CN110629988B

CN110629988B - Grouting apparatus, control method of grouting apparatus, and computer-readable storage medium

Info

Publication number: CN110629988B
Application number: CN201910952465.XA
Authority: CN
Inventors: 佟力; 王龙; 陈国伟; 吴天鹏; 张洪建; 罗宝林; 魏愷含; 尹陈林; 王立新; 胡鹏程; 莫爱珠; 邢万庆; 李建生; 肖尹浩; 陈雄浩; 思有长; 龚海锋; 韦文杰; 何事业; 梁远旺
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-10-09
Filing date: 2019-10-09
Publication date: 2021-11-23
Anticipated expiration: 2039-10-09
Also published as: CN113958100B; CN113958100A; CN110629988A

Abstract

The invention provides grouting equipment, a control method of the grouting equipment and a computer readable storage medium, wherein the grouting equipment comprises: a terminal actuator; a cleaning mechanism configured to clean the end effector; and the end actuating mechanism is arranged on the cooperative actuating mechanism, and the cooperative actuating mechanism is configured to be suitable for driving the end actuating mechanism to act. The grouting equipment provided by the invention comprises a tail end executing mechanism, a cleaning mechanism and a cooperative executing mechanism, wherein the tail end executing mechanism is used for filling joints, the cleaning mechanism is used for cleaning the tail end executing mechanism, the cooperative executing mechanism is used for driving the tail end executing mechanism, slurry is easy to remain on the outer wall after the tail end executing mechanism contains slurry, the grouting effect of the grouting equipment can be improved by cleaning the tail end executing mechanism through the cleaning mechanism, and the cooperative executing mechanism can drive the tail end executing mechanism to move so as to realize the grouting action of the tail end executing mechanism and the action of cleaning the tail end executing mechanism from moving into the cleaning mechanism.

Description

Grouting apparatus, control method of grouting apparatus, and computer-readable storage medium

Technical Field

The invention relates to the technical field of construction machinery, in particular to grouting equipment, a control method of the grouting equipment and a computer readable storage medium.

Background

At present, in the building decoration industry, tile pasting is a common decoration technique. And certain gaps are often required to be left in the tile laying process. The appearance of gaps among the ceramic tiles not only influences the smoothness of the wall and the ground, but also enables water and impurities to invade the interior of the wall body, and has negative influences on the attractiveness and durability of the ceramic tiles. Generally, domestic joint filling (also called joint pointing) process is mostly finished manually, and joint filling workload is large due to more gaps among ceramic tiles.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the invention provides a grouting apparatus.

The second aspect of the invention also provides a grouting equipment control method.

A third aspect of the invention also provides a computer-readable storage medium.

In view of the above, a first aspect of the present invention provides a grouting apparatus, including: a terminal actuator; a cleaning mechanism configured to clean the end effector; and the end actuating mechanism is arranged on the cooperative actuating mechanism, and the cooperative actuating mechanism is configured to be suitable for driving the end actuating mechanism to act.

The grouting equipment provided by the invention comprises a tail end executing mechanism, a cleaning mechanism and a cooperative executing mechanism, wherein the tail end executing mechanism is used for filling gaps, the cleaning mechanism is used for cleaning the tail end executing mechanism, the cooperative executing mechanism is used for driving the tail end executing mechanism, slurry is easy to remain on the outer wall after the tail end executing mechanism is filled with slurry, the grouting effect of the grouting equipment can be improved by cleaning the tail end executing mechanism through the cleaning mechanism, meanwhile, after the tail end executing mechanism is filled with gaps, the tail end executing mechanism needs to be cleaned, and the phenomenon that the tail end executing mechanism is dirty and blocked due to the fact that the remaining slurry cannot be discharged in the tail end executing mechanism is avoided, wherein the cooperative executing mechanism can drive the tail end executing mechanism to move, and the grouting action of the tail end executing mechanism and the action of cleaning the tail end executing mechanism from moving into the cleaning mechanism are achieved.

According to the grouting equipment provided by the invention, the following additional technical characteristics can be provided:

in the above technical solution, further, the end effector includes: a caulking device; the image acquisition device is arranged on the gap filling device and is configured to acquire image information of a surface to be worked; and the detection device is arranged on the gap filling device and is configured to acquire the position information between the gap filling device and the surface to be worked.

In this technical scheme, end actuating mechanism includes the device of caulking and sets up image acquisition device and the detection device on the device of caulking, wherein, can understand, the device of caulking is including the cavity that is used for the splendid attire material and the slip casting mouth of setting on the cavity, image acquisition device is used for gathering the image information of treating the working face, and then can confirm the position of the gap on treating the working face through image information combination computer vision, and then can realize grouting equipment automatic positioning gap position and according to the automatic technological effect of caulking of location, detection device can detect the device of caulking and treat the positional relationship between the working face, and then can adjust the device of caulking and treat the positional relationship between the working face through detection device, in order to guarantee that the device of caulking can be in fixed working posture, and then improve the reliability of the work of caulking.

In one possible design, the purge mechanism includes: a cleaning section configured to clean an outer wall of the end effector; and the accommodating part is arranged at one side of the cleaning part and is configured to accommodate cleaning liquid for cleaning the inner wall of the end actuator.

In this technical scheme, wiper mechanism includes clearance portion and portion of holding, wherein, clearance portion is configured to wash terminal actuating mechanism's outer wall, make to wash terminal actuating mechanism's outer wall through clearance portion, can guarantee that terminal actuating mechanism's outer wall is clean, it is clean, furthermore, wash terminal actuating mechanism's outer wall through clearance portion after the feed supplement is accomplished, can avoid terminal actuating mechanism to drop at the thick liquid of feed supplement in-process bonding at the thick liquid of sprue outer wall, bond outside the assigned position and influence grouting equipment's working effect, simultaneously, can avoid bonding the thick liquid solidification in sprue outer wall and near and occupy or block up the discharge efficiency that the sprue influences terminal actuating mechanism or make terminal actuating mechanism block up, and then be favorable to avoiding terminal actuating mechanism to block up, guarantee good discharge capacity. The containing part is configured to contain a cleaning liquid for cleaning the inner wall of the end actuator, so that the inner wall of the end actuator can be cleaned by the cleaning liquid contained in the containing part, the inner wall of the end actuator can be ensured to be clean and clean, further, after the discharging of the end actuator is completed and/or before the material supplement is performed, the inner wall of the end actuator is cleaned by the cleaning liquid contained in the containing part, slurry remained on the inner wall of the end actuator after the discharging is completed can be prevented from solidifying and occupying or blocking a grouting hole to influence the material supplement efficiency of the end actuator or block the end actuator, meanwhile, the slurry remained on the inner wall of the end actuator can be prevented from solidifying to influence the material supplement amount of the end actuator, the blockage of the end actuator can be avoided, and the material supplement amount is improved.

In one possible design, the washing mechanism further comprises: the liquid storage tank is communicated with the cleaning part and the accommodating part; the liquid discharging box is communicated with the cleaning part; a pump body assembly configured to be adapted to pump cleaning liquid within the reservoir to the cleaning portion and/or the receiving portion.

In the technical scheme, the liquid storage tank is used for storing cleaning liquid, and the liquid drainage tank is used for storing used and abandoned cleaning liquid. Through the communication of drainage tank and clearance portion for remaining abandonment washing liquid is discharged into drainage tank and is stored after the clearance portion washs terminal actuating mechanism's outer wall. Through pump body subassembly and liquid reserve tank, portion of holding, clearance portion intercommunication for pump body subassembly work is pumped respectively with the washing liquid that the liquid reserve tank was saved to portion of holding and clearance portion, washs the inner wall and the outer wall that provide the washing liquid to terminal actuating mechanism.

In one possible design, the cleaning portion includes: the first body is communicated with the liquid storage tank and the liquid drainage tank and is provided with an opening; the spray head is arranged on the first body and positioned at the opening, the spray head is communicated with the liquid outlet end of the pump body assembly, and the spraying direction of the spray head faces towards the inside of the first body.

