CN111155747A

CN111155747A - Pointing robot for home decoration

Info

Publication number: CN111155747A
Application number: CN202010090858.7A
Authority: CN
Inventors: 林智勇
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-02-13
Filing date: 2020-02-13
Publication date: 2020-05-15

Abstract

The household decoration pointing robot comprises a finishing device, a positioning device, a cleaning device, a pointing agent extruding device and a controller; when the trimming device is used, the infrared ray of the infrared ray demarcation device is utilized to aim at the brick joints of the decorative bricks, so that the cutting line of the trimming device is consistent with the infrared ray; controlling the trimming device, the positioning device, the cleaning device and the pointing agent extruding device to work by using a controller; controlling a vacuum pump and a vacuum chuck to tightly suck the horizontal guide rail on the brick surface, controlling a trimming electric push rod to drive a trimming wheel to lift, driving the trimming wheel to trim the brick joints by using a trimming motor, driving a sliding seat to drive the trimming wheel to move along infrared rays by using a moving motor, and cleaning the brick joints by using a cleaning device; extruding the bottled pointing agent by using a pointing lifting electric push rod, and extruding the pointing agent to the brick joints through pointing nozzles of the bottled pointing agent; the mechanical operation of floor tile pointing decoration is implemented, and the efficiency and the quality of decoration pointing are improved.

Description

Pointing robot for home decoration

Technical Field

The invention relates to decoration equipment, in particular to a home decoration pointing robot for home decoration.

Background

At present, in the brick joint decoration of floor tiles, particularly the brick surface decoration of home floors, cement sand at brick joints needs to be removed completely, and then a layer of colored pointing agent is filled in pointing to achieve the purpose of beautifying the floor tiles; the work is manual operation, and the efficiency is low; meanwhile, the cement sand at the brick joints is uneven and has high hardness, so that the construction is difficult; a pointing robot for home decoration becomes the need of floor tile decoration.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a pointing robot for home decoration, which is used for floor tile decoration, particularly home floor tile surface decoration and improves decoration efficiency and quality.

The technical scheme adopted by the invention is as follows: the household decoration pointing robot comprises a finishing device, a positioning device, a cleaning device, a pointing agent extruding device and a controller;

the trimming device comprises a trimming motor, a trimming wheel, a sliding seat, a vertical sliding rail, a first spring, a trimming electric push rod, a moving motor, a horizontal guide rail, a rack and a moving gear; the sliding seat is provided with a vertical sliding chute and a horizontal sliding chute, the vertical sliding rail is connected with the vertical sliding chute in a movable fit manner, and the horizontal guide rail is connected with the horizontal sliding chute in a movable fit manner; the base of the trimming motor is connected with the vertical sliding rail, the motor shaft of the trimming motor is connected with the trimming wheel, the shell of the trimming electric push rod is connected with the sliding seat, and the trimming electric push rod is connected with the vertical sliding rail; the rack is connected with the horizontal guide rail, the shell of the moving motor is connected with the sliding seat, the motor shaft of the moving motor is connected with the moving gear, and the moving gear is meshed with the rack; when the trimming device is used, the trimming electric push rod is utilized to drive the vertical slide rail to lift, so that the purpose of driving the trimming motor and the trimming wheel to lift vertically is achieved; driving a trimming wheel to rotate and trim the brick joints by using a trimming motor; the movable motor is used for driving the movable gear to move on the rack on the horizontal guide rail, the sliding seat is driven to move on the horizontal guide rail, the sliding seat is used for driving the trimming wheel to move along the brick joints, and the trimming wheel is used for trimming the brick joints with different groove bottom depths;

the positioning device comprises a vacuum chuck, a vacuum pump and a chuck electric push rod, wherein the shells of the vacuum pump and the chuck electric push rod are connected with the horizontal guide rail, a driving rod of the chuck electric push rod is connected with a chuck body of the vacuum chuck, and an air exhaust joint of the vacuum chuck is connected with the vacuum pump; when the vacuum brick is used, the electric push rod of the sucker is utilized to drive the vacuum sucker to suck the brick surface, the vacuum pump is utilized to pump air in the vacuum sucker, and the vacuum sucker is utilized to fix the horizontal guide rail on the brick surface;

the cleaning device comprises a dust collector, a dust hood, a cleaning motor and a cleaning wheel; the dust hood is connected with the cleaning device, the cleaning device is arranged on the sliding seat, and the dust hood is fixed on the sliding seat; the base of the cleaning motor is connected with the base of the dressing motor, the motor shaft of the cleaning motor is connected with the cleaning wheel, and the dust hood is arranged between the dressing wheel and the cleaning wheel; when in use, the cleaning motor is utilized to drive the cleaning wheel to rotate along the brick joints, and the cleaning wheel is utilized to clean the brick joints; the trimming motor, the cleaning wheel and the dust hood move along with the sliding seat, and the dust hood absorbs water, sand and dust discharged by the trimming wheel and the cleaning wheel into the dust collector for filtering;

the pointing agent extruding device comprises bottled pointing agent, a pointing agent extruding electric push rod, an installation cylinder, a pointing lifting electric push rod, a lifting groove and a lifting track, wherein a shell of the pointing lifting electric push rod is connected with the sliding seat, the lifting track is connected with a driving rod of the pointing lifting electric push rod, the lifting groove is connected with the shell of the pointing lifting electric push rod, the lifting track is connected with the lifting groove in a movable fit manner, the installation cylinder is connected with the shell of the pointing agent extruding electric push rod, and the bottled pointing agent is installed in the installation cylinder; when the pointing agent extruding device is used, the pointing agent extruding electric push rod is used for pushing the piston of the bottled pointing agent, so that the piston extrudes the pointing agent to the trimmed brick joint from the pointing nozzle of the bottled pointing agent;

the controller comprises an infrared ray casting instrument, a trimming upper limit position sensor, a trimming lower limit position sensor, a pointing upper limit position sensor, a pointing lower limit position sensor, a pointing lifting sensing piece, a trimming stop position sensor, a horizontal movement limit sensor, a horizontal movement reset sensor, a starting switch, a stop switch and an infrared switch; the infrared ray casting instrument is arranged on the horizontal guide rail and is used for correcting the trimming wheel and the brick joints; the trimming upper limit position sensor and the trimming lower limit position sensor are arranged on the sliding seat, and the trimming upper limit position sensor is positioned above the trimming lower limit position sensor and used for controlling the vertical lifting of the trimming wheel; the pointing upper limit position sensor and the pointing lower limit position sensor are arranged on the lifting groove, the pointing upper limit position sensor is positioned above the pointing lower limit position sensor, and the pointing lifting sensing piece is arranged on the lifting track; the device is used for controlling the lifting of the bottled pointing agent and controlling the pointing nozzle of the bottled pointing agent to be inserted into or leave the cleaned brick joints; the trimming stop position sensor, the horizontal movement limit sensor and the horizontal movement reset sensor are arranged on the horizontal guide rail, and the trimming stop position sensor is positioned between the horizontal movement limit sensor and the horizontal movement reset sensor; the horizontal movement limiting sensor and the horizontal movement reset sensor are used for controlling the horizontal movement of the sliding seat and the trimming wheel, and the trimming stop position sensor is used for controlling the trimming wheel to stop trimming; the controller is connected with the infrared ray casting instrument, the trimming upper limit position sensor, the trimming lower limit position sensor, the pointing upper limit position sensor, the pointing lower limit position sensor, the trimming stop position sensor, the horizontal movement limit sensor, the horizontal movement reset sensor, the starting switch, the stopping switch, the infrared switch, the trimming device, the positioning device, the cleaning device and the pointing agent extrusion device through control lines;

