CN114798239B

CN114798239B - Cleaning and color changing equipment for spraying of mechanical arm of industrial robot and method thereof

Info

Publication number: CN114798239B
Application number: CN202210529382.1A
Authority: CN
Inventors: 韩年珍; 程华; 程士弟; 邱晨健
Original assignee: Hexian Longsheng Precision Machinery Co ltd
Current assignee: Hexian Longsheng Precision Machinery Co ltd
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2023-04-07
Anticipated expiration: 2042-05-16
Also published as: CN114798239A

Abstract

The invention discloses cleaning and color changing equipment for spraying of a mechanical arm of an industrial robot and a method thereof, wherein the cleaning and color changing equipment comprises an equipment chassis, a cleaning tank, a hydraulic driving cylinder, a hydraulic lifting rod, an adjusting buckle and a mechanical arm spraying assembly.

Description

Cleaning and color changing equipment for spraying of mechanical arm of industrial robot and method thereof

Technical Field

The invention relates to the technical field of industrial robot mechanical arms, in particular to cleaning and color changing equipment for spraying of the industrial robot mechanical arms and a method thereof.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has wide application in the fields of industrial assembly, safety, explosion prevention and the like due to unique operation flexibility.

The patent number CN201920749696.6 provides a cleaning and color-changing device for spraying of a robot mechanical arm, wherein a servo motor and an external speed reducer in the robot mechanical arm transmit power to a gear pump; open colour valve paint and flow to the gear pump from the change of colour valve flow to the stationary valve again, measure through the gear pump and reach the atomizer with the accurate delivery of paint, flow to the gear pump through the stationary valve from wasing the change of colour device flow direction change of colour valve again through wasing the valves, measure through the gear pump and reach inside the atomizer with the solvent, utilize the cleaner with remaining paint sanitization in the pipeline, wash the completion back, open other colour valves, paint flows to the gear pump from the change of colour valve, measure through the gear pump and reach the atomizer with the accurate delivery of paint, the reciprocal cycle work of above-mentioned step, realize that paint washs the color change function.

The above patents have the following problems:

1. in the cleaning process of the mechanical arm, the cleaning of the paint on the surface of the mechanical arm cannot be realized by only using a cleaning agent, so that the subsequent color changing operation is difficult to implement;

2. in the cleaning process of the mechanical arm, the spraying cleaning position of the cleaning agent is fixed, so that part of the position on the mechanical arm is difficult to clean, and the subsequent color changing spraying operation is influenced.

Disclosure of Invention

The invention aims to provide cleaning and color changing equipment for spraying a mechanical arm of an industrial robot and a method thereof, wherein the mechanical arm is arranged in a clamping and embedding clamp, a material pumping pump in a color changing and spraying assembly is started, paint in a paint box shell is conveyed to a paint spray head for spraying, when the cleaning and color changing are carried out, a hydraulic driving cylinder drives a hydraulic lifting rod to descend and drives the whole mechanical arm spraying assembly to descend, so that the assembled mechanical arm is positioned above a cleaning brush in a cleaning tank, a driving shaft is driven to rotate rapidly through a driving motor, the cleaning brush is driven to rotate rapidly, redundant paint on the mechanical arm is brushed down by using brush fluff on the cleaning brush, after the cleaning of the mechanical arm is completed, the hydraulic lifting rod is driven to reset through the hydraulic driving rod, after the paint in the paint box shell is replaced or supplemented, the paint is pumped through the material pumping pump, and the color changing and the spraying is carried out through the paint spray head, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides an industrial robot arm spraying is with wasing look equipment that trades, includes equipment chassis, washing tank, hydraulic drive jar, hydraulic lifting rod, regulation buckle and arm spraying assembly, the upside center department on equipment chassis is equipped with the washing tank, the hydraulic drive jar is installed respectively to the upper end left and right sides on equipment chassis, install hydraulic lifting rod on the hydraulic drive jar, hydraulic lifting rod's end is equipped with the regulation buckle, install arm spraying assembly in the regulation buckle.

Preferably, the cleaning tank comprises a main shell, an embedded bolt, an embedded groove and a motor clamping seat, the embedded bolt is arranged at the four corners of the bottom of the main shell respectively, the embedded groove is arranged on the inner sides of the left end and the right end of the main shell, and the motor clamping seat is arranged in the embedded groove.

