Multifunctional indoor spraying robot

Abstract

According to the multifunctional indoor spraying robot, unmanned rolling brushing and spraying can be carried out on a building wall, some existing spraying equipment moves through common motor wheels to work and is only suitable for working in a flat ground environment, the device focuses on self-balance adjusting work in a blank space in a building, and the working efficiency is greatly improved. And the device is more suitable for complex and changeable construction environments in a building site.

Description

Technical Field

[0001] The invention relates to the field of indoor spraying, and more specifically to a multifunctional indoor spraying robot. Background Art

[0002] With the rapid development of modern industry, many applications of indoor spraying in the construction field have been implemented in combination with existing scientific and technological technologies.

[0003] For example: CN222101374U, a kind of indoor spraying device for green building construction, the utility model relates to the field of indoor spraying technology, specifically a kind of indoor spraying device for green building construction, including a spraying platform, a screw slide is provided on the spraying platform, an electric push rod is provided on the output end of the screw slide, a spray head is provided on the output end of the electric push rod, a detection box is also provided on the output end of the screw slide, a detection piece is slidably provided on the detection box, one end of the detection piece extends to the inside of the detection box, a laser rangefinder is provided on the port where the detection piece extends to the inside of the detection box, an elastic unit is provided between the detection piece and the detection box, a suction fan is also provided on the output end of the screw slide, a fan switch is also provided inside the detection box, the fan switch is electrically connected to the suction fan, an air inlet is provided at the input end of the suction fan, and an air outlet is provided at the output end of the suction fan. The utility model automatically adjusts the distance between the spray head and the wall through the cooperation of the detection box, the detection piece, the laser rangefinder and the elastic unit to ensure the accuracy of the paint spraying. The spraying structure of the utility model does not have any protective measures for the sensor elements. The atomized paint will have a certain rebound range after spraying. The atomized paint will have the characteristics of blocking and corroding structural elements. In addition, the spraying platform mechanism of the utility model can only work in an environment with a flat ground, and its adaptability is low. Its detection and ranging structure is also composed of a combination of assembly techniques commonly used in this field.

[0004] For example: CN221941843U, a green building indoor spraying device, the utility model belongs to the technical field of green building indoor spraying devices, specifically a green building indoor spraying device, through the joint action of the spraying device and the mobile device, it avoids the waste of paint, ensures the quality of the indoor working environment, ensures the health of the staff, and improves the efficiency of the spraying operation. The bottom mechanism of the utility model can only work in an environment with a flat ground, and the adaptability is low. Summary of the invention

[0005] The purpose of the present invention is to provide a multifunctional indoor spraying robot that can perform unmanned rolling brushing and spraying on building walls. Some existing spraying equipment operates by moving with ordinary motor wheels and is only suitable for operation on a flat ground environment. The present device focuses more on self-balancing and adjusting operations in the rough space inside the building, and can better adapt to the complex and changeable construction environment on the construction site.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A multifunctional indoor spray painting robot is characterized by comprising a frame assembly, a first wheat wheel group, a second wheat wheel group, a middle supporting wheel group, a multi-directional paint spraying mechanism, and a force-applying roller brush mechanism. The first wheat wheel group, the second wheat wheel group, the middle supporting wheel group, and the multi-directional paint spraying mechanism are all connected to the frame assembly, and the multi-directional paint spraying mechanism is connected to the force-applying roller brush mechanism.

[0008] As a further optimization of the technical solution, the present invention provides a multifunctional indoor spraying robot, wherein the frame assembly includes a bottom support plate, a connecting bracket A, a connecting bracket B, a connecting bracket C, a battery pack, a control main board, an inspection cover A, an inspection cover B, a top support plate, and a material box, wherein the bottom support plate is fixedly connected to the top support plate through the connecting bracket A, the connecting bracket B, and the connecting bracket C, the battery pack and the control main board are fixedly connected to the bottom support plate, and the inspection cover A and the inspection cover B are fixedly connected to the connecting bracket B and the connecting bracket C.

[0009] As a further optimization of the technical solution, the present invention provides a multifunctional indoor spraying robot, wherein the first wheat wheel group includes a fork rod fixing bracket, a U-shaped fork rod A, a U-shaped fork rod B, a motor bracket A, a pushing cylinder bracket, an electric push rod A, a motor A, a wheat wheel group A, a U-shaped fork rod C, a U-shaped fork rod D, a motor bracket B, an electric push rod B, a wheat wheel group B, and a motor B, wherein the U-shaped fork rod A, the U-shaped fork rod B, the U-shaped fork rod C, and the U-shaped fork rod D are all rotatably connected to the fork rod fixing bracket, the U-shaped fork rod A, the U-shaped fork rod B, and the electric push rod A are all rotatably connected to the motor bracket A, the electric push rod A and the electric push rod B are all rotatably connected to the pushing cylinder bracket, the motor A is fixedly connected to the motor bracket A, the output shaft of the motor A is fixedly connected to the wheat wheel group A, and the U-shaped fork rod C, the U-shaped fork rod D, the electric push rod B, and the motor B are all rotatably connected to the motor bracket B.

