CN117266494A - Scraping device and surface finishing robot - Google Patents

Abstract

The application discloses a wipe device and surface finishing robot relates to the construction machinery field. In the application, the buffer assembly is connected with a reversing component, and the reversing component is used for driving the buffer assembly to rotate around an axis; the scraping component is used for scraping and trimming, the scraping component is rotationally connected with the buffer component so as to rotate around the rotating shaft to one side close to or away from the buffer component, the buffer component is used for buffering the scraping component in the axial direction when the buffer component rotates relative to the reversing component so as to adjust the distance between the scraping component and the reversing component, the scraping component is buffered when the scraping component rotates to one side close to the buffer component so as to adjust the scraping angle of the scraping component, and the axial direction when the buffer component rotates relative to the reversing component is different from the rotating axial direction when the scraping component rotates relative to the buffer component. The utility model discloses a can wipe dynamics, wipe angle and wipe the direction of scraping to wipe and scrape the device and replace traditional scraper.

Description

Scraping devices and surface finishing robots

Technical field

The present application relates to the field of construction machinery, and in particular to a scraping device and a surface finishing robot.

Background technique

When decorating the wall, workers hold putty scrapers and apply the mixed putty to the wall for scraping and trimming. When replacing a scraper with a machine, there will be a problem of being unable to control the scraping intensity.

Contents of the invention

On the one hand, this application provides a wiping device, including:

Reversing components;

A buffer assembly connected to the reversing member, the reversing member being used to drive the buffer assembly to rotate around the axis; and

A wiping assembly is used for wiping and trimming. The wiping assembly is rotationally connected to the buffering assembly to rotate around the rotation axis toward a side closer to or away from the buffering assembly. The buffering assembly is used in the The buffer component buffers the wiping component in the axial direction when rotating relative to the reversing member to adjust the distance between the wiping component and the reversing member for use when the wiping component When rotating to the side close to the buffer component, the wiping component is buffered to adjust the wiping angle of the wiping component. The axis direction of the buffering component when rotating relative to the reversing member is consistent with the direction of the wiping component. The rotation axis direction of the wiping component is different when rotating relative to the buffering component.

On the one hand, this application provides a surface dressing robot, including:

console;

A push-pull mechanism is provided on the console and has an extended state and a retracted state. The console is used to control the push-pull mechanism to be in the extended state or the retracted state or the extended state and the retracted state. A state between contracted states;

A sliding seat is slidably connected to the push-pull mechanism, and the console is used to control the sliding seat of the sliding seat relative to the push-pull mechanism; and

The above-mentioned wiping device is slidably connected to the sliding seat to slide toward or away from the push-pull mechanism, and the buffer component is provided on the side of the reversing member away from the push-pull mechanism. The wiping component is disposed on the side of the buffer component facing away from the push-pull mechanism.

This application realizes buffering of the wiping component by adjusting the distance between the wiping component and the reversing member through the buffering component, and then controls the wiping force through the buffering component. The wiping component is rotationally connected to the buffering component, and the rotation can Adjust the wiping angle of the wiping component. The reversing component is rotationally connected to the buffer component. Driven by the reversing mechanism, the wiping direction of the wiping component is adjusted. Furthermore, the wiping device can adjust the wiping intensity and wiping angle. And the scraping direction is controlled, so that the scraping device can replace the traditional scraper.

Description of the 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 will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a surface modification robot in some embodiments of the present application;

Figure 2 is a schematic structural diagram of the surface dressing robot in another state in the embodiment shown in Figure 1;

Figure 3 is a schematic structural diagram of the surface conditioning mechanism in some embodiments of the embodiment shown in Figure 2;

Figure 4 is a schematic structural diagram of the mounting member in some embodiments of the embodiment shown in Figure 3;

Figure 5 is a schematic structural diagram of the feeding device in some embodiments of the embodiment shown in Figure 3;

Figure 6 is an exploded schematic view of the discharging member in some embodiments of the embodiment shown in Figure 5;

Figure 7 is a schematic structural diagram of the control valve in the embodiment shown in Figure 6 when it cooperates with the reset assembly in some embodiments;

Figure 8 is a schematic structural diagram of the switch component in some embodiments of the embodiment shown in Figure 5;

Figure 9 is a schematic structural diagram of the switch member in the embodiment shown in Figure 8 from another perspective;

Figure 10 is a schematic structural diagram of some embodiments when the assembly seat and the mounting piece cooperate with each other in the embodiment shown in Figure 3;

Figure 11 is a schematic structural diagram of the assembly seat in the embodiment shown in Figure 10 from another perspective;

Figure 12 is an exploded exploded view of the reversing member and the wiping member in some embodiments when they cooperate in the embodiment shown in Figure 5;

Figure 13 is a schematic structural diagram of the partial structure of the reversing member and the wiping member in the embodiment shown in Figure 12;

FIG. 14 is a schematic structural diagram of the wiping member in some embodiments of the embodiment shown in FIG. 12 .

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It can be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for convenience of description, only some but not all structures related to the present application are shown in the drawings. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

All directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative positional relationship between components in a specific posture (as shown in the drawings). , sports conditions, etc., if the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes Other steps or units inherent to such processes, methods, products or devices.

Reference herein to "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

This application describes a wiping device, which includes: a reversing member; a buffer component connected to the reversing member, and the reversing member is used to drive the buffer component to rotate around an axis; and a wiping component for To perform scraping and trimming, the scraping component is rotationally connected to the buffer component to rotate around the rotation axis to a side closer to or away from the buffer component. The buffer component is used to adjust the buffer component relative to the buffer component. The wiping assembly is buffered in the axial direction when the reversing member rotates to adjust the distance between the wiping assembly and the reversing member, so as to move the wiping assembly closer to the buffering assembly. When one side of the wiping component rotates, the wiping component is buffered to adjust the wiping angle of the wiping component. The axis direction of the buffer component when rotating relative to the reversing member is opposite to the wiping component. The direction of the rotation axis is different when the buffer component rotates.

In some embodiments, the buffer assembly includes: a rotating base installed on the reversing member, and the reversing member is used to drive the rotating base to rotate around the buffer assembly relative to the reversing member. The axis rotates; a fixed seat is slidably connected to the rotating seat to slide in the axial direction when the buffer assembly rotates relative to the reversing member; and a movable seat is rotationally connected to the fixed seat to rotate around The rotation axis rotates to adjust the posture of the wiping component. The movable seat is rotationally connected to the wiping component to adjust the wiping angle of the wiping component, and the wiping component is connected to the wiping component through the movable seat. The fixed seat is connected, and the rotation axis direction of the movable seat when rotating relative to the fixed seat is different from the axis direction when the buffer component rotates relative to the reversing member, and is different from the axis direction of the wiping component relative to The direction of the rotation axis when the buffer component rotates.

In some embodiments, the fixed base includes: a fixed body, the movable base is rotationally connected to the fixed body, so as to rotate around the rotation axis when the movable base rotates relative to the fixed base; a sliding body, which is fixed On the side of the fixed body facing the rotating base, it is slidingly connected with the rotating base to slide in the axial direction when the buffer assembly rotates relative to the reversing member; and an elastic member is respectively connected with the rotating base. The fixed body and the rotating base are in contact and have an elastic deformation force that moves the fixed body to a side away from the rotating base to drive the sliding body and the rotating base to slide relative to each other.

In some embodiments, the movable seat includes: a movable body, which is rotationally connected to the fixed seat to rotate around the rotation axis when the movable seat rotates relative to the fixed seat, and the wiping assembly is connected to the fixed seat. The movable body is rotationally connected to rotate around the rotation axis when the wiping assembly and the movable seat rotate relative to each other; the first limiting part is provided on the movable body and extends to the side close to the wiping assembly. , used to limit the wiping angle of the wiping component, the wiping component is configured to rotate toward the side close to the movable body and can rotate to a position abutting the first limiting part; and reset A component is provided on the movable body and is used to drive the wiping component to rotate and reset to the side away from the buffer component.

In some embodiments, the reset member includes: a guide rod slidably connected to the movable body to slide toward or away from the wiping component and abut against the wiping component; and elasticity. The parts are respectively in contact with the guide rod and the movable body, and have elastic deformation force to move the guide rod toward the side closer to the wiping assembly, so as to push the wiping assembly away from the buffer. Rotate one side of the assembly to reset.

In some embodiments, the first limiting part is threadedly connected to the movable body to adjust the length of the first limiting part extending to a side close to the wiping assembly.

In some embodiments, the movable body is provided with a limiting hole, and the wiping component is provided with a second limiting part, and the second limiting part is used to limit the wiping angle of the wiping component, and the The second limiting part penetrates the limiting hole, and is provided with a contacting part that abuts and limits the movable body on the side of the movable body away from the wiping component. When the scraper assembly rotates around the rotation axis toward a side closer to or away from the buffer assembly, the second limiting portion slides in the limiting hole.

In some embodiments, the wiping assembly includes: a fitting seat that is rotationally connected to the movable body to rotate around the rotation axis when the wiping assembly and the movable seat rotate relative to each other; and a wiping plate, The side of the fitting seat away from the movable body is detachably connected to the fitting seat.

In some embodiments, the reversing component includes: a motor assembly, and the buffer assembly is connected and fixed on the output shaft of the motor assembly to rotate around the output shaft of the motor assembly.

This application describes a surface finishing robot, which includes: a console; a push-pull mechanism, which is provided on the console and has an extended state and a retracted state; the console is used to control the push-pull mechanism to be in the extended state Or the retracted state or a state between the extended state and the retracted state; a sliding seat is slidingly connected to the push-pull mechanism, and the console is used to control the sliding seat relative to the push-pull mechanism. The mechanism slides; and the above-mentioned wiping device is slidingly connected with the sliding seat to slide to the side closer to or away from the push-pull mechanism, and the buffer component is provided on a side of the reversing member away from the push-pull mechanism. side, the wiping component is disposed on the side of the buffer component facing away from the push-pull mechanism.

