Vertical face coating robot with dynamic balance mechanism and operation method

Abstract

The invention discloses a vertical face coating robot with a dynamic balance mechanism and an operation method. The vertical face coating robot comprises an executing mechanism, a material conveying system and a driving moving system. The executing mechanism comprises a coating driving part, a transmission assembly, a coating scraper device and a counter weight; the transmission assembly comprises a driving shaft, the output end of the driving shaft is connected with a coating scraper device and a counter weight through an open flexible transmission part, and the coating scraper device and the counter weight can synchronously and reversely move in the vertical direction to form a coating dynamic balance mechanism; the material conveying system comprises a material conveying driving part and a pumping device; the driving moving system comprises a driving subsystem and a steering subsystem; the driving subsystem comprises a moving driving part, a differential mechanism and a driving wheel; the steering subsystem comprises a steering driving piece, a steering mechanism and a steering wheel. Through the dynamic balance type lifting mechanism and material conveying and lifting linkage control, the problems that an existing coating robot is unstable in lifting and poor in material conveying matching are solved, and automatic high-quality operation of vertical face coating is achieved.

Description

Technical Field

[0001] This invention belongs to the technical field of facade coating building construction equipment, and particularly relates to a facade coating robot with a dynamic balancing mechanism and its operation method. Background Technology

[0002] Existing coating robots are primarily designed for outdoor construction scenarios. Their lifting mechanisms often employ direct hydraulic cylinder drive or single-track chain transmission. This results in a single point of force application during lifting, leading to unstable scraper movement, vibration, and jamming, severely impacting coating smoothness. Furthermore, the lack of mechanical balance between the scraper and the drive system results in high motor load, high energy consumption, and difficulty in maintaining a constant lifting speed, thus failing to guarantee uniform coating thickness. Regarding material delivery, existing equipment often uses centrifugal or plunger pumps to transport mortar. Due to the high viscosity and solid particle content of mortar, conventional pumping devices are prone to pressure pulsations and leaks, causing a mismatch between mortar delivery volume and scraper operating speed. When the scraper's lifting speed changes, the delivery volume cannot be adjusted synchronously, easily leading to vertical mortar accumulation and missed areas. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a facade coating robot and operation method with a dynamic balancing mechanism. By using a dynamic balancing lifting mechanism and material conveying and lifting linkage control, the problem of unstable lifting and poor material conveying matching of the existing coating robots is solved, so as to realize automated and high-quality facade coating operation.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a vertical coating robot with a dynamic balancing mechanism, comprising a main support frame with a mortar receiving bin, an execution mechanism and a material conveying system mounted on the main support frame, and a drive and movement system mounted on the bottom of the main support frame. The execution mechanism includes a coating drive component, a transmission assembly, a coating scraper device, and a counterweight. The transmission assembly includes a drive shaft driven to rotate by the coating drive component. The drive shaft has an output end, which is connected to the coating scraper device and the counterweight through an open flexible transmission component. The coating scraper device and the counterweight are respectively connected to the two ends of the open flexible transmission component, so that when the drive shaft rotates, the coating scraper device and the counterweight can move synchronously in opposite directions in the vertical direction, forming a coating dynamic balancing mechanism.

[0005] The material conveying system includes a material conveying drive and a pumping device; the inlet of the pumping device is connected to the mortar receiving bin, and the outlet is connected to the mortar inlet of the coating scraper device through a mortar conveying pipe; the material conveying drive drives the pumping device to operate.

[0006] The drive system includes a drive subsystem and a steering subsystem. The drive subsystem includes a moving drive component, a differential, and drive wheels. The moving drive component is driven to the differential, and the differential is driven to the axle of the drive wheels. The steering subsystem includes a separate steering drive component, a steering mechanism, and steering wheels. The steering drive component is driven to the steering mechanism, and the steering mechanism is connected to the steering wheels to control the steering angle of the steering wheels.

[0007] Furthermore, the output end includes at least two first sprockets fixedly mounted on the drive shaft and symmetrically distributed along the axial direction of the drive shaft; the open flexible transmission component consists of at least two open chains, each wound around a corresponding first sprocket.

