Variable amplitude mechanism and painting robot

Abstract

This utility model discloses a luffing mechanism and a painting robot. The luffing mechanism includes a turntable, a first luffing cylinder, a second luffing cylinder, a connecting mechanism, a locking assembly, a first detection unit, and a control unit. The connecting mechanism is fixedly connected to the boom, and its first end, the boom, and the turntable are coaxially hinged. The second end of the connecting mechanism is connected to the first and second luffing cylinders. The first detection unit detects whether the boom has rotated to the correct position. The control unit controls the locking assembly to connect with the third end of the connecting mechanism and the turntable when the boom has rotated to the correct position, thereby locking the turntable and the connecting mechanism. When switching from the boom-raised state to the boom-lowered state, the control unit controls the locking assembly to disconnect from the third end of the connecting mechanism and the turntable, thereby releasing the third end of the connecting mechanism from the turntable. This utility model achieves high-torque boom luffing and can achieve 90° vertical luffing.

Description

Technical Field

[0001] This utility model belongs to the field of construction machinery technology, and in particular relates to a variable amplitude mechanism and a spraying robot. Background Technology

[0002] The boom-type painting robot consists of a boom and a turntable. Due to functional requirements, the boom needs to switch between horizontal and vertical states, and the boom's amplitude change must be stable and oriented. Current technologies that rely solely on hydraulic cylinders to support the boom's amplitude change cannot achieve a 90° vertical angle. Furthermore, while automatic insertion and removal of safety locking pins is used to lock the robot in place, manual insertion and removal of these pins on-site still requires manual intervention, posing a safety risk during operation. Utility Model Content

[0003] The purpose of this utility model is to provide a luffing mechanism and a painting robot to solve the problems that the solution of only using hydraulic cylinders to support the luffing of the boom cannot achieve a 90° right-angle luffing, and that the locking at the upper position requires manual intervention, which poses a risk to the operation safety.

[0004] This utility model solves the above-mentioned technical problems through the following technical solution: a luffing mechanism for realizing the luffing switching of the boom between a horizontal state and a vertical state, the luffing mechanism including a turntable, a first luffing cylinder and a second luffing cylinder, the first ends of the first luffing cylinder and the second luffing cylinder are both connected to the turntable.

[0005] The luffing mechanism further includes a connecting mechanism, a locking assembly, a first detection unit, and a control unit; the connecting mechanism is fixedly connected to the boom, and the first end of the connecting mechanism, the boom, and the turntable are coaxially hinged, so that the connecting mechanism and the boom move relative to the turntable as a whole; the second end of the connecting mechanism is connected to the second ends of the first luffing cylinder and the second luffing cylinder.

[0006] The control unit is connected to the first detection unit and the locking assembly, and the locking assembly is disposed on the turntable. The first detection unit is used to detect whether the boom has rotated to the correct position. The control unit is used to control the locking assembly to connect with the third end of the connecting mechanism and the turntable when the boom has rotated to the correct position, so as to lock the connection between the turntable and the connecting mechanism. When switching from the boom raising state to the boom lowering state, the control unit is used to control the locking assembly to disconnect from the third end of the connecting mechanism and the turntable, so as to release the separation of the third end of the connecting mechanism from the turntable.

[0007] The working process of the luffing mechanism of this utility model includes two luffing processes: boom raising and boom lowering. During boom raising, the first and second luffing cylinders extend, and the connecting mechanism and boom rotate as a whole relative to the turntable. When the boom is luffed to a vertical position, the first detection unit detects that the boom has rotated to the correct position. The control unit controls the locking assembly to operate based on the boom rotation signal detected by the first detection unit. The locking assembly connects to the third end of the connecting mechanism and the turntable, locking the rotation of the connecting mechanism and boom relative to the turntable. During boom lowering, the control unit controls the locking assembly to operate, disconnecting the locking assembly from the third end of the connecting mechanism and the turntable. The first and second luffing cylinders retract, and the connecting mechanism and boom rotate as a whole relative to the turntable. When the boom is luffed to a horizontal position, the first and second luffing cylinders retract to the correct position.

[0008] This invention adds a connecting mechanism between the turntable and the boom. This mechanism transforms the original boom cylinder connection hinge point (i.e., the hinge point between the first and second luffing cylinders and the boom) into a connection hinge point between the connecting mechanism and the first and second luffing cylinders, extending outwards to the outside of the boom. This increases the cylinder force component of the first and second luffing cylinders during boom raising, achieving high-torque boom luffing and enabling 90° vertical luffing, thus ensuring luffing stability. Simultaneously, a locking assembly automatically locks and releases the connecting mechanism during luffing, reducing manual intervention and ensuring safe operation.