Please refer to Figures 1 and 2. Figure 1 is a schematic structural diagram of a surface modification robot in some embodiments of the present application, and Figure 2 is a schematic structural diagram of the surface modification robot in another state in the embodiment shown in Figure 1. The surface modification robot 100 may include a console 101, a push-pull mechanism 102 provided on the console 101, and a surface modification mechanism 103 connected to the push-pull mechanism 102. The console 101 is used to control the surface dressing robot 100 to realize the normal operation of the surface dressing robot 100 . The push-pull mechanism 102 is provided on the console 101 and can be used to carry and install the surface finishing mechanism 103 . The push-pull mechanism 102 can push and pull the surface finishing mechanism 103. The surface modification mechanism 103 can act on the wall, and then under the push and pull action of the push-pull mechanism 102, it can scrape the wall, and can use cement, cement mortar, putty, paint and other wall decoration materials on the wall. For smearing and trimming, wall decoration materials such as cement, cement mortar, putty and paint can be used for scraping and trimming. In some scenarios, the console 101 can be used to control the push-pull mechanism 102 so that the surface modification mechanism 103 moves under the push and pull action of the push-pull mechanism 102 to realize the movement of the surface modification mechanism 103 . In some scenarios, the console 101 can be used to control the surface dressing mechanism 103 to realize the movement of the surface dressing mechanism 103 . In some scenarios, while the surface conditioning mechanism 103 is moving, the surface conditioning mechanism 103 completes the application trimming and/or scraping trimming and/or scraping.

Referring to FIGS. 1 and 2 , the console 101 may include a base 1011 for installing the push-pull mechanism 102 and a control cabinet 1012 disposed on the base 1011 . The base 1011 can be used to install the push-pull mechanism 102 and the surface finishing mechanism 103. The control cabinet 1012 can be used to control the push-pull mechanism 102 and the surface dressing mechanism 103 to realize the normal operation of the surface dressing robot 100.

The base 1011 can serve as the foundation of the surface modification robot 100 and is used to carry and install various components in the surface modification robot 100 . In some embodiments, rollers may be provided at the bottom of the base 1011, so that the movement can be achieved by rolling the rollers, thereby facilitating the user to adjust and move the surface modification robot 100. In some embodiments, the rollers at the bottom of the base 1011 can be driven by a power system such as a hydraulic system, an air pump system, a cylinder system or a motor assembly to achieve rolling. In some embodiments, base 1011 is part of push-pull mechanism 102 .

The control cabinet 1012 can be installed with a control system including a processor such as a microcomputer, computer or PLC, a display screen, and a power system such as a hydraulic system, an air pump system, a cylinder system or a motor assembly. Of course, the control cabinet 1012 also It may include other components that are well known to those skilled in the art and that enable the control cabinet 1012 to control the push-pull mechanism 102 and/or the surface finishing mechanism 103, and will not be described again. In some scenarios, the control system serves as the core of the control cabinet 1012 to implement calculations and processing of various data, and then issues instructions to the push-pull mechanism 102 and/or the surface finishing mechanism 103 to implement the push-pull mechanism 102 and/or the surface finishing mechanism. 103 control. In some scenarios, the control cabinet 1012 can control the working status of the surface finishing robot 100 through the control system. In some scenarios, the control cabinet 1012 can display the working status of the surface finishing robot 100 and related data involved in the work through the display screen. In some scenarios, the control cabinet 1012 can input control data for controlling the surface dressing robot 100 through the display screen, so that the control system executes the control data to control the surface dressing robot 100 . In some scenarios, the power system can drive the push-pull mechanism 102 and/or the surface modification mechanism 103 under the control of the control system to realize the normal operation of the surface modification robot 100 .

In some embodiments, the control cabinet 1012 may include storage containers such as storage bins, storage boxes, and storage barrels to store decoration materials such as cement, cement mortar, putty, and paint. Of course, the storage container can store only one kind of decoration material, or it can be divided into multiple storage containers, each storage container stores one kind of decoration material, realizing the storage of multiple decoration materials. In some embodiments, the control cabinet 1012 can control the delivery of decoration materials in the storage container to the surface finishing mechanism 103 .

In some embodiments, the storage container may not be disposed on the control cabinet 1012 but may be disposed on the base 1011 . In some embodiments, the storage container may not be a part of the surface modification robot 100 but may be disposed separately.

In some embodiments, the control cabinet 1012 may not be a part of the surface finishing robot 100 but may be provided separately.

Referring to Figure 2, the push-pull mechanism 102 may include a main slider 1021 fixed on the console 101 such as a base 1011, an intermediate slider 1022 slidably connected to the main slider 1021, and a mounting surface slidably connected to the middle slider 1022. The end slide 1023 of the trimming mechanism 103. The push-pull mechanism 102 expands and contracts through the sliding between the main slider 1021, the intermediate slider 1022 and the end slider 1023, and adjusts the position of the surface finishing mechanism 103. Of course, the position of the surface finishing mechanism 103 can also be adjusted through the movement between the end slider 1023 and the surface finishing mechanism 103. The position of the surface conditioning mechanism 103 can be adjusted by sliding between them.

The main slider 1021 can be in the form of a plate structure, a frame structure, a tubular structure or other structures. The main slider 1021 is fixed on the console 101, such as the base 1011, and can be located on one side of the control cabinet 1012. In some embodiments, main slider 1021 is part of console 101 .

The main slider 1021 may extend in the vertical direction. Of course, in other application scenarios, the main slider 1021 may extend in the horizontal direction. That is, the installation method of the main sliding member 1021 on the console 101, such as the base 1011, is variable and can be adjusted according to actual application scenarios.

The main sliding part 1021 can be provided with guide parts such as slide rails, guide rods, and screw screws. In some embodiments, the guide member may be extended in an extension direction of the main slider 1021 .

The middle sliding member 1022 may be in the form of a plate structure, a frame structure, a tubular structure, or other structures. The intermediate sliding part 1022 can be arranged on the side of the main sliding part 1021 away from the control cabinet 1012. Of course, it can also be set in other positional relationships according to the structural limitations of the main sliding part 1021 and/or the intermediate sliding part 1022, even on the main sliding part. When the installation method of the component 1021 on the console 101, such as the base 1011, changes, other positional relationship settings will be adopted, which will not be described again.

The intermediate sliding part 1022 can slide in the extending direction of the main sliding part 1021, thereby increasing the length of the push-pull mechanism 102 in the extending direction of the main sliding part 1021. In some embodiments, the extension direction of the intermediate slider 1022 may be consistent with the extension direction of the main slider 1021 . In some embodiments, the intermediate sliding member 1022 may be provided with sliding structures such as slide blocks, slide grooves, and sliding rails to be slidably connected to the main sliding member 1021 such as sliding rails, guide rods, lead screws, and other guiding members, thereby allowing the sliding structure to The guide slides upward in the extending direction. Of course, the guide member can also be provided on the intermediate sliding member 1022, and the sliding structure is provided on the main sliding member 1021.

The intermediate sliding member 1022 can realize relative sliding with the main sliding member 1021 under the driving of the power system. The power system can be provided on the control cabinet 1012, or on the base 1011, or on the main sliding member 1021, or on the intermediate sliding member 1022. In some scenarios, power systems such as motor components can be transmitted through screws or belts, gears, racks, etc., and of course other transmission methods are also possible. In some scenarios, a power system such as a motor assembly drives the lead screw to rotate, so that the intermediate sliding member 1022 threadedly connected to the lead screw slides relative to the main sliding member 1021 . Of course, the lead screw may be disposed on the main sliding member 1021 . In some scenarios, a power system such as a motor assembly drives the screw to rotate, so that the main sliding member 1021 threadedly connected to the screw slides relative to the intermediate sliding member 1022. Of course, the screw may be disposed on the intermediate sliding member 1022. In some scenarios, a power system such as a motor assembly drives the belt to rotate, so that the intermediate slider 1022 fixedly connected to the belt slides relative to the main slider 1021 . Of course, the belt can be disposed on the main slider 1021 . In some scenarios, the power system, such as a motor assembly, drives the belt to rotate, so that the main slider 1021 fixedly connected to the belt slides relative to the middle slider 1022. Of course, the belt can be disposed on the middle slider 1022. In some scenarios, the power system, such as a motor assembly, drives the gear to rotate, causing the rack meshed with the gear to move. In turn, the intermediate slider 1022 provided with the rack slides relative to the main slider 1021. Of course, the gear can be disposed on the main slider. Part 1021. In some scenarios, the power system, such as a motor assembly, drives the gear to rotate, causing the rack meshed with the gear to move. Then, the main sliding member 1021 provided with the rack slides relative to the intermediate sliding member 1022. Of course, the gear can be arranged to slide in the middle. Item 1022. It can be understood that power systems such as hydraulic systems, air pump systems, cylinder systems, etc. can also drive the intermediate sliding member 1022 to slide relative to the main sliding member 1021, and can be designed using techniques well known to those skilled in the art, which will not be described again.

The end slider 1023 can be in the form of a plate structure, a frame structure, a tubular structure or other structures. The end slider 1023 can be disposed on the side of the middle slider 1022 away from the main slider 1021 . Of course, other sliders can also be used based on the structural limitations of the middle slider 1022 and/or the end slider 1023 or the usage scenarios of the push-pull mechanism 102 . Positional relationship settings will not be described in detail.

The end slider 1023 can slide in the extension direction of the middle slider 1022, thereby increasing the length of the push-pull mechanism 102 in the extension direction of the middle slider 1022. In some embodiments, the extension direction of the end slider 1023 may be consistent with the extension direction of the middle slider 1022 .

The end slider 1023 can be provided with the sliding structure in the above embodiment, and the middle slider 1022 can be provided with the guide member in the above embodiment, so that the sliding structure of the end slider 1023 and the middle slider 1022 can be realized through the cooperation of the sliding structure and the guide. connect. Of course, the guide member can also be provided on the end slider 1023, and the sliding structure is provided on the middle slider 1022.

The end sliding member 1023 can realize relative sliding with the middle sliding member 1022 under the driving of the power system. For the specific manner in which the power system drives the end slider 1023 and the middle slider 1022 to slide relative to each other, please refer to the method in which the power system drives the middle slider 1022 and the main slider 1021 to slide relative to each other in the above embodiment, and will not be described in detail. The power system can be provided on the control cabinet 1012, or on the base 1011, on the middle slider 1022, or on the end slider 1023.