[0008] Furthermore, the coating drive is connected to the drive shaft via a closed flexible transmission component.

[0009] Furthermore, the closed flexible transmission component is a closed chain, a drive sprocket is connected to the output shaft of the coated drive component, a second sprocket is connected to the shaft end of the drive shaft, and the drive sprocket and the second sprocket are connected by the closed chain transmission.

[0010] Furthermore, the counterweight is slidably mounted on the main support via a slider and a guide rail, the guide rail being arranged in the vertical direction.

[0011] Furthermore, it includes a coating lifting guide device, through which the coating scraper device is guided to move vertically.

[0012] Furthermore, the coating scraper device includes a scraper seat, a scraper, and a material discharge box; the scraper seat is disposed on the coating lifting guide device and is connected by the open flexible transmission component; the scraper is inclinedly disposed at the front end of the scraper seat to form an acute construction angle with the vertical surface to be coated; the material discharge box is installed on the scraper seat and is connected to the mortar conveying pipe, and the discharge port of the material discharge box extends to the mortar bearing surface of the scraper.

[0013] Furthermore, the coating lifting guide device includes a guide column and a guide sleeve. The guide column is vertically fixed on the main support, the guide sleeve is embedded in the scraper seat, and the guide sleeve is slidably sleeved on the guide column.

[0014] Furthermore, the steering mechanism is a linkage steering mechanism, including a linkage assembly, which is connected to the steering knuckle of the steering wheel.

[0015] A coating operation method for a facade coating robot equipped with a dynamic balancing mechanism includes the following steps:

[0016] Step S1: Drive the steering mechanism through the steering drive component of the steering subsystem to adjust the posture of the coating robot so that the scraper of the coating scraper device maintains a preset angle of 69° with the vertical surface to be coated.

[0017] Step S2: Start the material conveying system. The material conveying drive unit drives the pumping device to operate at the first speed, conveying the mortar from the mortar receiving bin to the material discharge box of the coating scraper device through the mortar conveying pipe, so that the mortar flows from the discharge port to the mortar bearing surface of the scraper.

[0018] Step S3: Start the actuator, the coating drive unit drives the drive shaft to rotate at the second speed, and drives the coating scraper device to rise at a constant speed in the vertical direction through the open flexible transmission component. At the same time, the counterweight is pulled down in the opposite direction in the vertical direction under the traction of the other end of the open flexible transmission component, forming dynamic balance, so that the scraper coats the vertical surface with a constant pressure of not less than 34N.

[0019] Step S4: During the upward movement of the coating scraper device, the second rotation speed of the coating drive component is monitored in real time by the controller of the coating robot. The rotation speed of the material conveying drive component is dynamically adjusted according to the preset correspondence between the mortar delivery volume and the coating speed, so that the mortar delivery volume of the pumping device is synchronized with the upward speed of the scraper, ensuring that the mortar evenly covers the mortar bearing surface of the scraper.

[0020] Step S5: After the coating scraper device rises to the preset height, stop the actuator and the material conveying system. Through the cooperation of the drive subsystem and steering subsystem of the drive moving system, move the coating robot laterally to the next construction station. Repeat steps S1 to S4 until the coating of the entire facade is completed.

[0021] Beneficial Effects: This invention, through the cooperation of the drive shaft, open flexible transmission component, and counterweight in the actuator, achieves dynamic balance between the scraper and the counterweight during lifting, eliminating the inertial force and eccentric torque generated by unilateral lifting, thus realizing uniform and stable scraper movement and significantly improving coating smoothness. The gravity balancing effect of the counterweight also reduces the motor load, making the lifting speed constant and controllable, avoiding uneven coating thickness caused by speed fluctuations. The material conveying system adjusts the material conveying amount in real time according to the scraper lifting speed through the controller, ensuring precise matching between mortar supply and coating consumption, avoiding mortar accumulation or missed areas due to material conveying pulsation or lag, and ensuring continuous and uniform mortar coverage of the scraper working surface. The linkage control between the actuator and the material conveying system ensures that the lifting speed and material conveying amount remain synchronized throughout the dynamic process, achieving automated and high-quality vertical coating operations. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the coating robot;