[0009] Furthermore, a first pin hole is provided at the first end of the connecting mechanism, a second pin hole is provided at the bottom of the boom, and a first pin shaft is provided on the turntable. The first pin shaft passes through both the first pin hole and the second pin hole to achieve a coaxial hinge connection between the first end of the connecting mechanism, the boom, and the turntable.

[0010] Furthermore, a second pin is provided on the connecting mechanism, and a third pin hole is provided at the bottom of the boom. The second pin passes through the third pin hole and is locked to achieve a fixed connection between the connecting mechanism and the boom.

[0011] Alternatively, the connecting mechanism may be welded to the boom.

[0012] Furthermore, a third pin is provided on the turntable, and the first ends of the first luffing cylinder and the second luffing cylinder are both connected to the turntable through the third pin.

[0013] A fourth pin is provided at the second end of the connecting mechanism, and a fourth pin hole is provided at the second end of both the first luffing cylinder and the second luffing cylinder. The second end of the connecting mechanism is connected to the second end of the first luffing cylinder and the second luffing cylinder through the fourth pin and the fourth pin hole.

[0014] Furthermore, the locking assembly includes an electromagnetic reversing valve, a plug-in pin cylinder, a fifth pin shaft, a fifth pin hole, and a sixth pin hole. The plug-in pin cylinder is fixed on the turntable. The fifth pin shaft is connected to the telescopic rod of the plug-in pin cylinder. The fifth pin hole is located on the turntable. The sixth pin hole is located at the third end of the connecting mechanism. The plug-in pin cylinder is connected to the control unit through the electromagnetic reversing valve.

[0015] The control unit is used to control the insertion or removal of the fifth pin shaft into or out of the fifth and sixth pin holes by controlling the insertion and removal pin cylinder, so as to connect or disconnect the locking assembly from the third end of the connecting mechanism and the turntable.

[0016] Furthermore, a pad is provided on the turntable, which serves as a limit block when the boom rotates into position.

[0017] Furthermore, the luffing mechanism also includes a second detection unit, which is used to detect whether the turntable and the third end of the connecting mechanism are locked or released; the control unit is also used to display the working condition or control the retraction of the first luffing cylinder and the second luffing cylinder according to the detection result of the second detection unit.

[0018] Furthermore, a counterweight is provided on the side of the turntable away from the first and second luffing cylinders.

[0019] Based on the same concept, this utility model also provides a painting robot, which includes a boom and the luffing mechanism as described above.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] The luffing mechanism provided by this utility model adds a connecting mechanism between the turntable and the boom. This connecting mechanism transforms the original boom cylinder connection hinge point (i.e., the hinge point between the first and second luffing cylinders and the boom) into a connecting hinge point between the connecting mechanism and the first and second luffing cylinders, extending outwards to the outside of the boom. This increases the cylinder force component of the first and second luffing cylinders during boom raising, achieving high-torque boom luffing and enabling 90° right-angle luffing, ensuring luffing stability and increasing the installation space for the first and second luffing cylinders. Simultaneously, this utility model uses a locking assembly to automatically lock and release the connecting mechanism during luffing, reducing manual intervention and ensuring safe operation. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this utility model, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only one embodiment of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a first view of the amplitude-changing mechanism in an embodiment of this utility model;

[0024] Figure 2 This is a second view of the amplitude-changing mechanism in an embodiment of this utility model;

[0025] Figure 3 This is a third view of the amplitude-changing mechanism in an embodiment of this utility model;

[0026] Figure 4 This is a side view of the amplitude-changing mechanism in an embodiment of this utility model;

[0027] Figure 5 This is a top view of the amplitude-changing mechanism in an embodiment of this utility model;

[0028] Figure 6 This is a schematic diagram of the welding between the connecting mechanism and the boom in an embodiment of this utility model;

[0029] Figure 7 This is a schematic diagram of the turntable structure in an embodiment of this utility model;

[0030] Figure 8 This is a cross-sectional view of the locking component in an embodiment of this utility model.

