A line drawing robot for architectural finishing

Abstract

The application relates to the technical field of building decoration line drawing, and discloses a line drawing robot for building decoration, which comprises a vehicle body, an ink box is fixedly connected in the vehicle body through a frame body, a liquid delivery pipe is fixedly connected to the bottom of the ink box, a nozzle is fixedly connected to the end of the liquid delivery pipe away from the ink box, an installation cavity, a capacity expansion cavity and a spiral cavity are sequentially arranged in the nozzle from top to bottom, a spiral groove is arranged on the inner wall of the spiral cavity, a guide hole communicating with the outside is arranged in the spiral groove on the inner wall of the spiral cavity, a collecting box with an annular structure is sleeved on the nozzle, a drainage tube is fixedly connected in the guide hole, the end of the drainage tube away from the guide hole penetrates through the top of the collecting box and is slidably connected with the collecting box, and a sealing plug is slidably connected in the sealing cavity; the line drawing robot for building decoration avoids ink dripping from the nozzle, influences the coherence and overall precision of line drawing, effectively improves the clarity of line drawing breakpoints and the neatness of the working surface on the building construction site.

Description

Technical Field

[0001] This invention relates to the field of architectural decoration line drawing technology, specifically a line drawing robot for architectural decoration. Background Technology

[0002] In building decoration and construction, line drawing is a fundamental step in key processes such as determining location, direction, and dimensions. Its accuracy and efficiency directly affect the quality of subsequent construction. With social development, intelligent line drawing robots based on mobile platforms are gradually becoming an industry trend. They move autonomously through visual navigation and are equipped with a precisely controllable inkjet system to achieve automated and high-precision line marking on the ground or walls.

[0003] These types of robots typically perform precise tasks through their end effectors. For line-marking robots, the end effector is usually a nozzle, which is mainly responsible for performing the core function of spraying ink onto the construction surface to form markings. It is a key motion component of the entire robot, and the performance of the end effector directly determines the final effect of the line-marking operation.

[0004] After the line-drawing robot stops drawing lines and shuts off the ink supply system, some ink will still remain inside the infusion tube and nozzle. Under the influence of gravity and the vibration generated by the robot's movement, this residual ink will drip intermittently from the nozzle, forming unexpected stains, which seriously interfere with the continuity and overall accuracy of the line drawing. Therefore, we propose a line-drawing robot for building decoration. Summary of the Invention

[0005] The purpose of this invention is to provide a line-drawing robot for building decoration, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a line-drawing robot for building decoration, comprising a vehicle body, an ink cartridge fixedly connected to the vehicle body via a frame, an infusion tube fixedly connected to the bottom of the ink cartridge, a nozzle fixedly connected to the end of the infusion tube away from the ink cartridge, the nozzle being located below the vehicle body, and having an installation cavity, an expansion cavity, and a spiral cavity sequentially formed from top to bottom inside the nozzle; a spiral groove formed on the inner wall of the spiral cavity, and a guide hole communicating with the outside being formed in the spiral groove on the inner wall of the spiral cavity, the guide hole being inclined toward the bottom of the nozzle;

[0007] A ring-shaped collection box is fitted onto the nozzle. A fixing frame is fixedly connected to the side of the collection box near the guide hole. A drainage tube is fixedly connected to the guide hole. The end of the drainage tube away from the guide hole passes through the top of the collection box and is slidably connected to it. A drainage cavity and a sealing cavity are respectively provided in the drainage tube. A sealing plug is slidably connected in the sealing cavity. A guide groove is opened at the bottom of the sealing plug. Several drainage holes communicating with the guide groove are opened on the side wall of the sealing plug. A mounting spring is fixedly connected between the bottom of the sealing plug and the top of the fixing frame.

[0008] Preferably, a fixing pipe is fixedly connected through the fixing frame, and the top of the fixing pipe is located inside the guide groove.

[0009] Preferably, the drainage cavity is located inside the end of the drainage tube near the guide hole, and the sealing cavity is located inside the end of the drainage tube away from the guide hole. The inner diameter of the sealing cavity is smaller than the inner diameter of the drainage cavity.

