CN114367886A

CN114367886A - Energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration

Info

Publication number: CN114367886A
Application number: CN202111608631.8A
Authority: CN
Inventors: 崔玉
Original assignee: Jiangsu Huaiyang Building Materials Co ltd
Current assignee: Jiangsu Huaiyang Building Materials Co ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-04-19
Anticipated expiration: 2041-12-27
Also published as: CN114367886B

Abstract

The invention discloses an energy-saving and environment-friendly inner wall self-recognition spraying robot for building decoration, which comprises a separator hole self-recognition type spraying mechanism, a pre-polishing spray storage circulating mechanism, a lifting mechanism and a moving material preparation mechanism, wherein the lifting mechanism is arranged on the upper wall of the moving material preparation mechanism, the separator hole self-recognition type spraying mechanism is arranged on the upper wall of the lifting mechanism, and the pre-polishing spray storage circulating mechanism is arranged on the side wall of the separator hole self-recognition type spraying mechanism. The invention belongs to the technical field of building decoration, and particularly provides an energy-saving and environment-friendly inner wall self-recognition spraying robot for building decoration, which applies a segmentation principle and a feedback principle to the spraying of a wall surface and the recognition of door and window openings, and solves the technical problem that doors and windows are easily polluted when the wall surface is sprayed; the pre-acting principle and the Bernoulli principle are applied to pre-polishing the wall surface and collecting paint mist, so that the dust amount in the wall surface spraying process is reduced, the material recycling rate is improved, and energy-saving and environment-friendly spraying is realized.

Description

Energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration

Technical Field

The invention belongs to the technical field of building decoration, and particularly relates to an energy-saving and environment-friendly inner wall self-recognition spraying robot for building decoration.

Background

Wall paint spraying process is widely applied to the building construction and decoration field gradually because of having the advantage that surface smoothness and continuity are good, most of the existing wall paint spraying methods are manually holding a spraying machine for operation, the method needs to consume a large amount of manpower to carry out connection and handheld swing of equipment such as an air compressor, a spraying machine and the like, paint splashes in the spraying process, a large amount of spray can be generated, the operation environment is severe, long-term spraying operation is not beneficial to the health of operators, in addition, the uniformity of spraying is difficult to guarantee through manual spraying, and the spraying efficiency is low.

And whole wall is only considered in current wall finish automatic spraying technique, and the reentrant corner position such as a large amount of door and window entrances and exits is not optimized and is considered on the house wall, when the spraying to above-mentioned position, can't discern and stop the spraying to the door and window entrance to a cave automatically, easily with door and window spraying in the lump, has greatly increased the clearance degree of difficulty, if leave door and window entrance to a cave limit later stage and mend and spout, then easily lead to spraying face roughness, color and luster and degree of consistency inconsistent, influence the shaping quality.

At present, an interior wall spraying robot for building decoration is lacked, a door and window opening in a wall surface of a building can be automatically identified, and when the interior wall spraying robot is sprayed to the door and window opening, a local spraying stopping instruction can be automatically executed, so that the door and window are prevented from being polluted by spraying, and meanwhile, the fog generated in the spraying process can be recycled, and the air pollution degree in the wall paint spraying process is obviously reduced.

Disclosure of Invention

Aiming at the situation and overcoming the defects of the prior art, the invention provides an energy-saving and environment-friendly inner wall self-recognition spraying robot for building decoration, which applies a segmentation principle (dividing an object into a plurality of mutually independent parts) and a feedback principle (introducing feedback and improving performance) to the spraying of a building wall surface and the recognition of a door and window opening, creatively arranges a separation body opening self-recognition type spraying mechanism, and effectively solves the contradictory technical problems that wall finish is sprayed to the door and window opening edge (the spraying surface is continuous and complete) and the wall finish cannot be sprayed to the door and window opening edge (the door and window are easily polluted by fog and dust in the process of pattern spraying); the pre-acting principle (the necessary change is carried out on an object completely or partially in advance) and the Bernoulli principle (the sum of pressure potential energy, kinetic energy and potential energy of any two points on a streamline is kept unchanged in the flowing process of neglecting viscosity loss of fluid) are applied to the pre-polishing and finishing of the wall surface and the collection of paint mist dust, so that the wall surface spraying flatness is effectively improved, the dust amount in the building wall surface spraying construction process is obviously reduced, the repeated utilization rate of paint spraying is improved, and the wall surface spraying process is more energy-saving and environment-friendly.

The technical scheme adopted by the invention is as follows: the scheme provides an energy-saving environment-friendly inner wall self-recognition spraying robot for building decoration, which comprises a separating body hole self-recognition type spraying mechanism, a pre-polishing spraying storage circulation mechanism, a lifting mechanism and a mobile material preparation mechanism, wherein the lifting mechanism is fixedly arranged on the upper wall of the mobile material preparation mechanism, the separating body hole self-recognition type spraying mechanism is fixedly arranged on the upper wall of the lifting mechanism, the pre-polishing spraying storage circulation mechanism is arranged on the side wall of the separating body hole self-recognition type spraying mechanism and the upper wall of the lifting mechanism, the separating body hole self-recognition type spraying mechanism applies a segmentation principle and a feedback principle to spraying of a building wall surface and recognition of a door and window hole, a single spraying coverage range is larger by adopting a separation parallel spraying mode, the spraying is more uniform, and medium differences of the door and window holes and the solid wall surface are fed back as a spraying instruction by means of touch feedback, the technical problems that the wall paint is sprayed to the edge of the door and window opening to enable the sprayed surface to be continuous and complete and the wall paint cannot be sprayed to the edge of the door and window opening to avoid the door and window from being polluted are effectively solved, the pre-polishing spray storage circulation mechanism applies the pre-action principle to the pre-polishing and finishing of the wall surface, polishes the wall surface base layer before the wall surface is sprayed in a continuous through mode, effectively improves the spraying flatness of the wall surface, applies the Bernoulli principle to the collection of dust generated by polishing the wall surface and mist generated by spraying, and effectively collects the dust and the mist generated by polishing and spraying respectively by adopting an enclosing type air flow dust collection mode, so that the dust amount in the spraying construction process of the building wall surface is obviously reduced, and the collected spraying mist can be reused in the spraying process, thereby realizing the requirements of energy conservation and environmental protection; the separation body opening self-identification type spraying mechanism comprises an opening self-identification spraying box, a divergent spraying device and a spraying bearing frame, the spraying bearing frame is fixedly arranged on the upper wall of a lifting mechanism, the opening self-identification spraying boxes are arranged on the spraying bearing frame side by side in an equidistant array, the divergent spraying device is fixedly arranged on the upper wall of the lifting mechanism, the upper ends of the divergent spraying devices are respectively arranged in the opening self-identification spraying box in a penetrating manner, the lower ends of the divergent spraying devices are arranged on a mobile material preparing mechanism through a lifting mechanism, the pre-polishing spraying storage circulating mechanism comprises a wall surface pre-polishing device, a polishing powder dust collecting device and an airflow field type spraying paint mist air pressure storage device, the wall surface pre-polishing device is arranged on the spraying bearing frame, the wall surface pre-polishing device is arranged below the opening self-identification spraying box, and the polishing dust collecting device is arranged on the side wall of the spraying bearing frame, the utility model discloses a wall self-identification spray box, including wall, grinding dust collection device, air current field formula spray paint fog air pressure storage device, elevating system, scissors lift power device, scissor lift power device, elevating system, grinding dust collection device locates the wall below of grinding device in advance, air current field formula spray paint fog air pressure storage device locates the entrance to a cave self-identification spray box lateral wall and elevating system upper wall, elevating system includes scissors lift power device and lift platform, scissors lift power device is fixed to be located and removes the mechanism upper wall of prepareeing material, scissors lift power device upper end is located to lift platform, remove the mechanism of prepareeing material including removing automobile body and storage device, storage device locates and removes the automobile body upper wall.

Wherein, the opening self-recognition spray box comprises a spraying limit box body and a touch feedback opening recognition component, the spraying limit box body is arranged on the spraying bearing frame in an equidistant array, the touch feedback opening recognition component is rotatably arranged at the lower wall edge of the spraying limit box body, the front side wall of the spraying limit box body is provided with a spraying limit opening, the touch feedback opening recognition component is arranged at the lower edge of the spraying limit opening, the rear side wall of the spraying limit box body is provided with a spraying conveying through hole, the upper wall of the spraying limit box body is provided with a top plate touch stop switch, the touch feedback opening recognition component comprises a touch toggle feedback rod, a touch toggle baffle and a piezoelectric button, the touch toggle feedback rod and the touch toggle baffle are respectively rotatably arranged at the lower wall edge of the spraying limit box body, the touch toggle feedback rod is symmetrically arranged at the side edge of the touch toggle baffle, and the piezoelectric button is arranged on the spraying bearing frame, the piezoelectric button is arranged below the end part, close to the spraying conveying through hole, of the touch toggle feedback rod, the upper walls of the end parts, close to the spraying conveying through hole, of the touch toggle feedback rod and the touch toggle baffle are respectively and fixedly provided with a tension spring, the upper end of each tension spring is fixedly connected with the lower wall of the spraying limiting box body, and the end parts, far away from the spraying conveying through hole, of the touch toggle feedback rod and the touch toggle baffle are respectively provided with a rubber touch head; the spacing mouthful of spraying restricts the spraying scope, prevent that the coating from scattering the wall pollution that will not need the spraying everywhere in the spraying process, when equipment operation and when spraying to the wall, the spacing box antetheca of spraying is close to the wall, the tip of rubber touch head will contact with the wall, when the spacing box antetheca of spraying continues to be close to the wall, the feedback rod is stirred and the touching is stirred the baffle and is rotated because of the pressure that the wall provided, thereby make the touching stir the feedback rod and the touching stir the baffle and be close to the tip decline of the spacing box postnotum of spraying, the tip that the feedback rod is close to the spacing box postnotum of spraying is stirred in the touching and is touched and press the piezoelectric button.

