CN114458011A - Grouting equipment - Google Patents
Grouting equipment Download PDFInfo
- Publication number
- CN114458011A CN114458011A CN202011247211.7A CN202011247211A CN114458011A CN 114458011 A CN114458011 A CN 114458011A CN 202011247211 A CN202011247211 A CN 202011247211A CN 114458011 A CN114458011 A CN 114458011A
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- China
- Prior art keywords
- grouting
- pipe
- grouting pipe
- chassis
- hole
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- 239000011440 grout Substances 0.000 claims description 41
- 239000004570 mortar (masonry) Substances 0.000 claims description 27
- 239000000463 material Substances 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 16
- 238000007569 slipcasting Methods 0.000 claims description 16
- 239000002002 slurry Substances 0.000 abstract description 9
- 238000010276 construction Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 7
- 230000003993 interaction Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000012806 monitoring device Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention discloses grouting equipment, wherein the grouting equipment is used for installing a wallboard on a floor slab, the wallboard is provided with grouting holes, and the grouting equipment comprises: a chassis; the driving device is arranged on the chassis; the grouting device comprises a grouting pipe arranged at the tail end of the driving device; the photographing device is arranged at the tail end of the chassis or the driving device; and the control device acquires images of the wall plate comprising the grouting pipe and the grouting hole through the photographing device and controls the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the images. Therefore, according to the grouting equipment provided by the embodiment of the invention, the control device controls the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the image of the grouting hole and the image of the grouting pipe, so that the grouting pipe and the grouting hole are accurately positioned, the construction quality is improved, full-automatic sleeve grouting operation is realized after slurry is manually added, and the labor cost is reduced.
Description
Technical Field
The invention relates to the technical field of grouting, in particular to grouting equipment.
Background
At present, sleeve grouters commonly used in domestic markets mainly have two forms: the special vapour-pressure type grouting machine of grout sleeve and screw sleeve grouting machine, but no matter which kind of grout equipment, all need the whole grouting process of manual control, lead to grouting operation roughness, the grout quality is difficult to ensure, and operating personnel is numerous, and the precision can't carry out accurate control, and construction quality receives manual operation's influence.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide grouting equipment which can realize accurate positioning of a grouting pipe and a grouting hole, realize full-automatic sleeve grouting operation after slurry is added manually, and reduce labor cost.
In order to achieve the above object, a grouting apparatus provided in an embodiment of the present invention is used for installing a wallboard on a floor slab, the wallboard being provided with grouting holes, and the grouting apparatus includes: a chassis; the driving device is arranged on the chassis; the grouting device comprises a grouting pipe arranged at the tail end of the driving device; the photographing device is arranged at the tail end of the chassis or the driving device; and the control device acquires images of the grouting pipe and the wallboard with the grouting hole through the photographing device, and controls the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the images.
According to the grouting equipment provided by the embodiment of the invention, the control device acquires the image of the wall plate comprising the grouting pipe and the grouting hole through the photographing device arranged at the tail end of the chassis or the driving device, and controls the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the image. From this, realize the accurate location of slip casting pipe and grout hole to after artifical thick liquids that adds, realize full-automatic sleeve grout operation, reduce the human cost.
In addition, the grouting apparatus according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the control device is specifically configured to obtain a first image including the grouting pipe and the wall panel through the photographing device, control the driving device to adjust the grouting pipe to be perpendicular to the wall panel according to the first image, and after adjusting the grouting pipe to be perpendicular to the wall panel, obtain a second image including the grouting pipe and the wall panel with the grouting hole through the photographing device, and control the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the second image.
According to an embodiment of the present invention, the control device is further configured to control the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the image, and then control the grouting pipe to grout the grouting hole.
According to one embodiment of the invention, at least one grout outlet is arranged on the wallboard, a plug is covered on the grout outlet, a full-material detection piece is installed on the plug, and the full-material detection piece is used for sending a full-material signal when the grouting hole is full of material; and the control device is also used for controlling the grouting pipe to stop grouting to the grouting hole when the full material signal is received.
