CN113445773B - Gate valve control mechanism, plugging head, hole plugging device and hole plugging robot - Google Patents
Gate valve control mechanism, plugging head, hole plugging device and hole plugging robot Download PDFInfo
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- CN113445773B CN113445773B CN202010230804.6A CN202010230804A CN113445773B CN 113445773 B CN113445773 B CN 113445773B CN 202010230804 A CN202010230804 A CN 202010230804A CN 113445773 B CN113445773 B CN 113445773B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 190
- 239000002002 slurry Substances 0.000 claims abstract description 86
- 238000010276 construction Methods 0.000 claims abstract description 55
- 238000007667 floating Methods 0.000 claims description 57
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000036316 preload Effects 0.000 claims description 16
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 6
- 239000011440 grout Substances 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 29
- 230000000903 blocking effect Effects 0.000 description 21
- 230000000007 visual effect Effects 0.000 description 19
- 230000009286 beneficial effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000007306 turnover Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000011179 visual inspection Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 241000287509 Piciformes Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Classifications
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- 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
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
- E04G23/0203—Arrangements for filling cracks or cavities in building constructions
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/62—Insulation or other protection; Elements or use of specified material therefor
- E04B1/66—Sealings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K3/00—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing
- F16K3/02—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with flat sealing faces; Packings therefor
- F16K3/0254—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with flat sealing faces; Packings therefor being operated by particular means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K3/00—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing
- F16K3/02—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with flat sealing faces; Packings therefor
- F16K3/16—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with flat sealing faces; Packings therefor with special arrangements for separating the sealing faces or for pressing them together
- F16K3/18—Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with flat sealing faces; Packings therefor with special arrangements for separating the sealing faces or for pressing them together by movement of the closure members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/44—Mechanical actuating means
- F16K31/50—Mechanical actuating means with screw-spindle or internally threaded actuating means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Sliding Valves (AREA)
Abstract
The invention relates to the technical field of construction machinery, and discloses a gate valve control mechanism, a plugging head, a hole plugging device and a hole plugging robot. The gate valve control mechanism comprises a mounting seat, a gate valve push plate, a gate valve driving unit and a pre-tightening piece. The mounting seat is provided with a through hole communicated with the grout outlet pipe. The gate valve push pedal is movably arranged on the mounting seat, and a feeding hole is formed in the gate valve push pedal. The gate valve driving unit is installed on the installation seat and can drive the gate valve push plate to move, so that the feed hole is opposite to or staggered with the through hole. The pressure between gate valve push pedal and the mount pad can be adjusted to the pretension piece to make the gate valve push pedal can remove relative the mount pad, and can keep sealed with between the mount pad. The gate valve control mechanism provided by the invention can quickly control the start and stop of slurry conveying, has good sealing performance, can effectively avoid slurry leakage and slurry flow, and is simple in structure, convenient and practical.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a gate valve control mechanism, a plugging head, a hole plugging device and a hole plugging robot.
Background
In the building construction process, for example, in the process of plugging holes such as screw holes in wall surfaces, slurry such as concrete needs to be conveyed, and in the conveying process, a gate valve control mechanism is usually used to control the start and stop of slurry conveying. However, the existing gate valve control mechanism usually cannot rapidly control the start and stop of the slurry, and slurry leakage and slurry flowing are easily caused.
Therefore, a new gate valve control mechanism is needed to solve the above technical problems.
Disclosure of Invention
One object of the present invention is to provide a gate valve control mechanism, which can rapidly control the start and stop of slurry delivery, has good sealing performance, can effectively avoid slurry leakage and slurry flow, and has a simple structure, convenience and practicability.
The invention also aims to provide the plugging head, which can quickly control the start and stop of slurry conveying by applying the gate valve control mechanism, has good sealing performance, can effectively avoid slurry leakage and flow discharge, and effectively improves the plugging quality of holes.
Another object of the present invention is to provide a hole plugging device, which can automatically plug a hole by using the plugging head, thereby effectively improving the plugging efficiency and the plugging quality of the plugging head.
The invention also aims to provide a hole plugging robot, which can continuously and circularly complete the plugging of different holes on the whole construction surface by the plugging head by applying the hole plugging device, thereby improving the plugging efficiency and the plugging quality.
In order to achieve the purpose, the invention adopts the following technical scheme:
a gate valve control mechanism for controlling the start and stop of a slurry outlet pipe for conveying slurry, the gate valve control mechanism comprises:
the mounting seat is provided with a through hole communicated with the slurry outlet pipe;
the gate valve push plate is movably arranged on the mounting seat and is provided with a feeding hole;
the gate valve driving unit is arranged on the mounting seat and can drive the gate valve push plate to move so as to enable the feed hole to be opposite to or staggered with the through hole;
the pretension piece can adjust the gate valve push pedal with pressure between the mount pad, so that the gate valve push pedal can move relatively the mount pad, and can with keep sealed between the mount pad.
As a preferable scheme of the gate valve control mechanism, the gate valve control mechanism further comprises two guide plates, the two guide plates are installed on the installation seat at intervals and oppositely and form a guide channel, and the gate valve push plate is movably clamped in the guide channel.
As a preferable scheme of the gate valve control mechanism, the preload piece is installed on the installation seat, and one end of the preload piece can press the gate valve push plate against the installation seat to adjust the pressure between the gate valve push plate and the installation seat.
