Wall robot

Abstract

The utility model relates to a wall surface robot, which comprises a ground rail formed by splicing a plurality of sections of ground rail units; the base assembly is arranged on the ground rail in a sliding mode. The displacement adjusting mechanism is arranged on the base assembly and used for driving the base assembly to move in the direction of the ground rail and the direction perpendicular to the ground rail. The lifting module is arranged on the base assembly and can ascend and descend in the vertical direction. The plastering device is arranged on the lifting module and controlled by the lifting module to ascend and descend. The perpendicularity adjusting mechanism is arranged on the lifting module, the driving end of the perpendicularity adjusting mechanism is movably connected with the plastering device, and the perpendicularity adjusting mechanism is used for adjusting the angle of the plastering device. The ground rail can be spliced to extend, the device is suitable for home decoration wall surfaces of different sizes, free splicing practicability is high, the plastering device can be driven by the lifting module to move up and down in a reciprocating mode to conduct feeding and leveling operation on the wall surfaces, the angle of the plastering device can be adjusted through the perpendicularity adjusting mechanism, and the plastering device is convenient to use. And the perpendicularity and the levelness of the plastering device are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of home decoration, in particular to a wall robot. Background Art

[0002] Traditional wall construction sizing and plastering, gypsum, paint and coating are all manually operated or semi-automatically leveled by mechanical without a reference. The vertical level of the entire wall is above 6-10mm. With the continuous improvement of current home decoration requirements, the main problems of traditional wall construction methods are as follows:

[0003] (1) There are two main ways to apply plaster, gypsum, paint and coatings on traditional wall construction: manual smoothing and semi-automatic smoothing without a reference. Manual operation mainly involves making two reference points by punching ribs, and then manually spraying the slurry with a scraper. A wall needs to be punched multiple times before it can be completed, which is labor-intensive and time-consuming, and the verticality and horizontality are not guaranteed. Especially for larger walls, traditional manual operation requires a high number of workers and costs. During manual operation, the uniformity of the slurry is affected by personal experience and varies from person to person, making it impossible to quickly and comprehensively apply the slurry to the wall evenly.

[0004] (2) The semi-automatic leveling operation without a reference mainly uses machinery to replace manual labor. Semi-automatic leveling requires manual operation to move the machine to level the wall locally. Each time a small unit is leveled, it needs to be moved to the next position and positioned again. The reference between each unit cannot be guaranteed, and the verticality and horizontality of the entire wall are not guaranteed.

[0005] In addition, the vertical levelness of the entire wall in the above two methods is more than 6-10mm, which has poor accuracy, affecting the aesthetics of the installation of cabinets, etc., and requires secondary gap processing, which can no longer meet the flatness requirements; Utility Model Content

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a wall robot to solve the existing problems of labor cost and difference in verticality and horizontality of the wall.

[0007] In order to solve the above technical problems, the utility model provides a wall robot, comprising

[0008] The ground rail is composed of multiple ground rail units;

[0009] A base assembly, the base assembly comprising a base 1 and a base 2, the base 1 being slidably connected to the ground rail, and the base 2 being slidably connected to the base 1;

[0010] A displacement adjustment mechanism, arranged on the base assembly, for driving the base 1 to move on the ground rail and driving the base 2 to move on the base 1 in a direction perpendicular to the ground rail;

[0011] A lifting module, which is arranged on the second base and can be lifted and lowered in the vertical direction;

[0012] A plastering device is used for plastering the wall surface and performing plastering actions; the plastering device is arranged on the lifting module and is controlled by the lifting module to perform lifting actions; the plastering device comprises a lifting frame, a lifting drive mechanism, a scraper seat and a plastering assembly, and the bottom end of the lifting frame is connected to the lifting module through a hinge; a fixed block is arranged on the top of the lifting frame, the scraper seat is slidably arranged on the lifting frame, and the plastering assembly is arranged on the scraper seat;

[0013] A verticality adjustment mechanism is provided on the lifting module, and a driving end of the verticality adjustment mechanism is movably connected to the fixed block, so as to adjust the verticality of the slurry device.

[0014] In one embodiment of the utility model, a first linear slide rail is provided between the base 1 and the ground rail, a second linear slide rail is provided between the base 2 and the base 1, and the first linear slide rail and the second linear slide rail are vertically arranged.

