WO2021189865A1 - 一种孔洞封堵装置及孔洞封堵机器人 - Google Patents

一种孔洞封堵装置及孔洞封堵机器人 Download PDF

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Publication number
WO2021189865A1
WO2021189865A1 PCT/CN2020/127276 CN2020127276W WO2021189865A1 WO 2021189865 A1 WO2021189865 A1 WO 2021189865A1 CN 2020127276 W CN2020127276 W CN 2020127276W WO 2021189865 A1 WO2021189865 A1 WO 2021189865A1
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WO
WIPO (PCT)
Prior art keywords
plugging
hole
slurry
construction surface
plugging head
Prior art date
Application number
PCT/CN2020/127276
Other languages
English (en)
French (fr)
Inventor
李雪成
杨威
田士川
Original Assignee
广东博智林机器人有限公司
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Filing date
Publication date
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2021189865A1 publication Critical patent/WO2021189865A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
    • E04G23/0203—Arrangements for filling cracks or cavities in building constructions
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging

Definitions

  • the invention relates to the technical field of construction machinery, in particular to a hole blocking device and a hole blocking robot.
  • the aluminum alloy formwork cast-in-place process is usually used.
  • the aluminum alloy formwork needs to be fixed with wall bolts.
  • the wall bolts are covered with casing.
  • the screw is taken out of the wall to form a hole in the wall, that is, a screw hole, and the screw hole needs to be sealed in order to ensure the quality of the wall.
  • the screw holes on the outer walls of construction sites are mainly plugged manually, and manual plugging is not only low in efficiency and poor in plugging quality, but also has a low safety factor for construction personnel.
  • An object of the present invention is to provide a hole plugging device, which can realize automatic plugging of holes, improve the plugging efficiency and plugging quality of holes, and ensure the safety of construction personnel.
  • Another object of the present invention is to provide a hole plugging robot, which can realize automatic plugging of holes by applying the above hole plugging device, improve the plugging efficiency of the holes, and ensure the plugging quality of the holes.
  • the present invention adopts the following technical solutions:
  • a hole plugging device includes:
  • a plugging head installed at the working end of the robotic arm, for plugging holes on the construction surface
  • the visual inspection mechanism is installed on the working end of the mechanical arm or the plugging head;
  • the mechanical arm can drive the visual inspection mechanism to move to adjust the distance between the visual inspection mechanism and the construction surface, so that the visual inspection mechanism can detect the position of the hole;
  • the mechanical arm can drive the plugging head to move closer to the construction surface according to the detection result of the visual detection mechanism, so that the plugging head can plug the hole.
  • the mechanical arm includes a swing arm mechanism
  • the plugging head is arranged at the swing end of the swing arm mechanism
  • the connecting end of the swing arm mechanism can be wound parallel to the The first axis of the construction surface rotates to drive the plugging head and the visual detection mechanism to swing toward or away from the construction surface.
  • the mechanical arm further includes a plugging head rotating mechanism, and the plugging head is rotatably arranged at the swing end of the swing arm mechanism through the plugging head rotating mechanism,
  • the plugging head rotation mechanism can drive the plugging head to rotate around a second axis, so that the working surface of the plugging head is adjusted to be parallel to the construction surface, wherein the second axis is parallel to the first axis.
  • the axis is parallel.
  • the mechanical arm further includes a turning mechanism connected to the connecting end of the swing arm mechanism, and the turning mechanism can drive the swing arm mechanism to be perpendicular to the The construction surface is turned in a vertical plane so that the swing arm mechanism can avoid obstacles.
  • the plugging head includes a floating plugging mechanism, and the floating plugging mechanism can perform floating adjustment according to the conditions of the construction surface, so that the working surface is tightly pressed against the Smooth the slurry that plugs the holes on the construction surface.
  • the floating plugging mechanism includes:
  • Floating pressure plate which can be floatingly arranged on the fixed plate
  • the slurry outlet pipe the slurry outlet end of which is penetrated in the floating pressure plate, and can transport slurry to the hole;
  • the board surface of the floating pressure plate can be tightly pressed on the construction surface and smooth the slurry that blocks the holes.
  • the plugging head further includes a gate valve control mechanism connected to the floating plugging mechanism, and the gate valve control mechanism can control the direction of the slurry outlet pipe Said hole conveys slurry or stops conveying slurry.
  • a hole blocking robot includes the hole blocking device as described above, and the hole blocking robot further includes:
  • a mobile platform, the end of the mechanical arm away from the plugging head is vertically mounted on the mobile platform in a vertical direction, and the mobile platform can drive the mechanical arm to move in a horizontal plane.
  • the hole blocking robot also includes:
  • the slurry bucket can communicate with the plugging head to deliver slurry to the plugging head;
  • An object storage platform the slurry bucket is placed on the object storage platform, and the mobile platform can drive the object storage platform to move in a horizontal plane, so that the slurry bucket can move in the horizontal plane.
  • the hole blocking robot also includes:
  • a lower rail extends in a horizontal direction and is parallel to the construction surface, and the lower end of the mobile platform is movably arranged on the lower rail in the horizontal direction;
  • the upper rail is arranged in parallel with the lower rail and located above the lower rail, and the upper end of the mobile platform is movably arranged on the upper rail in a horizontal direction.
  • the hole plugging device provided by the present invention drives the visual inspection mechanism to move through a mechanical arm, which can adjust the distance between the visual inspection mechanism and the construction surface, so that the visual inspection mechanism can detect the position of the hole at the optimal distance, which is beneficial to Ensure the accuracy of position detection; when the visual inspection mechanism completes the inspection and determines the location of the hole, the robotic arm will drive the plugging head close to the construction surface according to the detection result of the visual inspection mechanism, so that the plugging head can complete the hole plugging.
  • the hole plugging device provided by the present invention can realize automatic plugging of holes, greatly improve the plugging efficiency and plugging quality of holes, and ensure the safety of construction personnel.
  • the hole plugging robot provided by the present invention can realize automatic plugging of holes by applying the above hole plugging device, greatly improve the plugging efficiency of the holes, and ensure the plugging quality of the holes.
  • Figure 1 is a side view of a hole blocking device provided by an embodiment of the present invention in an unfolded detection state
  • Figure 2 is a side view of the hole blocking device provided by the embodiment of the present invention in an unfolded working state
  • FIG. 3 is a schematic structural diagram of the hole blocking device provided by the embodiment of the present invention in an unfolded state
  • FIG. 4 is a side view of the hole blocking device provided by the embodiment of the present invention in an unfolded state
  • FIG. 5 is a front view of the hole blocking device provided by the embodiment of the present invention in a folded state of avoiding position
  • FIG. 6 is a schematic diagram of the assembly relationship between the swing arm mechanism and the plugging head rotation mechanism provided by the embodiment of the present invention.
  • Figure 7 is a partial structural diagram of an arm swing mechanism provided by an embodiment of the present invention.
  • Figure 8 is a partial cross-sectional view of a swing arm mechanism provided by an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of the assembly relationship between the plugging head rotating mechanism and the plugging head provided by the embodiment of the present invention.
  • Figure 10 is a schematic structural diagram of a telescopic mechanism provided by an embodiment of the present invention.
  • Figure 11 is a side view of a telescopic mechanism provided by an embodiment of the present invention.
  • Figure 12 is a schematic structural diagram of a floating plugging mechanism provided by an embodiment of the present invention.
  • Figure 13 is a cross-sectional view of a floating plugging mechanism provided by an embodiment of the present invention.
  • Figure 14 is a schematic structural diagram of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the present invention
  • Figure 15 is a first side view of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the present invention
  • 16 is a schematic structural diagram of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the present invention in a connected state;
  • Figure 17 is a schematic structural diagram of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the present invention in a disconnected state;
  • Figure 18 is a second side view of a floating plugging mechanism and a gate valve control mechanism provided by an embodiment of the present invention.
  • 19 is a schematic structural diagram of the hole blocking robot provided by an embodiment of the present invention in an unfolded working state
  • Fig. 20 is a front view of the hole blocking robot provided by the embodiment of the present invention in a folded state of avoiding position.
