Spraying and flexible scraping integrated forming device

Abstract

The utility model discloses a spraying and flexible scraping integrated forming device which comprises a lifting type portal frame, a mechanical arm and a spraying and scraping integrated tail end located at the tail end of the mechanical arm. The spraying and scraping integrated tail end comprises a spatula control cable, a spatula fixing rod, a flexible spatula, a flange connecting column, a connecting sleeve, a telescopic sleeve, a telescopic material conveying pipe, a tail end material conveying pipe, a telescopic spray head, a motor box, a spring and a second motor, the upper end of the flange connecting column is connected with the tail end of the mechanical arm, and the lower portion of the flange connecting column is sleeved with the connecting sleeve; the upper end of the telescopic sleeve is inserted into the lower end of the connecting sleeve, the flexible spatula is located at the tail end of the spatula fixing rod, each end corner of the flexible spatula is connected with a spatula control cable, and the curvature of the flexible spatula is adjusted through the lengths of the spatula control cables. The device can continuously finish spraying and scraping operation, overcomes the defect that spraying and scraping processes are carried out respectively, and avoids repeated transfer and waiting time of a processed product, so that the production efficiency is remarkably improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic spraying and scraping equipment, and in particular relates to an integrated spraying and flexible scraping forming device. Background Art

[0002] In modern industrial production, spraying and scraping are important links in surface treatment. For example, automobile painting, ship hull coating, building exterior coating, and aerospace equipment exterior surface treatment all require spraying and scraping. Spraying and scraping not only affect the appearance quality of the product, but are also directly related to the performance and durability of the product. However, for thick layer scraping, traditional scraping technology often relies on manual operation. When scraping curved products with different curvatures, traditional spatulas have the disadvantage of being unable to adapt to the shape of the working surface. Not only is the efficiency low, but it is also difficult to ensure the uniformity and consistency of the coating or scraping layer, and may even damage the surface of the product to be processed.

[0003] With the development of automation technology, more and more companies are trying to use automated equipment to replace manual spraying and scraping operations. However, most of the existing automated equipment can only achieve a single spraying or scraping function, and cannot achieve the combination of spraying and scraping operations. As a result, multiple equipment and multiple processes are required to complete the entire process during the production process, which not only increases equipment costs and space occupancy, but also reduces production efficiency.

[0004] Spraying usually requires uniform and continuous coverage of the surface of the product to be processed, while scraping focuses more on using materials to evenly cover the surface of the product to be processed. At present, there are few integrated devices that combine spraying and scraping in the prior art, and the flexible scraping technology is not mature. Therefore, the utility model designs a spraying and flexible scraping integrated molding device. Utility Model Content

[0005] In view of the deficiencies in the prior art, the technical problem to be solved by the utility model is to provide an integrated spraying and flexible scraping forming device.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A spraying and flexible scraping integrated forming device comprises a lifting gantry, a mechanical arm and a spraying and scraping integrated terminal located at the end of the mechanical arm; the spraying and scraping integrated terminal can realize the integrated operation of spraying and scraping, comprises a spatula control cable, a spatula fixing rod and a flexible spatula, the flexible spatula is located at the end of the spatula fixing rod, each end corner of the flexible spatula is connected with a spatula control cable, and the curvature of the flexible spatula is adjusted by controlling the length of the spatula control cable; when all the spatula control cables are extended synchronously, the two sides of the flexible spatula move away from the spatula fixing rod, and the curvature of the flexible spatula becomes smaller; when all the spatula control cables are shortened synchronously, the two sides of the flexible spatula move toward the spatula fixing rod, and the curvature of the flexible spatula becomes larger.