[0023] Figure 2A structural schematic diagram of the actuator, material conveying system, and coating lifting guide device;

[0024] Figure 3 This is a schematic diagram of the actuator in the coated state;

[0025] Figure 4 This is a schematic diagram of the steering subsystem. Detailed Implementation

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] like Figure 1 As shown, a facade coating robot with a dynamic balancing mechanism includes a main support 1 with a mortar receiving bin 10, an actuator 2 and a material conveying system 3 mounted on the main support 1, and a drive and movement system 4 mounted on the bottom of the main support 1. The main support 1 is made of Q235B hot-rolled steel plate and serves as the basic load-bearing structure for the entire coating robot, ensuring the overall stability of the equipment.

[0028] like Figure 2 and Figure 3As shown, the actuator 2 includes a coating drive component 5, a transmission assembly 6, a coating scraper device 7, and a counterweight 8. The transmission assembly 6 includes a drive shaft 61 driven to rotate by the coating drive component 5. The drive shaft 61 has an output end 610, which is connected to the coating scraper device 7 and the counterweight 8 via an open flexible transmission component 62. The coating scraper device 7 and the counterweight 8 are respectively connected to the two ends of the open flexible transmission component 62, so that when the drive shaft 61 rotates, the coating scraper device 7 and the counterweight 8 can move synchronously in opposite directions in the vertical direction, forming a coating dynamic balancing mechanism. The drive shaft 61 acts as a power distribution component, and its output end 610 converts the rotational motion into the linear motion of the open flexible transmission component 62. Since the coating scraper device 7 and the counterweight 8 are respectively connected to the two ends of the open flexible transmission component 62, when the drive shaft 61 rotates in the forward direction, one side of the open flexible transmission component 62 tightens and the other side releases, thereby driving the coating scraper device 7 to rise while the counterweight 8 descends synchronously. When the drive shaft 61 rotates in the reverse direction, the coating scraper device 7 descends and the counterweight 8 rises synchronously, thus balancing the weight of the coating scraper device 7 with the weight of the counterweight 8. The inertial forces generated by the two during the movement cancel each other out, forming a force balance. The drive shaft 61 only needs to overcome friction and coating resistance, without bearing the entire weight load of the coating scraper device 7, thereby significantly reducing drive energy consumption and eliminating motion vibration caused by gravity imbalance. Moreover, the coating dynamic balancing mechanism ensures that the coating scraper device 7 maintains a uniform and stable movement throughout the lifting and lowering process without jamming, ensuring a constant coating pressure on the opposite side of the scraper 72 and improving the uniformity of the coating thickness. The balancing effect of counterweight 8 reduces the load fluctuation of coated drive component 5, allowing the motor to operate in the high-efficiency range and extending its lifespan; synchronous reverse motion ensures that open flexible transmission component 62 is always in a tensioned state, preventing loosening or tooth skipping and improving transmission reliability.

[0029] like Figure 2 As shown, the material conveying system 3 includes a material conveying drive 31 and a pumping device 32. The inlet of the pumping device 32 is connected to the mortar receiving bin 10, and the outlet is connected to the mortar inlet of the coating scraper device 7 via a mortar conveying pipe 33. The material conveying drive 31 drives the pumping device 32. Preferably, the pumping device 32 is a single screw pump. The material conveying system 3 is driven by an independent power source, and the material conveying drive 31 directly controls the rotational speed of the pumping device 32, thereby precisely adjusting the mortar delivery rate. Because the material conveying drive 31 and the coating drive 5 of the actuator 2 are independent of each other in terms of power, the mortar delivery rate can be independently and precisely controlled, and the mortar delivery rate can be adjusted in real time according to the coating speed.