  • 2-plugging head 21-floating plugging mechanism; 211-fixed plate; 212-floating pressure plate; 2121-outlet channel; 213-outlet pipe; 214-elastic member; 215-guide rod; 2151-rod; 2152-cone head; 22-gate valve control mechanism; 221-mounting seat; 2211-connecting plate; 2212-baffle plate; 2213-mounting plate; 222-gate valve push plate; 2221-feed hole; 223-pretensioner; 224-guide plate; 225-gate valve driver; 226-transmission rod; 227-joint;
  • connection should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the hole plugging device includes a mechanical arm 1, a plugging head 2 and a visual inspection mechanism 3.
  • the plugging head 2 is installed on the working end of the mechanical arm 1 and is used for plugging the holes on the construction surface 100.
  • the visual inspection mechanism 3 is installed on the working end of the mechanical arm 1 or the blocking head 2.
  • the robotic arm 1 can drive the visual inspection mechanism 3 to move away from the construction surface 100 to adjust the distance between the visual inspection mechanism 3 and the construction surface 100 so that the visual inspection mechanism 3 can detect the position of the hole.
  • the mechanical arm 1 can drive the plugging head 2 to move in a direction close to the construction surface 100 according to the detection result of the visual detection mechanism 3, so that the plugging head 2 can plug the hole.
  • the hole blocking device provided in this embodiment uses the robotic arm 1 to drive the visual inspection mechanism 3 to move, which can adjust the distance between the visual inspection mechanism 3 and the construction surface 100, so that the visual inspection mechanism 3 can detect holes at the optimal distance
  • the robot arm 1 will drive the plugging head 2 to approach the construction surface 100 according to the inspection result of the visual inspection mechanism 3 to ensure the accuracy of position detection.
  • the plugging head 2 completes the plugging of the hole.
  • the hole plugging device provided in this embodiment can realize automatic plugging of holes, greatly improve the plugging efficiency and plugging quality of holes, and ensure the safety of construction personnel.
  • the visual inspection mechanism 3 is installed on the plugging head 2.
  • the vision detection mechanism 3 includes a sensor and a depth vision camera.
  • the sensor is used to detect the distance between the depth vision camera and the construction surface 100.
  • the depth vision The camera starts to photograph the hole on the construction surface 100 to determine the position of the hole.
  • the shooting quality can be improved, and the accuracy of the hole position determination can be improved.
  • the sensors and depth vision cameras used in this embodiment are all conventional structures in the prior art, and their structures and working principles will not be described in detail here.
  • the preset distance between the depth vision camera and the construction surface 100 is 300 mm.
  • the preset distance between the depth vision camera and the construction surface 100 can also be adjusted according to actual needs.
  • the mechanical arm 1 provided in this embodiment includes a swing arm mechanism 11, the plugging head 2 is arranged at the swing end of the swing arm mechanism 11, and the connecting end of the swing arm mechanism 11 can be parallel to each other.
  • the swing arm mechanism 11 drives the swing of the plugging head 2 and the visual inspection mechanism 3 (similar to the action of a woodpecker), which can switch between the plugging state and the detection state, and only one axis needs to be moved.
  • Six-axis mechanical arm Six axes are required to move. Therefore, the cooperation of the swing arm mechanism 11 with the plugging head 2 and the visual inspection mechanism 3 can increase the switching speed between the plugging state and the detection state, ensuring the accuracy of hole position detection, and improving the plugging efficiency .
  • the mechanical arm 1 further includes a plugging head rotating mechanism 12, and the plugging head 2 is rotatably arranged on the swing end of the swing arm mechanism 11 through the plugging head rotating mechanism 12 to block
  • the head rotation mechanism 12 can drive the plugging head 2 to rotate around the second axis, so that the working surface of the plugging head 2 is adjusted to be parallel to the construction surface 100, wherein the second axis is parallel to the first axis.
  • the plugging head 2 is driven to rotate by the plugging head rotating mechanism 12, so that the working surface of the plugging head 2 is always parallel to the construction surface 100, thereby helping to ensure the plugging quality of the hole.
  • the rotation of the plugging head 2 will drive the visual inspection mechanism 3 to rotate, so that the detection end of the visual inspection mechanism 3 is always parallel to the construction surface 100, which is beneficial to ensure The accuracy of the test results.
  • the mechanical arm 1 further includes a turning mechanism 13, which is connected to the connecting end of the swing arm mechanism 11.
  • the turning mechanism 13 can drive the swing arm mechanism 11 to turn upward by 90°, so that the swing arm mechanism 11 can avoid obstacles and smoothly move around the construction surface 100.
  • the turning mechanism 13 can also drive the swing arm mechanism 11 to turn downward by 90°, which is not limited here.
  • the turning mechanism 13 may be a motor as a turning drive, and the motor shaft is connected to the connecting end of the swing arm mechanism 11, and the swing arm mechanism 11 is driven to turn over by the motor shaft.
  • the mechanical arm 1 further includes a rotating mechanism 14, which is connected between the connecting end of the turning mechanism 13 and the swing arm mechanism 11, and the rotating mechanism 14 can drive the swing arm mechanism 11 in Rotate in a plane parallel to the construction surface 100 to increase the plugging range of the plugging head 2.
  • the rotation mechanism 14 drives the swing arm mechanism 11 to rotate, so that the plugging head 2 can plug as many holes on the construction surface 100 as possible without moving the mechanical arm 1 as a whole.
  • the visual inspection mechanism 3 can be enlarged. scope of test.
  • the rotation angle of the rotation mechanism 14 is greater than 180°.
  • the robotic arm 1 further includes a telescopic mechanism 15, which is connected between the connecting end of the turning mechanism 13 and the swing arm mechanism 11, and the telescopic mechanism 15 can move closer to or away from the construction surface.
  • the direction 100 expands and contracts so that the plugging head 2 is close to or far away from the construction surface 100.
  • the telescopic mechanism 15 can adjust the distance between the plugging head 2 and the construction surface 100.
  • the telescopic mechanism 15 can drive the swing arm mechanism 11 to roughly move to a position close to the construction surface 100, and then Through the swing arm mechanism 11, the distance between the plugging head 2 and the visual inspection mechanism 3 and the construction surface 100 can be accurately adjusted, so that the detection state and the plugging state can be quickly switched.
  • one end of the telescopic mechanism 15 is connected to the turning mechanism 13, the other end is connected to the rotating mechanism 14, and the rotating mechanism 14 is connected to the connecting end of the swing arm mechanism 11. That is, the turning mechanism 13, the telescopic mechanism 15, the rotating mechanism 14, and the swing arm mechanism 11 are connected in sequence.
  • the swing arm mechanism 11 provided in this embodiment includes a swing arm 111, a rotating shaft 112 and a swing arm drive unit.
  • the plugging head 2 is rotatably arranged at the first end of the swing arm 111 by the plugging head rotating mechanism 12, and the rotating shaft 112 is fixedly connected to the second end of the swing arm 111.
  • the swing arm drive unit can drive the rotating shaft 112 to rotate, so that the rotating shaft 112 drives the swing arm 111 to swing in a direction approaching or away from the construction surface 100.
  • the swing arm mechanism 11 further includes a mounting frame 113, and the mounting frame 113 is rotatably connected with the rotating shaft 112.
  • the swing arm driving unit includes a swing arm driver 114 and a swing arm transmission assembly 115, and the swing arm driver 114 is installed on the mounting frame 113.
  • the swing arm transmission assembly 115 is drivingly connected to the driving end of the swing arm driver 114 and the rotating shaft 112, so that the swing arm driver 114 can drive the rotating shaft 112 to rotate.
  • the swing arm transmission assembly 115 includes a first gear 1151 and a second gear 1152.
  • the first gear 1151 is mounted on the driving end of the swing arm driver 114
  • the second gear 1152 is mounted on the rotating shaft 112
  • the first gear 1151 It is in meshing connection with the second gear 1152.
