CN117306819A

CN117306819A - Feeding device and surface finishing robot

Info

Publication number: CN117306819A
Application number: CN202311164256.1A
Authority: CN
Inventors: 朱晓; 吕泽民; 胡同; 冯锐; 谢金台; 陈锦华; 杨万游
Original assignee: Hong Kong Intelligent Construction Research And Development Center
Current assignee: Hong Kong Intelligent Construction Research And Development Center
Priority date: 2023-09-08
Filing date: 2023-09-08
Publication date: 2023-12-29

Abstract

The application discloses feedway and surface finishing robot. Relates to the field of construction machinery. In this application, the outfeed assembly is used for outfeed; the angle adjusting component is connected with the discharging component and is used for driving the discharging component to rotate around an axis so as to adjust the discharging direction of the discharging component; the control valve is connected with the discharging assembly and used for controlling the material to reach the discharging assembly through the control valve; the switch component is used for controlling the control valve to be blocked or unblocked so as to control the discharging condition of the discharging component. The utility model provides a discharge direction of ejection of compact subassembly is adjusted to accessible angle adjusting part for the ejection of compact direction of ejection of compact subassembly can be adjusted in certain limit, can reduce feedway's removal through the ejection of compact direction of adjusting ejection of compact subassembly.

Description

Feeding device and surface finishing robot

Technical Field

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

Background

When the wall surface is trimmed, most workers hold the spray gun to operate, and spray coating at different places is finished by moving the wrist of the arm. Fatigue is felt by the worker during long movement of the spray gun.

Disclosure of Invention

In one aspect, the present application provides a feeding device comprising:

the discharging assembly is used for discharging;

the angle adjusting component is connected with the discharging component and used for driving the discharging component to rotate around an axis so as to adjust the discharging direction of the discharging component;

the control valve is connected with the discharging assembly and used for controlling the material to reach the discharging assembly through the control valve; and

and the switch component is used for controlling the control valve to be blocked or unblocked so as to control the discharging condition of the discharging component.

In one aspect, the present application provides 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

above-mentioned feedway, set up on the sliding seat, feedway is used for deviating from the ejection of compact of one side of push-pull mechanism, the control cabinet is used for control angle adjustment subassembly is in order to adjust the ejection of compact angle of ejection of compact subassembly.

The utility model provides a discharge direction of ejection of compact subassembly is adjusted to accessible angle adjusting part for the ejection of compact direction of ejection of compact subassembly can be adjusted in certain limit, can reduce feedway's removal through the ejection of compact direction of adjusting ejection of compact subassembly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic structural view of a surface modifying robot in some embodiments of the present application;

FIG. 2 is a schematic view of the surface modification robot in another state in the embodiment shown in FIG. 1;

FIG. 3 is a schematic view of the surface conditioning mechanism in some embodiments of the embodiment of FIG. 2;

FIG. 4 is a schematic view of the mounting member of the embodiment of FIG. 3 in some embodiments;

FIG. 5 is a schematic view of the embodiment of the feed device of FIG. 3 in some embodiments;

FIG. 6 is an exploded view of the outfeed member of the embodiment of FIG. 5 in some embodiments;

FIG. 7 is a schematic illustration of the control valve of the embodiment of FIG. 6 in some embodiments in combination with a reset assembly;

FIG. 8 is a schematic diagram of the switch member of the embodiment of FIG. 5 in some embodiments;

FIG. 9 is a schematic view of the switch member of the embodiment of FIG. 8 from another perspective;

FIG. 10 is a schematic view of the embodiment of FIG. 3 showing the assembly mount and mounting assembly in some embodiments;

FIG. 11 is a schematic view of the embodiment of FIG. 10 with the mount in another view;

FIG. 12 is an exploded view of the embodiment of FIG. 5 showing the mating of the reversing element and the wiper element in some embodiments;

FIG. 13 is a schematic view of the embodiment of FIG. 12 in which the reversing element is partially structurally mated with the wiper element;

fig. 14 is a schematic view of the structure of the wiping member in some embodiments of the embodiment shown in fig. 12.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not limiting. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

All directional indications (such as up, down, left, right, front, back … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases 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 of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The application describes a surface finishing robot, and the surface finishing robot can be used for smearing, wiping and scraping wall finishing materials such as cement, cement mortar, putty, paint and the like on a wall surface to finish the wall surface. The surface finishing agent can also be used for smearing, wiping and scraping the surfaces of floors, roofs and the like by using decoration materials such as cement, cement mortar, putty, paint and the like, so as to realize the surface finishing.

The following description will be given with respect to surface finishing of a wall surface, for example.

The application describes a feeding device comprising: the discharging assembly is used for discharging; the angle adjusting component is connected with the discharging component and used for driving the discharging component to rotate around an axis so as to adjust the discharging direction of the discharging component; the control valve is connected with the discharging assembly and used for controlling the material to reach the discharging assembly through the control valve; and the switch component is used for controlling the control valve to be blocked or unblocked so as to control the discharging condition of the discharging component.

In some embodiments, the angle adjustment assembly comprises: a motor assembly; the fixing piece is connected with the motor assembly, the motor assembly is used for driving the fixing piece to rotate around the axis, and the discharging assembly is fixed on the fixing piece.

In some embodiments, the outfeed assembly comprises: the rotary valve is fixed on the fixing piece, is rotationally connected with the control valve and rotates around the axis relative to the control valve; and the discharging nozzle is arranged on the rotary valve and used for discharging materials conveyed from the control valve and the rotary valve in sequence, and the angle adjusting assembly is used for adjusting the discharging direction of the discharging nozzle.

In some embodiments, the control valve comprises: the valve body is connected with the discharging assembly; and the blocking piece is partially arranged in the valve body, the part outside the valve body is matched with the switch component, and the switch component is used for controlling the blocking piece to block or unblock the valve body.

In some embodiments, the switch member comprises: a screw rod; the motor assembly is in transmission connection with the screw rod so as to drive the screw rod to rotate; the screw connection piece is in threaded connection with the lead screw, is matched with the plugging piece, and when the lead screw rotates, the screw connection piece drives the plugging piece to plug or dredge the valve body.

In some embodiments, the feeding device further comprises: the assembly part, ejection of compact subassembly angle adjusting part reaches the control valve sets up one side of assembly part, the lead screw with motor assembly sets up the opposite side of assembly part, angle adjusting part ejection of compact subassembly reaches the control valve arranges in proper order and sets up, the spiro union piece is in the control valve deviates from one side of angle adjusting part with the control valve cooperation.

In some embodiments, the switch member further comprises: and the resetting component is connected with the plugging piece and is used for driving the plugging piece to plug the valve body, so that the control valve is in a normally closed state, and when the threaded piece responds to the rotation of the screw rod and overcomes the action of the resetting component, the threaded piece releases the normally closed state of the control valve.

In some embodiments, the reset assembly comprises: a mounting shell; the sliding piece is connected with the plugging piece and is in sliding connection with the mounting shell; and an elastic member which is respectively abutted against the mounting housing and the sliding member and is configured to have an elastic deformation force for enabling the sliding member to slide relative to the mounting housing, so that the blocking member blocks the valve body under the elastic deformation force, and the screw member is matched with the sliding member or the blocking member to overcome the elastic deformation force so as to release the normally closed state of the control valve.

The application describes 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 feeding device is arranged on the sliding seat, the feeding device is used for discharging on one side deviating from the push-pull mechanism, and the control console is used for controlling the angle adjusting assembly so as to adjust the discharging angle of the discharging assembly.

In some embodiments, the surface modifying robot further comprises: the scraping device is used for performing scraping correction, is arranged on the sliding seat and is positioned on one side of the feeding device, which is away from the push-pull mechanism.

Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a surface finishing robot according to some embodiments of the present application, and fig. 2 is a schematic structural diagram of the surface finishing robot in another state according to the embodiment shown in fig. 1. The resurfacing robot 100 may include a console 101, a push-pull mechanism 102 provided on the console 101, and a resurfacing mechanism 103 connected to the push-pull mechanism 102. The console 101 is used to control the surface modifying robot 100 to achieve normal operation of the surface modifying robot 100. A push-pull mechanism 102 is provided on the console 101 and may be used to carry a mounting surface conditioning mechanism 103. The push-pull mechanism 102 may push-pull the resurfacing mechanism 103. The surface finishing mechanism 103 can act on the wall surface, and then can smear and scrape the wall surface under the pushing and pulling action of the pushing and pulling mechanism 102, can smear and finish the wall surface with finishing materials such as cement, cement mortar, putty and paint, and can smear and scrape the wall surface with finishing materials such as cement, cement mortar, putty and paint. In some scenarios, console 101 may be used to control push-pull mechanism 102 such that surface modifying mechanism 103 moves under the push-pull action of push-pull mechanism 102, effecting movement of surface modifying mechanism 103. In some scenarios, console 101 may be used to control surfacing mechanism 103, enabling movement of surfacing mechanism 103. In some scenarios, the surfacing mechanism 103 completes the smear finishing and/or the scratch as the surfacing mechanism 103 moves.

Referring to fig. 1 and 2, the console 101 may include a base 1011 for mounting the push-pull mechanism 102, and a control cabinet 1012 disposed on the base 1011. The base 1011 may be used to mount the push-pull mechanism 102 and the resurfacing mechanism 103. The control cabinet 1012 can be used to control the push-pull mechanism 102 and the surface finishing mechanism 103 to achieve normal operation of the surface finishing robot 100.