In this technical scheme, clearance portion includes first body and shower nozzle, and first body communicates mutually with the flowing back case and is equipped with the opening, is favorable to terminal actuating mechanism to stretch into the inside of first body through the opening and washs terminal actuating mechanism's outer wall. The shower nozzle is located on the first body and is located the opening part, and the shower nozzle communicates with the play liquid end of pump body subassembly for pump body subassembly work is with the washing liquid pump sending in the receiver tank to the shower nozzle in order to rinse the outer wall that lies in first internal terminal actuating mechanism, and the inside of the direction orientation first body that sprays of shower nozzle, the washing liquid that is favorable to the shower nozzle to spray falls into first body inside and arrives the drainage case side by side.

In one possible design, the receptacle comprises: the second body is communicated with the liquid outlet end of the pump body assembly and is provided with an opening; and the liquid level detection device is arranged inside the second body.

In this technical scheme, the portion of holding includes second body and liquid level detection device, and the second body communicates with the liquid outlet end of pump body subassembly for pump body subassembly work is internal with the washing liquid pump sending of liquid reserve tank to the second, and the second body is equipped with the opening, is favorable to terminal actuating mechanism to stretch into the inside suction washing liquid of second body through the opening. The liquid level detection device is arranged inside the second body and used for detecting the liquid position inside the second body, so that the position of the cleaning liquid on the inner wall of the second body can be timely and accurately known through the liquid level detection device, the pump body assembly is controlled to stop working according to the detection result of the liquid level detection device so as to stop supplying liquid to the containing part, and the pump body assembly is prevented from continuing working and enabling the liquid to overflow the containing part, so that energy or environment pollution is wasted.

In one possible design, the liquid level detection device is arranged in the second body through the mounting frame; and the support is arranged outside the second body.

In this design, on the second body was located to the mounting bracket, the inside of second body was located through the mounting bracket to the liquid level detection device, was favorable to improving the reliability that liquid level detection device and second body are connected, and then guarantees the accuracy of liquid level detection device testing result, improves the reliability of product.

In this design, the volume of second body is 3 times to 5 times of the volume of end actuating mechanism, because end actuating mechanism when wasing the inner wall, need absorb the washing liquid from the second body of holding portion and reach the clearance portion side by side, the volume through the second body is 3 times to 5 times of end actuating mechanism volume, can be according to the capacity of the washing liquid in the reasonable setting holding portion of number of times to end actuating mechanism inner wall abluent, and then make the washing liquid that the holding portion held can satisfy carry out abluent demand many times to end actuating mechanism's inner wall, make to the ground paste of different materials carry out abluent number of times different in order to guarantee good cleaning performance through the inner wall to end actuating mechanism, and then avoid end actuating mechanism to block up and guarantee good feed supplement and ejection of compact effect, improve the reliability of product and enlarge the application range of product.

In one possible design, the grouting device further comprises: the charging bucket is arranged on one side of the cleaning part and is communicated with the liquid outlet end of the pump body component and the liquid discharge box; and the stirring device is arranged in the charging bucket and used for stirring slurry.

In the technical scheme, a charging basket is arranged on one side of the cleaning part and used for storing slurry, and the tail end executing mechanism is communicated with the charging basket for supplementing materials. Locate one side of clearance portion through the storage bucket, be favorable to terminal actuating mechanism to accomplish after the feed supplement through clearance portion to terminal actuating mechanism's outer wall wash fast at the storage bucket, and then improve the cleaning efficiency of terminal actuating mechanism outer wall, improve the holistic feed supplement cleaning efficiency of grouting equipment. The storage bucket includes bucket body and agitating unit, go out the liquid end through bucket body and pump body subassembly, the flowing back case communicates mutually for when there is not the ground paste in the bucket body, pump body subassembly work is with the washing liquid pump sending of liquid reserve tank storage to bucket body, the washing liquid is arranged to the flowing back case through the bucket body and is washd in order to the inside of bucket body, and then guarantee the cleanliness factor of bucket body, can avoid remaining simultaneously that the inside ground paste of bucket body solidifies and influence the volume of bucket body, be favorable to guaranteeing the effective volume of bucket body. Locate the inside of bucket body through agitating unit and be used for stirring the ground paste, can avoid being located the long-time static and solidification of ground paste in the storage bucket, stir the ground paste through agitating unit and be favorable to improving feed supplement efficiency.

In one possible design, the cleaning part is arranged between the charging bucket and the accommodating part; and/or the charging bucket is positioned above the cleaning part, and the accommodating part is positioned below the cleaning part.

In the technical scheme, the cleaning part is arranged between the charging bucket and the accommodating part, so that when the tail end executing mechanism finishes discharging and needs material supplementing, the tail end executing mechanism moves to be communicated with the accommodating part and sucks in cleaning liquid, then moves to the cleaning part and discharges the sucked cleaning liquid to the cleaning part to clean the inner wall of the tail end executing mechanism, then moves to the charging bucket to supplement material, after the material supplementing is finished, the tail end executing mechanism moves to the cleaning part to clean the outer wall of the tail end executing mechanism, the whole cleaning and supplementing process is further finished, the cleaning and supplementing time of the tail end executing mechanism is favorably shortened, the cleaning and supplementing efficiency of the tail end executing mechanism is improved, the working efficiency of the whole machine is further improved, good material supplementing, discharging and cleaning effects are ensured, the reliability of a product is improved, the satisfaction degree of using a user is improved, and simultaneously, the condition that the slurry used by the grouting equipment is a slurry which is a quick-setting or solidification material and has large difficulty in material feeding, The working condition requirement of difficult washing has enlarged the application range of product effectively.

The storage bucket is located the top of clearance portion, and the holding portion is located the below of clearance portion, and storage bucket, clearance portion, holding portion distribute along vertical decurrent direction in proper order promptly, can guarantee that slip casting equipment is high-efficient, carry out feed supplement and abluent fast simultaneously, satisfy slip casting equipment along the little operating mode demand of horizontal direction occupation space, be favorable to reducing the space occupancy of product, easily use on middle-size and small-size equipment, be favorable to enlarging the application range of product.

In one possible design, the grouting device further comprises: the chassis running mechanism is provided with a cooperative execution mechanism and a cleaning mechanism; the lifting mechanism is arranged on the chassis travelling mechanism, and the cooperative execution mechanism is connected with the lifting mechanism; and the control mechanism is arranged on the chassis travelling mechanism and is connected with the chassis travelling mechanism, the lifting mechanism, the cooperative execution mechanism, the tail end execution mechanism and the cleaning mechanism.

In the technical scheme, the grouting equipment further comprises a chassis travelling mechanism, a lifting mechanism and a control mechanism, wherein the cleaning mechanism and the lifting mechanism are arranged on the chassis travelling mechanism, the chassis travelling mechanism moves to move the cleaning mechanism and the lifting mechanism to any working position, and the lifting mechanism is connected with the tail end executing mechanism through the cooperation executing mechanism, so that the lifting mechanism drives the tail end executing mechanism to move to any position and any angle through the cooperation executing mechanism.

In one possible design, the lift mechanism includes: the connecting plate is connected with the chassis travelling mechanism; the lead screw is connected with the connecting plate; wherein, the cooperation actuating mechanism is connected with the lifting mechanism through a lead screw.

In the technical scheme, the lifting mechanism comprises a connecting plate and a lead screw, and is used for driving the cooperative execution mechanism to move so as to drive the tail end execution mechanism to move.

In one possible design, the control mechanism includes: the first controller is connected with the lifting mechanism and the cleaning mechanism; and the second controller is connected with the cooperative execution mechanism and the tail end execution mechanism.

In the technical scheme, the control mechanism comprises a first controller and a second controller, the first controller is connected with the lifting mechanism and the cleaning mechanism, the second controller is connected with the cooperative execution mechanism and the tail end execution mechanism, and the first controller and the second controller are combined with the normal movement of all parts of the whole machine.

