CN113585680B

CN113585680B - Cleaning system, grouting equipment and material supplementing and cleaning control method of grouting equipment

Info

Publication number: CN113585680B
Application number: CN202110831001.0A
Authority: CN
Inventors: 不公告发明人
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: 2022-08-12
Anticipated expiration: 2039-10-09
Also published as: CN110616881B; CN110616881A; CN113585680A

Abstract

The invention provides a cleaning system, grouting equipment and a material supplementing and cleaning control method of the grouting equipment, wherein the cleaning system is used for the grouting equipment, the grouting equipment comprises a tail end executing mechanism, and the cleaning system comprises: a cleaning section configured to clean an outer wall of the end effector; and a receiving part provided at one side of the cleaning part and configured to receive a cleaning liquid for cleaning an inner wall of the end effector. According to the cleaning system provided by the invention, the inner wall of the end actuating mechanism is cleaned by using the cleaning liquid contained in the containing part, and the outer wall of the end actuating mechanism is cleaned by the cleaning part, so that the inner wall and the outer wall of the end actuating mechanism can be respectively ensured to be clean in different stages, further the end actuating mechanism can be prevented from being blocked, a good material supplementing function and a good material discharging function can be ensured, and the working condition requirements that the slurry used by grouting equipment is a material which is quickly solidified or is irreversibly solidified and has high feeding difficulty and is difficult to clean can be met.

Description

Cleaning system, grouting equipment and material supplementing and cleaning control method of grouting equipment

Cross reference to related applications

The application is a divisional application of an invention patent application with the name of 'cleaning system, grouting equipment and supplementary material cleaning control method of grouting equipment' filed in 2019 on 09.10.9 with the application number of CN 201910952476.8.

Technical Field

The invention relates to the technical field of cleaning, in particular to a cleaning system, grouting equipment and a material supplementing and cleaning control method of the grouting equipment.

Background

At present, because a cleaning system is not arranged or cannot be thoroughly cleaned by the cleaning system, the tail end executing mechanism is extremely easy to block, and the discharging is influenced.

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 proposes a washing system.

A second aspect of the invention proposes a grouting device.

The third aspect of the invention provides a material supplementing and cleaning control method of grouting equipment.

In view of this, a first aspect of the present invention provides a cleaning system for a grouting apparatus, the grouting apparatus comprising an end effector, the cleaning system comprising: 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 tail end actuating mechanism.

The cleaning system for the grouting equipment comprises the tail end actuating mechanism, wherein the tail end actuating mechanism is provided with a cavity for containing slurry and a grouting opening communicated with the cavity, the slurry is sucked into the cavity through the grouting opening and is called a material supplementing process, and the slurry in the cavity is injected to a specified position through the grouting opening and is called a material discharging process. The cleaning system of the grouting equipment comprises a cleaning part and a containing part, wherein the cleaning part is configured to clean the outer wall of the terminal execution mechanism, so that the outer wall of the terminal execution mechanism can be cleaned through the cleaning part and the outer wall of the terminal execution mechanism is clean, further, the outer wall of the terminal execution mechanism is cleaned through the cleaning part after the material supplementing is completed, the phenomenon that slurry adhered to the outer wall of a grouting opening by the terminal execution mechanism in the material supplementing process drops can be avoided, the slurry is adhered to the outer wall of the grouting opening at a specified position and the working effect of the grouting equipment is influenced, meanwhile, the phenomenon that slurry adhered to the outer wall of the grouting opening and the slurry nearby is solidified and occupies or blocks the grouting opening to influence the discharging efficiency of the terminal execution mechanism or the terminal execution mechanism to be blocked can be avoided, further, the blockage of the terminal execution mechanism is avoided, and good discharging amount is ensured. 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.

Furthermore, through independently setting the containing part and the cleaning part, the inner wall of the end actuating mechanism is cleaned by using the cleaning liquid contained by the containing part, the outer wall of the end actuating mechanism is cleaned by the cleaning part, the inner wall and the outer wall of the end actuating mechanism can be respectively ensured to be clean in different stages, so that the end actuating mechanism is thoroughly cleaned, the blockage of the end actuating mechanism can be avoided, the influence on the material supplement and the material discharge can be avoided, the good material supplement function and the good material discharge function can be ensured, meanwhile, the working condition requirements that the slurry used by the grouting equipment is a material which is quickly solidified or irreversibly solidified and has large feeding difficulty and is difficult to clean can be met, the working condition requirements that the outer wall of the end actuating mechanism of the grouting equipment for operations such as spraying, plastering and the like can be easily polluted can also be met, the use range of products is greatly expanded, and simultaneously, the problems that the water consumption, the pollution and the pollution of the cleaning of the end actuating mechanism when the slurry is a material which is quickly solidified or irreversibly solidified are solved, The problem of taking time, expecting, this application can wash terminal actuating mechanism's inner wall and outer wall respectively through the portion of holding and the clearance portion that set up alone in different stages, is favorable to the energy saving, save time, simultaneously, can guarantee terminal actuating mechanism's reliability, improves the satisfaction that the user used.

In addition, the cleaning system in the above technical solution provided by the present invention may further have the following additional technical features:

in one possible design, the cleaning device further comprises a plurality of box bodies, wherein the box bodies at least comprise a liquid storage box and a liquid discharge box, and the liquid discharge box is communicated with the cleaning part; the pump body assembly is communicated with the liquid storage tank, the accommodating part and the cleaning part.

In this design, the cleaning system still includes a plurality of boxes and pump body subassembly, and a plurality of boxes include liquid reserve tank and flowing back case, and the liquid reserve tank is used for saving the washing liquid, and the flowing back case is used for saving used, discarded washing 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, further comprising: the storage bucket locates one side of clearance portion, and the storage bucket includes: the barrel body is communicated with the liquid outlet end and the liquid discharge tank of the pump body assembly; the stirring device is arranged in the barrel body and used for stirring slurry.

In the design, a charging basket is arranged on one side of the cleaning part and used for storing slurry, and the tail end actuating 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.

Further, the cleaning system comprises a charging bucket, namely, the feeding function and the cleaning function of the tail end executing mechanism are integrated, so that the integral installation is facilitated. Specifically, the cleaning system may include a feeding cleaning assembly, wherein the charging bucket, the cleaning part and the accommodating part are collectively referred to as a feeding cleaning assembly.

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 design, the cleaning part is arranged between the charging bucket and the accommodating part, so that when the tail end execution mechanism finishes discharging and needs material supplement, the tail end execution 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 execution mechanism, then moves to the charging bucket to supplement material, after the material supplement is finished, the tail end execution mechanism moves to the cleaning part to clean the outer wall of the tail end execution mechanism, the whole cleaning and supplementing process is further finished, the cleaning and supplementing time of the tail end execution mechanism is favorably shortened, the cleaning and supplementing efficiency of the tail end execution mechanism is improved, the working efficiency of the whole machine is further improved, good material supplement, discharging and cleaning effects are ensured, the reliability of a product is improved, the satisfaction degree of a user is improved, and meanwhile, the condition that the slurry used by the grouting equipment is a fast-setting or non-reversible material and the large difficulty in material supply can be met, 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 case includes: a tank body; the connecting pieces are correspondingly arranged on the two sides of the box body and positioned outside the box body, and the connecting pieces are provided with through holes; wherein, the extending direction of the through hole is vertical to the height direction of the box body.

In this design, the box includes case body and connecting piece, and the case body is used for saving the washing liquid (the washing liquid can be clean washing liquid or waste washing liquid), and the connecting piece corresponds the both sides of locating the case body to be located the outside of case body, carry or carry through the connecting piece in order to carry the case body, convenient operation. Further, the connecting piece can also be arranged outside the box body in a welding, inserting and other modes.

The connecting piece is equipped with the through-hole, and hoist and mount chain, hoist and mount rope, lifting rod etc. can pass the through-hole and be connected with the case body, convenient operation, and connect reliably, are favorable to improving the hoist and mount efficiency or the handling efficiency of case body.

Specifically, the connecting pieces are lifting lugs and are arranged at two ends of the box body.

Furthermore, the extending direction of the through hole is perpendicular to the height direction of the box body, so that the height of the box body is coincident with the vertical direction in the carrying or hoisting process, the cleaning liquid in the box body is prevented from spilling, energy conservation is facilitated, and waste is avoided.

In one possible design, the case further includes: the base plate is arranged inside the box body; the box body comprises a bottom plate and side plates arranged around the bottom plate in a surrounding mode, and the base plate is arranged above the bottom plate and connected with the side plates; the liquid drainage box is arranged above the liquid storage box, and a bottom plate of the liquid drainage box is abutted to a base plate of the liquid storage box.

