Pier column film covering robot

Abstract

The invention discloses a pier column film covering robot, and belongs to the technical field of bridge pier column maintenance. The pier column film covering robot comprises a rack unit, the rack unit comprises a plurality of sets of adjusting supports hinged in sequence, each adjusting support comprises a main supporting pipe, a first adjusting pipe, a second adjusting pipe, a first limiting screw and a second limiting screw, and the first adjusting pipes and the second adjusting pipes are arranged in the main supporting pipes in a penetrating mode and can slide in the length direction of the main supporting pipes; one end of the first limiting screw is in threaded connection with the side wall of the main supporting pipe and abuts against the first adjusting pipe, and one end of the second limiting screw is in threaded connection with the side wall of the main supporting pipe and abuts against the second adjusting pipe. An annular rotating disc of the film covering unit is arranged on the rack unit and can rotate, a sleeve rod is rotationally arranged on the annular rotating disc and extends in the vertical direction, and a film roll is installed on the sleeve rod. The climbing unit is used for driving the rack unit to move in the vertical direction. The pier column can be automatically covered with a film, and maintenance of the pier column is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of bridge pier maintenance, and in particular to a pier coating robot. Background Art

[0002] Bridge pier coating refers to a protective film that covers the surface of the pier during the maintenance period of the bridge pier. The main function of this film is to protect the pier from external factors such as wind, sun, rain, snow and pressure, and at the same time play a role in heat preservation, which is conducive to the maintenance and curing of the pier. Coating maintenance can effectively improve the maintenance effect of bridge piers. By covering the film, the evaporation of water and temperature changes on the surface of the pier can be reduced, thereby keeping the surface of the pier moist and the temperature stable. This helps to accelerate the hardening and strength improvement of concrete, while reducing the occurrence of cracks.

[0003] At present, film wrapping operations mostly rely on cranes to suspend the curing film rolls, and workers stand on the top of the pier and manually crank the slings to complete the curing film wrapping. There are safety risks of manual high-altitude operations and illegal crane operation safety risks, and the construction efficiency is low and the construction quality is uneven.

[0004] Therefore, it is urgent to provide a pier coating robot to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a pier column coating robot which can automatically coat the pier column with a film, thereby facilitating the maintenance of the pier column.

[0006] In order to achieve the above objectives, the following technical solutions are provided:

[0007] Pier coating robot, including:

[0008] The rack unit comprises a plurality of sets of sequentially hinged adjustment brackets, wherein the adjustment brackets comprise a main support tube, a first adjustment tube, a second adjustment tube, a first limit screw and a second limit screw, wherein the first adjustment tube and the second adjustment tube are respectively passed through the main support tube and can slide along the length direction of the main support tube, one end of the first limit screw is threadedly connected to the side wall of the main support tube and abuts against the first adjustment tube, and one end of the second limit screw is threadedly connected to the side wall of the main support tube and abuts against the second adjustment tube;

[0009] The laminating unit comprises an annular turntable, a sleeve rod and a film roll, wherein the annular turntable is arranged on the frame unit and can rotate, the sleeve rod is rotatably arranged on the annular turntable and extends in a vertical direction, and the film roll is mounted on the sleeve rod;

[0010] The climbing unit is arranged on the frame unit, and the climbing unit is used to drive the frame unit to move in a vertical direction.

[0011] As an optional solution of the pier coating robot, the rack unit also includes:

[0012] A fixed angle bracket is arranged between two adjacent groups of the adjustment brackets.

[0013] As an optional solution for the pier coating robot, the climbing unit includes a drive mounting frame, a drive wheel mechanism and a floating mechanism, the drive mounting frame is installed on the frame unit, and the floating mechanism is arranged between the drive wheel mechanism and the drive mounting frame.

