A fully automatic painting robot

Abstract

The utility model belongs to the field of spraying, provide a kind of full-automatic spraying robot, comprising: the machine body formed with spraying cavity mouth;Spraying machine and a pair of position adjusting mechanism, set in machine body, each position adjusting mechanism is equipped with spraying machine, position adjusting mechanism is used to adjust the relative position between spraying machine and machine body, and spraying machine can be driven relative machine body rotation, to adjust the spray included angle formed by two spraying machines.Compared with prior art, the utility model has the advantages that the relative rotation between spraying machine and machine body is realized by position adjusting mechanism, the spray included angle between two spraying machines can be flexibly adjusted, the anticorrosion spraying needs of different models, sizes of wind power hub bolt are adapted, the cost and time loss caused by equipment replacement are reduced;Meanwhile, the residual paint on the surface is automatically scraped off by scraper during the rotation of rotary disc, and the self-cleaning function in the spraying process is realized by cooperating with recovery mechanism, the maintenance efficiency and service life of equipment are improved.

Description

Technical Field

[0001] This utility model belongs to the field of spraying, specifically relating to a fully automatic spraying robot. Background Technology

[0002] With the continuous improvement of automation in wind turbine manufacturers, the anti-corrosion process of fastening bolts around the wind turbine hub has gradually become a key aspect that needs to be optimized. As a key component connecting the blades and the hub, the wind turbine hub bolts are exposed to harsh environmental conditions for a long time and are prone to corrosion, which seriously affects the safe operation of the wind turbine.

[0003] Currently, conventional spraying processes mostly employ manual operation or fixed spraying equipment. Due to differences in operator experience and techniques, the amount of paint used in each coating process is difficult to maintain consistently, resulting in paint waste and increased production costs. Furthermore, the quality of manual coating is highly dependent on the operator's skill level and work attitude, easily leading to uneven coating and affecting the consistency of anti-corrosion effects. On the other hand, fixed spraying equipment is difficult to adapt to the spraying requirements of different bolt sizes. In addition, the paint splatter generated during the spraying process can easily pollute the equipment and the surrounding environment, increasing cleaning and maintenance costs, affecting production continuity, and reducing overall production efficiency. Utility Model Content

[0004] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a fully automatic spraying robot that features a simple structure, good stability, high degree of automation, and improved spraying efficiency.

[0005] The purpose of this utility model can be achieved through the following technical solution: a fully automatic spraying robot is proposed for anti-corrosion spraying of different types of wind turbine hub bolts, including: a body for connecting an external robot, wherein a spraying cavity is formed on the body;

[0006] A spraying machine and a pair of adjusting mechanisms are located inside the machine body. Each adjusting mechanism is equipped with the spraying machine. The adjusting mechanism is used to adjust the relative position between the spraying machine and the machine body, and can drive the spraying machine to rotate relative to the machine body to adjust the spray angle formed by the two spraying machines.

[0007] A pair of shielding mechanisms are provided on the machine body. The two shielding mechanisms are respectively located on both sides of the spraying cavity. Each shielding mechanism is provided with a rotating disk and a scraper. The rotating disk is used to receive residual paint during the spraying of the spraying machine, and the scraper removes the residual paint when rotating relative to the machine body.

[0008] A recycling mechanism is provided on the machine body, which is used to draw residual paint from the rotating disk to the outside of the machine body.

[0009] In the aforementioned fully automated painting robot, the masking mechanism includes:

[0010] A support base is disposed within the machine body, and the rotating disk is sleeved on the support base and detachably connected to it;

[0011] A drive unit and a connecting block are provided. The drive unit is mounted on the outer wall of the machine body and has an output shaft extending into the machine body. The connecting block abuts against the output shaft and the receiving seat so that fasteners can connect the receiving seat to the output shaft.

[0012] In the aforementioned fully automatic spraying robot, the radial direction of the rotating disk intersects the outside of the machine body and is located on one side of the spraying chamber opening.