[0015] In one embodiment of the utility model, the displacement adjustment mechanism includes an X-axis adjustment component and a Y-axis adjustment component, the X-axis adjustment component includes a servo motor 1, a first gear and a first rack; the servo motor 1 is arranged on the base 1, the first gear is connected to the drive shaft of the servo motor 1, the first rack is arranged parallel to the ground rail, and the first gear is meshed with the first rack; the Y-axis adjustment component includes a servo motor 2, a second gear and a second rack, the servo motor 2 is arranged on the base 2, the second gear is connected to the drive shaft of the servo motor 2, the second rack is arranged on the base 1, and the second gear is meshed with the second rack.

[0016] In one embodiment of the utility model, the lifting module includes a module frame, a fixed seat, a lifting cover, a servo motor three, a lifting screw and a guide rod, the fixed seat is arranged at the bottom end of the module frame; the lifting cover is arranged parallel to the top of the fixed seat, and the lifting cover is connected to the base two through a guide rod; the servo motor three is arranged on the lifting cover, the output shaft of the servo motor three is connected to one end of the lifting screw, the other end of the lifting screw is connected to the base two, and the fixed seat is threadedly connected to the lifting screw.

[0017] In one embodiment of the utility model, the slurry spreading device includes a lifting frame, a lifting drive mechanism, a scraper seat and a slurry spreading assembly. The bottom end of the lifting frame is connected to the module frame through a hinge. A fixed block is arranged at the top of the lifting frame, and the fixed block is movably connected to the driving end of the verticality adjustment mechanism. The scraper seat is slidably arranged on the lifting frame, and the slurry spreading assembly is arranged on the scraper seat.

[0018] In one embodiment of the utility model, a third linear slide rail is provided on the lifting frame, the scraper seat is slidably connected to the third linear slide rail through a slider, and the top and bottom ends of the lifting frame are provided with limit blocks for limiting the upper and lower sliding positions of the slurry assembly.

[0019] In one embodiment of the utility model, the slurry spreading assembly includes a slurry conveying diverter, an upper scraper, a lower scraper and a scraper driving mechanism. The slurry conveying diverter is installed on the scraper seat through a fixed plate. The upper scraper and the lower scraper are respectively arranged on the upper and lower sides of the slurry conveying diverter, and are connected to the scraper driving mechanism arranged on the scraper seat; the scraper driving mechanism controls the upper scraper and the lower scraper to extend alternately for slurry spreading operation.

[0020] In one embodiment of the utility model, the scraper driving mechanism includes a driving cylinder 1 and a driving cylinder 2, the telescopic end of the driving cylinder 1 is connected to the upper scraper through a connecting piece, and the telescopic end of the driving cylinder 2 is connected to the lower scraper through a connecting piece.

[0021] In one embodiment of the utility model, the slurry conveying diverter is provided with a slurry inlet and a plurality of slurry outlets arranged at equal intervals, and the slurry inlet is connected to the feeding and conveying device through a pipeline.

[0022] In one embodiment of the utility model, the lifting drive mechanism includes a lifting motor, a driving pulley, a driven pulley and a belt, the driving pulley is arranged on the fixed block through a roller shaft, and the driven pulley is driven to rotate by the lifting motor arranged on the lifting frame, and the driving pulley and the driven pulley are driven by a belt.

[0023] In one embodiment of the utility model, a level sensor is also provided on the scraper seat.

[0024] In one embodiment of the utility model, the verticality adjustment mechanism comprises a servo electric cylinder, an ear plate, a push rod head and an adjustment block, an ear plate is arranged at the end of the piston rod of the servo electric cylinder, the push rod head is arranged on the fixed block through the adjustment block, and the ear plate and the push rod head are movably connected through a pin shaft.