[0014] As an optional solution of the pier coating robot, the floating mechanism includes:

[0015] A screw rod, wherein a first end of the screw rod is threadedly connected to the drive mounting frame, and a second end of the screw rod is provided with a sleeve portion;

[0016] A guide rod, a first end of which is inserted into the sleeve portion and can slide relative to the sleeve portion, and a second end of which is fixedly connected to the driving wheel mechanism;

[0017] An elastic member is sleeved on the guide rod.

[0018] As an optional solution of the pier coating robot, the driving wheel mechanism includes:

[0019] A wheel frame assembly, the second end of the guide rod being fixedly connected to the wheel frame assembly;

[0020] A driving motor is disposed in the wheel frame assembly;

[0021] A double-output shaft reducer is arranged in the wheel frame assembly, and the drive motor is transmission-connected to the input end of the double-output shaft reducer;

[0022] The two driving wheels are respectively connected to the output ends of the double-output shaft reducer.

[0023] As an optional solution of the pier coating robot, the driving wheel mechanism also includes:

[0024] Two driven wheels are rotatably arranged on both sides of the wheel frame assembly.

[0025] As an optional solution of the pier coating robot, the annular turntable includes a first annular plate and a second annular plate vertically connected, and the pier coating robot also includes a guide unit, and the guide unit includes:

[0026] A sleeve, sleeved on the main support pipe;

[0027] A rotating bottom plate is rotatably arranged on the sleeve, and a U-shaped bracket is arranged on the rotating bottom plate;

[0028] A first friction wheel is rotatably disposed on the rotating bottom plate, and the first friction wheel abuts against an inner wall surface of the first annular plate;

[0029] Two second friction wheels are rotatably disposed at two ends of the U-shaped bracket respectively, and the second friction wheels abut against the outer wall surface of the first annular plate.

[0030] As an optional solution for the pier coating robot, a vertical pipe portion is provided on the U-shaped bracket, and the guide unit further includes:

[0031] an adjustment frame having a third friction wheel, one end of the adjustment frame being inserted into the vertical tube portion, and the third friction wheel being in contact with an upper wall surface of the second annular plate;

[0032] A third limiting screw, one end of which is threadedly connected to the side wall of the vertical tube portion and abuts against the adjustment frame.

[0033] As an optional solution of the pier coating robot, the guide unit also includes:

[0034] A support with a universal bearing, located on the rotating bottom plate;

[0035] An adjusting stud is rotatably arranged on the U-shaped bracket, one end of the adjusting stud is threadedly connected to the support, and the universal bearing is in contact with the lower wall surface of the second annular plate.

[0036] As an optional solution of the pier coating robot, the pier coating robot further includes a rotation driving unit, and the rotation driving unit is transmission-connected to at least one of the first friction wheel, the second friction wheel and the third friction wheel.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The pier column coating robot provided by the present invention has a coating unit and a climbing unit both mounted on a frame unit. After the frame unit is assembled on the pier column, the coating unit on the frame unit is driven by the climbing unit to move in a vertical direction and the annular turntable of the coating unit is rotated, so that the film roll on the sleeve rod is spirally wound onto the pier column, so that the pier column can be automatically coated, which is helpful for the maintenance of the pier column. The frame unit is composed of a plurality of groups of adjustment brackets and surrounds the pier column. Since the length of the adjustment bracket is adjustable, the pier column coating robot can coat pier columns of different specifications, thereby increasing the applicable scope of the pier column coating robot and improving the efficiency of pier column coating. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0040] Figure 1 It is a schematic diagram of the assembly of the pier coating robot in an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the structure of a rack unit in an embodiment of the present invention;

[0042] Figure 3 A schematic structural diagram of a laminating unit in an embodiment of the present invention;

[0043] Figure 4 This is a schematic structural diagram of a climbing unit from a first viewing angle in an embodiment of the present invention;

[0044] Figure 5 2 is a schematic diagram of the structure of a climbing unit in a second viewing angle in an embodiment of the present invention;

[0045] Figure 6 is a structural schematic diagram of a guide unit in a first viewing angle in an embodiment of the present invention;

[0046] Figure 7 is a structural schematic diagram of a second viewing angle of a guide unit in an embodiment of the present invention;

[0047] Figure 8 It is a schematic diagram of the assembly of the guide unit and the rotation drive unit in an embodiment of the present invention.

