A robotic automated spray and scrape putty system

Abstract

The present application belongs to putty coating technical field, disclose a kind of robot automation is with spray and scrape coating putty system, including coating device, and coating device includes spraying mechanism and scraping mechanism, wherein, spraying mechanism is used to spray putty, and scraping mechanism is used to scrape and collect putty that spraying mechanism sprays.The present application provides a kind of robot automation is with spray and scrape coating putty system, for the putty coating operation of the car body of rail vehicle, adopts the operation mode of combination of spraying and scraping, can effectively improve the flatness, adhesion and surface quality of putty coating operation, and scraping mechanism has the function of collecting putty overflow, can improve the surface quality of scraping operation surface, realizes continuous automatic operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of putty coating technology, and in particular to a robot automatic spraying and scraping putty system. BACKGROUND

[0002] In the vehicle body coating operation of a rail vehicle, a large amount of putty is needed to fill in the external defects of the vehicle body to obtain a smooth and flat surface.

[0003] At present, the putty coating operation of the vehicle body of a rail vehicle is mainly manual operation. Manual operation depends on the experience and state of the worker, and the thickness and uniformity of the putty layer are difficult to guarantee. The putty coating operation of the vehicle body of a rail vehicle often adopts a multi-layer coating mode, and the manual operation has low work efficiency and high labor intensity. Moreover, the putty coating often contains a large amount of organic solvents and toxic low-molecular additives, which are harmful to the health of the workers.

[0004] With the rapid development of the mechanical manufacturing industry, the coating industry is gradually developing towards automation and intelligence, and putty coating robots are gradually put into production. The existing putty coating robots are mostly applied to the wall construction operation in the building industry and can realize the putty coating operation of the wall plane. However, the putty coating robots for wall construction operation mostly only adopt a scraping operation mode and cannot meet the requirements for flatness, adhesion and surface quality in the putty coating operation of the vehicle body of a rail vehicle, and cannot handle putty overflow. The putty overflow remaining on the scraping operation surface will affect the surface quality of the scraping operation surface, and the putty overflow remaining on the scraping mechanism will also affect the operation of the scraping mechanism. SUMMARY

[0005] The present application aims to provide a robot automatic spraying and scraping putty system to solve the problems of low surface quality of the scraping operation mode of the putty operation robot for building walls and the inability to handle putty overflow in the prior art.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] The robot automatic spraying and scraping putty system in the present application comprises a coating device, which comprises:

[0008] a spraying mechanism for spraying putty, and a scraping mechanism for scraping and collecting the putty sprayed by the spraying mechanism.

[0009] Further, the scraping mechanism comprises a first upper shell, a second upper shell and a scraping lower shell, the first upper shell and the second upper shell are both located on the top of the scraping lower shell, and the first upper shell and the second upper shell are arranged in sequence, the first upper shell, the second upper shell and the scraping lower shell are connected with each other and jointly define a collection cavity for collecting putty.

[0010] Further, the first upper shell is provided with a scraping panel.

[0011] Further, the scraping panel is provided with a collection hole, and the collection hole is communicated with the collection cavity.

[0012] The first upper shell and the second upper shell form a first channel on the top of the first upper shell, and the first channel is communicated with the collection cavity.

[0013] Further, the collection hole comprises a first collection hole and a second collection hole, the first collection hole is arranged in a matrix, and the second collection hole is arranged on both sides of the matrix formed by the first collection hole.

[0014] Further, the first upper shell is provided with a first top plate located on the top of the scraping panel, and the first top plate is connected with the scraping panel at an angle.

[0015] The second upper shell is provided with a guide plate, and the guide plate and the first top plate define the first channel.

[0016] Further, the scraping mechanism further comprises a high-pressure water valve, the high-pressure water valve is arranged in the scraping lower shell, and the high-pressure water valve is used to emit a high-pressure water flow to clean the collection cavity, the collection hole communicated with the collection cavity and the first channel.

[0017] Further, the guide plate is coplanar with the scraping panel, and the second upper shell is further provided with a second top plate.

[0018] The second top plate and the guide plate define a second channel, the second channel is communicated with the collection cavity, and the second channel is used to guide the high-pressure water flow to the scraping panel.