[0031] Explanation of reference numerals in the attached drawings: 100-Boom, 101-Third pin hole, 102-Second pin hole, 200-Connecting mechanism, 201-Fourth pin, 202-First pin hole, 203-Second pin, 204-Sixth pin hole, 300-Turntable, 301-First pin, 302-Third pin, 303-Padded block, 304-First hydraulic cylinder, 305-Second hydraulic cylinder, 306-Fifth pin hole, 307-Counterweight block, 308-Fifth pin, 309-Connecting pin, 400-First luffing cylinder, 401-Fourth pin hole, 500-Second luffing cylinder, 600-First limit switch, 700-Second limit switch. Detailed Implementation

[0032] The technical solutions of this 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 this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0033] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0034] To address the limitation that hydraulic cylinders alone cannot achieve 90° vertical luffing, this invention provides a luffing mechanism for switching the boom 100 between horizontal and vertical states. By adding a connecting mechanism 200 between the turntable 300 and the boom 100, the original hydraulic cylinder connection hinge point of the boom 100 is extended to the outside of the boom 100, increasing the hydraulic force components of the first luffing cylinder 400 and the second luffing cylinder 500 during boom raising, thus achieving high-torque boom 100 luffing.

[0035] like Figures 1 to 5 As shown, the luffing mechanism of this utility model includes a turntable 300, a first luffing cylinder 400, a second luffing cylinder 500, a connecting mechanism 200, a locking assembly, a first detection unit, and a control unit; the first ends of the first luffing cylinder 400 and the second luffing cylinder 500 are both connected to the turntable 300; the connecting mechanism 200 is fixedly connected to the boom 100, and the first end of the connecting mechanism 200, the boom 100, and the turntable 300 are coaxially hinged, so that the connecting mechanism 200 and the boom 100 move relative to the turntable 300 as a whole; the second end of the connecting mechanism 200 is connected to the second ends of the first luffing cylinder 400 and the second luffing cylinder 500.

[0036] The control unit is connected to the first detection unit and the locking assembly, which is located on the turntable 300. The first detection unit is used to detect whether the boom 100 has rotated to the correct position. The control unit is used to control the locking assembly to connect with the third end of the connecting mechanism 200 and the turntable 300 when the boom 100 has rotated to the correct position, so as to lock the connection between the turntable 300 and the connecting mechanism 200. When switching from the boom raising state to the boom lowering state, the control unit is used to control the locking assembly to disconnect from the third end of the connecting mechanism 200 and the turntable 300, so as to release the separation between the third end of the connecting mechanism 200 and the turntable 300.

[0037] Because the boom 100 is a cantilever beam, its center of gravity is far from the center of rotation, resulting in a large boom-raising moment. To fully utilize the luffing cylinder force (which gradually decreases as the luffing amplitude increases) while ensuring the clear distance between the luffing cylinders (i.e., the cylinder installation length must be greater than the sum of the stroke length and the cylinder installation dimensions), a connecting mechanism 200 is designed to maximize the vertical component of the luffing cylinder force in the horizontal boom-raising state. Simultaneously, the cylinder connection hinge point of the boom 100 is extended to the outside of the boom 100, facilitating cylinder selection and installation. This allows for full utilization of the luffing cylinder diameter, reducing the required cylinder diameter size, while ensuring the cylinder installation clear distance.

[0038] In a specific embodiment of this utility model, a first pin hole 202 is provided at the first end of the connecting mechanism 200, a second pin hole 102 is provided at the bottom of the boom 100, and a first pin shaft 301 is provided on the turntable 300. The first pin shaft 301 passes through both the first pin hole 202 and the second pin hole 102 to achieve a coaxial hinge connection between the first end of the connecting mechanism 200, the boom 100 and the turntable 300.

[0039] In a specific embodiment of this utility model, a second pin 203 is provided on the connecting mechanism 200, and a third pin hole 101 is provided at the bottom of the boom 100. The second pin 203 passes through the third pin hole 101 and is locked to achieve a fixed connection between the connecting mechanism 200 and the boom 100.

[0040] The connecting mechanism 200 is fixedly connected to the boom 100 via the second pin 203, and the first end of the connecting mechanism 200, the boom 100 and the turntable 300 are coaxially hinged, so that the connecting mechanism 200 and the boom 100 rotate relative to the turntable 300 as a whole.

[0041] like Figure 1 and 3 As shown, the connecting mechanism 200 includes two connected triangular blocks, and a second pin 203 is disposed between the two triangular blocks, so that the boom 100 is located between the two triangular blocks. The first end of the triangular block is the first end of the connecting mechanism 200, the second end of the triangular block is the second end of the connecting mechanism 200, and the third end of the triangular block is the third end of the connecting mechanism 200.

