Surface finishing mechanism and surface finishing robot

Abstract

The present application discloses a surface finishing mechanism and a surface finishing robot, which relate to the field of construction machinery. In the present application, a feeding device is provided on the sliding seat for discharging materials; a scraping device is slidably connected to the sliding seat to slide toward or away from the feeding device, the scraping device is used for scraping and finishing, and the feeding device is used to discharge materials to the side of the scraping device that is opposite to the feeding device. The present application discharges materials to the side of the scraping device that is opposite to the feeding device through the feeding device, so that the material can be directly placed on the surface to be trimmed, and the scraping position of the scraping device is adjusted by sliding the scraping device and the sliding seat. Furthermore, when trimming the surface, it is only necessary to move the sliding seat so that the scraping device moves with the movable seat to achieve surface trimming. The present application does not require frequent manual material removal, and the entire surface trimming process is relatively convenient.

Description

Technical Field

[0001] The present application relates to the field of construction machinery, and in particular to a surface finishing mechanism and a surface finishing robot. Background Art

[0002] During wall decoration, workers use a putty scraper to apply the mixed putty on the wall for finishing. This results in the tedious operation of workers frequently removing putty. Summary of the Invention

[0003] On one hand, the present application provides a surface modification mechanism, comprising:

[0004] Sliding seat;

[0005] A feeding device, arranged on the sliding seat, for discharging materials;

[0006] The scraping device is slidably connected to the sliding seat to slide toward or away from the side of the feeding device. The scraping device is used for scraping and trimming, and the feeding device is used to discharge material to the side of the scraping device that is away from the feeding device.

[0007] On one hand, the present application provides a surface finishing robot, characterized by comprising:

[0008] console;

[0009] a push-pull mechanism, provided on the console, having an extended state and a retracted state, wherein the console is used to control the push-pull mechanism to be in the extended state, the retracted state, or a state between the extended state and the retracted state; and

[0010] The surface finishing mechanism described above is slidably connected to the push-pull mechanism, the feeding device is used to discharge material to the side of the feeding device facing away from the push-pull mechanism, and the scraping device is arranged on the side of the feeding device facing away from the push-pull mechanism.

[0011] The present application uses a feeding device to discharge material to the side of the scraping device that is opposite to the feeding device, so that the material can be directly placed on the surface to be trimmed. The scraping position of the scraping device is adjusted by sliding the scraping device and the sliding seat. Furthermore, when trimming the surface, it is only necessary to move the sliding seat to make the scraping device move with the movable seat to achieve surface trimming. The present application does not require frequent manual material removal, and the entire surface trimming process is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] Figure 1 Schematic diagram of the structure of the surface finishing robot in some embodiments of the present application;

[0014] Figure 2 for Figure 1 A schematic structural diagram of the surface finishing robot in another state in the illustrated embodiment;

[0015] Figure 3 for Figure 2 A schematic diagram of the structure of the surface modification mechanism in some embodiments shown in the embodiment;

[0016] Figure 4 for Figure 3 A schematic diagram of the structure of the mounting member in some embodiments of the embodiment shown;

[0017] Figure 5 for Figure 3 A schematic structural diagram of the feeding device in some embodiments of the embodiment shown;

[0018] Figure 6 for Figure 5 An exploded schematic diagram of the discharge member in some embodiments of the embodiment shown;

[0019] Figure 7 for Figure 6 A schematic diagram of the structure of the control valve and the reset assembly in some embodiments shown in the embodiment;

[0020] Figure 8 for Figure 5 A schematic diagram of the structure of the switch component in some embodiments of the embodiment shown;

[0021] Figure 9 for Figure 8 A schematic structural diagram of the switch component in another perspective of the embodiment shown;

[0022] Figure 10 for Figure 3 A schematic structural diagram of the assembly seat and the mounting member in some embodiments shown in the embodiment;

[0023] Figure 11 for Figure 10 A schematic structural diagram of the assembly base in another perspective in the illustrated embodiment;

[0024] Figure 12for Figure 5 An exploded view of some embodiments of the diverting member and the scraping member in the illustrated embodiment when they cooperate;

[0025] Figure 13 for Figure 12 A schematic diagram of the structure of the reversing member and the scraping member in the embodiment shown in FIG.

[0026] Figure 14 for Figure 12 The embodiment shown is a schematic structural diagram of the scraping component in some embodiments. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some, rather than all, structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] All directional indications in the embodiments of the present application (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0029] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] This application describes a surface finishing robot that can be used to apply and scrape cement, cement mortar, putty, paint, and other wall finishing materials on walls to achieve wall finishing. It can also be used to apply and scrape cement, cement mortar, putty, paint, and other finishing materials on floors, roofs, and other surfaces to achieve surface finishing.

[0031] The following description is given taking the surface finishing of a wall as an example.

[0032] The present application describes a surface finishing mechanism, comprising: a sliding seat; a feeding device, arranged on the sliding seat, for discharging material; a scraping device, slidably connected to the sliding seat to slide toward or away from the feeding device, the scraping device being used for scraping and finishing, and the feeding device being used to discharge material to the side of the scraping device facing away from the feeding device.

[0033] In some embodiments, an assembly part is provided on the sliding seat, and the feeding device includes: a discharging component, which is provided on the assembly part and is used to discharge materials to the side of the scraping device opposite to the feeding device; a switch component, which is respectively provided on both sides of the assembly part opposite to the discharging component and is used to control the discharging of materials by the discharging component.

[0034] In some embodiments, the discharging component includes: a discharging component, which is used to discharge material to the side of the scraping device facing away from the feeding device; an angle adjustment component, which is connected to the discharging component, and is used to drive the discharging component to rotate around an axis to adjust the discharging direction of the discharging component; a control valve, which is connected to the discharging component, and is used to control the material to reach the discharging component through the control valve; and a reset component, which is connected to the control valve, and is used to control the blocking of the control valve so that the control valve is in a normally closed state. The switch component is used to control the control valve to release the normally closed state of the control valve and clear the control valve.

[0035] In some embodiments, the angle adjustment assembly includes: a motor assembly; a fixing member connected to the motor assembly, the discharging assembly is fixed on the fixing member, and the motor assembly is used to drive the fixing member to rotate around the axis to adjust the discharging direction of the discharging assembly.

[0036] In some embodiments, the reset assembly includes: a mounting shell fixed on the assembly; a sliding member connected to the control valve and slidably connected to the mounting shell; and an elastic member, respectively abutting the mounting shell and the sliding member, and having an elastic deformation force that causes the sliding member to slide relative to the mounting shell toward the side close to the control valve to control the blocking of the control valve, and the switching component is used to drive the sliding member to slide relative to the mounting shell toward the side away from the control valve to release the normally closed state of the control valve and clear the control valve.

[0037] In some embodiments, the scraping device includes: an assembly seat, which is slidably connected to the sliding seat to slide toward or away from the feeding device; a buffer assembly, which is rotatably connected to the assembly seat to rotate around an axis; and a scraping assembly, which is arranged on a side of the buffer assembly facing away from the feeding device, for scraping and trimming, the scraping assembly is rotatably connected to the buffer assembly to rotate around a rotation axis toward or away from the buffer assembly, and the buffer assembly is used to buffer the scraping assembly in the axial direction when the buffer assembly rotates relative to the assembly seat to adjust the distance between the scraping assembly and the assembly seat, and is used to buffer the scraping assembly when the scraping assembly rotates toward the side close to the buffer assembly to adjust the scraping angle of the scraping assembly, and the axial direction of the buffer assembly when it rotates relative to the assembly seat is different from the rotational axis direction of the scraping assembly when it rotates relative to the buffer assembly.

[0038] In some embodiments, the buffer assembly includes: a rotating seat, rotatably connected to the assembly seat to rotate around the axis of the buffer assembly when it rotates relative to the assembly seat; a fixed seat, slidably connected to the rotating seat to slide in the axial direction of the buffer assembly when it rotates relative to the assembly seat; and a movable seat, rotatably connected to the fixed seat to rotate around the rotation axis to adjust the posture of the scraping assembly, the movable seat is rotatably connected to the scraping assembly to adjust the scraping angle of the scraping assembly, and the scraping assembly is connected to the fixed seat through the movable seat, and the rotation axis direction of the movable seat when it rotates relative to the fixed seat is different from the axis direction of the buffer assembly when it rotates relative to the assembly seat, and different from the rotation axis direction of the scraping assembly when it rotates relative to the buffer assembly.

[0039] In some embodiments, the movable seat includes: a movable main body, rotatably connected to the fixed seat so as to rotate around the rotation axis when the movable seat rotates relative to the fixed seat, and the scraping assembly is rotatably connected to the movable main body so as to rotate around the rotation axis when the scraping assembly and the movable seat rotate relative to each other; a first limiting portion, provided on the movable main body, extending toward the side close to the scraping assembly, for limiting the scraping angle of the scraping assembly, the scraping assembly is configured to rotate toward the side close to the movable main body and can be rotated to a position abutting against the first limiting portion; and a reset member, provided on the movable main body, for driving the scraping assembly to rotate and reset toward the side away from the buffer assembly.

[0040] In some embodiments, the movable body is provided with a limiting hole, and the scraping assembly is provided with a second limiting portion, the second limiting portion is used to limit the scraping angle of the scraping assembly, the second limiting portion is passed through the limiting hole, and an abutting portion that abuts against the movable body for limiting the position is provided on the side of the movable body away from the scraping assembly. When the scraping assembly rotates around the rotation axis toward or away from the side of the buffer assembly, the second limiting portion slides in the limiting hole.

[0041] The present application describes a surface finishing robot, comprising: a control console; a push-pull mechanism, arranged on the control console, having an extended state and a retracted state, the control console being used to control the push-pull mechanism to be in the extended state or the retracted state or a state between the extended state and the retracted state; and the above-mentioned surface finishing mechanism, being slidably connected to the push-pull mechanism, the feeding device being used to discharge material to the side of the feeding device facing away from the push-pull mechanism, and the scraping device being arranged on the side of the feeding device facing away from the push-pull mechanism.