As a preferable aspect of the gate valve control mechanism, the gate valve driving unit includes:
the gate valve driver is arranged on the mounting seat;
one end of the transmission rod is connected with the driving end of the gate valve driver, the other end of the transmission rod is in threaded fit with the gate valve push plate, and the gate valve driver can drive the transmission rod to rotate so as to drive the gate valve push plate to move along the extending direction of the transmission rod.
As a preferable aspect of the gate valve control mechanism, the mount includes:
the feed end of the pulp outlet pipe penetrates through the connecting plate;
the baffle is installed on the connecting plate, the through hole is opened on the baffle, the gate valve push pedal is movably arranged on the baffle.
As the preferred scheme of the gate valve control mechanism, the gate valve control mechanism further comprises a joint, one end of the joint is connected with the gate valve push plate and communicated with the feeding hole, and slurry can enter from the other end of the joint.
The utility model provides a shutoff head, shutoff head includes out the thick liquid pipe, still includes as above gate valve control mechanism, go out the thick liquid pipe with through-hole intercommunication on the mount pad.
As a preferable scheme of the blocking head, the method further comprises the following steps:
the floating plugging mechanism is used for plugging holes in a construction surface, the floating plugging mechanism is connected with the gate valve control mechanism, the slurry outlet pipe is arranged in the floating plugging mechanism in a penetrating mode, and the floating plugging mechanism can conduct floating adjustment according to the condition of the construction surface, so that the working surface of the floating plugging mechanism is tightly pressed on the construction surface and slurry for plugging the holes is leveled.
The hole plugging device comprises a mechanical arm and a plugging head, wherein the plugging head is arranged at the working end of the mechanical arm.
A hole plugging robot comprises a moving platform and further comprises a hole plugging device, wherein the hole plugging device is installed on the moving platform.
The invention has the beneficial effects that:
the gate valve control mechanism provided by the invention can quickly control the starting and stopping of the slurry delivery pipe for delivering slurry through the matching of the mounting seat, the gate valve push plate and the gate valve driving unit, effectively avoids slurry leakage and slurry flowing, and is simple in structure, convenient and practical; in addition, the pressure between the gate valve push plate and the mounting seat is adjusted through the pre-tightening piece, so that the gate valve push plate can be smoothly pushed, and the gate valve push plate and the mounting seat can be well sealed, thereby being beneficial to further preventing slurry leakage.
The plugging head provided by the invention can rapidly control the start and stop of slurry conveying by applying the gate valve control mechanism, has good sealing performance, can effectively avoid the phenomena of slurry leakage and slurry flow, and effectively improves the plugging quality of holes.
According to the hole plugging device provided by the invention, the plugging head is applied, and the plugging head is matched with the mechanical arm, so that the automatic plugging of the hole can be realized, and the plugging efficiency and the plugging quality of the plugging head are effectively improved.
According to the hole plugging robot, the hole plugging device is applied, and the plugging head is matched with the moving platform, so that the plugging head can continuously and circularly plug different holes on the whole construction surface, and the plugging efficiency and the plugging quality are obviously improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the invention;
FIG. 2 is a first side view of a floating block-off mechanism and a gate control mechanism provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the invention in a communication state;
FIG. 4 is a schematic structural diagram of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the invention in a disconnected state;
FIG. 5 is a second side view of the floating block-off mechanism and the gate control mechanism provided by the present embodiment;
FIG. 6 is a schematic structural diagram of a floating plugging mechanism provided by an embodiment of the present invention;
FIG. 7 is a cross-sectional view of a floating occlusion mechanism provided by an embodiment of the present invention;
FIG. 8 is a side view of a hole blocking device provided in accordance with an embodiment of the present invention in a deployed, test position;
figure 9 is a side view of an aperture blocking device according to an embodiment of the present invention in an expanded operational configuration;
FIG. 10 is a schematic view of a hole blocking device according to an embodiment of the present invention in a deployed state;
figure 11 is a side view of an aperture blocking device according to an embodiment of the present invention in a deployed state;
fig. 12 is a front view of the hole blocking device according to the embodiment of the present invention in a folded and dislocated state;
FIG. 13 is a schematic view of the assembly relationship of the swing arm mechanism and the plug head rotating mechanism provided by the embodiment of the present invention;
FIG. 14 is a partial schematic structural view of a swing arm mechanism provided in accordance with an embodiment of the present invention;
FIG. 15 is a partial cross-sectional view of a swing arm mechanism provided by an embodiment of the present invention;
FIG. 16 is a schematic view of the assembly relationship of the plug rotating mechanism and the plug according to the embodiment of the present invention;
FIG. 17 is a schematic structural diagram of a telescoping mechanism provided in an embodiment of the invention;
FIG. 18 is a side view of a telescoping mechanism provided by an embodiment of the invention;
fig. 19 is a schematic structural diagram of a hole plugging robot provided in an embodiment of the present invention in an expanded working state;
fig. 20 is a front view of the hole plugging robot according to the embodiment of the present invention in a folded and dislocated state.
