An automatic slurry filling device for a special slurry barrel for robot shell making

Abstract

The present invention discloses an automatic slurry filling device for a special sticky slurry barrel for robot shell making in the field of investment casting technology, including an anti-condensation unit, including a main safety shield and a secondary safety shield that are staggered, and the height of the main safety shield is higher than the secondary safety shield, a sticky slurry barrel and a slurry filling barrel respectively arranged in the main safety shield and the secondary safety shield, an ultrasonic oscillator arranged on one side above the main safety shield, and one end of the ultrasonic oscillator is inclined toward the sticky slurry barrel, and two groups of stirring parts are respectively arranged in the sticky slurry barrel and the slurry filling barrel. The present invention arranges a slurry filling unit to perform the slurry replenishment work required for the robot shell making process, so that the slurry filling operation can be automated without manual operation, and the storage state of the slurry is monitored at all times by a sensor, so as to control the slurry filling unit to replenish the slurry in a timely and accurate manner, effectively avoiding the problem of low equipment working efficiency caused by untimely slurry replenishment, and significantly improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of investment casting, in particular to an automatic slurry filling device for a special slurry barrel for robot shell making. Background Art

[0002] Slurrying is a key step in the process of investment casting (also known as lost wax casting or investment casting). Slurrying is a subsequent process in the preparation of wax patterns. It usually occurs in the coating stage after the wax pattern is formed. The wax pattern is immersed in a slurry (usually a mixture of silica sol and ceramic powder) to cover the surface with a thin and uniform layer of slurry. Subsequently, sand is sprinkled on the surface of the wax pattern so that the sand adheres to the surface of the slurry to form a hard ceramic shell. It is usually necessary to repeat the slurrying and sanding steps many times until a ceramic shell of sufficient thickness and strength is formed. This step is also called shell making.

[0003] In the prior art, in order to improve production efficiency, dedicated shell-making robots are often used for shell-making operations. During the working process, since slurry is a consumable, it needs to be replenished in time after a period of use. In the prior art, the operation of replenishing slurry is mostly performed manually, and the manual slurry replenishment operation has great uncertainty, which often leads to untimely replenishment of slurry, seriously affecting the overall shell-making efficiency of the shell-making robot. Summary of the invention

[0004] In view of the above problems existing in the existing automatic slurry filling device for the special sticking barrel for robot shell making, the inventors hereby propose an automatic slurry filling device for the special sticking barrel for robot shell making to solve such problems.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic slurry filling device for a special slurry barrel for robot shell making, comprising:

[0006] The anti-condensation unit comprises a main safety shield and a secondary safety shield which are staggered, wherein the height of the main safety shield is higher than that of the secondary safety shield, a slurry barrel and a slurry replenishing barrel respectively arranged in the main safety shield and the secondary safety shield, an ultrasonic oscillator arranged on one side above the main safety shield, wherein one end of the ultrasonic oscillator is inclined toward the slurry barrel, two groups of stirring components respectively arranged in the slurry barrel and the slurry replenishing barrel, two groups of driving motors respectively arranged at the center of the bottom of the slurry barrel and the slurry replenishing barrel, and a guide plate erected between the slurry barrel and the slurry replenishing barrel, wherein the guide plate as a whole is inclined from the slurry barrel to the slurry replenishing barrel;

[0007] The grouting unit includes a grouting component vertically arranged on one side of a grouting barrel, a conversion component arranged on one side above a main safety shield, a conveying pipe connected between the end of the grouting component and the side of the conversion component, a return pipe flange-connected to the top of the conversion component, and the end of the return pipe extends into the grouting barrel, a grouting pipe flange-connected to the end of the conversion component, and the end of the grouting pipe extends into the main safety shield, and a sensor arranged on the other side above the main safety shield, and the sensor is directly above the grouting barrel.

[0008] As a preferred solution of the automatic slurry filling device for the sticky slurry barrel specially used for robot shell making described in the present invention, the main safety shield also includes a baffle lifter arranged at a corner above it, and the top of the stirring component is fixedly connected to one side of the baffle lifter, and the conversion component is fixedly connected to the other side of the baffle lifter. A fixing rod is arranged at the other corner above the main safety shield, and the sensor is installed on the fixing rod. The main safety shield has the same structure as the auxiliary safety shield.