  • the swing arm mechanism 11 further includes a bearing assembly 116, and the mounting frame 113 and the rotating shaft 112 are rotatably connected through the bearing assembly 116.
  • the bearing assembly 116 includes a bearing seat 1161 and a bearing 1162, the bearing seat 1161 is connected to the mounting frame 113, the rotating shaft 112 passes through the bearing seat 1161, and the bearing 1162 is disposed between the rotating shaft 112 and the bearing seat 1161.
  • the plugging head rotation mechanism 12 includes a rotating shaft 121, a plugging head rotation driver 122 and a rotation transmission assembly 123.
  • the rotating shaft 121 is rotatably arranged on the swing arm mechanism 11 and is fixedly connected with the plugging head 2.
  • the plugging head rotation driver 122 is arranged on the swing arm mechanism 11 and is arranged away from the swing end of the swing arm mechanism 11.
  • the rotation transmission assembly 123 drives and connects the driving end of the plugging head rotation driver 122 and the rotation shaft 121, so that the plugging head rotation driver 122 can drive the rotation shaft 121 to rotate, and the rotation shaft 121 drives the plugging head 2 to rotate.
  • Disposing the plugging head rotation driver 122 away from the swinging end of the swing arm mechanism 11 can reduce the load on the swinging end of the swing arm mechanism 11, making the swinging arm mechanism 11 more flexible and easier to control when swinging, thereby helping to improve the plugging head 2. And the work efficiency of the visual inspection mechanism 3.
  • the rotation transmission assembly 123 includes a first pulley 1231, a second pulley 1232, and a transmission belt 1233.
  • the first pulley 1231 is installed on the driving end of the plugging head rotation driver 122, and the second pulley 1232 is installed on the pendulum.
  • the transmission belt 1233 is sleeved on the first pulley 1231 and the second pulley 1232.
  • the rotating mechanism 14 includes a rotating platform 141 and a rotating driving unit 142.
  • the rotating platform 141 is fixedly connected to the connecting end of the swing arm mechanism 11.
  • the rotation driving unit 142 can drive the rotating platform 141 to rotate in a plane parallel to the construction surface 100, so that the rotating platform 141 drives the swing arm mechanism 11 to rotate in a plane parallel to the construction surface 100.
  • the rotation driving unit 142 includes a rotating electric machine and a reducer.
  • the telescopic mechanism 15 includes a cantilever 151, a telescopic arm 152 and a telescopic drive unit 153.
  • the cantilever 151 is connected to the turning mechanism 13.
  • the first end of the telescopic arm 152 is slidably connected to the cantilever 151, and the second end is connected to the connecting end of the swing arm mechanism 11.
  • the telescopic drive unit 153 can drive the telescopic arm 152 to slide along the extension direction of the cantilever 151, so that the telescopic arm 152 drives the swing arm mechanism 11 to approach or move away from the construction surface 100.
  • the second end of the telescopic arm 152 is connected to the connecting end of the swing arm mechanism 11 through the rotating platform 141.
  • the rotating platform 141 and the swing arm mechanism 11 can be driven to move toward or away from the construction surface 100 together.
  • the telescopic drive unit 153 is installed on the cantilever 151.
  • the telescopic drive unit 153 includes a motor and a reducer.
  • the rotation driving unit 142 is installed on the telescopic arm 152.
  • the telescopic mechanism 15 further includes a screw rod 154 and a nut seat 155.
  • the screw rod 154 is arranged along the extension direction of the cantilever 151 and is connected to the driving end of the telescopic drive unit 153.
  • the nut seat 155 It is sleeved on the screw rod 154, and the nut base 155 is connected with the telescopic arm 152.
  • the telescopic drive unit 153 can drive the screw rod 154 to rotate, and the nut base 155 drives the telescopic arm 152 to slide along the extension direction of the cantilever 151.
  • the telescopic mechanism 15 further includes a sliding rail 156 and a sliding block 157 that are slidingly fitted.
  • the sliding rail 156 is arranged on the cantilever 151 along the extension direction of the cantilever 151. 152 connections.
  • the cooperation of the sliding rail 156 and the sliding block 157 is beneficial to ensure the stability of the telescopic arm 152 when sliding relative to the cantilever 151 and the accuracy of the sliding path.
  • the plugging head 2 provided in this embodiment includes a floating plugging mechanism 21, which can perform floating adjustments according to the conditions of the construction surface 100 to make the working surface tightly pressed. Attach it on the construction surface 100 and smooth the slurry that plugs the holes. Through the floating adjustment of the floating plugging mechanism 21, the working surface of the floating plugging mechanism 21 can always be pressed on the construction surface 100 to achieve smoothing and ensure the plugging quality.
  • the floating plugging mechanism 21 includes a fixed plate 211, a floating pressing plate 212 and a slurry pipe 213.
  • the fixed plate 211 is connected with the swing end of the swing arm mechanism 11.
  • the floating pressing plate 212 can be floatingly arranged on the fixed plate 211.
  • the pulp outlet end of the pulp outlet pipe 213 is penetrated in the floating plate 212 and can convey the pulp to the hole.
  • the board surface of the floating pressing plate 212 can be tightly pressed on the construction surface 100 and smooth the slurry that plugs the holes.
  • the surface of the floating pressure plate 212 can always be tightly pressed on the construction surface 100, thereby not only preventing the leakage of the slurry conveyed by the slurry pipe 213 to the hole, but also enabling the floating pressure plate 212 smooths the slurry that plugs the holes to ensure the quality of the plugging.
  • the floating plugging mechanism 21 further includes an elastic member 214 that elastically connects the fixed plate 211 and the floating pressure plate 212 so that the floating pressure plate 212 can perform floating adjustment relative to the fixed plate 211 according to the conditions of the construction surface 100.
  • the elastic member 214 is an ultralight-loaded rectangular spring.
  • the plurality of elastic members 214 are evenly distributed along the circumferential direction of the floating pressure plate 212.
  • the cooperation of the plurality of elastic members 214 is beneficial to make the floating pressure plate 212 float uniformly and stably in the entire circumferential direction, thereby helping to ensure the smoothing and plugging quality.
  • the three elastic members 214 are evenly distributed along the circumferential direction of the floating pressure plate 212.
  • the number of elastic members 214 can also be adjusted according to actual needs, which is not limited here.
  • the floating blocking mechanism 21 further includes a guide rod 215.
  • the first end of the guide rod 215 is fixedly connected to the floating pressure plate 212, the second end passes through the guide hole on the fixed plate 211 with a gap, and the elastic member 214 is sleeved on the guide 215 on the pole.
  • the cooperation of the guide rod 215 and the elastic member 214 helps to ensure the working stability of the floating pressure plate 212.
  • the guide rod 215 includes a rod portion 2151 and a conical head portion 2152 connected with the rod portion 2151.
  • the guide hole includes a cylindrical surface and a tapered surface. The cylindrical surface is connected to an end of the tapered surface close to the floating pressure plate 212.
  • the rod 2151 is in clearance fit with the cylindrical surface, and the tapered head 2152 can be attached to the tapered surface.
  • the elastic member 214 is compressed, and the cone head 2152 is separated from the cone surface of the guide hole.
  • the preload of the elastic member 214 can make the cone head 2152 is attached to the tapered surface of the guide hole to return the floating pressing plate 212 to its original position and improve the positioning accuracy during the next plugging.
  • the floating pressing plate 212 is provided with a slurry outlet channel 2121, the outer wall of the slurry outlet end of the slurry outlet pipe 213 is spherical, and the slurry outlet end of the slurry outlet pipe 213 is rotatably penetrated in the slurry outlet channel 2121.
  • the cooperation of the pulp outlet channel 2121 and the spherical pulp outlet end of the pulp outlet pipe 213 is beneficial to ensure the stability of the connection between the pulp outlet pipe 213 and the floating plate 212.
  • the pulp outlet direction can be fine-tuned by the rotation of the pulp outlet end of the pulp outlet pipe 213 to facilitate The slurry can fill the holes.
