CN215055539U - Wall building system - Google Patents

Abstract

The utility model provides a wall building system, which comprises a wall building robot, wall building bricks and a grouting device; the wall building robot comprises a rack, a rotating frame, a driving device, a lifting mechanism and a brick laying mechanism, wherein the brick laying mechanism comprises a mechanical arm, a clamping jaw arranged at the free end of the mechanical arm and a grouting spray head used for adding bonding slurry, and the grouting spray head is communicated with a grouting device; the wall building brick comprises a cuboid brick body, wherein a grouting groove is formed in the brick body and penetrates in the vertical direction, an elongated groove is formed in the lower end face of the brick body, clamping blocks are arranged on two groove walls of the elongated groove respectively, the two clamping blocks form a positioning groove, a convex block is arranged on the upper end face of the brick body, and a through hole is formed in the convex block and used for a clamping claw to extend into. The wall building system can replace manual wall building operation, and make up for the increasing vacancy of wall building workers.

Description

Wall building system

Technical Field

The utility model relates to a building trade technical field, more specifically say, relate to a wall building system.

Background

At present, a wall building worker faces a large gap, so that the technical problem to be solved urgently by technical personnel in the field is to provide a wall building system capable of replacing manual wall building.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a can replace manual work to build wall system of building a wall.

In order to solve the problems, the utility model provides a wall building system, which comprises a wall building robot, wall building bricks and a grouting device; the wall building robot comprises a rack provided with a traveling mechanism, a rotating frame rotatably connected with the rack, a driving device for driving the rotating frame to rotate, a lifting mechanism arranged on the rotating frame and a brick building mechanism arranged on the lifting mechanism, wherein the brick building mechanism comprises a mechanical arm arranged on the lifting mechanism and lifted along with the lifting mechanism, a clamping jaw arranged at the free end of the mechanical arm and used for grabbing wall building bricks and a grouting spray head arranged at the free end of the mechanical arm and used for adding bonding slurry, and the grouting spray head is communicated with the grouting device; the wall brick block comprises a brick body which is in a cuboid shape, the brick body is used for being provided with a grouting groove which is formed in a penetrating mode in the vertical direction on at least one of front and back end faces, attached to the same layer, of the brick body, the lower end face of the brick body is provided with a facing long groove, extending from the front end face to the back end face of the brick body, two groove walls of the long groove are respectively provided with clamping blocks, the two clamping blocks are arranged oppositely, a gap is formed between the two clamping blocks, a positioning groove is formed in the gap, the upper end face of the brick body is provided with a facing convex block, extending from the front end face to the back end face of the brick body, the convex block is used for being connected with the positioning groove in a clamping mode, and a through hole which is formed in a penetrating mode in the vertical direction is formed in the convex block to stretch into the clamping groove.

Preferably, the lifting mechanism includes a lifting plate slidably connected to the rotating frame, a counterweight mechanism slidably connected to the rotating frame, a chain wheel arranged on the rotating frame, a transmission chain with one end connected to the lifting plate and the other end connected to the counterweight mechanism via the chain wheel, and a lifting motor drivingly connected to the chain wheel to drive the chain wheel, and the mechanical arm is arranged on the lifting plate.

Preferably, the counterweight mechanism comprises a counterweight block, or the counterweight mechanism comprises the brick laying mechanism.

Preferably, elevating system's quantity is two, two elevating system follows the pivot circumference of swivel mount distributes, each be equipped with on the lifter plate respectively bricklaying mechanism.

Preferably, still include two be parallel to each other with the swivel mount rotates the pivot of connecting, each be equipped with two in the pivot respectively the sprocket, the quantity of driving chain is two, two one in the driving chain in proper order with two epaxial two sprocket meshing, another person in proper order with two epaxial two in addition the sprocket meshing, elevator motor's quantity with the pivot is the same and one-to-one, elevator motor and corresponding the pivot transmission is connected.

Preferably, the rack is provided with a mounting hole, the rotating frame is rotatably mounted in the mounting hole through a bearing, and the bearing comprises a thrust bearing arranged at the bottom of the mounting hole and a radial bearing arranged at the hole opening of the mounting hole.