According to a second aspect of the present invention, there is also provided a control method of a grouting apparatus, for the grouting apparatus according to any one of the first aspects, the control method comprising: receiving a material sucking completion instruction, controlling the tail end execution mechanism to move into a cleaning part of the cleaning mechanism, and controlling the cleaning part to clean the outer wall of the tail end execution mechanism; receiving a cleaning completion instruction, and controlling a tail end execution mechanism to lay slurry; and receiving a discharging completion instruction, and controlling the tail end executing mechanism to suck materials.

The grouting equipment control method provided by the second aspect of the invention receives the material suction completion instruction, and indicates that the interior of the end executing mechanism is filled with slurry, at the moment, the end executing mechanism can discharge materials, the cleaning part is controlled to move into the cleaning part, and the cleaning part is controlled to clean the outer wall of the end executing mechanism, so that the condition that the slurry adhered to the outer wall of the grouting opening of the end executing mechanism falls off and is adhered to the outside of a specified position to influence the working effect of the grouting equipment in the discharging process of the end executing mechanism can be avoided, meanwhile, the condition that the slurry adhered to the outer wall of the grouting opening and the slurry nearby are solidified to occupy or block the grouting opening to influence the discharging efficiency of the end executing mechanism or block the end executing mechanism can be avoided, the blockage of the end executing mechanism can be further avoided, and good discharging amount can be ensured. And receiving a cleaning completion instruction, which indicates that the outer wall of the tail end execution mechanism is cleaned completely, moving the tail end execution mechanism to the surface to be worked for discharging, receiving a discharging completion instruction, and indicating that the slurry of the tail end execution mechanism is used up and the material is required to be sucked.

Through wasing terminal actuating mechanism's outer wall after inhaling the material and accomplishing, can guarantee terminal actuating mechanism's outer wall cleanness, and then can avoid terminal actuating mechanism to block up and influence and inhale the material and the ejection of compact, be favorable to guaranteeing good material function and the ejection of compact function of inhaling, simultaneously, it is big for quick setting or its feed degree of difficulty of solidification irreversible material to satisfy the ground paste that slip casting equipment used, the operating mode demand of difficult abluent, also can satisfy slip casting equipment and carry out the spraying, the extremely easily contaminated operating mode demand of its terminal actuating mechanism's of operation such as plastering outer wall, the application range of product has been enlarged greatly, simultaneously, the problem of wasing terminal actuating mechanism existence when the ground paste is quick setting or solidifies irreversible material has been solved, it is time-consuming, the material is wasted.

In one possible design, after the step of receiving the discharging completion instruction, the method further includes: controlling the tail end actuating mechanism to move into the containing part of the cleaning mechanism and sucking the cleaning liquid in the containing part; and controlling the tail end actuating mechanism to move to a cleaning part of the cleaning mechanism and discharging the cleaning liquid.

In this technical scheme, control terminal actuating mechanism and move and inhale the washing liquid in holding portion after receiving ejection of compact completion instruction to move and to the inner wall of cleaning portion discharge washing liquid in order to wash terminal actuating mechanism, accomplish through the ejection of compact, inhale before the material and wash terminal actuating mechanism's inner wall, realize the thorough washing to terminal actuating mechanism, and then can avoid terminal actuating mechanism to block up and influence and inhale the material and the ejection of compact, be favorable to guaranteeing good material function and ejection of compact function of inhaling.

In one possible design, after the step of receiving the discharging completion instruction and before the step of controlling the end effector to move into the containing part of the cleaning mechanism and suck the cleaning liquid in the containing part, the method further includes: controlling a pump body assembly of the grouting equipment to work so as to pump cleaning liquid in a liquid storage tank of the cleaning mechanism to the accommodating part; after controlling the end actuating mechanism to move into the cleaning part, the method further comprises the following steps: and controlling the pump body assembly to work so as to pump the cleaning liquid in the liquid storage tank to the cleaning part.

According to the technical scheme, the pump body assembly is controlled to pump the cleaning liquid into the containing part or the cleaning part to clean the tail end executing mechanism, specifically, after the step of receiving the discharging completion instruction, the cleaning liquid is pumped into the containing part before the step of controlling the tail end executing mechanism to move into the containing part of the cleaning mechanism and sucking the cleaning liquid in the containing part, so that the tail end executing mechanism can suck the cleaning liquid and clean the inner wall of the tail end executing mechanism, and after the tail end executing mechanism is controlled to move into the cleaning part, the pump body assembly is controlled to work to pump the cleaning liquid in the liquid storage tank to the cleaning part to wash the outer wall of the tail end executing mechanism.

In one possible design, a material bucket material-free instruction of grouting equipment is received, and a pump body assembly of the grouting equipment is controlled to work to pump cleaning liquid in a liquid storage tank of a cleaning mechanism to the material bucket; and executing the step of controlling the pump body assembly of the grouting equipment to work to pump the cleaning liquid in the liquid storage tank of the cleaning mechanism to the charging basket at least once.

In this technical scheme, the storage bucket of receiving slip casting equipment does not have the material instruction, explain not have the ground paste in the storage bucket, work through control pump body subassembly is with the washing liquid pump sending in the receiver to the storage bucket, because the storage bucket communicates with the flowing back case mutually, the washing liquid is arranged to the inner wall of drainage case in order to rinse the storage bucket through the storage bucket, and then guarantee the cleanliness factor of storage bucket, can avoid remaining the volume that the inside ground paste of storage bucket solidifies and influences the storage bucket simultaneously, be favorable to guaranteeing the effective volume of bucket body. Based on receiving the storage bucket and not having the material instruction, the step of carrying out the work of control pump body subassembly in with the washing liquid pump in the receiver tank to the storage bucket is once at least, is at least once to the abluent number of times of storage bucket promptly for can be according to the material property control of ground paste to the abluent number of times of storage bucket, if the ground paste is the material of solidifying fast and difficult abluent, accessible is many times, intermittent type, or continuously with the washing liquid pump in the storage tank to the storage bucket in order to realize wasing many times the storage bucket, and then guarantee the cleanliness factor of storage bucket. It will be appreciated that the number of times the bucket is cleaned may be two when the slurry is a caulk and one when the slurry is a paint.

In one possible design, after the step of receiving the discharging completion instruction, the steps of controlling the end effector to move into the housing portion of the cleaning mechanism and suck in the cleaning liquid in the housing portion and controlling the end effector to move into the cleaning portion of the cleaning mechanism and discharge the cleaning liquid are performed at least once.

In the technical scheme, the inner wall of the tail end execution mechanism is cleaned at least once, so that the times of cleaning the inner wall of the tail end execution mechanism can be flexibly controlled according to the property of slurry, the inner wall of the tail end execution mechanism is ensured to be clean, the energy is saved, the cleaning efficiency is improved, the working efficiency of the whole machine is improved, and the using satisfaction of a user is improved.

In one possible design, before the step of receiving the suction completion instruction, the method further includes: acquiring an image of a surface to be worked; determining working path information of grouting equipment according to the image and the posture information of the mechanical arm; and controlling the tail end execution mechanism to lay slurry according to the working path information of the grouting equipment.

In the technical scheme, the image of the surface to be worked can be acquired through the image acquisition device, and the working path information of the grouting equipment is further determined according to the image and the attitude information of the end executing mechanism, namely the caulking route is determined.