  • the plugging head 2 provided in this embodiment further includes a gate valve control mechanism 22, which is connected to the fixed plate 211 of the floating plugging mechanism 21, and the gate valve control mechanism 22 can control
  • the slurry outlet pipe 213 transports slurry to the hole or stops transporting slurry.
  • the gate valve control mechanism 22 can quickly stop the slurry pipe 213 from conveying slurry, thereby helping to prevent slurry leakage and slurry flow.
  • the gate valve control mechanism 22 includes a mounting seat 221, a gate valve push plate 222 and a gate valve driving unit.
  • the mounting base 221 is connected to the fixed plate 211 of the floating plugging mechanism 21, and the mounting base 221 is provided with a through hole communicating with the slurry pipe 213.
  • the gate valve push plate 222 is movably arranged on the mounting seat 221, and the gate valve push plate 222 is provided with a feed hole 2221.
  • the gate valve driving unit is installed on the mounting seat 221, and the gate valve driving unit can drive the gate valve push plate 222 to move so that the feed hole 2221 and the through hole are directly aligned or staggered.
  • the feed hole 2221 when the feed hole 2221 is directly opposite to the through hole, the feed hole 2221 is in communication with the slurry outlet pipe 213, and the slurry can flow out through the feed hole 2221, the through hole and the slurry outlet pipe 213 in sequence; As shown in 17, when the gate valve drive unit pushes the gate valve push plate 222 to move the feed hole 2221 and the through hole staggered, the feed hole 2221 is disconnected from the slurry outlet pipe 213, and the slurry cannot flow into the slurry outlet pipe 213. The pipe 213 stops conveying the slurry.
  • the gate valve control mechanism 22 provided in this embodiment further includes a pre-tensioning member 223.
  • the pre-tensioning member 223 can adjust the pressure between the gate valve push plate 222 and the mounting seat 221, so that the gate valve The push plate 222 can move relative to the mounting seat 221 and can maintain a seal with the mounting seat 221.
  • the gate valve push plate 222 can be pushed smoothly, and a good seal can be maintained between the gate valve push plate 222 and the mounting seat 221. This helps prevent the slurry from leaking.
  • the plurality of pretensioners 223 are evenly distributed on both sides of the moving direction of the gate valve push plate 222.
  • the pre-tensioning member 223 is a pre-tensioning spring screw.
  • the gate valve control mechanism 22 provided in this embodiment further includes a guide plate 224.
  • Two guide plates 224 are installed on the mounting seat 221 at intervals and opposite to each other to form a guide channel.
  • the gate valve push plate 222 is movably clamped in the guide channel. The cooperation of the two guide plates 224 helps to ensure the accuracy of the movement path of the gate valve push plate 222.
  • the pre-tensioning member 223 is installed on the guide plate 224, and one end of the pre-tensioning member 223 can press the gate valve push plate 222 to the mounting seat 221 to adjust the pressure between the gate valve push plate 222 and the mounting seat 221. That is, by adjusting the contact pressure between the pretensioner 223 and the gate valve push plate 222, the contact pressure between the gate valve push plate 222 and the mounting seat 221 can be adjusted.
  • two pre-tensioning members 223 are installed on each guide plate 224, and the two pre-tensioning members 223 are arranged along the moving direction of the gate valve push plate 222.
  • the gate valve driving unit provided in this embodiment includes a gate valve driver 225 and a transmission rod 226, and the gate valve driver 225 is installed on the mounting seat 221.
  • One end of the transmission rod 226 is connected with the driving end of the gate valve driver 225, and the other end is threadedly matched with the gate valve push plate 222.
  • the gate valve driver 225 can drive the transmission rod 226 to rotate to drive the gate valve push plate 222 to move along the extension direction of the transmission rod 226. That is, a structure similar to a screw nut is formed between the transmission rod 226 and the gate valve push plate 222.
  • the gate valve driver 225 drives the transmission rod 226 to rotate, which can adjust the threaded length between the transmission rod 226 and the gate valve push plate 222, thereby pushing the gate valve to push.
  • the board 222 moves.
  • the transmission rod 226 is a trapezoidal screw.
  • the gate valve driver 225 is a motor.
  • the mounting base 221 includes a connecting plate 2211 and a baffle 2212.
  • the connecting plate 2211 is connected to the fixing plate 211.
  • the feeding end of the pulp outlet pipe 213 penetrates the connecting plate 2211.
  • the baffle 2212 is installed on the connecting plate 2211, the through hole is opened on the baffle 2212, and the gate valve push plate 222 is movably arranged on the baffle 2212.
  • the mounting base 221 further includes a mounting plate 2213.
  • Two mounting plates 2213 are respectively connected to two opposite sides of the connecting plate 2211, and a guide plate 224 is correspondingly installed on each mounting plate 2213.
  • the gate valve driver 225 is mounted on one of the mounting plates 2213.
  • the gate valve control mechanism 22 provided in this embodiment further includes a joint 227.
  • One end of the joint 227 is connected to the gate valve push plate 222 and communicates with the feed hole 2221. Enter at one end. That is, the slurry can enter the slurry outlet pipe 213 through the joint 227.
  • the joint 227 is a pagoda-type joint.
  • this embodiment also provides a hole blocking robot, including the above hole blocking device.
  • the hole blocking robot further includes a mobile platform 10, and one end of the mechanical arm 1 away from the blocking head 2 It is vertically mounted on the mobile platform 10 so as to be liftable, and the mobile platform 10 can drive the mechanical arm 1 to move in a horizontal plane. Since the holes are generally in a regular rectangular array on the construction surface 100, after finding a hole, only the mobile platform 10 needs to drive the robot arm 1 to move, and the robot arm 1 itself only needs to swing by the swing arm mechanism 11 to make the seal The plug 2 continuously and cyclically completes the plugging of different holes on the entire construction surface 100, which significantly improves the plugging efficiency.
  • the hole blocking robot provided in this embodiment further includes a slurry bucket 20 and a storage platform 30.
  • the slurry bucket 20 can communicate with the plugging head 2 to deliver slurry to the plugging head 2.
  • the slurry bucket 20 is placed on the storage platform 30, and the mobile platform 10 can drive the storage platform 30 to move in the horizontal plane, so that the slurry bucket 20 can move in the horizontal plane.
  • the pulp bucket 20 is in communication with the joint 227 through a pulp pipe.
  • the hole blocking robot provided in this embodiment further includes a lower rail 40 and an upper rail 50.
  • the lower rail 40 extends in a horizontal direction and is parallel to the construction surface 100.
  • the lower end of the mobile platform 10 is movably arranged on the lower rail 40 in the horizontal direction.
  • the upper rail 50 and the lower rail 40 are arranged in parallel and above the lower rail 40, and the upper end of the mobile platform 10 is movably arranged on the upper rail 50 in the horizontal direction.
  • the lower end of the storage platform 30 is movably arranged on the lower rail 40 along the horizontal direction.
  • the upper end of the storage platform 30 is movably arranged on the upper rail 50 along the horizontal direction.
  • the cooperation of the upper rail 50 and the lower rail 40 is beneficial to ensure the stability of the movement of the mobile platform 10 and the storage platform 30 and the accuracy of the movement path.
  • the lower rail 40 is installed on the lower aisle board
  • the upper rail 50 is installed on the upper aisle board.

