A full-automatic cement oil pouring mechanism

Abstract

The application relates to a full-automatic cement oil pouring mechanism and relates to the field of building equipment, which comprises a pouring mechanism, a pouring suction claw mechanism, a straight-through quick-release pressure injection mechanism and a pressure pipe valve mechanism, the straight-through quick-release pressure injection mechanism is fixed on the pouring suction claw mechanism, the pressure pipe valve mechanism is arranged above the straight-through quick-release pressure injection mechanism, the pouring suction claw mechanism is magnetically attached to the pouring mechanism with a mixed nano coating and moves the pouring mechanism, the straight-through quick-release pressure injection mechanism is in abutment with and communicates with the pouring mechanism, the pressure pipe valve mechanism pours or stops pouring cement oil to the pouring mechanism through the straight-through quick-release pressure injection mechanism, and the cement oil continuously flows downwards along the length direction of the pouring mechanism in a transverse and interval vertical mode. The application has the advantages that the cement oil pouring consistency is realized, the pouring quality is consistent, and the rework is less.

Description

Technical Field

[0001] This invention relates to the field of building equipment technology, and in particular to a fully automatic cement and oil pouring mechanism. Background Technology

[0002] Construction robots represent an emerging niche market within the robotics field of the construction industry. Currently, there are no robots on the market that utilize the traditional dry-laying method of manually pouring cement slurry for tile installation. The traditional dry-laying process involves manually spreading dry mortar, then using tools like ladles to manually pour and adjust the slurry before laying the tiles. This dry-laying method relies heavily on the experience and skill of experienced workers. Subsequent steps are only performed after manual inspection and correction to ensure the tiles are free of hollow spots and that height differences are within acceptable limits. However, skilled tile installers are currently difficult to find, and labor costs are high.

[0003] Furthermore, cement oil is a mixture of commercially available masonry cement M32.5 and water, with a volume ratio of cement volume to water volume of 1.2:1. This mixture should be thoroughly stirred until no large lumps or sediment remain. Cement oil has a higher viscosity than most liquids, making it a non-ideal fluid with poor flowability. Moreover, segregation and sedimentation become more pronounced over time, and water will also evaporate, hindering pumping and flow. Therefore, timely mixing and use are optimal. If the residence time is long (generally ≤45 minutes at ambient temperatures ≤30℃), intermittent, timed stirring is usually performed to prevent the adverse effects of excessive segregation and sedimentation. Therefore, if commonly used pressurized spraying equipment is used, low pressure may result in pump failure or nozzle blockage, while high pressure will cause cement oil to splatter, failing to meet the requirements of dry-laying processes.

[0004] Therefore, to address the above shortcomings, a fully automatic cement oil pouring mechanism is needed. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] The technical problem to be solved by this invention is to address the issue that traditional spraying equipment cannot be used for pouring cement oil.

[0007] (II) Technical Solution

[0008] To solve the above-mentioned technical problems, the present invention provides a fully automatic cement oil pouring mechanism, including a pouring mechanism, a pouring suction claw mechanism, a straight-through quick-release injection mechanism, and a pressure valve mechanism. The straight-through quick-release injection mechanism is fixed on the pouring suction claw mechanism, and the pressure valve mechanism is arranged above the straight-through quick-release injection mechanism. The pouring suction claw mechanism magnetically attracts the pouring mechanism with a mixed nano-coating and moves the pouring mechanism. The straight-through quick-release injection mechanism abuts against and communicates with the pouring mechanism. The pressure valve mechanism injects or stops the pouring of cement oil into the pouring mechanism through the straight-through quick-release injection mechanism. The cement oil flows continuously downwards at horizontal intervals along the length of the pouring mechanism.

[0009] As a further explanation of the present invention, preferably, the pouring mechanism is mounted on the AGV chassis, and a six-degree-of-freedom robotic arm is installed on the AGV chassis. A claw disk is rotatably connected to the working end of the robotic arm, and the pouring suction claw mechanism and the pressure valve mechanism are both fixedly connected to the claw disk.

