CN113073824A

CN113073824A - Scraping and pressing device and caulking robot

Info

Publication number: CN113073824A
Application number: CN202010010019.XA
Authority: CN
Inventors: 魏愷含; 王立新; 刘丹; 邢万庆; 胡鹏程
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2021-07-06

Abstract

The embodiment of the application provides a scrape pressure equipment and robot of caulking, scrapes pressure equipment and includes installation department, a plurality of first pressure subassembly and the drive division of scraping, and first pressure subassembly of scraping is connected in the installation department, and a plurality of first pressure subassemblies of scraping are located same circumference, and every first pressure subassembly of scraping has first pressure face of scraping, and first pressure face of scraping is parallel with the axis of installation department. The driving part is used for driving the mounting part to rotate. The application provides a scrape and press device sets up the discharge opening through the lateral wall in the feed cylinder, will be first scrape and press the subassembly to set up in the installation department, and the installation department can be circular motion under the drive division drives to it is circular motion to drive first scraping and pressing the subassembly. Under the action of centrifugal force, the first scraping and pressing assembly is exposed from the discharge hole in the side wall, so that continuous scraping and pressing operation on a ground seam or a wall seam is realized, and the scraping and pressing device is particularly suitable for scraping and pressing vertical seams formed on a wall surface.

Description

Scraping and pressing device and caulking robot

Technical Field

The invention relates to the field of interior decoration, in particular to a scraping device and a caulking robot.

Background

In the interior decoration construction process, a large amount of scraping and pressing work can be carried out on a fluid body, such as filling of tile seams, filling of ground seams, putty scraping, white scraping and other coating operations, the existing automatic seam filling device does not solve the problem of filling of vertical seams, and can only fill horizontal seams.

Disclosure of Invention

An object of the embodiments of the present application is to provide a scraping device and a caulking robot to improve the above problems. The embodiment of the application realizes the aim through the following technical scheme.

In a first aspect, an embodiment of the present application provides a scraping device, including installation department, a plurality of first scraping assemblies and drive division, first scraping assemblies is connected in the installation department, and a plurality of first scraping assemblies are located same circumference, and every first scraping assembly has a first scraping surface, and the first scraping surface is parallel with the axis of installation department. The driving part is used for driving the mounting part to rotate.

In one embodiment, the mounting portion includes a connecting base and at least one connecting rod connected to the connecting base and extending outward in a radial direction of the connecting base, and the first scraping and pressing member is connected to the connecting rod.

In an embodiment, the scraping device further comprises a plurality of second scraping assemblies, the second scraping assemblies are connected to the connecting rod and located on the same circumference, each second scraping assembly is provided with a second scraping surface, and the second scraping surfaces are arranged obliquely relative to the axis of the mounting portion.

In one embodiment, the second scraping assembly has a second scraping surface and a top surface opposite to the second scraping surface, and the first scraping assembly is connected to the top surface.

In one embodiment, the first wiping surface and the second wiping surface are perpendicular to each other.

In one embodiment, the second scraper component comprises a connecting part, a second scraper and a connecting part, the connecting part comprises a first connecting part and a second connecting part which are connected with each other, the second scraper is connected to the first connecting part and the second connecting part, a connecting clamp groove is formed between the first connecting part and the second connecting part, the connecting rod is embedded into the connecting clamp groove, the connecting part penetrates through the first connecting part and the second connecting part and is used for adjusting the gap width of the connecting clamp groove, and the first scraping and pressing component is connected to the second scraper.

In an embodiment, the scraping device further comprises a stirring rod, the stirring rod is connected to the connecting seat, the plurality of first scraping assemblies are located on the circumferential direction of the stirring rod, and the driving portion is connected to the stirring rod.

In one embodiment, the scraping device further comprises a barrel, the side wall of the barrel is provided with a discharge hole, the discharge hole penetrates through the barrel, the mounting part and the first scraping assemblies are located in the barrel, and when the mounting part rotates, the first scraping surfaces are selectively exposed from the discharge hole.

In one embodiment, the first scraping and pressing assembly comprises a first scraping and pressing surface, the first scraping and pressing surface is formed on one side of the first scraping and pressing plate facing the annular cover plate, and the first scraping and pressing surface is obliquely arranged relative to a tangent plane of the discharging hole.

In a second aspect, the present application further provides a caulking robot, which includes a frame, a traveling mechanism disposed in the frame, and the scraping device as described in any one of the above, wherein the scraping device is mounted on the frame.