In this design, the case body includes the bottom plate and encloses the curb plate of locating around the bottom plate, and the case body one side of keeping away from the bottom plate promptly is equipped with the opening, through locating the inside of case body with the backing plate, is located the top of bottom plate and connects the curb plate, is favorable to improving the reliability of case body.

Further, can use the different residual space of operating mode according to slip casting equipment, rationally set up the position of drainage case and liquid reserve tank to further enlarge the application range of product, for example, drainage case and liquid reserve tank can be followed the horizontal direction and arranged in proper order, also can follow vertical direction and arrange in proper order.

Furthermore, the drainage box is arranged above the liquid storage box, and the bottom plate of the drainage box is abutted to the backing plate of the liquid storage box, so that the backing plate of the liquid storage box can improve the supporting force of the liquid storage box on the drainage box, and the drainage box can be reliably and firmly arranged above the liquid storage box and abutted to the liquid storage box. It can be understood that the liquid discharge box can be embedded above the liquid storage box, namely, the side plate of the liquid discharge box is abutted against the side plate of the liquid storage box, and the bottom plate of the liquid discharge box is abutted against the backing plate of the liquid storage box, so that the connection reliability of the liquid storage box and the liquid discharge box can be further improved.

In one possible design, the cleaning portion includes: the first body is communicated with the liquid discharge box 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 to the inside of the first body; a liquid inlet of the liquid separating valve is communicated with a liquid outlet end of the pump body assembly, and a liquid outlet of the liquid separating valve is communicated with the spray head; wherein, the quantity of the liquid outlets is the same as that of the spray heads.

In this design, clearance portion includes first body, shower nozzle and liquid distribution valve, 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.

Furthermore, the quantity of shower nozzle is a plurality of, and a plurality of shower nozzles distribute in the opening part uniformly, are favorable to guaranteeing that a plurality of shower nozzle spun washing liquid wash terminal actuating mechanism's outer wall from equidirectional not, and then are favorable to improving the cleaning efficiency, improve the reliability of product. The liquid inlet through the liquid separating valve is communicated with the liquid outlet end of the pump body assembly, the liquid outlets of the liquid separating valve are communicated with the spray heads, and the number of the liquid outlets is the same as that of the spray heads, so that the cleaning liquid pumped by the pump body assembly is distributed to the spray heads through the liquid separating valve, the same amount of the cleaning liquid sprayed by the spray heads can be ensured, and the cleaning effect can be further improved.

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; the liquid level detection device is arranged in the second body and used for detecting the liquid position in the second body; and the alarm device is connected with the liquid level detection device and gives an alarm according to the detection result of the liquid level detection device.

In this design, the portion of holding includes second body, liquid level detection device and alarm 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. The grouting equipment is connected with the liquid level detection device through the alarm device, alarms according to the detection result of the liquid level detection device, is beneficial to a user to timely and accurately know the amount of the cleaning liquid in the containing part according to the alarm, and further enables the user to control the grouting equipment to execute related actions according to the amount of the cleaning liquid in the containing part. Wherein, the related action can be to control the pump body assembly to stop working.

In one possible design, the mounting frame is arranged on the second body, and the liquid level detection device is arranged inside 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.

The support is arranged outside the second body, the support is favorable for flexibly and reliably fixing the second body on other structures, and the reliability of connection between the second body and other structures is improved.

In one possible design, the volume of the second body is 3 to 5 times the volume of the end effector.

In the design, the volume of the second body is 3 times to 5 times of the volume of the end executing mechanism, when the end executing mechanism cleans the inner wall, the cleaning liquid needs to be sucked from the second body of the containing part and flows to the cleaning part side by side, the volume of the second body is 3 times to 5 times of the volume of the end executing mechanism, the capacity of the cleaning liquid in the containing part can be reasonably set according to the cleaning times of the inner wall of the end executing mechanism, and then the cleaning liquid contained in the containing part can meet the requirement of cleaning the inner wall of the end executing mechanism for multiple times, so that the cleaning times of cleaning the inner wall of the end executing mechanism for the slurries of different materials are different to ensure a good cleaning effect, the blockage of the end executing mechanism is avoided, good feeding and discharging effects are ensured, the reliability of the product is improved, and the use range of the product is enlarged.

According to a second aspect of the present invention, there is provided a grouting apparatus comprising: a terminal actuator; and the cleaning system according to any one of the above aspects, wherein the cleaning part is configured to clean an outer wall of the end actuator, and the accommodating part is configured to accommodate a cleaning liquid for cleaning an inner wall of the end actuator.

The grouting equipment provided by the invention comprises the end actuating mechanism and the cleaning system in any technical scheme, wherein the cleaning part is configured to clean the outer wall of the end actuating mechanism, and the accommodating part is configured to accommodate cleaning liquid for cleaning the inner wall of the end actuating mechanism.

In the above technical solution, preferably, the method further includes: the cooperative execution mechanism is connected with the tail end execution mechanism and controls the tail end execution mechanism to act; the cleaning system is arranged on the chassis travelling mechanism; the lifting mechanism is arranged on the chassis travelling mechanism, and the cooperative execution mechanism is connected with the lifting mechanism.

In the design, the grouting equipment further comprises a cooperative execution mechanism, a chassis travelling mechanism and a lifting mechanism, wherein the cleaning system and the lifting mechanism are arranged on the chassis travelling mechanism, the chassis travelling mechanism moves to move the cleaning system and the lifting mechanism to any working position, and the cooperative execution mechanism is connected with the lifting mechanism and the tail end execution mechanism, so that the lifting mechanism drives the tail end execution mechanism to move to any position and any angle through the cooperative execution mechanism.

Furthermore, the grouting equipment also comprises a main control cabinet and a cooperative execution mechanism control cabinet, wherein the main control cabinet is connected with the pump body components of the chassis travelling mechanism, the lifting mechanism and the feed supplement cleaning system; the cooperative execution mechanism control cabinet is connected with the main control cabinet and the cooperative execution mechanism, and the main control cabinet and the cooperative execution mechanism control cabinet jointly control the normal movement of each part of the whole machine.

According to a third aspect of the present invention, there is provided a feeding and cleaning control method for a grouting apparatus, the grouting apparatus being the grouting apparatus according to any one of the above technical solutions, the feeding and cleaning control method for the grouting apparatus comprising: receiving a material supplementing finishing instruction, controlling the tail end execution mechanism to be positioned in the cleaning part, and controlling the cleaning part to clean the outer wall of the tail end execution mechanism; and receiving a discharging completion instruction, and controlling the tail end execution mechanism to suck the cleaning liquid in the accommodating part and discharge the cleaning liquid to the cleaning part so as to clean the inner wall of the tail end execution mechanism.

The invention provides a supplementary material cleaning control method of grouting equipment, the grouting equipment is the grouting equipment of any one of the technical schemes, and the supplementary material cleaning control method of the grouting equipment comprises the following steps: receive the feed supplement and accomplish the instruction, show that end actuating mechanism's inside has been filled up the ground paste, end actuating mechanism can ejection of compact work this moment, be located clearance portion through control end actuating mechanism, control clearance portion washs end actuating mechanism's outer wall, can avoid end actuating mechanism to drop at the ground paste of the sprue gate outer wall that the ejection of compact in-process bonds at end actuating mechanism, the work effect of bonding outside the assigned position and influence grouting equipment, simultaneously, can avoid bonding the ground paste in sprue gate outer wall and near to solidify and occupy or plug up the sprue gate and influence end actuating mechanism's discharging efficiency or make end actuating mechanism block up, and then be favorable to avoiding end actuating mechanism to block up, guarantee good discharge capacity. Receiving a discharging completion instruction, explaining that the slurry of the tail end execution mechanism is used up, supplementing the slurry, sucking the cleaning liquid in the containing part by controlling the tail end execution mechanism and discharging the cleaning liquid to the cleaning part so as to clean the inner wall of the tail end execution mechanism, avoiding that the slurry remained on the inner wall of the tail end execution mechanism after discharging is solidified to occupy or block a grouting port to influence the supplementing efficiency of the tail end execution mechanism or block the tail end execution mechanism, and simultaneously avoiding that the slurry remained on the inner wall of the tail end execution mechanism is solidified to influence the supplementing amount of the tail end execution mechanism, thereby being beneficial to avoiding the blockage of the tail end execution mechanism and improving the supplementing amount.