[0042] See also Figure 1 and Figure 2 , Figure 1 This is a schematic structural diagram of a surface finishing robot in some embodiments of the present application. Figure 2 for Figure 1 This is a schematic diagram of the structure of a surface finishing robot in another embodiment. The surface finishing robot 100 may include a control console 101, a push-pull mechanism 102 mounted on the control console 101, and a surface finishing mechanism 103 connected to the push-pull mechanism 102. The control console 101 is used to control the surface finishing robot 100 and ensure normal operation of the surface finishing robot 100. The push-pull mechanism 102 is mounted on the control console 101 and can support and mount the surface finishing mechanism 103. The push-pull mechanism 102 can push and pull the surface finishing mechanism 103. The surface finishing mechanism 103 can act on a wall surface. Under the pushing and pulling action of the push-pull mechanism 102, the surface finishing mechanism 103 can be scraped and applied to the wall surface, or applied with wall finishing materials such as cement, cement mortar, putty, and paint. In some scenarios, the console 101 can be used to control the push-pull mechanism 102, causing the surface modifying mechanism 103 to move under the push-pull action of the push-pull mechanism 102, thereby achieving movement of the surface modifying mechanism 103. In some scenarios, the console 101 can be used to control the surface modifying mechanism 103, thereby achieving movement of the surface modifying mechanism 103. In some scenarios, when the surface modifying mechanism 103 moves, the surface modifying mechanism 103 performs smearing and / or scraping finishing and / or scraping.

[0043] See also Figure 1 and Figure 2 The control 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 surface finishing mechanism 103. The control cabinet 1012 may 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.

[0044] The base 1011 serves as the foundation of the surface finishing robot 100, supporting and mounting the various components of the surface finishing robot 100. In some embodiments, the base 1011 may be provided with rollers on its bottom, allowing for movement via rolling, thereby facilitating user adjustment and movement of the surface finishing robot 100. In some embodiments, the rollers on the bottom of the base 1011 may be driven by a power system such as a hydraulic system, an air pump system, an air cylinder system, or a motor assembly to achieve rolling. In some embodiments, the base 1011 functions as part of the push-pull mechanism 102.

[0045] The control cabinet 1012 may be equipped with a control system including a processor such as a microcomputer, a computer, or a PLC, and may also be equipped with a display screen. It may also be equipped with a power system such as a hydraulic system, an air pump system, a cylinder system, or a motor assembly. Of course, the control cabinet 1012 may also include other components well known to those skilled in the art that enable the control cabinet 1012 to control the push-pull mechanism 102 and / or the surface finishing mechanism 103, which are not described in detail here. In some scenarios, the control system serves as the core of the control cabinet 1012, performing various data calculations and processing, and then issuing instructions to the push-pull mechanism 102 and / or the surface finishing mechanism 103 to achieve control of the push-pull mechanism 102 and / or the surface finishing mechanism 103. In some scenarios, the control cabinet 1012 can control the operating status of the surface finishing robot 100 through the control system. In some scenarios, the control cabinet 1012 can display the operating status of the surface finishing robot 100 and related data involved in the operation through a display screen. In some scenarios, the control cabinet 1012 can input control data for controlling the surface finishing robot 100 through a display screen, causing the control system to execute the control data and thereby control the surface finishing robot 100. In some scenarios, the power system can drive the push-pull mechanism 102 and / or the surface finishing mechanism 103 under the control of the control system to achieve normal operation of the surface finishing robot 100.

[0046] In some embodiments, the control cabinet 1012 may include storage containers such as storage bins, storage boxes, and storage barrels to store finishing materials such as cement, cement mortar, putty, and paint. Of course, a storage container can store only one type of finishing material, or it can be divided into multiple storage containers, each storing a different finishing material, to enable storage of multiple finishing materials. In some embodiments, the control cabinet 1012 can control the delivery of finishing materials within the storage containers to the surface finishing mechanism 103.

[0047] In some embodiments, the storage container may not be provided on the control cabinet 1012 but may be provided on the base 1011 . In some embodiments, the storage container may not be a part of the surface finishing robot 100 but may be provided separately.

[0048] In some embodiments, the control cabinet 1012 may not be a part of the surface finishing robot 100 but may be provided separately.

[0049] See also Figure 2 The push-pull mechanism 102 may include a main slider 1021 fixed to the console 101, for example, the 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 and used to mount the surface modification mechanism 103. The push-pull mechanism 102 can be extended and retracted by sliding between the main slider 1021, the intermediate slider 1022, and the end slider 1023, thereby adjusting the position of the surface modification mechanism 103. Of course, the position of the surface modification mechanism 103 can also be adjusted by sliding between the end slider 1023 and the surface modification mechanism 103.

[0050] The main sliding member 1021 can be a plate-shaped structure, a frame structure, a tubular structure or other structures. The main sliding member 1021 is fixed to the console 101, such as the base 1011, and can be located on one side of the control cabinet 1012. In some embodiments, the main sliding member 1021 is a part of the console 101.

[0051] The main slider 1021 can extend in the vertical direction. Of course, in other application scenarios, the main slider 1021 can extend in the horizontal direction. That is, the main slider 1021 can be installed on the console 101, such as the base 1011, in various ways and can be adjusted according to the actual application scenario.

[0052] Guide members such as slide rails, guide rods, and lead screws may be provided on the main sliding member 1021. In some embodiments, the guide members may be provided extending in the extension direction of the main sliding member 1021.

[0053] The intermediate slider 1022 may be in a plate-like structure, a frame structure, a tubular structure, or other structures. The intermediate slider 1022 may be disposed on a side of the main slider 1021 away from the control cabinet 1012. Alternatively, the intermediate slider 1022 may be disposed in other positions depending on the structural limitations of the main slider 1021 and / or the intermediate slider 1022. Alternatively, the intermediate slider 1022 may be disposed in other positions depending on the mounting method of the main slider 1021 on the console 101, such as the base 1011. This will not be described in detail herein.

[0054] The intermediate slider 1022 can slide in the direction of extension of the main slider 1021, thereby increasing the length of the push-pull mechanism 102 in the direction of extension of the main slider 1021. In some embodiments, the extension direction of the intermediate slider 1022 can be consistent with the extension direction of the main slider 1021. In some embodiments, the intermediate slider 1022 can be provided with a sliding structure such as a slider, a slide groove, or a slide rail to be slidably connected to a guide member of the main slider 1021, such as a slide rail, a guide rod, or a lead screw, thereby allowing the sliding structure to slide in the direction of extension of the guide member. Of course, the guide member can also be provided on the intermediate slider 1022, and the sliding structure can be provided on the main slider 1021.

[0055] The intermediate slider 1022 can achieve relative sliding with the main slider 1021 under the drive of the power system. The power system can be arranged on the control cabinet 1012, or on the base 1011, or on the main slider 1021, or on the intermediate slider 1022. In some scenarios, the power system, such as a motor assembly, can be transmitted by a screw or a belt, a gear, a rack, etc., and of course other transmission methods can also be used. In some scenarios, the power system, such as a motor assembly, drives the screw to rotate, so that the intermediate slider 1022 threadedly connected to the screw slides relative to the main slider 1021. Of course, the screw can be arranged on the main slider 1021. In some scenarios, the power system, such as a motor assembly, drives the screw to rotate, so that the main slider 1021 threadedly connected to the screw slides relative to the intermediate slider 1022. Of course, the screw can be arranged on the intermediate slider 1022. In some scenarios, a power system, such as a motor assembly, drives a belt to rotate, causing the intermediate slider 1022, which is fixedly connected to the belt, to slide relative to the main slider 1021. Of course, the belt can be provided on the main slider 1021. In some scenarios, a power system, such as a motor assembly, drives a belt to rotate, causing the main slider 1021, which is fixedly connected to the belt, to slide relative to the intermediate slider 1022. Of course, the belt can be provided on the intermediate slider 1022. In some scenarios, a power system, such as a motor assembly, drives a gear to rotate, causing a rack meshed with the gear to move, thereby causing the intermediate slider 1022, which is provided with the rack, to slide relative to the main slider 1021. Of course, the gear can be provided on the main slider 1021. In some scenarios, a power system, such as a motor assembly, drives a gear to rotate, causing a rack meshed with the gear to move, thereby causing the main slider 1021, which is provided with the rack, to slide relative to the intermediate slider 1022. Of course, the gear can be provided on the intermediate slider 1022. It is understandable that a power system such as a hydraulic system, an air pump system, a cylinder system, etc. can also drive the intermediate sliding member 1022 to slide relative to the main sliding member 1021, and can be designed using techniques well known to those skilled in the art, which will not be elaborated on.

[0056] The end slider 1023 may be 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 intermediate slider 1022 away from the main slider 1021. Other positional relationships may also be employed depending on the structural limitations of the intermediate slider 1022 and / or the end slider 1023 or the usage scenario of the push-pull mechanism 102. These details are omitted here.

[0057] The end slider 1023 can slide in the extension direction of the middle slider 1022, thereby increasing the length of the push-pull mechanism 102 in the extension direction of the middle slider 1022. In some embodiments, the extension direction of the end slider 1023 can be consistent with the extension direction of the middle slider 1022.

[0058] The end slider 1023 can be provided with the sliding structure described in the above embodiment, and the intermediate slider 1022 can be provided with the guide member described in the above embodiment, so that the sliding structure and the guide member cooperate to achieve a sliding connection between the end slider 1023 and the intermediate slider 1022. Of course, the guide member can also be provided on the end slider 1023, while the sliding structure is provided on the intermediate slider 1022.

[0059] Driven by the power system, the end slider 1023 can slide relative to the intermediate slider 1022. The specific manner in which the power system drives the end slider 1023 and the intermediate slider 1022 to slide relative to each other can be found in the aforementioned embodiment of the power system driving the intermediate slider 1022 and the main slider 1021 to slide relative to each other, and will not be further described here. The power system can be installed on the control cabinet 1012, on the base 1011, on the intermediate slider 1022, or on the end slider 1023.

[0060] It is understood that there can be multiple intermediate sliders 1022, each of which is slidably connected in sequence, with the intermediate slider 1022 at the head end slidably connected to the main slider 1021, and the intermediate slider 1022 at the tail end slidably connected to the tail end slider 1023. The two slidably connected intermediate sliders 1022 can be slidably connected using either the intermediate slider 1022 and the main slider 1021 or the tail end slider 1023. Furthermore, the length of the push-pull mechanism 102 formed by the main slider 1021, at least one intermediate slider 1022, and the tail end slider 1023 is adjustable. In some scenarios, the push-pull mechanism 102 can have both an extended and a retracted state. Furthermore, in some embodiments, the push-pull mechanism 102 can be a telescopic structure such as a telescopic frame or a telescopic tube. In some embodiments, the intermediate slider 1022 and the tail end slider 1023 can be omitted. In some embodiments, the tail end slider 1023 can be omitted.

