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喷浆机器人的纵向进给装置的调姿机构是一种油缸驱动的连杆摆动机构。纵向进给装置在工作过程中要实现左右±３５°的摆头运动。在极限位置时既要能达到调姿范围要求，又不能使驱动产生机械自锁与干涉。为此，对纵向进给装置的调姿机构采取了优化设计，并获得了很好的效果。
Spraying robot longitudinal feed device position adjustment mechanism is a cylinder-driven link swing mechanism. Longitudinal feed device in the work process to achieve about ± 35 ° swinging movement. In the limit position, it is necessary to meet the requirements of adjusting the position range, but also can not make the drive produce mechanical self-locking and interference. To this end, the longitudinal feed device attitude adjustment mechanism taken to optimize the design, and achieved good results.