According to one embodiment of the invention, the driving device is provided with a fixed seat, the fixed seat is vertically installed on the front portion of the chassis, a sliding seat is slidably connected to the fixed seat, an adjusting arm is slidably connected to the sliding seat, the adjusting arm slides along the sliding seat in the X direction, the sliding seat slides along the fixed seat in the Y direction, the adjusting arm is telescopic in the Z direction, the grouting pipe and a sliding table driving the grouting pipe to slide are arranged in the adjusting arm, and the X direction is perpendicular to the Y direction and perpendicular to the Z direction.
According to one embodiment of the invention, a pressure detection piece or a flow detection piece is arranged in the grouting pipe, the pressure detection piece is used for detecting the pressure of the grouting pipe, and the flow detection piece is used for detecting the flow of the grouting pipe; the control device is also used for adjusting the grouting speed of the grouting pipe according to the detected pressure or flow of the grouting pipe.
According to an embodiment of the present invention, the control device is specifically configured to adjust the grouting speed of the grouting pipe through a PID algorithm according to the detected real-time pressure or flow of the grouting pipe.
According to one embodiment of the invention, a mortar bin and a mortar pump are arranged on the chassis, wherein the mortar bin is used for storing mortar; the input port of mortar pump with the mortar feed bin is linked together, the output port of mortar pump with the slip casting pipe is linked together, the mortar pump be used for with the mortar pump sending to the slip casting pipe.
According to one embodiment of the invention, a laser radar and an obstacle avoidance radar are further arranged on the front part of the chassis, wherein the laser radar is used for detecting the distance information in front of the chassis; the obstacle avoidance radar is used for detecting the information of the obstacle in front of the chassis.
According to one embodiment of the invention, the chassis is further provided with a steering wheel, a steering wheel and a supporting device, wherein the supporting device is used for supporting the grouting equipment; the steering wheel is used for controlling the moving direction of the grouting equipment; the steering wheel is used for assisting the grouting equipment to turn.
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
FIG. 1 is a block schematic diagram of a grouting apparatus according to an embodiment of the invention;
FIG. 2 is a schematic structural view of a grouting apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a driving device according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a chassis of a grouting apparatus according to an embodiment of the present invention;
reference numerals: a grouting apparatus 100;
the device comprises a chassis 10, a driving device 20, a photographing device 40 and a control device 50;
a full material detection piece a, a signal generator a1 and a signal receiver a 2;
the device comprises a fixed seat 201, a sliding seat 202, an adjusting arm 203 and a sliding table 204 for driving a grouting pipe to slide;
a video monitoring device 60;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A grouting apparatus according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
The grouting apparatus 100 according to an embodiment of the present invention is used for installing a wall board on a floor slab, the wall board having grouting holes, as shown in fig. 1, the grouting apparatus 100 includes: the device comprises a chassis 10, a driving device 20, a grouting device 30, a photographing device 40 and a control device 50.
Specifically, as shown in fig. 2, the driving device 20 is mounted on the chassis 10; the grouting device 30 includes a grouting pipe provided at an end of the driving device 20; the photographing device 40 is arranged at the tail end of the chassis 10 or the driving device 20; the control device 50 obtains an image of the wall plate including the grout pipe and the grout hole through the photographing device 40, and controls the driving device 20 to adjust the grout pipe to be coaxial with the grout hole according to the image.
Alternatively, the chassis 10 may be an AGV (Automated Guided Vehicle) chassis, the grouting device 30 may drive an extrusion pump to move using a high-power servo motor to pump the slurry to the grouting hole through the grouting pipe, the photographing device 40 may be a 3D camera for acquiring an image including the grouting hole and the grouting pipe, in addition, the control device 50 may be a PLC controller, and the grouting apparatus 100 may be a sleeve grouting robot.
Specifically, in the embodiment of the present invention, the control device 50 of the grouting apparatus 100 may acquire an image of the wall panel including the grout pipe and the grout hole through the photographing device 40 installed at the end of the chassis 10 or the driving device 20, and control the driving device 20 installed on the chassis 10 to adjust the grout pipe provided at the end of the driving device 20 to be coaxial with the grout hole according to the image of the grout pipe and the wall panel having the grout hole. From this, realize the accurate location of slip casting pipe and grout hole to after artifical thick liquids that adds, realize full-automatic sleeve grout operation, reduce the human cost.