Compared with the prior art, the scraping device and the caulking robot provided by the application can continuously scrape and press the floor seams or wall seams by arranging a plurality of first scraping components which can move along the circumference, and are particularly suitable for scraping and pressing the vertical seams formed on the wall surface.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural view of a scraping device according to a first embodiment of the present application.

Fig. 2 is a schematic structural view of a mounting portion in a scraping apparatus according to a first embodiment of the present application.

Fig. 3 is a schematic structural view of a first scraper in the scraping apparatus provided in the first embodiment of the present application.

Fig. 4 is a schematic structural view of a stirring rod in the scraping device provided in the first embodiment of the present application.

Fig. 5 is a schematic view of the cartridge in the squeegee assembly provided by the first embodiment of the present application.

Fig. 6 is a schematic structural view of a scraping device according to a second embodiment of the present application.

Fig. 7 is a schematic view of the cartridge in a squeegee assembly according to a second embodiment of the present application.

Fig. 8 is a schematic structural view of a second scraping press assembly in a scraping press device provided in a second embodiment of the present application.

Fig. 9 is a schematic structural view of a connecting portion in a scraping apparatus according to a second embodiment of the present application.

Fig. 10 is a schematic structural view of a second squeegee in the squeegee device provided in the second embodiment of the present application.

Fig. 11 is a schematic structural view of a first scraper in a scraping apparatus provided in a second embodiment of the present application.

Fig. 12 is a schematic structural diagram of a caulking robot according to a third embodiment of the present application.

Detailed Description

To facilitate an understanding of the embodiments of the present application, the embodiments of the present application will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the examples of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Some scraping devices have also appeared on the market at present, but most scraping devices only have a doctor-bar and preforming, scrape and press the during operation, can't one step put in place, and need scrape repeatedly to gap or ground and press, repeated operation. The existing scraping and pressing device is complex, has high requirements on brick joints, has poor adaptability to the height difference of the plane of the brick joints, and has low efficiency and high requirements on space due to scraping and pressing actions performed by other reciprocating flat scraping and other modes. In particular, the scraping operation cannot be performed for a bead, which is, for example, a groove formed in a wall surface.

The inventor finds that some scraping and pressing devices are also available on the market, and in order to clean the working gap before and after caulking, cleaning flannelette is added on the device, and even a cleaning water tank is added on the device, so that the device is not only more complicated, but also high in cost and low in cost.

In addition, through the research of the market of the inventor, at present, a scraping device and a caulking robot for scraping and pressing the vertical seams are not available.

The inventor has long studied and invented a scraping device and a caulking robot which can scrape and press a vertical seam.

First embodiment

Referring to fig. 1, an embodiment of the present application provides a scraping device 10a, which includes a mounting portion 220, a plurality of first scraping assemblies 500 and a driving portion 400, wherein the first scraping assemblies 500 are connected to the mounting portion 220. The driving part 400 is used for driving the mounting part 220 to rotate. The first scraping and pressing assembly 500 is disposed on the mounting portion 220, and the mounting portion 220 is driven by the driving portion 400 to perform a circular motion. Thereby driving the first scraping and pressing assembly 500 to do circular motion correspondingly, and realizing scraping and pressing.

The mounting portion 220 may be provided in various different configurations, such as a disk shape, a plate shape, etc., wherein an axis of the mounting portion 220 may refer to a perpendicular bisector of the mounting portion 220. Specifically, in some embodiments, referring to fig. 2, the mounting portion 220 includes a connecting seat 221 and at least one connecting rod 222, the connecting seat 221 can be connected to the driving portion 400 to form a rotation, the connecting rod 222 is connected to the connecting seat 221 and extends outward along a radial direction of the connecting seat 221, and the connecting rod 222 is used to connect to the first scraping and pressing assembly 500. The connecting seat 221 is substantially in an annular structure, and the connecting seat 221 is provided with a fixing hole 2211, in this embodiment, an axis of the fixing hole 2211 is an axis of the mounting portion 220. The connecting base 221 can also be provided with a fastening hole 2212, the axis of the fastening hole 2212 is perpendicular to the axis of the fixing hole 2211, and a jackscrew can be installed in the fastening hole 2212. The connecting seat 221 and the connecting rod 222 can be formed by welding, integral molding and the like, and 1, 2 or even more connecting rods 222 can be welded on the connecting seat 221 according to the requirements of specific working conditions so as to meet the requirements of different working strengths. In the present embodiment, as an example, the mounting portion 220 includes four connecting rods 222, and the connecting rods 222 are arranged in a central symmetry manner around the center of the fixing hole 2211. The connecting rods 222 arranged in central symmetry are driven by the driving part 220 to move circularly, the motion tracks of the connecting rods 222 are the same, and the purpose of repeatedly scraping and pressing a gap point is achieved during work. The connection rod 222 may be a cylindrical rod shape, and an axis of the cylindrical rod-shaped connection rod 222 is located in a radial direction of the connection seat 221.

