Spraying device

Abstract

The application provides a spraying device, and relates to the technical field of building robots. The spraying device comprises a chassis, a lifting mechanism, an actuator, a spraying pipe and a first guide mechanism. The lifting mechanism is arranged on the chassis. The actuator comprises an actuator base and a spray gun. The actuator base is connected to the output end of the lifting mechanism. The spray gun is movably arranged on the actuator base along the length direction of the actuator base. One end of the spraying pipe is connected to the spray gun to supply material to the spray gun. The first guide mechanism is rotatably arranged on the top of the lifting mechanism. The first guide mechanism has a through hole for the spraying pipe to pass through. The spraying device guides the spraying pipe to walk on the top of the lifting mechanism through the first guide mechanism, can guarantee that the spraying pipe does not interfere with other mechanisms, can swing along with the movement of the spray gun, guarantees that the spray gun is normally supplied with material and can normally move, and can normally implement shotcrete work.

Description

Technical Field

[0001] This application relates to the field of construction robot technology, and more specifically, to a spraying device. Background Technology

[0002] Both residential and commercial buildings have sprung up, leading to the rapid development of my country's construction industry. After the main structure of a building is completed, its interior walls need to be shotcreted. However, the existing shotcrete machine's supply pipeline often gets tangled and interferes with other parts of the machine as the nozzle moves, which is detrimental to its use and affects the normal shotcrete operation. Summary of the Invention

[0003] The purpose of this application is to provide a spraying device that can improve the problem of unreasonable layout of existing mortar pipes affecting normal spraying.

[0004] The embodiments of this application are implemented as follows:

[0005] An embodiment of this application provides a spraying apparatus, comprising:

[0006] Chassis;

[0007] A lifting mechanism, wherein the lifting mechanism is disposed on the chassis;

[0008] An actuator, comprising an actuator base and a spray gun, wherein the actuator base is connected to the output end of the lifting mechanism, and the spray gun is movably disposed on the actuator base along the length direction of the actuator base, and the spray gun is used to spray slurry onto the working surface;

[0009] A spray nozzle, one end of which is connected to the spray gun to supply material to the spray gun; and

[0010] A first guiding mechanism is rotatably disposed on the top of the lifting mechanism. The first guiding mechanism has a through hole through which the spray pipe passes. The center line of the through hole is inclined relative to the direction of gravity and collinear with the rotation axis of the first guiding mechanism. When the spray gun moves along the length direction of the actuator base, the spray pipe swings and drives the first guiding mechanism to rotate.

[0011] This application places the first guiding mechanism at the top of the lifting mechanism, and the spray pipe passes through the through hole of the first guiding mechanism, that is, it runs through the top of the lifting mechanism to avoid interference with other mechanisms. The spray pipe can swing more smoothly with the help of the first guiding mechanism as it moves with the spray gun, and will not interfere with other mechanisms. This avoids the spray pipe affecting the work of other mechanisms and also avoids other mechanisms affecting the material supply of the spray pipe, thus ensuring the normal operation of the spraying work.

[0012] In addition, the spraying apparatus provided according to the embodiments of this application may also have the following additional technical features:

[0013] In an optional embodiment of this application, the first guiding mechanism includes a bracket and a pulley. The bracket is rotatably disposed on the top of the lifting mechanism, the through hole is formed in the bracket, and the pulley is rotatably disposed on the side of the bracket facing the actuator. The spray pipe passes through the through hole and rests against the pulley.

[0014] The pulleys provide support for the spray nozzle, allowing it to swing more smoothly. The spray nozzle can swing freely with the help of the rotation of the bracket, avoiding wear and jamming.

[0015] In an optional embodiment of this application, there are two pulleys arranged in parallel, and the spray pipe passes between the two pulleys.

[0016] By setting two pulleys, the spray pipe can be supported by the pulleys as it rises and falls with the actuator, ensuring smooth swinging.

