Floor paint coating device and floor paint coating robot

Abstract

The application relates to a floor paint coating device, which comprises a scraping mechanism for scraping paint, a moving nozzle mechanism, the position of which changes with the movement of the moving nozzle mechanism, the direction of the position change being different from the direction of the scraping mechanism, a control driving mechanism connected with the moving nozzle mechanism and used for driving the moving nozzle mechanism to move, and a feeding mechanism in communication with the moving nozzle mechanism, wherein the paint is fed by the feeding mechanism and sprayed by the moving nozzle mechanism. The moving nozzle mechanism can be driven or rotated by the control driving mechanism, and the direction of the position change is different from the direction of the scraping mechanism, so that the paint cannot be accumulated at one position, and the scraping mechanism can receive a larger paint area during scraping. Compared with the prior art, the floor paint coating device and the floor paint coating robot can improve the coating quality of the floor paint.

Description

Technical Field

[0001] This invention relates to the field of floor coating equipment technology, and more particularly to a floor coating device and a floor coating robot. Background Technology

[0002] With the rapid development of various industries in my country, more and more workshops, warehouses, shopping malls, underground garages, civil defense projects, fire protection projects and other places that require high environmental quality are beginning to use aesthetically pleasing, durable and easy-to-clean floor coatings.

[0003] A floor coating robot is a type of robot used to replace manual labor in applying floor coatings. The floor coating device is a part of the floor coating robot that directly contacts the ground to apply the coating.

[0004] In existing technologies, floor coating equipment is typically used to apply floor coatings to the ground. However, due to the design of the coating outlet, problems such as uneven coating distribution and low coating smoothness occur, which affect the coating quality of the floor coating. Summary of the Invention

[0005] To address the defects of uneven coating distribution and low coating smoothness, which affect the coating quality of floor paint, this invention proposes a floor paint coating device and a floor paint coating robot.

[0006] The technical solution adopted in this invention is a floor coating device, comprising:

[0007] A scraping mechanism used for scraping and applying paint;

[0008] The moving nozzle mechanism is used to spray paint onto the ground. As the moving nozzle mechanism moves, the position of the sprayed paint onto the ground changes. The direction of the position change is not the same as the direction of the scraping mechanism.

[0009] The control drive mechanism is connected to the motion nozzle mechanism and is used to drive the motion nozzle mechanism to move.

[0010] The feeding mechanism is connected to the moving nozzle mechanism. The paint enters through the feeding mechanism and is sprayed out by the moving nozzle mechanism.

[0011] Preferably, the control drive mechanism is a rotation control drive structure, and the rotating shaft of the rotation control drive mechanism is connected to the motion nozzle mechanism, thereby driving the motion nozzle mechanism to rotate.

[0012] Preferably, the scraping mechanism is a box-type baffle mechanism, which includes a left outer scraper and a right outer scraper arranged along the scraping direction, and a connecting plate connecting the left outer scraper and the right outer scraper. There are two moving nozzle mechanisms, which are located between the left outer scraper and the right outer scraper and are respectively close to the left outer scraper and the right outer scraper.

[0013] Preferably, the box-type baffle mechanism further includes a left inner scraper and a right inner scraper located between the left outer scraper and the right outer scraper and arranged along the scraping direction. A flow channel is formed between the left inner scraper and the left outer scraper, and between the right inner scraper and the right outer scraper. The paint sprayed by the two moving nozzle mechanisms flows to the ground through two different flow channels.

[0014] Preferably, the flow channel is a wedge-shaped channel that is larger at the top and smaller at the bottom, with both the top and bottom of the flow channel being elongated.

[0015] Preferably, the connecting plate includes an upper baffle and a lower baffle, and the left outer scraper, the upper baffle, the right outer scraper and the lower baffle are connected end to end along the side, and the bottom edges are located in the same plane.

[0016] Preferably, the rotation control drive structure has two rotating shafts, which are respectively connected to two motion nozzle mechanisms.

[0017] Preferably, the coating mechanism is a scraper mechanism.

[0018] Preferably, the scraping mechanism is a roller coating mechanism, which includes two rollers arranged along the scraping direction and a connecting frame connecting the two rollers. The connecting frame is provided with a groove, and the paint sprayed by the moving nozzle mechanism flows to the ground through the groove.