According to a third aspect of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the method for controlling grouting equipment according to any one of the above-mentioned second aspects, so that the method has all the technical effects of the method for controlling grouting equipment, and details are not repeated herein.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic structural diagram of a grouting apparatus provided according to an embodiment of the invention;

FIG. 2 shows a schematic diagram of a first perspective of the embodiment of FIG. 1;

FIG. 3 shows a schematic diagram of a second perspective of the embodiment of FIG. 1;

FIG. 4 is a schematic diagram illustrating a third perspective of the embodiment of FIG. 1;

FIG. 5 shows a schematic diagram of a fourth perspective of the embodiment of FIG. 1;

fig. 6 is a schematic structural diagram of a grouting device provided according to another embodiment of the invention;

FIG. 7 shows a schematic diagram of a first perspective of the embodiment of FIG. 6;

FIG. 8 shows a schematic diagram of a second perspective of the embodiment of FIG. 6;

FIG. 9 is a schematic diagram illustrating a third perspective of the embodiment of FIG. 6;

FIG. 10 is a schematic diagram illustrating a fourth perspective of the embodiment of FIG. 6;

FIG. 11 is a schematic structural view illustrating a tank body of a liquid storage tank and a liquid discharge tank provided according to an embodiment of the present invention;

FIG. 12 shows a schematic diagram of the structure of the embodiment of FIG. 11 from a first perspective;

FIG. 13 is a schematic diagram illustrating the structure of the embodiment of FIG. 11 from a second perspective;

FIG. 14 shows a schematic diagram of a third perspective of the embodiment of FIG. 11;

FIG. 15 is a schematic structural view of a cleaning part provided according to an embodiment of the present invention;

FIG. 16 shows a schematic diagram of the first perspective of the embodiment of FIG. 15;

FIG. 17 shows a schematic diagram of the embodiment of FIG. 15 from a second perspective;

FIG. 18 shows a schematic diagram of a third perspective of the embodiment of FIG. 15;

FIG. 19 shows a schematic diagram of a fourth perspective of the embodiment of FIG. 15;

fig. 20 is a schematic structural view illustrating a receiving part provided according to an embodiment of the present invention;

FIG. 21 shows a schematic diagram of the structure of the embodiment of FIG. 20 from a first perspective;

FIG. 22 shows a schematic diagram of the embodiment of FIG. 20 from a second perspective;

FIG. 23 shows a schematic diagram of a third perspective of the embodiment of FIG. 20;

FIG. 24 illustrates a cleaning fluid control logic diagram for the cleaning system in accordance with one embodiment of the present invention;

fig. 25 shows a flow chart of a control method of the grouting apparatus according to an embodiment of the invention;

fig. 26 is a flowchart illustrating a control method of the grouting apparatus according to an embodiment of the present invention;

fig. 27 is a flowchart illustrating a control method of the grouting apparatus according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 24 is:

100 grouting equipment, 102 tail end actuating mechanism, 104 cleaning mechanism, 1041 cleaning part, 1042 accommodating part, 1043 liquid storage tank, 1044 liquid discharge tank, 1045 pump body assembly, 106 cooperation actuating mechanism, 108 chassis walking mechanism, 110 lifting mechanism, 112 charging bucket, 114 control mechanism, 200 box bodies, 202 connecting pieces, 204 through holes, 206 backing plates, 300 first bodies, 302 spray heads, 304 liquid distribution valves, 400 second bodies, 402 mounting frames, 404 supports and 500 supplementary material cleaning assemblies.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The grouting apparatus 100, a control method of the grouting apparatus, and a computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 27.

The first embodiment is as follows:

as shown in fig. 1 to 24, according to an embodiment of the first aspect of the present invention, there is provided a grouting apparatus 100 including: an end effector 102; a cleaning mechanism 104, the cleaning mechanism 104 configured to clean the end effector 102; a cooperative actuator 106, wherein the end actuator 102 is mounted on the cooperative actuator 106, and the cooperative actuator 106 is configured and adapted to drive the end actuator 102 to act.

As shown in fig. 1 and 6, the grouting apparatus 100 provided by the present invention comprises an end actuator 102, a cleaning mechanism 104 and a cooperating actuator 106, specifically, the end actuator 102 is used for caulking, the cleaning mechanism 104 is used for cleaning the end actuator 102, the cooperating actuator 106 is used for driving the end actuator 102, after the end effector 102 is filled with slurry, slurry is easily left on the outer wall, and the cleaning mechanism 104 can improve the grouting effect of the grouting apparatus 100, and at the same time, after the end effector 102 has filled the gap, the end effector 102 may need to be cleaned, thereby avoiding the phenomenon that the residual slurry can not be discharged in the end actuator 102 to cause the dirty blocking of the end actuator 102, the cooperative actuator 106 can drive the end actuator 102 to move, so as to implement the grouting operation of the end actuator 102 and the cleaning operation of the end actuator 102 moving into the cleaning mechanism 104.

It is understood that the end effector 102 has a cavity for holding slurry and a slurry injection port communicating with the cavity, wherein slurry is sucked into the cavity through the slurry injection port to be called a feeding process, and slurry in the cavity is injected to a specific position through the slurry injection port to be called a discharging process.

Further, the end effector 102 includes: a caulking device; the image acquisition device is arranged on the gap filling device and is configured to acquire image information of a surface to be worked; and the detection device is arranged on the gap filling device and is configured to acquire the position information between the gap filling device and the surface to be worked.

In this embodiment, the end executing mechanism 102 includes a gap filling device, and an image collecting device and a detecting device which are arranged on the gap filling device, wherein it can be understood that the gap filling device includes a cavity for containing materials and a grouting port arranged on the cavity, the image collecting device is used for collecting image information of a to-be-worked surface, and then the position of a gap on the to-be-worked surface can be determined by combining the image information with computer vision, and then the technical effects of automatically positioning the gap position and automatically filling the gap according to the positioning of the grouting equipment 100 can be achieved, the detecting device can detect the position relationship between the gap filling device and the to-be-worked surface, and then the position relationship between the gap filling device and the to-be-worked surface can be adjusted by the detecting device, so as to ensure that the gap filling device can be in a fixed working posture, and further improve the reliability of gap filling work.

Example two:

according to an embodiment of the invention, comprising the features as defined in the above embodiment, and further:

as shown in fig. 6 and 7, the cleaning mechanism 104 includes: a cleaning section 1041, the cleaning section 1041 being configured to clean an outer wall of the end effector 102; the receiving portion 1042 is disposed at one side of the cleaning portion 1041 and is configured to receive a cleaning solution for cleaning an inner wall of the end effector 102.

In this embodiment, the cleaning mechanism 104 includes a cleaning portion 1041 and a receiving portion 1042, wherein the cleaning portion 1041 is configured to clean an outer wall of the end effector 102, so that cleaning the outer wall of the end effector 102 by the cleaning portion 1041 can ensure that the outer wall of the end effector 102 is clean and clean, and further, the cleaning part 1041 cleans the outer wall of the end executing mechanism 102 after the material supplementing is finished, which can avoid the slurry adhered on the outer wall of the grouting opening by the end executing mechanism 102 from falling off and adhering outside the designated position in the material supplementing process to influence the working effect of the grouting equipment 100, meanwhile, slurry adhered to the outer wall of the grouting opening and nearby slurry can be prevented from solidifying to occupy or block the grouting opening to influence the discharging efficiency of the tail end executing mechanism 102 or cause the tail end executing mechanism 102 to be blocked, so that the blockage of the tail end executing mechanism 102 is avoided, and good discharging amount is ensured. The accommodating portion 1042 is configured to accommodate a cleaning solution for cleaning the inner wall of the end actuator 102, so that the cleaning solution accommodated in the accommodating portion 1042 can clean the inner wall of the end actuator 102 to ensure that the inner wall of the end actuator 102 is clean and clean, further, after the end actuator 102 finishes discharging and/or before feeding, by cleaning the inner wall of the end actuator 102 with the cleaning solution accommodated in the accommodating portion 1042, slurry remaining on the inner wall of the end actuator 102 after discharging can be prevented from solidifying to occupy or block a slurry injection port to affect the feeding efficiency of the end actuator 102 or block the end actuator 102, and simultaneously slurry remaining on the inner wall of the end actuator 102 can be prevented from solidifying to affect the feeding amount of the end actuator 102, thereby facilitating to avoid the end actuator 102 from being blocked, the feed supplement amount is increased.