The base 1011 may serve as a foundation for the surface modifying robot 100 for carrying and mounting various components in the surface modifying robot 100. In some embodiments, rollers may be disposed at the bottom of the base 1011, and may further move by rolling the rollers, thereby facilitating user adjustment and movement of the surface finishing robot 100. In some embodiments, the rollers at the bottom of the base 1011 may be driven by a hydraulic system, an air pump system, an air cylinder system, or a motor assembly, to roll. In some embodiments, the base 1011 is part of the push-pull mechanism 102.

The control cabinet 1012 may be provided with a microcomputer, a computer, a PLC or other control system including a processor, a display screen, a hydraulic system, an air pump system, an air cylinder system, a motor assembly or other power systems, although the control cabinet 1012 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 in detail. In some scenarios, the control system serves as a core of the control cabinet 1012 to implement computation and processing of various data, and further issues instructions to the push-pull mechanism 102 and/or the surface finishing mechanism 103, so as to implement control of the push-pull mechanism 102 and/or the surface finishing mechanism 103. In some scenarios, the control cabinet 1012 may control the operating state of the surfacing robot 100 via a control system. In some scenarios, the control cabinet 1012 may display the operating status of the resurfacing robot 100 and related data involved in the operation via a display screen. In some scenarios, the control cabinet 1012 may input control data for controlling the resurfacing robot 100 via a display screen, such that the control system executes the control data to effect control of the resurfacing robot 100. In some scenarios, the power system may enable driving of the push-pull mechanism 102 and/or the resurfacing mechanism 103 under control of the control system, enabling normal operation of the resurfacing robot 100.

In some embodiments, the control cabinet 1012 may include storage containers such as bins, boxes, barrels, etc. to store finishing materials such as cement, cement mortar, putty, and paint. Of course, the storage container can store only one decoration material, and can also be divided into a plurality of storage containers, each storage container stores one decoration material, and storage of a plurality of decoration materials is realized. In some embodiments, the control cabinet 1012 may control the delivery of finishing material within the storage container to the finishing mechanism 103.

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

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

Referring to fig. 2, the push-pull mechanism 102 may include a main slider 1021 fixed to a console 101 such as a base 1011, an intermediate slider 1022 slidably connected to the main slider 1021, and an end slider 1023 slidably connected to the intermediate slider 1022 for mounting the surface finishing mechanism 103. The push-pull mechanism 102 is configured to extend and retract by sliding the main slider 1021, the intermediate slider 1022, and the end slider 1023, and to adjust the position of the surface finishing mechanism 103, but of course, the position of the surface finishing mechanism 103 may be configured to be adjusted by sliding the end slider 1023 and the surface finishing mechanism 103.

The main slider 1021 may have a plate-like structure, a frame structure, a tubular structure, or other structures. The main slider 1021 is fixed to the console 101 such as the base 1011 and may be located on one side of the control cabinet 1012. In some embodiments, the main slide 1021 is part of the 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 a horizontal direction. That is, the mounting manner of the main slider 1021 on the console 101, for example, the base 1011 is changeable, and can be specifically adjusted according to the actual application scenario.

The main sliding member 1021 may be provided with a guide member such as a slide rail, a guide rod, or a screw. In some embodiments, the guide may be extended in the extension direction of the main slider 1021.

The intermediate slide 1022 may be in the form of a plate, a frame, a tube, or other structure. The middle sliding member 1022 may be disposed on a side of the main sliding member 1021 away from the control cabinet 1012, or may be disposed in other positional relationships according to the structure of the main sliding member 1021 and/or the middle sliding member 1022, or even when the mounting manner of the main sliding member 1021 on the console 101, such as the base 1011, is changed, other positional relationships are not described herein.

The intermediate slide 1022 may slide in the extending direction of the main slide 1021, and thus may increase the length of the push-pull mechanism 102 in the extending direction of the main slide 1021. In some embodiments, the extension direction of the middle slider 1022 may coincide with the extension direction of the main slider 1021. In some embodiments, the intermediate sliding member 1022 may be provided with a sliding structure such as a slider, a chute, a rail, etc. to be slidably connected with a guide such as a rail, a guide bar, a screw, etc. of the main sliding member 1021, so that the sliding structure slides in the extending direction of the guide. Of course, the guide may be provided on the intermediate slide 1022, and the slide structure provided on the main slide 1021.

The intermediate slide 1022 may be driven by the power system to effect relative sliding movement with the main slide 1021. The power system may be disposed on the control cabinet 1012, the base 1011, the main slider 1021, or the intermediate slider 1022. In some scenarios, the power system, e.g., motor assembly, may be driven by a lead screw or belt, gear, rack, etc., although other drive arrangements are possible. In some scenarios, a power system, such as a motor assembly, drives the lead screw in rotation such that an intermediate slide 1022, which is threadably coupled to the lead screw, slides relative to the main slide 1021, although the lead screw may be disposed on the main slide 1021. In some scenarios, a power system, such as a motor assembly, drives the lead screw in rotation such that a main slide 1021, which is threadably coupled to the lead screw, slides relative to an intermediate slide 1022, although the lead screw may be disposed on the intermediate slide 1022. In some instances, a power system, such as a motor assembly, drives the belt in rotation such that an intermediate slide 1022 fixedly coupled to the belt slides relative to the main slide 1021, although the belt may be disposed on the main slide 1021. In some instances, a power system, such as a motor assembly, drives the belt in rotation such that a main slide 1021, fixedly coupled to the belt, slides relative to an intermediate slide 1022, although the belt may be disposed on the intermediate slide 1022. In some scenarios, a power system, such as a motor assembly, drives the gear in rotation such that a rack engaged with the gear moves, and in turn, an intermediate slide 1022 provided with the rack slides relative to the main slide 1021, although the gear may be provided on the main slide 1021. In some scenarios, a power system, such as a motor assembly, drives the rotation of a gear such that a rack engaged with the gear moves, and in turn, a main slide 1021 provided with the rack slides relative to an intermediate slide 1022, although the gear may be provided on the intermediate slide 1022. It will be appreciated that a power system, such as a hydraulic system, an air pump system, an air cylinder system, etc., may also drive the intermediate slide 1022 to slide relative to the main slide 1021, and may be designed using techniques well known to those skilled in the art, and will not be described in detail.

The end slider 1023 may be in a plate-like structure, a frame structure, a tubular structure, or other structures. The end slider 1023 may be disposed on a side of the middle slider 1022 away from the main slider 1021, and may be disposed in other positions according to the restrictions of the structure of the middle slider 1022 and/or the end slider 1023 or the usage scenario of the push-pull mechanism 102, which will not be described herein.

The end slider 1023 can slide in the extending direction of the intermediate slider 1022, and thus the length of the push-pull mechanism 102 can be increased in the extending direction of the intermediate slider 1022. In some embodiments, the extension direction of the end slider 1023 may coincide with the extension direction of the middle slider 1022.

The end slider 1023 may be provided with the sliding structure in the above embodiment, and the intermediate slider 1022 may be provided with the guide in the above embodiment, and further the sliding connection of the end slider 1023 and the intermediate slider 1022 may be achieved by the cooperation of the sliding structure and the guide. Of course, the guide may be provided on the end slider 1023, and the sliding structure may be provided on the intermediate slider 1022.

The end slider 1023 can be driven by the power system to effect relative sliding movement with the intermediate slider 1022. The manner in which the power system drives the end slider 1023 and the middle slider 1022 to slide relatively can be referred to as the manner in which the power system drives the middle slider 1022 and the main slider 1021 to slide relatively in the above embodiment, and will not be described in detail. The power system may be provided on the control cabinet 1012, on the base 1011, on the intermediate slide 1022, or on the end slide 1023.

It is understood that the number of the intermediate sliding members 1022 may be plural, the plural intermediate sliding members 1022 are sequentially slidably connected, and the intermediate sliding member 1022 at the head end is slidably connected to the main sliding member 1021, and the intermediate sliding member 1022 at the tail end is slidably connected to the tail end sliding member 1023. The two slidably connected intermediate sliding members 1022 may be engaged with the main sliding member 1021 or the end sliding member 1023 by the intermediate sliding member 1022, so that the length of the push-pull mechanism 102 formed by the main sliding member 1021 engaged with at least one of the intermediate sliding member 1022 and the end sliding member 1023 may be adjusted, and in some cases, the push-pull mechanism 102 may have an extended state and may have a retracted state. Further, in some embodiments, the push-pull mechanism 102 may be a telescoping structure such as a telescoping rack or a telescoping tube. In some embodiments, the middle slide 1022 and the end slide 1023 may be omitted. In some embodiments, end slider 1023 may be omitted.

In addition, the main sliding member 1021 and at least one of the intermediate sliding member 1022 and the end sliding member 1023 may be individually slid under the control of the power system, or may be simultaneously slid under the control of the power system, and further, the end sliding member 1023 and the intermediate sliding member 1022 may be simultaneously slid in the extending direction of the main sliding member 1021, and the intermediate sliding member 1022 may be slid on the main sliding member 1021 to the shortest length of the combination of the intermediate sliding member 1022 and the main sliding member 1021 in the extending direction of the main sliding member 1021, and the end sliding member 1023 may be slid on the intermediate sliding member 1022 to the shortest length of the combination of the end sliding member 1023 and the intermediate sliding member 1022 in the extending direction of the main sliding member 1021. The intermediate slide 1022 slides on the main slide 1021 to the longest length of the combination of the intermediate slide 1022 and the main slide 1021 in the extending direction of the main slide 1021, and the end slide 1023 slides on the intermediate slide 1022 to the longest length of the combination of the end slide 1023 and the intermediate slide 1022 in the extending direction of the main slide 1021.