[0010] As a further explanation of the present invention, preferably, the pouring mechanism includes a cavity, a three-way pipe, a distribution pipe, a cap, an injection port, and a magnetic plate. The three-way pipe is installed in the middle of the cavity. The top of the three-way pipe is connected to the straight-through quick-release injection mechanism. The two sides of the three-way pipe are respectively connected to two distribution pipes with flow outlets spaced apart. Two caps are fitted on the ends of the distribution pipes away from the three-way pipe to close the ends of the distribution pipes. The injection port is fixed between the three-way pipe and the straight-through quick-release injection mechanism. Several magnetic plates are spaced apart on the upper part of the cavity. The pouring suction claw mechanism abuts against the magnetic plates.

[0011] As a further explanation of the present invention, preferably, the internal structure of the cavity is a hopperless structure, and the bottom opening of the cavity is provided with guide teeth with an inverted triangular cross-section at intervals.

[0012] As a further explanation of the present invention, preferably, an arc-shaped support plate is fixedly connected at intervals inside the cavity, the cross section of the support plate is perpendicular to the axis of the distributing pipe, and the support plate does not contact the distributing pipe.

[0013] As a further explanation of the present invention, preferably, annular mounting members are fixedly connected to the top of the cavity at intervals, and a strip-shaped support frame is fixedly connected to one side of the AGV chassis. The mounting members are sleeved on the outside of the support frame so that the pouring mechanism is mounted on the AGV chassis.

[0014] As a further explanation of the present invention, preferably, the internal structure of the cavity is a hopper structure, the dispensing pipe is placed in the hopper inside the cavity, the top of the cavity is covered with a top cover to close the hopper, the magnetic iron plate is fixed on the top cover, and the bottom opening of the cavity is bolted with an external tooth, the external tooth is a plate-shaped structure with a number of holes spaced apart and a number of inverted triangular teeth spaced apart.

[0015] As a further explanation of the present invention, preferably, the top cover is slidably connected to both ends of the top cover along its length direction with spring-loaded latches to fix the top cover to the cavity.

[0016] As a further explanation of the present invention, preferably, the pouring suction claw mechanism includes a suction claw frame, a connecting plate, an electromagnet, and a sensor. The suction claw frame is fixedly connected to the claw plate, and the connecting plate with several elongated holes is fixedly connected to the middle of the suction claw frame. The straight-through quick-release injection mechanism is fixedly connected to the connecting plate. Several magnet frames are fixedly connected at intervals on both sides of the suction claw frame, and the distribution position of the magnet frames is the same as the distribution position of the magnetic suction plate. The electromagnet is fixed on the magnet frames. The sensor is fixedly connected to one side of the suction claw frame and the detection port points to the pouring mechanism.

[0017] As a further explanation of the present invention, preferably, the straight-through quick-release injection mechanism includes a fixed seat, a guide joint, an injection head, and a compression spring. The fixed seat is fixedly connected to the connecting plate, the guide joint is inserted into the fixed seat, the compression spring is sleeved on the guide joint below the fixed seat, the top of the injection head is sleeved on the bottom of the compression spring, and the bottom of the injection head abuts against the grouting port.

[0018] (III) Beneficial Effects

[0019] The above-described technical solution of the present invention has the following advantages:

[0020] This invention designs a novel cement-oil pouring mechanism that achieves automated, uniform, and quantitative cement-oil pouring, ensuring consistent pouring results. Furthermore, it reduces the skill requirements for workers, effectively decreasing rework rates and labor intensity. It also reduces the difficulty of subsequent equipment cleaning, extending the equipment's lifespan. Attached Figure Description

[0021] Figure 1 This is an absorption state diagram of Embodiment 1 of the present invention;

[0022] Figure 2 This is an exploded view of the assembly of Embodiment 1 of the present invention;

[0023] Figure 3 This is a partial cross-sectional view of the pouring mechanism in Embodiment 1 of the present invention;

[0024] Figure 4 This is an exploded view of the pouring mechanism of Embodiment 1 of the present invention;

[0025] Figure 5 This is a partial cross-sectional view of the pouring mechanism in Embodiment 2 of the present invention;

[0026] Figure 6 This is an exploded view of the pouring mechanism of Embodiment 2 of the present invention;

[0027] Figure 7This is a structural diagram of the pouring suction claw mechanism of the present invention;

[0028] Figure 8 This is an exploded view of the straight-through quick-release injection mechanism of the present invention;

[0029] Figure 9 This is a structural diagram of the pressure valve mechanism of the present invention;

[0030] Figure 10 This is a rendering of the overall assembly of Embodiment 1 of the present invention;

[0031] Figure 11 This is a rendering of the overall assembly of Embodiment 2 of the present invention.

