WO2023134283A1

WO2023134283A1 - Spraying and plastering apparatus, and spraying and plastering robot

Info

Publication number: WO2023134283A1
Application number: PCT/CN2022/130721
Authority: WO
Inventors: 韩雪峤; 李建明; 乔垒; 李铁芳
Original assignee: 广东博智林机器人有限公司
Priority date: 2022-01-17
Filing date: 2022-11-08
Publication date: 2023-07-20
Also published as: CN116480103A

Abstract

The present application relates to the technical field of building robots, and provides a spraying and plastering apparatus, and a spraying and plastering robot. The spraying and plastering apparatus comprises: a plastering plate, obliquely arranged in the up-down direction; an overflow groove, located on the back side of the plastering plate and used for collecting excess slurry when the plastering plate performs plastering operation, a discharging port being formed in one end of the overflow groove in the length direction; a spray gun, the spray gun being movably arranged relative to the overflow groove, and the moving direction of the spray gun being the same as the length direction of the overflow groove; a scraping plate, movably arranged relative to the overflow groove, the moving direction of the scraping plate being the same as the length direction of the overflow groove, and the scraping plate being used for discharging the slurry in the overflow groove from the discharging port; and a driving unit, arranged in the overflow groove and in transmitting connection with the spray gun. A connected state and a separated state are set between the spray gun and the scraping plate. According to the spraying and plastering apparatus, the structure can be effectively simplified while spraying and plastering are implemented, no extra mounting space needs to be occupied, and the stability of the spraying and plastering robot using the spraying and plastering apparatus is not affected.

Description

Spraying device and spraying robot

Cross References to Related Applications

This application claims the priority of the Chinese patent application with the application number 202210049408.2 and titled "spraying device and spraying robot" filed with the State Intellectual Property Office of China on January 17, 2022, the entire contents of which are incorporated in this application by reference middle.

technical field

The present application relates to the technical field of construction robots, in particular, to a spraying device and a spraying robot.

Background technique

At present, my country's construction industry has developed rapidly and has a broad market. After the main body of the building is completed, the interior walls need to be plastered, which is generally completed by manual plastering at present.

Although there are some products in the market that can achieve independent smoothing machines, they all require complex manual assistance and remain at the semi-automatic level.

Spraying machines and plastering machines can automatically realize spraying and automatic scraping, but due to the need for two machines to work together, limited by the small area of general residential products, it is difficult for two-machine joint operations to construct in a small space. The field is also relatively difficult, and they affect each other during operation. In addition, the cost of spraying and scraping the finished products of the double machine is also relatively high.

Therefore, the research and development of the all-in-one spraying machine is particularly urgent, and its market prospect is very promising.

One of the key and difficult technologies to realize the spraying machine and the scraping machine as an integrated machine is that the length of the whole machine is limited when the machine passes through the door during operation, and the maximum length of the machine cannot exceed 1000mm. The overall length of the machine is the dimension in the length direction of the chassis and the width of the actuator in this direction. The length of the chassis is currently about 700 and the fuselage is not stable, so the width of the actuator is very limited.

Contents of the invention

Some embodiments of the present application provide a spraying device, which can at least be used to improve the problem that the related actuators cannot realize spraying and scraping at the same time.

Some other embodiments of the present application provide a spraying robot, the spraying robot includes the above-mentioned spraying device, and the spraying robot has all the characteristics of the spraying device.

Some embodiments of the application provide a spraying device, which may include:

The plastering board is arranged inclined along the up and down direction, and is used for plastering from bottom to top on the working surface;

An overflow tank, located at the rear side of the plastering board, is used to collect excess slurry when the plastering board is performing plastering operations, and one end of the overflowing tank in the length direction has a discharge port;

A spray gun for spraying slurry on the working surface, the spray gun is movable relative to the overflow tank, and the moving direction of the spray gun is the same as the length direction of the overflow tank;

The scraper is movable relative to the overflow tank, the moving direction of the scraper is the same as the length direction of the overflow tank, and at least part of the scraper extends into the overflow tank , for discharging the slurry in the overflow tank from the outlet; and

a drive unit, arranged in the overflow tank and connected with the transmission of the spray gun;

There is a connection state and a separation state between the spray gun and the scraper plate, and in the connection state, the drive unit drives the spray gun and the scraper plate to move along the length direction of the overflow chute ; In the separated state, the drive unit drives the spray gun to move along the length direction of the overflow chute independently.

There can be two states of connection or separation between the spray gun and the scraper plate, so that the drive unit can drive the spray gun to move laterally alone or simultaneously drive the spray gun and the scraper plate to move laterally together, in the limited space of the overflow tank, realize In addition to the two functions of spraying and scraping, it can effectively improve related technical problems.

In addition, the spraying device provided according to some embodiments of the present application may also have the following additional technical features:

In an optional embodiment of the present application, the spraying device may include a plastering base, and the plastering board and the overflow tank may be installed on the plastering base.

In an optional embodiment of the present application, the spray gun may be provided with a first locking piece, and the scraper may be provided with a second locking piece, when the first locking piece and the second locking piece cooperate , the spray gun and the scraper can be in the connected state;

The spraying device can also include an unlocking mechanism, which can be used to drive the second locking member to disengage from the first locking member, so that the spray gun and the scraper plate can be switched to the separated state .

The first locking part and the second locking part can be locked with each other, and can also be unlocked under the drive of the unlocking mechanism, which can meet the matching requirements of the spray gun and the scraper.

In an optional embodiment of the present application, the first locking member may be an engaging block, the second locking member may be an engaging pin, and the engaging block may have a latch that cooperates with the engaging pin. slot, and the engaging pin is movably arranged on the scraping plate.

The engaging block and the engaging pin have a simple structure and take up little space, which can satisfy the functions of locking and unlocking while reducing the requirement for space and utilizing the space more fully.

In an optional embodiment of the present application, the movement direction of the spray gun is taken as the first direction, and the direction perpendicular to the first direction is taken as the second direction, and the locking slots may include The wide-diameter section and the narrow-diameter section, the unlocking mechanism may include a push rod that can expand and contract in the second direction, and the push rod can push the engaging pin out of the wide-diameter section in the second direction, so When the spray gun moves, the push rod escapes from the wide-diameter section or enters the wide-diameter section from the narrow-diameter section;

The width of the push rod may be d1, the width of the narrow diameter section may be d2, and the width of the engaging pin may be d3, satisfying: d1<d2<d3.