[0019] Preferably, the feeding mechanism includes at least two feeding ports, a paint agitator, and a mixing tank connected to the feeding ports. The paint agitator is located inside the mixing tank, and the mixing tank is connected to the moving nozzle mechanism. The paint enters the mixing tank through different feeding ports and enters the moving nozzle mechanism after being agitated by the paint agitator.

[0020] Preferably, the moving nozzle mechanism is a drip tube that causes the paint to drip onto the ground.

[0021] The present invention also proposes a floor coating robot, including the aforementioned floor coating device and a robotic arm module, wherein the floor coating device is connected to the robotic arm module.

[0022] Preferably, the floor coating device and the robotic arm module are detachably connected.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] This application discloses a floor coating device, comprising: a scraping mechanism for scraping coating material; a moving nozzle mechanism for spraying coating material onto the ground, wherein the position of the sprayed coating material on the ground changes with the movement of the moving nozzle mechanism, and the direction of the position change is not the same as the scraping direction of the scraping mechanism; a control drive mechanism connected to the moving nozzle mechanism for driving the moving nozzle mechanism to move; and a feeding mechanism connected to the moving nozzle mechanism, through which the coating material enters and is sprayed out by the moving nozzle mechanism. The moving nozzle mechanism can move under the drive of the control drive mechanism, thereby changing the position of the sprayed coating material on the ground without changing the direction of the scraping mechanism. This prevents the coating material from accumulating in one place, allowing the scraping mechanism to cover a larger coating area, resulting in more uniform coating distribution and a higher coating smoothness.

[0025] This application also discloses a floor coating robot, including the aforementioned floor coating device and robotic arm module, wherein the floor coating device is connected to the robotic arm module.

[0026] Compared with the prior art, the floor paint coating device and floor paint coating robot disclosed in this application can achieve uniform coating distribution and higher coating smoothness, thereby improving the coating quality of floor paint. Attached Figure Description

[0027] The present invention will now be described in detail with reference to the embodiments and accompanying drawings, wherein:

[0028] Figure 1 A schematic diagram of a floor coating device according to an embodiment of the present invention is shown;

[0029] Figure 2 It shows that according to Figure 1 A schematic diagram of the box-type baffle mechanism in a floor paint coating device is provided.

[0030] Figure 3 A schematic diagram of a floor coating apparatus according to another embodiment of the present invention is shown;

[0031] Figure 4 A schematic diagram of a floor coating apparatus according to another embodiment of the present invention is shown;

[0032] Figure 5 A schematic diagram of the structure of a floor coating robot provided according to an embodiment of the present invention is shown;

[0033] Figure 6 It shows that according to Figure 5 A structural perspective view of a floor coating device is provided.

[0034] Label Explanation:

[0035] 1. Chassis module; 2. Control module; 3. Paint conveying module; 4. Housing; 5. Robotic arm module; 6. Floor paint coating device; 7. Industrial computer; 8. Robotic arm controller; 9. Air tank; 10. Air pump; 11. Floor paint container; 12. Feeding pipe; 13. Hardener container; 14. First paint mixer; 15. First mixing tank; 16. First inlet port; 17. First angle control motor; 18. Right drip pipe; 19. Left drip pipe; 20. Box-type baffle mechanism; 21. 21. Left outer scraper; 22. Left inner scraper; 23. Upper baffle; 24. Right outer scraper; 25. Right inner scraper; 26. Lower baffle; 27. Second drip pipe; 28. Second angle control motor; 29. ​​Second mixing tank; 30. Second paint mixer; 31. Second feed inlet; 32. Scraper mechanism; 33. Third drip pipe; 34. Third angle control motor; 35. Third paint mixer; 36. Third mixing tank; 37. Third feed inlet; 38. Connecting frame; 39. Roller. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Examples of embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0037] This invention discloses a floor coating device; please refer to [reference needed]. Figure 1 , Figure 3 and Figure 4 ,include:

[0038] A scraping mechanism used for scraping and applying paint;

[0039] The moving nozzle mechanism is used to spray paint onto the ground. As the moving nozzle mechanism moves, the position of the sprayed paint onto the ground changes. The direction of the position change is not the same as the direction of the scraping mechanism.