[0019] Further, the scraping mechanism further comprises a force control buffer assembly, the force control buffer assembly is used to control the scraping panel to always contact a scraping work surface with a constant force and perform a scraping work.

[0020] Further, the system further comprises a rolling drying device, and the rolling drying device comprises:

[0021] A water bucket is used to accommodate cleaning wastewater of the scraping mechanism.

[0022] Roller, for rolling contact with the squeegee mechanism.

[0023] Further, the spraying mechanism comprises:

[0024] Spray nozzle, for spraying putty;

[0025] Reciprocating guide rail, for driving the spray nozzle to approach or move away from the spraying surface;

[0026] Rotary shaft, for driving the spray nozzle to rotate.

[0027] Further, the system further comprises a robot, a robot end of the robot is connected with the coating device, the robot is used for adjusting the position and angle of the coating device, so that the squeegee mechanism maintains contact with the squeegee working surface, and the spraying mechanism and the squeegee mechanism are always arranged in sequence along the working direction.

[0028] Further, the system further comprises a track device, the track device comprises a carrier plate, a vertical track and a horizontal track;

[0029] Wherein, the carrier plate is arranged on one side of the vertical track, and is used for providing a mounting position for the drying device and the robot, the vertical track is connected with the horizontal track, the vertical track is used for driving the coating device to move vertically, and the horizontal track is used for driving the coating device to move horizontally.

[0030] Further, the system further comprises a feeding device, the feeding device is used for providing putty for the coating device.

[0031] Advantages of the present application:

[0032] The present application provides a robot automatic spraying and squeegee putty coating system, which is used for the putty coating work of the car body of a rail vehicle, adopts a spraying and squeegee combined work mode, can effectively improve the flatness, adhesion and surface quality of the putty coating work, and the squeegee mechanism has the function of collecting putty overflow, can improve the surface quality of the squeegee working surface, and realizes continuous automatic work.

[0033] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0034] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings.

[0035] Figure 1 is the appearance diagram of the robot automatic spraying and squeegee coating system in the embodiment of the present application;

[0036] Figure 2 is an appearance view of the coating device in an embodiment of the present application;

[0037] Figure 3 is an appearance view of the blade coating mechanism in an embodiment of the present application;

[0038] Figure 4 is a sectional view of the blade coating mechanism in an embodiment of the present application;

[0039] Figure 5 is an appearance view of the roll drying device in an embodiment of the present application.

[0040] In the figure: 1, coating device; 2, roll drying system; 3, robot; 4, track device; 5, feeding device;

[0041] 11, spraying mechanism; 12, blade coating mechanism;

[0042] 21, water bucket; 22, roller; 23, roll shaft;

[0043] 31, robot end

[0044] 41, carrier plate; 42, vertical track; 43, horizontal track;

[0045] 100, collection hole; 101, first channel;

[0046] 110, nozzle; 111, reciprocating guide rail; 112, rotating shaft;

[0047] 121, first upper shell; 122, second upper shell; 123, blade coating lower shell; 124, collection cavity; 125, high-pressure water valve; 126, force control buffer assembly;

[0048] 1001, first collection hole; 1002, second collection hole;

[0049] 1211, blade coating panel; 1212, first top plate;

[0050] 1221, guide plate; 1222, second top plate; 1223, second channel. DETAILED DESCRIPTION

[0051] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0052] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements or interaction relationship between 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.

[0053] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0054] In the description of the present embodiment, the terms "upper", "lower", "right", and other orientation or position relationship are based on the orientation or position relationship shown in the drawings, which is only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0055] The present embodiment provides a robot automated spraying and scraping putty system, which is applied to a putty coating process of a car body of a railway vehicle.

[0056] In the car body coating operation of the railway vehicle, after the primer process is completed, the putty is needed to fill the external defects of the car body. The role of the putty layer is to fill the visually uneven parts and the welding seams, and to smooth the surface of the car body.

[0057] Since the volume of the putty of the car body of the railway vehicle usually shrinks after reaction and curing, in order to avoid cracking and peeling of the putty layer, a multi-layer coating mode is often used in the putty coating operation of the car body of the railway vehicle, and the thickness of the single-layer putty and the overall putty thickness are required.