[0010] Preferably, the outer wall of the fixed tube contacts and slides with the inner wall of the guide channel, and the fixed tube is located inside the mounting spring.

[0011] Preferably, the infusion tube is equipped with a solenoid valve, a magnetic ring is fixedly connected to the inner wall of the mounting cavity, a fixing spring is fixedly connected to the bottom of the magnetic ring, an electromagnet is fixedly connected to the bottom of the fixing spring, the electromagnet is electrically connected to the solenoid valve, and the electromagnet repels the magnetic ring when energized. A mounting bracket is fixedly connected to the bottom of the electromagnet, and a piston plate is fixedly connected to the bottom of the mounting bracket.

[0012] Preferably, the top edge of the piston plate is provided with a guide slope, and the bottom of the piston plate is flush with the bottom edge of the mounting cavity.

[0013] Preferably, a ring-shaped magnetic ring is fixedly connected to the nozzle, and the bottom of the magnetic ring is magnetically connected to the top of the collection box.

[0014] Preferably, two wheels are provided on each side of the vehicle body, the lowest point of the nozzle is higher than the lowest point of the wheel, a vision sensor is rotatably connected to the top of the vehicle body, and a glass plate is rotatably connected to one side of the vehicle body.

[0015] Preferably, the nozzle has symmetrically distributed movable slots. A pressure rod is rotatably connected to the nozzle via a rotating rod. The pressure rod is located on the movement trajectory of the piston plate. One end of the pressure rod is rotatably connected to a vertical rod, which moves up and down within the movable slots. A pull plate is connected to the lower end of the vertical rod. Several connecting rods are rotatably connected to the bottom of the pull plate. A baffle is rotatably connected to the lower end of the connecting rods. Several baffles form a hollow conical structure. Symmetrical return springs are fixedly connected to the top of the pull plate. The return springs are located outside the vertical rods, and the other end of the return springs is fixedly connected to the movable slots.

[0016] Preferably, a number of evenly distributed heat dissipation holes are provided on one side of the vehicle body, a control box is fixedly connected inside the vehicle body, and the end of the infusion tube away from the ink cartridge passes through the bottom of the vehicle body and extends to the outside of the vehicle body.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In this invention, when drawing lines, high-pressure ink pushes the sealing plug into the sealing cavity, thereby isolating the communication channel between the drainage tube and the collection box, allowing the ink to stably pass through the spiral grooves on the inner wall of the spiral cavity and be discharged from the nozzle. When drawing lines stops, the sealing plug, due to the reduced impact force of the ink, resets under the action of the installation spring, opening the flow passage between the drainage tube and the collection box. At this time, the residual ink in the expansion cavity and spiral cavity, under the influence of gravity and the vibration generated by the movement of the vehicle body, is guided by the flow channel formed by the guide hole, drainage tube, drainage hole, guide groove and fixed tube, and collected into the collection box. This avoids residual ink dripping from the nozzle, avoids interference with the continuity and overall accuracy of the line drawing, and effectively improves the clarity of the line drawing breakpoints and the cleanliness of the work surface at the construction site.

[0019] 2. This invention combines an expansion chamber and a spiral chamber, with a tapered guide cone between them. This causes the ink to undergo cross-sectional contraction and acceleration, as well as forced spiral swirling, before being ejected. This results in higher ejection speed and a concentrated jet pattern, reducing atomization caused by turbulence. This makes the lines clearer and the ink more uniform. At the same time, the centrifugal force generated by the high-speed swirling and the high-speed flow itself effectively reduce the amount of ink adhering to and remaining on the inner walls of the expansion chamber and spiral chamber, thus reducing the amount of ink that can drip after shutdown.