It can be understood that the number of intermediate sliding members 1022 may be multiple, and the multiple intermediate sliding members 1022 are slidingly connected in sequence, and the intermediate sliding member 1022 located at the head end is slidingly connected to the main sliding member 1021, and the intermediate sliding member 1022 located at the end is slidingly connected to the main sliding member 1021. The sliding member 1023 is slidingly connected. The two slidingly connected intermediate sliding parts 1022 can cooperate with the main sliding part 1021 or the end sliding part 1023 to achieve sliding, and then the main sliding part 1021 and at least one intermediate sliding part 1022 The length of the push-pull mechanism 102 formed by the cooperation of the end slider 1023 is adjustable, and in some scenarios, the push-pull mechanism 102 can have an extended state or a retracted state. Furthermore, in some embodiments, the push-pull mechanism 102 may be a telescopic structure such as a telescopic frame or a telescopic tube. In some embodiments, the middle slider 1022 and the end slider 1023 may be omitted. In some embodiments, end slide 1023 may be omitted.

In addition, the main slider 1021 and at least one intermediate slider 1022 and the end slider 1023 can slide separately under the control of the power system, or they can slide simultaneously under the control of the power system, and then the end slider 1023 and the middle slider 1022 At the same time, sliding in the extension direction of the main slider 1021, the intermediate slider 1022 slides on the main slider 1021 until it reaches the shortest length of the combination of the intermediate slider 1022 and the main slider 1021 in the extension direction of the main slider 1021. , the end slider 1023 slides on the middle slider 1022, and can simultaneously slide to the shortest length of the combination of the end slider 1023 and the middle slider 1022 in the extension direction of the main slider 1021. The middle slider 1022 slides on the main slider 1021. When the combination of the middle slider 1022 and the main slider 1021 reaches the longest length in the extension direction of the main slider 1021, the end slider 1023 is on the middle slider 1022. The slide can be slid simultaneously to the longest length of the combination of the end slider 1023 and the middle slider 1022 in the extension direction of the main slider 1021 .

Furthermore, the end slider 1023 and the middle slider 1022 slide in the extension direction of the main slider 1021 at the same time, and the middle slider 1022 slides on the main slider 1021 until the combination of the middle slider 1022 and the main slider 1021 is at When the main sliding member 1021 has the shortest length in the extension direction, the two slidingly connected intermediate sliding members 1022 slide relative to each other and can simultaneously slide to the position of the combination of the two slidingly connected intermediate sliding members 1022 in the extending direction of the main sliding member 1021 . Minimum length. The intermediate sliding part 1022 slides on the main sliding part 1021, and when it slides to the longest length of the combination of the intermediate sliding part 1022 and the main sliding part 1021 in the extension direction of the main sliding part 1021, the two slidingly connected intermediate sliding parts 1022 face each other. The slide can be slid simultaneously to the longest length of the combination of the two slidingly connected intermediate sliders 1022 in the extension direction of the main slider 1021 .

In some scenarios, the push-pull mechanism 102 can be adjusted based on the usage scenario of the surface modification robot 100, for example, so that the extension direction of the main slider 1021 is a horizontal direction. For example, the extending direction of the middle slider 1022 is set to the horizontal direction. For example, the extending direction of the end slider 1023 is set to the horizontal direction. In some scenarios, the surface modification robot 100 can be used to apply and scrape decoration materials such as cement, cement mortar, putty, and paint on the ground. Of course, the decoration materials can also be other materials such as slurry, granular raw materials or powdered raw materials that need to be applied or scraped. Furthermore, materials such as slurry, granular raw materials, or powdered raw materials are not decoration materials, but of course may be materials including decoration materials.

It can be understood that the push-pull mechanism 102 can adjust the length through the cooperation of the main slider 1021, the intermediate slider 1022, and the end slider 1023, thereby pushing and pulling the surface modification mechanism 103 during the length adjustment process.

Referring to FIGS. 1 and 2 , the surface modification mechanism 103 can realize position adjustment during the pushing and pulling process of the push-pull mechanism 102 . The surface modification mechanism 103 can also slide on the push-pull mechanism 102 such as the end slider 1023 to achieve position adjustment.

The surface conditioning mechanism 103 may include a sliding base 10 connected to a push-pull mechanism 102 such as an end slide 1023 , a feeding device 20 disposed on the sliding base 10 , and a scraping device 30 disposed on the sliding base 10 . The sliding seat 10 can be fixed on the push-pull mechanism 102, such as the end slider 1023, or can be slidably connected to the push-pull mechanism 102, such as the end slider 1023. The sliding seat 10 is used to carry and install the feeding device 20 and the scraping device 30 . The feeding device 20 can be connected to the storage container on the control cabinet 1012 to output the decoration materials in the storage container when the surface finishing robot 100 is working, so as to realize material supply. In some scenarios, the feeding device 20 may supply materials by spraying. The scraping device 30 can scrape and trim the decoration materials when the sliding seat 10 is pushed and pulled (expanded). The sliding seat 10, the feeding device 20, and the scraping device 30 can work under the control of a control cabinet 1012, such as a control system. In some scenarios, the feeding device 20 is used to discharge (feed) material to a side of the scraping device 30 facing away from the feeding device 20 .

Please refer to FIG. 3 , which is a schematic structural diagram of the surface modification mechanism 103 in some embodiments of the embodiment shown in FIG. 2 . The sliding seat 10 can be in the form of a plate structure, a frame structure or other structures. The sliding base 10 can be arranged on the side of the end sliding piece 1023 away from the middle sliding piece 1022. Of course, it can also be set in other positional relationships according to the limitations of the structure and cooperation relationship between the sliding base 10 and the push-pull mechanism 102, such as the end sliding piece 1023. No further details will be given.

The sliding base 10 can be slidably connected with the end sliding piece 1023 to slide in the extension direction of the end sliding piece 1023, thereby realizing the position adjustment of the sliding base 10. It can be understood that when the sliding seat 10 is not sliding with the end slider 1023, the position adjustment can also be achieved by changing the length of the push-pull mechanism 102.

The sliding base 10 can be provided with the sliding structure in the above embodiment, and the end sliding member 1023 can be provided with the guide member in the above embodiment. The sliding connection between the sliding base 10 and the end sliding member 1023 can be achieved through the cooperation of the sliding structure and the guide member. Of course, the guide member can also be provided on the sliding seat 10, and the sliding structure is provided on the end sliding member 1023.

The sliding seat 10 can realize relative sliding with the end sliding member 1023 under the drive of the power system. For the specific manner in which the power system drives the sliding seat 10 and the end sliding member 1023 to slide relative to each other, please refer to the relative sliding method between the end sliding member 1023 and the middle sliding member 1022 in the above embodiment.

It can be understood that the power system that drives the length of the push-pull mechanism 102 and/or the sliding seat 10 relative to the push-pull mechanism 102 can also be a linear cylinder, a hydraulic cylinder, etc.

The sliding seat 10 may include a fitting part 11 connected to the push-pull mechanism 102, such as an end slider 1023, and a mounting part 12 installed on the fitting part 11. The sliding seat 10 is connected to the push-pull mechanism 102 such as the end slider 1023 through the fitting piece 11 to realize the matching relationship between the sliding seat 10 and the push-pull mechanism 102 such as the end slider 1023 described in the above embodiment, so that the fitting piece 11 is installed on the push-pull mechanism 102 For example, on the end slider 1023, and can slide in the extension direction of the end slider 1023. In some embodiments, the fitting 11 may be in the form of a plate structure, a frame structure, a tubular structure or other structures. In some embodiments, when the end slider 1023 is omitted, the sliding base 10 such as the fitting 11 can cooperate with the middle slider 1022 by cooperating with the end slider 1023 . In some embodiments, when the middle sliding part 1022 and the end sliding part 1023 are omitted, the sliding base 10 such as the fitting part 11 can cooperate with the main sliding part 1021 by cooperating with the end sliding part 1023.

Please refer to Figures 3 and 4. Figure 4 is a schematic structural diagram of the mounting member 12 in some embodiments of the embodiment shown in Figure 3. The mounting member 12 may be in the form of a plate structure, a frame structure, a tubular structure or other structures. The mounting part 12 is installed on the side of the matching part 11 away from the push-pull mechanism 102 such as the end slider 1023 . In some embodiments, the mounting component 12 may include a first mounting bracket 121 and a second mounting bracket 122 that are oppositely arranged and connected and fixed with the mating component 11 . Pitch-adjustable slide rails 123 can be provided on the first mounting bracket 121 and the second mounting bracket 122 . In some embodiments, the extension direction of the distance-adjustable slide rail 123 may be the direction in which the push-pull mechanism 102 moves away from or approaches the control cabinet 1012 . In some embodiments, the extension direction of the pitch-adjustable slide rail 123 may be perpendicular to the sliding direction of the sliding base 10 on the end slide 1023, but of course it may not be perpendicular. In some embodiments, the first mounting bracket 121 and/or the second mounting bracket 122 may be provided with a pitch-adjustable rack 124 . In some embodiments, the extension direction of the pitch-adjustable rack 124 may be consistent with the extension direction of the pitch-adjustable slide rail 123 .

It can be understood that the arrangement manner of the mounting member 12 may not be limited to the manner in which the first mounting bracket 121 and the second mounting bracket 122 cooperate, but may also be in other forms. In addition, in some scenarios, the sliding seat 10 can be used as a part of the push-pull mechanism 102 .

Referring to FIG. 3 , the feeding device 20 may include an assembly 21 installed on the sliding base 10 such as the installation 12 , a discharging member 22 installed on the assembly 21 , and a discharging member 22 installed on the assembly 21 for controlling the discharging. Component 22 discharges the switch component 23. The assembly 21 is used to carry and install the discharging member 22 and the switch member 23 . The discharging member 22 cooperates with the switch member 23 to realize the supply of decoration materials or to suspend the supply of decoration materials.

The assembly 21 may be in the form of a plate structure, a frame structure, a tubular structure or other structures. The assembly 21 can be installed on the sliding base 10 such as the first mounting bracket 121 and the second mounting bracket 122 . In some embodiments, the assembly 21 may be part of the sliding seat 10 . Furthermore, the discharging member 22 and the switch member 23 can also be installed on other parts of the sliding seat 10 .