[0030] like Figure 1 and Figure 4As shown, the drive and movement system 4 includes a drive subsystem 4.1 and a steering subsystem 4.2. The drive subsystem 4.1 includes a moving drive component, a differential, and drive wheels. The moving drive component is drivenly connected to the differential, and the differential is drivenly connected to the axle of the drive wheels. The steering subsystem 4.2 includes an independent steering drive component 44, a steering mechanism 45, and a steering wheel 46. The steering drive component 44 is drivenly connected to the steering mechanism 45, and the steering mechanism 45 is connected to the steering wheel 46 to control the steering angle of the steering wheel 46. The design of independent power sources for drive and steering decouples the walking control and direction control of the coating robot, enabling it to turn in place and move laterally in confined spaces. The differential ensures that the drive wheels have no slipping friction when turning, reducing energy consumption and tire wear. Independent steering control allows the coating robot to precisely adjust its relative posture to the vertical surface, ensuring that the angle between the scraper 72 and the vertical surface meets the coating construction requirements.

[0031] In this invention, the coating drive 5, the material conveying drive 31, the moving drive, and the steering drive 44 are all matched motors.

[0032] The output end 610 includes at least two first sprockets fixedly mounted on the drive shaft 61 and symmetrically distributed along the axial direction of the drive shaft 61. The mounting positions of the first sprockets on the drive shaft 61 are symmetrical with respect to the axial center line, so that the force points of each first sprocket are evenly distributed on both sides of the drive shaft 61. The open flexible transmission component 62 consists of at least two open chains, each wound around a corresponding first sprocket. When the drive shaft 61 rotates, all the first sprockets rotate synchronously, driving each open chain to move synchronously, jointly pulling the coating scraper device 7 and the counterweight 8.

[0033] The coating drive component 5 is connected to the drive shaft 61 via a closed flexible transmission component 63. The closed flexible transmission components 63 form a closed loop, transmitting power from the output shaft of the coating drive component 5 to the drive shaft 61. The flexible transmission component has a certain elastic deformation capacity, which can absorb installation alignment errors between the coating drive component 5 and the drive shaft 61, as well as minor vibrations during operation. More specifically, the closed flexible transmission component 63 is a closed chain. A drive sprocket 64 is connected to the output shaft of the coating drive component 5, and a second sprocket 65 is connected to the shaft end of the drive shaft 61. The drive sprocket 64 and the second sprocket 65 are connected via the closed chain drive. Chain drive has no slippage loss, high transmission efficiency, and is suitable for long-term continuous operation; moreover, the meshing drive can withstand large impact loads and adapt to sudden changes in hard blocks or resistance that may be encountered during the coating process.

[0034] The counterweight 8 is not freely suspended. It is slidably mounted on the main support 1 via a slider and guide rail 11. The guide rail 11 is vertically oriented, and the slider is fixedly connected to and embedded in the guide rail 11, allowing the counterweight 8 to slide only along the extension direction of the guide rail 11 (i.e., the vertical direction). Other degrees of freedom are constrained by the guide rail 11. Because the guide rail 11 constrains the movement trajectory of the counterweight 8, it prevents it from swaying back and forth or left and right during lifting and lowering, ensuring accurate dynamic balance. Furthermore, when the counterweight 8 is lifted or lowered, the guide rail 11 bears lateral force, protecting the open flexible transmission component 62 from lateral tension.

[0035] The present invention includes a coating lifting guide device 9, wherein the coating scraper device 7 is guided to move vertically through the coating lifting guide device 9, so that the open flexible transmission component 62 only needs to provide traction force and does not need to bear the guiding role, thus simplifying the force state of the transmission system; moreover, the precise guidance ensures that the distance between the scraper 72 and the vertical surface remains constant during the lifting process, avoiding the scraper's forward and backward displacement caused by the flexible swing of the chain.

[0036] like Figure 2 As shown, the coating scraper device 7 includes a scraper seat 71, a scraper 72, and a material discharge box 73; the scraper seat 71 is disposed on the coating lifting guide device 9 and is connected by the open flexible transmission member 62; the scraper 72 is inclinedly disposed at the front end of the scraper seat 71 to form an acute angle with the surface to be coated; the material discharge box 73 is installed on the scraper seat 71 and is connected to the mortar conveying pipe 33, and the discharge port of the material discharge box 73 extends to the mortar bearing surface of the scraper 72.