[0020] 3. During the line drawing process, the ink pressurized by the main pump impacts the piston plate in the mounting cavity, causing the piston plate to open and thus opening the flow channel between the mounting cavity, expansion cavity, and spiral cavity. When the line drawing operation stops, the impact force of the ink on the piston plate is greatly reduced. At this time, the fixing spring rebounds, driving the piston plate to return to its original position. At this time, the piston plate and the inner wall of the mounting cavity are in a sealed state, forming a reliable sealing barrier to the ink path at the upper end of the expansion cavity. This not only immediately stops the ink from the subsequent infusion tube, but also makes the expansion cavity and spiral cavity below the piston plate form a cavity with a closed top. When the residual ink in the cavity flows down due to gravity, the negative pressure generated at the top will exert an upward pulling force on it, thereby greatly slowing down the downward flow speed of the residual ink, allowing it to flow smoothly and controllably to the guide hole at the end. This provides sufficient operating time for the residual ink recovery mechanism and further ensures the reliability of the anti-drip mechanism. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the vehicle body in this invention;

[0023] Figure 3 This is a schematic diagram of the nozzle structure in this invention;

[0024] Figure 4 This is a schematic diagram of the first cross-sectional structure of the nozzle in this invention;

[0025] Figure 5 This is a schematic cross-sectional view of the drainage tube in this invention;

[0026] Figure 6 This is a schematic cross-sectional view of the sealing plug in this invention;

[0027] Figure 7 This is a schematic diagram of the cross-sectional connection structure between the sealing plug and the fixing tube in this invention;

[0028] Figure 8 This is a schematic diagram of the structure of the magnetic ring and its connecting components in this invention;

[0029] Figure 9 This is a schematic diagram of the second cross-sectional structure of the nozzle in this invention;

[0030] Figure 10 This is a schematic diagram of the baffle structure in this invention.

[0031] In the diagram: 1. Vehicle body; 11. Wheel; 12. Vision sensor; 13. Glass plate; 14. Heat dissipation hole; 15. Control box; 2. Ink cartridge; 21. Infusion tube; 22. Solenoid valve; 3. Nozzle; 30. Movable groove; 301. Pressure rod; 302. Vertical rod; 303. Pull plate; 304. Baffle; 305. Return spring; 306. Connecting rod; 31. Mounting cavity; 32. Expansion cavity; 33. Spiral cavity; 34. Guide hole; 35. Magnet ring; 4. Magnetic ring; 41. Fixing spring; 42. Mounting bracket; 43. Piston plate; 44. Guide slope; 45. Electromagnet; 5. Collection box; 51. Fixing bracket; 6. Drainage tube; 61. Drainage cavity; 62. Sealing cavity; 7. Sealing plug; 71. Guide groove; 72. Drainage hole; 73. Fixing tube; 74. Mounting spring. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1-10The present invention provides a technical solution: a line-drawing robot for building decoration, comprising a vehicle body 1, two wheels 11 on each side of the vehicle body 1, a vision sensor 12 rotatably connected to the top of the vehicle body 1, a glass plate 13 rotatably connected to one side of the vehicle body 1, a plurality of evenly distributed heat dissipation holes 14 on one side of the vehicle body 1, a control box 15 fixedly connected inside the vehicle body 1, an ink cartridge 2 fixedly connected inside the vehicle body 1 via a frame, an infusion tube 21 fixedly connected to the bottom of the ink cartridge 2, a solenoid valve 22 provided on the infusion tube 21, the end of the infusion tube 21 away from the ink cartridge 2 passing through the bottom of the vehicle body 1 and extending to the outside of the vehicle body 1, and a nozzle 3 fixedly connected to the end of the infusion tube 21 away from the ink cartridge 2, the nozzle 3 being located below the vehicle body 1, and the lowest point of the nozzle 3 being higher than the lowest point of the wheel 11.

[0034] Furthermore, a drive mechanism is installed inside the vehicle body 1 to rotate the wheels 11, enabling the vehicle body 1 to move. A vision sensor 12 allows the line-drawing robot to identify the surrounding terrain and obstacles and better avoid them. The glass panel 13 is made of transparent glass, allowing direct observation of the working status of various components inside the vehicle body 1. A lock is also installed on the glass panel 13 to secure it, protecting the components inside the vehicle body 1 and reducing vibrations generated during movement that could damage the glass panel 13. After the glass plate 13 is unlocked, the glass plate 13 is opened, and the components inside the vehicle body 1 can be manually inspected directly, avoiding the need to disassemble the vehicle body 1 when inspecting the components inside the vehicle body 1. The ink cartridge 2 is equipped with a main pump. During the line drawing process, the main pump delivers ink to the infusion tube 21. At this time, the solenoid valve 22 is opened, allowing the ink to enter the nozzle 3 and spray out from the nozzle 3 to complete the line drawing work. At the same time, the ink cartridge 2 is equipped with a stirrer, which continuously stirs the ink in the ink cartridge 2 to prevent the ink from settling and causing different ink color depths at different depths in the ink cartridge 2.