The discharging component 22 can be connected to the storage container on the control cabinet 1012 to output the decoration materials in the storage container to realize material supply when the surface finishing robot 100 is working. In some embodiments, the discharging member 22 can cooperate with the power system to realize material supply, and can even realize the material supply through injection with the cooperation of the power system. For example, a power system such as an air pump can increase the pressure of the storage container, so that the decoration materials are output from the storage container to the discharging member 22 under high pressure, and are output at the discharging member 22 . For example, a power system such as a pump can extract the decoration materials from the storage container and output them to the discharging member 22 to realize material supply. Of course, other types of power systems can also be used to supply materials in conjunction with the discharging member 22 .

Please refer to FIG. 5 , which is a schematic structural diagram of the feeding device 20 in some embodiments of the embodiment shown in FIG. 3 . The discharging member 22 can be installed on one side of the assembly 21 . In some embodiments, the discharge member 22 may be disposed on one side of the assembly 21 in the extending direction of the end slide 1023 .

The discharge component 22 may include an angle adjustment component 221 installed on the assembly 21 , a discharge component 222 installed on the angle adjustment component 221 , and a sensor 223 installed on the assembly 21 for positioning the angle adjustment component 221 There is also a control valve 224 provided on the assembly 21 and connected to the discharging assembly 222, and a reset assembly 225 for resetting the control valve 224. The control valve 224 is connected to the storage container on the control cabinet 1012, so that the decoration materials flow to the discharging assembly 222 through the control valve 224, and are supplied through the discharging assembly 222. The reset component 225 can be used to close the control valve 224 so that the control valve 224 is reset to a normally closed state. The angle adjustment component 221 can be used to rotate the discharging component 222 to adjust the discharging angle of the discharging component 222 .

Please refer to Figures 5 and 6. Figure 6 is an exploded schematic view of the discharging member 22 in some embodiments of the embodiment shown in Figure 5. The angle adjustment assembly 221 may include a power system such as a motor 2211 installed on the assembly 21 , a reducer 2212 that is drivingly connected to the power system such as the motor 2211 and installed on the assembly 21 , and a fixing piece 2213 that is drivingly connected to the reducer 2212 . The power system, such as the motor 2211, can rotate to drive the reducer 2212 to rotate, and then drive the fixing member 2213 to rotate. The motor 2211 may be a stepper motor or other types of motors. The type of the motor 2211, the type of the reducer 2212, and the connection method between the motor 2211 and the reducer 2212 can be configured using techniques well known to those skilled in the art, and will not be described in detail. The fixing part 2213 can be a plate structure, a frame structure or other structures.

It can be understood that the motor 2211 and the reducer 2212 may form a motor assembly. Of course, the motor assembly may not be limited to the motor 2211 and the reducer 2212, but may also include others.

The fixing member 2213 may be in the form of a plate structure, a frame structure, a tubular structure or other structures.

In some embodiments, the fixing member 2213 can rotate around the axis of the output shaft of the motor 2211.

In some embodiments, a triggering member 2214 may be provided on the fixing member 2213. In some embodiments, trigger 2214 may be a flap.

In some embodiments, the motor 2211, the reducer 2212, and the fixing member 2213 may be arranged in a direction perpendicular to the extension direction of the end slide 1023.

In some embodiments, the motor 2211, the reducer 2212, and the fixing member 2213 may be arranged in the axial direction of the output shaft of the motor 2211.

The discharging assembly 222 may include a rotary valve 2221 fixed on the fixing member 2213 and a discharging nozzle 2222 installed on the rotary valve 2221. The rotary valve 2221 is connected with the discharge nozzle 2222, so that the decoration material flows through the rotary valve 2221 and the discharge nozzle 2222 in sequence.

In some embodiments, the rotary valve 2221 may be fixedly connected to the fixing member 2213 on opposite sides. In some embodiments, rotary valve 2221 may be a high pressure rotary valve. In some embodiments, the rotary valve 2221 may be wrapped by the fixture 2213. In some embodiments, the fixing member 2213 can be omitted, and the rotary valve 2221 is directly connected to the reducer 2212 in transmission or directly fixedly connected. In some embodiments, the fixing member 2213 rotates around an axis, and the axis can pass through the rotary valve 2221. Of course, the axis can also coincide with the rotation axis of the rotary valve 2221.

The discharge nozzle 2222 can be disposed on the side of the rotary valve 2221 facing away from the push-pull mechanism 102 such as the end slider 1023, and can move toward or away from the assembly 21 when the rotary valve 2221 rotates to adjust the discharge nozzle. 2222 and the positional relationship between the rotary valve 2221. In some embodiments, the orientation of the discharge nozzle 2222 may be perpendicular to the axial direction of the output shaft of the motor 2211, but of course may not be perpendicular. In some embodiments, the discharge nozzle 2222 may discharge materials in a facing direction. In some embodiments, the orientation of the discharge nozzle 2222 can be adjusted when the rotary valve 2221 rotates to change the discharge direction of the discharge nozzle 2222. In some embodiments, the spout 2222 may spray in a heading direction. In some embodiments, the discharge nozzle 2222 may have a fan-shaped spray area in the facing direction.

In some embodiments, the assembly 21 may be provided with grooves or perforations at positions corresponding to the discharge nozzle 2222, so that the adjustable range of the position of the discharge component 222, such as the discharge nozzle 2222, is increased.

The sensor 223 is installed on the assembly 21 and can cooperate with the trigger 2214, and when the trigger 2214 triggers the sensor 223, the positioning of the discharging assembly 222 is achieved. It can be understood that the trigger 2214 and the sensor 223 cooperate to form the limit component 2201 to limit and position the discharging component 222. Of course, the limit component 2201 may not be limited to the trigger 2214 and the sensor 223, but may also include others.

In some embodiments, the sensor 223 may be an optocoupler sensor that cooperates with the trigger 2214 such as a baffle. The trigger 2214, such as a shutter, blocks the sensor 223, such as a photocoupler sensor, to trigger the sensor 223, such as a photocoupler sensor. It can be understood that the sensor 223 can also be a proximity sensor or other types of sensors, without limitation. Correspondingly, the trigger 2214 can be adapted accordingly to the type of the sensor 223 so as to be able to trigger the sensor 223 . Specifically, the trigger 2214 can be adapted to the sensor 223 using techniques well known to those skilled in the art.

In some embodiments, the respective positions of the sensor 223 and the trigger 2214 can be interchanged. For example, the trigger 2214 is disposed at the position where the sensor 223 is disposed, and accordingly, the sensor 223 is disposed at the position where the trigger 2214 is disposed. .

In some embodiments, the limiting component 2201, such as the sensor 223, can be connected to the control cabinet 1012, such as a control system, so that the control cabinet 1012, such as the control system, can receive a signal from the trigger 2214 to trigger the sensor 223, and control the angle adjustment component based on the signal. 221, such as a motor 2211, controls the direction of the discharging component 222, such as the discharging nozzle 2222.

In some embodiments, the limiting component 2201 can be used to reset the orientation of the discharging component 222, such as the discharging nozzle 2222. In some embodiments, when the trigger 2214 triggers the sensor 223, it can be determined that the discharging component 222, such as the discharging nozzle 2222, is in the initial position, and the position of the discharging component 222, such as the discharging nozzle 2222, can be adjusted from the initial position.

It can be understood that the limiting component 2201 may not adopt a solution in which the sensor 223 and the trigger 2214 cooperate, but may use two limiting parts formed by a mechanical structure, one of which is provided on the assembly 21 and the other is provided on the fixed Part 2213 on. The limiting member may be a limiting structure well known to those skilled in the art, such as a stopper, a blocking rod, or a structure with a limiting groove, a limiting hole, etc.

Please refer to Figures 5, 6 and 7. Figure 7 is a schematic structural diagram of the control valve 224 and the reset assembly 225 in the embodiment shown in Figure 6 in some embodiments. The control valve 224 can be disposed on the assembly 21 and can be connected to the discharging assembly 222 such as the rotary valve 2221. In some embodiments, the control valve 224 may be rotatably connected to the discharging component 222, such as the rotary valve 2221, to reduce interference with the rotation of the discharging component 222, such as the rotary valve 2221. In some embodiments, the axis in which the control valve 224 rotates around an axis relative to the discharging assembly 222, such as the rotary valve 2221, coincides with the axis in which the fixing member 2213 rotates around an axis. In some embodiments, the control valve 224 may be disposed on a side of the discharging component 222 such as the rotary valve 2221 away from the angle adjustment component 221 such as the motor 2211.

Referring to Figure 7, the control valve 224 may have a connection outlet 2241. The connection outlet 2241 can be connected with the discharging component 222 such as the rotary valve 2221. In some embodiments, the control valve 224 is rotatably connected to the discharging assembly 222, such as the rotary valve 2221, through the connection outlet 2241.

Referring to Figure 7, the control valve 224 may have a connecting inlet 2242. The connection inlet 2242 can be connected to the storage container on the control cabinet 1012, so that the decoration materials can flow out of the storage container on the control cabinet 1012, flow into the control valve 224 through the connection inlet 2242, and flow to the control valve 224 through the connection outlet 2241. The discharging assembly 222 is, for example, in the rotary valve 2221. In some scenarios, the control valve 224 can be in a closed state so that the decoration materials are blocked and unable to flow, or can be in an open state so that the decoration materials can flow. In some embodiments, the control valve 224 is rotatably connected to the discharging assembly 222, such as the rotary valve 2221, through the connection outlet 2241.

In some embodiments, control valve 224 may be a needle valve. In some embodiments, control valve 224 may be a globe valve, butterfly valve, gate valve, ball valve, plug valve, check valve, pressure reducing valve, trap, or other type of valve.

Referring to FIG. 7 , the control valve 224 may include a valve body 2243 having a connecting outlet 2241 and a connecting inlet 2242 and a blocking member 2244 extending into the valve body 2243 for blocking the valve body 2243 . The blocking member 2244 can move within the valve body 2243 to block the valve body 2243 so that the control valve 224 is in a closed state, and to clear the valve body 2243 so that the control valve 224 is in an open state. In some embodiments, the blocking member 2244 can move into the valve body 2243 to block the valve body 2243 so that the control valve 224 is in a closed state, and the blocking member 2244 can move out of the valve body 2243 to clear the valve body 2243 so that the control valve 224 is open. In some embodiments, the blocking member 2244 can move into the valve body 2243 to clear the valve body 2243 so that the control valve 224 is in a closed state, and the blocking member 2244 can move out of the valve body 2243 to block the valve body 2243 so that the control valve 224 is open. In some embodiments, the blocking member 2244 can move into or out of the valve body 2243 in a direction in which the valve body 2243 is away from the discharge assembly 222 such as the rotary valve 2221 .