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Abstract

一种孔洞封堵装置及孔洞封堵机器人，孔洞封堵装置包括机械臂（1）、封堵头（2）和视觉检测机构（3），孔洞封堵机器人还包括移动平台（10）。该装置实现自动化封堵，对螺杆洞的封堵效率高质量优。

Description

一种孔洞封堵装置及孔洞封堵机器人 技术领域
本发明涉及建筑机械技术领域，尤其涉及一种孔洞封堵装置及孔洞封堵机器人。
背景技术
在建筑施工过程中，通常会采用铝合金模板现浇工艺，而采用此种工艺时需要利用穿墙螺栓对铝合金模板进行固定，同时穿墙螺栓使用套管包覆，当混凝土凝固后，将螺杆从墙体中取出，从而在墙体上形成了孔洞，即螺杆洞，而为了保证墙体质量需要对螺杆洞进行封堵。
目前，建筑工地外墙上的螺杆洞主要靠人工封堵，而人工封堵不仅效率低，封堵质量差，而且施工人员的安全系数低。
因此，亟需一种新型的孔洞封堵装置以解决上述技术问题。
发明内容
本发明的一个目的在于提供一种孔洞封堵装置，能够实现对孔洞的自动化封堵，提高孔洞的封堵效率和封堵质量，确保施工人员的安全。
本发明的另一个目的在于提供一种孔洞封堵机器人，通过应用上述的孔洞封堵装置，能够实现对孔洞的自动化封堵，提高孔洞的封堵效率，确保孔洞的封堵质量。
为达上述目的，本发明采用以下技术方案：
一种孔洞封堵装置，包括：
机械臂；
封堵头，安装在所述机械臂的工作端，用于封堵施工面上的孔洞；
视觉检测机构，安装在所述机械臂的工作端或所述封堵头上；
所述机械臂能够带动所述视觉检测机构移动，以调节所述视觉检测机构与所述施工面之间的距离，使所述视觉检测机构能够检测所述孔洞的位置；
所述机械臂能够根据所述视觉检测机构的检测结果带动所述封堵头向靠近所述施工面的方向移动，以使所述封堵头能够封堵所述孔洞。
作为所述孔洞封堵装置的优选方案，所述机械臂包括摆臂机构，所述封堵头设置在所述摆臂机构的摆动端，所述摆臂机构的连接端能够绕平行于所述施工面的第一轴线转动，以带动所述封堵头和所述视觉检测机构向靠近或远离所述施工面的方向摆动。
作为所述孔洞封堵装置的优选方案，所述机械臂还包括封堵头转动机构，所述封堵头通过所述封堵头转动机构可转动地设置在所述摆臂机构的摆动端，所述封堵头转动机构能够带动所述封堵头绕第二轴线转动，使所述封堵头的工作面调整到与所述施工面平行，其中，所述第二轴线与所述第一轴线平行。
作为所述孔洞封堵装置的优选方案，所述机械臂还包括翻转机构，所述翻转机构与所述摆臂机构的连接端连接，所述翻转机构能够带动所述摆臂机构在垂直于所述施工面的竖直平面内翻转，以使所述摆臂机构能够避让障碍物。
作为所述孔洞封堵装置的优选方案，所述封堵头包括浮动封堵机构，所述浮动封堵机构能够根据所述施工面情况进行浮动调节，以使其工作面紧密压合在所述施工面上并将封堵所述孔洞的浆料抹平。
作为所述孔洞封堵装置的优选方案，所述浮动封堵机构包括：
固定板；
浮动压板，可浮动地设置在所述固定板上；
出浆管，其出浆端穿设在所述浮动压板中，且能够向所述孔洞输送浆料；
所述浮动压板的板面能够紧密压合在所述施工面上并将封堵所述孔洞的浆料抹平。
作为所述孔洞封堵装置的优选方案，所述封堵头还包括闸阀控制机构，所述闸阀控制机构与所述浮动封堵机构连接，所述闸阀控制机构能够控制所述出浆管向所述孔洞输送浆料或停止输送浆料。
一种孔洞封堵机器人，包括如上所述的孔洞封堵装置，所述孔洞封堵机器人还包括：
移动平台，所述机械臂远离所述封堵头的一端沿竖直方向可升降地安装在所述移动平台上，所述移动平台能够带动所述机械臂在水平面内移动。
作为所述孔洞封堵机器人的优选方案，还包括：
浆桶，能够与所述封堵头连通，以向所述封堵头输送浆料；
置物平台，所述浆桶放置在所述置物平台上，所述移动平台能够带动所述置物平台在水平面内移动，以使所述浆桶在水平面内移动。
作为所述孔洞封堵机器人的优选方案，还包括：
下轨道，沿水平方向延伸且与所述施工面平行，所述移动平台的下端沿水平方向可移动地设置在所述下轨道上；
上轨道，与所述下轨道平行设置且位于所述下轨道的上方，所述移动平台的上端沿水平方向可移动地设置在所述上轨道上。
本发明的有益效果为：
本发明提供的孔洞封堵装置，通过机械臂带动视觉检测机构移动，能够调节视觉检测机构与施工面之间的距离，使视觉检测机构能够在最佳的距离下检测孔洞的位置，从而有利于保证位置检测的准确性；当视觉检测机构完成检测确定好孔洞的位置后，机械臂将根据视觉检测机构的检测结果带动封堵头靠近施工面，使封堵头完成孔洞的封堵。本发明提供的孔洞封堵装置，能够实现对孔洞的自动化封堵，大大提高孔洞的封堵效率和封堵质量，确保施工人员的安全。
本发明提供的孔洞封堵机器人，通过应用上述孔洞封堵装置，能够实现对孔洞的自动化封堵，大大提高孔洞的封堵效率，确保孔洞的封堵质量。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对本发明实施例描述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据本发明实施例的内容和这些附图获得其他的附图。
图1是本发明实施例提供的孔洞封堵装置在展开检测状态下的侧视图；
图2是本发明实施例提供的孔洞封堵装置在展开工作状态下的侧视图；
图3是本发明实施例提供的孔洞封堵装置在展开状态下的结构示意图；
图4是本发明实施例提供的孔洞封堵装置在展开状态下的侧视图；
图5是本发明实施例提供的孔洞封堵装置在折叠避位状态下的主视图；
图6是本发明实施例提供的摆臂机构和封堵头转动机构的装配关系示意图；
图7是本发明实施例提供的摆臂机构的局部结构示意图；
图8是本发明实施例提供的摆臂机构的局部剖视图；
图9是本发明实施例提供的封堵头转动机构和封堵头的装配关系示意图；
图10是本发明实施例提供的伸缩机构的结构示意图；
图11是本发明实施例提供的伸缩机构的侧视图；
图12是本发明实施例提供的浮动封堵机构的结构示意图；
图13是本发明实施例提供的浮动封堵机构的剖视图；
图14是本发明实施例提供的浮动封堵机构和闸阀控制机构的结构示意图；
图15是本发明实施例提供的浮动封堵机构和闸阀控制机构的第一侧视图；
图16是本发明实施例提供的浮动封堵机构和闸阀控制机构在连通状态下的结构示意图；
图17是本发明实施例提供的浮动封堵机构和闸阀控制机构在断开连通状态下的结构示意图；
图18是本发明实施例提供的浮动封堵机构和闸阀控制机构的第二侧视图；
图19是本发明实施例提供的孔洞封堵机器人在展开工作状态下的结构示意图；
图20是本发明实施例提供的孔洞封堵机器人在折叠避位状态下的主视图。
图中：
100-施工面；
1-机械臂；11-摆臂机构；111-摆臂；112-旋转轴；113-安装架；114-摆臂驱动器；115-摆臂传动组件；1151-第一齿轮；1152-第二齿轮；116-轴承组件；1161-轴承座；1162-轴承；12-封堵头转动机构；121-转动轴；122-封堵头转动驱动器；123-转动传动组件；1231-第一带轮；1232-第二带轮；1233-传动带；13-翻转机构；14-旋转机构；141-旋转平台；142-旋转驱动单元；15-伸缩机构；151-悬臂；152-伸缩臂；153-伸缩驱动单元；154-丝杆；155-螺母座；156-滑轨；157-滑块；
2-封堵头；21-浮动封堵机构；211-固定板；212-浮动压板；2121-出浆通道；213-出浆管；214-弹性件；215-导向杆；2151-杆部；2152-锥头部；22-闸阀控制机构；221-安装座；2211-连接板；2212-挡板；2213-安装板；222-闸阀推板；2221-进料孔；223-预紧件；224-导向板；225-闸阀驱动器；226-传动杆；227-接头；