Further, the end slider 1023 and the intermediate slider 1022 slide in the extending direction of the main slider 1021 at the same time, the intermediate slider 1022 slides on the main slider 1021 to the shortest length of the combination of the intermediate slider 1022 and the main slider 1021 in the extending direction of the main slider 1021, and the two slidably connected intermediate sliders 1022 slide relatively to each other to the shortest length of the combination of the two slidably connected intermediate sliders 1022 in the extending direction of the main slider 1021 at the same time. The intermediate slide 1022 slides on the main slide 1021 to a longest length of the combination of the intermediate slide 1022 and the main slide 1021 in the extending direction of the main slide 1021, and the two slidably connected intermediate slides 1022 slide relatively to a longest length of the combination of the two slidably connected intermediate slides 1022 in the extending direction of the main slide 1021.

In some scenarios, the push-pull mechanism 102 may be adjusted based on the use scenario of the resurfacing robot 100, for example, such that the direction of extension of the main slide 1021 is a horizontal direction. For example, such that the extending direction of the intermediate slide 1022 is a horizontal direction. For example, such that the extending direction of the end slider 1023 is a horizontal direction. In some scenarios, the use scenario of the surface modifying robot 100 may be painting, scraping, or the like finishing materials for floors, such as cement, cement mortar, putty, and paint. Of course, the finishing material can be other materials such as slurry, granular raw materials or powdery raw materials which need to be smeared and scraped. The material such as slurry, granular material, or powdery material may be not a finishing material, but may be a material including a finishing material.

It will be appreciated that the push-pull mechanism 102 may be length adjusted by the cooperation of the main slide 1021, the intermediate slide 1022, and the end slide 1023, thereby allowing push-pull of the surface modifying mechanism 103 during length adjustment.

Referring to fig. 1 and 2, the surface modifying mechanism 103 may be configured to adjust the position during the pushing and pulling process of the pushing and pulling mechanism 102. The resurfacing mechanism 103 may also slide on a push-pull mechanism 102, such as end slider 1023, to effect positional adjustment.

The surface modifying mechanism 103 may include a slide mount 10 coupled to a push-pull mechanism 102, such as an end slide 1023, a supply device 20 disposed on the slide mount 10, and a wiper device 30 disposed on the slide mount 10. The slide mount 10 may be fixed to the push-pull mechanism 102 such as the end slider 1023 or may be slidably coupled to the push-pull mechanism 102 such as the end slider 1023. The sliding seat 10 is used for bearing and installing the feeding device 20 and the scraping device 30. The feeding device 20 may be connected to the storage container on the control cabinet 1012 to output the finishing material in the storage container when the surface finishing robot 100 is operated, thereby realizing feeding. In some scenarios, the feeding device 20 may feed by means of spraying. The scraping device 30 may scrape and repair the finishing material when the sliding seat 10 is pushed and pulled (retracted). The slide 10, the feeding device 20 and the scraping device 30 can be operated under the control of a control cabinet 1012, such as a control system. In some cases, the feeding device 20 is used for discharging (feeding) to the side of the scraping device 30 facing away from the feeding device 20.

Referring to fig. 3, fig. 3 is a schematic diagram of the surface conditioning mechanism 103 in some embodiments in the embodiment of fig. 2. The slide mount 10 may have a plate-like structure, a frame structure, or other structures. The sliding seat 10 may be disposed on a side of the end sliding member 1023 away from the middle sliding member 1022, and may be disposed in other positions according to the structure and the limitation of the mating relationship between the sliding seat 10 and the push-pull mechanism 102, such as the end sliding member 1023, which will not be described herein.

The sliding seat 10 is slidably connected to the end slider 1023 so as to slide in the extending direction of the end slider 1023, so that the position of the sliding seat 10 can be adjusted. It will be appreciated that the slide mount 10 may also be adjusted in position by varying the length of the push-pull mechanism 102 when not in sliding engagement with the end slide 1023.

The sliding seat 10 may be provided with the sliding structure in the above embodiment, and the end slider 1023 may be provided with the guide in the above embodiment, so that the sliding connection between the sliding seat 10 and the end slider 1023 may be achieved by the cooperation of the sliding structure and the guide. Of course, the guide may be provided on the slide mount 10, and the slide structure provided on the end slider 1023.

The sliding seat 10 can be driven by a power system to realize relative sliding with the tail end sliding piece 1023. The manner in which the power system drives the slide base 10 and the end slide 1023 to slide relatively can be referred to as the manner in which the end slide 1023 and the intermediate slide 1022 slide relatively in the above embodiment.

It will be appreciated that the power system that drives the length of the push-pull mechanism 102 and/or the sliding motion of the sliding seat 10 relative to the push-pull mechanism 102 may also be a linear cylinder, hydraulic cylinder, or the like.

The slide mount 10 may include a mating member 11 coupled to a push-pull mechanism 102, such as an end slide 1023, and a mounting member 12 mounted on the mating member 11. The slide mount 10 is connected to the push-pull mechanism 102 such as the end slider 1023 through the engaging piece 11, and the engaging relation of the slide mount 10 and the push-pull mechanism 102 such as the end slider 1023 described in the above embodiment is achieved so that the engaging piece 11 is mounted on the push-pull mechanism 102 such as the end slider 1023 and is slidable in the extending direction of the end slider 1023. In some embodiments, the mating element 11 may be in the form of a plate structure, a frame structure, a tubular structure, or other structure. In some embodiments, when the end slider 1023 is omitted, the slide mount 10, for example, the engaging member 11, may engage with the intermediate slider 1022 by engaging with the end slider 1023. In some embodiments, when the intermediate slide 1022 and the end slide 1023 are omitted, the slide mount 10, e.g., the mating member 11, may mate with the main slide 1021 by mating with the end slide 1023.

Referring to fig. 3 and 4, fig. 4 is a schematic view of the mounting member 12 in some embodiments of the embodiment of fig. 3. The mounting member 12 may be in the form of a plate, frame, tubular or other structure. The mounting member 12 is mounted on the side of the mating member 11 remote from the push-pull mechanism 102, such as the end slider 1023. In some embodiments, the mounting member 12 may include a first mounting bracket 121 and a second mounting bracket 122 disposed opposite and fixedly coupled to the mating member 11. The first mounting frame 121 and the second mounting frame 122 can be provided with a distance-adjusting slide rail 123. In some embodiments, the extension direction of the distance adjustment rail 123 may be the direction in which the push-pull mechanism 102 is away from or near the control cabinet 1012. In some embodiments, the extending direction of the distance adjusting rail 123 may be perpendicular to the sliding direction of the sliding seat 10 on the end sliding member 1023, or may not be perpendicular. In some embodiments, a roll adjustment rack 124 may be provided on the first mount 121 and/or the second mount 122. In some embodiments, the extension direction of the roll rack 124 may coincide with the extension direction of the roll track 123.

It will be appreciated that the mounting member 12 may be provided in a manner that is not limited to the manner in which the first mounting bracket 121 and the second mounting bracket 122 cooperate, but may be provided in other manners. Additionally, in some scenarios, the slide mount 10 may be part of the push-pull mechanism 102.

Referring to fig. 3, the feeding device 20 may include a fitting 21 mounted on the slide base 10, for example, the mounting 12, a discharging member 22 mounted on the fitting 21, and a switching member 23 mounted on the fitting 21 for controlling the discharging of the discharging member 22. Fitting 21 is used to carry and mount tapping member 22 and switch member 23. The discharging member 22 cooperates with the switching member 23 to supply or suspend the supply of the finishing material.

The fitting 21 may be in the form of a plate structure, a frame structure, a tubular structure or other structure. The fitting 21 may be mounted on the slide mount 10, for example, the first mounting bracket 121 and the second mounting bracket 122. In some embodiments, the fitting 21 may be part of the slide mount 10. Further, the discharging member 22 and the switching member 23 may be mounted on other portions of the slide holder 10.

The discharging member 22 may be connected to the storage container on the control cabinet 1012 to output the finishing material in the storage container for feeding when the surface finishing robot 100 is operated. In some embodiments, the outfeed member 22 may be provided in conjunction with the power system, or even by spraying under the power system. For example, a power system such as an air pump may increase the pressure of the storage container such that the finishing material is output from the storage container to the discharge member 22 at high pressure and output at the discharge member 22. For example, a power system such as a pump may draw trim material from the storage container and output to the discharge member 22 for feeding. Of course, other types of power systems may be provided in conjunction with the outfeed member 22.

Referring to fig. 5, fig. 5 is a schematic diagram illustrating the structure of the feeding device 20 in some embodiments according to the embodiment shown in fig. 3. The tapping member 22 may be mounted on one side of the fitting 21. In some embodiments, outfeed member 22 may be disposed on one side of fitting 21 in the direction of extension of end slider 1023.