[0025] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0026] The utility model discloses a wall robot, in which the ground rails can be spliced ​​to extend, and the free splicing is highly practical, and can be applied to home decoration walls of different sizes; during the plastering operation, the displacement adjustment mechanism controls the plastering device to move close to the wall, so that the plastering device is kept at a suitable distance from the wall, and can also control the plastering device to move along the ground rail direction, and perform segmented plastering operations on the wall; during the plastering process, the plastering device moves up and down reciprocatingly driven by the lifting module to perform rough plastering operations on the wall; when the rough plastering operation is completed, the plastering assembly can also be lifted and lowered along the lifting frame to achieve fine plastering operations on local areas of the wall, further ensuring the uniformity of the wall plastering; and during the plastering process, the verticality adjustment mechanism can adjust the angle of the plastering device in real time, ensuring the verticality and horizontality of the plastering device, so that the slurry is evenly distributed on the wall, thereby improving the uniformity of the wall plastering. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of the structure of the wall robot in the preferred embodiment of the utility model;

[0029] Figure 2 for Figure 1 A schematic diagram of the structure of another state of the wall robot;

[0030] Figure 3 yes Figure 2 Side view of

[0031] Figure 4 yes Figure 1 A schematic structural diagram of a screeding device of a wall robot is shown;

[0032] Figure 5 yes Figure 1 A schematic diagram of the structure of the screed assembly of the wall robot shown;

[0033] Figure 6 yes Figure 5 A schematic structural diagram of the screed assembly from another angle;

[0034] Figure 7 yes Figure 1 A partial structural diagram of a wall-wiping device and a verticality adjustment device of the wall robot shown;

[0035] Figure 8 yes Figure 5 A schematic diagram of the structure of the central vertical adjustment device;

[0036] Fig. 9 yes Figure 1 The schematic diagram of the structure of the base assembly and displacement adjustment mechanism of the wall robot shown;

[0037] Explanation of the reference numerals in the specification: 1. ground rail; 2. base assembly; 3. lifting module; 31. module frame; 32. fixed seat; 33. lifting cover; 34. servo motor three; 35. lifting screw; 36. guide rod; 4. slurry spreading device; 41. lifting frame; 42. lifting drive mechanism; 42. lifting drive mechanism; 421. lifting motor; 422. driving pulley; 423. driven pulley; 424. belt; 43. scraper seat; 44. slurry spreading assembly; 45. fixed block; 46. horizontal sensor; 5. verticality adjustment mechanism; 51. servo electric cylinder; 52. ear plate; 53. push rod head; 54. adjustment block; 6. X-axis adjustment assembly; 61. servo motor one; 62. first gear; 63. first rack; 7. Y-axis adjustment assembly; 71. servo motor two; 72. second gear; 73. second rack. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0039] Reference Figure 1-6 As shown, refer to Figure 1-6 As shown, a wall robot of the utility model comprises a ground rail 1; which is formed by splicing a plurality of ground rail units;

[0040] Base assembly 2, the base assembly 2 includes base 1 21 and base 2 22, the base 1 21 is slidably connected to the ground rail 1, the base 2 22 is slidably connected to the base 1 21; a first linear slide 23 is provided between the base 1 21 and the ground rail 1, a second linear slide 24 is provided between the base 2 22 and the base 1 21, and the first linear slide 23 and the second linear slide 24 are vertically arranged. The base 1 21 moves along the first linear slide 23 in the direction of the ground rail 1, and the base 2 22 moves along the second linear slide 24 in a direction perpendicular to the ground rail 1;

[0041] A displacement adjustment mechanism, arranged on the base 1 21 and the base 2 22, for driving the base 1 21 to move on the ground rail 1 and driving the base 2 22 to move on the base 1 in a direction perpendicular to the ground rail 1;

[0042] A lifting module 3, which is arranged on the second base 22 and can be lifted in the vertical direction;

[0043] The slurry device 4 is used for slurrying the wall surface and performing slurrying action; the slurry device 4 is arranged on the lifting module 3 and is controlled by the lifting module 3 to perform lifting action; the slurry device 4 includes a lifting frame 41, a lifting drive mechanism 42, a scraper seat 43 and a slurry assembly 44, and the bottom end of the lifting frame 41 is connected to the lifting module 3 through a hinge; a fixed block 45 is arranged on the top of the lifting frame 41, the scraper seat 43 is slidably arranged on the lifting frame 41, and the slurry assembly 44 is arranged on the scraper seat 43;

[0044] A verticality adjustment mechanism 5 is provided on the lifting module 3 , and a driving end of the verticality adjustment mechanism 5 is movably connected to the fixed block 45 for adjusting the verticality of the slurry device 4 .