The inner wall of the end actuating mechanism is cleaned before the material is supplemented after the material is supplemented, the outer wall of the end actuating mechanism is cleaned before the material is supplemented, the inner wall and the outer wall of the end actuating mechanism can be respectively ensured to be clean in different stages, the end actuating mechanism can be thoroughly cleaned, the blockage of the end actuating mechanism can be further avoided to influence the material supplementation and the material discharge, the good material supplementation function and the good material discharge function can be ensured, meanwhile, the working condition requirements that the material feeding difficulty of the slurry used by the grouting equipment is quick-setting or non-reversible material and the cleaning is difficult can be met, the working condition requirements that the outer wall of the end actuating mechanism is very easily polluted when the grouting equipment is used for spraying, plastering and other operations can be met, the use range of products is greatly expanded, and simultaneously, the problems that the water consumption, the pollution, the water consumption, the pollution and the like exist when the slurry is quickly-setting or non-reversible material and the cleaning of the end actuating mechanism are solved, The problem of taking time, expecting, this application can wash terminal actuating mechanism's inner wall and outer wall respectively through the portion of holding and the clearance portion that set up alone in different stages, is favorable to the energy saving, save time, simultaneously, can guarantee terminal actuating mechanism's reliability, improves the satisfaction that the user used.

In a possible design, after receiving the feeding completion instruction, before the controlling the end effector to be located in the cleaning part and the cleaning part being controlled to clean the outer wall of the end effector, the method further includes: controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank of the grouting equipment to the cleaning part; after receiving the discharging completion instruction, before controlling the end actuator to suck the cleaning liquid in the containing part and discharge the cleaning liquid to the cleaning part so as to clean the inner wall of the end actuator, the method further comprises the following steps: and controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank to the accommodating part.

In the design, after a material supplementing completion instruction is received and before the outer wall of the tail end execution mechanism is cleaned, the pump body assembly is controlled to work, so that cleaning liquid in a liquid storage tank of the grouting equipment is pumped to the cleaning part, and the outer wall of the tail end execution mechanism is cleaned to provide the cleaning liquid; after the discharging completion instruction is received and before the inner wall of the tail end execution mechanism is cleaned, the pump body assembly is controlled to work to pump the cleaning liquid in the liquid storage tank to the accommodating portion so as to clean the inner wall of the tail end execution mechanism and provide the cleaning liquid. It is understood that the feeding completion command and the discharging completion command may be obtained in other manners.

In one possible design, the method further comprises: and receiving a material-free instruction of a charging basket of the grouting equipment, and controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank to the charging basket.

In this design, 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 at the inside ground paste of storage bucket simultaneously, be favorable to guaranteeing the effective volume of bucket body.

In one possible design, the step of controlling the pump assembly to operate to pump cleaning fluid from the reservoir to the bowl is performed at least once based on receiving a bowl empty command.

In this design, based on receiving the storage bucket and not having the material instruction, the step of execution control pump body subassembly work in with the washing liquid pump sending in the receiver tank to the storage bucket is at least once, be 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 that solidifies fast and be difficult for abluent, the accessible is many times, intermittent type, or continuously with the washing liquid pump sending in the storage tank to the storage bucket in order to realize the washing many times to 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, the step of controlling the end effector to suck the cleaning liquid in the containing portion and discharge the cleaning liquid to the cleaning portion to clean the inner wall of the end effector is performed at least once based on receiving the replenishing completion instruction.

In the design, based on receiving a material supplementing completion instruction, the execution control terminal execution mechanism sucks the cleaning liquid in the containing part and discharges the cleaning liquid to the cleaning part, so that the step of cleaning the inner wall of the terminal execution mechanism is at least once, namely the number of times of cleaning the inner wall of the terminal execution mechanism is controlled to be at least once, the number of times of cleaning the inner wall of the terminal execution mechanism can be flexibly controlled according to the property of slurry, the cleanness and the energy conservation of the inner wall of the terminal execution mechanism are ensured, the cleaning efficiency is improved, the working efficiency of the whole machine is improved, and the satisfaction degree of the use of a user is improved.

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 illustrating a case provided according to an embodiment of the present 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 structural view of a cleaning part provided according to an embodiment of the present invention;

FIG. 11 shows a schematic diagram of a first perspective of the embodiment of FIG. 10;

FIG. 12 shows a schematic diagram of a second perspective of the embodiment of FIG. 10;

FIG. 13 is a schematic diagram illustrating a third perspective of the embodiment of FIG. 10;

FIG. 14 shows a schematic diagram of a fourth perspective of the embodiment of FIG. 10;

fig. 15 is a schematic structural view illustrating a receiving 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 illustrates a cleaning fluid control logic diagram for the cleaning system in accordance with one embodiment of the present invention;

FIG. 20 is a schematic flow chart illustrating a feeding purge control method of a grouting apparatus according to an embodiment of the present invention;

FIG. 21 is a schematic flow chart illustrating a feeding purge control method of a grouting apparatus according to another embodiment of the present invention;

fig. 22 shows a schematic flow chart of a feeding purge control method of a grouting apparatus according to still another embodiment of the invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 19 is:

100 cleaning system, 110 charging basket, 120 cleaning part, 122 first body, 124 spray head, 126 liquid separating valve; 130 receiving portion, 132 second body, 134 mounting bracket, 136 support; 140 box bodies, 140a liquid storage box, 140b liquid discharge box, 142 box body, 144 connecting pieces, 146 through holes and 148 backing plates; 150 a pump body assembly; 160 supplementary material cleaning assemblies, 200 tail end actuating mechanisms, 300 cooperative actuating mechanisms, 400 chassis travelling mechanisms, 500 lifting mechanisms, 1 grouting equipment and 2 floors.

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 cleaning system 100, the grouting apparatus 1, and the replenishing cleaning control method of the grouting apparatus according to some embodiments of the present invention are described below with reference to fig. 1 to 22.

Example one

As shown in fig. 1 to 19, according to a first aspect of the present invention, there is provided a cleaning system 100 for a grouting apparatus 1, the grouting apparatus 1 comprising an end effector 200, the cleaning system 100 comprising: a cleaning part 120 and a receiving part 130, wherein the cleaning part 120 is configured to clean an outer wall of the end effector 200; the receiving portion 130 is provided at one side of the cleaning portion 120, and is configured to receive a cleaning solution for cleaning an inner wall of the end effector 200.

Specifically, as shown in fig. 1, 2, 4 and 5, the grouting apparatus 1 includes an end actuator 200, and it is understood that the end actuator 200 has a cavity for containing slurry and a grouting port communicating with the cavity, wherein slurry is sucked into the cavity through the grouting port to be called a feeding process, and slurry in the cavity is injected to a designated position through the grouting port to be called a discharging process. As shown in fig. 1, 2, 3 and 4, the cleaning system 100 of the grouting apparatus 1 includes a cleaning portion 120 and a receiving portion 130, the cleaning portion 120 is configured to clean the outer wall of the end actuator 200, so that cleaning the outer wall of the end actuator 200 by the cleaning portion 120 can ensure that the outer wall of the end actuator 200 is clean and clean, further, cleaning the outer wall of the end actuator 200 by the cleaning portion 120 after completion of the replenishment, can prevent slurry adhered to the outer wall of the grouting opening from falling off and adhering outside a specified position during the replenishment of the end actuator 200 to affect the working effect of the grouting apparatus 1, and can prevent slurry adhered to the outer wall of the grouting opening and nearby slurry from solidifying to occupy or block the grouting opening to affect the discharging efficiency of the end actuator 200 or block the end actuator 200, thereby being beneficial to avoid the blockage of the end actuator 200, ensuring good discharge capacity. The containing part 130 is configured to contain a cleaning solution for cleaning the inner wall of the end effector 200, so that the inner wall of the end effector 200 can be cleaned and kept clean by the cleaning solution contained in the containing part 130, further, after the end effector 200 is discharged and/or before the material is supplemented, by cleaning the inner wall of the end effector 200 by the cleaning solution contained in the containing part 130, the slurry remained on the inner wall of the end effector 200 after the discharge is completed can be prevented from solidifying and occupying or blocking the grouting opening to influence the material supplementing efficiency of the end effector 200 or block the end effector 200, and simultaneously, the slurry remained on the inner wall of the end effector 200 can be prevented from solidifying to influence the material supplementing quantity of the end effector 200, thereby being beneficial to avoiding the end effector 200 from being blocked, the feed supplement amount is increased.

Furthermore, by separately arranging the accommodating part 130 and the cleaning part 120, the inner wall of the end executing mechanism 200 is cleaned by using the cleaning liquid accommodated in the accommodating part 130, the outer wall of the end executing mechanism 200 is cleaned by the cleaning part 120, the inner wall and the outer wall of the end executing mechanism 200 can be respectively ensured to be clean in different stages, so as to realize the thorough cleaning of the end executing mechanism, further, the blockage of the end executing mechanism 200 can be avoided to influence the material supplement and the material discharge, thereby being beneficial to ensuring the good material supplement function and the material discharge function, simultaneously, the working condition requirements that the slurry used by the grouting equipment 1 is a rapidly solidified or irreversibly material which has high feeding difficulty and is difficult to clean can be met, the working condition requirements that the outer wall of the end executing mechanism 200 is extremely easy to be polluted when the grouting equipment 1 carries out operations such as spraying, plastering and the like can also be met, and the working condition requirements that the outer wall of the end executing mechanism 200 is extremely easy to be polluted are greatly expanded, simultaneously, the problem of the thick liquids for the rapid solidification or wash terminal actuating mechanism 200 when solidifying irreversible material and exist waste water, waste time, waste material is solved, this application can wash terminal actuating mechanism 200's inner wall and outer wall respectively in different stages through the portion 130 that holds that sets up alone and clearance portion 120, is favorable to the energy saving, save time, simultaneously, can guarantee terminal actuating mechanism 200's reliability, improves the satisfaction that the user used.

