WO2021189866A1

WO2021189866A1 - Robotic arm, hole blocking device, and hole blocking robot

Info

Publication number: WO2021189866A1
Application number: PCT/CN2020/127277
Authority: WO
Inventors: 李雪成; 杨威; 田士川
Original assignee: 广东博智林机器人有限公司
Priority date: 2020-03-27
Filing date: 2020-11-06
Publication date: 2021-09-30
Also published as: CN113445772A; CN113445772B

Abstract

A robotic arm (1), a hole blocking device, and a hole blocking robot. The robotic arm (1) comprises a swing arm mechanism (11), a blocking head rotation mechanism (12), a flip mechanism (13), a rotation mechanism (14), and a telescopic mechanism (15); the hole blocking device further comprises a blocking head (2) and a vision inspection mechanism (3); the hole blocking robot further comprises a mobile platform (10). The device has high efficiency and superior quality in screw hole blocking.

Description

Mechanical arm, hole blocking device and hole blocking robot

Technical field

The invention relates to the technical field of construction machinery, in particular to a mechanical arm, a hole blocking device and a hole blocking robot.

Background technique

In the construction process, the aluminum alloy formwork cast-in-place process is usually used. When using this process, the aluminum alloy formwork needs to be fixed with wall bolts. At the same time, the wall bolts are covered with casing. When the concrete is solidified, 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.

At present, 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.

Therefore, the present invention provides a new type of mechanical arm, hole plugging device and hole plugging robot to solve the above technical problems.

Summary of the invention

An object of the present invention is to provide a mechanical arm that can drive a plugging head to automatically plug holes, improve plugging efficiency and plugging quality, and at the same time can smoothly avoid obstacles.

Another object of the present invention is to provide a hole plugging device, which can realize automatic plugging of holes by applying the above-mentioned mechanical arm, and effectively improve the plugging efficiency and plugging quality of the plugging head.

Another object of the present invention is to provide a hole plugging robot. By using the above hole plugging device, the plugging head can continuously and cyclically complete the plugging of different holes on the entire construction surface, thereby improving the plugging efficiency and plugging. quality.

To achieve the above objectives, the present invention adopts the following technical solutions:

A mechanical arm used for a hole plugging device, the mechanical arm comprising:

A swing arm mechanism whose connecting end can rotate around a first axis parallel to the construction surface to drive the swing end of the swing arm mechanism to swing closer to or away from the construction surface;

The plugging head rotation mechanism is arranged at the swing end of the swing arm mechanism. The plugging head rotation mechanism is connected with the plugging head and can drive the plugging head to rotate around the second axis to make the plugging head The working surface is adjusted to be parallel to the construction surface, wherein the second axis is parallel to the first axis;

The turning mechanism is connected to the connecting end of the swing arm mechanism, and the turning mechanism can drive the swing arm mechanism to turn in a vertical plane perpendicular to the construction surface, so that the swing arm mechanism can avoid obstacles .

As a preferred solution of the mechanical arm, the mechanical arm further includes a rotating mechanism connected between the turning mechanism and the connecting end of the swing arm mechanism, and the rotating mechanism can drive the swing arm The mechanism rotates in a plane parallel to the construction surface to increase the plugging range of the plugging head.

As a preferred solution of the robotic arm, the robotic arm further includes a telescopic mechanism connected between the connecting end of the turning mechanism and the swing arm mechanism, and the telescopic mechanism can move closer to or away from the arm. The direction of the construction surface is stretched, so that the plugging head is close to or away from the construction surface.

As a preferred solution of the mechanical arm, the swing arm mechanism includes:

A swing arm, the plugging head is rotatably arranged at the first end of the swing arm through the plugging head rotating mechanism;

The rotating shaft is fixedly connected with the second end of the swing arm;

The swing arm drive unit can drive the rotation shaft to rotate, so that the rotation shaft drives the swing arm to swing toward or away from the construction surface.

As a preferred solution of the mechanical arm, the swing arm mechanism further includes:

The mounting frame is rotatably connected with the rotating shaft;

The swing arm driving unit includes:

The swing arm driver is installed on the mounting frame;

The swing arm transmission assembly is used for drivingly connecting the driving end of the swing arm driver and the rotating shaft, so that the swing arm driver can drive the rotating shaft to rotate.

