CN220106040U - Novel sealing material filling unit - Google Patents

Abstract

The utility model discloses a novel sealing material pouring unit which comprises an equipment base, a concrete container rotating device and a water cleaning device. The equipment base comprises a basic frame, two running mechanism guide rails, a running mechanism power rack and a plurality of running mechanism sliding blocks; the screw rod lifter is installed on the top of main body frame, and the lifting nuts are installed on two lifting screw rods of screw rod lifter symmetrically, installs lifting frame on two lifting nuts, and the middle position installation grout connecting piece on the lifting frame, three grout connector of side surface equipartition of grout connecting piece, grout pipeline is connected on the top of grout connecting piece. The grabbing cover grouting device comprises a connecting disc, the connecting disc is connected with a traveling mechanism connecting block through a first connecting rod, and the traveling mechanism connecting block is connected to the bottom of the lifting frame. The utility model has the functions of grabbing and resetting the concrete container barrel cover, can perform grouting operation, and can be applied to automatic taking, capping and grouting of the concrete container in nuclear power engineering.

Description

Novel sealing material filling unit

Technical Field

The utility model relates to the field of sealing of concrete containers, in particular to a novel sealing material pouring unit.

Background

Nuclear waste generally refers to waste materials that are no longer needed and are radioactive when used in nuclear fuel production, processing, and nuclear reactors. In the process of transporting and storing nuclear waste, the steel drum is used for containing the closed nuclear waste, and in order to adapt to the development of the nuclear energy industry and increasingly attach importance to environmental protection, packaging equipment suitable for the steel drum is required to be selected so as to meet various requirements in the processes of processing, storing, transporting and disposing the steel drum, thereby strengthening the supervision of the steel drum. Because the steel drum has very strong radioactivity, the steel drum needs to be sealed by the concrete container in the process of filling and transporting, but the metal drum filled with waste has radiation characteristic, and meanwhile, the concrete container loaded with the steel drum also has relatively strong radioactivity, so that manual field operation is not easy to carry out in the processes of disassembly, sealing and grouting, and the traditional manual mode cannot be adopted to seal the concrete container. Therefore, a device with higher automation degree is needed, manual operation is avoided, and the radiation dose rate of workers is reduced.

Disclosure of Invention

The utility model aims at the problems and provides a novel sealing material pouring unit which can realize automatic taking, capping and grouting of a concrete container in nuclear power engineering.

In order to achieve the aim, the novel sealing material pouring unit comprises an equipment base, a concrete container rotating device and a water cleaning device, wherein the water cleaning device is fixed on the equipment base through bolts, a travelling mechanism is arranged on the equipment base, the concrete container is arranged on the concrete container rotating device, and a grabbing cover grouting device is arranged on the travelling mechanism.

The equipment base comprises a basic frame, two running mechanism guide rails are symmetrically arranged on the basic frame, a running mechanism power rack is arranged on one side of each running mechanism guide rail inwards, and a plurality of running mechanism sliding blocks are slidably arranged on each running mechanism guide rail.

The travelling mechanism comprises a main body frame, wherein the main body frame is arranged on a travelling mechanism sliding block, travelling motors are symmetrically arranged on two sides of the bottom of the main body frame, the rotating ends of the travelling motors are downward, travelling gears are arranged, and the travelling gears are meshed with a travelling mechanism power rack to form a moving structure;

the screw rod lifter is installed on the top of main body frame, and the lifting nuts are installed on two lifting screw rods of screw rod lifter symmetrically, installs lifting frame on two lifting nuts, and the middle position installation grout connecting piece on the lifting frame, three grout connector of side surface equipartition of grout connecting piece, grout pipeline is connected on the top of grout connecting piece.

The grabbing cover grouting device comprises a connecting disc, wherein the connecting disc is connected with a traveling mechanism connecting block through a first connecting rod, the traveling mechanism connecting block is connected to the bottom of a lifting frame, three protruding parts are uniformly arranged at the edge of the connecting disc, a strip-shaped through hole is formed between each protruding part and the geometric center point of the connecting disc, six first guide rails are installed on the connecting disc, every two first guide rails are symmetrically installed on two sides of the strip-shaped through hole, a first sliding block is installed on each first guide rail, a connecting plate is installed on each first sliding block, a ball screw nut pair is installed on the connecting plate, a first screw is rotationally connected with a first screw rod, the first screw rod is connected with the rotating end of a first motor, the first motor is installed on the connecting disc, a grouting pipe is fixedly installed on the connecting plate, the top end of the grouting pipe is connected with the grouting connector, the bottom end of the grouting pipe penetrates through the strip-shaped through hole to connect grouting grippers, and the connecting part of the grouting grippers and the grouting pipe is provided with a pneumatic pinch valve.