Preferably, the arm includes with the first end elevating system rotates big arm, first end of being connected with big arm second end rotates the well arm of being connected, first end with well arm second end rotates the forearm of being connected and set up in the driving motor of forearm second end, the jack catch with driving motor's output shaft transmission is connected, the slip casting shower nozzle set up in on the jack catch, the arm still including be used for driving big arm pivoted first motor, be used for driving well arm pivoted second motor and be used for driving forearm pivoted third motor, big arm well arm with the rotation axis of forearm is parallel, and all with driving motor's output shaft is perpendicular.

Preferably, the two opposite sides of the through hole are respectively provided with a clamping groove for clamping with a clamping jaw of the robot.

Preferably, both side surfaces of the bump have draft angles.

Preferably, the running gear is a four-wheel drive gear or a crawler gear or a guide rail gear.

The utility model provides a technical scheme, a wall building system, which comprises a wall building robot, wall building bricks and a grouting device; the wall building robot comprises a frame provided with a traveling mechanism, a rotating frame rotationally connected with the frame, a driving device for driving the rotating frame to rotate, a lifting mechanism arranged on the rotating frame and a brick building mechanism arranged on the lifting mechanism, wherein the brick building mechanism comprises a mechanical arm arranged on the lifting mechanism and lifted along with the lifting mechanism, a clamping jaw arranged at the free end of the mechanical arm and used for grabbing bricks of a building wall, and a grouting spray head arranged at the free end of the mechanical arm and used for adding bonding slurry, and the grouting spray head is communicated with a grouting device; the brick for building the wall comprises a cuboid brick body, wherein at least one of front and rear end faces of the brick body, which are used for being attached to other brick bodies on the same floor, is provided with a grouting groove which is arranged in a penetrating manner along the vertical direction, the lower end face of the brick body is provided with a long groove which extends towards the front and rear end faces of the brick body, two groove walls of the long groove are respectively provided with a fixture block, the two fixture blocks are arranged oppositely, a gap is formed between the two fixture blocks, so that a positioning groove is formed, the upper end face of the brick body is provided with a lug which extends towards the front and rear end faces of the brick body, the lug is used for being clamped with the positioning grooves of the other brick bodies, and the lug is provided with a through hole which is arranged in a penetrating manner along the vertical direction so that a clamping jaw can extend into the through hole.

During the use, the wall building robot can move between the stacked wall building bricks and the wall to be built through the traveling mechanism, the claw is driven by the mechanical arm to clamp the wall building bricks and place the wall to be built, the bonding slurry in the grouting device can be injected into the grouting spray head through the slurry pump, and the bonding slurry can be injected through the grouting spray head to enable the bricks to be bonded and fixed with each other. After placing the wall fragment of brick of building on the upper strata on the wall fragment of brick of building on the lower floor, the wall fragment of brick of building on the upper strata and the wall fragment of brick of building on the lower floor can pass through lug and constant head tank mutual positioning coupling for perpendicular line between the wall fragment of brick of building from top to bottom, will build the wall fragment of brick and need not extra finishing after, greatly practice thrift man-hour. And the bonding slurry sprayed by the grouting spray head can be poured into the grouting groove, the slurry enters gaps between the two sides of the bump and the wall of the long groove along the grouting groove to bond the upper and lower layers of the building wall bricks, and the slurry in the grouting groove can bond the front and rear building wall bricks on the same layer, so that the slurry can only flow in the grouting groove and the long groove, the slurry falling problem is avoided, and workers do not need to repair the slurry. The rotary frame can drive the mechanical arm to rotate in situ, the direction of the mechanical arm is adjusted, bricks are taken or placed, the mechanical arm can be lifted by the lifting mechanism along with the gradual building of the wall, and the wall building robot continues the wall building operation until the wall reaches the designed height. By the arrangement, the wall building system can replace manual wall building operation, and make up for the increasing vacancy of wall building workers.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a wall building system according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a wall building robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of the wall building robot in fig. 2 after a frame is removed;

fig. 4 is a schematic structural view of a lifting mechanism of a wall building robot in an embodiment of the present invention;

fig. 5 is a schematic structural view of building wall bricks in the embodiment of the present invention;

fig. 6 is a schematic view of other angles of the blocks of the base wall of fig. 5;

fig. 7 is a schematic view showing the fitting state of the building wall bricks when they are used in the embodiment of the present invention;

FIG. 8 is a front view of FIG. 7;

fig. 9 is a sectional view taken along line a-a in fig. 8.

