Spraying device and spraying robot

Abstract

The present application provides a spraying device and a spraying robot, which relate to the technical field of construction robots. The spraying device includes a plastering plate, which is tilted in the up and down directions; an overflow trough, which is located on the rear side of the plastering plate and is used to collect excess slurry when the plastering plate is undergoing plastering operations, and one end of the overflow trough in the length direction has a discharge port; a spray gun, which is movably arranged relative to the overflow trough, and the moving direction of the spray gun is the same as the length direction of the overflow trough; a scraper, which is movably arranged relative to the overflow trough, and the moving direction of the scraper is the same as the length direction of the overflow trough, and is used to discharge the slurry in the overflow trough from the discharge port; and a drive unit, which is arranged in the overflow trough and is transmission-connected to the spray gun; the spray gun and the scraper have a connected state and a separated state. The spraying device can effectively simplify the structure while achieving spraying and plastering, does not require additional installation space, and does not affect the stability of the spraying robot using the spraying device.

Description

Technical Field

[0001] The present application relates to the technical field of construction robots, and in particular to a spraying device and a spraying robot. Background Art

[0002] At present, my country's construction industry has been developing rapidly and the market is vast. After the main body of a building is built, its interior walls need to be plastered, which is generally done by manual plastering.

[0003] Although there are some products on the market that can achieve independent leveling, they all require complex manual assistance and remain at a semi-automatic level.

[0004] Sprayers and plastering machines can automatically spray and scrape the surface, but since two machines are required, working together is difficult in confined spaces, especially for residential buildings, where transfers are often difficult, and operations can interfere with each other. Furthermore, the cost of spraying and scraping the surface with two machines is relatively high.

[0005] Therefore, it is particularly urgent to carry out the research and development of the spray-wiping machine, and its market prospects are very promising.

[0006] One of the key technical challenges in integrating a sprayer and scraper into one machine lies in the limited overall length required for the machine to pass through doors and homes during operation. The maximum length of the machine cannot exceed 1000mm. The total length of the machine is the sum of the length of the chassis and the width of the actuator in that direction. The chassis is currently around 700mm long, and the machine body is already unstable, leaving very limited width for the actuator. Summary of the Invention

[0007] The purpose of the present application is to provide a spraying device, which can be used to improve the problem that the existing actuator cannot achieve spraying and scraping overflow at the same time.

[0008] Another object of the present application is to provide a spraying robot, which includes the above-mentioned spraying device and has all the characteristics of the spraying device.

[0009] The embodiment of the present application is implemented as follows:

[0010] An embodiment of the present application provides a spraying device, comprising:

[0011] The plastering plate is arranged tilted in the up-down direction and is used for plastering the working surface from bottom to top;

[0012] An overflow trough is located at the rear side of the plastering plate and is used to collect excess slurry when the plastering plate is performing plastering operations. One end of the overflow trough in the longitudinal direction is provided with a discharge port;

[0013] a spray gun, for spraying slurry onto the working surface, wherein the spray gun is movably arranged relative to the overflow trough, and the moving direction of the spray gun is the same as the longitudinal direction of the overflow trough;

[0014] a scraper plate movably disposed relative to the overflow trough, wherein the movement direction of the scraper plate is the same as the length direction of the overflow trough, and at least a portion of the scraper plate extends into the overflow trough, and is used to discharge the slurry in the overflow trough from the discharge port; and

[0015] A driving unit, disposed in the overflow trough and in transmission connection with the spray gun;

[0016] The spray gun and the scraper plate have a connected state and a separated state. In the connected state, the driving unit drives the spray gun and the scraper plate to move together along the length direction of the overflow trough; in the separated state, the driving unit drives the spray gun to move alone along the length direction of the overflow trough.

[0017] The spray gun and the scraper plate can be in two states: connected or separated, so that the driving unit can drive the spray gun to move horizontally alone or drive the spray gun and the scraper plate to move horizontally at the same time. In the limited space of the overflow trough, both spraying and scraping overflow functions are realized, which can effectively improve the existing technical problems.

[0018] In addition, the spraying device provided in the embodiments of the present application may also have the following additional technical features:

[0019] In an optional embodiment of the present application, the spray gun is provided with a first locking member, and the scraper is provided with a second locking member, and when the first locking member and the second locking member cooperate, the spray gun and the scraper are in the connected state;

[0020] The spraying device further includes an unlocking mechanism, which is used to drive the second locking member to disengage from the first locking member, so that the spray gun and the scraper are switched to the separated state.

[0021] The first locking member and the second locking member can be locked to each other, and can also be unlocked under the drive of the unlocking mechanism, which can meet the coordination requirements of the spray gun and the scraper plate.

[0022] In an optional embodiment of the present application, the first locking member is a locking block, the second locking member is a locking pin, the locking block has a locking groove that cooperates with the locking pin, and the locking pin is movably provided on the scraper plate.

[0023] The engaging block and the engaging pin have a simple structure and occupy a small space. They can meet the functions of locking and unlocking while reducing the space requirement and making more effective use of the space.

[0024] In an optional embodiment of the present application, the movement direction of the spray gun is a first direction, and the direction perpendicular to the first direction is a second direction. The locking slot includes a wide diameter section and a narrow diameter section distributed along the first direction. The unlocking mechanism includes a push rod that can be extended and retracted along the second direction. The push rod can push the locking pin to disengage from the wide diameter section in the second direction. When the spray gun moves, the push rod disengages from the narrow diameter section to the wide diameter section or enters the wide diameter section.

[0025] The width of the push rod is d1, the width of the narrow diameter section is d2, and the width of the locking pin is d3, satisfying: d1<d2<d3.

[0026] By designing the width of the push rod, the width of the narrow diameter section and the width of the locking pin, when the push rod is not working, the narrow diameter section can limit the lateral movement of the locking pin, and when the push rod pushes the locking pin in the second direction, the locking pin can be disengaged from the wide diameter section. Since the width of the narrow diameter section is greater than the width of the push rod, the push rod will not interfere with the movement of the locking block.

