A prefabricated outer wall joint waterproof glue automatic spraying robot

Abstract

The utility model belongs to building machinery technical field discloses a kind of prefabricated outer wall joint waterproof glue automatic spraying robot, including movement driving mechanism and gluing mechanism, the movement driving mechanism is configured to make the gluing mechanism move along prefabricated outer wall joint, the gluing mechanism includes film pasting assembly, glue spraying head and glue scraping assembly sequentially arranged on base plate along moving direction, the film pasting assembly is configured to be attached detachable film on the both sides of prefabricated outer wall joint along moving direction, the glue spraying head is configured to spray waterproof glue into prefabricated outer wall joint inside along moving direction, the glue scraping assembly is configured to remove waterproof glue, which protrudes from the surface of prefabricated outer wall, inside and outside prefabricated outer wall joint along moving direction. In summary, it can effectively realize the automatic spraying of prefabricated outer wall joint waterproof glue, avoid waterproof glue overflow to the outside of the joint, and ensure the smooth and beautiful appearance of the waterproof glue surface and the prefabricated outer wall surface.

Description

Technical Field

[0001] This utility model belongs to the field of construction machinery technology, specifically relating to an automatic spraying robot for waterproof adhesive on prefabricated exterior wall joints. Background Technology

[0002] After the prefabricated building exterior wall installation is completed, professional waterproofing and sealing treatment must be carried out on the vertical and horizontal joints between adjacent prefabricated wall panels. Currently, the commonly used waterproofing process in the industry involves workers manually applying a special building waterproof sealant to the joints. However, before applying the sealant, protective masking tape must be pasted on the wall panel surfaces on both sides of the joint. This step is mainly to prevent the sealant from overflowing or contaminating the wall finish on both sides of the joint during subsequent application. Therefore, in the actual waterproofing process, it is necessary to strictly follow multiple steps, such as applying masking tape, applying waterproof sealant, and smoothing the sealant surface. This step-by-step construction method not only increases the working time but also significantly reduces the overall construction efficiency. Furthermore, the need for multiple manual operations also leads to high labor costs.

[0003] Furthermore, the final quality of manual caulking largely depends on the skill level and adherence to procedures of the on-site construction workers. In actual projects, quality issues frequently arise due to improper operation by the workers, such as uneven caulking, inconsistent caulking thickness, and uneven caulking surfaces. These problems not only directly affect the waterproofing and sealing performance of adjacent wall panel joints, reducing the overall waterproofing effect of the building's exterior walls, but also negatively impact the visual aesthetics of the exterior walls, and in severe cases, may even lead to leakage and other quality defects. Summary of the Invention

[0004] In view of this, in order to solve the problems mentioned in the background art, the purpose of this utility model is to provide an automatic spraying robot for waterproof adhesive on prefabricated exterior wall joints.

[0005] To achieve the above objectives, this utility model provides the following technical solution: An automatic spraying robot for waterproofing adhesive on precast exterior wall joints includes a motion drive mechanism and an adhesive application mechanism. The motion drive mechanism is configured to move the adhesive application mechanism along the precast exterior wall joints. The adhesive application mechanism includes a film-applying assembly, an adhesive nozzle, and an adhesive scraping assembly sequentially arranged on a substrate along the movement direction. The film-applying assembly is configured to apply a separable film to both sides of the precast exterior wall joint along the movement direction. The adhesive nozzle is configured to spray waterproofing adhesive into the interior of the precast exterior wall joint along the movement direction. The adhesive scraping assembly is configured to scrape off the waterproofing adhesive protruding from the surface of the precast exterior wall joint along the movement direction.

[0006] Preferably, the motion drive mechanism includes a lifting mechanism and a robotic arm, the robotic arm is mounted on the lifting platform of the lifting mechanism, and the glue application mechanism is mounted at the end of the robotic arm.

[0007] Preferably, the film application assembly includes a slide rail and two sets of film applicators that can move symmetrically along the slide rail, the two sets of film applicators respectively fitting on both sides of the precast exterior wall joint.

[0008] Preferably, the adhesive spray nozzle has a straight-line adhesive outlet, the adhesive spray nozzle is rotatably mounted on the substrate, and the substrate is provided with a transmission mechanism connecting the two sets of film applicators and the adhesive spray nozzle.

