Blade coating robot and blade coating method

Abstract

The invention provides a blade coating robot and a blade coating method. The blade coating robot comprises a base, a supporting component, a mechanical arm and a blade coating head. The base can move in all directions, one end of the supporting component is fixed to the base and navigates the moving direction of the base, one end of the mechanical arm is connected with the other end of the supporting component, and the scraping and smearing head is arranged at the other end of the mechanical arm. The scraping and smearing head comprises a smearing head support, a material distributing mechanism and a scraping and smearing mechanism, the smearing head support is connected with the other end of the mechanical arm, and the material distributing mechanism is arranged at one end of the smearing head support and used for distributing materials; and the scraping mechanism is telescopically arranged at the other end of the plastering head bracket and is used for scraping the wall surface. According to the invention, through the omni-directional movement of the base and the precise navigation of the supporting part, the manual positioning error is reduced; the mechanical arm expands the operation range, the wall surface scraping and coating pressure can be automatically adjusted by combining the material distribution and scraping and coating integrated function of the scraping and coating head and the telescopic scraping and coating mechanism, scraping and coating pressure adjustment is achieved, and the construction quality is improved.

Description

Technical Field

[0001] This application relates to the field of automated surface-forming technology in building construction, specifically to a scraping robot and a scraping method. Background Technology

[0002] In building decoration, wall surface puttying and plastering processes are involved, and currently, manual application is the main method used in the market. Some companies have developed robots to automate the work. For example, CN 116971564A describes an indoor spraying robot that provides a high-pressure spraying mechanism that can spray putty and latex paint onto the wall surface, achieving automated spraying. However, this method results in a poor surface smoothness, requiring sanding.

[0003] Patents CN 115538739 A and CN 219825995 U disclose a ceiling putty application mechanism and a wall putty scraper mechanism. The ceiling putty application mechanism has a lifting mechanism and a horizontal movement mechanism, which can realize ceiling scraping application. However, the single application area is small, the efficiency is low, and it cannot be used for vertical surface application. Ceiling (i.e., room ceiling) and vertical surface (i.e., vertical wall) scraping generally require two sets of machines, resulting in high construction costs and low efficiency. Summary of the Invention

[0004] In view of one of the defects in the prior art, the purpose of this application is to provide a scraping robot.

[0005] In a first aspect, this application provides a scraping robot, including a base, a support component, a robotic arm, and a scraping head disposed on the base, wherein the support component, the robotic arm, and the scraping head are connected in sequence.

[0006] The support component is equipped with a radar device, and the base can move in all directions under the guidance of the radar device; the support component is used to support the robotic arm, and the robotic arm drives the scraping head located at its end to complete the scraping operation.

[0007] The squeegee head includes a squeegee head bracket, a cloth-laying mechanism, and a squeegee mechanism. The squeegee head bracket is connected to the end of the robotic arm. The cloth-laying mechanism is located at one end of the squeegee head bracket, and the squeegee mechanism is located at the other end. The squeegee mechanism is retractable and used for squeegeeing the wall surface.

[0008] Optionally, the trowel support has an "L" shaped structure;

[0009] The outer side of the trowel bracket, which is connected to the fabric mechanism, is provided with a mounting hole, and the trowel bracket is connected to the robotic arm through the mounting hole.

[0010] Optionally, the scraping mechanism includes: a scraper frame, an electronic ruler, and a nitrogen spring;

[0011] One side of the scraper frame is connected to the other end of the horizontal side of the trowel support;

[0012] The nitrogen springs are located on both sides of the trowel support, with one end fixed to the horizontal side of the trowel support and the other end connected to the scraper frame, for pushing the scraper frame to move.

[0013] The electronic ruler is located inside the trowel head bracket, with one end connected to the scraper frame and the other end connected to the trowel head bracket, and is used to measure the extension length of the scraper bracket.

[0014] Optionally, the scraping mechanism further includes a sliding mechanism and a rotating mechanism;

[0015] The sliding mechanism is located below the trowel support, with one end connected to the scraper frame and the other end connected to the rotating mechanism, and is used to slide relative to the scraper frame under the drive of the nitrogen spring;

[0016] The rotating mechanism is connected to the scraper frame and is located below the sliding mechanism, and is used to drive the scraper frame to rotate.