[0017] In an optional embodiment of this application, the first guiding mechanism further includes a bearing and a bearing housing, the bearing housing being fixed to the top of the lifting mechanism, and the bracket being rotatably connected to the bearing housing via the bearing.

[0018] The bearing housing can be used to connect to the top of the lifting mechanism, while the bearing provides the structural basis for the rotation of the support.

[0019] In an optional embodiment of this application, the bracket includes a body and a sleeve portion connected to each other, the pulley is mounted on the body, the sleeve portion passes through the bearing and is fixed to the inner ring of the bearing, the outer ring of the bearing is fixed to the bearing seat, and the through hole is the center hole of the sleeve portion.

[0020] The sleeve section can be easily connected to the bearing and also easily matched with the spray pipe, while the body can provide a mounting base for the pulley.

[0021] In an optional embodiment of this application, the spraying device further includes a telescopic drive and a second guide mechanism. The second guide mechanism is used to guide the spraying pipe along the extension direction of the spraying pipe. The first guide mechanism is located between the second guide mechanism and the spray gun. The telescopic drive is disposed on the top of the lifting mechanism and is used to drive the second guide mechanism to switch between an extended position and a retracted position.

[0022] When the second guide mechanism is in the retracted position, the projection of the second guide mechanism along the direction of gravity is within the range of the chassis; when the second guide mechanism is in the extended position, the projection of the second guide mechanism along the direction of gravity is outside the range of the chassis, and a portion of the spray pipe forms a vertical pipe section in a vertical state outside the chassis.

[0023] The telescopic drive unit, by driving the second guide mechanism, enables the spray pipe to be retracted, facilitating passage through narrow spaces or allowing the vertical pipe portion of the spray pipe to be positioned outside the chassis, thus avoiding interference with other mechanisms during operation.

[0024] In an optional embodiment of this application, the second guiding mechanism includes a plurality of first guide wheels, the plurality of first guide wheels forming a first guide opening, and the spray pipe passing through the first guide opening.

[0025] By setting multiple first guide wheels to form a first guide opening, the spray pipe is not easily worn and moves smoothly without jamming when it moves with the second guide mechanism.

[0026] In an optional embodiment of this application, the telescopic drive is configured to drive the second guide mechanism to move in a horizontal direction.

[0027] By driving the second guiding mechanism to move linearly, the spray nozzle can be guided simply and quickly, thereby improving the efficiency of adjustment.

[0028] In an optional embodiment of this application, a counterweight is provided on the vertical pipe section.

[0029] The counterweight ensures that the spray pipe is tensioned and that a portion of it forms a vertical pipe section; the structure is simple and practical.

[0030] In an optional embodiment of this application, when the actuator is driven to the highest working position by the lifting mechanism, the counterweight contacts the ground in the working environment of the chassis.

[0031] By designing the position of the counterweight, it can be ensured that within the stroke of the lifting mechanism, a portion of the spray pipe can form a vertical pipe section, preventing the spray pipe from becoming loose and bending due to the counterweight contacting the ground prematurely.

[0032] In an optional embodiment of this application, the actuator is located on the front side of the spraying device, and when the second guide mechanism is in the extended position, the second guide mechanism is located on the rear side of the spraying device, and the spraying pipe passes around the top of the lifting mechanism from the rear side of the spraying device to connect with the spray gun.

[0033] The spray pipe is guided by the second and first guide mechanisms, ensuring that it travels from the top of the lifting mechanism, thus avoiding interference with other mechanisms.

[0034] In an optional embodiment of this application, the spraying device further includes a third guiding mechanism for guiding the spraying pipe along its extension direction. The third guiding mechanism is located between the first guiding mechanism and the second guiding mechanism and is disposed at the top of the lifting mechanism and higher than the first guiding mechanism and the second guiding mechanism.

[0035] The third guiding mechanism can raise the part of the spray pipe between the first and second guiding mechanisms to a certain height, so that when the spray pipe bends after being guided, the bending angle is greater than 90°, thus avoiding the formation of a dead point in the movement of the spray pipe during the forward and backward process.

