Spraying machine for building decoration and control method thereof

Abstract

The invention discloses a spraying machine for building decoration, and belongs to the technical field of building decoration, and the spraying machine is characterized by comprising a spraying device, a moving platform and a material storage tank, and further comprising a moving seat provided with moving wheels; the edge searching mechanisms are mounted on the two sides of the moving seat; the deflection angle adjusting device is used for adjusting the deflection angle of the spraying device; wherein the moving platform comprises an X track, a Y track and a Z track, the moving platform is installed on the moving seat, the deflection angle adjusting device is installed between the moving platform and the spraying device, the edge searching mechanism is provided with a movable rod, the movable rod is provided with an edge searching roller, and the movable rod is movably installed on the moving seat. According to the spraying device, paint can be sprayed on an arc-shaped wall surface structure.

Description

Technical Field

[0001] The present application belongs to the technical field of building decoration equipment, and in particular, relates to a spraying machine for building decoration and a control method thereof. Background Art

[0002] Most of the existing spraying equipment is handheld, and the spraying position and duration are manually controlled. The spraying head needs to be moved in multiple directions, which can easily cause uneven spraying. The paint is easy to scatter and rebound during spraying, resulting in a poor construction environment, pollution, and waste of paint.

[0003] The existing Chinese patent with publication number CN112007775B discloses a spraying machine for building decoration with adjustable spraying range, including a spraying device, wherein the spraying device is arranged in a three-axis mobile platform, and the three-axis mobile platform is also provided with a storage tank that can move forward and backward and left and right along two axes following the spraying device. The spraying device can spray negatively charged atomized paint and can adjust the spraying range of the atomized paint.

[0004] Although the above-mentioned sprayer can control the spraying range, it can only spray on flat walls. However, with the development of society, more and more buildings adopt arc-shaped wall structures, and it is impossible to ensure high spraying quality through simple X, Y, and Z movement. Summary of the invention

[0005] The purpose of the present application is to provide a spraying machine for building decoration and furnishing in order to solve the above-mentioned technical problems, which can spray paint on an arc-shaped wall structure.

[0006] The present application provides a spraying machine for building decoration, including a spraying device, a mobile platform, a storage tank, and also includes:

[0007] A moving seat provided with moving wheels;

[0008] Edge-finding mechanism, installed on both sides of the moving seat;

[0009] A deflection angle adjustment device, used to adjust the deflection angle of the spraying device;

[0010] Among them, the mobile platform includes an X track, a Y track, and a Z track, the mobile platform is installed on a mobile seat, the angle adjustment device is installed between the mobile platform and the spraying device, the edge-finding mechanism is provided with a movable rod, the movable rod is provided with an edge-finding roller, and the movable rod is movably installed on the mobile seat.

[0011] The moving seat moves forward through the moving wheels, and the moving seat can move along the wall through the edge-finding mechanism. The spraying device keeps the edge-finding roller against the wall during spraying. The spraying device is controlled to move in three mutually perpendicular straight lines through the X-track, Y-track, and Z-track. If the wall is a flat structure, the X-track is parallel to the wall, the Y-track is perpendicular to the wall, and the Z-track is in the same direction as gravity. When the wall is an arc-shaped structure, the spraying device controls the deflection of the spraying device when moving through the X-track, so that the spraying direction is perpendicular to the wall. The angle deflection of the deflection adjustment device is calculated by combining various detection parameters on the edge-finding mechanism.

[0012] Furthermore, the edge-finding mechanism comprises:

[0013] Telescopic seat, movably mounted on the mobile seat;

[0014] A telescopic rod, movably mounted on the telescopic seat;

[0015] A rotating seat is hinged on the movable rod;

[0016] A driving device is installed in the telescopic seat, and the driving device is provided with a threaded rod;

[0017] An adjustment seat is placed in the telescopic seat and is movably connected to the threaded rod;

[0018] Wherein, the rotating seat, the movable rod and the telescopic rod are hinged on the same rotating shaft.