Reference numerals:

1. a frame; 2. a rotating frame; 3. a claw; 4. grouting nozzles; 5. a lifting plate; 6. a counterweight mechanism; 7. a sprocket; 8. a drive chain; 9. a rotating shaft; 10. a radial bearing; 11. a large arm; 12. a middle arm; 13. a small arm; 14. a drive motor; 15. a lifting motor; 16. a wall building robot; 17. building wall bricks; 18. a grouting device; 19. a brick body; 20. grouting grooves; 21. a long groove; 22. a clamping block; 23. a bump; 24. a through hole; 25. a card slot; 26. a wall body.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The embodiments described below do not limit the scope of the invention described in the claims. Further, the entire contents of the configurations shown in the following embodiments are not limited to those necessary as a solution of the invention described in the claims.

Referring to fig. 1 to 9, a wall building system according to an embodiment of the present invention includes a wall building robot 16, wall building bricks 17, and a grouting device 18. The wall building robot 16 comprises a frame 1, a rotating frame 2, a driving device, a lifting mechanism and a brick laying mechanism. The frame 1 may be a supporting framework made of profile steel and/or sheet metal parts by welding or bolt connection. The frame 1 is provided with a traveling mechanism, and the traveling mechanism can be a four-wheel drive mechanism or a crawler mechanism or a guide rail mechanism. It should be noted that, the specific structures of the four-wheel drive mechanism and the track mechanism are the structures in the prior art, and are not the focus of the discussion herein, and are not described herein again. The guide rail mechanism is that a guide rail is laid on the ground, the rack 1 can be in sliding fit with the guide rail, and the rack are driven to operate by mechanisms such as a gear rack, a screw nut and the like. The rotating frame 2 and the frame 1 are rotatably connected, the rotating axis of the rotating frame 2 extends along the vertical direction, and the driving device is used for driving the rotating frame 2 to rotate. The lifting mechanism is arranged on the rotating frame 2. The bricklaying mechanism is arranged on the lifting mechanism to lift along with the lifting mechanism. The brick laying mechanism comprises a mechanical arm arranged on the lifting mechanism and lifted along with the lifting mechanism, a clamping jaw 3 arranged at the free end of the mechanical arm and used for grabbing brick laying bricks, and a grouting spray head 4 arranged at the free end of the mechanical arm and used for adding bonding slurry. Alternatively, the jaw 3 may be a pneumatic finger. The grouting nozzle 4 is communicated with a grouting device 18. Alternatively, the grouting device 18 is a holding tank for holding the bonding slurry, or as shown in fig. 1, the grouting device 18 is a blender for blending the slurry. The grouting device 18 may be connected to the grouting nozzle 4 through a pipeline, and a slurry pump is provided on the pipeline between the grouting device and the grouting nozzle 4 to pump the bonding slurry in the grouting device 18 to the grouting nozzle 4.

The wall building brick 17 comprises a brick body 19, and the brick body 19 is cuboid. At least one of the front and rear end surfaces of the brick body 19 for being attached to other brick bodies 19 on the same layer is provided with a grouting groove 20 which is arranged to penetrate through in the vertical direction. Referring to fig. 5, 7 and 9, the brick body 19 is provided with the grout groove 20 only on one end face. Referring to fig. 6, the lower end surface of the brick body 19 is provided with a long groove 21 extending toward the front and rear end surfaces of the brick body 19. Two groove walls of the long groove 21 are respectively provided with a fixture block 22, and the two fixture blocks 22 are oppositely arranged and have a gap therebetween to form a positioning groove. Alternatively, the latch 22 is located at the center in the longitudinal direction of the long groove 21. The upper end face of the brick body 19 is provided with a convex block 23 extending towards the front end face and the rear end face of the brick body 19, and the convex block 23 is used for being clamped with positioning grooves of other brick bodies 19. The lug 23 is provided with a through hole 24 which is arranged through along the vertical direction so as to allow the claw 3 to extend into the through hole.