[0045] The specific working process of the wall robot based on the above structure is as follows:

[0046] (1) First, the displacement driving mechanism is started, and the base 1 21 is driven by the displacement driving mechanism to move horizontally on the ground rail 1, so as to move the lifting module 3 together with the screed device 4 to a designated position on the wall;

[0047] (2) Then, the displacement driving mechanism drives the second base 22 to move on the first base 21 in a direction perpendicular to the ground rail 1, so that the slurry assembly 44 of the slurry device 4 is adjusted to contact the wall surface;

[0048] (3) starting the lifting module 3 so that the lifting module 3 descends to the lowest point, and simultaneously starting the lifting drive mechanism 42 of the slurry dispensing device 4 so that the slurry dispensing assembly 44 descends to the lowest position along the lifting frame 41;

[0049] (4) connecting the passage of the slurry assembly 44 to the feeding and conveying device, and conveying slurry to the slurry assembly 44 through the feeding and conveying device;

[0050] (5) Using the lifting module 3 to control the slurry assembly 44 to move up and down on the wall surface, so as to achieve a rough slurrying action on the wall surface; specifically, the lifting module 3 is started to drive the slurrying device 4 to rise upward, and the slurrying assembly 44 is applied from the bottom to the top during the process of being raised, and then the lifting module 3 is controlled to drive the slurrying assembly 44 to descend, so that the slurry that has been evenly applied is applied from top to bottom;

[0051] (6) Using the lifting drive mechanism 42 to control the slurry assembly 44 to move up and down along the lifting frame 41, so as to achieve local fine slurry operation on the wall surface and ensure the uniformity of the wall slurry;

[0052] (7) The verticality adjustment mechanism 5 adjusts the angle of the slurry slurry device 4 in real time to ensure that the slurry slurry device 4 is always in a vertical state, thereby ensuring the uniformity and comprehensiveness of the slurry slurry on the wall surface;

[0053] (8) When the slurry is evenly applied within a certain width on the wall, repeat steps (1) to (7) until the entire wall is coated.

[0054] In this embodiment, the lifting module 3 includes a module frame 31, a fixed seat 32, a lifting cover plate 33, a servo motor 34, a lifting screw 35 and a guide rod 36. The fixed seat 32 is arranged at the bottom end of the module frame 31; the lifting cover plate 33 is arranged above the fixed seat 32 in parallel, and the lifting cover plate 33 is connected to the base 22 through a guide rod 36; the servo motor 34 is arranged on the lifting cover plate 33, the output shaft of the servo motor 34 is connected to one end of the lifting screw 35, the other end of the lifting screw 35 is connected to the base 22, and the fixed seat 32 is threadedly connected to the lifting screw 35. When the servo motor 34 is started, the lifting screw 35 rotates, so that the fixed seat 32 drives the guide rod 36 to move up and down in the vertical direction. When the fixed seat 32 moves up and down, it drives the module frame 31 to lift and lower.

[0055] In this embodiment, the lifting frame 41 is provided with a third linear slide rail 411, and both ends of the scraper seat 43 are slidably connected to the third linear slide rail 411 through sliders, and the top and bottom ends of the lifting frame 41 are provided with limit blocks for limiting the upward and downward sliding positions of the slurry assembly 44. The position of the limit block at the bottom end of the lifting frame 41 is lower than the highest point of the ground rail 1, so that when the slurry assembly 44 descends to the lowest end of the lifting frame 41, it can be as close to the lowest end of the wall as possible, ensuring the comprehensiveness of the wall slurry.

[0056] like Figure 6-7As shown, the slurry spreading assembly 44 includes an upper scraper 441, a lower scraper 442, a slurry conveying diverter 443 and a scraper driving mechanism 444. The slurry conveying diverter 443 is installed on the scraper seat 43 through a fixing plate 445. The upper scraper 441 and the lower scraper 442 are respectively arranged on the upper and lower sides of the slurry conveying diverter 443, and are connected to the scraper driving mechanism 444 arranged on the scraper seat 43; the scraper driving mechanism 444 controls the upper scraper 441 and the lower scraper 442 to extend alternately for slurry spreading operation. When the plastering assembly 44 moves upward, the upper scraper 441 remains in place, and the scraper driving mechanism 444 drives the lower scraper 442 to extend to scrape the slurry attached to the wall surface; when the plastering assembly 44 moves downward as a whole, the scraper driving mechanism 444 controls the lower scraper 442 to return to its original position and at the same time controls the upper scraper 441 to extend to plaster and scrape the wall surface again, thereby further ensuring the uniformity of the plastering.