[0040] The control drive mechanism is connected to the motion nozzle mechanism and is used to drive the motion nozzle mechanism to move.

[0041] The feeding mechanism is connected to the moving nozzle mechanism. The paint enters through the feeding mechanism and is sprayed out by the moving nozzle mechanism.

[0042] The moving nozzle mechanism can move or rotate under the control of the drive mechanism, thereby changing the position of the paint sprayed from the moving nozzle mechanism onto the ground without changing the direction of the scraping mechanism. This prevents the paint from piling up in one place, allowing the scraping mechanism to cover a larger area of ​​paint during scraping, resulting in more uniform paint distribution and a higher degree of paint smoothness.

[0043] Specifically, before the squeegee operates, the paint is typically poured onto the work surface at a fixed point, usually on one side or in the center of the squeegee. This method of application results in uneven paint distribution across different parts of the work surface, affecting the coating quality. However, by using a moving nozzle mechanism, the paint is poured onto the work surface more evenly, preventing concentration on one side or in the center of the squeegee, thus improving the coating quality.

[0044] The control drive mechanism is used to drive the moving nozzle mechanism to move, which can be translation, rotation, or both. For example, when the control drive mechanism drives the moving nozzle mechanism to move, the control drive mechanism can be a stroke motor, with the moving nozzle mechanism fixedly connected to the mover on the stroke motor. The mover can slide on the slide rail on the stroke motor, thereby changing the position of the paint sprayed from the moving nozzle mechanism onto the ground. As another example, when the control drive mechanism drives the moving nozzle mechanism to rotate and move simultaneously, it is only necessary to add an angle motor to the stator of the stroke motor and then connect the shaft of the angle motor to the moving nozzle mechanism.

[0045] Furthermore, this application does not limit the method by which the moving nozzle mechanism releases the paint. The nozzle in the "moving nozzle mechanism" is not limited to releasing paint only by spraying. The paint can be released in the form of a mist, a liquid spray, dripping, or flowing naturally. Furthermore, this application does not limit the direction in which the moving nozzle faces, as long as the direction in which the paint is released onto the ground is not the same as the direction in which the scraping mechanism scrapes. It should be noted that after the paint is released onto the ground, it needs to be scraped by the scraping mechanism. For paint that exceeds the scraping range of the scraping mechanism, it can wait for the next scraping. That is, the portion of paint released this time is the portion for the next scraping. Therefore, whether the paint is released within the scraping range of the scraping mechanism is not limited. Preferably, the paint is released within the scraping range of the ground by the scraping mechanism, so that the paint is scraped by the scraping mechanism after release. At this time, because the paint has just been sprayed, it is not easy for it to react with air, thus affecting the paint's effect. It is also not easy for it to cure quickly, thus causing clumping.

[0046] It should be noted that the external coating first passes through the feeding mechanism and then enters the moving nozzle mechanism. The moving nozzle mechanism may be equipped with a switch to control the spraying of the coating, thereby controlling the spraying position and amount during the movement of the moving nozzle mechanism. Obviously, the moving nozzle mechanism may also be directly connected to the feeding mechanism without a switch, with the coating spraying controlled by a mechanism storing the external coating.

[0047] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The control drive mechanism is a rotation control drive structure. The rotating shaft of the rotation control drive mechanism is connected to the motion nozzle mechanism, thereby driving the motion nozzle mechanism to rotate.

[0048] Specifically, the control drive mechanism is a rotation control drive structure that drives the motion nozzle mechanism to rotate. Compared with movement, rotation has a simpler structural design and does not require complex components such as stroke motors. It only needs to make the motion nozzle mechanism rotate along a rotating axis. Therefore, the floor paint coating device can be made simpler in terms of structural design and can also reduce the weight of the floor paint coating device, so that when applied to robots, it can consume less energy and have a longer battery life.

[0049] Furthermore, since the floor paint coating device is in close contact with the ground, it inevitably comes into contact with dust. Using a rotary control drive mechanism, due to its simple structure, makes replacement and maintenance much easier. If the movement is a linear motion motor, without a dust protection structure, dust can easily enter the motor's track, obstructing the movement of the mover and thus affecting the movement of the moving nozzle mechanism.