Further, the divergent spraying device comprises a paint pressure conveying assembly and an atomized air jet assembly, the paint pressure conveying assembly comprises a nozzle, a spraying electromagnetic valve, a material conveying branch pipe and an integrated material conveying unit, the nozzle penetrates through a spraying conveying through hole and is arranged on the inner side wall of a spraying limiting box body, the spraying electromagnetic valve is arranged on the outer side wall of the spraying limiting box body, the integrated material conveying unit is arranged on the upper wall of a lifting platform and the side wall of a scissor lifting power device, the material conveying branch pipes respectively penetrate through the upper wall of the integrated material conveying unit, the nozzle, the spraying electromagnetic valve, the material conveying branch pipe and the integrated material conveying unit are sequentially communicated, the integrated material conveying unit comprises a pipe dividing integrated valve, a material conveying main pipe and a material conveying pressure pump, the pipe dividing integrated valve is arranged on the upper wall of the lifting platform, the material conveying main pipe is arranged on the side wall of the scissor lifting power device, and the material conveying pressure pump is arranged on the upper wall of the lifting platform, the material conveying pressure pump is arranged in the middle of the material conveying main pipe in a penetrating way, the branch pipe integrated valve is in a penetrating way with the material conveying main pipe, the branch pipe integrated valve upper wall annular array is provided with a branch pipe interface, the material conveying branch pipe is in a penetrating way with the branch pipe interface, the atomizing airflow jet assembly comprises an atomizing airflow jet, an atomizing airflow branch jet pipe and an atomizing airflow pump, the atomizing airflow jet is arranged in the jet, the spraying direction of the atomizing airflow jet is consistent with that of the nozzle, the atomizing airflow branch jet pipe is arranged on the rear wall of the nozzle in a penetrating way, the atomizing airflow branch jet pipe is in a penetrating way with the atomizing airflow jet pipe, the atomizing airflow pump is arranged on the upper wall of the airflow field type paint spraying air pressure storage device, the atomizing airflow pump is respectively in a penetrating way with the end part of the atomizing airflow branch jet pipe, the spraying side wall of the bearing frame is fixedly provided with a polishing piezoelectric substrate, an electrified delay relay is fixedly arranged on the upper wall of the polishing piezoelectric substrate, the electrified delay relay, the piezoelectric button, the spraying electromagnetic valve and the atomizing airflow pump are sequentially and electrically connected, the spraying electromagnetic valve and the atomizing airflow pump are electrically connected in a one-to-one correspondence manner, and side wall touch stop switches are symmetrically arranged on the side wall of the polishing piezoelectric substrate; the operation of the material conveying pressure pump enables the paint in the material conveying main pipe to flow into the branch pipe integrated valve and the material conveying branch pipe, the pressure of the paint in the material conveying branch pipe is increased, when a touch is made to toggle the feedback rod to press the piezoelectric button, the power-on delay relay enables the spraying electromagnetic valve and the atomizing airflow pump to generate a delay power-on effect, after the spraying electromagnetic valve and the atomizing airflow pump are powered on, the paint in the material conveying branch pipe is sprayed out from the nozzle through the spraying electromagnetic valve, the atomizing airflow pump drives airflow in the atomizing airflow branch pipe to be sprayed out through the atomizing airflow nozzle, and the atomizing airflow sprayed out by the atomizing airflow nozzle atomizes the paint sprayed out from the nozzle and sprays the paint onto the building wall surface.

Preferably, the wall surface pre-polishing device comprises a pre-polishing roller and a polishing motor, the pre-polishing roller is rotatably arranged on the side wall of the polishing piezoelectric substrate, the pre-polishing roller is arranged below the touch toggle feedback rod and the touch toggle baffle, the polishing motor is arranged on the lower wall of the polishing piezoelectric substrate, a polishing driving wheel is coaxially and fixedly arranged in the middle of the pre-polishing roller, a polishing driving wheel is coaxially and fixedly arranged at the output end of the polishing motor, a first belt is wound between the polishing driving wheel and the polishing driving wheel, and polishing abrasive paper is wrapped on the circumferential side wall of the pre-polishing roller; when the spraying operation, the grinding motor moves and drives the grinding driving wheel to rotate, the grinding driving wheel drives the grinding driving wheel to rotate through the belt, the grinding driving wheel drives the pre-grinding roller to rotate, grinding abrasive paper and wall friction are made, the wall is ground in advance, and the wall base layer is made to be smoother.

Furthermore, the polishing dust collecting device comprises an open dust collecting groove, a dust collecting pipe, a dust collecting fan and a dust collecting box, wherein the open dust collecting groove is formed in the lower wall of the polishing piezoelectric substrate, the open dust collecting groove is formed below the pre-polishing roller, the dust collecting pipe, the dust collecting fan and the dust collecting box are respectively arranged on the upper wall of the lifting platform, the open dust collecting groove, the dust collecting pipe, the dust collecting fan and the dust collecting box are sequentially communicated, the dust collecting pipe comprises a transverse dust collecting pipe and a main dust collecting pipe, the transverse dust collecting pipe is arranged on the side wall of the open dust collecting groove, the main dust collecting pipe is arranged on the upper wall of the lifting platform, the transverse dust collecting pipe is communicated with the main dust collecting pipe, the dust collecting fan penetrates through the middle of the main dust collecting pipe, the transverse dust collecting pipe is provided with dust collecting holes in an array, and the dust collecting holes are respectively communicated with the side wall of the open dust collecting groove; the operation of collection dirt fan drives the intraductal gas of collection dirt and flows to the dust-collecting box, make the interior atmospheric pressure of violently managing of collection dirt reduce, thereby the gas in the uncovered dust-collecting tank gets into the collection dirt respectively from the dust collecting hole and violently manages, make the outside atmospheric pressure of uncovered dust-collecting tank reduce, the roller of polishing in advance is polished the dust that produces and is followed the air current and get into uncovered dust-collecting tank under gravity and atmospheric pressure effect, and violently manage along the collection dirt, the dust-collecting header gets into the dust-collecting box, the dust removal crocus collection device is showing the dust volume that has reduced building wall base course process of polishing production.

As a further preferred option of the present solution, the airflow field type paint mist pressure storage device comprises a side open mist collecting tank, an upper open mist collecting tank, a mist collecting ring pipe and an atomized paint negative pressure collecting tank, wherein the side open mist collecting tank is symmetrically arranged on the side wall of the spraying carrier frame, the side open mist collecting tank is arranged on the side wall of the spraying limiting box body, the upper open mist collecting tank is arranged on the upper wall of the spraying limiting box body, the mist collecting ring pipe is arranged on the upper wall and the side wall of the spraying limiting box body, the side wall of the mist collecting ring pipe is respectively communicated with the side open mist collecting tank and the end of the upper open mist collecting tank, the atomized paint negative pressure collecting tank is fixedly arranged on the upper wall of the lifting platform, the two ends of the mist collecting ring pipe are respectively communicated with the atomized paint negative pressure collecting tank, the side wall of the atomized paint negative pressure collecting tank is provided with a paint collecting pressure pump, the coating collecting pressure pump is communicated with the end part of the fog collecting ring pipe, and the atomizing airflow pump is respectively arranged on the upper wall of the atomized coating negative pressure collecting box in a penetrating way; when the paint collecting pressure pump operates, the gas in the mist collecting annular pipe flows into the atomized paint negative pressure collecting box, thereby make the inside atmospheric pressure of the uncovered fog collecting vat in side and the uncovered fog collecting vat in upper portion reduce, the uncovered fog collecting vat in side and the uncovered fog collecting vat in upper portion produce the gas flow, the atomizing coating that spouts the nozzle to the wall and bounce-back inhales and is collected by atomizing coating negative pressure collecting box and keeps in, effectively reduced the coating atomizing gas content of wall spraying in-process, provide cleaner operating environment for the user, it is not influenced to have ensured user's physical and mental health, atomizing air pump is with the coating atomizing gas recycle in the atomizing coating negative pressure collecting box and spray to the wall once more, air current field formula spraying coating atomizing gas pressure storage device and the formation air current circulation of divergent formula spraying device, make the coating after the atomizing obtain recycle, show the waste that has reduced coating.

Preferably, the left side wall and the right side wall of the lifting platform are symmetrically provided with a lifting support hole and a lifting strip-shaped hole in a penetrating manner, the lifting support hole is formed in the end portion, close to the open dust collecting groove, of the side wall of the lifting platform, and the lifting strip-shaped hole is formed in the end portion, far away from the open dust collecting groove, of the side wall of the lifting platform.

