An indoor wall spraying robot

Abstract

The present invention relates to the field of spraying technology, specifically to an indoor wall spraying robot, comprising a mobile base, and also comprising: a mounting platform, the mounting platform is fixedly mounted on the mobile base; and a wall spraying mechanism, the wall spraying mechanism is connected to the mounting platform, wherein the wall spraying mechanism comprises a lifting drive component, a protective cover shell, a swing control component, a feed pipe and a spray gun; the lifting drive component is connected to the mounting platform, and a protective cover shell is also installed on the lifting drive component, a swing control component is installed on the protective cover shell, a feed pipe is fixedly installed on the swing control component, and a spray gun is fixedly installed on the end of the feed pipe. The indoor wall spraying robot of the present invention can quickly switch the spray direction of the spray gun, and after the switch, the distance between the spray gun and the wall surface can be kept constant, which is beneficial to improving the quality of spraying and the efficiency of spraying work.

Description

Technical Field

[0001] The invention relates to the technical field of spraying, in particular to an indoor wall spraying robot. Background Art

[0002] The indoor wall spraying robot is a robot that can automatically complete the latex paint construction of indoor walls and ceilings. With the continuous development of science and technology, robots are more and more widely used in various fields, and indoor wall spraying robots are one of them. In traditional indoor wall spraying construction, workers need to manually operate the spray gun for construction, which is not only inefficient, but also affected by human factors such as technical level and working status, making it difficult to ensure the construction quality. In addition, manual spraying will also produce a large amount of paint dust, which poses a potential hazard to the health of workers. The indoor wall spraying robot can solve these problems well. The indoor wall spraying robot adopts automation technology to achieve efficient and high-quality spraying operations through precise path planning and spraying process control. At present, the application of indoor wall spraying robots in residential, apartment, hotel and office scenarios has become more and more widespread. In the future, with the continuous advancement of technology and the continuous expansion of application scenarios, the application prospects of indoor wall spraying robots will be broader.

[0003] During use, the existing indoor wall spraying robot needs to use a spray gun to switch areas such as indoor walls and ceilings, and after the switch, the distance between the spray gun and the wall needs to be maintained to ensure the quality of the spraying. The structure of the traditional spraying robot is complex, which affects the work efficiency, and it uses a variety of sensors, with high production and maintenance costs and inconvenient use. Therefore, in view of the above situation, it is urgent to develop an indoor wall spraying robot to overcome the shortcomings in current practical applications. Summary of the invention

[0004] The purpose of the present invention is to provide an indoor wall spraying robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An indoor wall spraying robot comprises a mobile base and also comprises:

[0007] A mounting platform, the mounting platform is fixedly mounted on the mobile base;

[0008] and a wall spraying mechanism, wherein the wall spraying mechanism is connected to the mounting platform, wherein the wall spraying mechanism comprises a lifting drive assembly, a protective cover shell, a swing control assembly, a feeding pipe and a spray gun;

[0009] The lifting drive assembly is connected to the mounting platform, and a protective cover shell is installed on the lifting drive assembly, a swing control assembly is installed on the protective cover shell, a feed pipe is fixedly installed on the swing control assembly, and a spray gun is fixedly installed on the end of the feed pipe.

[0010] As a further solution of the present invention: the lifting drive assembly includes:

[0011] A lifting motor, the lifting motor is fixedly mounted on the mounting platform;

[0012] Guide slide bars, the number of the guide slide bars is two, the two guide slide bars are fixedly mounted on the mounting platform, and are symmetrically distributed on both sides of the lifting motor, and the two guide slide bars are also fixedly mounted with connecting support plates;

[0013] A threaded rod, the threaded rod passes through the connecting support plate and is rotatably connected to the connecting support plate, and the threaded rod is also fixedly connected to the output end of the lifting motor;

[0014] And a lifting spraying seat, the lifting spraying seat is sleeved on the guide slide bar and is slidably connected with the guide slide bar, and the lifting spraying seat is also threadedly connected with the threaded rod.

