An epoxy floor underground garage line brushing robot and method

Abstract

The application discloses an epoxy floor underground garage line brushing robot and method, which comprises a main body part, a polishing and cleaning part for polishing and pretreating the ground before brushing, a mixing part comprising a mixing track in the shape of a ring installed in the middle of the main body, two oppositely arranged mixing interfaces inwardly provided on the mixing track, a stirring and discharging interface outwardly provided on the mixing track close to the discharging slope, an electronic scale installed on the upper surface of the main body between the two mixing interfaces, a material cylinder clamping unit provided at the two ends of the two mixing interfaces, and a material cylinder clamping and discharging unit provided at the two ends of the stirring and discharging interface; and a brushing part comprising a brushing lifting unit for lifting a brushing scraper unit, and the brushing scraper unit is used for simulating manual brushing mode to brush back and forth on the brushing second track. The application can weigh, proportion and mix the epoxy resin coating to obtain a suitable proportion of the coating, and realizes brushing construction, improves the efficiency and construction quality.

Description

Technical Field

[0001] This invention relates to the technical field of building engineering, specifically to a robot for painting lines on epoxy flooring in underground parking garages, and also to a method for painting lines on epoxy flooring in underground parking garages. Background Technology

[0002] Epoxy flooring is commonly used for surface coating in underground parking garages. Current construction methods are largely manual, involving steps such as ground preparation (cleaning and sanding the surface to ensure it is flat, clean, and free of oil, dust, or debris). This is typically done manually with brooms or hand-operated grinders, a time-consuming, labor-intensive, and inefficient method that can slow down construction, especially for large areas. The base coat and main coat application involves workers pouring paint onto the surface and then repeatedly brushing it on while squatting. This method is susceptible to limitations in skill level, such as ensuring evenness, thickness control, and eliminating bubbles and spots. Furthermore, the manual labor is physically demanding, requiring workers to stand, bend over, and stoop for extended periods, potentially impacting their health. Prolonged contact with the paint also harms their well-being. Finally, manual work presents challenges in detail finishing and edge application, increasing the risk of errors, unevenness, and inconsistencies.

[0003] Therefore, there is a need for a robot and method for automatically grinding, cleaning, mixing coatings, unloading, and painting epoxy flooring lines in underground parking garages. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide an epoxy flooring underground garage line painting robot, which can weigh, proportion, and mix epoxy resin coatings to obtain coatings with appropriate proportions and realize the painting construction, greatly saving the time required for mixing materials. It can also automatically grind the ground and remove dust before painting, thereby improving efficiency and construction quality.

[0005] Another objective of this invention is to provide a method for applying epoxy flooring lines to underground parking garages. This method can be directly applied to existing epoxy flooring construction in underground parking garages, allowing for real-time monitoring of material feeding quality and control of raw material ratios. This results in better coating performance, effectively improving coating efficiency, significantly increasing construction efficiency, and saving manpower and resources.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The epoxy flooring underground parking garage line painting robot of the present invention includes: a main body, including a movable main body and a material discharge ramp extending a certain distance outward from the main body; a grinding and cleaning part, including a cleaning mechanism and a grinding mechanism installed on the upper and lower right ends of the main body, used for grinding and pre-treating the ground before painting and cleaning the ground dust after grinding, and sucking up the grinding particles on the ground; a mixing part, including a ring-shaped mixing track installed in the middle of the upper surface of the main body, the mixing track having two opposing mixing interfaces inward, and a mixing and unloading interface near the material discharge ramp outward, an electronic scale installed on the upper surface of the main body between the two mixing interfaces, and a material cylinder clamping unit at both ends of the two mixing interfaces, and a material cylinder clamping and unloading unit at both ends of the mixing and unloading interface. The system includes a material mixing unit; the material cylinder clamping unit moves the material cylinder above the electronic scale for mixing, and the material cylinder clamping and unloading unit causes the mixed material cylinder to flip in the air and unload onto the discharge ramp; and a coating section, including two L-shaped support columns installed at both ends of the discharge ramp and at the left end of the main body. The lower surface of the horizontal column of each L-shaped support column is provided with a first coating track. A coating lifting unit is connected to the first coating track via an electric trolley. Two second coating tracks with opposite orientations and forming a near-circular structure are connected between the two first coating tracks. Several sets of coating scraper units are provided on the second coating tracks. The coating lifting unit is used to lift and lower the coating scraper units, which are used to simulate manual coating by reciprocating on the second coating tracks.

[0008] Preferably, the upper surface of the main body is provided with a material storage area near the front end, which contains several material cylinders; the upper surface of the main body is provided with a dust storage box near the rear right side, which is used to connect the industrial vacuum cleaner of the grinding and cleaning section and store the dust it picks up.

[0009] Furthermore, the mixing track is equipped with several material cylinder transfer units, which move around the track under the drive of an electric trolley at their bottom. The material cylinder transfer unit is composed of a fixed base, a lower clamping plate, a material cylinder, and an upper clamping plate connected from bottom to top. The fixed base is fixedly installed on the electric trolley and has a circular slot on it, the size and shape of which matches the cylindrical protrusion at the lower end of the lower clamping plate, so that the lower clamping plate can be stably inserted into the fixed base. The lower clamping plate also has a circular slot, the size and shape of which matches the material cylinder, and an annular baffle is provided around the circular slot. The annular baffle has two symmetrical clamping seats. The structure of the upper clamping plate is the same as that of the lower clamping plate and is arranged symmetrically above and below the lower clamping plate.

[0010] Furthermore, the barrel clamping and unloading unit has the same general structure as the barrel clamping unit. The barrel clamping and unloading unit is equipped with a pair of clamping and rotating mechanisms, and the barrel clamping unit is equipped with two pairs of clamping and rotating mechanisms. The barrel clamping unit includes four columns installed near two mixing interfaces. The two columns at both ends of the mixing interface are divided into two groups, each of which cooperates with the columns at both ends of the opposite interface to form a group. There are two horizontal clamping tracks between the two columns in the same group. Two sets of clamping and rotating mechanisms are installed on the horizontal clamping tracks. The clamping and rotating mechanisms are installed by an electric trolley. Between two horizontal clamping tracks, the clamping rotation mechanism includes a vertical clamping track as the main body, and an electric trolley, a clamping rotation motor mounting base, a clamping rotation motor, a cylinder electric gripper mounting base, and a cylinder electric gripper, which are installed sequentially on the track. The cylinder electric gripper mounting base is a rectangular mounting base with a cylinder electric gripper at each of its upper and lower ends. The length of the cylinder electric gripper mounting base is exactly matched with the height of the cylinder after the upper and lower clamping plates clamp it. The cylinder electric gripper stably clamps the two clamping plates and rotates the cylinder on them to unload it.

[0011] Preferably, the upper surface of the L-shaped support column is provided with a crossbar at the front and rear ends, and the crossbar is fixedly connected to the L-shaped support column. A stirring motor mounting seat is provided in the middle of the crossbar near the discharge ramp, and a vertically downward stirring motor is provided at the bottom of the stirring motor mounting seat. The two crossbars and the two L-shaped support columns form a rectangular area. A monitoring mechanism mounting seat is provided on the two L-shaped support columns near the outer crossbar in this area, and a laser rangefinder matrix is ​​provided at the bottom of the monitoring mechanism.

[0012] Furthermore, the painting lifting unit includes a painting first electric push rod mounting seat mounted on the painting first track via an electric trolley. The right end of the painting first electric push rod mounting seat is mounted on the electric trolley, and a vertically downward painting first electric push rod is provided on its left end. The output shaft of the painting first electric push rod passes through the mounting seat and is connected to the painting second track mounting seat. The left and right painting second track mounting seats are jointly mounted on an arc-shaped painting second track at the bottom.