[0061] In addition, the main slider 1021 and at least one intermediate slider 1022 and the end slider 1023 can slide separately under the control of the power system, or they can slide simultaneously under the control of the power system, so that the end slider 1023 and the intermediate slider 1022 slide simultaneously in the extension direction of the main slider 1021, and the intermediate slider 1022 slides on the main slider 1021. When the intermediate slider 1022 slides to the shortest length of the combination of the intermediate slider 1022 and the main slider 1021 in the extension direction of the main slider 1021, the end slider 1023 slides on the intermediate slider 1022 and can slide simultaneously to the shortest length of the combination of the end slider 1023 and the intermediate slider 1022 in the extension direction of the main slider 1021. The intermediate sliding member 1022 slides on the main sliding member 1021, and when it slides to the longest length of the combination of the intermediate sliding member 1022 and the main sliding member 1021 in the extension direction of the main sliding member 1021, the end sliding member 1023 slides on the intermediate sliding member 1022, and can simultaneously slide to the longest length of the combination of the end sliding member 1023 and the intermediate sliding member 1022 in the extension direction of the main sliding member 1021.

[0062] Furthermore, the end slider 1023 and the intermediate slider 1022 slide simultaneously in the extension direction of the main slider 1021. When the intermediate slider 1022 slides on the main slider 1021 until the combination of the intermediate slider 1022 and the main slider 1021 reaches its shortest length in the extension direction of the main slider 1021, the two slidably connected intermediate sliders 1022 slide relative to each other and can simultaneously slide to the shortest length of the combination of the two slidably connected intermediate sliders 1022 in the extension direction of the main slider 1021. When the intermediate slider 1022 slides on the main slider 1021 until the combination of the intermediate slider 1022 and the main slider 1021 reaches its longest length in the extension direction of the main slider 1021, the two slidably connected intermediate sliders 1022 slide relative to each other and can simultaneously slide to the longest length of the combination of the two slidably connected intermediate sliders 1022 in the extension direction of the main slider 1021.

[0063] In some scenarios, the push-pull mechanism 102 can be adjusted based on the usage scenario of the surface finishing robot 100, for example, so that the extension direction of the main slider 1021 is horizontal. For example, the extension direction of the intermediate slider 1022 is horizontal. For example, the extension direction of the end slider 1023 is horizontal. In some scenarios, the usage scenario of the surface finishing robot 100 can be to apply or scrape finishing materials such as cement, cement mortar, putty, and paint on the ground. Of course, the finishing materials can also be other materials such as slurries, granular raw materials, or powdered raw materials that need to be applied or scraped. Furthermore, materials such as slurries, granular raw materials, or powdered raw materials may not be finishing materials, but of course they can also be materials that include finishing materials.

[0064] It can be understood that the push-pull mechanism 102 can achieve length adjustment through the cooperation of the main sliding member 1021, the intermediate sliding member 1022 and the end sliding member 1023, thereby achieving the push-pull of the surface finishing mechanism 103 during the length adjustment process.

[0065] See also Figure 1 and Figure 2 The surface finishing mechanism 103 can adjust its position during the pushing and pulling process of the push-pull mechanism 102. The surface finishing mechanism 103 can also slide on the push-pull mechanism 102, such as the end sliding member 1023, to adjust its position.

[0066] The surface finishing mechanism 103 may include a sliding base 10 connected to the push-pull mechanism 102, such as the end slide 1023, a feeding device 20 disposed on the sliding base 10, and a scraping device 30 disposed on the sliding base 10. The sliding base 10 may be fixed to the push-pull mechanism 102, such as the end slide 1023, or may be slidably connected to the push-pull mechanism 102, such as the end slide 1023. The sliding base 10 is used to support and mount the feeding device 20 and the scraping device 30. The feeding device 20 may be connected to a storage container on the control cabinet 1012 to discharge the finishing material in the storage container during operation of the surface finishing robot 100, thereby achieving material supply. In some scenarios, the feeding device 20 may feed material by spraying. The scraping device 30 may scrape and finish the finishing material when the sliding base 10 is pushed or pulled (extended or retracted). The sliding base 10, feeding device 20, and scraping device 30 may operate under the control of the control cabinet 1012, such as a control system. In some scenarios, the feeding device 20 is used to discharge (feed) material to a side of the scraping device 30 facing away from the feeding device 20 .

[0067] See also Figure 3 , Figure 3 for Figure 2 The illustrated embodiment shows a schematic diagram of the structure of the surface finishing mechanism 103 in some embodiments. The sliding seat 10 can be a plate-like structure, a frame structure, or other structures. The sliding seat 10 can be positioned on the side of the end slider 1023 away from the intermediate slider 1022. Of course, other positional arrangements can also be adopted based on the structural and mating relationship between the sliding seat 10 and the push-pull mechanism 102, such as the end slider 1023, and will not be described in detail here.

[0068] The sliding seat 10 can be slidably connected to the end sliding member 1023 to slide in the extension direction of the end sliding member 1023, thereby achieving position adjustment of the sliding seat 10. It is understandable that the sliding seat 10 can also achieve position adjustment by changing the length of the push-pull mechanism 102 when it is not sliding with the end sliding member 1023.

[0069] The sliding seat 10 can be provided with the sliding structure of the above embodiment, and the end sliding member 1023 can be provided with the guide member of the above embodiment, and then the sliding seat 10 and the end sliding member 1023 can be slidably connected by the cooperation of the sliding structure and the guide member. Of course, the guide member can also be provided on the sliding seat 10, and the sliding structure can be provided on the end sliding member 1023.

[0070] The sliding seat 10 can be driven by the power system to slide relative to the end sliding member 1023. The specific method of the power system driving the sliding seat 10 and the end sliding member 1023 to slide relative to each other can refer to the method of relative sliding between the end sliding member 1023 and the intermediate sliding member 1022 in the above embodiment.

[0071] It is understandable that the power system that drives the length of the push-pull mechanism 102 and / or the sliding seat 10 to slide relative to the push-pull mechanism 102 can also be a linear cylinder, a hydraulic cylinder, etc.

[0072] The sliding seat 10 may include a mating member 11 connected to the push-pull mechanism 102, such as the end slider 1023, and a mounting member 12 mounted on the mating member 11. The sliding seat 10 is connected to the push-pull mechanism 102, such as the end slider 1023, via the mating member 11, to achieve the mating relationship between the sliding seat 10 and the push-pull mechanism 102, such as the end slider 1023, as described in the above embodiments. This allows the mating member 11 to be mounted on the push-pull mechanism 102, such as the end slider 1023, and to slide in the direction in which the end slider 1023 extends. In some embodiments, the mating member 11 may have a plate-like structure, a frame structure, a tubular structure, or other structures. In some embodiments, if the end slider 1023 is omitted, the sliding seat 10, such as the mating member 11, may mate with the intermediate slider 1022 by mating with the end slider 1023. In some embodiments, if the intermediate slider 1022 and the end slider 1023 are omitted, the sliding seat 10, such as the mating member 11, may mate with the main slider 1021 by mating with the end slider 1023.

[0073] See also Figure 3 and Figure 4 , Figure 4 for Figure 3The illustrated embodiment shows a schematic diagram of the structure of the mounting member 12 in some embodiments. The mounting member 12 may be a plate-like structure, a frame structure, a tubular structure, or other structures. The mounting member 12 is mounted on the side of the mating member 11 away 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 each other and fixedly connected to the mating member 11. Adjustable rails 123 may be provided on the first and second mounting brackets 121, 122. In some embodiments, the adjustable rails 123 may extend in the direction in which the push-pull mechanism 102 moves away from or toward the control cabinet 1012. In some embodiments, the adjustable rails 123 may extend perpendicularly to the sliding direction of the sliding seat 10 on the end slider 1023, but may not be perpendicular. In some embodiments, a pitch-adjusting rack 124 may be provided on the first and / or second mounting brackets 121, 122. In some embodiments, the pitch-adjusting rack 124 may extend in the same direction as the pitch-adjusting rail 123.

[0074] It is understandable that the arrangement of the mounting member 12 is not limited to the arrangement of the first mounting bracket 121 and the second mounting bracket 122 , and may be other arrangements.

[0075] See also Figure 3 The feeding device 20 may include an assembly 21 mounted on the sliding seat 10, such as the mounting member 12, a discharge member 22 mounted on the assembly 21, and a switch member 23 mounted on the assembly 21 and used to control the discharge of the discharge member 22. The assembly 21 is used to carry and mount the discharge member 22 and the switch member 23. The discharge member 22 cooperates with the switch member 23 to feed or pause the finishing material.

[0076] The assembly 21 can be a plate, frame, tubular, or other structure. It can be mounted on the sliding base 10, such as the first mounting bracket 121 and the second mounting bracket 122. In some embodiments, the assembly 21 can be a part of the sliding base 10. Furthermore, the discharge member 22 and the switch member 23 can also be mounted on other parts of the sliding base 10.

[0077] The discharging member 22 can be connected to the storage container on the control cabinet 1012 so as to output the finishing materials in the storage container when the surface finishing robot 100 is working, thereby realizing feeding. In some embodiments, the discharging member 22 can cooperate with the power system to realize feeding, and can even realize feeding by spraying with the cooperation of the power system. For example, a power system such as an air pump can increase the pressure of the storage container so that the finishing materials are output from the storage container to the discharging member 22 under high pressure and output at the discharging member 22. For example, a power system such as a pump can extract the finishing materials from the storage container and output them to the discharging member 22 to realize feeding. Of course, other types of power systems can also be used to cooperate with the discharging member 22 to feed.

[0078] See also Figure 5 , Figure 5 for Figure 3 The feeding device 20 in some embodiments is shown in the embodiment. The discharge member 22 can be installed on one side of the assembly 21. In some embodiments, the discharge member 22 can be arranged on one side of the assembly 21 in the extension direction of the end slide 1023.