3-视觉检测机构；
10-移动平台；
20-浆桶；
30-置物平台；
40-下轨道；
50-上轨道。
具体实施方式
为使本发明解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面将结合附图对本发明实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、 “竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，或者用于区分不同结构或部件，而不能理解为指示或暗示相对重要性。其中，术语“第一位置”和“第二位置”为两个不同的位置。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
如图1和图2所示，本实施例提供一种孔洞封堵装置，在本实施例中孔洞指墙面上的螺杆洞，在其他实施例中，还可为其他孔洞。具体地，孔洞封堵装置包括机械臂1、封堵头2和视觉检测机构3。封堵头2安装在机械臂1的工作端，用于封堵施工面100上的孔洞。视觉检测机构3安装在机械臂1的工作端或封堵头2上。机械臂1能够带动视觉检测机构3向远离施工面100的方向移动，以调节视觉检测机构3与施工面100之间的距离，使视觉检测机构3能够检测孔洞的位置。机械臂1能够根据视觉检测机构3的检测结果带动封堵头2向靠近施工面100的方向移动，以使封堵头2能够封堵孔洞。
本实施例提供的孔洞封堵装置，通过机械臂1带动视觉检测机构3移动，能够调节视觉检测机构3与施工面100之间的距离，使视觉检测机构3能够在最佳的距离下检测孔洞的位置，从而有利于保证位置检测的准确性；当视觉检测机构3完成检测确定好孔洞的位置后，机械臂1将根据视觉检测机构3的检测结果带动封堵头2靠近施工面100，使封堵头2完成孔洞的封堵。本实施例提供的孔洞封堵装置，能够实现对孔洞的自动化封堵，大大提高孔洞的封堵效率和封堵质量，确保施工人员的安全。
具体地，在本实施例中，视觉检测机构3安装在封堵头2上。优选地，视觉检测机构3包括传感器和深度视觉相机，传感器用于检测深度视觉相机与施工面100之间的距离，当深度视觉相机与施工面100之间的距离满足预设距离后，深度视觉相机开始对施工面100上的孔洞进行拍摄以确定孔洞的位置。通过控制深度视觉相机与施工面100之间的距离，有利于提高拍摄质量，进而能够提高孔洞位置确定的精确性。需要说明的是，本实施例中使用的传感器和深度视觉相机均为现有技术中常规的结构，在此不再对其结构和工作原理进行详细介绍。具体地，在本实施例中，深度视觉相机与施工面100之间的预设距离为300mm。当然，在其他实施例中，还可以根据实际需求调节深度视觉相机与施工面100之间的预设距离。
优选地，如图3和图4所示，本实施例提供的机械臂1包括摆臂机构11，封堵头2设置在摆臂机构11的摆动端，摆臂机构11的连接端能够绕平行于施工面100的第一轴线转动，以带动封堵头2和视觉检测机构3向靠近或远离施工面100的方向摆动。通过摆臂机构11带动封堵头2和视觉检测机构3的摆动(类似啄木鸟啄木的动作)，能够实现封堵状态和检测状态的切换，且只需要运动一个轴，而使用六轴机械臂时需要动六个轴，因此，通过摆臂机构11与封堵头2和视觉检测机构3的配合，可以提高封堵状态和检测状态的切换速度，保证孔洞位置检测的准确性，提高封堵效率。
优选地，如图3和图4所示，机械臂1还包括封堵头转动机构12，封堵头2通过封堵头 转动机构12可转动地设置在摆臂机构11的摆动端，封堵头转动机构12能够带动封堵头2绕第二轴线转动，使封堵头2的工作面调整到与施工面100平行，其中，第二轴线与第一轴线平行。通过封堵头转动机构12带动封堵头2转动，能够使封堵头2的工作面始终与施工面100平行，从而有利于保证孔洞的封堵质量。另外，由于视觉检测机构3安装在封堵头2上，所以封堵头2转动过程中会带动视觉检测机构3转动，使视觉检测机构3的检测端始终与施工面100平行，从而有利于保证检测结果的准确性。当然，还可以通过摆臂机构11绕第一轴线转动以及封堵头2绕第二轴线转动的耦合来调节封堵头2的工作面与施工面100之间的平行关系以及视觉检测机构3的检测端与施工面100之间的平行关系。
优选地，如图3-图5所示，机械臂1还包括翻转机构13，翻转机构13与摆臂机构11的连接端连接，翻转机构13能够带动摆臂机构11在垂直于施工面100的竖直平面内翻转，以使摆臂机构11能够避让障碍物。在本实施例中，翻转机构13能够带动摆臂机构11向上翻转90°，以便摆臂机构11能够躲避障碍物并顺利地在施工面100的周围移动。当然，在其他实施例中，翻转机构13还可以带动摆臂机构11向下翻转90°，在此不作限制。可选地，翻转机构13可以是电机作为翻转驱动件，电机转轴与摆臂机构11的连接端连接，通过电机转轴带动摆臂机构11翻转。
优选地，如图3和图4所示，机械臂1还包括旋转机构14，旋转机构14连接在翻转机构13和摆臂机构11的连接端之间，旋转机构14能够带动摆臂机构11在与施工面100平行的平面内旋转，以增加封堵头2的封堵范围。通过旋转机构14带动摆臂机构11旋转，可以在不整体移动机械臂1的情况下使封堵头2尽可能多地封堵施工面100上的孔洞，另外，还可以扩大视觉检测机构3的检测范围。可选地，旋转机构14的旋转角度大于180°。
优选地，如图3和图4所示，机械臂1还包括伸缩机构15，伸缩机构15连接在翻转机构13和摆臂机构11的连接端之间，伸缩机构15能够向靠近或远离施工面100的方向伸缩，以使封堵头2靠近或远离施工面100。通过伸缩机构15的伸缩，能够实现封堵头2与施工面100之间距离的调节，以及封堵头2与施工面100之间贴合压力的调节。在本实施例中，伸缩机构15和摆臂机构11均能够调节封堵头2与施工面100之间距离，伸缩机构15可以带动摆臂机构11大致移动到一个靠近施工面100的位置，然后通过摆臂机构11能够准确调节封堵头2和视觉检测机构3与施工面100之间的距离，实现检测状态和封堵状态的快速切换。具体地，在本实施例中，伸缩机构15的一端与翻转机构13连接，另一端与旋转机构14连接，旋转机构14与摆臂机构11的连接端连接。即翻转机构13、伸缩机构15、旋转机构14和摆臂机构11依次连接。
优选地，如图6和图7所示，本实施例提供的摆臂机构11包括摆臂111、旋转轴112和摆臂驱动单元。封堵头2通过封堵头转动机构12可转动地设置在摆臂111的第一端，旋转轴112与摆臂111的第二端固定连接。摆臂驱动单元能够驱动旋转轴112旋转，以使旋转轴112带动摆臂111向靠近或远离施工面100的方向摆动。
可选地，摆臂机构11还包括安装架113，安装架113与旋转轴112可转动连接。摆臂驱动单元包括摆臂驱动器114和摆臂传动组件115，摆臂驱动器114安装在安装架113上。摆臂传动组件115传动连接摆臂驱动器114的驱动端和旋转轴112，以使摆臂驱动器114能够驱动旋转轴112转动。
可选地，摆臂传动组件115包括第一齿轮1151和第二齿轮1152，第一齿轮1151安装在 摆臂驱动器114的驱动端上，第二齿轮1152安装在旋转轴112上，第一齿轮1151和第二齿轮1152啮合连接。
可选地，如图7和图8所示，摆臂机构11还包括轴承组件116，安装架113与旋转轴112之间通过轴承组件116可转动连接。进一步地，轴承组件116包括轴承座1161和轴承1162，轴承座1161与安装架113连接，旋转轴112穿过轴承座1161，轴承1162设置在旋转轴112和轴承座1161之间。