the initial state of the trimming electric push rod is as follows: the driving head of the trimming electric push rod is at the upper limit cutting position, the driving head is close to the upper limit trimming position sensor, and the trimming electric push rod is in a non-extending state; the initial state of the electric push rod of the sucker is as follows: the driving rod of the sucker electric push rod is in a non-extending state; the initial state of the slider is: the slide seat is close to a horizontal movement reset sensor; the initial state of the pointing lifting electric push rod is as follows: the pointing lifting electric push rod is in a non-extending state, and a pointing lifting sensing piece on the lifting track is close to a pointing upper limit position sensor; the initial state of the pointing agent extrusion electric push rod is as follows: the extrusion push rod of the pointing agent extrusion electric push rod is in a non-extending state; the initial state of the cleaning device is: the cleaning wheels do not contact the brickwork joint.

The use method of the household decoration pointing robot comprises the following steps: the process of the household decoration pointing robot is as follows: the method comprises the steps of brick joint correction → horizontal guide rail fixing → finishing wheel descending → brick joint finishing → brick joint cleaning → brick joint pointing agent application → brick joint finishing stopping → brick joint pointing agent application stopping → pointing agent extrusion device ascending → slide carriage resetting → horizontal guide rail loosening; the process is as follows:

and (3) brick joint proofreading: when the pointing robot is used, a home decoration pointing robot is placed on a brick surface, then an infrared switch is turned on, so that infrared rays of an infrared ray casting instrument are projected onto the brick surface, and a horizontal guide rail is moved, so that the infrared rays of the infrared ray casting instrument are aligned to brick joints of decoration bricks;

fixing the horizontal guide rail: after the infrared ray of the infrared ray casting instrument is aligned with the brick joints of the decoration bricks, a starting switch is pressed down, the starting switch transmits a starting signal to a controller, and the controller controls an electric push rod of a suction cup to drive a vacuum suction cup to move towards the brick surface, so that the vacuum suction cup presses the brick surface; after the vacuum sucker presses the brick surface, the controller controls the vacuum pump to vacuumize the vacuum sucker, so that the vacuum sucker is tightly sucked on the brick surface, and the horizontal guide rail is tightly sucked on the brick surface by the vacuum sucker;

descending the dressing wheel: after the horizontal guide rail is tightly sucked on the brick surface by the vacuum chuck, the controller controls the trimming motor to drive the trimming wheel to rotate; after the trimming wheel rotates, the controller controls the trimming electric push rod to drive the vertical sliding rail to descend along the vertical sliding groove of the sliding seat, the trimming motor and the trimming wheel descend along the vertical sliding rail, the trimming wheel descends to the trimming lower limit position of the brick joint, and the trimming wheel is used for trimming the brick joint; when the trimming wheel descends to the trimming lower limit position of the brickwork joint, the driving head of the trimming electric push rod approaches to a trimming lower limit position sensor on the sliding seat, the trimming lower limit position sensor transmits a signal to the controller, the controller controls the trimming electric push rod to stop, and the trimming wheel stops descending;

and (3) brickwork joint trimming: after the finishing wheel stops descending, the controller controls the moving motor to rotate, the moving motor drives the moving gear to move along the rack on the horizontal guide rail and drives the sliding seat to move along the horizontal guide rail, the finishing motor and the finishing wheel move along the sliding seat along the horizontal guide rail, the finishing wheel finishes cement sand and other impurities in the brick joints along infrared rays,

cleaning brick joints: when the trimming motor and the trimming wheel descend, the controller controls the cleaning device to work, the cleaning motor descends along with the trimming motor to enable the cleaning wheel to be in contact with the brick joints, the cleaning wheel moves along the moving direction of the horizontal guide rail along with the sliding seat, the cleaning motor is controlled to drive the cleaning wheel to rotate along the brick joints, the brick joints are cleaned by the cleaning wheel, and cement sand dust for trimming the brick joints of the trimming wheel and dust cleaned by the cleaning wheel are pumped to a dust collector by a dust hood to be filtered;

brick joint pointing agent application: the pointing agent extruding device moves along the horizontal guide rail along the sliding seat, when a pointing nozzle of bottled pointing agent moves to a position above a cleaned brick joint, the controller controls the pointing lifting electric push rod to drive the lifting track to descend along the lifting groove, the bottled pointing agent, the pointing agent extruding electric push rod and the mounting cylinder descend along the lifting groove along the lifting track, when the pointing nozzle of the bottled pointing agent descends to the brick joint, a pointing lifting sensing piece on the lifting track approaches the pointing lower limit position sensor, the pointing lower limit position sensor transmits a signal to the controller, and the controller controls the pointing lifting electric push rod to stop; after the pointing lifting electric push rod stops, the controller controls the pointing agent to extrude an extrusion push rod of the electric push rod to extrude bottled pointing agent, a piston of the bottled pointing agent is driven to move, and the pointing agent in the bottled pointing agent is extruded into a cut brick joint through a pointing nozzle; the moving motor drives the moving gear to move continuously along the rack on the horizontal guide rail, the sliding seat is driven by the moving motor to move continuously along the horizontal guide rail, and a pointing agent extruding device is used for applying pointing agent to the brick joints continuously;

stopping brickwork joint trimming: when the sliding seat approaches to the trimming stop position sensor, the trimming stop position sensor transmits a signal to the controller, the controller controls the trimming electric push rod to drive the vertical sliding rail to ascend along the vertical sliding groove of the sliding seat, the trimming wheel ascends along the vertical sliding rail, the trimming motor and the trimming wheel ascend along the vertical sliding rail, the trimming wheel leaves the brick joints, and the trimming wheel stops trimming the brick joints; when the driving head of the trimming electric push rod approaches to a trimming upper limit position sensor on the sliding seat, the trimming upper limit position sensor transmits a signal to the controller, and the controller controls the trimming electric push rod to stop, and the trimming motor and the trimming wheel to stop and reset; the cleaning wheel rises along with the trimming motor and leaves the brick joints, and meanwhile, the controller controls the cleaning motor to stop;