[0013] In the aforementioned fully automated painting robot, the masking mechanism further includes:

[0014] The mounting bracket is installed inside the machine body;

[0015] A clamping cylinder and a swing arm are provided. The clamping cylinder is connected to the mounting bracket, and the output end of the clamping cylinder is connected to the swing arm. One end of the swing arm is movably connected to the mounting bracket, and the other end is detachably connected to the scraper.

[0016] In the aforementioned fully automatic painting robot, the positioning mechanism includes a linear adjustment component and an angle adjustment component. The linear adjustment component is movable relative to the machine body. The angle adjustment component is movably connected to the linear adjustment component and can rotate relative to the linear adjustment component to change the spraying angle of the painting machine.

[0017] In the aforementioned fully automatic painting robot, the linear adjustment component includes a vertical adjustment plate and a horizontal adjustment plate that are perpendicular to and connected to each other. The vertical adjustment plate has a height adjustment hole, and the horizontal adjustment plate has a position adjustment hole. Locking elements are movably installed in both the height adjustment hole and the position adjustment hole to limit the relative position between the angle adjustment component and the robot body.

[0018] In the aforementioned fully automated painting robot, the angle adjustment component includes:

[0019] The mounting bracket is installed inside the machine body;

[0020] A rotary cylinder is mounted on the mounting frame, and the output end of the rotary cylinder is connected to a rotating frame. The spray head of the spraying machine is connected to the rotating frame.

[0021] A guide plate is detachably connected to the side wall of the spraying machine. The guide plate has symmetrically opened guide arc grooves, and the locking member extends into the guide arc grooves.

[0022] In the aforementioned fully automatic painting robot, a scale located at the edge of the position adjustment hole is also provided on the horizontal adjustment plate.

[0023] In the aforementioned fully automatic spraying robot, the recycling mechanism includes a suction cup and a vacuum generator. The suction cup is mounted on the robot body, and the vacuum generator is connected to the suction cup, so that the residual paint can be sucked out of the robot body by the negative pressure generated by the vacuum generator.

[0024] In the aforementioned fully automatic painting robot, a mounting flange is also provided on the outer wall of the robot body, and the mounting flange is used to connect the moving end of the robot.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention provides a fully automatic spraying robot that achieves relative rotation between the spraying machine and the machine body by means of the adjustment mechanism. It can flexibly adjust the spraying angle between the two spraying machines, thereby adapting to the anti-corrosion spraying requirements of wind turbine hub bolts of different models and sizes, improving the versatility and applicability of the equipment, and reducing the cost and time loss caused by equipment replacement. At the same time, during the rotation of the rotating disk, the residual paint on its surface is automatically scraped off by the scraper, and the self-cleaning function is achieved in conjunction with the recycling mechanism, which improves the maintenance efficiency and service life of the equipment.

[0027] (2) By driving the swing arm to rotate through the clamping cylinder, it is possible to facilitate the disassembly and replacement of the scraper when the swing arm is away from the rotating disk, ensuring the cleanliness of the residual paint removal. At the same time, the squeezing force applied by the swing arm to the scraper can make the scraper stick to the inner surface of the rotating disk, improving cleaning efficiency and quality.

[0028] (3) By extending the locking part into the guide arc groove, the spraying machine can be guided and limited when it rotates at an angle relative to the machine body, so as to avoid the spraying machine rotating too much and affecting the accuracy of the spraying position. Attached Figure Description

[0029] Figure 1 This is a perspective view of this application;

[0030] Figure 2 This is a schematic diagram of the installation structure of the spraying machine, the adjustment mechanism, and the masking mechanism within the machine body;

[0031] Figure 3 This is a schematic diagram of the installation structure of the shielding mechanism;

[0032] Figure 4 yes Figure 3 Schematic diagram of the cross section of AA;

[0033] Figure 5 This is a schematic diagram of the installation structure of the adjustment mechanism and the spraying machine;

[0034] Figure 6 This is an exploded view of the area between the guide plate and the horizontal adjustment plate.

