Lower hanging type outer wall spraying robot

Abstract

The utility model belongs to the technical field of spraying robots, and discloses a lower hanging type outer wall spraying robot which comprises a spraying component, and the spraying component is detachably connected with a hanging basket and located below the hanging basket. According to the outer wall spraying robot, modular design is adopted, and all the parts are light in structure, convenient to carry and rapid to assemble, install and disassemble; constructors do not need to go to the hanging basket in the spraying process, and the safety risk of aloft work is avoided. The outer wall spraying robot is uniform in spraying effect and capable of spraying building coatings such as real stone paint, multi-color paint and latex paint.

Description

Technical Field

[0001] The utility model belongs to the technical field of spraying robots, and particularly relates to a bottom-hanging exterior wall spraying robot. Background Art

[0002] After the building wall is formed, decorative paint needs to be sprayed on the outer wall of the wall. In the existing spraying method, many construction scenes are to build scaffolding to facilitate construction, or require manual suspension for operation. The former has high construction costs and will have a great impact on the normal life in the building. The latter makes it difficult to guarantee the personal safety of construction workers.

[0003] There are also some spraying robots in the prior art, but they have the following problems: the equipment is heavy, cannot be disassembled, and cannot be manually transported in the construction site environment. Utility Model Content

[0004] In view of the above problems, the utility model provides a hanging type exterior wall spraying robot, which adopts the following technical solutions:

[0005] A bottom-hanging exterior wall spraying robot comprises a spraying component, wherein the spraying component is detachably connected to a hanging basket and is located below the hanging basket.

[0006] Furthermore, it also includes a material box and a control cabinet, and the material box and the control cabinet are both arranged on the hanging basket.

[0007] Further, the spraying component includes a guide rail assembly and a spray gun assembly, the guide rail assembly is detachably connected to the hanging basket, the spray gun assembly includes an X-direction adjustment mechanism, a Z-direction adjustment mechanism and a plurality of nozzles, the X-direction adjustment mechanism drives the Z-direction adjustment mechanism and the plurality of nozzles to move linearly along the guide rail assembly, the plurality of nozzles are arranged on the Z-direction adjustment mechanism, and the Z-direction adjustment mechanism drives the plurality of nozzles to move linearly in the Z direction along the X-direction adjustment mechanism;

[0008] The material box is connected to the plurality of nozzles through a feeding pipe, and a laser displacement sensor, a first photoelectric sensor and a second photoelectric sensor are provided on the Z-direction adjustment mechanism; the control cabinet is also communicatively connected to the laser displacement sensor, the first photoelectric sensor and the second photoelectric sensor.

[0009] Furthermore, the guide rail assembly includes a first linear guide rail and a fixed connection assembly, the first linear guide rail is arranged along the X direction, the X direction adjustment mechanism is slidably connected to the first linear guide rail, a plurality of the fixed connection assemblies are arranged above the first linear guide rail, and the first linear guide rail is detachably connected to the hanging basket through a plurality of the fixed connection assemblies.

[0010] Furthermore, the fixed connection component includes a second linear guide and an adjustment and fixing component, the second linear guide is connected to the first linear guide, the second linear guide is perpendicular to the first linear guide, the second linear guide can slide along the X direction on the first linear guide, and the two adjustment and fixing components are respectively arranged at both ends of the second linear guide, and the two adjustment and fixing components can slide along the Z direction on the second linear guide.

[0011] Furthermore, the adjustment and fixing assembly includes a U-shaped block, a first slider and a bolt. The bottom of the U-shaped block is slidably connected to the slide groove of the second linear guide rail through the first slider. A threaded hole is provided on the top of the U-shaped block, and the bolt is threadedly connected to the threaded hole.

[0012] Furthermore, the guide rail assembly also includes a first rack arranged at the bottom, the X-direction adjustment mechanism includes a U-shaped slider, a first motor and a first gear, the upper part of the U-shaped slider is slidably connected to the slide rails on both sides of the first linear guide rail, the first motor is fixed on the U-shaped slider, the transmission shaft of the first motor is fixedly connected to the first gear, the first gear is meshed with the first rack, the bottom of the U-shaped slider is fixedly connected to the Z-direction adjustment mechanism, and the first motor is signal-connected to the control cabinet.