[0015] As a further solution of the present invention: it also includes: a positioning support rod, the number of the positioning support rods is multiple, the multiple positioning support rods are fixedly mounted on the mounting platform, and the positioning support rod is also detachably connected to the lifting spray seat;

[0016] And a control display box, wherein the control display box is fixedly installed on the lifting spraying seat, and the control display box is also electrically connected to the wall spraying mechanism.

[0017] As a further solution of the present invention: the swing control assembly includes:

[0018] A movable notch, the movable notch is provided on the protective cover shell, and a swing support rod is slidably installed in the movable notch;

[0019] A telescopic sleeve, the telescopic sleeve is fixedly connected to the end of the swing support rod, and a telescopic rod is inserted in the telescopic sleeve, the telescopic rod is fixedly connected to the inner wall of the telescopic sleeve through a spring, and the telescopic rod is also fixedly connected to the feeding pipe;

[0020] and a flip driving unit, wherein the flip driving unit is connected to the protective cover shell and to the swing support rod.

[0021] As a further solution of the present invention: the flip driving unit includes:

[0022] A flip motor, wherein the flip motor is fixedly mounted on the protective cover shell, and a rotating shaft is fixedly mounted on the output end of the flip motor;

[0023] A control support plate, wherein the control support plate is fixedly connected to the inner wall of the protective cover shell through a mounting seat, and a flip drive plate is fixedly mounted on the control support plate, and a guide groove is provided on the flip drive plate, wherein the other end of the rotating shaft passes through the control support plate and the flip drive plate, and is rotationally connected to the control support plate and the flip drive plate;

[0024] A toggle plate, one end of which is fixedly connected to the rotating shaft, and a sliding groove is also provided on the toggle plate;

[0025] A sliding column, one end of which is connected to the swing support rod, the other end of which passes through the sliding groove and is inserted into the guide groove, and the sliding column is also slidably connected to the guide groove;

[0026] And a guide module, wherein the guide module is connected to the control support plate and is slidably connected to the swing support rod.

[0027] As a further solution of the present invention: the guidance module includes:

[0028] A rotating seat, the rotating seat is rotatably mounted on the control support plate;

[0029] And a sliding card seat, the sliding card seat is fixedly connected to the rotating seat, and the sliding card seat is also clamped and connected to the swing support rod, and is slidably connected to the swing support rod.

[0030] As a further solution of the present invention: it also includes: a placement groove, the placement groove is opened on the sliding card seat;

[0031] And a control detection wheel, which is rotatably installed in the placement groove and is also rollingly connected with the swing support rod.

[0032] As a further solution of the present invention: it also includes: an L-shaped support rod, one end of which is fixedly connected to the telescopic rod, and the other end of which is rotatably mounted with a universal wheel;

[0033] And a spraying baffle, wherein the spraying baffle is fixedly connected to the telescopic sleeve.

[0034] As a further solution of the present invention: it also includes: an L-shaped detection plate, the L-shaped detection plate is fixedly mounted on the protective cover shell, and a plurality of position detectors are arranged on the L-shaped detection plate, and the position detectors are arranged in cooperation with the swing support rod;

[0035] and an inspection cover, wherein the inspection cover is detachably mounted on the protective cover shell.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] When spraying indoor walls, first, a mobile base is set up, wherein a handle is provided on the mobile base, which can facilitate the staff to move the entire equipment, and is connected to a traction device with a spray liquid tank provided on the outside through the mounting hole on the mobile base, so as to drive the entire spray equipment to move. Then, the feed pipe can be connected to the spray liquid tank through a hose, and the lifting drive component can be started to drive the protective cover to move up or down. In the process of the protective cover moving up and down, the swing control component, the feed pipe and the spray gun can be driven to move synchronously, so as to spray the wall at different heights, and the distance between the spray gun and the wall surface can be controlled. The distance always remains constant. In addition, the swing control component can be used to drive the feed pipe and the spray gun to rotate, so that the feed pipe and the spray gun can be rotated from a horizontal state to a vertical state, so that the wall of the ceiling can be sprayed. After the spray gun is rotated, the distance between it and the protective cover shell is fixed, so as to accurately spray the top wall. The operation is simple, and the spray direction of the spray gun can be quickly switched. After the switch, the distance between the spray gun and the wall can be kept constant, which is beneficial to improve the quality of spraying and the efficiency of spraying work. The production and maintenance costs are not high, which provides convenience for the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the three-dimensional structure of the indoor wall spraying robot in an embodiment of the present invention.

