Closed loop grouting assembly, robot system and grouting method capable of achieving automatic control

Abstract

The invention disclosed a closed loop grouting assembly, robot system and grouting method capable of achieving automatic control. The method comprises the steps that 1, the grouting robot system roughly positions a slurry inlet and a slurry outlet through a BIM; 2, a robot moves to the working range of mechanical arms, and controls the mechanical arms to drive a grouting pipe to move; 3, after themechanical arms arrive at the portion nearby a grouting port, an electric control box detects the accurate position of the grouting port through cameras arranged on the mechanical arms, and then themechanical arms are driven to insert the grouting pipe into the grouting port; 4, grouting operation is started, and the grouting robot system judges whether to continue grouting or not by processingdata detected by a liquid level meter and a mud flow meter and controls starting and stopping of grouting; 5, after grouting is finished, the grouting robot system drives a slurry inlet mechanical armand a slurry outlet mechanical arm to return, and drives a blocking mechanical arm to clamp a plunger to block the slurry inlet and the slurry outlet. A lot of manpower and material resources are saved, the success rate of grouting is increased, and the stability and controllability of the grouting quality are guaranteed.

Description

technical field [0001] The invention relates to an automatically controlled closed loop grouting component, a robot system and a grouting method. Background technique [0002] Compared with the traditional "extensive" wet construction method, prefabricated buildings have great advantages in improving building information management, controlling building quality, reducing energy consumption, reducing production costs, and ensuring safe operations. At present, for the grouting process of prefabricated buildings, the grouting process used is mostly carried out by hand-held or low-automation equipment. This grouting process consumes a lot of manpower and material resources, and the grouting quality and efficiency are also low. And In the case that the components are not completely fixed, especially when the grouting operation is carried out at high altitude, the risk factor is high, the working environment is poor, and the engineering experience of the construction workers is re...

AI Technical Summary

Problems solved by technology

At present, for the grouting process of prefabricated buildings, the grouting process used is mostly carried out by hand-held or low-automation equipment. This grouting process consumes a lot of manpower and material resources, and the grouting quality and efficiency are also low. And In the case that the components are not completely fixed, especially when the grouting operation is carried out at high altitude, the risk factor is high, the working environment is poor, and the engineering experience of the construction workers is required to be high, and even the grouting quality cannot be effectively guaranteed in some occasions , which undoubtedly hinders the process of industrialization of prefabricated buildings

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