The tapping member 22 may include an angle adjustment assembly 221 mounted on the fitting 21, a tapping assembly 222 mounted on the angle adjustment assembly 221, a sensor 223 mounted on the fitting 21 for positioning the angle adjustment assembly 221, and a control valve 224 disposed on the fitting 21 and connected to the tapping assembly 222, and a reset assembly 225 for resetting the control valve 224. The control valve 224 is coupled to the storage container on the control cabinet 1012 such that the finishing material flows through the control valve 224 to the discharge assembly 222 for feeding through the discharge assembly 222. The reset assembly 225 may be used to close the control valve 224 such that the control valve 224 is reset to a normally closed state. The angle adjusting component 221 may be used to rotate the discharging component 222 to adjust the discharging angle of the discharging component 222.

Referring to fig. 5 and 6, fig. 6 is an exploded view of the outfeed member 22 in some embodiments of the embodiment of fig. 5. The angle adjustment assembly 221 may include a power system, such as a motor 2211, mounted on the fitting 21, a speed reducer 2212 drivingly connected to the power system, such as the motor 2211, and mounted on the fitting 21, and a fixture 2213 drivingly connected to the speed reducer 2212. A power system, such as a motor 2211, can rotate to drive the speed reducer 2212 to rotate, and further drive the fixture 2213 to rotate. The motor 2211 may be a stepper motor or other type of motor. The type of the motor 2211, the type of the speed reducer 2212, and the connection manner of the motor 2211 and the speed reducer 2212 can be set by using techniques well known to those skilled in the art, and will not be described in detail. The fixture 2213 may be a plate-like structure, a frame structure, or other structures.

It is understood that the motor 2211 and the speed reducer 2212 may form a motor assembly, and of course, the motor assembly may be not limited to the motor 2211 and the speed reducer 2212, but may include other motor assemblies.

The fixture 2213 may be in a plate-like structure, a frame structure, a tubular structure, or other structures.

In some embodiments, the fixture 2213 may rotate about the axis of the output shaft of the motor 2211.

In some embodiments, a trigger 2214 may be provided on the mount 2213. In some embodiments, the trigger 2214 may be a flap.

In some embodiments, the motor 2211, the speed reducer 2212, and the fixture 2213 may be arranged in a direction perpendicular to the extending direction of the end slider 1023.

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

The discharge assembly 222 may include a rotary valve 2221 fixed to a fixture 2213 and a discharge nozzle 2222 mounted to the rotary valve 2221. The rotary valve 2221 is in communication with the discharge nozzle 2222 such that the finishing 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 fixture 2213 on opposite sides. In some embodiments, the rotary valve 2221 may be a high pressure rotary valve. In some embodiments, the rotary valve 2221 may be surrounded by a fixture 2213. In some embodiments, the fixture 2213 may be omitted, with the rotary valve 2221 being directly in driving connection with the speed reducer 2212 or being directly fixedly connected. In some embodiments, the fixture 2213 rotates about an axis that may pass through the rotary valve 2221. Of course, the axis may coincide with the rotation axis of the rotary valve 2221.

The discharge nozzle 2222 may be disposed on a side of the rotary valve 2221 facing away from the push-pull mechanism 102, such as the end slider 1023, and may be moved toward a side closer to or away from the fitting 21 when the rotary valve 2221 is rotated, to adjust the positional relationship of the discharge nozzle 2222 and the rotary valve 2221. In some embodiments, the tap 2222 may or may not be oriented perpendicular to the axial direction of the output shaft of the motor 2211. In some embodiments, the tap 2222 may tap in a direction of orientation. In some embodiments, the orientation of the discharge nozzle 2222 may be adjusted as the rotary valve 2221 is rotated to change the discharge direction of the discharge nozzle 2222. In some embodiments, tap 2222 may spray in a direction of orientation. In some embodiments, tap 2222 may have a fan-shaped spray area in the direction of orientation.

In some embodiments, the fitting 21 may be provided with grooves or perforations at locations corresponding to the discharge nozzle 2222 such that the adjustable range of locations of the discharge assembly 222, e.g., the discharge nozzle 2222, is increased.

The sensor 223 is mounted to the fitting 21 and is engageable with the trigger 2214 and effects positioning of the outfeed assembly 222 when the trigger 2214 triggers the sensor 223. It is understood that the trigger 2214 cooperates with the sensor 223 to form the stop assembly 2201 for defining and positioning the outfeed assembly 222, and of course, the stop assembly 2201 may include other components than the trigger 2214 and the sensor 223.

In some embodiments, the sensor 223 may be an optocoupler sensor that mates with a trigger 2214, such as a stop. The trigger 2214, for example, a shutter shields the sensor 223, for example, an optocoupler sensor, and triggers the sensor 223, for example, the optocoupler sensor. It is understood that the sensor 223 may also be a proximity sensor or other type of sensor, without limitation. Accordingly, the trigger 2214 may be adapted accordingly to the type of sensor 223 so as to be able to trigger the sensor 223. Specifically, trigger 2214 may be adapted to 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 may be interchanged, e.g., the trigger 2214 is disposed at the position where the sensor 223 is disposed, and correspondingly, the sensor 223 is disposed at the position where the trigger 2214 is disposed.

In some embodiments, the limit component 2201, e.g., the sensor 223, may be coupled to a control cabinet 1012, e.g., a control system, which may in turn cause the control cabinet 1012, e.g., the control system, to receive a signal from the trigger 2214 to trigger the sensor 223 and control the orientation of the outfeed component 222, e.g., the outfeed nozzle 2222, based on the signal to control the angle adjustment component 221, e.g., the motor 2211.

In some embodiments, the limit assembly 2201 may be used to reset the orientation of the outfeed assembly 222, such as the outfeed nozzle 2222. In some embodiments, when trigger 2214 triggers sensor 223, it may be determined that outfeed assembly 222, e.g., outfeed nozzle 2222, is in an initial position, and a positional adjustment of outfeed assembly 222, e.g., outfeed nozzle 2222, may be made from the initial position.

It will be appreciated that the stop assembly 2201 may employ two stops formed by mechanical structures, one of which is provided on the fitting 21 and the other of which is provided on the fixture 2213, rather than the sensor 223 mating with the trigger 2214. The stop member may be a stop, a bar, a structure with a slot, a hole, etc., as is well known to those skilled in the art.

Referring to fig. 5, 6 and 7, fig. 7 is a schematic diagram of the control valve 224 and reset assembly 225 of the embodiment of fig. 6 in some embodiments. A control valve 224 may be provided on the fitting 21 and may be coupled to the discharge assembly 222, such as a rotary valve 2221. In some embodiments, the control valve 224 may be rotatably coupled to the discharge assembly 222, such as the rotary valve 2221, to reduce interference with rotation of the discharge assembly 222, such as the rotary valve 2221. In some embodiments, the axis of rotation of control valve 224 about an axis relative to the discharge assembly 222, e.g., rotary valve 2221, coincides with the axis of rotation of fixture 2213 about an axis. In some embodiments, the control valve 224 may be disposed on a side of the outfeed assembly 222, such as the rotary valve 2221, facing away from the angle adjustment assembly 221, such as the motor 2211.

Referring to fig. 7, control valve 224 may have a connection outlet 2241. Connection outlet 2241 may be connected to an outfeed assembly 222, such as rotary valve 2221. In some embodiments, control valve 224 is rotatably coupled to discharge assembly 222, such as rotary valve 2221, via coupling outlet 2241.

Referring to fig. 7, control valve 224 may have a connection inlet 2242. Connection inlet 2242 may be connected to a storage container on control cabinet 1012 such that finishing material may flow from the storage container on control cabinet 1012, through connection inlet 2242, into control valve 224, and through connection outlet 2241, into discharge assembly 222, such as rotary valve 2221. In some scenarios, the control valve 224 may be in a closed state such that the trim material is blocked from circulation, and may be in an open state such that the trim material is circulated. In some embodiments, control valve 224 is rotatably coupled to discharge assembly 222, such as rotary valve 2221, via coupling outlet 2241.

In some embodiments, the control valve 224 may be a needle valve. In some embodiments, control valve 224 may be a shut-off valve, butterfly valve, gate valve, ball valve, plug valve, check valve, pressure relief valve, drain valve, or other type of valve.

Referring to fig. 7, control valve 224 may include a valve body 2243 having a connection outlet 2241 and a connection inlet 2242, and a plug 2244 extending into valve body 2243 for sealing valve body 2243. The blocking member 2244 is movable within the valve body 2243 to block the valve body 2243 such that the control valve 224 is in a closed position, and to unblock the valve body 2243 such that the control valve 224 is in an open position. In some embodiments, the plug 2244 may be moved inward of the valve body 2243 to plug the valve body 2243 such that the control valve 224 is in a closed position, and the plug 2244 may be moved outward of the valve body 2243 to unblock the valve body 2243 such that the control valve 224 is in an open position. In some embodiments, the plug 2244 may be movable into the valve body 2243 to unblock the valve body 2243 such that the control valve 224 is in a closed state, and the plug 2244 may be movable out of the valve body 2243 to block the valve body 2243 such that the control valve 224 is in an open state. In some embodiments, the closure member 2244 may be moved into the valve body 2243 or out of the valve body 2243 in a direction of the valve body 2243 away from the discharge assembly 222, such as the rotary valve 2221.

Referring to fig. 5, 6 and 7, a reset assembly 225 may be provided on the fitting 21 and coupled to a control valve 224, such as a plug 2244, such that the control valve 224 is normally closed. In some scenarios, the reset assembly 225 may be disposed on a side of the control valve 224 that faces away from the discharge assembly 222, such as the rotary valve 2221.