[0009] As a preferred solution of the automatic slurry filling device for the slurry barrel used for robot shell making described in the present invention, the slurry barrel and the slurry filling barrel have the same structure, and both have corrugated grooves on their inner walls. The corrugated grooves are generally wavy circular ring structures, and one side of the end of the stirring component extends into the corrugated grooves.

[0010] As a preferred solution of the automatic slurry filling device for the slurry barrel used for robot shell making described in the present invention, the driving motor is fixedly connected to the bottom of the main safety protective cover, the slurry barrel and the slurry filling barrel are limitedly rotatably connected in the main safety protective cover and the auxiliary safety protective cover, and the two sets of driving motors can respectively drive the slurry barrel and the slurry filling barrel to rotate in a circle in the main safety protective cover and the auxiliary safety protective cover.

[0011] As a preferred solution of the automatic slurry filling device for the sticky slurry barrel used for robot shell making described in the present invention, the stirring component includes a fixed rod vertically arranged on one side of the baffle lifter, and the fixed rod is located in the main safety protective cover, a telescopic rod vertically inserted in the fixed rod, a baffle laterally arranged at the end of the telescopic rod, an extension shaft fixedly arranged at one lateral end of the baffle, and one end of the extension shaft extends into the corrugated groove, a spring arranged at the top of the telescopic rod, and a storage groove opened inside the fixed rod and matching the telescopic rod, and the spring is located in the storage groove.

[0012] As a preferred embodiment of the automatic slurry filling device for the sticky slurry barrel used for robot shell making described in the present invention, the slurry filling component includes a conduit arranged vertically on one side of the inside of the slurry filling barrel, a slurry filling pump arranged at the end of the conduit, and the inlet end of the slurry filling pump opens downward and is connected to the inside of the slurry filling barrel, the outlet end of the slurry filling pump is connected to the end flange of the conveying pipeline, and a slurry filling motor is arranged at the top of the conduit, and a rotating shaft is connected between the slurry filling motor and the slurry filling pump.

[0013] As a preferred solution of the automatic slurry filling device for the special sticky slurry barrel for robot shell making described in the present invention, the conversion component includes a valve actuator fixedly connected to the baffle lifter, a reversing valve arranged on one side of the valve actuator, and the side of the valve actuator is connected to the head end flange of the conveying pipeline, and the discharge end and the slurry filling end are symmetrically arranged at the upper and lower ends of the reversing valve, and the discharge end and the slurry filling end are respectively connected to the head end of the return pipeline and the top end flange of the slurry filling pipeline.

[0014] The beneficial effects of the present invention are as follows: by setting up a slurry replenishment unit to carry out the slurry replenishment work required for the robot shell making process, the slurry replenishment operation can be automated without manual operation, and the storage status of the slurry is monitored at all times by sensors, thereby controlling the slurry replenishment unit to replenish the slurry in a timely and accurate manner, effectively avoiding the problem of low equipment working efficiency caused by untimely slurry replenishment, and significantly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0016] Figure 1 The figure is an installation position diagram of the present invention applied to a shell making robot.

[0017] Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged structure in the middle.

[0018] Figure 3 The present invention is a schematic structural diagram of an automatic slurry filling device for a special slurry barrel for robot shell making.

[0019] Figure 4 The present invention is a plan view of the internal structure of the automatic slurry filling device for the special sticky slurry barrel used for robot shell making.

[0020] Figure 5 The present invention is a schematic structural diagram of a stirring component of an automatic slurry filling device for a special slurry barrel for robot shell making.

[0021] Figure 6 It is a structural schematic diagram of different movement states of the stirring component of the automatic slurry filling device for the special slurry barrel for robot shell making of the present invention along the corrugated groove.

[0022] Figure 7 For the present invention Figure 6 Enlarged schematic diagram of the structure at B in the middle

[0023] Figure 8 It is a cross-sectional schematic diagram of the plugging position of the extension shaft and the corrugated groove of the automatic slurry filling device of the special slurry sticking barrel for robot shell making of the present invention.