In the figure:
100-construction surface;
1-a mechanical arm; 11-a swing arm mechanism; 111-a swing arm; 112-a rotation axis; 113-a mounting frame; 114-swing arm drive; 115-a swing arm drive assembly; 1151-a first gear; 1152-a second gear; 116-a bearing assembly; 1161-bearing seat; 1162-bearings; 12-a stopper rotating mechanism; 121-a rotating shaft; 122-choke plug rotation drive; 123-a rotation transmission assembly; 1231-a first pulley; 1232-a second pulley; 1233-drive belt; 13-a turnover mechanism; 14-a rotation mechanism; 141-a rotating platform; 142-a rotation drive unit; 15-a telescoping mechanism; 151-cantilever; 152-a telescopic arm; 153-telescoping drive unit; 154-lead screw; 155-nut seat; 156-a slide rail; 157-a slide block;
2-a blocking head; 21-a floating plugging mechanism; 211-a fixed plate; 212-a floating platen; 2121-a pulp outlet channel; 213-slurry outlet pipe; 214-a resilient member; 215-a guide bar; 2151-shaft portion; 2152-conical head; 22-a gate control mechanism; 221-a mounting seat; 2211-connecting plate; 2212-baffle plate; 2213-mounting plate; 222-a gate valve push plate; 2221-feed hole; 223-a preload piece; 224-a guide plate; 225-gate valve driver; 226-a transmission rod; 227-a linker;
3-a visual inspection mechanism;
10-a mobile platform;
20-pulp barrel;
30-a placement platform;
40-a lower track;
50-upper track.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only or to distinguish between different structures or components and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
As shown in fig. 1-5, the present embodiment provides a gate valve control mechanism 22, which can be used to control the start and stop of slurry delivery of the slurry outlet pipe 213 when plugging a hole such as a screw hole. Specifically, the gate valve control mechanism 22 includes a mount 221, a gate valve push plate 222, a gate valve drive unit, and a preload member 223. The mounting seat 221 is provided with a through hole communicated with the slurry outlet pipe 213. The gate valve push plate 222 is movably disposed on the mounting seat 221, and the gate valve push plate 222 is provided with a feeding hole 2221. A gate valve driving unit is installed on the installation seat 221, and the gate valve driving unit can drive the gate valve push plate 222 to move so that the feeding hole 2221 is aligned with or misaligned from the through hole. The preload member 223 can adjust the pressure between the gate valve push plate 222 and the mounting seat 221, so that the gate valve push plate 222 can move relative to the mounting seat 221 and can maintain a seal with the mounting seat 221.
The working principle of the gate valve control mechanism 22 provided by this embodiment is as follows: as shown in fig. 3, when the feeding hole 2221 is aligned with the through hole, the feeding hole 2221 is communicated with the slurry outlet pipe 213, and slurry can flow into the hole through the feeding hole 2221, the through hole and the slurry outlet pipe 213 in sequence; as shown in fig. 4, after the hole is filled with slurry, the gate valve driving unit pushes the gate valve push plate 222 to move so that the feeding hole 2221 is staggered with respect to the through hole, the feeding hole 2221 is disconnected from the slurry outlet pipe 213, the slurry does not flow into the slurry outlet pipe 213 any more, and the slurry outlet pipe 213 stops delivering the slurry to the hole quickly, thereby preventing slurry leakage and slurry flow.
The gate valve control mechanism 22 provided by this embodiment can rapidly control the start and stop of the slurry delivery pipe 213 for delivering slurry through the cooperation of the mounting seat 221, the gate valve push plate 222 and the gate valve driving unit, so as to effectively avoid slurry leakage and slurry flow, and has a simple structure, convenience and practicability; in addition, the preload device 223 adjusts the pressure between the gate valve pushing plate 222 and the mounting seat 221, so that the gate valve pushing plate 222 can be smoothly pushed, and the gate valve pushing plate 222 and the mounting seat 221 can be well sealed, thereby being beneficial to further preventing slurry leakage.
Preferably, as shown in fig. 5, the plurality of preload members 223 are uniformly distributed on both sides in the moving direction of the gate valve push plate 222. Specifically, in the present embodiment, the preload member 223 is a preloaded spring screw.
Preferably, as shown in fig. 1, 2 and 5, the gate valve control mechanism 22 provided by the present embodiment further includes two guide plates 224, two guide plates 224 are mounted on the mounting seat 221 in a spaced and opposite manner and form a guide channel, and the gate valve push plate 222 is movably clamped in the guide channel. The precision of the moving path of the gate valve push plate 222 is ensured by the cooperation of the two guide plates 224.
Alternatively, the preload member 223 is installed on the guide plate 224 on the mount 221, and one end of the preload member 223 can press the gate valve push plate 222 against the mount 221 to adjust the pressure between the gate valve push plate 222 and the mount 221. That is, the contact pressure between the gate valve push plate 222 and the mounting seat 221 can be adjusted by adjusting the contact pressure between the preload member 223 and the gate valve push plate 222. Specifically, in the present embodiment, two preload members 223 are mounted on each guide plate 224, and the two preload members 223 are arranged in the moving direction of the gate valve push plate 222.
Alternatively, as shown in fig. 3 and 4, the gate valve driving unit provided in the present embodiment includes a gate valve driver 225 and a driving rod 226, and the gate valve driver 225 is mounted on the mounting seat 221. One end of the transmission rod 226 is connected to the driving end of the gate valve driver 225, and the other end is in threaded engagement with the gate valve push plate 222, and the gate valve driver 225 can drive the transmission rod 226 to rotate so as to drive the gate valve push plate 222 to move along the extending direction of the transmission rod 226. That is, a structure similar to a screw nut is formed between the driving rod 226 and the gate valve push plate 222, and the driving rod 226 is driven to rotate by the gate valve driver 225, so that the length of the thread fit between the driving rod 226 and the gate valve push plate 222 can be adjusted, and the gate valve push plate 222 is further pushed to move. Specifically, the drive link 226 is a trapezoidal screw. In the present embodiment, the gate valve driver 225 is a motor.