Every protruding portion is equipped with circular through-hole, and circular through-hole internal rotation connects the pivot, and the bottom installation of pivot prevents weighing down the tongs, and pivot cover pivot connecting piece, the geometric center department installation swing cylinder of connection pad bottom, the rotatory end installation tongs hinge piece of swing cylinder, the even rotation of tongs hinge piece side is connected three second connecting rod on the surface, and the other end and the pivot connecting piece rotation of second connecting rod are connected.

The bottom of the connecting disc is provided with a detection laser assembly, and the detection laser assembly comprises a height detection laser device, a grouting opening position detection laser device, a grouting opening overflow detection laser device and a gap grouting in-place detection laser device.

Above-mentioned novel sealing material fills unit, under the preferred mode, the grout tongs include the slip casting head and set up the trip in slip casting head both sides.

Above-mentioned novel sealing material fills unit, under the preferred mode, concrete container rotary device sets up between running gear guide rail and fixes subaerial through the connection bottom plate, concrete container rotary device is including rotating the external tooth formula slewing bearing of connecting on the connection bottom plate, tooth formula slewing bearing's outside is equipped with the dust cover, tooth formula slewing bearing upper portion is equipped with the rubber blotter, be equipped with the concrete container on the tooth formula slewing bearing, set up the container lid on the concrete container, the side surface of container lid is equipped with first recess, the container mouth department of concrete container sets up the second recess the same with first recess shape, install the second motor on the connection bottom plate, the rotation end of second motor is downwards and install the driving gear, the driving gear meshes with the tooth form structure on the external tooth formula slewing bearing, form revolution mechanic.

Above-mentioned novel sealing material fills unit, under the preferred mode, water cleaning device includes the tubulose header tank, and the tubulose header tank passes through the frame landing leg to be installed on equipment base, and tubulose header tank bottom is equipped with funnel-shaped structure, and funnel-shaped structure bottom is equipped with the waste water discharge mouth, and waste water discharge mouth and waste liquid discharge piping connection, tubulose header tank top set up the upper cover, on cover evenly set up the grout gripper hole with grout gripper bottom shape looks adaptation with the mode of circumference.

Above-mentioned novel sealing material fills unit, under the preferred mode, be equipped with annular water pipe in the barrel-shaped header tank, annular water pipe equipartition a plurality of flat nozzle shower nozzles, annular water pipe's side surface is equipped with six spray tubes, every two spray tubes set up in grouting gripper hole below, set up the flat nozzle shower nozzle to spraying between two spray tubes on two spray tubes of grouting gripper hole below, annular water pipe's side surface sets up a plurality of flat nozzle shower nozzles, annular water pipe bottom connection inlet tube, the side surface of barrel-shaped header tank is equipped with the water inlet, the other end of inlet tube passes the water inlet and is connected to barrel-shaped header tank's outside.

Above-mentioned novel sealing material fills unit, under the preferred mode, main body frame includes four first stands and four second stands, every two first stands set up relatively, every two second stands set up relatively, be equipped with first crossbeam on the first stand that sets up relatively, the lead screw lift is installed on first crossbeam, install the second crossbeam between two first stands of left and right sides, the inward one side installation pivot bearing joint piece of two second crossbeams, the bottom and the pivot of two lift lead screws of lead screw lift are accepted the piece and are connected.

According to the novel sealing material pouring unit, under the preferred mode, the second guide rail is arranged on the inner side of each first upright, the heights of the second guide rails are the same, the second sliding blocks are slidably arranged on the second guide rails, the two second sliding blocks on the same side are connected with one lifting nut, and the upper end and the lower end of each second guide rail are provided with the stop blocks.

Above-mentioned novel sealing material fills unit, under the preferred mode, set up far away some protection stop device and far away some stop device on the position near second guide rail top on the first stand, set up tongs and grout mouth on the position near second guide rail bottom on the first stand and wash stop device and decline limit protection device.

Above-mentioned novel sealing material fills unit, under the preferred mode, through frame-mounting third crossbeam on two second stands of relative setting, install two flexible slide rails between two third crossbeams, the spout of two flexible slide rails sets up relatively, sliding connection connects the cistern between two flexible slide rails, installs flexible cylinder on the third crossbeam of keeping away from first stand, flexible end and the connect cistern of flexible cylinder are connected.

