CN109610836B - Grouting mechanism and grouting method using same - Google Patents
Grouting mechanism and grouting method using same Download PDFInfo
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- CN109610836B CN109610836B CN201811237924.8A CN201811237924A CN109610836B CN 109610836 B CN109610836 B CN 109610836B CN 201811237924 A CN201811237924 A CN 201811237924A CN 109610836 B CN109610836 B CN 109610836B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000002002 slurry Substances 0.000 claims description 80
- 238000007789 sealing Methods 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 31
- 210000000078 claw Anatomy 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000002347 injection Methods 0.000 claims description 17
- 239000007924 injection Substances 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 239000011440 grout Substances 0.000 claims 3
- 238000010276 construction Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 description 8
- 230000005012 migration Effects 0.000 description 4
- 238000013508 migration Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G2021/049—Devices for both conveying and distributing concrete mixing nozzles specially adapted for conveying devices
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Finishing Walls (AREA)
Abstract
The invention provides a grouting mechanism and a grouting method using the same. After the position of the grouting robot is adjusted, the grouting robot is controlled to start through the control system, grouting is started, after grouting is finished, the grouting robot is closed, and then grouting operation is carried out on other wallboards to be grouted one by one. By utilizing the grouting mechanism, all the wallboards to be grouted can be grouted only by few constructors, the operation is simple, compared with the traditional manual grouting mode, a large amount of labor cost is saved, meanwhile, the grouting efficiency is improved, and the construction period is shortened.
Description
Technical Field
The invention belongs to the field of building construction, and particularly relates to a grouting mechanism and a grouting method using the same.
Background
With the development of economic technology, the fabricated building has become a current building trend, and with the wide popularization of the fabricated building, related construction technology is also improved continuously.
For the installation construction of prefabricated wall panels of an assembled shear wall system, the connection of the prefabricated wall panels and a floor slab is usually realized by grouting into a grouting sleeve. At present, for the grouting process of the prefabricated wallboard, a manual grouting mode is adopted one by one, namely, constructors pour slurry into the sleeve of the prefabricated wallboard one by one. The grouting mode not only consumes a great deal of manpower, but also delays more working hours, and the construction efficiency is lower.
Disclosure of Invention
The invention aims to solve the technical problems that a grouting mechanism and a grouting method using the grouting mechanism are provided, and aims to solve the problems that a grouting process of a prefabricated wallboard consumes a lot of manpower and the construction efficiency is low.
In order to solve the technical problems, the invention is realized in such a way that a grouting mechanism comprises:
the control system is used for receiving the electric signals and sending out control instructions;
the main body support is arranged above a floor to be constructed, a wall plate to be grouted is arranged on the floor to be constructed, at least one pair of grouting holes are formed in the wall plate to be grouted, each pair of grouting holes comprises a grouting inlet and a grouting outlet, the grouting inlet is communicated with the grouting outlet, and the grouting inlet is positioned below the grouting outlet;
the first traversing device is horizontally movably arranged on the main body bracket and is electrically connected with the control system, and the control system controls the first traversing device to reciprocate along the horizontal extending direction of the main body frame;
the second traversing device is horizontally movably arranged on the first traversing device and is electrically connected with the control system, and the control system controls the second traversing device to reciprocate along the horizontal extending direction of the first traversing device; the horizontal moving direction of the second transverse moving device is perpendicular to the horizontal moving direction of the first transverse moving device, and the horizontal moving direction of the first transverse moving device or the horizontal moving direction of the second transverse moving device is perpendicular to the wallboard to be grouted;
the grouting robot can be mounted on the second transverse moving device in a reciprocating mode along the vertical direction, the grouting robot is provided with a hopper and an injection part, the hopper is used for containing slurry, the injection part is communicated with the hopper, the grouting robot is electrically connected with a control system, the control system controls the grouting robot to reciprocate along the vertical direction, and the grouting robot receives a control instruction sent by the control system and accordingly injects the slurry or stops injecting the slurry.
