A top surface putty construction mechanism and a construction method

Abstract

The application discloses a top putty construction mechanism and a construction method, belongs to the technical field of building robots, and an AGV chassis is fixed with a lifting mechanism, the side of the last stage mechanism of the lifting mechanism is fixed with a first horizontal transverse structure, the surface of the first horizontal transverse structure is slidably connected with a second horizontal transverse structure, the surface of the second horizontal transverse structure is slidably connected with a putty construction structure, the putty construction structure comprises a mounting frame slidably connected with the second horizontal transverse structure, the top of the mounting frame is provided with a wall surface self-adapting structure, the top of the wall surface self-adapting structure is fixed with a scraper module, the wall surface self-adapting structure is driven to rotate through a scraper rotary power module, and the mounting frame is also provided with a putty spraying module. When the product sprays the top putty, full coverage and dead angle-free spraying and scraping can be realized, the construction structure of the product is automatically operated, the working efficiency is high, and the construction quality is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building robots, in particular to a top surface putty construction mechanism and a construction method. BACKGROUND

[0002] The traditional construction industry has cumbersome and low-efficiency climbing operation, and has safety hazards. The top surface decoration of factories, residences, underground garages, etc. is generally putty scraping and batching. Workers need to stand on a ladder or scaffold to climb and work. The scaffold needs to be moved after completing the construction of a region, which is low in efficiency and has great safety hazards. Therefore, with the development of technology and the increasing labor cost, robots are increasingly replacing traditional manual operations.

[0003] However, the putty sprayed alone on the wall surface has bubbles, which can easily cause poor adhesion and surface undulation quality defects. SUMMARY

[0004] The present application aims to provide a top surface putty construction mechanism and a construction method to solve the technical problem of poor putty scraping effect in the prior art.

[0005] The present application provides a top surface putty construction mechanism, comprising an AGV chassis, a lifting mechanism fixed on the top surface of the AGV chassis, a first horizontal transverse structure fixed on the side of the last stage of the lifting mechanism, a second horizontal transverse structure slidingly connected to the surface of the first horizontal transverse structure, and a putty construction structure slidingly connected to the surface of the second horizontal transverse structure. The putty construction structure comprises a mounting frame slidingly connected to the second horizontal transverse structure, a wall surface self-adaptive structure provided on the top of the mounting frame, a scraper module fixed on the top of the wall surface self-adaptive structure, and a scraper rotating power module installed in the mounting frame and driving the wall surface self-adaptive structure to rotate. The mounting frame also has a putty spraying module for spraying putty.

[0006] Further, a laser sensor is provided on the surface of the AGV chassis. The distance between the nozzle and the construction top surface can be determined by the laser sensor, so that the fit of the construction mechanism and the construction top surface can be adjusted to prevent bubbles from being generated.

[0007] Further, the scraper rotating power module comprises a scraper rotating stepper motor fixed with the mounting frame, a scraper rotating speed reducer is keyed connected to the output end of the scraper rotating stepper motor, the scraper rotating speed reducer is fixed in the speed reducer mounting seat, the output end of the scraper rotating speed reducer drives the first gear to rotate through the first bevel gear, the second bevel gear and the rotating shaft, and the tail end of the rotating shaft is embedded in the bearing seat through the deep groove ball bearing. Through the transmission of the scraper rotating stepper motor and the first bevel gear, the second bevel gear and the rotating shaft, the first gear can be driven to rotate, so that the scraper module meshing with it rotates, and the free adjustment angle of the scraper module is convenient for construction of the top surface scraping, and no dead angle is generated.

[0008] Further, the putty spraying module comprises a putty spraying stepper motor fixed with the mounting frame, a putty spraying speed reducer is keyed connected to the output end of the putty spraying stepper motor, the output end of the putty spraying speed reducer is connected with a nozzle through a connecting shaft, the nozzle is clamped and fixed through a nozzle clamping seat and a nozzle fixing seat, and the nozzle fixing seat is fixed in the mounting frame. The nozzle can be driven by the putty spraying stepper motor and the connecting shaft, the nozzle can be turned by 180°, the spraying angle can be freely adjusted when spraying and scraping are cooperated, and no dead angle or repeated spraying occurs.

