A caulking device and an automatic caulking apparatus

Abstract

The present application relates to the technical field of home building material machinery, and provides a filling device, which comprises a movable first mounting arm, a pre-filling treatment mechanism, a filling mechanism and a post-filling treatment mechanism.Compared with the prior art, the filling device provided by the present application firstly repairs the floor tiles on both sides of the gap by using the leveling knife of the pre-filling treatment mechanism, so that the top surfaces of the floor tiles on both sides of the gap are flush, thereby making the depth of the gap between the two floor tiles consistent and avoiding the phenomenon that the surface of the gap is uneven after filling due to inconsistent gap depth; then, the filling mechanism is used to inject filling material into the gap; finally, the post-filling treatment mechanism is used to repair the excess filling material on the gap and the floor tiles; the pre-filling treatment mechanism, the filling mechanism and the post-filling treatment mechanism are all arranged on the first mounting arm, so that all the processes of filling can be realized by one machine, and manual operation is not required for each process, thereby improving the working efficiency of filling.

Description

Technical Field

[0001] This invention belongs to the field of home building materials machinery technology, and more specifically, relates to a grouting device and an automatic grouting equipment. Background Technology

[0002] Grouting is an indispensable part of interior decoration. Before grouting, the gaps between floor tiles need to be cleaned. Currently, this is usually done manually using a utility knife, flat chisel, or screwdriver to remove debris from the gaps, followed by brushing, and finally manually applying grout material / filler using a caulking gun. Since there is usually a height difference between two floor tiles, while manually removing debris from the gaps with a utility knife, flat chisel, or screwdriver achieves a certain degree of cleaning, it often creates bumps in the gaps, resulting in an uneven surface after grouting, affecting aesthetics. Furthermore, this method relies entirely on manual labor, making it time-consuming, labor-intensive, and inefficient. Summary of the Invention

[0003] The purpose of this invention is to provide a caulking device to solve the technical problems of existing caulking devices causing bulges in the gaps, and the time-consuming, labor-intensive, and inefficient manual operation.

[0004] To achieve the above objectives, in a first aspect, the present invention provides a grouting device for connection with a robot, characterized in that it includes a first mounting arm and the following mechanisms disposed on the first mounting arm: a grouting pretreatment mechanism including a leveling blade for leveling the tiles on both sides of the grout to make the top surfaces of the tiles on both sides of the grout flush; a grouting mechanism for injecting grout material into the grout; and a grouting posttreatment mechanism for repairing excess grout material on the tiles and in the grout.

[0005] Furthermore, the pre-filling treatment mechanism further includes: a gap cleaning knife for repairing gaps before filling; a dust cleaning component for cleaning particles and dust from the floor tiles and gaps; and at least one knife connecting assembly; the leveling knife and the gap cleaning knife are respectively disposed on the first mounting arm via at least one of the knife connecting assemblies; the dust cleaning component is disposed on the first mounting arm via a cleaning connector.

[0006] Further, the blade connection assembly includes: a first mounting plate disposed on the first mounting arm and having a first through hole; a second mounting plate parallel to the first mounting plate; a first guide shaft, one end of which is fixed to the second mounting plate, and the other end of which movably passes through the first through hole and can slide within the first through hole; and a cylinder, one end of which is fixed to the first mounting plate, and the cylinder's push rod is fixed to the second mounting plate; wherein, the smoothing blade and the crevice cleaning blade are both disposed on the side of the second mounting plate away from the first mounting plate.

[0007] Furthermore, the dust cleaning component is a vacuum cleaner, including a vacuum cleaner body and a pipe connected to the vacuum chamber of the vacuum cleaner body; the cleaning connector is a connecting plate with a second through hole, and the pipe is placed in the second through hole.

[0008] Furthermore, the caulking mechanism includes a hot melt caulking gun disposed on the first mounting arm. The hot melt caulking gun includes: a caulking gun body; and a nozzle, including a feed channel for the caulking material to enter and a hot air channel for melting the caulking material; one end of the hot air channel is connected to the caulking gun body, and the other end of the hot air channel forms an outlet for the melted caulking material to flow out.

[0009] Furthermore, the caulking mechanism also includes a feeding component disposed on the first mounting arm, the feeding component being used to provide the caulking material and capable of delivering the caulking material to the feeding channel.

[0010] Furthermore, it also includes height-adjustable casters, which are located on the side of the second mounting plate away from the first mounting plate.

[0011] Furthermore, there are two blade connecting assemblies, one of which is connected to the leveling blade, the gap cleaning blade, and the first mounting arm, and the other is connected to the grouting post-treatment mechanism and the first mounting arm.