[0013] Preferably, the coating scraper unit is composed of a second electric push rod mounting base, a second electric push rod, a coating rotary motor, an electric gripper, and a coating scraper connected from top to bottom. It is mounted on the second coating track by an electric trolley. The specific number of coating scraper units is set so that when the coating scrapers on the same second coating track are connected in a straight line, they can correspond exactly to the second coating track. The coating scrapers on two second coating tracks are spliced ​​together to form a closed structure that is similar to a circle.

[0014] Furthermore, the polishing mechanism includes a polishing and cleaning mechanism mounting base installed on the main body, and a polishing and cleaning electric push rod mounting base is connected to the right end of the polishing and cleaning mechanism mounting base; the polishing and cleaning electric push rod mounting base is provided with several sets of downward polishing and cleaning electric push rods, and the output shaft of the polishing and cleaning electric push rod passes through the polishing and cleaning electric push rod mounting base and is connected to a polishing machine; the cleaning mechanism has the same general structure as the polishing mechanism, except that its polishing machine is replaced with an industrial vacuum cleaner.

[0015] Accordingly, the present invention also provides a method for painting lines on epoxy flooring in underground parking garages, the steps of which are as follows:

[0016] S1. Ground Grinding and Cleaning: Before other main painting processes, grinding and cleaning processes are required. Move the robot to a suitable position on the site, lower the grinding and cleaning electric push rod of the grinding and cleaning part, so that the grinding machine and industrial vacuum cleaner are close to the ground, start the two machines, and move the robot to perform a cyclic grinding and cleaning process on the site at the same time. After the cleaning is completed, the mixing and stirring can be carried out.

[0017] S2. Mixing and Proportioning: When mixing is required, according to the actual mixing needs, an electric trolley drives a transfer unit holding a material cylinder with a large, empty circular opening to a mixing interface. Then, a set of clamping and rotating mechanisms is moved to the vicinity of the material cylinder transfer unit. The electric trolley under the clamping and rotating motor mounting base is controlled to move to a suitable height, i.e., the two electric clamping jaws of the material cylinder are aligned with the clamping seats of the lower and upper clamping plates. At this time, although the electric clamping jaws are at the same height as the clamping seats, they are in different left and right positions. The electric trolley under the vertical clamping track is driven to move along the horizontal clamping track, bringing the electric gripper of the material cylinder close to the clamping seat. The electric gripper then clamps the clamping seat, at which point the material cylinder transfer unit, except for the fixed chassis, forms a single unit and is fixedly connected to the clamping rotation mechanism. This mechanism is then driven to move above the electronic scale, lowering the material cylinder transfer unit onto the scale and releasing the electric gripper. The electronic scale can then weigh the empty material cylinder, allowing for the mixing process to begin. A material cylinder transfer unit containing raw materials is then driven in the same manner. At the mixing interface, a set of cylinder clamping units clamps the cylinder transfer unit and moves it above the empty cylinder on the electronic scale. A drive motor rotates the cylinder containing the raw material, pouring the material into the empty cylinder. Simultaneously, the electronic scale reading increases, indicating real-time weight gain. By sequentially adding different raw materials and monitoring the weight gain, a coating with the required proportions is obtained. Then, the empty cylinder is retrieved in the reverse process; at this point, the coating has been properly proportioned and is ready for the mixing process. The cylinder transfer unit... Move the material to the mixing and unloading interface, below the mixing motor, and use the material cylinder clamping and unloading unit to clamp the material cylinder. Then, use the electric trolley on the clamping vertical track to lift the material cylinder to a suitable height so that the mixing shaft of the mixing motor is inserted into the material cylinder. Start the mixing motor to mix the coating. After mixing is complete, turn off the mixing motor, lower the material cylinder, and use the electric trolley on the clamping horizontal track to move the material cylinder to the top of the unloading ramp. When it is time to unload, control the clamping rotary motor to start so that the material cylinder can be flipped over, the coating can be unloaded onto the unloading ramp, and finally fall to the ground.

[0018] S3. Unloading Monitoring and Coating: When a coating process is required, control the two coating lifting units to move out. The near-end coating lifting unit moves to a certain distance outside the output port of the unloading ramp. The first electric push rod lowers the second coating track, simultaneously driving and adjusting the coating scraper units below it. With the cooperation of its electric trolley, the second electric push rod, and the coating rotary motor, the coating scrapers are aligned in a line and form a closed enclosure. At this time, the height of the second coating track is lower than the bottom plate of the unloading ramp's outlet. Then, drive the coating lifting unit to move the coating... The paint is moved along the first track to the bottom of the unloading ramp. At this point, the unloading unit, held by the hopper, unloads the paint onto the ramp, then slides out to the ramp outlet, and finally slides into the baffle area formed by the near-end paint scraper units. This prevents the paint from moving to the bottom of the main body and avoids contact between the main body and the paint. After all unloading is complete, the painting process can begin. The near-end painting lifting unit is pushed outward, while the machine body moves backward, driving the far-end painting lifting unit to descend. Simultaneously, the painting scraper units are activated to simulate manual painting on the second painting track. The coating process involves reciprocating the brushing motion. First, the second electric push rod is lowered to bring the brush blade into contact with the ground. This, combined with the brushing rotary motor and the electric carriage on the brush blade unit, allows the brush to simulate manual application of paint. During the application process, not all brush blade units need to operate as a baffle as described above; a smaller number are sufficient to complete the coating. The remaining brush blade units not involved in the coating process can move to either end of the second brushing track to stand by. Their brush blades are positioned vertically, acting somewhat like an edge line to prevent paint from showing through. A large track space is left for the painting scraper unit to perform the painting work; while painting, the laser rangefinder matrix can be turned on to monitor the flatness of the ground in the rectangular area in real time. Because the paint has a certain thickness, the freshly unloaded paint can be identified well, so the scraper can move and paint in a targeted manner when painting. If the ground is still thick after painting, it means that there is too much paint in that area, and repeated painting and scraping are required. At the same time, the intelligent system guides the point-to-point work of the painting lifting unit cluster below.

[0019] Based on the above, the beneficial effects of the epoxy flooring underground garage line painting robot and method of the present invention are as follows:

[0020] 1. Compared to existing regional storage cartridges, the main body of this invention has a built-in storage area to store a certain amount of paint cartridges to meet the needs of large-scale regional painting, effectively improving machine endurance and construction efficiency. The discharge ramp on the main body is coated with a Teflon layer. Compared to manual application of paint by directly splashing it onto the ground, the ramp can effectively guide the paint flow and prevent paint from sticking. This serves as a pretreatment for subsequent application with scraper clusters, while also avoiding paint turbulence and effectively reducing paint pretreatment time.

[0021] 2. Compared to existing manual mixing techniques, which suffer from inaccurate proportions due to the inability to determine the exact quantity of ingredients added visually, the quality of the coating is difficult to guarantee. This invention incorporates an electronic scale into the mixing section, working in conjunction with a cylinder transfer unit and a cylinder clamping unit. This allows a cylinder moving mechanism, consisting of a lower clamping plate, a cylinder, and an upper clamping plate, to automatically place itself on the electronic scale for weighing. Simultaneously, other cylinders containing raw materials can automatically rotate to add material to the empty cylinder. The electronic scale records the cylinder's weight in real time, thus providing precise control over the added raw materials and significantly improving the coating's quality. This method improves both quality and material mixing efficiency. It allows for pre-control of paint mixing ratios based on actual paint requirements. For example, a small amount of material can be pre-stored using a few transfer units for small-area painting, while a large amount can be pre-stored using a large transfer unit for large-area painting. Furthermore, the material storage area can accommodate multiple raw material barrels, better meeting the needs of large-scale, large-area painting. The material barrel clamping unit, in conjunction with the material barrel transfer unit, can fix, move, and flip the material barrel. It can also work with a discharge ramp and a mixing motor to achieve rotating unloading and lifting mixing of the paint, significantly improving the automation level of the entire construction process and saving time and effort.