Furthermore, by separately arranging the accommodating part 1042 and the cleaning part 1041, the inner wall of the end executing mechanism 102 is cleaned by the cleaning liquid accommodated by the accommodating part 1042, and the outer wall of the end executing mechanism 102 is cleaned by the cleaning part 1041, so that the inner wall and the outer wall of the end executing mechanism 102 can be respectively ensured to be clean at different stages, and the end executing mechanism 102 can be completely cleaned, further, the influence of the blockage of the end executing mechanism 102 on the feeding and discharging can be avoided, thereby being beneficial to ensuring the good feeding function and discharging function, simultaneously, the working condition requirements that the slurry used by the grouting equipment 100 is a material with rapid solidification or irreversible solidification, the feeding difficulty is large, the material is not easy to clean can be met, the working condition requirements that the outer wall of the end executing mechanism 102 is extremely easy to be polluted when the grouting equipment 100 performs operations such as spraying, plastering and the like can be met, and the working condition requirements that the outer wall of the end executing mechanism 102 is extremely easy to be polluted can be met, and the use range of the product can be greatly expanded, simultaneously, the problem of the thick liquids for the rapid solidification or wash terminal actuating mechanism 102 when solidifying irreversible material and exist waste water, waste time, waste material is solved, this application can wash terminal actuating mechanism 102's inner wall and outer wall respectively in different stages through the portion of holding 1042 and the clearance portion 1041 that set up alone, be favorable to the energy saving, save time, simultaneously, can guarantee terminal actuating mechanism 102's reliability, improve the satisfaction that the user used.

Further, as shown in fig. 8 and 9, the cleaning mechanism 104 further includes: a reservoir 1043 communicating with the cleaning part 1041 and the accommodating part 1042; a drainage tank 1044 communicated with the cleaning part 1041; a pump assembly 1045, the pump assembly 1045 being configured to pump the cleaning liquid in the reservoir 1043 to the cleaning portion 1041 and/or the receiving portion 1042.

In this embodiment, reservoir 1043 is used to store cleaning solution and drain 1044 is used to store used, discarded cleaning solution. The liquid discharge box 1044 is communicated with the cleaning part 1041, so that the cleaning part 1041 discharges the waste cleaning liquid remained after cleaning the outer wall of the end executing mechanism 102 into the liquid discharge box 1044 for storage. The pump body assembly 1045 is communicated with the liquid storage tank 1043, the accommodating part 1042 and the cleaning part 1041, so that the pump body assembly 1045 works to pump the cleaning liquid stored in the liquid storage tank 1043 to the accommodating part 1042 and the cleaning part 1041 respectively, and the inner wall and the outer wall of the tail end execution mechanism 102 are cleaned to provide the cleaning liquid.

Specifically, as shown in fig. 11 and 12, the liquid storage tank 1043 and the liquid discharge tank 1044 may have the same structure, further, the liquid storage tank 1043 and the liquid discharge tank 1044 include a tank body 200, and a connecting member 202 and a through hole 204 which are disposed on the tank body 200, the tank body 200 is used for storing a cleaning liquid (the cleaning liquid may be a clean cleaning liquid or a waste cleaning liquid), the connecting member 202 is correspondingly disposed on both sides of the tank body 200 and is located outside the tank body 200, and the tank body 200 is carried or lifted by the connecting member 202, which is convenient to operate. Further, the connection member 202 may be disposed outside the tank body 200 by welding, plugging, or the like. Further, a backing plate 206 is disposed on the tank body 200.

As shown in fig. 13 and 14, the connecting member 202 has a through hole 204, and a hoisting chain, a hoisting rope, a lifting rod, etc. can be connected with the box body 200 through the through hole 204, so that the operation is convenient, the connection is reliable, and the improvement of the hoisting efficiency or the carrying efficiency of the box body 200 is facilitated.

Specifically, the connection members 202 are lifting lugs provided at both ends of the box body 200.

Further, the extending direction of the through hole 204 is perpendicular to the height direction of the box body 200, which is beneficial to ensuring that the height of the box body 200 coincides with the vertical direction in the carrying or hoisting process of the box body 200, thereby ensuring that the cleaning liquid in the box body 200 cannot spill, being beneficial to saving energy and avoiding waste.

Further, as shown in fig. 15 and 16, the cleaning part 1041 includes: a first body 300 communicating with the reservoir 1043 and the drainage reservoir 1044, the first body 300 having an opening; the nozzle 302 is disposed on the first body 300 and located at the opening, the nozzle 302 is communicated with the liquid outlet end of the pump assembly 1045, and the spraying direction of the nozzle 302 faces the inside of the first body 300.

In this embodiment, the cleaning portion 1041 comprises a first body 300 and a nozzle 302, the first body 300 is communicated with the liquid discharge box 1044 and is provided with an opening, which is beneficial for the end effector 102 to extend into the interior of the first body 300 through the opening to clean the outer wall of the end effector 102. The nozzle 302 is disposed on the first body 300 and located at the opening, the nozzle 302 is communicated with the liquid outlet of the pump assembly 1045, so that the pump assembly 1045 works to pump the cleaning liquid in the liquid storage tank 1043 to the nozzle 302 to clean the outer wall of the end actuator 102 located in the first body 300, the spraying direction of the nozzle 302 faces the inside of the first body 300, and the cleaning liquid sprayed by the nozzle 302 falls into the inside of the first body 300 and is discharged to the liquid discharge tank 1044 side by side.

Further, as shown in fig. 17 and 18, the cleaning portion 1041 further includes a liquid distribution valve 304, a liquid inlet of the liquid distribution valve 304 is communicated with a liquid outlet of the pump body assembly 1045, and a liquid outlet of the liquid distribution valve 304 is communicated with the spray head 302; wherein the number of the liquid outlets is the same as the number of the spray heads 302.

Specifically, as shown in fig. 18, the number of the spray heads 302 is multiple, and the plurality of spray heads 302 are uniformly distributed at the opening, which is beneficial to ensuring that the cleaning liquid sprayed by the plurality of spray heads 302 cleans the outer wall of the end effector 102 from different directions, and is further beneficial to improving the cleaning efficiency and improving the reliability of the product. The liquid inlet of the liquid distribution valve 304 is communicated with the liquid outlet of the pump body assembly 1045, the liquid outlets of the liquid distribution valve 304 are communicated with the spray heads 302, and the number of the liquid outlets is the same as that of the spray heads 302, so that the cleaning liquid pumped by the pump body assembly 1045 is distributed to the spray heads 302 through the liquid distribution valve 304, the same amount of the cleaning liquid sprayed by the spray heads 302 can be ensured, and the cleaning effect can be further improved.

Further, as shown in fig. 19 and 20, the accommodating portion 1042 includes: the second body 400 is communicated with the liquid outlet end of the pump body assembly 1045, and the second body 400 is provided with an opening; the liquid level detection device is disposed inside the second body 400.

In this embodiment, the accommodating portion 1042 includes a second body 400 and a liquid level detecting device, the second body 400 is communicated with the liquid outlet end of the pump assembly 1045, so that the pump assembly 1045 works to pump the cleaning liquid in the liquid storage tank 1043 into the second body 400, and the second body 400 is provided with an opening, which is beneficial for the end actuator 102 to extend into the second body 400 through the opening to suck the cleaning liquid. The liquid level detection device is disposed inside the second body 400 and is configured to detect a liquid position inside the second body 400, so that the position of the cleaning liquid on the inner wall of the second body 400 can be known timely and accurately through the liquid level detection device, and therefore, the pump assembly 1045 is controlled to stop working according to a detection result of the liquid level detection device to stop supplying liquid to the accommodating portion 1042, and the pump assembly 1045 is prevented from continuing working to overflow the accommodating portion 1042 and waste energy or pollute the environment.

Further, the accommodating portion 1042 is further provided with an alarm device, which is connected to the liquid level detection device and alarms according to a detection result of the liquid level detection device. The liquid level detection device is connected with the alarm device, and the alarm is given according to the detection result of the liquid level detection device, so that a user can timely and accurately know the amount of the cleaning liquid in the accommodating part 1042 according to the alarm, and further the user can control the grouting equipment 100 to execute related actions according to the amount of the cleaning liquid in the accommodating part 1042. The relevant action may be to control the pump block assembly 1045 to stop working.

Further, as shown in fig. 21 and 22, the liquid level detection device further includes a mounting bracket 402 disposed on the second body 400, and the liquid level detection device is disposed inside the second body 400 through the mounting bracket 402; and a support 404 provided outside the second body 400.

In this design, on second body 400 was located to mounting bracket 402, the inside of second body 400 was located through mounting bracket 402 to the liquid level detection device, was favorable to improving the reliability that liquid level detection device and second body 400 are connected, and then guarantees the accuracy of liquid level detection device testing result, improves the reliability of product.