[0058] The robot automated spraying and scraping putty system of the present embodiment uniformly coats the putty on the surface of the car body of the railway vehicle by high-pressure spraying, and uses constant pressure to scrape and compact the putty on the surface of the car body. The operation mode of spraying and scraping combination not only can effectively control the thickness of the putty layer, but also can improve the flatness and adhesion of the putty layer.

[0059] As Figure 1 shown in the figure, the putty spraying and scraping system for robot automation in the embodiment comprises a coating device 1, a drying device 2, a robot 3, a track device 4 and a feeding device 5.

[0060] Specifically, the track device 4 is installed on the ground, the track device 4 is connected with the robot 3, the robot 3 is connected with the coating device 1, the drying device 2 is arranged on one side of the robot, and the feeding device 5 is connected on one side of the track device 4.

[0061] The coating mechanism 1 in the embodiment adopts a combined operation mode of spraying and scraping, and the coating device 1 comprises a spraying mechanism 11 and a scraping mechanism 12.

[0062] It can be understood that in the coating device 1, the spraying mechanism 11 is used for spraying putty, and the putty is uniformly coated on the surface of the car body of the rail vehicle through high-pressure spraying.

[0063] As Figure 2 shown in the figure, the spraying mechanism 11 comprises a nozzle 110, a reciprocating guide rail 111 and a rotating shaft 112.

[0064] The nozzle 110 is used for spraying putty.

[0065] In the embodiment, the putty is unsaturated polyester putty.

[0066] In the embodiment, the nozzle 110 can adopt a flat fan-shaped nozzle or a circular nozzle.

[0067] The nozzle 110 is connected with the reciprocating guide rail 111, and the reciprocating guide rail 111 is used to drive the nozzle 110 to approach or move away from the spraying work surface.

[0068] Specifically, the reciprocating guide rail 111 is provided with a first driving member, the first driving member drives the nozzle 110 to move along the direction defined by the reciprocating guide rail 111, and adjusts the distance between the nozzle 110 and the spraying work surface.

[0069] Further, in the embodiment, the first driving member adopts a sliding cylinder.

[0070] It can be understood that when the putty spraying work of the car body of the rail vehicle is performed, the spraying pressure of the nozzle 110 should be matched with the spraying distance. Specifically, when the spraying distance is large, a larger spraying pressure should be selected to avoid that the single-layer putty is too thin. When the spraying distance is small, a smaller spraying pressure is selected to avoid that the center of the spraying is depressed and the edge is hanging.

[0071] Continuing to refer to Figure 2 , the rotating shaft 112 is used to drive the nozzle 110 to rotate, the rotating shaft 112 is connected with the reciprocating guide rail 111, and the rotating shaft 112 is configured to be able to drive the reciprocating guide rail 111 to rotate.

[0072] Specifically, two coaxial rotating shafts 112 are arranged in the embodiment, and the two rotating shafts 112 are connected to the robot end of the robot 3, and the two ends of the reciprocating guide rail 111 are connected to the shafts of the two rotating shafts 112 respectively.

[0073] Further, the spraying mechanism 11 controls the rotation of the two rotating shafts 112 by electricity, drives the reciprocating guide rail 111 and the spraying nozzle 110 connected to the reciprocating guide rail 111 to rotate, and adjusts the spraying angle of the spraying nozzle 110.

[0074] In the embodiment, the rotating shaft 112 is installed on the robot end of the robot 3 by a fastening screw.

[0075] The spraying mechanism 11 in the embodiment sprays the prepared putty at a certain angle and distance, adjusts the angle of the spraying nozzle 110 by controlling the rotation amplitude of the rotating shaft 112 by electricity, controls the spraying nozzle 110 to move along the reciprocating guide rail 111 by the sliding cylinder, and adjusts the spraying distance between the spraying nozzle 110 and the spraying work surface.

[0076] The scraping mechanism 12 is used for collecting and scraping the putty sprayed by the spraying mechanism 11. Specifically, the scraping mechanism 12 is provided with a scraping panel 1211 for scraping the putty and a collection cavity 124 for collecting the residual putty.

[0077] As shown in Figure 2 , the scraping mechanism 12 includes a first upper shell 121, a second upper shell 122, and a scraping lower shell 123. The first upper shell 121 and the second upper shell 122 are located on the top of the scraping lower shell 123, and the first upper shell 121 and the second upper shell 122 are arranged in sequence.