[0039] Figure 2 Schematic diagram of the three-dimensional structure of the L-shaped detection plate in an embodiment of the present invention.

[0040] Figure 3 Schematic diagram of the three-dimensional structure of the protective cover shell in an embodiment of the present invention.

[0041] Figure 4 It is a schematic diagram of the three-dimensional structure of the control display box in the embodiment of the present invention.

[0042] Figure 5 It is a schematic diagram of the three-dimensional structure of the telescopic sleeve in an embodiment of the present invention.

[0043] Figure 6 It is a schematic diagram of the three-dimensional structure of the spray partition in an embodiment of the present invention.

[0044] Figure 7 Schematic diagram of the three-dimensional structure of the flip driving plate in the embodiment of the present invention.

[0045] Figure 8Schematic diagram of the three-dimensional structure of the rotating shaft in an embodiment of the present invention.

[0046] Fig. 9 It is a schematic diagram of the three-dimensional structure of the sliding card seat in an embodiment of the present invention.

[0047] Fig.10 It is a right view structural schematic diagram of the control detection wheel in an embodiment of the present invention.

[0048] In the figure: 1-mobile base, 2-mounting table, 3-positioning support rod, 4-guide slide rod, 5-connecting support plate, 6-lifting spray seat, 7-control display box, 8-threaded rod, 9-flip motor, 10-protective cover shell, 11-lifting motor, 12-inspection cover, 13-L-type detection plate, 14-position detector, 15-active notch, 16-swing support rod, 17-telescopic sleeve, 18-telescopic rod, 19-feeding pipe, 20-spray gun, 21-L-type support rod, 22-universal wheel, 23-spraying partition, 24-control support plate, 25-flip driving plate, 26-guide groove, 27-slide plate, 28-slide groove, 29-rotating seat, 30-sliding card seat, 31-mounting seat, 32-rotating axis, 33-sliding column, 34-placing groove, 35-control detection wheel. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0051] See also Figure 1-Figure 10 An indoor wall spraying robot provided by an embodiment of the present invention includes a mobile base 1 and further includes:

[0052] A mounting platform 2, wherein the mounting platform 2 is fixedly mounted on the mobile base 1;

[0053] and a wall spraying mechanism, the wall spraying mechanism is connected to the mounting platform 2, wherein the wall spraying mechanism includes a lifting drive assembly, a protective cover shell 10, a swing control assembly, a feeding pipe 19 and a spray gun 20;

[0054] The lifting drive assembly is connected to the mounting platform 2, and a protective cover shell 10 is also installed on the lifting drive assembly, a swing control assembly is installed on the protective cover shell 10, a feed pipe 19 is fixedly installed on the swing control assembly, and a spray gun 20 is fixedly installed at the end of the feed pipe 19.

