CN115217287A

CN115217287A - Spraying treatment robot

Info

Publication number: CN115217287A
Application number: CN202110417992.8A
Authority: CN
Inventors: 郭明开; 马兆彬
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2022-10-21

Abstract

The invention discloses a spraying processing robot, comprising: a scraping piece, a spraying piece and a rotating mechanism. The scraping piece is provided with a scraping surface for scraping the sizing agent, and the spraying piece is provided with a jet orifice for spraying the sizing agent. The rotating mechanism comprises a first rotating seat, a second rotating seat and a third rotating seat. The first rotating seat can rotate around the first direction, and the scraping and coating piece is connected with the first direction rotating seat. The second rotating seat can rotate around the second direction, and the spraying piece and the first rotating seat are connected with the second rotating seat. The third rotating seat can rotate around a third direction and is connected with the second rotating seat; wherein the first direction, the second direction and the third direction intersect pairwise. According to the spraying processing robot provided by the embodiment of the invention, the working efficiency and quality of the spraying processing robot can be improved, for example, the spraying and blade coating operation can be carried out on a flat surface, the effective processing of the internal and external corners of a building surface can also be realized, and the application range is wide.

Description

Spraying processing robot

Technical Field

The invention relates to the technical field of construction machinery, in particular to a spraying processing robot.

Background

In the related art, the spraying equipment or the blade coating equipment are difficult to process the internal and external corners of the wall surface, so that the overall construction quality and efficiency are poor. For example, in general spray coating treatment, it is often necessary to perform spraying and blade coating operations of the inside and outside corners by means of manual assistance.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a spraying processing robot to improve the operation efficiency and quality of the spraying processing robot, for example, the spraying and blade coating operation can be carried out on a flat surface, the effective processing of the internal and external corners can also be realized, and the application range is wide.

A spray treatment robot according to an embodiment of the present invention includes: a doctoring piece having a doctoring face for doctoring the slurry; a spray member having a spray opening to spray a slurry; a rotation mechanism, the rotation mechanism comprising: the first rotating seat can rotate around a first direction, and the scraping and coating piece is connected with the first direction rotating seat; the second rotating seat can rotate around a second direction, and the spraying part and the first rotating seat are connected with the second rotating seat; the third rotating seat can rotate around a third direction and is connected with the second rotating seat; wherein the first direction, the second direction and the third direction intersect each other two by two.

According to the spraying processing robot provided by the embodiment of the invention, the first rotating seat, the second rotating seat and the third rotating seat are sequentially matched, so that the spraying part has two rotational degrees of freedom, the scraping part has three rotational degrees of freedom, the spraying part can conveniently and uniformly spray slurry to the surface to be processed, and the scraping part can conveniently and well scrape the surface to be processed, so that the applicable range of the spraying processing robot is effectively improved, for example, the spraying and scraping operation can be carried out on a flat surface, and the effective processing can also be carried out on a corner between a shade and a sun, and the efficient and high-quality spraying processing is realized.

In some embodiments, the first direction, the second direction, and the third direction are perpendicular to each other two by two.

In some embodiments, the rotating mechanism further includes a plurality of driving motors, and the plurality of driving motors are respectively disposed in one-to-one correspondence with the first rotating base, the second rotating base, and the third rotating base, so as to be respectively used for driving the first rotating base, the second rotating base, and the third rotating base to rotate.

In some embodiments, the blade coating member includes a blade and a moving portion for driving the blade to move in a first direction to approach or separate from a surface to be treated, a side of the blade remote from the moving portion forming the blade surface.

In particular, the scraper further comprises a low friction cylinder having a preset air pressure value for the rebound adjustment of the scraper.

In some embodiments, the spray treatment robot further comprises a lifting mechanism connected to the third rotating base, the lifting mechanism being configured to adjust a height of the third rotating base.

Specifically, elevating system includes slide and multistage lift piece, the slide can follow multistage lift piece slides, third direction roating seat can be relative the slide is rotary motion.

In some embodiments, the spraying robot further comprises a pumping mechanism and a stirring mechanism, and the pumping mechanism is respectively connected with the stirring mechanism and the spraying part to pump the slurry stored by the stirring mechanism to the spraying part.

Specifically, the spraying member includes a spray gun having one end connected to the pumping mechanism and the other end forming the injection port, and a switch member for turning on or off the spray gun.