[0019] The threaded rod is driven to rotate by a driving device to control the telescopic movement between the telescopic rod and the telescopic seat, so that the movable rod and the movable seat can rotate to ensure that the edge-finding roller installed on the movable rod is in contact with the wall. The edge-finding roller and the movable rod are hinged through a rotating seat. Two edge-finding rollers are installed on one rotating seat. When the wall surface of the arc structure is an outer circular surface or an inner circular surface, it can be adjusted through the rotating seat to ensure that the two edge-finding rollers on the same rotating seat are in contact with the wall.

[0020] Furthermore, the edge-finding mechanism further comprises:

[0021] An adjustment plate is placed in the adjustment seat;

[0022] The first spring is placed on both sides of the adjustment plate and abuts against the inner wall surface of the adjustment seat;

[0023] The threaded rod passes through the adjustment seat and the adjustment plate, the telescopic rod is provided with a plurality of connecting rods, the connecting rods are distributed around the axis of the telescopic rod, and the connecting rods are connected to the adjustment plate.

[0024] After the adjustment seat is adjusted by the driving device, the movable rod can be rotated within a certain range through the movable connection between the adjustment plate and the adjustment seat. At the same time, the first spring is cooperated to ensure the stable abutment between the edge-finding roller and the wall. The connecting rod is used to prevent relative rotation between the adjustment seat and the adjustment plate, thereby improving the structural stability.

[0025] Furthermore, the edge-finding mechanism further comprises:

[0026] The movable cavity is placed in the telescopic seat;

[0027] A piston seat is disposed in the movable chamber;

[0028] A piston rod, mounted and connected to a piston seat;

[0029] A connecting piece, movably connected between the piston rod and the rotating seat;

[0030] A second spring is disposed between the piston seat and the active chamber;

[0031] A pressure sensor is installed in the active cavity and abuts against the second spring;

[0032] Wherein, the rotating seat is provided with a connecting portion corresponding to the connecting piece.

[0033] The movable chamber cooperates with the piston seat, and is connected between the connecting part of the rotating seat and the piston seat through a connecting piece and a piston rod. When the edge-seeking roller contacts the wall, the second spring that resists the piston seat acts on the pressure sensor. The data detected by the pressure sensor is convenient for calculating the curvature of the circular wall.

[0034] Furthermore, the rotating seat comprises:

[0035] A rotating shaft connected between the rotating seat and the edge-finding roller;

[0036] The distance measuring sensor is installed on the rotating seat;

[0037] Wherein, the rotating shaft is provided with a groove portion corresponding to the distance measuring sensor.

[0038] The rotating shaft is installed and connected to the edge-finding roller, and the edge-finding roller and the rotating seat are hinged through the rotating shaft. When the mobile seat moves, the groove on the rotating shaft is detected by the distance measuring sensor to detect the rotation of the edge-finding roller. When the mobile seat moves through the circumference of the edge-finding roller and the distance measuring sensor does not detect the groove, the movable rod is adjusted to ensure that the edge-finding roller is against the wall.

[0039] Furthermore, a third spring is provided between the movable rod and the movable seat.

[0040] When the wall is flat, the hinge points between the telescopic seat and the movable seat, the hinge points between the telescopic rod and the movable rod, and the hinge points between the movable rod and the movable seat form a right triangle. When the wall is arc-shaped, when the telescopic seat and the telescopic rod are extended or retracted, the third spring facilitates the hinge points between the telescopic seat and the movable seat, the hinge points between the telescopic rod and the movable rod, and the hinge points between the movable rod and the movable seat to form an obtuse triangle, thereby ensuring that the edge-finding roller is against the wall.

[0041] Furthermore, the angle adjustment device comprises:

[0042] Adjust the motor, mounted on the mobile platform;

[0043] A first gear is mounted on the output shaft of the regulating motor;

[0044] The second gear is installed on the spraying device.

[0045] By adjusting the motor to control the rotation of the first gear, the first gear is meshed with the second gear, the second gear is installed and connected with the spraying device, and the first gear drives the second gear to rotate, so as to control the rotation and deflection of the spraying device and spray vertically to the wall.