[0035] In the diagram, 1 is the machine body; 10 is the spraying nozzle; and 11 is the mounting flange.

[0036] 2. Spray painting machine;

[0037] 3. Adjustment mechanism; 30. Linear adjustment assembly; 300. Vertical adjustment plate; 300a. Height adjustment hole; 301. Horizontal adjustment plate; 301a. Position adjustment hole; 301b. Scale; 302. Locking component; 31. Angle adjustment assembly; 310. Mounting bracket; 311. Rotary cylinder; 312. Rotating bracket; 313. Guide plate; 313a. Guide arc groove; 32. Protective pad;

[0038] 4. Shielding mechanism; 40. Rotary disk; 41. Scraper; 42. Bearing seat; 43. Driving component; 430. Output shaft; 44. Connecting block; 45. Fastener; 46. Mounting bracket; 47. Clamping cylinder; 48. Swing arm;

[0039] 5. Recycling mechanism; 50. Vacuum generator. Detailed Implementation

[0040] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0041] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0042] like Figures 1 to 6 As shown, this utility model discloses a fully automatic spraying machine 2 robot, which is used to perform anti-corrosion spraying on wind turbine hub bolts of different models. It includes a machine body 1, a spraying machine 2, a pair of adjustment mechanisms 3, a pair of shielding mechanisms 4, and a recycling mechanism 5.

[0043] The machine body 1 is used to connect to an external robot and has a spraying cavity 10 formed on it. A sprayer 2 and a pair of adjustment mechanisms 3 are located inside the machine body 1. Each adjustment mechanism 3 is equipped with a sprayer 2 and is used to adjust the relative position between the sprayer 2 and the machine body 1. It can also drive the sprayer 2 to rotate relative to the machine body 1 to adjust the spraying angle formed by the two sprayers 2. A pair of shielding mechanisms 4 are located on the machine body 1 and are located on both sides of the spraying cavity 10. Each shielding mechanism 4 is equipped with a rotating disk 40 and a scraper 41. The rotating disk 40 is used to receive residual paint when the sprayer 2 is spraying and scrapes off the residual paint by the scraper 41 when it rotates relative to the machine body 1. A recovery mechanism 5 is located on the machine body 1 and is used to suck the residual paint in the rotating disk 40 to the outside of the machine body 1.

[0044] This embodiment optimizes the existing manual coating anti-corrosion process by integrating spraying equipment with a robot. Specifically, for example... Figures 1 to 6 As shown, in this embodiment, the machine body 1 can be connected to an external robot (robotic arm, such as a six-axis industrial robot) so that the spraying nozzle 10 is directly facing the target bolt, ensuring accurate spraying coverage. Based on the model and size of the bolt to be sprayed, the control system sends instructions to the adjustment mechanism 3, thereby adjusting the position and angle of the sprayer 2 relative to the machine body 1. It is worth noting that the two sprayers 2 are each controlled by their respective adjustment mechanisms 3, allowing for independent angle adjustment to create different spray angles, covering threaded areas of different shapes, depths, and positions. This adapts to the anti-corrosion spraying requirements of wind turbine hub bolts of different models and sizes, improving the equipment's versatility and applicability, and reducing the cost and time wasted on equipment replacement. As the spraying machine 2 starts working, the anti-corrosion coating is evenly sprayed onto the surface of the wind turbine hub bolts. During the spraying process, some coating may scatter around the spraying chamber 10 due to airflow disturbances and uneven pressure. At this time, the shielding mechanism 4 located on both sides of the spraying chamber 10 plays its role: the rotating disk 40 catches the scattered residual coating to prevent the coating from contaminating the internal structure of the equipment or the surrounding environment. After the spraying is completed, the locking scraper 41 is pressed against the surface of the rotating disk 40, and the shielding mechanism 4 drives the rotating disk 40 to rotate (the scraper 41 is stationary relative to the rotating disk 40), thereby scraping off the residual coating splashed on the rotating disk 40, avoiding the accumulation of residue that may cause blockage or secondary pollution. The cleaned rotating disk 40 can be reused, improving the stability of equipment operation. Finally, the recovery mechanism 5 uses the scraping mechanism 5 to suck the residual coating scraped off by the scraper 41 from the rotating disk 40 into the suction pipe, and finally transports it to the external recovery device to achieve centralized collection and subsequent processing of the coating. The entire recovery process does not require manual intervention, reducing maintenance frequency and environmental pollution risks, while also reducing pollution to the hub surface.