Further, the grouting mechanism further comprises a detection robot, the detection robot is mounted on the second traversing device in a reciprocating manner along the vertical direction, the detection robot is electrically connected with the control system, and the control system controls the detection robot to reciprocate along the vertical direction; the detection robot is provided with a camera, the camera shoots whether the grouting outlet flows out of the grouting outlet in real time, when the camera shoots that the grouting outlet flows out of the grouting outlet, the detection robot transmits a shooting result to the control system in the form of an electric signal, the control system receives the electric signal transmitted by the camera and sends a control instruction to the grouting robot, and the grouting robot receives the control instruction sent by the control system and correspondingly injects the grouting or stops injecting.
Further, the grouting mechanism further comprises a sealing robot, the sealing robot can be mounted on the second transverse moving device in a reciprocating mode along the vertical direction, a mechanical claw is arranged on the sealing robot, a plug is grabbed on the mechanical claw, the sealing robot is electrically connected with the control system, the control system controls the first transverse moving device or the second transverse moving device to move so as to drive the sealing robot to the wallboard to be grouted, and the control system controls the mechanical claw of the sealing robot to grab the plug to plug the grouting inlet and the grouting outlet respectively.
Further, the first sideslip device includes first sideslip frame and first sideslip power supply, but first sideslip frame horizontal migration ground is installed on the main part support, and with the power take off end transmission connection of first sideslip power supply, first sideslip power supply with control system electricity is connected, control system control first sideslip power supply drives first sideslip frame is along the horizontal direction reciprocating motion on the main part support.
Further, the second sideslip device includes second sideslip frame and second sideslip power supply, but second sideslip frame horizontal migration ground is installed on the first sideslip frame, and with the power take off end transmission of second sideslip power supply is connected, the second sideslip power supply with control system electricity is connected, control system control the second sideslip power supply drives the second sideslip frame is along the horizontal direction reciprocating motion on the first sideslip frame, just the horizontal migration direction of second sideslip frame with the horizontal migration direction mutually perpendicular of first sideslip frame.
Further, the grouting mechanism further comprises a slurry detector for detecting the liquid level of slurry and a feeding device, wherein the slurry detector is arranged on the hopper, the feeding device is arranged on the second traversing device, and the feeding device is communicated with the hopper through a pipeline; the slurry detector and the feeding device are electrically connected with the control system, the slurry detector detects the slurry liquid level in the hopper and transmits the slurry liquid level to the control system in the form of an electric signal, the control system receives the electric signal transmitted by the slurry detector, and the control system controls the feeding device to be opened or closed.
The invention also provides a grouting method by using the grouting mechanism, which comprises the following steps:
positioning: the control system is used for respectively controlling the first traversing device and the second traversing device to move in the horizontal plane and controlling the grouting robot to move in the vertical direction until the injection part of the grouting robot is aligned with and inserted into the grouting inlet of the wallboard to be grouted;
grouting: sending a starting signal to a grouting robot through a control system, wherein the grouting robot is correspondingly started and starts grouting until the slurry flows out from a grouting outlet;
rollback: when grouting of a pair of grouting holes is completed, controlling the first traversing device or the second traversing device to horizontally move a designated distance along a direction away from the wallboard to be grouted by the control system, and correspondingly driving an injection part of the grouting robot to be separated from a grouting inlet of the wallboard to be grouted;
and (3) circulation: repeating the steps of positioning, grouting and backing until all the wallboards to be grouted are grouted.
Further, after grouting, the steps further comprise the following steps before rollback:
and (3) detection: the detection robot is controlled to move in the vertical direction through the control system, so that the shooting range of a camera on the detection robot covers a grouting outlet of a wallboard to be grouted;
shooting whether slurry flows out of the grouting outlet through the camera, and transmitting a shooting result to the control system in the form of an electric signal by the camera;
and the control system receives the electric signal, and when the camera shoots that the grouting outlet has slurry flowing out, a control instruction is sent to the grouting robot through the control system, and the injection part of the grouting robot stops grouting.