In the novel sealing material pouring unit, under a preferred mode, organ covers are arranged at two ends of the traveling mechanism guide rail.

The grabbing cover grouting device has grabbing and resetting functions of the concrete container barrel cover, grouting operation can be performed, meanwhile, the grabbing cover grouting device has a barrel cover falling prevention function, the situation that the cover plate falls due to equipment failure or gas loss and electricity loss in the grabbing and playback process of the barrel cover is avoided is ensured, the grouting grippers can be cleaned by the water cleaning device, and the cleanliness of the grouting grippers is ensured. The full-automatic concrete container grouting machine has the advantages of reliable performance, simplicity in operation, convenience in maintenance, reasonable structure, full automation and the like, and can be applied to automatic taking, capping and grouting of the concrete container in nuclear power engineering. In addition, the device can be modified according to the size of the concrete container so as to meet the requirements of concrete containers with different sizes.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the present utility model.

Fig. 2 is a schematic view of the base structure of the device of the present utility model.

Fig. 3 is a schematic view of the structure of the walking mechanism of the utility model.

Fig. 4 is a schematic structural view of the grip cover grouting device of the present utility model.

Fig. 5 is a schematic top view of the cover grabbing grouting apparatus.

Fig. 6 is a schematic view showing the bottom view of the cover grabbing grouting apparatus.

FIG. 7 is a schematic view of the structure of the liquid receiving tank of the utility model.

Fig. 8 is a schematic structural view of a concrete container rotating device according to the present utility model.

FIG. 9 is a schematic cross-sectional view of a concrete container according to the present utility model.

FIG. 10 is a schematic view of the structure of the water washing apparatus of the present utility model.

FIG. 11 is a schematic view showing the internal structure of the water washing apparatus of the present utility model.

Fig. 12 is a schematic diagram of the laser sensor position sensing of the present utility model.

In the figure: 1. equipment base, 2, concrete container rotating device, 3, running gear, 4, water cleaning device, 5, concrete container, 6, grabbing cover grouting device, 7, foundation frame, 8, running gear guide rail, 9, running gear power rack, 10, running gear slide block, 11, main body frame, 12, running motor, 13, running gear, 14, lifting nut, 15, lifting frame, 16, grouting connector, 17, grouting connector, 18, grouting pipeline, 19, connecting disc, 20, first connecting rod, 21, running gear connecting block, 22, protrusion, 23, first guide rail, 24, first slide block, 25, connecting plate, 26, ball screw nut pair, 27, first screw, 28, first motor, 29, anti-falling grabber, 30, rotating shaft connector, 31, swinging cylinder, 32, grabber hinge block, 33, second connecting rod, 34, connecting bottom plate, 35, external tooth type slewing bearing, 36, second motor, 37, driving gear, 38, rubber buffer cushion, 39, first groove, 40, barrel-shaped water collecting tank, 41, waste water discharge port, 42, waste liquid discharge pipeline, 43, upper cover, 44, annular water pipe, 45, flat nozzle spray head, 46, spray pipe, 47, water inlet pipe, 48, first upright post, 49, second upright post, 50, first cross beam, 51, second cross beam, 52, second guide rail, 53, second slide block, 54, far point protection limiting device, 55, far point limiting device, 56, grouting opening cleaning limiting device, 57, descending limit protecting device, 58, third cross beam, 59, telescopic slide rail, 60, liquid receiving tank, 61, telescopic cylinder, 62, pneumatic pinch valve, 63, organ cover, 64, container cover, 65, dust cover, 66, grouting pipe, 67, height detection laser device, 68. the grouting opening position detection laser device comprises 69, a grouting opening overflow detection laser device, 70, a gap grouting in-place detection laser device, 71, a grouting gripper, 72, a screw rod lifter, 73, frame supporting legs, 74, a lifting screw rod, 75, a frame, 76 and a second groove.

Detailed Description

Reference will now be made in detail to embodiments of the present utility model, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model.

As shown in fig. 1, the novel sealing material pouring unit comprises an equipment base 1, a concrete container rotating device 2 and a water cleaning device 4, wherein the water cleaning device 4 is fixed on the equipment base 1 through bolts, a travelling mechanism 3 is arranged on the equipment base 1, a concrete container 5 is arranged on the concrete container rotating device 2, and a grabbing cover grouting device 6 is arranged on the travelling mechanism.