[0013] Further, the Z-direction adjustment mechanism includes a vertical plate, a second motor, a second slider, a third linear guide rail, a second gear and a second rack;

[0014] The upper end of the vertical plate is fixedly connected to the bottom of the U-shaped slider, the second motor is fixedly arranged in the middle of the vertical plate, the second slider is fixedly arranged at the bottom of the vertical plate, the second slider is slidingly connected to the third linear guide in the Z direction, the second gear is fixedly connected to the transmission shaft of the second motor, the second rack is arranged on the upper part of the third linear guide, the second rack is parallel to the third linear guide, the second gear is meshed with the second rack, and the second motor is connected to the control cabinet signal.

[0015] Furthermore, the plurality of nozzles include real stone paint nozzles and a plurality of water-based sand nozzles.

[0016] Furthermore, the material box includes a hopper and a feed pump, the inlet of the feed pump is connected to the hopper, and the outlet of the feed pump is connected to the plurality of nozzles through the feeding pipeline.

[0017] Beneficial effects of the utility model:

[0018] 1. The exterior wall spraying robot of the utility model adopts a modular design, and each part of the structure is light, easy to carry, and quick to assemble, install and disassemble. During the spraying process, construction workers do not need to go on a hanging basket to avoid safety risks of high-altitude operations.

[0019] 2. The exterior wall spraying robot of the utility model has a uniform spraying effect and can spray real stone paint, multi-color paint, latex paint and other architectural coatings.

[0020] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by implementing the utility model. The purpose and other advantages of the utility model can be realized and obtained by the structures indicated in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the installation of a bottom-mounted exterior wall spraying robot and a hanging basket according to an embodiment of the utility model is shown;

[0023] Figure 2 A schematic structural diagram of a bottom-mounted exterior wall spraying robot according to an embodiment of the utility model is shown;

[0024] Figure 3 A schematic diagram of the structure of a fixed connection assembly according to an embodiment of the utility model is shown;

[0025] Figure 4 A schematic diagram of the installation of the X-direction adjustment mechanism and the guide rail assembly according to an embodiment of the utility model is shown;

[0026] Figure 5 A structural schematic diagram showing a schematic diagram of the installation of a Z-direction adjustment mechanism and a plurality of nozzles according to an embodiment of the utility model;

[0027] Figure 6 A schematic diagram of the installation of the second sliding block and the third linear guide rail according to an embodiment of the utility model is shown.

[0028] In the figure: 1. material box; 2. spraying parts; 3. control cabinet; 4. hanging basket; 5. guide rail assembly; 6. spray gun assembly; 7. X-direction adjustment mechanism; 8. Z-direction adjustment mechanism; 9. laser displacement sensor; 10. first photoelectric sensor; 11. second photoelectric sensor; 12. hopper; 13. feed pump; 14. first linear guide; 15. fixed connection assembly; 16. second linear guide; 17. adjustment and fixing assembly; 18. U-shaped block; 19. first slider; 20. bolt; 21. first rack; 22. U-shaped slider; 23. first motor; 24. first gear; 25. vertical plate; 26. second motor; 27. second slider; 28. third linear guide; 29. ​​second gear; 30. second rack; 31. first fixed frame; 32. second fixed frame; 33. third fixed frame; 34. real stone paint nozzle; 35. water-bag sand nozzle; 36. valve. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] It should be noted that the terms "first", "second" etc. in the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged in appropriate circumstances, so that the embodiments of the present application described here. In the present application, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" etc. are based on the orientation or positional relationship shown in the accompanying drawings.

[0031] The utility model provides a bottom-hanging exterior wall spraying robot. The equipment adopts a modular design, and each part of the structure is light, easy to carry, and quick to assemble, install and disassemble.

[0032] like Figure 1 As shown, a bottom-mounted exterior wall spraying robot includes a material box 1, a spraying component 2 and a control cabinet 3. The material box 1 and the control cabinet 3 are both arranged on a hanging basket 4 at the construction site. The spraying component 2 is detachably connected to the hanging basket 4 and is located below the hanging basket 4. It should be noted that the hanging basket 4 is a type of liftable load-bearing construction equipment and may also be replaced by other equipment.