[0012] In a second aspect, the present invention provides an automatic grout filling device, comprising: a robot and the grout filling device described in the first aspect above, wherein the robot is connected to the grout filling device and is capable of controlling the operation of the grout filling device.

[0013] Furthermore, the automatic caulking device also includes a robot connection assembly, which includes: a second mounting arm with a mounting hole and a third through hole, the mounting hole being used to mount the robotic arm of the robot; a second guide shaft, one end of which is fixed to the first mounting arm, and the other end of which passes through the third through hole and can slide within the third through hole; and a spring, sleeved on the second guide shaft, with both ends of the spring abutting against the first mounting arm and the second mounting arm, respectively.

[0014] Compared with the prior art, the grouting device provided by this invention first uses a leveling blade of the pre-grouting mechanism to repair the floor tiles on both sides of the gap, making the top surfaces of the floor tiles on both sides of the gap flush, thereby ensuring that the depth of the gap between the floor tiles is consistent. This avoids the unevenness of the gap surface after grouting caused by inconsistent gap depth. Next, the grouting mechanism injects grout into the gap. Finally, the grouting post-grouting mechanism repairs any excess grout on the gap and floor tiles. The pre-grouting mechanism, grouting mechanism, and grouting post-grouting mechanism are all set on the first mounting arm, so that the grouting device can complete all the grouting processes with a single machine, eliminating the need for manual labor in each process and improving the efficiency of grouting work. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the caulking device provided in an embodiment of the present invention. Figure 1 ;

[0017] Figure 2 A schematic diagram of the caulking device provided in an embodiment of the present invention. Figure 2 ;

[0018] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0019] Figure 4 This is a schematic diagram of the structure of the hot-melt caulking gun of the caulking device provided in an embodiment of the present invention.

[0020] The following are the labeling elements in the figure:

[0021] 10-Clogging device; 1-First mounting arm; 2-Clogging pretreatment mechanism; 21-Smoothing knife; 22-Clog cleaning knife; 23-Dust cleaning component; 231-Vacuum cleaner body; 232-Pipe; 3-Clogging mechanism; 31-Hot melt clogging gun; 311-Clogging gun body; 312-Nozzle; 3121-Hot air passage; 3122-Feed passage; 3123-Outlet; 32-Feeding component; 4-Clogging posttreatment mechanism; 5 - Knife connection assembly; 51- First mounting plate; 511- First through hole; 52- Second mounting plate; 53- First guide shaft; 54- Cylinder; 6- Cleaning connector; 61- Second through hole; 7- Caster; 71- Roller; 72- Mounting rod; 73- Adjusting component; 30- Robot connection assembly; 301- Second mounting arm; 3011- Mounting hole; 3012- Third through hole; 302- Second guide shaft; 303- Spring. Detailed Implementation

[0022] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0023] Please see Figure 1 , Figure 2 and Figure 3 The present invention will now describe a grouting device 10, which is used to connect to a robot. The grouting device 10 includes a first mounting arm 1 and the following mechanisms mounted on the first mounting arm 1: a pre-grouting treatment mechanism 2, including a leveling blade 21, for leveling the tiles on both sides of the gap to make the top surfaces of the tiles flush; a grouting mechanism 3, for injecting grout material into the gap; and a post-grouting treatment mechanism 4, for repairing excess grout material on the tiles and in the gap. In specific implementations, the tiles can be gypsum board, cement board, or other materials, as long as a gap is required between two tiles. Those skilled in the art can choose the appropriate configuration based on actual needs.

[0024] Compared with the prior art, the grouting device 10 provided by the present invention first uses the leveling blade 21 of the pre-grouting treatment mechanism 2 to repair the floor tiles on both sides of the gap, making the top surfaces of the floor tiles on both sides of the gap flush, thereby making the depth of the gap between the floor tiles consistent, which can avoid the unevenness of the gap surface after grouting due to inconsistent gap depth; then, the grouting mechanism 3 injects grouting material into the gap; finally, the grouting post-treatment mechanism 4 repairs the excess grouting material on the gap and floor tiles; the pre-grouting treatment mechanism 2, the grouting mechanism 3 and the grouting post-treatment mechanism 4 are all set on the first mounting arm 1, so that the grouting device 10 can complete all the grouting processes with one machine, without the need for manual operation of each process, thus improving the efficiency of grouting work.