[0036] In an optional embodiment of this application, the third guiding mechanism includes a plurality of second guide wheels forming a second guide opening, through which the spray pipe passes.

[0037] Multiple second guide wheels can effectively guide the spray nozzle, ensuring that it can move with the telescopic drive component.

[0038] In an optional embodiment of this application, the spraying device further includes a top support mechanism, which is disposed on top of the lifting mechanism and is used to support the ceiling. The first guide mechanism, the second guide mechanism, and the third guide mechanism are all disposed on the top support mechanism.

[0039] The top support mechanism provides an installation base for the first guide mechanism, the second guide mechanism and the third guide mechanism, and ensures that the spray pipe always stays at the top. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A schematic diagram of a spraying apparatus provided for an embodiment of this application;

[0042] Figure 2 A schematic diagram showing the spray pipe running from the top of the lifting mechanism;

[0043] Figure 3 This is a schematic diagram showing the cooperation between the spray pipe and the first guide mechanism, the second guide mechanism, the third guide mechanism, and the top support mechanism;

[0044] Figure 4 An exploded view showing the coordination between the first guiding mechanism, the second guiding mechanism, the third guiding mechanism, and the supporting mechanism;

[0045] Figure 5 This is a schematic diagram of the first guiding mechanism;

[0046] Figure 6 for Figure 5 Exploded view;

[0047] Figure 7 This is a schematic diagram showing the spray nozzle moving left and right with the spray gun.

[0048] Icons: 10-Chassis; 20-Lifting mechanism; 30-Actuator; 31-Actuator base; 33-Spray gun; 40-Spray pipe; 50-First guide mechanism; 501-Through hole; 51-Bracket; 511-Body; 512-Sleeve section; 52-Pulley; 53-Bearing; 54-Bearing seat; 55-Mounting plate; 56-Snap ring; 60-Second guide mechanism; 61-First guide wheel; 62-Mounting frame; 70-Third guide mechanism; 71-Second guide wheel; 80-Top support mechanism; 81-Base frame; 82-Drive unit; 83-Transmission gear; 84-Lifting frame; 841-Gear; 85-Top support column; 86-Side plate; 90-Telescopic drive component; 91-Rail block; 92-Guide rail; 100-Counterweight block; 110-Hopper mechanism. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0051] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0052] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is conventionally placed during use. These terms are used only for the convenience of describing this application and for 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 application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0053] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0054] Example

[0055] Please refer to Figure 1 An embodiment of this application provides a spraying apparatus, comprising:

[0056] Chassis 10;

[0057] Lifting mechanism 20 is mounted on chassis 10;

[0058] The actuator 30 includes an actuator base 31 and a spray gun 33. The actuator base 31 is connected to the output end of the lifting mechanism 20. The spray gun 33 is movably disposed on the actuator base 31 along the length direction of the actuator base 31. The spray gun 33 is used to spray slurry onto the working surface.

[0059] Spray tube 40, one end of which is connected to spray gun 33 to supply material to spray gun 33; and

[0060] The first guide mechanism 50 is rotatably disposed on the top of the lifting mechanism 20. The first guide mechanism 50 has a through hole 501 through which the spray pipe 40 passes. The center line of the through hole 501 is inclined relative to the direction of gravity and is collinear with the rotation axis of the first guide mechanism 50. When the spray gun 33 moves along the length direction of the actuator base 31, the spray pipe 40 swings and drives the first guide mechanism 50 to rotate.

[0061] The spray pipe 40 can be connected to an external feeding mechanism to supply material, or a feeding mechanism can be installed on the chassis 10 and connected to the spray pipe 40 to supply material to the spray gun 33. This embodiment also includes a hopper mechanism 110, which can be used to collect the slurry overflowing during scraping and spraying and circulate it to the feeding mechanism, and reuse it through the spray pipe 40.

