wall of the limiting ring (21) is slidably connected to the outer wall of the base (18).

8. A robotically reciprocating automatic spray mechanism according to claim 7, wherein: The outer wall of the base (18) is sleeved with a limiting spring two (22), one end of the limiting spring two (22) is fixedly connected with the outer wall of the base (18), and the other end of the limiting spring two (22) is fixedly connected with the outer top of the limiting ring (21).

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