[0009] Further, the wall self-adapting module comprises a second gear meshing with the first gear, the second gear is movably connected and embedded in the self-adapting bottom plate through a bearing structure, one end of the self-adapting bottom plate is rotatably connected with a swing rod through a first hinge structure, a spring guide shaft is penetratingly arranged at the end of the swing rod away from the first hinge structure, a compression spring is nested on the surface of the spring guide shaft, and the two ends of the compression spring are respectively abutted with the swing rod and the self-adapting bottom plate. When scraping, the swing rod and the scraper module are fixed, and the swing rod is buffered by the compression spring, so that the scraper module and the top surface of the wall are guaranteed to be attached, and the uniformity and consistency of scraping are guaranteed.

[0010] Further, the scraper module comprises a fixed base fixed with the wall self-adapting module, two guide plates are fixed in parallel on the top surface of the fixed base, a limiting plate is fixed at the tail end of the two guide plates, a pull-out block is slidably connected between the two guide plates, the tail end of the pull-out block is threadedly fixed with the limiting plate, a second hinge structure is embedded on the top surface of the pull-out block, a scraper assembly is fixed on the top of the second hinge structure, and one end of the scraper assembly is connected with the guide plate through a buffer spring. The scraper assembly is divided into multiple scrapers for scraping, so that the scraping effect is guaranteed, and the bottom surface of the scraper assembly is buffered by the buffer spring, so that buffering is performed every time the scraping angle is adjusted, and the surface of the sprayed area is not scratched.

[0011] A construction method of a top surface putty construction mechanism, the construction method is used in the top surface putty construction mechanism, a putty scraping and brushing area is sequentially divided into region one, region two and region three from one end to the other end, and the construction method comprises the following steps:

[0012] Sp1: the AGV chassis, the lifting mechanism, the first horizontal transverse structure, the second horizontal transverse structure, the putty construction mechanism move to the starting position of work through the distance movement feedback of the laser sensor, the nozzle starts to spray putty from the inside corner, the second horizontal transverse structure moves from right to left, and the spraying of region one is carried out;

[0013] Sp2: the putty spraying module is rotated to the other side, the second horizontal transverse structure controls the scraper module to move from the starting end of region one to the position at the connection between region one and region two from left to right, and the putty scraping and brushing work is carried out, at this time, the putty spraying module synchronously sprays region two;

[0014] Sp3: the second horizontal transverse structure controls the scraper module to move to the position at the connection between region two and region three, at this time, the putty spraying module has completed the spraying of the interval between region one, region two and region three, and the scraper module completes the scraping and brushing of region one and region two;

[0015] Sp4: after the spraying of all regions is completed, the scraper module is rotated by 180°, the scraper module moves to the position at the connection between region two and region three, and the scraping and brushing work of region three is carried out;

[0016] Sp5: after the scraping and brushing work of region three is completed, the construction of one pass of putty in the horizontal region is completed, then the AGV chassis moves to the starting position of the next pass of putty construction, and the circulation work is started.

[0017] Further, the length of region two is determined by the total length of region one, region two and region three.

[0018] Further, when the stroke of the first horizontal transverse structure and the second horizontal transverse structure is insufficient, the AGV chassis moves horizontally.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] Firstly, in the prior art, the putty is separately sprayed on the wall surface, and there are air bubbles, which can easily cause poor adhesion and surface undulation quality defects. In view of such problems, the present application designs a top surface putty construction mechanism, which can realize full coverage and dead angle-free spraying and scraping and brushing of the top surface putty when spraying the top surface putty, the horizontal region of the top surface is divided into three regions for separate spraying and scraping and brushing through the cooperation of the putty spraying module and the scraper module, the construction mechanism can be arbitrarily rotated and moved, which brings convenience to the spraying and scraping and brushing work of the top surface putty, and at the same time, the construction structure is automatically operated, the work efficiency is high, and the construction quality is better.