[0032] In the diagram: 1. Pouring mechanism; 11. Cavity; 111. Support plate; 112. Guide tooth; 113. Hanging component; 12. T-pipe; 13. Distribution pipe; 131. Flow outlet; 14. Sealing cap; 15. Grouting port plate; 16. Magnetic suction plate; 17. Top cover; 18. Lock; 19. External tooth; 2. Pouring suction claw mechanism; 21. Suction claw frame; 22. Connecting plate; 23. Electromagnet; 24. Sensor; 25. Magnet frame; 26. Butterfly-shaped fixing component; 3. Straight-through quick-release injection mechanism; 31. Fixed seat; 32. Guide joint; 33. Injection head; 34. Compression spring; 4. Pressure pipe valve mechanism; 41. Valve seat; 42. Cylinder; 43. Pressure pipe strip; 44. Hose; 5. Support frame; 6. AGV chassis; 61. Robotic arm; 62. Claw plate; 7. Bracket. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] A fully automatic cement oil pouring mechanism, combined with Figure 1 , Figure 2The system includes a pouring mechanism 1, a pouring suction claw mechanism 2, a straight-through quick-release injection mechanism 3, a pressure valve mechanism 4, and an AGV chassis 6. The pouring mechanism 1 is mounted on the AGV chassis 6, and a six-degree-of-freedom robotic arm 61 is installed on the AGV chassis 6. A claw plate 62 is rotatably connected to the working end of the robotic arm 61. The pouring suction claw mechanism 2 and the pressure valve mechanism 4 are both fixed to the claw plate 62. The straight-through quick-release injection mechanism 3 is fixed to the pouring suction claw mechanism 2, and the pressure valve mechanism 4 is arranged above the straight-through quick-release injection mechanism 3. The pouring suction claw mechanism 2 magnetically attracts the pouring mechanism 1, and the rotation of the robotic arm 61 allows the pouring mechanism 1 to be hung on or lifted off the AGV chassis 6. The quick-release injection mechanism 3 abuts against and connects with the pouring mechanism 1. The pressure valve mechanism 4 injects or stops injecting cement oil into the pouring mechanism 1 through the quick-release injection mechanism 3. The cement oil flows continuously downward at intervals along the length of the pouring mechanism 1.

[0035] Example 1:

[0036] Combination Figure 3 , Figure 4 The pouring mechanism 1 includes a cavity 11, a three-way pipe 12, a distribution pipe 13, a cap 14, an injection port 15, and a magnetic plate 16. The cavity 11 is a long strip structure with a hopper-less internal structure, and its interior is semi-open, neither sealed nor pressure-holding. Arc-shaped support plates 111 are fixedly connected at intervals inside the cavity 11. The cross-section of the support plates 111 is perpendicular to the axis of the distribution pipe 13, and the support plates 111 do not contact the distribution pipe 13. The support plates 111 restrict the lateral flow of cement oil, preventing it from affecting the uniformity of distribution, and also improve the structural strength of the cavity 11, preventing the bottom of the cavity 11 from deforming under pressure and affecting the flow direction of the cement oil. A ramp is provided at the bottom of the cavity 11, with an opening at the lower part of the ramp. Guide teeth 112 with inverted triangular cross-sections are spaced apart at the opening. The ramp allows the flowing cement oil to converge towards the opening, achieving the effect of complete discharge. The three-way pipe 12 is fixed to the middle of the cavity 11 by bolts. The top opening of the three-way pipe 12 is connected to the straight-through quick-release injection mechanism 3. The two sides of the three-way pipe 12 are respectively connected to two distribution pipes 13 with flow ports 131 spaced apart. The distribution pipes 13 are long cylindrical pipes with the same length direction as the cavity 11 to guide cement oil to both sides of the cavity 11. Two sealing caps 14 are put on the ends of the distribution pipes 13 away from the three-way pipe 12 to seal the ends of the distribution pipes 13 and prevent cement oil from flowing out from the ends, which would affect the distribution effect. The grouting nozzle 15 is fixed between the three-way pipe 12 and the straight-through quick-release injection mechanism 3 to prevent the three-way pipe 12 from being damaged by the pressure of the straight-through quick-release injection mechanism 3. Several metal circular or square magnetic plates 16 are fixedly connected to the upper part of the cavity 11 at intervals, and the pouring suction claw mechanism 2 abuts against the magnetic plates 16.