[0046] The present application also provides a control method for a spraying machine for building decoration, the specific steps of which include:

[0047] S1, adjust the angle between the movable rod and the movable seat according to the curvature of the wall, and control the edge-finding roller to abut against the bottom of the wall where no spraying is done;

[0048] S2, combining the position of the adjustment seat on the threaded rod and the detection data of the pressure sensor to calculate the curvature of the wall, when the spraying device moves through the mobile platform, the deflection adjustment device is used to control the rotation of the spraying device so that the spraying direction acts vertically on the wall.

[0049] The edge-finding mechanism can control the moving seat to move along the arc-shaped wall, and the curvature of the wall is calculated by combining the position of the adjustment seat on the threaded rod and the detection data of the pressure sensor. When the spraying device is controlled to move by the mobile platform, the deflection angle of the spraying device is adjusted to make it perpendicular to the wall.

[0050] The beneficial effects of this application are:

[0051] 1. The moving seat can be controlled to move forward along the wall through the edge-finding mechanism, and the spraying device keeps the edge-finding roller against the wall during spraying.

[0052] 2. Control the deflection angle adjustment device to control the deflection of the spraying device so that the spraying direction is perpendicular to the wall.

[0053] 3. The edge-finding mechanism drives the threaded rod to rotate through the driving device, controls the telescopic movement between the telescopic rod and the telescopic seat, and makes the movable rod and the movable seat rotate to ensure that the edge-finding roller installed on the movable rod is controlled to abut against the wall.

[0054] 4. When the edge-finding roller contacts the wall, the second spring against the piston seat acts on the pressure sensor. The data detected by the pressure sensor is convenient for calculating the curvature of the circular wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the structure of the spraying machine of this application;

[0056] Figure 2 For this application Figure 1 A magnified view of point A;

[0057] Figure 3 This is a schematic diagram of the structure of the telescopic seat of the present application;

[0058] Figure 4 This is a schematic diagram of the structure of the rotating seat of the present application;

[0059] Reference numerals in the figure are: 100, spraying device; 200, mobile platform; 210, X track; 220, Y track; 230, Z track; 300, storage tank; 400, mobile seat; 410, mobile wheel; 500, edge-finding mechanism; 501, edge-finding roller; 510, movable rod; 520, telescopic seat; 521, rotating shaft; 522, ranging sensor; 523, groove; 530, telescopic rod; 531, connecting rod; 540, Rotating seat; 541, connecting part; 550, driving device; 551, threaded rod; 560, adjusting seat; 561, adjusting plate; 562, first spring; 570, movable chamber; 571, piston seat; 572, piston rod; 573, second spring; 574, pressure sensor; 580, connecting piece; 600, angle adjustment device; 610, adjusting motor; 620, first gear; 630, second gear; 700, third spring. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0061] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0062] The following provides a detailed description of the embodiments of the present application through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0063] Embodiment 1:

[0064] like Figure 1 As shown, the embodiment of the present application provides a spraying machine for building decoration, including a spraying device 100, a mobile platform 200, a storage tank 300, and also includes:

[0065] The moving seat 400 is provided with moving wheels 410;

[0066] The edge-finding mechanism 500 is installed on both sides of the moving seat 400;

[0067] The deflection angle adjustment device 600 is used to adjust the deflection angle of the spraying device 100;

[0068] Among them, the mobile platform 200 includes an X track 210, a Y track 220, and a Z track 230. The mobile platform 200 is installed on a mobile seat 400. The angle adjustment device 600 is installed between the mobile platform 200 and the spraying device 100. The edge-finding mechanism 500 is provided with a movable rod 510. The movable rod 510 is provided with an edge-finding roller 501. The movable rod 510 is movably installed on the mobile seat 400.