Alternatively, as shown in fig. 3, the mounting seat 221 includes a connecting plate 2211 and a baffle 2212, and the feeding end of the slurry outlet pipe 213 is inserted into the connecting plate 2211. The blocking plate 2212 is installed on the connecting plate 2211, a through hole is opened in the blocking plate 2212, and the gate valve push plate 222 is movably provided on the blocking plate 2212.
Alternatively, as shown in fig. 1 and 2, the mounting base 221 further includes two mounting plates 2213, two mounting plates 2213 are respectively connected to two opposite sides of the connecting plate 2211, and each mounting plate 2213 is correspondingly provided with a guide plate 224. Optionally, the gate valve driver 225 is mounted on one of the mounting plates 2213.
Optionally, as shown in fig. 3, the gate valve control mechanism 22 provided in this embodiment further includes a joint 227, one end of the joint 227 is connected to the gate valve push plate 222 and is communicated with the feeding hole 2221, and the slurry can enter from the other end of the joint 227. I.e. slurry can enter the slurry outlet pipe 213 through the joint 227. Specifically, in the present embodiment, the joint 227 is a pagoda-type joint.
The present embodiment further provides a plugging head 2, which includes a slurry outlet pipe 213 and the above-mentioned gate control mechanism 22, wherein the slurry outlet pipe 213 is communicated with the through hole on the mounting seat 221.
Preferably, as shown in fig. 6 and 7, the plugging head 2 provided in this embodiment includes a floating plugging mechanism 21 for plugging a hole on the construction surface 100, the floating plugging mechanism 21 is connected to a gate valve control mechanism 22, the slurry outlet pipe 213 is inserted into the floating plugging mechanism 21, and the floating plugging mechanism 21 can perform floating adjustment according to the condition of the construction surface 100, so that the working surface of the floating plugging mechanism is tightly pressed on the construction surface 100 and the slurry for plugging the hole is leveled. The gate control mechanism 22 can control the slurry outlet pipe 213 to deliver slurry to the hole or stop delivering slurry. Through the floating adjustment of the floating plugging mechanism 21, the working surface of the floating plugging mechanism 21 can be always pressed on the construction surface 100, so that the floating is realized and the plugging quality is ensured.
Preferably, the floating blocking mechanism 21 provided by the present embodiment further includes a fixed plate 211 and a floating pressure plate 212. The fixing plate 211 is connected to the connecting plate 2211 of the mounting base 221. The floating pressure plate 212 is floatably disposed on the fixed plate 211. The slurry outlet end of the slurry outlet pipe 213 is arranged in the floating pressure plate 212 in a penetrating way and can convey slurry to the hole. The surface of the floating pressing plate 212 can be tightly pressed on the construction surface 100 and can be used for smoothing the slurry for blocking the hole. Through the floating of the floating pressing plate 212 relative to the fixed plate 211, the plate surface of the floating pressing plate 212 can be pressed on the construction surface 100 all the time tightly, so that the slurry leakage from the slurry outlet pipe 213 to the hole can be prevented, the slurry for plugging the hole can be troweled by the floating pressing plate 212, and the plugging quality can be ensured.
Preferably, the floating blocking mechanism 21 further comprises an elastic member 214, and the elastic member 214 elastically connects the fixed plate 211 and the floating pressure plate 212, so that the floating pressure plate 212 can perform floating adjustment relative to the fixed plate 211 according to the condition of the construction surface 100. The floating pressure plate 212 can be floated with respect to the fixed plate 211 by the compression of the elastic member 214. Specifically, in the present embodiment, the elastic member 214 is an ultra-light-load rectangular spring.
Preferably, the plurality of elastic members 214 are uniformly distributed along the circumferential direction of the floating pressure plate 212. The cooperation of the plurality of elastic members 214 is beneficial to enabling the floating pressure plate 212 to float uniformly and stably in the whole circumferential direction, thereby being beneficial to ensuring the floating and blocking quality. Optionally, the three elastic members 214 are evenly distributed along the circumference of the floating pressure plate 212. Of course, in other embodiments, the number of the elastic members 214 may be adjusted according to actual requirements, and is not limited herein.
Preferably, the floating blocking mechanism 21 further includes a guide rod 215, a first end of the guide rod 215 is fixedly connected to the floating pressure plate 212, a second end thereof passes through the guide hole of the fixing plate 211 with a gap, and the elastic member 214 is sleeved on the guide rod 215. The cooperation of the guide rod 215 and the elastic member 214 is advantageous to ensure the stability of the operation of the floating pressure plate 212.
Preferably, the guide bar 215 includes a rod portion 2151 and a tapered head portion 2152 connected to the rod portion 2151. The guiding hole includes the face of cylinder and the conical surface, and the face of cylinder is connected with the one end that the conical surface is close to floating platen 212, and pole portion 2151 and face of cylinder clearance fit, conical head portion 2152 can laminate with the conical surface. In the plugged condition, the resilient member 214 compresses and the tapered head portion 2152 disengages from the tapered surface of the pilot hole. A gap (for example, 1 mm) exists between the rod part 2151 and the cylindrical surface of the guide hole, the floatability of the floating pressure plate 212 is shown in the plugging state, and the pre-compression of the elastic part 214 enables the conical head part 2152 to be attached to the conical surface of the guide hole in the non-plugging state, so that the floating pressure plate 212 returns to the original position, and the positioning accuracy in the next plugging is improved.