By designing the width of the push rod, the width of the narrow-diameter section, and the width of the engaging pin, when the push rod is not working, the narrow-diameter section can limit the lateral movement of the engaging pin, and when the push rod pushes the engaging pin in the second direction, it can The engaging pin is released from the wide-diameter section, and since the width of the narrow-diameter section is greater than that of the push rod, the push rod will not interfere with the movement of the engaging block.

In an optional embodiment of the present application, the spraying device may also include:

A guide rail is fixed on the rear side of the overflow trough, and the spray gun and the scraper plate can be slidably arranged on the guide rail.

The guide rail can guide the movement of the spray gun and the scraper, and the guide rail is arranged on the rear side of the overflow tank, which can save space.

In an optional embodiment of the present application, the drive unit may include a drive mechanism and a transmission mechanism, the drive mechanism may be arranged at one end of the guide rail and under the overflow chute, and the transmission mechanism may include Transmission ring and a plurality of guide wheels, the plurality of guide wheels can be arranged on the rear side of the overflow tank, the transmission ring can be wound around the plurality of guide wheels, and the spray gun and the transmission ring can be fixed connected, the output end of the drive mechanism can be connected with the guide wheel.

The guide wheel can guide the rotation path of the transmission ring, and it is arranged on the back side of the overflow tank together with the transmission ring, which can effectively use the rear side space, and the transmission ring can drive the spray gun to move to meet the operation requirements.

In an optional embodiment of the present application, the plurality of guide wheels can be divided into a driving wheel, a first driven wheel, a second driven wheel, a third driven wheel and a fourth driven wheel, and the driving wheel can be connected to the The output end of the driving mechanism, the driving wheel may be located at the rear side of the overflow chute and located at the lower side, the first driven wheel and the second driven wheel may be located at one end of the guide rail and located at the On the rear side of the overflow chute, the third driven wheel and the fourth driven wheel may be located at the other end of the guide rail and at the rear side of the overflow chute.

By arranging a plurality of driven wheels and driving wheels, it can not only satisfy the movement stroke of the spray gun, but also can be combined with the driving mechanism, and can be reasonably arranged in a limited space.

In an optional embodiment of the present application, the overflow chute may further include a bracket, the bracket may be connected to the top of the overflow chute, and the part of the driving ring above the guide rail may be covered by the Block support.

By supporting the part of the drive ring above the guide rail, it can be avoided that the sagging of the drive ring causes interference with the guide rail and affects the movement of the spray gun and the scraper.

In an optional embodiment of the present application, the transmission ring may be a chain, and the guide wheel may be a sprocket;

Alternatively, the drive ring may be a drive belt, and the guide wheel may be a pulley.

The chain sprocket cooperates or the driving belt cooperates with the pulley to realize transmission and guidance.

In an optional embodiment of the present application, the spraying device may further include a first in-position sensor and a second in-position sensor, the first in-position sensor may be arranged at one end in the length direction of the overflow trough, and the The second in-position sensor can be arranged at the other end in the length direction of the overflow chute, and the first in-position sensor and the second in-position sensor can be used to limit the transverse direction of the spray gun in the length direction of the overflow chute respectively. shift limit position.

By setting the first in-position sensor and the second in-position sensor, the moving range of the spray gun can be effectively limited, so that the spray gun can move within a required range, and the spray gun can be connected or separated from the scraper plate according to the position of the spray gun.

In an optional embodiment of the present application, the spray port of the spray gun may be located above the overflow tank.

When the spray gun is working, in addition to the slurry sprayed towards the wall, the spray port will overflow the remaining material, or when the spray gun has just switched from the working state to the stop state, the spraying port of the spray gun will also overflow the remaining material. The overflow trough below the material port receives the remaining material in this part, and recovers the remaining material overflowing from the spray port to avoid polluting the environment and equipment.

Other embodiments of the present application provide a spraying robot, and the spraying robot may include:

chassis;

a lifting mechanism, the lifting mechanism is arranged on the chassis;

a rotating mechanism, the rotating mechanism is arranged at the output end of the lifting mechanism;

a recovery hopper, the recovery hopper is arranged on the chassis; and

According to the spraying device described in any one of the above, the spraying device can be connected to the output end of the rotating mechanism;

Wherein, the spraying robot can include a working state and a slurry recovery state. In the working state, the spray gun and the scraper plate can be in a separated state, and the lifting mechanism can drive the spraying device to rise. The driving unit can drive the spray gun to spray material left and right on the working surface, and the plastering board can scrape the slurry on the working surface; when the slurry is recovered, the spray gun and the scraping material The plate can be in a connected state, the lifting mechanism can drive the spraying device to rise above the recovery hopper, the rotating mechanism can drive the spraying device to tilt toward the recovery hopper, and the driving unit can drive The scraper scrapes off the slurry in the overflow tank and makes the slurry fall into the recovery hopper.

By using the spraying device, the spraying robot can not only spray and smooth the working surface, but also scrape off the overflow, without occupying additional installation space, and can meet the space requirements and stability of the actual operation Require.

In an optional embodiment of the present application, the recycling hopper may be located on the right side of the chassis, the driving unit may include a driving mechanism, and the driving mechanism may be located on the lower left side of the overflow chute.

According to the position of the recovery hopper, the space under the overflow chute can have different sizes, and when the recovery hopper is located on the right side of the chassis, the space at the bottom left of the overflow chute is larger than that at the bottom right, and it can be used to install the drive mechanism. The utilization rate of the space is improved, so that the driving mechanism can function without occupying additional external space.

Further embodiments of the present application provide a spraying device, which may include:

The overflow tank, the rear side of the plastering board, is used to collect excess slurry when the plastering board is performing plastering operations, and one end of the overflow tank in the length direction has a discharge port;

The scraper is movable relative to the overflow tank, the moving direction of the scraper is the same as the length direction of the overflow tank, at least part of the scraper extends into the overflow tank, and Discharging the slurry in the overflow tank from the outlet; and

The driving unit is a common driving source for the movement of the spray gun and the scraper relative to the overflow tank.

In an optional embodiment of the present application, there may be a connection state and a separation state between the spray gun and the scraper plate, and in the connection state, the drive unit drives the spray gun and the scraper plate together moving along the length direction of the overflow tank; in the separated state, the driving unit drives the spray gun to move along the length direction of the overflow tank alone.

