A fluid body application device and a tiling robot

Abstract

The application discloses a liquid body coating device and a brick paving robot, which comprises a swing seat, a spray head assembly installed on the swing seat, the spray head assembly being used for coating work on a coating surface, the spray head assembly being swingable relative to the swing seat, a floating device, the floating device being used for driving the swing seat to float in a direction perpendicular to the coating surface, and a following structure installed on the spray head assembly, the following structure being convex to the coating surface relative to the spray head assembly, so that a gap is always present between the spray head assembly and the coating surface, the spray head assembly performs coating work on the coating surface, the following structure slides along the coating surface, the following structure is affected by the coating surface to swing the spray head assembly relative to the swing seat, and meanwhile the floating device is affected by the following structure to drive the following structure to float in the direction perpendicular to the coating surface.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to a fluid coating device and a brick-laying robot. Background Technology

[0002] When laying paving stones in outdoor plazas and garden paths, wet-laying and thick-laying methods are commonly used. During manual laying, a layer of liquid adhesive, such as neat cement slurry or tile adhesive, needs to be applied to the back of the tile to bond it to the ground. Manual application can easily lead to uneven thickness of the slurry, resulting in quality problems such as hollow tiles. Furthermore, manual application requires high skill levels from workers, is labor-intensive, and is not conducive to improving the efficiency of the slurry laying process.

[0003] Robots replace manual labor in the application of cement. The thickness and flatness of the cement are ensured by the ground-mimicking application nozzles, and the area of ​​cement application is automatically adjusted by the robot according to the size of the floor tiles and the actual width required during the cement application process.

[0004] Currently, cement application devices in the construction machinery field apply cement to a specific area at a time, making them unsuitable for automated robotic operation. Secondly, the thickness of the cement layer is controlled manually. Since the surface surface is generally uneven, workers need to use specialized techniques to adjust the cement layer thickness to ensure the tiles are laid smoothly, resulting in low work efficiency. Summary of the Invention

[0005] To overcome at least one of the defects described in the prior art, the present invention provides a fluid coating device and a brick-laying robot. The nozzle sprays the fluid coating along with the ground, solving the problems of inconsistent coating thickness and adaptability of cement coating area.

[0006] The technical solution adopted by this invention to solve its problem is:

[0007] A fluid coating device includes: a swing base with a nozzle assembly mounted thereon for coating a surface, the nozzle assembly being oscillating relative to the swing base; a floating device for driving the swing base to float in a direction perpendicular to the coating surface; and a follower structure mounted on the nozzle assembly, the follower structure protruding relative to the nozzle assembly toward the coating surface, ensuring a gap between the nozzle assembly and the coating surface at all times; the nozzle assembly performs coating operations on the surface, the follower structure slides along the coating surface, and the follower structure, under the action of the coating surface, causes the nozzle assembly to swing relative to the swing base, while the floating device drives the follower structure to float in a direction perpendicular to the coating surface.

[0008] By adopting the above scheme, when the ground is uneven or tilted, the pressure of the follow-up structure causes the nozzle assembly to float up and down. The swing seat provides the swing for the nozzle assembly to cope with the tilt and unevenness of the ground, thereby achieving adaptive spraying between the nozzle assembly and the ground. The use of the floating device and follow-up structure ensures that the coating nozzle can adapt to complex ground conditions and complete the application of cement.

[0009] Furthermore, at least two tension members are provided on the side of the nozzle assembly connected to the swing seat. The at least two tension members are located in the length direction of the nozzle assembly, and the tension members are used to limit the range of swing of the nozzle assembly relative to the swing seat.

[0010] By adopting the above solution and setting up a tensioning component, the swing angle under different force conditions can be adjusted. At the same time, it can be used to limit the swing angle range of the nozzle assembly, so as to avoid damage caused by excessive swing angle.

[0011] Furthermore, an elastic element is provided between the pulling member and the nozzle assembly to reset the nozzle assembly that is swinging relative to the swing seat.

[0012] By adopting the above solution and setting up an elastic element, the nozzle assembly and the swing seat remain stable when not in operation, preventing them from shaking arbitrarily. At the same time, the nozzle assembly can be reset in time during operation to ensure continuous operation.

[0013] Furthermore, the angular range of the nozzle assembly swinging relative to the swing seat is ±5 degrees.