Referring to Figures 5, 6 and 7, the reset component 225 can be disposed on the assembly 21 and connected to the control valve 224, such as the blocking member 2244, so that the control valve 224 is in a normally closed state. In some scenarios, the reset component 225 may be disposed on a side of the control valve 224 facing away from the discharging component 222, such as the rotary valve 2221.

Referring to FIG. 7 , the reset assembly 225 may include a mounting housing 2251 disposed on the assembly 21 , a sliding member 2252 extending into the mounting housing 2251 , and connected and fixed with the control valve 224 , such as a blocking member 2244 , outside the mounting housing 2251 . And an elastic member 2253 is provided in the mounting housing 2251 and used to drive the sliding member 2252 to slide relative to the mounting housing 2251. When the sliding member 2252 slides relative to the installation housing 2251, it can drive the blocking member 2244 to move relative to the valve body 2243, so that the control valve 224 is in a normally closed state.

The installation housing 2251 may have a shell-like structure, or of course may also have a frame structure. The installation housing 2251 may include a first housing 2254 and a second housing 2255 that are connected to each other to form an installation space 2202. The first housing 2254 and the second housing 2255 can be connected and fixed by bonding, screwing, welding, snapping, etc. In some embodiments, the first housing 2254 can be connected and fixed on the assembly 21 by bonding, screwing, welding, snapping, etc. In some embodiments, the second housing 2255 may be disposed on a side of the first housing 2254 facing away from the control valve 224 . In some embodiments, the second housing 2255 can be indirectly connected and fixed to the assembly 21 through the first housing 2254 .

The sliding member 2252 may have a rod-shaped structure. In some embodiments, the sliding member 2252 can be slidably connected with the installation housing 2251 to slide into the installation space 2202 or out of the installation space 2202 . In some embodiments, the sliding member 2252 may extend through the first housing 2254 into the installation space 2202 from a side of the first housing 2254 facing away from the second housing 2255.

In some embodiments, the sliding member 2252 may be fixedly connected to the control valve 224, such as the blocking member 2244. The sliding member 2252 can move together with the blocking member 2244, so that the blocking member 2244 can block the control valve 224 and unblock the control valve 224, so that the sliding member 2252 can slide into the installation space 2202 and out of the installation space 2202.

In some embodiments, the sliding direction of the sliding member 2252 is consistent with the moving direction of the blocking member 2244.

In some embodiments, the sliding member 2252 may be provided with a contact portion 2256 to contact and limit the installation shell 2251 . When the contact portion 2256 contacts the installation housing 2251, the sliding member 2252 stops sliding. In some embodiments, when the abutment portion 2256 abuts against the installation housing 2251, the blocking member 2244 blocks the control valve 224, so that the control valve 224 is in a normally closed state.

In some embodiments, the abutment portion 2256 is located in the installation space 2202 and can abut with the installation housing 2251 such as the first housing 2254, so that the sliding member 2252 cannot completely slide out of the installation space 2202.

The elastic member 2253 may be a spring, a spring, or a structure made of other elastic materials. The elastic member 2253 can be disposed in the installation space 2202, respectively abutting the installation shell 2251 and the sliding member 2252 such as the contact portion 2256. Through the elastic deformation force of the elastic member 2253, the sliding member 2252 slides to the contact portion 2256 and is installed. The contact position of the housing 2251 causes the control valve 224 to be in a normally closed state. In some embodiments, the elastic member 2253 can contact the second housing 2255 and extend to a side close to the first housing 2254 to contact the contact portion 2256, so that the contact portion 2256 is disposed on the back side. Both sides are in contact with the second housing 2255 and the elastic member 2253 respectively.

Referring to FIG. 5 , the arrangement of the discharging member 22 on the assembly 21 can reduce the length of the discharging member 22 in the direction of the assembly 21 away from the push-pull mechanism 102 , thereby making the surface finishing robot 100 compact.

Please refer to Figure 5. The switch component 23 can cooperate with the discharging component 22, such as the reset component 225, to control the control valve 224, such as the blocking member 2244, to achieve the blocking and unblocking of the control valve 224, and to realize the discharging of decoration materials or the suspension of decoration. Material discharging. In some embodiments, reset component 225 may be part of switch member 23 .

The switch member 23 is provided on the side of the assembly 21 away from the discharging member 22, which can make the structure of the feeding device 20 compact.

Please refer to Figures 8 and 9. Figure 8 is a schematic structural diagram of the switch member 23 in some embodiments in the embodiment shown in Figure 5. Figure 9 is a schematic structural diagram of the switch member 23 in the embodiment shown in Figure 8 from another perspective. . The switch member 23 may include a power system such as a motor 231 provided on the assembly 21 , a screw 232 that is drivingly connected to the motor 231 and provided on the assembly 21 , a threaded connection with the screw 232 and a reset component 225 such as a slider 2252 The matching screw connector 233 and the limiting component 234 for limiting the screw connector 233. The motor 231 drives the screw 232 to rotate, thereby pushing the screw connector 233 to move, causing the sliding member 2252 to slide, releasing the normally closed state of the control valve 224, so that the control valve 224 is in an open state.

Motor 231 may be a stepper motor or other types of motors. The motor 231 can be connected and fixed with the screw 232 through the reducer 2311 and the coupling 2312. For example, the output shaft of the motor 231 is fixedly connected to the reducer 2311, and the reducer 2311 is connected and fixed to the coupling 2312. The reducer 2311 can be installed on the assembly 21 through the mounting base. In some embodiments, the motor 231 cooperates with the reducer 2311 and the coupling 2312 to form a motor assembly. The motor assembly may only include the motor 231, and may not be limited to the reducer 2311 and the coupling 2312, and may also include other structures.

The screw 232 can be directly connected and fixed with the motor component such as the motor 231, or can be connected and fixed with the motor 231 through a coupling 2312. The lead screw 232 can be installed on the assembly 21 through the mounting seat. The lead screw 232 may be disposed opposite the control valve 224 such as the blocking member 2244. The lead screw 232 may be disposed opposite the reset component 225 such as the slider 2252.

The screw connector 233 can be in the form of a block structure, a rod structure or other structures, which will not be described again. The screw connector 233 can be sleeved on the screw 232 and is threadedly connected with the screw 232 . Of course, the screw connector 233 can also be slidably connected to the assembly 21 instead of being sleeved on the screw 232, and can only be threadedly connected to the screw 232. The screw connector 233 can be in contact with the reset component 225 such as the sliding member 2252, and can be in contact with the control valve 224 such as the blocking member 2244, so as to push the sliding member 2252 or the blocking member 2244 to move through the contact, thereby releasing the normal operation of the control valve 224. closed state, so that the control valve 224 is in an open state. Furthermore, when the screw connector 233 does not push the sliding member 2252 or the blocking member 2244, the blocking member 2244 can reset the control valve 224 to the normally closed state under the push of the reset component 225, such as the sliding member 2252. In some embodiments, the screw connector 233 can be directly connected to the sliding member 2252. In some embodiments, the screw connector 233 can be directly connected to the blocking member 2244. In some embodiments, the reset component can be omitted. 225.

The limiting component 234 is used to limit the position of the screw connector 233, and then by limiting the position of the screw connector 233, the position of the sliding member 2252 or the blocking member 2244 is limited. The function and principle of the limiting component 234 can be referred to the limiting component 2201 in the above embodiment, and will not be described again.

The limiting component 234 may include a trigger 2341 provided on the screw connector 233 and a sensor 2342 provided on the assembly 21 and cooperating with the trigger 2341 . The cooperative relationship between the trigger 2341 and the sensor 2342 can be referred to the cooperative relationship between the sensor 223 and the trigger 2214 in the above embodiment, and will not be described again.

When the triggering member 2341 triggers the sensor 2342, the screw connector 233 is positioned. When the trigger 2341 triggers the sensor 2342, the sensor 2342 can generate a signal.

The limit component 234, such as the sensor 2342, can be connected to the control cabinet 1012, such as the control system, so that the control cabinet 1012, such as the control system, can receive a signal from the trigger 2341 to trigger the sensor 2342, and control the switch member 23, such as the motor 231, based on the signal, so that the switch The component 23 such as the motor 231 is stopped, so that the control valve 224 is in an open state.

In some embodiments, reset component 225 may be part of switch member 23 .

Please refer to FIG. 5 . The arrangement of the switch member 23 on the assembly 21 can reduce the length of the switch member 23 in the direction in which the assembly 21 is away from the push-pull mechanism 102 . Then, with the cooperation of the discharging member 22 , the surface finishing robot can 100 compact.

Referring to FIG. 3 , the scraping device 30 is disposed on the side of the feeding device 20 away from the push-pull mechanism 102 for scraping and trimming. In some scenarios, when the feeding device 20 supplies materials, the scraping device 30 uses the decoration material provided by the feeding device 20 to perform scraping and trimming.

The wiping device 30 may include an assembly seat 31 slidably connected to the sliding seat 10 such as the mounting member 12 , a reversing member 32 installed on the assembly seat 31 , and a wiping device installed on a side of the reversing member 32 away from the feeding device 20 Component 33. The assembly seat 31 adjusts the positions of the reversing member 32 and the wiping member 33 by sliding relative to the sliding seat 10, such as the mounting member 12, so that the wiping member 33 can contact the wall surface to implement the wiping operation. The reversing member 32 is used to adjust the wiping direction of the wiping member 33.

Please refer to Figures 10 and 11. Figure 10 is a schematic structural diagram of the assembly seat 31 in the embodiment shown in Figure 3 when it cooperates with the mounting member 12 in some embodiments. Figure 11 is a schematic diagram of the assembly seat 31 in the embodiment shown in Figure 10. Schematic diagram of the structure from another perspective. The assembly base 31 may include an assembly body 311 slidably connected to the sliding base 10 , such as the mounting member 12 , and a driving assembly 312 installed on the assembly body 311 and used to drive the assembly body 311 to slide.