[0048] Reference numerals:

[0049] 100, rack unit; 200, laminating unit; 300, climbing unit; 400, guiding unit; 500, rotating driving unit;

[0050] 11. Main support tube; 12. First adjustment tube; 13. Second adjustment tube; 14. First limit screw; 15. Second limit screw; 16. Fixed angle bracket;

[0051] 21. annular turntable; 211. first annular plate; 212. second annular plate; 22. sleeve rod; 23. film roll;

[0052] 31. drive mounting frame; 32. screw rod; 321. sleeve portion; 33. guide rod; 34. elastic member; 35. wheel frame assembly; 36. drive motor; 37. double-output shaft reducer; 38. driving wheel; 39. driven wheel; 310. drive controller; 311. battery;

[0053] 41. Sleeve; 42. Rotating base plate; 43. U-shaped bracket; 431. Vertical tube; 44. First friction wheel; 45. Second friction wheel; 46. Third friction wheel; 47. Adjustment frame; 48. Third limit screw; 49. Support; 491. Universal bearing; 410. Adjustment stud. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0055] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0056] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0058] In order to automatically coat the pier column and facilitate the maintenance of the pier column, this embodiment provides a pier column coating robot. Figures 1 to 8 The specific contents of this embodiment are described in detail.

[0059] like Figures 1 to 3As shown, the pier coating robot in this embodiment includes a frame unit 100, a coating unit 200 and a climbing unit 300. The frame unit 100 includes a plurality of sets of sequentially hinged adjustment brackets, the adjustment brackets include a main support tube 11, a first adjustment tube 12, a second adjustment tube 13, a first limit screw 14 and a second limit screw 15, the first adjustment tube 12 and the second adjustment tube 13 are respectively inserted into the main support tube 11 and can slide along the length direction of the main support tube 11, one end of the first limit screw 14 is threadedly connected to the side wall of the main support tube 11 and abuts against the first adjustment tube 12, and one end of the second limit screw 15 is threadedly connected to the side wall of the main support tube 11 and abuts against the second adjustment tube 13. The coating unit 200 includes an annular turntable 21, a sleeve rod 22 and a film roll 23, the annular turntable 21 is arranged on the frame unit 100 and can rotate, the sleeve rod 22 is rotatably arranged on the annular turntable 21 and extends in the vertical direction, and the film roll 23 is installed on the sleeve rod 22. The climbing unit 300 is disposed on the frame unit 100, and the climbing unit 300 is used to drive the frame unit 100 to move in the vertical direction. Optionally, the main support tube 11 may be a rectangular tube or a round tube.

[0060] In short, the pier column coating robot provided in this embodiment, the coating unit 200 and the climbing unit 300 are both installed on the frame unit 100. After the frame unit 100 is assembled to the pier column, the film roll 23 on the sleeve rod 22 is spirally wound onto the pier column by the climbing unit 300 driving the coating unit 200 on the frame unit 100 to move in the vertical direction and the annular turntable 21 of the coating unit 200 to rotate, so that the pier column can be automatically coated, which is helpful for the maintenance of the pier column. The frame unit 100 is composed of a plurality of groups of adjustment brackets and surrounds the pier column. Since the length of the adjustment bracket is adjustable, the pier column coating robot can coat pier columns of different specifications, which increases the application range of the pier column coating robot, improves the efficiency of pier column coating, and reduces labor intensity.

[0061] Furthermore, if Figure 2 As shown, the rack unit 100 further includes a fixed angle bracket 16, which is disposed between two adjacent groups of adjustment brackets. For example, the rack unit 100 in this embodiment is composed of four groups of adjustment brackets hinged in sequence. By installing the fixed angle bracket 16 between two adjacent groups of adjustment brackets, the structural strength of the rack unit 100 can be increased to prevent the rack unit 100 from being deformed during operation.