[0024] Reference numerals: 100, anti-condensation unit; 101, main safety shield; 101a, baffle lifter; 102, secondary safety shield; 103, slurry barrel; 103a, corrugated groove; 104, slurry filling barrel; 105, ultrasonic oscillator; 107, stirring member; 107a, fixed rod; 107b, telescopic rod; 107c, baffle; 107d, extension shaft; 107e, spring; 107f, storage tank; 108, driving motor; 109. Guide plate; 200. Slurry feeding unit; 201. Slurry feeding component; 201a. Conduit; 201b. Slurry feeding pump; 201c. Slurry feeding motor; 202. Conversion component; 202a. Valve actuator; 202b. Reversing valve; 202c. Discharge end; 202d. Slurry feeding end; 203. Conveying pipeline; 204. Return pipeline; 205. Slurry feeding pipeline; 206. Sensor; 300. Shell making robot; 400. Sand spreading robot. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Example 1

[0028] Reference Figures 1 to 8 , which is the first embodiment of the present invention, comprises an automatic slurry filling device for a special slurry sticking barrel for robot shell making, comprising:

[0029] The anti-condensation unit 100 includes a main safety shield 101 and a secondary safety shield 102 which are staggered, and the height of the main safety shield 101 is higher than that of the secondary safety shield 102, a slurry barrel 103 and a slurry replenishing barrel 104 which are respectively arranged in the main safety shield 101 and the secondary safety shield 102, an ultrasonic oscillator 105 which is arranged on one side above the main safety shield 101, and one end of the ultrasonic oscillator 105 is inclined toward the slurry barrel 103, two groups of stirring components 107 which are respectively arranged in the slurry barrel 103 and the slurry replenishing barrel 104, two groups of driving motors 108 which are respectively arranged at the center of the bottom of the slurry barrel 103 and the slurry replenishing barrel 104, and a guide plate 109 which is erected between the slurry barrel 103 and the slurry replenishing barrel 104, and the guide plate 109 is inclined from the slurry barrel 103 to the slurry replenishing barrel 104 as a whole; the installation position of the main safety shield 101 and the secondary safety shield 102 is referenced as follows: Figure 1 The function of the slurry filling barrel 104 is to fill the slurry into the tiny holes of the mold through ultrasonic oscillation to prevent the slurry from not being filled in place. When the robot lifts the shell after slurrying from the slurry barrel 103 and moves to the next step, it will pass over the guide plate 109. The excess slurry on the shell will drip onto the guide plate 109 under the action of gravity. The slurry dripping onto the guide plate 109 will be guided by its inclined angle to flow into the slurry filling barrel 104, thereby avoiding waste caused by slurry dripping and pollution to the entire equipment;

[0030] The grouting unit 200 includes a grouting component 201 vertically arranged on one side of a grouting barrel 104, a conversion component 202 arranged on one side above the main safety shield 101, a conveying pipe 203 connected between the end of the grouting component 201 and the side of the conversion component 202, a return pipe 204 flange-connected to the top of the conversion component 202, and the end of the return pipe 204 extends into the grouting barrel 104, a grouting pipe 205 flange-connected to the end of the conversion component 202, and the end of the grouting pipe 205 extends into the main safety shield 101, and a sensor 206 arranged on the other side above the main safety shield 101, and the sensor 206 is directly above the grouting barrel 104. The sensor 206 determines whether a grouting operation is required by monitoring the height of the slurry in the slurry barrel 103.

[0031] During use, when the sensor 206 detects that the slurry in the slurry barrel 103 needs to be replenished, the slurry replenishing component 201 extracts the slurry in the slurry replenishing barrel 104 and transports it to the slurry barrel 103 through the conveying pipe 203. During this process, the side and lower end of the conversion component 202 remain unobstructed, so that the conveying pipe 203 is connected to the slurry replenishing pipe 205. At this time, the slurry in the slurry replenishing barrel 104 extracted by the slurry replenishing component 201 can be transported to the slurry barrel 103 through the conveying pipe 203 and the slurry replenishing pipe 205, thereby achieving the purpose of replenishing the slurry in the slurry barrel 103.