[0042] In another specific embodiment of this utility model, the connecting mechanism 200 is welded to the boom 100, such as... Figure 6 As shown.

[0043] In a specific embodiment of this utility model, a third pin 302 is provided on the turntable 300, and the first ends of the first luffing cylinder 400 and the second luffing cylinder 500 are both connected to the turntable 300 through the third pin 302; a fourth pin 201 is provided at the second end of the connecting mechanism 200, and a fourth pin hole 401 is provided at the second end of the first luffing cylinder 400 and the second luffing cylinder 500; the second end of the connecting mechanism 200 is connected to the second ends of the first luffing cylinder 400 and the second luffing cylinder 500 through the fourth pin 201 and the fourth pin hole 401.

[0044] like Figure 1 and 3 As shown, two third pins 302 are provided on the turntable 300, each corresponding to a luffing cylinder. The first ends of the first luffing cylinder 400 and the second luffing cylinder 500 are respectively connected to the turntable 300 through their corresponding third pins 302. Each of the two triangular blocks has a fourth pin 201 at its second end, each corresponding to a luffing cylinder. The second end of the triangular block is connected to the fourth pin hole 401 at the second end of the corresponding luffing cylinder through its fourth pin 201. The first luffing cylinder 400 and the second luffing cylinder 500 are symmetrically arranged on both sides of the boom 100, as shown... Figure 2 and 5 As shown.

[0045] When the boom 100 is in a vertical position, the first luffing cylinder 400 and the second luffing cylinder 500 are in a fully extended position. At this time, the boom 100 is kept in a vertical position by the supporting force of the first luffing cylinder 400 and the second luffing cylinder 500. When the boom 100 is in a horizontal position, the first luffing cylinder 400 and the second luffing cylinder 500 are in a fully retracted position.

[0046] In a specific embodiment of this utility model, the locking assembly includes an electromagnetic reversing valve, a plug-in pin cylinder, a fifth pin 308, a fifth pin hole 306, and a sixth pin hole 204. The plug-in pin cylinder is fixed on the turntable 300. The fifth pin 308 is connected to the telescopic rod of the plug-in pin cylinder. The fifth pin hole 306 is located on the turntable 300, and the sixth pin hole 204 is located at the third end of the connecting mechanism 200. The plug-in pin cylinder is connected to the control unit through the electromagnetic reversing valve. The control unit controls the fifth pin 308 to insert or pull out of the fifth pin hole 306 and the sixth pin hole 204 by controlling the plug-in pin cylinder, so as to realize the connection or disconnection of the locking assembly with the third end of the connecting mechanism 200 and the turntable 300.

[0047] like Figure 1 , 2As shown in Figures 7 and 8, the plug-in pin cylinder is a bidirectional cylinder. The plug-in pin cylinder includes a first cylinder 304 and a second cylinder 305 arranged back to back, thus corresponding to two fifth pin shafts 308, two fifth pin holes 306, and two sixth pin holes 204. The first cylinder 304 and the second cylinder 305 correspond to one fifth pin shaft 308, one fifth pin hole 306, and one sixth pin hole 204, respectively. The telescopic rod of the first cylinder 304 (or the second cylinder 305) is connected to the fifth pin shaft 308 through a connecting pin 309. Each triangular block has a sixth pin hole 204 at its third end, and each of the two side walls of the turntable 300 has a fifth pin hole 306. When the first detection unit detects that the boom 100 has rotated to the correct position (i.e., the boom 100 is in a vertical state), the control unit controls the extension rods of the first cylinder 304 and the second cylinder 305 to extend via the solenoid reversing valve, so that each fifth pin 308 is inserted into the corresponding fifth pin hole 306 and sixth pin hole 204, thereby locking the third end of the connecting mechanism 200 to the turntable 300. When boom lowering control is required, the control unit controls the extension rods of the first cylinder 304 and the second cylinder 305 to retract via the solenoid reversing valve, so that each fifth pin 308 is pulled out from the corresponding fifth pin hole 306 and sixth pin hole 204, thereby releasing the third end of the connecting mechanism 200 from the turntable 300.

[0048] This invention achieves automatic control of the entire luffing of the boom 100 through a locking assembly, a control unit, and a first detection unit, eliminating the need for manual intervention, thus realizing automation and remote control and avoiding operational safety risks.