[0035] Combined with appendix Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the nozzle 3 has, from top to bottom, a mounting cavity 31, an expansion cavity 32, and a spiral cavity 33. The expansion cavity 32 and the spiral cavity 33 are connected by a tapered guide cone to guide the ink to accelerate smoothly into the spiral cavity 33. The inner wall of the spiral cavity 33 has a spiral groove, and a guide hole 34 communicating with the outside is formed in the spiral groove of the inner wall of the spiral cavity 33. The guide hole 34 is inclined towards the bottom of the nozzle 3 and is located near the end of the spiral cavity 33. A ring-shaped collection box 5 is fitted on the nozzle 3. A ring-shaped magnetic ring 35 is fixedly connected to the nozzle 3. The bottom of the magnetic ring 35 is magnetically connected to the top of the collection box 5. The collection box 5 is magnetically connected to the nozzle 3 through the magnetic ring 35, which facilitates daily disassembly, cleaning, and replacement. A fixing bracket 51 is fixedly connected to the side of the collection box 5 near the guide hole 34. A guide is fixedly connected to the guide hole 34. The flow tube 6 has one end away from the guide hole 34 that passes through the top of the collection box 5 and is slidably connected to it. The flow tube 6 is provided with a flow cavity 61 and a sealing cavity 62. The flow cavity 61 is located inside the end of the flow tube 6 near the guide hole 34, and the sealing cavity 62 is located inside the end of the flow tube 6 away from the guide hole 34. The inner diameter of the sealing cavity 62 is smaller than the inner diameter of the flow cavity 61. A sealing plug 7 is slidably connected inside the sealing cavity 62. A guide groove 71 is opened at the bottom of the sealing plug 7. Several flow holes 72 communicating with the guide groove 71 are opened on the side wall of the sealing plug 7. A mounting spring 74 is fixedly connected between the bottom of the sealing plug 7 and the top of the fixing frame 51. A fixing tube 73 is fixedly connected through the fixing frame 51. The top of the fixing tube 73 is located inside the guide groove 71. The outer wall of the fixing tube 73 is slidably connected to the inner wall of the guide groove 71. The fixing tube 73 is located inside the mounting spring 74.

[0036] Furthermore, when ink enters the nozzle 3 from the infusion tube 21, it passes sequentially through the mounting cavity 31, the expansion cavity 32, and the spiral cavity 33. Since the inner diameter of the expansion cavity 32 is larger than that of the spiral cavity 33, when the ink enters the smaller spiral cavity 33 from the larger expansion cavity 32, the flow cross-section contracts. According to the principle of fluid continuity, the flow velocity will significantly increase, thus obtaining greater jet kinetic energy. This increases the flow velocity and impact force of the ink entering the spiral cavity 33 from the expansion cavity 32. Furthermore, the spiral grooves on the inner wall of the spiral cavity 33 cause the fluid to rotate, generating a swirling flow. This swirling flow of ink stabilizes the jet and... To improve atomization, some high-speed flowing ink enters the drainage tube 6 through the guide hole 34 and impacts the top of the sealing plug 7 at high speed along the drainage cavity 61, pressing the sealing plug 7 down and causing the mounting spring 74 to contract, allowing the sealing plug 7 to fully enter the sealing cavity 62 until the inner top wall of the guide groove 71 is in contact with the top of the fixing tube 73. The fixing tube 73 prevents the sealing plug 7 from descending further. At this point, the inner wall of the sealing cavity 62 and the outer wall of the fixing tube 73 simultaneously seal the drainage hole 72 on the sealing plug 7. Through this double-layer seal, the sealing performance of the drainage hole 72 is improved, preventing ink from flowing down. The ink enters the collection box 5 and fills the drainage chamber 61. The ink in the spiral chamber 33 continues to flow out of the nozzle 3 along the spiral groove to complete the drawing work. When the main pump is turned off, the driving force on the ink in the infusion tube 21 disappears, and there is no further ink delivery. At this time, the impact force of the ink decreases, and the spring 74 rebounds, pushing the sealing plug 7 out of the sealing chamber 62, so that the drainage hole 72 of the sealing plug 7 is pushed into the drainage chamber 61. At this time, due to the lifting of the sealing plug 7, the inner top wall of the guide groove 71 separates from the top of the fixed tube 73, so that the sealing chamber 62 and the fixed tube 73 seal the drainage hole 72. When the effect disappears, the ink in the drainage chamber 61 will enter the guide groove 71 through the drainage hole 72, and finally flow into the collection box 5 through the fixed tube 73. The ink remaining in the spiral chamber 33 will fall down along the spiral groove under the influence of its own gravity and the vibration generated by the movement of the vehicle body 1. Finally, it will enter the collection box 5 through the guide hole 34, the drainage tube 6, the sealing plug 7 and the fixed tube 73, thus completing the collection of the ink remaining in the spiral chamber 33. This prevents the ink remaining in the nozzle 3 from continuing to fall under the influence of gravity and the vibration generated by the movement of the vehicle body 1 after the main pump is turned off, which would cause leakage.