In some embodiments, the spraying processing robot further comprises a detection piece, and the detection piece is arranged on the second rotating seat and used for detecting the states of the spraying piece, the blade coating piece and the surface to be processed.

In some embodiments, the painting robot further comprises an AGV chassis on which the third direction rotating mount is provided.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic view of a part of a spray coating robot according to an embodiment of the present invention; (ii) a

FIG. 2 is a schematic view of a part of the structure of a painting robot according to another embodiment of the present invention;

FIG. 3 is a perspective view of a painting robot according to an embodiment of the present invention;

FIG. 4 is a side view of a spray treatment robot in an embodiment of the present invention;

fig. 5 is a bottom view of the painting robot according to the embodiment of the present invention.

Reference numerals:

a spraying processing robot 100,

Spray coating material 1, spray gun 11, jet opening 111, nozzle 112, switch member 12,

A coating material 2, a doctor blade 21, a coating surface 211, a moving part 22, a low friction cylinder 23,

A rotating mechanism 3, a first rotating base 31, a second rotating base 32, a third rotating base 33, a driving motor 34,

A lifting mechanism 4, a slide seat 41, a multi-stage lifting piece 42,

A pumping mechanism 5,

A stirring mechanism 6,

A detection piece 7, a laser sensor 71, a support 72,

An AGV chassis 8.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "inner", "outer", "width", "thickness", and the like, indicate orientations or positional relationships based on those 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 specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

A painting robot according to an embodiment of the present invention is described below with reference to fig. 1 to 5.

A painting robot according to an embodiment of the present invention, as shown in fig. 1 and 2, includes: a scraping piece 2, a spraying piece 1 and a rotating mechanism 3. The blade member 2 has a blade surface 211 for blade coating of the slurry, and the spray member 1 has an ejection port 111 for ejection of the slurry. The rotation mechanism 3 includes a first rotation base 31, a second rotation base 32, and a third rotation base 33. The first rotary holder 31 is rotatable in a first direction, and the blade application member 2 is connected to the first rotary holder 31. The second rotary base 32 can rotate around the second direction, and the spraying part 1 and the first rotary base 31 are both connected with the second rotary base 32. The third rotating base 33 can rotate around the third direction, and the third rotating base 33 is connected to the second rotating base 32. Wherein the first direction, the second direction and the third direction intersect each other.

It will be appreciated that the first rotatable mount 31 is rotatable in a first direction such that the doctoring element 2 connected to the first rotatable mount 31 can follow the first rotatable mount 31 in rotation in the first direction, i.e. the doctoring element 2 has a rotational freedom in the first direction. The second rotary holder 32 can be rotated in the second direction, so that the spray part 1, the first rotary holder 31 connected to the second rotary holder 32 can be rotated with the second rotary holder 32, i.e. the spray part 1 and the blade part 2 have rotational freedom in the second direction. The third rotary base 33 can rotate around the third direction, and the second rotary base 32 connected with the third rotary base 33 can rotate along with the third rotary base 33, i.e. the painting member 1 and the blade coating member 2 have a rotational degree of freedom in the third direction.

From this, through the cooperation in proper order of first roating seat 31, second roating seat 32 and third roating seat 33, spraying 1 has two rotational degrees of freedom, and knife coating 2 has three rotational degrees of freedom, and the spraying 1 of being convenient for sprays thick liquids to the face of awaiting treatment uniformly, is convenient for scrape coating 2 and carry out good knife coating to the face of awaiting treatment to effectively promote the range of application of spray treatment robot 100.

For example, in a construction site, the wall surface of a building to be treated often has internal and external corners. In general spraying treatment equipment, the internal and external corners are difficult to treat, so that the construction quality and efficiency of the building wall surface are poor. The spraying processing robot 100 in the embodiment of the present invention not only integrates the spraying part 1 and the blade coating part 2, but also has a simple overall structure and a compact layout, and has spraying and blade coating functions. And the spraying piece 1 and the blade coating piece 2 have multiple rotational degrees of freedom, so that the effective treatment of the internal and external corners can be realized, and the efficiency and the quality of the spraying treatment are improved.