In an optional embodiment of the present application, the scraper can be integrated with the spray gun, and the drive unit can be connected to either the scraper or the spray gun to drive the scraper Both the plate and the lance move relative to the overflow chute.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that are required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is the schematic diagram of the spraying robot that the embodiment of the present application provides;

Figure 2 is an exploded view of the spraying device;

Fig. 3 is a front view of the spray gun and the scraper being arranged together after the plastering board is hidden in the spraying device;

Fig. 4 is an axonometric view of the separation of the spray gun and the scraper after the plastering board is hidden in the spraying device;

Figure 5 is an exploded view of Figure 4;

Fig. 6 is a schematic diagram of the unlocking mechanism and the first limit sensor;

FIG. 7 is a schematic diagram of another viewing angle of FIG. 6;

Figure 8 is a view of the rear side of Figure 4;

Fig. 9 is a partially enlarged view of part A of Fig. 8;

Fig. 10 is a partially enlarged view of part B of Fig. 8;

Figure 11 is a schematic diagram of the positions of the spray gun, the scraper and the chain;

The schematic diagram of Fig. 12 spray gun and scraper;

Fig. 13 is a schematic diagram of another viewing angle of Fig. 12;

Fig. 14 is a schematic diagram of an engaging block, an engaging pin and a push rod;

Figure 15 is a schematic diagram of the arrangement of guide wheels and chains.

Icons: 1000-spraying robot; 1001-chassis; 1002-lifting mechanism; 1003-rotating mechanism; 1004-recovery hopper; 20- overflow tank; 21- support block; 212- convex ridge; 22- limit piece; 23- horizontal shield; 30- spray gun; 312-narrow diameter section; 32-first mounting plate; 321-first section; 322-second section; 33-first slider; 40-scraper plate; 401-large sub-board; 402-small sub-board; 41 -second locking piece; 42-second mounting plate; 421-third section; 422-fourth section; 43-second slider; 50-drive unit; 51-drive mechanism; 511-motor; 512-reducer ;513-synchronous belt; 52-transmission mechanism; 521-transmission ring; 5211-flexible casing; 522-guiding wheel; 5221-driving wheel; Driven wheel; 5225-fourth driven wheel; 55-bearing; 60-guide rail; 71-first in-position sensor; 72-second in-position sensor; 80-unlocking mechanism; 81-push rod; 82-cylinder; 90-connecting seat ; 901-horizontal plate; 902-vertical plate; 91-mounting seat; 92-bearing seat; 93-knob.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation of the product when it is used Or positional relationship is only for the convenience of describing the present application and simplifying the description, but does 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 therefore should not be construed as a limitation of the present application. In addition, the terms "first", "second", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In the description of this application, it should also be noted that, unless otherwise clearly stipulated and limited, the terms "setting" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

Example

Please refer to FIG. 1, the embodiment of the present application provides a spraying robot 1000, including:

Chassis 1001;

Lifting mechanism 1002, the lifting mechanism 1002 is arranged on the chassis 1001;

Rotating mechanism 1003, the rotating mechanism 1003 is arranged at the output end of the lifting mechanism 1002;

recovery hopper 1004, the recovery hopper 1004 is arranged on the chassis 1001; and

The spraying device 100 is connected to the output end of the rotating mechanism 1003 .

Among them, the chassis can refer to the chassis of the AGV trolley used by general construction robots, which can be automatically moved and positioned to facilitate transfer in different places; the lifting mechanism can choose a mechanism that can perform multi-level lifting, such as the general spraying robot. A mechanism composed of multi-level lifting modules, such as a three-level lifting mechanism; the rotating mechanism can use a rotary cylinder or other mechanism that can drive the spraying device 100 to rotate, and the recovery hopper can be used to accept the slurry scraped from the spraying device 100. In order to facilitate recycling and reduce the pollution of slurry to the construction environment.

Wherein, please refer to Fig. 2, the spraying device 100 of the present application includes:

The plastering board 10 is arranged obliquely along the up and down direction, and is used for plastering from bottom to top on the work surface;

The overflow tank 20 is located on the rear side of the plastering board 10, and is used to collect excess slurry when the plastering board 10 is performing plastering operations. One end of the overflow tank 20 in the length direction has a discharge port;

The spray gun 30 is used to spray the slurry to the working surface, and the spray gun is movable relative to the overflow tank 20, and the moving direction of the spray gun is the same as the length direction of the overflow tank;

The scraper 40 is movable relative to the overflow chute, the moving direction of the scraper is the same as the length direction of the overflow chute, and at least part of the scraper extends into the overflow chute 20 for making the overflow chute 20 The slurry in the discharge port is discharged; and

The driving unit 50 is arranged on the overflow tank 20 and connected with the spray gun 30 in transmission;

There is a connected state and a separated state between the spray gun 30 and the scraper 40. In the connected state, the drive unit 50 drives the spray gun 30 to move along the length direction of the overflow chute 20 together with the scraper 40; in the separated state, the drive unit 50 The drive lances 30 are individually moved along the length of the overflow chute 20 . In the connected state, the driving unit 50 is a common driving source for the movement of the spray gun 30 and the scraper 40 relative to the overflow tank 20 .

Among them, the spraying robot 1000 includes a working state and a slurry recovery state. In the working state, the spray gun 30 and the scraper plate 40 are in a separated state, the lifting mechanism 1002 drives the spraying device 100 to rise, and the driving unit 50 drives the spray gun 30 to the left and right of the working surface. Spray material (wherein, the front and rear changes of the spray gun traverse can refer to the position of the spray gun in Fig. 3 and Fig. 4). The plastering board 10 scrapes the slurry on the working surface; The plate 40 is in the connected state, the lifting mechanism 1002 drives the spraying device 100 to rise above the recycling hopper 1004, the rotating mechanism 1003 drives the spraying device 100 to tilt toward the recycling hopper 1004, and the driving unit 50 drives the scraper 40 to sweep the overflow tank 20 The slurry is scraped off and allowed to fall into the recovery hopper 1004. Wherein, the spray port of the spray gun is located above the overflow tank. When the spray gun is working, in addition to the slurry sprayed towards the wall, the spray port will overflow the remaining material, or when the spray gun has just switched from the working state to the stop state, the spraying port of the spray gun will also overflow the remaining material. The overflow trough below the material port receives the remaining material in this part, and recovers the remaining material overflowing from the spray port to avoid polluting the environment and equipment.