[0022] 3. Compared to existing manual painting techniques, this method is time-consuming and labor-intensive, requiring workers to bend over for extended periods. Prolonged contact with paint poses significant health and safety risks to workers. Furthermore, this method heavily relies on worker skill levels; manual work can present technical challenges in detail finishing, leading to errors and uneven application. In contrast, the painting mechanism of this invention is equipped with two sets of semi-circular lifting units. Each lifting unit contains a cluster of scraper units, effectively handling large-scale, high-volume painting needs. Yes, and due to its special scraper mechanism design, it can effectively simulate manual construction while also achieving functions such as automatic fencing and boundary fencing that are impossible for workers. This structure can effectively avoid construction problems caused by paint turbulence, effectively improve construction stability, and thus improve painting efficiency. The built-in monitoring mechanism composed of a laser rangefinder matrix can monitor the flatness of the ground in the rectangular area in real time, thereby knowing the paint thickness and the amount of paint on the ground, and thus knowing where the ground is not painted well or where the paint is insufficient. Combined with the painting scraper unit, it can achieve point-to-point targeted treatment, greatly improving work efficiency.

[0023] 4. Compared to existing technologies, manual handheld sanding is time-consuming, labor-intensive, and prone to uneven sanding and insufficient coverage. Cleaning is done manually with a broom, which is extremely inefficient, generates a lot of dust, and has poor cleaning results, with some particles difficult to remove. The main body of this invention is equipped with a sanding and cleaning mechanism at the rear corner. The sander can be lowered by an electric push rod to automatically and cyclically sand the ground before painting, while an industrial vacuum cleaner is lowered to clean the dust. When the robot moves laterally, that is, when the straight line formed by the two mechanisms is parallel to the moving track, it can achieve a highly efficient combination of front sanding and rear cleaning and dust removal, which greatly improves the efficiency of sanding and cleaning and ensures the quality of subsequent painting. Attached Figure Description

[0024] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0025] Figure 1 This is a schematic diagram of the overall structure of the epoxy flooring underground garage line painting robot of the present invention.

[0026] Figure 2 This is a schematic diagram of the main body of the present invention;

[0027] Figure 3 This is a schematic diagram of the mixing section of the present invention;

[0028] Figure 4This is an exploded view of the material transfer unit of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the barrel clamping unit of the present invention;

[0030] Figure 6 This is a schematic diagram of the coating part of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the coating lifting unit and the coating scraper unit of the present invention;

[0032] Figure 8 This is a schematic diagram of the grinding and cleaning part of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1000-Main Body Section:

[0035] 1001-Main body; 1002-Ash storage box; 1003-Material storage area; 1004-Material cylinder; 1005-Discharge ramp;

[0036] 2000 - Mixing Section:

[0037] 2001 - Mixing track; 2001a - Mixing interface; 2001b - Mixing and unloading interface; 2002 - Electronic scale;

[0038] 2100 - Material cylinder transfer unit; 2101 - Fixed base; 2102 - Lower clamping plate; 2102a - Clamping seat; 2103 - Upper clamping plate;

[0039] 2200 - Barrel clamping unit; 2201 - Column; 2202 - Clamping horizontal rail; 2203 - Clamping vertical rail; 2204 - Clamping rotary motor mounting base; 2205 - Clamping rotary motor; 2206 - Barrel electric gripper mounting base; 2207 - Barrel electric gripper;

[0040] 2300 - Barrel clamping and unloading unit;

[0041] 3000 - Painting Section:

[0042] 3001-L-shaped support column; 3002-crossbar; 3003-mixer motor mounting base; 3004-mixer motor; 3005-first coating track; 3006-monitoring mechanism mounting base; 3007-laser rangefinder matrix;

[0043] 3100 - Painting lifting unit; 3101 - First electric push rod mounting base for painting; 3102 - First electric push rod for painting; 3103 - Second track mounting base for painting; 3104 - Second track for painting;

[0044] 3200 - Coating scraper unit; 3201 - Second electric push rod mounting base for coating; 3202 - Second electric push rod for coating; 3203 - Coating rotary motor; 3204 - Electric gripper for coating; 3205 - Coating scraper;

[0045] 4000 - Polishing and Cleaning Section:

[0046] 4001-Grinding and cleaning mechanism mounting base; 4002-Grinding and cleaning electric push rod mounting base; 4003-Grinding and cleaning electric push rod; 4004-Grinding machine; 4005-Industrial vacuum cleaner. Detailed Implementation

[0047] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0048] Below, in conjunction with Figures 1 to 8 This invention provides a detailed description of the epoxy flooring underground garage line painting robot and method.

[0049] Depend on Figure 1 As shown, the epoxy flooring underground garage line painting robot of the present invention includes a main body 1000 as the main body, and a painting part 3000, a mixing part 2000, and a grinding and cleaning part 4000 installed thereon from left to right.

[0050] Depend on Figure 2 As shown, the main body 1000 includes a main body 1001 as the main body, which is equipped with rollers around its perimeter for movement. A material discharge ramp 1005 is located near the center of the left end of the main body. The material discharge ramp 1005 extends a certain distance outward from the main body, and its higher ends are equipped with sloping side panels. The surface of the material discharge ramp 1005 is coated with a Teflon coating. This coating has weak adhesion to epoxy floor coating, allowing the epoxy floor coating unloaded onto it to slide out to its outlet without sticking to it. Near the front end of the upper surface of the main body 1001, there is a material storage area 1003, which is a material storage area enclosed by a rectangular side panel, containing several material cylinders 1004. Near the rear right end of the upper surface of the main body 1001, there is a dust collection box 1002, which is used to connect to the industrial vacuum cleaner 4005 of the grinding and cleaning section 4000 and store the dust it collects.

[0051] Compared to existing regional storage cartridges, the main body of this invention has a built-in storage area 1003 for storing a certain amount of paint cartridges 1004 to meet the needs of large-scale regional painting, effectively improving machine endurance and construction efficiency. The discharge ramp 1005 set on the main body 1001 has a Teflon coating. Compared to the direct splashing of paint onto the ground by manual construction, the ramp can effectively guide the paint flow and prevent paint from sticking. It plays a pre-treatment role for subsequent scraper cluster construction and avoids paint turbulence, effectively reducing the paint pre-treatment time.

[0052] Depend on Figure 3-5 As shown, the mixing section 2000 includes a mixing track 2001, which is mounted as the main body on the upper surface of the main body 1001 in the middle. The main body of the track is a ring track, and the ring track has two opposing mixing interfaces 2001a arranged inward, and a mixing and unloading interface 2001b arranged outward near the unloading ramp 1005. The interfaces are actually a closed extended track. An electronic scale 2002 is installed on the upper surface of the main body 1001 between the two mixing interfaces 2001a, and a material cylinder clamping unit 2200 is provided at both ends of the two mixing interfaces 2001a. Both ends of the mixing and unloading interface 2001b are provided with a barrel clamping and unloading unit 2300. The barrel clamping and unloading unit 2300 has the same general structure as the barrel clamping unit 2200, but its clamping transverse track 2202 is longer and extends to the top of the discharge ramp 1005. The purpose of this structure is to enable the barrel 1004 to be flipped in the air to unload onto the discharge ramp 1005. The barrel clamping and unloading unit 2300 has only one pair of clamping and rotating mechanisms on its clamping transverse track 2202, while the barrel clamping unit 2200 has two pairs of clamping and rotating mechanisms.