[0017] Optionally, the rotating mechanism includes a rotating plate and a rotating bearing;

[0018] The rotating plate is connected to the scraper frame via the rotating bearing, and the rotating plate is connected to the trowel head bracket via the sliding mechanism;

[0019] The slide rail of the sliding mechanism is disposed on the rotating plate.

[0020] Optionally, the scraping mechanism further includes a scraper mechanism;

[0021] The scraper mechanism is located on the opposite side of the scraper frame and is used to contact the wall surface to apply material.

[0022] Optionally, the fabric-making mechanism includes: a drive unit and a nozzle;

[0023] The driving device is mounted on the trowel bracket and connected to the nozzle, and is used to drive the nozzle to reciprocate.

[0024] The trowel support is provided with a fixing part, and the driving device is installed on the fixing part.

[0025] Optionally, the driving device includes: a drive motor, a transmission gear, and a rotary joint;

[0026] The drive motor is mounted on the fixed part; one end of the transmission gear is connected to the drive motor.

[0027] The other end is connected to the rotary joint;

[0028] The drive motor drives the rotary joint to reciprocate through the transmission gear, and the nozzle is connected to the rotary joint and reciprocates with the rotary joint.

[0029] Optionally, the robotic arm includes a fixed arm, a first robotic arm, a second robotic arm, and a third robotic arm;

[0030] The fixed arm is rotatably fixed to the support component. The first robotic arm is rotatably connected to the fixed arm. The second robotic arm is rotatably connected to the first robotic arm. One end of the third robotic arm is connected to the second robotic arm, and the other end of the third robotic arm is connected to the scraping head.

[0031] A second aspect of this application provides a coating method using a coating robot, comprising:

[0032] The scraping operation stroke is planned according to the coverage range of the robotic arm of the scraping robot and the size of the wall to be constructed;

[0033] The coating operation stroke is used to determine whether the work has reached the corner position. If so, the coating head support is rotated 180° and the coating mechanism is stopped.

[0034] The squeegee mechanism of the squeegee head completes the squeegeeing of the fabric area at the corner position, and continues to execute the remaining squeegeeing stroke until the end.

[0035] This application provides a coating robot that utilizes a 360-degree movable base and supporting components to achieve precise positioning and flexible movement, effectively adapting to complex working environments. Combined with the wide operating range and high-precision control capabilities of the robotic arm, it can perform construction work on both facades and ceilings. The material spreading mechanism and extendable squeegee mechanism of the coating head can efficiently complete material spraying and uniform squeegeeing, ensuring consistent coating thickness and a smooth surface, significantly improving construction quality. Simultaneously, it reduces reliance on manual labor, alleviates labor intensity, and increases construction efficiency.

[0036] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0037] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0038] Figure 1 This is a schematic diagram of the overall structure of a coating robot according to an exemplary embodiment;

[0039] Figure 2 This is a schematic diagram of the structure of a scraping head according to an exemplary embodiment;

[0040] Figure 3 This is a schematic diagram illustrating the scraper mechanism, rotating mechanism, and slider mechanism according to an exemplary embodiment.

[0041] Figure 4 This is a top view schematic diagram illustrating the scraper mechanism, rotating mechanism, and slider mechanism according to an exemplary embodiment;

[0042] Figure 5 This is a schematic diagram illustrating the structure of the connecting part, the limiting part, and the connecting rod according to an exemplary embodiment;

[0043] Figure 6 This is a schematic diagram illustrating the structure of a coating robot performing ceiling coating according to an exemplary embodiment;

[0044] Figure 7 This is a schematic diagram illustrating the structure of a scraping robot scraping paint on a wall according to an exemplary embodiment;

[0045] Figure 8 This is a schematic diagram illustrating a scraping travel method of a scraping robot according to an exemplary embodiment;

[0046] Figure 9 A flowchart illustrating a coating method using a coating robot is provided according to an exemplary embodiment.