Referring to fig. 7, the reset assembly 225 may include a mounting housing 2251 disposed on the fitting 21, a slider 2252 extending into the mounting housing 2251 and secured to a control valve 224, such as a closure member 2244, outside the mounting housing 2251, and a resilient member 2253 disposed within the mounting housing 2251 for urging the slider 2252 to slide relative to the mounting housing 2251. The slider 2252 may, when slid relative to the mounting housing 2251, move the plug 2244 relative to the valve body 2243 such that the control valve 224 is normally closed.

The mounting housing 2251 may be a housing-like structure, but may also be a frame structure. The mounting housing 2251 may include a first housing 2254 and a second housing 2255 interconnected to form a mounting space 2202. The first housing 2254 and the second housing 2255 may be fixedly attached by bonding, screwing, welding, clamping, or the like. In some embodiments, the first housing 2254 may be secured to the fitting 21 by adhesive, screws, welding, snaps, or the like. 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 may be indirectly coupled and secured to the fitting 21 via the first housing 2254.

The slider 2252 may have a rod-like structure. In some embodiments, the slider 2252 may be slidably coupled to the mounting housing 2251 to slide into the mounting space 2202 or out of the mounting space 2202. In some embodiments, the slider 2252 may extend from a side of the first housing 2254 facing away from the second housing 2255 through the first housing 2254 into the mounting space 2202.

In some embodiments, the slider 2252 may be fixedly coupled to the control valve 224, such as a plug 2244. The slider 2252 is movable with the blocking member 2244 such that the blocking member 2244 blocks the control valve 224, unblocks the control valve 224, and allows the slider 2252 to slide into the installation space 2202 and out of the installation space 2202.

In some embodiments, the direction in which the slider 2252 slides coincides with the direction of movement of the stopper 2244.

In some embodiments, an abutment 2256 may be provided on the slider 2252 to abut the mounting housing 2251. When the abutment 2256 abuts against the mounting housing 2251, the sliding member 2252 is stopped from sliding. In some embodiments, the plug 2244 plugs the control valve 224 when the abutment 2256 abuts the mounting housing 2251 such that the control valve 224 is in a normally closed state.

In some embodiments, the abutment 2256 is located within the mounting space 2202 and is abuttable with the mounting housing 2251, e.g., the first housing 2254, such that the slider 2252 is not fully slidable out of the mounting space 2202.

The elastic member 2253 may be a spring, a leaf spring, or other structure made of a material having elasticity. The elastic member 2253 may be disposed in the mounting space 2202 to abut against the mounting housing 2251 and the sliding member 2252, for example, the abutting portion 2256, respectively, and the sliding member 2252 is slid to a position where the abutting portion 2256 abuts against the mounting housing 2251 by the elastic deformation force of the elastic member 2253, so that the control valve 224 is in a normally closed state. In some embodiments, the resilient member 2253 may abut the second housing 2255 and extend to a side proximate the first housing 2254 to abut the abutment 2256 such that the abutment 2256 abuts the second housing 2255, the resilient member 2253 on opposite sides of the opposite arrangement, respectively.

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

Referring to fig. 5, the switch member 23 may cooperate with the discharging member 22, such as the reset assembly 225, to control, for example, the blocking member 2244 of the control valve 224, to block and unblock the control valve 224, to discharge or to pause discharge of the finishing material. In some embodiments, reset assembly 225 may be part of switching member 23.

The arrangement of the switch member 23 on the side of the fitting 21 facing away from the tapping member 22 results in a compact design of the feeding device 20.

Referring to fig. 8 and 9, fig. 8 is a schematic structural view of the switch member 23 in some embodiments in the embodiment shown in fig. 5, and fig. 9 is a schematic structural view of the switch member 23 in another view in the embodiment shown in fig. 8. The switch member 23 may include a power system, such as a motor 231, disposed on the fitting 21, a lead screw 232 drivingly coupled to the motor 231 and disposed on the fitting 21, a threaded member 233 threadably coupled to the lead screw 232 and mated to a reset assembly 225, such as a slider 2252, and a limit assembly 234 that limits the threaded member 233. The motor 231 drives the screw 232 to rotate, thereby pushing the screw 233 to move, so that the slider 2252 slides, and the normally closed state of the control valve 224 is released, so that the control valve 224 is in an open state.

The motor 231 may be a stepper motor or other type of motor. The motor 231 is connected and fixed to the screw 232 via a speed reducer 2311 and a coupling 2312. For example, an output shaft of the motor 231 is fixedly connected to the speed reducer 2311, and the speed reducer 2311 is fixedly connected to the coupling 2312. The speed reducer 2311 may be mounted on the mount 21 by a mount. In some embodiments, the motor 231 cooperates with the speed reducer 2311 and the coupling 2312 to form a motor assembly, which may include only the motor 231, may not be limited to the speed reducer 2311 and the coupling 2312, and may include other structures.

The screw 232 may be directly connected and fixed to a motor assembly such as the motor 231, or may be connected and fixed to the motor 231 through a coupling 2312. The lead screw 232 may be mounted to the fitting 21 by a mount. The lead screw 232 may be disposed opposite the control valve 224, such as a plug 2244. The lead screw 232 may be disposed opposite the reset assembly 225, such as the slider 2252.

The threaded connection 233 may have a block structure, a rod structure, or other structures, which will not be described. The screw member 233 may be sleeved on the screw shaft 232 and screwed with the screw shaft 232. Of course, the screw 233 may be slidably connected to the fitting 21 without being sleeved on the screw 232, and may be screwed only to the screw 232. The threaded member 233 can abut a reset assembly 225, such as a slider 2252, and can abut a control valve 224, such as a plug 2244, to move by abutting against the push slider 2252 or plug 2244, releasing the normally closed state of the control valve 224 so that the control valve 224 is in an open state. Further, when the threaded member 233 does not push the slider 2252 or the blocking member 2244, the blocking member 2244 may reset the control valve 224 to a normally closed state under the urging of the reset assembly 225, such as the slider 2252. In some embodiments, the threaded member 233 may be directly fixedly connected to the slider 2252, in some embodiments, the threaded member 233 may be directly fixedly connected to the plug 2244, and in some embodiments, the reset assembly 225 may be omitted.

The limiting assembly 234 is used to limit the position of the threaded member 233, and thus by limiting the position of the threaded member 233, the position of the slider 2252 or the stopper 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 herein.

The spacing assembly 234 may include a trigger 2341 disposed on the threaded member 233 and a sensor 2342 disposed on the fitting 21 and engaged with the trigger 2341. The matching relationship between the trigger 2341 and the sensor 2342 can be referred to as the matching relationship between the sensor 223 and the trigger 2214 in the above embodiment, and will not be described in detail.

The trigger 2341 positions the threaded member 233 when the sensor 2342 is triggered. The trigger 2341 may cause the sensor 2342 to generate a signal when the sensor 2342 is triggered.

The limit assembly 234, such as the sensor 2342, may be coupled to a control cabinet 1012, such as a control system, which may in turn cause the control cabinet 1012, such as the control system, to 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, such that the switch member 23, such as the motor 231, is deactivated such that the control valve 224 is in an open state.

In some embodiments, reset assembly 225 may be part of switching member 23.

Referring to fig. 5, the switch member 23 is disposed on the assembly 21 in such a manner that the length of the switch member 23 in the direction of the assembly 21 away from the push-pull mechanism 102 is reduced, so that the surface finishing robot 100 is compact in structure under the cooperation of the discharging member 22.

In some embodiments, the feeding device 20 may be used alone, and the discharging direction of the discharging assembly 222 is adjusted by the angle adjusting assembly 221, so that the discharging direction of the discharging assembly 222 may be adjusted within a certain range, and the movement of the feeding device 20 may be reduced by adjusting the discharging direction of the discharging assembly 222. Of course, the feeding device 20 can also be used in combination with the slide base 10. In some embodiments, the feeding device 20, when used alone, may be used by hand or by being mounted on some load bearing structure.

Referring to fig. 3, the scraping device 30 is disposed on a side of the feeding device 20 facing away from the push-pull mechanism 102, and is used for scraping and trimming. In some instances, the scraping device 30 may scrape and trim the finishing material provided by the feeding device 20 with the feeding device 20.

The wiper device 30 may comprise a mounting seat 31 in sliding connection with the slide seat 10, for example the mounting piece 12, a reversing member 32 mounted on the mounting seat 31 and a wiper member 33 mounted on the side of the reversing member 32 facing away from the feeding device 20. The mounting seat 31 can enable the scraping member 33 to contact the wall surface by sliding and adjusting the positions of the reversing member 32 and the scraping member 33 relative to the sliding seat 10, such as the mounting piece 12, so as to realize scraping operation. The reversing member 32 is used to adjust the wiping direction of the wiping member 33.

Referring to fig. 10 and 11, fig. 10 is a schematic structural view of the mounting base 31 in some embodiments when the mounting base 31 is combined with the mounting member 12 in the embodiment shown in fig. 3, and fig. 11 is a schematic structural view of the mounting base 31 in another view in the embodiment shown in fig. 10. The mount 31 may include a mount body 311 slidably coupled with the slide mount 10, e.g., the mounting member 12, and a driving assembly 312 mounted on the mount body 311 for driving the slide of the mount body 311.