Preferably, the scissors lifting power device comprises a lifting base, a scissors fork lifting frame and a lifting power electric push rod, the lifting base is fixedly arranged on the upper wall of the moving vehicle body, the scissors fork lifting frame is arranged on the upper wall of the lifting base, the lifting power electric push rod is arranged inside the scissors fork lifting frame, the left side wall and the right side wall of the lifting base are symmetrically provided with a hinged support hole and a fixed strip-shaped hole in a penetrating manner, the hinged support hole is arranged at the end part of the side wall of the lifting base close to the open dust collecting groove, the fixed strip-shaped hole is arranged at the end part of the side wall of the lifting base far away from the open dust collecting groove, the scissors fork lifting frame is symmetrically provided with scissors in an array manner, the head, the tail and the middle part of each scissors fork are respectively connected in a rotating manner, a stable connecting shaft is rotatably arranged at the joint of each scissors fork, the lower end of the scissors fork lifting frame is respectively fixedly provided with a lower hinged shaft and a lower sliding shaft, and the lower hinged shaft is rotatably arranged in the hinged support hole, the lower sliding shaft is slidably arranged in the fixed strip-shaped hole, the upper end of the scissors fork lifting frame is respectively and fixedly provided with an upper articulated shaft and an upper sliding shaft, the upper articulated shaft is rotatably arranged in the lifting supporting hole, the upper sliding shaft is slidably arranged in the lifting strip-shaped hole, power transmission rods are symmetrically and fixedly arranged in the scissors fork, two ends of the lifting power electric push rod are respectively and rotatably connected with the side wall of the middle part of the power transmission rod, the material conveying main pipe is arranged along the side wall of the scissors fork, and the lifting power electric push rod is electrically connected with the top plate touch stop switch; when the lifting power electric push rod extends, the power transmission rods are far away from each other, so that the scissor forks are opened mutually, in the process, the lower articulated shaft rotates in the hinged supporting hole, the lower sliding shaft slides in the fixed strip-shaped hole, the upper articulated shaft rotates in the lifting supporting hole, and the upper sliding shaft slides in the lifting strip-shaped hole, so that the scissor fork lifting frame integrally extends, the lifting platform is driven to ascend, the lifting platform drives the separator port self-recognition type spraying mechanism and the pre-polishing spraying storage circulation mechanism to ascend, when the top plate touch stop switch touches the top plate of the wall surface, the top plate touch stop switch is pressed and acts, so that the lifting power electric push rod stops extending and starts shortening, the lifting platform starts to run downwards, the spraying limiting box body is driven to run downwards, and the touch toggle feedback rod and the touch toggle baffle rotate due to the friction force and the pressure provided by the wall surface, thereby triggering the piezoelectric button to start the spraying work, when the touch toggle feedback rod and the touch toggle baffle meet the upper opening of the window, the touch toggle feedback rod and the touch toggle baffle are not stopped by the wall surface, the touch toggle feedback rod and the touch toggle baffle rotate under the action of the tension spring, the touch toggle feedback rod is not stopped by the piezoelectric button, thereby closing the spraying electromagnetic valve, realizing the effect of local spraying stop, effectively reducing the pollution to the window, when the touch toggle feedback rod and the touch toggle baffle meet the lower opening of the window, the touch toggle feedback rod and the touch toggle baffle are stopped by the window wall surface and rotate, the spraying work starts again, realizing the self-identification spraying of the door and window opening, the lifting platform is vertically lifted, so that the self-identification spraying mechanism and the pre-polishing spraying storage circulating mechanism of the separator opening stably ascend and descend along the vertical line, can keep stable interval with the wall.

As a further preferred option of the scheme, the movable vehicle body comprises a carrying vehicle plate, a four-way traveling power assembly and a multi-way controller, the four-way traveling power assembly is arranged on the lower wall of the carrying vehicle plate, the multi-way controller is fixedly arranged on the upper wall of the carrying vehicle plate, the four-way traveling power assembly comprises traveling wheels, traveling motors and a reversing control frame, the traveling wheel array is arranged on the lower wall of the carrying vehicle plate in a penetrating and rotating manner, the traveling motors are respectively arranged on the side walls of the traveling wheels, the reversing control frame is slidably arranged on the bottom wall of the carrying vehicle plate, the traveling wheels are respectively connected with the reversing control frame in a rotating manner, each traveling wheel comprises a wheel body and a wheel frame, the wheel frame is arranged on the lower wall of the carrying vehicle plate in a penetrating and rotating manner, the wheel body is rotatably arranged on the inner side wall of the wheel frame, the traveling motors are in transmission connection with the wheel body, and a reversing diagonal is fixedly arranged at the upper end of the wheel frame, the direction of the reversing diagonal rods is consistent, a reversing strip-shaped hole is formed in the middle of each reversing diagonal rod, reversing poke rods are arranged at the end portions of the reversing control frames respectively and embedded into the reversing strip-shaped holes, a reversing electric push rod is arranged in the middle of each reversing control frame, two ends of each reversing electric push rod are fixedly connected with the side wall of the middle of each reversing control frame and the bottom wall of the inner portion of the bearing vehicle plate respectively, and the multi-path controller is electrically connected with a traveling motor, the reversing electric push rods, a lifting power electric push rod, a paint collecting pressure pump, a dust collecting fan, a polishing motor and a material conveying pressure pump respectively; the material storage device comprises a material injection box and a material storage box, wherein the material injection box and the material storage box are respectively arranged on the upper wall of the carrying vehicle plate, the material storage boxes are symmetrically arranged on the side edges of the material injection box, a communicating pipe is arranged between the material injection box and the material storage box in a penetrating way, and a material injection pipe is arranged on the upper wall of the material injection box in a penetrating way; when the reversing electric push rod extends to the longest, the reversing control frame is positioned at one side inside the bearing vehicle plate, the reversing control frame enables the reversing diagonal rods to deflect towards one side of the reversing control frame in a unified manner through the reversing poking rod and the reversing strip-shaped holes, the reversing diagonal rods enable the wheel bodies to face forwards in a unified manner through the wheel frame, after the reversing electric push rod is shortened, the reversing control frame moves inside the bearing vehicle plate, the reversing control frame drives the reversing diagonal rods to deflect towards the other side through the reversing poking rod and the reversing strip-shaped holes, the reversing diagonal rods enable the wheel bodies to rotate in a unified manner through the wheel frame and face towards the left to realize reversing, after the traveling motor is started, the wheel bodies are driven to rotate, the traveling wheels are driven to move, the moving vehicle body is driven to move, the separating body hole self-recognition type spraying mechanism, the pre-polishing spraying storage circulation mechanism and the lifting mechanism are driven to move, when the moving vehicle body moves left and right, if the wall surface corner is encountered, the side wall touch stop switch is firstly contacted with the corner wall surface and is pressed by the wall surface, so that the moving vehicle body stops moving, and the moving vehicle body is prevented from colliding with the wall surface.

The invention with the structure has the following beneficial effects:

(1) the split hole self-recognition type spraying mechanism applies the segmentation principle to spraying of the building wall surface, and adopts a mode of respectively spraying through hole self-recognition spraying boxes which are arranged in parallel in a separated mode to enable the single spraying coverage to be larger and the spraying to be more uniform;

(2) the piezoelectric button is respectively and electrically connected with the spraying electromagnetic valve and the atomizing airflow pump, and automatic spraying is realized by means of the pressure effect of the wall surface on the touch toggle feedback rod and the touch effect of the touch toggle feedback rod on the piezoelectric button;

(3) the method has the advantages that the material difference between the door and window opening and the solid wall surface is used as an entry point, the self-recognition spraying effect that spraying is stopped when the window part is met and automatic re-spraying is carried out after the window is met by using the action of touching the toggle feedback rod and the piezoelectric button as a spraying instruction is realized, and the contradictory technical problems that the wall paint is required to be sprayed to the edge of the door and window opening to enable the spraying surface to be continuous and complete and the wall paint cannot be sprayed to the edge of the door and window opening to prevent the door and the window from being polluted are effectively solved;

(4) the touch toggle feedback rod and the rubber touch head at the end part of the touch toggle baffle are tightly attached to the wall surface, so that the possibility that coating mist is sprayed to the lower part in the spraying process is remarkably reduced, and the door and window has a good anti-pollution protection effect when meeting a door and window opening;

(5) the electrified delay relay enables the spraying electromagnetic valve and the atomized air flow pump to be started in a delayed mode, when the atomized air flow pump passes through the lower opening of the door and window opening, the spraying operation is started in a delayed mode, and the fact that the atomized air flow pump cannot be directly sprayed to the door and window when the repeated spraying starts is guaranteed;

(6) the wall surface pre-polishing device enables the base layer of the wall surface to be more smooth;

(7) the grinding dust collecting device remarkably reduces the dust amount generated in the grinding process of the building wall surface base;

(8) the lifting mechanism enables the self-recognition type spraying mechanism and the pre-polishing spray storage circulating mechanism of the split hole to stably lift along a longitudinal vertical line, a stable interval can be kept between the self-recognition type spraying mechanism and the wall surface, and a top plate touches a stop switch and a side wall touches the stop switch to prevent equipment from colliding with the wall surface and the top plate;

(9) the air flow field type paint spray mist pressure storage device effectively reduces the content of paint atomization gas in the wall surface spraying process, provides a cleaner operating environment for a user, and ensures that the physical and psychological health of the user is not influenced;

(10) the atomizing air flow pump recycles the paint atomizing air in the atomized paint negative pressure collecting box and sprays the paint atomizing air to the wall surface again, and the air flow field type paint mist air pressure storage device and the divergent type spraying device form air flow circulation, so that the atomized paint is recycled, the paint waste is obviously reduced, and the wall surface spraying process is more energy-saving and environment-friendly.