[0009] Preferably, the transmission mechanism includes a drive rod, a drive shift rod, and a crank-rocker arm. The drive shift rod is fixedly connected to the slide of the applicator, and the crank-rocker arm is rotatably connected between the drive rod and the drive shift rod.

[0010] Preferably, the drive rotor is provided with a plurality of connecting holes eccentrically for adapting and connecting the drive rotor.

[0011] Preferably, a drive wheel is coaxially fixed on the drive rod, and a driven wheel is provided on the glue spray head. The drive wheel and the driven wheel are connected by a belt or chain drive.

[0012] Preferably, the film applicator includes a film storage roller, a film application roller, a film pressing roller, and a film cutting knife; the film storage roller is configured to release film to the film application roller, and both the film storage roller and the film application roller are mounted on a rotatable swing frame; the film pressing roller is mounted on the telescopic drive end of the film pressing cylinder; and the film cutting knife is mounted on the telescopic drive end of the film cutting cylinder.

[0013] Preferably, the scraper assembly includes a detachably connected scraper head and a scraper head base; the scraper head base has a slot at its end, and the scraper head has a plug at its end for fitting into the slot; when the scraper head is connected to the scraper head base, the plug is fitted into the slot.

[0014] Preferably, the scraper head seat is fitted with a fixed ring and a movable sleeve, and a spring is connected between the movable sleeve and the fixed ring so that the movable sleeve can move between an unlocked position and a locked position; when the movable sleeve moves to the locked position, the insert and the slot are confined inside the movable sleeve; when the movable sleeve moves to the unlocked position, the insert and the slot are exposed outside the movable sleeve.

[0015] Compared with the prior art, this utility model has the following advantages: (1) In this utility model, the automatic spraying of waterproof adhesive for prefabricated exterior wall joints is achieved by using the cooperation of the motion drive mechanism and the adhesive application mechanism. The adhesive application mechanism includes a film application component, an adhesive spray nozzle and an adhesive scraping component, thereby effectively performing film application, adhesive spraying and adhesive scraping during the adhesive spraying process, thereby preventing the waterproof adhesive from overflowing to the outside of the joint and ensuring that the surface of the waterproof adhesive and the surface of the prefabricated exterior wall are flat and beautiful.

[0016] (2) In this utility model, the film application assembly includes a slide rail and two sets of film applicators that can move symmetrically along the slide rail, so as to facilitate flexible adjustment of the film application width of the film application assembly. The glue spray nozzle is rotated and installed so as to facilitate flexible adjustment of the angle when the straight glue nozzle is inserted into the seam, thereby ensuring that the overall glue application mechanism can be effectively applied to the glue application of seams of different widths.

[0017] (3) In this utility model, the movement of the film applicator and the rotation of the glue spray nozzle are linked and adjusted through the transmission mechanism, so as to ensure the accuracy of the structural width adjustment and thus effectively improve the glue coating quality.

[0018] (4) In this utility model, the scraper assembly includes a detachably connected scraper head and scraper head seat, which facilitates the replacement of the scraper head and flexibly performs scraping treatment under different needs. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a schematic diagram illustrating the use of this utility model; Figure 3 This is a schematic diagram of the adhesive coating mechanism in this utility model; Figure 4 This is a schematic diagram of the structure of the adhesive spray nozzle and the transmission mechanism in this utility model; Figure 5 This is one of the structural schematic diagrams of the film applicator in this utility model; Figure 6 This is the second schematic diagram of the structure of the film applicator in this utility model; Figure 7 This is an exploded view of the adhesive scraping assembly in this utility model; In the diagram: Glue application mechanism - 100; Film application assembly - 110; Slide rail - 111; Film applicator - 112; Film storage roller - 113; Film application roller - 114; Film pressing roller - 115; Film cutting knife - 116; Glue spray nozzle - 120; Glue scraper assembly - 130; Scraper head - 131; Scraper head seat - 132; Fixing ring - 133; Movable sleeve - 134; Spring - 135; Slot - 136; Insert block - 137; Transmission mechanism - 140; Drive rotating rod - 141; Drive moving rod - 142; Crank rocker arm - 143; Connecting hole - 144; Drive wheel - 145; Driven wheel - 146; Lifting mechanism - 200; Robotic arm - 300. Detailed Implementation

[0020] To further understand the content of this utility model, a detailed description of it is provided in conjunction with the accompanying drawings and embodiments. The structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art; they are not intended to limit the implementation of this utility model and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this utility model, should still fall within the scope of the technical content disclosed in this utility model. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this utility model. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to the embodiments of this application described herein.