可选地，如图6和图9所示，封堵头转动机构12包括转动轴121、封堵头转动驱动器122和转动传动组件123。转动轴121可转动地设置在摆臂机构11上，且与封堵头2固定连接。封堵头转动驱动器122设置在摆臂机构11上且远离摆臂机构11的摆动端设置。转动传动组件123传动连接封堵头转动驱动器122的驱动端和转动轴121，以使封堵头转动驱动器122能够驱动转动轴121转动，并使转动轴121带动封堵头2转动。将封堵头转动驱动器122远离摆臂机构11的摆动端设置，可以减小摆臂机构11摆动端的负重，使摆臂机构11摆动时更加灵活且更易于控制，从而有利于提高封堵头2和视觉检测机构3的工作效率。
可选地，转动传动组件123包括第一带轮1231、第二带轮1232和传动带1233，第一带轮1231安装在封堵头转动驱动器122的驱动端上，第二带轮1232安装在摆臂111的第一端，传动带1233套设在第一带轮1231和第二带轮1232上。
可选地，如图10和图11所示，旋转机构14包括旋转平台141和旋转驱动单元142。旋转平台141与摆臂机构11的连接端固定连接。旋转驱动单元142能够驱动旋转平台141在与施工面100平行的平面内旋转，以使旋转平台141带动摆臂机构11在与施工面100平行的平面内旋转。具体地，在本实施例中，旋转驱动单元142包括旋转电机和减速机。
可选地，如图10和图11所示，伸缩机构15包括悬臂151、伸缩臂152和伸缩驱动单元153。悬臂151与翻转机构13连接。伸缩臂152的第一端与悬臂151可滑动连接，第二端与摆臂机构11的连接端连接。伸缩驱动单元153能够驱动伸缩臂152沿悬臂151的延伸方向滑动，以使伸缩臂152带动摆臂机构11靠近或远离施工面100。具体地，在本实施例中，伸缩臂152的第二端通过旋转平台141与摆臂机构11的连接端连接。通过伸缩臂152相对悬臂151滑动，能够带动旋转平台141和摆臂机构11一起向靠近或远离施工面100的方向移动。可选地，伸缩驱动单元153安装在悬臂151上。具体地，在本实施例中，伸缩驱动单元153包括电机和减速机。另外，在本实施例中，旋转驱动单元142安装在伸缩臂152上。
可选地，如图10和图11所示，伸缩机构15还包括丝杆154和螺母座155，丝杆154沿悬臂151的延伸方向设置且与伸缩驱动单元153的驱动端连接，螺母座155套设在丝杆154上，且螺母座155与伸缩臂152连接，伸缩驱动单元153能够驱动丝杆154转动，并使螺母座155带动伸缩臂152沿悬臂151的延伸方向滑动。
可选地，如图10和图11所示，伸缩机构15还包括滑动配合地滑轨156和滑块157，滑轨156沿悬臂151的延伸方向设置在悬臂151上，滑块157与伸缩臂152连接。通过滑轨156和滑块157的配合，有利于保证伸缩臂152相对悬臂151滑动时的稳定性以及滑动路径的精确性。
优选地，如图12和图13所示，本实施例提供的封堵头2包括浮动封堵机构21，浮动封堵机构21能够根据施工面100情况进行浮动调节，以使其工作面紧密压合在施工面100上并将封堵孔洞的浆料抹平。通过浮动封堵机构21的浮动调节，可以使浮动封堵机构21的工作 面始终压在施工面100上，实现抹平并保证封堵质量。
优选地，本实施例提供的浮动封堵机构21包括固定板211、浮动压板212和出浆管213。固定板211与摆臂机构11的摆动端连接。浮动压板212可浮动地设置在固定板211上。出浆管213的出浆端穿设在浮动压板212中，且能够向孔洞输送浆料。浮动压板212的板面能够紧密压合在施工面100上并将封堵孔洞的浆料抹平。通过浮动压板212相对固定板211的浮动，能够使浮动压板212的板面始终紧密压合在施工面100上，从而不仅能够防止出浆管213向孔洞输送的浆料泄漏，而且能够使浮动压板212将封堵孔洞的浆料抹平，保证封堵质量。
优选地，浮动封堵机构21还包括弹性件214，弹性件214弹性连接固定板211和浮动压板212，以使浮动压板212能够根据施工面100情况相对固定板211进行浮动调节。通过弹性件214的压缩，能够使浮动压板212相对固定板211浮动。具体地，在本实施例中，弹性件214为超轻载矩形弹簧。
优选地，多个弹性件214沿浮动压板212的周向均匀分布。通过多个弹性件214的配合有利于使浮动压板212在整个周向上能够均匀稳定地浮动，从而有利于保证抹平和封堵质量。可选地，三个弹性件214沿浮动压板212的周向均匀分布。当然，在其他实施中，还可以根据实际需求对弹性件214的数量进行调节，在此不作限制。
优选地，浮动封堵机构21还包括导向杆215，导向杆215的第一端与浮动压板212固定连接，第二端间隙地穿过固定板211上的导向孔，弹性件214套设在导向杆215上。通过导向杆215和弹性件214的配合，有利于保证浮动压板212工作的稳定性。
优选地，导向杆215包括杆部2151和与杆部2151连接的锥头部2152。导向孔包括圆柱面和锥面，圆柱面与锥面靠近浮动压板212的一端连接，杆部2151与圆柱面间隙配合，锥头部2152能够与锥面贴合。在封堵状态下，弹性件214压缩，锥头部2152脱离导向孔的锥面。杆部2151与导向孔的圆柱面之间存在间隙(例如1mm)，在封堵状态下表现出浮动压板212的浮动性，在非封堵状态下，弹性件214的预压能使锥头部2152与导向孔的锥面贴合，使浮动压板212回归原位，提高下次封堵时的定位精度。
优选地，浮动压板212上设置有出浆通道2121，出浆管213出浆端的外壁呈球形，出浆管213的出浆端可转动地穿设在出浆通道2121中。出浆通道2121和出浆管213球形出浆端的配合，有利于保证出浆管213与浮动压板212连接的稳定性，同时，通过出浆管213出浆端的转动，可以微调出浆方向，以便浆料能够充满孔洞。
优选地，如图14-图17所示，本实施例提供的封堵头2还包括闸阀控制机构22，闸阀控制机构22与浮动封堵机构21的固定板211连接，闸阀控制机构22能够控制出浆管213向孔洞输送浆料或停止输送浆料。当孔洞中充满浆料后，闸阀控制机构22能够使出浆管213快速停止输送浆料，从而有利于防止浆料泄漏和流浆。
优选地，闸阀控制机构22包括安装座221、闸阀推板222和闸阀驱动单元。安装座221与浮动封堵机构21的固定板211连接，安装座221上设置有与出浆管213连通的通孔。闸阀推板222可移动地设置在安装座221上，闸阀推板222上设置有进料孔2221。闸阀驱动单元安装在安装座221上，闸阀驱动单元能够驱动闸阀推板222移动，以使进料孔2221与通孔正对或错开。如图16所示，当进料孔2221与通孔正对时，进料孔2221与出浆管213连通，浆料能够依次通过进料孔2221、通孔和出浆管213流出；如图17所示，当闸阀驱动单元推动闸阀推板222移动使进料孔2221与通孔错开时，进料孔2221与出浆管213断开连通，浆料 不能流入出浆管213中，出浆管213停止输送浆料。
优选地，如图14-图18所示，本实施例提供的闸阀控制机构22还包括预紧件223，预紧件223能够调节闸阀推板222与安装座221之间的压力，以使闸阀推板222能够相对安装座221移动，且能够与安装座221之间保持密封。通过预紧件223对闸阀推板222与安装座221之间压力的调节，既可以使闸阀推板222被顺畅地推动，又可以使闸阀推板222与安装座221之间保持良好的密封，从而有利于防止浆料泄漏。优选地，多个预紧件223均匀分布在闸阀推板222移动方向的两侧。具体地，在本实施例中，预紧件223为预紧弹簧螺钉。
优选地，如图14、图15和图18所示，本实施例提供的闸阀控制机构22还包括导向板224，两块导向板224间隔且相对地安装在安装座221上并形成导向通道，闸阀推板222可移动地夹设在导向通道中。通过两块导向板224的配合，有利于保证闸阀推板222移动路径的精确性。
