Omnidirectional paint spraying robot and control method

Abstract

The invention relates to the technical field of paint spraying, and particularly discloses an omni-directional paint spraying robot and a control method.The omni-directional paint spraying robot comprises a walking module, a spraying module and a sensing module, the walking module comprises an AGV body and a control unit in the AGV body, and the control unit is connected with a driving motor in the AGV body to control the AGV body to do omni-directional movement; the spraying module comprises a manipulator and a spray gun movably arranged on the AGV body through the manipulator, the AGV body can drive the multi-degree-of-freedom spray gun to move in all directions and can be suitable for various complex terrains, the sensing module comprises a first detection sensor, the first detection sensor is used for detecting the flatness on a preset path, and the second detection sensor is used for detecting the flatness on the preset path. The first detection sensor is connected with the control unit and the mechanical arm in an electric signal mode, millisecond-level response of detection, obstacle avoidance and re-planning can be achieved through the first detection sensor, the stability of overall movement can be guaranteed, and the uniformity of a coating can be guaranteed through adjustment of the corresponding spatial position of the spray gun.

Description

Technical Field

[0001] The present invention relates to the technical field of painting robots, and in particular to an omnidirectional painting robot and a control method thereof. Background Art

[0002] As a key piece of equipment in industrial automation, spray painting robots have been widely used in automotive, aerospace, furniture, and other fields. Their core value lies in improving spraying efficiency, ensuring consistent coating quality, and reducing strain on painters. However, existing spray painting robots still have the following drawbacks:

[0003] 1. Poor environmental adaptability: Traditional painting robots are mostly fixed to production lines or rely on simple tracks for movement. They are difficult to adapt to the spraying needs of complex terrain. For example, when spraying bridge bodies, existing painting robots cannot cover the entire bridge body and still rely on manual spraying. However, operators are prone to fatigue when painting in complex terrain (such as looking up to spray), and they cannot spray for long periods of time, which affects the overall painting efficiency.

[0004] 2. Poor dynamic adjustment capability: The spraying quality depends on the constant distance between the spray gun and the workpiece surface. Although the current technology detects the workpiece contour through visual sensors, it cannot respond to changes in surface convexity and concavity in real time, which can easily lead to paint accumulation or incomplete coverage. In addition, the dynamic coordination of paint flow rate, robot movement speed and spray gun posture is insufficient, affecting the coating thickness. Summary of the Invention

[0005] The present invention is made in consideration of the above-mentioned problems. The purpose of the invention is to provide an omnidirectional painting robot and a control method, which can realize omnidirectional movement of the spraying module, can be applied to complex terrain, and at the same time has strong dynamic adjustment capabilities and good spraying quality.

[0006] To achieve the above objectives, the present invention provides an omnidirectional painting robot, comprising:

[0007] A walking module includes an AGV body and a control unit disposed inside the AGV body, wherein the control unit is connected to a drive motor inside the AGV body to control the AGV body to move in all directions along a preset path;

[0008] A spraying module, comprising a spray gun and a manipulator, wherein the manipulator is fixed to the AGV body, the spray gun is detachably disposed at the end of the manipulator, and the manipulator is configured to adjust the spatial position of the spray gun by rotating;

[0009] The sensing module includes a first detection sensor, which is located on one side of the spray gun and is electrically connected to the control unit and the manipulator.

[0010] According to the omnidirectional painting robot described above, the first detection sensor is used to detect the flatness information on a preset path, and based on the flatness information, the control unit controls the drive motor to avoid the path and the manipulator adjusts the distance between the spray gun and the spraying surface.

[0011] According to the omnidirectional painting robot described above, the signal input end of the control unit is connected to the signal output end of the first detection sensor to receive the flatness information, and the signal output end of the control unit is connected to the drive motor to output an avoidance path instruction to the drive motor according to the flatness information.

[0012] According to the above-mentioned omnidirectional painting robot, the manipulator includes a manipulator body and a turntable. The turntable can be arranged on the AGV body and rotated in the horizontal direction. The lower end of the manipulator body can be rotated in the vertical direction and connected to the turntable. The spray gun is fixed on one side of the upper part of the manipulator body.