[0021] Example 1

[0022] like Figure 1 and Figure 2 As shown, the present invention provides an automatic spraying robot for waterproofing precast exterior wall joints, comprising a motion drive mechanism and an adhesive application mechanism 100. Specifically, the motion drive mechanism is configured to move the adhesive application mechanism 100 along the precast exterior wall joints, and the adhesive application mechanism 100 is configured to spray waterproofing adhesive into the precast exterior wall joints while moving.

[0023] Continue to refer to Figure 1 As shown, the motion drive mechanism includes a lifting mechanism 200 and a robotic arm 300. The robotic arm 300 is mounted on the lifting platform of the lifting mechanism 200, and the adhesive application mechanism 100 is mounted at the end of the robotic arm 300. The adhesive application mechanism 100 includes an adhesive application nozzle 120 capable of spraying waterproof adhesive into the precast exterior wall joint. Specifically, in this embodiment, the adhesive application nozzle 120 preferably includes a cylindrical adhesive outlet (not shown in the figure) to ensure that the adhesive application nozzle 120 can be smoothly inserted into the precast exterior wall joint.

[0024] In this embodiment, the lifting mechanism 200 specifically includes a lifting bracket and a lifting platform that moves and lifts along the lifting bracket. The lifting bracket can be fixed on the ground, or installed on a mobile platform or a mobile engineering vehicle to provide stable support for the overall automatic painting robot. Specifically, the lifting bracket can use a linear motor structure or a motor screw structure to drive the lifting of the lifting platform.

[0025] In this embodiment, the robotic arm 300 includes multiple rotatable drive arms, which facilitates flexible adjustment of the operating angle of the adhesive application mechanism 100.

[0026] Example 2

[0027] like Figure 1 and Figure 2 As shown, the present invention provides an automatic spraying robot for waterproofing prefabricated exterior wall joints, comprising a motion drive mechanism and an adhesive application mechanism 100. Specifically, the motion drive mechanism is configured to move the adhesive application mechanism 100 along the prefabricated exterior wall joints, and the motion drive mechanism includes a lifting mechanism 200 and a robotic arm 300 as disclosed in Embodiment 1, with the adhesive application mechanism 100 mounted at the end of the robotic arm 300.

[0028] Continue to refer to Figure 3 As shown, the adhesive coating mechanism 100 includes a film-applying assembly 110, an adhesive spray nozzle 120, an adhesive scraping assembly 130, and a transmission mechanism 140, which are sequentially arranged on the substrate along the moving direction.

[0029] For example, the film application assembly 110 includes a slide rail 111 and two sets of film applicators 112 that can move symmetrically along the slide rail 111. Specifically, the two sets of film applicators 112 are respectively engaged on both sides of the prefabricated exterior wall joint, such that the film application assembly 110 is configured to apply a separable film (e.g., masking tape) to both sides of the prefabricated exterior wall joint along the direction of movement.