Further, after the step rollback, the steps before the cycle further include the following steps:
and (3) sealing: the control system is used for respectively controlling the first traversing device and the second traversing device to move in a horizontal plane and controlling the sealing robot to move in a vertical direction, so that a mechanical claw of the sealing robot is aligned with a grouting inlet;
the control system controls the second traversing device to move along the direction close to the wallboard to be grouted and correspondingly drives the mechanical claw to move along the direction close to the wallboard to be grouted until the plug on the mechanical claw is inserted into the grouting inlet so as to block the grouting inlet;
the control system controls the second traversing device to withdraw a certain distance along the direction away from the wallboard to be grouted, and then controls the sealing robot to ascend along the vertical direction until the mechanical claw of the sealing robot ascends to the position corresponding to the grouting outlet;
and the control system controls the second traversing device to move along the direction close to the wallboard to be grouted until the plugs on the mechanical claws are inserted into the grouting outlets so as to block the grouting outlets.
Further, in the grouting process, detecting the slurry liquid level in a hopper of the grouting robot in real time through a slurry detector, and transmitting a detection result to the control system in the form of an electric signal, wherein the control system receives the electric signal transmitted by the slurry detector and displays whether the slurry in the hopper is sufficient or not;
when the slurry in the hopper is insufficient, the control system controls the feeding device to start, and the feeding device correspondingly fills the slurry into the hopper until the slurry is filled in the hopper.
Compared with the prior art, the invention has the beneficial effects that: according to the grouting mechanism, the first traversing device and the second traversing device can be controlled to move in the horizontal plane through the control system, and meanwhile, the grouting robot can be controlled to move in the vertical direction, so that a three-degree-of-freedom motion system is formed, and the grouting robot can be moved to any position of a floor to be constructed, so that grouting operation can be carried out on grouting holes in a wallboard to be grouted one by one. After the position of the grouting robot is adjusted, the grouting robot is controlled to start through the control system, grouting is started, and after grouting is finished, the grouting robot is closed, so that grouting operation can be finished. By utilizing the grouting mechanism, all the wallboards to be grouted can be grouted only by few constructors, the operation is simple, compared with the traditional manual grouting mode, a large amount of labor cost is saved, meanwhile, the grouting efficiency is improved, and the construction period is shortened.
Drawings
FIG. 1 is a schematic structural view of a grouting mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of the front view of the wall panel to be grouted in FIG. 1;
fig. 3 is a flow chart of a method of grouting using the grouting mechanism shown in fig. 1 according to an embodiment of the present invention.
In the drawings, each reference numeral denotes:
100. a grouting mechanism; 10. a main body bracket; 20. a first traversing device; 30. a second traversing device; 40. grouting robots; 50. wall boards to be grouted; 60. detecting a robot; 70. a sealing robot; 51. a grouting inlet; 52. a grouting outlet; 21. a first traverse frame; 31. and a second traverse frame.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, a grouting mechanism 100 according to an embodiment of the present invention includes a control system (not shown), a main body bracket 10, a first traversing device 20, a second traversing device 30, and a grouting robot 40, wherein the control system is configured to receive an electrical signal and send a control command.
With continued reference to fig. 2, the main body support 10 is installed above a floor (not shown) to be constructed, on which a wall plate 50 to be grouted is installed, the wall plate 50 to be grouted is provided with at least one pair of grouting holes, each pair of grouting holes comprises a grouting inlet 51 and a grouting outlet 52, the grouting inlet 51 is communicated with the grouting outlet 52, and the grouting inlet 51 is positioned below the grouting outlet 52. In this embodiment, the wall plate 50 to be grouted has four pairs of grouting holes, and the number of concrete grouting holes can be determined according to the requirement.
Specifically, the first traversing device 20 includes a first traversing frame 21 and a first traversing power source (not shown), where the first traversing frame 21 is mounted on the main body support 10 in a manner of horizontally moving, and is in transmission connection with a power output end of the first traversing power source, the first traversing power source is electrically connected with the control system, and the control system controls the first traversing power source to drive the first traversing frame 21 to reciprocate on the main body support 10 along a horizontal direction. The transmission connection mode of the first traverse frame 21 and the first traverse power source in this embodiment may be one or a combination of several transmission modes such as gear transmission, screw transmission, chain transmission, belt transmission, etc.; meanwhile, the first traversing power source can be a motor or a power element such as a cylinder.