[0010] As a further optimization of the technical solution, the present invention provides a multifunctional indoor spraying robot, wherein the components contained in the second McLaren group are the same as those of the first McLaren group, the assembly method and sequence are the same as those of the first McLaren group, and the operation sequence and implemented functions are the same as those of the first McLaren group.

[0011] As a further optimization of the technical solution, the present invention provides a multifunctional indoor spraying robot, wherein the middle supporting wheel group includes a fixed base, an axle seat A, a ball socket shaft A, a shock absorber A, a fork rod A, a C-type pivot A, a positioning block A, a ball socket shaft B, a universal ball fixing seat A, a steel ball A, a ball head connecting rod A, a connecting rod A, a shock absorber B, a fork rod B, a C-type pivot B, a positioning block B, a ball socket shaft C, a universal ball fixing seat B, a steel ball B, a ball head connecting rod B, and a connecting rod B, wherein the fixed base, the ball socket shaft A, the positioning block A, and the positioning block B are all fixedly connected to the axle seat A, and the shock absorber A, the connecting rod A, the shock absorber B, and the connecting rod B They are all rotatably connected to the fixed base, the shock absorber A is rotatably connected to the fork rod A, the fork rod A, the positioning block A, and the connecting rod A are all rotatably connected to the C-type pivot A, the positioning block A is rotatably connected to the ball socket shaft B, the positioning block A is fixedly connected to the universal ball fixing seat A, the ball socket shaft B is rotatably connected to the universal ball fixing seat A, the shock absorber B is rotatably connected to the fork rod B, the ball head connecting rod A and the ball head connecting rod B are all rotatably connected to the ball socket shaft A, the positioning block B and the connecting rod B are all rotatably connected to the C-type pivot B, the ball socket shaft C is rotatably connected to the positioning block B, the positioning block B is fixedly connected to the universal ball fixing seat B, and the universal ball fixing seat B is rotatably connected to the steel ball B.

[0012] As a further optimization of the technical solution, the present invention provides a multifunctional indoor spraying robot, wherein the multidirectional painting mechanism includes a vertical sliding seat, a motor C, a coupling, a screw shaft, a screw block, a slider seat, a fixed plate, a motor bracket C, a motor D, a synchronous pulley A, a belt A, a synchronous pulley B, a shaft A, a driving arm, a motor E, a synchronous pulley C, a belt B, a synchronous pulley D, a shaft B, a U-shaped bracket, a motor E, a liquid storage tank, a feed pump A, a liquid infusion tube A, a feed pump B, and a spray gun, wherein the vertical sliding seat is fixedly connected to the motor C, the motor C is fixedly connected to the screw shaft through a coupling, the vertical sliding seat is rotationally connected to the screw shaft, the screw shaft is meshingly connected to the screw block, the screw block, and the slider The seat and the motor bracket C are fixedly connected to the fixed plate, the motor bracket C is fixedly connected to the motor D, the output shaft of the motor D is fixedly connected to the synchronous pulley A, the synchronous pulley A is rotatably connected to the synchronous pulley B through the belt A, the synchronous pulley B and the driving arm are fixedly connected to the shaft A, the shaft A is rotatably connected to the fixed plate, the driving arm is fixedly connected to the motor E, the output shaft of the motor E is fixedly connected to the synchronous pulley C, the synchronous pulley C is rotatably connected to the synchronous pulley D through the belt B, the synchronous pulley D and the U-shaped bracket are fixedly connected to the shaft B, the motor E, the feed pump B and the spray gun are fixedly connected to the U-shaped bracket, the liquid storage tank is fixedly connected to the feed pump A, and the feed pump A, the feed pump B and the spray gun are fixedly connected to the infusion pipe A.

[0013] As a further optimization of the technical solution, the present invention provides a multifunctional indoor spraying robot, wherein the force-applying roller brush mechanism includes an axle seat B, a motor F, a transmission, a synchronous pulley E, a belt C, a synchronous pulley F, a gear A, a fork rod C, a gear B, a fork rod D, a connecting rod C, a connecting rod D, an axle C, a connecting rod E, a connecting rod F, a fork rod E, a gear C, a fork rod F, a gear D, a positioning block C, a roller brush bracket, and a roller brush, wherein the motor F and the transmission are fixedly connected to the axle seat B, the motor F is fixedly connected to the transmission, the transmission output shaft is fixedly connected to the synchronous pulley E, the synchronous pulley E is fixedly connected to the synchronous pulley F through the belt C, the synchronous pulley F, the gear A is fixedly connected to fork rod C, gear A is meshed with gear B, gear B is fixedly connected to fork rod D, gear A is meshed with gear B, fork rod C and fork rod D are rotatably connected to shaft seat B, connecting rod C and connecting rod E are rotatably connected to fork rod C and fork rod F, connecting rod D and connecting rod F are rotatably connected to fork rod D and fork rod E, connecting rod C, connecting rod D, connecting rod E, and connecting rod F are rotatably connected to shaft C, fork rod E is fixedly connected to gear C, fork rod F is fixedly connected to gear D, gear C is meshed with gear D, fork rod E and fork rod F are rotatably connected to positioning block C, positioning block C is fixedly connected to roller brush bracket, and roller brush bracket is rotatably connected to roller brush.