[0062] Furthermore, the climbing unit 300 includes a driving mounting frame 31, a driving wheel mechanism and a floating mechanism, wherein the driving mounting frame 31 is mounted on the frame unit 100, and the floating mechanism is disposed between the driving wheel mechanism and the driving mounting frame 31. The driving wheel mechanism is used to contact the wall surface of the pier column and drive the pier column coating robot to climb in the vertical direction, and since the floating mechanism is located between the driving wheel mechanism and the driving mounting frame 31, it can adapt to the situation where the diameter of the pier column itself is inconsistent, so that the driving wheel mechanism is tightly pressed against the wall surface of the pier column.

[0063] Furthermore, if Figure 1 , Figure 4 Combination Figure 5 As shown, the floating mechanism includes a screw rod 32, a guide rod 33 and an elastic member 34, wherein the first end of the screw rod 32 is threadedly connected to the drive mounting frame 31, the second end of the screw rod 32 is provided with a sleeve portion 321, the first end of the guide rod 33 is inserted into the sleeve portion 321 and can slide relative to the sleeve portion 321, the second end of the guide rod 33 is fixedly connected to the drive wheel mechanism, the elastic member 34 is sleeved on the guide rod 33, and one end of the elastic member 34 abuts against the drive mounting frame 31. With the change of the wall surface of the pier column, the guide rod 33 can extend or retract relative to the sleeve portion 321 of the screw rod 32. This elastic member 34 can be adaptively adjusted (contracted and expanded) with the change of the cross section of the pier column, so that the drive wheel is tightly pressed on the pier column. By adding a screw rod 32, the elastic member 34 will be compressed by manually rotating the screw rod 32, thereby applying positive pressure to the drive wheel, increasing friction, and ensuring that the robot will not fall off due to insufficient friction. In some application scenarios, the driving wheel mechanism can be a wheel type, or a crawler type or a pulley type for climbing. The elastic member 34 can be a compression spring, and its adaptive adjustment can also be achieved by using a hydraulic cylinder, an electric cylinder, etc.

[0064] Exemplarily, the driving wheel mechanism in this embodiment includes a wheel frame assembly 35, a driving motor 36, a double-shaft reducer 37 and two driving wheels 38. The second end of the guide rod 33 is fixedly connected to the wheel frame assembly 35. The driving motor 36 is arranged in the wheel frame assembly 35. The double-shaft reducer 37 is arranged in the wheel frame assembly 35, and the driving motor 36 is transmission-connected to the input end of the double-shaft reducer 37. The two driving wheels 38 are respectively transmission-connected to the output ends of the double-shaft reducer 37. The driving force of the driving motor 36 is transmitted to the two driving wheels 38 through the double-shaft reducer 37 to realize the climbing of the robot. A driving controller 310 and a battery 311 are also installed on the wheel frame assembly 35, and the driving motor 36 and the battery 311 are both electrically connected to the driving controller 310.

[0065] Furthermore, the driving wheel mechanism further includes two driven wheels 39, which are rotatably arranged on both sides of the wheel frame assembly 35. The function of the driven wheels 39 is to increase the number of wheels, thereby increasing the contact area between a single mechanism and the pier column, providing more friction, and can play a role in mutual restraint with the driving mechanism on the opposite side of the pier column, thereby avoiding the whole machine from tilting due to the asynchronous climbing process.

[0066] Furthermore, the annular turntable 21 is composed of a left half ring and a right half ring, and the left half ring and the right half ring can be spliced ​​into a whole by means of, but not limited to, bolts or snaps.