Further, the accommodating portion 130 is disposed at one side of the cleaning portion 120, which is beneficial to improving the efficiency of cleaning the inner wall and the outer wall by the end effector 200. Further, the inner wall of the end executing mechanism 200 is cleaned by the cleaning liquid contained in the containing part 130 after the discharging is completed, so that the slurry remained on the inner wall of the end executing mechanism 200 can be ensured to be cleaned, the end executing mechanism 200 is prevented from being blocked and the material supplementing amount is favorably increased, then material supplementing is performed, and after the material supplementing is completed, the outer wall of the end executing mechanism 200 is cleaned by the cleaning part 120, so that the outer wall of the end executing mechanism 200 can be ensured to be clean, the outer wall of a grouting opening is ensured not to be bonded by the slurry, and good discharging amount and good discharging effect are favorably ensured, so that the end executing mechanism can be ensured to be clean and not to be blocked in the whole working process, the requirements of different materials of the slurry can be met, the application range is wide, it can be understood that different cleaning liquids can be set according to the material characteristics of the slurry to ensure good cleaning effect and cleaning efficiency, the application range of the product is further expanded, and particularly, the cleaning liquid can be clear water.

Specifically, the end effector 200 sucks the cleaning liquid contained in the containing part 130 and discharges the cleaning liquid to the cleaning part 120 to clean the inner wall of the end effector 200, and it can be understood that the number of times the end effector 200 cleans the inner wall can be set according to the material characteristics of the slurry to ensure a good cleaning effect and further expand the use range of the product.

Example two

As shown in fig. 1 to 19, in one embodiment of the present invention, the cleaning system 100 provided by the present invention includes: the cleaning device comprises a cleaning part 120, a containing part 130, a plurality of box bodies 140 and a pump body assembly 150, wherein the plurality of box bodies 140 at least comprise liquid storage boxes 140a and liquid drainage boxes 140b, and the liquid drainage boxes 140b are communicated with the cleaning part 120; the pump body assembly 150 is in communication with the reservoir 140a, the receiving portion 130, and the cleaning portion 120.

In this embodiment, as shown in fig. 1 to 5, the washing system 100 further includes a plurality of tanks 140 and a pump body assembly 150, as shown in fig. 1, 2, 3 and 4, the plurality of tanks 140 includes a tank 140a for storing the washing liquid and a drain tank 140b for storing the used and discarded washing liquid. The cleaning part 120 is communicated with the drain tank 140b, so that the waste cleaning liquid remained after the cleaning part 120 cleans the outer wall of the end effector 200 is drained into the drain tank 140b to be stored. The pump body assembly 150 is communicated with the liquid storage tank 140a, the accommodating part 130 and the cleaning part 120, so that the pump body assembly 150 works to pump the cleaning liquid stored in the liquid storage tank 140a to the accommodating part 130 and the cleaning part 120 respectively to clean the inner wall and the outer wall of the end effector 200 and provide the cleaning liquid.

Furthermore, the drainage tank 140b and the cleaning part 120 are communicated with each other through a pipeline, that is, the drainage port of the cleaning part 120 is directly communicated with the drainage tank 140b through a pipeline, so that the waste cleaning liquid remained in the cleaning part 120 for cleaning the outer wall of the end effector 200 and the waste cleaning liquid sucked from the containing part 130 and discharged to the cleaning part 120 by the end effector 200 are both directly flowed to the drainage tank 140b through a pipeline through the drainage port of the cleaning part 120 for storage, and the waste cleaning liquid is prevented from being stored in the cleaning part 120, and the reliability of the product is prevented from being reduced due to the blockage of the cleaning part 120 by the residual slag in the waste cleaning liquid.

EXAMPLE III

As shown in fig. 1 to 19, in one embodiment of the present invention, the cleaning system 100 provided by the present invention includes: cleaning portion 120, holding portion 130, a plurality of box 140, pump body subassembly 150 and storage bucket 110, wherein, one side of cleaning portion 120 is located to the storage bucket, and storage bucket 110 includes: a barrel body (not shown) communicating with the liquid outlet end of the pump body assembly 150 and the liquid discharge tank 140 b; and a stirring device (not shown) provided inside the tub body for stirring the slurry.

In this embodiment, as shown in fig. 1 to 5, a bucket is disposed at one side of the cleaning part 120, the bucket is used for storing slurry, and the end effector 200 is communicated with the bucket for replenishing material. Locate one side of clearance portion 120 through the storage bucket, be favorable to terminal actuating mechanism 200 to accomplish after the feed supplement through clearance portion 120 to wash terminal actuating mechanism 200's outer wall fast at the storage bucket, and then improve the cleaning efficiency of terminal actuating mechanism 200 outer wall, improve the holistic feed supplement cleaning efficiency of grouting equipment 1. The storage bucket includes bucket body and agitating unit, go out the liquid end through bucket body and pump body subassembly 150, flowing back case 140b is linked together, make when there is not the ground paste in the bucket body, pump body subassembly 150 works the washing liquid pump that liquid storage tank 140a stored to the bucket body, the washing liquid is discharged to flowing back case 140b through the bucket body and is washd in order to the inside of bucket body, and then guarantee the cleaning nature 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.

Further, the cleaning system 100 includes a material barrel 110, i.e., the material feeding function and the cleaning function of the end effector 200 are integrated, so as to facilitate the integral installation. Specifically, as shown in fig. 19, the cleaning system 100 may include a feeding cleaning assembly 160, wherein the charging basket 110, the cleaning part 120, and the accommodating part 130 are collectively referred to as the feeding cleaning assembly 160.

Specifically, the pump assembly 150 includes a water pump, a liquid inlet of the water pump is communicated with the liquid storage tank 140a, and a liquid outlet of the water pump is respectively communicated with the accommodating portion 130, the cleaning portion 120 and the material barrel 110, that is, the water pump is a one-to-three water pump.

Furthermore, the liquid outlet of the material barrel 110 is communicated with the liquid discharging tank 140b through a pipeline, so that the waste cleaning liquid in the material barrel 110 directly flows from the liquid outlet of the material barrel 110 to the liquid discharging tank 140b through the pipeline for storage, and the problem that the reliability of the product is reduced because the cleaning part 120 is blocked by the residual slag in the waste cleaning liquid when the waste cleaning liquid is stored in the material barrel 110 is avoided. Specifically, after the pump assembly 150 works to directly pump the cleaning liquid in the liquid storage tank 140a to the material barrel 110, the waste cleaning liquid is directly discharged to the liquid discharge tank 140b from the liquid discharge port of the material barrel 110 through a pipeline, the pump works to directly pump the cleaning liquid in the liquid storage tank 140a to the cleaning part 120 to clean the outer wall of the tail end execution mechanism 200, and the residual waste cleaning liquid is directly discharged to the liquid discharge tank 140b from the liquid discharge port of the cleaning part 120 through a pipeline, so that no residue is left in the whole pipeline (including the pipeline communicated with the liquid discharge port of the material barrel 110 and the pipeline communicated with the liquid discharge port of the cleaning part 120), the whole cleaning is realized, and the reliability of the product is further improved.

Further, the cleaning portion 120 is disposed between the material barrel and the accommodating portion 130, which is beneficial for the end actuator 200 to move to communicate with the accommodating portion 130 and suck in the cleaning liquid when the discharging process is completed and the material needs to be supplemented, then to move to the cleaning portion 120 and discharge the sucked cleaning liquid to the cleaning portion 120 to clean the inner wall of the end actuator 200, then to move the end actuator 200 to the material barrel for material supplementation, after the material supplementation is completed, the end actuator 200 moves to the cleaning portion 120 to clean the outer wall of the end actuator 200, thereby completing the whole cleaning and material supplementation process, being beneficial for shortening the cleaning and material supplementation time of the end actuator 200, improving the cleaning and material supplementation efficiency of the end actuator 200, 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 1 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.

Further, the storage bucket 110 is located the top of clearance portion 120, the portion 130 that holds is located the below of clearance portion 120, storage bucket 110 promptly, clearance portion 120, the portion 130 that holds distributes along vertical decurrent direction in proper order, can guarantee that slip casting equipment 1 is high-efficient, carry out feed supplement and abluent fast simultaneously, satisfy slip casting equipment 1 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.