[0014] The beneficial effects of the multifunctional indoor spraying robot of the present invention are:

[0015] The multifunctional indoor spraying robot of the present invention has the following beneficial effects: 1. It can perform unmanned rolling brushing and spraying on building walls; 2. Some existing spraying equipment moves through ordinary motor wheels and is only suitable for operation on a flat ground environment. The present device focuses more on self-balancing and adjusting operations in the rough space inside the building, and can better adapt to the complex and changeable construction environment on the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0017] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0018] Figure 2 The frame assembly structure of the present invention is schematically shown in FIG. Figure 1 ;

[0019] Figure 3 The frame assembly structure of the present invention is schematically shown in FIG. Figure 2 ;

[0020] Figure 4 This is a schematic diagram of the first wheat wheel group structure of the present invention Figure 1 ;

[0021] Figure 5This is a schematic diagram of the structure of the middle support wheel group of the present invention. Figure 1 ;

[0022] Figure 6 This is a schematic diagram of the multi-directional paint spraying mechanism of the present invention. Figure 1 ;

[0023] Figure 7 This is a schematic diagram of the multi-directional paint spraying mechanism of the present invention. Figure 2 ;

[0024] Figure 8 The structure of the force-applying roller brush mechanism of the present invention is shown in FIG. Figure 1 ;

[0025] In the figure: frame assembly 1; bottom support plate 101; connecting bracket A102; connecting bracket B103; connecting bracket C104; battery pack 105; control main board 106; inspection cover A107; inspection cover B108; top support plate 109; material box 110; first wheat wheel group 2; fork rod fixing bracket 201; U-shaped fork rod A202; U-shaped fork rod B203; motor bracket A204; push cylinder bracket 205; electric push rod A206; motor A207; wheat wheel group A208; U-shaped fork rod C209; U-shaped fork rod D210; motor bracket B2 11; electric push rod B212; wheat wheel group B213; motor B214; second wheat wheel group 3; middle support wheel group 4; fixed base 401; shaft seat A402; ball and socket shaft A403; shock absorber A404; fork rod A405; C-type pivot A406; positioning block A407; ball and socket shaft B408; universal ball fixing seat A409; steel ball A410; ball head connecting rod A411; connecting rod A412; shock absorber B413; fork rod B414; C-type pivot B415; positioning block B416; ball and socket shaft C417; universal ball fixing seat B418; steel ball B4 19; ball head connecting rod B420; connecting rod B421; multi-directional painting mechanism 5; vertical sliding seat 501; motor C502; coupling 503; screw shaft 504; screw screw block 505; slider seat 506; fixing plate 507; motor bracket C508; motor D509; synchronous pulley A510; belt A511; synchronous pulley B512; shaft A513; driving arm 514; motor E515; synchronous pulley C516; belt B517; synchronous pulley D518; shaft B519; U-shaped bracket 520; motor E521; liquid storage tank 522; transmission Material pump A523; infusion tube A524; material delivery pump B525; spray gun 526; force roller brush mechanism 6; shaft seat B601; motor F602; transmission 603; synchronous pulley E604; belt C605; synchronous pulley F606; gear A607; fork rod C608; gear B609; fork rod D610; connecting rod C611; connecting rod D612; shaft C613; connecting rod E614; connecting rod F615; fork rod E616; gear C617; fork rod F618; gear D619; positioning block C620; roller brush bracket 621; roller brush 622 。 Specific embodiments

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings. Specific embodiment one:

[0028] Combine the following Figure 1-8The present embodiment describes a multifunctional indoor spray painting robot, including a frame assembly 1, a first wheat wheel group 2, a second wheat wheel group 3, a middle supporting wheel group 4, a multi-directional paint spraying mechanism 5, and a force-applying roller brush mechanism 6. The first wheat wheel group 2, the second wheat wheel group 3, the middle supporting wheel group 4, and the multi-directional paint spraying mechanism 5 are all connected to the frame assembly 1, and the multi-directional paint spraying mechanism 5 is connected to the force-applying roller brush mechanism 6. Specific embodiment 2:

[0030] Combine the following Figure 1-8 To explain this embodiment, this embodiment further explains Example 1. The frame assembly 1 includes a bottom support plate 101, a connecting bracket A102, a connecting bracket B103, a connecting bracket C104, a battery pack 105, a control main board 106, an inspection cover A107, an inspection cover B108, a top support plate 109, and a material box 110. The bottom support plate 101 is fixedly connected to the top support plate 109 through the connecting bracket A102, the connecting bracket B103, and the connecting bracket C104. The battery pack 105 and the control main board 106 are fixedly connected to the bottom support plate 101. The inspection cover A107 and the inspection cover B108 are fixedly connected to the connecting bracket B103 and the connecting bracket C104. Specific embodiment three:

[0032] Combine the following Figure 1-8 This embodiment is described. This embodiment further describes Example 1. The first wheat wheel group 2 includes a fork rod fixing bracket 201, a U-shaped fork rod A202, a U-shaped fork rod B203, a motor bracket A204, a push cylinder bracket 205, an electric push rod A206, a motor A207, a wheat wheel group A208, a U-shaped fork rod C209, a U-shaped fork rod D210, a motor bracket B211, an electric push rod B212, a wheat wheel group B213, and a motor B214, wherein the U-shaped fork rod A202, the U-shaped fork rod B203, the U-shaped fork rod C209, The U-shaped fork rod D210 is rotatably connected to the fork rod fixed bracket 201, the U-shaped fork rod A202, the U-shaped fork rod B203, and the electric push rod A206 are rotatably connected to the motor bracket A204, the electric push rod A206 and the electric push rod B212 are rotatably connected to the push cylinder bracket 205, the motor A207 is fixedly connected to the motor bracket A204, the output shaft of the motor A207 is fixedly connected to the wheat wheel group A208, and the U-shaped fork rod C209, the U-shaped fork rod D210, the electric push rod B212, and the motor B214 are rotatably connected to the motor bracket B211. Specific embodiment four:

[0034] Combine the following Figure 1-8This embodiment is described as further describing the first embodiment. The components of the second mechanowheel group 3 are the same as those of the first mechanowheel group 2, the assembly method and sequence thereof are the same as those of the first mechanowheel group 2, and the operation sequence and functions realized are the same as those of the first mechanowheel group 2. Specific embodiment five:

[0036] Combine the following Figure 1-8 This embodiment further describes the first embodiment. The middle support wheel group 4 includes a fixed base 401, an axle seat A402, a ball and socket shaft A403, a shock absorber A404, a fork rod A405, a C-shaped pivot A406, a positioning block A407, a ball and socket shaft B408, a universal ball fixing seat A409, a steel ball A410, a ball head connecting rod A411, a connecting rod A412, and a shock absorber B413. , fork rod B414, C-shaped pivot B415, positioning block B416, ball and socket shaft C417, universal ball fixing seat B418, steel ball B419, ball head connecting rod B420, connecting rod B421, wherein the fixed base 401, ball and socket shaft A403, positioning block A407, positioning block B416 are all fixedly connected to the shaft seat A402, shock absorber A404, connecting rod A412, shock absorber B413, connecting rod B4 21 are all rotatably connected to the fixed base 401, the shock absorber A404 is rotatably connected to the fork rod A405, the fork rod A405, the positioning block A407, and the connecting rod A412 are all rotatably connected to the C-shaped pivot A406, the positioning block A407 is rotatably connected to the ball socket shaft B408, the positioning block A407 is fixedly connected to the universal ball fixing seat A409, the ball socket shaft B408 is rotatably connected to the universal ball fixing seat A409, the shock absorber B413 is rotatably connected to the fork rod B414, the ball head connecting rod A411 and the ball head connecting rod B420 are both rotatably connected to the ball socket shaft A403, the positioning block B416 and the connecting rod B421 are both rotatably connected to the C-shaped pivot B415, the ball socket shaft C417 is rotatably connected to the positioning block B416, the positioning block B416 is fixedly connected to the universal ball fixing seat B418, and the universal ball fixing seat B418 is rotatably connected to the steel ball B419. Specific embodiment six:

[0038] Combine the following Figure 1-8This embodiment is described. This embodiment further describes the first embodiment. The multi-directional paint spraying mechanism 5 includes a vertical sliding seat 501, a motor C502, a coupling 503, a screw shaft 504, a screw block 505, a slider seat 506, a fixing plate 507, a motor bracket C508, a motor D509, a synchronous pulley A510, a belt A511, a synchronous pulley B512, a shaft A513, a driving arm 514, a motor E515, a synchronous pulley C516, a belt B517, Synchronous pulley D518, shaft B519, U-shaped bracket 520, motor E521, liquid storage tank 522, feed pump A523, infusion tube A524, feed pump B525, spray gun 526, wherein the vertical sliding seat 501 is fixedly connected to the motor C502, the motor C502 is fixedly connected to the screw shaft 504 through the coupling 503, the vertical sliding seat 501 is rotatably connected to the screw shaft 504, the screw shaft 504 is meshed with the screw block 505, the screw block 505, the slider seat 506, motor bracket C508 are fixedly connected to the fixed plate 507, motor bracket C508 is fixedly connected to motor D509, the output shaft of motor D509 is fixedly connected to synchronous pulley A510, synchronous pulley A510 is rotationally connected to synchronous pulley B512 through belt A511, synchronous pulley B512 and driving arm 514 are fixedly connected to shaft A513, shaft A513 is rotationally connected to the fixed plate 507, driving arm 514 is fixedly connected to motor E515, motor E5 The output shaft is fixedly connected to the synchronous pulley C516, which is rotatably connected to the synchronous pulley D518 via the belt B517. The synchronous pulley D518 and the U-shaped bracket 520 are all fixedly connected to the shaft B519. The motor E521, the feed pump B525 and the spray gun 526 are all fixedly connected to the U-shaped bracket 520. The liquid storage tank 522 is fixedly connected to the feed pump A523. The feed pump A523, the feed pump B525 and the spray gun 526 are all fixedly connected to the liquid delivery pipe A524. Specific embodiment seven:

[0040] Combine the following Figure 1-8This embodiment further describes the first embodiment. The force-applying roller brush mechanism 6 includes an axle seat B601, a motor F602, a transmission 603, a synchronous pulley E604, a belt C605, a synchronous pulley F606, a gear A607, a fork rod C608, a gear B609, a fork rod D610, a connecting rod C611, a connecting rod D612, a shaft C613, a connecting rod E614, a connecting rod F615, a fork rod E616, and a gear C61 7. Fork rod F618, gear D619, positioning block C620, roller brush bracket 621, roller brush 622, wherein the motor F602 and the transmission 603 are fixedly connected to the shaft seat B601, the motor F602 is fixedly connected to the transmission 603, the transmission 603 output shaft is fixedly connected to the synchronous pulley E604, the synchronous pulley E604 is fixedly connected to the synchronous pulley F606 through the belt C605, the synchronous pulley F606 and the gear A607 are fixedly connected to the fork rod C608 is fixedly connected, gear A607 is meshed with gear B609, gear B609 is fixedly connected with fork rod D610, gear A607 is meshed with gear B609, fork rod C608 and fork rod D610 are both rotatably connected with shaft seat B601, connecting rod C611 and connecting rod E614 are both rotatably connected with fork rod C608 and fork rod F618, connecting rod D612 and connecting rod F615 are both rotatably connected with fork rod D610 and fork rod E616, connecting rod C611 and connecting rod E614 are both rotatably connected with fork rod C608 and fork rod F618, connecting rod D612 and connecting rod F615 are both rotatably connected with fork rod D610 and fork rod E616, Rod C611, connecting rod D612, connecting rod E614, and connecting rod F615 are all rotatably connected to shaft C613, fork rod E616 is fixedly connected to gear C617, fork rod F618 is fixedly connected to gear D619, gear C617 is meshingly connected to gear D619, fork rod E616 and fork rod F618 are both rotatably connected to positioning block C620, positioning block C620 is fixedly connected to roller brush bracket 621, and roller brush bracket 621 is rotatably connected to roller brush 622.