In other embodiments, the connecting seat 221 and the connecting rod 222 may be connected by other connecting means such as bolts and buckles, and the connecting rod 222 may also be a rod-shaped structure with other shapes such as a rectangular rod-shaped structure.

First scrape and press subassembly 500 connection installation department 220 and be used for scraping and press the operation, in this embodiment, first scrape and press subassembly 500 to connect in connecting rod 222, first scrape and press subassembly 500 to be circular motion under the drive of connecting rod 222, first scrape press subassembly 500 has first scraping pressure face 511, first scraping pressure face 511 is on a parallel with the axis direction of installation department, when the axis direction of installation department 220 is located vertical, first scraping pressure face 511 can be used for scraping the pressure to the perps.

Specifically, referring to fig. 3, the first scraping and pressing assembly 500 includes a first scraping plate 510. The first squeegee 510 has a substantially rectangular plate-like structure. The first scraping plate 510 is connected to the mounting portion 220, specifically, the first scraping surface 511 is formed on the first scraping plate 510, and the first scraping surface 511 is parallel to the axis of the mounting portion 220. And the plurality of first scraping and pressing assemblies 500 are correspondingly connected to one connecting rod 222, and the plurality of first scraping and pressing assemblies 500 connected to the connecting rod 222 are located on the same circumference, where the location on the same circumference means: the connecting points of each first scraping and pressing component and the connecting rod are positioned on the same circumference. So that under the driving of the mounting portion 220, the motion tracks of the first scraping and pressing assemblies 500 are circles, and the first scraping and pressing surfaces 511 of the first scraping and pressing assemblies 500 sweep the same motion tracks, thereby achieving the purpose of repeatedly scraping and pressing the same vertical joint.

In some embodiments, referring to fig. 3 again, the first scraping surface 511 is formed on the first scraping plate 510, and the first scraping plate 510 is provided with a first mounting hole 512 therethrough, and the first mounting hole 512 is used for realizing the connection fastening between the first scraping assembly 500 and the connecting rod 222.

In other embodiments, the first scraper 510 may not be provided with the first mounting hole 512, and at this time, the first scraper assembly 500 and the connecting rod 222 may be fixed by some other means such as adhesion, so as to satisfy the connection strength. In other embodiments, the first scraper 510 may have other shapes such as a circle, a triangle, etc. to meet the installation requirement and the scraping requirement.

Referring again to fig. 1, in some embodiments, the first scraping assembly 500 may further include a first flexible layer 520, and the first flexible layer 520 is disposed on the first scraping surface 511. The first flexible layer 520 material may be rubber, sponge, or some other flexible material. First flexible layer 520 and first squeegeeing surface 511 may be the same size such that, in operation, only first flexible layer 520 contacts the work surface to prevent hard contact between the device and the work surface. Meanwhile, the first flexible layer 520 can be completely attached to the first scraping and pressing surface 511 in the same thickness, so that the working surface of the first flexible layer 520 is approximately parallel to the first scraping and pressing surface 511, the working surface of the first flexible layer 520 and the tangent plane of the center of the discharge hole 121 have the same inclination angle, the first flexible layer 520 can press feed liquid into a brick joint, meanwhile, redundant feed liquid is scraped away, and a certain cleaning effect is achieved on the working surface of the device in advancing.

In some embodiments, referring to fig. 1 again, the driving portion 400 is used to provide a power source for the mounting portion 220, so as to drive the mounting portion 220 to make a circular motion. In some embodiments, the driving portion 400 includes a handle 410, and the handle 410 is connected to the mounting portion 220. The handle 400 is substantially "L" shaped, and the handle 410 can be used as a power source for the entire device, and the stirring power can be provided by manually shaking the handle 410. In other embodiments, the driving portion 400 may also be a motor or other devices capable of providing power, and the driving portion 400 may directly connect the power output shaft to the mounting portion 220 to drive the mounting portion 220 to rotate.