Drawings

FIG. 1 is a first schematic structural view of an energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to the present invention;

FIG. 2 is a schematic structural view II of an energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to the present invention;

FIG. 3 is a first structural schematic diagram of a hole self-recognition spray box according to the present invention;

FIG. 4 is a schematic structural diagram II of the hole self-recognition spray box provided by the invention;

FIG. 5 is a schematic structural diagram of a hole self-recognition spray box and a divergent spray device according to the present invention;

FIG. 6 is a schematic structural view of a hole self-recognition spray box and a spray carrier according to the present invention;

FIG. 7 is a side view of an energy-saving and environment-friendly interior wall self-recognition spraying robot for building decoration according to the present invention;

FIG. 8 is a schematic structural view of a dust collecting device and an air-flow-field type paint spray mist pressure storage device according to the present invention;

fig. 9 is a schematic structural diagram of a lifting mechanism according to the present invention;

FIG. 10 is a top view of the interior of a vehicle panel according to the present invention;

fig. 11 is a circuit diagram of the self-recognition type spraying mechanism and the lifting mechanism for the separated body hole according to the present invention.

Wherein, 1, the separation body hole self-identification type spraying mechanism, 11, the hole self-identification spraying box, 111, the spraying limit box body, 1110, the spraying limit hole, 1111, the spraying delivery through hole, 1112, the roof touch stop switch, 112, the touch feedback hole identification component, 1120, the touch toggle feedback rod, 1121, the touch toggle baffle, 1122, the piezoelectric button, 1123, the tension spring, 1124, the rubber touch head, 12, the divergent spraying device, 121, the paint pressure delivery component, 1210, the nozzle, 1211, the spraying solenoid valve, 1212, the delivery branch pipe, 1213, the integrated delivery component, 1214, the branch pipe integrated valve, 1215, the delivery main pipe, 1216, the delivery pressure pump, 1217, the branch pipe interface, 122, the atomizing air jet component, 1220, the atomizing air jet head, 1221, the atomizing air flow branch jet pipe, 1222, the atomizing air flow pump, 13, the spraying, 131, the piezoelectric substrate, 1310, 1222, the atomizing air flow pump, A power-on delay relay 1311, a side wall touch stop switch, 2, a pre-polishing spray storage circulating mechanism, 21, a wall pre-polishing device, 211, a pre-polishing roller, 2110, a polishing driving wheel, 2111, polishing abrasive paper, 212, a polishing motor, 2120, a polishing driving wheel, 2121, a belt I, 22, a polishing dust collecting device, 221, an open dust collecting groove, 222, a dust collecting pipe, 2220, a dust collecting transverse pipe, 2221, a dust collecting main pipe, 2222, a dust collecting hole, 223, a dust collecting fan, 224, a dust collecting box, 23, an airflow field type spray paint mist pressure storage device, 231, side open mist, 232, an upper open collecting groove, 233, a mist collecting ring pipe, 234, an atomized paint negative pressure collecting box, 2340, a paint collecting pressure pump, 3, a lifting mechanism, 31, a scissor lifting power device, 311, a lifting base, 3110, a hinged support hole, 3111 and a fixed strip-shaped hole, 312. the scissors fork lifting frame comprises a scissors fork lifting frame, a scissors fork 3120, a scissors fork 3121, a stable connecting shaft, a 3122, a lower hinged shaft, a 3123, a lower sliding shaft, a 3124, an upper hinged shaft, a 3125, an upper sliding shaft, a 3126, a power transmission rod, a 313, a lifting power electric push rod, 32, a lifting platform, 321, a lifting support hole, 322, a lifting strip-shaped hole, 4, a mobile material preparation mechanism, 41, a mobile vehicle body, 411, a bearing vehicle plate, 412, a four-way traveling power assembly, 4120, a traveling wheel, 4121, a traveling motor, 4122, a reversing control frame, 4123, a wheel body, 4124, a wheel frame, 4125, a reversing inclined rod, 4126, a reversing strip-shaped hole, 4127, a reversing shifting rod, 4128, a reversing electric push rod, 413, a multipath controller, 42, a material storage device, 421, a material injection box, 4210, a communicating pipe, 4211, a material injection pipe, 422 and a material storage box.

In fig. 11, KM indicates a top plate touch stop switch, KT indicates a power-on delay relay, SB indicates a piezoelectric button, YV indicates a spray solenoid valve, M indicates an atomizing air flow pump, and D indicates a lifting power electric push rod.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

As shown in fig. 1, 2 and 7, the energy-saving and environment-friendly inner wall self-recognition spraying robot for building decoration provided by the scheme comprises a separation body hole self-recognition type spraying mechanism 1, a pre-polishing spray storage circulation mechanism 2, a lifting mechanism 3 and a mobile material preparation mechanism 4, wherein the lifting mechanism 3 is fixedly arranged on the upper wall of the mobile material preparation mechanism 4, the separation body hole self-recognition type spraying mechanism 1 is fixedly arranged on the upper wall of the lifting mechanism 3, the pre-polishing spray storage circulation mechanism 2 is arranged on the side wall of the separation body hole self-recognition type spraying mechanism 1 and the upper wall of the lifting mechanism 3, the separation body hole self-recognition type spraying mechanism 1 comprises a hole self-recognition spraying box 11, a divergent spraying device 12 and a bearing frame spraying 13, the spraying bearing frame 13 is fixedly arranged on the upper wall of the lifting mechanism 3, the hole self-recognition spraying boxes 11 are arranged on the spraying bearing frame 13 in an equidistant array side by side, the divergent spraying device 12 is fixedly arranged on the upper wall of the lifting mechanism 3, the upper end of a divergent spraying device 12 is respectively arranged inside an opening self-identification spraying box 11 in a penetrating way, the lower end of the divergent spraying device 12 is arranged on a mobile material preparation mechanism 4 through a lifting mechanism 3, a pre-polishing spraying storage circulating mechanism 2 comprises a wall surface pre-polishing device 21, a polishing dust collecting device 22 and an air flow field type spraying mist air pressure storage device 23, the wall surface pre-polishing device 21 is arranged on a spraying bearing frame 13, the wall surface pre-polishing device 21 is arranged below the opening self-identification spraying box 11, the polishing dust collecting device 22 is arranged on the side wall of the spraying bearing frame 13, the polishing dust collecting device 22 is arranged below the wall surface pre-polishing device 21, the air flow field type spraying mist air pressure storage device 23 is arranged on the side wall of the opening self-identification spraying box 11 and the upper wall of the lifting mechanism 3, the lifting mechanism 3 comprises a scissor lifting power device 31 and a lifting platform 32, the scissor lifting power device 31 is fixedly arranged on the upper wall of the mobile material preparation mechanism 4, the lifting platform 32 is arranged at the upper end of the scissor lifting power device 31, the material preparation mechanism 4 comprises a movable vehicle body 41 and a material storage device 42, and the material storage device 42 is arranged on the upper wall of the movable vehicle body 41.

As shown in fig. 3, 4 and 11, the orifice self-recognition spray box 11 includes a spraying limiting box 111 and a touch feedback orifice recognition component 112, the spraying limiting box 111 is disposed on the spraying bearing frame 13 in an equidistant array, the touch feedback orifice recognition component 112 is rotatably disposed on the lower wall edge of the spraying limiting box 111, the front side wall of the spraying limiting box 111 is provided with a spraying limiting orifice 1110, the touch feedback orifice recognition component 112 is disposed on the lower edge of the spraying limiting orifice 1110, the rear side wall of the spraying limiting box 111 is provided with a spraying conveying through hole 1111, the upper wall of the spraying limiting box 111 is provided with a top plate touch stop switch 1112, the touch feedback orifice recognition component 112 includes a touch toggle feedback rod 1120, a touch toggle baffle 1121 and a piezoelectric button 1122, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 are respectively rotatably disposed on the lower wall edge of the spraying limiting box 111, the touch toggle feedback rod 1120 is symmetrically disposed on the side edge of the toggle baffle 1121, the piezoelectric button 1122 is arranged on the spraying bearing frame 13, the piezoelectric button 1122 is arranged below the end part, close to the spraying conveying through hole 1111, of the touch toggle feedback rod 1120, the upper wall of the end part, close to the spraying conveying through hole 1111, of the touch toggle feedback rod 1121 and the touch toggle baffle 1121 is fixedly provided with a tension spring 1123, the upper end of the tension spring 1123 is fixedly connected with the lower wall of the spraying limiting box body 111, and the end parts, far away from the spraying conveying through hole 1111, of the touch toggle feedback rod 1120 and the touch toggle baffle 1121 are respectively provided with a rubber touch head 1124; the spraying limiting port 1110 limits the spraying range and prevents the coating from scattering around to pollute the wall surface which does not need to be sprayed in the spraying process.