[0014] By adopting the above scheme, the range of swing angles is limited.

[0015] Furthermore, the follow-up structure includes: a connecting structure for connecting with the nozzle assembly; a sliding structure for sliding along the coating surface when the nozzle assembly is applying the coating; and a supporting structure for connecting the connecting structure and the sliding structure.

[0016] By adopting the above solution, the distance between the nozzle assembly and the coating surface can be adjusted by using support structures of different sizes, thereby limiting the coating thickness of the nozzle assembly.

[0017] Furthermore, the follower structure is also provided with an adjustment mechanism, which is used to adjust the distance between the follower structure and the coating surface.

[0018] By adopting the above solution, the distance between the nozzle assembly and the coating surface can be dynamically adjusted, thereby achieving the adjustment of the coating thickness of the nozzle assembly without replacing the support structure.

[0019] Furthermore, the nozzle assembly includes: an applicator nozzle; a nozzle support for connecting the applicator nozzle to the oscillating seat; and a fluid medium delivery pipe for providing fluid medium to the applicator nozzle.

[0020] By adopting the above solution, the application nozzle can be installed and fixed, while providing a fluid medium for the application nozzle.

[0021] Furthermore, when the follower structure is applied to the coating surface, the liquid outlet of the coating nozzle is relatively parallel to the coating surface.

[0022] The above method is used to apply the coating on an inclined plane, and the coating thickness is uniform.

[0023] A brick-laying robot includes a brick-laying machine, a drive assembly, and a fluid applicator. The drive assembly is used to move the fluid applicator relative to the brick-laying machine in a three-dimensional coordinate direction to control the area applied by the fluid applicator.

[0024] By adopting the above scheme, the fluid coating device can be connected to the brick-laying robot. The brick-laying robot delivers cement to the fluid coating device through a fluid medium delivery pipe, and the fluid coating device applies cement to the brick-laying robot, achieving an integrated design. The drive component can adjust the width and length of the spray to complete the area coating.

[0025] Furthermore, it also includes a machine vision recognition device for adjusting the position of the fluid application device to ensure the continuity of the application.

[0026] By adopting the above solution and combining it with a machine vision recognition device, the position of the coating is adjusted to ensure that the coating surface is adapted to the already laid surface and to maintain the continuity of the coating process.

[0027] In summary, the fluid coating device and paving robot provided by this invention have the following technical effects:

[0028] 1. By setting a follow-up structure, the basic thickness of the cement sprayed by the nozzle assembly is ensured. When the ground is tilted, the follow-up structure is subjected to the force of the ground to tilt and swing the spraying device relative to the swing seat, thereby sliding in contact with the ground. This makes the nozzle assembly basically parallel to the coating surface and a certain distance above the ground, thereby achieving uniform coating on the tilted surface.

[0029] 2. By setting up a floating device and a follow-up structure, the adaptive floating of the nozzle assembly when spraying cement is ensured. When the ground is uneven, the follow-up structure is affected by the ground, and the floating device can drive the nozzle assembly to float up and down, thereby achieving the stability of the nozzle assembly when it is working.

[0030] 3. By setting a tensioning element on the nozzle assembly, the swing range of the nozzle assembly relative to the swing seat is limited, effectively avoiding nozzle assembly failure caused by excessive swing;

[0031] 4. By setting an adjustment mechanism on the follow-up structure, the distance between the nozzle assembly and the coating surface can be adjusted, thereby controlling the coating thickness of the nozzle assembly on the coating surface;

[0032] 5. By setting the drive component, the length and width of the cement sprayed by the nozzle assembly can be precisely controlled, thereby achieving precise control of the coating area over a large area. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the leftmost structure of the applicator in an embodiment of the present invention;

[0034] Figure 2 for Figure 1 Cross-sectional structural diagram of AA;

[0035] Figure 3 This is a schematic diagram of the rightmost structure of the applicator in an embodiment of the present invention;

[0036] Figure 4 for Figure 3 Cross-sectional structural diagram of BB;

[0037] Figure 5 This is a three-dimensional structural diagram of an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the rear three-dimensional structure according to an embodiment of the present invention;

[0039] Figure 7 This is a top view of the initial state of cement application according to an embodiment of the present invention;

[0040] Figure 8 This is a top view structural diagram of the cement-coated state according to an embodiment of the present invention;

[0041] Figure 9 This is a schematic diagram of the planar structure of the nozzle assembly according to an embodiment of the present invention;

[0042] Figure 10 This is a schematic diagram of the side structure of the nozzle assembly according to an embodiment of the present invention;

[0043] Figure 11 for Figure 10 Enlarged view of area C.