In order to facilitate the transmission of the power of the driving portion 400 to the mounting portion 220, so as to drive the mounting portion 220 to perform a circular motion in a more labor-saving manner, in some embodiments, referring to fig. 4, the scraping and pressing device 10a may further include a stirring rod 210. The stirring rod 210 has a substantially cylindrical structure, and the stirring rod 210 includes a connecting end 211 and a stirring end 212 connected to each other. The sections of the stirring rod 210 may have different diameters to meet installation requirements. For example, the cylinder of the connection portion between the connection end 211 and the stirring end 212 has the largest diameter, which can satisfy the positioning and installation requirements between the stirring rod 210 and the driving part 400 when the stirring rod 210 is installed. The connection end 211 is connected to the driving part 400. The stirring end 212 is connected to the connecting base 221, and further, the stirring end 212 extends into the fixing hole 2211, and the fastening connection between the stirring rod 210 and the mounting portion 220 is realized by inserting the jackscrew into the fastening hole 2212.

In other embodiments, the connection seat 221 and the stirring end 212 may be connected by other types of connections, such as a key connection, a threaded connection, etc., so as to satisfy the connection strength.

In order to effectively prevent the feed liquid from splashing during the scraping process and to accommodate the first scraping assembly 500 and the mounting portion 220, in some embodiments, referring to fig. 1 and 5 together, the scraping device 10a may further optionally include a cartridge 100. The cartridge 100 is a substantially cylindrical cavity structure, the cartridge 100 has an annular cover plate 120 and a mounting surface 110 and a bottom plate 130 which are oppositely arranged, the annular cover plate 120 is arranged around the opposite mounting surface 110 and the bottom plate 130 to form a containing cavity 140, and the annular cover plate 120 is provided with a discharge port 121, and the discharge port 121 is communicated with the containing cavity 140. In some embodiments, bucket 100 may be sized appropriately according to the size of the internal components and the needs of the actual operation.

Further, the mounting plate 110 has a substantially circular plate-like structure, and the mounting plate 110 has a mounting hole 112 formed therein. The side, far away from the bottom surface 130, of the mounting plate 110 is provided with a boss 113, the boss 113 is provided with a positioning hole 1131, the positioning hole 1131 corresponds to and is communicated with the mounting hole 112, the diameters of the mounting hole 112 and the positioning hole 1131 can be different, the mounting hole 112 and the positioning hole 1131 with different diameters can have a positioning function, and are matched with the stirring rod 210 with a variable outer diameter to realize positioning and mounting. In addition, it is possible to make it more convenient to mount the bearing 1121 and other connecting components. The mounting plate 110 is further provided with a feeding pipe 111, the feeding pipe 111 is provided with a feeding port 1111, the feeding port 1111 penetrates through the feeding pipe 111 and is communicated with the receiving cavity 140, and in the present embodiment, as an example, the mounting plate 110 may be provided with one feeding pipe 111. Since the feeding pipe 111 is a tubular structure protruding from the mounting plate 110, a feeding source can be connected thereto to feed the material into the receiving cavity 140 by pumping.

In other embodiments, the mounting plate 110 may further include two, three or more feeding pipes 111 and feeding ports 1111, and the feeding pipes 111 and the feeding ports 1111 may be disposed to meet the requirement of the scraping operation.

In some embodiments, the annular cover plate 120 is disposed around the mounting plate 110 to form a receiving cavity 140 with the mounting plate 110 for storing the feed liquid, and due to the annular cover plate 120, the gap filler does not splash during the operation of the scraping device 10a, and the subsequent cleaning time can be reduced to some extent. The annular housing plate 120 is provided with a discharge hole 121.

In this embodiment, the mounting portion 220 and the first scraping and pressing assembly 500 are disposed in the accommodating cavity 140, the driving portion 400 is connected to the mounting portion 220 to form transmission and extend out from the mounting hole 112 for operation by a user, an axial direction of the mounting portion 220 is parallel to or coaxial with an axial direction of the mounting hole 112, the first scraping and pressing surface 511 can be selectively exposed from the discharging hole 121 during rotation of the mounting portion 220, the first scraping and pressing surface 511 is disposed in an inclined manner with respect to a tangential plane of a center of the discharging hole 121, and a certain angle is formed between the first scraping and pressing surface 511 and a working surface when the first scraping and pressing surface is operated in an inclined manner with respect to the tangential plane of the center of the discharging hole 121. Because the first scraping and pressing component 500 is in circular motion during operation, the first scraping and pressing surface 511 which is obliquely arranged deforms in the radial direction far away from the circular motion under the action of centrifugal force, so that the material liquid is pushed to the gap, and the purpose of scraping and pressing is achieved. It will be appreciated that the acute angle formed by the first scraping surface 511 and the central section of the spout 121 is set to be between 15 degrees and 45 degrees for the best caulking effect.