Preferably, the cleaning tank further comprises a driving motor, a driving shaft, a cleaning brush and a positioning hole, the driving motor is installed in the motor clamping seat, the driving shaft is installed inside the main shell, the positioning hole is formed in the driving shaft, and the cleaning brush is installed on the driving shaft.

Preferably, the cleaning brush comprises an adjusting slider, a positioning sleeve, a positioning bolt, a sponge sleeve pad and brush fluff, the left side and the right side of the adjusting slider are respectively provided with the positioning sleeve, the positioning bolt is installed on the positioning sleeve, the sponge sleeve pad is installed on the outer side of the adjusting slider, and the brush fluff is arranged on the outer side of the sponge sleeve pad.

Preferably, the mechanical arm spraying assembly comprises a horizontal support platform, a fine adjustment sliding rod, a fine adjustment nut, a connecting groove, a mechanical arm buckle assembly and a color changing spraying assembly, the fine adjustment sliding rod is arranged at each of the left end and the right end of the horizontal support platform, the fine adjustment nut is installed on the fine adjustment sliding rod, the connecting groove is formed in the horizontal support platform, the mechanical arm buckle assembly is installed in the connecting groove, and the color changing spraying assembly is installed at the center of the horizontal support platform.

Preferably, the mechanical arm buckle assembly comprises an assembly support, an assembly protection pad, an extension arm, a horizontal shaft and a clamping and embedding clamp, the assembly protection pad is arranged on the side face of the assembly support, the extension arm is arranged at the bottom of the assembly support, the horizontal shaft is installed on the extension arm, and the clamping and embedding clamp is installed on the horizontal shaft.

Preferably, the clamping and embedding clamp comprises a clamp sliding block, an outer frame, a clamping and embedding screw rod, a nut adjusting buckle and a pressure clamping plate, wherein the outer frame is arranged on the lower side of the clamp sliding block, the clamping and embedding screw rods are respectively installed on the left side and the right side of the outer frame, the nut adjusting buckle is installed on the clamping and embedding screw rod, and the pressure clamping plate is arranged at the tail end of the inner side of the clamping and embedding screw rod.

Preferably, trade look spraying assembly including scribbling paint tank shell, screwed pipe, motor groove, agitator motor, (mixing) shaft and stirring vane, the top of scribbling paint tank shell is equipped with the screwed pipe, the left and right sides of scribbling paint tank shell is equipped with the motor groove respectively, motor inslot installation agitator motor, the internally mounted (mixing) shaft of scribbling paint tank shell, be equipped with stirring vane on the (mixing) shaft.

Preferably, trade look spraying assembly still includes material pump, equipment draw-in groove, flow distribution plate and coating shower nozzle, the inside bottom of scribbling the paint box shell is equipped with material pump, the bottom of scribbling the paint box shell is equipped with the equipment draw-in groove, the bottom of equipment draw-in groove is equipped with the flow distribution plate, the bottom installation coating shower nozzle of flow distribution plate.

The invention provides another technical scheme: an implementation method of cleaning and color changing equipment for spraying of a mechanical arm of an industrial robot comprises the following steps:

the method comprises the following steps: installing a mechanical arm in the clamping fixture, starting a material pumping pump in the color changing spraying assembly, and conveying the coating in the coating box shell to a coating nozzle for spraying;

step two: when cleaning and color changing are carried out, a hydraulic driving cylinder drives a hydraulic lifting rod to descend and drives the whole mechanical arm spraying assembly to descend, so that the assembled mechanical arm is positioned above a cleaning brush in the cleaning tank;

step three: the driving shaft is driven by the driving motor to rotate rapidly, the cleaning brush is driven to rotate rapidly at the same time, and brush hair on the cleaning brush is utilized to brush down redundant paint on the mechanical arm;

step four: after the mechanical arm is cleaned, the hydraulic driving cylinder drives the hydraulic lifting rod to reset, and after the coating in the coating box shell is replaced or supplemented, the coating is pumped by the pumping pump and color-changing spraying is carried out by the coating nozzle.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention provides cleaning and color changing equipment and a method for spraying of a mechanical arm of an industrial robot.