[0044] The reference numerals in the attached drawings have the following meanings: 1. X-axis assembly; 101. X-axis base plate; 102. First guide rail; 103. First motor; 104. First synchronization mechanism; 105. X-axis slide; 106. X-axis joint; 107. Cement pipe support; 2. Y-axis assembly; 201. Y-axis base plate; 202. Second guide rail; 203. Second motor; 204. Second synchronization mechanism; 205. Y-axis slide; 3. Z-axis assembly; 301. Z 302. Shaft base; 303. Third motor; 304. Swing seat; 305. Floating device; 4. Nozzle assembly; 406. Nozzle bracket; 407. Spray nozzle; 408. Follow-up structure; 409. Adjustment mechanism; 4002. Connection structure; 4003. Support structure; 4003. Sliding structure; 4003. Pinch valve; 401. Fluid medium delivery pipe; 402. Pulling component; 403. Elastic component; 5. Synchronous belt; 6. Synchronous pulley. Detailed Implementation

[0045] To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described and discussed below with reference to the accompanying drawings. Obviously, what is described here is only a part of the examples of this invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the protection scope of this invention.

[0046] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments, and these embodiments do not constitute a limitation on the embodiments of the present invention.

[0047] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0049] See Embodiment 1 of the present invention. Figures 1-6As shown, a fluid application device is disclosed, including a swing base 303, a nozzle assembly 4, a floating device 304, and a follower structure 403. The nozzle assembly 4 is used to apply fluid to a surface. In this embodiment, the surface is a ground surface; however, in other embodiments, the surface can be a wall surface or other surface requiring fluid application. The nozzle assembly 4 includes a nozzle bracket 401 and an application nozzle 402. The nozzle bracket 401 is used to fix the application nozzle 402 to the swing base 303. The fixing methods between the nozzle bracket 401 and the application nozzle 402 include, but are not limited to, integral fixing, threaded fixing, and snap-fit ​​fixing. The nozzle support 401 is rotatably connected to the swing seat 303. In this embodiment, the nozzle support 401 is hinged to the swing seat 303. The swing seat 303 has a hinge shaft at its center. The nozzle support 401 rotates around the hinge shaft, so that the spray nozzle 402 can swing relative to the swing seat 303. The floating device 304 is connected to the swing seat 303. In this embodiment, the floating device 304 is a cylinder. The output end of the cylinder is fixedly connected to the swing seat 303, and the connection does not affect the swing of the nozzle support 401. In other embodiments, the floating device 304 can be a spring or other structure, which can provide a floating effect for the swing seat 303. The follower structure 403 is installed adjacent to the application port of the applicator nozzle 402. In other embodiments, it can also be installed on any surface that does not affect the applicator nozzle 402's application. However, the follower structure 403 needs to extend in the spraying direction of the applicator nozzle 402, protruding beyond the application port, so that there is a gap between the applicator nozzle 402 and the application surface. In this embodiment, two follower structures 403 are provided and installed on one side of the applicator nozzle 402, which is the direction of movement when the applicator nozzle 402 is spraying. When the applicator nozzle 402 performs an application operation on the application surface, the follower structure 403 slides along the application surface. The follower structure 403, under the action of the application surface, causes the nozzle assembly 4 to swing relative to the swing seat 303. Simultaneously, the floating device 304, under the action of the follower structure 403, drives the follower structure 403 to float in a direction perpendicular to the application surface.