[0050] In some specific embodiments, please refer to Figure 1 and Figure 2 The scraping mechanism is a box-type baffle mechanism 20. The box-type baffle mechanism 20 includes a left outer scraper 21 and a right outer scraper 24 arranged along the scraping direction, and a connecting plate connecting the left outer scraper 21 and the right outer scraper 24. There are two moving nozzle mechanisms, which are located between the left outer scraper 21 and the right outer scraper 24 and are respectively close to the left outer scraper 21 and the right outer scraper 24.

[0051] Specifically, the coating is applied using a left outer scraper 21 and a right outer scraper 24 positioned along the scraping direction. Two moving nozzle mechanisms are also provided, positioned close to the left and right outer scrapers 21 and 24 respectively, ensuring even coating coverage even at wall edges. Furthermore, the placement of the left and right outer scrapers 21 and 24 allows for double coating on the same area during a second coat, resulting in a smoother surface.

[0052] Preferably, the upper ends of the left outer scraper 21 and the right outer scraper 24 are close together, so that an acute angle is formed between the left outer scraper 21 and the coated surface, and between the right outer scraper 24 and the coated surface. This arrangement allows the left outer scraper 21 and the right outer scraper 24 to gather excess paint on the surface, while reducing the scraping pressure and preventing scraping, resulting in a smoother coating of the floor paint.

[0053] In some more specific embodiments, please refer to Figure 1 and Figure 2 The box-type baffle mechanism 20 also includes a left inner scraper 22 and a right inner scraper 25 located between the left outer scraper 21 and the right outer scraper 24 and arranged along the scraping direction. Flow channels are formed between the left inner scraper 22 and the left outer scraper 21, and between the right inner scraper 25 and the right outer scraper 24. The paint sprayed by the two moving nozzle mechanisms flows to the ground through two different flow channels.

[0054] To limit the flow of paint to the ground and further ensure uniform paint distribution, a right inner scraper 25 and a left inner scraper 22 are provided, which together with the right outer scraper 24 and the left outer scraper 21 form flow channels. These flow channels restrict the direction of paint flow to the ground, preventing the paint from flowing out of the flow channels.

[0055] In some more specific embodiments, please refer to Figure 1 and Figure 2 The flow channel is a wedge-shaped channel that is larger at the top and smaller at the bottom, with both the top and bottom of the flow channel being elongated.

[0056] It should be noted that the moving nozzle mechanism sprays the paint into the flow channel from the upper end and then flows it to the ground from the lower end of the flow channel. Since the flow channel is a wedge-shaped channel that is larger at the top and smaller at the bottom, it has a gathering effect on the paint that has already flowed into the wedge-shaped channel. This makes the time for the paint to flow to the ground through the lower end of the flow channel approximately the same, and also makes the process of the paint flowing to the ground more continuous, thereby further improving the uniformity of the paint being discharged to the ground.

[0057] In some particularly specific embodiments, please refer to Figure 1 and Figure 2The connecting plate includes an upper baffle 23 and a lower baffle 26. The left outer scraper 21, the upper baffle 23, the right outer scraper 24 and the lower baffle 26 are connected end to end along the side, and the bottom edges are located in the same plane.

[0058] The left outer scraper 21, the upper baffle 23, the right outer scraper 24 and the lower baffle 26 are connected end to end along the side, and the bottom edges are located in the same plane. This allows excess paint on the ground after coating to be contained within the box baffle mechanism 20 during the scraping process. It can also be shielded when the moving nozzle mechanism releases paint, thereby preventing paint from overflowing.

[0059] In some other particularly specific embodiments, please refer to Figure 1 and Figure 2 The rotation control drive structure has two rotating shafts, which are respectively connected to two motion nozzle mechanisms.

[0060] It should be noted that, in order to optimize the overall structure of the floor coating device and reduce its weight, a rotation control drive structure with two rotating shafts is used to control the two moving nozzle mechanisms, instead of having two separate motors.