[0053] The mixing track 2001 is equipped with several material cylinder transfer units 2100, which can move around the track under the drive of an electric trolley at their bottom. The material cylinder transfer unit 2100 is composed of a fixed base 2101, a lower clamping plate 2102, a material cylinder 1004, and an upper clamping plate 2103 connected from bottom to top. The fixed base 2101 is fixedly installed on the electric trolley and has a circular slot on it. The size and shape of the slot match the cylindrical protrusion at the lower end of the lower clamping plate 2102, so that the lower clamping plate 2102 can be stably inserted into the fixed base 2101. The lower clamping plate 2102 also has a circular slot, which is matched in size and shape to the material cylinder 1004. The circular slot is surrounded by an annular baffle, and the annular baffle has two symmetrical clamping seats 2102a. The material cylinder 1004 is a common hopper, the upper end of which can be directly open or have a small opening. The structural shape and size of each of the above-mentioned material cylinder transfer units 2100 can be pre-configured according to the standard shape of the material cylinder 1004 so that they can match each other. It should be noted here that since raw materials are often stored in a closed manner, while mixing is done in an open manner, there should be two types of material cylinders 1004: one with a large circular opening and the other with a small discharge port. When mixing, a material cylinder transfer unit 2100 with a clamp holding an empty material cylinder 1004 with a large circular opening can be used in sequence with multiple sets of material cylinder transfer units 2100 with clamps holding material cylinders 1004 with a small discharge port for mixing. Similarly, the material cylinder 1004 with a large circular opening is also used for unloading. The upper clamping plate 2103 has the same general structure as the lower clamping plate 2102. Specifically, it is a flipped form of the lower clamping plate 2102, but it does not have a cylindrical protrusion. Instead, it has a circular opening with a diameter slightly smaller than that of the barrel 1004, allowing it to be stably placed on the upper end of the barrel 1004. The coating material in the barrel 1004 can be discharged through the opening.

[0054] The barrel clamping unit 2200 includes four columns 2201 installed near two mixing interfaces 2001a. The two columns at both ends of the mixing interface 2001a are divided into two groups, each of which cooperates with the columns at both ends of the opposite interface to form a group. Two horizontal clamping rails 2202 are provided between the two columns 2201 in the same group. Two sets of clamping rotation mechanisms are provided on the horizontal clamping rails 2202. The clamping rotation mechanism is installed between the two horizontal clamping rails 2202 by an electric trolley. The clamping rotation mechanism includes a vertical clamping rail 2203 as the main body, and an electric trolley, a clamping rotation motor mounting seat 2204, a clamping rotation motor 2205, a barrel electric gripper mounting seat 2206, and a barrel electric gripper 2207 installed thereon in sequence. The electric gripper mounting base 2206 for the material cylinder is a rectangular mounting base with an electric gripper 2207 at each of its upper and lower ends. The length of the electric gripper mounting base 2206 can be pre-adjusted according to the height of the material cylinder 1004 so that its length matches the height of the material cylinder 1004 after the upper clamping plate 2103 and the lower clamping plate 2102 clamp it. This allows the electric gripper 2207 to stably clamp the two clamping plates and rotate the material cylinder 1004 on them for unloading.

[0055] The purpose of this structure is that, when mixing is required, according to the actual mixing needs, an electric trolley drives a transfer unit 2100 holding a material cylinder 1004 with a relatively large circular opening to move to a mixing interface 2001a. Then, a set of clamping and rotating mechanisms is moved to the vicinity of the material cylinder transfer unit 2100, and the electric trolley under the clamping and rotating motor mounting base 2204 is controlled to move it to a suitable height, that is, the two material cylinder electric grippers 2207 are aligned with the clamping seats 2102a of the lower clamping plate 2102 and the upper clamping plate 2103. At this time, although the electric grippers are at the same height as the clamping seats 2102a, they are in different left and right positions. Therefore, the electric trolley under the clamping vertical track 2203 is driven to move. The cart is moved along the clamping transverse track 2202, causing the electric gripper 2207 of the material cylinder to move close to the clamping seat 2102a. The electric gripper is then activated to clamp the clamping seat 2102a. At this point, the material cylinder transfer unit 2100, except for the fixed chassis 2101, forms a single unit and is fixedly connected to the clamping rotation mechanism. The mechanism is then driven to move above the electronic scale 2002, lowering the material cylinder transfer unit 2100 onto the electronic scale 2002. The electric gripper is released, and the electronic scale 2002 can weigh the empty material cylinder. At this point, the mixing process can begin. In the same manner, a material cylinder transfer unit 2100 containing raw materials is moved to the mixing interface 2001a and clamped by a set of material cylinder clamping units 2200. The material transfer unit 2100 is moved above the empty material cylinder 1004 on the electronic scale. The drive clamping rotary motor 2205 rotates the cylinder containing the raw material, pouring the raw material into the empty cylinder. Simultaneously, the reading on the electronic scale 2002 increases, indicating real-time weight gain. By sequentially adding different raw materials and monitoring the weight gain, a coating with the required proportions is obtained. The empty cylinder is then retrieved in the reverse manner. At this point, the coating has been properly proportioned and is ready for mixing. The material transfer unit 2100 is moved to the mixing and unloading interface 2001b, below the mixing motor 3004. The material cylinder 1004 is clamped by the material cylinder clamping and unloading unit 2300 and held by the vertical clamping rail. The electric trolley on track 2203 raises the material cylinder to a suitable height, allowing the stirring shaft of the stirring motor 3004 to be inserted into the material cylinder. The stirring motor 3004 is then started to mix the coating. After mixing is complete, the stirring motor 3004 is turned off, and the material cylinder is lowered. The electric trolley on the clamping transverse track 2202 moves the material cylinder to the top of the discharge ramp 1005. When it is time to discharge, the clamping rotary motor 2205 is started to cause the material cylinder to flip over, and the coating is discharged onto the discharge ramp 1005 and finally falls to the ground. It should be noted that the material cylinder here is not a single material cylinder, as it cannot be clamped and moved. Instead, it is a whole unit consisting of the lower clamping plate 2102, the material cylinder 1004, and the upper clamping plate 2103 that moves.The replacement of the material cylinder 1004 between the material cylinder in the storage area 1003 and the material cylinder transfer unit 2100 is mainly done manually. However, sufficient paint raw materials and material cylinder transfer units 2100 for this construction are pre-configured before construction. Replacement is performed after construction is completed, so it will not affect the normal operation of the robot.

[0056] Compared to existing manual mixing techniques, which suffer from inaccurate proportions and make it impossible to determine the exact quantity of ingredients added by visual inspection, thus compromising paint quality, this invention incorporates an electronic scale 2002 into the mixing section. This scale, along with a material cylinder transfer unit 2100 and a material cylinder clamping unit 2200, allows a material cylinder moving mechanism—comprising a lower clamping plate 102, a material cylinder 1004, and an upper clamping plate 2103—to automatically place itself on the electronic scale 2002 for weighing. Simultaneously, other material cylinders containing raw materials can automatically rotate to add material to the empty cylinder. The electronic scale records the material cylinder's weight in real time, thus providing accurate control of the added raw materials and significantly improving paint quality. The method improves the efficiency of material preparation and allows for pre-control of paint mixing ratios based on actual paint requirements. For example, a small amount of material can be pre-stored using the material transfer unit 2100 for small-area painting, while a large amount can be pre-stored using the material transfer unit 2100 for large-area painting. Additionally, a larger number of raw material barrels can be placed in the storage area 1003 to better meet the needs of large-scale, large-area painting. Furthermore, the material barrel clamping unit 2200, in conjunction with the material barrel transfer unit 2100, can fix, move, and flip the material barrel. It can also work with the discharge ramp 1005 and the mixing motor 3004 to achieve rotating unloading and lifting mixing of the paint, significantly improving the automation level of the entire construction process and saving time and effort.