According to the spraying processing robot 100 provided by the embodiment of the invention, the first rotating seat 31, the second rotating seat 32 and the third rotating seat 33 are sequentially matched, so that the spraying part 1 has two rotational degrees of freedom, the coating part 2 has three rotational degrees of freedom, the spraying part 1 can conveniently and uniformly spray slurry to a surface to be processed, and the coating part 2 can conveniently and well perform coating operation on the surface to be processed, so that the applicable range of the spraying processing robot is effectively expanded, for example, the spraying and coating operation can be performed on a flat surface, and the shading and shading can also be effectively processed, and the efficient and high-quality spraying processing is realized.

In some embodiments, the first direction, the second direction, and the third direction are perpendicular to each other two by two. This facilitates a greater working range of the spray 1 and blade 2 parts and also a greater adaptation to the construction conditions at the construction site. For example, in a building site, the male corner and the female corner are mostly composed of mutually perpendicular surfaces, so that the first direction, the second direction and the third direction are arranged to be mutually perpendicular pairwise, and the spraying and blade coating treatment is favorably suitable for the male corner and the female corner. In particular, the coating blade 2 can be adjusted to be parallel to one of the faces of the internal and external corners, so that the coating blade 2 can make good contact with the slurry on the face to uniformly and smoothly coat the slurry on the wall surface. Of course, after finishing the coating, the direction of the coating member 2 can be adjusted to be parallel to the other surface of the internal and external corner until the whole internal and external corner is finished.

In some embodiments, as shown in fig. 1 and fig. 2, the rotation mechanism 3 further includes a plurality of driving motors 34, and the plurality of driving motors 34 are respectively disposed in one-to-one correspondence with the first rotating base 31, the second rotating base 32, and the third rotating base 33, and are used for respectively driving the first rotating base 31, the second rotating base 32, and the third rotating base 33 to perform a rotation motion. Like this first roating seat 31, second roating seat 32 and third roating seat 33 can obtain driving motor 34's steady drive to realize the rotary motion steadily, be favorable to promoting the degree of automation of spraying processing robot 100, reduce workman's intensity of labour, and the spraying efficiency is showing improvement than the manual work.

Alternatively, the rotating mechanism 3 may also include a single motor and a plurality of mutually cooperating rack and pinion transmission members, which are respectively disposed corresponding to the first rotating base 31, the second rotating base 32, and the third rotating base 33. Thus, the first rotating seat 31, the second rotating seat 32 and the third rotating seat 33 can rotate through the driving of the motor and the transmission of the gear and the rack.

Of course, in other embodiments, the rotating mechanism 3 may also be provided with a plurality of manual adjustment members, which correspond to the first rotating seat 31, the second rotating seat 32 and the third rotating seat 33, respectively. Therefore, the manual adjustment of the first rotating seat 31, the second rotating seat 32 and the third rotating seat 33 can be realized, and the flexible adjustment operation of multiple modes can be realized conveniently. Here, the driving form of the first rotating base 31, the second rotating base 32, and the third rotating base 33 is not particularly limited.

In some embodiments, as shown in fig. 1 and 2, the blade member 2 includes a blade 21 and a moving portion 22, the moving portion 22 is configured to drive the blade 21 to move in a first direction to approach or move away from a surface to be processed, and a surface of the blade 21 away from the moving portion 22 forms a blade surface 211. It will be appreciated that when the moving portion 22 drives the blade 21 close to the surface to be treated, the scraping surface 211 approaches the surface to be treated. The moving portion 22 drives the doctor blade 21 away from the surface to be treated, and the doctor surface 211 is away from the surface to be treated. The degree that the scraper 21 is close to the surface to be processed is adjusted through the moving part 22, the scraping force of the scraping surface 211 is convenient to adjust, and therefore the thickness and the flatness of the scraping slurry can be adjusted.

Specifically, as shown in fig. 1, the blade 2 further includes a low-friction cylinder 23, the low-friction cylinder 23 having a preset air pressure value for the rebound adjustment of the blade 21. It can be understood that the low friction cylinder 23 can be used as a constant force device of the scraping and coating member 2, and the low friction cylinder has the main function that when the scraper 21 encounters a protruding part such as a wall surface in the working process, the rebound can be adjusted through the preset air pressure, so that the scraper 21 exerts constant force when contacting the wall surface, and finally, the smooth slurry coating of the wall surface is realized.