[0050] Furthermore, the swing seat 303 includes a first end fixedly connected to the nozzle bracket 401 and a second end fixedly connected to the floating device 304. The first end and the second end are hinged to achieve the swinging effect of the nozzle assembly 4 along its length. The first end is L-shaped and is used to pre-reserve a hole on the back side of the applicator nozzle 402 to connect a pipe for introducing cement into the applicator nozzle 402. The back side of the applicator nozzle 402 is also provided with a pulling member 406. In this embodiment, the pulling member 406 is three elastic tubes for transporting cement. One end of each of the three elastic tubes is linearly connected to the back side of the applicator nozzle 402. The three elastic tubes converge at one end and connect to the fluid medium delivery pipe 405. They are evenly distributed along the length of the applicator nozzle 402. By limiting the pull of the nozzle 402 through these three elastic tubes, the sway angle of the nozzle 402 relative to the swing seat 303 is controlled within ±5°, preventing damage to the nozzle due to excessive sway angle. Due to the inherent elasticity of the three elastic tubes, the nozzle assembly 4 can adjust its sway angle according to the force applied to the follower structure 403, ensuring that the nozzle assembly 4 remains parallel to the applicator surface. Furthermore, its elasticity allows the nozzle assembly 4 to return to its normal state after swaying. In this embodiment, the three elastic tubes can be replaced with non-elastic pipes, and an elastic element 407 can be provided at the connection between the pipe and the nozzle 402, thereby achieving adaptive swaying and resetting effects between the pipe and the nozzle 402. In this embodiment, the elastic element 407 is a corrugated pipe; in other embodiments, it can be other elastic pipes.

[0051] Reference Figures 9-11As shown, the follower structure 403 includes a connecting structure 4032, a sliding structure 4034, and a supporting structure 4033. The connecting structure 4032 is used to connect with the nozzle assembly 4; the sliding structure 4034 is used to slide along the coating surface when the nozzle assembly 4 is coating; the supporting structure 4033 is used to connect the connecting structure 4032 and the sliding structure. In some embodiments, an adjustment mechanism 4031 can also be provided. The adjustment mechanism 4031 is used to adjust the distance between the follower structure 403 and the coating surface. Since the distance between the follower structure 403 and the coating surface determines the coating thickness of the coating nozzle 402, the adjustment mechanism 4031 can adjust the distance between the follower structure 403 and the coating surface according to actual needs, thereby changing the coating thickness of the coating nozzle 402. In this embodiment, two follower structures 403 are provided. Specifically, the adjustment mechanism 4031 is an adjustment plate that can slide along the side of the application nozzle 402. The connecting structure 4032 is a fixing component, specifically a screw, but it can also be other fixing components besides screws. The support structure 4033 is a clamping wheel plate, and the sliding structure 4034 is a roller. The roller is rotatably connected to the clamping wheel plate, and the clamping wheel plate is fixed to the adjustment plate by screws. The adjustment plate is provided with a sliding groove. After the position of the adjustment plate and the application nozzle 402 is changed by sliding, the adjustment plate is fixed to the side of the application nozzle 402 by screws passing through the sliding groove. When it is necessary to adjust the distance between the application nozzle 402 and the application surface, the screws are loosened to slide the adjustment plate along the sliding groove, thereby adjusting the distance between the application nozzle 402 and the application surface and changing the spray thickness. Specifically, the farther the roller is from the nozzle assembly 4, the higher the distance of the nozzle assembly 4 from the application surface during spraying, and the thicker the coating; conversely, the closer the roller is to the nozzle assembly 4, the thinner the coating.

[0052] When the coating surface is an inclined surface, during the spraying of the nozzle assembly 4, the roller of the follower structure 403 rolls along the coating surface. The follower structure 403 on the side of the nozzle assembly 4 closest to the inclined coating surface is subjected to a force, thereby pushing the swing seat 303 to swing to that side. At this time, the elastic tube on that side contracts so that the coating nozzle 402 keeps the coating opening horizontal with the inclined coating surface, thus achieving uniform coating.

[0053] When the nozzle assembly 4 is spraying, if there are protruding or recessed areas on the coating surface, the follower structure 403 is subjected to the force of the coating surface, causing the floating device 304, i.e., the cylinder, to drive the swing seat 303 to float up and down to achieve adaptive adjustment.

[0054] The present invention also relates to a brick-laying robot, including a brick-laying machine, a drive assembly, and a fluid coating device. The drive assembly is used to drive the fluid coating device to move relative to the brick-laying machine in a three-dimensional coordinate direction, so as to control the area coated by the fluid coating device.