Please refer to Fig. 2, the spraying device 100 includes a plastering base 11, the plastering board 10 and the overflow tank 20 are installed on the plastering base 11, and the plastering base 11 is directly connected with the output end of the rotating mechanism 1003. , the plastering base 11 gradually rises, while the spray gun 30 sprays material, and the plastering board 10 can upwardly smooth the slurry on the work surface. At this time, the slurry on the plastering board 10 gradually accumulates and overflows into the overflow tank 20 from between the plastering board and the working surface, and the dripped slurry during spraying by the spray gun 30 can also fall into the overflow tank within 20. After working for a period of time, the spraying robot 1000 can be switched to the slurry recovery state, and the slurry in the overflow tank 20 can be scraped off by the scraper 40 , and the slurry can be recycled after falling into the recovery hopper 1004 . Wherein, the lower part of the recovery hopper 1004 can be installed with a drive assembly, which is used to drive the recovery hopper 1004 to protrude forward to accept the slurry to be recovered, and can drive the recovery hopper 1004 to retract, so as to avoid affecting the normal operation of the spraying device 100 .

There can be two states of connection or separation between the spray gun 30 and the scraper plate 40, so that the drive unit 50 can drive the spray gun 30 to traverse alone or simultaneously drive the spray gun 30 and the scraper plate 40 to traverse together. In the limited space, the two functions of spraying and scraping are realized, which can effectively improve related technical problems. By using the spraying device 100, the spraying robot 1000 can not only realize the spraying and smoothing work on the working surface, but also can realize the scraping of the overflow, without occupying additional installation space, and can meet the space requirements and requirements of the actual operation. Stability requirements.

Please in conjunction with Fig. 1, the recovery hopper 1004 of the present application is on the right side of the chassis 1001, and in conjunction with Fig. 2 to Fig. 4 and Fig. 5, the drive unit 50 includes a drive mechanism 51 (shown in Fig. 5), and the drive mechanism 51 is located in the overflow trough 20 on the lower left side (shown in Figures 2 to 4). Optionally, when the recycling hopper 1004 is on the left side of the chassis 1001 , the driving mechanism 51 can be arranged on the lower right side of the overflow tank 20 . When the spraying robot 1000 is in the working state, as shown in Figure 3 and Figure 4, the spray gun can be driven by the drive unit alone, moving from the left side to the right side of the viewing angle in the figure, and can also move from the right side to the left side , by moving back and forth to achieve back and forth spraying on the working surface. At this time, the scraper plate remains stationary on the left side, so as to prevent the slurry in the overflow tank from being pushed out of the overflow tank to cause pollution to the fuselage and the construction environment.

According to the position of the recovery hopper 1004, the space below the overflow chute 20 can have different sizes, and when the recovery hopper 1004 is located on the right side of the chassis 1001, the space S at the lower left of the overflow chute 20 is larger than the space T at the lower right. Installing the drive mechanism 51 in use can improve the utilization rate of the space, which not only enables the drive mechanism 51 to play a role, but also does not need to occupy additional external space. It can be understood that the plastering base 11 can refer to the base of the plastering mechanism of the related actuator. The overall length of the plastering base is greatly limited, and the installation requirements cannot be met simply by expanding the space. Since the space on the left side is larger than the space on the right side, the drive mechanism 51 can be arranged in this space to effectively utilize the relevant structures. Reduce the difficulty of transformation and save costs. From Figure 3, it can be clearly seen that compared with the overflow chute, the drive unit only occupies a small part of the space downward, and does not take up space in the length direction of the overflow chute, while the bottom corresponds to the space S. In this limited space Among them, the installation requirements of the driving parts for the spray gun traverse drive are met. It can be seen from Figure 4 that the shape of the scraper matches the contour of the overflow tank. When the spray gun is connected with the scraper, the scraper can move from left to right with the spray gun to clean the overflow tank Scrape off the slurry inside.

Please combine Figure 5 and Figure 8, the spraying device 100 also includes:

The guide rail 60 is fixed on the rear side of the overflow tank 20 , and the spray gun 30 and the scraper 40 can be slidably arranged on the guide rail 60 .

The guide rail 60 can guide the movement of the spray gun 30 and the scraper 40, and the guide rail 60 is arranged at the rear side of the overflow tank 20, which can save space. This embodiment only adopts a guide rail 60, which can ensure the consistency of the moving directions of the spray gun 30 and the scraper 40. Optionally, a track can also be set as the guide rail 60 for the spray gun 30 and the scraper 40 respectively. The first slider and the second slider in this article need to be installed on a guide rail respectively and distributed up and down, and the two guide rails are arranged side by side to avoid interference. In addition, the positions of the corresponding engaging blocks and engaging pins are adjusted accordingly to meet the matching requirements.

As long as the installation space permits, those skilled in the art can select and modify the existing equipment and materials accordingly.

Please refer to FIG. 8 to FIG. 10 , the drive unit 50 includes a drive mechanism 51 and a transmission mechanism 52, the drive mechanism 51 is arranged at one end of the guide rail 60 and below the overflow chute 20, and the transmission mechanism 52 includes a transmission ring 521 and a plurality of guide wheels 522, a plurality of guide wheels 522 are arranged on the rear side of the overflow chute 20, and the transmission ring 521 is wound around the plurality of guide wheels 522. Wherein, the driving mechanism 51 of the present embodiment adopts a motor and a reducer, both of which are fixed on the underside of the overflow chute 20 and fixed with the sidewall of the overflow chute 20, so as to ensure the stability of the connection, and the output of the reducer The end is then connected with the driving wheel 5221 below. Further, as shown in FIG. 4 , the output end of the motor is below the overflow trough 20 and faces the front side, and is driven and matched with the input end of the reducer through a synchronous belt. Please refer to FIG. 5 , the output end of the speed reducer is below the overflow tank 20 and towards the rear side, so that the space occupied in the front and rear directions can be reduced.

The guide wheel 522 can guide the rotation path of the transmission ring 521, and is arranged on the rear side of the overflow tank 20 together with the transmission ring 521, which can effectively use the rear side space, and the transmission ring 521 can drive the spray gun 30 to move to meet the operation requirements. In addition, since the guide rail 60, the guide wheel 522 and the transmission ring 521 are all arranged in the rear space of the overflow tank 20, the slurry can be blocked by the overflow tank 20 during the spraying operation to prevent the components in the rear space from being polluted. Wherein, the top of the overflow tank 20 has a horizontal shutter, which can protect the chains, brackets, guide rails and other structures below in the vertical direction, and prevent the slurry from infiltrating.

Please combine Fig. 9, Fig. 10 and Fig. 15, a plurality of guide wheels 522 are divided into driving wheel 5221, first driven wheel 5222, second driven wheel 5223, third driven wheel 5224 and fourth driven wheel 5225, driving wheel 5221 is connected At the output end of the driving mechanism 51, the driving wheel 5221 is located at the rear side and the lower side of the overflow chute 20, the first driven wheel 5222 and the second driven wheel 5223 are located at one end of the guide rail 60 and are located at the rear side of the overflow chute 20, The third driven wheel 5224 and the fourth driven wheel 5225 are located at the other end of the guide rail 60 and at the rear side of the overflow chute 20 . Wherein, please refer to Fig. 10 and Fig. 15, the second driven wheel 5223 is located between the motor and the reducer and above the two, which can guide the chain and prevent it from interfering with the motor and reducer. Use the free space above.