[0008] Furthermore, the spray-scraping integrated end also includes a flange connecting column, a connecting sleeve, a retractable sleeve, a retractable material delivery pipe, an end material delivery pipe, a retractable nozzle, a motor box, a spring and a second motor; wherein the upper end of the flange connecting column is connected to the end of the robot arm, the connecting sleeve is sleeved on the lower part of the flange connecting column and can rotate relative to the flange connecting column; the upper end of the retractable sleeve is inserted into the lower end of the connecting sleeve, the retractable sleeve can slide back and forth axially in the connecting sleeve and rotate with the connecting sleeve; the spring is located inside the connecting sleeve and is used for resetting the retractable sleeve; the retractable material delivery pipe is located between the flange connecting column and the connecting sleeve Inside the connecting sleeve, the upper end of the telescopic feed pipe is connected to the spray raw material box, one end of the terminal feed pipe is connected to the lower end of the telescopic feed pipe, the other end of the terminal feed pipe extends from the telescopic sleeve and is connected to the telescopic nozzle, and the terminal feed pipe rotates together with the connecting sleeve; the motor box is located at the lower end of the telescopic sleeve, the upper end of the spatula fixing rod is connected to the bottom of the motor box, and the flexible spatula is located at the lower end of the spatula fixing rod; multiple second motors are located inside the motor box, and the output end of each second motor is respectively wrapped with a spatula control cable, and each spatula control cable passes through the motor box and the spatula fixing rod and is connected to each end corner of the flexible spatula.

[0009] Alternatively, the spray-scraping integrated end includes a flange connecting column, a connecting sleeve, a retractable sleeve, a retractable feed pipe, an end feed pipe, a motor box, a spring, a second motor, a spatula control rope, a spatula fixing rod, a flexible spatula, a forked feed pipe and a spray material box; wherein, the other end of the end feed pipe passes through the motor box, extends into the spatula fixing rod and extends to the lower part of the spatula fixing rod, one end of the forked feed pipe extends into the spatula fixing rod and connects to the other end of the end feed pipe, the other end of the forked feed pipe is connected to the spray material box, the spray material box is located between the spatula fixing rod and the flexible spatula, and a plurality of spray holes are provided at the bottom of the spray material box and in the area where the flexible spatula contacts the spray material box.

[0010] Alternatively, the spraying and scraping integrated terminal includes a flange connecting column, a connecting sleeve, a retractable sleeve, a retractable feed pipe, a terminal feed pipe, a motor box, a spring, a second motor, a spatula control cable, a spatula fixing rod, a flexible spatula, a fixed nozzle, a roller fixing frame and a roller; wherein the other end of the terminal feed pipe passes through the motor box, extends into the spatula fixing rod and extends to the lower end of the spatula fixing rod to be connected with the fixed nozzle, and the fixed nozzle is located at the lower end of the spatula fixing rod; the flexible spatula is located below the fixed nozzle and has a plurality of rollers embedded therein, the upper end of the roller fixing frame is connected to the middle part of the spatula fixing rod, and the lower end of the roller fixing frame is connected to the roller in the middle of the flexible spatula.

[0011] Furthermore, the integrated spray-scraping end also includes a motor fixing plate, a first motor, a first gear and a second gear; one end of the motor fixing plate is connected to the upper part of the flange connecting column, the first motor is installed at the bottom of the motor fixing plate, the first gear is installed at the output end of the first motor, and the second gear is mounted on the lower part of the outer wall of the connecting sleeve and meshes with the first gear.

[0012] Furthermore, the flexible spatula is a plate-like structure, which can bend and deform under the action of external force.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The utility model combines spraying and scraping to achieve the integration of spraying and scraping operations, greatly improving production efficiency and economic benefits. In traditional production methods, spraying and scraping often need to be carried out separately, which not only increases time costs, but may also cause the product to be contaminated or damaged during transportation. The utility model can continuously complete the spraying and scraping operations, avoiding multiple transportation and waiting time of the processed products, thereby significantly improving production efficiency. In addition, the one-piece molding device can also reduce equipment costs and space occupancy, and ensure the uniformity and consistency of the material layer through reasonable spatial position layout design, resulting in greater economic benefits.

[0015] 2. The flexible spatula used in the utility model can adapt to workpiece surfaces of different curvatures and shapes, and achieve high-quality and high-precision scraping operations. Compared with traditional rigid scraping tools, the flexible spatula can change its own curvature to better fit the workpiece surface, avoid scratches and unevenness, and thus improve the surface quality and aesthetics of the product.