[0062] In short, this application places the first guiding mechanism 50 at the top of the lifting mechanism 20, and the spray pipe 40 passes through the through hole 501 of the first guiding mechanism 50, that is, it runs through the top of the lifting mechanism 20, avoiding interference with other mechanisms. The spray pipe 40 can swing more smoothly with the help of the first guiding mechanism 50 as it moves with the spray gun 33, and will not interfere with other mechanisms, thus avoiding the spray pipe 40 from affecting the work of other mechanisms and avoiding other mechanisms from affecting the material supply of the spray pipe 40, ensuring the normal operation of the spraying work.

[0063] In this regard, please combine Figures 1 to 4 The spraying device of this application also includes a top support mechanism 80, which is disposed on top of the lifting mechanism 20 and is used to support the ceiling. The first guide mechanism 50, as well as the second guide mechanism 60 and the third guide mechanism 70 mentioned below, are all disposed on the top support mechanism 80. The top support mechanism 80 can provide an installation base for the first guide mechanism 50, the second guide mechanism 60 and the third guide mechanism 70, and can ensure that the spraying pipe 40 always remains at the top.

[0064] For details, please refer to... Figure 3 The top support mechanism 80 includes a base frame 81, a drive unit 82, transmission gears 83, a lifting frame 84, and a top support column 85. The base frame 81 is directly connected to the top of the lifting mechanism 20. The drive unit 82 is mounted on the base frame 81 and can drive the two transmission gears 83 to rotate. The lifting frame 84 has teeth 841 that can mesh with the transmission gears 83 for transmission. The top support column 85 is mounted on the lifting frame 84 and can move up and down under the drive of the drive unit 82. After rising, it can be used to support the ceiling to prevent the entire spraying device from shaking during operation. In this embodiment, the first guide mechanism 50, the second guide mechanism 60, and the third guide mechanism 70 are all connected to the lifting frame 84.

[0065] Please combine Figure 5 and Figure 6In this embodiment, the first guiding mechanism 50 includes a bracket 51 and a pulley 52. ​​The bracket 51 is rotatably mounted on the top of the lifting mechanism 20, and a through hole 501 is formed in the bracket 51. The pulley 52 is rotatably mounted on the side of the bracket 51 facing the actuator 30. The spraying pipe 40 passes through the through hole 501 and rests against the pulley 52. ​​In this embodiment, there are two pulleys 52, which are arranged in parallel, and the spraying pipe 40 passes between the two pulleys 52. The pulleys 52 can provide support for the spraying pipe 40, making the swing of the spraying pipe 40 smoother. The spraying pipe 40 can swing freely with the help of the rotation of the bracket 51, avoiding wear and jamming. By setting two pulleys 52, the spraying pipe 40 can be supported by the pulleys 52 during the lifting and lowering process with the actuator 30, so as to ensure smooth swing.

[0066] In detail, the first guiding mechanism 50 also includes a bearing 53 and a bearing seat 54. The bearing seat 54 is fixed to the top of the lifting mechanism 20, and the bracket 51 is rotatably connected to the bearing seat 54 via the bearing 53. In this embodiment, please refer to... Figure 4 and Figure 5 The bearing housing 54 is connected to the mounting plate 55, and the mounting plate 55 is then connected to the top support mechanism 80 via a side plate 86. The bearing housing 54 can be used to connect to the top of the lifting mechanism 20, and the bearing 53 can provide a structural basis for the rotation of the bracket 51.

[0067] The bracket 51 includes a body 511 and a sleeve 512 connected to each other. A pulley 52 is mounted on the body 511. The sleeve 512 passes through a bearing 53 and is fixed to the inner ring of the bearing 53. The outer ring of the bearing 53 is fixed to a bearing seat 54. The through hole 501 is the center hole of the sleeve 512. After passing through the bearing 53, the sleeve 512 is fixed by a retaining ring 56 to maintain a stable fit with the bearing 53. The sleeve 512 can be easily connected to the bearing 53 and also easily fitted with the spray pipe 40. The body 511 provides a mounting base for the pulley 52.