By arranging a plurality of driven wheels and driving wheels 5221, the movement stroke of the spray gun 30 can be satisfied, and it can be combined with the driving mechanism 51 to be reasonably arranged in a limited space. Among them, the first in-position sensor 71 and the cylinder 82 below are all arranged on the same connecting seat 90 and arranged on the horizontal plate of the connecting seat in turn, so that the moving direction of the spray gun can be complied with. When the spray gun passes the first in-position sensor 71, it will After being detected, when the spray gun drives the scraper to move to be detected by the first in-position sensor 71, the piston rod of the cylinder can just snap into the slot of the engaging block below.

The vertical plate on the connecting seat 90 can be provided with the bearing 55 used by the first driven wheel 5222 and the second driven wheel 5223 , and the vertical plate of the connecting seat 90 can be connected with the overflow tank 20 . In this way, not only the installation requirement is met, but also the structure can be simplified, and there is no need to separately configure connecting parts for each component. In addition, as shown in Figure 10, the right side wall of the connection seat is matched with the inner side of the right side wall of the overflow trough, and the whole is on the upper side of the motor and the reducer, which can meet the installation and fixing requirements of the above-mentioned many components At the same time, the limited space should be used as much as possible to reduce the occupation of the space behind the plastering base. It can be seen from Figure 2 that the space behind the overflow tank of the plastering base is extremely limited, and it is necessary to allow the spray gun to move laterally The spray gun and scraper can be unlocked and locked, which is extremely difficult to design. As shown in Figure 9, the third driven wheel 5224 and the fourth driven wheel 5225 are installed on the left side of the overflow chute through the bearing seat, and the second in-position sensor 72 can be directly installed on the bearing seat without additional connecting parts . Through the above-mentioned many designs, the installation and use of components can be completed in a limited space, so that the spray gun does not need to be additionally provided with a transverse movement mechanism and a transmission mechanism.

Please refer to FIG. 5 , the overflow chute 20 further includes a support block 21 connected to the top of the overflow chute 20 , and the part of the drive ring 521 above the guide rail 60 is supported by the support block 21 . By supporting the part of the transmission ring 521 above the guide rail 60 , it is possible to avoid the sagging of the transmission ring 521 causing interference with the guide rail 60 and affecting the movement of the spray gun 30 and the scraper 40 . Wherein, the number of supporting blocks 21 in this embodiment is multiple and distributed at intervals, so that the driving ring 521 can be supported in sections, and the driving ring 521 can be prevented from drooping and interfering with the guide rail 60 as much as possible. Of course, a limit piece can also be provided on the overflow trough 20, and the limit piece is located on the lower side of the part of the drive ring 521 below the guide rail, which can prevent the part of the drive ring below the guide rail from sagging and interfere with other mechanisms.

The transmission ring 521 is a chain, and the guide wheel 522 is a sprocket wheel;

Alternatively, the transmission ring 521 is a transmission belt, and the guide wheel 522 is a pulley.

Wherein, the present embodiment adopts the cooperation of the chain and the sprocket, and its size in the width direction is smaller than that of the pulley and the transmission belt, which can further reduce the space occupied. Of course, when the installation space is sufficient, the scheme of the pulley and the transmission belt can also be effective, and it cannot be interpreted restrictively as necessarily inferior to the scheme of the sprocket and the chain. In addition, the supporting block 21 is provided with raised ridges, which can form cooperation with the rollers of the chain, so that rolling friction is formed between the chain and the supporting block 21, reducing resistance and ensuring smooth rotation of the chain. A flexible cover can be set outside the chain, as shown in Figure 5, to cover the chain to prevent the lubricating oil on the chain or debris generated by friction from falling, so as to avoid affecting the guide rail to a certain extent, and avoid spray guns and scrapers sliding is blocked.

Please refer to FIG. 5 to FIG. 7 and FIG. 9, the spraying device 100 of the present application also includes a first in-position sensor 71 and a second in-position sensor 72, the first in-position sensor 71 is arranged at one end in the length direction of the overflow chute 20, the second in-position sensor The second in-position sensor 72 is arranged at the other end of the overflow trough 20 in the length direction. The first in-position sensor 71 and the second in-position sensor 72 are respectively used to limit the limit position of the spray gun 30 traversing in the length direction of the overflow chute 20 . The first in-position sensor 71 and the second in-position sensor 72 can adopt detection parts such as photoelectric switches and travel switches. By arranging the first in-position sensor 71 and the second in-position sensor 72, the range of movement of the spray gun 30 can be effectively limited, so that the spray gun 30 can move within the required range, and it can be connected with the scraper plate 40 according to the position of the spray gun 30. Connect or separate. In detail, when the first mounting plate 32 hereinafter moves to the left side of FIG. 5 along with the first slider, the second in-position sensor 72 can identify the first mounting plate and send a feedback signal to the controller of the spraying robot to control The controller can control the reverse rotation of the motor so that the chain drives the spray gun to move to the right. When it moves to the right end, the first in-position sensor 71 can recognize that the spray gun is in place. Turn to make the spray gun move to the left, and also control the piston rod of the cylinder to retract according to the needs of scraping off the overflow, so that the second locking part 41 below is snapped into the first locking part 31, so that the spray gun and the scraper plate Connection locked. In this way, when the spray gun is driven by the motor again, the scraper can be driven to move laterally to the left, and the position can also be detected by the second in-position sensor, so as to determine that the scraper also moves in place.

In detail, as shown in Figures 11 to 13, the spray gun 30 is provided with a first locking member 31, and the scraper 40 is provided with a second locking member 41. When the first locking member 31 and the second locking member 41 cooperate, the spray gun 30 and the scraper 40 are in a connected state; the spraying device 100 also includes an unlocking mechanism 80 (as shown in FIGS. The spray gun 30 and the scraper 40 are switched to the separated state. The first locking part 31 and the second locking part 41 can be locked with each other, and can also be unlocked under the driving of the unlocking mechanism 80 , which can meet the matching requirements of the spray gun 30 and the scraper 40 . Among them, the scraper plate of this embodiment is shown in Figure 13. It is formed by stacking multiple sub-plates. The large sub-plate can completely fit the outline of the groove wall and the bottom of the overflow tank, and the small sub-plate can strengthen the outer surface of the large sub-plate. The structural strength of the board ensures that it is not easy to deform when scraping the overflow, ensures the stability of the scraping of the slurry, and prevents part of the slurry from being not scraped due to deformation, which will cause the slurry to be scraped when the scraper returns. to the left end of the overflow chute.