[0037] More specifically, the coating lifting guide device 9 includes a guide post 91 and a guide sleeve 92. The guide post 91 is vertically fixed on the main support 1, and the guide sleeve 92 is embedded in the scraper seat 71 and slidably sleeved on the guide post 91.

[0038] like Figure 4 As shown, the steering mechanism 45 is a linkage steering mechanism, including a linkage assembly 450, which is connected to the steering knuckle of the steering wheel 46.

[0039] A coating operation method for a facade coating robot equipped with a dynamic balancing mechanism includes the following steps:

[0040] Step S1: The steering mechanism 45 is driven by the steering drive component 44 of the steering subsystem 4.2 to adjust the posture of the coating robot, so that the scraper 72 of the coating scraper device 7 maintains a preset angle of 69° with the surface to be coated. The angle of the coating robot relative to the surface is precisely controlled by the independent steering subsystem 4.2. The steering drive component 44 drives the linkage mechanism 45, causing the steering wheel 46 to deflect, thereby changing the direction of travel of the coating robot, and finally forming a 69° angle between the scraper 72 and the surface, which is the optimal working angle.

[0041] Step S2: Start the material conveying system 3. The material conveying drive 31 drives the pumping device 32 to operate at the first speed, conveying the mortar from the mortar receiving bin 10 through the mortar conveying pipe 33 to the discharge box 73 of the coating scraper device 7, so that the mortar flows from the discharge port to the mortar bearing surface of the scraper 72. When the scraper 72 starts to rise, the working surface is already covered with mortar, avoiding the phenomenon of dry scraping, ensuring the coating quality of the initial section of the facade, and supplying material in advance so that the system enters a stable working state.

[0042] Step S3: Start the actuator 2. The coating drive 5 drives the drive shaft 61 to rotate at the second rotation speed. Through the open flexible transmission 62, the coating scraper device 7 rises at a uniform speed in the vertical direction. At the same time, the counterweight 8, pulled by the other end of the open flexible transmission 62, descends synchronously in the opposite direction in the vertical direction, forming dynamic balance. This allows the scraper 72 to coat the facade with a constant pressure of not less than 34N. Due to the balancing effect of the counterweight 8, the pressure of the scraper device 7 on the facade depends only on the difference between its own weight and the weight of the counterweight, as well as the contact stiffness between the scraper and the facade, and is independent of the lifting speed. When the mass of the counterweight is equal to or in a specific proportion to the mass of the scraper device 7, the pressure of the scraper on the facade remains constant and is not affected by the lifting height. Therefore, the dynamic balance design ensures that the pressure of the scraper 72 on the facade remains constant throughout the lifting process, guaranteeing the uniformity of the coating thickness; the minimum pressure of 34N ensures that the mortar is fully squeezed and embedded into the pores of the facade, improving adhesion; and the uniform speed of ascent allows the mortar to be continuously scraped flat, resulting in better smoothness.

[0043] Step S4: During the upward movement of the coating scraper device 7, the controller of the coating robot monitors the second rotation speed of the coating drive component 5 in real time. Based on the preset correspondence between mortar delivery volume and coating speed, the rotation speed of the material conveying drive component 31 is dynamically adjusted to ensure that the mortar delivery volume of the pumping device 32 is synchronized with the upward speed of the scraper 72, ensuring that the mortar evenly covers the mortar bearing surface of the scraper 72. Dynamic adjustment ensures that the mortar supply precisely follows the scraper consumption, maintaining a suitable amount of mortar on the working surface of the scraper 72 at all times. This avoids both excessive accumulation causing mortar buildup and insufficient coverage leading to missed areas, eliminating fluctuations caused by material delivery lag and achieving automated, high-quality vertical coating operations.

[0044] To achieve precise matching between mortar delivery volume and coating speed, the controller pre-stores the correspondence between mortar delivery volume and scraper lifting speed. This correspondence is calculated based on scraper width, preset coating thickness, and mortar density.