[0047] In the diagram: 1. Base; 2. Supporting component; 3. Robotic arm; 31. Fixed arm; 32. First robotic arm; 33. Second robotic arm; 34. Third robotic arm; 4. Scraper head; 41. Scraper head bracket; 411. Mounting hole; 42. Cloth spreading mechanism; 421. Drive device; 4211. Drive motor; 4212. Transmission gear; 4213. Rotary joint; 422. Nozzle; 43. Scraping mechanism; 431. Scraper. 432. Frame; 433. Electronic ruler; 434. Nitrogen spring; 435. Sliding mechanism; 4341. Slider; 4342. Slide rail; 436. Connecting part; 437. Limiting part; 438. Connecting rod; 439. Fixing plate; 440. Limiting groove; 440. Rotating mechanism; 4401. Rotating plate; 4402. Rotating bearing; 441. Scraper mechanism; 4411. Upper scraper; 4412. Lower scraper; 5. Radar device. Detailed Implementation

[0048] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0049] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0051] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0052] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0053] Existing technologies use simple lifting and lateral movement mechanisms for scraping, which suffers from a small scraping area, low efficiency, and the need for manual adjustment of the scraping force between different wall surfaces. Furthermore, it cannot adapt to uneven walls by extending and retracting or swaying laterally and laterally. To address these issues, this application provides a scraping robot to solve these problems.

[0054] Reference Figure 1 As shown in one embodiment of this application, a scraping robot includes a base 1, a support component 2, a robotic arm 3, and a scraping head 4 disposed on the base 1, wherein the support component 2, the robotic arm 3, and the scraping head 4 are connected in sequence.

[0055] The support component 2 is equipped with a radar device 5, and the base 1 can move in all directions under the guidance of the radar device 5; the support component 2 is used to support the robotic arm 3, and the robotic arm 3 drives the scraping head 4 located at its end to complete the scraping operation.

[0056] The trowel head 4 includes a trowel head bracket 41, a cloth-spreading mechanism 42, and a troweling mechanism 43. The trowel head bracket 41 is connected to the end of the robotic arm 3; one end of the trowel head bracket 41 is provided with the cloth-spreading mechanism 42, and the other end is provided with the troweling mechanism 43. The troweling mechanism 43 is retractable and used for troweling the wall surface.

[0057] Specifically, firstly, the base 1 can move in all directions, and the supporting component 2 senses the environment in real time and adjusts the direction of movement to ensure that the base 1 is accurately positioned at the construction location. At the same time, the robotic arm 3 is fixed to one end of the supporting component 2, and the squeegee head 4 is set on the robotic arm 3. The robotic arm 3 drives the squeegee head 4 to move to the appropriate height and angle of the work surface. The squeegee mechanism 43 extends and adjusts the pressure according to the work requirements, closely adhering to the squeegee wall. Meanwhile, the material spreading mechanism 42 of the squeegee head 4 evenly sprays the material onto the work surface. The squeegee mechanism 43 scrapes the sprayed material, and through the coordinated movement of the robotic arm 3, the work surface is leveled, realizing integrated construction from material spraying to squeegeeing. Furthermore, a radar device 5 is installed on the supporting component 2 to guide the movement of the base 1 and improve the accuracy of the operation.

[0058] It should be noted that the robotic arm 3 has 6 degrees of freedom, preferably a 6-axis robotic arm 3, but it can also be a 5-axis robotic arm 3.

[0059] In the above embodiments of this application, the scraping robot reduces human positioning errors through the omnidirectional movement of the base 1 and the precise navigation of the support component 2; the multi-degree-of-freedom design of the robotic arm 3 expands the working range and can flexibly cope with the construction needs of different heights and angles; combined with the integrated function of the scraping head 4 for both material application and scraping, it simplifies the step-by-step operation of "spraying-smoothing" in the traditional scraping process and greatly improves construction efficiency; the telescopic characteristics of the scraping mechanism 43 can automatically adjust the scraping pressure on the wall according to the material of the working surface (such as walls, metal plates, etc.), thereby achieving the adjustment of scraping pressure, ensuring uniform coating thickness and a smooth surface, and improving construction quality.

[0060] See attached document Figure 2 As shown, in some specific embodiments of this application, one side of the squeegee head bracket 41 is provided with a mounting hole 411 for fixing to the robotic arm 3. The squeegee head 4 is connected to the robotic arm 3 through the mounting hole 411 to realize the overall control of the squeegee head 4.

[0061] For details, please refer to the appendix. Figure 2 As shown, the trowel support 41 has an L-shaped structure. The vertical side of the L-shaped trowel support 41 is provided with a mounting hole 411. The outer side of the trowel support 41 is connected to the other end of the robotic arm 3 through the mounting hole 411.

