CN115772988A

CN115772988A - Method for controlling robot to automatically batch putty powder wall

Info

Publication number: CN115772988A
Application number: CN202211681662.0A
Authority: CN
Inventors: 徐航
Original assignee: Anhui Kamote Robot Co ltd
Current assignee: Anhui Kamote Robot Co ltd
Priority date: 2022-12-27
Filing date: 2022-12-27
Publication date: 2023-03-10

Abstract

The invention provides a method for controlling a robot to automatically batch putty powder walls, wherein the robot comprises a frame seat, a lifting mechanism, a pumping mechanism and a control assembly, wherein the bottom of the frame seat is provided with a walking mechanism; the lifting mechanism is provided with a plurality of sensors for detecting window openings and door openings; the control assembly is connected with and controls the traveling mechanism to travel to a position to be operated according to set house type parameters, then the lifting mechanism is controlled to drive the ash batching mechanism to take place, then the material pumping mechanism is controlled to pump materials to the ash batching mechanism, the ash batching mechanism evenly batches ash on a wall surface, meanwhile, a sensor on the lifting mechanism detects a window opening and a door opening and transmits information to the control assembly, and the control assembly stops feeding the window opening and the door opening area; the ash batching mechanism is provided with a rotating structure for uniformly batching ash on a roof surface. The invention realizes the automatic ash batching of the wall surface and the roof surface, can automatically identify the window and the door opening, and has high ash batching working efficiency and good ash batching quantity.

Description

Method for controlling robot to automatically batch putty powder wall

Technical Field

The invention relates to a method for controlling a robot to automatically batch putty and whitewash walls, and belongs to the technical field of construction robots.

Background

At present, putty, whitewash and the like are mainly applied to the inner wall surface of a building by manpower. This work intensity of labour is big, and is inefficient, and the practitioner is few, along with the increase of recruitment breach, more and more needs the machinery that degree of automation is high to replace manual work.

In the prior art, application number 201510333984.X discloses a numerical control intelligence whitewashing machine, including mobilizable base, erect the grudging post telescoping device in the base both sides, the plastering unit of setting on the grudging post telescoping device, integrated control device and the power device of setting on the base, plastering unit includes the plastering plate, the ash bucket, ash bucket frame and be used for drawing the ash bucket frame elevating gear who rises ash bucket frame, power device is including installing hoist engine A and hoist engine B on the base, be equipped with the touch-sensitive screen controller through the bracing piece on the base, touch-sensitive screen controller and integrated control device communication connection, but be equipped with the angle modulation device of one set of automatic intelligent regulation flexible grudging post inclination between grudging post telescoping device and base. It can be seen from its disclosure that the wall whitewashing machine needs to be pushed to a position suitable for leaving the wall, namely, the gap between the plastering plate and the wall is in accordance with the plastering thickness, various working parameters of the wall whitewashing machine are set by the touch screen controller, such as the inclination angle parameter of the telescopic stand rod, the tension parameter of the pull rope A (the size of the tension parameter reflects the force of the telescopic stand rod against the roof and the ground, namely, the firm support under the condition of large force but not bending the telescopic stand rod against the roof), the tension size of the pull rope B can be displayed on the touch screen, the tension size of the pull rope B is set with a warning value, and the wall whitewashing machine can be timely processed when the plastering is prevented from colliding with an obstacle. It can not be easily seen that this patent needs the manual work to push away the wall with the front, distance between them of manual control to go up and down for the stay cord structure, it is serious to lead to it to fall the material, and can only whitewash the wall, can not carry out the top surface and criticize the ash.