[0078] Further, the first upper shell 121, the second upper shell 122, and the scraping lower shell 123 are connected to each other and jointly define the collection cavity 124 for collecting the putty.

[0079] As shown in Figure 3 , the first upper shell 121 is provided with a scraping panel 1211.

[0080] Further, the scraping panel 1211 is used for scraping the putty. In the embodiment, the scraping mechanism 12 adopts a one-side reverse scraping method, the scraping panel 1211 contacts the vehicle body of the rail vehicle, and performs the scraping work along the spraying track of the spraying nozzle 110.

[0081] During the scraping work, in order to avoid that the scraping mechanism 12 contacts the surface of the vehicle body of the rail vehicle with excessive force due to position error, damages the scraping mechanism 12 or damages the surface of the vehicle body, the scraping mechanism 12 in the embodiment is further provided with a force control buffer assembly 126.

[0082] In this embodiment, the scraping mechanism 12 further comprises a force control buffer assembly 126, which is used to control the scraping panel 1211 to always contact the scraping work surface with a constant force and perform the scraping work.

[0083] Further, in this embodiment, one end of the force control buffer assembly 126 is connected with the robot 3, and the force control buffer assembly 126 cooperates with the robot 3 to jointly realize the constant force scraping work of the scraping mechanism 12.

[0084] As shown in Figure 2 the other end of the force control buffer assembly 126 is connected with the bottom of the scraping lower shell 123. During the scraping work, the force control buffer assembly 126 performs constant force control and axial displacement buffering, which can effectively ensure that the scraping panel 1211 contacts the scraping work surface with a constant force and ensures the stability of the posture of the scraping panel 1211.

[0085] In the field of robot force control, active compliance control is divided into impedance control, admittance control and hybrid force-position control. Among them, impedance control is to control the motion of the robot by conventional method, and when the motion is disturbed and deviates, a reverse force is output according to the deviation. Admittance control is to generate an additional position according to the force received by the robot from the outside world through a second-order admittance model, correct the pre-set position trajectory according to the additional position, and complete the position control.

[0086] Further, damping control is to control the joint torque to make the robot effector maintain a suitable force with the contact surface, admittance control is to control the joint position to make the robot effector maintain a suitable force with the contact surface, and force-position hybrid control is to decouple the directions that need force control and position control, and control them respectively.

[0087] As preferred, the robot 3 and the force control buffer assembly 126 of this embodiment adopt force-position hybrid control.

[0088] Further, the scraping panel 1211 is provided with a collection hole 100, and the collection hole 100 communicates with the collection cavity 124.

[0089] When performing putty scraping work, the scraping panel 1211 is at an acute angle with the surface of the vehicle body of the rail vehicle and scrapes and flattens the putty. It can be understood that the putty overflow accumulated on the scraping panel 1211 can enter the collection cavity 124 through the collection hole 100.

[0090] Referring to Figure 3 , the collection hole 100 comprises a first collection hole 1001 and a second collection hole 1002, the first collection hole 1001 is arranged in a matrix, and the second collection hole 1002 is arranged on both sides of the matrix formed by the first collection hole 1001.

[0091] It can be understood that the first collection holes 1001 densely arranged on the squeegee panel 1211 are used to collect the putty overflow on the squeegee panel 1211. The second collection holes 1002 arranged on both sides of the squeegee panel 1211 are used to collect the putty overflow on both sides of the squeegee panel 1211.

[0092] In the embodiment, the first collection holes 1001 can be rectangular holes or circular holes.

[0093] Further, the second collection holes 1002 have a large hole size, which can effectively collect the putty overflow on both sides of the squeegee panel 1211 into the collection cavity 124.

[0094] As shown in Figure 4 , the second upper shell 122 and the first upper shell 121 form a first channel 101 at the top of the first upper shell 121, and the first channel 101 communicates with the collection cavity 124.

[0095] Specifically, the first upper shell 121 is provided with a first top plate 1212 at the top of the squeegee panel 1211, and the first top plate 1212 is connected at an angle with the squeegee panel 1211. The second upper shell 122 is provided with a guide plate 1221, and the guide plate 1221 and the first top plate 1210 define the first channel 101.