[0079] The discharge assembly 22 may include an angle adjustment assembly 221 mounted on the assembly 21, a discharge assembly 222 mounted on the angle adjustment assembly 221, a sensor 223 mounted on the assembly 21 and used to position the angle adjustment assembly 221, a control valve 224 disposed on the assembly 21 and connected to the discharge assembly 222, and a reset assembly 225 for resetting the control valve 224. The control valve 224 is connected to a storage container on the control cabinet 1012, allowing finishing materials to flow through the control valve 224 to the discharge assembly 222 for feeding. The reset assembly 225 can be used to close the control valve 224, returning it to a normally closed state. The angle adjustment assembly 221 can be used to rotate the discharge assembly 222 to adjust the discharge angle of the discharge assembly 222.

[0080] See also Figure 5 and Figure 6 , Figure 6 for Figure 5Schematic diagram of the discharging member 22 in some embodiments shown in the embodiment. The angle adjustment component 221 may include a power system such as a motor 2211 installed on the assembly 21, a reducer 2212 that is transmission-connected to the power system such as the motor 2211 and installed on the assembly 21, and a fixing member 2213 that is transmission-connected to the reducer 2212. The power system such as the motor 2211 can rotate to drive the reducer 2212 to rotate, thereby driving the fixing member 2213 to rotate. The motor 2211 can be a stepping motor or other types of motors. The type of motor 2211, the type of reducer 2212 and the connection method between the motor 2211 and the reducer 2212 can be set using techniques well known to those skilled in the art and will not be described in detail. The fixing member 2213 can be a plate-like structure, a frame structure or other structures.

[0081] It can be understood that the motor 2211 and the reducer 2212 can form a motor assembly. Of course, the motor assembly is not limited to the motor 2211 and the reducer 2212, and can also include others.

[0082] The fixing member 2213 may be a plate-shaped structure, a frame structure, a tubular structure or other structures.

[0083] In some embodiments, the fixing member 2213 can rotate around the axis of the output shaft of the motor 2211 .

[0084] In some embodiments, a triggering member 2214 may be provided on the fixing member 2213. In some embodiments, the triggering member 2214 may be a blocking piece.

[0085] In some embodiments, the motor 2211 , the reducer 2212 , and the fixing member 2213 may be arranged in a direction perpendicular to the extending direction of the end sliding member 1023 .

[0086] In some embodiments, the motor 2211 , the reducer 2212 , and the fixing member 2213 may be arranged in the axial direction of the output shaft of the motor 2211 .

[0087] The discharge assembly 222 may include a rotary valve 2221 fixed to the fixing member 2213 and a discharge nozzle 2222 installed on the rotary valve 2221. The rotary valve 2221 is connected to the discharge nozzle 2222, so that the finishing material flows through the rotary valve 2221 and the discharge nozzle 2222 in sequence.

[0088] In some embodiments, the rotary valve 2221 may be fixedly connected to the fixing member 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 enclosed by the fixing member 2213. In some embodiments, the fixing member 2213 may be omitted, and the rotary valve 2221 may be directly connected to the reducer 2212 or fixedly connected. In some embodiments, the fixing member 2213 rotates about an axis, and this axis may pass through the rotary valve 2221. Of course, the axis may also coincide with the rotation axis of the rotary valve 2221.

[0089] The discharge nozzle 2222 can be set on the side of the rotary valve 2221 facing away from the push-pull mechanism 102, such as the end slide 1023, and can move toward or away from the side of the assembly 21 when the rotary valve 2221 rotates to adjust the positional relationship between the discharge nozzle 2222 and the rotary valve 2221. In some embodiments, the orientation of the discharge nozzle 2222 can be perpendicular to the axial direction of the output shaft of the motor 2211, but of course it can also be non-perpendicular. In some embodiments, the discharge nozzle 2222 can discharge in the facing direction. In some embodiments, the orientation of the discharge nozzle 2222 can be adjusted when the rotary valve 2221 rotates to change the discharge direction of the discharge nozzle 2222. In some embodiments, the discharge nozzle 2222 can spray in the facing direction. In some embodiments, the discharge nozzle 2222 can have a fan-shaped spraying area in the facing direction.

[0090] In some embodiments, the assembly part 21 may be provided with a groove or a perforation at a position corresponding to the discharge nozzle 2222 , so that the adjustable range of the position of the discharge component 222 , such as the discharge nozzle 2222 , is increased.

[0091] The sensor 223 is mounted on the assembly 21 and can cooperate with the trigger 2214 to position the discharge assembly 222 when the trigger 2214 triggers the sensor 223. It can be understood that the trigger 2214 and the sensor 223 cooperate to form the limiting assembly 2201 to limit and position the discharge assembly 222. Of course, the limiting assembly 2201 is not limited to the trigger 2214 and the sensor 223, but can also include other components.

[0092] In some embodiments, sensor 223 may be an optical coupler sensor that cooperates with a trigger member 2214, such as a barrier. Trigger member 2214, such as a barrier, blocks sensor 223, such as an optical coupler sensor, thereby triggering sensor 223, such as an optical coupler sensor. It is understood that sensor 223 may also be a proximity sensor or other type of sensor, without limitation. Accordingly, trigger member 2214 may be adapted to the type of sensor 223 to trigger sensor 223. Specifically, trigger member 2214 may be adapted to sensor 223 using techniques well known to those skilled in the art.

[0093] In some embodiments, the respective setting positions of the sensor 223 and the trigger member 2214 can be interchanged. For example, the trigger member 2214 is set at the position where the sensor 223 is set, and correspondingly, the sensor 223 is set at the position where the trigger member 2214 is set.

[0094] In some embodiments, the limiting component 2201, such as the sensor 223, can be connected to the control cabinet 1012, such as the control system, so that the control cabinet 1012, such as the control system, can receive the signal of the trigger member 2214 triggering the sensor 223, and control the angle adjustment component 221, such as the motor 2211, based on the signal to control the direction of the discharge component 222, such as the discharge nozzle 2222.

[0095] In some embodiments, the position limiting assembly 2201 can be used to reset the orientation of the discharge assembly 222, such as the discharge nozzle 2222. In some embodiments, when the trigger member 2214 triggers the sensor 223, it can be determined that the discharge assembly 222, such as the discharge nozzle 2222, is at an initial position, and the position of the discharge assembly 222, such as the discharge nozzle 2222, can be adjusted from the initial position.

[0096] It is understandable that the limiting assembly 2201 may not employ a solution in which the sensor 223 and the trigger 2214 cooperate, but may employ two limiting members formed by a mechanical structure, one of which is disposed on the assembly member 21 and the other on the fixing member 2213. The limiting members may be limiting structures well known to those skilled in the art, such as a stopper, a stopper rod, or a structure having a limiting groove or a limiting hole.

[0097] See also Figure 5 、 Figure 6 and Figure 7 , Figure 7 for Figure 6 Schematic diagram of the structure of the control valve 224 and the reset assembly 225 in some embodiments shown in the embodiment. The control valve 224 can be disposed on the assembly 21 and can be connected to the discharge assembly 222, such as the rotary valve 2221. In some embodiments, the control valve 224 can be rotatably connected to the discharge assembly 222, such as the rotary valve 2221, to reduce interference with the rotation of the discharge assembly 222, such as the rotary valve 2221. In some embodiments, the axis of rotation of the control valve 224 about an axis relative to the discharge assembly 222, such as the rotary valve 2221, coincides with the axis of rotation of the fixed member 2213 about an axis. In some embodiments, the control valve 224 can be disposed on the side of the discharge assembly 222, such as the rotary valve 2221, facing away from the angle adjustment assembly 221, such as the motor 2211.

[0098] See also Figure 7The control valve 224 may have a connection outlet 2241. The connection outlet 2241 may be connected to the discharge assembly 222, such as the rotary valve 2221. In some embodiments, the control valve 224 is rotatably connected to the discharge assembly 222, such as the rotary valve 2221, through the connection outlet 2241.

[0099] See also Figure 7 The control valve 224 may have a connection inlet 2242. The connection inlet 2242 may be connected to the storage container on the control cabinet 1012, so that the decoration materials can flow out of the storage container on the control cabinet 1012, flow into the control valve 224 through the connection inlet 2242, and flow into the discharge assembly 222, such as the rotary valve 2221, through the connection outlet 2241. In some scenarios, the control valve 224 can be in a closed state so that the decoration materials are blocked and cannot flow, and can be in an open state so that the decoration materials can flow. In some embodiments, the control valve 224 is rotatably connected to the discharge assembly 222, such as the rotary valve 2221, through the connection outlet 2241.

[0100] In some embodiments, the control valve 224 may be a needle valve. In some embodiments, the control valve 224 may be a globe valve, a butterfly valve, a gate valve, a ball valve, a plug valve, a check valve, a pressure reducing valve, a steam trap, or other types of valves.

[0101] See also Figure 7 The control valve 224 may include a valve body 2243 having an outlet 2241 connected to an inlet 2242, and a blocking member 2244 extending into the valve body 2243 to block the valve body 2243. The blocking member 2244 is movable within the valve body 2243 to block the valve body 2243 to close the control valve 2244 and to clear the valve body 2243 to open the control valve 2244. In some embodiments, the blocking member 2244 may move into the valve body 2243 to block the valve body 2243 to close the control valve 2244, and may move out of the valve body 2243 to clear the valve body 2243 to open the control valve 2244. In some embodiments, the blocking member 2244 can move into the valve body 2243 to clear the valve body 2243, thereby closing the control valve 224. The blocking member 2244 can also move out of the valve body 2243 to block the valve body 2243, thereby opening the control valve 224. In some embodiments, the blocking member 2244 can move into or out of the valve body 2243 in a direction in which the valve body 2243 is away from the discharge assembly 222, such as the rotary valve 2221.

[0102] See also Figure 5 、 Figure 6 and Figure 7The reset assembly 225 can be provided on the assembly 21 and connected to the control valve 224, such as the blocking member 2244, so that the control valve 224 is in a normally closed state. In some scenarios, the reset assembly 225 can be provided on a side of the control valve 224 away from the discharge assembly 222, such as the rotary valve 2221.

[0103] See also Figure 7 The reset assembly 225 may include a mounting housing 2251 disposed on the assembly 21, a sliding member 2252 extending into the mounting housing 2251 and fixedly connected to the control valve 224, such as the blocking member 2244, outside the mounting housing 2251, and an elastic member 2253 disposed within the mounting housing 2251 and configured to drive the sliding member 2252 to slide relative to the mounting housing 2251. When the sliding member 2252 slides relative to the mounting housing 2251, it drives the blocking member 2244 to move relative to the valve body 2243, thereby placing the control valve 224 in a normally closed state.