[0045] The shielding mechanism 4 includes: a support 42 disposed inside the body 1, a rotating disk 40 sleeved on the support 42 and detachably connected thereto; a drive member 43 and a connecting block 44, the drive member 43 being mounted on the outer wall of the body 1, the drive member 43 being provided with an output shaft 430 extending into the body 1, and the connecting block 44 abutting against the output shaft 430 and the support, so that the fastener 45 can connect the support to the output shaft 430.

[0046] Furthermore, such as Figures 2 to 4 As shown, the support seat 42 in this embodiment has a cross-shaped structure. With the rotating disk 40 fitted onto and pressed against the center of the support seat 42, the two can be detachably connected by bolts or screws. This assembly method is simple to operate and facilitates subsequent maintenance or disassembly / replacement. Similarly, the support seat and the output shaft 430 of the drive component 43 (preferably a pneumatic motor, but can also be replaced by an electric motor or rotating cylinder) are also assembled using a fitted method. With the connecting block 44 pressed against the flush upper surfaces of the output shaft 430 and the support seat 42, it can be locked by fasteners 45, forming a stable power connection. This design ensures a stable connection between the support seat 42 and the output shaft 430, preventing tilting or wobbling of the support seat 42 due to mechanical vibration or assembly errors. This provides a guarantee for the smoothness and stability of the scraper 41 continuously adhering to the inner surface of the rotating disk 40 to remove residual paint.

[0047] The shielding mechanism 4 also includes: a mounting bracket 46, which is disposed inside the body 1; a pressing cylinder 47 and a swing arm 48, wherein the pressing cylinder 47 is connected to the mounting bracket 46 and the output end of the pressing cylinder 47 is connected to the swing arm 48; one end of the swing arm 48 is movably connected to the mounting bracket 46 and the other end is detachably connected to the scraper 41.

[0048] Furthermore, such as Figure 2 and Figure 3 As shown, in this embodiment, the mounting bracket 46 is connected to the inner wall of the machine body 1 by bolts and screws. Before the spraying operation of the spraying machine 2, the output end of the pressing cylinder 47 retracts inward, thereby driving the swing arm 48 along... Figure 3Rotating clockwise causes the scraper 41 to gradually move away from the rotating disk 40 and closer to the mounting bracket 46. Preferably, in this embodiment, the mounting bracket 46 is located directly below the sprayer 2. This effectively prevents paint from adhering to the scraper 41 during the spraying process. When the spraying operation is completed or the cleaning stage begins, the control system issues a command, and the clamping cylinder 47 pushes the swing arm 48 downward, causing the scraper 41 to press tightly against the surface of the rotating disk 40. At this time, relying on the continuous rotation of the rotating disk 40, the scraper 41 continuously scrapes the surface to remove residual paint. It should be noted that the clamping cylinder 47 in this embodiment can automatically adjust its output force according to the spraying process parameters (such as paint viscosity and spray pressure). By controlling the air pressure of the cylinder, precise control of the contact pressure between the scraper 41 and the rotating disk 40 can be achieved, avoiding wear of the rotating disk 40 due to excessive pressure or incomplete scraping due to insufficient pressure. In addition, the scraper 41 and the swing arm 48 in this embodiment are connected in a detachable manner (such as with a buckle or quick-change bolt). If the scraper 41 becomes worn or clogged after long-term use, it can be disassembled and replaced in a timely manner, which improves the maintenance efficiency of the equipment.