2. The invention provides cleaning and color changing equipment for spraying of a mechanical arm of an industrial robot and a method thereof, in the prior art, in the cleaning process of the mechanical arm, the position for spraying and cleaning a cleaning agent is fixed, so that part of the position on the mechanical arm is difficult to clean, and the subsequent color changing and spraying operation is influenced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic cross-sectional view of the present invention;

FIG. 3 is a schematic cross-sectional view of the cleaning tank of the present invention;

FIG. 4 is a cross-sectional view of the cleaning brush of the present invention;

FIG. 5 is a schematic view of the robotic arm spray assembly of the present invention;

FIG. 6 is a schematic structural view of a mechanical arm latch assembly of the present invention;

FIG. 7 is a schematic view of the present invention showing a partial cross-sectional structure of the clamping and inserting jig;

fig. 8 is a schematic cross-sectional view of the color-changing spray assembly of the present invention.

In the figure: 1. an equipment chassis; 2. a cleaning tank; 21. a main housing; 22. the bolt is embedded in a clamping manner; 23. embedding a groove; 24. a motor clamping seat; 25. a drive motor; 26. a drive shaft; 27. cleaning the brush; 271. adjusting the slide block; 272. positioning the sleeve; 273. positioning the bolt; 274. a sponge sleeve cushion; 275. hair brush fluff; 28. positioning holes; 3. a hydraulic drive cylinder; 4. a hydraulic lifting rod; 5. adjusting a buckle; 6. a robotic arm spray assembly; 61. a horizontal support platform; 62. finely adjusting the sliding rod; 63. fine adjustment of the nut; 64. connecting grooves; 65. a mechanical arm buckle assembly; 651. assembling a bracket; 652. assembling a protection pad; 653. an extension arm; 654. a horizontal axis; 655. clamping and embedding the clamp; 6551. a clamp slider; 6552. an outer frame; 6553. the screw rod is embedded in a clamping manner; 6554. a nut adjusting buckle; 6555. a pressure clamp plate; 66. a color changing spray assembly; 661. a paint tank housing; 662. a threaded pipe; 663. a motor slot; 664. a stirring motor; 665. a stirring shaft; 666. a stirring blade; 667. a material pumping pump; 668. assembling a clamping groove; 669. a flow distribution plate; 6610. a paint sprayer.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1-2, a cleaning and color-changing device for spraying of a mechanical arm of an industrial robot comprises a device chassis 1, a cleaning tank 2, a hydraulic driving cylinder 3, a hydraulic lifting rod 4, an adjusting buckle 5 and a mechanical arm spraying component 6, wherein the cleaning tank 2 is arranged at the center of the upper side of the device chassis 1, the surface of the mechanical arm is cleaned through the cleaning tank 2 and internal components, the hydraulic driving cylinder 3 is respectively arranged on the left side and the right side of the upper end of the device chassis 1, the hydraulic lifting rod 4 is arranged on the hydraulic driving cylinder 3, the hydraulic lifting rod 4 is controlled by the hydraulic driving cylinder 3 to move up and down, the adjusting buckle 5 is arranged at the tail end of the hydraulic lifting rod 4, the mechanical arm spraying component 6 is arranged in the adjusting buckle 5, and the mechanical arm spraying component 6 is driven to move up and down by the hydraulic lifting rod 4.

Referring to fig. 3, the cleaning tank 2 includes a main housing 21, an embedded latch 22, an embedded slot 23 and a motor clamping seat 24, the embedded latch 22 is respectively disposed at four corners of the bottom of the main housing 21, the cleaning tank 2 is mounted on the equipment chassis 1 through the embedded latch 22, the embedded slot 23 is disposed at the inner sides of the left and right ends of the main housing 21, the motor clamping seat 24 is disposed inside the embedded slot 23, the cleaning tank 2 further includes a driving motor 25, a driving shaft 26, a cleaning brush 27 and a positioning hole 28, the driving motor 25 is mounted in the motor clamping seat 24, the driving shaft 26 is mounted in the main housing 21, the positioning hole 28 is disposed on the driving shaft 26, the cleaning brush 27 is mounted on the driving shaft 26, the cleaning brush 27 is adjusted to a corresponding position on the driving shaft 26, and then the positioning bolt 273 in the cleaning brush 27 is inserted into the positioning hole 28, so as to achieve the assembly and fixation of the cleaning brush 27, the driving shaft 26 is driven by the driving motor 25 to rotate, thereby driving the cleaning brush 27 to rotate quickly.

Referring to fig. 4, the cleaning brush 27 includes an adjusting slider 271, a positioning sleeve 272, a positioning bolt 273, a sponge pad 274 and brush hairs 275, the positioning sleeve 272 is disposed on each of the left and right sides of the adjusting slider 271, the positioning bolt 273 is mounted on the positioning sleeve 272, the end of the positioning bolt 273 is nested in the positioning hole 28, the sponge pad 274 is mounted on the outer side of the adjusting slider 271, the brush hairs 275 are disposed on the outer side of the sponge pad 274, and the brush hairs 275 are used to clean the paint on the surface of the mechanical arm in the process that the cleaning brush 27 rotates along with the driving shaft 26.