[0021] Secondly, in the present application, the distance between the nozzle and the construction top surface can be determined by the laser sensor, so that the fitting of the construction mechanism and the construction top surface can be adjusted, and air bubbles are not easy to be generated. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0023] Figure 1 It is a schematic view of the main equatorial axis of the present application;

[0024] Figure 2 It is a structure diagram of the starting position in the putty scraping and spraying of the present application;

[0025] Figure 3 It is a structure diagram of the second working process in the present application;

[0026] Figure 4 It is a structure diagram of the third working process in the present application;

[0027] Figure 5 It is a structure diagram of the fourth working process in the present application;

[0028] Figure 6 It is a structure diagram of the ending position in the putty scraping and spraying of the present application;

[0029] Figure 7 It is an explosion diagram of each part of the putty construction structure in the present application;

[0030] Figure 8 It is a structure diagram of the putty spraying module in the present application;

[0031] Figure 9 It is a structure diagram of the scraper rotating power module in the present application;

[0032] Figure 10 It is a structure diagram of the wall surface self-adapting module in the present application;

[0033] Figure 11 It is a structure diagram of the scraper module in the present application.

[0034] Reference signs:

[0035] 1, AGV chassis;

[0036] 2, lifting mechanism;

[0037] 3, first horizontal transverse structure;

[0038] 4. Second horizontal transverse structure;

[0039] 5. Putty construction structure;

[0040] 6. Laser sensor;

[0041] 7. Squeegee rotation power module;

[0042] 71. Squeegee rotation stepping motor; 72. Squeegee rotation speed reducer; 73. Speed reducer mounting seat; 74. First bevel gear; 75. Deep groove ball bearing; 76. Rotation shaft; 77. Second bevel gear; 78. Bearing seat; 79. First gear; 710. Gear;

[0043] 8. Putty spraying module;

[0044] 81. Putty spraying stepping motor; 82. Putty spraying speed reducer; 83. Connecting shaft; 84. Nozzle; 85. Nozzle clamping seat; 86. Nozzle fixing seat;

[0045] 9. Wall surface self-adaptive module;

[0046] 91. Second gear; 92. Bearing structure; 93. Self-adaptive bottom plate; 94. First hinge structure; 95. Swing rod; 96. Compression spring; 97. Spring guide shaft; 98. Compression spring; 99. Spring guide shaft; 910. Second hinge bearing;

[0047] 10. Squeegee module;

[0048] 101. Squeegee assembly; 102. Second hinge structure; 103. Buffer spring; 104. Pulling block; 105. Limiting plate; 106. Guide plate; 107. Fixed base. DETAILED DESCRIPTION

[0049] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0050] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application.

[0051] Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0052] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0053] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] Embodiment 1:

[0055] The following will be described in conjunction with Figures 1 to 11 The embodiment of the present application provides a top surface putty construction mechanism, which comprises an AGV chassis 1, a lifting mechanism 2 fixed on the top surface of the AGV chassis 1, a first horizontal transverse structure 3 fixed on the side of the last stage mechanism of the lifting mechanism 2, a second horizontal transverse structure 4 slidingly connected to the surface of the first horizontal transverse structure 3, and a putty construction structure 5 slidingly connected to the surface of the second horizontal transverse structure 4. The putty construction structure 5 comprises a mounting frame 11 slidingly connected with the second horizontal transverse structure 4, a wall surface self-adaptive structure provided on the top of the mounting frame 11, and a scraper module 10 fixed on the top of the wall surface self-adaptive structure. The wall surface self-adaptive structure is driven to rotate by a scraper rotary power module 7, and the scraper rotary power module 7 is mounted in the mounting frame 11. A putty spraying module 8 is also provided in the mounting frame 11, and the putty spraying module 8 is used for spraying putty. In the prior art, bubbles exist when the putty is sprayed on the wall surface, which can easily cause poor adhesion and surface undulation quality defects. In view of such problems, the present application designs a top surface putty construction mechanism, which can realize full coverage and dead angle-free spraying and scraping of the top surface putty when spraying the top surface putty. The horizontal area of the top surface is divided into three areas for separate spraying and scraping by the cooperation of the putty spraying module 8 and the scraper module 10. The construction mechanism can be arbitrarily rotated and moved, which brings convenience to the spraying and scraping work of the top surface putty. At the same time, the construction mechanism is automatically operated, has high work efficiency, and has good construction quality.