[0013] According to the above-mentioned omnidirectional painting robot, the walking module further includes obstacle avoidance sensors, which are located on both sides of the AGV body and are electrically connected to the control unit.

[0014] According to the above-mentioned omnidirectional painting robot, the walking module also includes an explosion-proof battery and an explosion-proof electrical box. The explosion-proof battery and the explosion-proof battery box are both fixed on the top of the AGV body. The drive motor is located in the explosion-proof electrical box, and an inspection window is provided on one side of the explosion-proof electrical box. The explosion-proof battery is used to provide power to the drive motor, the obstacle avoidance sensor and the manipulator.

[0015] A control method for the omnidirectional painting robot as described above comprises the steps of:

[0016] S1: Determine the spraying target and build a spraying model based on the spraying target. Generate map coordinates matching the spraying model and input them into the walking module.

[0017] S2: The walking module generates a spraying motion model based on the input map coordinates and formulates a preset path based on the spraying motion model;

[0018] S3: The walking module drives the spraying module to execute the preset painting motion model according to the current coordinates, and detects the flatness information on the preset path through the perception module, and controls the walking module to travel along the preset path or the avoidance path according to the flatness information, and can control the spraying module to adjust the distance between it and the spraying surface.

[0019] According to the control method of the omnidirectional painting robot described above, in steps S2 and S3, the preset path adopts a Bezier curve or a spline curve.

[0020] According to the control method of the omnidirectional painting robot described above, in step S3, when the perception module detects a depression or a protrusion on the preset path, it determines whether the depth of the depression or the height of the protrusion exceeds a preset value. If so, the perception module transmits a signal to the walking module and controls the walking module to avoid the path. If not, the walking module is controlled to travel along the preset path.

[0021] The sensing module can transmit the recess depth or protrusion height signal to the spraying module, and realize dynamic adjustment of the distance between the spraying module and the spraying surface.

[0022] According to the control method of the omnidirectional painting robot described above, the spraying module includes a manipulator and a spray gun, and the spray gun is movably arranged on the walking module through the manipulator. In step S3,

[0023] The coating flow rate of the spray gun is proportional to the moving speed of the walking module.

[0024] The present invention has the following beneficial effects:

[0025] 1. The AGV body can drive the multi-degree-of-freedom spray gun to move in all directions, which can be applied to various complex terrains, especially narrow spaces;

[0026] 2. By integrating the first detection sensor with the path planning algorithm, a millisecond-level response of "detection-obstacle avoidance-replanning" can be achieved. This not only ensures the stability of the overall movement, but also ensures coating uniformity by adjusting the corresponding spatial position of the spray gun.

[0027] 3. The painting model can be constructed by the painting target, and converted into map coordinates and input into the walking module, which can realize the fully automatic painting action of the painting target, with a high degree of automation and saving labor costs;

[0028] 4. Use explosion-proof batteries and explosion-proof electrical boxes, which meet the standards of flammable and explosive working environments such as spray painting;

[0029] 5. In addition to adjusting the position of the spray gun, the paint flow rate of the spray gun can also be adjusted by the moving speed of the walking module, that is, the spraying amount can be adjusted in real time, which can further ensure the uniformity of the spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the embodiment.

[0031] In the picture:

[0032] 100, Travel Module; 110, AGV Body; 120, Obstacle Avoidance Sensor; 130, Explosion-Proof Battery; 140, Explosion-Proof Electrical Box; 141, Inspection Window;

[0033] 200, spray module; 210, spray gun; 220, manipulator; 221, manipulator body; 222, rotating table; 230, pressure barrel; 240, agitator; 250, plunger pump;

[0034] 300. Perception module; 310. First detection sensor. DETAILED DESCRIPTION

[0035] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0036] like Figure 1 As shown, an omnidirectional painting robot includes a walking module 100, a spraying module 200 and a perception module 300.