The assembly body 311 may be in the form of a frame structure, a plate structure or other structures. The assembly body 311 can be installed on the mounting member 12 such as the distance-adjustable slide rail 123, and then slides on the distance-adjustable slide rail 123 in a direction away from or close to the control cabinet 1012. In some embodiments, the assembly body 311 may be installed on the distance-adjustable slide rail 123 of the first mounting bracket 121 . In some embodiments, the assembly body 311 may be installed on the distance-adjustable slide rail 123 of the second mounting bracket 122 .

The driving assembly 312 may include a motor 3121 installed on the assembly body 311 and a gear 3122 drivingly connected to the output shaft of the motor 3121. The gear 3122 can rotate driven by the motor 3121. The motor 3121 can be connected to the control cabinet 1012, such as a control system, and can rotate under the control of the control cabinet 1012, such as a control system. The gear 3122 can mesh with the pitch-adjustable rack 124 . When the gear 3122 rotates under the control of the motor 3121, it can move on the pitch-adjustable rack 124, thereby driving the assembly body 311 to slide on the mounting member 12 such as the pitch-adjustable slide rail 123. It can be understood that the gear 3122 and the pitch-adjustable rack 124 can also be driven by a screw, a telescopic cylinder, a linear cylinder, etc., or a belt, so that the assembly body 311 can be mounted on the mounting piece 12 For example, when the pitch-adjustable slide rail 123 slides on the sliding rail 123 , reference may also be made to the relative sliding method of the power system driving the intermediate sliding member 1022 and the main sliding member 1021 in the above embodiment.

In some embodiments, the drive assembly 312 may also serve as a motor assembly in the power system.

In some embodiments, the assembly seat 31 may be a part of the sliding seat 10 .

Please refer to Figures 12 and 13. Figure 12 is an exploded view of the reversing member 32 and the scraping member 33 in some embodiments when they cooperate in the embodiment shown in Figure 5. Figure 13 is an exploded view of the reversing member 32 in the embodiment shown in Figure 12. A schematic structural diagram of the partial structural cooperation between the directional member 32 and the wiping member 33. The reversing member 32 may include a mounting seat 321 fixed on the mounting seat 31, such as the mounting body 311, and a motor 322 fixed on the mounting seat 321.

The placement seat 321 can be in the form of a frame structure, a plate structure or other structures. The mounting base 321 is fixed on the assembly base 31 such as the assembly body 311, and can be disposed on one side of the assembly base 31 such as the assembly body 311 in the extending direction of the end slider 1023. Furthermore, in some embodiments, the mounting base 321 may be a part of the assembly base 31 , such as the assembly body 311 . In some embodiments, the seat 321 may be omitted.

The motor 322 is fixed on the mounting base 321, and is further fixed on the assembly base 31, such as the assembly body 311, through the mounting base 321. In some embodiments, the axial direction of the output shaft of the motor 322 is consistent with the sliding direction of the assembly base 31 , such as the assembly body 311 , relative to the mounting member 12 , such as the distance-adjustable slide rail 123 . In some embodiments, the motor 322 may be part of the mounting base 31 . In some embodiments, the motor 322 may be directly fixed on the assembly body 311 . In some embodiments, the motor 322 may be used with the drive assembly 312 as a motor component in a power system. In some embodiments, the output shaft of the motor 322 faces the side of the mounting seat 321 away from the feeding device 20 .

It can be understood that the reversing member 32 can be a part of the assembly seat 31 .

Please refer to Figures 12 and 14. Figure 14 is a schematic structural diagram of the wiping member 33 in some embodiments of the embodiment shown in Figure 12. The wiping member 33 may include a buffer component 331 installed on the reversing member 32 such as the motor 322 and a wiping component 332 installed on the buffer component 331 .

The buffer assembly 331 may include a rotating base 333 installed on the reversing member 32 such as the motor 322, a buffering member 334 slidingly connected to the rotating base 333, and a buffering member 335 slidingly connected to the rotating base 333.

Referring to Figures 12 and 13, the rotating base 333 can be in a plate-like structure, a frame structure, or other structures. The rotating base 333 may be fixed on the reversing member 32 , such as the output shaft of the motor 322 , to rotate around the axis of the output shaft of the motor 322 .

In some embodiments, the rotating base 333 can be rotatably connected to the assembly base 31 such as the assembly body 311, and is drivingly connected to the reversing member 32 such as the motor 322, so that the reversing member 32 such as the motor 322 drives the rotating base 333 to rotate.

The rotating base 333 is provided with abutting parts 3331 and 3332 . The contact parts 3331 and 3332 cooperate to install the buffer part 334.

In some embodiments, abutments 3331 and 3332 may be omitted. The rotating base 333 is provided with abutting parts 3333 and 3334 . The contact parts 3333 and 3334 cooperate to install the buffer part 335. In some embodiments, the connection line between the abutment member 3333 and the abutment member 3334 is parallel to the connection line between the abutment member 3331 and the abutment member 3332, so as to adjust the relative position of the buffer member 334 and the buffer member 335. In some embodiments, , the contact parts 3333, 3334, 3331, and 3332 are arranged around the output shaft of the motor 322, and the contact parts 3331, 3332, 3334, and 3332 are 3333 are connected with lines in turn to form a quadrilateral. It can be understood that the number of abutting members may not be limited to the number listed here.

In some embodiments, abutments 3333 and 3334 may be omitted.

Referring to FIG. 14 , the buffer member 334 is provided on the side of the rotating base 333 away from the feeding device 20 . The buffer member 334 may include a fixed base 338 slidably connected to the rotating base 333 such as the abutting member 3331 and the abutting member 3332, and a movable base 339 rotatably connected to the fixed base 338 and to the wiping assembly 332. The fixed base 338 can adjust the distance between the wiping assembly 332 and the rotating base 333. When the movable base 339 rotates relative to the fixed base 338, the posture of the wiping assembly 332 can be adjusted so that the wiping assembly 332 can better contact the wall.

The fixed base 338 may include a fixed main body 3381, a sliding rod 3382 provided on the fixed main body 3381 and slidingly connected with the rotating base 333, such as the abutting member 3332; The sliding rod 3383. The fixed body 3381 may be in a frame structure. The sliding rod 3382 and the sliding rod 3383 are provided on the side of the fixed body 3381 facing the rotating base 333 .

The sliding rod 3382 may include a sliding body 3384 disposed on a side of the fixed body 3381 facing the rotating base 333 and slidingly connected with the rotating base 333 such as the abutting member 3332, and abutting against the fixed body 3381 and the rotating base 333 such as the abutting member 3332 respectively. The elastic part 3385.

The sliding body 3384 can be a rod-shaped structure or other structures that can be slidably connected with the rotating base 333 such as the contact member 3332, which will not be described again. The sliding body 3384 can pass through the rotating base 333 such as the abutting piece 3332, and can extend to the side of the rotating base 333 such as the abutting piece 3332 that is away from the fixed body 3381. The sliding body 3384 is provided with a contact portion 3386 at one end away from the fixed body 3381 . When the sliding body 3384 cooperates with the rotating base 333 such as the contact piece 3332, the contact portion 3386 is located on the side of the rotating base 333 such as the contact piece 3332 away from the fixed body 3381, so that the sliding body 3384 and the rotating base 333 such as the contact piece When 3332 slides, the contact portion 3386 can contact the rotating base 333, such as the contact piece 3332, on the side of the rotating base 333, such as the contact piece 3332, away from the fixed body 3381, to limit the position of the sliding body 3384, and prevent the sliding body 3384 from rotating. The seat 333, for example, slides off the contact piece 3332.

In some embodiments, the sliding direction of the sliding body 3384 and the rotating base 333 such as the abutment 3332 may be the axial direction of the output shaft of the motor 322 .

The elastic member 3385 may be a spring, a spring, or a structure made of other elastic materials. The elastic member 3385 is respectively in contact with the fixed body 3381 and the rotating base 333, such as the abutting member 3332. Through the elastic deformation force, the fixed body 3381 drives the sliding body 3384 to move to the side away from the rotating base 333, such as the abutting member 3332, until it abuts. The portion 3386 is in contact with the rotating base 333, such as the abutting member 3332, on the side of the rotating base 333, such as the abutting member 3332, away from the fixed main body 3381. In some embodiments, an elastic member 3385, such as a spring, may be sleeved around the sliding body 3384.

It can be understood that the elastic member 3385 can adjust the distance between the fixed body 3381 and the rotating base 333 to achieve buffering.

For the structure and composition of the sliding rod 3383, please refer to the sliding rod 3382 and will not be described in detail. For the cooperative relationship between the sliding rod 3383 and the fixed body 3381 and the rotating base 333, such as the abutting member 3331, please refer to the cooperative relationship between the sliding rod 3382 and the fixed main body 3381 and the rotating base 333, such as the abutting member 3332, which will not be described again.

The movable seat 339 may include a movable body 3391. The movable body 3391 can be in the form of a frame structure or a plate-like structure. The movable body 3391 is disposed on the side of the fixed body 3381 away from the sliding rod 3382, and is rotatably connected to the fixed base 338, such as the fixed body 3381, in the middle through a rotating shaft or other structures. In some embodiments, the movable body 3391 and the fixed body 3381 are rotationally connected at the position between the sliding rod 3382 and the sliding rod 3383, so that the movable seat 339 and the fixed seat 338 are balanced in force. In some embodiments, the movable body 3391 is provided with a rotating part 3392 such as a rotating shaft and other structures to be rotationally connected with the fixed base 338 such as the fixed body 3381. In some embodiments, the rotating part 3392 is provided on a side of the movable body 3391 close to the fixed base 338, such as the fixed body 3381. In some embodiments, the rotation axis of the movable body 3391 rotated by the rotating part 3392 is perpendicular to the sliding direction of the sliding body 3384 relative to the rotating base 333 such as the abutment 3332. In some embodiments, the rotation axis of the movable body 3391 through the rotation part 3392 is perpendicular to the output shaft of the reversing member 32 , such as the motor 322 .

The movable body 3391 is provided with a rotating part 3393 such as a rotating shaft and other structures to be rotationally connected with the wiping component 332 to adjust the wiping angle of the wiping component 332. In some embodiments, the rotating part 3393 is provided on a side of the movable body 3391 facing away from the fixed base 338, such as the fixed body 3381. In some embodiments, the rotating part 3393 is provided on the edge of the movable body 3391.