[0032] Example 2

[0033] Reference Figure 2 to Figure 8 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that due to the characteristic that the slurry will quickly coagulate when exposed to the air in a static state, a stirring component 107 is provided to stir the slurry in the slurry barrel 103 and the slurry replenishing barrel 104 to prevent the slurry from coagulating.

[0034] Compared with Example 1, further, the main safety shield 101 also includes a baffle lifter 101a arranged at a corner above it, and the top of the stirring component 107 is fixedly connected to one side of the baffle lifter 101a, and the conversion component 202 is fixedly connected to the other side of the baffle lifter 101a. A fixed rod is arranged at another corner above the main safety shield 101, and the sensor 206 is installed on the fixed rod. The main safety shield 101 has the same structure as the auxiliary safety shield 102, and the baffle lifter 101a can fine-tune the installation height of the stirring component 107 to further meet the use requirements.

[0035] Among them, refer to Figure 4 and Figure 6 as well as Figure 7 The slurry barrel 103 and the slurry replenishing barrel 104 have the same structure, and the inner walls of both are provided with corrugated grooves 103a. The corrugated grooves 103a are generally wavy circular ring structures, and one side of the end of the stirring component 107 extends into the corrugated grooves 103a. There is a certain distance between the highest point and the lowest point of the wave structure of the corrugated grooves 103a in the vertical direction. An object running along the wave structure of the corrugated grooves 103a will continuously change its vertical height. In addition, the corrugated grooves 103a are an integrated circular ring structure, so an object sliding along them will make a cyclic up and down movement.

[0036] Further, combined with Figure 8 It can be seen that the corrugated groove 103a is a "V"-shaped structure opening to the inside of the slurry barrel 103. The "V"-shaped structure can prevent slurry from remaining inside the corrugated groove 103a. With the cooperation of the extension shaft 107d, the slurry cannot remain and clog inside for a long time.

[0037] Among them, refer to Figure 4 The driving motor 108 is fixedly connected to the bottom of the main safety protective cover 101, and the slurry barrel 103 and the slurry replenishing barrel 104 are limitedly rotatably connected in the main safety protective cover 101 and the auxiliary safety protective cover 102. The two sets of driving motors 108 can drive the slurry barrel 103 and the slurry replenishing barrel 104 to rotate in a circle in the main safety protective cover 101 and the auxiliary safety protective cover 102 respectively. The two sets of driving motors 108 drive the slurry barrel 103 and the slurry replenishing barrel 104 to rotate, which can prevent the slurry inside from being static and condensed.

[0038] Among them, refer to Figure 5 The stirring component 107 includes a fixed rod 107a vertically arranged on one side of the baffle lifter 101a, and the fixed rod 107a is located in the main safety shield 101, a telescopic rod 107b vertically inserted in the fixed rod 107a, a baffle 107c horizontally arranged at the end of the telescopic rod 107b, an extension shaft 107d fixedly arranged at one lateral end of the baffle 107c, and one end of the extension shaft 107d extends into the corrugated groove 103a, a spring 107e arranged at the top of the telescopic rod 107b, and a storage groove 107f opened in the fixed rod 107a and matching with the telescopic rod 107b, and the spring 107e is located in the storage groove 107f.

[0039] During use, the fixed rod 107a is fixedly connected to the side of the baffle lifter 101a, and the telescopic rod 107b is inserted into the fixed rod 107a, and the telescopic rod 107b can be telescopically moved in the vertical direction below the fixed rod 107a, and the baffle 107c and the extension shaft 107d are laterally fixedly connected to the end of the telescopic rod 107b, and both are also laterally arranged inside the slurry barrel 103. The spring 107e pushes the telescopic rod 107b downward through its own elastic support, and conversely, the telescopic rod 107b moves upward to compress the spring 107e.