[0016] 3. The utility model also has the advantages of environmental protection and energy saving. By optimizing the spraying and scraping process, the two processes are combined into one, reducing the waste of paint and the emission of pollutants caused by multiple processes, which is in line with the development trend of green manufacturing; at the same time, the efficient operation of the device also reduces energy consumption and helps to achieve sustainable development. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the connection between the mechanical arm and the spraying and scraping integrated end of the utility model;

[0019] Figure 3 It is a three-dimensional structural diagram of the first embodiment of the spraying and scraping integrated terminal of the utility model;

[0020] Figure 4 It is a cross-sectional view of the first embodiment of the spray-scraping integrated terminal of the utility model;

[0021] Figure 5 It is an assembly diagram of the flange connection column, the connection sleeve and the telescopic sleeve of the utility model;

[0022] Figure 6 This is a structural diagram of the connecting sleeve of the utility model;

[0023] Figure 7 It is a structural schematic diagram of the second embodiment of the spraying and scraping integrated terminal of the utility model at one viewing angle;

[0024] Figure 8 It is a structural schematic diagram of the second embodiment of the spraying and scraping integrated terminal of the utility model from another viewing angle;

[0025] Fig. 9 It is a structural schematic diagram of a third embodiment of the spraying and scraping integrated terminal of the utility model;

[0026] In the figure, 1. Lifting gantry; 2. Robotic arm; 3. Spraying and scraping integrated end; 4. Products to be processed;

[0027] 101, liftable column; 102, cantilever beam; 103, track; 201, spraying material box; 301, flange connection column; 302, connection sleeve; 303, retractable sleeve; 304, motor fixing plate; 305, first motor; 306, first gear; 307, second gear; 308, retractable feed pipe; 309, end feed pipe; 310, retractable nozzle; 311, motor box; 312 , nozzle fixing part; 313, spring; 314, feed pipe connector; 315, second motor; 316, spatula control cable; 317, roller; 318, roller ring; 319, spatula fixing rod; 320, control cable fixing buckle; 321, flexible spatula; 322, forked feed pipe; 323, spray material box; 324, spray hole; 325, fixed nozzle; 326, roller fixing frame; 327, roller. DETAILED DESCRIPTION

[0028] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solution of the utility model in detail, and are not intended to limit the protection scope of the present application.

[0029] The utility model provides a spraying and flexible scraping integrated forming device (referred to as the device, see Figures 1 to 9 ), including a lifting gantry 1, a robot arm 2 and an integrated spraying and scraping terminal 3; wherein the robot arm 2 is installed on the lifting gantry 1, and the integrated spraying and scraping terminal 3 is installed at the end of the robot arm 2; the lifting gantry 1 is used to adjust the spatial position of the robot arm 2, and the robot arm 2 has six degrees of freedom, which are used to adjust the spatial position of the integrated spraying and scraping terminal 3, and a spraying raw material box 201 is provided on the robot arm 2; the integrated spraying and scraping terminal 3 performs spray molding and flexible scraping molding operations on the product to be processed 4 thereunder.

[0030] The lifting gantry 1 includes a lifting column 101, a cantilever beam 102 and a track 103; two tracks 103 are symmetrically installed on the ground or above the workbench through the lifting column 101, and the two ends of the cantilever beam 102 are slidably connected to the two tracks 103, and the robot 2 is connected to the middle of the cantilever beam 102. The lifting column 101 can rise or fall according to the overall height of the product 4 to be processed, and the spatial position of the robot 2 is adjusted by the lifting and lowering of the lifting column 101 and the sliding of the cantilever beam 102, so that the robot 2 reaches the optimal working area.