When the wall building robot is used, the wall building robot 16 can run between stacked wall building bricks 17 and a wall 26 to be built through the traveling mechanism, the claw 3 is driven by the mechanical arm to clamp the wall building bricks 17 and place the wall building bricks 26, bonding grout in the grouting device 18 can be injected into the grouting nozzle 4 through a grout pump, and the bonding grout can be injected through the grouting nozzle 4 to bond and fix the bricks. After placing the wall fragment of brick 17 of building on the upper strata on the wall fragment of brick 17 of building on the lower floor, the wall fragment of brick 17 of building on the upper strata and the wall fragment of brick 17 of building on the lower floor can be through lug 23 and constant head tank mutual positioning coupling for perpendicular line between the wall fragment of brick 17 of building from top to bottom, need not extra finishing after building the wall fragment of brick 17 of building, greatly practiced thrift man-hour. The bonding slurry sprayed by the grouting nozzle 4 can be poured through the grouting groove 20, the slurry enters gaps between two sides of the bump 23 and the wall of the long groove 21 along the grouting groove 20 to bond the upper and lower layers of the stacked wall bricks 17, and the slurry in the grouting groove 20 can bond the front and rear stacked wall bricks 17 on the same layer, so that the slurry can only flow in the grouting groove 20 and the long groove 21, the problem of slurry falling is avoided, and workers do not need to repair the slurry. The rotating frame 2 can drive the mechanical arm to rotate in situ, the direction of the mechanical arm is adjusted, bricks are taken or placed, the mechanical arm can be lifted by the lifting mechanism along with the gradual stacking of the wall 26, and the wall building robot 16 continues the wall building operation until the wall 26 reaches the designed height. By the arrangement, the wall building system can replace manual wall building operation, and make up for the increasing vacancy of wall building workers.

In some embodiments, the lift mechanism includes a lift plate 5, a counterweight mechanism 6, a sprocket 7, a drive chain 8, and a lift motor 15. Wherein, the lifting plate 5 is connected with the rotating frame 2 in a sliding way. For example, the rotating frame 2 is provided with a guide rail extending in the vertical direction, and the lifting plate 5 is slidably connected to the guide rail via a slider. Alternatively, the number of guide rails is two, and the two guide rails are located on both sides of the lifting plate 5, respectively. The counterweight mechanism 6 is slidably connected with the rotating frame 2. The weight mechanism 6 may also be slidably connected to the rotating frame 2 by means of the above-mentioned guide rails and sliders. The sprocket 7 is rotatably provided on the rotating frame 2. One end of the transmission chain 8 is connected with the lifting plate 5, and the other end of the transmission chain is connected with the counterweight mechanism 6 after passing through the chain wheel 7. The lifting motor 15 is in transmission connection with the chain wheel 7 to drive the chain wheel 7 to operate, and the mechanical arm is arranged on the lifting plate 5. During the use, drive sprocket 7 through elevator motor 15 and rotate, sprocket 7 drives 8 movements of driving chain, can drive lifter plate 5 and go up and down when 8 movements of driving chain, and the weight of counter weight mechanism 6 is roughly the same with the weight of the mechanism of laying bricks, so can improve the functioning speed of the mechanism of laying bricks to reduce elevator motor 15's load.

In some embodiments, the weight mechanism 6 comprises a counterweight. For example, the clump weight may be an iron block or a concrete block. Alternatively, the counterweight mechanism 6 comprises a brick laying mechanism, i.e. another set of brick laying mechanism is added as the counterweight mechanism 6. So set up, can enough improve the lifting efficiency of the mechanism of laying bricks, reduce the load of elevator motor 15, can make the work efficiency of 16 robot 16 of building a wall improve nearly one time again.

Of course, in order to further improve the working efficiency of the wall building robot 16, in some embodiments, the number of the lifting mechanisms is two, the two lifting mechanisms are circumferentially distributed along the rotating shaft 9 of the rotating frame 2, and each lifting plate 5 is provided with a brick laying mechanism. If the counterweight mechanisms 6 of the two lifting mechanisms are both mainly composed of brick laying mechanisms, the working efficiency of the wall building robot 16 can be improved by nearly three times.