[0049] Preferably, in this embodiment, the radial directions of the two rotating disks 40 intersect outside the machine body 1 and are located on one side of the spraying chamber 10. That is, the radial extension lines of the two rotating disks 40 intersect outside the machine body 1. This structural design allows the two rotating disks 40 to more effectively receive the sprayed paint from outside the spraying chamber 10 (the position of the wind turbine hub bolt to be sprayed is facing the spraying chamber 10, so the paint coming out of the spraying chamber 10 just meets the required spraying process), avoiding the splashing of excess paint from polluting the internal structure of the equipment and the surrounding environment. This extends the service life of the spraying machine 2 robot and also helps with the automatic cleaning and recycling of residual paint.

[0050] Each adjustment mechanism 3 includes a linear adjustment component 30 and an angle adjustment component 31. The linear adjustment component 30 can move relative to the machine body 1. The angle adjustment component 31 is movably connected to the linear adjustment component 30 and can rotate relative to the linear adjustment component 30 to change the spraying angle of the spraying machine 2.

[0051] like Figure 2 , Figure 5 as well as Figure 6As shown, this embodiment introduces a composite adjustment structure consisting of a linear adjustment component 30 and an angle adjustment component 31 into the adjustment mechanism 3, enabling the spraying machine 2 to achieve dual adjustment of linear displacement and angular rotation in space. This facilitates adaptation to the structural characteristics of different types of wind turbine hub bolts, greatly improving the flexibility of the equipment and ensuring the accuracy and stability of each spraying. It is worth noting that in this embodiment, a pair of adjustment mechanisms 3 are installed for each spraying machine 2, and the two adjustment mechanisms 3 are respectively installed on adjacent mounting surfaces on the machine body 1 at different tilt angles (see reference). Figure 2 The dual sprayers 2, with their variable spray angle design, can effectively cover complex areas such as bolt surfaces, grooves, and gaps. This not only improves the adaptability and spraying quality of the sprayer 2 robot under complex working conditions, but also enhances the system's intelligence level and industrial applicability.

[0052] The linear adjustment assembly 30 includes a vertical adjustment plate 300 and a horizontal adjustment plate 301 that are perpendicular to each other and connected. The vertical adjustment plate 300 has a height adjustment hole 300a, and the horizontal adjustment plate 301 has a position adjustment hole 301a. Locking elements 302 are movably disposed in both the height adjustment hole 300a and the position adjustment hole 301a to limit the relative position between the angle adjustment assembly 31 and the body 1.

[0053] Furthermore, such as Figure 5 and Figure 6 As shown, when applying anti-corrosion spraying to wind turbine hub bolts of different models, workers can adjust the relative position between the vertical adjustment plate 300 and the machine body 1, and use the locking piece 302, which passes through the height adjustment hole 300a and is connected inside the machine body 1, to restrict the movement of the vertical adjustment plate 300, so that the spraying machine 2 is at the required height position inside the machine body 1. Similarly, when the user needs to adjust the distance between the spraying machine 2 and the spraying chamber 10, the locking piece 302 on the horizontal adjustment plate 301 can be released, allowing the angle adjustment component 31 to slide horizontally. After adjustment, the locking piece 302 is inserted into the new position in the position adjustment hole 301a to complete the lateral positioning. It should be noted that the locking piece 302 in this embodiment can be replaced by screws, bolts, or other components. During the spraying process, the locking piece 302 effectively prevents positional displacement caused by vibration or external force, ensuring consistent spraying quality.

[0054] Preferably, the leveling plate 301 is also provided with a scale 301b located at the edge of the position adjustment hole 301a. During the positioning of the sprayer 2, the scale 301b can provide fine distance markings to help the operator or control system more accurately determine the horizontal position of the sprayer 2. In this embodiment, the scale 301b can be a physical scale (such as printing or etching) or an electronic display (such as an integrated sensor and display screen), whichever is selected according to actual needs.