The fitting body 311 may have a frame structure, a plate structure, or other structures. The mounting body 311 may be mounted on a mounting member 12, such as a distance adjustment rail 123, and then slid on the distance adjustment rail 123 in a direction away from or toward the control cabinet 1012. In some embodiments, the mounting body 311 may be mounted on the roll adjustment rail 123 of the first mounting bracket 121. In some embodiments, the mounting body 311 may be mounted on the roll adjustment slide 123 of the second mount 122.

The drive assembly 312 may include a motor 3121 mounted on the mounting body 311 and a gear 3122 drivingly connected to an output shaft of the motor 3121. The gear 3122 is rotatable under the drive of the motor 3121. The motor 3121 may be coupled to a control cabinet 1012, such as a control system, and may in turn be rotated under the control of the control cabinet 1012, such as the control system. Gear 3122 may be engaged with pitch rack 124. When the gear 3122 rotates under the control of the motor 3121, it can move on the distance-adjusting rack 124, and further drive the assembly body 311 to slide on the mounting member 12, such as the distance-adjusting slide rail 123. It will be appreciated that the gear 3122 and the roll adjustment rack 124 may be driven by a screw, a telescopic cylinder, a linear cylinder, or the like, or may be driven by a belt, so that the assembly body 311 may slide on the mounting member 12, such as the roll adjustment rail 123, or the power system may drive the intermediate sliding member 1022 and the main sliding member 1021 to slide relatively in the above-described embodiment.

In some embodiments, the drive assembly 312 may also function as a motor assembly in the powertrain.

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

Referring to fig. 12 and 13, fig. 12 is an exploded view of the embodiment of fig. 5, showing the reversing element 32 and the wiper element 33 in some embodiments, and fig. 13 is a schematic view of the embodiment of fig. 12, showing the reversing element 32 and the wiper element 33 in partial configuration. The reversing member 32 may include a seating seat 321 fixed to the fitting seat 31, for example, the fitting body 311, and a motor 322 fixed to the seating seat 321.

The seat 321 may be a frame structure, a plate structure, or other structures. The seating seat 321 is fixed to the fitting seat 31, for example, the fitting body 311, and may be provided at one side of the fitting seat 31, for example, the fitting body 311, in the extending direction of the end slider 1023. Further, in some embodiments, the mounting socket 321 may be part of the mounting socket 31, such as the mounting body 311. In some embodiments, the seat 321 may be omitted.

The motor 322 is fixed to the mount 321, and is in turn fixed to the mount 31, for example, the mount body 311, through the mount 321. In some embodiments, the axial direction of the output shaft of the motor 322 coincides with the direction in which the mounting block 31, e.g., the mounting body 311, slides relative to the mounting member 12, e.g., the roll adjustment slide 123. In some embodiments, the motor 322 may be part of the mounting base 31. In some embodiments, the motor 322 may be directly secured to the mounting body 311. In some embodiments, the motor 322 may be implemented with the drive assembly 312 as a motor assembly in a power system. In some embodiments, the output shaft of the motor 322 faces the side of the mounting block 321 facing away from the feeding device 20.

It will be appreciated that the reversing element 32 may be part of the mounting seat 31.

Referring to fig. 12 and 14, fig. 14 is a schematic view of the wiper member 33 in some embodiments according to the embodiment shown in fig. 12. The wiper member 33 may include a buffer assembly 331 mounted on the reversing member 32, such as the motor 322, and a wiper assembly 332 mounted on the buffer assembly 331.

The buffer assembly 331 may include a rotary base 333 mounted on the reversing member 32, such as the motor 322, a buffer 334 slidably coupled to the rotary base 333, and a buffer 335 slidably coupled to the rotary base 333.

Referring to fig. 12 and 13, the rotary base 333 may have a plate-like structure, a frame structure, or other structures. The rotary mount 333 may be fixed to the reversing member 32, such as the output shaft of the motor 322, for rotation about the axis of the output shaft of the motor 322.

In some embodiments, the rotary mount 333 may be rotatably coupled to the mounting mount 31, such as the mounting body 311, and drivingly coupled to the reversing member 32, such as the motor 322, such that the reversing member 32, such as the motor 322, drives the rotary mount 333.

The swivel base 333 is provided with an abutment 3331 and an abutment 3332. The abutting piece 3331 and the abutting piece 3332 cooperate with the mounting buffer 334.

In some embodiments, the abutments 3331 and 3332 may be omitted. The swivel base 333 is provided with an abutment 3333 and an abutment 3334. The abutting pieces 3333 and 3334 cooperate with the mounting buffer 335. In some embodiments, the connection line of the abutting piece 3333 and the abutting piece 3334 is parallel to the connection line of the abutting piece 3331 and the abutting piece 3332 so as to adjust the relative positions of the buffer piece 334 and the buffer piece 335, in some embodiments, the abutting piece 3333 and the abutting piece 3334, the abutting piece 3331 and the abutting piece 3332 are enclosed around the output shaft of the motor 322, and the abutting piece 3331, the abutting piece 3332, the abutting piece 3334 and the abutting piece 3333 are sequentially connected by lines to form a quadrangle. It is to be understood that the number of abutments may not be limited to the number listed herein.

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

Referring to fig. 14, the buffer member 334 is disposed on a side of the rotary base 333 away from the feeding device 20. The buffer member 334 may include a fixed seat 338 slidably coupled to the rotary seat 333, such as the abutment member 3331 and the abutment member 3332, and a movable seat 339 rotatably coupled to the fixed seat 338 and rotatably coupled to the wiper assembly 332. The fixed base 338 can adjust the distance between the wiper assembly 332 and the rotating base 333. The movable seat 339 can adjust the posture of the scraping component 332 when rotating relative to the fixed seat 338, so that the scraping component 332 can better contact with the wall surface.

The fixing base 338 may include a fixing body 3381, a sliding rod 3382 disposed on the fixing body 3381 and slidably connected to the rotating base 333, such as the abutting piece 3332, and a sliding rod 3383 disposed on the fixing body 3381 and slidably connected to the rotating base 333, such as the abutting piece 3331. The fixing body 3381 may have a frame structure. The slide lever 3382 and the slide lever 3383 are provided on the side of the fixed body 3381 facing the swivel 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 slidably connected to the rotating base 333 such as the abutting piece 3332, and an elastic piece 3385 respectively abutting the fixed body 3381 and the rotating base 333 such as the abutting piece 3332.

The sliding body 3384 may be a rod structure or other structures that can be slidably connected to the rotating base 333, such as the abutting piece 3332, which will not be described in detail. The sliding body 3384 may be disposed through the rotating base 333, such as the abutting piece 3332, and may extend to a side of the rotating base 333, such as the abutting piece 3332, facing away from the fixed body 3381. The slide main body 3384 is provided with an abutment portion 3386 at one end facing away from the fixed main body 3381. When the sliding body 3384 is engaged with the rotating base 333, such as the abutting piece 3332, the abutting portion 3386 is located at a side of the rotating base 333, such as the abutting piece 3332, which is away from the fixed body 3381, so that when the sliding body 3384 slides with the rotating base 333, such as the abutting piece 3332, the abutting portion 3386 can abut with the rotating base 333, such as the abutting piece 3332, at a side of the rotating base 333, such as the abutting piece 3332, which is away from the fixed body 3381, limiting the sliding body 3384, and preventing the sliding body 3384 from sliding on the rotating base 333, such as the abutting 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 leaf spring or other elastic material. The elastic member 3385 is respectively abutted against the fixed body 3381 and the rotating base 333, such as the abutting member 3332, and the fixed body 3381 drives the sliding body 3384 to move toward a side away from the rotating base 333, such as the abutting member 3332, by the elastic deformation force until the abutting portion 3386 abuts against the rotating base 333, such as the abutting member 3332, at a side of the rotating base 333, such as the abutting member 3332, away from the fixed body 3381. In some embodiments, a resilient member 3385, such as a spring, may be sleeved around the sliding body 3384.

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

The structure and composition of the sliding rod 3383 can be referred to as the sliding rod 3382, and will not be described in detail. The matching relationship between the sliding rod 3383 and the fixed body 3381 and the rotating base 333, such as the abutting piece 3331, respectively, can refer to the matching relationship between the sliding rod 3382 and the fixed body 3381 and the rotating base 333, such as the abutting piece 3332, respectively, and will not be described herein.

The movable seat 339 may comprise a movable body 3391. The movable body 3391 may have a frame structure or a plate structure. The movable body 3391 is disposed on a side of the fixed body 3381 facing away from the sliding rod 3382, and is rotatably connected to the fixed base 338, for example, the fixed body 3381, at the middle portion thereof by a rotating shaft or the like. In some embodiments, the movable body 3391 is rotatably connected to the fixed body 3381 at a portion between the sliding rod 3382 and the sliding rod 3383, so that the force between the movable seat 339 and the fixed seat 338 is balanced. In some embodiments, the movable body 3391 is provided with a rotating portion 3392, such as a rotating shaft, for rotatably connecting with the fixed base 338, such as the fixed body 3381. In some embodiments, the rotating portion 3392 is disposed on a side of the movable body 3391 near the fixed base 338, such as the fixed body 3381. In some embodiments, the rotation axis of the movable body 3391 through the rotation portion 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 axis of rotation of the movable body 3391 through the rotating portion 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 portion 3393, such as a rotating shaft, to be rotatably connected with the wiper assembly 332 to adjust a wiping angle of the wiper assembly 332. In some embodiments, the rotating portion 3393 is disposed on a side of the movable body 3391 facing away from the fixed body 3381, such as the fixed body 338. In some embodiments, the rotating portion 3393 is disposed at an edge of the movable body 3391.