[0027] In an optional embodiment of the present application, the spraying device further includes:

[0028] A guide rail is fixed to the rear side of the overflow trough, and the spray gun and the scraper plate can be slidably arranged on the guide rail.

[0029] The guide rail can guide the movement of the spray gun and the scraper, and the guide rail is arranged at the rear side of the overflow chute to save space.

[0030] In an optional embodiment of the present application, the driving unit includes a driving mechanism and a transmission mechanism, the driving mechanism is arranged at one end of the guide rail and below the overflow trough, the transmission mechanism includes a transmission ring and a plurality of guide wheels, the plurality of guide wheels are arranged on the rear side of the overflow trough, the transmission ring is wound around the plurality of guide wheels, the spray gun is fixedly connected to the transmission ring, and the output end of the driving mechanism is connected to the guide wheel.

[0031] The guide wheel can guide the rotation path of the transmission ring, and is arranged together with the transmission ring at the rear side of the overflow chute, which can effectively utilize the rear space. The transmission ring can drive the spray gun to meet the operation requirements.

[0032] In an optional embodiment of the present application, the multiple guide wheels are divided into a driving wheel, a first driven wheel, a second driven wheel, a third driven wheel and a fourth driven wheel, the driving wheel is connected to the output end of the driving mechanism, the driving wheel is at the rear side and at the lower side of the overflow trough, the first driven wheel and the second driven wheel are located at one end of the guide rail and at the rear side of the overflow trough, the third driven wheel and the fourth driven wheel are located at the other end of the guide rail and at the rear side of the overflow trough.

[0033] By arranging multiple driven wheels and driving wheels, the movement stroke of the spray gun can be met and the wheels can be combined with the driving mechanism and reasonably arranged in a limited space.

[0034] In an optional embodiment of the present application, the overflow chute further includes a supporting block, which is connected to the top of the overflow chute, and the portion of the transmission ring above the guide rail is supported by the supporting block.

[0035] By supporting the portion of the transmission ring located above the guide rail, it is possible to prevent the transmission ring from sagging and interfering with the guide rail, thereby affecting the movement of the spray gun and the scraper.

[0036] In an optional embodiment of the present application, the transmission ring is a chain, and the guide wheel is a sprocket;

[0037] Alternatively, the transmission ring is a transmission belt, and the guide wheel is a pulley.

[0038] The combination of chain and sprocket or the combination of transmission belt and pulley can realize transmission and guidance.

[0039] In an optional embodiment of the present application, the spraying device also includes a first in-place sensor and a second in-place sensor, the first in-place sensor is arranged at one end in the length direction of the overflow trough, and the second in-place sensor is arranged at the other end in the length direction of the overflow trough, and the first in-place sensor and the second in-place sensor are respectively used to limit the extreme position of the lateral movement of the spray gun in the length direction of the overflow trough.

[0040] By providing the first in-position sensor and the second in-position sensor, the movement range of the spray gun can be effectively limited, so that the spray gun can move within a desired range and can be connected to or separated from the scraper plate according to the position of the spray gun.

[0041] In an optional embodiment of the present application, the spray port of the spray gun is located above the overflow trough.

[0042] When the spray gun is working, the slurry overflowing from the spray port can be received by the overflow trough to avoid polluting the environment and equipment.

[0043] An embodiment of the present application provides a spraying robot, comprising:

[0044] chassis;

[0045] A lifting mechanism, the lifting mechanism being arranged on the chassis;

[0046] A rotating mechanism, the rotating mechanism being arranged at an output end of the lifting mechanism;

[0047] a recovery hopper, the recovery hopper being disposed on the chassis; and

[0048] The spraying device according to any one of the above items, wherein the spraying device is connected to the output end of the rotating mechanism;

[0049] Among them, the spraying robot includes an operating state and a slurry recovery state. In the operating state, the spray gun and the scraper are in a separated state, the lifting mechanism drives the spraying device to rise, and the driving unit drives the spray gun to spray material left and right on the working surface, and the plastering plate scrapes the slurry on the working surface flat; in the slurry recovery state, the spray gun and the scraper are in a connected state, the lifting mechanism drives the spraying device to rise above the recovery hopper, the rotating mechanism drives the spraying device to tilt toward the recovery hopper, and the driving unit drives the scraper to scrape the slurry in the overflow trough and make the slurry fall into the recovery hopper.

[0050] By using the spraying device, the spraying robot can not only spray and smooth the work surface, but also scrape off the overflowing materials. It does not require additional installation space and can meet the space requirements and stability requirements of actual operations.

[0051] In an optional embodiment of the present application, the recovery hopper is located on the right side of the chassis, the drive unit includes a drive mechanism, and the drive mechanism is located on the lower left side of the overflow chute.

[0052] Depending on the position of the recovery hopper, the space below the overflow chute can have different sizes. When the recovery hopper is located on the right side of the chassis, the space below the left side of the overflow chute is larger than that below the right side. Using it to install the drive mechanism can improve space utilization, allowing the drive mechanism to function without occupying additional external space. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 A schematic diagram of a spraying robot provided in an embodiment of the present application;

[0055] Figure 2 This is an exploded view of the spraying device;

[0056] Figure 3 This is a front view of the spraying device with the spray gun and scraper plate installed together after the plaster plate is hidden;

[0057] Figure 4 Axonometric drawing of the spraying device with the spray gun and scraper separated after the plaster plate is hidden;

[0058] Figure 5 for Figure 4 Exploded diagram;

[0059] Figure 6 is a schematic diagram of the unlocking mechanism and the first limit sensor;

[0060] Figure 7 for Figure 6 Schematic diagram from another perspective;

[0061] Figure 8 for Figure 4 a rear view of the;

[0062] Figure 9 for Figure 8 A partial enlarged view of part A;

[0063] Figure 10 for Figure 8 A partial enlarged view of part B;

[0064] Figure 11 This is a schematic diagram of the positions of the spray gun, scraper plate and chain;

[0065] Figure 12 Schematic diagram of the spray gun and scraper;

[0066] Figure 13 for Figure 12 Schematic diagram from another perspective;

[0067] Figure 14 A schematic diagram of a locking block, a locking pin, and a push rod;

[0068] Figure 15 Schematic diagram of the layout of guide wheels and chains.