In some embodiments, as shown in fig. 3 and 4, the painting robot 100 further includes a lifting mechanism 4, the lifting mechanism 4 is connected to the third rotating base, and the lifting mechanism 4 is used for adjusting the height of the third rotating base. It can be understood that in a general spraying device, the spraying can not be carried out freely aiming at different heights of different building walls. In the embodiment of the invention, the heights of spraying and blade coating can be adjusted through the arrangement of the lifting mechanism, so that the spraying and blade coating operation of the surfaces to be processed with different heights can be realized, and the applicable range of the spraying processing robot can be widened.

After the distance and the angle between the spraying part 1 and the surface to be processed are adjusted, repeated spraying from bottom to top can be uniformly carried out through the lifting mechanism 4 until the spraying is stopped for a plurality of times, and then the final-scraping coating part can be repeatedly carried out from top to bottom for a plurality of times, so that the flatness of the putty after spraying is ensured.

Specifically, as shown in fig. 3, the lifting mechanism 4 includes a sliding base 41 and a multi-stage lifting member 42, the sliding base 41 can slide along the multi-stage lifting member 42, and the third direction rotating base can rotate relative to the sliding base 41. It will be appreciated that the multi-stage lifter 42 allows the lifting mechanism 4 to perform a multi-stage adjustment function, thereby allowing for a single positioning of the painting robot 100 for a higher working height, and thus increasing the processing range of the painting robot 100.

Optionally, multistage lift piece can include one-level lifting module, second grade lifting module and tertiary lifting module, and first lifting module, second grade lifting module, tertiary lifting module are at vertical direction sliding fit.

In some embodiments, as shown in fig. 3 and 4, the painting robot 100 further includes a pumping mechanism 5 and an agitating mechanism 6, and the pumping mechanism 5 is connected to the agitating mechanism 6 and the painting member 1 respectively to pump the slurry stored in the agitating mechanism 6 to the painting member 1. It can be understood that the stirring mechanism 6 can realize the stirring of the slurry, and the stirred slurry is pumped by the pumping mechanism 5, which is beneficial to improving the efficiency of the whole operation. The existing spraying processing robot needs to arrange a stirring mechanism and a pumping mechanism on site or directly adopts manual stirring and slurry pumping, so that the construction efficiency is low and the working strength is high.

In the spraying processing robot 100, the pumping mechanism 5 and the stirring mechanism 6 are integrally arranged, so that in the actual working process, the slurry which is uniformly stirred can be conveyed to the spraying part 1 in real time through the pumping mechanism 5, the spraying uniformity and efficiency can be improved, and the working intensity of workers can be reduced. For example, the material and water may be poured into the stirring mechanism 6 in advance by a human being according to a certain ratio, and then the stirring mechanism 6 may be used to stir fully for 5 minutes and stand still for the pumping operation of the pumping mechanism 5.

Specifically, as shown in fig. 1, the spray member 1 includes a spray gun 11 and a switch member 12, one end of the spray gun 11 is connected to the pumping mechanism 5, the other end of the spray gun 11 forms an injection port 111, and the switch member 12 is used to turn on or off the spray gun 11. It will be understood that when the switch member 12 opens the spray gun 11, the slurry pumped by the pumping mechanism 5 can be sprayed from the spray port 111 toward the surface to be treated. When the switch member 12 closes the spray gun 11, the spray gun 11 will stop spraying the slurry. Therefore, the control of slurry pumping can be realized through the matching of the switch part 12 and the spray gun 11, and the spraying condition of the slurry can be conveniently and timely adjusted.

Alternatively, the switch member 12 may include a switch portion disposed in the injection passage of the spray gun and a switch control cylinder for driving the switch portion to open or close the injection passage. Thereby, reliable control of the state of the ejection of the slurry from the ejection port can be facilitated.

Of course, in other embodiments, the switch member may be a solenoid valve, so that whether the slurry is injected from the injection port can be controlled by controlling the switch condition of the solenoid valve. The specific form of the switch element is not limited herein.

Alternatively, the spray width may be up to 1.05m, thereby greatly increasing the sprayable range.

Optionally, the end of the lance 11 remote from the pumping mechanism 5 comprises a nozzle 112, the nozzle 112 forming a jet 111 to eject the slurry towards the surface to be treated. Alternatively, the ejection port 111 may eject the slurry in a fan-shaped spray pattern. Therefore, the spraying uniformity and the spraying range of the slurry are conveniently improved.