[0037] Among them, the walking module 100 includes an AGV body 110 and a control unit arranged in the AGV body 110. The control unit is connected to the drive motor in the AGV body 110 to control the AGV body 110 to move omnidirectionally along a preset path. The spraying module 200 includes a spray gun 210 and a manipulator 220. The manipulator 220 is fixed on the AGV body 110. The spray gun 210 is detachably arranged at the end of the manipulator 220. The sensing module 300 includes a first detector, which is located on one side of the spray gun 210. The omnidirectional driving of the AGV body 110 can realize omnidirectional driving of the spraying module 200 and the sensing module 300, including 360° translation and rotation, which can effectively improve the motion range of the spraying module 200 and is suitable for operation in narrow spaces. At the same time, the manipulator 220 is configured to pass The spatial position of the spray gun 210 is adjusted by rotation. The spatial position refers to the position in multiple dimensions, that is, the distance between the spray gun 210 and the sprayed surface can be adjusted by the manipulator 220 to ensure the spraying quality, and the first detection sensor 310 is electrically connected to the control unit and the manipulator 220. In this embodiment, since the AGV body 110 travels along a preset path, due to processing errors of the paint target or other reasons, there may be some unexpected bumps and grooves on the preset path, which will cause the road surface to be uneven, and the first detection sensor 310 can detect the bumps and grooves and feed back the signals to the control unit and the manipulator 220. Obstacle avoidance can be achieved through the control unit, and the manipulator 220 can drive the spray gun 210 to move, thereby adjusting the distance between it and the bumps or grooves to ensure the consistency of the coating thickness.

[0038] Furthermore, in this embodiment, the first detection sensor 310 is used to detect the flatness information on a preset path, and according to the flatness information, the control unit controls the drive motor to avoid traveling along the path, and the manipulator 220 adjusts the distance between the spray gun 210 and the spraying surface. After the first detection sensor 310 detects the flatness information, the first detection sensor 310 feeds back the information to the control unit and the manipulator 220. If a protrusion or groove appears, the control unit can control the drive motor to avoid traveling along the path to prevent the robot as a whole from being too bumpy. At the same time, the manipulator 220 can also control the displacement of the spray gun 210 and adjust the distance between the spray gun 210 and the protrusion or groove to ensure the quality of the paint spraying.

[0039] Of course, in this embodiment, in addition to detecting whether it has protrusions or grooves, the flatness information also needs to detect the height of the protrusions or the depth of the grooves, so as to accurately control the position of the spray gun 210.

[0040] Furthermore, in order to realize signal transmission, the signal input end of the control unit is connected to the signal output end of the first detection sensor 310 to receive the flatness information, and the signal output end of the control unit is connected to the drive motor, which is used to output an avoidance path instruction to the drive motor according to the flatness information, that is, the control unit receives the signal and issues a control instruction to the drive motor, and the drive motor executes the corresponding command to drive the AGV body 110 to move.

[0041] Furthermore, in order to enable the manipulator 220 to drive the spray gun 210 to adjust its spatial position, the manipulator 220 includes a manipulator body 221 and a rotating table 222. The rotating table 222 can be arranged on the AGV body 110 and rotated in the horizontal direction. The lower end of the manipulator body 221 can be rotated in the vertical direction to connect with the rotating table 222. The spray gun 210 is fixed on one side of the upper end of the manipulator body 221, that is, the horizontal rotation of the rotating table 222 can drive the manipulator body 221 and the spray gun 210 to rotate horizontally, adjust the horizontal position of the spray gun 210, and then the vertical rotation of the manipulator body 221 can drive the spray gun 210 to rotate vertically, adjust the height position of the spray gun 210, and then realize the adjustment of the spatial position of the spray gun 210, which is convenient for all-round spraying and also convenient for adjusting the spraying distance.

[0042] Furthermore, in order to prevent the AGV body 110 from directly colliding with obstacles, the walking module 100 also includes an obstacle avoidance sensor 120, which is located on both sides of the AGV body 110 and is electrically connected to the control unit. It is different from the first detection sensor 310 in that it is arranged on both sides of the AGV body 110. When the AGV body 110 rotates in place, it can also detect obstacles close to the AGV body 110, thereby preventing the AGV body 110 from directly colliding with obstacles. It does not detect the flatness of the preset path.