[0069] Icons: 1000-spraying robot; 1001-chassis; 1002-lifting mechanism; 1003-rotating mechanism; 1004-recovery hopper; 1005-driving assembly; 100-spraying device; 10-plastering plate; 11-plastering base; 20-overflow trough; 21-support block; 212-ridge; 22-limiting piece; 23-cross shield; 30-spray gun; 31-first locking piece; 310-slot; 311-wide diameter section; 312-narrow diameter section; 32-first mounting plate; 321-first section; 322-second section; 33-first slider; 40-scraper plate; 401-large sub-plate; 402-small sub-plate; 41-second locking piece; 42-second mounting plate; 421-third Segment; 422-fourth segment; 43-second slider; 50-drive unit; 51-drive mechanism; 511-motor; 512-reducer; 513-synchronous belt; 52-transmission mechanism; 521-transmission ring; 5211-flexible cover; 522-guide wheel; 5221-drive wheel; 5222-first driven wheel; 5223-second driven wheel; 5224-third driven wheel; 5225-fourth driven wheel; 55-bearing; 60-guide rail; 71-first in-position sensor; 72-second in-position sensor; 80-unlocking mechanism; 81-push rod; 82-cylinder; 90-connecting seat; 901-horizontal plate; 902-vertical plate; 91-mounting seat; 92-bearing seat; 93-knob. DETAILED DESCRIPTION

[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0071] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0072] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0073] In the description of this application, it should be noted that the terms "inner" and "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product is typically placed when in use. These terms are intended solely to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0074] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0075] Example

[0076] Please combine Figure 1 , an embodiment of the present application provides a spraying robot 1000, comprising:

[0077] Chassis 1001;

[0078] The lifting mechanism 1002 is provided on the chassis 1001;

[0079] Rotating mechanism 1003, which is provided at the output end of lifting mechanism 1002;

[0080] A recovery hopper 1004 is provided on the chassis 1001; and

[0081] The spraying device 100 is connected to the output end of the rotating mechanism 1003 .

[0082] Among them, the chassis 1001 can refer to the chassis of the AGV cart used by general construction robots, which can be automatically moved and positioned, making it convenient to transfer to different places; the lifting mechanism 1002 can choose a mechanism that can perform multi-stage lifting, such as the multi-stage lifting module composed of the general spraying robot used for up and down lifting, such as a three-stage lifting mechanism; the rotating mechanism 1003 can adopt a rotary cylinder or other mechanism that can drive the spraying device 100 to rotate, and the recovery hopper 1004 can be used to receive the slurry scraped from the spraying device 100 for recycling and reducing the pollution of the slurry to the construction environment.

[0083] Please combine Figure 2The spraying device 100 of the present application includes:

[0084] The plastering plate 10 is arranged tilted in the up-down direction and is used for plastering the working surface from bottom to top;

[0085] The overflow trough 20 is located at the rear side of the plastering plate 10 and is used to collect excess slurry when the plastering plate 10 is performing plastering operations. One end of the overflow trough 20 in the longitudinal direction has a discharge port;

[0086] The spray gun 30 is used to spray the slurry onto the working surface. The spray gun 30 is movable relative to the overflow trough 20. The moving direction of the spray gun 30 is the same as the longitudinal direction of the overflow trough 20.

[0087] a scraper plate 40 movably disposed relative to the overflow trough 20 , wherein the movement direction of the scraper plate 40 is the same as the length direction of the overflow trough 20 , and at least a portion of the scraper plate 40 extends into the overflow trough 20 to discharge the slurry in the overflow trough 20 from the discharge port; and

[0088] The driving unit 50 is disposed in the overflow chute 20 and is in transmission connection with the spray gun 30;

[0089] The spray gun 30 and the scraper plate 40 have a connected state and a separated state. In the connected state, the drive unit 50 drives the spray gun 30 and the scraper plate 40 to move together along the length direction of the overflow trough 20; in the separated state, the drive unit 50 drives the spray gun 30 to move alone along the length direction of the overflow trough 20.

[0090] Among them, the spraying robot 1000 includes an operating state and a slurry recovery state. In the operating state, the spray gun 30 and the scraper plate 40 are in a separated state, the lifting mechanism 1002 drives the spraying device 100 to rise, and the drive unit 50 drives the spray gun 30 to spray the working surface left and right (wherein, the front and back changes of the spray gun 30 can be referred to Figure 3 and Figure 4 (The position of the spray gun 30 is schematically shown in the figure), the plastering plate 10 scrapes the slurry on the working surface flat; in the slurry recovery state, the spray gun 30 and the scraper plate 40 are in a connected state, the lifting mechanism 1002 drives the spraying device 100 to rise above the recovery hopper 1004, the rotating mechanism 1003 drives the spraying device 100 to tilt toward the recovery hopper 1004, and the driving unit 50 drives the scraper plate 40 to scrape the slurry in the overflow trough 20 and make the slurry fall into the recovery hopper 1004. Among them, the spray port of the spray gun 30 is located above the overflow trough 20. When the spray gun 30 is working, the slurry overflowing from the spray port can be received by the overflow trough 20 to avoid polluting the environment and equipment.