[0037] Combined with appendix Figure 4 and Figure 8As shown, a magnetic ring 4 is fixedly connected to the inner wall of the mounting cavity 31. A fixing spring 41 is fixedly connected to the bottom of the magnetic ring 4. An electromagnet 45 is fixedly connected to the bottom of the fixing spring 41. The electromagnet 45 is electrically connected to the solenoid valve 22. When the electromagnet 45 is energized, it repels the magnetic ring 4. A mounting bracket 42 is fixedly connected to the bottom of the electromagnet 45. A piston plate 43 is fixedly connected to the bottom of the mounting bracket 42. A guide slope 44 is provided on the top edge of the piston plate 43. The bottom of the piston plate 43 is flush with the bottom edge of the mounting cavity 31. A sealing strip is provided on the side surface of the piston plate 43 to improve the sealing between it and the inner wall of the mounting cavity 31.

[0038] Furthermore, when the solenoid valve 22 is energized and opened, the electromagnet 45 is energized and generates magnetic force. Since the electromagnet 45 repels the magnetic ring 4 after being energized, it drives the mounting bracket 42 and piston plate 43 downwards. The fixing spring 41 is stretched until the piston plate 43 enters the expansion cavity 32. At this time, the ink passes through the mounting cavity 31, enters the expansion cavity 32 through the gap between the guide slope 44 of the piston plate 43 and the inner wall of the expansion cavity 32, and is discharged from the nozzle 3 along the spiral cavity 33, completing the line drawing work. When the line drawing stops, the solenoid valve 22 is de-energized, the electromagnet 45 is simultaneously de-energized, and the magnetic repulsion force on the magnetic ring 4 disappears. At this time, the fixing spring 41 begins to rebound, driving the piston plate 43 back to the mounting bracket 42. Inside cavity 31, the installation cavity 31 and expansion cavity 32 are sealed and isolated. At this time, the ink in the infusion tube 21 will not enter the expansion cavity 32. Since the top of the nozzle 3 is sealed, the expansion cavity 32 and the spiral cavity 33 form a cavity with the upper end closed. When the residual ink in the expansion cavity 32 and the spiral cavity 33 flows downward under the action of gravity, a negative pressure will be generated at the top of the cavity. This negative pressure will exert an upward pulling force on the ink, thereby greatly slowing down the downward flow speed of the residual ink due to its own weight and the vibration caused by the movement of the vehicle body 1. The residual ink in the spiral cavity 33 slowly flows downward along the spiral groove on the inner wall of the spiral cavity 33. Finally, the slowly flowing ink enters the guide hole 34, completing the collection of residual ink.