[0057] Depend on Figure 6-7As shown, the coating section 3000 includes two L-shaped support columns 3001, which are installed at both ends of the discharge ramp 1005 and at the left end of the main body 1001. The longer end of each L-shaped support column 3001 extends a certain distance outside the main body 1001. A crossbar 3002 is provided at the front and rear ends of the upper surface of each L-shaped support column 3001. The crossbar 3002 is fixedly connected to the L-shaped support column 3001. A stirring motor mounting base 3003 is provided in the middle of one of the crossbars near the discharge ramp 1005. A vertically downward-facing stirring motor 3004 is provided at the bottom of the stirring motor mounting base 3003. The stirring motor 3004 is a general-purpose component with blades on its output shaft for mixing the raw materials. Two horizontal bars 3002 and two L-shaped support columns 3001 enclose a rectangular area. A monitoring mechanism mounting base 3006, which is a rectangular baffle, is installed on the two L-shaped support columns 3001 near the outer horizontal bars 3002. The base of this baffle has a laser rangefinder matrix 3007, a general-purpose component. This structure is primarily for real-time monitoring of the flatness of the ground area below, thereby determining the polishing effect, paint thickness, paint finish, and whether the paint is accumulated or exposed. A first painting track 3005 is provided on the lower surface of the horizontal column of the L-shaped support column 3001. A painting lifting unit 3100 is connected to the first painting track 3005 via an electric trolley. A second painting track 3104 connects the two first painting tracks 3005 on the left and right. There are two sets of painting lifting units 3100 on the second painting track 3104. The two second painting tracks 3104 face opposite directions, but the semi-circular arc shape of the two second painting tracks 3104 together forms a circular structure. The purpose of this structure is that, to a certain extent, the mechanism can even lock the paint within the range of the structure. During painting, it is to better simulate manual painting. The cyclic and repetitive painting makes the coating more uniform and stable.

[0058] The painting lifting unit 3100 includes a painting first electric push rod mounting base 3101 mounted on a painting first track 3005 via an electric trolley. The right end of the painting first electric push rod mounting base 3101 is mounted on the electric trolley, and a vertically downward painting first electric push rod 3102 is provided on its left end. The output shaft of the painting first electric push rod 3102 passes through the mounting base and is connected to a painting second track mounting base 3103. The two painting second track mounting bases 3103 are mounted together on an arc-shaped painting second track 3104 at the bottom. The painting second track 3104 is provided with several sets of painting scraper units 3200. The painting scraper unit 3200 consists of a painting second electric push rod mounting base 3201, a painting second electric push rod 3202, and a painting rotary motor, from top to bottom. The system consists of 3203, an electric brushing gripper 3204, and a brushing scraper 3205 connected together. It is mounted on the second brushing track 3104 via an electric trolley. The specific number of brushing scraper units 3200 should be such that when the brushing scrapers 3205 on the same second brushing track 3104 are connected in a straight line, they can correspond exactly to the second brushing track 3104. When the brushing scrapers 3205 on two second brushing tracks 3104 are spliced ​​together, they can form a closed structure similar to a circle. However, it can also be adjusted according to the actual situation, such as reducing the number of brushing scraper units 3200 and replacing the size of the brushing scraper 3205 so that each brushing scraper is larger, without having to form a closed area, thereby further improving the brushing efficiency.

[0059] The purpose of this structure is to control the two coating lifting units 3100 to move out when a coating process is required. The near-end coating lifting unit 3100 moves out to a certain distance outside the output port of the unloading ramp 1005. The first electric push rod 3102 lowers the second coating track 3104, and at the same time drives and adjusts each coating scraper unit 3200 below it. With the cooperation of its electric trolley, the second electric push rod 3202, and the coating rotary motor 3203, the scrapers are connected in a line and form a closed enclosure. At this time, the height of the second coating track 3104 is lower than the bottom plate of the discharge port of the unloading ramp 1005. Then, the coating lifting unit 3100 is driven to move on the first coating track 3005 to the unloading position. At the bottom of ramp 1005, the unloading unit 2300 can be used to unload the paint onto the unloading ramp 1005, then slide it out to the ramp outlet, and finally slide it into the baffle area formed by the paint scraper unit 3200 at the near end, so that the paint will not move to the bottom of the main body 1001 and avoid the main body 1001 from contacting the paint. After all the unloading is completed, the painting process can be carried out. The near-end painting lifting unit 3100 is pushed outward, and at the same time the machine body moves backward, driving the far-end painting lifting unit 3100 to descend, and starting each group of painting scraper units 3200 to simulate manual painting and paint back and forth on the second painting track 3104. First, the second painting electric push rod 3202 is lowered so that the painting scraper 3200 can be used to paint back and forth. 05 contacts the ground, cooperating with the rotary motor 3203 and the electric trolley on the scraper unit 3200, so that the scraper simulates manual scraping of paint. It should be noted that during the scraping process, not all scraper units 3200 may need to work in the manner described above, forming a baffle. Only a small number are needed to complete the scraping work. The remaining scraper units 3200 that are not involved in the scraping process can move to both ends of the second scraping track 3104 to stand by. At the same time, their scrapers 3205 are set vertically, which to some extent acts as an edge line, preventing paint from being exposed and leaving a large track space for the working scraper units 3200 to perform the scraping work. When the scraping work is being carried out, it can also be opened The laser rangefinder matrix 3007 monitors the flatness of the ground within the rectangular area in real time. Because the paint has a certain thickness, freshly removed paint can be easily identified, allowing for targeted application during scraping. If the paint layer is still thick after application, it indicates that there is too much paint in that area, requiring repeated application and scraping. This method effectively monitors the painting quality and intelligently guides the point-to-point operation of the painting lifting unit cluster 3100 below, significantly improving construction efficiency. During the grinding process, the monitoring mechanism can also detect ground cracks in real time. Once detected, construction personnel can mark the cracks in advance for subsequent pre-treatment, further ensuring the quality of the painting process.

[0060] Compared to existing manual painting techniques, this method is time-consuming and labor-intensive, requiring workers to bend over for extended periods. Prolonged contact with paint poses significant health and safety risks to workers. Furthermore, this method heavily relies on worker skill levels; manual application of details can be technically challenging, leading to errors and uneven application. In contrast, the painting section 3000 of this invention is equipped with two sets of semi-circular painting lifting units 3100. Each painting lifting unit 3100 is further equipped with a scraper cluster consisting of several sets of painting scraper units 3200, effectively handling large-area, high-volume painting. The coating system is designed to simulate manual application, and its unique scraper mechanism allows it to perform functions such as automatic fencing and boundary fencing that are impossible for workers. This structure effectively avoids construction problems caused by paint turbulence, improves construction stability, and thus increases coating efficiency. The built-in monitoring mechanism, consisting of a laser rangefinder matrix 3007, can monitor the flatness of the ground within the rectangular area in real time, thereby determining the paint thickness and the amount of paint on the ground. This allows the system to identify areas where the paint is not applied properly or where there is insufficient paint. Combined with the scraper unit 3200, it enables point-to-point targeted treatment, significantly improving work efficiency.

[0061] Depend on Figure 8As shown, the grinding and cleaning section 4000 mainly consists of a cleaning mechanism and a grinding mechanism mounted on the upper and lower right ends of the main body 1001. The grinding mechanism includes a grinding and cleaning mechanism mounting base 4001 mounted on the main body 1001, and a grinding and cleaning electric push rod mounting base 4002 is connected to the right end of the grinding and cleaning mechanism mounting base 4001. The grinding and cleaning electric push rod mounting base 4002 is provided with several sets of downward-facing grinding and cleaning electric push rods 4003, and the output shaft of the grinding and cleaning electric push rod 4003 passes through the grinding and cleaning electric push rod mounting base 4002 and is connected to a grinding machine 4004. The cleaning mechanism has a similar general structure to the grinding mechanism, except that its grinding machine 4004 is replaced by an industrial vacuum cleaner 4005, and the industrial vacuum cleaner 4005 is connected to the dust collection box 1002 through a pipe. The 4004 sander is a general-purpose component used for pre-treating the floor before painting, ensuring the flatness of the floor and thus guaranteeing the quality of the work. The 4005 industrial vacuum cleaner is a general-purpose component used to clean up dust and remove sanding particles from the floor after sanding, thereby ensuring the quality of subsequent painting processes. Compared to existing technologies, manual handheld sanding is time-consuming, labor-intensive, and prone to uneven sanding and insufficient coverage. Cleaning is done manually with a broom, which is inefficient, generates a lot of dust, and has poor cleaning results, leaving some particles difficult to remove. The main body 1001 of this invention has a built-in sanding and cleaning mechanism at the rear corner. The sander 4004 can be lowered by the electric push rod 4003 to automatically and cyclically sand the ground before painting, while the industrial vacuum cleaner 4005 is lowered to clean the dust. When the robot moves laterally, that is, when the straight line formed by the two mechanisms is parallel to the moving track, the efficient combination of front sanding and rear cleaning can be achieved, which greatly improves the efficiency of sanding and cleaning and ensures the quality of subsequent painting.