[0056] Specifically, the AGV chassis 1 is provided with a laser sensor 6. The distance between the nozzle 84 and the construction top surface can be determined by the laser sensor 6, so that the fit between the construction mechanism and the construction top surface is adjusted, and air bubbles are not easily generated.

[0057] Specifically, the squeegee rotating power module 7 includes a squeegee rotating stepper motor 71 fixedly connected to the mounting frame 11, the output end of the squeegee rotating stepper motor 71 is key-connected with a squeegee rotating speed reducer 72, the squeegee rotating speed reducer 72 is fixedly connected to a speed reducer mounting seat 73, the output end of the squeegee rotating speed reducer 72 is driven to rotate by a first bevel gear 74, a second bevel gear 77, and a rotating shaft 76, and the tail end of the rotating shaft 76 is embedded in a bearing seat 78 through a deep groove ball bearing 75. The squeegee rotating stepper motor 71 and the first bevel gear 74, the second bevel gear 77, and the rotating shaft 76 are driven to rotate the first gear 79, so that the squeegee module 10 meshing with the first gear 79 is rotated, and the free adjustment angle of the squeegee module 10 is facilitated when the construction top surface is scraped, and dead angles are not generated.

[0058] Specifically, the putty spraying module 8 includes a putty spraying stepper motor 81 fixedly connected to the mounting frame 11, the output end of the putty spraying stepper motor 81 is key-connected with a putty spraying speed reducer 82, the output end of the putty spraying speed reducer 82 is connected with a nozzle 84 through a connecting shaft 83, the nozzle 84 is clamped and fixed through a nozzle clamping seat 85 and a nozzle fixing seat 86, and the nozzle fixing seat 86 is fixedly connected to the mounting frame 11. The nozzle 84 can be driven by the putty spraying stepper motor 81 and the connecting shaft 83 to be turned by 180°, the spraying angle can be freely adjusted when the spraying and scraping are cooperatively performed, and dead angles or repeated spraying are not generated.

[0059] Specifically, the wall surface self-adapting module 9 includes a second gear 91 meshing with the first gear 79, the second gear 91 is movably connected to a self-adapting bottom plate 93 through a bearing structure 92, one end of the self-adapting bottom plate 93 is rotatably connected with a swing rod 95 through a first hinge structure 94, a spring guide shaft 97 is penetratingly arranged at the end of the swing rod 95 away from the first hinge structure 94, a compression spring 96 is nested on the surface of the spring guide shaft 97, and the two ends of the compression spring 96 are respectively abutted against the swing rod 95 and the self-adapting bottom plate 93. When scraping, the swing rod 95 and the squeegee module 10 are fixed, and the swing rod 95 is buffered by the compression spring 96, so that the fit between the squeegee module 10 and the wall surface top surface is ensured, and the uniformity and consistency of the scraping are ensured.