[0039] Combined with appendix Figure 4 , Figure 9 and Figure 10As shown, the nozzle 3 has symmetrically distributed movable grooves 30. A pressure rod 301 is rotatably connected to the nozzle 3 via a rotating rod. The pressure rod 301 is located on the movement trajectory of the piston plate 43. One end of the pressure rod 301 is rotatably connected to a vertical rod 302. The vertical rod 302 moves up and down within the movable grooves 30. The lower end of the vertical rod 302 is connected to a pull plate 303. Several connecting rods 306 are rotatably connected to the bottom of the pull plate 303. The lower end of the connecting rods 306 is rotatably connected to a baffle 304. Several baffles 304 form a hollow conical structure. Symmetrical return springs 305 are fixedly connected to the top of the pull plate 303. The return springs 305 are located outside the vertical rod 302. The other end of the return springs 305 is fixedly connected to the movable grooves 30.

[0040] Furthermore, initially, several baffles 304 form a cone shape to block the ink in the nozzle 3. When the piston plate 43 moves downward, it contacts the pressure rod 301, causing the pressure rod 301 to move closer to one end of the piston plate 43. The other end of the pressure rod 301 moves upward, which in turn causes the vertical rod 302 to move upward. The vertical rod 302 causes the pull plate 303 to move upward, compressing the return spring 305. The upward movement of the pull plate 303 causes the connecting rod 306 and the baffle 304 to move upward synchronously. The baffle 304 retracts into the movable groove 30. 4. The nozzle 3 is no longer blocked, and the ink in the nozzle 3 can be sprayed out to draw lines. When the piston plate 43 moves upward to reset, the piston plate 43 no longer presses the pressure rod 301. At this time, the pressure rod 301, the vertical rod 302, and the pull plate 303 move downward to reset under the elastic force of the reset spring 305. The baffle 304 moves downward under the pushing action of the pull plate 303 and the connecting rod 306, thereby blocking the nozzle 3 and preventing the ink in the nozzle 3 from dripping from the nozzle 3 under its own weight and the vibration caused by the movement of the entire equipment, which would affect the quality of the line drawing.

[0041] Working principle:

[0042] First, the vehicle body 1 is placed at the construction site where the decoration lines need to be drawn. Then, the environment around the vehicle body 1 is inspected by the vision sensor 12. After that, the vehicle body 1 drives the wheels 11 to rotate through the built-in drive device, thereby controlling the movement of the vehicle body 1.

[0043] During line drawing, ink is supplied to the infusion tube 21 by the main pump. The solenoid valve 22 is opened, allowing ink to enter the nozzle 3. When the ink enters the mounting cavity 31, the electromagnet 45 is energized, generating magnetic force. Because the electromagnet 45 repels the magnetic ring 4 after being energized, it drives the mounting bracket 42 and piston plate 43 downwards. The fixing spring 41 is stretched until the piston plate 43 enters the expansion cavity 32. At this point, the ink passes through the mounting cavity 31 and enters the expansion cavity 32 through the gap between the guide slope 44 of the piston plate 43 and the inner wall of the expansion cavity 32. Because the expansion cavity 3... The inner diameter of cavity 2 is larger than that of the spiral cavity 33. When ink enters the spiral cavity 33 from the larger expansion cavity 32, the flow cross-section contracts. According to the principle of fluid continuity, the flow velocity will increase significantly, thereby obtaining greater jet kinetic energy. This will increase the flow velocity and impact force of the ink entering the spiral cavity 33 from the expansion cavity 32. Combined with the spiral grooves on the inner wall of the spiral cavity 33, the fluid rotates to generate swirling flow. The swirling ink can stabilize the jet and improve atomization. At the same time, some of the high-speed flowing ink will enter the guide tube 6 through the guide hole 34 and flow at high speed along the guide cavity 61. The top of the sealing plug 7 is struck, pressing it down and causing the mounting spring 74 to contract, allowing the sealing plug 7 to fully enter the sealing cavity 62 until the inner top wall of the guide groove 71 is in contact with the top of the fixing tube 73. The fixing tube 73 prevents the sealing plug 7 from descending further. At this point, the inner wall of the sealing cavity 62 and the outer wall of the fixing tube 73 simultaneously seal the drainage hole 72 on the sealing plug 7. This double-layer seal improves the sealing performance of the drainage hole 72, preventing ink from entering the collection box 5. The drainage cavity 61 is filled with ink, while the ink in the spiral cavity 33 is... The nozzle 3 will continue to be discharged along the spiral groove to complete the drawing work; when the piston plate 43 moves downward, the piston plate 43 contacts the pressure rod 301 and drives the pressure rod 301 to move closer to one end of the piston plate 43. The other end of the pressure rod 301 moves upward, which in turn drives the vertical rod 302 to move upward. The vertical rod 302 drives the pull plate 303 to move upward, the return spring 305 is compressed, and the pull plate 303 moves upward, driving the connecting rod 306 and the baffle 304 to move upward synchronously. The baffle 304 retracts into the movable groove 30, and the baffle 304 no longer blocks the nozzle 3's nozzle opening.