As a preferred solution of the mechanical arm, the plugging head rotation mechanism includes:

A rotating shaft is rotatably arranged on the swing arm mechanism and is fixedly connected with the plugging head;

The plugging head rotation driver is arranged on the swing arm mechanism and is arranged away from the swing end of the swing arm mechanism;

Rotation transmission assembly, drivingly connecting the driving end of the plugging head rotation driver and the rotation shaft, so that the plugging head rotation driver can drive the rotation shaft to rotate, and make the rotation shaft drive the plugging The head turns.

As a preferred solution of the mechanical arm, the rotating mechanism includes:

The rotating platform is fixedly connected with the connecting end of the swing arm mechanism;

The rotating drive unit can drive the rotating platform to rotate in a plane parallel to the construction surface, so that the rotating platform drives the swing arm mechanism to rotate in a plane parallel to the construction surface.

As a preferred solution of the mechanical arm, the telescopic mechanism includes:

A cantilever connected to the turning mechanism;

A telescopic arm, the first end of which is slidably connected to the cantilever, and the second end is connected to the connecting end of the swing arm mechanism;

The telescopic drive unit can drive the telescopic arm to slide along the extension direction of the cantilever, so that the telescopic arm drives the swing arm mechanism to approach or move away from the construction surface.

A hole plugging device includes a plugging head and the mechanical arm as described above, and the plugging head is connected with the plugging head rotating mechanism.

As a preferred solution of the hole plugging device, it further includes a visual detection mechanism installed on the swing end of the swing arm mechanism or the plugging head;

The swing arm mechanism can drive the visual inspection mechanism to move closer to or away from the construction surface to adjust the distance between the visual inspection mechanism and the construction surface, so that the visual inspection mechanism can detect holes s position;

The swing arm mechanism 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.

As a preferred solution of the hole plugging device, 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.

As a preferred solution of the hole plugging device, the floating plugging mechanism includes:

Fixed plate

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.

As a preferred solution of the hole plugging device, 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 plugging robot includes a mobile platform and the hole plugging device as described above, and the hole plugging device is installed on the mobile platform.

The beneficial effects of the present invention are:

The mechanical arm provided by the present invention drives the plugging head to swing through the swing arm mechanism (similar to the action of a woodpecker pecking), which can realize automatic plugging of holes, and at the same time, the plugging head is in the blocking state and the non-blocking state. When the position is switched, only one axis needs to be moved, while when using a six-axis mechanical arm, six axes are needed. Therefore, the setting of a swing arm mechanism helps to improve the plugging efficiency of the plugging head; the plugging head rotating mechanism drives the plugging head to rotate , The working surface of the plugging head can always be parallel to the construction surface, which is beneficial to smooth the plugging slurry and improve the plugging quality of the holes; the flipping mechanism drives the plugging head to flip, which can make the swing arm mechanism avoid obstacles And smoothly move around the construction surface, which is conducive to further improving work efficiency.

The hole plugging device provided by the present invention uses the above-mentioned mechanical arm to coordinate the swing arm mechanism, the plugging head rotation mechanism and the turning mechanism to achieve automatic plugging of the hole, and effectively improve the plugging efficiency of the plugging head And blocking quality, while being able to avoid obstacles smoothly.

The hole plugging robot provided by the present invention applies the above hole plugging device and cooperates with the mobile platform to enable the plugging head to continuously and cyclically complete the plugging of different holes on the entire construction surface, which significantly improves the plugging efficiency And blocking quality.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings.

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;

3 is a schematic structural diagram of the hole blocking device provided by the embodiment of the present invention in an unfolded state;

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;

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;

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.