stopping the brick joint pointing agent: after the trimming wheel stops trimming the brick joints, the moving motor continues to move the sliding seat along the horizontal guide rail, and bottled pointing agent of the pointing agent extruding device continues to extrude pointing agent to the trimmed and cleaned brick joints along the sliding seat; when the sliding seat approaches to the horizontal movement limiting sensor, the horizontal movement limiting sensor transmits a signal to the controller, and the controller controls the moving motor to stop driving the sliding seat to move forwards; after the moving motor stops, the controller controls the pointing agent extrusion electric push rod to stop extruding bottled pointing agent, and the bottled pointing agent stops extruding pointing agent;

the pointing agent extrusion device ascends: after the bottled pointing agent stops extruding the pointing agent, the controller controls the pointing lifting electric push rod to drive the lifting track to ascend along the lifting groove, the bottled pointing agent, the pointing agent extruding electric push rod and the mounting cylinder ascend along the lifting groove along the lifting track, and the pointing nozzle of the bottled pointing agent leaves the brick joint; when a pointing lifting sensing piece on the lifting track approaches a pointing upper limit position sensor on the lifting groove, the pointing upper limit position sensor transmits a signal to the controller, and the controller controls the pointing lifting electric push rod to stop; meanwhile, the controller controls the dust collector to stop;

resetting the sliding seat: after the pointing lifting electric push rod stops rising, the controller controls the moving motor to rotate reversely, the sliding seat is driven to reset along the horizontal guide rail through the moving gear and the rack, and the trimming motor and the trimming wheel move along the horizontal guide rail along the sliding seat to reset; the sliding seat is reset to be close to a horizontal movement reset sensor, the horizontal movement reset sensor transmits a signal to the controller, and the controller controls the moving motor to stop; when the sliding seat is reset, the pointing agent extruding device is reset to the initial position along with the sliding seat;

loosening the horizontal guide rail: after the mobile motor stops, the controller controls the vacuum pump to stop vacuumizing, and the vacuum sucker stops sucking the brick surface; after the vacuum chuck stops sucking the brick surface, the controller controls the electric push rod of the chuck to drive the vacuum chuck to ascend and leave the brick surface;

so circulate constantly, utilize finishing device's finishing wheel to finish the brickwork joint to utilize cleaning device to clear away the cement sand dirt and other debris of brickwork joint, utilize the bottled joint pointing agent of joint pointing agent extrusion device to the brickwork joint extrusion joint pointing agent after finishing.

The invention has the beneficial effects that: the household decoration pointing robot comprises a finishing device, a positioning device, a cleaning device, a pointing agent extruding device and a controller; when the trimming device is used, the infrared ray of the infrared ray demarcation device is utilized to aim at the brick joints of the decorative bricks, so that the cutting line of the trimming device is consistent with the infrared ray; controlling the trimming device, the positioning device, the cleaning device and the pointing agent extruding device to work by using a controller; controlling a vacuum pump and a vacuum chuck to tightly suck the horizontal guide rail on the brick surface, controlling a trimming electric push rod to drive a trimming wheel to lift, driving the trimming wheel to trim the brick joints by using a trimming motor, driving a sliding seat to drive the trimming wheel to move along infrared rays by using a moving motor, and cleaning the brick joints by using a cleaning device; extruding the bottled pointing agent by using a pointing lifting electric push rod, and extruding the pointing agent to the brick joints through pointing nozzles of the bottled pointing agent; the mechanical operation of floor tile pointing decoration is implemented, and the efficiency and the quality of decoration pointing are improved.

Drawings

FIG. 1 is a schematic structural diagram of a household finishing pointing robot;

fig. 2 is a top view of fig. 1.

The invention is further described with reference to the following detailed description of embodiments and with reference to the accompanying drawings in which:

as shown in fig. 1, a schematic structural diagram of a home improvement pointing robot and a top view of fig. 1 shown in fig. 2, the home improvement pointing robot includes a finishing device 1, a positioning device 2, a cleaning device 3, a pointing agent squeezing device 4 and a controller 5; the dressing device 1 comprises a dressing motor 6, a dressing wheel 7, a sliding seat 8, a vertical sliding rail 9, a first spring 10, a dressing electric push rod 11, a moving motor 12, a horizontal guide rail 13, a rack 14 and a moving gear 15; the sliding seat 8 is provided with a vertical sliding chute 19 and a horizontal sliding chute 20, the vertical sliding rail 9 is connected with the vertical sliding chute 19 in a movable fit manner, and the horizontal guide rail 13 is connected with the horizontal sliding chute 20 in a movable fit manner; the base of the trimming motor 6 is fixedly connected with the vertical slide rail 9, the motor shaft of the trimming motor 6 is fixedly connected with the trimming wheel 7, the shell of the trimming electric push rod 11 is fixedly connected with the slide carriage 8, the driving head 22 of the trimming electric push rod 11 is fixedly connected with the first spring 10, and the first spring 10 is fixedly connected with the vertical slide rail 9; the rack 14 is fixedly connected with the horizontal guide rail 13, the shell of the moving motor 12 is fixedly connected with the sliding seat 8, the motor shaft of the moving motor 12 is fixedly connected with the moving gear 15, and the moving gear 15 is meshed with the rack 14; when the trimming device is used, the trimming electric push rod 11 is used for driving the vertical slide rail 9 to lift so as to drive the trimming motor 6 and the trimming wheel 7 to lift vertically; the vertical cutting force of the finishing wheel 7 is controlled by the elastic force of the first spring 10, so that the finishing wheel 7 is prevented from rigidly colliding with the brick joints 23; driving a trimming wheel 7 to rotate and trim the brick joints 23 by using a trimming motor 6; a moving motor 12 is used for driving a moving gear 15 to move on a rack 14 on a horizontal guide rail 13, a sliding seat 8 is driven to move on the horizontal guide rail 13, the sliding seat 8 is used for driving a finishing wheel 7 to move along a brick joint 23, and the finishing wheel 7 is used for finishing the brick joints 23 with different groove bottom depths;

the positioning device 2 comprises a vacuum chuck 24, a vacuum pump 25 and a chuck electric push rod 26, the shells of the vacuum pump 25 and the chuck electric push rod 26 are fixedly connected with the horizontal guide rail 13, a driving rod 27 of the chuck electric push rod 26 is connected with the disk body of the vacuum chuck 24 through a second spring 28, and an air suction joint 27 of the vacuum chuck 24 is connected with the vacuum pump 25; when the horizontal guide rail fixing device is used, the vacuum chuck 24 is driven by the chuck electric push rod 26 to suck the brick surface 29, the vacuum pump 25 is used for pumping air in the vacuum chuck 24, and the horizontal guide rail 13 is fixed on the brick surface 29 by the vacuum chuck 24;