[0044] After the line drawing is completed, the main pump is turned off. The driving force on the ink in the infusion tube 21 disappears, and no more ink is delivered. At this time, the impact force of the ink decreases. After the solenoid valve 22 is de-energized, the electromagnet 45 is also de-energized, and the magnetic repulsion force on the magnetic ring 4 disappears. At this time, the fixing spring 41 begins to rebound, driving the piston plate 43 back into the mounting cavity 31, completing the sealing and isolation of the mounting cavity 31 and the expansion cavity 32. At this time, no more ink in the infusion tube 21 will enter the expansion cavity 32. Since the top of the nozzle 3 is sealed, the expansion cavity 32 and the spiral cavity 33 form a cavity with a closed upper end. The ink remaining in the expansion cavity 32 and the spiral cavity 33 is released by gravity. When the ink flows downwards, a negative pressure is generated at the top of the cavity. This negative pressure exerts an upward pulling force on the ink, which greatly reduces the downward flow speed of the residual ink due to its own weight and the vibration caused by the movement of the vehicle body 1. When the piston plate 43 moves upwards to reset, the piston plate 43 no longer presses the pressure rod 301. At this time, the pressure rod 301, the vertical rod 302, and the pull plate 303 move downwards to reset under the elastic force of the reset spring 305. The baffle 304 moves downwards under the pushing action of the pull plate 303 and the connecting rod 306, thereby sealing the nozzle 3 and preventing the ink in the nozzle 3 from dripping from the nozzle 3 under its own weight and the vibration caused by the movement of the entire device, thus affecting the quality of the lines drawn.

[0045] Simultaneously, the spring 74 begins to rebound, pushing the sealing plug 7 out of the sealing cavity 62, causing the drainage hole 72 of the sealing plug 7 to be pushed into the drainage cavity 61. As the sealing plug 7 rises, the inner top wall of the guide groove 71 separates from the top of the fixed tube 73, causing the sealing effect of the sealing cavity 62 and the fixed tube 73 on the drainage hole 72 to disappear. At this time, the ink in the drainage cavity 61 will enter the guide groove 71 along the drainage hole 72, and finally flow into the collection box 5 through the fixed tube 73. The ink remaining in the spiral cavity 33, under the influence of its own weight and the vibration generated when the vehicle body 1 moves, falls down along the spiral groove, and finally enters the collection box 5 through the guide hole 34, the drainage tube 6, the sealing plug 7 and the fixed tube 73, completing the collection of the ink remaining in the spiral cavity 33.