[0031] Figure 3-6 It is a first embodiment of the integrated spraying and scraping terminal, including a flange connection column 301, a connection sleeve 302, a retractable sleeve 303, a motor fixing plate 304, a first motor 305, a first gear 306, a second gear 307, a retractable material delivery pipe 308, a terminal material delivery pipe 309, a retractable nozzle 310, a motor box 311, a nozzle fixing part 312, a spring 313, a material delivery pipe connector 314, a second motor 315, a spatula control cable 316, a roller 317, a roller ring 318, a spatula fixing rod 319, a control cable fixing buckle 320 and a flexible spatula 321;

[0032] Among them, the upper end of the flange connecting column 301 is fixedly connected to the end of the robot arm 2, the connecting sleeve 302 is sleeved on the lower part of the flange connecting column 301 and can rotate relative to the flange connecting column 301, and the connecting part between the flange connecting column 301 and the connecting sleeve 302 is matched with the limiting groove and the limiting protrusion to prevent the flange connecting column 301 and the connecting sleeve 302 from relative movement in the axial direction; the upper end of the telescopic sleeve 303 is inserted into the lower end of the connecting sleeve 302, and the telescopic sleeve 303 can slide back and forth axially in the connecting sleeve 302 and rotate with the connecting sleeve 302. The connecting sleeve 302 is a two-petal structure connected together by a fixing pin on the side wall; a limiting ring is provided at the bottom end of the connecting sleeve 302 to prevent the telescopic sleeve 303 from falling off, a plurality of vertical limiting teeth are evenly provided on the lower part of the inner wall of the connecting sleeve 302, and a plurality of vertical sliding grooves cooperating with the corresponding vertical limiting teeth are provided on the upper end of the outer wall of the telescopic sleeve 303, thereby ensuring that the telescopic sleeve 303 and the connecting sleeve 302 only move relative to each other in the axial direction and preventing circumferential relative rotation between the two. The lower end of the retractable sleeve 303 is fixedly connected to the motor box 311, the upper end of the spatula fixing rod 319 is fixedly connected to the bottom of the motor box 311, and the center position of the flexible spatula 321 is fixedly connected to the lower end of the spatula fixing rod 319; four second motors 315 are arranged inside the motor box 311, and the output end of each second motor 315 is respectively wrapped with a spatula control cable 316, and the four spatula control cables 316 are respectively passed around the roller 317 arranged inside the motor box 311 and the roller ring 318 fixed at the middle part of the spatula fixing rod 319, and are fixed to the four end corners of the flexible spatula 321 through the control cable fixing buckle 320 The four second motors 315 respectively control the length of their respective spatula control cables 316 to control the curvature of the flexible spatula 321 to adapt to the change of the surface curvature of the product 4 to be processed; when the four second motors 315 control their respective spatula control cables 316 to extend synchronously, the two sides of the flexible spatula 321 move away from the spatula fixing rod 319, and the curvature of the flexible spatula 321 becomes smaller; when the four second motors 315 control their respective spatula control cables 316 to shorten synchronously, the two sides of the flexible spatula 321 move toward the spatula fixing rod 319, and the curvature of the flexible spatula 321 becomes larger. The flexible spatula 321 is a plate-like structure, and can be made of different materials with good plasticity and ductility, such as soft metal, rubber, soft plastic, etc., according to the different materials of the working surface. The flexible spatula 321 can bend and deform under the action of external force, and can achieve changes in curvature, contact area with the working surface and shape, so as to better adapt to the surfaces of the products 4 to be processed with different curvatures and shapes, and achieve high-quality and high-precision scraping operations.

[0033] One end of the motor fixing plate 304 is fixedly connected to the upper part of the flange connecting column 301, the first motor 305 is fixedly installed at the bottom of the motor fixing plate 304, the first gear 306 is installed at the output end of the first motor 305, and the second gear 307 is welded and fixed to the lower part of the outer wall of the connecting sleeve 302 and meshes with the first gear 306; the first motor 305 drives the connecting sleeve 302 to rotate relative to the flange connecting column 301 through gear transmission, thereby realizing the control of the rotational movement of the spray-scraping integrated terminal 3. The spray-scraping integrated terminal 3 can change the working direction or working path through the rotational movement to overcome the operating difficulties caused by the irregular changes in the surface shape of the product 4 to be processed in the working direction of the device, better adapt to the changes in the surface shape of the product 4 to be processed, and make the path planning of the robot arm 2 simpler and more efficient.