The movable body 3391 is provided with a first limiting portion 3394 to limit the wiping assembly 332 . In some embodiments, the first limiting portion 3394 is provided on a side of the movable body 3391 facing away from the fixed base 338, such as the fixed body 3381. In some embodiments, the first limiting part 3394 can be a threaded structure such as a bolt or a screw, so that the first limiting part 3394 is threadedly connected to the movable body 3391, so that the first limiting part 3394 is close to the movable body 3391. One side of the fixed base 338, such as the fixed main body 3381, passes through the movable body 3391 and extends to the side of the movable main body 3391 away from the fixed base 338, such as the fixed main body 3381. The length of the first limiting portion 3394 on the side of the movable body 3391 away from the fixed base 338, such as the fixed body 3381, can be adjusted by rotation.

A reset member 3395 is provided on the movable body 3391 to reset the wiping assembly 332. In some embodiments, the reset member 3395 may include a guide rod 3396 slidably connected to the movable body 3391 and an elastic member 3397 sleeved on the guide rod 3396.

The guide rod 3396 can pass through the movable body 3391 from the side of the movable body 3391 close to the fixed base 338, such as the fixed body 3381, and extend to the side of the movable body 3391 away from the fixed base 338, such as the fixed body 3381. The guide rod 3396 is provided with abutting portions at both ends. The abutting portion of the guide rod 3396 located on the side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381, can contact the movable body 3391 to limit the position of the guide rod 3396. Prevent the guide rod 3396 from slipping on the movable body 3391.

The elastic member 3397 may be a spring, a spring, or a structure made of other elastic materials. The elastic member 3385 may be located on a side of the movable body 3391 facing away from the fixed base 338, such as the fixed body 3381. One end of the elastic member 3385 can be in contact with the movable body 3391 on a side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381. The other end of the elastic member 3385 can contact the abutment portion of the guide rod 3396 on the side of the movable body 3391 away from the fixed base 338, such as the fixed body 3381. The elastic member 3385 uses elastic deformation force to cause the guide rod 3396 to have a longer length and is located on the side of the movable body 3391 away from the fixed base 338, such as the fixed body 3381. In some embodiments, the elastic member 3397 is sleeved around the guide rod 3396.

A limiting hole 3398 is provided on the movable body 3391 to limit the position of the wiping assembly 332. The limiting hole 3398 penetrates the movable body 3391 and can extend from the side of the movable body 3391 away from the fixed base 338, such as the fixed body 3381, to the side of the movable body 3391 close to the fixed base 338, such as the fixed body 3381.

In some embodiments, the limiting hole 3398 is disposed adjacent to the resetting member 3395 to cooperate with the resetting member 3395 to achieve resetting of the wiping assembly 332 .

The buffer member 335 has the same structure and function as the buffer member 334. For details, please refer to the buffer member 334, which will not be described again. The cooperative relationship between the buffer member 335 and the rotating base 333, such as the abutting members 3333 and 3334, can be referred to the cooperative relationship between the buffering member 334 and the rotating base 333, such as the abutting members 3331 and 3332, and will not be described again. For example, the cooperative relationship between the sliding rod 3383 in the buffer member 335 and the rotating base 333, such as the abutting member 3333, can be referred to the cooperative relationship between the sliding rod 3382 in the buffer member 334 and the rotating base 333, such as the abutting member 3331. For example, the cooperative relationship between the sliding rod 3383 in the buffer member 335 and the rotating base 333, such as the abutting member 3334, can be referred to the cooperative relationship between the sliding rod 3382 in the buffer member 334 and the rotating base 333, such as the abutting member 3332. In addition, the cooperative relationship between the buffering member 335 and the wiping component 332 can be referred to the cooperative relationship between the buffering member 334 and the wiping component 332, which will not be described again.

Referring to FIGS. 12 and 14 , the wiping assembly 332 may include a wiping member 336 installed on the buffering member 334, such as the movable body 3391, and a wiping member 337 installed on the buffering member 334, such as the movable body 3391. The wiping member 336 and the wiping member 337 are arranged side by side.

The wiping member 336 may include a fitting seat 3361 that is rotationally connected to the buffering member 334, such as the movable body 3391, and a wiping plate 3362 installed on a side of the fitting seat 3361 away from the buffering member 334, such as the movable body 3391.

The matching seat 3361 can be in the form of a plate structure or a frame structure. The fitting seat 3361 is provided with a rotating part 3363 to cooperate with the movable seat 339, such as the rotating part 3393, to realize the rotational connection between the fitting seat 3361 and the movable seat 339. The matching seat 3361 is located on the side of the movable seat 339 away from the fixed seat 338 .

In some embodiments, the rotation axis of the fitting seat 3361 rotates with the movable seat 339 through the rotating part 3363 and the rotating part 3393 is perpendicular to the direction in which the sliding body 3384 slides relative to the rotating seat 333, such as the abutment piece 3332. In some embodiments, the rotation axis of the fitting seat 3361 and the movable seat 339 through the rotating part 3363 and the rotating part 3393 is perpendicular to the output shaft of the reversing member 32 such as the motor 322. In some embodiments, the rotation axis of the fitting seat 3361 through the rotation part 3363 and the rotation part 3393 and the movable seat 339 is perpendicular to the rotation axis of the movable body 3391 through the rotation part 3392.

The direction of the rotation axis of the fitting seat 3361 through the rotating part 3363 and the rotating part 3393 and the movable seat 339 is different from the direction of the output shaft of the motor 322, and also different from the direction of the rotation axis of the movable body 3391 through the rotating part 3392. The motor 322 The direction of the output shaft is different from the direction of the rotation axis of the movable body 3391 rotated by the rotating part 3392.

The fitting seat 3361 can rotate around the rotating portion 3363 toward the side close to the movable seat 339, such as the movable body 3391, to adjust the wiping angle. The fitting seat 3361 can rotate around the rotating portion 3363 toward the side close to the movable seat 339, such as the movable body 3391, and can rotate to a position abutting the first limiting portion 3394 to limit the fitting seat 3361.

The fitting seat 3361 can contact the reset member 3395. Specifically, for example, the fitting seat 3361 can be in contact with the abutting portion of the guide rod 3396 on the side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381, so as to align the fitting seat 3361 under the elastic deformation of the elastic member 3397. The scraping angle performs limited reset. The fitting seat 3361 can rotate around the rotating part 3363 toward the side close to the movable seat 339 such as the movable body 3391, and squeeze the end of the guide rod 3396 so that the guide rod 3396 and the movable body 3391 slide, so that the guide rod 3396 moves toward the movable body 3391. The side close to the fixing base 338, such as the fixing body 3381, slides, so that the degree of elastic deformation of the elastic member 3397 increases.

The fitting seat 3361 is provided with a second limiting part 3364, and the second limiting part 3364 is arranged opposite to the limiting hole 3398 of the movable body 3391. The second limiting portion 3364 can be located on the side of the fitting seat 3361 close to the movable body 3391, and can extend into the limiting hole 3398, and extend to the side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381. The end of the second limiting portion 3364 away from the fitting seat 3361 is provided with a contact portion 3365. The contact portion 3365 is located on the side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381, to contact and limit the movable body 3391.

In some embodiments, the second limiting portion 3364 may be a rod-shaped structure. In some embodiments, the elastic member 3397 may be disposed on the second limiting part 3364. Specifically, it can be sleeved on the second limiting part 3364, and can be in contact with the matching seat 3361 and the movable body 3391 respectively. Furthermore, the reset member 3395 can be omitted, and the second limiting portion 3364 cooperates with the elastic member 3397 to function as the reset member 3395. In some embodiments, the second limiting portion 3364 may be a part of the restoring member 3395.

In some scenarios, the fitting seat 3361 can rotate around the rotating portion 3363 toward the side close to the movable seat 339 such as the movable body 3391, adjust the scraping angle, and squeeze the end of the guide rod 3396, so that the guide rod 3396 and the movable body 3391 The guide rod 3396 slides toward the side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381, so that the degree of elastic deformation of the elastic member 3397 increases. At the same time, the second limiting part 3364 slides in the limiting hole 3398 and slides toward the side of the movable body 3391 close to the fixed base 338, such as the fixed body 3381. Finally, the fitting seat 3361 and the first limiting part 3394 are in contact and limited.

Furthermore, under the action of the elastic deformation of the elastic member 3397, the guide rod 3396 can slide to the side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381, and push the fitting seat 3361, so that the fitting seat 3361 can rotate around the rotating part 3363. The side away from the movable seat 339, such as the movable body 3391, rotates to adjust the wiping angle. At the same time, the second limiting part 3364 slides in the limiting hole 3398 and moves toward the side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381. slide. Finally, the second limiting part 3364 contacts and limits the movable body 3391 on the side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381.

The side of the fitting seat 3361 facing away from the movable body 3391 is used to support the squeegee 3362. A fastener 3366 is provided on the side of the fitting seat 3361 away from the movable body 3391 to fix the squeegee plate 3362 on the fitting seat 3361. In some embodiments, the fastener 3366 can be a detachable structure such as a fastening bolt, a buckle structure or a screw connection structure, so that the squeegee plate 3362 can be detachably fixed on the mating seat 3361. In some embodiments, the mating seat 3361 is provided with fastening grooves 3367 at the edges. The fastener 3366 can extend into the fastening groove 3367.

The squeegee plate 3362 can be provided with a bent portion 3368 on the edge. The bent portion 3368 can extend into the fastening groove 3367, and the fastener 3366 can extend into the fastening groove 3367 to fix the bent portion 3368.

The structure and function of the wiping member 337 can be referred to the wiping member 336 in the above embodiment. For the cooperative relationship between the wiping member 337 and the movable seat 339, please refer to the cooperative relationship between the wiping member 336 and the movable seat 339, which will not be described in detail. In some embodiments, the squeegee blade 3362 in the squeegee member 337 is larger than the squeegee blade 3362 in the squeegee member 336 .