[0104] The mounting housing 2251 may be a shell-like structure, or alternatively, a frame structure. The mounting housing 2251 may include a first housing 2254 and a second housing 2255 that are interconnected to form the mounting space 2202. The first housing 2254 and the second housing 2255 may be connected and fixed by bonding, screwing, welding, or clamping. In some embodiments, the first housing 2254 may be connected and fixed to the assembly 21 by bonding, screwing, welding, or clamping. In some embodiments, the second housing 2255 may be disposed on a side of the first housing 2254 that faces away from the control valve 224. In some embodiments, the second housing 2255 may be indirectly connected and fixed to the assembly 21 via the first housing 2254.

[0105] The sliding member 2252 can be a rod-shaped structure. In some embodiments, the sliding member 2252 can be slidably connected to the installation housing 2251 to slide into or out of the installation space 2202. In some embodiments, the sliding member 2252 can pass through the first housing 2254 from the side of the first housing 2254 facing away from the second housing 2255 and extend into the installation space 2202.

[0106] In some embodiments, the sliding member 2252 can be fixedly connected to the control valve 224, such as the blocking member 2244. The sliding member 2252 can move together with the blocking member 2244, so that the blocking member 2244 can block the control valve 224 or clear the control valve 224, and the sliding member 2252 can slide into or out of the installation space 2202.

[0107] In some embodiments, the sliding direction of the sliding member 2252 is consistent with the moving direction of the blocking member 2244 .

[0108] In some embodiments, the sliding member 2252 may be provided with an abutment portion 2256 to abut against the mounting housing 2251 to limit its position. When the abutment portion 2256 abuts against the mounting housing 2251, the sliding member 2252 stops sliding. In some embodiments, when the abutment portion 2256 abuts against the mounting housing 2251, the blocking member 2244 blocks the control valve 224, placing the control valve 224 in a normally closed state.

[0109] In some embodiments, the abutment portion 2256 is located in the installation space 2202 and can abut against the installation housing 2251 , such as the first housing 2254 , so that the sliding member 2252 cannot completely slide out of the installation space 2202 .

[0110] The elastic member 2253 can be a spring, a spring, or a structure made of other elastic materials. The elastic member 2253 can be disposed within the installation space 2202, respectively abutting the installation housing 2251 and the sliding member 2252, such as the abutting portion 2256. The elastic deformation force of the elastic member 2253 causes the sliding member 2252 to slide to a position where the abutting portion 2256 abuts the installation housing 2251, thereby placing the control valve 224 in a normally closed state. In some embodiments, the elastic member 2253 can abut the second housing 2255 and extend toward a side closer to the first housing 2254 to abut the abutting portion 2256, so that the abutting portion 2256 abuts the second housing 2255 and the elastic member 2253 on opposite sides.

[0111] See also Figure 5 The arrangement of the discharging member 22 on the assembly part 21 can reduce the length of the discharging member 22 in the direction of the assembly part 21 away from the push-pull mechanism 102, thereby making the surface finishing robot 100 compact.

[0112] See also Figure 5 The switch member 23 can cooperate with the discharge member 22, such as the reset assembly 225, to control the control valve 224, such as the blocking member 2244, to achieve blocking and unblocking of the control valve 224, thereby discharging the finishing material or pausing the discharging of the finishing material. In some embodiments, the reset assembly 225 can be part of the switch member 23.

[0113] The switch member 23 is arranged on a side of the assembly part 21 away from the discharge member 22, so that the feeding device 20 can be compact in structure.

[0114] See also Figure 8 and Figure 9 , Figure 8 for Figure 5 The schematic diagram of the structure of the switch member 23 in some embodiments shown in the embodiment is as follows: Figure 9 for Figure 8The switch assembly 23 of the illustrated embodiment is schematically illustrated from another perspective. The switch assembly 23 may include a power system, such as a motor 231, mounted on the assembly 21; a lead screw 232, which is in driving connection with the motor 231 and mounted on the assembly 21; a screw connection 233, which is threadedly connected to the lead screw 232 and engages with a reset assembly 225, such as a slider 2252; and a position limiting assembly 234, which limits the position of the screw connection 233. The motor 231 drives the lead screw 232 to rotate, which in turn moves the screw connection 233, causing the slider 2252 to slide, thereby releasing the normally closed state of the control valve 224 and placing the control valve 224 in an open state.

[0115] The motor 231 may be a stepper motor or other type of motor. The motor 231 may be fixedly connected to the lead screw 232 via a reducer 2311 and a coupling 2312. For example, the output shaft of the motor 231 may be fixedly connected to the reducer 2311, which in turn may be fixedly connected to the coupling 2312. The reducer 2311 may be mounted on the assembly 21 via a mounting base. In some embodiments, the motor 231, the reducer 2311, and the coupling 2312 cooperate to form a motor assembly. The motor assembly may include only the motor 231 and may not be limited to the reducer 2311 and the coupling 2312, but may also include other structures.

[0116] The lead screw 232 can be directly connected to the motor assembly, such as the motor 231, or can be connected to the motor 231 via a coupling 2312. The lead screw 232 can be mounted on the assembly 21 via a mounting seat. The lead screw 232 can be positioned opposite the control valve 224, such as the blocking member 2244. The lead screw 232 can also be positioned opposite the reset assembly 225, such as the sliding member 2252.

[0117] The screw connector 233 may have a block-shaped structure, a rod-shaped structure, or other structures, which will not be described in detail. The screw connector 233 may be sleeved on the lead screw 232 and threadedly connected to the lead screw 232. Of course, the screw connector 233 may also be slidably connected to the assembly 21, without being sleeved on the lead screw 232 and only threadedly connected to the lead screw 232. The screw connector 233 may abut against the reset assembly 225, such as the sliding member 2252, and may abut against the control valve 224, such as the blocking member 2244, so as to push the sliding member 2252 or the blocking member 2244 to move, thereby releasing the normally closed state of the control valve 224 and placing the control valve 224 in the open state. Furthermore, when the screw connector 233 does not push the sliding member 2252 or the blocking member 2244, the blocking member 2244 can reset the control valve 224 to the normally closed state under the push of the reset assembly 225, such as the sliding member 2252. In some embodiments, the screw member 233 may be directly fixedly connected to the sliding member 2252 . In some embodiments, the screw member 233 may be directly fixedly connected to the blocking member 2244 . Furthermore, in some embodiments, the reset assembly 225 may be omitted.

[0118] The position limiting assembly 234 is used to limit the position of the screw connection 233, thereby limiting the position of the sliding member 2252 or the blocking member 2244. The function and principle of the position limiting assembly 234 can be referred to the position limiting assembly 2201 in the above embodiment and will not be described in detail here.

[0119] The limiting assembly 234 may include a trigger 2341 disposed on the screw member 233 and a sensor 2342 disposed on the assembly member 21 and cooperating with the trigger 2341. The cooperating relationship between the trigger 2341 and the sensor 2342 can refer to the cooperating relationship between the sensor 223 and the trigger 2214 in the above embodiment, and will not be repeated here.

[0120] When the triggering member 2341 triggers the sensor 2342, the screw connection member 233 is positioned. When the triggering member 2341 triggers the sensor 2342, the sensor 2342 can generate a signal.

[0121] The limit component 234, such as the sensor 2342, can be connected to the control cabinet 1012, such as the control system, so that the control cabinet 1012, such as the control system, can receive the signal of the trigger member 2341 triggering the sensor 2342, and control the switch component 23, such as the motor 231, based on the signal, so that the switch component 23, such as the motor 231, stops running, and the control valve 224 is in an open state.

[0122] In some embodiments, the reset assembly 225 may be part of the switch member 23 .

[0123] See also Figure 5 The switch member 23 is arranged on the assembly part 21 in such a manner that the length of the switch member 23 in the direction of the assembly part 21 away from the push-pull mechanism 102 can be reduced, and thus, with the cooperation of the discharge member 22, the surface finishing robot 100 has a compact structure.

[0124] See also Figure 3 The scraping device 30 is arranged on the side of the feeding device 20 away from the push-pull mechanism 102 for scraping and finishing. In some scenarios, when the feeding device 20 feeds, the scraping device 30 uses the finishing material provided by the feeding device 20 to scrape and finish.

[0125] The scraping device 30 may include an assembly base 31 slidably connected to the sliding base 10, such as the mounting member 12; a reversing member 32 mounted on the assembly base 31; and a scraping member 33 mounted on the side of the reversing member 32 facing away from the feeding device 20. The assembly base 31 slides relative to the sliding base 10, such as the mounting member 12, to adjust the positions of the reversing member 32 and the scraping member 33, allowing the scraping member 33 to contact the wall surface, thereby achieving a scraping operation. The reversing member 32 is used to adjust the scraping direction of the scraping member 33.

[0126] See also Figure 10 and Figure 11 , Figure 10 for Figure 3 The structural diagram of the assembly seat 31 and the mounting member 12 in some embodiments shown in the embodiment is as follows: Figure 11 for Figure 10 The assembly base 31 of the embodiment shown is a schematic structural diagram from another perspective. The assembly base 31 may include an assembly body 311 slidably connected to the sliding base 10, such as the mounting member 12, and a drive assembly 312 mounted on the assembly body 311 and used to drive the assembly body 311 to slide.

[0127] The assembly body 311 can have a frame structure, a plate structure, or other structures. The assembly body 311 can be mounted on a mounting member 12, such as a pitch-adjustable rail 123, and then slide on the pitch-adjustable rail 123 toward or away from the control cabinet 1012. In some embodiments, the assembly body 311 can be mounted on the pitch-adjustable rail 123 of a first mounting frame 121. In some embodiments, the assembly body 311 can be mounted on the pitch-adjustable rail 123 of a second mounting frame 122.

[0128] The drive assembly 312 may include a motor 3121 mounted on the assembly body 311 and a gear 3122 drivingly connected to the output shaft of the motor 3121. The gear 3122 can rotate under the drive of the motor 3121. The motor 3121 can be connected to a control cabinet 1012, such as a control system, and can rotate under the control of the control cabinet 1012, such as a control system. The gear 3122 can mesh with the pitch adjustment rack 124. When the gear 3122 rotates under the control of the motor 3121, it can move on the pitch adjustment rack 124, thereby driving the assembly body 311 to slide on the mounting member 12, such as the pitch adjustment rail 123. It can be understood that the gear 3122 and the pitch-adjusting rack 124 can be driven by a screw, a telescopic cylinder, a linear cylinder, or a belt, so that the assembly body 311 can slide on the mounting part 12, such as the pitch-adjusting slide rail 123. You can also refer to the relative sliding manner of the intermediate sliding part 1022 and the main sliding part 1021 driven by the power system in the above embodiment.