Preferably, the floating pressure plate 212 is provided with a slurry outlet passage 2121, the outer wall of the slurry outlet end of the slurry outlet pipe 213 is spherical, and the slurry outlet end of the slurry outlet pipe 213 is rotatably inserted into the slurry outlet passage 2121. The matching of the slurry outlet passage 2121 and the spherical slurry outlet end of the slurry outlet pipe 213 is beneficial to ensuring the connection stability of the slurry outlet pipe 213 and the floating pressure plate 212, and meanwhile, the slurry outlet direction can be finely adjusted through the rotation of the slurry outlet end of the slurry outlet pipe 213, so that the slurry can be filled in the holes.
As shown in fig. 8 and fig. 9, this embodiment further provides a hole plugging device, which can be used for plugging a screw hole on a wall surface. Specifically, the hole plugging device comprises a mechanical arm 1 and the plugging head 2, wherein the plugging head 2 is arranged at the working end of the mechanical arm 1. The hole can be plugged by the plugging head 2 under the driving of the mechanical arm 1. Specifically, in the present embodiment, the plugging head 2 is mounted to the working end of the robot arm 1 through a fixing plate 211.
As shown in fig. 8 and 9, the hole plugging device provided in this embodiment further includes a visual detection mechanism 3, and the visual detection mechanism 3 is installed on the working end or the plugging head 2 of the mechanical arm 1. The mechanical arm 1 can drive the visual detection mechanism 3 to move towards the direction far away from the construction surface 100 so as to adjust the distance between the visual detection mechanism 3 and the construction surface 100, and the visual detection mechanism 3 can detect the position of the hole. The mechanical arm 1 can drive the plugging head 2 to move towards the direction close to the construction surface 100 according to the detection result of the visual detection mechanism 3, so that the plugging head 2 can plug the hole.
According to the hole plugging device provided by the embodiment, the mechanical arm 1 drives the visual detection mechanism 3 to move, so that the distance between the visual detection mechanism 3 and the construction surface 100 can be adjusted, the visual detection mechanism 3 can detect the position of a hole at the optimal distance, and the position detection accuracy can be guaranteed; after the visual inspection mechanism 3 finishes inspecting and determining the position of the hole, the mechanical arm 1 drives the plugging head 2 to be close to the construction surface 100 according to the inspection result of the visual inspection mechanism 3, so that the plugging head 2 finishes plugging the hole. The hole plugging device that this embodiment provided can realize the automatic shutoff to the hole, improves the shutoff efficiency and the shutoff quality of hole greatly, ensures constructor's safety.
Specifically, in the present embodiment, the visual inspection mechanism 3 is mounted on the plugging head 2. Preferably, the visual detection mechanism 3 includes a sensor and a depth vision camera, the sensor is used for detecting the distance between the depth vision camera and the construction surface 100, and when the distance between the depth vision camera and the construction surface 100 satisfies a preset distance, the depth vision camera starts to shoot the hole on the construction surface 100 to determine the position of the hole. By controlling the distance between the depth vision camera and the construction surface 100, the shooting quality is improved, and the accuracy of hole position determination can be improved. It should be noted that the sensor and the depth vision camera used in the present embodiment are conventional structures in the prior art, and the structure and the operation principle thereof will not be described in detail here. Specifically, in the present embodiment, the preset distance between the depth vision camera and the construction surface 100 is 300mm. Of course, in other embodiments, the preset distance between the depth vision camera and the construction surface 100 may also be adjusted according to actual requirements.
Preferably, as shown in fig. 10 and 11, the mechanical arm 1 provided by this embodiment includes a swing arm mechanism 11, the fixing plate 211 of the plugging head 2 is connected to a swing end of the swing arm mechanism 11, and the connection end of the swing arm mechanism 11 can rotate around a first axis parallel to the construction surface 100 to drive the plugging head 2 and the visual inspection mechanism 3 to swing towards or away from the construction surface 100. The swing arm mechanism 11 drives the sealing head 2 and the visual detection mechanism 3 to swing (similar to the action of pecking a wood by a woodpecker), so that the switching between the sealing state and the detection state can be realized, only one shaft needs to be moved, and six shafts need to be moved when a six-shaft mechanical arm is used, therefore, the switching speed between the sealing state and the detection state can be increased through the matching of the swing arm mechanism 11 with the sealing head 2 and the visual detection mechanism 3, the accuracy of hole position detection is ensured, and the sealing efficiency is improved.
Preferably, as shown in fig. 10 and fig. 11, the mechanical arm 1 further includes a plugging head rotating mechanism 12, the plugging head 2 is rotatably disposed at the swinging end of the swinging arm mechanism 11 through the plugging head rotating mechanism 12, and the plugging head rotating mechanism 12 can drive the plugging head 2 to rotate around a second axis, so that the working surface of the plugging head 2 is adjusted to be parallel to the construction surface 100, where the second axis is parallel to the first axis. The blocking head rotating mechanism 12 drives the blocking head 2 to rotate, so that the working surface of the blocking head 2 is always parallel to the construction surface 100, and the blocking quality of the hole is guaranteed. In addition, because the visual detection mechanism 3 is installed on the plugging head 2, the visual detection mechanism 3 can be driven to rotate in the rotation process of the plugging head 2, so that the detection end of the visual detection mechanism 3 is always parallel to the construction surface 100, and the accuracy of the detection result can be ensured. Of course, the parallel relationship between the working surface of the plugging head 2 and the construction surface 100 and the parallel relationship between the detection end of the visual detection mechanism 3 and the construction surface 100 can also be adjusted through the coupling of the rotation of the swing arm mechanism 11 around the first axis and the rotation of the plugging head 2 around the second axis.