[0045] For example, when the scraper width is 1.2m, the preset coating thickness is 10mm, and conventional cement mortar (density approximately 1.6–1.8 kg / L) is used, the relationship between the scraper lifting speed and the single screw pump speed is shown in Table 1:

[0046] Table 1: Correspondence between scraper lifting speed and single screw pump speed

[0047]

[0048] The above correspondence is pre-written into the controller. In actual construction, the controller monitors the rotation speed of the coating drive 5 in real time (reflecting the scraper lifting speed), and dynamically adjusts the rotation speed of the material conveying drive 31 through table lookup or interpolation algorithm, so that the mortar output of the single screw pump matches the scraper speed in real time, thereby avoiding mortar accumulation or missed areas and ensuring the consistency of coating quality.

[0049] Step S5: After the coating scraper device 7 rises to the preset height, the actuator 2 and the material conveying system 3 are stopped. The coating robot is moved laterally to the next construction station by the cooperation of the drive subsystem 4.1 and the steering subsystem 4.2 of the drive moving system 4. Steps S1 to S4 are repeated until the coating of the entire facade is completed.

[0050] In summary, this invention, through the cooperation of the drive shaft, open flexible transmission component, and counterweight in the actuator, achieves dynamic balance between the scraper and the counterweight during the lifting process. This eliminates the inertial force and off-center torque generated by unilateral lifting, enabling the scraper to move at a uniform and stable speed, significantly improving the smoothness of the coating. The gravity balancing effect of the counterweight also reduces the motor load, making the lifting speed constant and controllable, avoiding uneven coating thickness caused by speed fluctuations. The material conveying system adjusts the material conveying amount in real time according to the scraper's lifting speed via a controller, ensuring precise matching between mortar supply and coating consumption. This prevents mortar accumulation or missed areas due to material conveying pulsations or lags, ensuring continuous and uniform mortar coverage of the scraper's working surface. The linkage control between the actuator and the material conveying system ensures that the lifting speed and material conveying amount remain synchronized throughout the dynamic process, achieving automated and high-quality vertical coating operations.

[0051] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A facade coating robot with a dynamic balancing mechanism, comprising a main support (1) having a mortar receiving bin (10), an actuator (2) and a material conveying system (3) mounted on the main support (1), and a drive and movement system (4) mounted on the bottom of the main support (1), characterized in that: The actuator (2) includes a coating drive (5), a transmission assembly (6), a coating scraper device (7), and a counterweight (8); the transmission assembly (6) includes a drive shaft (61) driven to rotate by the coating drive (5), the drive shaft (61) is provided with an output end (610), the output end (610) is connected to the coating scraper device (7) and the counterweight (8) through an open flexible transmission member (62), and the coating scraper device (7) and the counterweight (8) are respectively connected to the two ends of the open flexible transmission member (62), so that when the drive shaft (61) rotates, the coating scraper device (7) and the counterweight (8) can move synchronously in opposite directions in the vertical direction to form a coating dynamic balance mechanism; The material conveying system (3) includes a material conveying drive (31) and a pumping device (32); the inlet of the pumping device (32) is connected to the mortar receiving bin (10), and the outlet is connected to the mortar inlet of the coating scraper device (7) through the mortar conveying pipe (33); the material conveying drive (31) drives the pumping device (32) to operate. The drive system (4) includes a drive subsystem (4.1) and a steering subsystem (4.2); the drive subsystem (4.1) includes a moving drive component, a differential and a drive wheel, the moving drive component is driven connected to the differential, and the differential is driven connected to the axle of the drive wheel; the steering subsystem (4.2) includes an independent steering drive component (44), a steering mechanism (45) and a steering wheel (46), the steering drive component (44) is driven connected to the steering mechanism (45), and the steering mechanism (45) is connected to the steering wheel (46) for controlling the steering angle of the steering wheel (46).

2. A vertical coating robot with a dynamic balancing mechanism according to claim 1, characterized in that: The output end (610) includes at least two first sprockets fixedly mounted on the drive shaft (61) and symmetrically distributed along the axial direction of the drive shaft (61); the open flexible transmission member (62) consists of at least two open chains, which are respectively wound around the corresponding first sprockets.