[0068] Please combine Figures 2 to 4 The spraying device of this application also includes a telescopic drive 90 and a second guide mechanism 60. The second guide mechanism 60 is used to guide the spraying pipe 40. Along the extension direction of the spraying pipe 40, the first guide mechanism 50 is located between the second guide mechanism 60 and the spray gun 33. The telescopic drive 90 is disposed on the top of the lifting mechanism 20. The telescopic drive 90 is used to drive the second guide mechanism 60 to switch between the extended position and the retracted position.

[0069] When the second guide mechanism 60 is in the retracted position, the projection of the second guide mechanism 60 along the direction of gravity is within the range of the chassis 10; when the second guide mechanism 60 is in the extended position, the projection of the second guide mechanism 60 along the direction of gravity is outside the range of the chassis 10, and a part of the spray pipe 40 forms a vertical pipe section in a vertical state outside the chassis 10.

[0070] The telescopic drive 90 drives the second guide mechanism 60 to move, which enables the spray pipe 40 to be retracted, making it easier to pass through narrow spaces or to have the vertical pipe part of the spray pipe 40 outside the chassis 10, so as to avoid interference with other mechanisms during operation.

[0071] The second guiding mechanism 60 includes multiple first guide wheels 61, which form a first guide opening through which the spray pipe 40 passes. By setting multiple first guide wheels 61 to form the first guide opening, the spray pipe 40 is less prone to wear and moves smoothly without jamming as it moves with the second guiding mechanism 60. Furthermore, in this embodiment, the first guide wheels 61 are of different sizes. The larger guide wheels directly support the spray pipe 40, and their width is greater than the width of the spray pipe 40, which allows the spray pipe 40 to move smoothly up and down without jamming. The smaller guide wheels can be used for left and right limit, reducing the left and right swing amplitude of the spray pipe 40 during movement. The upper guide wheel can prevent the spray pipe 40 from coming off the second guiding mechanism 60 from above.

[0072] In detail, the telescopic drive component 90 is configured to drive the second guide mechanism 60 to move horizontally. By driving the second guide mechanism 60 to move linearly, the spray pipe 40 can be guided simply and quickly, thereby improving the efficiency of adjustment. More specifically, this embodiment uses a cylinder as the telescopic drive component 90. The cylinder is installed on the lower side of the lifting frame 84 of the top support mechanism 80, and a track block 91 is installed on the other side of the cylinder. A guide rail 92 is slidably installed on the track block 91. The output end of the cylinder is directly connected to the guide rail 92, and the other end of the guide rail 92 is fixed to the mounting bracket 62 of the first guide wheel 61. The cylinder drives the guide rail 92 to move linearly, thereby realizing the horizontal drive of the second guide mechanism 60. This design allows the spray pipe 40 to extend during operation, preventing interference between the spray pipe 40 and the counterweight 100 (described below) and other mechanisms. It also prevents interference between the spray pipe 40, the counterweight 100, and the second guide mechanism 60 and components in the external environment when not in use. For example, when passing through a portal, the second guide mechanism 60 is retracted by a cylinder, preventing collisions between the second guide mechanism 60 and the portal, as well as between the spray pipe 40 and the counterweight 100 and the portal. This keeps the effective size of the entire spraying device within a controllable range.

[0073] Please combine Figures 1 to 3In this embodiment, a counterweight 100 is provided on the vertical pipe section. The counterweight 100 ensures that the spray pipe 40 is tensioned and that a portion of it forms a vertical pipe section, resulting in a simple and practical structure. Furthermore, in this embodiment, when the actuator 30 is driven to the highest working position by the lifting mechanism 20, the counterweight 100 contacts the ground in the working environment of the chassis 10. By designing the position of the counterweight 100, it can be ensured that within the stroke of the lifting mechanism 20, a portion of the spray pipe 40 can form a vertical pipe section, preventing the spray pipe 40 from becoming slack and bending due to premature contact with the ground by the counterweight 100.