[0040] In summary, refer to Figure 6 The stirring member 107 is in an inverse "L" shape and remains stationary in the slurry barrel 103, and the slurry barrel 103 is driven to rotate continuously by the driving motor 108. Therefore, when the slurry barrel 103 is driven to rotate by the driving motor 108, the slurry inside it will continuously contact the baffle 107c, and the baffle 107c is inclined at a certain angle (refer to Figure 6 and Figure 7 ), the baffle 107c will block the flow path of the slurry, forcing the slurry to change direction when encountering the baffle 107c, thereby increasing the turbulence of the slurry, promoting uniform mixing of different components, preventing phase separation and the formation of local coagulation, and adjusting the flow velocity distribution to prevent the liquid in certain dead zones from staying too long, reducing the coagulation problem caused by long residence time, reducing these dead zones, ensuring that the slurry flows evenly in the slurry barrel 103, thereby reducing the chance of coagulation;

[0041] At the same time, the extension shaft 107d extends into the corrugated groove 103a on the inner wall of the slurry barrel 103. Since the corrugated groove 103a moves continuously with the slurry barrel 103, and the extension shaft 107d remains stationary, the corrugated groove 103a will push the extension shaft 107d to move through its own wave structure when rotating with the slurry barrel 103, so that the stationary extension shaft 107d will fluctuate up and down in a wave-like manner with the rotation of the corrugated groove 103a, and then drive the baffle 107c to also fluctuate up and down. The up and down fluctuating baffle 107c increases the stirring range in the vertical direction, can cover more areas, reduce liquid retention and the formation of dead zones, and the up and down cyclic movement of the baffle 107c will produce a stronger mechanical shearing effect, which can help destroy possible condensation nuclei, prevent the occurrence of condensation, and further enhance the stability of the device.

[0042] The remaining structures are the same as those of Example 1.

[0043] Example 3

[0044] Reference, Figure 2 to Figure 4 , which is the third embodiment of the present invention. This embodiment is different from the second embodiment in that the slurry in the slurry replenishment barrel 104 is supplemented into the slurry barrel 103 through the slurry replenishment unit 200, thereby realizing the function of automatic slurry replenishment and improving the efficiency of robot shell making.

[0045] Compared with Example 2, further, combined with Figure 4 The grouting component 201 includes a conduit 201a vertically arranged on one side of the grouting barrel 104, a grouting pump 201b arranged at the end of the conduit 201a, and the inlet end of the grouting pump 201b is opened downward and connected to the inside of the grouting barrel 104, the outlet end of the grouting pump 201b is connected to the end flange of the conveying pipeline 203, and a grouting motor 201c is arranged at the top of the conduit 201a, and a rotating shaft is connected between the grouting motor 201c and the grouting pump 201b.

[0046] During use, the grouting motor 201c can drive the grouting pump 201b to perform slurry extraction operations via the rotating shaft, while the conduit 201a protects the rotating shaft connecting the grouting motor 201c and the grouting pump 201b to prevent the slurry from adhering to the rotating shaft and affecting the overall extraction operation of the grouting component 201.

[0047] Among them, refer to Figure 2The conversion component 202 includes a valve actuator 202a fixedly connected to the baffle lifter 101a, a reversing valve 202b arranged on one side of the valve actuator 202a, and the side of the valve actuator 202a is flange-connected to the head end of the conveying pipe 203, and a discharge end 202c and a slurry feeding end 202d are symmetrically arranged at the upper and lower ends of the reversing valve 202b, and the discharge end 202c and the slurry feeding end 202d are flange-connected to the head end of the return pipe 204 and the top end of the slurry feeding pipe 205, respectively.

[0048] During use, the valve actuator 202a can control the reversing valve 202b to switch, and the reversing valve 202b can only maintain communication with one of the discharge ends 202c and the slurry feeding ends 202d at the same time, that is, when the reversing valve 202b is connected to the discharge end 202c, it is not connected to the slurry feeding end 202d, and vice versa, when the reversing valve 202b is connected to the slurry feeding end 202d, it is not connected to the discharge end 202c, thereby achieving the purpose of distinguishing the destination of the slurry transportation, and the slurry feeding end 202d is always connected to the slurry feeding pipe 205, which is vertically downwardly arranged in the slurry barrel 103. Therefore, even in the absence of pushing force, the slurry in the slurry feeding pipe 205 can fall and be discharged into the slurry barrel 103, thereby avoiding the occurrence of residual phenomenon.