Further, the control device 50 is specifically configured to obtain a first image including the grouting pipe and the wall panel through the photographing device 40, control the driving device 20 to adjust the grouting pipe to be perpendicular to the wall panel according to the first image, obtain a second image including the grouting pipe and the wall panel having the grouting hole through the photographing device 40 after adjusting the grouting pipe to be perpendicular to the wall panel, and control the driving device 20 to adjust the grouting pipe to be coaxial with the grouting hole according to the second image.
That is to say, controlling means 50 accessible device 40 of shooing obtains the first image including slip casting pipe and wallboard and the second image including slip casting pipe and the wallboard that has the grout hole, and according to first image control drive arrangement 20 with the slip casting pipe adjustment to perpendicular with the wallboard, and according to second image control drive arrangement 20 with the slip casting pipe adjustment to coaxial with the grout hole, thereby, realize the accurate location of slip casting pipe and grout hole, promote construction quality.
Specifically, when the grouting apparatus 100 moves to a grouting operation point, first, a first image including the grouting pipe and the wall panel is acquired by the photographing device 40, and the driving device 20 is controlled to adjust the grouting pipe to be perpendicular to the wall panel according to the first image, so as to realize the adjustment of the deviation angle of the grouting pipe, and then, after the adjustment of the deviation angle is completed, a second image including the grouting pipe and the wall panel having the grouting hole is acquired by the photographing device 40, and the driving device 20 is controlled to adjust the grouting pipe to be coaxial with the grouting hole according to the second image, so as to realize the adjustment of the inclination angle of the grouting pipe.
It can be understood that the grouting pipe is adjusted to be perpendicular to the wall plate, i.e. the deviation angle of the grouting pipe and the wall plate is within the preset deviation angle threshold range, and the grouting pipe is adjusted to be coaxial with the grouting hole, i.e. the inclination angle of the grouting pipe and the grouting hole is within the inclination angle threshold range.
Alternatively, the control device 50 may further acquire a third image including the front end surface of the chassis 10 and the wall plate through the photographing device 40, and adjust the front end surface of the chassis 10 to be parallel to the wall plate according to the third image, wherein the grouting pipe is disposed along the front-rear direction of the chassis 10.
That is to say, controlling means 50 still can obtain the third image including the preceding terminal surface and the wallboard of chassis 10 through the device 40 of shooing to adjust the preceding terminal surface of chassis 10 to parallel with the wallboard according to the third image, wherein, the slip casting pipe sets up along the fore-and-aft direction of chassis 10, thereby, further realizes the accurate location of slip casting pipe and grout hole, promotes construction quality.
Specifically, after the grouting pipe is adjusted to be coaxial with the grouting hole by the control device 50 of the grouting apparatus 100 through the aforementioned second image, a third image including the front end surface of the chassis 10 and the wall panel is further acquired by the photographing device 40, and the front end surface of the chassis 10 is adjusted to be parallel to the wall panel according to the third image, so that the center point of the grouting pipe is aligned with the center point of the grouting hole, and the grouting pipe is adjusted to move in the front-back direction of the chassis 10, so that the center of the grouting pipe is aligned with the center of the grouting hole for placement.
Further, the control device 50 is further configured to control the driving device 20 to adjust the grouting pipe to be coaxial with the grouting hole according to the image, and then control the grouting pipe to perform grouting to the grouting hole.
It can be understood that, after the grouting pipe is adjusted to be coaxial with the grouting hole according to the image control driving device 20, the grouting pipe of the grouting apparatus 100 may be considered to be positioned with the grouting hole, and at this time, the grouting pipe may be controlled to perform grouting operation to the grouting hole to control the grouting apparatus 100.
Furthermore, the wall plate is provided with at least one grout outlet, the grout outlet is covered with a plug, a full material detection piece is mounted on the plug, and the full material detection piece is used for sending a full material signal when the grouting hole is full of material; the control device 50 is further configured to control the grouting pipe to stop grouting into the grouting hole when the full-material signal is received.
Alternatively, as shown in fig. 2, the full-slurry detection part a may include a signal generator a1 and a signal receiver a2, the signal generator a1 is integrated with the plug, the slurry has conductivity, when the slurry is full, the plug is also full of the slurry, and at this time, the conductivity may be tested by a probe connected to the signal generator a1, so as to obtain a full-slurry state of the corresponding grouting hole, and send the full-slurry state to the signal receiver a 2.