[0091] Please combine Figure 2The spraying device 100 includes a plastering base 11, a plastering plate 10 and an overflow trough 20 installed on the plastering base 11, and the plastering base 11 is directly connected to the output end of the rotating mechanism 1003. In the working state, the plastering base 11 gradually rises, and at the same time, the spray gun 30 sprays material left and right, and the plastering plate 10 can smooth the slurry upward on the working surface. At this time, the slurry on the plastering plate 10 gradually accumulates and overflows from between the scraper plate and the working surface into the overflow trough 20. The slurry dripping from the spray gun 30 during spraying can also fall into the overflow trough 20. After working for a period of time, the spraying robot 1000 can be switched to the slurry recovery state, and the slurry in the overflow trough 20 can be scraped off by the scraper plate 40. The slurry falls into the recovery hopper 1004 and can be recycled. Among them, a driving component 1005 can be installed at the lower part of the recovery hopper 1004. The driving component 1005 is used to drive the recovery hopper 1004 to extend forward to receive the recovered slurry, and can drive the recovery hopper 1004 to retract to avoid affecting the normal operation of the spraying device 100.

[0092] The spray gun 30 and the scraper 40 can be in either a connected or disconnected state, allowing the drive unit 50 to drive the spray gun 30 to move laterally alone or simultaneously with the scraper 40. This allows both spraying and scraping of overflow within the limited space of the overflow chute 20, effectively improving existing technical issues. By using the spraying device 100, the spraying robot 1000 can both spray and smooth the work surface and scrape overflow without requiring additional installation space, thus meeting the space and stability requirements of actual operations.

[0093] Please combine Figure 1 The recycling hopper 1004 of this application is located on the right side of the chassis 1001, and combined with Figures 2 to 4 as well as Figure 5 , the driving unit 50 includes a driving mechanism 51 ( Figure 5 ), the driving mechanism 51 is located at the lower left side of the overflow trough 20 ( Figures 2 to 4 As shown). Optionally, when the recovery hopper 1004 is on the left side of the chassis 1001, the drive mechanism 51 can be arranged on the lower right side of the overflow chute 20. When the spraying robot 1000 is in the working state, as shown Figure 3 and Figure 4 As shown, the spray gun 30 can be driven independently by the drive unit 50, moving from the left side to the right side, and then from the right side to the left side, through this back-and-forth movement to achieve back-and-forth spraying of the work surface. At this time, the scraper 40 remains stationary on the left side to prevent the slurry in the overflow chute 20 from being pushed out of the overflow chute 20 and causing contamination to the machine body and the construction environment.

[0094] According to the position of the recovery hopper 1004, the space below the overflow chute 20 can have different sizes. When the recovery hopper 1004 is located on the right side of the chassis 1001, the lower left space S of the overflow chute 20 is larger than the lower right space T. Using it to install the drive mechanism 51 can improve the utilization rate of the space, so that the drive mechanism 51 can function without occupying additional external space. It can be understood that the plastering base 11 can refer to the base of the plastering mechanism of the existing actuator. Its size cannot be too large, and the internal space is small. Because it is necessary to pass through the porch and other spaces when working indoors, the overall length of the plastering base 11 is greatly limited, and the installation requirements cannot be met simply by expanding the space. The space on the left is larger than the space on the right, so the drive mechanism 51 can be arranged in this space, effectively utilizing the existing structure, reducing the difficulty of transformation and saving costs. And from Figure 3 It can be clearly seen that the drive unit 50 only occupies a small space downward compared to the overflow trough 20, and does not occupy space in the length direction of the overflow trough 20, while the space S below corresponds to the space. In this limited space, the installation requirements of the drive components for the lateral movement of the spray gun 30 are met. Figure 4 It can be seen that the shape of the scraper plate 40 fits the contour of the overflow trough 20. When the spray gun 30 is connected to the scraper plate 40, the scraper plate 40 can move from left to right with the spray gun 30 to scrape off the slurry in the overflow trough 20.

[0095] Please combine Figure 5 and Figure 8 , the spraying device 100 further includes:

[0096] The guide rail 60 is fixed to the rear side of the overflow chute 20 , and the spray gun 30 and the scraper plate 40 are both slidably disposed on the guide rail 60 .

[0097] The guide rail 60 guides the movement of the spray gun 30 and the scraper 40. Positioned behind the overflow chute 20, it saves space. This embodiment utilizes only one guide rail 60, ensuring consistent movement of the spray gun 30 and the scraper 40. Alternatively, separate rails can be provided for the spray gun 30 and the scraper 40. The first and second sliders 33 and 43 described below need to be mounted on separate guide rails 60, one above the other. The two guide rails 60 are positioned side by side to prevent interference. The positions of the corresponding engaging blocks and engaging pins can also be adjusted to meet desired fit requirements.

[0098] As long as the installation space allows, those skilled in the art can select and modify existing equipment and materials accordingly.

[0099] Please combine Figures 8 to 10The drive unit 50 includes a drive mechanism 51 and a transmission mechanism 52. The drive mechanism 51 is arranged at one end of the guide rail 60 and is below the overflow trough 20. The transmission mechanism 52 includes a transmission ring 521 and a plurality of guide wheels 522. The plurality of guide wheels 522 are arranged on the rear side of the overflow trough 20. The transmission ring 521 is wound around the plurality of guide wheels 522. The spray gun 30 is fixedly connected to the transmission ring 521. The output end of the drive mechanism 51 is connected to the guide wheel 522. Among them, the drive mechanism 51 of this embodiment adopts a motor 511 and a reducer 512. The two are fixed together on the lower side of the overflow trough 20 and fixed to the side wall of the overflow trough 20 to ensure the stability of the connection. The output end of the reducer 512 is connected to the drive wheel 5221 below. Further, as Figure 4 As shown, the output end of the motor 511 is below the overflow chute 20 and faces the front side, and is driven by the input end of the reducer 512 through the synchronous belt 513. Figure 5 The output end of the reducer 512 is below the overflow chute 20 and toward the rear, which can reduce the space occupied in the front-to-back direction.

[0100] The guide wheel 522 guides the rotational path of the transmission ring 521 and is located along with the transmission ring 521 at the rear of the overflow chute 20, effectively utilizing the rear space. The transmission ring 521 then drives the spray gun 30 to meet operational requirements. Furthermore, since the guide rail 60, guide wheel 522, and transmission ring 521 are all located in the rear space of the overflow chute 20, the slurry can be blocked by the overflow chute 20 during spraying operations, preventing contamination of components in the rear space. The top of the overflow chute 20 is provided with a horizontal shield 23, which vertically protects the underlying structures, such as the chain, support block 21, and guide rail 60, from infiltration by slurry.