The second traversing device 30 includes a second traversing frame 31 and a second traversing power source (not shown), the second traversing frame 31 is horizontally movably mounted on the first traversing frame 21 and is in transmission connection with a power output end of the second traversing power source, the second traversing power source is electrically connected with the control system, and the control system controls the second traversing power source to drive the second traversing frame 31 to reciprocate on the first traversing frame 21 along the horizontal direction. Similar to the structure of the first traversing device 20, the transmission connection between the second traversing frame 31 and the second traversing power source may be one or a combination of several of various transmission modes such as gear transmission, screw transmission, chain transmission, belt transmission, etc.; meanwhile, the second traversing power source can be a motor or a power element such as a cylinder.
The horizontal moving direction of the first transverse moving frame 21 is perpendicular to the horizontal moving direction of the second transverse moving frame 31, and the horizontal moving direction of the first transverse moving frame 21 or the horizontal moving direction of the second transverse moving frame 31 is perpendicular to the wall plate 50 to be grouted. Thus, the horizontal movement of the first and second traverse frames 21 and 31 can control the movement of two degrees of freedom in the horizontal plane, i.e., the horizontal direction perpendicular to the wall plate 50 to be grouted and the horizontal direction parallel to the wall plate 50 to be grouted.
The grouting robot 40 is reciprocally mounted on the second traverse frame 31 of the second traverse device 30 along the vertical direction, the grouting robot 40 has a hopper (not shown) for holding slurry and an injection part (not shown), the injection part is communicated with the hopper, the grouting robot is electrically connected with a control system, the control system controls the grouting robot 40 to reciprocally move along the vertical direction, and the grouting robot receives a control instruction sent by the control system and accordingly injects the slurry or stops injecting the slurry.
In the above embodiment, only the horizontal movement direction of the second traverse frame 31 is perpendicular to the wall plate 50 to be grouted, that is, the horizontal movement direction of the first traverse frame 21 is parallel to the wall plate 50 to be grouted. Specifically, when grouting is required, first, the first traversing frame 21 is controlled by the control system to traverse to a specified position along the horizontal direction parallel to the wallboard 50 to be grouted to stop; then, the grouting robot 40 is controlled to move up and down along the vertical direction by the control system until the injection part of the grouting robot 40 corresponds to the grouting inlet 51 of the wallboard 50 to be grouted; then, the second traverse frame 31 is controlled by the control system to traverse in a horizontal direction perpendicular to the wall plate 50 to be grouted, so that the injection part of the grouting robot 40 is inserted into the grouting inlet 51; finally, the grouting robot 40 is started by the control system to start grouting until the slurry flows out of the grouting outlet 52, thereby completing grouting operation of a pair of grouting holes. The grouting operation for all the wall boards 50 to be grouted can be completed by the cyclic reciprocation.
In order to avoid the situation that the slurry is insufficient during the grouting process, in the embodiment of the present invention, the grouting mechanism 100 further includes a slurry detector (not shown) for detecting the level of the slurry, and a feeding device (not shown), where the slurry detector is installed on the hopper, the feeding device is disposed on the second traversing device, and the feeding device is communicated with the hopper through a pipe. The slurry detector and the feeding device are electrically connected with the control system, the slurry detector detects the slurry liquid level in the hopper and transmits the slurry liquid level to the control system in the form of an electric signal, the control system receives the electric signal transmitted by the slurry detector, and the control system controls the feeding device to be opened or closed. When the slurry detector detects that the slurry in the hopper is insufficient, the control system controls the feeding device to be started, and the feeding device is used for feeding the slurry into the hopper until the slurry in the hopper is full. Through the slurry detector and the feeding device, the slurry supply is ensured to be sufficient in the grouting process.
In the above embodiment, the grouting mechanism 100 further includes a detection robot 60, the detection robot 60 is reciprocally mounted on the second traverse frame 31 of the second traverse device 30 in the vertical direction, the detection robot 60 is electrically connected to the control system, and the control system controls the detection robot 60 to reciprocally move in the vertical direction. The detection robot 60 has a camera (not shown), when the camera shoots in real time that the grouting outlet 52 has slurry flowing out, the detection robot 60 transmits the shooting result to the control system in the form of an electric signal, the control system receives the electric signal transmitted by the camera and sends a control command to the grouting robot 40, the grouting robot 40 receives the control command sent by the control system and accordingly injects the slurry or stops injecting, and if the camera does not detect that the grouting outlet 52 has slurry flowing out, grouting is continued. In this manner, whether the grouting operation is finished can be automatically detected and controlled by the detection robot 60.