[0030] In this example, the applicator 112 includes, as follows: Figure 5 and Figure 6The figure shows a film storage roller 113, a film application roller 114, a film pressing roller 115, and a film cutting knife 116. The figure illustrates the overall structure of the film applicator 112, including a basic mounting frame and a drive structure mounted on the frame. This drive structure includes a swing frame, a film pressing cylinder, and a film cutting cylinder. Specifically, both the film storage roller 113 and the film application roller 114 are mounted on a rotatable swing frame, which is driven by a swing cylinder rotatably mounted on the mounting frame. This swing ensures that the film application roller 114 contacts the surface of the precast exterior wall during film application, and the film storage roller 113 is configured to release film to the film application roller 114. The film pressing roller 115 is mounted on the telescopic drive end of the film pressing cylinder, thereby ensuring that after the film is applied to one side of the precast exterior wall joint by the film application roller 114, the film is released... The pressure roller 115, driven by the pressure cylinder, presses the film onto the film surface, ensuring stable adhesion of the film to the prefabricated exterior wall surface and preventing accidental film detachment. The cutting blade 116 is mounted on the telescopic drive end of the cutting cylinder, which includes a moving cylinder and a cutting cylinder connected in sequence. The moving cylinder drives the cutting blade 116 to move between the film application roller 114 and the pressure roller 115, while the cutting cylinder drives the cutting blade 116 to perform the film cutting operation, facilitating film cutting after application. Furthermore, after application, the swing frame rotates, and the pressure and cutting cylinders retract, resetting the entire film applicator 112.

[0031] For example, the adhesive spray nozzle 120 has a straight-line dispensing nozzle. Specifically, the adhesive spray nozzle 120 is rotatably mounted on the substrate so that the adhesive spray nozzle 120 can be inserted into prefabricated exterior wall joints of different widths by means of rotational adjustment, thereby ensuring that the adhesive spray nozzle 120 is configured to spray waterproof adhesive into the prefabricated exterior wall joints along the direction of movement.

[0032] For example, the scraper assembly 130 includes, as shown below: Figure 7 The scraper head 131 and scraper head base 132 are shown as detachably connected. Specifically, the scraper head base 132 has a slot 136 at its end, and the scraper head 131 has a plug 137 at its end for fitting into the slot 136. When the scraper head 131 is connected to the scraper head base 132, the plug 137 is inserted into the slot 136, thereby enabling the scraper head 131 of the adhesive scraping assembly 130 to be quickly disassembled and replaced. This ensures that the adhesive scraping assembly 130 is configured to scrape off the waterproof adhesive protruding from the surface of the precast exterior wall joint along the moving direction according to different adhesive scraping requirements.

[0033] In this example, the scraper head base 132 is externally fitted with a fixed ring 133 and a movable sleeve 134. A spring 135 is connected between the movable sleeve 134 and the fixed ring 133 so that the movable sleeve 134 can move between an unlocked position and a locked position. When the movable sleeve 134 moves to the locked position, the insert 137 and the slot 136 are confined inside the movable sleeve 134. When the movable sleeve 134 moves to the unlocked position, the insert 137 and the slot 136 are exposed outside the movable sleeve 134. It is worth noting that both the insert 137 and the slot 136 have a convex structure, and the slot 136 extends across the scraper head seat 132. Therefore, when installing or removing the scraper head 131: first, the movable sleeve 134 is moved to the unlocked position, thereby compressing the spring 135 and exposing the insert 137 and slot 136 outside the movable sleeve 134. Then, by utilizing the mutual sliding of the insert 137 and slot 136, the scraper head 131 is slidably inserted or removed from one end of the slot 136, thus completing the installation or removal of the scraper head 131. After the scraper head 131 is installed, the movable sleeve 134 is released, and under the return drive of the spring 135, the movable sleeve 134 moves to the locked position, thereby confining the insert 137 and slot 136 inside the movable sleeve 134, thus preventing the scraper head 131 from falling off. Furthermore, the ability to remove the scraper head 131 facilitates scraper head replacement and allows for flexible application of scraping technology under different requirements.