[0129] In some embodiments, the drive assembly 312 may also serve as a motor assembly in a powertrain.

[0130] In some embodiments, the mounting seat 31 may be a part of the sliding seat 10 .

[0131] See also Figure 12 and Figure 13 , Figure 12 for Figure 5 The exploded view of the reversing member 32 and the scraping member 33 in some embodiments when they cooperate is shown in the embodiment shown. Figure 13 for Figure 12 The switching member 32 and the scraping member 33 are partially matched in the embodiment shown. The switching member 32 may include a mounting seat 321 fixed on the assembly seat 31, such as the assembly body 311, and a motor 322 fixed on the mounting seat 321.

[0132] The placement seat 321 can be a frame structure, a plate structure, or other structure. The placement seat 321 is fixed to the assembly seat 31, such as the assembly body 311, and can be arranged on one side of the assembly seat 31, such as the assembly body 311, in the extension direction of the end slide 1023. Furthermore, in some embodiments, the placement seat 321 can be a part of the assembly seat 31, such as the assembly body 311. In some embodiments, the placement seat 321 can be omitted.

[0133] The motor 322 is fixed on the mounting seat 321, and then fixed on the assembly seat 31, for example, the assembly body 311, through the mounting seat 321. In certain embodiments, the axial direction of the output shaft of the motor 322 is consistent with the direction in which the assembly seat 31, for example, the assembly body 311 slides relative to the mounting member 12, for example, the distance adjustment slide 123. In certain embodiments, the motor 322 may be a part of the assembly seat 31. In certain embodiments, the motor 322 may be directly fixed on the assembly body 311. In certain embodiments, the motor 322 can be used as a motor component in a power system with the drive assembly 312. In certain embodiments, the output shaft of the motor 322 is away from the side of the feeding device 20 toward the mounting seat 321.

[0134] It can be understood that the reversing member 32 can be a part of the assembly seat 31 .

[0135] See also Figure 12 and Figure 14 , Figure 14 for Figure 12 The scraping member 33 in some embodiments is shown in the embodiment shown in FIG. The scraping member 33 may include a buffer assembly 331 mounted on the reversing member 32 , such as the motor 322 , and a scraping assembly 332 mounted on the buffer assembly 331 .

[0136] The buffer assembly 331 may include a rotating seat 333 mounted on the reversing member 32 , such as the motor 322 , a buffer member 334 slidably connected to the rotating seat 333 , and a buffer member 335 slidably connected to the rotating seat 333 .

[0137] See also Figure 12 and Figure 13 The rotating seat 333 can be a plate-shaped structure, a frame structure, or other structures. The rotating seat 333 can be fixed on the reversing member 32, such as the output shaft of the motor 322, to rotate around the axis of the output shaft of the motor 322.

[0138] In some embodiments, the rotating seat 333 can be rotatably connected to the assembly seat 31, such as the assembly body 311, and can be transmission-connected to the reversing member 32, such as the motor 322, so that the reversing member 32, such as the motor 322, drives the rotating seat 333 to rotate.

[0139] The rotating seat 333 is provided with an abutting member 3331 and an abutting member 3332. The abutting member 3331 and the abutting member 3332 cooperate to install the buffer member 334.

[0140] In some embodiments, the abutment 3331 and the abutment 3332 can be omitted. The rotating seat 333 is provided with an abutment 3333 and an abutment 3334. The abutment 3333 and the abutment 3334 cooperate to install the buffer 335. In some embodiments, the line connecting the abutment 3333 and the abutment 3334 is parallel to the line connecting the abutment 3331 and the abutment 3332, so as to adjust the relative position of the buffer 334 and the buffer 335. In some embodiments, the abutment 3333 and the abutment 3334, the abutment 3331, and the abutment 3332 are arranged around the output shaft of the motor 322, and the abutment 3331, the abutment 3332, the abutment 3334, and the abutment 3333 are connected in sequence by lines to form a quadrilateral. It is understandable that the number of abutments is not limited to the number listed here.

[0141] In some embodiments, abutment 3333 and abutment 3334 may be omitted.

[0142] See also Figure 14 The buffer member 334 is disposed on the side of the rotating base 333 facing away from the feeding device 20. The buffer member 334 may include a fixed base 338 slidably connected to the rotating base 333, such as the abutment members 3331 and 3332, and a movable base 339 rotatably connected to the fixed base 338 and the scraping assembly 332. The fixed base 338 can adjust the distance between the scraping assembly 332 and the rotating base 333. The movable base 339 rotates relative to the fixed base 338 to adjust the posture of the scraping assembly 332, thereby ensuring better contact between the scraping assembly 332 and the wall.

[0143] The fixed base 338 may include a fixed body 3381, a sliding rod 3382 disposed on the fixed body 3381 and slidably connected to the rotating base 333, such as the abutment 3332, and a sliding rod 3383 disposed on the fixed body 3381 and slidably connected to the rotating base 333, such as the abutment 3331. The fixed body 3381 may have a frame structure. The sliding rod 3382 and the sliding rod 3383 are disposed on a side of the fixed body 3381 facing the rotating base 333.

[0144] The sliding rod 3382 may include a sliding body 3384 which is arranged on the side of the fixed body 3381 facing the rotating seat 333 and is slidably connected to the rotating seat 333, such as the abutment 3332, and an elastic member 3385 which abuts against the fixed body 3381 and the rotating seat 333, such as the abutment 3332, respectively.

[0145] The sliding body 3384 can be a rod-shaped structure or other structure that can be slidably connected to the rotating base 333, such as the abutment 3332. The details are omitted here. The sliding body 3384 can be inserted through the rotating base 333, such as the abutment 3332, and can extend to the side of the rotating base 333, such as the abutment 3332, that faces away from the fixed body 3381. The sliding body 3384 is provided with an abutment portion 3386 at the end facing away from the fixed body 3381. When the sliding body 3384 cooperates with the rotating seat 333, such as the abutment 3332, the abutment portion 3386 is located on the side of the rotating seat 333, such as the abutment 3332, which is away from the fixed body 3381, so that when the sliding body 3384 slides with the rotating seat 333, such as the abutment 3332, the abutment portion 3386 can abut against the rotating seat 333, such as the abutment 3332, on the side of the rotating seat 333, such as the abutment 3332, which is away from the fixed body 3381, thereby limiting the sliding body 3384 and preventing the sliding body 3384 from slipping on the rotating seat 333, such as the abutment 3332.

[0146] In some embodiments, the sliding direction of the sliding body 3384 and the rotating seat 333 , such as the abutting member 3332 , may be the axial direction of the output shaft of the motor 322 .

[0147] The elastic member 3385 can be a spring, a spring, or other elastic material. The elastic member 3385 abuts the fixed body 3381 and the rotating seat 333, such as the abutment 3332. Through elastic deformation force, the fixed body 3381 drives the sliding body 3384 toward the side away from the rotating seat 333, such as the abutment 3332, until the abutment portion 3386 abuts the rotating seat 333, such as the abutment 3332, on the side facing away from the fixed body 3381. In some embodiments, the elastic member 3385, such as a spring, can be disposed around the sliding body 3384.

[0148] It can be understood that the elastic member 3385 can adjust the distance between the fixed body 3381 and the rotating seat 333 to achieve buffering.

[0149] 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 here. The cooperation relationship between the sliding rod 3383 and the fixed body 3381 and the rotating seat 333, such as the abutment 3331, can be referred to as the cooperation relationship between the sliding rod 3382 and the fixed body 3381 and the rotating seat 333, such as the abutment 3332, and will not be described in detail here.

[0150] The movable seat 339 may include a movable body 3391. The movable body 3391 may have a frame structure or a plate-like 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 seat 338, such as the fixed body 3381, at its center via a structure such as a rotating shaft. In some embodiments, the movable body 3391 is rotatably connected to the fixed body 3381 at a location between the sliding rod 3382 and the sliding rod 3383, thereby ensuring balanced force distribution between the movable seat 339 and the fixed seat 338. In some embodiments, the movable body 3391 is provided with a rotating portion 3392, such as a rotating shaft, for rotatably connecting to the fixed seat 338, such as the fixed body 3381. In some embodiments, the rotating portion 3392 is disposed on a side of the movable body 3391 proximal to the fixed seat 338, such as the fixed body 3381. In some embodiments, the axis of rotation of the movable body 3391 via the rotating portion 3392 is perpendicular to the direction in which the sliding body 3384 slides relative to the rotating seat 333, such as the abutment 3332. In some embodiments, the rotation axis of the movable body 3391 rotated by the rotating portion 3392 is perpendicular to the output shaft of the reversing member 32 , such as the motor 322 .

[0151] The movable body 3391 is provided with a rotating portion 3393, such as a rotating shaft, for rotatably connecting with the scraping assembly 332 to adjust the scraping angle of the scraping assembly 332. In some embodiments, the rotating portion 3393 is provided on a side of the movable body 3391 facing away from the fixed base 338, such as the fixed body 3381. In some embodiments, the rotating portion 3393 is provided on an edge of the movable body 3391.

[0152] The movable body 3391 is provided with a first stopper 3394 to limit the position of the scraping assembly 332. In some embodiments, the first stopper 3394 is disposed on a side of the movable body 3391 facing away from the fixed seat 338, such as the fixed body 3381. In some embodiments, the first stopper 3394 can be a threaded structure such as a bolt or a screw, so that the first stopper 3394 is threadedly connected to the movable body 3391. The first stopper 3394 extends from the side of the movable body 3391 closest to the fixed seat 338, such as the fixed body 3381, through the movable body 3391 and to the side of the movable body 3391 facing away from the fixed seat 338, such as the fixed body 3381. The length of the first stopper 3394 on the side of the movable body 3391 facing away from the fixed seat 338, such as the fixed body 3381, can be adjusted by rotation.