It can be understood that, according to the remaining space of the grouting device 1, which is different in use condition, the positions of the charging basket 110, the cleaning portion 120 and the accommodating portion 130 are set reasonably to further enlarge the use range of the product, for example, the charging basket 110, the cleaning portion 120 and the accommodating portion 130 may be arranged in sequence along the horizontal direction, or may be arranged in sequence along the vertical direction.

Example four

As shown in fig. 1 to 19, in one embodiment of the present invention, the cleaning system 100 provided by the present invention includes: cleaning portion 120, receiving portion 130, a plurality of box 140, pump body subassembly 150 and storage bucket 110, wherein, box 140 includes: the box comprises a box body 142 and connecting pieces 144, wherein the connecting pieces 144 are correspondingly arranged on two sides of the box body 142 and positioned outside the box body 142, and the connecting pieces 144 are provided with through holes 146.

In this embodiment, as shown in fig. 6, 7, 8 and 9, the box body 140 includes a box body 142 and a connecting member 144, the box body 142 is used for storing a cleaning liquid (the cleaning liquid may be a clean cleaning liquid or a waste cleaning liquid), the connecting member 144 is correspondingly disposed at two sides of the box body 142 and is located outside the box body 142, and the box body 142 is carried or pulled by the connecting member 144, which is convenient to operate. Further, the connecting member 144 may be disposed outside the case body 142 by welding, inserting, or the like.

As shown in fig. 6, 7 and 8, the connecting member 144 has a through hole 146, and the hoisting chain, hoisting rope, lifting rod, etc. can pass through the through hole 146 to be connected with the box body 142, so that the operation is convenient, the connection is reliable, and the hoisting efficiency or the carrying efficiency of the box body 142 can be improved.

Specifically, the connecting members 144 are lifting lugs provided at both ends of the case body 142.

Further, as shown in fig. 6, the extending direction of the through hole 146 is perpendicular to the height direction of the box body 142, which is beneficial to ensure that the height of the box body 142 coincides with the vertical direction in the carrying or hoisting process of the box body 142, and further ensures that the cleaning liquid in the box body 142 is not spilled, which is beneficial to saving energy and avoiding waste.

Specifically, as shown in fig. 1 to 4, the tank body 140 includes a liquid storage tank 140a and a liquid discharge tank 140b, and a liquid inlet or a liquid outlet may be provided at a suitable position of the tank body 142 according to functional requirements of the liquid storage tank 140a and the liquid discharge tank 140 b.

Further, as shown in fig. 6 and 7, the case 140 further includes: a backing plate 148 provided inside the case body 142; the box body 142 comprises a bottom plate and side plates arranged around the bottom plate, and the backing plate 148 is arranged above the bottom plate and connected with the side plates; the drain tank 140b is disposed above the reservoir tank 140a, and a bottom plate of the drain tank 140b is in contact with the pad 148 of the reservoir tank 140 a.

Further, case body 142 includes the bottom plate and encloses the curb plate of locating around the bottom plate, and the one side that case body 142 kept away from the bottom plate is equipped with the opening promptly, through locating backing plate 148 in the inside of case body 142, is located the top of bottom plate and connects the curb plate, is favorable to improving case body 142's reliability.

Further, the positions of the drainage box 140b and the liquid storage box 140a can be reasonably set according to the residual space of the grouting equipment 1 with different working conditions, so that the application range of products is further expanded, for example, the drainage box 140b and the liquid storage box 140a can be sequentially arranged along the horizontal direction, and also can be sequentially arranged along the vertical direction.

Specifically, drain tank 140b is disposed above tank 140a, and a bottom plate of drain tank 140b is in contact with a backing plate 148 of tank 140a, so that the backing plate 148 of tank 140a can improve the supporting force of tank 140a on drain tank 140b, and thus, drain tank 140b can be reliably and firmly disposed above tank 140a and in contact with tank 140 a. It is understood that the drainage tank 140b may be fitted over the reservoir 140a, that is, the side plate of the drainage tank 140b may be in contact with the side plate of the reservoir 140a, and the bottom plate of the drainage tank 140b may be in contact with the backing plate 148 of the reservoir 140a, thereby further improving the reliability of the connection between the reservoir 140a and the drainage tank 140 b.

It is understood that the connection of the liquid reserve tank 140a and the liquid discharge tank 140b may be further improved by providing a connection portion on the tank body 142 and connecting the liquid reserve tank 140a and the liquid discharge tank 140b by bolts. Specifically, a cover may be provided to cover the opening of the tank body 142 according to the requirements of the liquid storage tank 140a and the liquid discharge tank 140 b.

EXAMPLE five

As shown in fig. 1 to 19, in one embodiment of the present invention, the cleaning system 100 provided by the present invention includes: cleaning portion 120, portion 130, a plurality of boxes 140, pump body subassembly 150 and storage bucket 110, wherein, cleaning portion 120 includes: a first body 122 communicated with the drain tank 140b, the first body 122 having an opening; the spray head 124 is arranged on the first body 122 and positioned at the opening, the spray head 124 is communicated with the liquid outlet end of the pump body assembly 150, and the spraying direction of the spray head 124 faces the inside of the first body 122; a liquid inlet of the liquid separating valve 126 is communicated with a liquid outlet end of the pump body component 150, and a liquid outlet of the liquid separating valve 126 is communicated with the spray head 124; the number of outlets is the same as the number of spray heads 124.

In this embodiment, as shown in fig. 10, 11, 12, 13 and 14, the cleaning part 120 includes a first body 122, a spray head 124 and a liquid distribution valve 126, the first body 122 is communicated with the liquid discharge tank 140b and is provided with an opening, which facilitates the end effector 200 to extend into the interior of the first body 122 through the opening to clean the outer wall of the end effector 200. The spray head 124 is disposed on the first body 122 and located at the opening, the spray head 124 is communicated with the liquid outlet end of the pump body assembly 150, so that the pump body assembly 150 works to pump the cleaning liquid in the liquid storage tank 140a to the spray head 124 to clean the outer wall of the end actuator 200 located in the first body 122, and the spray direction of the spray head 124 faces the inside of the first body 122, which is beneficial for the cleaning liquid sprayed by the spray head 124 to fall into the inside of the first body 122 and to be discharged to the liquid discharge tank 140b side by side.

Further, as shown in fig. 10, the number of the nozzles 124 is plural, and the plural nozzles 124 are uniformly distributed at the opening, which is beneficial to ensuring that the cleaning liquid sprayed by the plural nozzles 124 cleans the outer wall of the end-effector 200 from different directions, and is further beneficial to improving the cleaning efficiency and the reliability of the product. The liquid inlet of the liquid separating valve 126 is communicated with the liquid outlet of the pump body assembly 150, the liquid outlets of the liquid separating valve 126 are communicated with the spray heads 124, and the number of the liquid outlets is the same as that of the spray heads 124, so that the cleaning liquid pumped by the pump body assembly 150 is distributed to the spray heads 124 through the liquid separating valve 126, the same amount of the cleaning liquid sprayed by the spray heads 124 can be ensured, and the cleaning effect can be further improved.

Specifically, the number of the nozzles 124 is four, the four nozzles 124 are uniformly distributed at the opening, and the liquid dividing valve 126 is a one-to-four water valve.

EXAMPLE six

As shown in fig. 1 to 19, in one embodiment of the present invention, the cleaning system 100 provided by the present invention includes: cleaning portion 120, receiving portion 130, a plurality of boxes 140, pump body subassembly 150 and storage bucket 110, wherein, receiving portion 130 includes: the second body 132 is communicated with the liquid outlet end of the pump body component 150, and the second body 132 is provided with an opening; a liquid level detecting device (not shown) provided inside the second body 132 for detecting a liquid level inside the second body 132; and the alarm device is connected with the liquid level detection device and gives an alarm according to the detection result of the liquid level detection device.

In this embodiment, as shown in fig. 14, 15, 16, 17 and 18, the accommodating portion 130 includes a second body 132, a liquid level detecting device and an alarm device, the second body 132 is communicated with the liquid outlet end of the pump body assembly 150, so that the pump body assembly 150 operates to pump the cleaning liquid in the storage tank 140a into the second body 132, and the second body 132 is provided with an opening, which facilitates the end actuator 200 to extend into the interior of the second body 132 through the opening to suck the cleaning liquid. The liquid level detection device is disposed inside the second body 132 and is used for detecting the liquid position inside the second body 132, so that the position of the cleaning liquid on the inner wall of the second body 132 can be known timely and accurately through the liquid level detection device, and the pump assembly 150 is controlled to stop working according to the detection result of the liquid level detection device so as to stop supplying liquid to the accommodating portion 130, thereby avoiding the pump assembly 150 from continuing working and causing the liquid to overflow the accommodating portion 130, which wastes energy or pollutes the environment. It can be understood that, by detecting the position of the liquid in the second body 132 by the liquid level detecting device, the amount of the cleaning liquid contained in the containing portion 130 can be known by the position of the liquid, and the number of times of cleaning the inner wall of the end effector 200 can be flexibly controlled according to the amount of the liquid contained in the containing portion 130.