[0043] Of course, in this embodiment, based on the different functions of the first detection sensor 310 and the obstacle avoidance sensor 120, different types can be selected, that is, the first detection sensor 310 can be a visual sensor, and the obstacle avoidance sensor 120 can be an acoustic sensor, etc.

[0044] Furthermore, the walking module 100 also includes an explosion-proof battery 130 and an explosion-proof electrical box 140. The explosion-proof battery 130 and the explosion-proof battery box 130 are both fixed on the top of the AGV body 110. The drive motor is located in the explosion-proof electrical box 140, and a maintenance window 141 is provided on one side of the explosion-proof electrical box 140. The explosion-proof battery 130 is used to provide power for the drive motor, the obstacle avoidance sensor 120 and the manipulator 220. Since the walking module 100 is used in the painting scene, paint is a flammable and explosive item. The organic solvents in its components, such as xylene, lipids, ketones, etc., are highly volatile and flammable, which may cause explosions or fires under certain conditions. If conventional batteries and conventional electrical boxes are used, the volatile gases of the paint are prone to electrical fires when encountering the batteries and electrical appliances in the electrical box, which can easily cause fires or explosions in the omnidirectional painting robot, and thus may cause fires and explosions in the painting targets.

[0045] Of course, in this embodiment, in order to provide paint to the spray gun 210, the spray module 200 also includes a pressure barrel 230, an agitator 240 and a plunger pump 250. The agitator 240 is located in the pressure barrel 230, and the plunger pump 250 is used to connect the pressure barrel 230 and the spray gun 210. Paint raw materials are placed in the pressure barrel 230. The paint raw materials can be stirred by the agitator 240, and then the stirred paint is transported to the spray gun 210 for spraying through the plunger pump 250. The overall spraying flow rate can be controlled and adjusted by the spray gun 210 and the plunger pump 250.

[0046] A control method for the above-mentioned omnidirectional painting robot comprises the steps of:

[0047] S1: Determine the painting target and build a painting model based on the painting target, form map coordinates matching it according to the painting model, and input them into the walking module 100. Taking the painting target as a bridge body as an example, the operator can obtain a three-dimensional model of the bridge body, and build a painting model according to the surface to be sprayed as needed. Then, the coordinates of each point on the painting model can be matched to obtain a complete map coordinate, which is input into the walking module 100. The walking module 100 moves according to the map coordinates.

[0048] S2: The walking module 100 generates a painting motion model according to the input map coordinates, and formulates a preset path according to the painting motion model. After the walking module 100 obtains the map coordinates, it can plan a travel path according to the map coordinates to obtain a preset path.

[0049] S3: The walking module 100 drives the spraying module 200 to execute the preset painting motion model according to the current coordinates, and detects the flatness information on the preset path through the perception module 300, and controls the walking module 100 to travel along the preset path or the avoidance path according to the flatness information, and can control the spraying module 200 to adjust the distance between it and the spraying surface, that is, since the initial position of the omnidirectional painting robot is not necessarily at the starting point of the preset path, the omnidirectional painting robot can sense the current coordinates, and then the walking module 100 drives the spraying module 200 and the perception module 300 to move to the starting point of the preset path, and then the walking module 100 drives the spraying module 200 to move, and the spraying module 200 performs the spraying action, and together executes the preset painting motion model, but in this embodiment, when the walking module 100 travels along the preset path When taking the bridge body as an example, due to the processing accuracy or collision wear, there are some uneven conditions on its surface. If the walking module 100 continues to move when encountering these conditions, it will lead to poor overall stability of the omnidirectional painting robot, and even cause the omnidirectional painting robot to tip over. Moreover, if the spraying module 200 maintains the original spraying position for spraying, the distance between the spray gun 210 and the sprayed surface will change, which will cause the spraying quality to deteriorate. Therefore, in this embodiment, when the perception module 300 detects the flatness information on the preset path, if protrusions and grooves are found, the signal can be transmitted to the walking module 100 and the spraying module 200. The walking module 100 drives the whole body to avoid the path, and the spraying module 200 can adjust the distance between it and the spraying surface to ensure the spraying quality.