[0049] In a specific embodiment of this utility model, a pad 303 is provided on the turntable 300, which serves as a limiting element when the boom 100 rotates to its position. Figure 2 and Figure 7 As shown, since the connecting mechanism 200 includes two triangular blocks, there are also two pads 303, each pad 303 corresponding to one triangular block. When the boom 100 rotates to its position, the two pads 303 respectively restrict the corresponding triangular blocks from continuing to rotate, thus playing a limiting role.

[0050] In a specific embodiment of this utility model, the luffing mechanism further includes a second detection unit, which is used to detect whether the turntable 300 and the third end of the connecting mechanism 200 are connected and locked or separated and released; the control unit is also used to display the working condition or control the retraction of the first luffing cylinder 400 and the second luffing cylinder 500 according to the detection result of the second detection unit.

[0051] In this embodiment, both the first detection unit and the second detection unit employ limit switches; specifically, the first detection unit uses a first limit switch 600, and the second detection unit uses a second limit switch 700. For example... Figure 7As shown, during the boom raising process, when the third end of the connecting mechanism 200 contacts the stop block 303, it indicates that the boom 100 is in a vertical state, that is, the boom 100 has rotated to the correct position. The first limit switch 600 is triggered and sends the trigger signal to the control unit. The control unit controls the extension rods of the first cylinder 304 and the second cylinder 305 to extend according to the trigger signal, so that each fifth pin is inserted into the corresponding fifth pin hole 306 and sixth pin hole 204. The fifth pins lock the connection between the third end of the connecting mechanism 200 and the turntable 300. When the fifth pin is inserted into the fifth pin hole 306 and the sixth pin hole 204, that is, the fifth pin is in position, the second limit switch 700 is triggered and sends the trigger signal to the control unit. The control unit displays that the operation can begin according to the trigger signal, that is, the spraying operation can begin. When the boom is in a low position, the control unit controls the telescopic rods of the first cylinder 304 and the second cylinder 305 to retract, causing each fifth pin to be pulled out from the corresponding fifth pin hole 306 and sixth pin hole 204. The third end of the connecting mechanism 200 is released from the turntable 300. At the same time, the second limit switch 700 is triggered and sends the trigger signal to the control unit. The control unit controls the first luffing cylinder 400 and the second luffing cylinder 500 to retract according to the trigger signal. The connecting mechanism and the boom 100 rotate downward relative to the turntable 300 until the boom 100 is in a low position, i.e., a horizontal position. The first luffing cylinder 400 and the second luffing cylinder 500 retract into place, indicating that the transfer can begin.

[0052] In a specific embodiment of this utility model, a counterweight 307 is provided on the side of the turntable 300 away from the first luffing cylinder 400 and the second luffing cylinder 500. The counterweight 307 and the first luffing cylinder 400 and the second luffing cylinder 500 are respectively located on both sides of the turntable 300. The counterweight 307 balances the boom lifting torque of the boom 100 and prevents overturning.

[0053] The specific control process of the amplitude-changing mechanism of this utility model is as follows:

[0054] Step 1: With the boom in a horizontal position, control the extension of the first and second luffing cylinders to make the connecting mechanism and boom rotate upward relative to the turntable as a whole.

[0055] Step 2: The first detection unit detects whether the boom has rotated to the correct position (i.e., whether the first limit switch has been triggered). If so, it indicates that the boom has rotated to the correct position or the third end of the connecting mechanism has contacted the pad block to stop. Proceed to Step 3.

[0056] If not, it indicates that the boom has not rotated to the correct position or the third end of the connecting mechanism has not contacted the pad block to stop, and proceed to step 2;

[0057] Step 3: Control the extension rod of the hydraulic cylinder to extend, insert the fifth pin into the fifth pin hole of the turntable and the sixth pin hole of the third end of the connecting mechanism, and connect the third end of the connecting mechanism to the turntable through the fifth pin, thereby locking the rotation of the connecting mechanism and the boom relative to the turntable.

[0058] Step 4: The second detection unit checks whether the turntable and the third end of the connecting mechanism are locked (i.e., whether the second limit switch is triggered). If yes, the boom lifting control is completed, the first luffing cylinder and the second luffing cylinder are in the fully extended state, indicating that the operation can start, and proceed to step 5; if no, it indicates that the fifth pin is not in place, and proceed to step 3.

[0059] Step 5: After the operation is completed and the site is ready to be moved, the boom is in a vertical position. Control the extension rod of the plug-in pin cylinder to retract, so that the fifth pin is pulled out from the fifth pin hole and the sixth pin hole, and the third end of the connecting mechanism is separated from the turntable and released.