[0153] The movable body 3391 is provided with a reset member 3395 to reset the scraping assembly 332. In some embodiments, the reset member 3395 may include a guide rod 3396 slidably connected to the movable body 3391 and an elastic member 3397 sleeved on the guide rod 3396.

[0154] The guide rod 3396 can pass through the movable body 3391 from a side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381, and extend to a side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381. Abutment portions are provided at both ends of the guide rod 3396. The abutment portions of the guide rod 3396 located on the side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381, can abut against the movable body 3391, thereby limiting the guide rod 3396 and preventing it from slipping off the movable body 3391.

[0155] The elastic member 3397 can be a spring, a spring sheet, or a structure made of other elastic materials. The elastic member 3385 can be located on the side of the movable body 3391 that faces away from the fixed seat 338, such as the fixed body 3381. One end of the elastic member 3385 can abut against the movable body 3391 on the side of the movable body 3391 that faces away from the fixed seat 338, such as the fixed body 3381. The other end of the elastic member 3385 can abut against the abutment portion of the guide rod 3396 on the side of the movable body 3391 that faces away from the fixed seat 338, such as the fixed body 3381. The elastic member 3385 causes the guide rod 3396 to have a longer length and be located on the side of the movable body 3391 that faces away from the fixed seat 338, such as the fixed body 3381, through elastic deformation force. In some embodiments, the elastic member 3397 is sleeved around the guide rod 3396.

[0156] The movable body 3391 is provided with a limiting hole 3398 to limit the position of the scraping assembly 332. The limiting hole 3398 passes through the movable body 3391 and can extend from a side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381, to a side of the movable body 3391 closer to the fixed seat 338, such as the fixed body 3381.

[0157] In some embodiments, the limiting hole 3398 is arranged adjacent to the reset member 3395 to cooperate with the reset member 3395 to achieve the reset of the scraping assembly 332.

[0158] The structure and function of the buffer 335 are the same as those of the buffer 334. For details, please refer to the buffer 334 and will not be described in detail. The matching relationship between the buffer 335 and the rotating seat 333, such as the abutment 3333 and the abutment 3334, can be referred to the matching relationship between the buffer 334 and the rotating seat 333, such as the abutment 3331 and the abutment 3332, and will not be described in detail. For example, the matching relationship between the sliding rod 3383 in the buffer 335 and the rotating seat 333, such as the abutment 3333, can be referred to the matching relationship between the sliding rod 3382 in the buffer 334 and the rotating seat 333, such as the abutment 3331. For example, the matching relationship between the sliding rod 3383 in the buffer 335 and the rotating seat 333, such as the abutment 3334, can be referred to the matching relationship between the sliding rod 3382 in the buffer 334 and the rotating seat 333, such as the abutment 3332. In addition, the cooperation relationship between the buffer member 335 and the scraping assembly 332 can refer to the cooperation relationship between the buffer member 334 and the scraping assembly 332, and will not be repeated here.

[0159] See also Figure 12 and Figure 14 The scraping assembly 332 may include a scraping member 336 mounted on a buffer member 334 such as a movable body 3391 and a scraping member 337 mounted on a buffer member 334 such as a movable body 3391. The scraping member 336 and the scraping member 337 are arranged side by side.

[0160] The scraper 336 may include a matching seat 3361 rotatably connected to the buffer 334 , such as the movable body 3391 , and a scraper plate 3362 installed on a side of the matching seat 3361 facing away from the buffer 334 , such as the movable body 3391 .

[0161] The mating seat 3361 can be a plate-like structure or a frame structure. The mating seat 3361 is provided with a rotating portion 3363 to cooperate with the movable seat 339, such as the rotating portion 3393, to achieve a rotational connection between the mating seat 3361 and the movable seat 339. The mating seat 3361 is located on the side of the movable seat 339 facing away from the fixed seat 338.

[0162] In some embodiments, the rotation axis of the mating seat 3361 and the movable seat 339, via the rotating portion 3363 and the rotating portion 3393, is perpendicular to the direction in which the sliding body 3384 slides relative to the rotating seat 333, such as the abutment 3332. In some embodiments, the rotation axis of the mating seat 3361 and the movable seat 339, via the rotating portion 3363 and the rotating portion 3393, is perpendicular to the output shaft of the reversing member 32, such as the motor 322. In some embodiments, the rotation axis of the mating seat 3361 and the movable seat 339, via the rotating portion 3363 and the rotating portion 3393, is perpendicular to the rotation axis of the movable body 3391, via the rotating portion 3392.

[0163] The direction of the rotation axis of the mating seat 3361 rotating with the movable seat 339 through the rotating part 3363 and the rotating part 3393 is different from the direction of the output shaft of the motor 322, and is also different from the direction of the rotation axis of the movable body 3391 rotating through the rotating part 3392. The direction of the output shaft of the motor 322 is different from the direction of the rotation axis of the movable body 3391 rotating through the rotating part 3392.

[0164] The mating seat 3361 can rotate about the rotating portion 3363 toward a side closer to the movable seat 339, such as the movable body 3391, to adjust the scraping angle. The mating seat 3361 can rotate about the rotating portion 3363 toward a side closer to the movable seat 339, such as the movable body 3391, and can rotate to a position where it abuts against the first limiting portion 3394, thereby limiting the position of the mating seat 3361.

[0165] The mating seat 3361 can abut against the reset member 3395. Specifically, for example, the mating seat 3361 can abut against an abutment portion of the guide rod 3396 located on the side of the movable body 3391 facing away from the fixed seat 338, such as the fixed body 3381, to limit and reset the scraping angle of the mating seat 3361 under the elastic deformation of the elastic member 3397. The mating seat 3361 can rotate about the rotating portion 3363 toward the side closer to the movable seat 339, such as the movable body 3391, squeezing the end of the guide rod 3396, causing the guide rod 3396 to slide with the movable body 3391, causing the guide rod 3396 to slide toward the side of the movable body 3391 closer to the fixed seat 338, such as the fixed body 3381, thereby increasing the elastic deformation of the elastic member 3397.

[0166] The mating seat 3361 is provided with a second limiting portion 3364, which is arranged opposite the limiting hole 3398 of the movable body 3391. The second limiting portion 3364 can be located on a side of the mating seat 3361 near the movable body 3391 and can extend into the limiting hole 3398 to a side of the movable body 3391 near the fixed seat 338, such as the fixed body 3381. An abutment portion 3365 is provided on the end of the second limiting portion 3364 facing away from the mating seat 3361. The abutment portion 3365 is located on a side of the movable body 3391 near the fixed seat 338, such as the fixed body 3381, to abut against the movable body 3391 for limiting position.

[0167] In some embodiments, the second stopper 3364 can be a rod-shaped structure. In some embodiments, the elastic member 3397 can be disposed on the second stopper 3364. Specifically, it can be sleeved onto the second stopper 3364 and abut against the mating seat 3361 and the movable body 3391, respectively. Furthermore, the reset member 3395 can be omitted, and the second stopper 3364 and the elastic member 3397 can cooperate to function as the reset member 3395. In some embodiments, the second stopper 3364 can be a portion of the reset member 3395.

[0168] In some scenarios, the mating seat 3361 can rotate about the rotating portion 3363 toward the side closer to the movable seat 339, such as the movable body 3391, to adjust the scraping angle. This squeezes the end of the guide rod 3396, causing the guide rod 3396 to slide with the movable body 3391, causing the guide rod 3396 to slide toward the side of the movable body 3391 closer to the fixed seat 338, such as the fixed body 3381, thereby increasing the elastic deformation of the elastic member 3397. Simultaneously, the second limiting portion 3364 slides within the limiting hole 3398 and toward the side of the movable body 3391 closer to the fixed seat 338, such as the fixed body 3381. Ultimately, the mating seat 3361 abuts against the first limiting portion 3394 to limit the position.

[0169] Furthermore, under the action of the elastic deformation of the elastic member 3397, the guide rod 3396 can slide toward the side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381, pushing the matching seat 3361, so that the matching seat 3361 can rotate around the rotating portion 3363 away from the movable seat 339, such as the movable body 3391, to adjust the scraping angle. At the same time, the second limiting portion 3364 slides within the limiting hole 3398 and slides toward the side of the movable body 3391 away from the fixed seat 338, such as the fixed body 3381. Finally, the second limiting portion 3364 abuts against the movable body 3391 on the side of the movable body 3391 close to the fixed seat 338, such as the fixed body 3381, to limit the position.

[0170] The side of the mating seat 3361 facing away from the movable body 3391 is used to support the squeegee 3362. A fastener 3366 is provided on the side of the mating seat 3361 facing away from the movable body 3391 to secure the squeegee 3362 to the mating seat 3361. In some embodiments, the fastener 3366 can be a detachable structure such as a fastening bolt, a snap-fit structure, or a threaded structure to detachably secure the squeegee 3362 to the mating seat 3361. In some embodiments, the mating seat 3361 is provided with a fastening groove 3367 on its edge. The fastener 3366 can extend into the fastening groove 3367.

[0171] The scraper 3362 may be provided with a bent portion 3368 at the edge, the bent portion 3368 may extend into the fastening groove 3367, and the fastener 3366 may extend into the fastening groove 3367 to fix the bent portion 3368.

[0172] The structure and function of the scraper 337 can be referred to as the scraper 336 in the above embodiment. The coordination between the scraper 337 and the movable seat 339 can be referred to as the coordination between the scraper 336 and the movable seat 339, and will not be described in detail here. In some embodiments, the scraper plate 3362 of the scraper 337 is larger than the scraper plate 3362 of the scraper 336.

[0173] The wall surface is repaired using the surface repair robot 100 . For example, when trimming from bottom to top, the sliding between the push-pull mechanism 102, such as the main sliding member 1021, the intermediate sliding member 1022 and the end sliding member 1023 can be in a retracted state, and the sliding seat 10, such as the matching member 11, slides on the push-pull mechanism 102, such as the end sliding member 1023, and slides the feeding device 20 and the scraping device 30 to the bottom end. The scraping direction of the scraping member 33 is adjusted by rotating the reversing member 32, such as the motor 322, so that the scraping member 337 is located below the scraping member 336. The surface trimming robot 100 or the assembly seat 31 is moved relative to the sliding seat 10, such as the mounting member 12, so that the scraping members 336 and 337 contact the wall. In the process of the wall pressing against the scraping members 336 and 337, the scraping angles of the scraping members 336 and 337 are adjusted with the cooperation of the first limiting portion 3394, the second limiting portion 3364 and the reset member 3395. The push-pull mechanism 102, such as the main sliding member 1021, the intermediate sliding member 1022, and the end sliding member 1023, are extended to push and pull the scraping device 30 to trim the wall. Of course, the sliding base 10, such as the mating member 11, can also slide on the push-pull mechanism 102, such as the end sliding member 1023, to trim the wall.