The movable main body 3391 is provided with a first limiting portion 3394 for limiting the scraping assembly 332. In some embodiments, the first limiting portion 3394 is disposed on a side of the movable body 3391 facing away from the fixed body 3381, for example. In some embodiments, the first limiting portion 3394 may be a threaded structure such as a bolt, a screw, or the like, such that the first limiting portion 3394 is in threaded connection with the movable body 3391, such that the first limiting portion 3394 passes through the movable body 3391 from a side of the movable body 3391 near the fixed base 338, such as the fixed body 3381, and extends to a side of the movable body 3391 facing away from the fixed base 338, such as the fixed body 3381. The length of the first limiting portion 3394 on one side of the movable body 3391 facing away from the fixed body 3381, for example, can be adjusted by rotation.

The movable body 3391 is provided with a reset member 3395 for resetting the wiper assembly 332. In some embodiments, the restoring member 3395 may include a guide rod 3396 slidably coupled to the movable body 3391 and an elastic member 3397 sleeved on the guide rod 3396.

The guide rod 3396 may pass through the movable body 3391 from a side of the movable body 3391 near the fixed body 338, e.g., the fixed body 3381, and extend to a side of the movable body 3391 facing away from the fixed body 338, e.g., the fixed body 3381. The two ends of the guide rod 3396 are provided with abutting parts, and the abutting part of the guide rod 3396, which is positioned on one side of the movable main body 3391, which is close to the fixed main body 3381, for example, can abut against the movable main body 3391, so that the guide rod 3396 is limited, and the guide rod 3396 is prevented from sliding on the movable main body 3391.

The elastic member 3397 may be a spring, a leaf spring or other elastic material. The elastic member 3385 may be located on a side of the movable body 3391 facing away from the fixed body 3381, such as the fixed body 338. The elastic member 3385 may have one end abutting against the movable body 3391 at a side of the movable body 3391 facing away from the fixed base 338, for example, the fixed body 3381. The other end of the elastic member 3385 may abut against an abutting portion of the guide lever 3396 on a side of the movable body 3391 facing away from the fixed base 338, for example, the fixed body 3381. The elastic member 3385 makes the guide bar 3396 have a longer length at a side of the movable body 3391 facing away from the fixed body 3381, for example, by elastic deformation force. In some embodiments, the resilient member 3397 is sleeved around the guide bar 3396.

The movable main body 3391 is provided with a limiting hole 3398 for limiting the scraping assembly 332. The limiting hole 3398 penetrates the movable body 3391 and may extend from a side of the movable body 3391 facing away from the fixed base 338, such as the fixed body 3381, to a side of the movable body 3391 facing the fixed base 338, such as the fixed body 3381.

In some embodiments, the limiting aperture 3398 is disposed adjacent to the return member 3395 to cooperate with the return member 3395 to effect return of the wiper assembly 332.

The buffer 335 has the same structure and function as the buffer 334, and the buffer 334 is referred to herein, and details thereof will not be described. The matching relationship between the buffer 335 and the rotating base 333, such as the abutting piece 3333 and the abutting piece 3334, can be referred to as the matching relationship between the buffer 334 and the rotating base 333, such as the abutting piece 3331 and the abutting piece 3332, which will not be described in detail. For example, the matching relationship between the sliding rod 3383 of the buffer 335 and the rotating base 333, such as the abutting piece 3333, can be referred to as the matching relationship between the sliding rod 3382 of the buffer 334 and the rotating base 333, such as the abutting piece 3331. For example, the matching relationship between the sliding rod 3383 of the buffer 335 and the rotating base 333, such as the abutment 3334, can be referred to as the matching relationship between the sliding rod 3382 of the buffer 334 and the rotating base 333, such as the abutment 3332. In addition, the matching relationship between the buffer 335 and the wiper 332 can be referred to as the matching relationship between the buffer 334 and the wiper 332, and will not be described again.

Referring to fig. 12 and 14, the wiper assembly 332 may include a wiper 336 mounted on a bumper 334, such as a movable body 3391, and a wiper 337 mounted on a bumper 334, such as a movable body 3391. The wiper member 336 is disposed side by side with the wiper member 337.

The wiper 336 may include a mating seat 3361 rotatably coupled to the buffer 334, e.g., the movable body 3391, and a wiper blade 3362 mounted on a side of the mating seat 3361 facing away from the buffer 334, e.g., the movable body 3391.

The mating seat 3361 may have a plate-like structure or a frame structure. The engaging seat 3361 is provided with a rotating portion 3363 for engaging with the movable seat 339, for example, the rotating portion 3393, to rotatably connect the engaging seat 3361 with the movable seat 339. The engaging seat 3361 is located on a side of the movable seat 339 facing away from the fixed seat 338.

In some embodiments, the rotation axis of the engaging seat 3361 and the movable seat 339 through the rotating portion 3363 and the rotating portion 3393 is perpendicular to the sliding direction of the sliding main body 3384 relative to the rotating seat 333, such as the abutment 3332. In some embodiments, the axis of rotation of the mating seat 3361 through the rotating portion 3363 and the rotating portion 3393 and the movable seat 339 is perpendicular to the output shaft of the reversing member 32, such as the motor 322. In some embodiments, the rotation axis of the engaging seat 3361 and the movable seat 339 through the rotating portion 3363 and the rotating portion 3393 is perpendicular to the rotation axis of the movable main body 3391 through the rotating portion 3392.

The direction of the rotation axis of the engaging seat 3361 and the movable seat 339 through the rotating portion 3363 and the rotating portion 3393 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 portion 3392, and the direction of the output shaft of the motor 322 is different from the direction of the rotation axis of the movable body 3391 through the rotating portion 3392.

The engaging seat 3361 is rotatable about the rotating portion 3363 toward a side close to the movable seat 339, for example, the movable body 3391, to adjust the scraping angle. The engaging seat 3361 is rotatable about the rotating portion 3363 toward a side close to the movable seat 339, for example, the movable body 3391, and is rotatable to a position abutting against the first limiting portion 3394, thereby limiting the engaging seat 3361.

The engaging seat 3361 may abut against the reset element 3395. Specifically, for example, the mating seat 3361 may abut against an abutting portion of the guide rod 3396 on a side of the movable main body 3391 facing away from the fixed base 338, for example, the fixed main body 3381, so as to limit the scraping angle of the mating seat 3361 under the elastic deformation of the elastic member 3397. The engaging seat 3361 is rotatable around the rotating portion 3363 to a side close to the movable seat 339, for example, the movable body 3391, and presses the end portion of the guide rod 3396, so that the guide rod 3396 slides with the movable body 3391, and the guide rod 3396 slides to a side of the movable body 3391 close to the fixed seat 338, for example, the fixed body 3381, so that the degree of elastic deformation of the elastic member 3397 is increased.

The engaging seat 3361 is provided with a second limiting portion 3364, and the second limiting portion 3364 is disposed opposite to the limiting hole 3398 of the movable main body 3391. The second limiting portion 3364 may be located at a side of the engaging seat 3361 near the movable main body 3391, and may extend into the limiting hole 3398 to a side of the movable main body 3391 near the fixing seat 338, for example, the fixed main body 3381. The end of the second limiting portion 3364 facing away from the mating seat 3361 is provided with an abutting portion 3365, and the abutting portion 3365 is located on one side of the movable main body 3391, which is close to the fixed main body 3381, for example, so as to abut against the movable main body 3391 for limiting.

In some embodiments, the second stop 3364 may be a rod-like structure. In some embodiments, the elastic member 3397 may be disposed on the second limiting portion 3364. Specifically, the second limiting portion 3364 may be sleeved on the second limiting portion, and may respectively abut against the mating seat 3361 and the movable main body 3391. Further, the restoring member 3395 may be omitted, and the second limiting portion 3364 and the elastic member 3397 cooperate to function as the restoring member 3395. In some embodiments, the second stop portion 3364 may be part of the reset element 3395.

In some cases, the engaging seat 3361 may rotate around the rotating portion 3363 to a side close to the movable seat 339, for example, the movable body 3391, adjust the scraping angle, press the end of the guiding rod 3396, so that the guiding rod 3396 slides with the movable body 3391, and the guiding rod 3396 slides to a side of the movable body 3391 close to the fixed seat 338, for example, the fixed body 3381, so that the degree of elastic deformation of the elastic member 3397 increases. Meanwhile, the second limiting portion 3364 slides in the limiting hole 3398 and slides toward the movable body 3391 near the fixed body 3381, for example, on one side of the fixed body 3381. Finally, the engaging seat 3361 is abutted to the first limiting portion 3394.

Furthermore, under the elastic deformation of the elastic member 3397, the guide rod 3396 can slide to a side of the movable main body 3391 away from the fixed base 338, such as the fixed main body 3381, and the engaging seat 3361 is pushed, so that the engaging seat 3361 can rotate around the rotating portion 3363 to a side of the movable main body 3391 away from the movable seat 339, such as the movable main body 3391, and the second limiting portion 3364 slides in the limiting hole 3398 and slides to a side of the movable main body 3391 away from the fixed base 338, such as the fixed main body 3381. Finally, the second limiting portion 3364 abuts against the movable body 3391 at a side of the movable body 3391 near the fixed base 338, for example, the fixed body 3381.