the cleaning device 3 comprises a dust collector 16, a dust hood 30, a connecting pipe 31, a cleaning motor 17 and a cleaning wheel 18; the dust hood 30 is connected with the cleaning device 3 through a connecting pipe 31, the cleaning device 3 is arranged on the sliding seat 8, and the dust hood 30 is fixed on the sliding seat 8; the base of the cleaning motor 17 is fixedly connected with the base of the trimming motor 6, the motor shaft of the cleaning motor 17 is fixedly connected with the cleaning wheel 18, the dust hood 30 is arranged between the trimming wheel 7 and the cleaning wheel 18, the cleaning wheel 18 is provided with a brush, and the brush of the cleaning wheel 18 is in soft contact with the brick joints 23 during cleaning; when in use, the cleaning motor 17 is utilized to drive the cleaning wheel 18 to rotate along the brick joints 23, and the cleaning wheel 18 is utilized to clean the brick joints 23; the dressing motor 6, the cleaning wheel 18 and the dust hood 30 move along with the sliding seat 8, and the dust hood 30 absorbs the water, sand and dust discharged by the dressing wheel 7 and the cleaning wheel 18 into the dust collector 16 for filtering;

the pointing agent extrusion device 4 comprises a bottled pointing agent 31, a pointing agent extrusion electric push rod 32, an installation cylinder 33, a pointing lifting electric push rod 34, a lifting groove 35 and a lifting track 36, wherein the shell of the pointing lifting electric push rod 34 is fixedly connected with the sliding seat 8, the lifting track 36 is fixedly connected with a driving rod 38 of the pointing lifting electric push rod 34, the lifting groove 35 is fixedly connected with the shell of the pointing lifting electric push rod 34, the lifting track 36 is movably matched and connected with the lifting groove 35, the installation cylinder 33 is fixedly connected with the shell of the pointing agent extrusion electric push rod 32, and the bottled pointing agent 31 is installed in the installation cylinder 33; when in use, the pointing agent extrusion electric push rod 32 is used for pushing the piston of the bottled pointing agent 31, so that the piston extrudes the pointing agent to the trimmed brick joint 23 through the pointing nozzle 39 of the bottled pointing agent 31;

the controller 5 comprises an infrared ray casting instrument 40, a trimming upper limit position sensor 41, a trimming lower limit position sensor 42, a pointing upper limit position sensor 43, a pointing lower limit position sensor 44, a pointing lifting sensing piece 45, a trimming stop position sensor 46, a horizontal movement limit sensor 47, a horizontal movement reset sensor 48, a starting switch 49, a stopping switch 50 and an infrared switch 51; the infrared ray demarcation device 40 is arranged on the horizontal guide rail 13 and is used for calibrating the trimming wheel 7 and the brick joints 23; a dressing upper limit position sensor 41 and a dressing lower limit position sensor 42 are mounted on the slide base 8, the dressing upper limit position sensor 41 is positioned above the dressing lower limit position sensor 42 and used for controlling the vertical lifting of the dressing wheel 7; a pointing upper limit position sensor 43 and a pointing lower limit position sensor 44 are mounted on the lifting groove 35, the pointing upper limit position sensor 43 is positioned above the pointing lower limit position sensor 44, and the pointing lifting sensing piece 45 is arranged on the lifting track 36; the device is used for controlling the lifting of the bottled pointing agent 31 and controlling the pointing nozzle 39 of the bottled pointing agent 31 to be inserted into or separated from the cleaned brick joint 23; a dressing stop position sensor 46, a horizontal movement limit sensor 47 and a horizontal movement reset sensor 48 are mounted on the horizontal guide rail 13, the dressing stop position sensor 46 is located between the horizontal movement limit sensor 47 and the horizontal movement reset sensor 48; a horizontal movement limit sensor 47 and a horizontal movement reset sensor 48 are used for controlling the horizontal movement of the sliding seat 8 and the dressing wheel 7, and a dressing stop position sensor 46 is used for controlling the dressing wheel 7 to stop dressing; the controller 5 is connected to the infrared ray projector 40, the trimming upper limit position sensor 41, the trimming lower limit position sensor 42, the pointing upper limit position sensor 43, the pointing lower limit position sensor 44, the trimming stop position sensor 46, the horizontal movement limit sensor 47, the horizontal movement reset sensor 48, the start switch 49, the stop switch 50, the infrared switch 51, the trimming device 1, the positioning device 2, the cleaning device 3, and the caulking agent extruding device 4 through control lines.

The initial state of the dresser motor-driven push rod 11 is: the driving head 22 of the trimming electric push rod 11 is at the cutting upper limit position, the driving head 22 is close to the trimming upper limit position sensor 41, and the trimming electric push rod 11 is in a non-extending state; the initial state of the suction cup power push rod 26 is: the driving rod 27 of the sucker electric push rod 26 is in a non-extending state; the initial state of the carriage 8 is: the slide 8 approaches the horizontal movement reset sensor 47; the initial state of the pointing lifting electric push rod 34 is: the pointing lifting electric push rod 34 is in a non-extending state, and the pointing lifting sensing piece 45 on the lifting track 36 approaches the pointing upper limit position sensor 43; the initial state of the caulking agent extruding electric push rod 32 is: the extrusion push rod 52 of the pointing agent extrusion electric push rod 32 is in a non-extending state; the initial state of the cleaning device 3 is: the cleaning wheels 18 are not in contact with the brickwork joint 23.

The use method of the household decoration pointing robot comprises the following steps: the process of the household decoration pointing robot is as follows: the brick joint is corrected → the horizontal guide rail 13 is fixed → the finishing wheel 7 descends → the brick joint 23 is finished → the brick joint 23 is cleaned → the brick joint 23 is applied with pointing agent → the brick joint 23 is finished and stopped → the brick joint 23 is applied with pointing agent and stopped → the pointing agent extrusion device 4 ascends → the slide carriage 8 is reset → the horizontal guide rail 13 is loosened; the process is as follows:

and (3) brick joint proofreading: when the pointing robot is used, a home decoration pointing robot is placed on the brick surface 29, then the infrared switch 51 is turned on, so that the infrared ray 53 of the infrared ray casting instrument 40 is projected onto the brick surface 29, and the horizontal guide rail 13 is moved, so that the infrared ray 53 of the infrared ray casting instrument 40 is aligned to the brick joint 23 of a decoration brick;