[0055] When spraying indoor walls, first, a mobile base 1 is provided, wherein the mobile base 1 is provided with a handle, so that the staff can move the whole equipment conveniently, and the mobile base 1 is connected to a traction device with a spray liquid tank provided outside through the mounting hole on the mobile base 1, so as to drive the whole spray equipment to move, and then, the feed pipe 19 can be connected to the spray liquid tank through a hose, and the lifting drive component can be started to drive the protective cover shell 10 to move upward or downward. In the process of the protective cover shell 10 moving up and down, the swing control component, the feed pipe 19 and the spray gun 20 can be driven to move synchronously, so as to spray the wall at different heights, and the distance between the spray gun 20 and the wall surface can be controlled. The distance always remains constant. In addition, through the swing control component, the feed pipe 19 and the spray gun 20 can be driven to rotate, so that the feed pipe 19 and the spray gun 20 are rotated from a horizontal state to a vertical state, so that the wall of the ceiling can be sprayed, and after the rotation of the spray gun 20, the distance between it and the protective cover shell 10 is fixed, so as to accurately spray the top wall. The operation is simple, and the spray direction of the spray gun 20 can be quickly switched. After the switch, the distance between the spray gun 20 and the wall can be kept constant, which is beneficial to improve the quality of spraying and the efficiency of spraying work, and the production and maintenance costs are not high, which provides convenience for the staff.

[0056] In one embodiment of the present invention, see Figure 1-Figure 10 , the lifting drive assembly comprises:

[0057] A lifting motor 11, wherein the lifting motor 11 is fixedly mounted on the mounting platform 2;

[0058] Guide slide bars 4, the number of the guide slide bars 4 is two, the two guide slide bars 4 are fixedly mounted on the mounting platform 2, and are symmetrically distributed on both sides of the lifting motor 11, and the two guide slide bars 4 are also fixedly mounted with connecting support plates 5;

[0059] A threaded rod 8, wherein the threaded rod 8 passes through the connecting support plate 5 and is rotatably connected to the connecting support plate 5, and the threaded rod 8 is also fixedly connected to the output end of the lifting motor 11;

[0060] And a lifting spraying seat 6, the lifting spraying seat 6 is sleeved on the guide slide bar 4 and is slidably connected with the guide slide bar 4, and the lifting spraying seat 6 is also threadedly connected with the threaded rod 8.

[0061] It also includes: a positioning support rod 3, the number of the positioning support rod 3 is multiple, the multiple positioning support rods 3 are fixedly mounted on the mounting platform 2, and the positioning support rod 3 is also detachably connected to the lifting spray seat 6;

[0062] And a control display box 7, the control display box 7 is fixedly installed on the lifting spraying seat 6, and the control display box 7 is also electrically connected to the wall spraying mechanism.

[0063] During the spraying process of the indoor wall, starting the lifting motor 11 can drive the threaded rod 8 to rotate, and through the threaded cooperation between the threaded rod 8 and the lifting spray seat 6 and the guiding action of the guide slide bar 4 on the lifting spray seat 6, the lifting spray seat 6 can move in the vertical direction, thereby driving the protective cover shell 10, the feeding pipe 19 and the spray gun 20 to move synchronously, so as to spray the walls at different heights, and the height of the spray gun 20 can be adjusted as needed, which is beneficial to improve the practicality and flexibility of the equipment. In addition, through the provided positioning support rod 3, the lifting spray seat 6 can be moved down to the lowest position after the spraying operation is completed, wherein a pressure sensor can be provided on the top of the positioning support rod 3 to detect the degree of contact between the lifting spray seat 6 and the positioning support rod 3. On the one hand, it can ensure the safety of the equipment storage, and on the other hand, it can support the lifting spray seat 6 to prevent the guide slide bar 4 and the threaded rod 8 from being deformed due to the large lateral force.

[0064] In one embodiment of the present invention, see Figure 1-Figure 10 , the swing control assembly comprises:

[0065] A movable notch 15, wherein the movable notch 15 is provided on the protective cover shell 10, and a swing support rod 16 is slidably installed in the movable notch 15;

[0066] A telescopic sleeve 17, wherein the telescopic sleeve 17 is fixedly connected to the end of the swing support rod 16, and a telescopic rod 18 is inserted into the telescopic sleeve 17, wherein the telescopic rod 18 is fixedly connected to the inner wall of the telescopic sleeve 17 via a spring, and the telescopic rod 18 is also fixedly connected to the feeding tube 19;

[0067] And a flip driving unit, wherein the flip driving unit is connected to the protective cover shell 10 and connected to the swing support rod 16.