In detail, in this embodiment, the first locking member 31 is an engaging block, the second locking member 41 is an engaging pin, the engaging block has a slot for engaging the engaging pin, and the engaging pin is movably arranged on The scraper 40 can only enter and exit from the slot in the axial direction, and cannot escape from the slot in the lateral movement direction of the spray gun, so as to ensure the reliability in the connected state. In addition, the profile of the clamping groove and the clamping pin fits, which can prevent the movement of the scraper from lagging due to the gap between the clamping groove and the clamping pin when the spray gun drives the scraper to move laterally. In detail, the nozzle of the spray gun 30 is connected to the first slider 33 through the first mounting plate 32, and the lower end of the first mounting plate 32 also has a mounting seat 91 for connecting the chain, and the scraper 40 is connected to the second mounting plate 42 through the second mounting plate 42. The two sliding blocks 43 are connected, the first sliding block 33 and the second sliding block 43 are both slidably disposed on the guide rail 60 , the engaging block is connected to the first sliding block 33 , and the engaging pin is connected to the second sliding block 43 .

The engaging block and the engaging pin have a simple structure and take up little space, which can satisfy the functions of locking and unlocking while reducing the requirement for space and utilizing the space more fully. Optionally, in addition to being cylindrical, the engaging pin can also be in other shapes such as prisms and special shapes, as long as it can ensure that when engaging with the card slot, there will be no hysteresis when the spray gun drives the scraper to move That's it.

Wherein, please further combine Figure 8 and Figure 12 and Figure 13, the first mounting plate has a first section and a second section, the second mounting plate has a third section and a fourth section, and the first section can be connected with the first slider , the second section can be connected with the spray gun (as shown in Figure 13, the upwardly bent part of the second section is connected with the bent plate on the spray gun through the knob, so that the spray gun can be replaced separately by disassembling the knob, which is convenient for maintenance), and Compared with the first section, the second section is bent forward and then connected to the spray gun, the third section can be connected to the second slider, and the fourth section is bent forward and then connected to the scraper (as shown in Figure 13 As shown, the fourth section also uses a knob to connect with the scraper to facilitate regular replacement of the scraper to ensure the reliability of the scraper), so that both the spray gun and the scraper can work in front of the overflow tank, And each can complete the connection with the first slider and the second slider, and at the same time, it is convenient to disassemble and assemble, reduces the difficulty of transformation and maintenance, and is convenient for popularization and application. As shown in Figure 8, neither the spray gun nor the scraper interfered with the space behind the overflow chute. In this way, the vertical projection of each component and mechanism installed on the overflow chute does not exceed the rear side wall of the plastering base, so that whether the entire spraying device 100 is lifted or rotated, there will be no impact on the spraying robot. Interference caused by other mechanisms will not affect the normal lifting or rotating action of the spraying device 100 itself. In the existing space, a single power can drive the spray gun and the hanging plate.

Take the movement direction of the spray gun 30 as the first direction X (shown in Figure 12), and take the direction perpendicular to the first direction as the second direction Y (shown in Figure 12), please refer to Figure 14, the slot includes Distributed wide-diameter section 311 and narrow-diameter section 312, the unlocking mechanism 80 includes a push rod 81 that can expand and contract in the second direction, and the push rod 81 can push the engaging pin out of the wide-diameter section 311 in the second direction. When the spray gun 30 moves, The push rod 81 escapes from the wide diameter section 311 from the narrow diameter section 312 or enters the wide diameter section 311 .

Please refer to FIG. 14 , the width of the push rod 81 is d1, the width of the narrow-diameter section 312 is d2, and the width of the locking pin is d3, satisfying: d1<d2<d3.

By designing the width of the push rod 81, the width of the narrow-diameter section 312 and the width of the engaging pin, when the push rod 81 is not working, the narrow-diameter section 312 can limit the lateral movement of the engaging pin, and the push rod 81 pushes the locking pin in the second direction. When the pin is engaged, the engaging pin can be released from the wide-diameter section 311 in the axial direction (that is, the Y direction in Figure 12), and since the width of the narrow-diameter section 312 is greater than the width of the push rod 81, the push rod 81 will not interfere with the engagement block movement, the spray gun can move directly to the left side of Figure 14 when it is moving laterally, and the scraper will not be driven because the engaging pin has broken away from the draw-in groove.

In detail, one end of the engagement pin has a spring (installed in the second slider), and the unlocking mechanism 80 uses a cylinder 82 to drive the push rod 81. When the cylinder 82 pushes the push rod 81 to move, the engagement pin moves in the axial direction, so that The spring is compressed, and the engaging pin is disengaged from the wide-diameter section 311. At this time, the push rod 81 keeps pressing on the engaging pin. When the driving mechanism 51 drives the spray gun 30 to move to the left in FIG. When the wide-diameter section 311 is disengaged, the movement of the engaging block will not be affected, so the movement of the spray gun will not be affected, and because the size of the push rod 81 is smaller than the size of the narrow-diameter section 312, the push rod 81 will not affect the engaging block. movement to the left. When the spray gun 30 moves from left to right to the first position sensor 71, the push rod 81 gradually enters the wide diameter section 311 from the narrow diameter section 312. Since there is no interference, the spray gun can move to the left under the control of the controller after it is in place. sports. When the slurry needs to be scraped off, the spray gun moves to the position of triggering the first in-position sensor. At this time, the cylinder 82 reversely drives the push rod 81, so that the push rod 81 retreats and retracts, and the restoring force of the spring makes the engaging pin re-enter. When the driving mechanism 51 drives the spray gun 30 to move again, the engaging block can drag the engaging pin to move together, so that the spray gun can drive the scraper 40 to move together.

Optionally, the spring of the locking pin can also be designed so that it will not bounce back after one press (you can refer to the principle of the commonly used fan shift button), and the locking pin can keep the position separated from the wide diameter section 311. At this time , the cylinder 82 can drive the push rod 81 to retreat and disengage from the wide-diameter section 311, and then the driving mechanism 51 can drive the spray gun 30 to move independently. In this way, the narrow-diameter section 312 can be removed from the card slot, and the wide-diameter section is in the shape of a hole, which makes it easier to process the structure during production. When the engaging block needs to cooperate with the engaging pin to drive the scraper 40 to move, the spray gun 30 first moves to the position of the first in-position sensor 71, then after detecting that the spray gun 30 is in place, the cylinder 82 pushes the push rod 81 out again , press the locking pin once and withdraw it again, at this time the spring can be reset, so that the locking pin is pushed out and snapped into the slot, and then the movement of the spray gun 30 can be transmitted to the scraper plate 40 .