[0061] A specific example will be used for illustration; please refer to [the provided text]. Figure 1 and Figure 2 This embodiment includes a first paint mixer 14, a first mixing tank 15, a first feeding interface 16, a first angle control motor 17, a right dripping pipe 18, a left dripping pipe 19, and a box-type baffle mechanism 20. The moving nozzle mechanism consists of the right dripping pipe 18 and the left dripping pipe 19. The box-type baffle mechanism 20 includes a left outer scraper 21, a left inner scraper 22, an upper baffle 23, a right outer scraper 24, a right inner scraper 25, and a lower baffle 26. When floor paint coating is required, firstly, the industrial control computer 7 of the control module sends control commands to the chassis module 1 to control the overall movement, allowing the floor paint coating robot to reach the work position; then, the robotic arm controller 8 of the control module sends control commands to the robotic arm module 5 to control the box-type baffle mechanism 20 of the floor paint coating device to rotate and lift according to the actual work requirements, and the robotic arm module 5 lowers the box-type baffle mechanism 20 to the ground height of the left wall; secondly, the air tank 9 and air pump of the paint delivery module... 10. By sucking in and compressing gas, the floor paint and hardener in the floor paint bucket 11 and the hardener bucket 13 are sucked out through the feeding pipe 12 and enter the first mixing tank 15 through the first feeding port 16. The mixture is vigorously stirred by the first paint agitator 14 until it is evenly mixed. Then, the paint drips out from the left drip pipe 19. The first angle control motor 17 controls the left drip pipe 19 to rotate continuously at a limit of about 120° to make the paint uniform. Finally, the paint flows down through the left inner scraper 22 of the box-type baffle mechanism 20 until it contacts the ground.

[0062] In some specific embodiments, please refer to Figure 3 The coating mechanism is a scraper mechanism 32.

[0063] Specifically, the scraping mechanism is a scraper mechanism 32, which is suitable for both primer and intermediate coat application. This embodiment is a simplified solution. It should be noted that in order to obtain a good floor coating with good adhesion, corrosion resistance, durability, and resistance to heavy pressure, the floor coating needs to be applied through primer scraping, intermediate coat application, and roller coating to meet the requirements of use.

[0064] A specific example will be used for illustration; please refer to [the provided text]. Figure 3 This embodiment includes a second drip tube 27, a second angle control motor 28, a second mixing tank 29, a second paint mixer 30, a second feed inlet 31, and a scraper mechanism 32. When floor paint coating is required, firstly, the industrial control computer 7 of the control module sends control commands to the chassis module 1 to control the overall movement, allowing the robot to reach the work position. Then, the robotic arm controller 8 of the control module sends control commands to the robotic arm module 5, controlling the scraper mechanism 32 of the floor paint coating device to rotate and lift according to the actual work requirements. The robotic arm module 5 drives the scraper mechanism 32 to descend to the ground height next to the left wall. Next, the air tank 9 and air pump 10 of the paint delivery module draw in and compress gas to suck out the floor paint and hardener from the floor paint bucket 11 and hardener bucket 13 through the feeding pipe 12, and enter the second mixing tank 29 through the second inlet 31. The second paint agitator 30 vigorously stirs the mixture until it is uniform. Finally, the paint drips from the second dripping pipe 27. The second angle control motor 28 controls the second dripping pipe 27 to rotate continuously within the 75% width limit of the scraper mechanism 32, ensuring uniform coating. During this process, the scraper mechanism 32 ensures that the paint does not overflow.

[0065] In some specific embodiments, please refer to Figure 4 The scraping mechanism is a roller coating mechanism, which includes two rollers 39 arranged along the scraping direction and a connecting frame 38 connecting the two rollers 39. The connecting frame 38 is provided with a groove, and the paint sprayed by the moving nozzle mechanism flows to the ground through the groove.

[0066] Specifically, the coating is applied by two rollers 39 arranged along the direction of application. The arrangement of the two rollers 39 allows the same position to be coated twice by rollers 39 from different rollers 39, resulting in a smoother surface.

[0067] Preferably, there are two moving nozzle mechanisms and two slots, with each moving nozzle mechanism positioned close to one of two different rollers. By providing two moving nozzle mechanisms positioned close to two different rollers, the paint can be sprayed evenly even at the edges of the wall, resulting in a more uniform paint distribution and a smoother surface.