In some embodiments, the wall building robot 16 further comprises two rotating shafts 9 parallel to each other and rotatably connected to the rotating frame 2, and each rotating shaft 9 is provided with two chain wheels 7. Alternatively, the two ends of the rotating shaft 9 may be rotatably connected with the rotating frame 2 through bearing seats respectively. The number of the transmission chains 8 is two, one of the two transmission chains 8 is meshed with two chain wheels 7 on two rotating shafts 9 in sequence, and the other transmission chain is meshed with the other two chain wheels 7 on the two rotating shafts 9 in sequence. The number of the lifting motors 15 is the same as that of the rotating shafts 9, and the lifting motors 15 are in one-to-one correspondence with the rotating shafts 9 and are in transmission connection with the corresponding rotating shafts 9. For example, the lifting motor 15 may be in transmission connection with the rotating shaft 9 through a gear transmission manner. Two transmission chains 8 are connected with the lifting plate 5 at one end and the counterweight mechanism 6 at the other end. So set up, promote lifter plate 5 through two driving chains 8 for lifter plate 5 moves more stably, and utilizes two elevator motor 15 to drive simultaneously, can improve elevating system's load capacity.

In some embodiments, the frame 1 is provided with a mounting hole, and the rotating frame 2 is rotatably mounted in the mounting hole through a bearing. For example, the bearing includes a thrust bearing provided at the bottom of the mounting hole and a radial bearing 10 provided at the mounting hole aperture. So set up, footstep bearing can the axial force that the bearing swivel mount 2 received, and the axial force includes the gravity of swivel mount 2, the gravity of the mechanism of laying bricks and the gravity of fragment of brick. The radial bearing 10 can prevent the rotating frame 2 from inclining, so that the rotating frame 2 is always kept in a vertical state.

In some embodiments, the robot arm includes a large arm 11 rotatably connected to the first end lifting mechanism, a middle arm 12 rotatably connected to the second end of the large arm 11 at the first end, a small arm 13 rotatably connected to the second end of the middle arm 12 at the first end, and a driving motor 14 disposed at the second end of the small arm 13. The claw 3 is connected with an output shaft of the driving motor 14 in a transmission way, and the grouting nozzle 4 is arranged on the claw 3. The drive motor 14 can drive the jaws 3 to rotate. The mechanical arm further comprises a first motor for driving the large arm 11 to rotate, a second motor for driving the middle arm 12 to rotate and a third motor for driving the small arm 13 to rotate. Taking the first motor and the large arm 11 as an example, the first motor may be installed on the lifting plate 5, and the large arm 11 may be installed on an output shaft of the first motor, so that the first motor may drive the large arm 11 to rotate relative to the lifting plate 5. The rotation axes of the large arm 11, the middle arm 12 and the small arm 13 are parallel and are all perpendicular to the output shaft of the driving motor 14. So set up, the space angle of the fragment of brick that 3 clamps of jack catch can easily be adjusted to the arm to snatch and place the fragment of brick more accurately.

In some embodiments, the two opposite side walls of the through hole 24 of the building wall brick 17 are respectively provided with a clamping groove 25 for clamping with the claw 3 of the robot. Can set up in draw-in groove 25 complex boss on the jack catch 3, when jack catch 3 opens, boss on the jack catch 3 can the chucking draw-in groove 25 in to prevent jack catch 3 from causing the fragment of brick to drop at the in-process that snatchs the fragment of brick, can reduce required clamp force when the fragment of brick is grabbed to jack catch 3 simultaneously like this. When a brick is to be lowered, the jaws 3 are closed so that the lugs on the jaws 3 are disengaged from the pockets 25, and the brick is thus disengaged from the jaws 3. Alternatively, the number of the through holes 24 is two. Alternatively, the through-hole 24 is a rectangular hole.

In some embodiments, the two side surfaces of the projection 23 at the upper end of the building wall brick 17 for matching with the fixture block 22 are respectively provided with a draft angle. So set up for the robot is when placing the fragment of brick, and the lug 23 inserts in the constant head tank more easily, reduces the robot and builds the brick degree of difficulty, thereby makes the automatic cost reduction who builds the brick of robot.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A wall building system is characterized by comprising a wall building robot (16), wall building bricks (17) and a grouting device (18);

the wall building robot (16) comprises a rack (1) provided with a traveling mechanism, a rotating frame (2) rotatably connected with the rack (1), a driving device for driving the rotating frame (2) to rotate, a lifting mechanism arranged on the rotating frame (2) and a brick laying mechanism arranged on the lifting mechanism, wherein the brick laying mechanism comprises a mechanical arm arranged on the lifting mechanism and capable of lifting along with the lifting mechanism, a clamping jaw (3) arranged at the free end of the mechanical arm and used for clamping a wall building brick (17), and a grouting spray head (4) arranged at the free end of the mechanical arm and used for adding bonding slurry, and the grouting spray head (4) is communicated with the grouting device (18);