the horizontal guide rail 13 is fixed: after the infrared ray 53 of the infrared ray demarcation device 40 is aligned with the brick joint 23 of the decoration brick, the starting switch 49 is pressed, the starting switch 49 transmits a starting signal to the controller 5, the controller 5 controls the suction disc electric push rod 26 to drive the vacuum suction disc 24 to move towards the brick surface 29, and the vacuum suction disc 24 presses the brick surface 29; after the vacuum suction cup 24 presses the brick surface 29, the controller 5 controls the vacuum pump 25 to vacuumize the vacuum suction cup 24, so that the vacuum suction cup 24 is tightly sucked on the brick surface 29, and the horizontal guide rail 13 is tightly sucked on the brick surface 29 by using the vacuum suction cup 24;

the dressing wheel 7 descends: after the horizontal guide rail 13 is tightly sucked on the brick surface 29 by the vacuum chuck 24, the controller 5 controls the finishing motor 6 to drive the finishing wheel 7 to rotate; after the finishing wheel 7 rotates, the controller 5 controls the finishing electric push rod 11 to drive the vertical slide rail 9 to descend along the vertical slide groove 19 of the slide seat 8, the finishing motor 6 and the finishing wheel 7 descend along the vertical slide rail 9, the finishing wheel 7 descends to the finishing lower limit position of the brick joint 23, and the brick joint 23 is finished by the finishing wheel 7; when the trimming wheel 7 descends to the trimming lower limit position of the brick joint 23, the driving head 22 of the trimming electric push rod 11 approaches to the trimming lower limit position sensor 42 on the sliding seat 8, the trimming lower limit position sensor 42 transmits a signal to the controller 5, the controller 5 controls the trimming electric push rod 11 to stop, and the trimming wheel 7 stops descending;

and (3) brickwork joint 23 finishing: after the finishing wheel 7 stops descending, the controller 5 controls the moving motor 12 to rotate, the moving motor 12 drives the moving gear 15 to move along the rack 14 on the horizontal guide rail 13, the sliding seat 8 is driven to move along the horizontal guide rail 13, the finishing motor 6 and the finishing wheel 7 move along the sliding seat 8 along the horizontal guide rail 13, the finishing wheel 7 finishes cement sand and other impurities in the brick joints 23 along the infrared ray 53,

cleaning the brick joints 23: when the dressing motor 6 and the dressing wheel 7 descend, the controller 5 controls the cleaning device 3 to work, the cleaning motor 17 descends along with the dressing motor 6, the cleaning wheel 18 is made to be in contact with the brick joints 23, the cleaning wheel 18 moves along the moving direction of the horizontal guide rail 13 along with the sliding seat 8, the cleaning motor 17 is controlled to drive the cleaning wheel 18 to rotate along the brick joints 23, the brick joints 23 are cleaned by the cleaning wheel 18, and cement sand dust for dressing the brick joints 23 by the dressing wheel 7 and dust cleaned by the cleaning wheel 18 are pumped to the dust collector 16 by the dust hood 30 to be filtered;

applying a pointing agent to the brick joints 23: the pointing agent extrusion device 4 moves along the horizontal guide rail 13 along the sliding base 8, when the pointing mouth 39 of the bottled pointing agent 31 moves to a position above the cleaned brick joint 23, the controller 5 controls the pointing lifting electric push rod 34 to drive the lifting track 36 to descend along the lifting groove 35, the bottled pointing agent 31, the pointing agent extrusion electric push rod 32 and the mounting cylinder 33 descend along the lifting groove 35 along the lifting track 36, when the pointing mouth 39 of the bottled pointing agent 31 descends to the brick joint 23, the pointing lifting sensing piece 45 on the lifting track 36 approaches the pointing lower limit position sensor 44, the pointing lower limit position sensor 44 transmits a signal to the controller 5, and the controller 5 controls the pointing lifting electric push rod 34 to stop; after the pointing lifting electric push rod 34 stops, the controller 5 controls the pointing agent to extrude the extrusion push rod 52 of the electric push rod 32 to extrude the bottled pointing agent 31, drives the piston of the bottled pointing agent 31 to move, and extrudes the pointing agent in the bottled pointing agent 31 to the cut brick joint 23 through the pointing nozzle 39; the moving motor 12 drives the moving gear 15 to move continuously along the rack 14 on the horizontal guide rail 13, the sliding seat 8 moves continuously along the horizontal guide rail 13 under the driving of the moving motor 12, and the pointing agent extruding device 4 is used for continuously applying pointing agent to the brick joint 23;

the brickwork joint 23 finishing stops: when the sliding seat 8 approaches to the trimming stop position sensor 46, the trimming stop position sensor 46 transmits a signal to the controller 5, the controller 5 controls the trimming electric push rod 11 to drive the vertical sliding rail 9 to ascend along the vertical sliding groove 19 of the sliding seat 8, the trimming wheel 7 ascends along the vertical sliding rail 9, the trimming motor 6 and the trimming wheel 7 ascend along the vertical sliding rail 9, so that the trimming wheel 7 leaves the brick joints 23, and the trimming wheel 7 stops trimming the brick joints 23; when the driving head 22 of the electric trimming push rod 11 approaches the upper trimming limit position sensor 41 on the slide carriage 8, the upper trimming limit position sensor 41 transmits a signal to the controller 5, the controller 5 controls the electric trimming push rod 11 to stop, and the trimming motor 6 and the trimming wheel 7 to stop and reset; the cleaning wheel 18 ascends along with the trimming motor 6 to leave the brick joint 23, and simultaneously, the controller 5 controls the cleaning motor 17 to stop;

stopping applying the pointing agent to the brick joints 23: after the finishing wheel 7 stops finishing the brick joints 23, the moving motor 12 continues to move the sliding seat 8 along the horizontal guide rail 13, and the bottled jointing agent 31 of the jointing agent extruding device 3 continues to extrude the jointing agent to the finished and cleaned brick joints 23 along the sliding seat 8; when the sliding seat 8 approaches the horizontal movement limit sensor 46, the horizontal movement limit sensor 46 transmits a signal to the controller 5, and the controller 5 controls the moving motor 12 to stop driving the sliding seat 8 to move forwards; after the moving motor 12 stops, the controller 5 controls the pointing agent extrusion electric push rod 32 to stop extruding the bottled pointing agent 31, and the bottled pointing agent 31 stops extruding the pointing agent;

the pointing agent extruding device 4 ascends: after the bottled pointing agent 31 stops extruding pointing agent, the controller 5 controls the pointing lifting electric push rod 34 to drive the lifting track 36 to ascend along the lifting groove 35, the bottled pointing agent 31, the pointing agent extrusion electric push rod 32 and the mounting cylinder 33 ascend along the lifting track 36 along the lifting groove 35, and the pointing nozzle 39 of the bottled pointing agent 31 leaves the brick joint 23; when the pointing lifting sensing piece 45 on the lifting track 36 approaches the pointing upper limit position sensor 43 on the lifting groove 35, the pointing upper limit position sensor 43 transmits a signal to the controller 5, and the controller 5 controls the pointing lifting electric push rod 34 to stop; meanwhile, the controller 5 controls the dust collector 16 to stop;