[0062] The upper vertical edge of the L-shaped trowel support 41 is connected to the cloth-laying mechanism 42, and the lower horizontal edge (the end furthest from the vertical edge) is connected to the scraping mechanism 43. A mounting hole 411 is provided on the vertical edge of the trowel support 41, through which the trowel support 41 is connected to the robotic arm 3. The mounting hole 411 is located on the vertical edge, ensuring that the movement between the components is not affected. The side of the space formed by the connection of the L-shaped vertical and horizontal edges of the trowel support 41 is the inner surface of the trowel support 41, and vice versa.

[0063] In the above embodiments of this application, by setting the trowel bracket 41 into an L-shaped structure, and setting the upper end of the vertical side and the end of the horizontal side of the L-shape with a material spreading mechanism 42 and a scraping mechanism 43 respectively, the compactness and rationality of the overall structure are ensured, the material spreading and scraping functions are integrated, the continuity and efficiency of construction operations are improved, and convenience and optimization are brought to related operations.

[0064] In some specific embodiments of this application, refer to the appendix. Figure 2 As shown, the scraping mechanism 43 includes a scraper frame 431, an electronic ruler 432, and a nitrogen spring 433.

[0065] One side of the scraper frame 431 is connected to the other end of the horizontal side of the trowel head bracket 41; the nitrogen spring 433 is located on both sides of the trowel head bracket 41, with one end fixed to the horizontal side of the trowel head bracket 41 and the other end connected to the scraper frame 431, for pushing the scraper frame 431 to move; the electronic ruler 432 is located inside the trowel head bracket 41, with one end connected to the scraper frame 431 and the other end connected to the trowel head bracket 41, for measuring the extension length of the scraper frame.

[0066] Specifically, by fixing one side of the scraper frame 431 to the other end of the trowel head bracket 41, and symmetrically arranging the nitrogen spring 433 on both sides of the horizontal side of the trowel head bracket 41, with one end fixed to the trowel head bracket 41 and the other end connected to the scraper frame 431, a stable and adjustable thrust is provided to the scraper frame 431, pushing the scraper frame 431 to move axially and telescopically along the trowel head bracket 41; the electronic ruler 432 is embedded inside the trowel head bracket 41, with both ends connected to the scraper frame 431 and the trowel head bracket 41 respectively, and measures the telescopic length of the scraper frame 431 in real time through linear displacement sensing technology, and feeds the data back to the control system to control the telescopic length of the nitrogen spring 433.

[0067] By measuring the extension and retraction length of the scraper bracket, the compression amount of the nitrogen spring 433 can be known in real time, and the distance between the trowel head and the wall can be adjusted to prevent the nitrogen spring 433 from being compressed to its limit.

[0068] In the above embodiments of this application, the flexible drive of the scraper frame 431 is achieved through the elastic thrust design of the nitrogen spring 433. It can automatically adapt to the scraping pressure according to the material of the working surface (such as concrete, metal, etc.), avoiding uneven coating thickness or scraper damage caused by rigid connection. At the same time, the buffering characteristics of the nitrogen spring 433 can reduce mechanical vibration and improve scraping stability. The integration of the electronic ruler 432 realizes the accurate measurement and closed-loop control of the extension length of the scraper frame 431. Combined with the control system, the scraping stroke can be adjusted in real time, improving the construction quality. It is suitable for the scraping needs of complex curved surfaces or irregular working surfaces, reducing the difficulty of manual adjustment and improving the accuracy and adaptability of automated scraping.

[0069] In some specific embodiments of this application, refer to the appendix. Figure 2 As shown, the scraping mechanism 43 also includes a sliding mechanism 434 and a rotating mechanism 440.

[0070] The sliding mechanism 434 is located below the trowel support 41, with one end connected to the scraper frame 431 and the other end connected to the rotating mechanism. It is used to slide relative to the scraper frame 431 under the drive of the nitrogen spring 433. The rotating mechanism 440 is connected to the scraper frame 431 and is located below the sliding mechanism 434. It is used to drive the scraper frame 431 to rotate.