Still like application number 202010266257.7 discloses an automatic whitewashing machine of high efficiency, including the device base that can remove, correspond fixed mounting around on the upside terminal surface of device base and have outer slide, install the interior slide that can slide from top to bottom in the outer slide that corresponds around, slidable mounting whitewashes the wall organism on the outer slide that corresponds around and the interior slide, the left side terminal surface of whitewashing the wall organism is equipped with the expansion plate outward. Through be equipped with the expansion plate that can adjust and wall between distance on whitewashing the wall base for the thickness that wall whitewashed cement can be controlled, through be equipped with the shower nozzle of pouring that can reciprocating motion front and back at the expansion plate top, can carry out high efficiency to the wall and pour cement. It can be found that putty can not be batched to the roof in the room to this patent, and when meetting door opening window opening, can not realize automatic dodging or cut off local feed.

In addition, spray-coating machines are adopted in the prior art, and although the construction process of the machines is quick, excessive bubbles are generated when the machines are used for plastering putty and whitewashing walls, so that the surface quality is poor and the quality requirement of the inner wall cannot be met. Therefore, it is necessary to develop a device capable of automatically adapting to the work, not only greatly improving the wall surface ash batching work efficiency, but also realizing the top surface ash batching operation.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a method for controlling a robot to automatically batch putty and plaster a wall, which not only can greatly improve the working efficiency of wall surface plastering, but also can realize top surface plastering operation.

In order to achieve the technical purpose, the technical scheme provided by the invention is as follows: a method for controlling a robot to automatically batch putty powder walls comprises a frame base, a lifting mechanism, a pumping mechanism and a control assembly, wherein the bottom of the frame base is provided with a walking mechanism; the lifting mechanism is provided with a plurality of sensors for detecting window openings and door openings; the control assembly is connected with and controls the traveling mechanism to travel to a position to be operated according to set house type parameters, then controls the lifting mechanism to drive the ash batching mechanism to be in place, controls the material pumping mechanism to pump materials to the ash batching mechanism, evenly batches ash on the wall surface by the ash batching mechanism, simultaneously detects a window opening and a door opening by a sensor on the lifting mechanism, transmits information to the control assembly, and stops feeding the window opening and the door opening area; the ash batching mechanism is provided with a rotating structure, and when the ash is batched on the roof surface, the ash batching mechanism is rotated to face the roof surface for uniformly batching the ash on the roof surface.

Furthermore, a material distributing mechanism is arranged between the material pumping mechanism and the ash batching mechanism, the material distributing mechanism is used for controlling the material pumped from the pump in a partition mode and outputting the material in the ash batching mechanism in an equal distribution mode, the sensors adopt array sensors and are used for controlling the material distributing mechanism, and when the material distributing mechanism meets the areas of the window opening and the door opening, partial material supply in the area of the material distributing mechanism is stopped.

Furthermore, the material pumping mechanism comprises a feed hopper and a material pump, the material distributing mechanism comprises a material distributing box and a plurality of material conveying pipes, one end of each material conveying pipe is connected with the material distributing box, the other end of each material conveying pipe is connected with a material discharging nozzle, material breaking cylinders corresponding to the number of the material conveying pipes are mounted on the bottom surface of the material distributing box, a telescopic rod of each material breaking cylinder corresponds to a connecting port of each material conveying pipe and the material distributing box, and the material pump is connected with the feed hopper and the material distributing box.

Furthermore, the ash batching mechanism comprises a pressure-adjustable constant-pressure cylinder which is inclined upwards by 45 degrees, a plastering support arranged at one end of the cylinder, a material nozzle base of which the two ends are respectively connected with one reversing plate through an end shaft, the two reversing plates are respectively connected with the two ends of the plastering support, and a scraper group is arranged on the material nozzle base; when in putty scraping, the air cylinder extends out to enable a scraper of the scraper group to be in contact with a construction surface, the air cylinder is obliquely upwards for 45 degrees and is used for keeping constant pressure on a wall surface or a top surface, and the thickness of putty is adjusted by adjusting the air pressure of the air cylinder; release the cylinder, construct the wall when material mouth seat orientation wall, construct the top surface when material mouth seat orientation top surface, with the cylinder withdrawal, material mouth seat breaks away from with the construction face, can change the station.