[0034] The telescopic feed pipe 308 is simultaneously located inside the flange connection column 301 and the connection sleeve 302, the upper end of the telescopic feed pipe 308 is connected to the output end of the spray material box 201, and the terminal feed pipe 309 is partially located inside the telescopic sleeve 303, one end of the terminal feed pipe 309 extends into the telescopic sleeve 303 and is connected to the lower end of the telescopic feed pipe 308 through a feed pipe connector 314, the other end of the terminal feed pipe 309 extends from the telescopic sleeve 303 and is connected to the telescopic nozzle 310, and the telescopic nozzle 310 is connected to one side of the motor box 311 through a nozzle fixing 312. The upper half of the feed pipe connector 314 is fixed, and the lower half is a rotatable part that can rotate freely 360 degrees relative to the upper half. The rotatable setting of the feed pipe connector 314 ensures that the terminal feed pipe 309 can rotate together with the connecting sleeve 302 and the telescopic sleeve 303 when the connecting sleeve 302 and the telescopic sleeve 303 are rotating, thereby ensuring the smoothness and safety of the terminal feed pipe 309. The spring 313 is arranged inside the connecting sleeve 302, the upper end of the spring 313 contacts the limiting boss in the middle of the connecting sleeve 302, and the lower end is fixedly connected to the upper end of the telescopic sleeve 303. The spring 313 is used for the automatic reset of the telescopic sleeve 303 after sliding upward, that is, when the flexible spatula 321 is squeezed upward due to the change in the surface curvature of the product 4 to be processed, the flexible spatula 321 can be reset adaptively and flexibly contact the working surface of the product 4 to be processed to prevent the working surface from being scratched. The telescopic nozzle 310 can be adjusted in length under control so as to maintain a suitable distance from the working surface of the product 4 to be processed. At the same time, the large-flow central nozzle and the surrounding small-flow nozzles of the telescopic nozzle 310 can be controlled to be on and off respectively to meet the spraying requirements of the working steps and the working surface. For example, the large-flow central nozzle needs to be opened in the initial spraying stage, and the small-flow nozzle needs to be opened when compensating for the error in the amount of spraying raw materials.

[0035] Figure 7 , 8The second embodiment of the spray-scraping integrated terminal, the spray-scraping integrated terminal 3 includes a flange connection column 301, a connection sleeve 302, a retractable sleeve 303, a motor fixing plate 304, a first motor 305, a first gear 306, a second gear 307, a retractable feed pipe 308, a terminal feed pipe 309, a motor box 311, a spring 313, a feed pipe connector 314, a second motor 315, a spatula control cable 316, and a roller 3 17, a roller ring 318, a spatula fixing rod 319, a control cable fixing buckle 320, a flexible spatula 321, a forked feed pipe 322 and a spray material box 323; wherein the other end of the terminal feed pipe 309 penetrates the motor box 311 and extends into the spatula fixing rod 319, and extends to the lower part of the spatula fixing rod 319, one end of the forked feed pipe 322 extends into the spatula fixing rod 309 and the other end of the terminal feed pipe 309, and the forked feed pipe 322 extends into the spatula fixing rod 309 and the other end of the spatula fixing rod 319. The other end of 22 is connected to the spraying material box 323, and the spraying material box 323 is located between the spatula fixing rod 319 and the flexible spatula 321. A plurality of spray holes 324 are provided at the bottom of the spraying material box 323 and in the contact area between the flexible spatula 321 and the spraying material box 323; the spraying material can be evenly transported to the spraying material box 323 through the forked feed pipe 322, and the spraying material box 323 can control the flow of the spraying material through the spray hole 324. The spraying material box 323 can temporarily store the spraying material flowing out from the terminal feed pipe 309 and the forked feed pipe 322, and can also temporarily store the spraying material flowing back from the spray hole 324 during the operation to avoid blockage of the spray hole 324; the spraying and scraping integrated terminal 3 of this embodiment can realize the simultaneous spraying and scraping functions, reduce the coating unevenness caused by the sputtering of the spraying material during the spraying process, enhance the coating adhesion, and reduce the complexity of operation. The connection and positional relationship of the remaining components are the same as those of the first embodiment.