[0101] Please combine Figure 9 、 Figure 10 as well as Figure 15 The plurality of guide wheels 522 are divided into a driving wheel 5221, a first driven wheel 5222, a second driven wheel 5223, a third driven wheel 5224 and a fourth driven wheel 5225. The driving wheel 5221 is connected to the output end of the driving mechanism 51. The driving wheel 5221 is located at the rear side and the lower side of the overflow chute 20. The first driven wheel 5222 and the second driven wheel 5223 are located at one end of the guide rail 60 and at the rear side of the overflow chute 20. The third driven wheel 5224 and the fourth driven wheel 5225 are located at the other end of the guide rail 60 and at the rear side of the overflow chute 20. Figure 10 and Figure 15 The second driven wheel 5223 is located between the motor 511 and the reducer 512 and above the two. It can guide the chain to prevent it from interfering with the motor 511 and the reducer 512, and utilize the free space in the vertical direction.

[0102] By arranging multiple driven wheels and a driving wheel 5221, the movement range of the spray gun 30 can be met while being combined with the driving mechanism 51 for a reasonable layout within a limited space. The first in-position sensor 71 and the air cylinder 82 are both disposed on the same connecting base 90 and are sequentially disposed on the horizontal plate 901 of the connecting base 90. This allows the spray gun 30 to follow its movement direction. When the spray gun 30 passes the first in-position sensor 71, it is detected. When the spray gun 30 drives the scraper 40 to move until it is detected by the first in-position sensor 71, the piston rod of the air cylinder 82 can precisely engage with the slot 310 of the engaging block.

[0103] The vertical plate 902 on the connecting seat 90 can be provided with the bearing 55 used by the first driven wheel 5222 and the second driven wheel 5223, and the vertical plate 902 of the connecting seat 90 can be connected to the overflow chute 20. In this way, the installation requirements are met and the structure can be simplified, without having to configure a separate connecting component for each component. Figure 10 As shown, the right side wall of the connecting seat 90 is matched with the inner side of the right side wall of the overflow trough 20, and is located on the upper side of the motor 511 and the reducer 512 as a whole, which can meet the installation and fixation requirements of the above-mentioned many components while making the best use of the limited space and reducing the space occupied by the rear of the plastering base 11. Figure 2 It can be seen that the space behind the overflow trough 20 of the plastering base 11 is extremely limited. It is extremely difficult to design the spray gun 30 to allow it to move laterally while also allowing the spray gun 30 and the scraper 40 to be unlocked and locked. Figure 9 As shown, the third driven wheel 5224 and the fourth driven wheel 5225 are mounted on the left back side of the overflow chute 20 via the bearing seat 92. The second in-position sensor 72 can be directly mounted on the bearing seat 92 without the need for additional connecting components. Through the above-mentioned various designs, the components can be installed and used in a limited space, so that the spray gun 30 does not need to be equipped with an additional lateral force mechanism and transmission mechanism 52.

[0104] Please combine Figure 5The overflow chute 20 further includes a support block 21 connected to the top of the overflow chute 20. The portion of the transmission ring 521 above the guide rail 60 is supported by the support block 21. By supporting the portion of the transmission ring 521 above the guide rail 60, sagging of the transmission ring 521, which may interfere with the guide rail 60 and affect the movement of the spray gun 30 and the scraper 40, can be avoided. In this embodiment, the support blocks 21 are multiple and spaced apart. This allows the transmission ring 521 to be supported in sections, minimizing sagging of the transmission ring 521 and interference with the guide rail 60. Of course, a limiting plate 22 can also be provided on the overflow chute 20. The limiting plate 22 is located below the portion of the transmission ring 521 below the guide rail 60 to prevent sagging of the transmission ring 521 below the guide rail 60 and interference with other mechanisms.

[0105] The transmission ring 521 is a chain, and the guide wheel 522 is a sprocket;

[0106] Alternatively, the transmission ring 521 is a transmission belt, and the guide wheel 522 is a pulley.

[0107] The combination of chain and sprocket or the combination of transmission belt and pulley can realize transmission and guidance.

[0108] Among them, this embodiment adopts the cooperation of chain and sprocket, and its size in the width direction is smaller than that of pulley and transmission belt, which can further reduce the space occupied. Of course, when there is enough installation space, the solution of pulley and transmission belt can also play an effective role, and it cannot be restrictively understood as being inferior to the solution of sprocket and chain. In addition, a ridge 212 is provided on the support block 21, which can cooperate with the roller of the chain, so that rolling friction is formed between the chain and the support block 21, reducing resistance and ensuring the smooth rotation of the chain. A flexible cover 5211 can be provided on the outside of the chain, such as Figure 5 As shown, the chain is covered to prevent the lubricating oil on the chain or debris generated by friction from falling, thereby avoiding to a certain extent the influence on the guide rail 60 and preventing the sliding of the spray gun 30 and the scraper plate 40 from being blocked.