[0074] In this embodiment, the actuator 30 is located at the front of the spraying device, and when the second guide mechanism 60 is in the extended position, it is located at the rear of the spraying device. The spraying pipe 40 passes around the top of the lifting mechanism 20 from the rear of the spraying device to connect with the spray gun 33. Guided by the second guide mechanism 60 and the first guide mechanism 50, the spraying pipe 40 is ensured to travel from the top of the lifting mechanism 20, thereby avoiding interference with other mechanisms.

[0075] Furthermore, please combine Figure 3 and Figure 4 The spraying apparatus of this application further includes a third guide mechanism 70, which guides the spray pipe 40. Along the extension direction of the spray pipe 40, the third guide mechanism 70 is located between the first guide mechanism 50 and the second guide mechanism 60. The third guide mechanism 70 is positioned at the top of the lifting mechanism 20 and is higher than the first guide mechanism 50 and the second guide mechanism 60. Specifically, the third guide mechanism 70 is also connected to the side plate 86 and to the lifting frame 84 of the top support mechanism 80.

[0076] The third guiding mechanism 70 can raise the portion of the spray pipe 40 located between the first guiding mechanism 50 and the second guiding mechanism 60 to a certain height, so that when the spray pipe 40 bends after being guided, the bending angle is greater than 90°, preventing the spray pipe 40 from forming a dead point during its forward and backward movement. Furthermore, the third guiding mechanism 70 in this embodiment includes multiple second guide wheels 71, which form a second guide opening through which the spray pipe 40 passes. The multiple second guide wheels 71 can effectively guide the spray pipe 40, ensuring that it can move with the drive of the telescopic drive member 90. In addition, the multiple second guide wheels 71 can also limit the swing amplitude of the spray pipe 40 behind the first guiding mechanism 50, preventing excessive swing amplitude from interfering with other mechanisms.

[0077] The principle of this embodiment is:

[0078] This embodiment provides a solution for the pipe routing of the spraying device, namely, the pipe is routed along the top of the entire device, and by designing a first guiding mechanism 50, the spraying pipe 40 can move as it moves laterally with the spray gun 33, as if... Figure 7 As shown, the spray tube 40 can rotate to a certain extent at the through hole 501. The dotted line indicates the position of the spray tube 40 swinging to the right as the spray gun 33 moves to the right.

[0079] That is, while swinging left and right, it can also rotate to a certain extent in the direction indicated by the arrow, which can fully ensure the freedom of movement of the spray pipe 40. In this way, it can guide the path of the spray pipe 40 and meet the needs of the spray pipe 40 to spray normally as it moves with the spray gun 33. Combined with the second guide mechanism 60 and the third guide mechanism 70, the spray pipe 40 can move forward and backward freely and swing smoothly during operation without affecting the normal movement of the spray gun 33, ensuring the normal progress of the spraying work. At the same time, because the pipe runs from the top of the lifting mechanism 20, during the entire operation, the top support mechanism 80 drives the first guide mechanism 50 to move to the position closest to the ceiling, so that the spray pipe 40 can be kept in a high area, avoiding interference with other mechanisms of the spraying device. This makes the path of the spray pipe 40 more reasonable and ensures the smooth implementation of the spraying work.

[0080] In summary, the spraying device of this application guides the spraying pipe 40 to travel on the top of the lifting mechanism 20 through the first guiding mechanism 50, which can ensure that the spraying pipe 40 does not interfere with other mechanisms and can swing with the movement of the spray gun 33, ensuring that the spray gun 33 receives normal material supply and can move normally to carry out the spraying work normally.