[0068] The flip driving unit comprises:

[0069] A flip motor 9, wherein the flip motor 9 is fixedly mounted on the protective cover 10, and a rotating shaft 32 is fixedly mounted on the output end of the flip motor 9;

[0070] A control support plate 24, wherein the control support plate 24 is fixedly connected to the inner wall of the protective cover shell 10 through a mounting seat 31, and a flip drive plate 25 is fixedly mounted on the control support plate 24, and a guide groove 26 is provided on the flip drive plate 25, wherein the other end of the rotating shaft 32 passes through the control support plate 24 and the flip drive plate 25, and is rotationally connected to the control support plate 24 and the flip drive plate 25;

[0071] A toggle plate 27, one end of which is fixedly connected to the rotating shaft 32, and a sliding groove 28 is also formed on the toggle plate 27;

[0072] A sliding column 33, one end of which is connected to the swing support rod 16, the other end of which passes through the sliding groove 28 and is inserted into the guide groove 26, and the sliding column 33 is also slidably connected to the guide groove 26;

[0073] And a guide module, the guide module is connected to the control support plate 24 and is slidably connected to the swing support rod 16.

[0074] The guidance module comprises:

[0075] A rotating seat 29, wherein the rotating seat 29 is rotatably mounted on the control support plate 24;

[0076] And a sliding card seat 30, the sliding card seat 30 is fixedly connected to the rotating seat 29, and the sliding card seat 30 is also clamped and connected to the swing support rod 16, and is slidably connected to the swing support rod 16.

[0077] It also includes: a placement slot 34, the placement slot 34 is opened on the sliding card seat 30;

[0078] And a control detection wheel 35 , the control detection wheel 35 is rotatably installed in the placement groove 34 , and the control detection wheel 35 is also rollingly connected with the swing support rod 16 .

[0079] When the spraying direction of the spray gun 20 needs to be adjusted, the flip motor 9 is started to drive the rotating shaft 32 to rotate and drive the toggle plate 27 to rotate counterclockwise (such as Figure 7As shown in the figure, during the rotation of the toggle plate 27, the swing support rod 16 can be driven to rotate under the guiding effect of the sliding groove 28 and the guide groove 26 on the sliding column 33. In addition, through the provided rotating seat 29 and the sliding card seat 30, the rotating seat 29 rotates on the control support plate 24 together with the swing support rod 16, and the swing support rod 16 slides in the sliding card seat 30, thereby guiding the swing support rod 16 to ensure the stability of the swing support rod 16 during the rotation process. Among them, the guide groove 26 is composed of three parts, a horizontal section, an arc section, and a horizontal section. The two ends of the guide groove 26 are horizontal and vertical sections. In the early stage when the rotating shaft 32 drives the toggle plate 27 to rotate, the swing support rod 16 will be pulled by the sliding column 33 to move a distance. At this time, the swing support rod 16 slides in the sliding seat 30. When the sliding column 33 enters the arc section on the guide groove 26 and moves in the arc section, the swing support rod 16 will drive the rotating seat 29 to rotate on the control support plate 24, so that the feeding pipe 19 and the spray gun 20 can be driven to move synchronously through the swing support rod 16 to realize The spray direction of the spray gun 20 can be adjusted, and because the sliding column 33 will first pull the swing support rod 16 to shrink a distance at the beginning of the flip, so as to avoid the spray gun 20 from colliding with the wall when flipping. In addition, the swing support rod 16 drives the spray gun 20 to stop at any position during the rotation process, so as to spray different areas, which is beneficial to improve the practicality and flexibility of the equipment. When the swing support rod 16 slides in the sliding card seat 30, it will drive the control detection wheel 35 in the placement slot 34 to rotate, wherein the control detection wheel 35 is rotated. The wheel 35 may be provided with a sensor, which can detect the arc segment of the sliding column 33 entering the guide groove 26, so that the staff can accurately grasp the position of the spray gun 20, and at the same time control the spray amount of the spray gun 20, so that the spray amount of the spray gun 20 is increased (because the swing support rod 16 will drive the spray gun 20 to retract a certain length, at this time the distance between the spray gun 20 and the wall surface increases), so that when the spray gun 20 is spraying in a non-vertical and horizontal state, the spray amount of the spray gun 20 can be increased accordingly, thereby ensuring the spraying quality of walls at different positions.