As shown in fig. 23, the second body 400 further includes a support 404 disposed outside the second body 400, and the support 404 facilitates flexible and reliable fixing of the second body 400 to other structures, thereby improving reliability of connection between the second body 400 and other structures.

Further, the volume of the second body 400 is 3 to 5 times the volume of the end effector 102.

In this design, the volume of the second body 400 is 3 to 5 times the volume of the end effector 102, since the end effector 102 is required to suck the cleaning solution from the second body 400 of the receiving portion 1042 and discharge the cleaning solution to the cleaning portion 1041 when cleaning the inner wall, the volume through the second body 400 is 3 to 5 times the volume of the end effector 102, the volume of the cleaning liquid in the housing 1042 can be set appropriately according to the number of times the inner wall of the end effector 102 is cleaned, so that the cleaning liquid contained in the containing part 1042 can meet the requirement of cleaning the inner wall of the end actuator 102 for a plurality of times, so that the times of cleaning the inner wall of the end executing mechanism 102 for slurries of different materials are different to ensure good cleaning effect, thereby avoiding the blockage of the end actuating mechanism 102, ensuring good feeding and discharging effects, improving the reliability of the product and enlarging the application range of the product.

Example three:

as shown in fig. 2 and 4, according to an embodiment of the present invention, the features defined in the above embodiment are included, and further: grouting apparatus 100 further includes: the charging bucket 112 is arranged on one side of the cleaning part 1041 and communicated with the liquid outlet end of the pump body assembly 1045 and the liquid discharge tank 1044; and the stirring device is arranged inside the charging basket 112 and is used for stirring slurry.

In this embodiment, a bucket 112 is disposed at one side of the cleaning portion 1041, the bucket 112 is used for storing slurry, and the end effector 102 is communicated with the bucket 112 for replenishing material. Locate one side of clearance portion 1041 through storage bucket 112, be favorable to terminal actuating mechanism 102 to accomplish after the feed supplement through clearance portion 1041 to wash terminal actuating mechanism 102's outer wall fast at storage bucket 112, and then improve the cleaning efficiency of terminal actuating mechanism 102 outer wall, improve the holistic feed supplement cleaning efficiency of slip casting equipment 100. Storage bucket 112 includes bucket body and agitating unit, go out the liquid end through bucket body and pump body subassembly 1045, drainage box 1044 is linked together, make when there is not the ground paste in the bucket body, pump body subassembly 1045 work is with the washing liquid pump sending of liquid reserve tank 1043 storage to bucket body, the washing liquid is arranged to drainage box 1044 through the bucket body and is washd in order to the inside of bucket body, and then guarantee the cleaning performance of bucket body, can avoid remaining the volume that influences the bucket body that solidifies in the inside ground paste of bucket body simultaneously, be favorable to guaranteeing the effective volume of bucket body. Locate the inside of bucket body through agitating unit and be used for stirring the ground paste, can avoid being located the long-time static and solidification of ground paste in storage bucket 112, stir the ground paste through agitating unit and be favorable to improving feed supplement efficiency.

Further, as shown in fig. 24, the material barrel 112 and the cleaning mechanism 104 are integrated, that is, the material barrel 112, the cleaning portion 1041, the accommodating portion 1042, the liquid storage tank 1043, the liquid drainage tank 1044, and the pump assembly 1045 form the supplementary material cleaning assembly 500, so that the integration of the supplementary material function and the cleaning function of the end effector 102 is realized, and the integral installation is facilitated.

Further, as shown in fig. 4 and 7, the cleaning part 1041 is disposed between the barrel 112 and the accommodating part 1042; and/or the barrel 112 is located above the cleaning portion 1041, and the accommodating portion 1042 is located below the cleaning portion 1041.

In this embodiment, the cleaning portion 1041 is disposed between the material barrel 112 and the accommodating portion 1042, which is beneficial for the end actuator 102 to move to communicate with the accommodating portion 1042 and suck in the cleaning liquid when the discharging process is completed and the material needs to be supplemented, then move to the cleaning portion 1041 and discharge the sucked cleaning liquid to the cleaning portion 1041 to clean the inner wall of the end actuator 102, then move the end actuator 102 to the material barrel 112 for material supplementation, after the material supplementation is completed, the end actuator 102 moves to the cleaning portion 1041 to clean the outer wall of the end actuator 102, thereby completing the whole cleaning and material supplementation process, which is beneficial for shortening the cleaning and material supplementation time of the end actuator 102, improving the cleaning and material supplementation efficiency of the end actuator 102, further improving the working efficiency of the whole machine, ensuring good material supplementation, discharging and cleaning effects, improving the reliability of the product, and improving the satisfaction degree of the user, meanwhile, the working condition requirements that the slurry used by the grouting equipment 100 is a material which is quickly solidified or is irreversibly solidified and has high feeding difficulty and is not easy to clean can be met, and the application range of the product is effectively enlarged.

The charging basket 112 is located the top of clearance portion 1041, the holding portion 1042 is located the below of clearance portion 1041, charging basket 112 promptly, clearance portion 1041, holding portion 1042 distributes along vertical decurrent direction in proper order, can guarantee slip casting equipment 100 high efficiency, carry out feed supplement and abluent simultaneously fast, satisfy slip casting equipment 100 along the little operating mode demand of horizontal direction occupation space, be favorable to reducing the space occupancy of product, easily use on middle-size and small-size equipment, be favorable to expanding the application range of product.

Example four:

as shown in fig. 2 and 3, according to an embodiment of the present invention, the features defined in the above embodiment are included, and further: grouting apparatus 100 further includes: the chassis running mechanism 108, the chassis running mechanism 108 is provided with the cooperation executing mechanism 106 and the cleaning mechanism 104; the lifting mechanism 110 is arranged on the chassis travelling mechanism 108, and the cooperative execution mechanism 106 is connected with the lifting mechanism 110; and the control mechanism 114 is arranged on the chassis travelling mechanism 108, and the control mechanism 114 is connected with the chassis travelling mechanism 108, the lifting mechanism 110, the cooperative execution mechanism 106, the end execution mechanism 102 and the cleaning mechanism 104.

In this embodiment, the grouting device 100 further includes a chassis traveling mechanism 108, a lifting mechanism 110 and a control mechanism 114, the cleaning mechanism 104 and the lifting mechanism 110 are disposed on the chassis traveling mechanism 108, the chassis traveling mechanism 108 moves to move the cleaning mechanism 104 and the lifting mechanism 110 to any working position, and the cooperative execution mechanism 106 connects the lifting mechanism 110 with the end execution mechanism 102, so that the lifting mechanism 110 drives the end execution mechanism 102 to move to any position and any angle through the cooperative execution mechanism 106.

Specifically, as shown in fig. 5 and 10, the end effector 102 is disposed on the cooperating effector 106 in a top view of the grouting apparatus 100.

Specifically, the cooperating actuator 106 may implement a six-axis linkage to move the end effector 102 to any position and any angle.

Furthermore, the device also comprises an electric power mechanism which is responsible for providing power for the whole device.

Specifically, the control mechanism 114 includes a path planning system to implement autonomous positioning navigation, and the chassis traveling mechanism 108 is controlled by the path planning system to move the grouting equipment 100 to the caulking area to reach the caulking operation start position.

Further, the lifting mechanism 110 includes: a connecting plate connected with the chassis running gear 108; the lead screw is connected with the connecting plate; the cooperative actuator 106 is connected to the lifting mechanism 110 via a lead screw.

In this embodiment, the lifting mechanism 110 includes a connecting plate and a lead screw for moving the cooperating actuator 106 and, in turn, the end actuator 102.

Further, the control mechanism 114 includes: a first controller connected to the lifting mechanism 110 and the cleaning mechanism 104; and a second controller connected with the cooperative actuator 106 and the end actuator 102.

In this embodiment, the control mechanism 114 includes a first controller coupled to the lift mechanism 110 and the cleaning mechanism 104 and a second controller coupled to the cooperating actuator 106 and the end actuator 102 that cooperate with the normal movement of the various parts of the machine.