As shown in fig. 2, the equipment base 1 comprises a base frame 7, two running gear guide rails 8 are symmetrically arranged on the base frame 7, a running gear power rack 9 is arranged on one inward side of the two running gear guide rails 8, and a plurality of running gear sliding blocks 10 are slidably arranged on the running gear guide rails 8.

As shown in fig. 3, the travelling mechanism 3 comprises a main body frame 11, the main body frame 11 is mounted on a travelling mechanism sliding block 10, travelling motors 12 are symmetrically mounted on two sides of the bottom of the main body frame 11, the rotating ends of the travelling motors 12 are downward, travelling gears 13 are mounted, and the travelling gears 13 are meshed with a travelling mechanism power rack 9 to form a moving structure.

The screw rod lifter 72 is installed on the top of the main body frame 11, the lifting nuts 14 are symmetrically installed on two lifting screw rods 74 of the screw rod lifter 72, the lifting frame 15 is installed on the two lifting nuts 14, the grouting connecting piece 16 is installed in the middle of the lifting frame 15, three grouting connectors 17 are uniformly distributed on the side surface of the grouting connecting piece 16, and the top ends of the grouting connecting pieces 16 are connected with the grouting pipeline 18.

As shown in fig. 4 to 6, the gripping and grouting device 6 comprises a connecting disc 19, the connecting disc 19 is connected with a traveling mechanism connecting block 21 through a first connecting rod 20, the traveling mechanism connecting block 21 is connected to the bottom of a lifting frame 15, three protruding parts 22 are uniformly arranged at the edge of the connecting disc 19, a strip-shaped through hole is formed between each protruding part 22 and the geometric center point of the connecting disc 19, six first guide rails 23 are installed on the connecting disc 19, every two first guide rails 23 are symmetrically installed on two sides of the strip-shaped through hole, a forward limiting device and a backward limiting device are installed on the first guide rails 23, a first sliding block 24 is installed on the first guide rails 23, a connecting plate 25 is installed on the first sliding block 24, a ball screw nut pair 26 is installed on the connecting plate 25, a first screw rod 27 is connected with the rotating end of a first motor 28 in a rotating mode, the first motor 28 is installed on the connecting disc 19, the top end of a grouting pipe 66 is fixedly installed on the connecting plate 25 and connected with a grouting pipe 17, the bottom end of the grouting pipe 66 penetrates through the strip-shaped through hole to connect a grouting gripper 71, and the grouting gripper 71 and a pneumatic gripper 62 is installed at the connecting position of the grouting gripper 66 and the pneumatic gripper 62.

Each protruding portion 22 is provided with a circular through hole, the rotary shaft is rotationally connected to the circular through hole, the anti-falling grippers 29 are installed at the bottom end of the rotary shaft, the rotary shaft is sleeved with the rotary shaft connecting piece 30, the swinging air cylinder 31 is installed at the geometric center of the bottom of the connecting disc 19, the gripper hinging block 32 is installed at the rotating end of the swinging air cylinder 31, three second connecting rods 33 are uniformly and rotationally connected on the side surface of the gripper hinging block 32, and the other ends of the second connecting rods 33 are rotationally connected with the rotary shaft connecting piece 30.

The bottom of the connecting disc 19 is provided with a detection laser assembly, the detection laser assembly comprises a height detection laser device 67, a grouting opening position detection laser device 68, a grouting opening overflow detection laser device 69 and a gap grouting in-place detection laser device 70, the height detection laser device 67 is used for detecting the lifting height of the grabbing cover grouting device 4, the grouting opening position detection laser device 68 is used for detecting the position of a grouting opening of the concrete container 5, the grouting opening overflow detection laser device 69 is used for detecting whether liquid in grouting of the concrete container 5 overflows, and the gap grouting in-place detection laser device 70 is used for detecting whether gap grouting between the concrete container 5 and the container cover 64 is in place.

The grouting gripper 71 comprises a grouting head and hooks arranged on two sides of the grouting head.

As shown in fig. 8 and 9, the concrete container rotating device 2 is arranged between the running mechanism guide rails 8 and fixed on the ground through the connecting bottom plate 34, the concrete container rotating device 2 comprises an external tooth type slewing bearing 35 rotatably connected to the connecting bottom plate 34, a dust cover 65 is arranged outside the tooth type slewing bearing 35, the tooth type slewing bearing 35 is uniformly provided with a plurality of rubber cushion pads 38 in a circumferential mode, a concrete container 5 is arranged on the tooth type slewing bearing 35, a container cover 64 is arranged on the concrete container 5, a first groove 39 is arranged on the side surface of the container cover 64, a second groove 76 with the same shape as the first groove 39 is arranged at the container opening of the concrete container 5, a second motor 36 is arranged on the connecting bottom plate 34, the rotating end of the second motor 36 is downwards and a driving gear 37 is arranged, and the driving gear 37 is meshed with a tooth type structure on the external tooth type slewing bearing 35 to form a rotating structure.