[0080] In one embodiment of the present invention, see Figure 1-Figure 10 , further comprising: an L-shaped support rod 21, one end of the L-shaped support rod 21 is fixedly connected to the telescopic rod 18, and the other end of the L-shaped support rod 21 is rotatably mounted with a universal wheel 22;

[0081] And a spraying baffle 23 , wherein the spraying baffle 23 is fixedly connected to the telescopic sleeve 17 .

[0082] It also includes: an L-shaped detection plate 13, which is fixedly mounted on the protective cover shell 10, and a plurality of position detectors 14 are provided on the L-shaped detection plate 13, and the position detectors 14 are matched with the swing support rod 16;

[0083] And an inspection cover 12 , wherein the inspection cover 12 is detachably mounted on the protective cover shell 10 .

[0084] During the spraying operation, some areas on the wall do not need to be sprayed because other equipment needs to be installed later. Therefore, by starting the lifting drive component or moving the mobile base 1, the spray gun 20 can be gradually approached to the wall. In the process of the spray gun 20 moving toward the wall, the universal wheel 22 will first contact the wall, and exert an extrusion effect on the telescopic rod 18 through the L-shaped support rod 21, so that the telescopic rod 18 can overcome the elastic force of the spring and shrink into the telescopic sleeve 17. After the telescopic rod 18 drives the spray gun 20 to shrink a certain length, the spraying partition 23 will contact the wall, wherein a pressure sensor is installed on the spraying partition 23. When the spraying partition 23 is in close contact with the wall, the lifting drive component can be stopped, or the staff can be reminded to stop moving the mobile base 1 through the existing warning device. At this time, the spraying partition 23 can be used for areas that do not require spraying. The enclosure can prevent the spray gun 20 from splashing paint into the area that does not need to be sprayed when spraying the wall, so as to facilitate the subsequent installation of other equipment. In addition, since the spray gun 20 is close to the wall at this time, the paint displacement can be reduced accordingly to save paint. In the spraying process, the universal wheel 22 is always in contact with the wall and rolls on the wall to ensure that the spray gun 20 sprays evenly, thereby further improving the quality of spraying. In addition, through the provision of multiple position detectors 14, the flipping position of the swing support rod 16 can be detected to ensure the accuracy of the spraying position, and the staff can intuitively operate the moving position of the swing support rod 16 (the swing support rod 16 can drive the spray gun 20 to move within a 90° area, and can stop at any position in this area for spraying) to spray various areas, thereby improving the practicality and flexibility of the equipment.