[0055] The angle adjustment assembly 31 includes: a mounting bracket 310, which is installed inside the machine body 1; a rotary cylinder 311, which is installed on the mounting bracket 310, and the output end of the rotary cylinder 311 is connected to a rotating frame 312, and the nozzle of the sprayer 2 is connected to the rotating frame 312; and a guide plate 313, which is detachably connected to the side wall of the sprayer 2, and the guide plate 313 has symmetrically opened guide arc grooves 313a, and the locking member 302 extends into the guide arc grooves 313a.

[0056] Furthermore, such as Figure 5 and Figure 6 As shown, it should be noted that the mounting bracket 310 in this embodiment can also have the adjustment functions of the vertical adjustment plate 300 and the horizontal adjustment plate 301 mentioned above. Its structure and principle are the same, and will not be described in detail here. After the linear adjustment component 30 is adjusted, the rotary cylinder 311 starts to drive the rotating frame 312 to rotate, which in turn drives the sprayer 2 and its nozzle to rotate at an angle. When the preset angle value is reached (towards the spraying cavity 10), the sprayer 2 can start to spray the wind turbine hub bolts with anti-corrosion coating according to the set angle. During this process, the locking component 302 effectively maintains the stability of the nozzle angle and ensures uniform coating coverage. At the same time, the dual sprayer 2 structure can control the angle of the left and right nozzles respectively under the drive of the two rotary cylinders 311, so as to enhance the adaptability of the spraying by utilizing the formed variable included angle. It should be noted that in this embodiment, a protective pad 32 is also installed between the horizontal adjustment plate 301 and the guide plate 313. The protective pad 32 can be connected to the side wall of the horizontal adjustment plate 301 when the locking member 302 extends into the guide arc groove 313a. At the same time, the sprayer 2 is movably connected to the protective pad 32. That is, under the drive of the rotary cylinder 311, both the sprayer 2 and the guide plate 313 can rotate relative to the protective pad 32. On the one hand, this avoids the direct contact between the sprayer 2 and the horizontal adjustment plate 301 when rotating, which would cause wear. On the other hand, the guide arc groove 313a can be engaged with the locking member 302 to allow the sprayer 2 to always rotate freely along the arc direction of the guide arc groove 313a (that is, the sprayer 2 can continuously adjust the spray angle within a certain range), ensuring that the angle after each adjustment is stable and reliable, and avoiding the sprayer 2 rotating too much, which would affect the accuracy of the spraying position.

[0057] It should be added that, in addition to the sprayer 2 (the working principle of which can be referred to in the prior art), the spraying device in this embodiment may also be equipped with a high-pressure filter, spray gun, nozzle, mixing tank, return pipe, and return valve. A high-pressure plunger pump directly pressurizes the paint, forming an atomized airflow at the spray gun outlet that acts on the bolt surface, providing the entire sprayer 2 robot with functions such as paint spraying and storage. When it is necessary to change to spraying water-based materials, the pipeline and sprayer 2 are cleaned with a thinner before the water-based material can be replaced and continued use can continue.

[0058] More preferably, the recycling mechanism 5 includes a suction cup (not shown in the figure) and a vacuum generator 50. The suction cup is installed on the body 1, and the vacuum generator 50 is connected to the suction cup. After simulation analysis, the location of excess and rebound paint is determined so that the corresponding paint recycling suction cup is located at the corresponding position on the body 1 (there are four suction points in this embodiment, not shown). The residual paint can be sucked out of the body 1 by the negative pressure generated by the vacuum generator 50, which effectively prevents the residual paint from accumulating in the rotating disk 40 and reduces the contamination of the wheel hub surface.