Preferably, as shown in fig. 10-12, the robot arm 1 further includes a turning mechanism 13, the turning mechanism 13 is connected to the connecting end of the swing arm mechanism 11, and the turning mechanism 13 can drive the swing arm mechanism 11 to turn in a vertical plane perpendicular to the construction surface 100, so that the swing arm mechanism 11 can avoid an obstacle. In the present embodiment, the turnover mechanism 13 can drive the swing arm mechanism 11 to turn 90 ° upward, so that the swing arm mechanism 11 can avoid obstacles and smoothly move around the construction surface 100. Of course, in other embodiments, the tilting mechanism 13 may also drive the swing arm mechanism 11 to tilt downward by 90 °, which is not limited herein. Alternatively, the turning mechanism 13 may be a motor as a turning driving member, and a rotating shaft of the motor is connected to the connecting end of the swing arm mechanism 11, so as to drive the swing arm mechanism 11 to turn through the rotating shaft of the motor.
Preferably, as shown in fig. 10 and fig. 11, the mechanical arm 1 further includes a rotating mechanism 14, the rotating mechanism 14 is connected between the turnover mechanism 13 and the connecting end of the swing arm mechanism 11, and the rotating mechanism 14 can drive the swing arm mechanism 11 to rotate in a plane parallel to the construction surface 100, so as to increase the plugging range of the plugging head 2. The swing arm mechanism 11 is driven to rotate by the rotating mechanism 14, so that the plugging head 2 can plug the holes on the construction surface 100 as much as possible without integrally moving the mechanical arm 1, and in addition, the detection range of the visual detection mechanism 3 can be expanded. Optionally, the rotation mechanism 14 is rotated more than 180 °.
Preferably, as shown in fig. 10 and 11, the robot arm 1 further includes a telescopic mechanism 15, the telescopic mechanism 15 is connected between the connection ends of the turnover mechanism 13 and the swing arm mechanism 11, and the telescopic mechanism 15 can be extended and retracted towards or away from the construction surface 100, so as to enable the plugging head 2 to approach or be away from the construction surface 100. By means of the extension and retraction mechanism 15, the distance between the plugging head 2 and the construction surface 100 can be adjusted, and the attaching pressure between the plugging head 2 and the construction surface 100 can be adjusted. In this embodiment, the distance between the plugging head 2 and the construction surface 100 can be adjusted by the telescopic mechanism 15 and the swing arm mechanism 11, the telescopic mechanism 15 can drive the swing arm mechanism 11 to move to a position close to the construction surface 100, and then the distance between the plugging head 2 and the visual detection mechanism 3 and the construction surface 100 can be accurately adjusted by the swing arm mechanism 11, so that the rapid switching between the detection state and the plugging state is realized. Specifically, in the present embodiment, one end of the telescopic mechanism 15 is connected to the turnover mechanism 13, the other end is connected to the rotation mechanism 14, and the rotation mechanism 14 is connected to the connection end of the swing arm mechanism 11. Namely, the turnover mechanism 13, the telescopic mechanism 15, the rotating mechanism 14 and the swing arm mechanism 11 are connected in sequence.
Preferably, as shown in fig. 13 and 14, the swing arm mechanism 11 provided by the present embodiment includes a swing arm 111, a rotating shaft 112, and a swing arm drive unit. The plugging head 2 is rotatably disposed at a first end of the swing arm 111 through the plugging head rotating mechanism 12, and the rotating shaft 112 is fixedly connected to a second end of the swing arm 111. The swing arm driving unit can drive the rotation shaft 112 to rotate, so that the rotation shaft 112 drives the swing arm 111 to swing towards or away from the construction surface 100.
Optionally, the swing arm mechanism 11 further comprises a mounting bracket 113, and the mounting bracket 113 is rotatably connected to the rotating shaft 112. The swing arm drive unit includes a swing arm actuator 114 and a swing arm actuator assembly 115, the swing arm actuator 114 being mounted on a mounting bracket 113. The swing arm driving assembly 115 is drivingly connected to the driving end of the swing arm driver 114 and the rotating shaft 112, so that the swing arm driver 114 can drive the rotating shaft 112 to rotate.
Alternatively, the swing arm transmission assembly 115 includes a first gear 1151 and a second gear 1152, the first gear 1151 is mounted on the driving end of the swing arm driver 114, the second gear 1152 is mounted on the rotating shaft 112, and the first gear 1151 and the second gear 1152 are in meshed connection.
Optionally, as shown in fig. 14 and 15, the swing arm mechanism 11 further includes a bearing assembly 116, and the mounting frame 113 is rotatably connected to the rotating shaft 112 through the bearing assembly 116. Further, the bearing assembly 116 includes a bearing block 1161 and a bearing 1162, the bearing block 1161 is connected to the mounting frame 113, the rotating shaft 112 passes through the bearing block 1161, and the bearing 1162 is disposed between the rotating shaft 112 and the bearing block 1161.
Alternatively, as shown in fig. 13 and 16, the plug head rotating mechanism 12 includes a rotating shaft 121, a plug head rotating driver 122, and a rotating transmission assembly 123. The rotating shaft 121 is rotatably disposed on the swing arm mechanism 11 and is fixedly connected to the plugging head 2. The plugging head rotation driver 122 is disposed on the swing arm mechanism 11 and far away from the swing end of the swing arm mechanism 11. The rotation transmission assembly 123 is in transmission connection with the driving end of the plugging head rotation driver 122 and the rotating shaft 121, so that the plugging head rotation driver 122 can drive the rotating shaft 121 to rotate, and the rotating shaft 121 drives the plugging head 2 to rotate. The swing end of the blocking head rotating driver 122 far away from the swing arm mechanism 11 is arranged, so that the load of the swing end of the swing arm mechanism 11 can be reduced, the swing arm mechanism 11 can swing more flexibly and is easier to control, and the working efficiency of the blocking head 2 and the visual detection mechanism 3 can be improved.