[0071] See attached document Figure 3As shown, specifically, in the scraping mechanism 43, the sliding mechanism 434 consists of a slide rail 4342 and a slider 4341. The slide rail 4342 is fixed below the trowel support 41 and connected to the rotating mechanism. The slider 4341 is connected to the scraper frame 431. The slide rail 4342 is connected to the rotating mechanism 440. The nitrogen spring 433 pushes the slider 4341 to slide along the slide rail 4342, realizing the smooth linear movement of the scraper frame 431. The rotating mechanism 440 is connected to the scraper machine and is located below the slider 4341 of the sliding mechanism 434. It is connected to the scraper frame 431. When the scraper frame 431 abuts against the wall at a certain angle, the rotating mechanism automatically adapts to the rotation angle of the scraper frame 431 under the drive of the scraper frame 431, so that the scraper frame 431 can rotate around the rotating mechanism 440 to adjust the scraping direction.

[0072] It should be noted that during the scraping process, the rotating mechanism 440 can rotate according to the angle between the scraper frame 431 and the wall, so as to achieve a tight fit between the scraping mechanism 43 and the wall.

[0073] In the embodiments described above, the sliding mechanism 434, through the slide rail 4342-slider 4341 structure, converts the thrust of the nitrogen spring 433 into precise linear movement of the scraper frame 431, avoiding swaying or jamming during movement, ensuring the straightness and stability of the scraping stroke, and improving the uniformity of the coating thickness. The rotating mechanism 440 enables the scraper frame 431 to have angle adjustment capability, which can adapt to complex shapes such as inclined and curved surfaces of the working surface (such as the corner of a building facade or the arc surface of industrial equipment). By adjusting the scraping angle in real time with the scraper frame 431, it avoids coating edge accumulation or missed coating caused by a fixed angle, significantly improving the construction adaptability of complex surfaces. The coordinated control of sliding and rotation (such as linkage adjustment based on the extension length and working surface shape data fed back by the electronic ruler 432) further realizes the dynamic optimization of the scraping process, reduces the need for manual intervention, and improves the accuracy and adaptability of automated scraping.

[0074] See attached document Figure 5 As shown, the nitrogen spring 433 is further provided with a connecting part 435 at one end connected to the scraper frame 431, and a limiting part 436 is provided on the side of the scraper frame 431 connected to the nitrogen spring 433. The limiting part 436 and the connecting part 435 are connected by a connecting rod 437. The connecting part 435 can rotate relative to the limiting part 436 through the connecting rod 437. Combined with the nitrogen spring 433, the linear pushing and rotation effects are achieved simultaneously, avoiding the nitrogen spring 433 restricting the rotation of the scraper frame 431 during the scraping process.

[0075] In some specific embodiments of this application, the rotating mechanism 440 includes a rotating plate 4401 and a rotating bearing 4402. The rotating plate 4401 is connected to the scraper frame 431 via the rotating bearing 4402, and the rotating plate 4401 is connected to the trowel support 41 via a slider 4341 mechanism.

[0076] The slide rail 4342 of the sliding mechanism 434 is mounted on the rotating plate 4401.

[0077] In the above embodiments of this application, the rotating mechanism 440 is divided into a rotating plate 4401 and a rotating bearing 4402. The rotating bearing 4402 is disposed between the rotating plate 4401 and one side of the scraper frame 431, and is used to achieve rotation of the scraper frame 431 when the scraper frame 431 needs to rotate according to the structure of the wall. At the same time, the slide rail 4342 is disposed on the rotating plate 4401, so that the nitrogen spring 433 can simultaneously push the scraper frame 431 and the rotating mechanism 440.

[0078] See attached document Figure 3 As shown, the bottom of the scraper frame 431 is provided with a fixing plate 438 for fixing the rotary bearing 4402. The fixing plate 438 is provided with a limiting groove 439. The rotary bearing 4402 is set in the limiting groove 439. During operation, the scraper frame 431 can rotate through the rotary bearing 4402.

[0079] See attached document Figure 4 As shown, in some specific embodiments of this application, the scraping mechanism 43 further includes a scraper mechanism 441; the scraper mechanism 441 is disposed on the opposite side of one side of the scraper frame 431 and is used to contact the wall surface to apply material.

[0080] The scraper mechanism 441 includes an upper scraper 4411 and a lower scraper 4412.