In order to facilitate the power input of the driving portion 400, please refer to fig. 1 and fig. 4 again, the connecting end 211 of the stirring rod 210 is selectively exposed to the boss 113, a connecting hole 2111 is formed through a portion of the connecting end 211 extending out of the boss 113, and the connecting hole 2111 is used for connecting the driving portion 400, so as to input power to the device.

In some embodiments, the scraping device 10a may further include a feeding system (not shown) connected to the feeding port 111 for continuously supplying the scraping material to the device.

Taking the scraping and pressing for caulking vertical tile joints as an example, the working principle of the scraping and pressing device 10a provided by the embodiment is as follows:

before the device works, the scraping and pressing device 10a is arranged at a vertical joint position, the discharge port 130 faces the vertical joint, feed liquid is supplemented from the feed port 1111 and enters the accommodating cavity 140, the driving part 400 is controlled to drive the stirring rod 210 to rotate, each first scraping and pressing assembly 500 is driven to repeatedly scrape and press the vertical joint, the feed liquid (gap filler) is pressed into the vertical brick joint, and the pressed joint is repeatedly cleaned and scraped again. The device is continuously scraped and pressed along the vertical brick joints in the working process.

In summary, in the scraping device 10a provided by the present embodiment, the first scraping assembly 500 is disposed obliquely, and the stirring rod 210 can drive the mounting portion 220 to rotate along the direction of the first scraping surface 511, so as to continuously scrape, press and fill the vertical gap. And the first scraping and pressing assembly 500 is arranged in a circle, so that repeated scraping and pressing on the same vertical joint can be realized without moving the scraping and pressing device 10 a. Because the stirring rod 210 arranged on the scraping device 10a is in continuous motion, when materials such as seam beautifying agent and floor adhesive are used for filling the seams of the wall and floor tiles, the material liquid (such as the seam beautifying agent) can be stirred and cannot be solidified.

It is understood that the squeegee assembly 10a can also perform a puttying, whiting, or like application operation. Of course, the material barrel 100 of the device can be simply trimmed and cleaned if the material barrel is filled with clean water.

Second embodiment

In the process of interior decoration, often in the work of carrying out fluid body scraping, not only can scrape the pressure to the perps, still can involve scraping the pressure to subaerial horizontal brickwork joint.

Referring to fig. 6, fig. 6 is a second embodiment of the scraping device 10b, and the difference between the second embodiment and the first embodiment is that the scraping device 10b further includes a second scraping assembly 300, and the second scraping assembly 300 can be exposed from the cartridge 100.

In this embodiment, referring to fig. 7, the bottom surface 130 of the barrel 100 is not disposed to form a cylindrical hollow structure with an opening at one end, the opening is disposed with a second discharge hole 122, and the second discharge hole 122 is communicated with the receiving cavity 140. Further, an elastic layer 123 may be disposed on an end surface of the annular cover plate 120 away from the mounting plate 110, and the elastic layer 123 may be made of rubber, sponge, or the like, so as to scrape off the excessive liquid during the moving process of the device, and prevent the floor tiles, the ceramic tiles, or the like from being scratched.

It will be appreciated that in other embodiments, the end of the annular shroud 120 remote from the mounting plate 110 may be provided with a movement mechanism to allow the scraping apparatus 10b to automatically move across the ground.

The second scraping assembly 300 is connected with the stirring rod 210 through the mounting portion 220 and exposed from the second discharge hole 122, and the second scraping assembly 300 performs circular motion under the driving of the stirring rod 210, so that the scraping of the feed liquid is realized. Referring to fig. 6 and 8, in some embodiments, the second scraping element 300 includes a connecting portion 310 and a second scraping element 320. The connecting portion 310 is connected to the connecting rod 222, and the connecting portion 310 is connected to the connecting rod 222 by clamping, and the connecting portion 310 can rotate around the connecting rod 222 when the connecting portion 310 is not clamped to the connecting rod 222. The second scraper 320 is disposed on the connecting portion 310, the second scraper 320 is provided with a second scraping surface 321, and since the connecting portion 310 can rotate around the connecting rod 222 without being clamped, an angle between the second scraping surface 321 and an axis of the stirring rod 210 can be adjusted, in this embodiment, the second scraping surface 321 is disposed obliquely with respect to the axial direction of the stirring rod 210, that is, is neither perpendicular nor parallel to the axis of the stirring rod 210.