Gaps are arranged between the container opening of the concrete container 5 and the container cover 64, three semicircular gaps are uniformly distributed at the edge of the container cover 64 in a circumferential mode, and the semicircular gaps and the gaps between the container opening of the concrete container 5 and the container cover 64 form grouting openings which are matched with the bottom shape of the grouting head.

The width of the hook bottom of the grouting gripper 71 matches the gap width between the container mouth of the concrete container 5 and the container cover 64.

As shown in fig. 10 and 11, the water cleaning device 4 comprises a barrel-shaped water collecting tank 40, the barrel-shaped water collecting tank 40 is mounted on the device base 1 through a frame supporting leg 73, a funnel-shaped structure is arranged at the bottom of the barrel-shaped water collecting tank 40, a waste water discharge port 41 is arranged at the bottom of the funnel-shaped structure, the waste water discharge port 41 is connected with a waste liquid discharge pipeline 42, an upper cover 43 is arranged at the top of the barrel-shaped water collecting tank 40, and grouting gripper holes matched with the bottom shape of the grouting grippers 71 are uniformly formed in the upper cover 43 in a circumferential mode.

The barrel-shaped water collecting tank 40 is internally provided with an annular water pipe 44, a plurality of flat nozzle spray heads 45 are uniformly distributed on the annular water pipe 44, six spray pipes 46 are arranged on the side surface of the annular water pipe 44, each two spray pipes 46 are arranged below a grouting gripper hole, the flat nozzle spray heads 45 spraying between the two spray pipes 46 are arranged on the two spray pipes 46 below the grouting gripper hole, a plurality of flat nozzle spray heads 45 are arranged on the side surface of the annular water pipe 44, a water inlet pipe 47 is connected to the bottom of the annular water pipe 44, a water inlet is arranged on the side surface of the barrel-shaped water collecting tank 40, and the other end of the water inlet pipe 47 penetrates through the water inlet to be connected to the outside of the barrel-shaped water collecting tank 40.

As shown in fig. 3, the main body frame 11 includes four first uprights 48 and four second uprights 49, each two first uprights 48 are disposed opposite to each other, each two second uprights 49 are disposed opposite to each other, a first cross beam 50 is disposed on each oppositely disposed first upright 48, the screw rod lifter 72 is mounted on the first cross beam 50, a second cross beam 51 is mounted between the two first uprights on the left and right sides, a pivot bearing block is mounted on one inward side of the two second cross beams 51, and bottom ends of two lifting screws 74 of the screw rod lifter 72 are connected with the pivot bearing block.

The inner side of each first upright post 48 is provided with a second guide rail 52, the height of each second guide rail 52 is the same, the second guide rails 52 are provided with second sliding blocks 53 in a sliding manner, the two second sliding blocks 53 on the same side are connected with one lifting nut 14, and the upper end and the lower end of each second guide rail 52 are provided with stop blocks.

The first upright 48 is provided with a far point protection limiting device 54 and a far point limiting device 55 near the top end of the second guide rail 52, and the first upright 48 is provided with a gripper, a grouting opening cleaning limiting device 56 and a descending limit protection device 57 near the bottom end of the second guide rail 52.

As shown in fig. 7, the two second upright posts 49 are arranged oppositely, the second cross beams 58 are arranged through the frame 75, two telescopic slide rails 59 are arranged between the two second cross beams 58, the sliding grooves of the two telescopic slide rails 59 are arranged oppositely, the liquid receiving groove 60 is connected between the two telescopic slide rails 59 in a sliding manner, the telescopic air cylinder 61 is arranged on the second cross beam 58 far away from the first upright post 48, and the telescopic end of the telescopic air cylinder 61 is connected with the liquid receiving groove 60.

Organ covers 63 are arranged at two ends of the running mechanism guide rail 8.

The sealing material pouring unit mainly comprises a device base 1, a grabbing cover grouting device 6, a travelling mechanism 3, a concrete container rotating device 2, a liquid receiving groove 60 and a water cleaning device 4.

The equipment base 1 is installed on the ground through a base frame 7, the running gear 3 and the base are connected and positioned through a guide rail sliding block, and horizontal movement is performed through a gear rack.