[0060] Specifically, the scraper module 10 comprises a fixed base 107 fixed with the wall surface adaptive module 9, two guide plates 106 are fixed in parallel on the top surface of the fixed base 107, a limiting plate 105 is fixed at the tail end of the two guide plates 106, a pull-out block 104 is slidably connected between the two guide plates 106, the tail end of the pull-out block 104 is threadedly fixed with the limiting plate 105, a second hinge structure 102 is embedded on the top surface of the pull-out block 104, a scraper assembly 101 is fixed on the top of the second hinge structure 102, and one end of the scraper assembly 101 is connected with the guide plate 106 through a buffer spring 103. The scraper assembly 101 is divided into multiple scrapers for scraping, so as to ensure the scraping effect, and the bottom surface of the scraper assembly 101 is buffered through the buffer spring 103, so that the scraping angle can be adjusted every time, and the surface of the spraying area will not be scratched.

[0061] Embodiment 2

[0062] The embodiment provides a construction method of a top putty construction mechanism, the construction method is used for the top putty construction mechanism, a putty scraping area is sequentially divided into a region one, a region two and a region three from one end to the other end, and the construction method comprises the following steps:

[0063] Sp1: the AGV chassis 1, the lifting mechanism 2, the first horizontal transverse structure 3, the second horizontal transverse structure 4 and the putty construction mechanism move to a starting position of work through the distance feedback of the laser sensor 6, the nozzle 84 starts to spray putty from the inside corner, and the second horizontal transverse structure 4 moves from right to left to spray the region one;

[0064] Sp2: the putty spraying module 8 rotates to the other side, the second horizontal transverse structure 4 controls the scraper module 10 to move from the starting end of the region one to the position of the connection between the region one and the region two from left to right to perform the putty scraping work, and at this time, the putty spraying module 8 synchronously sprays the region two;

[0065] Sp3: the second horizontal transverse structure 4 controls the scraper module 10 to move to the position of the connection between the region two and the region three, at this time, the putty spraying module 8 has completed the spraying of the region one, the region two and the region three, and the scraper module 10 completes the scraping of the region one and the region two;

[0066] Sp4: after the spraying of all the regions is completed, the scraper module 10 rotates by 180°, the scraper module 10 moves to the position of the connection between the region two and the region three to perform the scraping work of the region three;

[0067] Sp5: after the scraping work of the region three is completed, the putty construction of the horizontal region one is completed, then the AGV chassis 1 moves to the starting position of the next putty construction to start the circulation work.

[0068] Specifically, the length of the second region is determined by the total length of the first region, the second region and the third region.

[0069] Specifically, when the stroke of the first horizontal moving structure 3 and the second horizontal moving structure 4 is not enough, the AGV chassis 1 moves horizontally.

[0070] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not limited to them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A top putty construction mechanism, comprising an AGV chassis (1), the AGV chassis (1) is fixed with a lifting mechanism (2) on the top, characterized in that: The side of the last stage mechanism of the lifting mechanism (2) is fixed with a first horizontal transverse structure (3), a second horizontal transverse structure (4) is in surface sliding connection with the first horizontal transverse structure (3), and a putty construction structure (5) is in surface sliding connection with the second horizontal transverse structure (4); the putty construction structure (5) comprises a mounting frame (11) in sliding connection with the second horizontal transverse structure (4), a wall surface self-adapting module (9) is arranged on the top of the mounting frame (11), a scraper module (10) is fixed on the top of the wall surface self-adapting module (9), the wall surface self-adapting module (9) is driven to rotate by a scraper rotating power module (7), the scraper rotating power module (7) is mounted in the mounting frame (11), and a putty spraying module (8) is also arranged in the mounting frame (11) and used for spraying putty.

2. A mechanism for applying a top filler according to claim 1, wherein: The AGV chassis (1) is provided with a laser sensor (6) on the surface.

3. A mechanism for applying a top filler according to claim 1, wherein: The scraper rotating power module (7) comprises a scraper rotating stepping motor (71) fixed to the mounting frame (11), a scraper rotating speed reducer (72) is in key connection with the output end of the scraper rotating stepping motor (71), the scraper rotating speed reducer (72) is fixed in a speed reducer mounting seat (73), the output end of the scraper rotating speed reducer (72) is in transmission driving connection with a first gear (79) through a first bevel gear (74), a second bevel gear (77) and a rotating shaft (76), and the tail end of the rotating shaft (76) is embedded in a bearing seat (78) through a deep groove ball bearing (75).