[0081] Specifically, the scraping mechanism 43 mainly includes upper and lower scrapers 4412, scraper frame 431, nitrogen spring 433, sliding mechanism 434, rotary bearing 4402, rotating plate 4401, and electronic ruler 432. The upper scraper 4411 and lower scraper 4412 are fixed to one side of the scraper frame 431 and abut against the wall, arranged vertically. One end of the nitrogen spring 433 and the electronic ruler 432 are connected to the scraper frame 431, and the other end is connected to the trowel head bracket 41. The nitrogen spring 433 is arranged on both sides to provide stable scraping force, and the electronic ruler 432 is used to measure the extension and retraction length of the scraper. The rotating plate 4401 is connected to the scraper frame 431 through the rotary bearing 4402, and the rotating plate 4401 is connected to the trowel head bracket 41 through the sliding mechanism 434, so that the scraper has the freedom of forward and backward movement and rotation on the scraper frame 431. The upper scraper 4411 and lower scraper 4412 contact the wall to scrape the finishing material smoothly.

[0082] In some specific embodiments of this application, the fabric-making mechanism 42 includes a drive device 421 and a nozzle 422. The drive device 421 is mounted on the applicator support 41 and connected to the nozzle 422, and is used to drive the nozzle 422 to reciprocate. The applicator support 41 is provided with a fixing part, and the drive device 421 is mounted on the fixing part.

[0083] Specifically, by setting a fixing part at one end of the trowel bracket 41 connected to the fabric structure, and setting the drive device 421 on the fixing part and connecting it to the nozzle 422, the nozzle 422 is moved by the drive device 421 to realize the fabric function.

[0084] In some specific embodiments of this application, the drive device 421 includes: a drive motor 4211, a transmission gear 4212, and a rotary joint 4213. The drive motor 4211 is mounted on the fixed part; one end of the transmission gear 4212 is connected to the drive motor 4211, and the other end is connected to the rotary joint 4213.

[0085] Among them, the drive motor 4211 drives the rotary joint 4213 to reciprocate through the transmission gear 4212, and the nozzle 422 is connected to the rotary joint 4213 and reciprocates with the rotary joint 4213.

[0086] See attached document Figure 2 As shown, specifically, the fixing part on the cloth head bracket 41 provides a stable installation position for the drive device 421. The drive motor 4211 starts first, and the power generated is transmitted to one end of the transmission gear 4212 connected to it. Through the rotation of the transmission gear 4212, the power is accurately transmitted to the rotary joint 4213 connected to the other end, driving the rotary joint 4213 to reciprocate. The nozzle 422 is connected to the rotary joint 4213. Under the drive of the rotary joint 4213, the nozzle 422 reciprocates, thereby realizing the function of cloth application.

[0087] In the above embodiments of this application, a fixing part is provided on the trowel support 41 to install the drive device 421, so that the drive device 421 is stably installed on the trowel support 41, achieving the tightness between the structures; wherein, the drive device 421 adopts a combination of drive motor 4211, transmission gear 4212 and rotary joint 4213. Through the transmission action of transmission gear 4212, the power of drive motor 4211 is transmitted to rotary joint 4213, thereby driving nozzle 422 to reciprocate, effectively ensuring the accuracy and regularity of nozzle 422 movement, making the fabric more uniform and precise, improving the quality and efficiency of the fabric, and meeting the high requirements of fabric operation in different scenarios.

[0088] See attached document Figure 1As shown, in some specific embodiments of this application, the robotic arm 3 includes a fixed arm 31, a first robotic arm 32, a second robotic arm 33, and a third robotic arm 34. The fixed arm 31 is rotatably fixed to the support member 2, the first robotic arm 32 is rotatably connected to the fixed arm 31, the second robotic arm 33 is rotatably connected to the first robotic arm 32, one end of the third robotic arm 34 is connected to the third robotic arm 34, and the other end of the third robotic arm 34 is connected to the scraping head 4.

[0089] It should be noted that there are a total of 6 drive shafts between the arms of the robotic arm 3, which enable the rotation between the arms.

[0090] Specifically, during the operation of the robotic arm 3, the fixed arm 31, serving as the base of the entire robotic arm 3, is rotatably fixed to the support component 2 via a fixed arm bracket (not shown in the figure), and can be rotated and adjusted on the support component 2. The first robotic arm 32 rotates relative to the fixed arm 31 via a drive shaft connected to it, changing its position and angle. The second robotic arm 33 rotates relative to the first robotic arm 32 via a drive shaft connected to it, expanding the range of motion of the robotic arm 3. One end of the third robotic arm 34 is connected to the second robotic arm 33 via a drive shaft, and can rotate relative to the second robotic arm 33 under the action of the corresponding drive shaft. The other end of the third robotic arm 34 is connected to the scraping head 4. Through the coordinated rotation of the six drive shafts between the arms, the scraping head 4 is driven to the designated position and performs the corresponding operation.