The grouting mechanism 100 further includes a sealing robot 70, wherein the sealing robot 70 is reciprocally mounted on the second traverse frame 31 of the second traverse device 30 along a vertical direction, and the sealing robot 70 has a gripper (not shown) on which a plug (not shown) is gripped. The sealing robot 70 is electrically connected with the control system, the control system controls the first traversing device or the second traversing device to move so as to drive the sealing robot 70 to the to-be-grouted wall plate 50, and controls the mechanical claws of the sealing robot 70 to grab the plugs to respectively plug the grouting inlet 51 and the grouting outlet 52, so that the process of manually plugging grouting holes in the later stage is avoided.
By utilizing the grouting mechanism 100, all the wallboards 50 to be grouted can be grouted only by few constructors, the operation is simple, compared with the traditional manual grouting mode, a great amount of labor cost is saved, meanwhile, the grouting efficiency is improved, and the construction period is shortened.
Referring to fig. 3, a method for grouting by using the grouting mechanism 100 according to an embodiment of the invention specifically includes the following steps:
positioning: the first traversing device 20 and the second traversing device 30 are respectively controlled to move in the horizontal plane by a control system, and the grouting robot 40 is controlled to move in the vertical direction until the injection part of the grouting robot 40 is aligned and inserted into the grouting inlet 51 of the wallboard 50 to be grouted;
grouting: sending a start signal to the grouting robot 40 by the control system, the grouting robot 40 being started accordingly and grouting being started until the slurry flows out from the grouting outlet 52;
and (3) detection: the detection robot 60 is controlled to move in the vertical direction by the control system, so that the shooting range of a camera on the detection robot 60 covers the grouting outlet 52 of the wallboard 50 to be grouted;
when the grouting outlet 52 is shot by the camera and the slurry flows out, the camera transmits the shooting result to the control system in the form of an electric signal;
the control system receives the electric signal, and when the camera shoots that the grouting outlet 52 has slurry flowing out, a control instruction is sent to the grouting robot 40 through the control system, and the injection part of the grouting robot 40 stops grouting;
rollback: when the grouting of a pair of grouting holes is completed, the control system controls the second traversing device 30 to horizontally move a designated distance along a direction away from the wallboard 50 to be grouted, and correspondingly drives the injection part of the grouting robot 40 to be separated from the grouting inlet 51 of the wallboard 50 to be grouted;
and (3) sealing: the first traversing device 20 and the second traversing device 30 are respectively controlled to move in the horizontal plane by a control system, and the sealing robot 70 is controlled to move in the vertical direction, so that the mechanical claws of the sealing robot 70 are aligned with the grouting inlet 51;
the control system controls the second traversing device 30 to move along the direction close to the wallboard 50 to be grouted and correspondingly drives the mechanical claw to move along the direction close to the wallboard 50 to be grouted until the plug on the mechanical claw is inserted into the grouting inlet 51 so as to plug the grouting inlet 51;
the second traversing device 30 is controlled by the control system to withdraw a distance along a direction away from the wallboard 50 to be grouted, and then the sealing robot 70 is controlled by the control system to ascend along the vertical direction until the mechanical claw of the sealing robot 70 ascends to a position corresponding to the grouting outlet 52;
controlling the second traversing device 30 to move along the direction approaching the wallboard 50 to be grouted by the control system until the plugs on the mechanical claws are inserted into the grouting outlets 52 so as to block the grouting outlets 52;
and (3) circulation: the steps of positioning, grouting, detecting, backing and sealing are repeated until all the wallboards 50 to be grouted are grouted.
In the grouting process, the slurry level in the hopper of the grouting robot 40 is detected in real time by a slurry detector, and the detection result is transmitted to the control system in the form of an electric signal, and the control system receives the electric signal transmitted by the slurry detector and displays whether the slurry in the hopper is sufficient.