[0036] Fig. 9It is a third embodiment of the integrated spraying and scraping terminal, including a flange connection column 301, a connection sleeve 302, a retractable sleeve 303, a motor fixing plate 304, a first motor 305, a first gear 306, a second gear 307, a retractable feed pipe 308, a terminal feed pipe 309, a motor box 311, a spring 313, a feed pipe connector 314, a second motor 315, a spatula control cable 316, a roller 317, a roller ring 318, a spatula fixing rod 319, a control cable fixing buckle 320, a flexible spatula 321, a fixed nozzle 325, a roller fixing frame 326 and a roller 327; wherein the other end of the terminal feed pipe 309 passes through the motor box 311 and extends into the spatula fixing rod 319, and extends to the lower end of the spatula fixing rod 319 It is connected to the fixed nozzle 325, and the fixed nozzle 325 is fixedly connected to the lower end of the spatula fixing rod 319; the flexible spatula 321 is located below the fixed nozzle 325 and has a plurality of rollers 327 embedded therein, the roller axis of each roller 327 is fixedly connected to the side of the flexible spatula 321, the upper end of the roller fixing frame 326 is fixedly connected to the middle part of the spatula fixing rod 319, and the lower end of the roller fixing frame 326 is connected to the roller axis of the roller 327 in the middle part of the flexible spatula 321; the raw material sprayed from the fixed nozzle 325 flows through the gap between the flexible spatula 321 and the roller 327 to the working surface of the product 4 to be processed, and through the continuous operation of multiple rollers 327, the rolling movement of the roller 327 can provide a more consistent and smooth coating effect, and make the device operation more convenient.

[0037] Taking the first embodiment of the spray-scraping integrated terminal as an example, the working principle and working process of the utility model are explained; first, the height of the lifting gantry 1 is adjusted according to the height of the product 4 to be processed, and the position of the cantilever beam 102 on the track 103 is adjusted according to the position of the product 4 to be processed, and then the spatial position of the robot arm 2 is adjusted so that the robot arm 2 reaches the working area. Then, the position of the spray-scraping integrated terminal 3 is adjusted by the robot arm 2 so that the spray-scraping integrated terminal 3 is located on the action surface of the product 4 to be processed. Finally, during the operation, the first motor 305 drives the connecting sleeve 302 to rotate through the engagement of the first gear 306 and the second gear 307 to adjust the operating direction of the spraying and scraping integrated terminal 3; the spraying material is sprayed out from the telescopic nozzle 310, and the spraying operation is realized through the telescopic nozzle 310; then, flexible scraping and forming is performed through the flexible spatula 321, and the four second motors 315 deform the flexible spatula 321 by controlling the length of each spatula control rope 316 to adjust the curvature of the flexible spatula 321; when the curvature of the working surface of the product 4 to be processed is large, the product 4 to be processed squeezes the flexible spatula 321 upward, and then pushes the telescopic sleeve 303 to move slightly upward along the connecting sleeve 302, and the spring 313 is compressed, so that the flexible spatula 321 can adapt to the curvature change of the surface of the product 4 to be processed to avoid damage to the quality and shape of the working surface. In addition, during the operation, the flow rate and extension length of the telescopic nozzle 310 can be adjusted, and after completing the preliminary operation in cooperation with the flexible spatula 321, the telescopic nozzle 310 can be extended to open only the surrounding small-flow nozzles to perform separate error compensation operations on areas with small errors. The flexible spatula 321 can choose whether to cooperate with the telescopic nozzle 310 according to actual conditions to further improve the spraying and scraping operations.

[0038] Anything not described in the present invention is applicable to the prior art.

Claims

1. A spraying and flexible scraping integrated molding device, comprising a lifting gantry and a mechanical arm; characterized in that: It also includes an integrated spraying and scraping end located at the end of the robotic arm; the integrated spraying and scraping end can realize integrated spraying and scraping operations, including a spatula control cable, a spatula fixing rod and a flexible spatula, the flexible spatula is located at the end of the spatula fixing rod, and each end corner of the flexible spatula is connected to a spatula control cable, and the curvature of the flexible spatula is adjusted by controlling the length of the spatula control cable; when all the spatula control cables are extended synchronously, the two sides of the flexible spatula move away from the spatula fixing rod, and the curvature of the flexible spatula becomes smaller; when all the spatula control cables are shortened synchronously, the two sides of the flexible spatula move toward the spatula fixing rod, and the curvature of the flexible spatula becomes larger.