Specifically, when the grouting equipment 100 provided by the application works, the running of the chassis running mechanism 108 of the grouting equipment 100 is controlled by the autonomous positioning navigation, so that the grouting equipment 100 moves to a gap filling area and reaches the gap filling operation starting position. After the complete machine moves to the start position of the gap filling operation through the chassis traveling mechanism 108, the first controller controls the lifting mechanism 110 to lift or lower the cooperative execution mechanism 106 to the upper side of the charging bucket 112, and then the second controller controls the cooperative execution mechanism 106 to move the end execution mechanism 102 to the charging bucket 112 for material suction. After the material suction is completed, the first controller controls the lifting mechanism 110 to lift and the second controller controls the cooperative actuator 106 to move the end actuator 102 to the position where the caulking operation starts, and the end actuator 102 starts the caulking operation on the wall and floor tile surface. When the gap filler of the end actuator 102 is used up, the first controller controls the lifting mechanism 110 to lift and the second controller controls the cooperative actuator 106 to move the end actuator 102 to the accommodating part 1042 and the cleaning part 1041 for cleaning, after the cleaning is finished, the end actuator 102 moves to the material bucket 112 for supplementing material, after the cleaning is finished, the outer wall of the end actuator 102 can be cleaned again through the cleaning part 1041, and then the end actuator 102 moves to the brick joint of the wall brick and the floor brick to continue the gap filling operation of the wall brick and the floor brick joint. The first controller controls the opening and closing of the water pump assembly to control the pumping of the clean water from the tank 1043 to the cleaning mechanism 104. When the gap filling work of the whole space is completed, the first controller controls the water pump assembly to pump clean water from the liquid storage tank 1043 into the material barrel 112, after the material barrel 112 is cleaned, the chassis travelling mechanism 108 drives the whole machine out of the working space, the gap filling work is continued to the next working space, and the previous steps are repeated.

Specifically, the end effector 102 has the functions of autonomously recognizing a gap, caulking, and cleaning. In other applications where precision manipulation is desired, the end effector 102 may simply be replaced, such as by painting, spraying, etc.

Example five:

according to the second aspect of the invention, the invention also provides a control method of the grouting equipment.

Fig. 25 is a flow chart illustrating a method for controlling a grouting apparatus according to the present invention, and as shown in fig. 25, the method includes:

step 602: receiving a material sucking completion instruction;

step 604: controlling the tail end executing mechanism to move into a cleaning part of the cleaning mechanism, and controlling the cleaning part to clean the outer wall of the tail end executing mechanism;

step 606: receiving a cleaning completion instruction;

step 608: controlling the tail end actuating mechanism to lay slurry;

step 610: receiving a discharging completion instruction;

step 612: and controlling the tail end actuating mechanism to suck materials.

Example six:

fig. 26 is a flow chart illustrating a method for controlling a grouting apparatus according to the present invention, and as shown in fig. 26, the method includes:

step 702: receiving a material sucking completion instruction;

step 704: controlling the tail end executing mechanism to move into a cleaning part of the cleaning mechanism, and controlling the cleaning part to clean the outer wall of the tail end executing mechanism;

step 706: receiving a cleaning completion instruction;

step 708: controlling the tail end actuating mechanism to lay slurry;

step 710: receiving a discharging completion instruction;

step 712: controlling the tail end actuating mechanism to move into the containing part of the cleaning mechanism and sucking the cleaning liquid in the containing part;

step 714: controlling the tail end actuating mechanism to move to a cleaning part of the cleaning mechanism and discharging the cleaning liquid;

step 716: and controlling the tail end actuating mechanism to suck materials.

In this embodiment, control end actuating mechanism and move and inhale the washing liquid in holding portion after receiving ejection of compact completion instruction to move and remove the washing liquid in order to wash end actuating mechanism's inner wall to the clearance portion, through accomplish at the ejection of compact, inhale before the material and rinse end actuating mechanism's inner wall, realize the thorough washing to end actuating mechanism, and then can avoid end actuating mechanism to block up and influence and inhale the material and the ejection of compact, be favorable to guaranteeing good material function and ejection of compact function of inhaling.

Further, after the step of receiving the discharging completion instruction and before the step of controlling the end executing mechanism to move into the containing part of the cleaning mechanism and suck the cleaning liquid in the containing part, the method further comprises the following steps: controlling a pump body assembly of the grouting equipment to work so as to pump cleaning liquid in a liquid storage tank of the cleaning mechanism to the accommodating part; after controlling the end actuating mechanism to move into the cleaning part, the method further comprises the following steps: and controlling the pump body assembly to work so as to pump the cleaning liquid in the liquid storage tank to the cleaning part.

In this embodiment, the pump body assembly is controlled to pump the cleaning liquid into the accommodating portion or the cleaning portion to clean the end actuating mechanism, specifically, after the step of receiving the discharging completion instruction and before the step of controlling the end actuating mechanism to move into the accommodating portion of the cleaning mechanism and suck the cleaning liquid in the accommodating portion, the cleaning liquid is pumped into the accommodating portion for the end actuating mechanism to suck and further clean the inner wall of the end actuating mechanism, and after controlling the end actuating mechanism to move into the cleaning portion, the pump body assembly is controlled to work to pump the cleaning liquid in the liquid storage tank to the cleaning portion to wash the outer wall of the end actuating mechanism.

Example seven:

fig. 27 is a flow chart illustrating a method for controlling a grouting apparatus according to the present invention, and as shown in fig. 27, the method includes:

step 802: receiving a material sucking completion instruction;

step 804: controlling the tail end executing mechanism to move into a cleaning part of the cleaning mechanism, and controlling the cleaning part to clean the outer wall of the tail end executing mechanism;

step 806: receiving a cleaning completion instruction;

step 808: controlling the tail end actuating mechanism to lay slurry;

step 810: receiving a discharging completion instruction;

step 812: controlling the tail end actuating mechanism to move into the containing part of the cleaning mechanism and sucking the cleaning liquid in the containing part;

step 814: controlling the tail end actuating mechanism to move to a cleaning part of the cleaning mechanism and discharging the cleaning liquid;

step 816: controlling the tail end actuating mechanism to suck materials;

step 818: receiving a material bucket no-material instruction of grouting equipment;

step 820: and controlling a pump body assembly of the grouting equipment to work so as to pump the cleaning liquid in the liquid storage tank of the cleaning mechanism to the charging bucket.

In this embodiment, the storage bucket of receiving slip casting equipment does not have the material instruction, it does not have the ground paste in the storage bucket to explain, work is with the washing liquid pump sending in the stock solution case to the storage bucket through control pump body subassembly, because the storage bucket communicates with the flowing back case mutually, the washing liquid is arranged to the inner wall of flowing back case in order to the storage bucket through the storage bucket and is washd, and then guarantee the cleanliness factor of storage bucket, can avoid remaining the volume that influences the storage bucket that solidifies in the inside ground paste of storage bucket simultaneously, be favorable to guaranteeing the effective volume of bucket body. Based on receiving the storage bucket and not having the material instruction, the step of carrying out the work of control pump body subassembly in with the washing liquid pump in the receiver tank to the storage bucket is once at least, is at least once to the abluent number of times of storage bucket promptly for can be according to the material property control of ground paste to the abluent number of times of storage bucket, if the ground paste is the material of solidifying fast and difficult abluent, accessible is many times, intermittent type, or continuously with the washing liquid pump in the storage tank to the storage bucket in order to realize wasing many times the storage bucket, and then guarantee the cleanliness factor of storage bucket. It will be appreciated that the number of times the bucket is cleaned may be two when the slurry is a caulk and one when the slurry is a paint.

Example eight:

according to an embodiment of the invention, including the features defined in any of the above embodiments, and further: and after the step of receiving the discharging completion instruction, executing the steps of controlling the tail end execution mechanism to move into the containing part of the cleaning mechanism and suck the cleaning liquid in the containing part and controlling the tail end execution mechanism to move into the cleaning part of the cleaning mechanism and discharge the cleaning liquid at least once.