[0025] Further, please refer to Figure 2 and Figure 3 As a specific embodiment of the grouting device 10 provided by the present invention, the grouting pretreatment mechanism 2 further includes a grout cleaning knife 22 for repairing grout before grouting; a dust cleaning component 23 for cleaning particles and dust from the floor tiles and grouts; and at least one knife connecting assembly 5. The leveling knife 21 and the grout cleaning knife 22 are respectively mounted on the first mounting arm 1 via at least one knife connecting assembly 5; the dust cleaning component 23 is mounted on the first mounting arm 1 via a cleaning connector 6. In specific implementation, the grout cleaning knife 22 can be a 2-3mm hook knife or a knife of other structures, as long as it can clean the grout. Those skilled in the art can choose the appropriate setting according to actual needs. By setting the grout cleaning knife 22 to clean the grout, debris in the grout can be scraped off. By setting the dust cleaning component 23, particles and dust in the floor tiles and grouts can be cleaned, facilitating the subsequent injection of grouting material.

[0026] Further, please refer to Figure 1 As a specific embodiment of the caulking device 10 provided by the present invention, the knife connecting assembly 5 includes: a first mounting plate 51, disposed on the first mounting arm 1, and having a first through hole 511; a second mounting plate 52, parallel to the first mounting plate 51; a first guide shaft 53, one end of the first guide shaft 53 being fixed to the second mounting plate 52, and the other end of the first guide shaft 53 being movably passed through the first through hole 511 and being able to slide within the first through hole 511; and a cylinder 54, one end of the cylinder 54 being fixed to the first mounting plate 51, and the push rod of the cylinder 54 being fixed to the second mounting plate 52; wherein, the smoothing knife 21 and the gap cleaning knife 22 are both disposed on the side of the second mounting plate 52 away from the first mounting plate 51. It is understandable that the first through hole 511 can also be formed on the second mounting plate 52, one end of the first guide shaft 53 can also be fixed on the first mounting plate 51, the other end of the guide shaft passes through the first through hole 511 and can slide within the first through hole 511, one end of the cylinder 54 is fixed to the second mounting plate 52, and the push rod of the cylinder 54 is fixed to the first mounting plate 51. As long as the first mounting plate 51 and the second mounting plate 52 can move relative to each other, those skilled in the art can choose the settings according to actual needs.

[0027] In practice, when leveling floor tiles, the first mounting arm 1 is moved to move the leveling blade 21 to the tile to be leveled, and then the first mounting arm 1 is moved again to drive the leveling blade 21 to level the tile. When cleaning gaps, the first mounting arm 1 is moved to move the gap cleaning blade 22 to the gap, and then the first mounting arm 1 is moved along the gap to drive the gap cleaning blade 22 to clean the gap. When adjusting the distance between the leveling blade 21 or the gap cleaning blade 22 and the floor tile or gap, the second mounting plate 52 can be moved towards the gap or floor tile by pushing the push rod of the cylinder 54. Due to the setting of the first guide shaft 53, the movement of the second mounting plate 52 can be guided, so that the second mounting plate 52 can move smoothly. By including a first mounting plate 51, a second mounting plate 52, a first guide shaft 53, and a cylinder 54 in the knife connecting assembly 5, and by placing the leveling knife 21 and the crevice cleaning knife 22 on the second mounting plate 52, the movement of the push rod of the cylinder 54 can drive the leveling knife 21 and the crevice cleaning knife 22 to move, thereby adjusting the distance between the leveling knife 21 and the base plate, and adjusting the distance between the crevice cleaning knife 22 and the crevice.

[0028] Further, please refer to Figure 1 In one specific embodiment of the caulking device 10 provided by the present invention, the dust cleaning component 23 is a vacuum cleaner, including a vacuum cleaner body 231 and a pipe 232 connected to the vacuum chamber of the vacuum cleaner body 231; the cleaning connector 6 is a connecting plate with a second through hole 61, and the pipe 232 is placed in the second through hole 61. Of course, it is understood that the dust cleaning component 23 can also be a broom cleaning mechanism, and those skilled in the art can choose to set it according to actual needs.

[0029] Further, please refer to Figure 4As a specific embodiment of the caulking device 10 provided by the present invention, the caulking mechanism 3 includes a hot-melt caulking gun 31 disposed on the first mounting arm 1. The hot-melt caulking gun 31 includes: a caulking gun body 311; and a nozzle 312, including a feed channel 3122 for the caulking material to enter and a hot air channel 3121 for melting the caulking material; one end of the hot air channel 3121 is connected to the caulking gun body 311, and the other end of the hot air channel 3121 forms an outlet 3123 for the melted caulking material to flow out. In specific implementation, the caulking material can be a linear resin caulking strip or other materials, which can be selected and set according to actual needs by those skilled in the art. Since the epoxy resin and curing agent in the caulking adhesive are easily affected by the temperature, the lower the temperature, the thicker the caulking material, and the more difficult it is to apply. The higher the temperature, the thinner the caulking material, and the easier it is to apply and the better it is to form. In this embodiment, a hot melt caulking gun 31 is used for caulking, which can avoid the problem of the caulking adhesive being affected by the temperature. At the same time, since the caulking material is melted and then dispensed from the caulking material outlet 3123, the caulking material is sparse and easier to apply.