[0062] The epoxy flooring underground garage line painting robot of the present invention uses a mixing section 2000 set on the main body 1001 to weigh, proportion, and mix epoxy resin coating. Then, in conjunction with the stirring motor 3004 of the painting section 3000, the coating in the barrel is stirred and mixed to obtain a coating with a suitable proportion. Then, the coating is poured into the discharge ramp 1005 through the barrel clamping unit 2200, and the coating slides to the ground. Finally, the painting construction is completed with the cooperation of the painting lifting unit 3100, the painting scraper unit 3200, and the painting monitoring mechanism in the painting section 3000. This greatly saves the time required for mixing, and is equipped with an electronic scale for more accurate proportioning and better coating performance. At the same time, the grinding and cleaning section 4000 can automatically grind the ground and remove dust before painting, improving efficiency and construction quality.

[0063] Accordingly, the steps of the epoxy flooring underground garage line painting method of the present invention are as follows:

[0064] S1. Ground Grinding and Cleaning: Before other main painting processes, grinding and cleaning processes are required. Move the robot to a suitable position on the site, lower the grinding and cleaning electric push rod 4003 of the grinding and cleaning part 4000, so that the grinding machine 4004 and the industrial vacuum cleaner 4005 are close to the ground, start the two machines, and move the robot to perform a cyclic grinding and cleaning process on the site. After cleaning is completed, the mixing and proportioning can be carried out.

[0065] S2. Mixing and Proportioning: When mixing is required, according to the actual mixing needs, an electric trolley drives a transfer unit 2100 holding a material cylinder 1004 with a large, empty circular opening to a mixing interface 2001a. Then, a set of clamping and rotating mechanisms is moved to the vicinity of the material cylinder transfer unit 2100. The electric trolley under the clamping and rotating motor mounting base 2204 is controlled to move to a suitable height, i.e., the two electric clamping jaws 2207 of the material cylinder are aligned with the clamping seats 2102a of the lower clamping plate 2102 and the upper clamping plate 2103. At this time, although the electric clamping jaws are at the same height as the clamping seats, they are in different left and right positions. Therefore, the electric trolley under the clamping vertical track 2203 is driven to move the material cylinder... The material cylinder is moved along the horizontal track 2202, causing the electric gripper 2207 to move close to the gripper seat 2102a. The electric gripper is then activated to clamp the gripper seat 2102a. At this point, the material cylinder transfer unit 2100, except for the fixed base 2101, forms a single unit and is fixedly connected to the clamping and rotating mechanism. The mechanism is then driven to move above the electronic scale 2002, lowering the material cylinder transfer unit 2100 onto the electronic scale 2002. The electric gripper is released, and the electronic scale 2002 can weigh an empty material cylinder. At this point, the mixing process can begin. In the same manner, a material cylinder transfer unit 2100 containing raw materials is moved to the mixing interface 2001a, where it is clamped and rotated by a set of material cylinder clamping units 2200. The transport unit 2100 moves above the empty cylinder 1004 on the electronic scale 2002. The drive clamping rotary motor 2205 rotates the cylinder containing the raw material, pouring the raw material into the empty cylinder. Simultaneously, the reading on the electronic scale 2002 increases, indicating real-time weight gain. By sequentially adding different raw materials and monitoring the weight gain, a coating with the required proportions is obtained. Then, the original empty cylinder is retrieved in the reverse manner. At this point, the coating has been properly proportioned and is ready for mixing. The cylinder transport unit 2100 is moved to the mixing and unloading interface 2001b, below the mixing motor 3004. The cylinder clamping and unloading unit 2300 clamps the cylinder 1004 and uses the clamping vertical rail... The electric trolley on track 2203 raises the material cylinder to a suitable height, allowing the stirring shaft of the stirring motor 3004 to be inserted into the material cylinder. The stirring motor 3004 is then started to mix the coating. After mixing is complete, the stirring motor 3004 is turned off, and the material cylinder is lowered. The electric trolley on the clamping transverse track 2202 moves the material cylinder to the top of the discharge ramp 1005. When it is time to discharge, the clamping rotary motor 2205 is started to cause the material cylinder to flip over, and the coating is discharged onto the discharge ramp 1005 and finally falls to the ground. It should be noted that the material cylinder here is not a single material cylinder, as it cannot be clamped and moved. Instead, it is a whole unit consisting of the lower clamping plate 2102, the material cylinder 1004, and the upper clamping plate 2103 that moves.The replacement of the material cylinder 1004 between the material cylinder in the storage area 1003 and the material cylinder transfer unit 2100 is mainly done manually. However, sufficient paint raw materials and material cylinder transfer unit 2100 for this construction are pre-configured before construction. Replacement is carried out after construction is completed, so it will not affect the normal use of the robot.

[0066] S3. Unloading Monitoring and Coating: When a coating process is required, control the two coating lifting units 3100 to move out. The near-end coating lifting unit 3100 moves out to a certain distance outside the output port of the unloading ramp 1005. The first electric push rod 3102 lowers the second coating track 3104, and simultaneously drives and adjusts each coating scraper unit 3200 below it. With the cooperation of its electric trolley, the second electric push rod 3202, and the coating rotary motor 3203, the coating scrapers 3205 are connected in a line and form a closed enclosure. At this time, the height of the second coating track 3104 is lower than the bottom plate of the discharge port of the unloading ramp 1005. Then drive the coating lifting unit 3100 on the first coating track 3005. The material is moved to the bottom of the unloading ramp 1005. At this point, the unloading unit 2300 can be used to unload the paint onto the unloading ramp 1005, and then slide out to the ramp outlet. Finally, it slides into the baffle area formed by the paint scraper unit 3200 at the near end, so that the paint does not move to the bottom of the main body 1001 and avoids the main body from contacting the paint. After all the unloading is completed, the painting process can be carried out. The near-end painting lifting unit 3100 is pushed outward, and at the same time, the machine body moves backward, driving the far-end painting lifting unit 3100 to descend. The painting scraper units 3200 are started to simulate manual painting and paint back and forth on the second painting track 3104. First, the second electric push rod 3202 is lowered so that the painting scraper 3 205 contacts the ground, cooperating with the coating rotary motor 3203 and the electric trolley on the coating scraper unit 3200, so that the scraper simulates manual coating. It should be noted that during the scraping process, not all coating scraper units 3200 need to work in the manner described above, forming a baffle. Only a small number are needed to complete the coating work. The remaining coating scraper units 3200 that are not performing the coating process can move to both ends of the second coating track 3104 to stand by. At the same time, their coating scrapers 3205 are set vertically, which to some extent acts as an edge line, preventing the paint from being exposed and leaving a large track space for the working coating scraper units 3200 to perform the coating work. When the coating work is being carried out, it can also be opened The laser rangefinder matrix 3007 monitors the flatness of the ground within the rectangular area in real time. Because the paint has a certain thickness, freshly removed paint can be identified well, allowing for targeted application and brushing during the scraper's application. If the paint layer is still thick after application, it indicates that there is too much paint in that area, requiring repeated brushing and scraping. This method effectively monitors the painting quality and intelligently guides the point-to-point operation of the painting lifting unit cluster 3100 below, significantly improving construction efficiency. During the grinding process, the monitoring mechanism can also monitor ground cracks in real time. Once detected, construction personnel can mark the cracks in advance for subsequent pre-treatment, further ensuring the quality of the painting process.It should be noted that epoxy flooring application actually involves multiple coats, including the base coat and the main coat. There may be intermediate sanding steps between these coats, but the main procedures are similar. Therefore, the various coat and sanding steps are collectively referred to as one process here. In practice, the application can be combined according to the specific steps of each group.