[0068] A specific example will be used for illustration; please refer to [the provided text]. Figure 4 This embodiment includes a third drip tube 33, a third angle control motor 34, a third paint mixer 35, a third mixing tank 36, a third feed port 37, a connecting frame 38, and a roller 39. When floor coating operations are required, firstly, the industrial control computer 7 of the control module sends control commands to the chassis module 1 to control the overall movement, allowing the robot to reach the work position; then, the robotic arm controller 8 of the control module sends control commands to the robotic arm module 5, controlling the roller coating mechanism of the floor coating device to rotate and lift according to the actual work requirements, and the robotic arm module 5 drives the roller coating mechanism 32 to descend to the ground height of the left wall; next, the air tank 9 and air pump 10 of the paint delivery module suck in and compress gas to draw out the floor coating and hardener from the floor coating tank 11 and hardener tank 13 through the feeding pipe 12, and enter the third mixing tank 36 from the third inlet port 37, where the third paint agitator 35 vigorously stirs until the mixture is uniform; finally, the third angle control motor 34 controls the third dripping pipe 33 to rotate continuously at the 75% width limit of the roller 39, and the paint drips from the third dripping pipe 33 out of the square hole of the connecting frame 12 onto the ground, making the paint uniform.

[0069] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The feeding mechanism includes at least two feeding ports, a paint agitator, and a mixing tank connected to the feeding ports. The paint agitator is located inside the mixing tank, and the mixing tank is connected to the moving nozzle mechanism. The paint enters the mixing tank through different feeding ports and enters the moving nozzle mechanism after being agitated by the paint agitator.

[0070] It should be noted that floor coatings often require mixing different types of paint before application. Different types of paints can undergo chemical or physical changes. Therefore, mixing different types of paints too early may clog the moving nozzle mechanism or reduce the effectiveness of the mixed paint. To prevent clogging and failure caused by prolonged mixing, multiple feed inlets and a mixing tank are installed at the floor coating device.

[0071] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The moving nozzle mechanism is a drip tube that allows paint to drip onto the ground.

[0072] It should be noted that the moving nozzle mechanism is a drip tube. The drip tube allows for quantitative control of the coating, thereby improving the coating quality of the floor paint coating device. At the same time, the trajectory of the coating during dripping is easier to control, as it drips under the influence of gravity, making the operation simpler and more controllable.

[0073] This invention discloses a floor coating robot; please refer to [reference needed]. Figure 5 and Figure 6 It includes the aforementioned floor paint coating device 6 and robotic arm module 5, with the floor paint coating device 6 connected to the robotic arm module 5.

[0074] The moving nozzle mechanism can move or rotate under the control of the drive mechanism, thus changing the position of the sprayed paint on the ground without changing the direction of the squeegee. This prevents paint from piling up in one place, allowing the squeegee to cover a larger paint area, resulting in more uniform paint distribution and a smoother finish. This achieves the goal of improving the coating quality of floor paint by ensuring uniform paint distribution and a smoother finish.

[0075] Specifically, the entire floor coating robot includes a chassis module 1, a control module 2, a paint delivery module 3, a shell 4, a robotic arm module 5, and a floor coating device 6. The chassis module 1 can plan a path and perform construction work according to the planned path; the control module 2 includes an industrial computer 7 and a robotic arm controller 8, which can be used for automated robot control and data acquisition; the paint delivery module 3 includes an air tank 9, an air pump 10, a floor coating material bucket 11, a feeding pipe 12, and a hardener bucket 13; the robotic arm module 5 is used to control the rotation and lifting of the floor coating device, enabling complex movements and operations in three-dimensional space. The box-type baffle mechanism 20 and the scraper mechanism 32 can both be used for primer scraping and intermediate coating, while the roller coating mechanism is used for topcoat roller coating.

[0076] In some embodiments, the floor coating device 6 is detachably connected to the robotic arm module 5.

[0077] To obtain a good floor coating with good adhesion, corrosion resistance, durability, and resistance to heavy pressure, the floor coating needs to be applied by scraping, coating intermediate, and roller coating to meet the requirements of use.

[0078] Therefore, by detachably connecting the floor coating device 6 to the robotic arm module 5, the floor coating robot can change the floor coating device according to the different types of primer scraping, intermediate coating and roller coating.

[0079] In the description of this specification, the use of terms such as "Embodiment 1," "this embodiment," or "in one embodiment" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example; moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in one or more embodiments or examples.