[0067] For example, Figure 1 , Figure 2 , Figure 6 Combination Figure 7 As shown, the annular turntable 21 includes a first annular plate 211 and a second annular plate 212 connected vertically, and the pier coating robot also includes a guide unit 400, which includes a sleeve 41, a rotating base plate 42, a first friction wheel 44 and two second friction wheels 45. The sleeve 41 is sleeved on the main support tube 11, and a butterfly screw is passed through the sleeve 41 to connect or abut the outer wall surface of the main support tube 11 to achieve the fixing of the position of the sleeve 41 on the main support tube 11. The rotating base plate 42 is rotatably arranged on the sleeve 41, and a U-shaped bracket 43 is arranged on the rotating base plate 42. The first friction wheel 44 is rotatably arranged on the rotating base plate 42, and the first friction wheel 44 abuts against the inner wall surface of the first annular plate 211. The two second friction wheels 45 are rotatably arranged at both ends of the U-shaped bracket 43, and the second friction wheels 45 abut against the outer wall surface of the first annular plate 211. The first friction wheel 44 and the second friction wheel 45 on the rotating bottom plate 42 are respectively in contact with the inner wall surface and the outer wall surface of the annular first annular plate 211 to guide the rotation of the annular turntable 21 .

[0068] Furthermore, a vertical tube portion 431 is provided on the U-shaped bracket 43, and the guide unit 400 further includes an adjustment frame 47 having a third friction wheel 46 and a third stop screw 48. One end of the adjustment frame 47 is inserted into the vertical tube portion 431, and the third friction wheel 46 abuts against the upper wall surface of the second annular plate 212. One end of the third stop screw 48 is threadedly connected to the side wall of the vertical tube portion 431 and abuts against the adjustment frame 47. After the adjustment frame 47 is inserted into the vertical tube portion 431, its height can be adjusted so that the third friction wheel 46 contacts the upper wall surface of the second annular plate 212 and is fixed in position by the third stop screw 48, so as to guide the rotation of the annular turntable 21.

[0069] Furthermore, the guide unit 400 further includes a support 49 having a universal bearing 491 and an adjusting stud 410, wherein the support 49 having the universal bearing 491 is located on the rotating base plate 42. The adjusting stud 410 is rotatably disposed on the U-shaped bracket 43, one end of the adjusting stud 410 is threadedly connected to the support 49, and the universal bearing 491 abuts against the lower wall surface of the second annular plate 212. By controlling the depth of the adjusting stud 410 screwed into the support 49, the universal bearing 491 on the support 49 can be aligned and contacted with the lower wall surface of the second annular plate 212, so as to guide the rotation of the annular turntable 21.

[0070] Furthermore, if Figure 8 As shown, the pier coating robot further includes a rotation drive unit 500, which is transmission-connected to at least one of the first friction wheel 44, the second friction wheel 45, and the third friction wheel 46. The rotation drive unit 500 may be a servo motor. In this embodiment, the rotation drive unit 500 is connected to the first friction wheel 44 through a transmission shaft, so that the first friction wheel 44 serves as a power wheel and the other friction wheels serve as follower wheels. In other embodiments, other assembly methods may be used, which are not limited here.

[0071] In other embodiments, the annular turntable 21 may also be replaced by an annular guide rail and a powered slider.

[0072] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A pier coating robot, characterized in that: include: The rack unit (100) comprises a plurality of groups of adjusting brackets which are hinged in sequence, wherein the adjusting bracket comprises a main supporting tube (11), a first adjusting tube (12), a second adjusting tube (13), a first limiting screw (14) and a second limiting screw (15); the first adjusting tube (12) and the second adjusting tube (13) are respectively inserted into the main supporting tube (11) and can slide along the length direction of the main supporting tube (11); one end of the first limiting screw (14) is threadedly connected to the side wall of the main supporting tube (11) and abuts against the first adjusting tube (12); one end of the second limiting screw (15) is threadedly connected to the side wall of the main supporting tube (11) and abuts against the second adjusting tube (13); The laminating unit (200) comprises an annular turntable (21), a sleeve rod (22) and a film roll (23), wherein the annular turntable (21) is arranged on the frame unit (100) and is rotatable, the sleeve rod (22) is rotatably arranged on the annular turntable (21) and extends in a vertical direction, and the film roll (23) is mounted on the sleeve rod (22); A climbing unit (300) is arranged on the frame unit (100), and the climbing unit (300) is used to drive the frame unit (100) to move in a vertical direction.