[0041] A multifunctional indoor spraying robot of the present invention has the following working principle: some existing spraying equipments move and operate through ordinary motor wheels, which are only suitable for operation in a flat ground environment. For the complex environment in the building, especially in the rough environment, there will be a lot of interference problems affected by the environment. The present device focuses more on self-balancing and adjusting operations in the rough space of the building, and can better adapt to the complex and changeable construction environment in the construction site. The present device realizes equipment power supply through a battery pack 105, and a control mainboard 106 is the core of the device for external communication and internal control. The electronic components are repaired by disassembling the inspection cover A107 and the inspection cover B108, and the first Mecanum wheel group 2 and the second Mecanum wheel group 3 realize the movement of the present device. The special Mecanum wheel group The device can be flexibly moved by the motor. Taking the first wheat wheel group 2 as an example, when the motor A207 is started, its output shaft drives the wheat wheel group A208 to rotate. When the motor B214 is started, its output shaft drives the second wheat wheel group 3 to rotate. The first wheat wheel group 2 and the second wheat wheel group 3 are fixedly connected to the bottom support plate 101 and the top support plate 109 in the frame assembly 1 through the fork rod fixing bracket 201 and the push cylinder bracket 205, respectively. Among them, the bottom of the connecting bracket B103 and the connecting bracket C104 are respectively embedded with a horizontal sensor. By controlling the height of the wheat wheel group in the first wheat wheel group 2 and the second wheat wheel group 3 from the ground, the frame assembly 1 is finally kept in a horizontal state. Taking the first wheat wheel group 2 as an example, when the device is parked on an uneven ground and ready for operation, If the device tilts, it will affect the rolling brush and spraying operations of the device, and will directly lead to uneven thickness during spraying and rolling brushing. Therefore, when the horizontal sensor at the bottom of the connecting bracket B103 and the connecting bracket C104 detects that the frame assembly 1 is tilted, the control main board 106 sends a signal to the electric push rod A206 and the electric push rod B212, and the electric push rod A206 starts, and its output shaft pushes the motor bracket A204. When the motor bracket A204 moves, it drives the U-shaped fork rod A202 and the U-shaped fork rod B203 to rotate along the fork rod fixed bracket 201. The motor bracket A204 drives the wheat wheel group A208 to move up and down through the motor A207. Similarly, when the electric push rod B212 starts, its output shaft pushes the motor bracket B211 moves up and down, and when moving, it drives the U-shaped fork rod C209 and the U-shaped fork rod D210 to rotate along the fork rod fixing bracket 201. The motor bracket B211 drives the second wheat wheel group 3 to move up and down through the motor B214. Similarly, the wheat wheel group in the second wheat wheel group 3 is adjusted until the frame assembly 1 is horizontal when it is stationary, and then all the electric push rods are closed. Considering that the entire device is heavy, a fixed middle support wheel group 4 is installed in the middle stage of the frame assembly 1 to provide a telescopic shock-absorbing support for the middle part of the frame assembly 1. When the steel ball A410 is squeezed, it drives the universal ball fixing seat A409 to move upward, and the universal ball fixing seat A409 drives the positioning block A407 to move upward, and the positioning block A407 drives the C-shaped pivot A406 to move upward.The C-pivot A406 drives the connecting rod A412 to rotate along the shaft seat A402. When the positioning block A407 moves upward, it drives the ball head connecting rod A411 to rotate along the ball socket shaft A403 through the ball socket shaft B408. When the C-pivot A406 moves upward, it also drives the fork rod A405 to rotate along the shaft seat A402. When the shaft seat A402 rotates, the fork rod A405 squeezes the shock absorber A404. When the steel ball B419 is squeezed, it drives the universal ball fixing seat B418 to move upward. The universal ball fixing seat B418 drives the positioning block B416 to move upward. The positioning block B416 drives the C-pivot B415 and the ball socket shaft C417 to move upward. The ball socket shaft C417 drives the ball head connecting rod B420 to move upward along the ball socket shaft A403. C-pivot B415 drives fork rod B414 to rotate along shaft seat A402, and C-pivot B415 drives connecting rod B421 to rotate along fixed base 401, which plays a role of shock absorption and support. At this time, frame assembly 1 is supported by first wheat wheel group 2, second wheat wheel group 3 and middle supporting wheel group 4, which ensures stable operation of multi-directional paint spraying mechanism 5 and force roller brush mechanism 6. When preparing for paint spraying operation, start motor D509, and the output shaft of motor D509 drives synchronous pulley A510 to rotate, and synchronous pulley A510 drives synchronous pulley B512 to rotate through belt A511, and synchronous pulley B512 drives driving arm 514 to rotate through shaft A513, and driving arm 514 drives U-shaped bracket 520 to follow and move through shaft B519, and U-shaped The bracket 520 drives the spray gun 526 to rotate, and the motor E515 is started. When the output shaft rotates, it drives the synchronous pulley C516 to rotate. When the synchronous pulley C516 rotates, it drives the synchronous pulley D518 to rotate through the belt B517. The synchronous pulley D518 drives the spray gun 526 to rotate through the shaft B519 until the spray gun 526 is parallel to the building wall. Among them, all the documents of this device do not have detailed markings or additions about laser ranging, parallel to the wall or AI camera intelligent sensor elements. The reason is that such methods of adding sensors are common means that technicians in this field can make adjustments according to actual conditions. It is explained here that at this time, the feed pump A523 and the feed pump B525 are started to transfer the liquid in the storage tank 522 through the feed pump. Liquid is injected into the spray gun 526 through the spray gun 526 and atomized to start spraying. When spraying, the motor C502 is started. When the motor C502 is started, its output shaft drives the screw shaft 504 to rotate through the coupling 503. When the screw shaft 504 rotates, it drives the screw block 505 to move linearly along the screw shaft 504. At the same time, it drives the fixed plate 507 to follow the movement through the slider seat 506, so as to achieve the purpose of moving up and down. When the wall needs to be rolled, the motor E515 is started, and its output shaft drives the synchronous pulley C516 to rotate. The synchronous pulley C516 drives the synchronous pulley D518 to rotate through the belt B517. The synchronous pulley D518 drives the U-shaped bracket 520 to rotate ninety degrees through the shaft B519, and then the motor E515 stops running.At this time, the U-shaped bracket 520 drives the force roller brush mechanism 6 to rotate to 90 degrees to the working surface, and then the motor E521 is started, and its output shaft drives the force roller brush mechanism 6 to rotate 90 degrees. At this time, the roller brush 622 faces downward, and then the motor C502 is started to drive the fixed plate 507 to move downward along the screw shaft 504, driving the force roller brush mechanism 6 downward until the roller brush 622 is completely immersed in the material box 110, and then according to the above-mentioned operation steps, the force roller brush mechanism 6 is reset to a state parallel to the wall, and then the motor F602 is started. Its output shaft drives the transmission 603 to work, the transmission 603 output shaft drives the synchronous pulley E604 to rotate, the synchronous pulley E604 drives the synchronous pulley F606 to rotate through the belt C605, the synchronous pulley F606 drives the gear A607 and the fork rod C608 to rotate at the same time, the gear A607 drives the gear B609 to rotate, the gear B609 drives the fork rod D610 to rotate, the fork rod C608 and the fork rod D610 rotate at the same time, and when the fork rod C608 rotates, it drives the connecting rod C611 and the connecting rod E614 along the axis C613 rotates, the fork rod D610 drives the connecting rod D612 and the connecting rod F615 to rotate along the axis C613, the connecting rod C611, the connecting rod D612, the axis C613, and the connecting rod F615 rotate along the axis C613 at the same time, the connecting rod D612 and the connecting rod F615 drive the fork rod E616 to rotate at the same time, the connecting rod C611 and the connecting rod E614 drive the fork rod F618 to rotate at the same time, the fork rod E616 and the fork rod F618 synchronously push the positioning block C620 to move forward, and the positioning block C620 passes through the roller brush bracket 621 The roller brush 622 is driven to squeeze against the wall surface, which is used to apply force of the roller brush 622 to the wall surface, so as to avoid the roller brush 622 from contacting the wall surface too lightly, resulting in uneven rolling of the wall surface. When the fork rod E616 rotates, it drives the gear C617 to rotate, and when the fork rod F618 rotates, it drives the gear D619 to rotate. At this time, the gear C617 and the gear D619 are meshed with each other to avoid the lateral movement of the fork rod E616 and the fork rod F618, resulting in a fault. Then, the motor C502 is started again, and the force-applying roller brush mechanism 6 is driven to move the roller brush wall up and down through the fixed plate 507.