It should be understood that each wall plate is provided with a plurality of sleeves, each sleeve is provided with a grout outlet and a grout hole which are arranged up and down and communicated with the grout outlet, wherein when the grouting equipment 100 performs grouting, only one sleeve grout hole is in an open state, and all the other grout holes and grout outlets are in a closed state.
Further, as shown in fig. 3, the driving device 20 is provided with a fixing seat 201, the fixing seat 201 is vertically installed on the front portion of the chassis 10, a sliding seat 202 is slidably connected to the fixing seat 201, an adjusting arm 203 is slidably connected to the sliding seat 202, the adjusting arm 203 slides along the sliding seat 202 in the X direction, the sliding seat 202 slides along the fixing seat 201 in the Y direction, the adjusting arm 203 is retractable along the Z direction, a grouting pipe and a sliding table 204 driving the grouting pipe to slide are provided in the adjusting arm 203, wherein the X direction is perpendicular to the Y direction and is perpendicular to the Z direction.
It can be understood that the driving device 20 can include a plurality of servo motors for respectively controlling the adjusting arm to slide along the sliding seat in the X direction, the sliding seat slides along the fixing seat in the Y direction, the adjusting arm stretches out and draws back along the Z direction, and the adjusting arm inclination angle is controlled, and the sliding table is controlled to drive the grouting pipe to slide, so as to adjust the grouting pipe inclination angle and the distance relative to the grouting hole.
Furthermore, a pressure detection piece or a flow detection piece is arranged in the grouting pipe, the pressure detection piece is used for detecting the pressure of the grouting pipe, and the flow detection piece is used for detecting the flow of the grouting pipe; the control device 50 is also used for adjusting the grouting speed of the grouting pipe according to the detected pressure or flow of the grouting pipe.
Optionally, the control device 50 is specifically configured to adjust the grouting speed of the grouting pipe through a PID algorithm according to the detected real-time pressure or flow of the grouting pipe.
Specifically, the pressure detecting element or the flow detecting element may be configured to ensure that the pressure or the flow in the grouting pipe is within a preset pressure range or a preset flow range, so as to ensure the stability of the grouting apparatus 100, for example, the rotating speed of the motor driving the extrusion pump is adjusted in real time through a PID algorithm according to the detected real-time pressure or flow of the grouting pipe, so as to adjust the grouting speed of the grouting pipe.
It should be noted that, when the detected pressure or flow rate of the grouting pipe suddenly changes, it may be considered that the pipeline of the grouting pipe of the grouting apparatus 100 is blocked or the grouting hole is blocked, and at this time, the grouting apparatus 100 is controlled to immediately stop grouting, so as to avoid damage to the grouting apparatus.
Optionally, the grouting equipment 100 may further include a video monitoring device 60 and an APP interaction device, wherein the video monitoring device 60 may employ a 4GWiFi wide-angle camera to photograph and record specific situations of a construction operation point of the grouting equipment 100, and cache a video to a local industrial personal computer, the APP interaction device may implement human-computer interaction, an operator may remotely check operation data of the grouting equipment 100 through the APP, and remotely control the grouting equipment 100.
Further, a mortar bin and a mortar pump are arranged on the chassis 10.
Specifically, the mortar feed bin is used for storing mortar material, and the input port and the mortar feed bin of mortar pump are linked together, and the output port and the slip casting pipe of mortar pump are linked together, and the mortar pump is used for sending mortar material pump to the slip casting pipe.
Further, a laser radar and an obstacle avoidance radar are arranged on the front portion of the chassis 10.
Specifically, the laser radar is used for detecting the distance information in front of the chassis; the obstacle avoidance radar is used for detecting the information of obstacles in front of the chassis.
Further, as shown in fig. 4, a steering wheel 1001, a steering wheel 1002 and a support device 1003 are further provided on the chassis 10.
Specifically, the supporting device 1003 is used to support the grouting apparatus 100; the steering wheel 1001 is used to control the moving direction of the grouting apparatus 100; the steering wheel 1002 is used to assist the grouting apparatus 100 in turning.