[0109] Please combine Figures 5 to 7 as well as Figure 9The spraying device 100 of the present application also includes a first in-place sensor 71 and a second in-place sensor 72. The first in-place sensor 71 is arranged at one end of the overflow trough 20 in the length direction, and the second in-place sensor 72 is arranged at the other end of the overflow trough 20 in the length direction. The first in-place sensor 71 and the second in-place sensor 72 are respectively used to limit the extreme position of the spray gun 30 in the transverse direction of the overflow trough 20. The first in-place sensor 71 and the second in-place sensor 72 can adopt detection parts such as photoelectric switches and travel switches. By setting the first in-place sensor 71 and the second in-place sensor 72, the movement range of the spray gun 30 can be effectively limited, so that the spray gun 30 can move within the required range, and can be connected to or separated from the scraper plate 40 according to the position of the spray gun 30. In detail, the first mounting plate 32 mentioned below moves to the position of the first slider 33 Figure 5 When the spray gun 30 is on the left side, the second in-position sensor 72 can identify the first mounting plate 32 and send a feedback signal to the controller of the spray robot 1000. The controller can then control the motor 511 to reverse, so that the chain drives the spray gun 30 to move to the right. When the spray gun 30 moves to the right, the first in-position sensor 71 can recognize that the spray gun 30 is in position. At this time, the controller can either control the motor 511 to rotate forward to move the spray gun 30 to the left as needed to continue the operation, or control the piston rod of the cylinder 82 to retract as needed to scrape off the overflow, so that the second locking member 41 mentioned below is engaged with the first locking member 31, so that the spray gun 30 is connected and locked to the scraper plate 40. In this way, when the spray gun 30 is driven by the motor 511 again, it can drive the scraper plate 40 to move horizontally to the left, and the position can also be detected by the second in-position sensor 72 to confirm that the scraper plate 40 has also moved into position.

[0110] Detailed, such as Figures 11 to 13 As shown, the spray gun 30 is provided with a first locking member 31, and the scraper 40 is provided with a second locking member 41. When the first locking member 31 and the second locking member 41 are matched, the spray gun 30 and the scraper 40 are in a connected state; the spraying device 100 also includes an unlocking mechanism 80 (as shown in FIG. Figures 5 to 7 As shown in FIG, the unlocking mechanism 80 is used to drive the second locking member 41 to disengage from the first locking member 31, so that the spray gun 30 and the scraper 40 are switched to a separated state. The first locking member 31 and the second locking member 41 can be locked to each other, or can be unlocked under the drive of the unlocking mechanism 80, which can meet the requirements of the spray gun 30 and the scraper 40. Figure 13As shown, it is formed by stacking multiple sub-plates. The large sub-plate 401 can completely fit the contours of the groove wall and the groove bottom of the overflow groove 20, and the small sub-plate 402 can strengthen the structural strength of the large sub-plate 401, ensuring that it is not easy to deform when scraping the overflow, ensuring the stability of the slurry scraping, and preventing part of the slurry from being scraped off due to deformation, which causes the scraper plate 40 to scrape the slurry to the left end of the overflow groove 20 when returning.

[0111] In detail, in this embodiment, the first locking member 31 is a snap-fit block, and the second locking member 41 is a snap-fit pin. The snap-fit block has a slot 310 that mates with the snap-fit pin. The snap-fit pin is movably mounted on the scraper 40 and can only enter and exit the slot 310 axially; it cannot escape from the slot 310 in the lateral direction of the spray gun 30, ensuring reliability in the connected state. Furthermore, the contours of the slot 310 and the snap-fit pin match, preventing hysteresis in the movement of the scraper 40 due to the gap between the slot 310 and the snap-fit pin when the spray gun 30 moves the scraper 40 laterally. In detail, the nozzle of the spray gun 30 is connected to the first slider 33 through the first mounting plate 32. The lower end of the first mounting plate 32 also has a mounting seat 91 for connecting the chain. The scraper plate 40 is connected to the second slider 43 through the second mounting plate 42. The first slider 33 and the second slider 43 can be slidably set on the guide rail 60. The locking block is connected to the first slider 33, and the locking pin is connected to the second slider 43.

[0112] The locking block and locking pin have a simple structure and occupy a small space, which can meet the locking and unlocking functions while reducing space requirements and making more effective use of space. In addition to being cylindrical, the locking pin can also be designed in other shapes such as prismatic and special shapes, as long as it can ensure that when it is engaged with the locking groove 310, it will not cause hysteresis when the spray gun 30 drives the scraper 40.

[0113] Please further combine Figure 8 as well as Figure 12 and Figure 13 The first mounting plate 32 has a first section 321 and a second section 322, and the second mounting plate 42 has a third section 421 and a fourth section 422. The first section 321 can be connected to the first slider 33, and the second section 322 can be connected to the spray gun 30 (such as Figure 13 As shown, the upwardly bent portion of the second section 322 is connected to the bent plate on the spray gun 30 through the knob 93, so that the spray gun 30 can be replaced separately by removing the knob 93, which is convenient for maintenance). The second section 322 is bent forward compared to the first section 321 and then connected to the spray gun 30. The third section 421 can be connected to the second slider 43, and the fourth section 422 is bent forward and then connected to the scraper plate 40 (as shown in FIG. Figure 13As shown, the fourth section 422 also uses a knob 93 to connect with the scraper 40, so that the scraper 40 can be replaced regularly to ensure the reliability of scraping. In this way, the spray gun 30 and the scraper 40 can both work in front of the overflow chute 20, and each can complete the connection with the first slider 33 and the second slider 43. At the same time, it is easy to disassemble and assemble, reducing the difficulty of modification and maintenance, and facilitating promotion and application. Figure 8 As shown, neither the spray gun 30 nor the scraper plate 40 interferes with the space behind the overflow chute 20. As a result, the vertical projections of the various components and mechanisms mounted on the overflow chute 20 do not extend beyond the rear sidewall of the plastering base 11. This ensures that the entire spraying device 100, whether raised or rotated, does not interfere with other mechanisms of the spraying robot 1000, nor does it affect the normal raising or rotating movements of the spraying device 100 itself. Within the existing space, a single power source is used to drive the spray gun 30 and the hanging plate.

[0114] The movement direction of the spray gun 30 is the first direction X ( Figure 12 ), with the direction perpendicular to the first direction being the second direction Y ( Figure 12 Shown), please combine Figure 14 The slot 310 includes a wide diameter section 311 and a narrow diameter section 312 distributed along the first direction. The unlocking mechanism 80 includes a push rod 81 that can be extended and retracted along the second direction. The push rod 81 can push the locking pin to disengage from the wide diameter section 311 in the second direction. When the spray gun 30 moves, the push rod 81 disengages from the narrow diameter section 312 to the wide diameter section 311 or enters the wide diameter section 311.