[0060] Step 6: The second detection unit detects whether the turntable and the third end of the connecting mechanism are separated and released (i.e., whether the second limit switch is triggered). If yes, proceed to step 7; if no, proceed to step 5.

[0061] Step 7: Control the retraction of the first and second luffing cylinders, and the connecting mechanism and boom rotate downward relative to the turntable as a whole;

[0062] Step 8: When the first and second luffing cylinders retract to their positions (i.e., in the fully retracted state), the boom is luffed to a horizontal position, completing the boom control and displaying that the site transfer can begin.

[0063] The above description only discloses specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or modifications that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A luffing mechanism for switching the boom between a horizontal and a vertical position, the luffing mechanism comprising a turntable, a first luffing cylinder, and a second luffing cylinder, wherein the first ends of both the first and second luffing cylinders are connected to the turntable; characterized in that: The luffing mechanism further includes a connecting mechanism, a locking assembly, a first detection unit, and a control unit; the connecting mechanism is fixedly connected to the boom, and the first end of the connecting mechanism, the boom, and the turntable are coaxially hinged, so that the connecting mechanism and the boom move relative to the turntable as a whole; the second end of the connecting mechanism is connected to the second ends of the first luffing cylinder and the second luffing cylinder. The control unit is connected to the first detection unit and the locking assembly, and the locking assembly is disposed on the turntable. The first detection unit is used to detect whether the boom has rotated to the correct position. The control unit is used to control the locking assembly to connect with the third end of the connecting mechanism and the turntable when the boom has rotated to the correct position, so as to lock the connection between the turntable and the connecting mechanism. When switching from the boom raising state to the boom lowering state, the control unit is used to control the locking assembly to disconnect from the third end of the connecting mechanism and the turntable, so as to release the separation of the third end of the connecting mechanism from the turntable.

2. A luffing mechanism according to claim 1, characterized in that: A first pin hole is provided at the first end of the connecting mechanism, a second pin hole is provided at the bottom of the boom, and a first pin shaft is provided on the turntable. The first pin shaft passes through both the first pin hole and the second pin hole to achieve a coaxial hinge connection between the first end of the connecting mechanism, the boom, and the turntable.

3. The luffing mechanism of claim 1, wherein: A second pin is provided on the connecting mechanism, and a third pin hole is provided at the bottom of the boom. The second pin passes through the third pin hole and is locked to achieve a fixed connection between the connecting mechanism and the boom. Alternatively, the connecting mechanism may be welded to the boom.

4. The amplitude mechanism of claim 1, wherein: A third pin is provided on the turntable, and the first ends of the first luffing cylinder and the second luffing cylinder are both connected to the turntable through the third pin. A fourth pin is provided at the second end of the connecting mechanism, and a fourth pin hole is provided at the second end of both the first luffing cylinder and the second luffing cylinder. The second end of the connecting mechanism is connected to the second end of the first luffing cylinder and the second luffing cylinder through the fourth pin and the fourth pin hole.

5. The luffing mechanism of claim 1, wherein: The locking assembly includes an electromagnetic reversing valve, a plug-in pin cylinder, a fifth pin shaft, a fifth pin hole, and a sixth pin hole. The plug-in pin cylinder is fixed on the turntable. The fifth pin shaft is connected to the telescopic rod of the plug-in pin cylinder. The fifth pin hole is located on the turntable. The sixth pin hole is located at the third end of the connecting mechanism. The plug-in pin cylinder is connected to the control unit through the electromagnetic reversing valve. The control unit is used to control the insertion or removal of the fifth pin shaft into or out of the fifth and sixth pin holes by controlling the insertion and removal pin cylinder, so as to connect or disconnect the locking assembly from the third end of the connecting mechanism and the turntable.

6. The luffing mechanism of claim 1, wherein: A pad is provided on the turntable, which serves as a limit block when the boom rotates to the correct position.

7. The luffing mechanism of claim 1, wherein: The luffing mechanism also includes a second detection unit, which is used to detect whether the turntable and the third end of the connecting mechanism are locked or released; the control unit is also used to display the working condition or control the retraction of the first luffing cylinder and the second luffing cylinder according to the detection result of the second detection unit.

8. The luffing mechanism of claim 1, wherein: The first detection unit is a limit switch.

9. The amplitude-changing mechanism according to any one of claims 1 to 8, characterized in that: A counterweight is also provided on the side of the turntable away from the first and second luffing cylinders.

10. A painting robot, characterized by: The painting robot includes a boom and a variable amplitude mechanism as described in any one of claims 1 to 9.

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