The grouting equipment 1 is connected with the liquid level detection device through the alarm device and gives an alarm 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 130 according to the alarm, and further the user can control the grouting equipment 1 to execute relevant actions according to the amount of the cleaning liquid in the accommodating part 130. The related action may be to control the pump body assembly 150 to stop working, and the related action may also be completed by the controller of the grouting device 1.

In particular, the alarm device may be integrated with the liquid level detection device, i.e. the liquid level detection device has both a detection function and an alarm function.

Further, as shown in fig. 15, 16, and 17, the accommodating portion 130 further includes an installation frame 134 disposed on the second body 132, and the liquid level detection device is disposed inside the second body 132 through the installation frame 134, so as to facilitate improvement of reliability of connection between the liquid level detection device and the second body 132, thereby ensuring accuracy of detection results of the liquid level detection device and improving reliability of products.

Further, as shown in fig. 15, 17 and 18, the accommodating portion 130 further includes a support 136, the support 136 is disposed outside the second body 132, and the support 136 facilitates flexible and reliable fixing of the second body 132 to other structures, thereby improving reliability of connection between the second body 132 and other structures.

Further, as shown in fig. 1 to 4, the cleaning system 100 further includes a support, the material barrel 110, the cleaning portion 120, and the accommodating portion 130 are sequentially arranged on the support along a vertical downward direction, so that the material barrel 110, the cleaning portion 120, and the accommodating portion 130 are integrated on the support, which is beneficial to reducing the space occupancy rate, and the requirements of the cleaning system 100 on small size and compact structure are met, and the application range is wide, and meanwhile, the material barrel 110, the cleaning portion 120, and the accommodating portion 130 are integrally assembled after being installed on the support, which is convenient to operate, and is beneficial to saving the assembly time, and further beneficial to improving the production efficiency. Specifically, a certain distance is arranged between the bottom of the charging basket 110 and the opening of the cleaning part 120, and a certain distance is arranged between the bottom of the cleaning part 120 and the opening of the accommodating part 130, so that the terminal actuating mechanism 200 can quickly and sensitively suck the cleaning liquid through the opening of the accommodating part 130, and the cleaning liquid is discharged or the outer wall is cleaned through the opening of the cleaning part 120, thereby further improving the cleaning efficiency of the terminal actuating mechanism 200 and the using satisfaction of a user.

Further, the volume of the second body 132 is 3 to 5 times the volume of the end effector 200, since the end effector 200, when cleaning the inner wall, needs to suck the cleaning solution from the second body 132 of the receiving portion 130 and discharge it to the cleaning portion 120, the volume through the second body 132 is 3 to 5 times the volume of the end effector 200, the volume of the cleaning liquid in the containing portion 130 can be set appropriately according to the number of times the inner wall of the end effector 200 is cleaned, thereby enabling the cleaning solution contained in the containing part 130 to satisfy the requirement of cleaning the inner wall of the end effector 200 for a plurality of times, so that the times of cleaning the inner wall of the end executing mechanism 200 for slurries of different materials are different to ensure good cleaning effect, thereby avoiding the blockage of the end actuating mechanism 200, ensuring good material supplementing and discharging effects, improving the reliability of the product and enlarging the application range of the product.

EXAMPLE seven

As shown in fig. 1 to 19, according to a second aspect of the present invention, there is provided a grouting apparatus 1 including: an end effector 200; and the cleaning system 100 according to any of the above embodiments, the cleaning part 120 is configured to clean the outer wall of the end effector 200, and the accommodating part 130 is configured to accommodate a cleaning solution for cleaning the inner wall of the end effector 200. Since the grouting device 1 has the cleaning system 100 of any one of the above embodiments, the overall beneficial effects of the cleaning system 100 are not described herein.

Further, as shown in fig. 1 to 5, the grouting apparatus 1 further includes: a cooperative actuator 300 connected to the end actuator 200 and controlling the end actuator 200 to operate; the chassis walking mechanism 400, the cleaning system 100 is arranged on the chassis walking mechanism 400; the lifting mechanism 500 is provided on the chassis running mechanism 400, and the cooperative execution mechanism 300 is connected to the lifting mechanism 500.

The cleaning system 100 and the lifting mechanism 500 are arranged on the chassis walking mechanism 400, the chassis walking mechanism 400 can move the cleaning system 100 and the lifting mechanism 500 to any working position, and the lifting mechanism 500 is connected with the tail end executing mechanism 200 through the cooperation executing mechanism 300, so that the lifting mechanism 500 can drive the tail end executing mechanism 200 to move to any position and any angle through the cooperation executing mechanism 300. Specifically, as shown in fig. 1 and 2, the chassis running mechanism 400 moves on the ground 2.

Further, the grouting equipment 1 further comprises a main control cabinet and a cooperative execution mechanism control cabinet, wherein the main control cabinet is connected with the chassis walking mechanism 400, the lifting mechanism 500 and the pump body assembly 150 of the supplementary material cleaning system 100; the cooperative execution mechanism control cabinet is connected with the main control cabinet and the cooperative execution mechanism 300, and the main control cabinet and the cooperative execution mechanism control cabinet jointly control the normal movement of each part of the whole machine.

Example eight

As shown in fig. 1 to 19, in a specific embodiment, the grouting apparatus 1 is a caulking apparatus, and includes an end actuator 200, a cleaning system 100, a cooperative actuator 300, a chassis traveling mechanism 400, and a lifting mechanism 500, where the cleaning system 100 includes a liquid storage tank 140a, a liquid discharge tank 140b, an accommodating portion 130, a cleaning portion 120, a bucket 110, and a pump body assembly 150, where the bucket 110, the cleaning portion 120, and the accommodating portion 130 are sequentially distributed in a vertically downward direction.

When the cooperative actuator 300 controls the end effector 200 to complete a caulking operation, the pump assembly 150 is signaled to start the operation, the receiving portion 130 will receive a cleaning solution (e.g. clear water) from the reservoir 140a through the pump assembly 150, and the amount of the liquid stored in the receiving portion 130 located below is determined by the volume of the end effector 200, for example, the total amount of the cleaning solution received in the receiving portion 130 is three times the volume of the end effector 200, so as to ensure that the inner wall of the end effector 200 is cleaned three times and then cleaned. The cooperative actuator 300 controls the end effector 200 to move to the cleaning portion 120 located at the intermediate position to discharge the cleaning solution to the cleaning portion 120 each time the end effector 200 is filled with the cleaning solution in the receiving portion 130, and the waste cleaning solution in the cleaning portion 120 flows to the discharge tank 140b through the discharge port of the cleaning portion 120 itself via the discharge pipe to be stored.

After the inner wall of the end actuator 200 is cleaned, the cooperative actuator 300 controls the end actuator 200 to move to replenish the gap filler in the charging bucket 110 above the end actuator, and after the gap filler is replenished, because a small amount of gap filler is adhered to the outer wall of the front end of the discharging nozzle of the end actuator 200 during material replenishing, the cooperative actuator 300 directly controls the end actuator 200 to perform gap filling on wall and floor brick joints, and the gap filler is adhered to the surface of the ceramic tile. Therefore, after the material supplement is completed, the cooperative execution mechanism 300 controls the end execution mechanism 200 to move to the cleaning portion 120 located at the middle position, since the spray head 124 is arranged around the first tank body of the cleaning portion 120, the spray head 124 pumps clean cleaning liquid from the liquid storage tank 140a by the pump body assembly 150, when the outer wall of the front end of the discharging nozzle needs to be cleaned, the spray head 124 annularly distributed around the first body 122 starts to completely clean the outer wall of the front end of the discharging nozzle of the end execution mechanism 200, and the cleaned waste cleaning liquid still flows into the liquid discharge tank 140b through the liquid discharge port of the cleaning portion 120 and flows through the liquid discharge pipeline to be stored. After cleaning, the end effector 200 carries the caulking agent to effect the caulking of the wall and floor joints as controlled by the cooperating actuator 300. Because the grouting equipment 1 of the application is added with two cleaning processes of cleaning the inner wall of the end executing mechanism 200 after discharging and cleaning the outer wall of the end executing mechanism 200 after supplementing on the basis of rapid material supplementing, the characteristic of cleaning the inner wall and the outer wall of the end executing mechanism 200 in sections is realized, the inside and the outside of the end executing mechanism 200 can be effectively cleaned, the grouting equipment is not limited to cleaning the inner pipeline of the end executing mechanism 200, the inner wall of the whole end executing mechanism 200 is kept in a clean state as the outer wall, the problem that the end executing mechanism of the grouting equipment in the related technology is not completely cleaned is solved, the discharging system is not blocked, the discharging and supplementing functions are easy to realize, and the grouting equipment 1 breaks through the defects that the end executing mechanism 200 is extremely easy to block due to incomplete cleaning of some rapidly solidified and irreversibly solidified materials before and after supplementing, the condition that causes whole system collapse for slip casting equipment 1 all can adopt cleaning system 100 of this application when using the material that should not pump to carry out the operation, and material adaptability is good, has enlarged the application range of product greatly and has improved the reliability of product.