In addition, in addition to the scheme of the locking pin and the locking block shown in the figure, there are many other structures to realize the locking and separation. The cylinder can be modified correspondingly, so that the drive of the cylinder can unlock structures such as the Zhan type coupler. The connection and separation scheme adopted in this embodiment has low requirements on the cylinder, and a short-stroke cylinder can be used to facilitate the unlocking work in a limited space. Those skilled in the art can select components according to requirements.

It can be understood that the spraying and plastering integrated machine can be produced only when the spraying and plastering are integrated. The corresponding actuators must realize the alarming of the left and right feed axes, the arrangement of the overflow scraping mechanism, and the horizontal position of the spray gun 30 within a limited size. The layout of the shifting and wiping plate turning mechanism, etc. In the related art, there is no transverse movement mechanism of the spray gun 30 on the single machine of the scraping machine, and the length of the whole machine is close to the limit, and the integrated spraying machine realizes the functions of the scraping machine and the spraying machine at the same time. Increasing the traverse mechanism of the spray gun 30 has been impossible to realize.

In this embodiment, the spray gun 30 and the scraper 40 are driven by the same drive unit 50, and the mutual locking of the spray gun 30 and the scraper 40 is realized through the first locking member 31 and the second locking member 41, and the unlocking structure Unlock the first locking part 31 and the second locking part 41, so that the spraying device 100 has two working modes, one is to drive the spray gun 30 to spray material laterally, and the other is to drive the spray gun 30 to drive the scraper 40 to move together To scrape off the slurry in the overflow tank 20. In the latter mode of operation, the scraper 40 and the spray gun 30 are integrally arranged, and the drive unit 50 is connected to any one of the scraper 40 or the spray gun 30 to drive both the scraper 40 and the spray gun 30 relative to the overflow. The tank 20 moves.

Through the unlocking and integrated connection design of this application, the layout of the parts required for the two functions of spraying and scraping can be realized in a limited space. The overall structure is compact, does not occupy additional space, and does not affect the original scraper. The size of the actuator used in a stand-alone machine. Since the spray gun 30 and the scraper 40 share a drive unit 50 and share a guide rail 60, the space utilization rate is high, and the weight increase of the overall parts is very small. After practice, there is almost no increase in weight, so that the whole The stability of the spraying robot 1000 is not affected by the addition of functions, it can still move and work stably, and there will be no large weight increase that will cause the whole machine to overturn. At the same time, since there is no need to provide an additional set of traversing mechanism, power system, and slide rail system for the spray gun 30, the cost of the entire spraying device 100 and the spraying robot 1000 hardly increases, and the economic benefits are extremely high.

To sum up, the spraying device 100 of the present application can independently drive the spray gun 30 to carry out lateral movement spraying through the separate driving unit 50, or can drive the spray gun 30 and the scraper plate 40 together after the spray gun 30 is connected to the scraper plate 40. movement to realize the scraping of excess slurry in the overflow chute 20, there is no need to separately configure the traverse drive mechanism 51 for the spray gun 30 or the scraper plate 40, and the structure can be effectively simplified while realizing spraying and plastering, without It needs to occupy additional installation space, and does not affect the stability of the spraying robot 1000 using the spraying device 100 .

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Industrial Applicability

The application provides a spraying device and a spraying robot. The spraying device includes a plastering board, which is arranged obliquely along the up and down direction; an overflow groove is located at the rear side of the plastering board, and is used for plastering operations on the plastering board. To collect excess slurry, one end in the length direction of the overflow tank has a discharge port; the spray gun is movable relative to the overflow tank, and the moving direction of the spray gun is the same as the length direction of the overflow tank; the scraper plate is relatively The overflow tank is movable, and the moving direction of the scraper is the same as the length direction of the overflow tank, which is used to discharge the slurry in the overflow tank from the discharge port; and the drive unit is arranged on the overflow tank and is connected with the The transmission connection of the spray gun; there is a connection state and a separation state between the spray gun and the scraper. The spraying device can effectively simplify the structure while realizing spraying and plastering, does not need to occupy additional installation space, and does not affect the stability of a spraying robot using the spraying device.

In addition, it can be understood that the spraying device and spraying robot of the present application are reproducible and can be used in various industrial applications. For example, the spraying device and the spraying robot of the present application can be used in the technical field of construction robots.

Claims

A spraying device (100), characterized in that it comprises:

The plastering board (10) is arranged obliquely along the up and down direction, and is used for plastering from bottom to top on the working surface;

An overflow tank (20), located on the rear side of the plastering board (10), is used to collect excess slurry when the plastering board (10) is performing plastering operations, and the overflow tank (20) One end in the length direction has a discharge port;

A spray gun (30), used to spray slurry to the working surface, the spray gun is movable relative to the overflow tank (20), and the moving direction of the spray gun is the same as the length direction of the overflow tank;

A scraper (40) is movable relative to the overflow trough, the moving direction of the scraper is the same as the length direction of the overflow chute, and at least part of the scraper extends to the overflow In the feed tank (20), it is used to discharge the slurry in the overflow tank (20) from the discharge port; and

A drive unit (50), which is connected in transmission with the spray gun (30);

There is a connection state and a separation state between the spray gun (30) and the scraper plate (40), and in the connection state, the drive unit (50) drives the spray gun (30) and the scraper plate (40) move together along the length direction of the overflow tank (20); in the separated state, the driving unit (50) drives the spray gun (30) along the overflow tank (20) move in the length direction.
The spraying device (100) according to claim 1, characterized in that, the spraying device (100) comprises a plastering base (11), the plastering board (10) and the overflow tank (20 ) is installed on the plastering base (11).
The spraying device (100) according to claim 1 or 2, characterized in that, the spray gun (30) is provided with a first lock (31), and the scraper (40) is provided with a second lock (41), when the first locking part (31) and the second locking part (41) cooperate, the spray gun (30) and the scraper plate (40) are in the connected state;