[0059] More preferably, such as Figure 1 As shown, a mounting flange 11 is also provided on the outer wall of the body 1. The mounting flange 11 is used to connect the movable end of the robot. That is, after connecting the robotic arm or a six-axis industrial robot, the structure can complete the required spraying operation in all directions.

[0060] It should be noted that in this invention, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0062] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A fully automatic spraying robot for anticorrosion spraying of wind turbine hub bolts of different models, characterized in that, include: A body for connecting to an external robot, the body having a spraying nozzle formed thereon; A spraying machine and a pair of adjusting mechanisms are located inside the machine body. Each adjusting mechanism is equipped with the spraying machine. The adjusting mechanism is used to adjust the relative position between the spraying machine and the machine body, and can drive the spraying machine to rotate relative to the machine body to adjust the spray angle formed by the two spraying machines. A pair of shielding mechanisms are provided on the machine body. The two shielding mechanisms are respectively located on both sides of the spraying cavity. Each shielding mechanism is provided with a rotating disk and a scraper. The rotating disk is used to receive residual paint during the spraying of the spraying machine, and the scraper removes the residual paint when rotating relative to the machine body. A recycling mechanism is provided on the machine body, which is used to draw residual paint from the rotating disk to the outside of the machine body.

2. The fully automatic painting robot according to claim 1, wherein The shielding mechanism includes: A support base is disposed within the machine body, and the rotating disk is sleeved on the support base and detachably connected to it; A drive unit and a connecting block are provided. The drive unit is mounted on the outer wall of the machine body and has an output shaft extending into the machine body. The connecting block abuts against the output shaft and the bearing seat so that fasteners can connect the bearing seat to the output shaft.

3. The fully automatic painting robot according to claim 1, wherein The two rotating disks intersect the machine body in the radial direction and are located on one side of the spraying chamber opening.

4. The fully automatic painting robot according to claim 2, wherein The shielding mechanism also includes: The mounting bracket is installed inside the machine body; A clamping cylinder and a swing arm are provided. The clamping cylinder is connected to the mounting bracket, and the output end of the clamping cylinder is connected to the swing arm. One end of the swing arm is movably connected to the mounting bracket, and the other end is detachably connected to the scraper.

5. The fully automatic painting robot according to claim 1, wherein Each of the aforementioned adjustment mechanisms includes a linear adjustment component and an angle adjustment component. The linear adjustment component is movable relative to the machine body. The angle adjustment component is movably connected to the linear adjustment component and is rotatable relative to the linear adjustment component to change the spraying angle of the spraying machine.

6. A fully automatic painting robot according to claim 5, characterized in that The linear adjustment assembly includes a vertical adjustment plate and a horizontal adjustment plate that are perpendicular to each other and connected. The vertical adjustment plate has a height adjustment hole, and the horizontal adjustment plate has a position adjustment hole. Locking elements are movably installed in both the height adjustment hole and the position adjustment hole to limit the relative position between the angle adjustment assembly and the machine body.

7. A fully automatic painting robot according to claim 6, characterized in that The angle adjustment component includes: The mounting bracket is installed inside the machine body; A rotary cylinder is mounted on the mounting frame, and the output end of the rotary cylinder is connected to a rotating frame. The spray head of the spraying machine is connected to the rotating frame. A guide plate is detachably connected to the side wall of the spraying machine. The guide plate has symmetrically opened guide arc grooves, and the locking member extends into the guide arc grooves.

8. The fully automatic painting robot according to claim 6, wherein The horizontal adjustment plate is also provided with a scale located at the edge of the position adjustment hole.

9. A fully automatic painting robot according to claim 6, characterized in that, The recycling mechanism includes a suction cup and a vacuum generator. The suction cup is mounted on the machine body, and the vacuum generator is connected to the suction cup, so that the residual paint can be sucked out of the machine body by the negative pressure generated by the vacuum generator.

10. A fully automated painting robot according to claim 1, characterized in that, The outer wall of the machine body is also provided with a mounting flange, which is used to connect the movable end of the robot.

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