[0033] like Figure 2As shown, the spraying component 2 includes a guide rail assembly 5 and a spray gun assembly 6, and the guide rail assembly 5 is detachably connected to the hanging basket 4. The utility model defines the horizontal direction of the outer wall as the X direction, the vertical direction of the outer wall as the Y square, and the Z direction perpendicular to the outer wall direction. The hanging basket 4 can move along the X direction and the Y direction of the outer wall.

[0034] The spray gun assembly 6 includes an X-direction adjustment mechanism 7, a Z-direction adjustment mechanism 8 and a plurality of nozzles, wherein the X-direction adjustment mechanism 7 is slidably connected to the guide rail assembly 5, the X-direction adjustment mechanism 7 drives the Z-direction adjustment mechanism 8 and the plurality of nozzles to move linearly along the guide rail assembly 5, the Z-direction adjustment mechanism 8 is slidably connected to the X-direction adjustment mechanism 7, the plurality of nozzles are arranged on the Z-direction adjustment mechanism 8, and the Z-direction adjustment mechanism 8 drives the plurality of nozzles to move linearly in the Z direction along the X-direction adjustment mechanism 7.

[0035] The Z-direction adjustment mechanism 8 is provided with a laser displacement sensor 9, a first photoelectric sensor 10 and a second photoelectric sensor 11. The first photoelectric sensor 10 and the second photoelectric sensor 11 are arranged on both sides of the plurality of nozzles at a set interval along the X-direction. The laser displacement sensor 9 is located below the second photoelectric sensor 11 and has a distance therebetween in the X-direction.

[0036] The material box 1 is connected to a plurality of nozzles through a feeding pipe, for example, Figure 1 As shown, the material box 1 includes a hopper 12 and a feed pump 13. The inlet of the feed pump 13 is connected to the hopper 12, and the outlet of the feed pump 13 is connected to multiple nozzles through a feed pipe. The feed pump 13 transports the paint in the hopper 12 to the nozzles through the feed pipe, and the nozzles spray the paint on the exterior wall.

[0037] A valve 36 is provided on the feeding pipeline, and the control cabinet 3 is in communication connection with the feeding pump 13 and the valve 36 . The control cabinet 3 is used to control the opening and closing of the valve 36 and the feeding pump 13 .

[0038] The control cabinet 3 is also communicatively connected with the laser displacement sensor 9, the first photoelectric sensor 10 and the second photoelectric sensor 11. The control cabinet 3 is used to determine whether the nozzle is in a position where spraying is not required through the laser displacement sensor 9, the first photoelectric sensor 10 and the second photoelectric sensor 11. If it is determined that the nozzle is in a position where spraying is not required, such as a window, balcony, etc., the material box 1 is controlled to stop feeding (close the feed pump 13 and the valve 36 on the feed pipeline), and the nozzle is controlled to stop spraying.

[0039] The control cabinet 3 is also used to obtain the distance between the nozzle and the outer wall through the laser displacement sensor 9, and adjust the position of the nozzle in real time through the Z-direction adjustment mechanism 8 according to the distance between the nozzle and the outer wall, so that the distance between the nozzle and the outer wall is maintained at a first set value. By adjusting the position of the nozzle in real time, the problem of uneven spraying caused by shaking of the hanging basket 4 during operation can be avoided.

[0040] The control cabinet 3 is used to determine whether the nozzle is in a position where spraying is not required through the laser displacement sensor 9, the first photoelectric sensor 10 and the second photoelectric sensor 11, including the following steps:

[0041] S1. The control cabinet 3 obtains the distance between the nozzle and the outer wall in real time through the laser displacement sensor 9. When the distance between the nozzle and the outer wall is greater than a second set value, the current position is determined to be a position where spraying is not required, wherein the second set value is greater than the first set value.

[0042] For example, under normal circumstances, when spraying the exterior walls of a building, there are holes on the exterior walls at the window and balcony installation locations. When the spray gun assembly 6 moves to the holes at the window or balcony locations, the signal emitted by the laser displacement sensor 9 is reflected back from inside the building. At this time, the distance measured by the laser displacement sensor 9 is the distance between the internal structure and the nozzle, which will be much larger than the distance between the nozzle and the exterior wall.

[0043] The utility model stops spraying at the hole position where spraying is not required, thus saving paint.