[0046] Finally, after the entire line drawing work is completed, forcefully separate the collection box 5 from the magnetic ring 35, process the ink collected in the collection box 5, and then put the collection box 5 back onto the nozzle 3 so that it is attracted to the magnetic ring 35 for fixation. Then open the glass plate 13 and inspect the various parts inside the vehicle body 1. After the inspection is completed, the robot can be stored for the next use.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A line-drawing robot for building decoration, comprising a vehicle body (1), an ink cartridge (2) fixedly connected to the vehicle body (1) via a frame, an infusion tube (21) fixedly connected to the bottom of the ink cartridge (2), a nozzle (3) fixedly connected to the end of the infusion tube (21) away from the ink cartridge (2), the nozzle (3) being located below the vehicle body (1), characterized in that: The nozzle (3) is provided with an installation cavity (31), an expansion cavity (32) and a spiral cavity (33) from top to bottom. The inner wall of the spiral cavity (33) is provided with a spiral groove. The spiral groove of the inner wall of the spiral cavity (33) is provided with a guide hole (34) that communicates with the outside. The guide hole (34) is inclined towards the bottom of the nozzle (3). A ring-shaped collection box (5) is fitted on the nozzle (3). A fixing frame (51) is fixedly connected to the side of the collection box (5) near the guide hole (34). A drainage tube (6) is fixedly connected to the guide hole (34). The end of the drainage tube (6) away from the guide hole (34) passes through the top of the collection box (5) and is slidably connected to it. A drainage cavity (61) and a sealing cavity (62) are respectively provided in the drainage tube (6). A sealing plug (7) is slidably connected in the sealing cavity (62). A guide groove (71) is opened at the bottom of the sealing plug (7). Several drainage holes (72) communicating with the guide groove (71) are opened on the side wall of the sealing plug (7). A mounting spring (74) is fixedly connected between the bottom of the sealing plug (7) and the top of the fixing frame (51). An infusion tube (21) is equipped with a solenoid valve (22). A magnetic ring (4) is fixedly connected to the inner wall of the mounting cavity (31). A fixing spring (41) is fixedly connected to the bottom of the magnetic ring (4). An electromagnet (45) is fixedly connected to the bottom of the fixing spring (41). The electromagnet (45) is electrically connected to the solenoid valve (22). When the electromagnet (45) is energized, it repels the magnetic repulsion of the magnetic ring (4). A mounting bracket (42) is fixedly connected to the bottom of the electromagnet (45). A piston plate (43) is fixedly connected to the bottom of the mounting bracket (42). A fixed tube (73) is fixedly connected through the fixed frame (51), and the top of the fixed tube (73) is located inside the guide groove (71); The drainage cavity (61) is located inside the end of the drainage tube (6) near the guide hole (34), and the sealing cavity (62) is located inside the end of the drainage tube (6) away from the guide hole (34). The inner diameter of the sealing cavity (62) is smaller than the inner diameter of the drainage cavity (61). The outer wall of the fixed tube (73) contacts and slides with the inner wall of the guide groove (71), and the fixed tube (73) is located inside the mounting spring (74).

2. The line-marking robot for building decoration according to claim 1, characterized in that: The piston plate (43) has a guide slope (44) at its top edge, and the bottom of the piston plate (43) is flush with the bottom edge of the mounting cavity (31).

3. The line-drawing robot for building decoration according to claim 1, characterized in that: A ring-shaped magnet (35) is fixedly connected to the nozzle (3), and the bottom of the magnet (35) is magnetically connected to the top of the collection box (5).

4. The line-marking robot for building decoration according to claim 1, characterized in that: Two wheels (11) are provided on both sides of the vehicle body (1). The lowest point of the nozzle (3) is higher than the lowest point of the wheel (11). A vision sensor (12) is rotatably connected to the top of the vehicle body (1), and a glass plate (13) is rotatably connected to one side of the vehicle body (1).

5. A line-marking robot for building decoration according to claim 1, characterized in that: The nozzle (3) has symmetrically distributed movable grooves (30). A pressure rod (301) is rotatably connected to the nozzle (3) via a rotating rod. The pressure rod (301) is located on the movement trajectory of the piston plate (43). One end of the pressure rod (301) is rotatably connected to a vertical rod (302). The vertical rod (302) moves up and down in the movable groove (30). The lower end of the vertical rod (302) is connected to a pull plate (303). Several connecting rods (306) are rotatably connected to the bottom of the pull plate (303). A baffle (304) is rotatably connected to the lower end of the connecting rod (306). Several baffles (304) form a hollow conical structure. Symmetrical return springs (305) are fixedly connected to the top of the pull plate (303). The return springs (305) are located outside the vertical rod (302). The other end of the return springs (305) is fixedly connected to the movable groove (30).

6. A line-marking robot for building decoration according to claim 5, characterized in that: A number of evenly distributed heat dissipation holes (14) are provided on one side of the vehicle body (1). A control box (15) is fixedly connected inside the vehicle body (1). The end of the infusion tube (21) away from the ink cartridge (2) passes through the bottom of the vehicle body (1) and extends to the outside of the vehicle body (1).

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