In the picture:

100- construction surface;

1- Mechanical arm; 11- Swing arm mechanism; 111- Swing arm; 112- Rotating shaft; 113- Mounting frame; 114- Swing arm drive; 115- Swing arm transmission assembly; 1151-First gear; 1152-Second gear 116-bearing assembly; 1161-bearing seat; 1162-bearing; 12-plugging head rotation mechanism; 121-rotating shaft; 122-plugging head rotation driver; 123-rotating transmission assembly; 1231-first pulley; 1232 -Second pulley; 1233-transmission belt; 13-turning mechanism; 14-rotating mechanism; 141-rotating platform; 142-rotating drive unit; 15-telescopic mechanism; 151-cantilever; 152-telescopic arm; 153-telescopic drive unit 154-screw rod; 155-nut seat; 156-slide rail; 157-slider;

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;

3-Visual inspection agency;

10-Mobile platform;

20-Pulp bucket;

30- Storage platform;

40- under the track;

50-on track.

Detailed ways

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the present invention. Some embodiments, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, or used to distinguish different structures or components, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that the terms "installed", "connected", and "connected" 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. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood in specific situations.

As shown in Figures 1 to 4, this embodiment provides a mechanical arm 1 for use in a hole plugging device, where the hole refers to a screw hole on the wall. Specifically, the mechanical arm 1 includes a swing arm mechanism 11, a plugging head rotation mechanism 12 and a turning mechanism 13. The connecting end of the swing arm mechanism 11 can rotate around a first axis parallel to the construction surface 100 to drive the swing end of the swing arm mechanism 11 to swing closer to or away from the construction surface 100. The plugging head rotation mechanism 12 is arranged at the swing end of the swing arm mechanism 11. The plugging head rotation mechanism 12 is connected to the plugging head 2 and can drive the plugging head 2 to rotate around the second axis to make the working surface of the plugging head 2 It is adjusted to be parallel to the construction surface 100, where the second axis is parallel to the first axis. The turning mechanism 13 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 in a vertical plane perpendicular to the construction surface 100 so that the swing arm mechanism 11 can avoid obstacles.

The mechanical arm 1 provided in this embodiment drives the plugging head 2 to swing through the swing arm mechanism 11 (similar to the action of a woodpecker), which can realize automatic plugging of holes. When the position is switched in the blocking state, only one axis needs to be moved, while when a six-axis mechanical arm is used, six axes need to be moved. Therefore, the setting of the swing arm mechanism 11 is beneficial to improve the blocking efficiency of the plugging head 2; The rotating mechanism 12 drives the plugging head 2 to rotate, so that the working surface of the plugging head 2 is always parallel to the construction surface 100, which is beneficial to smooth the plugging slurry and improve the plugging quality of the holes. Of course, it can also be used by pendulum The cooperation of the arm mechanism 11 and the plugging head rotation mechanism 12 adjusts the parallel relationship between the working surface of the plugging head 2 and the construction surface 100; the turning mechanism 13 drives the plugging head 2 to turn over, so that the swing arm mechanism 11 can avoid obstacles. The objects move smoothly around the construction surface 100, which is beneficial to further improve work efficiency. The mechanical arm 1 provided in this embodiment can effectively improve the blocking efficiency and the blocking quality of the blocking head 2 through the cooperation of the swing arm mechanism 11, the blocking head rotating mechanism 12 and the turning mechanism 13, and at the same time, it can smoothly evade obstacle.

In order to enable the mechanical arm 1 to drive the plugging head 2 to accurately move to the position of the hole on the construction surface 100, a visual inspection mechanism 3 is installed on the swing end of the swing arm mechanism 11 or the plugging head 2. The swing arm mechanism 11 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 swing arm mechanism 11 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 swing arm mechanism 11 drives the plugging head 2 and the visual detection mechanism 3 to swing, which can realize the switching between the plugging state and the detection state, and ensure the accuracy of hole position detection.

Specifically, in this embodiment, the visual inspection mechanism 3 is installed on the plugging head 2. Preferably, 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. When the distance between the depth vision camera and the construction surface 100 meets the preset distance, the depth vision The camera starts to photograph the hole on the construction surface 100 to determine the position of the hole. By controlling the distance between the depth vision camera and the construction surface 100, the shooting quality can be improved, and the accuracy of the hole position determination can be improved. It should be noted that 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. Specifically, in this embodiment, the preset distance between the depth vision camera and the construction surface 100 is 300 mm. Of course, in other embodiments, the preset distance between the depth vision camera and the construction surface 100 can also be adjusted according to actual requirements.