resetting the sliding seat 8: after the pointing lifting electric push rod 34 stops rising, the controller 5 controls the moving motor 12 to rotate reversely, the sliding seat 8 is driven to reset along the horizontal guide rail 13 through the moving gear 15 and the rack 14, and the finishing motor 6 and the finishing wheel 7 move and reset along the horizontal guide rail 13 along with the sliding seat 8; the slide carriage 8 is reset to approach the horizontal movement reset sensor 47, the horizontal movement reset sensor 47 transmits a signal to the controller 5, and the controller 5 controls the moving motor 12 to stop; when the sliding seat 8 is reset, the pointing agent extrusion device 4 is reset to the initial position along with the sliding seat 8;

the horizontal guide rail 13 is loosened: after the moving motor 12 stops, the controller 5 controls the vacuum pump 25 to stop vacuumizing, and the vacuum suction cup 24 stops sucking the brick surface 29; after the vacuum chuck 24 stops sucking the brick surface 29, the controller 5 controls the chuck electric push rod 26 to drive the vacuum chuck 24 to ascend and leave the brick surface 29;

and (4) continuously circulating in this way, finishing the brick joints 23 by using the finishing wheel 7 of the finishing device 1, cleaning cement, sand and dust and other impurities in the brick joints 23 by using the cleaning device 3, and extruding the pointing agent to the finished brick joints 23 by using the bottled pointing agent 31 of the pointing agent extruding device 3.

In order to drive the sliding base 8 to move by the moving motor 12, the brick joints 23 are trimmed by the trimming wheel 7, the brick joints 23 are cleaned by the cleaning wheel 18, and dust is sucked away by the dust suction machine 16; the movable motor 12 is coaxially connected with the movable gear 15, the dressing motor 6 is coaxially connected with the dressing wheel 7, and the cleaning motor 17 is coaxially connected with the cleaning wheel 18; the direction of rotation of the moving gear 15 is the same as that of the conditioning wheel 7, and the direction of rotation of the conditioning wheel 7 is opposite to that of the cleaning wheel 18; when the brick joints 23 are trimmed by the trimming wheel 7, the moving gear 15 is meshed with the rack 14, the moving motor 12 drives the moving gear 15 to rotate in the anticlockwise direction, and the sliding seat 8 is driven to move leftwards along the horizontal guide rail 13; the trimming motor 6 drives the trimming wheel 7 to rotate in the anticlockwise direction, so that the trimming wheel 7 is prevented from blocking the sliding seat 8 to move along the horizontal guide rail 13, meanwhile, the trimming wheel 7 moves leftwards along the brick joint 23 along the sliding seat 8, and cement sand dust of the brick joint 23 trimmed by the trimming wheel 7 flies to a dust hood 30 of the cleaning device 3; meanwhile, the cleaning motor 17 drives the cleaning wheel 18 to rotate clockwise, the cleaning wheel 18 moves leftwards along the brick joint 23 along with the sliding seat 8, and cement sand dust swept by the cleaning wheel 18 flies to a dust hood 30 of the cleaning device 3; the trimmed brick joints 23 are cleaned by the dust collector 16 and the cleaning wheel 18.

The sliding seat 8 moves leftwards along the horizontal guide rail 13 under the driving of the moving motor 12, and when the sliding seat 8 approaches to the trimming stop position sensor 46, the controller 5 controls the trimming electric push rod 11 to drive the vertical sliding rail 9 to ascend along the vertical sliding groove 19 of the sliding seat 8, so that the trimming wheel 7 leaves the brick joint 23; meanwhile, the sliding seat 8 continues to move leftwards along the horizontal guide rail 13 under the driving of the moving motor 12, when the sliding seat 8 approaches the horizontal movement limit sensor 46, the horizontal movement limit sensor 46 transmits a signal to the controller 5, and the controller 5 controls the moving motor 12 to stop driving the sliding seat 8 to advance.

When the sliding seat 8 is reset, the moving gear 15 is meshed with the rack 14, the moving motor 12 drives the moving gear 15 to rotate clockwise, and the sliding seat 8 is driven to move rightwards along the horizontal guide rail 13; the dressing wheel 7 leaves the brick joint 23, and simultaneously, the dressing wheel 7 moves rightwards along the horizontal guide rail 13 along the sliding seat 8; the cleaning motor 17 and the cleaning wheel 18 stop rotating, the cleaning wheel 18 leaves the brick joint 29, and simultaneously, the cleaning wheel 18 moves to the right along the horizontal guide rail 13 along the sliding seat 8; when the carriage 8 moves to approach the horizontal movement reset sensor 47, the horizontal movement reset sensor 47 transmits its signal to the controller 5, and the controller 5 controls the movement motor 12 to stop.

In order to facilitate the pointing nozzle 39 of the bottled pointing agent 31 to extrude pointing agent from the brick joint 23, the central line of the mounting cylinder 33 is the same as the central line of the pointing agent extrusion electric push rod 32, the central line of the bottled pointing agent 31 is the same as the central line of the pointing agent extrusion electric push rod 32, the central line of the mounting cylinder 33 is on the vertical plane of the brick joint 23, or the central line of the mounting cylinder 33 is on the vertical plane of the infrared ray 53 of the infrared ray casting instrument 40; in order to implement the vertical cutting and trimming of the brick joints 23 along the brick joints 23 by using the trimming wheel 7, the vertical sliding chute 19 and the vertical sliding rail 9 of the sliding seat 8 are vertical to the brick surfaces 29, the axis of the trimming motor 6 is parallel to the brick surfaces 29, and the trimming wheel 7 is vertical to the brick surfaces 29; when the pointing agent extrusion device 3 moves along the horizontal guide rail 13 along the slide carriage 8, the central line of the mounting cylinder 33 moves along the vertical plane of the brick joint 23, so that the pointing nozzle 39 of the bottled pointing agent 31 mounted on the mounting cylinder 33 moves along the brick joint 23; when the moving motor 12 drives the sliding seat 8 to move along the horizontal guide rail 13, the axis of the trimming motor 6 on the sliding seat 8 moves horizontally along the horizontal guide rail 13, and the trimming wheel 7 moves horizontally along the vertical surface of the brick joint 23.