3. A vertical coating robot with a dynamic balancing mechanism according to claim 1, characterized in that: The coating drive (5) is connected to the drive shaft (61) via a closed flexible transmission (63).

4. A vertical coating robot with a dynamic balancing mechanism according to claim 3, characterized in that: The closed flexible transmission component (63) is a closed chain. The output shaft of the coated drive component (5) is connected to a drive sprocket (64). The shaft end of the drive shaft (61) is connected to a second sprocket (65). The drive sprocket (64) and the second sprocket (65) are connected by the closed chain drive.

5. A vertical coating robot with a dynamic balancing mechanism according to claim 1, characterized in that: The counterweight (8) is slidably mounted on the main support (1) via a slider and a guide rail (11), the guide rail (11) being arranged in the vertical direction.

6. A vertical coating robot with a dynamic balancing mechanism according to claim 1, characterized in that: It includes a coating lifting guide device (9), and the coating scraper device (7) is guided to move vertically through the coating lifting guide device (9).

7. A vertical coating robot with a dynamic balancing mechanism according to claim 6, characterized in that: The coating scraper device (7) includes a scraper seat (71), a scraper (72), and a material feeding box (73); the scraper seat (71) is mounted on the coating lifting guide device (9) and is pulled and connected by the open flexible transmission member (62); the scraper (72) is inclinedly mounted at the front end of the scraper seat (71) to form an acute angle with the vertical surface to be coated; the material feeding box (73) is mounted on the scraper seat (71) and connected to the mortar conveying pipe (33), and the material feeding port of the material feeding box (73) extends to the mortar bearing surface of the scraper (72).

8. A vertical coating robot with a dynamic balancing mechanism according to claim 7, characterized in that: The coating lifting guide device (9) includes a guide post (91) and a guide sleeve (92). The guide post (91) is vertically fixed on the main support (1), and the guide sleeve (92) is embedded in the scraper seat (71) and slidably sleeved on the guide post (91).

9. A vertical coating robot with a dynamic balancing mechanism according to claim 1, characterized in that: The steering mechanism (45) is a linkage steering mechanism, including a linkage assembly (450), which is connected to the steering knuckle of the steering wheel (46).

10. A coating operation method for a facade coating robot with a dynamic balancing mechanism according to claim 7, characterized in that: Includes the following steps: Step S1: Drive the steering mechanism (45) through the steering drive component (44) of the steering subsystem (4.2) to adjust the posture of the coating robot so that the scraper (72) of the coating scraper device (7) maintains a preset angle of 69° with the surface to be coated; Step S2: Start the material conveying system (3), the material conveying drive (31) drives the pumping device (32) to operate at the first speed, and convey the mortar from the mortar receiving bin (10) through the mortar conveying pipe (33) to the discharge box (73) of the coating scraper device (7), so that the mortar flows from the discharge port to the mortar bearing surface of the scraper (72); Step S3: Start the actuator (2), the coating drive (5) drives the drive shaft (61) to rotate at the second speed, and drives the coating scraper device (7) to rise at a constant speed in the vertical direction through the open flexible transmission (62). At the same time, the counterweight (8) is pulled down in the opposite direction in the vertical direction under the traction of the other end of the open flexible transmission (62) to form dynamic balance, so that the scraper (72) coats the vertical surface with a constant pressure of not less than 34N. Step S4: During the upward movement of the coating scraper device (7), the second rotation speed of the coating drive component (5) is monitored in real time by the controller of the coating robot, and the rotation speed of the material conveying drive component (31) is dynamically adjusted according to the preset correspondence between the mortar conveying volume and the coating speed, so that the mortar conveying volume of the pumping device (32) is synchronized with the upward speed of the scraper (72), ensuring that the mortar evenly covers the mortar bearing surface of the scraper (72). Step S5: When the coating scraper device (7) rises to the preset height, stop the actuator (2) and the material conveying system (3). Through the cooperation of the drive subsystem (4.1) and steering subsystem (4.2) of the drive moving system (4), the coating robot is moved laterally to the next construction station. Repeat steps S1 to S4 until the coating of the entire facade is completed.

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