[0055] In this embodiment, refer to Figures 1-6 As shown, the drive assembly includes an X-axis assembly 1, a Y-axis assembly 2, and a Z-axis assembly 3. The direction of the nozzle assembly 4's lateral movement is defined as the X-axis, the direction of the nozzle assembly 4's longitudinal movement is defined as the Y-axis, and the direction of the nozzle assembly 4 perpendicular to the horizontal plane is defined as the Z-axis. The X-axis assembly 1 drives the swing base 303 and the nozzle assembly 4 to move linearly along the X-axis. The Y-axis assembly 2 is connected to the X-axis assembly 1 and drives the swing base 303 and the nozzle assembly 4 to move linearly along the Y-axis. The Z-axis assembly 3 is connected to the Y-axis assembly 2 and drives the swing base 303 and the nozzle assembly 4 to move linearly along the Z-axis. An X-axis joint 106 is provided at the connection between the Y-axis assembly 2 and the X-axis assembly 1, allowing the Y-axis assembly 2 to rotate and fold along the X-axis joint 106 until it is parallel to the X-axis assembly 1, achieving a folding effect for the Y-axis assembly 2 and saving space during storage.

[0056] Specifically, the X-axis assembly 1 includes an X-axis base plate 101, a first motor 103, a first synchronization mechanism 104, and an X-axis slide 105. The X-axis base plate 101 is mounted with a first guide rail 102 along the X-axis direction. The first synchronization mechanism 104 is mounted on the X-axis base plate 101, and the first motor 103 is used to drive the first synchronization mechanism 104. The X-axis slide 105 is mounted on the slider of the first guide rail 102, and moves linearly along the first guide rail 102 in the X-axis direction under the drive of the first synchronization mechanism 104, thereby realizing the movement of the applicator nozzle 402 in the X-axis direction. The Y-axis assembly 2 includes a Y-axis base plate 201, a second motor 203, a second synchronization mechanism 204, and a Y-axis slide 205. The Y-axis base plate 201 is equipped with a second guide rail 202 along the Y-axis direction. The second synchronization mechanism 204 is mounted on the Y-axis base plate 201. The second motor 203 is used to drive the second synchronization mechanism 204. The Y-axis slide 205 is mounted on the slider of the second guide rail 202 and moves linearly along the second guide rail 202 in the Y-axis direction under the drive of the second synchronization mechanism 204, thereby realizing the movement of the applicator nozzle 402 in the Y-axis direction.

[0057] More specifically, both the first synchronization mechanism 104 and the second synchronization mechanism 204 include a timing belt 5 connected end to end and two timing pulleys 6 for supporting the rotation of the timing belt 5. The timing belt 5 is wound between the two timing pulleys 6. The output ends of the first motor 103 and the second motor 203 are provided with drive wheels for driving the timing belt 5 to rotate. The drive wheels press the timing belt 5 into the other two timing pulleys 6 to improve the driving effect between the timing belt 5 and the drive wheels and avoid slippage. The timing belt 5 can drive the slider to reciprocate on its respective slide rail, which can achieve high-precision motion control. At the same time, it feeds back signals to the electronic control system, and works with the cable chain to make the applicator nozzle 402 move in the X-axis or Y-axis direction. In the prior art, cable chains are widely used in CNC machine tools and drive the machine to perform horizontal reciprocating motion. Therefore, in this application, the cable chain will not be described again.

[0058] In other embodiments, the X-axis assembly 1 and Y-axis assembly 2 can be replaced with other structures to enable the applicator nozzle 402 to move freely in a plane. The present invention does not impose specific limitations or constraints.

[0059] The Z-axis assembly 3 includes a Z-axis base 301 and a third motor 302. The Z-axis base 301 is mounted on a Y-axis slide 205, which slides along the Y-axis base plate 201. The output of the third motor 302 drives the Z-axis base 301 to move linearly along the Z-axis. The floating device 304 is a cylinder connected to the Z-axis base 301. A swing seat 303 is mounted on the cylinder to provide space for the Z-axis base 301 to float up and down. The third motor 302 controls the cylinder to move along the Z-axis, thereby enabling the swing seat 303 to move in the Z-axis direction. This allows the applicator nozzle 402 to move in the Z-axis direction, completing the applicator and non-applicator states.

[0060] It should be noted that in this embodiment 1, the first motor 103, the second motor 203 and the third motor 302 are servo motors.

[0061] The paving robot also includes a fluid medium delivery pipe 405, a clamping valve 404, and a cement pipe support 107. The fluid medium delivery pipe 405 is used to connect the three elastic pipes on the nozzle assembly 4. The clamping valve 404 is located in the fluid medium delivery pipe 405 to ensure stable application of the fluid, uniform discharge, and no clogging. The cement pipe support 107 provides support for the fluid medium delivery pipe 405, supporting the longer fluid medium delivery pipe 405 and preventing it from bending due to the weight of the cement.