[0069] The moving seat 400 moves forward through the moving wheel 410, and the moving seat 400 is controlled by the edge-finding mechanism 500 to move along the wall. When the spraying device 100 sprays, the edge-finding roller 501 is kept against the wall. The spraying device 100 is controlled to move along three mutually perpendicular straight lines through the X-track 210, the Y-track 220, and the Z-track 230. If the wall is a flat structure, the X-track 210 is parallel to the wall, the Y-track 220 is perpendicular to the wall, and the Z-track 230 is in the same direction as gravity. When the wall is an arc-shaped structure, when the spraying device 100 moves through the X-track 210, the deflection adjustment device 600 is controlled to control the deflection of the spraying device 100 so that the spraying direction is perpendicular to the wall. The angle deflection of the deflection adjustment device 600 is calculated by combining various detection parameters on the edge-finding mechanism 500.

[0070] Embodiment 2:

[0071] like Figure 1-Figure 3 As shown, the embodiment of the present application provides a spraying machine for building decoration and decoration. In addition to the above technical features, the edge-finding mechanism 500 further includes:

[0072] The telescopic seat 520 is movably mounted on the movable seat 400;

[0073] The telescopic rod 530 is movably mounted on the telescopic seat 520;

[0074] The rotating seat 540 is hinged on the movable rod 510;

[0075] A driving device 550 is installed in the telescopic seat 520, and the driving device 550 is provided with a threaded rod 551;

[0076] The adjustment seat 560 is disposed in the telescopic seat 520 and is movably connected to the threaded rod 551;

[0077] The rotating seat 540, the movable rod 510 and the telescopic rod 530 are hinged on the same rotating shaft.

[0078] The threaded rod 551 is driven to rotate by the driving device 550, so as to control the telescopic movement between the telescopic rod 530 and the telescopic seat 520, and make the movable rod 510 rotate with the movable seat 400, so as to ensure that the edge-finding roller 501 installed on the movable rod 510 is in contact with the wall. The edge-finding roller 501 and the movable rod 510 are hinged by the rotating seat 540. Two edge-finding rollers 501 are installed on one rotating seat 540. When the wall surface of the arc structure is an outer circular surface or an inner circular surface, it can be adjusted by the rotating seat 540 to ensure that the two edge-finding rollers 501 on the same rotating seat 540 are in contact with the wall.

[0079] Furthermore, the edge-finding mechanism 500 further includes:

[0080] An adjustment plate 561 is placed in the adjustment seat 560;

[0081] The first spring 562 is disposed on both sides of the adjustment plate 561 and abuts against the inner wall surface of the adjustment seat 560;

[0082] The threaded rod 551 passes through the adjustment seat 560 and the adjustment plate 561 . The telescopic rod 530 is provided with a plurality of connecting rods 531 . The connecting rods 531 are distributed around the axis of the telescopic rod 530 , and the connecting rods 531 are connected to the adjustment plate 561 .

[0083] After the adjustment seat 560 is adjusted by the driving device 550, the movable rod 510 can be rotated within a certain range through the movable connection between the adjustment plate 561 and the adjustment seat 560. At the same time, the first spring 562 is cooperated to ensure the stable contact between the edge-finding roller 501 and the wall. The connecting rod 531 is used to prevent the relative rotation between the adjustment seat 560 and the adjustment plate 561, thereby improving the structural stability.

[0084] Furthermore, the edge-finding mechanism 500 further includes:

[0085] The movable chamber 570 is disposed in the telescopic seat 520;

[0086] The piston seat 571 is disposed in the movable chamber 570;

[0087] The piston rod 572 is installed and connected with the piston seat 571;

[0088] A connecting member 580 movably connected between the piston rod 572 and the rotating seat 540;

[0089] A second spring 573 is disposed between the piston seat 571 and the active chamber 570;

[0090] A pressure sensor 574 is installed in the active chamber 570 and abuts against the second spring 573;

[0091] The rotating seat 540 is provided with a connecting portion 541 corresponding to the connecting member 580 .