2. The one-piece spraying and flexible scraping forming device according to claim 1, characterized in that: The spray-scraping integrated terminal also includes a flange connection column, a connecting sleeve, a retractable sleeve, a retractable material delivery pipe, a terminal material delivery pipe, a retractable nozzle, a motor box, a spring and a second motor; wherein the upper end of the flange connection column is connected to the end of the robot arm, the connecting sleeve is sleeved on the lower part of the flange connection column and can rotate relative to the flange connection column; the upper end of the retractable sleeve is inserted into the lower end of the connecting sleeve, the retractable sleeve can slide back and forth axially in the connecting sleeve and rotate with the connecting sleeve; the spring is located inside the connecting sleeve and is used for resetting the retractable sleeve; the retractable material delivery pipe is located between the flange connection column and the connecting sleeve The upper end of the telescopic material delivery pipe is connected to the spray raw material box, one end of the terminal material delivery pipe is connected to the lower end of the telescopic material delivery pipe, the other end of the terminal material delivery pipe extends from the telescopic sleeve and is connected to the telescopic nozzle, and the terminal material delivery pipe rotates with the connecting sleeve; the motor box is located at the lower end of the telescopic sleeve, the upper end of the spatula fixing rod is connected to the bottom of the motor box, and the flexible spatula is located at the lower end of the spatula fixing rod; multiple second motors are located inside the motor box, and the output end of each second motor is respectively wrapped with a spatula control cable, and each spatula control cable passes through the motor box and the spatula fixing rod and is connected to each end corner of the flexible spatula.

3. The one-piece spraying and flexible scraping forming device according to claim 2, characterized in that: Or the integrated spray-scraping end includes a flange connecting column, a connecting sleeve, a retractable sleeve, a retractable feed pipe, an end feed pipe, a motor box, a spring, a second motor, a spatula control rope, a spatula fixing rod, a flexible spatula, a forked feed pipe and a spray material box; wherein, the other end of the end feed pipe passes through the motor box, extends into the spatula fixing rod and extends to the lower part of the spatula fixing rod, one end of the forked feed pipe extends into the spatula fixing rod and connects to the other end of the end feed pipe, the other end of the forked feed pipe is connected to the spray material box, the spray material box is located between the spatula fixing rod and the flexible spatula, and a plurality of spray holes are provided at the bottom of the spray material box and in the area where the flexible spatula contacts the spray material box.

4. The one-piece spraying and flexible scraping forming device according to claim 2, characterized in that: Or the integrated spraying and scraping end includes a flange connecting column, a connecting sleeve, a retractable sleeve, a retractable feed pipe, an end feed pipe, a motor box, a spring, a second motor, a spatula control cable, a spatula fixing rod, a flexible spatula, a fixed nozzle, a roller fixing frame and a roller; wherein the other end of the end feed pipe passes through the motor box, extends into the spatula fixing rod and extends to the lower end of the spatula fixing rod to be connected with the fixed nozzle, and the fixed nozzle is located at the lower end of the spatula fixing rod; the flexible spatula is located below the fixed nozzle and has a plurality of rollers embedded therein, the upper end of the roller fixing frame is connected to the middle part of the spatula fixing rod, and the lower end of the roller fixing frame is connected to the roller in the middle part of the flexible spatula.

5. The spraying and flexible scraping integrated molding device according to any one of claims 2 to 4, characterized in that: The integrated spray-scraping end also includes a motor fixing plate, a first motor, a first gear and a second gear; one end of the motor fixing plate is connected to the upper part of the flange connecting column, the first motor is installed at the bottom of the motor fixing plate, the first gear is installed at the output end of the first motor, and the second gear is sleeved on the lower part of the outer wall of the connecting sleeve and meshes with the first gear.

6. The spraying and flexible scraping integrated molding device according to any one of claims 1 to 4, characterized in that: The flexible spatula is a plate-like structure and can be bent and deformed under the action of external force.

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