[0037] After the cement oil flows into the tee pipe 12 through the quick-release injection mechanism 3, it is distributed by the tee pipe 12 to the distribution pipe 13. Then, it flows through the evenly distributed outlets 131 on the distribution pipe 13 to the slope surface of the cavity 11, where it acts as a buffer and slows down the flow. Next, under the influence of gravity, the cement oil is poured evenly and slowly under the guidance of the guide teeth 112. The specific number and rows of guide teeth 112 are not limited, but it is necessary to ensure that the pouring surface is covered with material simultaneously and evenly. This eliminates the need for manual squatting to operate the distribution and pouring, greatly reducing the difficulty and intensity of the work.

[0038] Furthermore, the inner end face of the cavity is coated with a nano-coating, which consists of nano-fluoropolymers and nano-titanium dioxide. The mixing ratio is generally selected as 110:1 to 110:1.5, depending on the properties of the cement oil. Through the mixing of the two nanomaterials, the free energy of the inner surface of the cavity 11 is significantly reduced, resulting in low adhesion between the cement oil and the inner surface of the cavity 11. Moreover, due to the presence of the micro-nano composite structure, an air layer can be formed between the cement oil and the inner surface of the cavity 11, further reducing the contact area and adhesion, thus achieving excellent superhydrophobicity for the cement oil. Compared to some other nano-coatings or hydrophobic coatings, this coating essentially achieves non-adhesion of cement oil, while others still exhibit significant adhesion. Simultaneously, because cement oil is difficult to retain on the surface of the cavity 11 and has strong adhesion, it also carries away dust floating on the inner surface of the cavity 11 during flow, achieving excellent self-cleaning and anti-contamination effects. This not only effectively prevents cement oil from solidifying and clogging the bottom outlet of the cavity 11 due to slow flow but also eliminates the need for additional cleaning of the cavity 11, achieving multiple benefits.

[0039] Combination Figure 2 , Figure 10 The top of the cavity 11 is fixedly connected with annular hangers 113 at intervals, and a strip-shaped support frame 5 is fixedly connected to one side of the AGV chassis 6. The hangers 113 are sleeved on the outside of the support frame 5 so that the pouring mechanism 1 can be hung on the AGV chassis 6. After the cement oil is poured, the control center sends a signal to the pressure valve mechanism 4 to close it. Then the robotic arm 61 carries the pouring mechanism 1 back along the original path (the path of the hopper). The pouring suction claw mechanism 2 puts the pouring mechanism 1 back to its original position, i.e., on the support frame 5. Then the pouring suction claw mechanism 2 and the straight-through quick-release injection mechanism 3 can independently perform other cement oil pouring work, cement oil self-circulation, or pipeline cleaning or dredging operations under the movement of the robotic arm 61.

[0040] Example 2:

[0041] Combination Figure 5 , Figure 6The grouting mechanism 1 includes a cavity 11, a three-way pipe 12, a distribution pipe 13, a cap 14, an injection port 15, and a magnetic plate 16. The cavity 11 is a long strip structure with a hopper inside, and its interior is semi-open, neither sealed nor pressurized. The distribution pipe 13 is placed in the hopper inside the cavity 11. The top of the cavity 11 is covered by a top cover 17 to close the hopper, and the magnetic plate 16 is fixedly fixed to the top cover 17 at intervals. The top cover 17 is slidably connected to both ends along its length with latches 18 to fix the top cover 17 to the cavity 11. The latches 18 consist of a pull rod, a handle, and a spring. The pull rod and handle are locked with screws, and the spring is placed between the pull rod and the handle. It is installed in the cylindrical guide grooves at both ends of the top cover 17, forming a quick-release latch structure with the pull support plate welded to the cavity 11. After the top cover 17 is fastened onto the top opening of the cavity 11, the quick-release locking structure at both ends connects the top cover 17 and the cavity 11 into a box-like closed structure. The principle of the quick-release locking 18 is as follows: press the handle to compress the spring, adjust the direction of the pull rod, insert the horizontal bar of the pull rod into the elongated hole of the pull support plate of the cavity 11, continue to compress downwards a certain distance, and rotate about 90°. Under the preload of the spring, the pull rod is pulled into the pull support plate of the cavity 11, thus forming a locking structure that connects the lid into a box-like closed structure. The opening method is the reverse. At the bottom opening of the cavity 11, an external tooth 19 is attached by bolts. The external tooth 19 is a plate-like structure with several discharge holes spaced apart and several inverted triangular teeth spaced apart.