[0115] Please combine Figure 14 The width of the push rod 81 is d1, the width of the narrow diameter section 312 is d2, and the width of the engaging pin is d3, satisfying: d1<d2<d3.

[0116] By designing the width of the push rod 81, the width of the narrow diameter section 312 and the width of the locking pin, when the push rod 81 is not working, the narrow diameter section 312 can limit the lateral movement of the locking pin, and when the push rod 81 pushes the locking pin in the second direction, the locking pin can be moved in the axial direction (i.e. Figure 12 Y direction) out of the wide diameter section 311, and since the width of the narrow diameter section 312 is greater than the width of the push rod 81, the push rod 81 will not interfere with the movement of the engaging block, so the spray gun 30 can directly move to the horizontal direction. Figure 14 The scraper plate 40 will not be driven by the left movement because the engaging pin has disengaged from the engaging groove 310.

[0117] In detail, one end of the locking pin is provided with a spring (installed in the second slider 43), and the unlocking mechanism 80 uses a cylinder 82 to drive the push rod 81. When the cylinder 82 pushes the push rod 81 to move, the locking pin moves axially, causing the spring to be compressed and the locking pin to disengage from the wide diameter section 311. At this time, the push rod 81 keeps pressing the locking pin, and the driving mechanism 51 drives the spray gun 30 to Figure 14 When the spray gun 30 moves to the left, the locking pin has disengaged from the wide-diameter section 311, and the movement of the locking block is not affected. Consequently, the movement of the spray gun 30 is not affected. Furthermore, since the push rod 81 is smaller than the narrow-diameter section 312, the push rod 81 does not affect the leftward movement of the locking block. When the spray gun 30 moves from left to right to the first in-position sensor 71, the push rod 81 gradually moves from the narrow-diameter section 312 to the wide-diameter section 311. Since there is no interference, the spray gun 30 can move leftward again under the control of the controller after reaching the in-position sensor 71. When scraping slurry, the spray gun 30 moves to the position that triggers the first in-position sensor 71. At this point, the cylinder 82 drives the push rod 81 in the opposite direction, causing it to retract. The restoring force of the spring causes the locking pin to reenter the wide-diameter section 311, engaging the locking block. When the drive mechanism 51 drives the spray gun 30 again, the locking block can drag the locking pin with it, thereby enabling the spray gun 30 to move the scraper 40.

[0118] Alternatively, the spring of the locking pin can be designed to not rebound after a single press (as can be seen from the principle of a commonly used fan gear shift button). The locking pin can remain in a position disengaged from the wide-diameter section 311. At this point, the cylinder 82 can drive the push rod 81 to withdraw, disengaging from the wide-diameter section 311, and then the drive mechanism 51 can drive the spray gun 30 to move independently. In this way, the slot 310 can remove the narrow-diameter section 312, and the wide-diameter section 311 is hole-shaped, which makes it easier to manufacture this structure during production. When the locking block needs to cooperate with the locking pin to drive the scraper 40 to move, the spray gun 30 first moves to the position of the first in-position sensor 71. After detecting that the spray gun 30 is in place, the cylinder 82 pushes the push rod 81 out again, and after pressing the locking pin once again, it withdraws again. At this time, the spring can reset, causing the locking pin to be ejected and stuck in the slot 310, and then the movement of the spray gun 30 can be transmitted to the scraper 40.

[0119] In addition to the illustrated arrangement of a locking pin and a locking block, various other structures can be used to achieve engagement and disengagement. For example, a structure similar to a James coupler can be used to connect the spray gun 30 and the scraper 40, and the cylinder 82 can be modified accordingly so that its actuation can unlock the structure. The connection and disengagement scheme employed in this embodiment places low demands on the cylinder 82, and a short-stroke cylinder 82 can be used to facilitate unlocking in confined spaces. Those skilled in the art can select components based on their needs.

[0120] Understandably, a spray-and-plaster machine requires both spraying and plastering to be integrated. The corresponding actuators must be designed within limited dimensions to support the alarms for the left and right feed axes, the arrangement of the overflow scraping mechanism, the lateral movement of the spray gun 30, and the arrangement of the screed plate flipping mechanism. In existing technologies, a single scraper machine lacks a lateral movement mechanism for the spray gun 30, and the overall length of the machine is already nearing its maximum size. Furthermore, a spray-and-plaster machine, which simultaneously functions as a scraper and a sprayer, cannot be equipped with a lateral movement mechanism for the spray gun 30.

[0121] In this embodiment, the spray gun 30 and the scraper plate 40 are driven by the same drive unit 50, and the spray gun 30 and the scraper plate 40 are locked to each other by the first locking member 31 and the second locking member 41. The first locking member 31 and the second locking member 41 are unlocked by the unlocking structure, so that the spraying device 100 has two working modes, one is to drive the spray gun 30 alone to move horizontally to spray material, and the other is that the spray gun 30 drives the scraper plate 40 to move together to scrape the slurry in the overflow trough 20.

[0122] Through the unlocking and integrated connection design of the present application, the layout of the components required for both spraying and scraping overflow can be achieved within a limited space. The overall structure is compact, does not occupy additional space, and does not affect the size of the actuator used by the original scraping machine. Since the spray gun 30 and the scraper plate 40 share a drive unit 50 and a guide rail 60, the space utilization rate is high, and the weight increase of the overall components is very small. After practice, there is almost no increase in weight, so that the stability of the entire spray robot 1000 is not affected by the addition of functions, and it can still move stably and operate stably, and there will be no large weight increase that will cause the entire machine to overturn. At the same time, since there is no need to set up an additional set of transverse movement mechanisms, power systems, and slide rail systems for the spray gun 30, the cost of the entire spray device 100 and the spray robot 1000 is almost unchanged, and the economic benefits are extremely high.