In the embodiment, the inner wall of the end executing mechanism is cleaned at least once, so that the times of cleaning the inner wall of the end executing mechanism can be flexibly controlled according to the property of the slurry, the inner wall of the end executing mechanism is ensured to be clean, energy is saved, the cleaning efficiency is improved, the working efficiency of the whole machine is improved, and the using satisfaction of a user is improved.

Example nine:

according to an embodiment of the invention, comprising the features as defined in the above embodiment, and further: before the step of receiving the material sucking completion instruction, the method further comprises the following steps: acquiring an image of a surface to be worked; determining working path information of grouting equipment according to the image and the posture information of the mechanical arm; and controlling the tail end execution mechanism to lay slurry according to the working path information of the grouting equipment.

In the embodiment, the image of the surface to be worked can be acquired through the image acquisition device, and the working path information of the grouting equipment, namely the caulking route, is further determined according to the image and the posture information of the end executing mechanism.

Specifically, the fixed working posture needs to be maintained when the tail end executing mechanism performs seam filling, so that the filled seam is uniform and attractive in appearance, and the working posture of the tail end executing mechanism can be a posture when the image acquisition device is parallel to the surface to be worked and the distance between the tail end executing mechanism and the surface to be worked is fixed.

It can be understood that the work surface is a work surface, such as floor tiles and wall tiles, when grouting equipment needs to be caulked.

Example ten:

according to a third aspect of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the method for controlling a grouting device according to any one of the embodiments of the second aspect, so that the method has all the technical effects of the method for controlling a grouting device, and the details are not repeated herein.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly and include, for example, fixed connections, detachable connections, or integral connections; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Grouting device (100), characterized in that it comprises:

an end effector (102);

a washing mechanism (104), the washing mechanism (104) configured to wash the end effector (102);

a cooperative actuator (106), wherein the end actuator (102) is mounted on the cooperative actuator (106), the cooperative actuator (106) is configured to drive the end actuator (102) to act, and the end actuator (102) is provided with a cavity for containing slurry and a grouting port communicated with the cavity;

the cleaning mechanism (104) comprises:

a cleaning section (1041), the cleaning section (1041) configured to clean an outer wall of the end effector (102);

the accommodating part (1042) is arranged on one side of the cleaning part (1041) and is configured to accommodate cleaning liquid for cleaning the inner wall of the tail end actuating mechanism (102), the accommodating part (1042) is provided with an alarm device, and the alarm device is connected with a liquid level detection device and alarms according to the detection result of the liquid level detection device;

the cleaning mechanism (104) further comprises:

a reservoir (1043) communicating with the cleaning part (1041) and the accommodating part (1042);

a drainage tank (1044) communicated with the cleaning part (1041);

a pump body assembly (1045), the pump body assembly (1045) being configured to be adapted to pump cleaning liquid within the reservoir (1043) to the cleaning portion (1041) and/or the receiving portion (1042).

2. The grouting device (100) according to claim 1, wherein the end effector (102) comprises:

a caulking device;

the image acquisition device is arranged on the gap filling device and is configured to acquire image information of a surface to be worked;

the detection device is arranged on the gap filling device and is configured to acquire position information between the gap filling device and the surface to be worked.

3. The grouting device (100) according to claim 1, wherein the clearing portion (1041) comprises:

the first body (300) is communicated with the liquid storage tank (1043) and the liquid drainage tank (1044), and an opening is formed in the first body (300);

the spray head (302) is arranged on the first body (300) and located at the opening, the spray head (302) is communicated with the liquid outlet end of the pump body assembly (1045), and the spray direction of the spray head (302) faces to the inside of the first body (300).

4. The grouting device (100) according to claim 1, wherein the receptacle (1042) comprises:

the second body (400) is communicated with the liquid outlet end of the pump body assembly (1045), and an opening is formed in the second body (400);

the liquid level detection device is arranged inside the second body (400).

5. Grouting device (100) according to any one of claims 1 to 4, further comprising:

the charging bucket (112) is arranged on one side of the cleaning part (1041) and communicated with the liquid outlet end of the pump body assembly (1045) and the liquid drainage box (1044);

and the stirring device is arranged inside the charging bucket (112) and is used for stirring slurry.

6. Grouting device (100) according to claim 5,

the cleaning part (1041) is arranged between the charging bucket (112) and the accommodating part (1042); and/or

The charging bucket (112) is located above the cleaning part (1041), and the accommodating part (1042) is located below the cleaning part (1041).

7. Grouting device (100) according to any one of claims 1 to 4, further comprising:

a chassis running mechanism (108), wherein the cooperative execution mechanism (106) and the cleaning mechanism (104) are arranged on the chassis running mechanism (108);

the lifting mechanism (110) is arranged on the chassis travelling mechanism (108), and the cooperative execution mechanism (106) is connected with the lifting mechanism (110);

the control mechanism (114) is arranged on the chassis travelling mechanism (108), and the control mechanism (114) is connected with the chassis travelling mechanism (108), the lifting mechanism (110), the cooperative execution mechanism (106), the tail end execution mechanism (102) and the cleaning mechanism (104).

8. Grouting device (100) according to claim 7, characterised in that said lifting mechanism (110) comprises:

the connecting plate is connected with the chassis travelling mechanism (108);

the lead screw is connected with the connecting plate;

wherein the cooperative actuator (106) is connected with the lifting mechanism (110) through the lead screw.

9. Grouting device (100) according to claim 7, characterised in that said control means (114) comprise:

the first controller is connected with the lifting mechanism (110) and the cleaning mechanism (104);

a second controller connected with the cooperative actuator (106) and the end actuator (102).

10. A control method of a grouting apparatus, for use in a grouting apparatus according to any one of claims 1 to 9, characterized in that the control method comprises:

receiving a material sucking completion instruction, controlling the tail end execution mechanism to move into a cleaning part of the cleaning mechanism, and controlling the cleaning part to clean the outer wall of the tail end execution mechanism;

receiving a cleaning completion instruction, and controlling the tail end execution mechanism to lay slurry;

receiving a discharging completion instruction, and controlling the tail end executing mechanism to suck materials;

after the step of receiving the discharging completion instruction, the method further comprises the following steps:

controlling the tail end actuating mechanism to move into a containing part of the cleaning mechanism and suck the cleaning liquid in the containing part;

controlling the tail end actuating mechanism to move to a cleaning part of the cleaning mechanism and discharging the cleaning liquid;

after the step of receiving the discharging completion instruction and before the step of controlling the end executing mechanism to move into the accommodating part of the cleaning mechanism and suck the cleaning liquid in the accommodating part, the method further comprises the following steps:

controlling a pump body assembly of the grouting equipment to work so as to pump the cleaning liquid in the liquid storage tank of the cleaning mechanism to the accommodating part;

after the controlling the end effector to move into the cleaning part, the method further comprises the following steps:

and controlling the pump body assembly to work so as to pump the cleaning liquid in the liquid storage tank to the cleaning part.

11. The method for controlling grouting equipment according to claim 10, further comprising:

receiving a material bucket no-material instruction of the grouting equipment, and controlling a pump body assembly of the grouting equipment to work to pump cleaning liquid in a liquid storage tank of the cleaning mechanism to the material bucket;

and executing the step of controlling the pump body assembly of the grouting equipment to work to pump the cleaning liquid in the liquid storage tank of the cleaning mechanism to the charging basket at least once.

12. The grouting equipment control method according to claim 10,

and after the step of receiving the discharging completion instruction, executing at least one time of the steps of controlling the tail end execution mechanism to move into the containing part of the cleaning mechanism and suck the cleaning liquid in the containing part and controlling the tail end execution mechanism to move into the cleaning part of the cleaning mechanism and discharge the cleaning liquid.

13. The method for controlling grouting equipment according to claim 10, further comprising, before the step of receiving a suction completion instruction:

acquiring an image of a surface to be worked;

determining working path information of the grouting equipment according to the image and the attitude information of the tail end executing mechanism;

and controlling the tail end executing mechanism to lay slurry according to the working path information of the grouting equipment.

14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling a grouting device according to any one of claims 10 to 13.