[0050] Furthermore, in step S3, when the sensing module 300 detects a depression or a protrusion on the preset path, it determines whether the depression depth or the protrusion height exceeds a preset value. If so, the sensing module 300 transmits a signal to the walking module 100 and controls the walking module 100 to avoid the path. If not, the walking module 100 is controlled to travel along the preset path. In this embodiment, the preset value is 5mm, that is, when the protrusion height and the depression depth are less than 5mm, the walking module 100 still travels according to the original preset path. When the depression depth and the protrusion height are greater than 5mm, the walking module 100 still travels according to the original preset path. When the bridge body is in the process of being moved, the walking module 100 moves along the avoidance path, because the bridge body has a certain dimensional tolerance and the flatness cannot be perfect. Moreover, when the size of the protrusion or depression is small, it will not cause too much impact on the travel of the walking module 100. Therefore, the walking module 100 does not need to adjust the path, but the sensing module 300 can transmit the depression depth or protrusion height signal to the spraying module 200, and realize the dynamic adjustment of the distance between the spraying module 200 and the spraying surface. No matter how much its size changes, the spraying module 200 always maintains dynamic adjustment to ensure the spraying quality.

[0051] Furthermore, the spraying module 200 includes a manipulator 220 and a spray gun 210. The spray gun 210 is movably set on the walking module 100 through the manipulator 220. In step S3, the paint flow rate of the spray gun 210 is proportional to the moving speed of the walking module 100. The paint flow rate of the spray gun 210 determines the amount of paint sprayed by the spray gun 210 within a preset time. The faster the flow rate, the greater the amount of paint sprayed by the spray gun 210 within the preset time. The slower the flow rate, the smaller the amount of paint sprayed by the spray gun 210 within the preset time. The faster the moving speed of the walking module 100, the shorter the time it stays in the preset section. In order to ensure the spraying thickness, the paint flow rate of the spray gun 210 is required to be higher. Therefore, the paint flow rate of the spray gun 210 needs to be kept proportional to the moving speed of the walking module 100.

[0052] Furthermore, in order to ensure the smoothness of the movement of the omnidirectional painting robot, in steps S2 and S3, the preset path adopts Bezier curves or spline curves, wherein the Bezier curve defines the curve shape through control points, and its mathematical essence is a parameterized polynomial function. For example, the third-order Bezier curve can ensure that the position and speed of the curve at the starting point and the end point are continuous, and the curvature changes smoothly. This feature avoids the acceleration mutation caused by the traditional straight line path, and makes the robot's movement speed and acceleration changes naturally transition; the spline curve uses a piecewise polynomial to construct the curve, and requires the position, first-order derivative and second-order derivative to be continuous at adjacent nodes. This high-order continuity ensures that the robot will not jitter or pause at the turning points of the path, and the movement process is like "drawing in one stroke", which can effectively improve the smoothness of the robot's movement.

[0053] In this embodiment, an omnidirectional painting robot and its control direction are disclosed. The omnidirectional painting robot includes a walking module 100, a spraying module 200 and a sensing module 300. The walking module 100 includes an AGV body 110 and a control unit in the AGV body. The control unit is connected to the drive motor in the AGV body 110 to control the AGV body 110 to move in all directions. The spraying module 200 includes a manipulator 220 and a spray gun 210 that can be movably arranged on the AGV body 110 by the manipulator 220. The AGV body 110 It can drive the multi-degree-of-freedom spray gun 210 to perform omnidirectional movement, which can be applied to various complex terrains, especially narrow spaces. The perception module 300 includes a first detection sensor 310, which is used to detect the flatness on the preset path and is electrically connected to the control unit and the manipulator 220. The first detection sensor 310 can achieve a millisecond-level response of "detection-obstacle avoidance-replanning", which can not only ensure the stability of the overall movement, but also ensure the uniformity of the coating through the corresponding spatial position adjustment of the spray gun 210.