[0044] S2. The control cabinet 3 determines through the laser displacement sensor 9 that the distance between the nozzle and the outer wall is less than the second set value. When any one of the first photoelectric sensor 10 and the second photoelectric sensor 11 determines that there is no object in front, the current position is determined as a position where spraying is not required.

[0045] For example, in some construction scenarios, there are structures such as aluminum alloy support columns in the holes, and the aluminum alloy support columns and other structures do not need to be sprayed. The utility model stops spraying at structures such as aluminum alloy support columns through the cooperation of the laser displacement sensor 9, the first photoelectric sensor 10 and the second photoelectric sensor 11. The specific principle is: in order to distinguish the outer wall from the aluminum alloy support column, the distance between the first photoelectric sensor 10, the second photoelectric sensor 11 and the laser displacement sensor 9 is set according to the width of the aluminum alloy support column. When the nozzle moves to the aluminum alloy support column, the signal emitted by the laser displacement sensor 9 is reflected back from the aluminum alloy support column. At this time, the distance between the nozzle and the outer wall is less than the second set value. Because there is a distance between the first photoelectric sensor 10, the second photoelectric sensor 11 and the laser displacement sensor 9 in the X direction, at this time, there is a hole directly in front of the first photoelectric sensor 10 and / or the second photoelectric sensor 11. The first photoelectric sensor 10 and / or the second photoelectric sensor 11 determines that there is no object in front, and determines that the current position is a position that does not require spraying.

[0046] The utility model adopts a split modular design for exterior wall spraying robot, so that each part is light in weight. When used on the construction site, the material box 1, the spraying component 2 and the control cabinet 3 can be respectively transported to the hanging basket 4 for installation by a mobile trolley or manually, and the transportation is convenient.

[0047] The process of the hanging exterior wall spraying robot of the utility model entering the exterior wall for spraying is as follows:

[0048] The material box 1, the spraying component 2 and the control cabinet 3 are fixed on the hanging basket 4, and the spraying component 2 is fixed under the hanging basket 4. The paint to be sprayed is poured into the material box 1. Multiple nozzles spray different paints correspondingly. The spraying component 2 is moved to the position where spraying is required through the hanging basket 4. The spraying component 2 is controlled by the control cabinet 3 to start spraying on the outer wall. During spraying, the hanging basket 4 drives the hanging outer wall spraying robot to move along the Y direction, and the X direction adjustment mechanism 7 drives the Z direction adjustment mechanism 8 and the nozzle to spray along the X direction of the outer wall. During the spraying process, when the hanging basket 4 drives the spraying robot to shake, the distance between the nozzle and the outer wall will change. At this time, the distance between the nozzle and the outer wall is obtained by the laser displacement sensor 9, and the position of the nozzle is adjusted in real time to ensure the spraying quality. When the laser displacement sensor 9, the first photoelectric sensor 10 and the second photoelectric sensor 11 are used to determine whether the nozzle is in a position where spraying is not required, the spraying is stopped.

[0049] For example, Figure 2 As shown, the guide rail assembly 5 includes a first linear guide rail 14 and a fixed connection assembly 15, the first linear guide rail 14 is arranged along the X direction, the X direction adjustment mechanism 7 is slidably connected to the first linear guide rail 14, and multiple fixed connection assemblies 15 are arranged above the first linear guide rail 14. The first linear guide rail 14 is detachably connected to the hanging basket 4 through multiple fixed connection assemblies 15, wherein, for example, the first linear guide rail 14 can be divided into multiple sections, and the multiple fixed connection assemblies 15 can slide along the X direction of the first linear guide rail 14 to achieve the spacing adjustment between the multiple fixed connection assemblies 15, thereby achieving the fixation of the spraying robot to the hanging baskets 4 of different lengths.

[0050] For example, Figure 2 and Figure 3As shown, the fixed connection component 15 includes a second linear guide 16 and an adjustable fixed component 17. The second linear guide 16 is connected to the first linear guide 14. The second linear guide 16 is perpendicular to the first linear guide 14. The second linear guide 16 can slide on the first linear guide 14 along the X direction. The two adjustable fixed components 17 are respectively arranged at both ends of the second linear guide 16. The two adjustable fixed components 17 can slide on the second linear guide 16 along the Z direction. By adjusting the spacing between the two adjustable fixed components 17 in the Z direction on the second linear guide 16, the spray robot can be fixed to the hanging baskets 4 of different widths.