The second scraping surface 321 of the second scraper 320 is obliquely arranged, so that when the device is located on the working surface to work, the second scraping surface 321 and the working surface have a certain included angle, the contact area between the second scraping surface 321 and the working surface is reduced, and therefore when the second scraper 320 scrapes the material liquid, pressure parallel to the axial direction of the stirring rod 210 is applied to the material liquid, and thrust perpendicular to the axial direction of the stirring rod 210 is applied to the material liquid. Therefore, the second scraper 320 can not only press feed liquid into brick joints, but also scrape redundant feed liquid away, so that the feed liquid is saved, and the automatic cleaning is realized.

In other embodiments, the second scraping surface 321 may be perpendicular to the axis of the stirring rod 210, and in this case, the second scraping plate 320 itself should have a certain slope to meet the requirement of scraping the feed liquid.

In some embodiments, as shown in fig. 9, the connecting portion 310 can be used to adjust the relative position of the second scraper 320 and the stirring rod 210 in the axial direction, and can perform the connecting function. The connecting portion 310 includes a first connecting portion 311 and a second connecting portion 312 connected to each other, the first connecting portion 311 and the second connecting portion 312 may have the same structure, the first connecting portion 311 and the second connecting portion 312 both include a clamping end 3111 and a scraping end 3112 connected to each other, the scraping end 3112 of the first connecting portion 311 is connected to the scraping end 3112 of the second connecting portion 312, and the clamping end 3111 of the first connecting portion 311 and the clamping end 3111 of the second connecting portion 312 are disposed opposite to each other to form a connecting clamping groove 313. In this embodiment, the clamping ends 3111 are provided with recesses having a semicircular cross-section, and the recesses of the two clamping ends 3111 are opposed to form a hole-shaped structure for cooperating with the connecting rod 222. The clamping end 3111 is further provided with a clamping hole 314, and the clamping hole 314 penetrates the clamping end 3111 of the first connection portion 311 and the clamping end 3111 of the second connection portion 312. The scraping end 3112 is further provided with a first connection hole 315 for connecting the second scraper 320.

In some embodiments, referring to fig. 9 again, in order to clamp the connecting portion 310 to the connecting rod 222, the second scraping and pressing assembly 300 further includes a connecting member 340, the connecting member 340 may be a bolt and a nut, when the connecting rod 222 is installed, the connecting rod 222 is inserted into the hole-shaped structure of the connecting clamp groove 313, and the connecting member 340 is inserted into the clamping hole 314 and passes through the first connecting portion 311 and the second connecting portion 312, so that the first connecting portion 311 and the second connecting portion 312 are relatively fixed and clamp the connecting rod 222, it can be understood that the width of the gap of the connecting clamp groove 313 can be adjusted by adjusting the nut, thereby achieving the purpose of clamping or releasing the connecting portion 310 and the connecting rod 222. When the connection portion 310 and the connection rod 222 are loosened, the connection portion 310 may be rotated to adjust the angle of the second scraping surface 321 with respect to the axial direction of the stirring rod 210.

In other embodiments, the connecting member 340 may be a spring clip or other fastener, which can adjust the tightness between the connecting portion 310 and the connecting rod 222.

In some embodiments, referring to fig. 8 and 10, the second scraper 320 is substantially rectangular plate-shaped, and the second scraper 320 is connected to the connecting portion 310. The second scraper 320 has a second scraping surface 321, and the second scraping surface 321 is exposed from the second discharge port 130. The second scraper 320 has a second connecting hole 322, and the second connecting hole 322 is used for connecting with the connecting portion 310.

In other embodiments, the second scraper 320 may have other shapes such as a circle and a triangle, and the size may be adjusted to satisfy the installation function. In other embodiments, the second connection hole 322 and the third connection hole 323 may not be formed in the second blade 320, and in this case, the blade 320 and the connection portion 310 may be connected by other methods, such as adhesion.

Referring to fig. 6 again, in some embodiments, the second scraping assembly 300 may further include a second flexible layer 330, and the second flexible layer 330 is disposed on the second scraping surface 321 and exposed from the second discharge hole 122. The second flexible layer 330 material may be rubber, sponge, or some other flexible material. The second flexible layer 330 may be the same size as the second squeegeeing surface 321 such that, in operation, only the second flexible layer 330 contacts the work surface to prevent hard contact between the device and the work surface. Meanwhile, the second flexible layer 330 can be completely attached to the second scraping and pressing surface 321 in an equal thickness mode, so that the working surface of the second flexible layer 330 is approximately parallel to the second scraping and pressing surface 321, the working surface of the second flexible layer 330 is in the axial direction of the stirring shaft 210, the second scraping plate 320 has the same inclination angle with the axial direction of the stirring shaft 210, the second flexible layer 330 can press the feed liquid into the brick joints, meanwhile, the redundant feed liquid is scraped away, and a certain cleaning effect is achieved on the working surface of the device in the advancing process.