[0174] During this period, if it is necessary to provide decoration materials to the wall, the discharge angle of the discharge component 222 can be adjusted through the angle adjustment component 221, so that the discharge component 222 can apply the decoration materials to the area on the side of the wall where the scraping member 336 is away from the scraping member 337, and the decoration materials on the wall can be trimmed by the scraping members 336 and 337.

[0175] The wall surface is repaired using the surface repair robot 100 . For example, when trimming from top to bottom, the sliding between the push-pull mechanism 102, such as the main sliding member 1021, the intermediate sliding member 1022 and the end sliding member 1023 can be in an extended state, and the sliding seat 10, such as the matching member 11, slides on the push-pull mechanism 102, such as the end sliding member 1023, and slides the feeding device 20 and the scraping device 30 to the top end. The scraping direction of the scraping member 33 is adjusted by rotating the reversing member 32, such as the motor 322, so that the scraping member 336 is located below the scraping member 337. The surface trimming robot 100 or the assembly seat 31 is moved 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. In the process of the wall pressing against the scraping member 336 and the scraping member 337, the scraping angle of the scraping member 336 and the scraping member 337 is adjusted with the cooperation of the first limit part 3394, the second limit part 3364 and the reset part 3395. The push-pull mechanism 102, such as the main sliding member 1021, the intermediate sliding member 1022, and the end sliding member 1023, are in a retracted state, and the scraping device 30 is pushed and pulled to achieve wall trimming. Of course, the sliding base 10, such as the mating member 11, can also slide on the push-pull mechanism 102, such as the end sliding member 1023, to achieve wall trimming by the scraping device 30.

[0176] During this period, if it is necessary to provide decoration materials to the wall, the discharge angle of the discharge component 222 can be adjusted through the angle adjustment component 221, so that the discharge component 222 can apply the decoration materials to the area on the side of the wall where the scraping member 336 is away from the scraping member 337, and the decoration materials on the wall can be trimmed by the scraping members 336 and 337.

[0177] The surface finishing robot 100 is used to finish a wall, for example, from left to right or from right to left. The position of the sliding base 10 can be adjusted by sliding between the push-pull mechanism 102, such as the main slider 1021, the intermediate slider 1022, and the end slider 1023. The position of the sliding base 10 can also be adjusted by sliding the matching member 11 on the push-pull mechanism 102, such as the end slider 1023. By rotating the reversing member 32, such as the motor 322, the scraping direction of the scraping member 33 is adjusted, or the assembly base 31 slides relative to the sliding base 10, such as the mounting member 12, so that the scraping members 336 and 337 are arranged horizontally. By moving the surface finishing robot 100, the scraping members 336 and 337 come into contact with the wall. As the wall presses against the scraping members 336 and 337, the first limiter 3394, the second limiter 3364, and the return member 3395 cooperate to adjust the scraping angles of the scraping members 336 and 337. By moving the surface finishing robot 100 left or right, the scraping device 30 can finish the wall from left to right or vice versa.

[0178] During this period, if it is necessary to provide decoration materials to the wall, the discharge angle of the discharge component 222 can be adjusted through the angle adjustment component 221, so that the discharge component 222 can apply the decoration materials to the wall, and by adjusting the position of the scraping member 336 and the scraping member 337, the scraping member 336 and the scraping member 337 can trim the decoration materials on the wall.

[0179] It can be understood that the angle adjustment assembly 221 adjusts the discharge angle of the discharge assembly 222. The first limiting portion 3394 and the second limiting portion 3364 cooperate to limit the range of the scraping angles of the scraping member 336 and the scraping member 337.

[0180] In addition, when applying or scraping on surfaces such as the ground and roof in other scenarios, reference may be made to the introduction of applying or scraping on walls in the above embodiments, and no further details will be given.

[0181] Furthermore, the buffer assembly 331 is used to buffer the scraping assembly 332 in the direction in which the sliding body 3384 slides relative to the rotating seat 333, such as the abutment 3332, so as to adjust the distance between the scraping assembly 332 and the reversing member 32. It can be used to buffer the scraping assembly 332 when the scraping assembly 332 rotates toward or away from the buffer assembly 331 to adjust the scraping angle of the scraping assembly 332.

[0182] In some scenarios, the scraping assembly 332 is disposed on a side of the buffer assembly 331 facing away from the feeding device 20.

[0183] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A surface finishing mechanism, characterized in that: include: Sliding seat; A feeding device, arranged on the sliding seat, for discharging materials; a scraping device, slidably connected to the sliding seat to slide toward or away from the feeding device, the scraping device being used for scraping and trimming, and the feeding device being used for discharging material toward the side of the scraping device facing away from the feeding device; The feeding device has a state of feeding material toward one side of the scraping device in the scraping direction of the scraping device and a state of feeding material toward the other side of the scraping device in the scraping direction of the scraping device.

2. The surface modifying mechanism according to claim 1, wherein: The sliding seat is provided with an assembly part, and the feeding device includes: a discharging member, provided on the assembly part, for discharging material toward a side of the scraping device facing away from the feeding device; The switch component and the discharging component are respectively arranged on two sides of the assembly component facing away from each other, and are used to control the discharging of the discharging component.

3. The surface modifying mechanism according to claim 2, wherein: The discharging member comprises: A discharging assembly, used for discharging material to a side of the scraping device facing away from the feeding device; An angle adjustment component, connected to the discharging component, for driving the discharging component to rotate around an axis to adjust the discharging direction of the discharging component; a control valve connected to the discharge assembly, for controlling the material to pass through the control valve to reach the discharge assembly; and The reset component is connected to the control valve and is used to control the blocking of the control valve so that the control valve is in a normally closed state. The switch component is used to control the control valve to release the normally closed state of the control valve and clear the control valve.

4. The surface modifying mechanism according to claim 3, wherein: The angle adjustment component includes: Motor components; A fixing member is connected to the motor assembly, the discharging assembly is fixed on the fixing member, and the motor assembly is used to drive the fixing member to rotate around the axis to adjust the discharging direction of the discharging assembly.

5. The surface modifying mechanism according to claim 3, wherein: The reset component includes: An installation shell is fixed on the assembly part; a sliding member connected to the control valve and slidably connected to the mounting housing; and The elastic member is in contact with the mounting housing and the sliding member respectively, and has an elastic deformation force that causes the sliding member to slide relative to the mounting housing toward the side close to the control valve to control the blocking of the control valve. The switch component is used to drive the sliding member to slide relative to the mounting housing toward the side away from the control valve to release the normally closed state of the control valve and clear the control valve.

6. The surface modifying mechanism according to claim 1, wherein: The scraping device comprises: an assembly seat, slidably connected to the sliding seat, so as to slide toward or away from a side of the feeding device; a buffer assembly rotatably connected to the assembly seat to rotate about an axis; and The scraping assembly is arranged on the side of the buffer assembly facing away from the feeding device, and is used for scraping and trimming. The scraping assembly is rotatably connected to the buffer assembly so as to rotate around the rotation axis toward or away from the side of the buffer assembly. The buffer assembly is used to buffer the scraping assembly in the axial direction when the buffer assembly rotates relative to the assembly seat to adjust the distance between the scraping assembly and the assembly seat, and is used to buffer the scraping assembly when the scraping assembly rotates toward the side close to the buffer assembly to adjust the scraping angle of the scraping assembly. The axial direction of the buffer assembly when rotating relative to the assembly seat is different from the rotational axis direction of the scraping assembly when rotating relative to the buffer assembly.

7. The surface modifying mechanism according to claim 6, wherein: The buffer assembly comprises: a rotating seat, rotatably connected to the assembly seat, so as to rotate around an axis when the buffer assembly rotates relative to the assembly seat; a fixed seat, slidably connected to the rotating seat, so as to slide in the axial direction when the buffer assembly rotates relative to the assembly seat; and The movable seat is rotatably connected to the fixed seat to adjust the posture of the scraping assembly by rotating around the rotation axis. The movable seat is rotatably connected to the scraping assembly to adjust the scraping angle of the scraping assembly, and the scraping assembly is connected to the fixed seat through the movable seat. The direction of the rotation axis of the movable seat when rotating relative to the fixed seat is different from the direction of the axis of the buffer assembly when rotating relative to the assembly seat, and is different from the direction of the rotation axis of the scraping assembly when rotating relative to the buffer assembly.

8. The surface modifying mechanism according to claim 7, wherein: The movable seat comprises: The movable body is rotatably connected to the fixed seat so as to rotate about the rotation axis when the movable seat rotates relative to the fixed seat, and the scraping assembly is rotatably connected to the movable body so as to rotate about the rotation axis when the scraping assembly and the movable seat rotate relative to each other; a first limiting portion, provided on the movable body and extending toward a side close to the scraping assembly, for limiting a scraping angle of the scraping assembly; the scraping assembly is configured to rotate toward a side close to the movable body and to abut against the first limiting portion; and The reset member is arranged on the movable body and is used to drive the scraping assembly to rotate and reset to a side away from the buffer assembly.

9. The surface modifying mechanism according to claim 8, wherein: The movable body is provided with a limiting hole, and the scraping assembly is provided with a second limiting portion, the second limiting portion is used to limit the scraping angle of the scraping assembly, the second limiting portion is passed through the limiting hole, and an abutting portion that abuts against the movable body and limits the position is provided on the side of the movable body away from the scraping assembly. When the scraping assembly rotates around the rotation axis toward or away from the side of the buffer assembly, the second limiting portion slides in the limiting hole.

10. A surface finishing robot, characterized in that: include: console; a push-pull mechanism, provided on the console, having an extended state and a retracted state, wherein the console is used to control the push-pull mechanism to be in the extended state, the retracted state, or a state between the extended state and the retracted state; as well as The surface finishing mechanism described in any one of claims 1 to 9 is slidably connected to the push-pull mechanism, the feeding device is used to discharge material to the side of the feeding device facing away from the push-pull mechanism, and the scraping device is arranged on the side of the feeding device facing away from the push-pull mechanism.

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