Specifically, in an embodiment of the present invention, the chassis 10 may be provided with a laser radar, at least two obstacle avoidance radars, at least two steering wheels 1001, at least two steering wheels 1002 and a support device 1003, wherein the steering wheels 1001 are the main actuators of the AGV chassis, and each steering wheel 1001 includes a steering servo motor, a walking servo motor, positive and negative limit position sensors and an in-situ sensor. Therefore, the chassis 10 can control the grouting equipment 100 to perform operations such as walking, steering and positioning through the servo motor according to the imported BIM (Building Information Modeling) map data, so that the grouting equipment 100 automatically moves to any grouting operation point.
The following describes the operation of the grouting apparatus 100 according to an embodiment of the present invention with reference to a specific embodiment of the present invention.
Specifically, when the operation of the grouting apparatus 100 is started, an operation command is sent to the chassis 10 to instruct the chassis 10 to move to a grouting operation point, a first image including a grouting pipe and a wall panel is acquired by the control device 50 through the photographing device 40, the driving device 20 is controlled to adjust the grouting pipe to be perpendicular to the wall panel according to the first image to realize deviation angle adjustment of the grouting pipe, then, after the deviation angle adjustment is completed, a second image including the grouting pipe and the wall panel having a grouting hole is acquired by the photographing device 40, the driving device 20 is controlled to adjust the grouting pipe to be coaxial with the grouting hole according to the second image to realize inclination angle adjustment of the grouting pipe, a third image including a front end surface of the chassis 10 and the wall panel is acquired by the photographing device 40, the front end surface of the chassis 10 is adjusted to be parallel to the wall panel according to the third image, so that the center point of the grouting pipe is aligned with the center point of the grouting hole, and the grouting pipe is adjusted to move along the front and rear direction of the chassis 10 so as to align the center of the grouting pipe with the center of the grouting hole for placement, then, controlling the grouting pipe to grout the grouting hole, adjusting the grouting speed of the grouting pipe according to the pressure or flow of the grouting pipe in the grouting process, finally controlling the grouting pipe to stop grouting to the grouting hole when a full-material signal is received, therefore, a complete full-automatic sleeve grouting operation is realized, the labor cost is reduced, in addition, the grouting equipment 100 can also arrange the data such as pressure data, the rotating speed of a pumping motor, the time required by each construction detail and the like in the operation process into a form through a video monitoring device and an APP interaction device, and a folder is generated according to the operation number and the time, so that an operator can check all data in the operation process of the grouting equipment 100 on the APP interaction device, and manually adjust and monitor the operation process of the grouting equipment 100.
In summary, according to the grouting apparatus of the embodiment of the invention, the control device obtains the image of the wall plate including the grouting pipe and the grouting hole through the photographing device installed at the end of the chassis or the driving device, and controls the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the image. From this, realize the accurate location of slip casting pipe and grout hole to after artifical thick liquids that adds, realize full-automatic sleeve grout operation, reduce the human cost.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. 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 present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a grout equipment for install the wallboard on the floor, be equipped with the grout hole on the wallboard, its characterized in that, grout equipment includes:
a chassis;
the driving device is arranged on the chassis;
the grouting device comprises a grouting pipe arranged at the tail end of the driving device;
the photographing device is arranged at the tail end of the chassis or the driving device;
the control device obtains images of the grouting pipe and the wall plate with the grouting hole through the photographing device, and controls the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the images.
2. The grouting apparatus of claim 1, wherein the control device is specifically configured to obtain a first image including the grouting pipe and the wallboard through the photographing device, control the driving device to adjust the grouting pipe to be perpendicular to the wallboard according to the first image, obtain a second image including the grouting pipe and the wallboard with the grouting hole through the photographing device after adjusting the grouting pipe to be perpendicular to the wallboard, and control the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the second image.
3. The grouting apparatus according to any one of claims 1-2, wherein the control device is further configured to control the driving device to adjust the grouting pipe to be coaxial with the grouting hole according to the image, and then control the grouting pipe to grout the grouting hole.
4. The grouting equipment of claim 3, wherein the wall plate is provided with at least one grout outlet, the grout outlet is covered by a plug, a full-material detection piece is mounted on the plug, and the full-material detection piece is used for sending a full-material signal when the grouting hole is full of material;
and the control device is also used for controlling the grouting pipe to stop grouting to the grouting hole when the full material signal is received.