The spraying device (100) also includes an unlocking mechanism (80), and the unlocking mechanism (80) is used to drive the second locking member (41) to disengage from the first locking member (31), so that the The spray gun (30) and the scraper (40) are switched to the separated state.
The spraying device (100) according to claim 3, characterized in that, the first locking member (31) is an engaging block, the second locking member (41) is an engaging pin, and the engaging The block has a card groove matched with the locking pin, and the locking pin is movably arranged on the scraper plate (40).
The spraying device (100) according to claim 4, characterized in that, the moving direction of the spray gun (30) is taken as the first direction, and the direction perpendicular to the first direction is taken as the second direction, the The card slot includes a wide-diameter section (311) and a narrow-diameter section (312) distributed along the first direction, and the unlocking mechanism (80) includes a push rod (81) capable of stretching along the second direction, and the push rod (81) can push the engaging pin out of the wide-diameter section (311) in the second direction. ) exit the wide-diameter section (311) or enter the wide-diameter section (311);

The width of the push rod (81) is d1, the width of the narrow diameter section (312) is d2, and the width of the engaging pin is d3, satisfying: d1<d2<d3.
The spraying device (100) according to any one of claims 1 to 5, characterized in that, the spraying device (100) further comprises:

The guide rail (60) is fixed on the rear side of the overflow tank (20), and the spray gun (30) and the scraper (40) can be slidably arranged on the guide rail (60).
The spraying device (100) according to claim 6, characterized in that, the drive unit (50) comprises a drive mechanism (51) and a transmission mechanism (52), and the drive mechanism (51) is arranged on the guide rail One end of (60) and below the overflow chute (20), the transmission mechanism (52) includes a transmission ring (521) and a plurality of guide wheels (522), and the plurality of guide wheels (522) are arranged On the rear side of the overflow trough (20), the drive ring (521) is wound around the plurality of guide wheels (522), and the spray gun (30) is fixedly connected to the drive ring (521). The output end of the drive mechanism (51) is connected with the guide wheel (522).
The spraying device (100) according to claim 7, characterized in that, the plurality of guide wheels (522) are divided into a driving wheel (5221), a first driven wheel (5222), and a second driven wheel (5223) , the third driven wheel (5224) and the fourth driven wheel (5225), the driving wheel (5221) is connected to the output end of the driving mechanism (51), and the driving wheel (5221) is in the overflow chute (20) on the rear side and on the lower side, the first driven wheel (5222) and the second driven wheel (5223) are located at one end of the guide rail (60) and at the side of the overflow trough (20) On the rear side, the third driven wheel (5224) and the fourth driven wheel (5225) are located at the other end of the guide rail (60) and at the rear side of the overflow tank (20).
The spraying device (100) according to claim 7 or 8, characterized in that, the overflow tank (20) further comprises a bracket (21), and the bracket (21) is connected to the overflow tank (20 ), the part of the drive ring (521) above the guide rail (60) is supported by the bracket (21).
The spraying device (100) according to any one of claims 7 to 9, characterized in that, the transmission ring (521) is a chain, and the guide wheel (522) is a sprocket;

Alternatively, the transmission ring (521) is a transmission belt, and the guide wheel (522) is a pulley.
The spraying device (100) according to any one of claims 1 to 10, characterized in that, the spraying device (100) further comprises a first in-position sensor (71) and a second in-position sensor (72) , the first in-position sensor (71) is arranged at one end in the length direction of the overflow chute (20), and the second in-position sensor (72) is arranged at the other end in the length direction of the overflow chute (20). At one end, the first in-position sensor (71) and the second in-position sensor (72) are respectively used to limit the limit position of the lateral movement of the spray gun (30) in the length direction of the overflow chute (20).
The spraying device (100) according to any one of claims 1 to 11, characterized in that, the spraying port of the spray gun is located above the overflow tank.
A spraying robot (1000), characterized in that it comprises:

Chassis (1001);

a lifting mechanism (1002), the lifting mechanism (1002) is arranged on the chassis (1001);

a rotating mechanism (1003), the rotating mechanism (1003) is arranged at the output end of the lifting mechanism (1002);

a recovery hopper (1004), the recovery hopper (1004) is arranged on the chassis (1001); and

The spraying device (100) according to any one of claims 1 to 12, the spraying device (100) is connected to the output end of the rotating mechanism (1003);

Wherein, the spraying robot (1000) includes a working state and a slurry recovery state. In the working state, the spray gun (30) and the scraper plate (40) are in a separated state, and the lifting mechanism (1002 ) drives the spraying device (100) to rise, the driving unit (50) drives the spray gun (30) to spray material on the left and right sides of the working surface, and the plastering board (10) sprays the slurry on the working surface Scraping; in the slurry recovery state, the spray gun (30) and the scraper plate (40) are in a connected state, and the lifting mechanism (1002) drives the spraying device (100) to rise to the Above the recycling hopper (1004), the rotating mechanism (1003) drives the spraying device (100) to tilt toward the recycling hopper (1004), and the driving unit (50) drives the scraper (40) The slurry in the overflow tank (20) is scraped and allowed to fall into the recovery hopper (1004).
The spraying robot (1000) according to claim 13, characterized in that, the recovery hopper (1004) is on the right side of the chassis (1001), and the drive unit (50) includes a drive mechanism (51), The driving mechanism (51) is located on the lower left side of the overflow chute (20).
A spraying device (100), characterized in that it comprises:

The plastering board (10) is arranged obliquely along the up and down direction, and is used for plastering from bottom to top on the working surface;

An overflow tank (20), located on the rear side of the plastering board (10), is used to collect excess slurry when the plastering board (10) is performing plastering operations, and the overflow tank (20) One end in the length direction has a discharge port;

A spray gun (30), used to spray slurry to the working surface, the spray gun is movable relative to the overflow tank (20), and the moving direction of the spray gun is the same as the length direction of the overflow tank;

A scraper (40) is movable relative to the overflow trough, the moving direction of the scraper is the same as the length direction of the overflow chute, and at least part of the scraper extends to the overflow In the feed tank (20), it is used to discharge the slurry in the overflow tank (20) from the discharge port; and

The driving unit (50) is a common driving source for the movement of the spray gun and the scraper relative to the overflow tank.
The spraying device (100) according to claim 15, characterized in that, there is a connection state and a separation state between the spray gun (30) and the scraper (40), and in the connection state, the The drive unit (50) drives the spray gun (30) to move along the length direction of the overflow trough (20) together with the scraper (40); in the separated state, the drive unit (50) The spray gun (30) is driven to move along the length direction of the overflow tank (20) independently.
The spraying device (100) according to claim 15 or 16, characterized in that, the scraper is integrated with the spray gun, and the drive unit is connected to any of the scraper or the spray gun. One, to drive both the scraper and the spray gun to move relative to the overflow chute.