Furthermore, a plurality of positioning holes are formed in the end shafts at two ends of the material nozzle base in a circumferential array mode, a plurality of positioning pins are correspondingly arranged on the reversing plate, a positioning shaft is arranged at the other end of the reversing plate and used for penetrating through the plastering support, a pressure spring and a pressing plate are sleeved on the inner side of the plastering support and locked by a nut, the pressing plate is pressed outwards, and the positioning pins of the reversing plate are separated from the positioning holes in the material nozzle base and used for turning over the material nozzle base.

Furthermore, the scraper group is two-layer about, and the upper scraper is the sawtooth scraper, and lower floor's scraper is the straight flange scraper, and the straight flange scraper personally submits 10 ~ 45 with the work, and the straight flange scraper edge slightly stands out the sawtooth scraper, and the sawtooth scraper is used for spreading out the material, and the straight flange scraper is used for floating the material, sets up the scraper clamp plate under the scraper of lower floor, unloads the scraper clamp plate and can change the scraper.

Furthermore, the traveling mechanism comprises a traveling part and a guide part, the traveling part comprises four power wheels, the four power wheels are respectively installed on the periphery of the chassis of the frame seat through four power wheel swing frames, the power wheel swing frames are connected with one end of the reversing piece, the other end of the reversing piece is installed on a reversing piece support, and the reversing piece support is installed on the chassis; the guide part comprises a guide wheel bracket and two guide wheels, the two guide wheels are arranged on the guide wheel bracket and protrude out of the chassis, when the wall surface is batched, the two guide wheels are in rolling contact with the wall surface, the reversing piece pulls the power wheel swing frame to steer the four power wheels to be parallel to the wall surface, and after one station is batched, the control assembly controls the power wheels to move to the next station; when the top surface is batched, the four power wheels are adjusted to enable the two sides to be parallel, and the whole top surface is batched with putty through walking; the reversing piece is a cylinder or an electric push rod.

Further, elevating system includes tertiary lifter plate, tertiary lifting slide, tertiary lifting guide rail, second grade lifting frame, second grade lifting slide, second grade lifting guide rail, one-level lifter frame, one-level lift guide pulley, a plurality of fixed pulley, wire rope and lifting machine, wire rope one end is installed on the wire rope book of lifting machine, connects tertiary lifter plate behind the other end through a plurality of fixed pulleys, and one-level lifter frame passes through one-level lifting guide pulley and installs in the fixed frame of frame seat, and second grade lifting frame passes through second grade lifting slide and second grade lifting guide rail and installs on fixed frame, and tertiary lifter plate passes through tertiary lifting slide and tertiary lifting guide rail and installs on second grade lifter frame.

Furthermore, a buffer spring or a buffer pad is arranged at the top end of each lifting slide block or guide wheel, so that the rising process is prevented from being interrupted.

The beneficial technical effects of the invention are as follows: the automatic plastering machine has the advantages that automatic plastering of wall surfaces and roof surfaces is realized, window openings and door openings can be automatically identified, putty falling waste is reduced, and plastering work efficiency is high. The control assembly controls the pump material flow to match the distribution system, the window opening and the door opening can be automatically identified through the sensor, the feeding of the window opening and the door opening area is stopped in time, and the uniform ash batching of the wall surface is realized; when the ash is batched on the roof surface, the nozzle is rotated by 90 degrees to face the roof surface, and then the uniform ash batching on the roof surface can be realized.