Optionally, the rotation transmission assembly 123 includes a first pulley 1231, a second pulley 1232, and a transmission belt 1233, wherein the first pulley 1231 is installed on the driving end of the plug rotation driver 122, the second pulley 1232 is installed on the first end of the swing arm 111, and the transmission belt 1233 is sleeved on the first pulley 1231 and the second pulley 1232.
Alternatively, as shown in fig. 17 and 18, the rotation mechanism 14 includes a rotation platform 141 and a rotation drive unit 142. The rotating platform 141 is fixedly connected with the connecting end of the swing arm mechanism 11. The rotation driving unit 142 can drive the rotation platform 141 to rotate in a plane parallel to the construction surface 100, so that the rotation platform 141 drives the swing arm mechanism 11 to rotate in the plane parallel to the construction surface 100. Specifically, in the present embodiment, the rotation driving unit 142 includes a rotating motor and a speed reducer.
Alternatively, as shown in fig. 17 and 18, the telescopic mechanism 15 includes a cantilever 151, a telescopic arm 152, and a telescopic drive unit 153. Cantilever 151 is connected to flipping mechanism 13. The first end of the telescopic arm 152 is slidably connected to the suspension arm 151, and the second end is connected to the connection end of the swing arm mechanism 11. The telescopic driving unit 153 can drive the telescopic arm 152 to slide along the extending direction of the cantilever 151, so that the telescopic arm 152 drives the swing arm mechanism 11 to approach or depart from the construction surface 100. Specifically, in the present embodiment, the second end of the telescopic arm 152 is connected to the connection end of the swing arm mechanism 11 through the rotating platform 141. The telescopic arm 152 slides relative to the cantilever 151, and the rotary platform 141 and the swing arm mechanism 11 can be driven to move together in a direction approaching or departing from the construction surface 100. Optionally, a telescopic drive unit 153 is mounted on the boom 151. Specifically, in the present embodiment, the telescopic drive unit 153 includes a motor and a speed reducer. In addition, in the present embodiment, the rotation driving unit 142 is mounted on the telescopic arm 152.
Alternatively, as shown in fig. 17 and 18, the telescopic mechanism 15 further includes a lead screw 154 and a nut seat 155, the lead screw 154 is disposed along the extending direction of the cantilever 151 and connected to the driving end of the telescopic driving unit 153, the nut seat 155 is sleeved on the lead screw 154, and the nut seat 155 is connected to the telescopic arm 152, the telescopic driving unit 153 can drive the lead screw 154 to rotate, and the nut seat 155 drives the telescopic arm 152 to slide along the extending direction of the cantilever 151.
Alternatively, as shown in fig. 17 and 18, the telescopic mechanism 15 further includes a slide rail 156 and a slide block 157 which are slidably fitted, the slide rail 156 is disposed on the suspension arm 151 along the extending direction of the suspension arm 151, and the slide block 157 is connected to the telescopic arm 152. The cooperation of the sliding rail 156 and the sliding block 157 is beneficial to ensure the stability of the telescopic arm 152 when sliding relative to the suspension arm 151 and the accuracy of the sliding path.
As shown in fig. 19 and fig. 20, the embodiment further provides a hole plugging robot, which includes the hole plugging device, and the hole plugging robot further includes a moving platform 10, one end of the mechanical arm 1, which is far away from the plugging head 2, is installed on the moving platform 10 in a liftable manner along a vertical direction, and the moving platform 10 can drive the mechanical arm 1 to move in a horizontal plane. Because the holes are generally in regular rectangular arrays on the construction surface 100, after a hole is found, the mechanical arm 1 is driven to move only by the moving platform 10, and the mechanical arm 1 can continuously and circularly complete the plugging of different holes on the whole construction surface 100 by the plugging head 2 only by the swinging of the swing arm mechanism 11, so that the plugging efficiency is obviously improved.
Preferably, the hole plugging robot provided by the present embodiment further includes a pulp bucket 20 and a placement platform 30. The pulp bucket 20 can communicate with the plugging head 2 to deliver pulp to the plugging head 2. The pulp barrel 20 is placed on the placement platform 30, and the moving platform 10 can drive the placement platform 30 to move in a horizontal plane, so that the pulp barrel 20 moves in the horizontal plane. Specifically, in the present embodiment, the pulp bucket 20 communicates with the joint 227 through a pulp pipe.