[0054] The technical solutions of the present invention have been described in detail above with reference to the accompanying drawings, and the embodiments described are intended to facilitate understanding of the concepts of the present invention. The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments, without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

[0055] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, in the present invention, descriptions such as "first," "second," and "one" are for descriptive purposes only and should not be understood to indicate or imply their relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0057] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0058] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. An omnidirectional painting robot, characterized in that: include: A walking module includes an AGV body and a control unit disposed inside the AGV body, wherein the control unit is connected to a drive motor inside the AGV body to control the AGV body to move in all directions along a preset path; A spraying module, comprising a spray gun and a manipulator, wherein the manipulator is fixed to the AGV body, the spray gun is detachably disposed at the end of the manipulator, and the manipulator is configured to adjust the spatial position of the spray gun by rotating; The sensing module includes a first detection sensor, which is located on one side of the spray gun and is electrically connected to the control unit and the manipulator.

2. The omnidirectional painting robot according to claim 1, characterized in that: The first detection sensor is used to detect the flatness information on a preset path, and according to the flatness information, the control unit controls the drive motor to avoid the path and the manipulator adjusts the distance between the spray gun and the spraying surface.

3. The omnidirectional painting robot according to claim 2, characterized in that: The signal input end of the control unit is connected to the signal output end of the first detection sensor to receive the flatness information, and the signal output end of the control unit is connected to the drive motor to output an avoidance path instruction to the drive motor according to the flatness information.

4. The omnidirectional painting robot according to claim 1, characterized in that: The manipulator includes a manipulator body and a rotating table. The rotating table can be arranged on the AGV body and can be rotated in the horizontal direction. The lower end of the manipulator body can be rotated in the vertical direction to connect with the rotating table. The spray gun is fixed on one side of the upper end of the manipulator body.

5. The omnidirectional painting robot according to claim 1, characterized in that: The walking module also includes obstacle avoidance sensors, which are located on both sides of the AGV body and are electrically connected to the control unit.

6. The omnidirectional painting robot according to claim 5, characterized in that: The walking module also includes an explosion-proof battery and an explosion-proof electrical box. The explosion-proof battery and the explosion-proof battery box are both fixed on the top of the AGV body. The drive motor is located in the explosion-proof electrical box, and an inspection window is provided on one side of the explosion-proof electrical box. The explosion-proof battery is used to provide power for the drive motor, the obstacle avoidance sensor and the manipulator.

7. A control method comprising the omnidirectional painting robot according to any one of claims 1 to 6, characterized in that: Including steps: S1: Determine the spraying target and build a spraying model based on the spraying target. Generate map coordinates matching the spraying model and input them into the walking module. S2: The walking module generates a spraying motion model based on the input map coordinates and formulates a preset path based on the spraying motion model; S3: The walking module drives the spraying module to execute the preset painting motion model according to the current coordinates, and detects the flatness information on the preset path through the perception module, and controls the walking module to travel along the preset path or the avoidance path according to the flatness information, and can control the spraying module to adjust the distance between it and the spraying surface.

8. The control method of an omnidirectional painting robot according to claim 7, characterized in that: In steps S2 and S3 , the preset path adopts a Bezier curve or a spline curve.

9. The control method of an omnidirectional painting robot according to claim 7, characterized in that: In step S3, when the perception module detects a depression or a protrusion on the preset path, it determines whether the depth of the depression or the height of the protrusion exceeds a preset value. If so, the perception module transmits a signal to the travel module and controls the travel module to avoid the path. If not, the travel module controls the travel module to travel along the preset path. The sensing module can transmit the recess depth or protrusion height signal to the spraying module, and realize dynamic adjustment of the distance between the spraying module and the spraying surface.

10. The control method of an omnidirectional painting robot according to claim 7, characterized in that: The spraying module includes a manipulator and a spray gun, and the spray gun is movably arranged on the walking module by the manipulator. In step S3, The coating flow rate of the spray gun is proportional to the moving speed of the walking module.

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