Referring to fig. 5, the robot spraying assembly 6 includes a horizontal bracket platform 61, a fine adjustment slide bar 62, a fine adjustment nut 63, a connection groove 64, a robot buckling assembly 65 and a color changing spraying assembly 66, wherein the fine adjustment slide bar 62 is respectively disposed at the left and right ends of the horizontal bracket platform 61, the fine adjustment slide bar 62 can horizontally move in the adjustment buckle 5, the fine adjustment nut 63 is mounted on the fine adjustment slide bar 62, when the fine adjustment slide bar 62 moves to a fixed position, the fine adjustment nut 63 is used for limiting and fixing, the fine adjustment slide bar 62 is controlled by the fine adjustment nut 63 in the position of the adjustment buckle 5, so as to realize the displacement of the robot spraying assembly 6 in the horizontal direction, and further adjust the robot arm position clamped by the robot arm buckling assembly 65, thereby facilitating the change of the cleaning position of the robot arm by the brush cleaning 27 on the lower side, the horizontal bracket platform 61 is provided with the fine adjustment nut 64, the robot buckling assembly 65 is mounted in the connection groove 64, the robot buckling assembly 65 is prevented from swinging in the horizontal direction by mounting the robot buckling assembly 65 in the connection groove 64, the center of the horizontal bracket platform 61, the color changing spraying assembly 66 is mounted in the color.

Referring to fig. 6, the robot arm fastening assembly 65 includes an assembly support 651, an assembly protection pad 652, an extension arm 653, a horizontal shaft 654 and a fastening clamp 655, the assembly protection pad 652 is disposed on a side surface of the assembly support 651, the extension arm 653 is disposed at a bottom of the assembly support 651, the extension arm 653 is used for extending a depth in a vertical direction, the horizontal shaft 654 is installed on the extension arm 653, the fastening clamp 655 is installed on the horizontal shaft 654, and the fastening clamp 655 can move freely on the horizontal shaft 654, and the robot arm is fixed by the fastening clamp 655.

Referring to fig. 7, the clamping and inserting clamp 655 includes a clamp slider 6551, an outer frame 6552, clamping and inserting screws 6553, nut adjusting buckles 6554 and a pressure clamp plate 6555, the outer frame 6552 is arranged on the lower side of the clamp slider 6551, the clamping and inserting screws 6553 are respectively arranged on the left side and the right side of the outer frame 6552, the nut adjusting buckles 6554 are arranged on the clamping and inserting screws 6553, the pressure clamp plate 6555 is arranged at the inner end of the clamping and inserting screw 6553, the pressure clamp plate 6555 can change position along with the adjusting and inserting screw 6553 by adjusting the position of the clamping and inserting screw 6553, and the pressure clamp plate 6555 is controlled to clamp the mechanical arm.

Referring to fig. 8, the color changing and spraying assembly 66 includes a paint tank housing 661, a threaded pipe 662, a motor groove 663, a stirring motor 664, a stirring shaft 665 and a stirring blade 666, wherein the threaded pipe 662 is disposed on a top of the paint tank housing 661, the motor grooves 663 are disposed on left and right sides of the paint tank housing 661, the stirring motor 664 is disposed in the motor groove 663, the stirring shaft 665 is disposed in the paint tank housing 661, the stirring blade 666 is disposed on the stirring shaft 665, the stirring shaft 665 and the stirring blade 666 are controlled by the stirring motor 664 to rotate so as to stir and mix paint in the paint tank housing 661, the color changing and spraying assembly 66 further includes a suction pump 667, an assembly slot, a shunt plate 669 and a paint nozzle 6610, the suction pump 667 is disposed at an inner bottom end of the paint tank housing 661, the assembly slot 668 is disposed at a bottom end of the paint tank housing 668, the shunt plate 669 is disposed at a bottom end of the shunt plate 6610, and the paint nozzle 6610 is disposed at a bottom of the shunt plate 6610 to deliver paint to each nozzle 661, and the color changing and spraying operation is performed by the paint nozzle 6610.