Preferably, the hole plugging robot provided by the embodiment further includes a lower rail 40 and an upper rail 50, the lower rail 40 extends in the horizontal direction and is parallel to the construction surface 100, and the lower end of the mobile platform 10 is movably disposed on the lower rail 40 in the horizontal direction. The upper rail 50 is disposed in parallel with the lower rail 40 and above the lower rail 40, and the upper end of the moving platform 10 is movably disposed on the upper rail 50 in a horizontal direction. Further, the lower end of the platform 30 is movably disposed on the lower rail 40 in a horizontal direction. The upper end of the platform 30 is movably disposed on the upper rail 50 in a horizontal direction. The upper rail 50 is matched with the lower rail 40, so that the moving stability and the accuracy of the moving path of the moving platform 10 and the placing platform 30 are guaranteed. Specifically, in the present embodiment, the lower rail 40 is mounted on the lower deck, and the upper rail 50 is mounted on the upper deck.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A gate valve control mechanism for controlling the start and stop of slurry delivery from a slurry outlet pipe (213), characterized in that the gate valve control mechanism (22) comprises:
the mounting seat (221) is provided with a through hole communicated with the pulp outlet pipe (213);
the gate valve push plate (222) is movably arranged on the mounting seat (221), and a feeding hole (2221) is formed in the gate valve push plate (222);
the gate valve driving unit is arranged on the mounting seat (221) and can drive the gate valve push plate (222) to move so that the feeding hole (2221) is opposite to or staggered with the through hole;
a preload member (223) capable of adjusting a pressure between the gate valve push plate (222) and the mounting seat (221) so that the gate valve push plate (222) can move relative to the mounting seat (221) and can maintain a seal with the mounting seat (221);
the gate valve control mechanism (22) further comprises a joint (227), one end of the joint (227) is connected with the gate valve push plate (222) and communicated with the feeding hole (2221), slurry can enter from the other end of the joint (227), and the joint (227) is a pagoda-shaped joint.
2. The gate valve control mechanism according to claim 1, wherein the gate valve control mechanism (22) further comprises guide plates (224), the guide plates (224) being mounted on the mounting seat (221) in a spaced and opposing relationship and defining a guide channel, the gate valve push plate (222) being movably clamped in the guide channel.
3. The gate valve control mechanism according to claim 1, characterized in that the preload member (223) is mounted on the mounting seat (221), and one end of the preload member (223) is capable of pressing the gate valve push plate (222) against the mounting seat (221) to adjust the pressure between the gate valve push plate (222) and the mounting seat (221).
4. The gate valve control mechanism according to claim 1, wherein the gate valve drive unit comprises:
a gate valve driver (225) mounted on the mounting seat (221);
and one end of the transmission rod (226) is connected with the driving end of the gate valve driver (225), the other end of the transmission rod is in threaded fit with the gate valve push plate (222), and the gate valve driver (225) can drive the transmission rod (226) to rotate so as to drive the gate valve push plate (222) to move along the extension direction of the transmission rod (226).
5. The gate valve control mechanism according to any of claims 1-4, wherein the mounting seat (221) comprises:
the connecting plate (2211) is provided with a feeding end of the slurry outlet pipe (213) penetrating through the connecting plate (2211);
the baffle plate (2212) is installed on the connecting plate (2211), the through hole is formed in the baffle plate (2212), and the gate valve push plate (222) is movably arranged on the baffle plate (2212).
6. A stopper head, said stopper head (2) comprising a slurry outlet pipe (213), characterized by further comprising a gate valve control mechanism (22) according to any of claims 1-5, said slurry outlet pipe (213) being in communication with a through hole in said mounting seat (221).
7. The plugging head according to claim 6, further comprising:
the floating plugging mechanism (21) is used for plugging holes in a construction surface (100), the floating plugging mechanism (21) is connected with the gate valve control mechanism (22), the slurry outlet pipe (213) is arranged in the floating plugging mechanism (21) in a penetrating mode, and the floating plugging mechanism (21) can conduct floating adjustment according to the condition of the construction surface (100) so that the working surface of the floating plugging mechanism can be tightly pressed on the construction surface (100) and paste for plugging the holes can be leveled.
8. Hole plugging device comprising a robotic arm (1), characterized in that it further comprises a plugging head (2) according to claim 6 or 7, said plugging head (2) being mounted at a working end of said robotic arm (1).
9. A hole plugging robot comprising a mobile platform (10), characterized in that it further comprises a hole plugging device according to claim 8 mounted on said mobile platform (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010230804.6A CN113445773B (en) | 2020-03-27 | 2020-03-27 | Gate valve control mechanism, plugging head, hole plugging device and hole plugging robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010230804.6A CN113445773B (en) | 2020-03-27 | 2020-03-27 | Gate valve control mechanism, plugging head, hole plugging device and hole plugging robot |
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| Publication Number | Publication Date |
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| CN113445773A CN113445773A (en) | 2021-09-28 |
| CN113445773B true CN113445773B (en) | 2022-12-02 |
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| CN202010230804.6A Expired - Fee Related CN113445773B (en) | 2020-03-27 | 2020-03-27 | Gate valve control mechanism, plugging head, hole plugging device and hole plugging robot |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB788941A (en) * | 1954-11-25 | 1958-01-08 | Quickfit And Quartz Ltd | Improvements in or relating to shutter valves |
| JP2631594B2 (en) * | 1991-12-18 | 1997-07-16 | エスエムシー株式会社 | Gate valve |
| JP3145488B2 (en) * | 1992-07-10 | 2001-03-12 | 三菱重工業株式会社 | Concrete pump S type gate valve sliding surface close contact device |
| CN202149236U (en) * | 2011-05-16 | 2012-02-22 | 天津二十冶建设有限公司 | Vertical hinged gate valve |
| CN102619337B (en) * | 2012-05-02 | 2014-04-09 | 中国新兴建设开发总公司 | Concrete jacking and refluxing system and construction method thereof |
| CN205715725U (en) * | 2016-05-05 | 2016-11-23 | 巩高铄 | Planker guiding valve and there is its delivery pump and pump truck |
| CN110748130A (en) * | 2019-11-04 | 2020-02-04 | 珠海心怡科技有限公司 | Indoor intelligent spraying and rolling coating dual-purpose machine for robot |
| CN110805302B (en) * | 2019-11-11 | 2022-02-01 | 广东博智林机器人有限公司 | Hole plugging device and hole plugging robot |
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