[0096] It can be understood that during continuous operation of the squeegee panel 1211, the amount of putty overflow will gradually increase, and when the collection holes 100 cannot completely collect the putty overflow, the putty overflow will gradually accumulate on the squeegee panel 1211. The putty overflow accumulated on the squeegee panel 1211 will gradually extend to the edge and enter the collection cavity 124 through the first channel 101 under the guidance of the first top plate 1212.

[0097] As shown in Figure 4 , the squeegee mechanism 11 in the embodiment further includes a high-pressure water valve 125 arranged in the squeegee lower shell 123. The high-pressure water valve 125 is connected with a water delivery pipeline for issuing high-pressure water flow to clean the collection cavity 124 and the collection holes 100 and the first channel 101 communicating with the collection cavity 124.

[0098] Continuing to refer to Figure 4 , the second upper shell 122 is further provided with a second top plate 1222, and the second top plate 1222 and the guide plate 1221 define a second channel 1223. Among them, the guide plate 1221 is coplanar with the squeegee panel 1211, and the second channel 1223 communicates with the collection cavity 124.

[0099] Further, the high-pressure water flow emitted by the high-pressure water valve 125 can also be sprayed from the second channel 1223 through the collection cavity 124, and the guide plate 1221 can guide the high-pressure water flow to the squeegee panel 1211, thereby achieving the flushing cleaning of the surface of the squeegee panel 1211.

[0100] The squeegee mechanism 12 in the embodiment controls the squeegee panel 1211 to be in contact with the squeegee working surface with constant force through the force control buffer assembly 126, thereby achieving the putty squeegeeing treatment of the surface of the rail vehicle body.

[0101] The squeegee mechanism 12 in the embodiment has a collection function. During the squeegee working process, the first collection holes 1001 uniformly and densely distributed on the squeegee panel 1211 can effectively collect the putty overflow on the squeegee panel 1211 into the collection cavity 124, the second collection holes 1002 arranged on both sides of the squeegee panel 1211 can effectively collect the putty overflow on both sides of the squeegee panel 1211 into the collection cavity 124, and the first channel 101 located at the top of the squeegee panel 1211 can effectively collect the putty overflow on the edge of the squeegee panel 1211 into the collection cavity 124.

[0102] The first collection holes 1001, the second collection holes 1002, the first channel 101 and the collection cavity 124 in the squeegee mechanism 12 in the embodiment can effectively collect the putty overflow during the squeegee working process, thereby preventing the putty overflow from causing scratches on the squeegee working surface.

[0103] The squeegee mechanism 12 in the embodiment also has a self-cleaning function. Every set time, the high-pressure water valve 126 emits a high-pressure water flow to flush the putty overflow in the first collection holes 1001, the second collection holes 1002, the first channel 101 and the collection cavity 124, thereby avoiding the putty overflow from solidifying and blocking. At the same time, the high-pressure water flow emitted by the high-pressure water valve 126 can also flush the surface of the squeegee panel 1211 through the second channel 1223, thereby achieving the cleaning of the putty on the surface of the squeegee panel 1211.

[0104] As shown in Figure 2 In the embodiment, the coating mechanism 1 is connected with the robot 3. Specifically, the robot end 31 of the robot 3 is connected with the coating device 1, the rotating shaft 112 of the spraying mechanism 11 is connected with the robot end 31, and the force control buffer device 126 of the squeegee mechanism 12 is connected with the robot end 31.

[0105] Further, the robot 3 is used to adjust the position and angle of the coating device 1, so that the squeegee mechanism 12 remains in contact with the squeegee working surface, and the spraying mechanism 11 and the squeegee mechanism 12 are always arranged in sequence along the working direction.

[0106] In this embodiment, the robot 3 is a six-axis articulated robot, which has six degrees of freedom. The six-axis articulated robot is completely sealed between each axis, and during the spraying operation, the putty can be effectively prevented from entering the interior of the robot 3 to cause failure.

[0107] Further, the robot 3 has the feature of flexible start-up, and can be programmed according to the shape characteristics of the vehicle body of the rail vehicle, and plan the spraying track and the squeegee track.

[0108] In this embodiment, the robot 3 reaches the set position with the set posture through the coordinated movement of the six axes.

[0109] The robot automated putty spraying and squeegee system in this embodiment further comprises a roll-drying device 2.