In order to better show the implementation process of the cleaning and color changing equipment for spraying of the mechanical arm of the industrial robot, the embodiment provides an implementation method of the cleaning and color changing equipment for spraying of the mechanical arm of the industrial robot, which includes the following steps:

the method comprises the following steps: installing a mechanical arm in the clamping and embedding clamp 655, starting a material pumping pump 667 in the color changing spraying assembly 66, and conveying the coating in the coating box shell 661 to a coating spray head 6610 for spraying, wherein the coating spray head 6610 is used as a main spraying component for coating the outer surface of various mechanical arms, and pumping and conveying the uniformly stirred coating in the coating box shell 661 by the material pumping pump 667;

step two: when cleaning and color changing are carried out, the hydraulic driving cylinder 3 drives the hydraulic lifting rod 4 to descend and drives the whole mechanical arm spraying assembly 6 to descend, so that the assembled mechanical arm is positioned above the cleaning brush 27 in the cleaning groove 2, wherein the sponge sleeve pad 274 and the brush fluff 275 are wrapped outside the adjusting slide block 271 of the cleaning brush 27, and the brush fluff 275 contacts the surface of the mechanical arm in the rotating process of the cleaning brush 27;

step three: the driving shaft 26 is driven by the driving motor 25 to rotate rapidly, the cleaning brush 27 is driven to rotate rapidly, redundant paint on the mechanical arm is brushed down by utilizing the brush fluff 275 on the cleaning brush 27, and ineffective paint on the surface of the mechanical arm is brushed down under the long-time repeated brushing of the brush fluff 275, so that the subsequent coloring operation is carried out;

step four: after the mechanical arm is cleaned, the hydraulic driving cylinder 3 drives the hydraulic lifting rod 4 to reset, after the coating in the coating box shell 661 is replaced or supplemented, the coating is extracted by the material extracting pump 667, and color changing spraying is performed by the coating nozzle 6610, after the mechanical arm is effectively cleaned, the coating can be more easily covered on the surface of the mechanical arm by the coating nozzle 6610, and therefore the cleaning and color changing operation of the mechanical arm is achieved.

In summary, the following steps: the invention relates to a cleaning and color-changing device for spraying a mechanical arm of an industrial robot and a method thereof.A hydraulic driving cylinder 3 drives a hydraulic lifting rod 4 to descend and drives a whole mechanical arm spraying component 6 to descend when cleaning and color-changing operations are carried out, so that the assembled mechanical arm is positioned above a cleaning brush 27 in a cleaning tank 2, a driving shaft 26 is driven to rotate rapidly through a driving motor 25, the cleaning brush 27 is driven to rotate rapidly at the same time, redundant paint on the mechanical arm is brushed down by using brush fluff 275 on the cleaning brush 27, after the cleaning of the mechanical arm is finished, the hydraulic lifting rod 4 is driven to reset by the hydraulic driving cylinder 3, after the paint in a paint box shell 661 is replaced or supplemented, the paint is extracted by a material extracting pump 667, and color-changing spraying is carried out by a paint spray nozzle 6610.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. The utility model provides an industrial robot arm spraying is with wasing look equipment that trades, includes equipment chassis (1), washing tank (2), hydraulic drive jar (3), hydraulic lifting rod (4), adjusts buckle (5) and arm spraying subassembly (6), its characterized in that: upside center department on equipment chassis (1) is equipped with washing tank (2), hydraulic drive jar (3) are installed respectively to the upper end left and right sides on equipment chassis (1), install hydraulic lifting rod (4) on hydraulic drive jar (3), the end of hydraulic lifting rod (4) is equipped with adjusts buckle (5), install mechanical arm spraying subassembly (6) in adjusting buckle (5), washing tank (2) are including main shell (21), inlay card bolt (22), embedded groove (23) and motor cassette (24), the bottom four corners department of main shell (21) is equipped with inlay card bolt (22) respectively, both ends inboard is equipped with embedded groove (23) about main shell (21), the inside of embedded groove (23) is equipped with motor cassette (24), washing tank (2) still include driving motor (25), drive shaft (26), clean brush (27) and locating hole (28), installation driving motor (25) in motor cassette (24), the internally mounted of main shell (21), be equipped with drive shaft (26) on drive shaft (26), clean brush (27) are adjusted including clean brush (27) on drive shaft (271), clean brush (27) including clean brush (27) installation drive shaft (26) and install drive shaft (27), clean brush (27) including brush (27) The color changing and spraying device comprises a positioning sleeve (272), a positioning bolt (273), a sponge sleeve pad (274) and brush fluff (275), wherein the left side and the right side of an adjusting sliding block (271) are respectively provided with the positioning sleeve (272), the positioning bolt (273) is installed on the positioning sleeve (272), the sponge sleeve pad (274) is installed on the outer side of the adjusting sliding block (271), the brush fluff (275) is arranged on the outer side of the sponge sleeve pad (274), a mechanical arm spraying component (6) comprises a horizontal support platform (61), a fine adjusting sliding rod (62), a fine adjusting nut (63), a connecting groove (64), a mechanical arm buckle component (65) and a color changing spraying component (66), the fine adjusting sliding rod (62) is respectively arranged at the left end and the right end of the horizontal support platform (61), the fine adjusting nut (63) is installed on the fine adjusting sliding rod (62), the connecting groove (64) is arranged on the horizontal support platform (61), an arm buckle component (65) is installed in the connecting groove (64), the color changing and the color spraying component (66) is installed at the center of the horizontal support platform (61), the mechanical arm buckle component (65) comprises an assembling support (651), an assembling support (652), an assembling support, an extending support (652) and a protecting support (652) and a horizontal shaft embedding clamp (652) which is arranged on the side surface, the bottom of the assembly support (651) is provided with an extension arm (653), a horizontal shaft (654) is installed on the extension arm (653), and a clamping and embedding clamp (655) is installed on the horizontal shaft (654).