[0067] The epoxy flooring line painting method for underground parking garages of the present invention can be directly applied to the existing epoxy flooring construction of underground parking garages. Before painting, the ground is first cyclically ground by a grinder 4004 in the grinding and cleaning section 4000. After that, the dust is removed by an industrial vacuum cleaner 4005. At the same time, a material cylinder containing raw materials is stored in the storage area in advance. Then, the raw materials are mixed by the mixing section 2000. During the mixing process, the material cylinder is automatically tilted and fed by the material cylinder using the material cylinder clamping unit 2200 and the electronic scale 2002. The quality of the material is monitored in real time, thereby controlling the raw material ratio and making the coating performance better. After mixing, the material cylinder transfer unit moves to the mixing and unloading interface and works with the mixing motor 3004 to achieve automatic mixing, which effectively improves the mixing speed and allows the coating to be mixed repeatedly, saving processing time. Then, the material cylinder transfer unit 2100 is flipped to unload the coating onto the unloading ramp 1005. The 1005 channel is equipped with a Teflon coating, which reduces the adhesion of epoxy floor coatings, allowing the coating to slide smoothly onto the ground. Before sliding onto the ground, a painting lifting unit 3100 near the machine body is lowered, and the painting scraper units 3200 on it work together to form a ring-shaped enclosure behind the discharge port of the discharge ramp, preventing the coating from flowing back to the bottom of the machine body. Then, the painting lifting unit 3100 and painting scraper units 3200, located away from the machine body, work in conjunction with the ground flatness monitoring unit, i.e., the laser rangefinder matrix 3007, to automatically paint. This method effectively improves painting efficiency, and because the laser rangefinder monitors the ground flatness in real time, it effectively controls the coating thickness, making the cooperation between the scrapers more reasonable. Thicker areas can be scraped off in time, preventing the coating from leaking out of the treatable area, greatly improving construction efficiency and saving manpower and resources.

[0068] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A robot for painting lines on epoxy flooring in underground parking garages, characterized in that, include: The main body part (1000) includes a movable main body (1001) and a feeding ramp (1005) extending a certain distance outward from the main body (1001); The grinding and cleaning section (4000) includes a cleaning mechanism and a grinding mechanism installed on the upper and lower right ends of the main body (1001), which are used to perform grinding pretreatment on the ground before coating and to clean up the dust on the ground after grinding, and to remove the grinding particles from the ground. The mixing section (2000) includes an annular mixing track (2001) installed in the middle of the upper surface of the main body (1001). The mixing track (2001) has two opposing mixing interfaces (2001a) inwardly, and a stirring and unloading interface (2001b) near the unloading ramp (1005) inwardly. An electronic scale (2002) installed on the upper surface of the main body (1001) is located between the two mixing interfaces (2001a). The two mixing ports (2001a) are provided with a cylinder clamping unit (2200) at both ends, and the mixing and unloading port (2001b) is provided with a cylinder clamping and unloading unit (2300) at both ends; the cylinder clamping unit (2200) is used to move the cylinder (1004) above the electronic scale (2002) for mixing, and the cylinder clamping and unloading unit (2300) is used to make the mixed cylinder (1004) flip in the air to unload onto the discharge ramp (1005); The coating section (3000) includes two L-shaped support columns (3001) installed at both ends of the unloading ramp (1005) and at the left end of the main body (1001). The lower surface of the horizontal column of the L-shaped support column (3001) is provided with a first coating track (3005). A coating lifting unit (3100) is connected to the first coating track (3005) via an electric trolley. Two second coating tracks (3104) with opposite orientations and forming a similar circular structure are connected between the two coating lifting units (3100) on the two first coating tracks (3005). Several sets of coating scraper units (3200) are provided on the second coating tracks (3104). The coating lifting unit (3100) is used to lift the coating scraper unit (3200). The coating scraper unit (3200) is used to simulate manual coating and perform back-and-forth coating on the second coating track (3104). The upper surface of the main body (1001) near the front end is provided with a material storage area (1003), which is provided with several material cylinders (1004); the upper surface of the main body (1001) near the rear right side is provided with a dust storage box (1002), which is used to connect the industrial vacuum cleaner (4005) of the grinding and cleaning part (4000) and store the dust it picks up; The mixing track (2001) is provided with several material cylinder transfer units (2100), which move at various points on the track under the drive of an electric trolley at their bottom; the material cylinder transfer unit (2100) is composed of a fixed base plate (2101), a lower clamping plate (2102), a material cylinder (1004), and an upper clamping plate (2103) connected from bottom to top; The fixed chassis (2101) is fixedly installed on the electric trolley. It has a circular slot, the size and shape of which match the cylindrical protrusion at the lower end of the lower clamping plate (2102), so that the lower clamping plate (2102) can be stably inserted into the fixed chassis (2101). The lower clamping plate (2102) also has a circular slot, the size and shape of which match the material cylinder (1004). The circular slot is surrounded by an annular baffle, and the annular baffle has two symmetrical clamping seats (2102a). The structure of the upper clamping plate (2103) is the same as that of the lower clamping plate (2102) and is symmetrically arranged above and below the lower clamping plate (2102).

2. The epoxy flooring underground garage line painting robot according to claim 1, characterized in that, The structure of the barrel clamping and unloading unit (2300) is the same as that of the barrel clamping unit (2200). The barrel clamping and unloading unit (2300) is provided with a pair of clamping and rotating mechanisms, and the barrel clamping unit (2200) is provided with two pairs of clamping and rotating mechanisms. The barrel clamping unit (2200) includes four columns (2201) installed near two mixing interfaces (2001a). The two columns at both ends of the mixing interface (2001a) are divided into two groups, each of which cooperates with the columns at both ends of the opposite interface to form a group. There are two horizontal clamping rails (2202) between the two columns (2201) in the same group. There are two sets of clamping rotation mechanisms on the horizontal clamping rails (2202). The clamping rotation mechanism is installed between the two horizontal clamping rails (2202) by an electric trolley. The clamping rotation mechanism includes a vertical clamping rail (2203) as the main body, and an electric trolley, a clamping rotation motor mounting seat (2204), a clamping rotation motor (2205), a barrel electric gripper mounting seat (2206), and a barrel electric gripper (2207) installed thereon in sequence. The electric gripper mounting base (2206) is a rectangular mounting base with an electric gripper (2207) at each of its upper and lower ends. The length of the electric gripper mounting base (2206) is exactly matched with the height of the upper clamping plate (2103) and the lower clamping plate (2102) after clamping the barrel (1004). The electric gripper (2207) stably clamps the two clamping plates and rotates the barrel (1004) on them for unloading.

3. The epoxy flooring underground parking garage line painting robot according to claim 2, characterized in that, The upper surface of the L-shaped support column (3001) is provided with a crossbar (3002) at the front and rear ends respectively. The crossbar (3002) is fixedly connected to the L-shaped support column (3001). A stirring motor mounting seat (3003) is provided in the middle of the crossbar near the discharge ramp (1005). A stirring motor (3004) is provided at the bottom of the stirring motor mounting seat (3003). Two crossbars (3002) and two L-shaped support columns (3001) enclose a rectangular area. A monitoring mechanism mounting base (3006) is provided on the two L-shaped support columns (3001) near the outer crossbar (3002) in this area, and a laser rangefinder matrix (3007) is provided at its bottom.