[0085] It should be noted that, in the present invention, unless otherwise clearly specified and limited, the terms "slide", "rotate", "fix", "have" and the like should be understood in a broad sense, for example, it can be a welding connection, a bolt 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 the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An indoor wall spraying robot, comprising a mobile base, characterized in that: Also includes: A mounting platform, the mounting platform is fixedly mounted on the mobile base; and a wall spraying mechanism, wherein the wall spraying mechanism is connected to the mounting platform, wherein the wall spraying mechanism comprises a lifting drive assembly, a protective cover shell, a swing control assembly, a feeding pipe and a spray gun; The lifting drive assembly is connected to the mounting platform, and a protective cover shell is installed on the lifting drive assembly, a swing control assembly is installed on the protective cover shell, a feed pipe is fixedly installed on the swing control assembly, and a spray gun is fixedly installed on the end of the feed pipe; The swing control assembly comprises: a movable notch, the movable notch is provided on the protective cover shell, and a swing support rod is slidably installed in the movable notch; A telescopic sleeve, the telescopic sleeve is fixedly connected to the end of the swing support rod, and a telescopic rod is inserted in the telescopic sleeve, the telescopic rod is fixedly connected to the inner wall of the telescopic sleeve through a spring, and the telescopic rod is also fixedly connected to the feeding pipe; and a flip driving unit, wherein the flip driving unit is connected to the protective cover shell and to the swing support rod; The flip driving unit comprises: a flip motor, the flip motor is fixedly mounted on the protective cover shell, and a rotating shaft is fixedly mounted on the output end of the flip motor; A control support plate, wherein the control support plate is fixedly connected to the inner wall of the protective cover shell through a mounting seat, and a flip drive plate is fixedly mounted on the control support plate, and a guide groove is provided on the flip drive plate, wherein the other end of the rotating shaft passes through the control support plate and the flip drive plate, and is rotationally connected to the control support plate and the flip drive plate; A toggle plate, one end of which is fixedly connected to the rotating shaft, and a sliding groove is also provided on the toggle plate; A sliding column, one end of which is connected to the swing support rod, the other end of which passes through the sliding groove and is inserted into the guide groove, and the sliding column is also slidably connected to the guide groove; and a guide module, the guide module being connected to the control support plate and being slidably connected to the swing support rod; The guide module comprises: a rotating seat, which is rotatably mounted on the control support plate; and a sliding card seat, wherein the sliding card seat is fixedly connected to the rotating seat, and the sliding card seat is also connected to the swing support rod by clamping and slidably connected to the swing support rod; The guide groove consists of three parts: a horizontal section, an arc section and a vertical section. The two ends of the guide groove are horizontal and vertical section structures. In the initial stage of flipping, the sliding column will first pull the swing support rod to shrink a certain distance, thereby preventing the spray gun from colliding with the wall when flipping; It also includes: a placement slot, the placement slot is opened on the sliding card seat; and a control detection wheel, the control detection wheel is rotatably mounted in the placement groove, and the control detection wheel is also rollingly connected to the swing support rod; It also includes: an L-shaped support rod, one end of which is fixedly connected to the telescopic rod, and the other end of which is rotatably mounted with a universal wheel; And a spray partition, which is fixedly connected to the telescopic sleeve, wherein a pressure sensor is installed on the spray partition. When the spray partition is in close contact with the wall, the spray partition can enclose the area where spraying is not required to be performed, thereby preventing paint from splashing into the area where spraying is not required.

2. The indoor wall spraying robot according to claim 1, characterized in that: The lifting drive assembly comprises: A lifting motor, the lifting motor is fixedly mounted on the mounting platform; Guide slide bars, the number of the guide slide bars is two, the two guide slide bars are fixedly mounted on the mounting platform, and are symmetrically distributed on both sides of the lifting motor, and the two guide slide bars are also fixedly mounted with connecting support plates; A threaded rod, the threaded rod passes through the connecting support plate and is rotatably connected to the connecting support plate, and the threaded rod is also fixedly connected to the output end of the lifting motor; And a lifting spraying seat, the lifting spraying seat is sleeved on the guide slide bar and is slidably connected with the guide slide bar, and the lifting spraying seat is also threadedly connected with the threaded rod.

3. The indoor wall spraying robot according to claim 2, characterized in that: Also includes: A positioning support rod, wherein the number of the positioning support rods is multiple, the multiple positioning support rods are fixedly mounted on the mounting platform, and the positioning support rods are also detachably connected to the lifting spray seat; And a control display box, wherein the control display box is fixedly installed on the lifting spraying seat, and the control display box is also electrically connected to the wall spraying mechanism.

4. The indoor wall spraying robot according to claim 1, characterized in that: Also includes: An L-shaped detection plate, the L-shaped detection plate is fixedly mounted on the protective cover shell, and a plurality of position detectors are arranged on the L-shaped detection plate, and the position detectors are arranged in cooperation with the swing support rod; and an inspection cover, wherein the inspection cover is detachably mounted on the protective cover shell.

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