4. The mechanism for top putty construction according to claim 1, characterized in that: The putty spraying module (8) comprises a putty spraying stepping motor (81) fixed to the mounting frame (11), a putty spraying speed reducer (82) is in key connection with the output end of the putty spraying stepping motor (81), a nozzle (84) is connected to the output end of the putty spraying speed reducer (82) through a connecting shaft (83), the nozzle (84) is clamped and fixed through a nozzle clamping seat (85) and a nozzle fixing seat (86), and the nozzle fixing seat (86) is fixed in the mounting frame (11).

5. A mechanism for applying a top filler according to claim 3, wherein: The wall surface self-adapting module (9) comprises a second gear (91) in meshing connection with the first gear (79), the second gear (91) is movably connected and embedded in a self-adapting bottom plate (93) through a bearing structure (92), one end of the self-adapting bottom plate (93) is rotatably connected with a swing rod (95) through a first hinge structure (94), a spring guide shaft (97) is arranged through one end of the swing rod (95) away from the first hinge structure (94), a compression spring (96) is nested on the surface of the spring guide shaft (97), and the two ends of the compression spring (96) are respectively in abutment with the swing rod (95) and the self-adapting bottom plate (93).

6. A ceiling putty application mechanism according to claim 1, wherein: The scraper module (10) comprises a fixed base (107) fixed with the wall surface adaptive module (9), two guide plates (106) are fixed in parallel on the top surface of the fixed base (107), a limiting plate (105) is fixed at the tail end of the two guide plates (106), a pulling block (104) is slidably connected between the two guide plates (106), the tail end of the pulling block (104) is threadedly fixed with the limiting plate (105), a second hinge structure (102) is embedded on the top surface of the pulling block (104), and a scraper assembly (101) is fixed on the top of the second hinge structure (102), and one end of the scraper assembly (101) is connected with the guide plate (106) through a buffer spring (103).

7. A construction method for a top surface putty application mechanism, wherein the method is used in the top surface putty application mechanism as described in claim 1, wherein the putty application area is divided into three regions from one end to the other: region one, region two, and region three, characterized in that: The construction method comprises the following steps: Sp1: the AGV chassis (1), the lifting mechanism (2), the first horizontal transverse structure (3), the second horizontal transverse structure (4) and the putty construction mechanism move to the starting position of work through the distance feedback of the laser sensor (6), the nozzle (84) starts to spray putty from the inside corner, the second horizontal transverse structure (4) moves from right to left, and the spraying of region one is performed; Sp2: the putty spraying module (8) is rotated to the other side, the second horizontal transverse structure (4) controls the scraper module (10) to move from the starting end of region one to the position at the connection between region one and region two from right to left, and the putty scraping operation is performed, at this time, the putty spraying module (8) synchronously sprays region two; Sp3: the second horizontal transverse structure (4) controls the scraper module (10) to move to the position at the connection between region two and region three, at this time, the putty spraying module (8) has completed the spraying between region one, region two and region three, and the scraper module (10) completes the scraping of region one and region two; Sp4: after the spraying of all regions is completed, the scraper module (10) is rotated by 180°, the scraper module (10) moves to the position at the connection between region two and region three, and the scraping operation of region three is performed; Sp5: after the scraping operation of region three is completed, the putty construction of one horizontal region is completed, then the AGV chassis (1) moves to the starting position of the next putty construction, and the cycle operation is started.

8. A method of applying a ceiling putty composition according to claim 7, wherein: The length of region two is determined by the total length of region one, region two and region three.

9. A method of applying a ceiling putty composition according to claim 7, wherein: When the stroke of the first horizontal transverse structure (3) and the second horizontal transverse structure (4) is not enough, the AGV chassis (1) moves horizontally.

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