2. The cleaning and color-changing equipment for spraying of the mechanical arm of the industrial robot as claimed in claim 1, wherein the clamping and embedding clamp (655) comprises a clamp slider (6551), an outer frame (6552), a clamping and embedding screw rod (6553), a nut adjusting buckle (6554) and a pressure clamping plate (6555), the outer frame (6552) is arranged on the lower side of the clamp slider (6551), the clamping and embedding screw rods (6553) are respectively arranged on the left side and the right side of the outer frame (6552), the nut adjusting buckle (6554) is arranged on the clamping and embedding screw rod (6553), and the pressure clamping plate (6555) is arranged at the inner end of the clamping and embedding screw rod (6553).

3. The cleaning and color-changing device for the industrial robot arm mechanical arm spraying of claim 2, wherein the color-changing spraying component (66) comprises a paint box shell (661), a threaded pipe (662), a motor groove (663), a stirring motor (664), a stirring shaft (665) and stirring blades (666), the threaded pipe (662) is arranged at the top of the paint box shell (661), the motor grooves (663) are respectively arranged at the left side and the right side of the paint box shell (661), the stirring motor (664) is installed in the motor grooves (663), the stirring shaft (665) is installed inside the paint box shell (661), and the stirring blades (666) are arranged on the stirring shaft (665).

4. The cleaning and color-changing device for the spraying of the industrial robot mechanical arm as claimed in claim 3, wherein the color-changing spraying assembly (66) further comprises a suction pump (667), an assembly clamping groove (668), a splitter plate (669) and a paint spray head (6610), the suction pump (667) is arranged at the bottom end of the interior of the paint box shell (661), the assembly clamping groove (668) is arranged at the bottom of the paint box shell (661), the splitter plate (669) is arranged at the bottom of the assembly clamping groove (668), and the paint spray head (6610) is arranged at the bottom of the splitter plate (669).

5. An implementation method of a cleaning and color changing device for spraying of a robot arm of an industrial robot according to claim 4, characterized by comprising the following steps:

s1: installing a mechanical arm in a clamping and embedding clamp (655), starting a material pumping pump (667) in a color changing spraying assembly (66), and conveying the coating in a coating box shell (661) to a coating spray head (6610) for spraying;

s2: when cleaning and color changing are carried out, the hydraulic driving cylinder (3) drives the hydraulic lifting rod (4) to descend and drives the whole mechanical arm spraying assembly (6) to descend, so that the assembled mechanical arm is positioned above the cleaning brush (27) in the cleaning tank (2);

s3: the driving shaft (26) is driven to rotate rapidly by the driving motor (25), the cleaning brush (27) is driven to rotate rapidly at the same time, and redundant paint on the mechanical arm is brushed down by using brush hair (275) on the cleaning brush (27);

s4: after the mechanical arm is cleaned, the hydraulic lifting rod (4) is driven by the hydraulic driving cylinder (3) to reset, and after the coating in the coating box shell (661) is replaced or supplemented, the coating is pumped by the pumping pump (667), and color changing spraying is carried out by the coating nozzle (6610).