Drawings

The invention is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of a rear side view of a three-dimensional structure according to the present invention;

FIG. 2 is a schematic view of the left side of the present invention;

FIG. 3 is a partial view of the left side of the schematic of the present invention;

FIG. 4 is a schematic front view of the present invention;

FIG. 5 is a schematic top view of the present invention;

FIG. 6 is a partial view of a top view of the present invention;

FIG. 7 is a schematic front side perspective view of the present invention;

FIG. 8 is a schematic bottom view of the present invention;

FIG. 9 is a partial view of FIG. 1 in accordance with the present invention;

in the figure: 001. the device comprises a chassis, 002, a reversing piece bracket, 003, a reversing cylinder, 004, a power wheel swing frame, 005, a power wheel, 006, a guide wheel bracket, 007 and a guide wheel; 100. the lifting device comprises a fixed frame, 111, a first-stage lifting frame, 211, a second-stage lifting frame, 212, a second-stage lifting slide block, 213, a second-stage lifting guide rail, 311, a third-stage lifting plate, 312, a third-stage lifting slide block, 313 and a third-stage lifting guide rail; 400. the automatic plastering device comprises a scraper group, a scraper group 401, an upper scraper, a lower scraper, a scraper 403, a scraper pressing plate 411, a positioning shaft 412, an end shaft, 413, a positioning pin, 416, an air cylinder, 418, a plastering support, 419, a reversing plate, 421, a material nozzle base, 444, a pressure spring, 445, a pressing plate, 446 and a nut; 501. distance sensors 502, a discharging nozzle 503, a material conveying pipe 504, a material distributing box cover 505, a material distributing box 506, a material breaking cylinder 507, a hopper 508 and a material pump; 701. a hoisting machine 702, a steel wire rope 703 and a fixed pulley.

Detailed Description

Example 1

A method for controlling a robot to automatically batch putty powder walls is disclosed, wherein the robot comprises a frame seat, a lifting mechanism, a pumping mechanism and a control assembly, wherein the bottom of the frame seat is provided with a walking mechanism, and the lifting mechanism, the pumping mechanism and the control assembly are arranged on the frame seat. The pumping mechanism is connected with an ash batching mechanism arranged on the lifting mechanism; the lifting mechanism is provided with a plurality of sensors for detecting window openings and door openings; the control assembly is connected with and controls the traveling mechanism to travel to a position to be operated according to set house type parameters, then controls the lifting mechanism to drive the ash batching mechanism to be in place, controls the material pumping mechanism to pump materials to the ash batching mechanism, evenly batches ash on the wall surface by the ash batching mechanism, simultaneously detects a window opening and a door opening by a sensor on the lifting mechanism, transmits information to the control assembly, and stops feeding the window opening and the door opening area; the ash batching mechanism is provided with a rotating structure, and when the ash is batched on the roof surface, the ash batching mechanism is rotated to face the roof surface for uniformly batching the ash on the roof surface.

Example 2

As shown in fig. 1, 2, and 7, as an optimized design of embodiment 1, a material distributing mechanism is disposed between the material pumping mechanism and the ash batching mechanism, the material distributing mechanism is used for controlling the material pumped from the material pumping mechanism in a partition manner and equally distributing the material at the ash batching mechanism, the sensor is an array sensor and is used for controlling the material distributing mechanism, and when the material distributing mechanism encounters a window opening and a door opening area, the material feeding of a part of the material distributing mechanism in the area is stopped.

As a structural design, the material pumping mechanism comprises a feed hopper 507 and a material pump 508, and wall materials are put into the feed hopper 507; the material distributing mechanism comprises a material distributing box 505 and a plurality of material conveying pipes 503, one end of each material conveying pipe 503 is connected with the material distributing box 505, the other end of each material conveying pipe 503 is connected with a material discharging nozzle 502, material breaking cylinders 506 corresponding to the material conveying pipes 503 in number are installed on the bottom surface of the material distributing box 505, a connecting port of each material breaking cylinder 506 and the material distributing box 505 corresponds to one material conveying pipe 503, and a material pump 508 is connected with a feeding hopper 507 and the material distributing box 505. A distributing box cover 504 is designed on the distributing box 505, so that the installation is convenient and the internal devices can be checked and maintained.