As shown in fig. 2, 5 and 11, the divergent spraying device 12 includes a paint pressure delivery assembly 121 and an atomizing air jet assembly 122, the paint pressure delivery assembly 121 includes a nozzle 1210, a spraying solenoid valve 1211, a delivery branch pipe 1212 and an integrated delivery unit, the nozzle 1210 penetrates through a spraying delivery through hole 1111 and is disposed on an inner sidewall of the spraying limit box 111, the spraying solenoid valve 1211 is disposed on an outer sidewall of the spraying limit box 111, the integrated delivery unit is disposed on an upper wall of the lifting platform 32 and a sidewall of the scissors lifting power device 31, the delivery branch pipes 1212 respectively penetrate through an upper wall of the integrated delivery unit, the nozzle 1210, the spraying solenoid valve 1211, the delivery branch pipe 1212 and the integrated delivery unit are sequentially connected in a penetrating manner, the integrated delivery unit includes a branch pipe integrated valve 1214, a delivery main pipe 1215 and a delivery pressure pump 1216, the branch pipe integrated valve 1214 is disposed on the upper wall of the lifting platform 32, the delivery main pipe 1215 is disposed on the sidewall of the scissors lifting power device 31, the material conveying pressure pump 1216 is arranged on the upper wall of the lifting platform 32, the material conveying pressure pump 1216 penetrates through the middle of a material conveying main pipe 1215, a branch pipe integrated valve 1214 is in through connection with the material conveying main pipe 1215, a branch pipe interface 1217 is arranged on the upper wall of the branch pipe integrated valve 1214 in an annular array, a material conveying branch pipe 1212 is in through connection with the branch pipe interface 1217, the atomizing air flow injection assembly 122 comprises an atomizing air flow nozzle 1220, an atomizing air flow branch nozzle 1221 and an atomizing air flow pump 1222, the atomizing air flow nozzle 1220 is arranged in the injection, the injection direction of the atomizing air flow nozzle 1220 is consistent with that of the nozzle 1210, the atomizing air flow branch nozzle 1221 penetrates through the rear wall of the nozzle 1210, the atomizing air flow branch nozzle 1221 is in through connection with the atomizing air flow nozzle 1220, the atomizing air flow pump 1222 is arranged on the upper wall of the air flow field type paint mist air pressure storage device 23, and the atomizing air flow pump 1222 is in through connection with the end part of the atomizing air flow branch nozzle 1221, which is far away from the atomizing air flow nozzle 1220, as shown in fig. 6, a polishing piezoelectric substrate 131 is fixedly disposed on the sidewall of the coating carrier 13, a power-on delay relay 1310 is fixedly disposed on the upper wall of the polishing piezoelectric substrate 131, the power-on delay relay 1310, the piezoelectric button 1122, the coating solenoid 1211 and the atomizing air flow pump 1222 are electrically connected in sequence, the coating solenoid 1211 and the atomizing air flow pump 1222 are electrically connected in a one-to-one correspondence manner, and sidewall touch stop switches 1311 are symmetrically disposed on the sidewall of the polishing piezoelectric substrate 131.

As shown in fig. 6, the wall surface pre-polishing device 21 includes a pre-polishing roller 211 and a polishing motor 212, the pre-polishing roller 211 is rotatably disposed on the side wall of the polishing piezoelectric substrate 131, the pre-polishing roller 211 is disposed below the touch toggle feedback rod 1120 and the touch toggle baffle 1121, the polishing motor 212 is disposed on the lower wall of the polishing piezoelectric substrate 131, a polishing driving wheel 2110 is coaxially and fixedly disposed in the middle of the pre-polishing roller 211, a polishing driving wheel 2120 is coaxially and fixedly disposed at the output end of the polishing motor 212, a belt 2121 is wound between the polishing driving wheel 2120 and the polishing driving wheel 2110, and a polishing sand paper 2111 is wrapped around the circumferential side wall of the pre-polishing roller 211; the wall surface pre-polishing device 21 enables the base layer of the wall surface to be smoother.

As shown in fig. 8, the polishing dust collecting device 22 includes an open dust collecting groove 221, a dust collecting pipe 222, a dust collecting fan 223 and a dust collecting box 224, the open dust collecting groove 221 is disposed on the lower wall of the polishing piezoelectric substrate 131, the open dust collecting groove 221 is disposed below the pre-polishing roller 211, the dust collecting pipe 222, the dust collecting fan 223 and the dust collecting box 224 are respectively disposed on the upper wall of the lifting platform 32, the open dust collecting groove 221, the dust collecting pipe 222, the dust collecting fan 223 and the dust collecting box 224 are sequentially connected through, the dust collecting pipe 222 includes a transverse dust collecting pipe 2220 and a main dust collecting pipe 2221, the transverse dust collecting pipe 2220 is disposed on the side wall of the open dust collecting groove 221, the main dust collecting pipe 2221 is disposed on the upper wall of the lifting platform 32, the transverse dust collecting pipe 2220 and the main dust collecting pipe 2221 are connected through, the dust collecting fan 223 is disposed in the middle of the main dust collecting pipe 2221, the side wall of the transverse dust collecting pipe 2220 is provided with dust collecting holes 2222, and the side wall of the open dust collecting groove 221 is respectively connected through; the sanding dust collection device 22 significantly reduces the amount of dust generated during the sanding of the base layer of the building wall.

As shown in fig. 8, the airflow field type paint mist pressure storage device 23 includes a side open mist collecting tank 231, an upper open mist collecting tank 232, a mist collecting loop 233 and an atomized paint negative pressure collecting tank 234, the side open mist collecting tanks 231 are symmetrically disposed on the side wall of the spraying carrier 13, the side open mist collecting tank 231 is disposed on the side wall of the spraying limit box 111, the upper open mist collecting tank 232 is disposed on the upper wall of the spraying limit box 111, the mist collecting loop 233 is disposed on the upper wall and the side wall of the spraying limit box 111, the side wall of the mist collecting loop 233 is respectively connected to the side open mist collecting tank 231 and the end of the upper open mist collecting tank 232, the atomized paint negative pressure collecting tank 234 is fixedly disposed on the upper wall of the lifting platform 32, two ends of the mist collecting loop 233 are respectively connected to the atomized paint negative pressure collecting tank 234, the side wall of the atomized paint negative pressure collecting tank 234 is provided with a paint collecting pressure pump 2340, the coating collecting pressure pump 2340 is in through connection with the end of the mist collecting ring pipe 233, and the atomizing air flow pumps 1222 are respectively arranged on the upper wall of the atomizing coating negative pressure collecting box 234 in a penetrating manner; the atomized paint negative pressure collection box 234 effectively reduces the content of paint atomized gas in the wall spraying process, provides a cleaner operating environment for users, and ensures that the physical and psychological health of the users is not affected, the atomized paint atomized gas in the atomized paint negative pressure collection box 234 is recycled by the atomized air flow pump 1222 and sprayed to the wall again, the air flow field type paint atomized gas pressure storage device 23 and the divergent spraying device 12 form air flow circulation, so that atomized paint is recycled, and paint waste is obviously reduced.

As shown in fig. 9, the left and right side walls of the lifting platform 32 are symmetrically provided with lifting support holes 321 and lifting strip-shaped holes 322, the lifting support holes 321 are provided at the end portions of the side walls of the lifting platform 32 close to the open dust collecting groove 221, and the lifting strip-shaped holes 322 are provided at the end portions of the side walls of the lifting platform 32 far from the open dust collecting groove 221.

As shown in fig. 9 and 11, the scissors lifting power device 31 includes a lifting base 311, a scissors fork lifting frame 312 and a lifting power electric push rod 313, the lifting base 311 is fixedly disposed on the upper wall of the moving body 41, the scissors fork lifting frame 312 is disposed on the upper wall of the lifting base 311, the lifting power electric push rod 313 is disposed inside the scissors fork lifting frame 312, the left and right side walls of the lifting base 311 are symmetrically provided with a hinged support hole 3110 and a fixed strip hole 3111, the hinged support hole 3110 is disposed on the end portion of the side wall of the lifting base 311 close to the open dust collecting tank 221, the fixed strip hole 3111 is disposed on the end portion of the side wall of the lifting base 311 far away from the open dust collecting tank 221, the scissors fork lifting frame 312 is symmetrically provided with scissors forks 3120, the heads and the tails of the scissors forks 3120 are respectively rotatably connected with the middle portion, the connection of the scissors forks 3120 is rotatably provided with a stable connection shaft 3121, the lower end of the scissors fork lifting frame 312 is respectively fixedly provided with a lower hinge shaft 3122 and a lower sliding shaft 3123, the lower articulated shaft 3122 is rotatably arranged in the articulated supporting hole 3110, the lower sliding shaft 3123 is slidably arranged in the fixed strip-shaped hole 3111, the upper end of the scissor fork lifting frame 312 is respectively and fixedly provided with an upper articulated shaft 3124 and an upper sliding shaft 3125, the upper articulated shaft 3124 is rotatably arranged in the lifting supporting hole 321, the upper sliding shaft 3125 is slidably arranged in the lifting strip-shaped hole 322, the scissor fork 3120 is internally and symmetrically and fixedly provided with power transmission rods 3126, two ends of the lifting power electric push rod 313 are respectively and rotatably connected with the middle side wall of the power transmission rods 3126, the material conveying main pipe 1215 is arranged along the side wall of the scissor fork 3120, and the lifting power electric push rod 313 is electrically connected with the top plate touch stop switch 1112; when the equipment runs and coats a wall, the lifting platform 32 runs from top to bottom, the front wall of the coating limiting box body 111 is close to the wall, the end of the rubber touch head 1124 is contacted with the wall, in the descending process of the lifting platform 32, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 rotate due to the friction force and pressure provided by the wall, so that the end of the touch toggle feedback rod 1120 and the touch toggle baffle 1121 close to the rear side wall of the coating limiting box body 111 descends, the end of the touch toggle feedback rod 1120 close to the rear side wall of the coating limiting box body 111 touches and triggers the piezoelectric button 1122, the spraying work starts, when the touch toggle feedback rod 1120 and the touch toggle baffle 1121 meet an upper opening of a window, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 are not blocked by the wall, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 rotate under the action of the tension spring 1123, feedback pole 1120 is stirred in the messenger touching no longer to touching piezoelectric button 1122 to make spraying solenoid 1211 close, the effect of local stopping spouting has been realized, effectively reduced the pollution to the window, stir feedback pole 1120 and the touching when stirring baffle 1121 and meet the window end opening when touching, the touching is stirred feedback pole 1120 and is stirred baffle 1121 and is kept out by the window wall and takes place the rotation, spraying work begins once more, the self-discernment spraying to door and window opening has been realized, lift platform 32 is vertical lift, make separator opening self-identification formula spraying mechanism 1 and polish spraying storage cycle mechanism 2 in advance and stably lift along vertical line, can keep stable interval with the wall.