[0062] The brick-laying robot also includes a machine vision recognition device, an electrical control device, a chassis, a pumping device, a transfer device, and a secondary positioning device. The vision recognition device is mounted on the brick-laying machine and controls the recognition position through the brick-laying machine. The electrical control device, brick-laying device, and pumping device are all mounted on the chassis, which ensures the overall movement of the robot. The vision recognition device includes lasers and cameras, enabling distance measurement and position recognition. The pumping device stirs the fluid and pumps it to the coating assembly through the fluid medium delivery pipe 405, ensuring the supply of the fluid. After coating is completed, the brick-laying device picks up the brick and places it in the corresponding position. Since brick-laying robots are existing technology, this application only describes its related working parts and principles, without going into detail about its specific structure and principles.

[0063] The working process of the applicator in this embodiment 1 is as follows:

[0064] The electronic control device of the paving robot supplies power to the first motor 103, the second motor 203, and the third motor 302. The first motor 103 drives the smearing device to move in the X-axis direction through the first synchronization mechanism 104, and the second motor 203 drives the smearing device to move in the Y-axis direction through the second synchronization mechanism 204, thereby realizing the movement of the smearing device in the plane. The third motor 302 controls the smearing device to move in the Z-axis, which is used to realize the switching and adjustment of the smearing state and the lifting state of the smearing device.

[0065] Reference Figures 7-8 As shown, the side of the X-axis substrate 101 where the Y-axis assembly 2 is mounted is in front of the coating device, and the tiling robot is located behind the coating device. Before the robot begins coating, the coating device is in the rightmost position to avoid interfering with the robot arm's operation in conjunction with the visual recognition device. When coating begins, the ground coating device first moves to the leftmost position. At this time, the third motor 302 controls the coating device to be in the coating state, and then moves to the right to a set length. During the movement, the follower structure 403 rolls in contact with the ground, and the swing seat 303 tilts slightly to the left, coating evenly and horizontally. Then, the third motor 302 controls the coating device to be in the lifted state, and the coating device moves to the second coating start position. At this time, the third motor 302 controls the coating device to be in the coating state, and then moves to the right again by the same distance, repeating this process. When the coating action ends, the coating device returns to the original rightmost position.

[0066] In this embodiment 1, the size of the applicator nozzle 402 is designed according to the required width. The applicator length can be controlled by the distance the applicator nozzle 402 moves. After completing one applicator, the applicator nozzle 402 performs the next applicator based on the identified position and the set applicator area, thereby achieving large-area and precise applicator area control. After two consecutive applicators, the applicator nozzle 402 returns to the initial position. It can move to an adjacent position as needed to continue applicator work, achieving applicator work covering a larger area in one go.

[0067] During the application process, the follower structure 403 ensures that the basic application thickness is the distance between the follower device roller 4034 and the ground. When the ground is uneven or tilted, the cylinder allows the application nozzle 402 to float up and down, while the swing seat 303 allows the application nozzle 402 to rotate at a certain angle. The combination of the two ensures that the application nozzle 402 can adapt to the complex conditions of the ground.

[0068] When the slurry application device is in operation, the brick-laying robot uses a camera to determine the starting position for each application. Then, the pumping device delivers cement slurry to the application device for application. After application, the robotic arm of the brick-laying device retrieves bricks from the brick silo and places them in the corresponding cement-slurry-applied positions, completing the brick-laying action.

[0069] In summary, the fluid coating device and paving robot provided by this invention have the following technical effects:

[0070] 1. By setting the follow-up structure 403, the basic thickness of the cement sprayed by the nozzle assembly 4 is ensured. When the ground is tilted, the follow-up structure 403 is subjected to the force of the ground to tilt and swing the spraying device 4 relative to the swing seat 303, thereby sliding in contact with the ground, so that the nozzle assembly 4 is basically parallel to the coating surface and a certain distance above the ground, thereby achieving uniform coating on the tilted surface.

[0071] 2. By setting up the floating device 304 and the follow-up structure 403, the adaptive floating of the nozzle assembly 4 when spraying cement is ensured. When the ground is uneven, the follow-up structure 403 is affected by the ground, and the floating device 304 can drive the nozzle assembly 4 to float up and down, thereby achieving the stability of the nozzle assembly 4 when it is working.