Since the visual inspection mechanism 3 is installed on the plugging head 2, the turning mechanism 12 of the plugging head will also drive the visual inspection mechanism 3 to rotate during the rotation of the plugging head 2 so that the detection end of the visual inspection mechanism 3 is always aligned with the construction surface 100 Parallel, which helps to ensure the accuracy of the test results. Of course, the parallel relationship between the detection end of the visual inspection mechanism 3 and the construction surface 100 can also be adjusted through the coupling of the swing arm mechanism 11 rotating around the first axis and the plugging head 2 rotating around the second axis.

In this embodiment, 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. Of course, in other embodiments, the turning mechanism 13 can also drive the swing arm mechanism 11 to turn downward by 90°, which is not limited here. Optionally, 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.

Preferably, as shown in Figures 3 and 4, 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. In addition, the visual inspection mechanism 3 can be enlarged. scope of test. Optionally, the rotation angle of the rotation mechanism 14 is greater than 180°.

Preferably, as shown in Figures 3 and 4, 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. Through the expansion and contraction of the telescopic mechanism 15, the adjustment of the distance between the plugging head 2 and the construction surface 100 and the adjustment of the bonding pressure between the plugging head 2 and the construction surface 100 can be realized. In this embodiment, both the telescopic mechanism 15 and the swing arm mechanism 11 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. Specifically, in this embodiment, one end of the telescopic mechanism 15 is connected to the turning mechanism 13 and 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.

Preferably, as shown in FIGS. 6 and 7, 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.

Optionally, 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.

Optionally, 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, and the first gear 1151 It is in meshing connection with the second gear 1152.

Optionally, as shown in FIGS. 7 and 8, 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. Further, 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.

Optionally, as shown in FIGS. 6 and 9, 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.

Optionally, 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. At the first end of the arm 111, the transmission belt 1233 is sleeved on the first pulley 1231 and the second pulley 1232.

Optionally, as shown in FIGS. 10 and 11, 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. Specifically, in this embodiment, the rotation driving unit 142 includes a rotating electric machine and a reducer.

Optionally, as shown in FIGS. 10 and 11, 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. Specifically, in this embodiment, 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. By sliding the telescopic arm 152 relative to the cantilever 151, the rotating platform 141 and the swing arm mechanism 11 can be driven to move toward or away from the construction surface 100 together. Optionally, the telescopic drive unit 153 is installed on the cantilever 151. Specifically, in this embodiment, the telescopic drive unit 153 includes a motor and a reducer. In addition, in this embodiment, the rotation driving unit 142 is installed on the telescopic arm 152.

Optionally, as shown in FIGS. 10 and 11, 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 driving unit 153 can drive the screw rod 154 to rotate and make the nut base 155 drive the telescopic arm 152 to slide along the extension direction of the cantilever 151.

Optionally, as shown in FIGS. 10 and 11, 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.

This embodiment also provides a hole plugging device, which includes a plugging head 2 and the aforementioned mechanical arm 1, and the plugging head 2 is connected to the plugging head rotating mechanism 12. Preferably, the hole plugging device further includes a visual detection mechanism 3 installed on the swing end of the swing arm mechanism 11 or the plugging head 2.

The hole blocking device provided in this embodiment drives the visual inspection mechanism 3 to move through the swing arm mechanism 11, 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 at the optimal distance The position of the hole is helpful to ensure the accuracy of position detection; when the visual inspection mechanism 3 completes the inspection and determines the position of the hole, the swing arm mechanism 11 will drive the plugging head 2 to approach the construction surface 100 according to the detection result of the visual inspection mechanism 3 , So that 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.

Preferably, as shown in Figures 12 and 13, 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.

Preferably, the floating plugging mechanism 21 provided in this embodiment 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. Through the floating of the floating pressure plate 212 relative to the fixed plate 211, 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.

Preferably, 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. Through the compression of the elastic member 214, the floating pressing plate 212 can be floated relative to the fixed plate 211. Specifically, in this embodiment, the elastic member 214 is an ultralight-loaded rectangular spring.