[0110] As shown in Figure 5 , the roll-drying device 2 comprises a water bucket 21, a roller 22, and a roller shaft 23.

[0111] Further, the water bucket 21 is used to accommodate the cleaning waste water of the squeegee mechanism 12, and the roller 22 is used to roll and contact the squeegee mechanism 12.

[0112] Specifically, the bucket cover of the water bucket 22 is provided with an opening, and the opening can pass the squeegee mechanism 12. Every certain time, before the high-pressure water valve 126 sends the high-pressure water flow, the robot 3 moves and controls the squeegee mechanism 12 connected to the robot end 31 to extend into the water bucket 22. The water bucket 22 collects the waste water generated by the flushing.

[0113] In this embodiment, the roller shaft 23 has two roller shafts 23 coaxially arranged on the bucket cover of the water bucket.

[0114] In this embodiment, the roller shaft 23 is connected to the water bucket 21 by a screw.

[0115] Further, the two ends of the roller 22 are connected to the shafts of the two roller shafts 23, respectively.

[0116] In this embodiment, after the squeegee device 12 finishes flushing, the roll-drying device 2 rotates the roller shaft 23 through electric control, and drives the roller 22 to rotate. At the same time, the robot 3 controls the squeegee mechanism 12 connected to the robot end 31 to move, and makes each surface of the squeegee mechanism 12 contact the roller 22 in turn.

[0117] Further, in this embodiment, the outer surface of the roller 22 is provided with a brush, and the roller 22 wipes the squeegee mechanism 12 through the brush when the roller 22 contacts the squeegee mechanism 12.

[0118] It can be understood that the body of the rail vehicle is a large surface, and the stroke range of the robot 3 itself is limited, and it is impossible to complete the coating of the entire outer surface of the body of the rail vehicle at a fixed position. In order to increase the working range of the robot automatic spraying and scraping putty system in the embodiment, the robot 3 is installed on the rail device 4.

[0119] In some possible embodiments, the robot automatic spraying and scraping putty system provided by the embodiment can be arranged on one side of the body of the rail vehicle, or can be arranged on both sides of the body of the rail vehicle.

[0120] The rail device 4 includes a carrier plate 41, a vertical rail 42 and a horizontal rail 43. The carrier plate 41 is arranged on one side of the vertical rail 42 to provide a mounting position for the drying device 2 and the robot 3, and the vertical rail 42 is connected with the horizontal rail 43. The vertical rail 42 is used to drive the vertical movement of the coating device 1, and the horizontal rail 43 is used to drive the horizontal movement of the coating device 1.

[0121] In the robot automatic spraying and scraping putty system in the embodiment, the feeding device 5 is used to provide putty for the coating device 1. Specifically, the nozzle 110 in the spraying device 11 is connected with the feeding device 5 through a pipeline.

[0122] The working principle of the robot automatic spraying and scraping putty system in the embodiment is as follows:

[0123] In the rail device 4, the horizontal rail 43 drives the horizontal movement of the robot 3, and the vertical rail 42 drives the vertical movement of the robot 3, so that the robot 3 reaches the set position through the horizontal rail 43 and the vertical rail 42.

[0124] The robot 3 reaches the set position in a set posture through the coordinated movement of the six axes, wherein the scraping device 12 and the spraying device 11 are arranged in sequence along the direction of the working track, and the scraping panel 1211 in the scraping device 12 is in contact with the scraping working surface at a certain angle.

[0125] The spraying device 11 controls the rotating shaft 112 and the reciprocating guide rail 111, so that the nozzle 110 sprays at a suitable angle and spraying distance.

[0126] The feeding device 5 provides putty for the spraying device 11, and under the control of the robot 3, the spraying device 11 sprays along the spraying track, while the scraping device 11 performs the scraping operation on the putty sprayed by the spraying device 11. During the scraping operation, the overflowed putty enters the collection cavity 124 through the first collection hole 1001, the second collection hole 1002 and the first channel 101.

[0127] Every set time interval, the spraying mechanism 11 stops spraying, the robot 3 controls the squeegee mechanism 12 to extend into the water bucket 21 of the roll drying device 2, the high-pressure water valve 125 in the squeegee mechanism 12 sends water flow to clean the squeegee mechanism 12, and the robot 3 controls the squeegee mechanism 12 to contact the roll shaft 23 to wipe off the water on the squeegee mechanism 12.