[0049] The overall operation mode of this grouting device is: combined with Figure 2 and Figure 4 When the sensor 206 detects that the slurry barrel 103 needs to be supplemented with slurry, the valve actuator 202a controls the reversing valve 202b to switch the state, so that the reversing valve 202b is connected to the lower slurry feeding end 202d and disconnected from the lower reversing valve 202b. At this time, the slurry in the slurry feeding barrel 104 driven by the slurry feeding pump 201b can be transported outward through the conveying pipe 203 on the side of the slurry feeding pump 201b, and the slurry is transported to the position of the conversion component 202 through the conveying pipe 203. Since the reversing valve 202b and the slurry feeding end 202d are connected at this time, the conveying pipe 203 will transport the slurry through the reversing valve 202b and the slurry feeding end 202d to the slurry feeding pipe 205, and finally discharged from the slurry feeding pipe 205 into the slurry barrel 103, so as to achieve the purpose of supplementing the slurry in the slurry barrel 103. In this process, the conveying path and direction of the slurry in the slurry feeding unit 200 can be referred to Figure 4 The dashed arrow of

[0050] When the slurry in the slurry barrel 103 is replenished, the sensor 206 will notify the conversion component 202 to switch the state, so that the reversing valve 202b is disconnected from the slurry feeding end 202d below. At this time, the slurry feeding pipe 205 will no longer be able to receive the slurry delivered by the conveying pipe 203, and the slurry feeding operation will be stopped. However, the reversing valve 202b is connected to the discharge end 202c above. At this time, the slurry extracted and transported in the conveying pipe 203 through the slurry feeding component 201 will be transported to the return pipe 204 through the reversing valve 202b and the discharge end 202c. The end of the return pipe 204 extends into the slurry feeding barrel 104, so the slurry will be transferred back to the slurry feeding barrel 104. In this process, the conveying path and direction of the slurry in the slurry feeding unit 200 can be referred to. Figure 4 The solid arrow in ;

[0051] In the above-mentioned grouting process, the grouting unit 200 is always running, and the conveying direction of the slurry is only controlled by the conversion component 202. The reason for this is that the slurry is very hard and firm after solidification. If the slurry residue solidifies in the conveying pipe 203 and the return pipe 204, it will cause blockage and affect the safe operation of the grouting work. Therefore, the grouting unit 200 is always in operation, and the switching operation of the conversion component 202 is related to the data monitored by the sensor 206. Therefore, as long as the slurry in the slurry barrel 103 meets the grouting requirement, the sensor 206 will promptly notify the conversion component 202 to switch the state for grouting, which fully guarantees the timeliness of the grouting operation. Therefore, the grouting unit 200 that is always running realizes timely and automatic grouting operation through cooperation with the sensor 206, greatly improving the work efficiency of the shell making work.