[0072] 3. By setting a tension member 406 on the nozzle assembly 4, the swing range of the nozzle assembly 4 relative to the swing seat 303 is limited, effectively avoiding the problem of nozzle assembly 4 failure caused by excessive swing.

[0073] 4. By setting an adjustment mechanism 4031 on the follower structure 403, the distance between the nozzle assembly 4 and the coating surface can be adjusted, thereby controlling the coating thickness of the nozzle assembly 4 on the coating surface;

[0074] 5. By setting the drive component, the length and width of the cement sprayed by the nozzle assembly 4 can be precisely controlled, thereby achieving precise control of the coating area over a large area;

[0075] 6. By installing a clamp valve 404 inside the fluid medium conveying pipe 405, cement discharge can be controlled to avoid local accumulation and can better coordinate with the movement to achieve the coating action.

[0076] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A fluid body applicator characterized by: The application relates to a spraying device for a coating surface, comprising: a swing base (303) provided with a spraying head assembly (4) for performing a coating operation on the coating surface, the spraying head assembly (4) being capable of swinging around a swing axis relative to the swing base (303); a floating device (304) for driving the swing base (303) to float in a direction perpendicular to the coating surface; and at least two follower structures (403) fixedly arranged on a side of the spraying head assembly (4) facing the coating surface and protruding towards the coating surface relative to a spraying port of the spraying head assembly (4) to form a gap between the spraying port of the spraying head assembly (4) and the coating surface; wherein, during the coating operation, the follower structures (403) are configured to keep contact with and slide on the coating surface; when the follower structures (403) slide on an inclined coating surface, a force applied by the coating surface drives the spraying head assembly (4) to swing relative to the swing base (303), so that a spraying port plane of the spraying head assembly (4) is adapted to the inclination of the coating surface; meanwhile, when the follower structures (403) slide on a rough coating surface, the floating device (304) drives the swing base (303) and the spraying head assembly (4) and the follower structures (403) integrally installed thereon to float as a whole to maintain the contact state between the follower structures (403) and the coating surface and the gap. The side of the spraying head assembly (4) connected with the swing base (303) is further provided with at least two pulling members (406) arranged in the length direction of the spraying head assembly (4), the pulling members (406) being used for limiting the swing range of the spraying head assembly (4) relative to the swing base (303). The pulling members (406) and the spraying head assembly (4) are further provided with elastic members (407) for resetting the spraying head assembly (4) swinging relative to the swing base (303). The swing angle range of the spraying head assembly (4) relative to the swing base (303) is + / - 5 degrees. The follower structures (403) comprise: a connecting structure (4032) for connecting with the spraying head assembly (4); a sliding structure (4034) for sliding on the coating surface during the coating operation of the spraying head assembly (4); and a supporting structure (4033) for connecting the connecting structure (4032) with the sliding structure (4034). The follower structures (403) are further provided with an adjusting mechanism (4031) for adjusting the distance between the follower structures (403) and the coating surface. The spraying head assembly (4) comprises: a coating spraying head (402); and a spraying head support (401) for connecting the coating spraying head (402) with the swing base (303).

2. A fluid body applicator according to claim 1, wherein: ​ 3. A fluid body applicator according to claim 2, wherein: ​ 4. A fluid body applicator according to claim 2, wherein: ​ 5. A fluid body applicator according to claim 1, wherein: ​ ​ ​ ​ 6. A fluid body applicator according to claim 5, wherein: ​ 7. A fluid body applicator according to claim 1, wherein: ​ ​ ​ A fluid medium conveying pipe (405) is used to provide fluid medium for the coating spray head (402).

8. A fluid body applicator according to claim 7, wherein: When the follow-up structure (403) is attached to the coating surface for coating, the liquid outlet of the coating spray head (402) is relatively parallel to the coating surface.

9. A tiling robot characterized by: The paving machine, the driving assembly and the fluid body coating device of any one of claims 1-8 are used to drive the fluid body coating device to move in a three-dimensional coordinate direction relative to the paving machine, so as to control the area coated by the fluid body coating device.

10. A tiling robot according to claim 9, characterized in that: A machine vision recognition device is further included, which is used to adjust the position coated by the fluid body coating device, so as to ensure the continuity of coating.

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