the building wall brick (17) comprises a cuboid brick body (19), at least one of the front end surface and the rear end surface of the brick body (19) which is used for being jointed with other brick bodies (19) on the same layer is provided with a grouting groove (20) which is arranged in a penetrating way along the vertical direction, the lower end surface of the brick body (19) is provided with a long groove (21) extending towards the front end surface and the rear end surface of the brick body (19), two groove walls of the long groove (21) are respectively provided with a fixture block (22), the two fixture blocks (22) are oppositely arranged, a gap is arranged between the two fixture blocks to form a positioning groove, the upper end surface of the brick body (19) is provided with a convex block (23) extending towards the front end surface and the rear end surface of the brick body (19), the convex block (23) is used for being clamped with the positioning grooves of other brick bodies (19), the lug (23) is provided with a through hole (24) which is arranged in a penetrating way along the vertical direction so as to allow the clamping jaw (3) to extend into the through hole.

2. The barrier wall system according to claim 1, wherein the lifting mechanism comprises a lifting plate (5) slidably connected with the rotating frame (2), a counterweight mechanism (6) slidably connected with the rotating frame (2), a chain wheel (7) arranged on the rotating frame (2), a transmission chain (8) with one end connected with the lifting plate (5) and the other end connected with the counterweight mechanism (6) through the chain wheel (7), and a lifting motor (15) in transmission connection with the chain wheel (7) to drive the chain wheel (7) to run, and the mechanical arm is arranged on the lifting plate (5).

3. A barrier wall system according to claim 2, characterized in that the counterweight mechanism (6) comprises a counterweight or that the counterweight mechanism (6) comprises the brick laying mechanism.

4. The barrier wall system according to any one of claims 2 to 3, wherein the number of the lifting mechanisms is two, the two lifting mechanisms are circumferentially distributed along the rotating shaft (9) of the rotating frame (2), and the brick laying mechanism is respectively arranged on each lifting plate (5).

5. The barrier wall system according to claim 2, further comprising two rotating shafts (9) parallel to each other and rotatably connected to the rotating frame (2), wherein two chain wheels (7) are respectively disposed on each rotating shaft (9), the number of the transmission chains (8) is two, one of the two transmission chains (8) is sequentially engaged with the two chain wheels (7) on the two rotating shafts (9), the other is sequentially engaged with the other two chain wheels (7) on the two rotating shafts (9), the number of the lifting motors (15) is the same as that of the rotating shafts (9) and corresponds to that of the rotating shafts (9), and the lifting motors (15) are in transmission connection with the corresponding rotating shafts (9).

6. The barrier wall system according to claim 1, characterized in that the frame (1) is provided with mounting holes, the rotating frame (2) is rotatably mounted in the mounting holes through bearings, and the bearings comprise thrust bearings arranged at the bottom of the mounting holes and radial bearings (10) arranged at the orifices of the mounting holes.

7. The barrier system according to claim 1, wherein the mechanical arm comprises a large arm (11) rotatably connected with the lifting mechanism at a first end, a middle arm (12) rotatably connected with the large arm (11) at a first end, a small arm (13) rotatably connected with the middle arm (12) at a first end, and a driving motor (14) arranged at a second end of the small arm (13), the claw (3) is in transmission connection with an output shaft of the driving motor (14), the grouting nozzle (4) is arranged on the claw (3), the mechanical arm further comprises a first motor for driving the large arm (11) to rotate, a second motor for driving the middle arm (12) to rotate, and a third motor for driving the small arm (13) to rotate, and the rotation axes of the large arm (11), the middle arm (12) and the small arm (13) are parallel to each other, And are all perpendicular to the output shaft of the driving motor (14).

8. The barrier system according to claim 1, wherein the through hole (24) is provided at opposite sides thereof with a catch (25) for engaging with a claw (3) of a robot, respectively.

9. The barrier system of claim 1, wherein both sides of the nub (23) have draft angles.

10. The softwall system of claim 1, wherein the walking mechanism is a four-wheel drive mechanism or a crawler mechanism or a rail mechanism.

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