[0080] In the description of this specification, the terms "connection," "installation," "fixing," "setting," and "having" are interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0081] In the description of this specification, relational terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0082] The above description of the embodiments is intended to enable those skilled in the art to understand and apply the technology of this invention. Those skilled in the art can easily make various modifications to these examples and apply the general principles described herein to other embodiments without creative effort. Therefore, this invention is not limited to the above embodiments. Modifications in the following situations should be within the scope of protection of this invention: ① New technical solutions implemented based on the technical solution of this invention and combined with existing common knowledge, where the technical effects of the new technical solution do not exceed the technical effects of this invention; ② Equivalent substitutions of some features of the technical solution of this invention using known technology, resulting in the same technical effects as those of this invention; ③ Extendable technical solutions based on the technical solution of this invention, where the substantive content of the extended technical solution does not exceed the technical solution of this invention; ④ Equivalent transformations made using the content of this specification and drawings, directly or indirectly applied to other related technical fields.

Claims

1. A floor coating device, characterized in that, include: A scraping mechanism used for scraping and applying paint; The moving nozzle mechanism is used to spray paint onto the ground. As the moving nozzle mechanism moves, the position of the sprayed paint onto the ground changes. The direction of the position change is not the same as the direction of the scraping mechanism. A control drive mechanism, connected to the motion nozzle mechanism, is used to drive the motion nozzle mechanism to move; The feeding mechanism is connected to the moving nozzle mechanism, and the coating enters through the feeding mechanism and is sprayed out through the moving nozzle mechanism; The coating mechanism is a box-type baffle mechanism, which includes a left outer scraper and a right outer scraper arranged along the coating direction, and a connecting plate connecting the left outer scraper and the right outer scraper. There are two moving nozzle mechanisms, which are located between the left outer scraper and the right outer scraper and are respectively close to the left outer scraper and the right outer scraper.

2. The floor coating device according to claim 1, characterized in that, The control drive mechanism is a rotation control drive structure. The rotating shaft of the rotation control drive mechanism is connected to the motion nozzle mechanism, thereby driving the motion nozzle mechanism to rotate.

3. The floor paint coating device according to claim 2, characterized in that, The box-type baffle mechanism also includes a left inner scraper and a right inner scraper located between the left outer scraper and the right outer scraper and arranged along the scraping direction. A flow channel is formed between the left inner scraper and the left outer scraper, and between the right inner scraper and the right outer scraper. The paint sprayed by the two moving nozzle mechanisms flows to the ground through two different flow channels.

4. The floor paint coating device according to claim 3, characterized in that, The flow channel is a wedge-shaped channel that is larger at the top and smaller at the bottom, and both the upper and lower ends of the flow channel are elongated.

5. A floor coating device according to claim 4, characterized in that, The connecting plate includes an upper baffle and a lower baffle. The left outer scraper, the upper baffle, the right outer scraper and the lower baffle are connected end to end along the side, and the bottom edges are located in the same plane.

6. The floor coating device according to claim 4, characterized in that, The rotation control drive structure has two rotating shafts, which are respectively connected to the two motion nozzle mechanisms.

7. A floor coating device according to claim 2, characterized in that, The coating mechanism is a scraper mechanism.

8. A floor coating device according to claim 2, characterized in that, The coating mechanism is a roller coating mechanism, which includes two rollers arranged along the coating direction and a connecting frame connecting the two rollers. The connecting frame is provided with a slot, and the paint sprayed by the moving nozzle mechanism flows to the ground through the slot.

9. A floor coating device according to claim 1, characterized in that, The feeding mechanism includes at least two feeding ports, a paint agitator, and a mixing tank connected to the feeding ports. The paint agitator is located inside the mixing tank, and the mixing tank is connected to the moving nozzle mechanism. The paint enters the mixing tank through different feeding ports and enters the moving nozzle mechanism after being agitated by the paint agitator.

10. A floor coating device according to claim 1, characterized in that, The moving nozzle mechanism is a drip tube that causes the paint to drip onto the ground.

11. A floor coating robot, characterized in that, The invention includes a floor coating device and a robotic arm module as described in any one of claims 1 to 10, wherein the floor coating device is connected to the robotic arm module.

12. A floor coating robot according to claim 11, characterized in that, The floor coating device is detachably connected to the robotic arm module.

Images