Further, each time the caulking agent of the end executing mechanism 200 is used up or the caulking agent begins to solidify, the cooperative executing mechanism 300 can control the end executing mechanism 200 to sequentially move to the accommodating portion 130 to suck the cleaning liquid and move to the cleaning portion 120 to discharge the cleaning liquid to complete the cleaning of the inner wall, wherein the number of times of cleaning the inner wall can be multiple, the inner wall is moved to the charging basket 110 to supplement the caulking agent after being cleaned, then the inner wall is moved to the cleaning portion 120 to clean the outer wall, and the caulking can be performed after the whole supplementing and cleaning work is completed.

When the end effector 200 completes the caulking operation, that is, when there is no slurry in the material barrel 110, the pump assembly 150 operates to pump the clean cleaning solution in the storage tank 140a into the material barrel 110, so as to clean the inner wall of the material barrel 110, and the cleaned waste cleaning solution is stored in the drainage tank 140b through the drainage port of the material barrel 110 via the drainage pipeline. When the cleaning solution is water, after the whole machine moves to a place with a water source, the liquid discharging tank 140b is taken out, cleaned and put back to the original position, and the liquid storage tank 140a is filled with clear water or kept stand for the next use. Wherein, the flow direction of the cleaning liquid of the cleaning system 100 of the grouting apparatus 1 is shown in fig. 19, wherein the direction shown by the arrow in fig. 19 represents the flow direction of the cleaning liquid in the cleaning system 100.

Example nine

According to a third aspect of the present invention, there is provided a feeding and cleaning control method for a grouting apparatus, the grouting apparatus being the grouting apparatus according to any one of the above embodiments, as shown in fig. 20, the feeding and cleaning control method for a grouting apparatus according to an embodiment of the present invention, including:

s202, receiving a material supplementing finishing instruction;

s204, controlling the tail end executing mechanism to be located in the cleaning part, and controlling the cleaning part to clean the outer wall of the tail end executing mechanism;

s206, receiving a discharging completion instruction;

and S208, controlling the tail end actuator to suck the cleaning liquid in the containing part and discharge the cleaning liquid to the cleaning part so as to clean the inner wall of the tail end actuator.

The feeding and cleaning control method of the grouting equipment provided by the invention is characterized in that the grouting equipment is the grouting equipment of the embodiment, and comprises the following steps: receive the feed supplement and accomplish the instruction, show that end actuating mechanism's inside has been filled up the ground paste, end actuating mechanism can ejection of compact work this moment, be located clearance portion through control end actuating mechanism, control clearance portion washs end actuating mechanism's outer wall, can avoid end actuating mechanism to drop at the ground paste of the sprue gate outer wall that the ejection of compact in-process bonds at end actuating mechanism, the work effect of bonding outside the assigned position and influence grouting equipment, simultaneously, can avoid bonding the ground paste in sprue gate outer wall and near to solidify and occupy or plug up the sprue gate and influence end actuating mechanism's discharging efficiency or make end actuating mechanism block up, and then be favorable to avoiding end actuating mechanism to block up, guarantee good discharge capacity. Receiving a discharging completion instruction, explaining that the slurry of the tail end execution mechanism is used up, supplementing material, sucking the cleaning liquid in the containing part by controlling the tail end execution mechanism and discharging the cleaning liquid to the cleaning part so as to clean the inner wall of the tail end execution mechanism, avoiding the condition that the slurry remained on the inner wall of the tail end execution mechanism after discharging is solidified and occupies or blocks a grouting port to influence the supplementing efficiency of the tail end execution mechanism or cause the tail end execution mechanism to be blocked, and meanwhile, avoiding the condition that the slurry remained on the inner wall of the tail end execution mechanism is solidified to influence the supplementing quantity of the tail end execution mechanism, further being beneficial to avoiding the blockage of the tail end execution mechanism and improving the supplementing quantity.

Specifically, a sensor may be disposed inside the end actuator to detect the amount of residual slurry inside the end actuator, and when the amount of residual slurry reaches a first preset value, it indicates that the end actuator is filled with slurry and discharging can be performed, and at this time, the sensor sends a first signal to a main control cabinet of the grouting equipment, so that the main control cabinet receives a material supplement completion instruction; when the amount of the residual slurry reaches a second preset value, the slurry in the tail end executing mechanism cannot be discharged, and the slurry should be supplemented, and at the moment, the sensor sends a second signal to a main control cabinet of the grouting equipment, so that the main control cabinet receives a discharge completion instruction.

It can be understood that there is no chronological order in receiving the feeding completion instruction and receiving the discharging completion instruction, that is, which instruction (including the feeding completion instruction and the discharging completion instruction) is received to execute the corresponding action, because feeding and discharging are a cyclic process in the actual working process of the grouting equipment, the residual slurry amount in the tail end execution mechanism can be detected in real time by the sensor, and a signal is sent according to the comparison result of the residual slurry amount and the first preset value and the second preset value, so that the main control cabinet executes the corresponding action of cleaning the outer wall and the inner wall of the tail end execution mechanism according to the received feeding completion instruction and the discharging completion instruction. Furthermore, the feeding completion instruction can be received first and then the discharging completion instruction can be received, or the discharging completion instruction can be received first and then the feeding completion instruction can be received according to the actual requirement.

Example ten

In a feeding and cleaning control method of a grouting apparatus according to a third aspect of the present invention, as shown in fig. 21, a feeding and cleaning control method of a grouting apparatus according to another embodiment of the present invention includes:

s302, receiving a material supplementing finishing instruction;

s304, controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank of the grouting equipment to the cleaning part;

s306, controlling the tail end executing mechanism to be located in the cleaning part, and controlling the cleaning part to clean the outer wall of the tail end executing mechanism;

s308, receiving a discharging completion instruction;

s310, controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank to the accommodating part;

and S312, controlling the tail end actuator to suck the cleaning liquid in the containing part and discharge the cleaning liquid to the cleaning part so as to clean the inner wall of the tail end actuator.

In the embodiment, after the material supplementing completion instruction is received and before the outer wall of the tail end execution mechanism is controlled to be cleaned, the pump body assembly is controlled to work to pump the cleaning liquid in the liquid storage tank of the grouting equipment to the cleaning part so as to clean the outer wall of the tail end execution mechanism and provide the cleaning liquid; after the discharging completion instruction is received and before the inner wall of the tail end execution mechanism is cleaned, the pump body assembly is controlled to work to pump the cleaning liquid in the liquid storage tank to the accommodating portion so as to clean the inner wall of the tail end execution mechanism and provide the cleaning liquid. It is understood that the feeding completion command and the discharging completion command may be obtained in other manners.

Specifically, the main control cabinet controls the pump body assembly to work according to the received feeding completion instruction and the discharging completion instruction.

EXAMPLE eleven

In a feeding and cleaning control method of a grouting apparatus according to a third aspect of the present invention, as shown in fig. 22, a feeding and cleaning control method of a grouting apparatus according to a further embodiment of the present invention includes:

s402, receiving a material supplementing completion instruction;

s404, controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank of the grouting equipment to the cleaning part;

s406, controlling the tail end actuating mechanism to be positioned in the cleaning part, and controlling the cleaning part to clean the outer wall of the tail end actuating mechanism;

s408, receiving a discharging completion instruction;

s410, controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank to the accommodating part;

s412, controlling the tail end actuating mechanism to suck the cleaning liquid in the containing part and discharge the cleaning liquid to the cleaning part so as to clean the inner wall of the tail end actuating mechanism;

s414, receiving a material bucket no-material instruction of grouting equipment;

and S416, controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank 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.

Specifically, can set up the sensor in the inside of storage bucket in order to detect the inside surplus ground paste volume of storage bucket, when the surplus ground paste volume in the storage bucket reaches the third default, explain not have the ground paste in the storage bucket, can wash the storage bucket, at this moment, sensor send signal to grouting equipment's main control cabinet makes main control cabinet receive the storage bucket and does not have the material instruction. It is understood that the bucket material absence instruction can be obtained in other manners. Specifically, the main control cabinet controls the pump body assembly to work according to the received material barrel no-material instruction.