[0057] The scraper driving mechanism 441 includes a driving cylinder 1 4411 and a driving cylinder 2 4412. The telescopic end of the driving cylinder 1 4411 is connected to the upper scraper 441 through a connecting piece 4413, and the telescopic end of the driving cylinder 2 4412 is connected to the lower scraper 442 through a connecting piece 4413. When the upper scraper 441 needs to be extended, the telescopic rod of the driving cylinder 1 4411 is pushed out, and the telescopic rod of the driving cylinder 2 is retracted; when the lower scraper 442 needs to be extended, the telescopic rod of the driving cylinder 2 4412 is extended, and the telescopic rod of the driving cylinder 1 4411 is retracted, so as to realize the alternating use of the upper scraper 441 and the lower scraper 442.

[0058] Preferably, the slurry conveying flow divider 443 is provided with a slurry inlet and a plurality of slurry outlets arranged at equal intervals, and the slurry inlet is connected to the feeding and conveying device through a pipeline. The feeding and conveying device conveys the slurry to the slurry inlet, and then the slurry inlet conveys the slurry to the slurry outlet, and the slurry outlet disperses and sprays the slurry onto the wall surface to prevent the slurry from piling up when applying on the wall surface, which affects the uniformity of the wall surface coating.

[0059] Furthermore, a horizontal sensor 46 is provided on the scraper seat 43. The horizontal sensor 46 is used to measure the horizontal angle of the lifting frame 41. When the horizontal sensor 46 detects that the angle of the lifting frame 41 is not in a horizontal state, when it is tilted, the verticality of the lifting frame 41 is adjusted through the verticality adjustment mechanism 5.

[0060] Preferably, the lifting drive mechanism 42 includes a lifting motor 421, a driving pulley 422, a driven pulley 423 and a belt 424. The driving pulley 422 is arranged on the fixed block 45 through a roller shaft, and the driven pulley 423 is driven to rotate by the lifting motor 421 arranged on the lifting frame 41. The driving pulley 422 and the driven pulley 423 are driven by the belt 424, and the scraper seat 43 is fixedly connected to the belt 424. When the lifting motor 421 controls the driving pulley 422 to rotate, the belt 424 is driven to drive the scraper seat 43 to reciprocate in the vertical direction along the third linear slide rail 411.

[0061] like Figure 8 As shown, the verticality adjustment mechanism 5 comprises a servo electric cylinder 51, a lug plate 52, a push rod head 53 and an adjustment block 54. The lug plate 52 is arranged at the end of the piston rod of the servo electric cylinder 51, and the push rod head 53 is arranged on the fixed block 45 through the adjustment block 54. The lug plate 52 and the push rod head 53 are movably connected through a pin. When the piston rod of the servo electric cylinder 51 is extended or retracted, the push rod head 53 is driven to rotate through the lug plate 52 to achieve verticality adjustment of the lifting frame 41, thereby ensuring the verticality and horizontality of the slurry assembly 44.

[0062] like Fig. 9 As shown, the displacement adjustment mechanism includes an X-axis adjustment component 6 and a Y-axis adjustment component 7, the X-axis adjustment component 6 includes a servo motor 1 61, a first gear 62 and a first rack 63; the servo motor 1 61 is arranged on the base 1 21, the first gear 62 is connected to the driving shaft of the servo motor 1 61, the first rack 63 is arranged in parallel on the ground rail 1, and the first gear 62 is meshed with the first rack 63; the Y-axis adjustment component 7 includes a servo motor 2 71, a second gear 72 and a second rack 73, the servo motor 2 71 is arranged on the base 22, the second gear 72 is connected to the driving shaft of the servo motor 2 71, the second rack 73 is arranged on the base 1 21, and the second gear 72 is meshed with the second rack 73. When the servo motor 1 61 is started, it drives the first gear 62 to rotate. When the first gear 62 rotates, the first rack 63 drives the base 1 21 to move along the first linear slide rail 23 in a direction parallel to the ground rail 1; when the servo motor 2 71 is started, it drives the second gear 72 to rotate, and the second rack 73 drives the base 2 22 to move along the second linear slide rail 24 in a direction perpendicular to the ground rail 1.