[0042] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A multifunctional indoor spraying robot, characterized in that: The invention comprises a frame assembly (1), a first wheat wheel group (2), a second wheat wheel group (3), a middle supporting wheel group (4), a multi-directional paint spraying mechanism (5), and a force-applying roller brush mechanism (6); the first wheat wheel group (2), the second wheat wheel group (3), the middle supporting wheel group (4), and the multi-directional paint spraying mechanism (5) are all connected to the frame assembly (1); and the multi-directional paint spraying mechanism (5) is connected to the force-applying roller brush mechanism (6).

2. A multifunctional indoor spraying robot according to claim 1, characterized in that: The frame assembly (1) comprises a bottom support plate (101), a connecting bracket A (102), a connecting bracket B (103), a connecting bracket C (104), a battery pack (105), a control mainboard (106), an inspection cover A (107), an inspection cover B (108), a top support plate (109), and a material box (110), wherein the bottom support plate (101) is fixedly connected to the top support plate (109) via the connecting bracket A (102), the connecting bracket B (103), and the connecting bracket C (104), the battery pack (105) and the control mainboard (106) are both fixedly connected to the bottom support plate (101), and the inspection cover A (107) and the inspection cover B (108) are both fixedly connected to the connecting bracket B (103) and the connecting bracket C (104).

3. A multifunctional indoor spraying robot according to claim 1, characterized in that: The first wheat wheel assembly (2) comprises a fork rod fixing bracket (201), a U-shaped fork rod A (202), a U-shaped fork rod B (203), a motor bracket A (204), a push cylinder bracket (205), an electric push rod A (206), a motor A (207), a wheat wheel assembly A (208), a U-shaped fork rod C (209), a U-shaped fork rod D (210), a motor bracket B (211), an electric push rod B (212), a wheat wheel assembly B (213), and a motor B (214), wherein the U-shaped fork rod A (202), the U-shaped fork rod B (203), the U-shaped fork rod C (209), and the U-shaped fork rod D (210) are all connected to the fork rod. The rod fixing bracket (201) is rotatably connected, the U-shaped fork rod A (202), the U-shaped fork rod B (203), and the electric push rod A (206) are all rotatably connected to the motor bracket A (204), the electric push rod A (206) and the electric push rod B (212) are all rotatably connected to the push cylinder bracket (205), the motor A (207) is fixedly connected to the motor bracket A (204), the output shaft of the motor A (207) is fixedly connected to the wheat wheel group A (208), and the U-shaped fork rod C (209), the U-shaped fork rod D (210), the electric push rod B (212), and the motor B (214) are all rotatably connected to the motor bracket B (211).

4. The multifunctional indoor spraying robot according to claim 1, characterized in that: The components of the second mechanowheel group (3) are the same as those of the first mechanowheel group (2), the assembly method and sequence are the same as those of the first mechanowheel group (2), and the operation sequence and functions achieved are the same as those of the first mechanowheel group (2).

5. The multifunctional indoor spraying robot according to claim 1, characterized in that: The middle supporting wheel assembly (4) comprises a fixed base (401), an axle seat A (402), a ball and socket shaft A (403), a shock absorber A (404), a fork rod A (405), a C-shaped pivot shaft A (406), a positioning block A (407), a ball and socket shaft B (408), a universal ball fixing seat A (409), a steel ball A (410), a ball head connecting rod A (411), a connecting rod A (412), a shock absorber B (413), a fork rod B (414), and a C-shaped pivot shaft B (415). , positioning block B (416), ball socket shaft C (417), universal ball fixing seat B (418), steel ball B (419), ball head connecting rod B (420), connecting rod B (421), wherein the fixed base (401), ball socket shaft A (403), positioning block A (407), positioning block B (416) are all fixedly connected to the shaft seat A (402), and the shock absorber A (404), connecting rod A (412), shock absorber B (413), connecting rod B (421) are all fixedly connected to the fixed base (401) is rotatably connected, the shock absorber A (404) is rotatably connected to the fork rod A (405), the fork rod A (405), the positioning block A (407), and the connecting rod A (412) are all rotatably connected to the C-shaped pivot A (406), the positioning block A (407) is rotatably connected to the ball socket shaft B (408), the positioning block A (407) is fixedly connected to the universal ball fixing seat A (409), the ball socket shaft B (408) is rotatably connected to the universal ball fixing seat A (409), and the shock absorber B (413 ) is rotatably connected to the fork rod B (414), the ball head connecting rod A (411) and the ball head connecting rod B (420) are both rotatably connected to the ball socket shaft A (403), the positioning block B (416) and the connecting rod B (421) are both rotatably connected to the C-shaped pivot shaft B (415), the ball socket shaft C (417) is rotatably connected to the positioning block B (416), the positioning block B (416) is fixedly connected to the universal ball fixing seat B (418), and the universal ball fixing seat B (418) is rotatably connected to the steel ball B (419).