Optionally, the spraying robot 100 may spray and scrape various colloidal materials such as paint and putty, thereby facilitating the wide application of the spraying robot 100.

In some embodiments, the painting robot 100 further includes a detecting member 7, and the detecting member 7 is disposed on the second rotating base 32 for detecting the states of the painting member 1, the scraping member 2 and the surface to be processed. From this, detect the state between spray 1 and the blade coating 2 and the wall through the detection piece 7, can be convenient for make the adjustment in order to be adapted to the wall to spray 1 and the position of scraping coating 2, be convenient for act on the face to be handled better.

Optionally, the detection piece 7 includes a plurality of laser sensor 71 and support frame 72, wherein, two laser sensor 71 set up respectively the both ends of support frame 72, laser sensor 71 can be used to detect spraying piece 1, scrape distance, angle etc. between painting piece 2 and the face of awaiting treatment to in spraying piece 1 carry out the fine setting in order to compensate the relative angular deviation that complicated ground is uneven to bring, be convenient for adjust the angular adjustment of scraping painting piece 2, and be convenient for whole spraying piece 1 with scrape the distance of painting piece 2 apart from the face of awaiting treatment.

In some embodiments, the paint robot 100 further includes an AGV chassis 8, and the third directional swivel is disposed on the AGV chassis 8. Thus, the spraying robot 100 can be well adapted to the construction conditions of the construction site, for example, the obstacle crossing of 30mm can be performed. Optionally, the AGV chassis 8 is composed of front and rear obliquely symmetrical double idler wheels, and has excellent driving performance and adaptability. The spraying processing robot 100 can autonomously plan a path for navigation and positioning by means of planning a BIM path, so that the spraying processing robot 100 travels to a specific place, the automation degree of the spraying processing robot 100 is further improved, and the spraying processing efficiency can be greatly improved.

A spray treatment robot 100 in one embodiment of the present invention is described below with reference to the drawings.

The painting process robot 100 according to an embodiment of the present invention includes: a scraping piece 2, a spraying piece 1 and a rotating mechanism 3.

The blade coating member 2 includes a scraper 21, a moving portion 22 and a first friction cylinder, the moving portion 22 is used for driving the scraper 21 to move in a first direction to approach or separate from a wall surface, and a scraping surface 211 is formed on one surface of the scraper 21, which is far away from the moving portion 22. The low friction cylinder 23 has a preset air pressure value for the rebound adjustment of the blade 21.

The spray member 1 includes a spray gun 11, one end of the spray gun 11 being connected to the pumping mechanism 5, the other end of the spray gun 11 forming a spray opening 111, and a switch member 12 for turning on or off the spray gun 11.

The rotation mechanism 3 includes a first rotary base 31, a second rotary base 32, a third rotary base 33, and a plurality of drive motors 34. The first rotary holder 31 is movable in rotation in a first direction, and the blade coating element 2 is connected to the first rotary holder 31. The second rotary base 32 can rotate around the second direction, and the spraying part 1 and the first rotary base 31 are both connected with the second rotary base 32. The third rotating base 33 can rotate around the third direction, the third rotating base 33 is connected to the second rotating base 32, and the driving motors 34 are respectively arranged corresponding to the first rotating base 31, the second rotating base 32 and the third rotating base 33 one to one so as to respectively drive the first rotating base 31, the second rotating base 32 and the third rotating base 33 to rotate. The first direction, the second direction and the third direction are mutually vertical pairwise.

The lifting mechanism 4 comprises a sliding base 41 and a multi-stage lifting member 42, wherein the sliding base 41 can slide along the multi-stage lifting member 42, and the third direction rotating base can rotate relative to the sliding base 41.

The pumping mechanism 5 is respectively connected with the stirring mechanism 6 and the spraying member 1 so as to pump the slurry stored by the stirring mechanism 6 to the spraying member 1.

The detecting member 7 is disposed on the second rotating base 32, and is used for detecting the states of the spraying member 1, the scraping member 2 and the surface to be treated.

And a third direction rotating seat is arranged on the AGV chassis 8.

The processing of the painting process robot 100 in one embodiment of the present invention is described below with reference to the drawings.