[0034] For example, the transmission mechanism 140 includes, as shown below: Figure 4 The diagram shows a drive rod 141, a drive shift rod 142, a crank-rocker 143, a drive wheel 145, and a driven wheel 146. Specifically, the drive shift rod 142 is fixedly connected to the slide of the film applicator 112 (the slide is fixed to the mounting bracket), the crank-rocker 143 is rotatably connected between the drive rod 141 and the drive shift rod 142, the drive wheel 145 is sleeved and fixed on the central axis of the drive rod 141, and the driven wheel 146 is sleeved and fixed on the adhesive spray nozzle 120. The drive wheel 145 and the driven wheel 146 are connected by a belt or chain drive. Therefore, when applying waterproof adhesive to prefabricated exterior wall joints of different widths, the drive rod 141 is rotated by a motor to... Figure 4Taking the counterclockwise rotation of the drive rod 141 as an example, the crank levers 143 at both ends of the drive rod 141 move closer to each other, thereby driving the drive shifting rods 142 on both sides of the drive rod 141 to move closer to each other. This reduces the distance between the two sets of film applicators 112, ensuring that the film application operation of the two sets of film applicators 112 can be applied to prefabricated exterior wall joints with smaller widths. At the same time, the drive rod 141 drives the driven wheel 146 to rotate counterclockwise through the drive wheel 145, causing the straight-line adhesive nozzle of the adhesive spray head 120 to rotate from a horizontal state to an inclined state, thus reducing the horizontal distance between the two sides of the adhesive nozzle. This ensures that the straight-line adhesive nozzle can still be effectively inserted into the prefabricated exterior wall joints with smaller widths, thereby effectively realizing the linkage adjustment between the film application component 110 and the adhesive spray head 120. Specifically, the maximum adhesive application width of the automatic spraying robot for waterproof adhesive on prefabricated exterior wall joints is determined by the horizontal width of the straight-line adhesive nozzle.

[0035] It is worth noting that the drive rotating rod 141 is eccentrically provided with a plurality of connecting holes 144 for adapting to and connecting the drive moving rod 142. This facilitates changing the degree of eccentricity of the drive moving rod 142 relative to the center of the drive rotating rod 141, thereby changing the transmission ratio between the drive moving rod 142 driving the film applicator 112 to move and the driven wheel 146 driving the glue spray nozzle 120 to rotate. This ensures the accuracy of the structural width adjustment and effectively improves the glue coating quality.

[0036] In summary, during the automatic spraying of waterproof adhesive for precast exterior wall joints, the adhesive application mechanism 100 is driven by a motion drive mechanism to move along the precast exterior wall joints. Simultaneously, the rotation of the drive rod 141 adjusts the usable width of the overall film application assembly 110 and the adhesive spray nozzle 120. During the movement of the adhesive application mechanism 100, it automatically performs film application, adhesive spraying, and adhesive scraping. After scraping, excess waterproof adhesive overflows onto the film on both sides of the precast exterior wall joint, allowing for easy removal of the film after the overall adhesive application is completed, preventing the waterproof adhesive from overflowing outside the joint. This also ensures a smooth and aesthetically pleasing surface between the waterproof adhesive and the precast exterior wall surface.

[0037] It should be noted that this utility model is particularly suitable for the treatment of the interior facade of exterior walls. If the exterior facade of an exterior wall is to be treated, it is necessary to use scaffolding, construction elevators and other high-altitude work equipment for assistance.

[0038] To further enhance the safety and stability of the robot during high-altitude operations, multiple safety protection devices can be installed on the lifting mechanism and robotic arm, such as limit switches and overload protection devices. Limit switches automatically stop operation when the lifting mechanism or robotic arm reaches its limit position, preventing damage or hazards caused by excessive movement. Overload protection devices promptly cut off the power supply when the load exceeds the rated value, preventing damage due to overload.

[0039] Furthermore, to enhance the robot's intelligence and ease of operation, an advanced control system can be installed. This control system enables precise control of the motion drive mechanism and the adhesive application mechanism. Operators only need to input relevant parameters, such as seam width and adhesive application speed, through the operating terminal, and the robot can automatically adjust its operating status to complete the waterproof adhesive spraying work. Simultaneously, the control system can monitor the robot's operating status in real time, such as the operating temperature and pressure of each component. If any abnormality is detected, it can promptly issue an alarm to alert the operator for handling.

[0040] Regarding energy supply, high-capacity rechargeable batteries can be used as the robot's power source to ensure that the robot can work continuously for extended periods. Furthermore, the batteries should have fast-charging capabilities to complete charging quickly and reduce downtime. Additionally, a power monitoring device can be installed on the robot to display the remaining battery power in real time, allowing operators to monitor the equipment's energy status promptly.