[0091] In the above embodiments of this application, the fixed arm 31 is rotatably fixed to the support component 2, providing flexible initial positioning for the entire robotic arm 3, and enabling rapid adjustment of its orientation according to different working environments and task requirements; the robotic arms 3 are rotatably connected and equipped with 6 drive shafts, giving the robotic arms 3 a high degree of flexibility and freedom, as shown in the attached figure. Figures 6 to 7 As shown, it can perform complex and precise movements in three-dimensional space, expanding the working range and operation capabilities of the robotic arm 3; whether facing a narrow space or a complex curved surface, it can make the scraping head 4 accurately reach the target position through the flexible rotation between the arms, complete the high-quality scraping operation, and improve work efficiency and work quality.

[0092] See attached document Figure 8 To be continued Figure 9 As shown, in another embodiment of this application, a scraping method is provided, which is implemented using the scraping robot in any of the above embodiments, specifically including:

[0093] S1. Plan the scraping operation stroke according to the coverage range of the robotic arm 3 of the scraping robot and the size of the wall to be constructed;

[0094] S2. Determine whether the work has reached the corner position based on the scraping operation stroke. If so, control the scraping head support 41 of the scraping head 4 to rotate 180° and stop the material spreading mechanism spraying.

[0095] S3. Control the scraping mechanism 43 of the scraping head 4 to complete the scraping of the cloth area at the corner position, and continue to execute the remaining scraping operation stroke until the end.

[0096] The robotic arm 3 can cover multiple squeegee strokes. These strokes can be planned based on the dimensions of the wall surface to be coated, for example, four strokes. After exceeding four strokes, the starting position of each stroke can be set to allow the robot to squeegee the wall surface. The paths between multiple squeegee strokes can be S-shaped. Of course, in other embodiments, other numbers of squeegee strokes and other set stroke paths can be used, specifically planned and determined according to the robotic arm and the actual needs of the project.

[0097] Specifically, at the start of the scraping operation, firstly, the scraping robot's control system acquires a spatial map of the work area and locates the robot's current position using a radar device 5 mounted on the support component 2. Based on the preset scraping work area, the radar device 5 navigates the travel path of the base 1, controlling the base to move and precisely move the robot to the work starting point. According to the coverage range of the robotic arm 3 and the size of the wall surface to be scraped, an S-shaped travel path is planned as the scraping operation journey. The path covers the entire area to be scraped, and multiple work starting points are identified in conjunction with the scraping range of the robotic arm 3. The robotic arm 3 then follows the planned path... The end-effector 4 is driven to move; during the movement, the cloth feeding mechanism 42 continuously dispenses paint according to the set parameters, and the squeegee mechanism 43 moves with the robotic arm 3 to squeegee the paint evenly; the squeegee mechanism 43 adjusts its extension and retraction in real time according to the flatness of the wall surface to ensure constant squeegee pressure; the radar device 5 or the movement status of the robotic arm 3 jointly determines whether a corner position has been reached; when a corner is detected, the squeegee head bracket 41 is controlled to rotate 180° and the spraying is paused; then the squeegee mechanism 43 locally repairs and smooths the paint in the corner area; after the corner treatment is completed, the squeegee head 4 returns to its original posture and continues to perform the remaining squeegee work along the S-shaped path.

[0098] In the above embodiments of this application, by setting multiple scraping operation strokes of the S-shaped travel path according to the coverage range of the robotic arm 3, the working capacity of the robotic arm 3 can be fully utilized to achieve maximization of the scraping area, efficient and orderly scraping operation, and improve work efficiency. At the same time, when reaching the corner position, the trowel head is controlled to rotate 180° and stop spraying to avoid uneven spraying or accumulation problems caused by changes in the movement of the robotic arm 3 at the corner, ensuring the smoothness and uniformity of the scraping quality at the corner. Finally, the scraper is used to specifically scrape the material area at the corner, improving the scraping effect at the corner and improving the overall quality of the scraping operation.