Since one second scraping assembly 300 can be disposed on each mounting portion 222, the number of the second scraping assemblies 300 can be one, two or more. For easy understanding, referring to fig. 6 again, in the present embodiment, 4 second scraping assemblies 300 are provided, the inclined directions of the 4 second scraping assemblies 300 may be the same, when the apparatus is in operation, the 4 second scraping assemblies 300 having the same inclined direction continuously press the feed liquid into the gap, and the 4 second scraping assemblies 300 continuously scrape the gap-filling agent filled in the gap, so as to achieve the purpose of leveling and compacting. As can be appreciated, since the operation mechanism of the scraping apparatus 10b is composed of the second scraping unit 300 which rotates continuously, the operation efficiency can be improved by increasing the number of the pressing sheets and increasing the speed of the rotation of the pressing sheets.

In order to simplify the structure of the device, referring to fig. 6, 10 and 11, the second scraper 320 has a top surface 323, and the top surface 323 is disposed opposite to the second scraping surface 321. The first scraper 510 may be provided with a second mounting hole 513 on a side surface thereof, so that the first scraper 510 is connected to the top surface 513 and is connected to the mounting portion 220 through the second scraping component 300, and thus the inclination angle of the first scraping component 500 can be adjusted at the same time when the inclination angle of the second scraping component 300 and the stirring rod 210 is adjusted. Further, in some embodiments, the first scraping and pressing surface 511 and the second scraping and pressing surface 321 may be perpendicular to each other, so that when scraping and pressing the wall surface and the ground at the corner, the scraping and pressing of the brick joints of the ground and the wall surface can be performed simultaneously, the scraping and pressing steps are reduced, and the efficiency is improved. It is understood that in other embodiments, the first scraping assembly 500 and the second scraping assembly 300 can be independently connected to the connecting rod 222.

The operation principle of the scraping and pressing device 10 provided by the embodiment is as follows:

when the ground seam on the ground needs to be scraped, before the device works, the scraping device 10b is placed on the surface of the floor tile, the second discharge hole 122 faces the floor tile, the joint mixture is supplemented from the feed hole 1111 and enters the accommodating cavity 140, the driving part 400 is controlled to drive the stirring rod 210 to rotate, each second scraping device 300 is driven to scrape and press the brick seam in a rotating manner, the feed liquid (joint mixture) is pressed into the brick seam, and the pressed seam is repeatedly cleaned and scraped again. The device is continuously scraped along the brick joints in the working process. During the movement of the scraping device 10b, since the annular housing plate 120 is provided with the elastic layer 123, such as an elastic material of rubber or sponge, on the side of the discharge port 130, the elastic layer 123 can contact the working surface during the movement of the charging basket 100, and effectively clean the gap filling agent remained on the gap filled before, so as to achieve the effect of no gap filling agent remaining.

When the perps pressing operation is needed, the second pressing component 300 can be selectively removed, and the second discharge hole 122 is blocked. At this time, the discharge port 121 is aligned with the vertical seam to be scraped, and the vertical seam scraping operation is performed.

In summary, the scraping device 10b provided by this embodiment has no requirement for the direction of the gap because the shape of the device can be set to be circular, and only the gap is ensured not to deviate from the charging basket 100, and the size of the device can be changed according to the requirement without affecting the effect of filling. When carrying out ground brickwork joint and scraping and pressing the operation, the second is scraped and is pressed subassembly 300 slope setting, and puddler 210 can drive installation department 220 and scrape the direction that the face 321 inclines along the second and rotate, and continuous scraping is pressed and is filled up the gap. The second is scraped and is pressed face 321 and set up second flexible layer 330 to the second is scraped and is pressed subassembly 300 and adopts the circumference to arrange, can adapt to the ground of unevenness and follow the high brick to low brick when scraping the pressure to the brickwork joint, and the situation such as follow low brick to high brick can both be suitable for, has all guaranteed that the gap filler can be impressed in the gap certainly. Moreover, the rotation direction can be opposite to the inclination direction of the second scraping and pressing surface 321 according to actual requirements, so that the speed of supplementing the feed liquid to the second scraping and pressing assembly 300 can be obviously improved. The stirring rod 210 is arranged in the device and moves continuously, so that jelly can not be solidified when materials such as a crack sealer, floor glue and the like are used for filling gaps between wall and floor tiles, and the device can also be used. When carrying out the perps and scraping and pressing, only need scrape the second and press subassembly 300 and demolish, with the shutoff of second discharge gate 122, realize scraping pressing to the perps, the device flexibility is high.