The travelling mechanism 3 is arranged on the equipment base 1 and driven by a double travelling motor 12, and a standby travelling motor is arranged on one side of the travelling motor 12.

The traveling motor 12 is driven to move between the concrete container rotating station and the water cleaning station, the lifting mechanism is arranged above the traveling mechanism 12 and used for controlling the height of the grouting head, the screw rod lifter 72 is driven by a servo motor mode and used for positioning control of lifting of the grabbing and grouting device, and the motor of the screw rod lifter 72 is provided with a main motor and a standby motor. In the initial position, the gripping and grouting device is in a standby position (uppermost), and when grouting is prepared, the lifting mechanism drives the gripping and grouting device 6 to move to the grouting position. And a position switch is arranged at the standby position and used for returning the mechanism to zero and displaying the standby position. And an upper limit switch and a lower limit switch are respectively arranged at the upper and lower movement limit positions, and after the lifting mechanism moves to the limit positions, the movement in the direction is forbidden to be continued, so that the machine is prevented from being failed. The servo motor of the screw rod lifter 72 is interlocked with the limit switch, so that the safety performance of the equipment is enhanced.

The grabbing and grouting device 6 is integrally designed, has grabbing and resetting functions of the concrete container barrel cover, and can perform grouting operation. The grouting head is integrated on the cover grabbing claw; meanwhile, the grabbing cover grouting device 6 has a barrel cover anti-falling function, and the situation that the cover plate falls due to equipment failure or gas loss and electricity loss is avoided in the grabbing and playback process of the cover plate is guaranteed. The concrete container cover and the container are ensured not to move relatively in the process of the grasping action, and the circumferential seam between the concrete container cover and the barrel body is ensured to be uniform finally. The grab cover grouting device 6 is used for filling the sealing material into the concrete container. In order to avoid the residual mortar in the pipeline from dripping at an unexpected position, the pneumatic pinch valves 62 are arranged at the positions of the three grouting pipes 66 (grabbing cover grippers) close to the tail ends, when the filling amount is reached, the grouting pump is stopped, the pneumatic pinch valves 62 are closed, and the grouting is finished, so that the residual slurry in the pipes can be reduced as much as possible.

The liquid receiving groove 60 is arranged on the main body frame 11 of the travelling mechanism 3, when grouting is finished, the cover grabbing grouting device 6 ascends, and the liquid receiving groove 60 extends to the lower part of the grouting head to catch the dropped slurry; and after the grouting head is cleaned, the residual liquid is received.

The concrete container 5 is placed on the concrete container rotating device 2, and after the grabbing cover grouting device 6 is moved above the concrete container 5, the rotating device is started, and the positioning of the barrel is performed through the sensor.

The water cleaning device 4 is mounted on the equipment base 1. When the grouting is finished, the grouting gripper 71 is placed into a grouting gripper hole of the upper cover through the lifting device, and is taken out after being cleaned by the flat nozzle spray head 45.

As shown in fig. 12, when the bucket cover is taken and put, a servo motor is used for driving, and a laser sensor is arranged at the concentric circle position of each grouting gripper 27 for detecting the grouting opening position of the concrete container 5 during centering. After the container cover grabbing operation starts and centering starts, the concrete container rotating device 2 drives the concrete container 5 to rotate anticlockwise, when the concrete container rotating device is positioned at a first laser position a, the concrete container rotating device continues to rotate, when the concrete container rotating device rotates to a second laser position b, the laser sensor generates a falling edge, at the moment, the first rotating position is recorded, when the concrete container rotating device continues to rotate to a third laser position c, the laser sensor generates a rising edge, at the moment, the second rotating position is recorded, and similarly, the concrete container rotating device continues to move to pass through a fourth laser position d, a fifth laser position e, a sixth laser position f and a seventh laser position g, and the third rotating position, the fourth rotating position, the fifth rotating position and the sixth rotating position are recorded respectively, and calculated by combining the six rotating positions, and the three grouting grippers 27 can enter the rotating angles of the grouting openings. If the calculated result has a value, the rotating mechanism is positioned to a corresponding angle, centering is completed, and if the centering angle cannot be calculated due to overlarge hole errors or other reasons, an alarm signal is sent, and centering is terminated. The grabbing cover grouting device 6 starts to descend in a uniform mode, when the height distance between the grabbing cover grouting device 6 and the container cover 64 reaches a certain value (a specific value is determined after debugging), the grouting grippers 27 extend into grouting openings at the moment, the grabbing first motor 28 is turned on, the stopping positions of the grippers are controlled through the first motor 28 and the limit switch, the grippers are in place at the moment, the screw rod lifter 72 is driven, after lifting is confirmed to be in place through lifting limit, the swinging cylinder 31 works, the anti-falling grippers 29 retract to the inner side, and the grabbing cover is completed. The cover releasing flow is opposite to the cover taking flow.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should be covered by the protection scope of the present utility model by making equivalents and modifications to the technical solution and the inventive concept thereof.