[0081] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A spraying device, characterized in that, include: Chassis; A lifting mechanism, wherein the lifting mechanism is disposed on the chassis; An actuator, comprising an actuator base and a spray gun, wherein the actuator base is connected to the output end of the lifting mechanism, and the spray gun is movably disposed on the actuator base along the length direction of the actuator base, and the spray gun is used to spray slurry onto the working surface; A spray nozzle, one end of which is connected to the spray gun to supply material to the spray gun; as well as A first guiding mechanism is rotatably disposed on the top of the lifting mechanism. The first guiding mechanism has a through hole through which the spray pipe passes. The center line of the through hole is inclined relative to the direction of gravity and collinear with the rotation axis of the first guiding mechanism. When the spray gun moves along the length direction of the actuator base, the spray pipe swings and drives the first guiding mechanism to rotate.

2. The spraying apparatus according to claim 1, characterized in that, The first guiding mechanism includes a bracket and a pulley. The bracket is rotatably disposed on the top of the lifting mechanism. The through hole is formed in the bracket. The pulley is rotatably disposed on the side of the bracket facing the actuator. The spray pipe passes through the through hole and rests against the pulley.

3. The spraying apparatus according to claim 2, characterized in that, There are two pulleys, which are arranged in parallel, and the spray pipe passes between the two pulleys.

4. The spraying apparatus according to claim 2, characterized in that, The first guiding mechanism further includes a bearing and a bearing housing, the bearing housing being fixed to the top of the lifting mechanism, and the bracket being rotatably connected to the bearing housing via the bearing.

5. The spraying apparatus according to claim 4, characterized in that, The bracket includes a body and a sleeve that are connected to each other. The pulley is mounted on the body. The sleeve passes through the bearing and is fixed to the inner ring of the bearing. The outer ring of the bearing is fixed to the bearing seat. The through hole is the center hole of the sleeve.

6. The spraying apparatus according to claim 1, characterized in that, The spraying device further includes a telescopic drive and a second guide mechanism. The second guide mechanism is used to guide the spraying pipe along the extension direction of the spraying pipe. The first guide mechanism is located between the second guide mechanism and the spray gun. The telescopic drive is disposed on the top of the lifting mechanism and is used to drive the second guide mechanism to switch between an extended position and a retracted position. When the second guide mechanism is in the retracted position, the projection of the second guide mechanism along the direction of gravity is within the range of the chassis; when the second guide mechanism is in the extended position, the projection of the second guide mechanism along the direction of gravity is outside the range of the chassis, and a portion of the spray pipe forms a vertical pipe section in a vertical state outside the chassis.

7. The spraying apparatus according to claim 6, characterized in that, The second guiding mechanism includes a plurality of first guide wheels, which form a first guide opening, through which the spray pipe passes.

8. The spraying apparatus according to claim 6, characterized in that, The telescopic drive is configured to drive the second guide mechanism to move in a horizontal direction.

9. The spraying apparatus according to claim 6, characterized in that, The vertical pipe section is equipped with a counterweight.

10. The spraying apparatus according to claim 9, characterized in that, When the actuator is driven to the highest working position by the lifting mechanism, the counterweight contacts the ground in the working environment of the chassis.

11. The spraying apparatus according to claim 6, characterized in that, The actuator is located at the front of the spraying device. When the second guide mechanism is in the extended position, the second guide mechanism is located at the rear of the spraying device. The spraying pipe passes over the top of the lifting mechanism from the rear of the spraying device to connect with the spray gun.

12. The spraying apparatus according to claim 11, characterized in that, The spraying device further includes a third guiding mechanism for guiding the spraying pipe along its extension direction. The third guiding mechanism is located between the first guiding mechanism and the second guiding mechanism and is disposed at the top of the lifting mechanism and is higher than the first guiding mechanism and the second guiding mechanism.

13. The spraying apparatus according to claim 12, characterized in that, The third guiding mechanism includes a plurality of second guide wheels, which form a second guide opening, through which the spray pipe passes.

14. The spraying apparatus according to claim 12, characterized in that, The spraying device also includes a top support mechanism, which is located on top of the lifting mechanism and is used to support the ceiling. The first guide mechanism, the second guide mechanism, and the third guide mechanism are all located on the top support mechanism.

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