6. The multifunctional indoor spraying robot according to claim 1, characterized in that: The multi-directional paint spraying mechanism (5) comprises a vertical sliding seat (501), a motor C (502), a coupling (503), a screw shaft (504), a screw screw block (505), a slider seat (506), a fixing plate (507), a motor bracket C (508), a motor D (509), a synchronous pulley A (510), a belt A (511), a synchronous pulley B (512), a shaft A (513), a driving arm (514), a motor E (515), a synchronous pulley C (516), a belt B (517), a synchronous pulley D (518), a shaft B (519), A U-shaped bracket (520), a motor E (521), a liquid storage tank (522), a feed pump A (523), a feed tube A (524), a feed pump B (525), and a spray gun (526), ​​wherein the vertical sliding seat (501) is fixedly connected to the motor C (502), the motor C (502) is fixedly connected to the screw shaft (504) via a coupling (503), the vertical sliding seat (501) is rotatably connected to the screw shaft (504), the screw shaft (504) is meshedly connected to the screw block (505), the screw block (505), the slider seat (506), and the motor bracket C (508) are fixedly connected to the fixed plate (507), the motor bracket C (508) is fixedly connected to the motor D (509), the output shaft of the motor D (509) is fixedly connected to the synchronous pulley A (510), the synchronous pulley A (510) is rotationally connected to the synchronous pulley B (512) through the belt A (511), the synchronous pulley B (512) and the driving arm (514) are fixedly connected to the shaft A (513), the shaft A (513) is rotationally connected to the fixed plate (507), the driving arm (514) is fixedly connected to the motor E (515), and the output shaft of the motor E (515) is fixedly connected to the synchronous pulley A (510). The output shaft is fixedly connected to the synchronous pulley C (516), the synchronous pulley C (516) is rotationally connected to the synchronous pulley D (518) through the belt B (517), the synchronous pulley D (518) and the U-shaped bracket (520) are all fixedly connected to the shaft B (519), the motor E (521), the feed pump B (525), and the spray gun (526) are all fixedly connected to the U-shaped bracket (520), the liquid storage tank (522) is fixedly connected to the feed pump A (523), and the feed pump A (523), the feed pump B (525), and the spray gun (526) are all fixedly connected to the infusion pipe A (524).

7. The multifunctional indoor spraying robot according to claim 1, characterized in that: The force-applying roller brush mechanism (6) comprises an axle seat B (601), a motor F (602), a transmission (603), a synchronous pulley E (604), a belt C (605), a synchronous pulley F (606), a gear A (607), a fork rod C (608), a gear B (609), a fork rod D (610), a connecting rod C (611), a connecting rod D (612), an axle C (613), a connecting rod E (614), a connecting rod F (615), a fork rod E (616), a gear C (617), a fork rod F (618), a gear D (619 ), positioning block C (620), roller brush bracket (621), roller brush (622), wherein the motor F (602) and the transmission (603) are fixedly connected to the shaft seat B (601), the motor F (602) and the transmission (603) are fixedly connected, the transmission (603) output shaft is fixedly connected to the synchronous pulley E (604), the synchronous pulley E (604) is fixedly connected to the synchronous pulley F (606) through the belt C (605), the synchronous pulley F (606) and the gear A (607) are fixedly connected to the fork rod C (608), the gear A (607) is meshed with gear B (609), gear B (609) is fixedly connected to fork rod D (610), gear A (607) is meshed with gear B (609), fork rod C (608) and fork rod D (610) are both rotatably connected to shaft seat B (601), connecting rod C (611) and connecting rod E (614) are both rotatably connected to fork rod C (608) and fork rod F (618), connecting rod D (612) and connecting rod F (615) are both rotatably connected to fork rod D (610) and fork rod E (616), connecting rod C (611) The connecting rod D (612), the connecting rod E (614), and the connecting rod F (615) are all rotatably connected to the shaft C (613); the fork rod E (616) is fixedly connected to the gear C (617); the fork rod F (618) is fixedly connected to the gear D (619); the gear C (617) and the gear D (619) are meshingly connected; the fork rod E (616) and the fork rod F (618) are both rotatably connected to the positioning block C (620); the positioning block C (620) is fixedly connected to the roller brush bracket (621); and the roller brush bracket (621) is rotatably connected to the roller brush (622).

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