When the slurry in the hopper is enough, the slurry detector can not send any signal like control, and grouting operation is continuously performed at the moment; when the slurry in the hopper is insufficient, the control system controls the feeding device to start, and the feeding device correspondingly fills the slurry into the hopper until the slurry is filled in the hopper. Therefore, the condition of insufficient slurry can be avoided in the whole grouting process, the stop of grouting is avoided, the time is saved, and the construction efficiency is further improved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. A grouting mechanism, comprising:
the control system is used for receiving the electric signals and sending out control instructions;
a main body bracket (10), wherein the main body bracket (10) is arranged above a floor to be constructed, a wall board (50) to be grouted is arranged on the floor to be constructed, at least one pair of grouting holes are arranged on the wall board (50) to be grouted, each pair of grouting holes comprises a grouting inlet (51) and a grouting outlet (52), the grouting inlet (51) is communicated with the grouting outlet (52), and the grouting inlet (51) is positioned below the grouting outlet (52);
the first traversing device (20) is arranged on the main body support (10) in a horizontally movable manner, the first traversing device (20) is electrically connected with the control system, and the control system controls the first traversing device (20) to reciprocate along the horizontal extending direction of the main body support (10);
the second traversing device (30) is arranged on the first traversing device (20) in a horizontally movable way, the second traversing device (30) is electrically connected with the control system, and the control system controls the second traversing device (30) to reciprocate along the horizontal extending direction of the first traversing device (20); the horizontal moving direction of the second traversing device (30) is perpendicular to the horizontal moving direction of the first traversing device (20), and the horizontal moving direction of the first traversing device (20) or the horizontal moving direction of the second traversing device (30) is perpendicular to the wallboard (50) to be grouted;
a grouting robot (40), wherein the grouting robot (40) is mounted on the second traversing device (30) in a reciprocating manner along the vertical direction, the grouting robot (40) is provided with a hopper for containing slurry and an injection part, the injection part is communicated with the hopper, the grouting robot (40) is electrically connected with a control system, the control system controls the grouting robot (40) to reciprocate along the vertical direction, and the grouting robot (40) receives a control instruction sent by the control system and correspondingly injects the slurry or stops injecting;
a detection robot (60), wherein the detection robot (60) is mounted on the second traversing device (30) in a manner of reciprocating motion along the vertical direction, the detection robot (60) is electrically connected with the control system, and the control system controls the detection robot (60) to reciprocate along the vertical direction; the detection robot (60) is provided with a camera, the camera shoots whether the grouting outlet (52) has slurry flowing out in real time, when the camera shoots that the grouting outlet has slurry flowing out, the detection robot (60) transmits a shooting result to the control system in the form of an electric signal, the control system receives the electric signal transmitted by the camera and sends a control instruction to the grouting robot (40), and the grouting robot (40) receives the control instruction sent by the control system and injects the slurry or stops injecting correspondingly;
the sealing robot (70), sealing robot (70) can install along vertical direction reciprocating motion on second sideslip device (30), sealing robot (70) are last to have the gripper, snatch on the gripper has the end cap, sealing robot (70) with control system electricity is connected, control system control first sideslip device (20) or second sideslip device (30) remove in order to with sealing robot (70) drive to wait to grout wallboard (50) department, just control system control sealing robot's gripper snatch end cap pair grout entry (51) with grout export (52) are shutoff respectively.
2. The grouting mechanism according to claim 1, wherein the first traversing device (20) comprises a first traversing frame (21) and a first traversing power source, the first traversing frame (21) is horizontally movably mounted on the main body support (10) and is in transmission connection with a power output end of the first traversing power source, the first traversing power source is electrically connected with the control system, and the control system controls the first traversing power source to drive the first traversing frame (21) to reciprocate on the main body support (10) along a horizontal direction.
3. The grouting mechanism according to claim 2, wherein the second traversing device (30) comprises a second traversing frame (31) and a second traversing power source, the second traversing frame (31) is horizontally movably arranged on the first traversing frame (21) and is in transmission connection with a power output end of the second traversing power source, the second traversing power source is electrically connected with the control system, the control system controls the second traversing power source to drive the second traversing frame (31) to reciprocate on the first traversing frame (21) along the horizontal direction, and the horizontal moving direction of the second traversing frame (31) is mutually perpendicular to the horizontal moving direction of the first traversing frame (21).