It is understood that the scraping device 10b can also perform coating operations such as puttying, whitening, etc., by adjusting the height of the second scraping assembly 300 extending out of the second discharge opening 122. Of course, the material barrel 100 of the device can be simply trimmed and cleaned if the material barrel is filled with clean water.

Referring to fig. 12, the present application also provides a scraping robot 1, wherein the scraping robot 1 is provided with a scraping device 10b, and it should be noted that, in the scraping robot 1, the scraping device 10a can be replaced by the scraping device 10 a.

The first scraping assembly 500 can be exposed from the side surface of the frame 13 and used for scraping the vertical seam, and the second scraping assembly 300 can be exposed from the bottom surface of the frame 13 and used for scraping the ground seam.

It is understood that the scraping robot 1 may further include a processing unit 11, a walking device 12, and other components. The walking device 12 is used for driving the scraping robot 1 to walk, the processing unit 11 is used for performing data processing, path planning and the like, and controlling the walking device 12 to walk according to a predetermined path, and in some embodiments, the processing unit 11 is further used for controlling the driving part 400 to drive the mounting part 220 to rotate, so as to drive the first scraping assemblies 500 to perform scraping operation.

Although not shown in fig. 12, the scraping robot 1 may further optionally include various sensors, devices or apparatuses such as a human-computer interface, and the like, and the sensors may be various sensors such as an image sensor, an acceleration sensor, and the like.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A scraping apparatus, comprising:

an installation part;

the first scraping and pressing components are connected to the mounting portion and located on the same circumference, each first scraping and pressing component is provided with a first scraping and pressing surface, and the first scraping and pressing surfaces are parallel to the axis of the mounting portion; and

the driving part is used for driving the installation part to rotate.

2. The scraping apparatus of claim 1, wherein the mounting portion includes a connecting base and at least one connecting rod connected to the connecting base and extending outward in a radial direction of the connecting base, the first scraping means being connected to the connecting rod.

3. The scraping apparatus as claimed in claim 2, further comprising a plurality of second scraping means connected to the connecting rod and located on the same circumference, the second scraping means having a second scraping surface disposed obliquely with respect to the axis of the mounting portion.

4. The scraping apparatus of claim 3, wherein the second scraping assembly has a second scraping surface and a top surface opposite the second scraping surface, the first scraping assembly being attached to the top surface.

5. The scraping apparatus of claim 4, wherein the first scraping surface and the second scraping surface are perpendicular to each other.

6. The scraping device of claim 4, wherein the second scraping element comprises a connecting portion, a second scraping element and a connecting member, the connecting portion comprises a first connecting portion and a second connecting portion which are connected with each other, the second scraping element is connected to the first connecting portion and the second connecting portion, a connecting clamping groove is formed between the first connecting portion and the second connecting portion, the connecting rod is embedded into the connecting clamping groove, the connecting member penetrates through the first connecting portion and the second connecting portion and is used for adjusting the gap width of the connecting clamping groove, and the first scraping element is connected to the second scraping element.

7. The scraping apparatus of claim 1, further comprising a stirring rod connected to the connecting base, wherein the plurality of first scraping members are located in a circumferential direction of the stirring rod, and the driving portion is connected to the stirring rod.

8. The scraping apparatus of any one of claims 1-7, further comprising a cartridge including an annular shroud, the annular shroud being provided with an outlet port extending through the cartridge, the mounting portion and the plurality of first scraping assemblies being located within the cartridge, and the first scraping surfaces being selectively exposed from the outlet port when the mounting portion is rotated.

9. The scraping apparatus of claim 8, wherein the first scraping assembly includes a first scraper blade, the first scraping surface is formed on a side of the first scraper blade facing the annular shroud plate, and the first scraping surface is disposed obliquely relative to a tangent plane of the discharge hole.

10. A caulking robot, comprising: a frame;

a running gear disposed in the frame, an

A squeegee assembly according to any one of claims 1-9 wherein said squeegee assembly is mounted to said frame.