The side of the engaging seat 3361 facing away from the movable body 3391 is used for supporting the wiper blade 3362. The side of the mating base 3361 facing away from the movable body 3391 is provided with a fastener 3366 to fix the wiper blade 3362 to the mating base 3361. In some embodiments, the fasteners 3366 may be removable structures such as fastening bolts, snap-fit structures, or threaded structures to removably secure the wiper blade 3362 to the mating base 3361. In some embodiments, the mating seat 3361 is provided with a fastening slot 3367 at the edge. The fastener 3366 may extend into the fastening slot 3367.

The scraper 3362 may be provided with a bending portion 3368 at the edge, the bending portion 3368 may extend into the fastening groove 3367, and the fastening member 3366 may extend into the fastening groove 3367 to fix the bending portion 3368.

The structure and function of the scraping member 337 can be referred to as the scraping member 336 in the above embodiment. The matching relationship between the scraping member 337 and the movable seat 339 can be referred to as the matching relationship between the scraping member 336 and the movable seat 339, and will not be described herein. In some embodiments, the wiper blade 3362 in the wiper 337 is larger than the wiper blade 3362 in the wiper 336.

The wall surface is finished by the surface finishing robot 100. For example, the finishing operation may be performed from bottom to top, in which the sliding between the push-pull mechanism 102, such as the main sliding member 1021, the middle sliding member 1022, and the end sliding member 1023 is in a retracted state, the sliding base 10, such as the mating member 11, slides on the push-pull mechanism 102, such as the end sliding member 1023, with the feeding device 20 and the scraping device 30 slid to the bottommost end, the reversing member 32, such as the motor 322, rotates, adjusts the scraping direction of the scraping member 33, so that the scraping member 337 is located below the scraping member 336, and moves the surface finishing robot 100 or the mounting base 31 relative to the sliding base 10, such as the mounting member 12, so that the scraping member 336 and the scraping member 337 contact the wall surface, and in the process of pressing the scraping member 336 and the scraping member 337 by the wall surface, the scraping angles of the scraping member 336 and the scraping member 337 are adjusted by the first limiting portion 3394, the second limiting portion 3364, and the resetting member 3395. The wiping device 30 is pushed and pulled by sliding the push-pull mechanism 102, for example, the main slider 1021, the intermediate slider 1022, and the end slider 1023 in an extended state, thereby finishing the wall surface. Of course, the finishing of the wall surface by the scraping device 30 can also be achieved by sliding the sliding base 10, for example the mating piece 11, on the push-pull mechanism 102, for example the end slider 1023.

Meanwhile, if the decoration material needs to be provided for the wall surface, the angle adjusting component 221 can be used for adjusting the discharging angle of the discharging component 222, so that the discharging component 222 can apply the decoration material to the area of one side of the scraping piece 336, which is away from the scraping piece 337, of the wall surface, and the decoration material on the wall surface can be trimmed through the scraping piece 336 and the scraping piece 337.

The wall surface is finished by the surface finishing robot 100. For example, the sliding mechanism 102 such as the main sliding member 1021, the middle sliding member 1022 and the end sliding member 1023 may be used to trim from top to bottom, the sliding seat 10 such as the mating member 11 slides on the sliding mechanism 102 such as the end sliding member 1023, the feeding device 20 and the scraping device 30 are slid to the top, the reversing member 32 such as the motor 322 rotates to adjust the scraping direction of the scraping member 33, so that the scraping member 336 is located below the scraping member 337, and the surface trimming robot 100 or the mounting seat 31 slides relative to the sliding seat 10 such as the mounting member 12, so that the scraping member 336 and the scraping member 337 contact the wall surface, and the scraping angles of the scraping member 336 and the scraping member 337 are adjusted under the cooperation of the first limiting portion 3394, the second limiting portion 3364 and the reset member 3395 in the process of pressing the scraping member 336 and the scraping member 337 by the wall surface. The wiping device 30 is pushed and pulled by sliding the push-pull mechanism 102, for example, the main sliding member 1021, the intermediate sliding member 1022, and the end sliding member 1023 in a retracted state, thereby finishing the wall surface. Of course, the finishing of the wall surface by the scraping device 30 can also be achieved by sliding the sliding base 10, for example the mating piece 11, on the push-pull mechanism 102, for example the end slider 1023.

The wall surface is finished by the surface finishing robot 100. For example, trimming from left to right or from right to left, the position of the slide holder 10 may be adjusted by sliding the push-pull mechanism 102, for example, the main slide 1021, the intermediate slide 1022, and the end slide 1023, or the position of the slide holder 10 may be adjusted by sliding the slide holder 10, for example, the mating member 11, over the push-pull mechanism 102, for example, the end slide 1023. The reversing member 32, such as the motor 322, is used for rotating, so as to adjust the scraping direction of the scraping member 33 or the assembling seat 31 to slide relative to the sliding seat 10, such as the mounting piece 12, so that the scraping piece 336 and the scraping piece 337 are arranged in the horizontal direction, and the surface finishing robot 100 is moved, so that the scraping piece 336 and the scraping piece 337 are contacted with the wall surface, and the scraping angles of the scraping piece 336 and the scraping piece 337 are adjusted under the cooperation of the first limiting part 3394, the second limiting part 3364 and the reset piece 3395 when the wall surface presses the scraping piece 336 and the scraping piece 337. The left-to-right or right-to-left wall finishing of the scraping device 30 is accomplished by moving the finishing robot 100 to the left or right.

Meanwhile, if the decoration material needs to be provided for the wall surface, the angle adjusting component 221 can be used for adjusting the discharging angle of the discharging component 222, so that the discharging component 222 can apply the decoration material to the wall surface, and the positions of the scraping piece 336 and the scraping piece 337 can be adjusted, so that the scraping piece 336 and the scraping piece 337 can repair the decoration material on the wall surface.

It is understood that the angle adjustment assembly 221 adjusts the discharge angle of the discharge assembly 222. The first and second limiting portions 3394 and 3364 cooperate to limit the range of scraping angles of the scraping member 336 and the scraping member 337.

In addition, when the surfaces such as the ground and the roof are smeared and scraped in other scenes, the description of smearing and scraping the wall surface in the above embodiment can be referred to, and the description is omitted.

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

In some instances, the wiper assembly 332 is disposed on a side of the buffer assembly 331 facing away from the supply device 20,

The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the contents of the present application or other related technical fields are included in the scope of the patent application.

Claims

1. A feeding device, comprising:

the discharging assembly is used for discharging;

2. The feed device of claim 1, wherein the angle adjustment assembly comprises:

a motor assembly;

the fixing piece is connected with the motor assembly, the motor assembly is used for driving the fixing piece to rotate around the axis, and the discharging assembly is fixed on the fixing piece.

3. The feeding device of claim 2, wherein the discharge assembly comprises:

The rotary valve is fixed on the fixing piece, is rotationally connected with the control valve and rotates around the axis relative to the control valve; and

and the discharging nozzle is arranged on the rotary valve and used for discharging materials conveyed from the control valve and the rotary valve in sequence, and the angle adjusting assembly is used for adjusting the discharging direction of the discharging nozzle.

4. The feed device of claim 1, wherein the control valve comprises:

the valve body is connected with the discharging assembly; and

the blocking piece is partially arranged in the valve body, the part outside the valve body is matched with the switch component, and the switch component is used for controlling the blocking piece to block or unblock the valve body.

5. The feeding device of claim 4, wherein said switching member comprises:

a screw rod;

the motor assembly is in transmission connection with the screw rod so as to drive the screw rod to rotate;

the screw connection piece is in threaded connection with the lead screw, is matched with the plugging piece, and when the lead screw rotates, the screw connection piece drives the plugging piece to plug or dredge the valve body.

6. The feeding device of claim 5, wherein said feeding device further comprises:

The assembly part, ejection of compact subassembly angle adjusting part reaches the control valve sets up one side of assembly part, the lead screw with motor assembly sets up the opposite side of assembly part, angle adjusting part ejection of compact subassembly reaches the control valve arranges in proper order and sets up, the spiro union piece is in the control valve deviates from one side of angle adjusting part with the control valve cooperation.

7. The feeding device of claim 5, wherein said switching member further comprises:

and the resetting component is connected with the plugging piece and is used for driving the plugging piece to plug the valve body, so that the control valve is in a normally closed state, and when the threaded piece responds to the rotation of the screw rod and overcomes the action of the resetting component, the threaded piece releases the normally closed state of the control valve.

8. The feed device of claim 7, wherein the reset assembly comprises:

a mounting shell;

the sliding piece is connected with the plugging piece and is in sliding connection with the mounting shell; and

and the elastic piece is respectively abutted with the mounting shell and the sliding piece and is configured to have elastic deformation force for enabling the sliding piece to slide relative to the mounting shell, so that the sealing piece seals the valve body under the elastic deformation force, and the screw-connection piece is matched with the sliding piece or the sealing piece to overcome the elastic deformation force so as to release the normally closed state of the control valve.

9. A surface modifying robot, comprising:

a console;

the feeding device of any one of claims 1-8, arranged on the slide seat, the feeding device being adapted to discharge on a side facing away from the push-pull mechanism, the control console being adapted to control the angle adjustment assembly to adjust the discharge angle of the discharge assembly.

10. The surface modifying robot of claim 9, further comprising:

the scraping device is used for performing scraping correction, is arranged on the sliding seat and is positioned on one side of the feeding device, which is away from the push-pull mechanism.