Claims (10)

1. The novel sealing material pouring unit is characterized by comprising an equipment base (1), a concrete container rotating device (2) and a water cleaning device (4), wherein the water cleaning device (4) is fixed on the equipment base (1) through bolts, a travelling mechanism (3) is arranged on the equipment base (1), a concrete container (5) is arranged on the concrete container rotating device (2), and a cover grabbing grouting device (6) is arranged on the travelling mechanism;

the equipment base (1) comprises a base frame (7), two travelling mechanism guide rails (8) are symmetrically arranged on the base frame (7), travelling mechanism power racks (9) are arranged on one inward side of each travelling mechanism guide rail (8), and a plurality of travelling mechanism sliding blocks (10) are slidably arranged on each travelling mechanism guide rail (8);

the travelling mechanism (3) comprises a main body frame (11), wherein the main body frame (11) is arranged on the travelling mechanism sliding block (10), travelling motors (12) are symmetrically arranged on two sides of the bottom of the main body frame (11), the rotating ends of the travelling motors (12) are downward, travelling gears (13) are arranged, and the travelling gears (13) are meshed with the travelling mechanism power racks (9) to form a moving structure;

the top end of the main body frame (11) is provided with a screw rod lifter (72), two lifting screw rods (74) of the screw rod lifter (72) are symmetrically provided with lifting nuts (14), two lifting nuts (14) are provided with lifting frames (15), the middle position of each lifting frame (15) is provided with a grouting connecting piece (16), the side surfaces of the grouting connecting pieces (16) are uniformly provided with three grouting connectors (17), and the top ends of the grouting connecting pieces (16) are connected with grouting pipelines (18);

the grabbing cover grouting device (6) comprises a connecting disc (19), the connecting disc (19) is connected with a traveling mechanism connecting block (21) through a first connecting rod (20), the traveling mechanism connecting block (21) is connected with the bottom of the lifting frame (15), three protruding parts (22) are uniformly arranged at the edge of the connecting disc (19), each protruding part (22) is connected with the rotating end of a first motor (28), a strip-shaped through hole is arranged between the geometric center points of the connecting disc (19), six first guide rails (23) are arranged on the connecting disc (19), each two first guide rails (23) are symmetrically arranged on two sides of the strip-shaped through hole, a first sliding block (24) is arranged on the first guide rails (23), a connecting plate (25) is arranged on the first sliding block (24), a ball screw nut pair (26) is arranged on the connecting plate (25), the ball screw nut pair (26) is rotationally connected with the rotating end of the first screw (27), the first motor (28) is arranged on the connecting disc (19), a grouting pipe (66) is fixedly connected with the grouting pipe (66), the grouting pipe (66) penetrates through the grouting pipe (66) and the grouting pipe (66), a pneumatic pinch valve (62) is arranged at the joint of the grouting gripper (71) and the grouting pipe (66);

each protruding part (22) is provided with a circular through hole, the circular through holes are rotationally connected with a rotating shaft, the bottom end of the rotating shaft is provided with an anti-falling gripper (29), the rotating shaft is sleeved with a rotating shaft connecting piece (30), the geometric center of the bottom of the connecting disc (19) is provided with a swinging cylinder (31), the rotating end of the swinging cylinder (31) is provided with gripper hinging blocks (32), the side surfaces of the gripper hinging blocks (32) are uniformly and rotatably connected with three second connecting rods (33), and the other ends of the second connecting rods (33) are rotatably connected with the rotating shaft connecting piece (30);

the bottom of the connecting disc (19) is provided with a detection laser assembly, and the detection laser assembly comprises a height detection laser device (67), a grouting opening position detection laser device (68), a grouting opening overflow detection laser device (69) and a gap grouting in-place detection laser device (70).

2. The novel sealing material pouring unit according to claim 1, wherein the grouting grippers (71) comprise a grouting head and hooks arranged on both sides of the grouting head.