[0052] The remaining structure is the same as that of Example 2.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic slurry filling device for a special slurry barrel for robot shell making, characterized in that: include, The anti-condensation unit (100) comprises a main safety protective cover (101) and a secondary safety protective cover (102) which are staggered, wherein the main safety protective cover (101) is higher than the secondary safety protective cover (102), a slurry sticking bucket (103) and a slurry filling bucket (104) which are respectively arranged in the main safety protective cover (101) and the secondary safety protective cover (102), and an ultrasonic oscillator (105) which is arranged on one side above the main safety protective cover (101), wherein the ultrasonic oscillator (105) one end of the slurry barrel (103) is inclined toward the inside of the slurry barrel (103), two groups of stirring components (107) are respectively arranged in the slurry barrel (103) and the slurry replenishing barrel (104), two groups of driving motors (108) are respectively arranged at the center position of the bottom of the slurry barrel (103) and the slurry replenishing barrel (104), and a guide plate (109) is mounted between the slurry barrel (103) and the slurry replenishing barrel (104), and the guide plate (109) as a whole is inclined from the slurry barrel (103) to the slurry replenishing barrel (104); The grouting unit (200) comprises a grouting component (201) vertically arranged on one side of a grouting barrel (104), a conversion component (202) arranged on one side above the main safety shield (101), a conveying pipe (203) connected between the end of the grouting component (201) and the side of the conversion component (202), a return pipe (204) flange-connected to the top of the conversion component (202), the end of the return pipe (204) extending into the grouting barrel (104), a grouting pipe (205) flange-connected to the end of the conversion component (202), the end of the grouting pipe (205) extending into the main safety shield (101), and a sensor (206) arranged on the other side above the main safety shield (101), and the sensor (206) is located directly above the grouting barrel (104); The slurry sticking barrel (103) and the slurry replenishing barrel (104) have the same structure, and the inner walls of both are provided with a corrugated groove (103a), the corrugated groove (103a) is a wavy ring structure as a whole, and one end of the stirring component (107) extends into the corrugated groove (103a), and there is a certain distance between the highest point and the lowest point of the wave structure of the corrugated groove (103a) in the vertical direction, and an object running along the wave structure of the corrugated groove (103a) will continuously change its height in the vertical direction, and the corrugated groove (103a) is a "V"-shaped structure with its opening facing the inside of the slurry sticking barrel (103); The main safety shield (101) further comprises a baffle lifter (101a) arranged at a corner above the main safety shield, and the top end of the stirring component (107) is fixedly connected to one side of the baffle lifter (101a), and the stirring component (107) comprises a fixing rod (107a) arranged vertically on one side of the baffle lifter (101a), and the fixing rod (107a) is located in the main safety shield (101), and a telescopic rod (107b) is vertically inserted into the fixing rod (107a). , a baffle (107c) arranged transversely at the end of the telescopic rod (107b), an extension shaft (107d) fixedly arranged at one transverse end of the baffle (107c), one end of the extension shaft (107d) extending into the corrugated groove (103a), a spring (107e) arranged at the top end of the telescopic rod (107b), and a storage groove (107f) arranged inside the fixed rod (107a) and matching with the telescopic rod (107b), and the spring (107e) is located in the storage groove (107f).

2. The automatic slurry filling device for the special slurry barrel for robot shell making according to claim 1 is characterized in that: The conversion component (202) is fixedly connected to the other side of the baffle lifter (101a); a fixing rod is provided at the other corner above the main safety shield (101); the sensor (206) is mounted on the fixing rod; the main safety shield (101) and the auxiliary safety shield (102) have the same structure.

3. The automatic slurry filling device for the special slurry sticking barrel for robot shell making according to claim 2 is characterized in that: The driving motor (108) is fixedly connected to the bottom of the main safety shield (101); the slurry sticking barrel (103) and the slurry replenishing barrel (104) are connected in a limited rotation manner inside the main safety shield (101) and the auxiliary safety shield (102); the two sets of driving motors (108) can respectively drive the slurry sticking barrel (103) and the slurry replenishing barrel (104) to perform circular rotation inside the main safety shield (101) and the auxiliary safety shield (102).

4. The automatic slurry filling device for the special slurry barrel for robot shell making according to claim 1 is characterized in that: The grouting component (201) comprises a conduit (201a) arranged vertically on one side of the inside of the grouting barrel (104), a grouting pump (201b) arranged at the end of the conduit (201a), wherein the inlet end of the grouting pump (201b) opens downward and communicates with the inside of the grouting barrel (104), the outlet end of the grouting pump (201b) is connected to the end flange of the conveying pipeline (203), and a grouting motor (201c) arranged at the top end of the conduit (201a), wherein a rotating shaft is connected between the grouting motor (201c) and the grouting pump (201b).

5. The automatic slurry filling device for the special slurry barrel for robot shell making according to claim 1 is characterized in that: The conversion component (202) comprises a valve actuator (202a) fixedly connected to the baffle lifter (101a), a reversing valve (202b) arranged on one side of the valve actuator (202a), wherein the side of the valve actuator (202a) is flange-connected to the head end of the delivery pipeline (203), and a discharge end (202c) and a slurry supply end (202d) are symmetrically arranged at the upper and lower ends of the reversing valve (202b), wherein the discharge end (202c) and the slurry supply end (202d) are flange-connected to the head end of the return pipeline (204) and the top end of the slurry supply pipeline (205), respectively.

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