[0030] Further, please refer to Figure 1 and Figure 2 As a specific embodiment of the caulking device 10 provided by the present invention, the caulking mechanism 3 further includes a feeding component 32 disposed on the first mounting arm 1. The feeding component 32 is used to provide caulking material and can deliver the caulking material to the feeding channel 3122. In a specific implementation, the feeding component 32 can be a feeding tray, rotatably disposed on the first mounting arm 1. Rotating the feeding tray transfers the caulking material to the feeding channel 3122, where it melts into adhesive under the action of hot air from the hot air channel 3121. By providing caulking material to the feeding channel 3122 through the feeding component 32, the position of the caulking material can be easily changed by manually holding the caulking material, which would affect the caulking effect.

[0031] Further, please refer to Figure 3 As a specific embodiment of the caulking device 10 provided by the present invention, it also includes height-adjustable casters 7, which are located on the side of the second mounting plate 52 away from the first mounting plate 51. In a specific implementation, the casters 7 may include rollers 71, mounting rods 72, and adjusting members 73. One end of the mounting rod 72 is fixed to the second mounting plate 52, and the other end of the mounting rod 72 is threadedly connected to the adjusting member. The rollers 71 are located at the end of the adjusting member 73 away from the mounting rod 72. It is understood that the casters 7 can also have other structures, as long as they allow for height adjustment. Those skilled in the art can choose the appropriate configuration based on actual needs. By providing height-adjustable casters 7, the distance between the crease cleaning blade 22 and the crease can be adjusted, allowing the caulking device 10 to adapt to creases of different depths, thus improving the flexibility and applicability of the caulking device 10.

[0032] Furthermore, in conjunction with reference Figure 1 In one specific embodiment of the grouting device 10 provided by the present invention, there are two blade connecting assemblies 5. One blade connecting assembly 5 is connected to the smoothing blade 21, the gap cleaning blade 22, and the first mounting arm 1, respectively. The other blade connecting assembly 5 is connected to the grouting post-treatment mechanism 4 and the first mounting arm 1, respectively. The grouting pre-treatment mechanism 2, the grouting mechanism 3, and the grouting post-treatment mechanism 4 can be sequentially arranged on the first mounting arm 1. By setting two blade connecting assemblies 5, the grouting device 10 can be made more stable. At the same time, the grouting post-treatment mechanism 4 can also adjust its distance from the gap through the blade connecting assemblies 5.

[0033] This invention also provides an automatic seam filling device 10, including a robot and the seam filling device 10 described in the above embodiment. The robot is connected to the seam filling device 10 and can control the operation of the seam filling device 10. In specific implementations, the robot can be a gantry robot or a ground-rail robot, as long as it can drive the seam filling device 10 to move and control the operation of the seam filling device 10. Those skilled in the art can choose the appropriate configuration according to actual needs. The robot may include a control device and a robotic arm. The robotic arm is connected to the first mounting arm 1 of the seam filling device 10 and drives the seam filling device 10 to move. The control device is connected to the robotic arm and the seam filling pretreatment mechanism 2, seam filling mechanism 3, and seam filling posttreatment mechanism 4 of the seam filling device 10, and is used to control the robotic arm to drive the first mounting arm 1 to move, while simultaneously controlling the operation of the seam filling pretreatment mechanism 2, seam filling mechanism 3, and seam filling posttreatment mechanism. By controlling the movement and operation of the grouting device 10 with a robot, the movement of the grouting device 10 and the injection of grouting material can be synchronized. When the movement speed of the grouting device 10 is affected by external obstacles or other factors, the robot's control device can control the operation of the grouting mechanism 3 to inject grouting material to match the movement speed of the grouting device 10, thus avoiding the problem of uneven injection of grouting material.