For replacement control of the bottled pointing agent 31, the controller 5 is provided with an extrusion reset sensor 55, the extrusion reset sensor 55 is arranged on a shell of the pointing agent extrusion electric push rod 32, the controller 5 is connected with the extrusion reset sensor 55 through a control line, and a push rod of the pointing agent extrusion electric push rod 32 is provided with an induction piece; when the caulking agent in the bottled caulking agent 31 is extruded, the induction piece of the push rod of the caulking agent extrusion electric push rod 32 approaches to the extrusion reset sensor 55, the extrusion reset sensor 55 transmits a signal to the controller 5, the controller 5 controls the caulking agent extrusion electric push rod 32 to stop, and after the caulking agent extrusion electric push rod 32 stops, the controller 5 controls the caulking agent extrusion electric push rod 32 to reset; when the pointing agent extrusion electric push rod 32 stops, the controller 5 controls the moving motor 12 to stop the thrust sliding seat 8 to move, controls the finishing electric push rod 11 to drive the vertical sliding rail 9 to ascend and reset, and controls the finishing motor 6 to stop; after the pointing agent extrusion electric push rod 32 is reset, the cylinder cover 37 of the installation cylinder 33 is opened, new bottled pointing agent 31 is loaded into the installation cylinder 33 again, the bottled pointing agent 31 is fixed by the cylinder cover 37, and the process is circulated continuously.

In order to implement that the brick joints 23 are trimmed by the trimming wheel 7 and cleaned by the cleaning device 3, the pointing agent extruding device 3 is used for extruding the pointing agent to the trimmed and cleaned brick joints 23, the mounting cylinder 33 is obliquely arranged, the included angle between the center line of the bottled pointing agent 31 and the horizontal guide rail 13 is 25-65 degrees, and the pointing nozzle 39 of the bottled pointing agent 31 has a certain distance with the trimming wheel 7; when the trimming wheel 7 moves along the brick joint 23 for trimming, the pointing nozzle 39 of the bottled pointing agent 31 moves along the direction of movement of the trimming wheel 7, and the pointing nozzle 39 moves along the brick joint 23 following behind the trimming wheel 7.

In order to enable the trimming wheel 7 to cut and trim the brickwork joint 23 along the brickwork joint 23, the horizontal guide rail 13 is parallel to the infrared ray 53 projected by the infrared ray casting instrument 40, and the moving track of the sliding seat 8 is parallel to the infrared ray 53 projected by the infrared ray casting instrument 40; in order to avoid hard impact between the trimming wheel 7 and the brick joint 23, the driving head 22 of the trimming electric push rod 11 is fixedly connected with the first spring 9, the first spring 9 is fixedly connected with the vertical slide rail 9, and the trimming electric push rod 11 drives the vertical slide rail 9 to ascend or descend through the first spring 9; when the trimming wheel 7 cuts and trims the brick joints 23, the first springs 9 are compressed when cement sand in the brick joints 23 is high and hard; when cement sand in the brick joints 23 is less and loose, the first spring 9 is reset, and the elastic force of the first spring 9 is used for controlling the lifting of the finishing wheel 7; and the process is continuously circulated.

In order to ensure that the vacuum suction cups 24 can effectively suck the brick surfaces 29, the vacuum suction cups 24 are provided with a plurality of vacuum suction cups, and the initial state of the horizontal guide rail 13 is as follows: the vacuum cup 24 is supported by the horizontal guide rail 13 to be away from the brick surface 29, and a gap is reserved between the vacuum cup 24 and the brick surface 29; when the controller 5 controls the vacuum pump 25 to vacuumize the vacuum chuck 24, the driving rod 27 of the chuck electric push rod 26 drives the vacuum chuck 24 to descend through the second spring 28, the vacuum chuck 24 is pressed against the brick surface 29 by the elasticity of the second spring 28, and the horizontal guide rail 13 is tightly sucked on the brick surface 29 by the vacuum chuck 24.

In order to install the bottled pointing agent 31 in the installation cylinder 33, the bottled pointing agent 31 is convenient to be installed and removed; the bottled pointing agent 31 is provided with a limit boss 21, the outer diameter of the limit boss 21 is larger than the inner diameter of the installation cylinder 33, the installation cylinder 33 is provided with a cylinder cover 37, the cylinder cover 37 is provided with a through hole, the outer diameter of the limit boss 21 is larger than the inner diameter of the through hole, and the cylinder cover 37 is connected with the installation cylinder 33 through threads; when the bottled caulking agent 31 is mounted, the cylinder cover 37 of the mounting cylinder 33 is opened, the bottled caulking agent 31 is inserted into the mounting cylinder 33 from the lower cylinder opening 54 of the mounting cylinder 33, the lower cylinder opening 54 is clamped by the limit boss 21 of the bottled caulking agent 31, the bottled caulking agent 31 passes through the through hole of the cylinder cover 37, and the cylinder cover 37 is screwed with the mounting cylinder 33 to fix the bottled caulking agent 31 in the mounting cylinder 33.