Preferably, 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. Optionally, the three elastic members 214 are evenly distributed along the circumferential direction of the floating pressure plate 212. Of course, in other implementations, the number of elastic members 214 can also be adjusted according to actual needs, which is not limited here.

Preferably, 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.

Preferably, 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 portion 2151 is in clearance fit with the cylindrical surface, and the tapered head 2152 can be attached to the tapered surface. In the blocking state, the elastic member 214 is compressed, and the cone head 2152 is separated from the cone surface of the guide hole. There is a gap (for example, 1 mm) between the rod portion 2151 and the cylindrical surface of the guide hole, which shows the floatability of the floating plate 212 in the blocked state. In the non-blocked state, 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.

Preferably, 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. At the same time, 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.

Preferably, as shown in Figures 14-17, 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. When the hole is filled with 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.

Preferably, 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. As shown in Figure 16, 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.

Preferably, as shown in Figs. 14-18, 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. By adjusting the pressure between the gate valve push plate 222 and the mounting seat 221 by the pretensioner 223, 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. Preferably, the plurality of pretensioners 223 are evenly distributed on both sides of the moving direction of the gate valve push plate 222. Specifically, in this embodiment, the pre-tensioning member 223 is a pre-tensioning spring screw.

Preferably, as shown in FIG. 14, FIG. 15 and FIG. 18, 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.

Optionally, 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. Specifically, in this embodiment, 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.

Optionally, as shown in FIGS. 16 and 17, 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. Specifically, the transmission rod 226 is a trapezoidal screw. In this embodiment, the gate valve driver 225 is a motor.

Optionally, as shown in FIG. 16, the mounting base 221 includes a connecting plate 2211 and a baffle 2212. The connecting plate 2211 is connected to the fixed plate 211 of the floating plugging mechanism 21. 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.

Optionally, as shown in FIGS. 14 and 15, 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. . Optionally, the gate valve driver 225 is mounted on one of the mounting plates 2213.

Optionally, as shown in FIG. 16, 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. Specifically, in this embodiment, the joint 227 is a pagoda-type joint.

As shown in FIGS. 19 and 20, 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.

Preferably, 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. Specifically, in this embodiment, the pulp bucket 20 is in communication with the joint 227 through a pulp pipe.

Preferably, 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. superior. 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. Further, 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. Specifically, in this embodiment, the lower rail 40 is installed on the lower aisle board, and the upper rail 50 is installed on the upper aisle board.

Note that the above are only the preferred embodiments of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made to those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope of is determined by the scope of the appended claims.

Claims

A mechanical arm used in a hole plugging device, characterized in that the mechanical arm (1) comprises:

The swing arm mechanism (11), the connecting end of which can rotate around a first axis parallel to the construction surface (100), so as to drive the swing end of the swing arm mechanism (11) toward or away from the construction surface (100) Direction swing

The plugging head rotation mechanism (12) is arranged at the swing end of the swing arm mechanism (11). The plugging head rotation mechanism (12) is connected with the plugging head (2) and can drive the plugging head (2) Rotate around the second axis to adjust the working surface of the plugging head (2) to be parallel to the construction surface (100), wherein the second axis is parallel to the first axis;

The turning mechanism (13) is connected to the connecting end of the swing arm mechanism (11), and the turning mechanism (13) can drive the swing arm mechanism (11) in a vertical position perpendicular to the construction surface (100). It is turned over in a plane so that the swing arm mechanism (11) can avoid obstacles.
The mechanical arm according to claim 1, wherein the mechanical arm (1) further comprises a rotating mechanism (14), and the rotating mechanism (14) is connected to the turning mechanism (13) and the swing arm Between the connecting ends of the mechanism (11), the rotating mechanism (14) can drive the swing arm mechanism (11) to rotate in a plane parallel to the construction surface (100) to increase the plugging head ( 2) The blocking range.
The mechanical arm according to claim 1, wherein the mechanical arm (1) further comprises a telescopic mechanism (15), and the telescopic mechanism (15) is connected to the turning mechanism (13) and the swing arm Between the connecting ends of the mechanism (11), the telescopic mechanism (15) can expand and contract in a direction close to or away from the construction surface (100), so that the plugging head (2) is close to or away from the construction surface (100).
The mechanical arm according to claim 1, wherein the swing arm mechanism (11) comprises:

A swing arm (111), the first end of the swing arm (111) is rotatably connected with the plugging head rotating mechanism (12), so that the plugging head (2) can rotate relative to the swing arm (111); ；

The rotating shaft (112) is fixedly connected with the second end of the swing arm (111);

The swing arm drive unit can drive the rotation shaft (112) to rotate, so that the rotation shaft (112) drives the swing arm (111) to swing in a direction approaching or away from the construction surface (100).
The mechanical arm according to claim 4, characterized in that the swing arm mechanism (11) further comprises:

The mounting frame (113) is rotatably connected with the rotating shaft (112);

The swing arm driving unit includes:

The swing arm driver (114) is installed on the mounting frame (113);

A swing arm transmission assembly (115), which is used for drivingly connecting 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 mechanical arm according to any one of claims 1-5, wherein the plugging head rotation mechanism (12) comprises:

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 away from the swing end of the swing arm mechanism (11);

Rotating the transmission assembly (123), drivingly connecting 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) Rotate, and make the rotating shaft (121) drive the plugging head (2) to rotate.
The mechanical arm according to claim 2, wherein the rotating mechanism (14) comprises:

The rotating platform (141) is fixedly connected with the connecting end of the swing arm mechanism (11);

The rotary drive unit (142) can drive the rotary platform (141) to rotate in a plane parallel to the construction surface (100), so that the rotary platform (141) drives the swing arm mechanism (11) in Rotate in a plane parallel to the construction surface (100).
The mechanical arm according to claim 3, wherein the telescopic mechanism (15) comprises:

The cantilever (151) is connected with the turning mechanism (13);

A telescopic arm (152), the first end of which 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 cantilever (151). The construction surface (100).
A hole plugging device, comprising a plugging head (2), characterized in that it further comprises the mechanical arm according to any one of claims 1-8, the plugging head (2) and the plugging head The rotating mechanism (12) is connected.
The hole plugging device according to claim 9, further comprising a visual inspection mechanism (3), the visual inspection mechanism (3) is installed at the swing end of the swing arm mechanism (11) or the seal On the plug (2);

The swing arm mechanism (11) can drive the visual inspection mechanism (3) to move closer to or away from the construction surface (100), so as to adjust the visual inspection mechanism (3) and the construction surface (100). ) To enable the visual inspection mechanism (3) to detect the position of the hole;

The swing arm mechanism (11) can drive the plugging head (2) to move closer to the construction surface (100) according to the detection result of the visual detection mechanism (3), so that the plugging head (2) ) Can block the hole.
The hole plugging device according to claim 9, characterized in that the plugging head (2) comprises a floating plugging mechanism (21), and the floating plugging mechanism (21) can be adjusted according to the construction surface (100). ) Floating adjustment is carried out to make the working surface tightly press on the construction surface (100) and smooth the slurry that plugs the hole.
The hole plugging device according to claim 11, wherein the floating plugging mechanism (21) comprises:

Fixed plate (211);

Floating pressure plate (212), which can be floatingly arranged on the fixed plate (211);

The slurry outlet pipe (213), the slurry outlet end of which penetrates the floating plate (212) and can transport slurry to the hole;

The board surface of the floating pressing plate (212) can be tightly pressed on the construction surface (100) and the slurry that plugs the hole can be smoothed.
The hole plugging device according to claim 12, wherein the plugging head (2) further comprises a gate valve control mechanism (22), the gate valve control mechanism (22) and the floating plugging mechanism (21) ) Connection, the gate valve control mechanism (22) can control the slurry outlet pipe (213) to deliver slurry to the hole or stop slurry delivery.
A hole plugging robot, comprising a mobile platform (10), characterized in that it further comprises the hole plugging device according to any one of claims 9-13, and the hole plugging device is installed on the mobile platform ( 10) On.