[0092] The movable chamber 570 cooperates with the piston seat 571, and is connected between the connecting part 541 of the rotating seat 540 and the piston seat 571 through the connecting piece 580 and the piston rod 572. When the edge-seeking roller 501 contacts the wall, the second spring 573 that is against the piston seat 571 acts on the pressure sensor 574. The data detected by the pressure sensor 574 is convenient for calculating the curvature of the circular wall.

[0093] Embodiment 3:

[0094] like Figure 4As shown, the embodiment of the present application provides a spraying machine for building decoration and decoration. In addition to the above technical features, the rotating seat 540 further includes:

[0095] The rotating shaft 521 is connected between the rotating seat 540 and the edge-finding roller 501;

[0096] The distance measuring sensor 522 is mounted on the rotating base 540;

[0097] The rotating shaft 521 is provided with a groove 523 corresponding to the distance measuring sensor 522 .

[0098] The rotating shaft 521 is installed and connected to the edge-finding roller 501, and the edge-finding roller 501 is hinged to the rotating seat 540 through the rotating shaft 521. When the moving seat 400 moves, the groove 523 on the rotating shaft 521 is detected by the ranging sensor 522 to detect the rotation of the edge-finding roller 501. When the moving seat 400 moves through the circumference distance of the edge-finding roller 501 and the ranging sensor 522 does not detect the groove 523, the movable rod 510 is adjusted to ensure that the edge-finding roller 501 is against the wall.

[0099] Embodiment 4:

[0100] like Figure 1 As shown, the embodiment of the present application provides a spraying machine for building decoration and furnishing. In addition to the above-mentioned technical features, a third spring 700 is further provided between the movable rod 510 and the movable seat 400 .

[0101] When the wall is flat, the hinge points between the telescopic seat 520 and the movable seat 400, the hinge points between the telescopic rod 530 and the movable rod 510, and the hinge points between the movable rod 510 and the movable seat 400 form a right triangle. When the wall is arc-shaped, when the telescopic seat 520 and the telescopic rod 530 are extended or retracted, the third spring 700 facilitates the hinge points between the telescopic seat 520 and the movable seat 400, the hinge points between the telescopic rod 530 and the movable rod 510, and the hinge points between the movable rod 510 and the movable seat 400 to form an obtuse triangle, thereby ensuring that the edge-finding roller 501 is against the wall.

[0102] Embodiment 5:

[0103] like Figure 1 As shown, the embodiment of the present application provides a spraying machine for building decoration and decoration. In addition to the above technical features, the angle adjustment device 600 further includes:

[0104] The regulating motor 610 is mounted on the mobile platform 200;

[0105] A first gear 620 is mounted on the output shaft of the regulating motor 610;

[0106] The second gear 630 is installed on the spraying device 100 .

[0107] By adjusting the motor 610 to control the rotation of the first gear 620, the first gear 620 is meshed with the second gear 630, and the second gear 630 is installed and connected to the spraying device 100. The first gear 620 drives the second gear 630 to rotate, thereby controlling the rotation and deflection of the spraying device 100 and spraying perpendicularly to the wall.

[0108] Embodiment 6:

[0109] The present application also provides a control method for a spraying machine for building decoration, the specific steps of which include:

[0110] S1, adjusting the angle between the movable rod 510 and the movable seat 400 according to the curvature of the wall, and controlling the edge-finding roller 501 to abut against the bottom of the wall where no spraying is done;

[0111] S2, the curvature of the wall is calculated in combination with the position of the adjustment seat 560 on the threaded rod 551 and the detection data of the pressure sensor 574. When the spraying device 100 moves through the mobile platform 200, the rotation of the spraying device 100 is controlled by the angle adjustment device 600 so that the spraying direction acts perpendicularly on the wall.

[0112] The edge-finding mechanism 500 can be used to control the moving seat 400 to move along the arc-shaped wall, and the curvature of the wall is calculated by combining the position of the adjustment seat 560 on the threaded rod 551 and the detection data of the pressure sensor 574. When the spray device 100 is controlled to move by the mobile platform 200, the deflection angle of the spray device 100 is adjusted to make it perpendicular to the wall.