After the spraying processing robot 100 reaches the planned working point, the detection piece 7 detects the current states of the sprayed part 1 and the wall surface, the second rotating seat 32 and the third rotating seat 33 are respectively driven by the driving motor 34 to carry out fine adjustment on the pose, the second rotating seat and the third rotating seat are lowered to the lowest end setting position in advance by the lifting mechanism 4, and then the adjusted putty or paint in the stirring mechanism 6 is pressurized by the pumping mechanism 5 and sprayed on the wall in a fan-shaped mode through the jet orifice 111. And the midway lifting mechanism 4 controls the up-and-down movement of the whole process, and after the spraying is finished, the switch part 12 is closed, and the feeding is stopped. At this moment, the painting member 2 works, the first rotary seat 31 is respectively driven by the driving motor 34, the angle of the second rotary seat 32 and the third rotary seat 33 is adjusted, the scraper 21 is driven by the moving part 22 to stretch out, so that the scraper 21 contacts the wall surface at a proper angle, the protrusion part of the wall surface is met in the working process of the scraper 21, the low-friction cylinder 23 can be rebounded and adjusted through preset air pressure, constant force is applied when the scraper 21 contacts the wall surface, and finally, a smooth putty coating wall surface is realized.

Other configurations, such as control systems and power supply systems, and operations of the spray treatment robot 100 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A spray treatment robot (100), comprising:

a spray member (1), the spray member (1) having a spray opening (111) to spray a slurry;

a doctoring piece (2), said doctoring piece (2) having a doctoring face (211) for doctoring the slurry;

a rotation mechanism (3), the rotation mechanism (3) comprising:

the first rotating seat (31) can rotate around a first direction, and the scraping and coating piece (2) is connected with the first direction rotating seat;

the second rotating seat (32) can rotate around a second direction, and the spraying part (1) and the first rotating seat (31) are connected with the second rotating seat (32);

the third rotating seat (33) can rotate around a third direction, and the third rotating seat (33) is connected with the second rotating seat (32);

wherein the first direction, the second direction and the third direction intersect each other two by two.

2. The spray treatment robot (100) according to claim 1, wherein the first direction, the second direction and the third direction are mutually perpendicular two by two.

3. The painting robot (100) according to claim 1, wherein the rotating mechanism (3) further comprises a plurality of driving motors (34), and the plurality of driving motors (34) are respectively arranged in one-to-one correspondence with the first rotating base (31), the second rotating base (32), and the third rotating base (33) so as to respectively drive the first rotating base (31), the second rotating base (32), and the third rotating base (33) to rotate.

4. The spray treatment robot (100) according to claim 1, characterized in that the scraper (2) comprises a scraper blade (21) and a moving part (22), the moving part (22) being adapted to drive the scraper blade (21) to move in a first direction towards or away from a surface to be treated, a side of the scraper blade (21) facing away from the moving part (22) forming the scraping surface (211).

5. The spray treatment robot (100) according to claim 4, the squeegee (2) further comprising a low friction cylinder (23), the low friction cylinder (23) having a preset air pressure value for a rebound adjustment of the squeegee blade (21).

6. The spray treatment robot (100) according to claim 1, further comprising a lifting mechanism (4), wherein the lifting mechanism (4) is connected to the third swivel (33), and wherein the lifting mechanism (4) is configured to adjust the height of the third swivel (33).

7. The painting process robot (100) according to claim 1, characterized in that the lifting mechanism (4) comprises a slide (41) and a multi-stage lifter (42), the slide (41) being slidable along the multi-stage lifter (42), the third direction rotating base being rotatable with respect to the slide (41).

8. The painting robot (100) according to claim 1, further comprising a pumping mechanism (5) and an agitation mechanism (6), the pumping mechanism (5) being connected to the agitation mechanism (6) and the painting member (1), respectively, for pumping the slurry stored by the agitation mechanism (6) to the painting member (1).

9. The spray processing robot (100) according to claim 8, characterized in that the spray member (1) comprises a spray gun (11) and a switch member (12), one end of the spray gun (11) is connected to the pumping mechanism (5), the other end of the spray gun (11) forms the spray opening (111), and the switch member (12) is used to open or close the spray gun (11).

10. The painting robot (100) according to claim 1, further comprising a detection element (7), the detection element (7) being arranged on the second rotary base (32) for detecting the state of the painting element (1), the blade coating element (2) and the surface to be treated.

11. The paint handling robot (100) of any of claims 1-10, further comprising an AGV chassis (8), wherein the third direction rotating mount is provided on the AGV chassis (8).