The material conveying pipe 503 adopts an array type material conveying hose, the material breaking cylinders 506 are correspondingly distributed by adopting an array type cylinder, the array type cylinders correspond to the array type material conveying hose up and down, and the telescopic rods ejected out of the material breaking cylinders 506 can plug the plugs to cut off the material supply of the material conveying pipe 503.

As a structural design, as shown in fig. 3, 6 and 9, the plastering mechanism comprises a pressure-adjustable constant-pressure cylinder 416 which is inclined upwards by 45 degrees, a plastering support 418 which is arranged at one end of the cylinder 416, a material nozzle seat 421 whose two ends are respectively connected with a reversing plate 419 through an end shaft, two reversing plates 419 are respectively connected with two ends of the plastering support 418, and a scraper group 400 is arranged on the material nozzle seat 421; when in ash scraping, the air cylinder 416 extends out to enable the scraper of the scraper group 400 to be in contact with a construction surface, the air cylinder 416 is inclined upwards by 45 degrees and used for keeping constant pressure on the wall surface or the top surface, and the thickness of putty is adjusted by adjusting the air pressure of the air cylinder; release the cylinder, construct the wall when material mouth seat orientation wall, construct the top surface when material mouth seat orientation top surface, with the cylinder withdrawal, material mouth seat breaks away from with the construction face, can change the station.

Divide magazine 505 is connected to defeated material hose one end, and the delivery nozzle 502 in the delivery nozzle seat 421 is connected to one end, and the equidistance array is gone up at the delivery nozzle seat 421 to delivery nozzle 502, and distance sensor 501 is close to the array installation of delivery pipeline 503 on plastering support 418, in the real work, probably runs into several kinds of circumstances, if: at the moment, according to signals when the distance sensors 501 (arranged in an array correspondingly) detect the door opening or the window opening, the control assembly timely ejects the air cylinders corresponding to the material conveying pipes to stop feeding of the part.

As a further preferable design, a plurality of positioning holes are arranged in a circumferential array outside the end shafts 412 at the two ends of the material nozzle seat 421, a plurality of positioning pins 413 are correspondingly arranged on the reversing plate 419, a positioning shaft 411 is arranged at the other end of the reversing plate 419 and used for penetrating through the plastering bracket 418, a pressure spring 444 and a pressing plate 445 are sleeved on the inner side of the plastering bracket 418 and locked by a nut 446, the pressing plate 445 is pressed outwards, the positioning pins 413 of the reversing plate 419 are separated from the positioning holes on the material nozzle seat 421 and used for turning over the material nozzle seat 421, and the end shafts 412 serve as turning shafts at the moment.

As a further preferable design, the scraper group 400 is two-layer up and down, the upper layer scraper 401 is a sawtooth scraper, the lower layer scraper 402 is a straight-edge scraper, the straight-edge scraper and the working surface form 10 to 45 degrees, the edge of the straight-edge scraper slightly protrudes out of the sawtooth scraper, the sawtooth scraper is used for spreading materials, the straight-edge scraper is used for leveling the materials, a scraper pressing plate 403 is arranged below the lower layer scraper 402, and the scraper can be replaced by detaching the scraper pressing plate 403.

Example 3

As shown in fig. 4, 5, 7, and 8, as an optimized design of embodiment 1, the traveling mechanism includes a traveling part and a guiding part, the traveling part includes four power wheels 005, the four power wheels 005 are respectively installed around a chassis 001 of the frame base through four power wheel swing frames 004, the power wheel swing frames 004 are connected to one end of a reversing cylinder 003, the other end of the reversing cylinder 003 is installed on a reversing piece bracket 002, and the reversing piece bracket 002 is installed on the chassis 001; the guide part comprises a guide wheel support 006 and two guide wheels 007, the two guide wheels 007 are mounted on the guide wheel support 006 and protrude out of the chassis 001, when the wall surface is criticized, the two guide wheels 007 are in rolling contact with the wall surface, the reversing piece pulls the power wheel swing frame 004 to steer the four power wheels 005 to be parallel to the wall surface, and after one station is criticized, the control assembly controls the power wheels 005 to move to the next station; when the top surface is batched, the four power wheels 005 are adjusted to enable the two sides to be parallel, and the whole top surface is batched with putty through walking; the reversing piece is a cylinder or an electric push rod.