As shown in fig. 2, 7 and 10, the moving vehicle body 41 includes a vehicle-bearing plate 411, a four-way traveling power assembly 412 and a multi-way controller 413, the four-way traveling power assembly 412 is disposed on a lower wall of the vehicle-bearing plate 411, the multi-way controller 413 is fixedly disposed on an upper wall of the vehicle-bearing plate 411, the four-way traveling power assembly 412 includes traveling wheels 4120, traveling motors 4121 and reversing control frames 4122, an array of the traveling wheels 4120 is rotatably disposed on a lower wall of the vehicle-bearing plate 411, the traveling motors 4121 are respectively disposed on side walls of the traveling wheels 4120, the reversing control frames 4122 are slidably disposed on a bottom wall of the vehicle-bearing plate 411, the traveling wheels 4120 are respectively rotatably connected with the reversing control frames 4122, the traveling wheels 4120 include a wheel body 4123 and a wheel frame 4124, the wheel frame 4124 is rotatably disposed on the lower wall of the vehicle-bearing plate 411, the wheel body 4123 is rotatably disposed on an inner side wall of the wheel frame 4124, the traveling motors 4121 are in transmission connection with the wheel body, the wheel frame 4123 is fixedly disposed with a reversing oblique rod 4125, the direction of the reversing inclined rods 4125 is consistent, the middle of each reversing inclined rod 4125 is provided with a reversing strip-shaped hole 4126, the end part of each reversing control frame 4122 is provided with a reversing poking rod 4127, each reversing poking rod 4127 is embedded into the corresponding reversing strip-shaped hole 4126, the middle of each reversing control frame 4122 is provided with a reversing electric push rod 4128, the two ends of each reversing electric push rod 4128 are fixedly connected with the middle side wall of the corresponding reversing control frame 4122 and the inner bottom wall of the corresponding bearing vehicle plate 411, the multi-channel controller 413 is electrically connected with the traveling motor 4121, the reversing electric push rods 4128, the lifting power electric push rods 313, the paint collecting pressure pump 2340, the dust collecting fan 223, the grinding motor 212 and the material conveying pressure pump 1216 respectively, and the preferred model of the multi-channel controller 413 is an SHDC-16K type wireless control remote controller; the storage device 42 comprises a material injection box 421 and a storage box 422, the material injection box 421 and the storage box 422 are respectively arranged on the upper wall of the carrying vehicle plate 411, the storage boxes 422 are symmetrically arranged on the side edges of the material injection box 421, a communicating pipe 4210 is arranged between the material injection box 421 and the storage box 422 in a penetrating manner, and a material injection pipe 4211 is arranged on the upper wall of the material injection box 421 in a penetrating manner; the ceiling touch stop switch 1112 and the side wall touch stop switch 1311 prevent equipment from colliding with the wall surface and the ceiling.

During specific use, an operator firstly debugs and prepares the device, the operator pours paint into the material injection box 421 through the material injection pipe 4211, the paint flows into the material storage box 422 through the communicating pipe 4210, in an initial state, the lifting power electric push rod 313 is in a shortened state, the scissor 3120 is in a closed state, the lifting platform 32 is located at the lowest position, and the lifting toggle feedback rod 1120 is kept in a separated state from the piezoelectric button 1122 under the action of the tension spring 1123.

Because of the characteristics of wall surface spraying and coating wall surface flowing, the spraying mode adopted by the scheme is a split type top-down spraying mode, so that the wall surface is not influenced by the flowing of the coating wall surface after the spraying is finished, an operator operates the traveling motor 4121 and the reversing electric push rod 4128 to operate through the multi-channel controller 413, when the reversing electric push rod 4128 extends to the longest length, the reversing control frame 4122 is positioned at one side inside the vehicle bearing plate 411, the reversing control frame 4122 enables the reversing inclined rod 4125 to uniformly deflect to one side where the reversing control frame 4122 is positioned through the reversing toggle rod 4127 and the reversing strip-shaped hole 4126, the reversing inclined rod 4125 enables the wheel body 4123 to uniformly face forwards through the wheel frame 4124, after the reversing electric push rod 4128 is shortened, the reversing control frame 4122 moves inside the vehicle bearing plate 411, the reversing control frame 4122 drives the reversing inclined rod 4125 to deflect to the other side through the reversing toggle rod 4127 and the reversing strip-shaped hole 4126, the reversing inclined rod 4125 enables the wheel body 4123 to uniformly rotate and face leftwards through the wheel frame 4124, the reversing is realized, after a traveling motor 4121 is started, a driving wheel body 4123 rotates to enable a traveling wheel 4120 to move to drive a moving vehicle body 41 to move, the moving vehicle body 41 drives a separation body hole self-recognition type spraying mechanism 1, a pre-grinding spraying storage circulating mechanism 2 and a lifting mechanism 3 to move to the side of a building wall surface needing to be sprayed, the front wall of a spraying limiting box body 111 is close to the wall surface, the end part of a touch toggle feedback rod 1120 and the end part of a touch toggle baffle 1121 of a rubber touch head 1124 is contacted with the wall surface and is extruded, when the moving vehicle body 41 moves left and right, if the moving vehicle body 41 meets the corner of the wall surface, a side wall touch stop switch 1311 is firstly contacted with the corner wall surface and is pressed by the wall surface to enable the moving vehicle body 41 to stop moving, the moving vehicle body 41 is prevented from colliding with the wall surface, before the spraying work starts, an operator operates a lifting power electric push rod 313 to extend through a multi-path controller 413 to enable a power transmission rod 3126 to be far away from each other, the lifting power electric push rod 313 enables the shear forks 3120 to be mutually opened, in the process, the lower articulated shafts 3122 rotate in the articulated supporting holes 3110, the lower sliding shafts 3123 slide in the fixed strip-shaped holes 3111, the upper articulated shafts 3124 rotate in the lifting supporting holes 321, and the upper sliding shafts 3125 slide in the lifting strip-shaped holes 322, so that the shear fork lifting frame 312 extends integrally to drive the lifting platform 32 to ascend, the lifting platform 32 drives the separation body hole self-recognition type spraying mechanism 1 and the pre-polishing spraying storage circulating mechanism 2 to ascend, when the top plate touch stop switch 1112 touches a top plate of a wall surface, the top plate touch stop switch 1112 is pressed and acts, the lifting power electric push rod 313 stops extending and starts to shorten, the lifting platform 32 starts to run downwards to drive the spraying limiting box 111 to run downwards, and the spraying work starts.