3. The novel sealing material pouring unit according to claim 2, wherein the concrete container rotating device (2) is arranged between the travelling mechanism guide rails (8) and is fixed on the ground through a connecting bottom plate (34), the concrete container rotating device (2) comprises an external tooth type slewing bearing (35) which is rotatably connected to the connecting bottom plate (34), a dust cover (65) is arranged outside the tooth type slewing bearing (35), a rubber buffer pad (38) is arranged on the upper portion of the tooth type slewing bearing (35), a concrete container (5) is arranged on the tooth type slewing bearing (35), a container cover (64) is arranged on the concrete container (5), a first groove (39) is formed on the side surface of the container cover (64), a second groove (76) which is identical to the first groove (39) in shape is formed at the container opening of the concrete container (5), a second motor (36) is arranged on the connecting bottom plate (34), a driving gear (37) is arranged at the rotating end of the second motor (36) downwards, and a driving gear (37) is arranged on the driving gear (37), and the driving gear (37) is meshed with the external tooth type slewing bearing (35) in a rotary structure.

4. The novel sealing material filling unit according to claim 1, wherein the water cleaning device (4) comprises a barrel-shaped water collecting tank (40), the barrel-shaped water collecting tank (40) is installed on the equipment base (1) through a frame supporting leg (73), a funnel-shaped structure is arranged at the bottom of the barrel-shaped water collecting tank (40), a waste water discharge port (41) is arranged at the bottom of the funnel-shaped structure, the waste water discharge port (41) is connected with a waste water discharge pipeline (42), an upper cover (43) is arranged at the top of the barrel-shaped water collecting tank (40), and grouting gripper holes which are matched with the bottom shape of the grouting grippers (71) are uniformly formed in the upper cover (43) in a circumferential mode.

5. The novel sealing material filling unit according to claim 4, wherein an annular water pipe (44) is arranged in the barrel-shaped water collecting tank (40), a plurality of flat nozzle spray heads (45) are uniformly distributed on the annular water pipe (44), six spray pipes (46) are arranged on the side surface of the annular water pipe (44), every two spray pipes (46) are arranged below the grouting gripper holes, flat nozzle spray heads (45) spraying between the two spray pipes (46) are arranged on the two spray pipes (46) below the grouting gripper holes, a plurality of flat nozzle spray heads (45) are arranged on the side surface of the annular water pipe (44), a water inlet pipe (47) is connected to the bottom of the annular water pipe (44), a water inlet is arranged on the side surface of the barrel-shaped water collecting tank (40), and the other end of the water inlet pipe (47) is connected to the outside of the barrel-shaped water collecting tank (40) through the water inlet.

6. The novel sealing material filling unit according to claim 1, wherein the main body frame (11) comprises four first upright posts (48) and four second upright posts (49), each two first upright posts (48) are oppositely arranged, each two second upright posts (49) are oppositely arranged, a first cross beam (50) is arranged on each oppositely arranged first upright post (48), the screw rod lifter (72) is arranged on the first cross beam (50), a second cross beam (51) is arranged between the two first upright posts on the left side and the right side, a rotating bearing connecting block is arranged on one inward side of each second cross beam (51), and the bottoms of two lifting screw rods (74) of the screw rod lifter (72) are connected with the rotating shaft connecting block.

7. The novel sealing material pouring unit according to claim 6, wherein a second guide rail (52) is installed on the inner side of each first upright post (48), the height of each second guide rail (52) is the same, a second sliding block (53) is installed on each second guide rail (52) in a sliding mode, two second sliding blocks (53) on the same side are connected with one lifting nut (14), and stop blocks are arranged at the upper end and the lower end of each second guide rail (52).

8. The novel sealing material filling unit according to claim 7, wherein a far point protection limiting device (54) and a far point limiting device (55) are arranged on the first upright (48) at a position close to the top end of the second guide rail (52), and a gripper, a grouting opening cleaning limiting device (56) and a descending limit protection device (57) are arranged on the first upright (48) at a position close to the bottom end of the second guide rail (52).

9. The novel sealing material filling unit according to claim 7, wherein a third cross beam (58) is installed on two second upright posts (49) which are oppositely arranged through a frame (75), two telescopic sliding rails (59) are installed between the two third cross beams (58), sliding grooves of the two telescopic sliding rails (59) are oppositely arranged, a liquid receiving groove (60) is slidingly connected between the two telescopic sliding rails (59), a telescopic cylinder (61) is installed on the third cross beam (58) which is far away from the first upright post (48), and a telescopic end of the telescopic cylinder (61) is connected with the liquid receiving groove (60).

10. The novel sealing material pouring unit according to claim 1, characterized in that organ covers (63) are mounted at both ends of the running gear guide rail (8).