[0041] For robot maintenance and upkeep, a detailed maintenance plan should be developed. Regularly inspect, clean, and lubricate all robot components, and promptly replace worn parts to ensure the robot is always in good operating condition. Simultaneously, establish a comprehensive fault diagnosis system to quickly and accurately locate the fault point and provide corresponding solutions when a robot malfunctions, thereby improving equipment repair efficiency.

[0042] In practical applications, to adapt to different working environments, the robot's shell can be treated with protective measures to enhance its waterproof, dustproof, and moisture-proof properties.

[0043] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. An automatic spraying robot for waterproofing adhesive on prefabricated exterior wall joints, characterized in that: The device includes a motion drive mechanism and an adhesive application mechanism (100). The motion drive mechanism is configured to move the adhesive application mechanism (100) along the prefabricated exterior wall joint. The adhesive application mechanism (100) includes a film application assembly (110), an adhesive spray nozzle (120), and an adhesive scraper assembly (130) sequentially arranged on a substrate along the moving direction. The film application assembly (110) is configured to apply a separable film to both sides of the prefabricated exterior wall joint along the moving direction. The adhesive spray nozzle (120) is configured to spray waterproof adhesive into the interior of the prefabricated exterior wall joint along the moving direction. The adhesive scraper assembly (130) is configured to scrape off the waterproof adhesive protruding from the surface of the prefabricated exterior wall joint along the moving direction.

2. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 1, characterized in that: The motion drive mechanism includes a lifting mechanism (200) and a robotic arm (300). The robotic arm (300) is mounted on the lifting platform of the lifting mechanism (200), and the glue application mechanism (100) is mounted at the end of the robotic arm (300).

3. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 1, characterized in that: The film application assembly (110) includes a slide rail (111) and two sets of film applicators (112) that can move symmetrically along the slide rail (111). The two sets of film applicators (112) are respectively fitted on both sides of the precast exterior wall joint.

4. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 3, characterized in that: The adhesive spray nozzle (120) has a straight adhesive nozzle. The adhesive spray nozzle (120) is rotatably mounted on the substrate. The substrate is provided with a transmission mechanism (140) connecting the two sets of film applicators (112) and the adhesive spray nozzle (120).

5. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 4, characterized in that: The transmission mechanism (140) includes a drive rod (141), a drive shift rod (142), and a crank swing rod (143). The drive shift rod (142) is fixedly connected to the slide of the film applicator (112), and the crank swing rod (143) is rotatably connected between the drive rod (141) and the drive shift rod (142).

6. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 5, characterized in that: The drive lever (141) is eccentrically provided with a plurality of connection holes (144) for adapting to and connecting the drive lever (142).

7. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 5, characterized in that: A drive wheel (145) is coaxially fixed on the drive rod (141), and a driven wheel (146) is provided on the glue spray nozzle (120). The drive wheel (145) and the driven wheel (146) are connected by a belt or chain drive.

8. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 3, characterized in that: The film applicator (112) includes a film storage roller (113), a film application roller (114), a film pressing roller (115), and a film cutting knife (116); the film storage roller (113) is configured to release film to the film application roller (114), and both the film storage roller (113) and the film application roller (114) are mounted on a rotatable swing frame; the film pressing roller (115) is mounted on the telescopic drive end of the film pressing cylinder; and the film cutting knife (116) is mounted on the telescopic drive end of the film cutting cylinder.

9. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 1, characterized in that: The scraper assembly (130) includes a detachably connected scraper head (131) and a scraper head seat (132); the scraper head seat (132) has a slot (136) at its end, and the scraper head (131) has a plug (137) at its end for fitting the slot (136). When the scraper head (131) is connected to the scraper head seat (132), the plug (137) is fitted into the slot (136).

10. The automatic spraying robot for waterproofing prefabricated exterior wall joints according to claim 9, characterized in that: The scraper head base (132) is fitted with a fixed ring (133) and a movable sleeve (134). A spring (135) is connected between the movable sleeve (134) and the fixed ring (133) so that the movable sleeve (134) can move between the unlocked position and the locked position. When the movable sleeve (134) moves to the locked position, the insert (137) and the slot (136) are confined inside the movable sleeve (134). When the movable sleeve (134) moves to the unlocked position, the insert (137) and the slot (136) are exposed outside the movable sleeve (134).

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