4. The grouting mechanism of claim 1, further comprising a slurry detector for detecting a slurry level, the slurry detector being mounted on the hopper, and a feeding device provided on the second traversing device (30), and the feeding device being in communication with the hopper via a pipe; the slurry detector and the feeding device are electrically connected with the control system, the slurry detector detects the slurry liquid level in the hopper and transmits the slurry liquid level to the control system in the form of an electric signal, the control system receives the electric signal transmitted by the slurry detector, and the control system controls the feeding device to be opened or closed.
5. A method of grouting using a grouting mechanism as claimed in any one of claims 1 to 4, characterised by the steps of:
positioning: the first traversing device (20) and the second traversing device (30) are respectively controlled to move in the horizontal plane by a control system, and the grouting robot (40) is controlled to move in the vertical direction until the injection part of the grouting robot (40) is aligned and inserted into the grouting inlet (51) of the wallboard (50) to be grouted;
grouting: sending a start signal to the grouting robot (40) through the control system, wherein the grouting robot (40) is correspondingly started and starts grouting until the slurry flows out from the grouting outlet (52);
and (3) detection: controlling the detection robot (60) to move in the vertical direction through the control system, so that the shooting range of a camera on the detection robot (60) covers a grouting outlet (52) of the wallboard (50) to be grouted; shooting whether slurry flows out of the grouting outlet (52) through the camera, and transmitting a shooting result to the control system in the form of an electric signal by the camera; the control system receives the electric signal, and when the camera shoots that the grouting outlet (52) has slurry flowing out, a control instruction is sent to the grouting robot (40) through the control system, and the injection part of the grouting robot (40) stops grouting;
rollback: when the grouting of a pair of grouting holes is finished, the first traversing device (20) or the second traversing device (30) is controlled by the control system to horizontally move a designated distance along a direction away from the wallboard (50) to be grouted, and correspondingly, the injection part of the grouting robot (40) is driven to be separated from the grouting inlet (51) of the wallboard (50) to be grouted;
and (3) sealing: the control system is used for respectively controlling the first traversing device (20) and the second traversing device (30) to move in the horizontal plane and controlling the sealing robot (70) to move in the vertical direction, so that the mechanical claws of the sealing robot (70) are aligned with the grouting inlet (51); the second traversing device (30) is controlled by the control system to move along the direction close to the wallboard (50) to be grouted, and the mechanical claw is correspondingly driven to move along the direction close to the wallboard (50) to be grouted until the plug on the mechanical claw is inserted into the grouting inlet (51) so as to block the grouting inlet (51); the control system controls the second traversing device (30) to withdraw a certain distance along a direction away from the wallboard (50) to be grouted, and then controls the sealing robot (70) to ascend along the vertical direction until the mechanical claw of the sealing robot (70) ascends to a position corresponding to the grouting outlet (52); controlling the second traversing device (30) to move along the direction approaching to the wallboard (50) to be grouted by the control system until the plugs on the mechanical claws are inserted into the grouting outlets (52) so as to block the grouting outlets (52);
and (3) circulation: repeating the steps of positioning, grouting and backing until all the wallboards (50) to be grouted are grouted.
6. The method according to claim 5, characterized in that during grouting, the slurry level in the hopper of the grouting robot (40) is detected in real time by a slurry detector and the detection result is transmitted to the control system in the form of an electric signal, and the control system receives the electric signal transmitted by the slurry detector and displays whether the slurry in the hopper is sufficient or not; when the slurry in the hopper is insufficient, the control system controls the feeding device to start, and the feeding device correspondingly fills the slurry into the hopper until the slurry is filled in the hopper.
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| CN114458011A (en) * | 2020-11-10 | 2022-05-10 | 广东博智林机器人有限公司 | Grouting equipment |
| CN115324348B (en) * | 2022-08-24 | 2024-01-26 | 山西金牛永兴建筑安装股份有限公司 | Grouting device |
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