[0051] For example, Figure 3 As shown, the adjustment and fixing assembly 17 includes a U-shaped block 18, a first slider 19 and a bolt 20. The bottom of the U-shaped block 18 is slidably connected to the slide groove of the second linear guide rail 16 through the first slider 19. A threaded hole is provided on the top of the U-shaped block 18. The bolt 20 is threadedly connected to the threaded hole. When the hanging basket 4 and the guide rail assembly 5 are fixed, the second linear guide rail 16 abuts against the bottom of the hanging basket 4. The bolt 20 of the adjustment and fixing assembly 17 is adjusted to abut against the bottom and side of the frame of the hanging basket 4, so that the hanging basket 4 and the guide rail assembly 5 are fixed.

[0052] For example, Figure 4 As shown, the guide rail assembly 5 also includes a first rack 21 arranged at the bottom, the X-direction adjustment mechanism 7 includes a U-shaped slider 22, a first motor 23 and a first gear 24, the upper part of the U-shaped slider 22 is slidably connected to the slide rails on both sides of the first linear guide 14, the first motor 23 is fixed on the U-shaped slider 22, the transmission shaft of the first motor 23 is fixedly connected to the first gear 24, the first gear 24 is meshed with the first rack 21, and the bottom of the U-shaped slider 22 is fixedly connected to the Z-direction adjustment mechanism 8.

[0053] The first motor 23 is connected to the control cabinet 3 by signal. The control cabinet 3 controls the first motor 23 to drive the first gear 24 to rotate. The first gear 24 meshes with the first rack 21, thereby driving the U-shaped slider 22 to slide linearly along the X direction on the first linear guide rail 14 to achieve adjustment in the X direction.

[0054] The X-direction adjustment mechanism 7 of the utility model adopts a guide rail and a gear transmission combined drive mode, so that the position adjustment is more accurate, and the movement process is more stable, so that the spraying is more uniform.

[0055] For example, Figure 5 and Figure 6 As shown, the Z-direction adjustment mechanism 8 includes a vertical plate 25 , a second motor 26 , a second slider 27 , a third linear guide rail 28 , a second gear 29 , a second rack 30 , a first fixing frame 31 , a second fixing frame 32 and a third fixing frame 33 .

[0056] The upper end of the vertical plate 25 is fixedly connected to the bottom of the U-shaped slider 22. Figure 6 As shown, the valve 36 of the feeding pipe is arranged on the upper part of the vertical plate 25, the second motor 26 is fixedly arranged in the middle of the vertical plate 25, the second slider 27 is fixedly arranged at the bottom of the vertical plate 25, the second slider 27 is slidingly connected to the third linear guide 28 in the Z direction, the second gear 29 is fixedly connected to the transmission shaft of the second motor 26, the second rack 30 is arranged on the upper part of the third linear guide 28, the second rack 30 is parallel to the third linear guide 28, and the second gear 29 is meshed with the second rack 30.

[0057] like Figure 5 As shown, the plurality of nozzles include a real stone paint nozzle 34 and a plurality of water-sand nozzles 35, the laser displacement sensor 9 is fixedly connected to the middle of the third linear guide 28 through the first fixing frame 31, the real stone paint nozzle 34 is fixedly connected to one end of the third linear guide 28 through the second fixing frame 32, and the plurality of water-sand nozzles 35 are fixedly connected to the housing of the real stone paint nozzle 34 through the third fixing frame 33. The first photoelectric sensor 10 and the second photoelectric sensor 11 are arranged on the second fixing frame 32.

[0058] The second motor 26 is connected to the control cabinet 3 by signal. The control cabinet 3 controls the second motor 26 to drive the second gear 29 to rotate. The second gear 29 meshes with the second rack 30, thereby driving the third linear guide 28 to slide linearly along the Z direction on the second slider 27 to achieve adjustment in the Z direction.

[0059] The utility model can be used for the spraying construction of building coatings such as real stone paint, multi-color paint, latex paint, etc. on the exterior walls of buildings, and the spraying effect is uniform and uniform; during the spraying process, construction workers do not need to go up to the hanging basket 4, avoiding the safety risks of high-altitude operations.

[0060] The utility model's bottom-mounted exterior wall spraying robot can automatically identify windows and aluminum profiles during the spraying process, avoid unnecessary spraying, save materials and avoid pollution.