[0063] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A wall robot, characterized in that: include The ground rail is composed of multiple ground rail units; A base assembly, the base assembly comprising a base 1 and a base 2, the base 1 being slidably connected to the ground rail, and the base 2 being slidably connected to the base 1; A displacement adjustment mechanism, arranged on the base assembly, for driving the base 1 to move along the ground rail and driving the base 2 to move on the base 1 in a direction perpendicular to the ground rail; A lifting module, which is arranged on the second base and can be lifted and lowered in the vertical direction; A plastering device is used for plastering the wall surface and performing plastering actions; the plastering device is arranged on the lifting module and is controlled by the lifting module to perform lifting actions; the plastering device comprises a lifting frame, a lifting drive mechanism, a scraper seat and a plastering assembly, and the bottom end of the lifting frame is connected to the lifting module through a hinge; a fixed block is arranged on the top of the lifting frame, the scraper seat is slidably arranged on the lifting frame, and the plastering assembly is arranged on the scraper seat; A verticality adjustment mechanism is provided on the lifting module, and a driving end of the verticality adjustment mechanism is movably connected to the fixed block, so as to adjust the verticality of the slurry device.

2. A wall robot according to claim 1, characterized in that: The displacement adjustment mechanism includes an X-axis adjustment component and a Y-axis adjustment component, the X-axis adjustment component includes a servo motor 1, a first gear and a first rack; the servo motor 1 is arranged on the base 1, the first gear is connected to the drive shaft of the servo motor 1, the first rack is arranged parallel to the ground rail, and the first gear is meshed with the first rack; the Y-axis adjustment component includes a servo motor 2, a second gear and a second rack, the servo motor 2 is arranged on the base 2, the second gear is connected to the drive shaft of the servo motor 2, the second rack is arranged on the base 1, and the second gear is meshed with the second rack.

3. A wall robot according to claim 1, characterized in that: The lifting module includes a module frame, a fixed seat, a lifting cover, a servo motor three, a lifting screw and a guide rod. The fixed seat is arranged at the bottom end of the module frame; the lifting cover is arranged parallel to the top of the fixed seat, and the lifting cover is connected to the base two through a guide rod; the servo motor three is arranged on the lifting cover, the output shaft of the servo motor three is connected to one end of the lifting screw, the other end of the lifting screw is connected to the base two, and the fixed seat is threadedly connected to the lifting screw.

4. A wall robot according to claim 3, characterized in that: The lifting frame is provided with a third linear slide rail, the scraper seat is slidably connected to the third linear slide rail via a slider, and the top and bottom ends of the lifting frame are both provided with limit blocks for limiting the upward and downward sliding positions of the slurry assembly.

5. A wall robot according to claim 4, characterized in that: The slurry spreading assembly includes a slurry conveying diverter, an upper scraper, a lower scraper and a scraper driving mechanism. The slurry conveying diverter is installed on the scraper seat through a fixed plate. The upper scraper and the lower scraper are respectively arranged on the upper and lower sides of the slurry conveying diverter, and are connected to the scraper driving mechanism arranged on the scraper seat; the scraper driving mechanism controls the upper scraper and the lower scraper to extend alternately for slurry spreading operation.

6. A wall robot according to claim 5, characterized in that: The scraper driving mechanism comprises a driving cylinder 1 and a driving cylinder 2, the telescopic end of the driving cylinder 1 is connected to the upper scraper through a connecting piece, and the telescopic end of the driving cylinder 2 is connected to the lower scraper through a connecting piece.

7. A wall robot according to claim 5, characterized in that: The slurry conveying flow divider is provided with a slurry inlet and a plurality of slurry outlets arranged at equal intervals, and the slurry inlet is connected with the feeding and conveying device through a pipeline.

8. The wall robot according to claim 1, characterized in that: The lifting drive mechanism includes a lifting motor, a driving pulley, a driven pulley and a belt. The driving pulley is arranged on the fixed block through a roller shaft, and the driven pulley is driven to rotate by the lifting motor arranged on the lifting frame. The driving pulley and the driven pulley are driven by a belt.

9. The wall robot according to claim 1, characterized in that: The scraper seat is also provided with a level sensor.

10. The wall robot according to claim 1, characterized in that: The verticality adjustment mechanism comprises a servo electric cylinder, an ear plate, a push rod head and an adjustment block. The ear plate is arranged at the end of the piston rod of the servo electric cylinder. The push rod head is arranged on the fixed block through the adjustment block. The ear plate is movably connected to the push rod head through a pin shaft.

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