5. The grouting device of claim 1, wherein the driving device is provided with a fixed seat, the fixed seat is vertically installed on the front portion of the chassis, a sliding seat is slidably connected to the fixed seat, an adjusting arm is slidably connected to the sliding seat, the adjusting arm slides along the sliding seat in the X direction, the sliding seat slides along the fixed seat in the Y direction, the adjusting arm is telescopic along the Z direction, the grouting pipe and a sliding table driving the grouting pipe to slide are arranged in the adjusting arm, and the X direction is perpendicular to the Y direction and perpendicular to the Z direction.
6. The grouting apparatus according to claim 3, wherein a pressure detecting member for detecting a pressure of the grouting pipe or a flow detecting member for detecting a flow of the grouting pipe is provided in the grouting pipe;
the control device is also used for adjusting the grouting speed of the grouting pipe according to the detected pressure or flow of the grouting pipe.
7. The grouting equipment of claim 6, wherein the control device is specifically configured to adjust the grouting speed of the grouting pipe through a PID algorithm according to the detected real-time pressure or flow rate of the grouting pipe.
8. The grouting equipment of claim 1, wherein a mortar bin and a mortar pump are arranged on the chassis, wherein the mortar bin is used for storing mortar; the input port of mortar pump with the mortar feed bin is linked together, the output port of mortar pump with the slip casting pipe is linked together, the mortar pump be used for with the mortar pump sending to the slip casting pipe.
9. The grouting equipment as claimed in claim 1, wherein a laser radar and an obstacle avoidance radar are further arranged on the front part of the chassis, wherein the laser radar is used for detecting the distance information in front of the chassis; the obstacle avoidance radar is used for detecting the information of the obstacle in front of the chassis.
10. The grouting device according to claim 1, wherein a steering wheel, a steering wheel and a support device are further arranged on the chassis, wherein the support device is used for supporting the grouting device; the steering wheel is used for controlling the moving direction of the grouting equipment; the steering wheel is used for assisting the grouting equipment to turn.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011247211.7A CN114458011A (en) | 2020-11-10 | 2020-11-10 | Grouting equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011247211.7A CN114458011A (en) | 2020-11-10 | 2020-11-10 | Grouting equipment |
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| CN114458011A true CN114458011A (en) | 2022-05-10 |
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| CN202011247211.7A Pending CN114458011A (en) | 2020-11-10 | 2020-11-10 | Grouting equipment |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8300735D0 (en) * | 1982-01-12 | 1983-02-16 | Yarnell Ian Roland | Grouting between pipes |
| CN109610836A (en) * | 2018-10-23 | 2019-04-12 | 中建科技有限公司深圳分公司 | A method of grouting and is in the milk at mechanism using it |
| CN110043039A (en) * | 2019-05-31 | 2019-07-23 | 中冶建工集团有限公司 | Assembled architecture automates grouting equipment and grouting method |
| CN110514736A (en) * | 2019-07-23 | 2019-11-29 | 中建三局集团有限公司 | A kind of monitoring device and its application method of assembled steel reinforced sleeve grouting compactness |
| CN110629988A (en) * | 2019-10-09 | 2019-12-31 | 广东博智林机器人有限公司 | Grouting apparatus, control method of grouting apparatus, and computer-readable storage medium |
| CN111287460A (en) * | 2018-12-07 | 2020-06-16 | 上海交通大学 | Sectional type elevated column grouting device |
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2020
- 2020-11-10 CN CN202011247211.7A patent/CN114458011A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8300735D0 (en) * | 1982-01-12 | 1983-02-16 | Yarnell Ian Roland | Grouting between pipes |
| CN109610836A (en) * | 2018-10-23 | 2019-04-12 | 中建科技有限公司深圳分公司 | A method of grouting and is in the milk at mechanism using it |
| CN111287460A (en) * | 2018-12-07 | 2020-06-16 | 上海交通大学 | Sectional type elevated column grouting device |
| CN110043039A (en) * | 2019-05-31 | 2019-07-23 | 中冶建工集团有限公司 | Assembled architecture automates grouting equipment and grouting method |
| CN110514736A (en) * | 2019-07-23 | 2019-11-29 | 中建三局集团有限公司 | A kind of monitoring device and its application method of assembled steel reinforced sleeve grouting compactness |
| CN110629988A (en) * | 2019-10-09 | 2019-12-31 | 广东博智林机器人有限公司 | Grouting apparatus, control method of grouting apparatus, and computer-readable storage medium |
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Application publication date: 20220510 |