The three-level lifting mechanism comprises a three-level lifting plate 311, a three-level lifting slider 312, a three-level lifting guide rail 313, a two-level lifting frame 211, a two-level lifting slider 212, a two-level lifting guide rail 213, a one-level lifting frame 111, a one-level lifting guide wheel, a plurality of fixed pulleys 703, a steel wire rope 702 and a lifter 701, wherein one end of the steel wire rope 702 is installed on the steel wire rope roll of the lifter 701, the other end of the steel wire rope is connected with the three-level lifting plate 311 after passing through the fixed pulleys 703, the one-level lifting frame 111 is installed in the fixed frame 100 of the frame base through the one-level lifting guide wheel, the two-level lifting frame 211 is installed on the fixed frame 100 through the two-level lifting slider 212 and the two-level lifting guide rail 213, and the three-level lifting plate 311 is installed on the two-level lifting frame 211 through the three-level lifting slider 312 and the three-level lifting guide rail 313. A buffer spring or a buffer pad is arranged at the top end of each level of lifting slide block or guide wheel, so that the rising process is prevented from being interrupted.

The above embodiments are only used for explaining the technical solution of the present invention, and are not used for limiting the technical solution of the present invention, and all the simple modifications based on the present invention belong to the protection scope of the present invention.

Claims

1. A method for controlling a robot to automatically batch putty powder walls is characterized by comprising the following steps: the robot comprises a frame seat, a lifting mechanism, a pumping mechanism and a control assembly, wherein the bottom of the frame seat is provided with a walking mechanism, and the lifting mechanism, the pumping mechanism and the control assembly are arranged on the frame seat; the lifting mechanism is provided with a plurality of sensors for detecting window openings and door openings; the control assembly is connected with and controls the traveling mechanism to travel to a position to be operated according to set house type parameters, then controls the lifting mechanism to drive the ash batching mechanism to be in place, controls the material pumping mechanism to pump materials to the ash batching mechanism, evenly batches ash on the wall surface by the ash batching mechanism, simultaneously detects a window opening and a door opening by a sensor on the lifting mechanism, transmits information to the control assembly, and stops feeding the window opening and the door opening area; the ash batching mechanism is provided with a rotating structure, and when the ash is batched on the roof surface, the ash batching mechanism is rotated to face the roof surface for uniformly batching the ash on the roof surface.

2. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 1, wherein the method comprises the following steps: the device comprises a material pumping mechanism, a material batching mechanism, a sensor array and a control system, wherein the material pumping mechanism is used for pumping materials from a plurality of areas, the sensor array is used for controlling the material batching mechanism, and the material batching mechanism is used for controlling the material batching mechanism to feed materials from the area when meeting the area of a window opening and a door opening.

3. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 2, wherein the method comprises the following steps: the material pumping mechanism comprises a feed hopper and a material pump, the material distributing mechanism comprises a material distributing box and a plurality of material conveying pipes, one ends of the material conveying pipes are connected with the material distributing box, the other ends of the material conveying pipes are connected with a material discharging nozzle, material breaking cylinders corresponding to the material conveying pipes in number are installed on the bottom surface of the material distributing box, a telescopic rod of each material breaking cylinder corresponds to a connecting port of each material conveying pipe and the material distributing box, and the material pump is connected with the feed hopper and the material distributing box.

4. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 2, wherein the method comprises the following steps: the ash batching mechanism comprises a pressure-adjustable constant-pressure cylinder which is 45 degrees upward, a plastering support arranged at one end of the cylinder, a material nozzle seat of which two ends are respectively connected with one reversing plate through an end shaft, the two reversing plates are respectively connected with two ends of the plastering support, and a scraper group is arranged on the material nozzle seat; when in ash batching, the air cylinder extends out to enable a scraper of the scraper group to be in contact with a construction surface, the air cylinder is inclined upwards by 45 degrees and is used for keeping constant pressure on the wall surface or the top surface, and the thickness of putty is adjusted by adjusting the air pressure of the air cylinder; release the cylinder, construct the wall when material mouth seat orientation wall, construct the top surface when material mouth seat orientation top surface, with the cylinder withdrawal, material mouth seat breaks away from with the construction face, can change the station.

5. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 4, wherein the method comprises the following steps: the material nozzle seat is characterized in that a plurality of positioning holes are formed in the periphery of end shafts at two ends of the material nozzle seat in a circumferential array mode, a plurality of positioning pins are correspondingly arranged on the reversing plate, a positioning shaft is arranged at the other end of the reversing plate and used for penetrating through the plastering support, a pressure spring and a pressing plate are sleeved on the inner side of the plastering support and locked by a nut, the pressing plate is pressed outwards, and the positioning pins of the reversing plate are separated from the positioning holes in the material nozzle seat and used for turning over the material nozzle seat.

6. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 4, wherein the method comprises the following steps: the scraper group is two-layer about, and the upper scraper is the sawtooth scraper, and lower floor's scraper is the straight flange scraper, and the straight flange scraper is personally submitted 10 ~ 45 with the work, and the straight flange scraper edge slightly stands out the sawtooth scraper, and the sawtooth scraper is used for spreading out the material, and the straight flange scraper is used for floating the material, sets up the scraper clamp plate under the lower floor's scraper, unloads the scraper clamp plate and can change the scraper.

7. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 1, wherein the method comprises the following steps: the traveling mechanism comprises a traveling part and a guide part, the traveling part comprises four power wheels, the four power wheels are respectively installed on the periphery of a chassis of the frame seat through four power wheel swing frames, the power wheel swing frames are connected with one end of a reversing piece, the other end of the reversing piece is installed on a reversing piece support, and the reversing piece support is installed on the chassis; the guide part comprises a guide wheel bracket and two guide wheels, the two guide wheels are arranged on the guide wheel bracket and protrude out of the chassis, when the wall surface is batched, the two guide wheels are in rolling contact with the wall surface, the reversing piece pulls the power wheel swing frame to steer the four power wheels to be parallel to the wall surface, and after one station is batched, the control assembly controls the power wheels to move to the next station; when the top surface is batched, the four power wheels are adjusted to enable the two sides to be parallel, and the whole top surface is subjected to putty batching construction through walking; the reversing piece is a cylinder or an electric push rod.

8. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 1, wherein the method comprises the following steps: elevating system includes tertiary lifter plate, tertiary lifting slide, tertiary lifting guide, second grade lifting frame, second grade lifting slide, second grade lifting guide, one-level lifting frame, one-level lift guide pulley, a plurality of fixed pulley, wire rope and lifting machine, wire rope one end is installed and is rolled up at the wire rope of lifting machine, and the other end passes through and connects tertiary lifter plate behind a plurality of fixed pulleys, and the one-level lifting frame passes through the one-level lift guide pulley and installs in the fixed frame of frame foundation, and the second grade lifting frame passes through second grade lifting slide and second grade lifting guide and installs on fixed frame, and tertiary lifter plate passes through tertiary lifting slide and tertiary lifting guide and installs on the second grade lifting frame.

9. The method for controlling the robot to automatically batch the putty powder wall as claimed in claim 8, wherein the method comprises the following steps: a buffer spring or a buffer pad is arranged at the top end of each lifting slide block or guide wheel, so that the rising process is prevented from being interrupted.