[0123] To sum up, the spraying device 100 of the present application can drive the spray gun 30 for lateral spraying through a separate drive unit 50, or after the spray gun 30 is connected to the scraper plate 40, drive the spray gun 30 and the scraper plate 40 to move together to achieve scraping of excess slurry in the overflow trough 20. There is no need to separately configure a lateral drive mechanism 51 for the spray gun 30 or the scraper plate 40. While achieving spraying and plastering, the structure can be effectively simplified, no additional installation space is required, and the stability of the spray robot 1000 using the spray device 100 is not affected.

[0124] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A spraying device, characterized in that: include: The plastering plate is arranged tilted in the up-down direction and is used for plastering the working surface from bottom to top; An overflow trough is located at the rear side of the plastering plate and is used to collect excess slurry when the plastering plate is performing plastering operations. One end of the overflow trough in the longitudinal direction is provided with a discharge port; a spray gun for spraying slurry onto the working surface, wherein the spray gun is movably arranged relative to the overflow trough, and the moving direction of the spray gun is the same as the length direction of the overflow trough; a scraper plate movably arranged relative to the overflow trough, wherein the movement direction of the scraper plate is the same as the length direction of the overflow trough, and at least a portion of the scraper plate extends into the overflow trough, and is used to discharge the slurry in the overflow trough from the discharge port; as well as A driving unit, connected to the spray gun; The spray gun and the scraper plate have a connected state and a separated state. In the connected state, the driving unit drives the spray gun and the scraper plate to move together along the length direction of the overflow trough; in the separated state, the driving unit drives the spray gun to move alone along the length direction of the overflow trough.

2. The spraying device according to claim 1, characterized in that: The spray gun is provided with a first locking piece, and the scraper is provided with a second locking piece. When the first locking piece and the second locking piece are engaged, the spray gun and the scraper are in the connected state; The spraying device further includes an unlocking mechanism, which is used to drive the second locking member to disengage from the first locking member, so that the spray gun and the scraper are switched to the separated state.

3. The spraying device according to claim 2, characterized in that: The first locking member is a locking block, the second locking member is a locking pin, the locking block has a locking groove matched with the locking pin, and the locking pin is movably arranged on the scraper plate.

4. The spraying device according to claim 3, characterized in that: The movement direction of the spray gun is defined as a first direction, and a direction perpendicular to the first direction is defined as a second direction. The locking slot includes a wide diameter section and a narrow diameter section distributed along the first direction. The unlocking mechanism includes a push rod capable of extending and retracting along the second direction. The push rod is capable of pushing the locking pin out of the wide diameter section in the second direction. When the spray gun moves, the push rod moves from the narrow diameter section to the wide diameter section or enters the wide diameter section. The width of the push rod is d1, the width of the narrow diameter section is d2, and the width of the locking pin is d3, satisfying: d1<d2<d3.

5. The spraying device according to claim 1, characterized in that: The spraying device also includes: A guide rail is fixed to the rear side of the overflow trough, and the spray gun and the scraper plate can be slidably arranged on the guide rail.

6. The spraying device according to claim 5, characterized in that: The driving unit includes a driving mechanism and a transmission mechanism. The driving mechanism is arranged at one end of the guide rail and below the overflow trough. The transmission mechanism includes a transmission ring and multiple guide wheels. The multiple guide wheels are arranged on the rear side of the overflow trough. The transmission ring is wound around the multiple guide wheels. The spray gun is fixedly connected to the transmission ring, and the output end of the driving mechanism is connected to the guide wheel.

7. The spraying device according to claim 6, characterized in that: The multiple guide wheels are divided into a driving wheel, a first driven wheel, a second driven wheel, a third driven wheel and a fourth driven wheel. The driving wheel is connected to the output end of the driving mechanism. The driving wheel is located at the rear side and the lower side of the overflow trough. The first driven wheel and the second driven wheel are located at one end of the guide rail and at the rear side of the overflow trough. The third driven wheel and the fourth driven wheel are located at the other end of the guide rail and at the rear side of the overflow trough.

8. The spraying device according to claim 6, characterized in that: The overflow trough further comprises a supporting block connected to the top of the overflow trough, and the portion of the transmission ring above the guide rail is supported by the supporting block.

9. The spraying device according to claim 6, characterized in that: The transmission ring is a chain, and the guide wheel is a sprocket; Alternatively, the transmission ring is a transmission belt, and the guide wheel is a pulley.

10. The spraying device according to claim 1, characterized in that: The spraying device also includes a first in-place sensor and a second in-place sensor. The first in-place sensor is arranged at one end of the overflow trough in the length direction, and the second in-place sensor is arranged at the other end of the overflow trough in the length direction. The first in-place sensor and the second in-place sensor are respectively used to limit the extreme position of the lateral movement of the spray gun in the length direction of the overflow trough.

11. The spraying device according to claim 1, characterized in that: The spray port of the spray gun is located above the overflow trough.

12. A spraying robot, characterized in that: include: chassis; A lifting mechanism, the lifting mechanism being arranged on the chassis; A rotating mechanism, the rotating mechanism being arranged at an output end of the lifting mechanism; A recovery hopper, the recovery hopper being arranged on the chassis; as well as The spraying device according to any one of claims 1 to 11, wherein the spraying device is connected to the output end of the rotating mechanism; Among them, the spraying robot includes an operating state and a slurry recovery state. In the operating state, the spray gun and the scraper are in a separated state, the lifting mechanism drives the spraying device to rise, and the driving unit drives the spray gun to spray material left and right on the working surface, and the plastering plate scrapes the slurry on the working surface flat; in the slurry recovery state, the spray gun and the scraper are in a connected state, the lifting mechanism drives the spraying device to rise above the recovery hopper, the rotating mechanism drives the spraying device to tilt toward the recovery hopper, and the driving unit drives the scraper to scrape the slurry in the overflow trough and make the slurry fall into the recovery hopper.

13. The spraying robot according to claim 12, characterized in that: The recovery hopper is located on the right side of the chassis, and the drive unit includes a drive mechanism, which is located on the lower left side of the overflow chute.

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