[0113] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0114] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A spraying machine for building decoration, comprising a spraying device (100), a mobile platform (200), and a storage tank (300), characterized in that: Also includes: A movable seat (400) is provided with movable wheels (410); An edge-finding mechanism (500) is installed on both sides of the moving seat (400); A deflection angle adjustment device (600) for adjusting the deflection angle of the spraying device (100); The mobile platform (200) comprises an X track (210), a Y track (220), and a Z track (230); the mobile platform (200) is installed on a mobile seat (400); the angle adjustment device (600) is installed between the mobile platform (200) and the spraying device (100); the edge-finding mechanism (500) is provided with a movable rod (510); the movable rod (510) is provided with an edge-finding roller (501); and the movable rod (510) is movably installed on the mobile seat (400).

2. The spraying machine for building decoration according to claim 1, characterized in that: The edge-finding mechanism (500) comprises: A telescopic seat (520) is movably mounted on the movable seat (400); A telescopic rod (530) movably mounted on the telescopic seat (520); A rotating seat (540) is hinged on the movable rod (510); A driving device (550) is installed in the telescopic seat (520), wherein the driving device (550) is provided with a threaded rod (551); An adjustment seat (560) is disposed in the telescopic seat (520) and is movably connected to the threaded rod (551); Wherein, the rotating seat (540), the movable rod (510), and the telescopic rod (530) are hinged on the same rotating shaft.

3. The spraying machine for building decoration according to claim 2, characterized in that: The edge-finding mechanism (500) further comprises: An adjustment plate (561) is placed in the adjustment seat (560); The first spring (562) is placed on both sides of the adjustment plate (561) and abuts against the inner wall surface of the adjustment seat (560); The threaded rod (551) passes through the adjustment seat (560) and the adjustment plate (561), the telescopic rod (530) is provided with a plurality of connecting rods (531), the connecting rods (531) are distributed around the axis of the telescopic rod (530), and the connecting rods (531) are connected to the adjustment plate (561).

4. The spraying machine for building decoration according to claim 3, characterized in that: The edge-finding mechanism (500) further comprises: The movable chamber (570) is disposed in the telescopic seat (520); A piston seat (571) is disposed in the movable chamber (570); The piston rod (572) is installed and connected with the piston seat (571); A connecting member (580) movably connected between the piston rod (572) and the rotating seat (540); A second spring (573) is disposed between the piston seat (571) and the movable chamber (570); A pressure sensor (574) is installed in the active chamber (570) and abuts against the second spring (573); Wherein, the rotating seat (540) is provided with a connecting portion (541) corresponding to the connecting member (580).

5. The spraying machine for building decoration according to claim 4, characterized in that: The rotating seat (540) comprises: A rotating shaft (521) is connected between the rotating seat (540) and the edge-finding roller (501); A distance measuring sensor (522) is mounted on a rotating seat (540); The rotating shaft (521) is provided with a groove (523) corresponding to the distance measuring sensor (522).

6. The spraying machine for building decoration according to claim 5, characterized in that: A third spring (700) is arranged between the movable rod (510) and the movable seat (400).

7. The spraying machine for building decoration according to claim 6, characterized in that: The angle adjustment device (600) comprises: An adjusting motor (610) is mounted on the moving platform (200); A first gear (620) is mounted on the output shaft of the regulating motor (610); The second gear (630) is installed on the spraying device (100).

8. A control method applicable to the spraying machine for building decoration and decoration according to claim 7, characterized in that: The specific steps include: S1, adjusting the angle between the movable rod (510) and the movable seat (400) according to the curvature of the wall, and controlling the edge-finding roller (501) to abut against the bottom of the wall where no spraying is done; S2, the curvature of the wall is calculated in combination with the position of the adjustment seat (560) placed on the threaded rod (551) and the detection data of the pressure sensor (574). When the spraying device (100) moves through the mobile platform (200), the spraying device (100) is controlled to rotate through the deflection adjustment device (600) so that the spraying direction acts perpendicularly on the wall.

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