[0061] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hanging type exterior wall spraying robot, characterized in that: It includes a spraying component, which is detachably connected to the hanging basket and is located below the hanging basket; it also includes a material box and a control cabinet, which are both arranged on the hanging basket; The spraying component includes a guide rail assembly and a spray gun assembly, the guide rail assembly is detachably connected to the hanging basket, the spray gun assembly includes an X-direction adjustment mechanism, a Z-direction adjustment mechanism and a plurality of nozzles, the X-direction adjustment mechanism drives the Z-direction adjustment mechanism and the plurality of nozzles to move linearly along the guide rail assembly, the plurality of nozzles are arranged on the Z-direction adjustment mechanism, and the Z-direction adjustment mechanism drives the plurality of nozzles to move linearly along the X-direction adjustment mechanism in the Z direction; The material box is connected to the plurality of nozzles through a feeding pipe, and a laser displacement sensor, a first photoelectric sensor and a second photoelectric sensor are provided on the Z-direction adjustment mechanism; the control cabinet is also communicatively connected to the laser displacement sensor, the first photoelectric sensor and the second photoelectric sensor.

2. The bottom-mounted exterior wall spraying robot according to claim 1, characterized in that: The guide rail assembly includes a first linear guide rail and a fixed connection assembly, the first linear guide rail is arranged along the X direction, the X direction adjustment mechanism is slidably connected to the first linear guide rail, a plurality of the fixed connection assemblies are arranged above the first linear guide rail, and the first linear guide rail is detachably connected to the hanging basket through the plurality of the fixed connection assemblies.

3. The bottom-mounted exterior wall spraying robot according to claim 2 is characterized in that: The fixed connection component includes a second linear guide and an adjustment and fixing component, the second linear guide is connected to the first linear guide, the second linear guide is perpendicular to the first linear guide, the second linear guide can slide along the X direction on the first linear guide, and the two adjustment and fixing components are respectively arranged at both ends of the second linear guide, and the two adjustment and fixing components can slide along the Z direction on the second linear guide.

4. The bottom-mounted exterior wall spraying robot according to claim 3 is characterized in that: The adjustment and fixing assembly includes a U-shaped block, a first slider and a bolt. The bottom of the U-shaped block is slidably connected to the slide groove of the second linear guide rail through the first slider. The top of the U-shaped block is provided with a threaded hole, and the bolt is threadedly connected to the threaded hole.

5. The bottom-mounted exterior wall spraying robot according to claim 4 is characterized in that: The guide rail assembly also includes a first rack arranged at the bottom, the X-direction adjustment mechanism includes a U-shaped slider, a first motor and a first gear, the upper part of the U-shaped slider is slidably connected to the slide rails on both sides of the first linear guide rail, the first motor is fixed on the U-shaped slider, the transmission shaft of the first motor is fixedly connected to the first gear, the first gear is meshed with the first rack, the bottom of the U-shaped slider is fixedly connected to the Z-direction adjustment mechanism, and the first motor is signal-connected to the control cabinet.

6. The bottom-mounted exterior wall spraying robot according to claim 5, characterized in that: The Z-direction adjustment mechanism includes a vertical plate, a second motor, a second slider, a third linear guide rail, a second gear and a second rack; The upper end of the vertical plate is fixedly connected to the bottom of the U-shaped slider, the second motor is fixedly arranged in the middle of the vertical plate, the second slider is fixedly arranged at the bottom of the vertical plate, the second slider is slidingly connected to the third linear guide in the Z direction, the second gear is fixedly connected to the transmission shaft of the second motor, the second rack is arranged on the upper part of the third linear guide, the second rack is parallel to the third linear guide, the second gear is meshed with the second rack, and the second motor is connected to the control cabinet signal.

7. The bottom-mounted exterior wall spraying robot according to any one of claims 1 to 6, characterized in that: The plurality of nozzles include real stone paint nozzles and a plurality of water-based sand nozzles.

8. The bottom-mounted exterior wall spraying robot according to any one of claims 1 to 6, characterized in that: The material box comprises a hopper and a feed pump, the inlet of the feed pump is communicated with the hopper, and the outlet of the feed pump is communicated with the plurality of nozzles through the feed pipe.

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