The surface finishing robot 100 is used to modify the wall surface. For example, trimming from bottom to top can be done by sliding between the push-pull mechanism 102 such as the main slider 1021, the middle slider 1022 and the end slider 1023, and the sliding base 10 such as the fitting 11 slides on the push-pull mechanism 102 such as the end Slide on the member 1023, and slide to the bottom with the feeding device 20 and the wiping device 30. The reversing member 32, such as the motor 322, is rotated to adjust the wiping direction of the wiping member 33 so that the wiping member 337 is positioned at the wiping position. Below the component 336, the surface finishing robot 100 or the assembly seat 31 slides relative to the sliding seat 10, such as the mounting component 12, so that the wiping component 336 and the wiping component 337 are in contact with the wall surface. During the pressing process of the wiping member 337, the first limiting part 3394, the second limiting part 3364 and the reset member 3395 cooperate to adjust the wiping angles of the wiping member 336 and the wiping member 337. By sliding the push-pull mechanism 102 such as the main slider 1021, the middle slider 1022, and the end slider 1023 in an extended state, the scraping device 30 is pushed and pulled to realize the modification of the wall surface. Of course, the wall surface can be trimmed by the wiping device 30 by sliding the sliding base 10, such as the fitting 11, on the push-pull mechanism 102, such as the end slide 1023.

Meanwhile, if it is necessary to provide decoration materials for the wall, the angle adjustment component 221 can be used to adjust the discharging angle of the discharging component 222 so that the discharging component 222 can move the wall squeegee 336 away from the squeegee 337 The decoration material is applied to the area, and the decoration material on the wall is trimmed by the scraper 336 and the scraper 337 .

The surface finishing robot 100 is used to modify the wall surface. For example, trimming from top to bottom can be done by sliding between the push-pull mechanism 102 such as the main slider 1021, the middle slider 1022 and the end slider 1023. 1023, slide to the top with the feeding device 20 and the wiping device 30, and rotate the reversing member 32 such as the motor 322 to adjust the wiping direction of the wiping member 33 so that the wiping member 336 is located at the wiping member 337 below, by moving the surface finishing robot 100 or the assembly seat 31 relative to the sliding seat 10 such as the mounting part 12, so that the wiping part 336 and the wiping part 337 are in contact with the wall, and the wiping part 336 and the wiping part 337 face the wall. During the pressing process of the member 337, the first limiting part 3394, the second limiting part 3364 and the reset member 3395 cooperate to adjust the wiping angles of the wiping member 336 and the wiping member 337. By sliding the push-pull mechanism 102 such as the main slider 1021, the middle slider 1022, and the end slider 1023 in a retracted state, the scraping device 30 is pushed and pulled to realize the modification of the wall surface. Of course, the wall surface can be trimmed by the wiping device 30 by sliding the sliding base 10, such as the fitting 11, on the push-pull mechanism 102, such as the end slide 1023.

Meanwhile, if it is necessary to provide decoration materials for the wall, the angle adjustment component 221 can be used to adjust the discharging angle of the discharging component 222 so that the discharging component 222 can move the wall squeegee 336 away from the squeegee 337 The decoration material is applied to the area, and the decoration material on the wall is trimmed by the scraper 336 and the scraper 337 .

The surface finishing robot 100 is used to modify the wall surface. For example, from left to right or from right to left, the position of the sliding base 10 can be adjusted through the push-pull mechanism 102 such as the sliding between the main sliding piece 1021, the middle sliding piece 1022 and the end sliding piece 1023. For example, the fitting part 11 slides on the push-pull mechanism 102 such as the end slider 1023 to adjust the position of the sliding seat 10 . By rotating the reversing member 32, such as the motor 322, the wiping direction of the wiping member 33 is adjusted or the assembly base 31 slides relative to the sliding seat 10, such as the mounting member 12, so that the wiping members 336 and 337 are arranged in the horizontal direction. By moving the surface modification robot 100, the wiping part 336 and the wiping part 337 are in contact with the wall surface. When the wall surface presses the wiping part 336 and the wiping part 337, the first limiting part 3394 and the second limiting part 3394 are pressed against the wall surface. With the cooperation of the limiting part 3364 and the reset part 3395, the wiping angles of the wiping part 336 and the wiping part 337 are adjusted. By moving the surface finishing robot 100 to the left or right, the wiping device 30 can modify the wall surface from left to right or from right to left.

Meanwhile, if it is necessary to provide decoration materials to the wall, the angle adjustment component 221 can be used to adjust the discharging angle of the discharging component 222, so that the discharging component 222 can apply decoration materials to the wall, and the scraping member 336 can be adjusted. and the position of the scraping part 337, thereby realizing the scraping part 336 and the scraping part 337 to trim the decoration materials on the wall.

It can be understood that the angle adjustment component 221 adjusts the discharging angle of the discharging component 222. The first limiting part 3394 and the second limiting part 3364 cooperate to limit the range of the wiping angle of the wiping member 336 and the wiping member 337.

In addition, when smearing or scraping surfaces such as the ground or roof in other scenarios, please refer to the introduction of smearing and scraping walls in the above embodiments, which will not be described again.

Furthermore, the buffer component 331 is used to buffer the wiping component 332 in the direction in which the sliding body 3384 slides relative to the rotating base 333 such as the abutment 3332 to adjust the distance between the wiping component 332 and the reversing member 32 , can be used to buffer the wiping component 332 when the wiping component 332 rotates toward or away from the buffer component 331 to adjust the wiping angle of the wiping component 332 .

In some scenarios, the wiping assembly 332 is disposed on the side of the buffering assembly 331 facing away from the feeding device 20,

The above descriptions are only embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies fields are equally included in the scope of patent protection of this application.

Claims (10)

1. A wiping device, comprising:

a reversing member;

the buffer component is connected with the reversing component and is used for driving the buffer component to rotate around an axis; and

the scraping assembly is used for scraping and trimming, the scraping assembly is rotationally connected with the buffer assembly so as to rotate around a rotating shaft to one side close to or away from the buffer assembly, the buffer assembly is used for buffering the scraping assembly in the axial direction when the buffer assembly rotates relative to the reversing component so as to adjust the distance between the scraping assembly and the reversing component, and the scraping assembly is buffered when the scraping assembly rotates to one side close to the buffer assembly so as to adjust the scraping angle of the scraping assembly, and the axial direction when the buffer assembly rotates relative to the reversing component is different from the rotating axial direction when the scraping assembly rotates relative to the buffer assembly.

2. The wiper device as set forth in claim 1 wherein said bumper assembly includes:

the rotating seat is arranged on the reversing component and is used for driving the rotating seat to rotate around an axis when the buffer assembly rotates relative to the reversing component;

the fixed seat is in sliding connection with the rotating seat so as to slide in the axial direction when the buffer assembly rotates relative to the reversing component; and

the movable seat is rotationally connected with the fixed seat so as to rotationally adjust the gesture of the scraping assembly around a rotation axis, the movable seat is rotationally connected with the scraping assembly so as to adjust the scraping angle of the scraping assembly, the scraping assembly is connected with the fixed seat through the movable seat, and the rotation axis direction of the movable seat relative to the fixed seat is different from the rotation axis direction of the buffer assembly relative to the reversing component and is different from the rotation axis direction of the scraping assembly relative to the buffer assembly.

3. The wiping device of claim 2, wherein the mounting comprises:

the movable seat is rotationally connected with the fixed body so as to rotate around a rotation axis when the movable seat rotates relative to the fixed seat;

The sliding body is fixed on one side of the fixed body facing the rotating seat and is in sliding connection with the rotating seat so as to slide in the axial direction when the buffer assembly rotates relative to the reversing member; and

the elastic piece is respectively in butt joint with the fixed main body and the rotating seat and has elastic deformation force for enabling the fixed main body to move to one side deviating from the rotating seat so as to drive the sliding main body and the rotating seat to slide relatively.

4. The scraping apparatus as claimed in claim 2, wherein said movable seat comprises:

the movable main body is rotationally connected with the fixed seat so as to rotate around a rotation axis when the movable seat rotates relative to the fixed seat, and the scraping assembly is rotationally connected with the movable main body so as to rotate around a rotation axis when the scraping assembly rotates relative to the movable seat;

the first limiting part is arranged on the movable main body, extends towards one side close to the wiping and scraping assembly and is used for limiting the wiping and scraping angle of the wiping and scraping assembly, and the wiping and scraping assembly is configured to rotate towards one side close to the movable main body and can rotate to a position abutting against the first limiting part; and

And the resetting piece is arranged on the movable main body and used for driving the scraping assembly to rotate and reset towards one side deviating from the buffer assembly.

5. The wiper device as set forth in claim 4 wherein said reset member comprises:

the guide rod is connected with the movable main body in a sliding way so as to slide to one side close to or far away from the wiping and scraping assembly and is abutted with the wiping and scraping assembly; and

the elastic piece is respectively abutted with the guide rod and the movable main body and provided with elastic deformation force for enabling the guide rod to move towards one side close to the wiping and scraping assembly so as to push the wiping and scraping assembly to rotate and reset towards one side deviating from the buffer assembly.

6. The wiper device as set forth in claim 4 wherein said first stop is threadably connected to said movable body to adjust the length of said first stop extending to a side adjacent said wiper assembly.

7. The wiping device according to claim 4, wherein the movable body is provided with a limiting hole, the wiping component is provided with a second limiting portion, the second limiting portion is used for limiting a wiping angle of the wiping component, the second limiting portion is arranged in the limiting hole in a penetrating mode, an abutting portion which is in abutting connection with the movable body to be limited is arranged on one side, away from the wiping component, of the movable body, and when the wiping component rotates to one side, close to or away from the buffer component, around the rotating shaft, the second limiting portion slides in the limiting hole.

8. The wiper device as set forth in claim 7 wherein the wiper assembly includes:

the matching seat is rotationally connected with the movable main body so as to rotate around a rotation axis when the scraping assembly and the movable seat relatively rotate; and

and the scraping plate is detachably connected with the matching seat at one side of the matching seat away from the movable main body.

9. The wiping device of claim 1, wherein the reversing member comprises:

and the buffer component is fixedly connected to an output shaft of the motor component so as to rotate around the output shaft of the motor component.

10. A surface modifying robot, comprising:

a console;

the control console is used for controlling the push-pull mechanism to be in the extending state or the retracting state or one state between the extending state and the retracting state;

the sliding seat is in sliding connection with the push-pull mechanism, and the control console is used for controlling the sliding seat to slide relative to the push-pull mechanism; and

the wiper device of any one of claims 1-9 slidably coupled to the slide mount for sliding movement toward a side adjacent to or away from the push-pull mechanism, the buffer assembly being disposed on a side of the reversing element away from the push-pull mechanism, the wiper assembly being disposed on a side of the buffer assembly away from the push-pull mechanism.