[0128] After the squeegee mechanism 12 is cleaned, the robot 3 controls the coating device 1 to continue spraying and squeegeeing.

[0129] Obviously, the above-mentioned embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the protection scope of the present application. It is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A robotized spraying and squeegee puttying system comprising a coating device (1), characterized in that: The coating device (1) comprises: a spraying mechanism (11) for spraying putty; and a scraping mechanism (12) for scraping and collecting the putty sprayed by the spraying mechanism (11); The scraping mechanism (12) comprises a first upper shell (121), a second upper shell (122), and a scraping lower shell (123), the first upper shell (121) and the second upper shell (122) are both located at the top of the scraping lower shell (123), and the first upper shell (121) and the second upper shell (122) are arranged in sequence, the first upper shell (121), the second upper shell (122), and the scraping lower shell (123) are connected with each other and jointly define a collection cavity (124) for collecting putty; The first upper shell (121) is provided with a scraping panel (1211); The scraping panel (1211) is provided with a collection hole (100), and the collection hole (100) communicates with the collection cavity (124); The collection hole (100) comprises a first collection hole (1001) and a second collection hole (1002), the first collection hole (1001) is arranged in a matrix, and the second collection hole (1002) is arranged on both sides of the matrix formed by the first collection hole (1001); A first channel (101) is formed between the second upper shell (122) and the first upper shell (121) and located at the top of the first upper shell (121), and the first channel (101) communicates with the collection cavity (124); The first upper shell (121) is provided with a first top plate (1212) located at the top of the scraping panel (1211), and the first top plate (1212) is connected with the scraping panel (1211) at an included angle; The second upper shell (122) is provided with a guide plate (1221), and the guide plate (1221) and the first top plate (1212) define the first channel (101); The scraping mechanism (12) further comprises a force control buffer assembly (126) for controlling the scraping panel (1211) to always contact a scraping work surface with constant force and perform scraping work; The scraping mechanism (12) further comprises a high-pressure water valve (125) arranged in the scraping lower shell (123), and the high-pressure water valve (125) is used to emit a high-pressure water flow to clean the collection cavity (124), the collection hole (100) communicating with the collection cavity (124), and the first channel (101).

2. The robotic automated trowel coating system of claim 1, wherein: The guide plate (1221) is coplanar with the scraping panel (1211), and the second upper shell (122) is further provided with a second top plate (1222); The second top plate (1222) and the guide plate (1221) define a second channel (1223) communicating with the collection cavity (124), and the second channel (1223) is used to guide the high-pressure water flow to the scraping panel (1211).

3. The robotic automated trowel coating system of claim 1, wherein: The system further comprises a rolling drying device (2), and the rolling drying device (2) comprises: A water bucket (21) is used to collect the cleaning waste water of the scraping mechanism (12); A roller (22) is used to roll and contact the scraping mechanism (12).

4. The robotic automated trowel coating system of claim 3, wherein: The spraying mechanism (11) comprises: A nozzle (110) is used to spray putty; A reciprocating guide rail (111) is used to drive the nozzle (110) to move close to or away from the spraying surface; A rotating shaft (112) is used to drive the nozzle (110) to rotate.

5. The robotic automated trowel coating system of claim 4, wherein: The system further comprises a robot (3), the robot end of the robot (3) is connected with the coating device (1), the robot (3) is used to adjust the position and angle of the coating device (1), so that the scraping mechanism (12) keeps in contact with the scraping working surface, and the spraying mechanism (11) and the scraping mechanism (12) are always arranged in sequence along the working direction.

6. The robotic automated trowel coating system of claim 5, wherein: The system further comprises a track device (4), the track device (4) comprises a carrier plate (41), a vertical track (42) and a horizontal track (43); The carrier plate (41) is arranged on one side of the vertical track (42), which is used to provide mounting positions for the drying device (2) and the robot (3), the vertical track (42) is connected with the horizontal track (43), the vertical track (42) is used to drive the coating device (1) to move vertically, and the horizontal track (43) is used to drive the coating device (1) to move horizontally.

7. A robotic automated trowel coating system according to any of claims 1 to 6 wherein: The system further comprises a feeding device (5), which is used to provide putty for the coating device (1).

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