[0099] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0100] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A coating robot, characterized in that, It includes a base, and a support component, a robotic arm, and a squeegee head disposed on the base, wherein the support component, the robotic arm, and the squeegee head are connected in sequence; The support component is equipped with a radar device, and the base can move in all directions under the guidance of the radar device; the support component is used to support the robotic arm, and the robotic arm drives the scraping head located at its end to complete the scraping operation. The squeegee head includes a squeegee head bracket, a cloth-laying mechanism, and a squeegee mechanism. The squeegee head bracket is connected to the end of the robotic arm. The cloth-laying mechanism is located at one end of the squeegee head bracket, and the squeegee mechanism is located at the other end. The squeegee mechanism is retractable and used for squeegeeing the wall surface.

2. The coating robot according to claim 1, characterized in that, The wiping head support has an L-shaped structure, with the upper end of the vertical side of the L-shape connected to the fabric mechanism and the lower end of the horizontal side of the L-shape connected to the scraping mechanism. The L-shaped vertical side is provided with a mounting hole, and the outer side of the trowel bracket is connected to the robotic arm through the mounting hole.

3. The coating robot according to claim 1, characterized in that, The scraping mechanism includes: a scraper frame, an electronic ruler, and a nitrogen spring; One side of the scraper frame is connected to the other end of the horizontal side of the trowel support; The nitrogen springs are located on both sides of the trowel support, with one end fixed to the horizontal side of the trowel support and the other end connected to the scraper frame, for pushing the scraper frame to move. The electronic ruler is located inside the trowel head bracket, with one end connected to the scraper frame and the other end connected to the trowel head bracket, and is used to measure the extension length of the scraper bracket.

4. A coating robot according to claim 3, characterized in that, The scraping mechanism further includes: a sliding mechanism and a rotating mechanism; The sliding mechanism is located below the trowel support, with one end connected to the scraper frame and the other end connected to the rotating mechanism, and is used to slide relative to the scraper frame under the drive of the nitrogen spring; The rotating mechanism is connected to the scraper frame and is located below the sliding mechanism, and is used to drive the scraper frame to rotate.

5. A coating robot according to claim 4, characterized in that, The rotating mechanism includes a rotating plate and a rotating bearing; The rotating plate is connected to the scraper frame via the rotating bearing, and the rotating plate is connected to the trowel head bracket via the sliding mechanism; The slide rail of the sliding mechanism is disposed on the rotating plate.

6. A coating robot according to claim 4, characterized in that, The scraping mechanism also includes a scraper mechanism; The scraper mechanism is located on the opposite side of the scraper frame and is used to contact the wall surface to apply material.

7. A coating robot according to claim 1, characterized in that, The fabric-making mechanism includes: a drive unit and a nozzle; The driving device is mounted on the trowel bracket and connected to the nozzle, and is used to drive the nozzle to reciprocate. The trowel support is provided with a fixing part, and the driving device is installed on the fixing part.

8. A coating robot according to claim 7, characterized in that, The driving device includes: a drive motor, a transmission gear, and a rotary joint; The drive motor is mounted on the fixed part; one end of the transmission gear is connected to the drive motor, and the other end is connected to the rotary joint. The drive motor drives the rotary joint to reciprocate through the transmission gear, and the nozzle is connected to the rotary joint and reciprocates with the rotary joint.

9. A coating robot according to claim 1, characterized in that, The robotic arm includes a fixed arm, a first robotic arm, a second robotic arm, and a third robotic arm; The fixed arm is rotatably fixed to the support component. The first robotic arm is rotatably connected to the fixed arm. The second robotic arm is rotatably connected to the first robotic arm. One end of the third robotic arm is connected to the second robotic arm, and the other end of the third robotic arm is connected to the scraping head.

10. A coating method using the coating robot according to any one of claims 1-9, characterized in that, include: The scraping operation stroke is planned according to the coverage range of the robotic arm of the scraping robot and the size of the wall to be constructed; Determine whether the work has reached the corner position based on the scraping operation stroke. If so, control the scraping head support to rotate 180° and stop the material spreading mechanism spraying. The scraping mechanism of the scraping head completes the scraping of the fabric area at the corner position, and continues to execute the remaining scraping operation stroke until the end.

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