可选地，预紧件223安装在导向板224上，预紧件223的一端能够将闸阀推板222抵压至安装座221上，以调节闸阀推板222与安装座221之间的压力。即通过调节预紧件223与闸阀推板222之间的抵接压力，能够调节闸阀推板222与安装座221之间的接触压力。具体地，在本实施例中，每块导向板224上安装有两个预紧件223，且两个预紧件223沿闸阀推板222移动方向排列。
可选地，如图16和图17所示，本实施例提供的闸阀驱动单元包括闸阀驱动器225和传动杆226，闸阀驱动器225安装在安装座221上。传动杆226的一端与闸阀驱动器225的驱动端连接，另一端与闸阀推板222螺纹配合，闸阀驱动器225能够驱动传动杆226转动，以驱动闸阀推板222沿传动杆226的延伸方向移动。即传动杆226和闸阀推板222之间形成类似丝杆螺母的结构，通过闸阀驱动器225驱动传动杆226转动，能够调节传动杆226与闸阀推板222之间的螺纹配合长度，进而推动闸阀推板222移动。具体地，传动杆226为梯形螺杆。在本实施例中，闸阀驱动器225为电机。
可选地，如图16所示，安装座221包括连接板2211和挡板2212。连接板2211与固定板211连接。出浆管213的进料端穿设在连接板2211中。挡板2212安装在连接板2211上，通孔开设在挡板2212上，闸阀推板222可移动地设置在挡板2212上。
可选地，如图14和图15所示，安装座221还包括安装板2213，两块安装板2213分别与连接板2211相对的两侧连接，每块安装板2213上对应安装一块导向板224。可选地，闸阀驱动器225安装在其中一块安装板2213上。
可选地，如图16所示，本实施例提供的闸阀控制机构22还包括接头227，接头227的一端与闸阀推板222连接且与进料孔2221连通，浆料能够由接头227的另一端进入。即浆料能够由接头227进入到出浆管213中。具体地，在本实施例中，接头227为宝塔型接头。
如图19和图20所示，本实施例还提供一种孔洞封堵机器人，包括上述的孔洞封堵装置，孔洞封堵机器人还包括移动平台10，机械臂1远离封堵头2的一端沿竖直方向可升降地安装在移动平台10上，移动平台10能够带动机械臂1在水平面内移动。由于孔洞一般在施工面100上呈规律的矩形阵列，找到一个孔洞后，只需通过移动平台10带动机械臂1移动，而机械臂1自身只需通过摆臂机构11的摆动，即可使封堵头2持续循环地完成整个施工面100上不同孔洞的封堵，显著提高了封堵效率。
优选地，本实施例提供的孔洞封堵机器人还包括浆桶20和置物平台30。浆桶20能够与 封堵头2连通，以向封堵头2输送浆料。浆桶20放置在置物平台30上，移动平台10能够带动置物平台30在水平面内移动，以使浆桶20在水平面内移动。具体地，在本实施例中，浆桶20通过浆管与接头227连通。
优选地，本实施例提供的孔洞封堵机器人还包括下轨道40和上轨道50，下轨道40沿水平方向延伸且与施工面100平行，移动平台10的下端沿水平方向可移动地设置在下轨道40上。上轨道50与下轨道40平行设置且位于下轨道40的上方，移动平台10的上端沿水平方向可移动地设置在上轨道50上。进一步地，置物平台30的下端沿水平方向可移动地设置在下轨道40上。置物平台30的上端沿水平方向可移动地设置在上轨道50上。通过上轨道50与下轨道40的配合，有利于保证移动平台10和置物平台30移动的稳定性和移动路径的精确性。具体地，在本实施例中，下轨道40安装在下走道板上，上轨道50安装在上走道板上。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种孔洞封堵装置，其特征在于，包括：
    机械臂(1)；
    封堵头(2)，安装在所述机械臂(1)的工作端，用于封堵施工面(100)上的孔洞；
    视觉检测机构(3)，安装在所述机械臂(1)的工作端或所述封堵头(2)上；
    所述机械臂(1)能够带动所述视觉检测机构(3)移动，以调节所述视觉检测机构(3)与所述施工面(100)之间的距离，使所述视觉检测机构(3)能够检测所述孔洞的位置；
    所述机械臂(1)能够根据所述视觉检测机构(3)的检测结果带动所述封堵头(2)向靠近所述施工面(100)的方向移动，以使所述封堵头(2)能够封堵所述孔洞。
  2. 根据权利要求1所述的孔洞封堵装置，其特征在于，所述机械臂(1)包括摆臂机构(11)，所述封堵头(2)设置在所述摆臂机构(11)的摆动端，所述摆臂机构(11)的连接端能够绕平行于所述施工面(100)的第一轴线转动，以带动所述封堵头(2)和所述视觉检测机构(3)向靠近或远离所述施工面(100)的方向摆动。
  3. 根据权利要求2所述的孔洞封堵装置，其特征在于，所述机械臂(1)还包括封堵头转动机构(12)，所述封堵头(2)通过所述封堵头转动机构(12)可转动地设置在所述摆臂机构(11)的摆动端，所述封堵头转动机构(12)能够带动所述封堵头(2)绕第二轴线转动，使所述封堵头(2)的工作面调整到与所述施工面(100)平行，其中，所述第二轴线与所述第一轴线平行。
  4. 根据权利要求2所述的孔洞封堵装置，其特征在于，所述机械臂(1)还包括翻转机构(13)，所述翻转机构(13)与所述摆臂机构(11)的连接端连接，所述翻转机构(13)能够带动所述摆臂机构(11)在垂直于所述施工面(100)的竖直平面内翻转，以使所述摆臂机构(11)能够避让障碍物。
  5. 根据权利要求1-4任一项所述的孔洞封堵装置，其特征在于，所述封堵头(2)包括浮动封堵机构(21)，所述浮动封堵机构(21)能够根据所述施工面(100)情况进行浮动调节，以使其工作面紧密压合在所述施工面(100)上并将封堵所述孔洞的浆料抹平。
  6. 根据权利要求5所述的孔洞封堵装置，其特征在于，所述浮动封堵机构(21)包括：
    固定板(211)；
    浮动压板(212)，可浮动地设置在所述固定板(211)上；
    出浆管(213)，其出浆端穿设在所述浮动压板(212)中，且能够向所述孔洞输送浆料；
    所述浮动压板(212)的板面能够紧密压合在所述施工面(100)上并将封堵所述孔洞的浆料抹平。
  7. 根据权利要求6所述的孔洞封堵装置，其特征在于，所述封堵头(2)还包括闸阀控制机构(22)，所述闸阀控制机构(22)与所述浮动封堵机构(21)连接，所述闸阀控制机构(22)能够控制所述出浆管(213)向所述孔洞输送浆料或停止输送浆料。
  8. 一种孔洞封堵机器人，其特征在于，包括如权利要求1-7任一项所述的孔洞封堵装置，所述孔洞封堵机器人还包括：
    移动平台(10)，所述机械臂(1)远离所述封堵头(2)的一端沿竖直方向可升降地安装在所述移动平台(10)上，所述移动平台(10)能够带动所述机械臂(1)在水平面内移动。
  9. 根据权利要求8所述的孔洞封堵机器人，其特征在于，还包括：
    浆桶(20)，能够与所述封堵头(2)连通，以向所述封堵头(2)输送浆料；
    置物平台(30)，所述浆桶(20)放置在所述置物平台(30)上，所述移动平台(10)能够带动所述置物平台(30)在水平面内移动，以使所述浆桶(20)在水平面内移动。
  10. 根据权利要求8所述的孔洞封堵机器人，其特征在于，还包括：
    下轨道(40)，沿水平方向延伸且与所述施工面(100)平行，所述移动平台(10)的下端沿水平方向可移动地设置在所述下轨道(40)上；
    上轨道(50)，与所述下轨道(40)平行设置且位于所述下轨道(40)的上方，所述移动平台(10)的上端沿水平方向可移动地设置在所述上轨道(50)上。
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