[0034] Further, please refer to Figure 1 and Figure 2As a specific embodiment of the automatic grouting device 10 provided by the present invention, it further includes a robot connection assembly 30. The robot connection assembly 30 includes: a second mounting arm 301, which has a mounting hole 3011 and a third through hole 3012. The mounting hole 3011 is used to mount the robot's mechanical arm; a second guide shaft 302, one end of which is fixed to the first mounting arm 1, and the other end of which passes through the third through hole 3012 and can slide within the third through hole 3012; and a spring 303, which is sleeved on the second guide shaft 302, and the two ends of the spring 303 respectively abut against the first mounting arm 1 and the second mounting arm 301. Mounting the robot's mechanical arm on the second mounting arm 301 and placing the spring 303 between the first mounting arm 1 and the second mounting arm 301 can be used for shock absorption and to give the grouting device 10 a certain pressure on the floor tiles, realizing the adaptive function of pressure and position during operation.

[0035] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic caulking apparatus characterized by, include: A robot, a grouting device, and a robot connection assembly, wherein the robot is connected to the grouting device and is capable of controlling the operation of the grouting device; The caulking device, for connection to a robot, includes a first mounting arm and the following mechanism disposed on the first mounting arm: The grouting pretreatment mechanism includes a leveling knife, used to trim the floor tiles on both sides of the grout so that the top surfaces of the floor tiles on both sides of the grout are flush. A caulking mechanism for injecting caulking material into the gap; and, A grouting post-treatment mechanism is used to repair excess grout material on and in the gaps of the floor tiles. The robot connection component includes: The second mounting arm has a mounting hole and a third through hole, wherein the mounting hole is used to mount the robotic arm of the robot; A second guide shaft, one end of which is fixed to the first mounting arm, and the other end of which passes through the third through hole and can slide within the third through hole; and, A spring is sleeved on the second guide shaft, and the two ends of the spring abut against the first mounting arm and the second mounting arm, respectively; The pre-treatment mechanism for caulking also includes: A crevice cleaner is used to repair crevice gaps before grouting. At least one blade connecting assembly; the smoothing blade and the crevice cleaning blade are respectively disposed on the first mounting arm via at least one of the blade connecting assemblies; The leveling knife is also used for: when it is necessary to level the floor tiles, moving along with the first mounting arm to the floor tile that needs to be leveled, and then moving along with the first mounting arm to level the floor tile. The crevice cleaning knife is also used to: when it is necessary to clean the cracks in the floor, follow the first mounting arm to the crack, and then follow the first mounting arm to move along the crack to clean it.

2. The automatic caulking device as described in claim 1, characterized in that, The pre-filling treatment mechanism also includes: A dust cleaning component is used to clean particles and dust from floor tiles and crevices; the dust cleaning component is mounted on the first mounting arm via a cleaning connector.

3. The automatic caulking device as described in claim 2, characterized in that, The blade connection assembly includes: A first mounting plate is disposed on the first mounting arm and has a first through hole; The second mounting plate is parallel to the first mounting plate; A first guide shaft, one end of which is fixed to the second mounting plate, and the other end of which movably passes through the first through hole and can slide within the first through hole; and, A cylinder, one end of which is fixed to the first mounting plate, and the push rod of which is fixed to the second mounting plate; The smoothing knife and the crevice cleaning knife are both located on the side of the second mounting plate away from the first mounting plate.

4. The automatic caulking device as described in claim 2, characterized in that, The dust cleaning component is a vacuum cleaner, including a vacuum cleaner body and a pipe connected to the vacuum chamber of the vacuum cleaner body; the cleaning connector is a connecting plate with a second through hole, and the pipe is placed in the second through hole.

5. The automatic caulking device as described in claim 1, characterized in that, The caulking mechanism includes a hot melt caulking gun disposed on the first mounting arm, the hot melt caulking gun comprising: The caulking gun body; and, The nozzle includes a feed channel for the caulking material to enter and a hot air channel for melting the caulking material; one end of the hot air channel is connected to the caulking gun body, and the other end of the hot air channel forms an outlet for the melted caulking material to flow out.

6. The automatic caulking device as described in claim 5, characterized in that, The caulking mechanism further includes a feeding component disposed on the first mounting arm, the feeding component being used to provide the caulking material and to deliver the caulking material to the feeding channel.

7. The automatic caulking device as described in claim 3, characterized in that, It also includes height-adjustable casters, which are located on the side of the second mounting plate away from the first mounting plate.

8. The automatic caulking device as described in claim 3, characterized in that, The number of knife connecting assemblies is two. One of the knife connecting assemblies is connected to the smoothing knife, the gap cleaning knife and the first mounting arm respectively, and the other knife connecting assembly is connected to the grouting post-treatment mechanism and the first mounting arm respectively.

Images