Further, based on receiving the bucket no-material instruction, the step of controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank to the bucket is carried out at least once, namely the number of times of cleaning the bucket is at least once, so that the number of times of cleaning the bucket can be controlled according to the material property of the slurry, if the slurry is a material which is quickly solidified and is difficult to clean, the cleaning liquid in the liquid storage tank can be pumped to the bucket to realize multiple times of cleaning of the bucket through multiple times, intermittently or continuously, and the cleanness of the bucket is further ensured. 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.

Further, based on the feeding and cleaning control method of the grouting apparatus in embodiments 9 to 11, based on receiving the feeding completion instruction, the step of controlling the end actuator to suck the cleaning liquid in the accommodating portion and discharge the cleaning liquid to the cleaning portion is performed at least once, that is, the number of times of cleaning the inner wall of the end actuator is controlled to be at least once, so that the number of times of cleaning the inner wall of the end actuator can be flexibly controlled according to the property of the slurry, thereby ensuring that the inner wall of the end actuator is clean, saving energy, improving the cleaning efficiency, further improving the working efficiency of the whole machine, and improving the satisfaction degree of the user.

Specifically, if the slurry is a material which is quickly solidified and is not easy to clean, the inner wall of the end executing mechanism can be cleaned for multiple times to ensure the cleanness of the end executing mechanism, so that the end executing mechanism is prevented from being blocked, and good material supplementing and discharging effects are ensured. It will be appreciated that the number of times the inner wall of the end effector is cleaned may be controlled to be three times when the slurry is a caulking agent, and may be controlled to be one time when the slurry is a coating material.

It can be understood that the receiving of the feeding completion instruction, the receiving of the discharging completion instruction, and the receiving of the barrel material-free instruction of the grouting equipment do not have a chronological sequence, that is, which instruction (including the feeding completion instruction, the discharging completion instruction, and the barrel material-free instruction) is received to execute the corresponding action, because the feeding and the discharging are a cyclic process in the actual working process of the grouting equipment, and the barrel material-free may occur at any time, the remaining slurry amount inside the end execution mechanism can be detected in real time by one sensor, the remaining slurry amount inside the barrel can be detected in real time by another sensor, and signals are respectively sent according to the comparison result of the remaining slurry amount inside the end execution mechanism and the first preset value and the second preset value, the remaining slurry amount inside the barrel and the third preset value, so that the main control cabinet respectively sends signals according to the received feeding completion instruction, And the discharging completion instruction and the material-free instruction of the charging basket of the grouting equipment execute corresponding actions of correspondingly cleaning the outer wall of the tail end executing mechanism, the inner wall of the tail end executing mechanism and the inner wall of the charging basket. Further, a material-free instruction of the material barrel of the grouting equipment can be received after a material supplementing completion instruction or a material discharging completion instruction is received according to actual requirements.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. 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 of the present invention, 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 present invention. In the present invention, 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. A cleaning system (100) for a grouting device (1), said grouting device (1) comprising an end effector (200), characterized in that said cleaning system (100) comprises:

a cleaning section (120) configured to clean an outer wall of the end effector (200);

a receiving part (130) provided at one side of the cleaning part (120) and configured to receive a cleaning liquid for cleaning an inner wall of the end effector (200);

a plurality of tanks (140), the plurality of tanks (140) including at least a liquid storage tank (140a) and a liquid discharge tank (140b), the liquid discharge tank (140b) being communicated with the cleaning part (120);

a pump body assembly (150), the pump body assembly (150) being in communication with the reservoir (140a), the receiving portion (130), and the cleaning portion (120);

the case (140) includes:

a box body (142);

the connecting pieces (144) are correspondingly arranged on two sides of the box body (142) and positioned outside the box body (142), each connecting piece (144) is a lifting lug, each connecting piece (144) is provided with a through hole (146), and each through hole (146) is used for being matched with a hoisting tool to realize connection between the box body (142) and the hoisting tool;

wherein the extending direction of the through hole (146) is vertical to the height direction of the box body (142);

the accommodating part (130) comprises a second body (132) which is communicated with the liquid outlet end of the pump body assembly (150), and the second body (132) is provided with an opening which is used for enabling a tail end actuating mechanism (200) to extend into the accommodating part (130) so as to suck the cleaning liquid in the accommodating part (130).

2. The cleaning system (100) of claim 1, further comprising: a bucket (110) disposed on one side of the cleaning part (120), the bucket (110) comprising:

the barrel body is communicated with the liquid outlet end of the pump body component (150) and the liquid drainage tank (140 b);

and the stirring device is arranged in the barrel body and used for stirring slurry.

3. The cleaning system (100) of claim 2,

the cleaning part (120) is arranged between the charging bucket (110) and the accommodating part (130); and/or

The charging bucket (110) is located above the cleaning part (120), and the accommodating part (130) is located below the cleaning part (120).

4. The cleaning system (100) of claim 1, wherein the tank (140) further comprises:

a pad (148) provided inside the case body (142);

the box body (142) comprises a bottom plate and side plates arranged around the bottom plate in a surrounding mode, and the backing plate (148) is arranged above the bottom plate and connected with the side plates;

wherein the drainage tank (140b) is disposed above the reservoir (140a), and the bottom plate of the drainage tank (140b) abuts against the backing plate (148) of the reservoir (140 a).

5. The cleaning system (100) of claim 1, wherein the cleaning section (120) comprises:

the first body (122) is communicated with the liquid drainage tank (140b), and the first body (122) is provided with an opening;

the spray head (124) is arranged on the first body (122) and positioned at the opening, the spray head (124) is communicated with the liquid outlet end of the pump body assembly (150), and the spraying direction of the spray head (124) faces to the inside of the first body (122);

a liquid inlet of the liquid separating valve (126) is communicated with a liquid outlet end of the pump body assembly (150), and a liquid outlet of the liquid separating valve (126) is communicated with the spray head (124);

wherein the number of the liquid outlets is the same as the number of the spray heads (124).

6. The washing system (100) according to claim 1, characterized in that the receptacle (130) further comprises:

the liquid level detection device is arranged inside the second body (132) and is used for detecting the liquid position inside the second body (132);

the alarm device is connected with the liquid level detection device and alarms according to the detection result of the liquid level detection device;

the housing (130) further comprises:

the mounting frame (134) is arranged on the second body (132), and the liquid level detection device is arranged inside the second body (132) through the mounting frame (134);

a support (136) provided outside the second body (132).

7. The cleaning system (100) of claim 6,

the second body (132) has a volume 3 to 5 times the volume of the end effector (200).

8. Grouting device (1), characterised in that it comprises:

an end effector (200); and

the cleaning system (100) of any one of claims 1 to 7, the cleaning portion (120) being configured to clean an outer wall of the end effector (200), the receiving portion (130) being configured to receive a cleaning fluid for cleaning an inner wall of the end effector (200).

9. Grouting device (1) according to claim 8, characterised in that it further comprises:

the cooperative execution mechanism (300) is connected with the tail end execution mechanism (200) and controls the tail end execution mechanism (200) to act;

the chassis travelling mechanism (400), the cleaning system (100) is arranged on the chassis travelling mechanism (400);

the lifting mechanism (500) is arranged on the chassis travelling mechanism (400), and the cooperative execution mechanism (300) is connected with the lifting mechanism (500).

10. A replenishment-feed-cleaning control method for a grouting apparatus according to claim 8 or 9, comprising:

receiving a material supplementing finishing instruction, controlling the tail end executing mechanism to be positioned in the cleaning part, and controlling the cleaning part to clean the outer wall of the tail end executing mechanism;

and receiving a discharging completion instruction, and controlling the tail end execution mechanism to suck the cleaning liquid in the containing part and discharge the cleaning liquid to the cleaning part so as to clean the inner wall of the tail end execution mechanism.

11. The fed-batch washing control method of a grouting apparatus as claimed in claim 10, characterized in that,

after the receiving a feeding completion instruction, before the controlling the end effector to be located in the cleaning part and the cleaning part to clean the outer wall of the end effector, 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 grouting equipment to the cleaning part;

after the receiving the discharging completion instruction, before the controlling the end actuator to suck the cleaning liquid in the containing part and discharge the cleaning liquid to the cleaning part so as to clean the inner wall of the end actuator, the method further includes:

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

12. The feeding and cleaning control method for the grouting equipment as claimed in claim 11, further comprising:

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

13. The fed-batch washing control method of a grouting apparatus as claimed in claim 12, characterized in that,

and executing the step of controlling the pump body assembly to work to pump the cleaning liquid in the liquid storage tank to the charging bucket at least once based on the receiving of the charging bucket material-free instruction.

14. The fed-batch cleaning control method of a grouting apparatus as claimed in any one of claims 10 to 13, characterized in that,

and executing the step of controlling the tail end execution mechanism to suck the cleaning liquid in the containing part and discharge the cleaning liquid to the cleaning part based on the fact that the material supplementing finishing instruction is received, so as to clean the inner wall of the tail end execution mechanism at least once.