An operator starts the material conveying pressure pump 1216, the paint collecting pressure pump 2340, the dust collecting fan 223 and the grinding motor 212 through the multi-channel controller 413, the material conveying pressure pump 1216 operates to enable paint in the material conveying main pipe 1215 to flow into the branch pipe integrated valve 1214 and the material conveying branch pipe 1212, the paint pressure in the material conveying branch pipe 1212 is increased, the grinding motor 212 operates and drives the grinding driving wheel 2120 to rotate, the grinding driving wheel 2120 drives the grinding driving wheel 2110 to rotate through a belt 2121, the grinding driving wheel 2110 drives the pre-grinding roller 211 to rotate, so that the grinding abrasive paper 2111 rubs against a wall surface and pre-grinds the wall surface, the base layer of the wall surface is smoother, the dust collecting fan 223 operates to drive gas in the dust collecting main pipe 2221 to flow to the dust collecting box 224, the pressure in the dust collecting transverse pipe 2220 is reduced, and accordingly gas in the dust collecting groove 221 enters the dust collecting transverse pipe 2220 from the dust collecting holes 2222 respectively, and the external air pressure of the dust collecting groove 221 is reduced, the dust generated by the pre-grinding roller 211 is fed into the open dust collecting groove 221 by gravity and air pressure along with the air flow, and is fed into the dust collecting box 224 along the dust collecting transverse pipe 2220 and the dust collecting main pipe 2221,

when the spraying limit box 111 moves downwards, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 rotate due to the friction and pressure provided by the wall surface, so that the end parts of the touch toggle feedback rod 1120 and the touch toggle baffle 1121, which are close to the rear side wall of the spraying limit box 111, descend, the end parts of the touch toggle feedback rod 1120, which are close to the rear side wall of the spraying limit box 111, touch and press the piezoelectric button 1122, the power-on delay relay enables the spraying solenoid valve 1211 and the atomizing air flow pump 1222 to generate a time-delay power-on effect, when the spraying solenoid valve 1211 and the atomizing air flow pump 1222 are powered on, the paint in the material conveying branch pipe 1212 is sprayed out from the nozzle 1210 through the spraying solenoid valve 1211, the atomizing air flow pump 1222 drives the air flow in the atomizing air flow branch spray pipe 1221 to be sprayed out through the atomizing air flow nozzle 1220, and the atomized air flow sprayed out from the nozzle 1210 to the building wall surface by the atomized air flow sprayed out from the atomizing air flow nozzle 1220, when part of the touch toggle feedback rod 1120 and the touch toggle baffle 1121 meet the upper opening of the window, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 are no longer resisted by the wall surface, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 rotate under the action of the tension spring 1123, so that the touch toggle feedback rod 1120 is no longer contacted with the piezoelectric button 1122, and the corresponding spraying electromagnetic valve 1211 and the atomizing air flow pump 1222 are closed, thereby realizing the effect of local spray stopping, effectively reducing the pollution to the window, when the touch toggle feedback rod 1120 and the touch toggle baffle 1121 meet the lower opening of the window, the touch toggle feedback rod 1120 and the touch toggle baffle 1121 are resisted by the window wall surface and rotate, the spraying work begins again, the lifting platform 32 is vertically lifted, so that the self-recognition spraying mechanism 1 and the pre-polishing spraying storage circulation mechanism 2 of the separating body opening stably lift along the vertical line, can keep a stable distance with the wall surface, when the lifting platform 32 descends to the lowest point, the single-row spraying is finished, and an operator operates the traveling motor 4121 and the reversing electric push rod 4128 through the multi-channel controller 413 to adjust the position of the moving vehicle body 41.

When the paint collecting pressure pump 2340 operates, the air in the mist collecting ring 233 flows into the atomized paint negative pressure collecting tank 234, so that the air pressure inside the side open mist collecting tank 231 and the upper open mist collecting tank 232 is reduced, the side open mist collecting tank 231 and the upper open mist collecting tank 232 generate air flow, the atomized paint sprayed to the wall surface by the nozzle 1210 and rebounded is sucked and collected and temporarily stored by the atomized paint negative pressure collecting tank 234, the atomized paint atomized gas in the atomized paint negative pressure collecting tank 234 is recycled by the atomized paint flow pump 1222 and sprayed to the wall surface again, the airflow field type atomized paint gas pressure storage device 23 and the divergent type spraying device 12 form airflow circulation, so that the atomized paint is recycled, the waste of the paint is remarkably reduced, the content of the atomized paint gas in the process of spraying the wall surface is effectively reduced, and a cleaner operating environment is provided for a user, the body and mind health of a user is not affected, and the wall surface spraying process is more energy-saving and environment-friendly.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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

The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides an energy-concerving and environment-protective type interior wall is from discerning spraying machine people for building decoration which characterized in that: comprises a mobile material preparing mechanism (4);

the lifting mechanism (3) is fixedly arranged on the upper wall of the movable material preparation mechanism (4);

the split hole self-recognition type spraying mechanism (1) comprises a hole self-recognition spraying box (11), a divergent spraying device (12) and a spraying bearing frame (13), wherein the spraying bearing frame (13) is fixedly arranged on the upper wall of the lifting mechanism (3), the hole self-recognition spraying boxes (11) are arranged on the spraying bearing frame (13) in an equidistant array in parallel, and the divergent spraying device (12) is fixedly arranged on the upper wall of the lifting mechanism (3);

spraying storage cycle mechanism polishes in advance, including wall grinding device (21), the dust collection device of polishing (22) and air current field formula spray mist air pressure storage device (23) in advance, the wall is grinding device (21) in advance and is located the spraying and bear on frame (13), the spraying is located in dust collection device of polishing (22) and is born (13) lateral wall, the entrance to a cave is located from discerning spray box (11) lateral wall and elevating system (3) upper wall in air current field formula spray mist air pressure storage device (23).

2. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 1, characterized in that: the upper end of the divergent spraying device (12) is respectively penetrated and arranged in the hole self-identification spraying box (11), the lower end of the divergent type spraying device (12) is arranged on the mobile material preparing mechanism (4) through the lifting mechanism (3), the wall surface pre-polishing device (21) is arranged below the opening self-recognition spray box (11), the grinding dust collecting device (22) is arranged below the wall surface pre-grinding device (21), the lifting mechanism (3) comprises a scissors lifting power device (31) and a lifting platform (32), the scissor lifting power device (31) is fixedly arranged on the upper wall of the movable material preparing mechanism (4), the lifting platform (32) is arranged at the upper end of the scissors lifting power device (31), remove mechanism of prepareeing material (4) including removing automobile body (41) and storage device (42), storage device (42) are located and are removed automobile body (41) upper wall.

3. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 2, characterized in that: the portal self-identification spray box (11) comprises a spraying limiting box body (111) and a touch feedback portal identification assembly (112), the spraying limiting box body (111) is arranged on a spraying bearing frame (13) in an equidistant array mode, the touch feedback portal identification assembly (112) is rotated to be arranged on the lower wall edge of the spraying limiting box body (111), the side wall is provided with a spraying limiting port (1110) before the spraying limiting box body (111), the lower edge of the spraying limiting port (1110) is arranged on the touch feedback portal identification assembly (112), the rear side wall of the spraying limiting box body (111) is provided with a spraying conveying through hole (1111), the upper wall of the spraying limiting box body (111) is provided with a top plate touch stop switch (1112), the touch feedback portal identification assembly (112) comprises a touch toggle feedback rod (1120), a touch toggle baffle (1121) and a piezoelectric button (1122), the touch toggle rod (1120) and the touch toggle baffle (1121) are respectively rotated to be arranged on the spraying limiting box body (111) Lower wall edge, feedback rod (1120) symmetry is stirred in the touching and is located the touching and stir baffle (1121) side, piezoelectricity button (1122) are located the spraying and bear the frame (13) on, piezoelectricity button (1122) are located the touching and are stirred feedback rod (1120) and are close to the tip below of spraying delivery port (1111), the touching is stirred feedback rod (1120) and the touching and is stirred baffle (1121) tip upper wall and fix respectively and be equipped with tension spring (1123), tension spring (1123) upper end and spraying spacing box (111) lower wall fixed connection, the touching is stirred feedback rod (1120) and touching and is stirred baffle (1121) and keep away from the tip of spraying delivery port (1111) and be equipped with rubber touch head (1124) respectively.

4. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 3, characterized in that: the divergent type spraying device (12) comprises a paint pressure conveying assembly (121) and an atomized air flow spraying assembly (122), the paint pressure conveying assembly (121) comprises a nozzle (1210), a spraying electromagnetic valve (1211), a material conveying branch pipe (1212) and an integrated material conveying unit, the nozzle (1210) penetrates through a spraying conveying through hole (1111) and is arranged on the inner side wall of a spraying limiting box body (111), the spraying electromagnetic valve (1211) is arranged on the outer side wall of the spraying limiting box body (111), the integrated material conveying unit is arranged on the upper wall of a lifting platform (32) and the side wall of a scissor lifting power device (31), the material conveying branch pipe (1212) penetrates through the upper wall of the integrated material conveying unit respectively, the nozzle (1210), the spraying electromagnetic valve (1211), the material conveying branch pipe (1212) and the integrated material conveying unit are sequentially connected in a penetrating manner, the integrated material conveying unit comprises a branch pipe integrated valve (1214), a material conveying main pipe (1215) and a material conveying pressure pump (1216), the branch pipe integrated valve (1214) is arranged on the upper wall of the lifting platform (32), the lateral wall of the scissor lifting power device (31) is arranged on the main material conveying pipe (1215), the main material conveying pump (1216) is arranged on the upper wall of the lifting platform (32), the main material conveying pump (1216) is arranged in the middle of the main material conveying pipe (1215), the branch pipe integrated valve (1214) is in through connection with the main material conveying pipe (1215), the annular array on the upper wall of the branch pipe integrated valve (1214) is provided with branch pipe interfaces (1217), the branch pipe conveying pipe (1212) is in through connection with the branch pipe interfaces (1217), the atomizing airflow jet assembly (122) comprises an atomizing airflow jet (1220), an airflow branch jet pipe (1221) and an atomizing airflow pump (1222), the atomizing airflow jet (1220) is arranged in the interior of the jet, the jet direction of the atomizing airflow jet head (1220) is consistent with the jet (1210), and the atomizing airflow branch jet pipe (1221) is arranged on the rear wall of the jet (1210), the atomizing airflow branch spray pipe (1221) is communicated with the atomizing airflow spray head (1220), the atomizing airflow pump (1222) is arranged on the upper wall of the airflow field type paint spray mist pressure storage device (23), the atomizing airflow pump (1222) is respectively communicated with the end part of the atomizing airflow branch spray pipe (1221) far away from the atomizing airflow nozzle (1220), a polishing piezoelectric substrate (131) is fixedly arranged on the side wall of the spraying bearing frame (13), an electrifying delay relay (1310) is fixedly arranged on the upper wall of the polishing piezoelectric substrate (131), the electrified time delay relay (1310), the piezoelectric button (1122), the spraying electromagnetic valve (1211) and the atomizing air flow pump (1222) are electrically connected in sequence, the spraying electromagnetic valves (1211) are electrically connected with the atomizing air flow pumps (1222) in a one-to-one correspondence manner, the side wall of the polishing piezoelectric substrate (131) is symmetrically provided with a side wall touch stop switch (1311).

5. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 4, characterized in that: the wall surface pre-polishing device (21) comprises a pre-polishing roller (211) and a polishing motor (212), wherein the pre-polishing roller (211) is rotatably arranged on the side wall of a polishing piezoelectric substrate (131), the pre-polishing roller (211) is arranged below a touch toggle feedback rod (1120) and a touch toggle baffle (1121), the polishing motor (212) is arranged on the lower wall of the polishing piezoelectric substrate (131), a polishing driving wheel (2110) is coaxially and fixedly arranged in the middle of the pre-polishing roller (211), a polishing driving wheel (2120) is coaxially and fixedly arranged at the output end of the polishing motor (212), a belt I (2121) is arranged between the polishing driving wheel (2120) and the polishing driving wheel (2110), and polishing sand paper (2111) is wrapped on the circumferential side wall of the pre-polishing roller (211).

6. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 5, characterized in that: the polishing dust collection device (22) comprises an open dust collection groove (221), a dust collection pipe (222), a dust collection fan (223) and a dust collection box (224), the open dust collection groove (221) is arranged on the lower wall of the polishing piezoelectric substrate (131), the open dust collection groove (221) is arranged below the pre-polishing roller (211), the dust collection pipe (222), the dust collection fan (223) and the dust collection box (224) are respectively arranged on the upper wall of the lifting platform (32), the open dust collection groove (221), the dust collection pipe (222), the dust collection fan (223) and the dust collection box (224) are sequentially connected in a penetrating manner, the dust collection pipe (222) comprises a transverse dust collection pipe (2220) and a main dust collection pipe (2221), the transverse dust collection pipe (2220) is arranged on the side wall of the open dust collection groove (221), the main dust collection pipe (2221) is arranged on the upper wall of the lifting platform (32), the transverse dust collection pipe (2220) is connected with the main dust collection pipe (2222221) in a penetrating manner, the dust collection fan (223) penetrates through the middle of the dust collection main pipe (2221), the side wall array of the dust collection transverse pipe (2220) is provided with dust collection holes (2222), and the dust collection holes (2222) are respectively communicated with the side wall of the open dust collection groove (221).

7. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 6, characterized in that: the air flow field type paint mist pressure storage device (23) comprises a side open mist collecting groove (231), an upper open mist collecting groove (232), a mist collecting ring pipe (233) and an atomized paint negative pressure collecting box (234), wherein the side open mist collecting grooves (231) are symmetrically arranged on the side wall of the spraying bearing frame (13), the side open mist collecting groove (231) is arranged on the side wall of the spraying limiting box body (111), the upper open mist collecting groove (232) is arranged on the upper wall of the spraying limiting box body (111), the mist collecting ring pipe (233) is arranged on the upper wall and the side wall of the spraying limiting box body (111), the side wall of the mist collecting ring pipe (233) is respectively communicated and connected with the end parts of the side open mist collecting groove (231) and the upper open mist collecting groove (232), and the atomized paint negative pressure collecting box (234) is fixedly arranged on the upper wall of the lifting platform (32), the two ends of the fog collecting ring pipe (233) are respectively communicated with the atomized paint negative pressure collecting box (234), the side wall of the atomized paint negative pressure collecting box (234) is provided with a paint collecting pressure pump (2340), the paint collecting pressure pump (2340) is communicated with the end of the fog collecting ring pipe (233), and the atomized paint airflow pump (1222) is respectively communicated with the upper wall of the atomized paint negative pressure collecting box (234).

8. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 7, characterized in that: the left side wall and the right side wall of the lifting platform (32) are symmetrically provided with lifting supporting holes (321) and lifting strip-shaped holes (322) in a penetrating mode, the lifting supporting holes (321) are formed in the end portion, close to the open dust collecting groove (221), of the side wall of the lifting platform (32), and the lifting strip-shaped holes (322) are formed in the end portion, far away from the open dust collecting groove (221), of the side wall of the lifting platform (32).

9. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 8, characterized in that: the scissors lifting power device (31) comprises a lifting base (311), a scissors fork lifting frame (312) and a lifting power electric push rod (313), wherein the lifting base (311) is fixedly arranged on the upper wall of a movable vehicle body (41), the scissors fork lifting frame (312) is arranged on the upper wall of the lifting base (311), the lifting power electric push rod (313) is arranged inside the scissors fork lifting frame (312), the left side wall and the right side wall of the lifting base (311) are symmetrically provided with a hinged support hole (3110) and a fixed strip-shaped hole (3111) in a penetrating manner, the hinged support hole (3110) is arranged at the end part, close to the open dust collection groove (221), of the side wall of the lifting base (311), the fixed strip-shaped hole (3111) is arranged at the end part, far away from the open dust collection groove (221), of the side wall of the scissors lifting base (311), the scissors lifting frame (312) is provided with scissors forks (3120) in a symmetrical array manner, and the heads and the tails and the middles of the scissors forks (3120) are respectively rotatably connected, the joint of the shear fork (3120) is rotatably provided with a stable connecting shaft (3121), the lower end of the shear fork lifting frame (312) is respectively and fixedly provided with a lower articulated shaft (3122) and a lower sliding shaft (3123), the lower articulated shaft (3122) is rotatably arranged in the articulated supporting hole (3110), the lower sliding shaft (3123) is slidably arranged in the fixed strip-shaped hole (3111), the upper end of the shear fork lifting frame (312) is respectively and fixedly provided with an upper articulated shaft (3124) and an upper sliding shaft (3125), the upper articulated shaft (3124) is rotatably arranged in the elevated supporting hole (321), the upper sliding shaft (3125) is slidably arranged in the elevated strip-shaped hole (322), the interior of the shear fork (3120) is symmetrically and fixedly provided with power transmission rods (3126), two ends of the elevated power electric push rod (313) are respectively and rotatably connected with the middle side wall of the power transmission rods (3126), the shear main pipe (1215) is arranged along the side wall of the shear fork (3120), the lifting power electric push rod (313) is electrically connected with the top plate touch stop switch (1112).

10. The energy-saving environment-friendly interior wall self-recognition spraying robot for building decoration according to claim 9, characterized in that: the moving vehicle body (41) comprises a vehicle bearing plate (411), a four-way walking power assembly (412) and a multi-channel controller (413), the four-way walking power assembly (412) is arranged on the lower wall of the vehicle bearing plate (411), the multi-channel controller (413) is fixedly arranged on the upper wall of the vehicle bearing plate (411), the four-way walking power assembly (412) comprises walking wheels (4120), walking motors (4121) and reversing control frames (4122), the walking wheel arrays (4120) are arranged on the lower wall of the vehicle bearing plate (411) in a penetrating and rotating mode, the walking motors (4121) are respectively arranged on the side walls of the walking wheels (4120), the reversing control frames (4122) are arranged on the bottom wall of the vehicle bearing plate (411) in a sliding mode, the walking wheels (4120) are respectively connected with the reversing control frames (4122) in a rotating mode, the walking wheels (4120) comprise wheel bodies (4123) and wheel frames (4124), and the wheel frames (4124) are arranged on the lower wall of the vehicle bearing plate (411) in a penetrating and rotating mode, the wheel body (4123) is rotatably arranged on the inner side wall of a wheel frame (4124), the traveling motor (4121) is in transmission connection with the wheel body (4123), a reversing inclined rod (4125) is fixedly arranged at the upper end of the wheel frame (4124), the reversing inclined rod (4125) has the same direction, a reversing strip-shaped hole (4126) is formed in the middle of the reversing inclined rod (4125), a reversing toggle rod (4127) is respectively arranged at the end of a reversing control frame (4122), the reversing toggle rod (4127) is embedded into the reversing strip-shaped hole (4126), a reversing electric push rod (4128) is arranged in the middle of the reversing control frame (4122), two ends of the reversing electric push rod (4128) are respectively and fixedly connected with the middle side wall of the reversing control frame (4122) and the inner bottom wall of the bearing vehicle plate (411), and the multi-path controller (413) is respectively and fixedly connected with the traveling motor (4121), the electric reversing push rod (4128), the lifting electric power push rod (313), the coating collecting pressure pump (2340), The dust collection fan (223), the grinding motor (212) and the material conveying pressure pump (1216) are electrically connected; storage device (42) are including annotating workbin (421) and storage case (422), it locates bearing vehicle board (411) upper wall respectively to annotate workbin (421) and storage case (422), annotate workbin (421) side is located to storage case (422) symmetry, it is equipped with communicating pipe (4210) to link up between notes workbin (421) and storage case (422), it is equipped with notes material pipe (4211) to annotate workbin (421) upper wall to run through.