4. The epoxy flooring underground parking garage line painting robot according to claim 3, characterized in that, The painting lifting unit (3100) includes a painting first electric push rod mounting seat (3101) mounted on the painting first track (3005) via an electric trolley. The right end of the painting first electric push rod mounting seat (3101) is mounted on the electric trolley, and a vertically downward painting first electric push rod (3102) is provided on its left end. The output shaft of the painting first electric push rod (3102) passes through the mounting seat and is connected to the painting second track mounting seat (3103). The left and right painting second track mounting seats (3103) are jointly mounted on an arc-shaped painting second track (3104) at the bottom.

5. The epoxy flooring underground garage line painting robot according to claim 4, characterized in that, The coating scraper unit (3200) is composed of a second electric push rod mounting base (3201), a second electric push rod (3202), a coating rotary motor (3203), an electric gripper (3204), and a coating scraper (3205) connected from top to bottom. It is installed on the second coating track (3104) by an electric trolley. The specific number of coating scraper units (3200) is set so that when the coating scrapers (3205) on the same second coating track (3104) are connected in a straight line, they can correspond exactly to the second coating track (3104). The coating scrapers (3205) on two second coating tracks (3104) are spliced ​​together to form a closed structure similar to a circle.

6. The epoxy flooring underground garage line painting robot according to claim 5, characterized in that, The polishing mechanism includes a polishing and cleaning mechanism mounting base (4001) installed on the main body (1001). A polishing and cleaning electric push rod mounting base (4002) is connected to the right end of the polishing and cleaning mechanism mounting base (4001). The polishing and cleaning electric push rod mounting base (4002) is provided with several sets of downward polishing and cleaning electric push rods (4003). The output shaft of the polishing and cleaning electric push rod (4003) passes through the polishing and cleaning electric push rod mounting base (4002) and is connected to a polishing machine (4004). The cleaning mechanism has the same structure as the polishing mechanism, except that its polishing machine (4004) is replaced by an industrial vacuum cleaner (4005).

7. A method for painting lines on epoxy flooring in an underground parking garage using the robot described in claim 6, characterized in that, The steps are as follows: S1. Ground Grinding and Cleaning: Before other main painting processes, grinding and cleaning processes are required. Move the robot to a suitable position on the site, lower the grinding and cleaning electric push rod (4003) of the grinding and cleaning part (4000), so that the grinding machine (4004) and the industrial vacuum cleaner (4005) are close to the ground. Start the two machines and move the robot to perform a cyclic grinding and cleaning process on the site. After the cleaning is completed, the mixing and proportioning can be carried out. S2. Mixing and Proportioning: When mixing is required, according to the actual mixing needs, an electric trolley drives a transfer unit (2100) holding a material cylinder (1004) with a large, empty circular opening to a mixing interface (2001a). Then, a set of clamping and rotating mechanisms is moved to the vicinity of the material cylinder transfer unit (2100). The electric trolley under the clamping and rotating motor mounting base (2204) is controlled to move to a suitable height, that is, the two material cylinder electric grippers (2207) are aligned with the clamping seats (2102a) of the lower clamping plate (2102) and the upper clamping plate (2103). At this time, although the electric grippers are at the same height as the clamping seats, they are in different left and right positions. Therefore, the vertical clamping rail is driven. The electric trolley under the track (2203) moves on the clamping transverse track (2202), causing the electric gripper (2207) of the material cylinder to move close to the clamping seat (2102a). The electric gripper is then activated to clamp the clamping seat (2102a). At this time, the material cylinder transfer unit (2100) forms a whole except for the fixed chassis (2101) and is fixedly connected to the clamping rotation mechanism. The mechanism is then driven to move above the electronic scale (2002), and the material cylinder transfer unit (2100) is lowered onto the electronic scale (2002). The electric gripper is released, and the electronic scale (2002) can weigh the empty material cylinder. At this time, the mixing process is carried out, and a material cylinder transfer unit (2107) containing raw materials is driven in the same way. 0) Move to the mixing interface (2001a), clamp the cylinder transfer unit (2100) with a set of cylinder clamping units (2200) and move it above the empty cylinder (1004) on the electronic scale (2002). Drive the clamping rotary motor (2205) to rotate the cylinder containing the raw material, and the raw material is poured into the empty cylinder. At the same time, the reading of the electronic scale (2002) increases, and the real-time weight gain is obtained. By adding different raw materials in a cycle and monitoring the increase in weight at the same time, the coating with the required ratio is obtained. Then, the original empty cylinder is retrieved in the reverse way. At this time, the coating has been proportioned and can be stirred. Move the cylinder transfer unit (2100) to the stirring and unloading interface (2001a). At position 01b), below the mixing motor (3004), the material cylinder (1004) is clamped by the material cylinder clamping and unloading unit (2300), and the material cylinder is lifted to a suitable height by the electric trolley on the clamping vertical rail (2203), so that the mixing shaft of the mixing motor (3004) is inserted into the material cylinder. The mixing motor (3004) is started to mix the coating. After mixing is completed, the mixing motor (3004) is turned off, the material cylinder is lowered, and the material cylinder is moved to the top of the unloading ramp (1005) by the electric trolley on the clamping horizontal rail (2202). When it is necessary to unload, the clamping rotary motor (2205) is started to make the material cylinder flip, and the coating is unloaded to the unloading ramp (1005) and finally falls to the ground. S3. Unloading Monitoring and Coating: When a coating process is required, control the two coating lifting units (3100) to move out. The near-end coating lifting unit (3100) moves out to a certain distance outside the output port of the unloading ramp (1005). The first electric push rod (3102) lowers the second coating track (3104), and at the same time drives and adjusts each coating scraper unit (3200) below it. With the cooperation of its electric trolley, the second electric push rod (3202), and the coating rotary motor (3203), the coating scrapers (3205) are connected in a line and form a closed enclosure. At this time, the height of the second coating track (3104) is lower than that of the unloading ramp (1005). The bottom plate of the discharge port is then driven to move the coating lifting unit (3100) on the first coating track (3005) to the bottom of the unloading ramp (1005). At this time, the unloading unit (2300) can be used to clamp the coating to unload the coating onto the unloading ramp (1005), and then slide out to the discharge port of the ramp, and finally slide into the baffle area formed by the coating scraper unit (3200) at the near end, so that the coating will not move to the bottom of the main body (1001) and avoid the main body from contacting the coating. After all the unloading is completed, the coating process can be carried out. The near end coating lifting unit (3100) is pushed outward, and at the same time the machine body moves backward, driving the far end coating lifting unit (3100) to descend and start. Each group of coating scraper units (3200) simulates manual coating by moving back and forth on the second coating track (3104). First, the second electric push rod (3202) is lowered so that the coating scraper (3205) contacts the ground. With the help of the coating rotary motor (3203) and the electric carriage on the coating scraper unit (3200), the scraper simulates manual coating. During the coating process, not all coating scraper units (3200) need to work as if they were arranged in a baffle. Only a small number are needed to complete the coating work. The remaining coating scraper units (3200) that are not used for coating can be moved to the two ends of the second coating track (3104) to stand by. Meanwhile, its coating scraper (3205) is set vertically, similar to the function of a border line, to prevent the paint from being exposed and to leave a large track space for the coating scraper unit (3200) to carry out the coating work; while the coating work is being carried out, the laser rangefinder matrix (3007) is turned on to monitor the flatness of the ground in the rectangular area in real time. Since the paint has a certain thickness, the freshly unloaded paint can be identified well, so that the scraper can be targeted to operate and coat when it is coating. If the ground is still thick after coating, it means that there is a lot of paint in that place, and repeated coating and scraping treatment is required. At the same time, the intelligent guide is provided for the point-to-point work of the coating lifting unit (3100) cluster below.

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