2. The pier coating robot according to claim 1, characterized in that: The rack unit (100) further comprises: A fixed angle bracket (16) is arranged between two adjacent groups of the adjustment brackets.

3. The pier coating robot according to claim 1, characterized in that: The climbing unit (300) comprises a driving mounting frame (31), a driving wheel mechanism and a floating mechanism; the driving mounting frame (31) is mounted on the frame unit (100); and the floating mechanism is arranged between the driving wheel mechanism and the driving mounting frame (31).

4. The pier coating robot according to claim 3, characterized in that: The floating mechanism comprises: A screw rod (32), wherein a first end of the screw rod (32) is threadedly connected to the drive mounting frame (31), and a second end of the screw rod (32) is provided with a sleeve portion (321); A guide rod (33), wherein a first end of the guide rod (33) is inserted into the sleeve portion (321) and is capable of sliding relative to the sleeve portion (321), and a second end of the guide rod (33) is fixedly connected to the driving wheel mechanism; An elastic member (34) is sleeved on the guide rod (33), and one end of the elastic member (34) is in contact with the drive mounting frame (31).

5. The pier coating robot according to claim 4, characterized in that: The driving wheel mechanism comprises: A wheel frame assembly (35), the second end of the guide rod (33) being fixedly connected to the wheel frame assembly (35); A driving motor (36) is disposed in the wheel frame assembly (35); A double-output shaft reducer (37) is arranged in the wheel frame assembly (35), and the drive motor (36) is transmission-connected to the input end of the double-output shaft reducer (37); The two driving wheels (38) are respectively connected to the output ends of the double-output shaft reducer (37) in driving connection.

6. The pier coating robot according to claim 5, characterized in that: The driving wheel mechanism also includes: Two driven wheels (39) are rotatably arranged on both sides of the wheel frame assembly (35).

7. The pier coating robot according to claim 1, characterized in that: The annular turntable (21) includes a first annular plate (211) and a second annular plate (212) which are vertically connected. The pier coating robot also includes a guide unit (400). The guide unit (400) includes: A sleeve (41) sleeved on the main support tube (11); A rotating bottom plate (42) is rotatably disposed on the sleeve (41), and a U-shaped bracket (43) is disposed on the rotating bottom plate (42); A first friction wheel (44) is rotatably disposed on the rotating bottom plate (42), wherein the first friction wheel (44) abuts against an inner wall surface of the first annular plate (211); Two second friction wheels (45) are rotatably disposed at two ends of the U-shaped bracket (43), respectively, and the second friction wheels (45) abut against the outer wall surface of the first annular plate (211).

8. The pier coating robot according to claim 7, characterized in that: The U-shaped bracket (43) is provided with a vertical pipe portion (431), and the guide unit (400) further includes: an adjustment frame (47) having a third friction wheel (46), one end of the adjustment frame (47) being inserted into the vertical pipe portion (431), and the third friction wheel (46) being in contact with the upper wall surface of the second annular plate (212); A third limiting screw (48), one end of which is threadedly connected to the side wall of the vertical tube portion (431) and abuts against the adjustment frame (47).

9. The pier coating robot according to claim 8, characterized in that: The guiding unit (400) further comprises: A support (49) having a universal bearing (491) is located on the rotating base plate (42); The adjusting stud (410) is rotatably mounted on the U-shaped bracket (43), one end of the adjusting stud (410) is threadedly connected to the support (49), and the universal bearing (491) is in contact with the lower wall of the second annular plate (212).

10. The pier coating robot according to claim 8 or 9, characterized in that: The pier coating robot further comprises a rotation driving unit (500), wherein the rotation driving unit (500) is transmission-connected to at least one of the first friction wheel (44), the second friction wheel (45) and the third friction wheel (46).

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