Claims

1. House decoration pointing robot, its characterized in that: the household decoration pointing robot comprises a finishing device (1), a positioning device (2), a cleaning device (3), a pointing agent extruding device (4) and a controller (5); the trimming device (1) comprises a trimming motor (6), a trimming wheel (7), a sliding seat (8), a vertical sliding rail (9), a first spring (10), a trimming electric push rod (11), a moving motor (12), a horizontal guide rail (13), a rack (14) and a moving gear (15); the sliding seat (8) is provided with a vertical sliding chute (19) and a horizontal sliding chute (20), the vertical sliding rail (9) is connected with the vertical sliding chute (19) in a movable fit manner, and the horizontal guide rail (13) is connected with the horizontal sliding chute (20) in a movable fit manner; the base of the trimming motor (6) is fixedly connected with the vertical sliding rail (9), the motor shaft of the trimming motor (6) is fixedly connected with the trimming wheel (7), the shell of the trimming electric push rod (11) is fixedly connected with the sliding seat (8), and the trimming electric push rod (11) is fixedly connected with the vertical sliding rail (9); a rack (14) is fixedly connected with a horizontal guide rail (13), a shell of a moving motor (12) is fixedly connected with a sliding seat (8), a motor shaft of the moving motor (12) is fixedly connected with a moving gear (15), and the moving gear (15) is meshed with the rack (14); the positioning device (2) comprises a vacuum sucker (24), a vacuum pump (25) and a sucker electric push rod (26), the shells of the vacuum pump (25) and the sucker electric push rod (26) are fixedly connected with the horizontal guide rail (13), the sucker electric push rod (26) is connected with the body of the vacuum sucker (24), and an air suction joint (27) of the vacuum sucker (24) is connected with the vacuum pump (25); the cleaning device (3) comprises a dust collector (16), a dust collection cover (30), a connecting pipe (31), a cleaning motor (17) and a cleaning wheel (18); the dust hood (30) is connected with the cleaning device (3) through a connecting pipe (31), the cleaning device (3) is arranged on the sliding seat (8), and the dust hood (30) is fixed on the sliding seat (8); the base of the cleaning motor (17) is fixedly connected with the base of the dressing motor (6), the motor shaft of the cleaning motor (17) is fixedly connected with the cleaning wheel (18), and the dust hood (30) is arranged between the dressing wheel (7) and the cleaning wheel (18); the pointing agent extruding device (4) comprises a bottled pointing agent (31), a pointing agent extruding electric push rod (32), an installation cylinder (33), a pointing lifting electric push rod (34), a lifting groove (35) and a lifting track (36), wherein a shell of the pointing lifting electric push rod (34) is fixedly connected with a sliding seat (8), the lifting track (36) is fixedly connected with a driving rod (38) of the pointing lifting electric push rod (34), the lifting groove (35) is fixedly connected with the shell of the pointing lifting electric push rod (34), the lifting track (36) is movably matched and connected with the lifting groove (35), the installation cylinder (33) is fixedly connected with the shell of the pointing agent extruding electric push rod (32), and the bottled pointing agent (31) is installed in the installation cylinder (33); the controller (5) comprises an infrared ray demarcation device (40), a trimming upper limit position sensor (41), a trimming lower limit position sensor (42), a pointing upper limit position sensor (43), a pointing lower limit position sensor (44), a pointing lifting sensing piece (45), a trimming stop position sensor (46), a horizontal movement limit sensor (47), a horizontal movement reset sensor (48), a starting switch (49), a stop switch (50) and an infrared switch (51); the infrared ray casting device (40) is arranged on a horizontal guide rail (13), a trimming upper limit position sensor (41) and a trimming lower limit position sensor (42) are arranged on a sliding seat (8), the trimming upper limit position sensor (41) is positioned above the trimming lower limit position sensor (42), a pointing upper limit position sensor (43) and a pointing lower limit position sensor (44) are arranged on a lifting groove (35), the pointing upper limit position sensor (43) is positioned above the pointing lower limit position sensor (44), and a pointing lifting sensing piece (45) is arranged on a lifting track (36); a trimming stop position sensor (46), a horizontal movement limit sensor (47) and a horizontal movement reset sensor (48) are mounted on the horizontal guide rail (13), and the trimming stop position sensor (46) is positioned between the horizontal movement limit sensor (47) and the horizontal movement reset sensor (48); the controller (5) is connected with the infrared ray casting instrument (40), the trimming upper limit position sensor (41), the trimming lower limit position sensor (42), the pointing upper limit position sensor (43), the pointing lower limit position sensor (44), the trimming stop position sensor (46), the horizontal movement limit sensor (47), the horizontal movement reset sensor (48), the starting switch (49), the stop switch (50), the infrared switch (51), the trimming device (1), the positioning device (2), the cleaning device (3) and the pointing agent extruding device (4) through control lines.

2. The home decoration pointing robot of claim 1, characterized in that: the initial state of the trimming electric push rod (11) is as follows: the driving head (22) of the trimming electric push rod (11) is at the upper limit cutting position, the driving head (22) is close to the upper limit trimming position sensor (41), and the trimming electric push rod (11) is in a non-extending state; the initial state of the sucker electric push rod (26) is as follows: a driving rod (27) of the sucker electric push rod (26) is in a non-extending state; the initial state of the slide (8) is: the slide seat (8) approaches a horizontal movement reset sensor (47); the initial state of the pointing lifting electric push rod (34) is as follows: the pointing lifting electric push rod (34) is in a non-extending state, and a pointing lifting sensing piece (45) on the lifting track (36) approaches to a pointing upper limit position sensor (43); the initial state of the pointing agent extrusion electric push rod (32) is as follows: the extrusion push rod (52) of the pointing agent extrusion electric push rod (32) is in a non-extension state; the initial state of the cleaning device (3) is: the cleaning wheel (18) is not in contact with the brick joint (23).

3. The home decoration pointing robot of claim 2, characterized in that: the mobile motor (12) is coaxially connected with the mobile gear (15), the trimming motor (6) is coaxially connected with the trimming wheel (7), and the cleaning motor (17) is coaxially connected with the cleaning wheel (18); the direction of rotation of the moving gear (15) is the same as the direction of rotation of the dressing wheel (7), and the direction of rotation of the dressing wheel (7) is opposite to the direction of rotation of the cleaning wheel (18).

4. The home decoration pointing robot of claim 3, characterized in that: the central line of the mounting cylinder (33) is the same as that of the pointing agent extrusion electric push rod (32), the central line of the bottled pointing agent (31) is the same as that of the pointing agent extrusion electric push rod (32), the central line of the mounting cylinder (33) is on the vertical plane of the brick joint (23), or the central line of the mounting cylinder (33) is on the vertical plane of the infrared ray (53) of the infrared ray casting instrument (40); the vertical sliding groove (19) and the vertical sliding rail (9) of the sliding seat (8) are vertical to the brick surface (29), the axis of the trimming motor (6) is parallel to the brick surface (29), and the trimming wheel (7) is vertical to the brick surface (29).

5. The home decoration pointing robot of claim 4, characterized in that: controller (5) be equipped with extrusion reset sensor (55), extrusion reset sensor (55) are located the shell of jointing agent extrusion electric putter (32), controller (5) are connected with extrusion reset sensor (55) through the control line, the catch bar of jointing agent extrusion electric putter (32) is equipped with the response piece.

6. The home decoration pointing robot of claim 5, characterized in that: the mounting cylinder (33) is obliquely arranged, the included angle between the central line of the bottled pointing agent (31) and the horizontal guide rail (13) is 25-65 degrees, and the pointing nozzle (39) of the bottled pointing agent (31) has a certain distance from the dressing wheel (7).

7. The home decoration pointing robot of claim 6, characterized in that: the horizontal guide rail (13) is parallel to the infrared ray (53) projected by the infrared ray projector (40), and the moving track of the sliding seat (8) is parallel to the infrared ray (53) projected by the infrared ray projector (40).

8. The home decoration pointing robot of claim 7, characterized in that: the driving head (22) of the trimming electric push rod (11) is fixedly connected with the first spring (9), the first spring (9) is fixedly connected with the vertical sliding rail (9), and the trimming electric push rod (11) drives the vertical sliding rail (9) to ascend or descend through the first spring (9).

9. The home improvement pointing robot of claim 8, characterized in that: the vacuum suction cups (24) are provided with a plurality of vacuum suction cups, and the initial state of the horizontal guide rail (13) is as follows: the vacuum suction cup (24) is supported by the horizontal guide rail (13) to be separated from the brick surface (29), and a gap is reserved between the vacuum suction cup (24) and the brick surface (29).

10. The home improvement pointing robot of claim 9, characterized in that: bottled joint compound (31) be equipped with spacing boss (21), the external diameter is greater than the internal diameter of installation section of thick bamboo (33) is put into to spacing boss (21), installation section of thick bamboo (33) are equipped with cover (37), cover (37) are equipped with the through-hole, the external diameter of spacing boss (21) is greater than the internal diameter of through-hole, cover (37) pass through the screw and are connected of installation section of thick bamboo (33).