[0042] When cement oil flows into the tee pipe 12 through the quick-release injection mechanism 3, it is divided into two parts and enters the distribution pipe 13 for even distribution. The bottom of the discharge port of the horizontal pipe 13 is always above the upper edge of the discharge hole of the external tooth 19. The material in the hopper flows slowly, and the rise of the liquid level and the action of gravity cause the cement oil to be discharged slowly and evenly along the external tooth 19, without causing obvious collapse or pitting of the mortar surface, which would affect the final laying effect. Since the flattened dry mortar surface needs to be kept flat and is relatively fragile, it cannot be damaged by external forces, otherwise the cement oil will be unevenly distributed on the dry mortar surface, affecting the final laying effect. In addition, the cavity 11 and the inside of the hopper are equipped with a nano-coating to avoid the problems of material accumulation and adhesion, and maintenance is simple.

[0043] Combination Figure 6 , Figure 11 The front end of the AGV chassis 6 is fixed with a long strip-shaped bracket 7 with a U-shaped cross section. The robotic arm 61 can directly place the watering mechanism 1 in embodiment 2 onto the bracket 7 to realize the mounting of the watering mechanism 1 on the AGV chassis 6.

[0044] Example 1 and Example 2 use the same pouring suction claw mechanism 2, straight-through quick-release injection mechanism 3, and pressure valve mechanism 4, combined with Figure 7 , Figure 10The water-pouring suction claw mechanism 2 includes a suction claw frame 21, a connecting plate 22, an electromagnet 23, and a sensor 24. The elongated suction claw frame 21 is fixed to the claw plate 62. The connecting plate 22, which has several elongated holes, is fixed to the middle of the suction claw frame 21. The straight-through quick-release injection mechanism 3 is fixed to the connecting plate 22. Several magnet frames 25 are fixed at intervals on both sides of the suction claw frame 21 and the magnet frames 25 are distributed in the same position and number as the magnetic suction plate 16. The electromagnet 23 is fixed to the magnet frames 25 by bolts. The sensor 24 is a proximity sensor. The sensor 24 is fixed to one side of the suction claw frame 21 and the detection port points to the water-pouring mechanism 1.

[0045] Combination Figure 7 , Figure 10 When watering is required, the AGV chassis 6 moves to the designated position, and then the robotic arm 61 drives the claw plate 62 and the watering suction claw mechanism 2 to move. According to the original positioning program control, the watering suction claw mechanism 2 can be positioned directly above the watering mechanism 1. The watering suction claw mechanism 2 moves down so that the electromagnet 23 contacts the magnetic suction plate 16. Then the electromagnet 23 is energized and firmly attracts the magnetic suction plate 16. The total attraction force of the electromagnet 23 is more than twice the weight of the material carried by the watering mechanism 1, that is, the attraction force can steadily lift the watering mechanism 1. At this point, sensor 24 detects a signal indicating to the control center that the device has been captured. The pouring suction mechanism 2, holding the pouring mechanism 1, lifts it along a pre-set trajectory. The robotic arm 61 then carries it to the pre-scraped dry mortar area. The ends of the guide teeth 112 or external teeth 19 maintain a certain distance (currently approximately 35mm) from the dry mortar surface. After leveling the pouring mechanism 1, cement oil is poured along the length of the dry mortar area at a certain horizontal moving speed (currently approximately 70mm / s), ensuring uniform pouring and a thickness of approximately 5mm. This prevents hollow tiles from forming (according to the standard definition of hollow tiles) and ensures even placement (according to the standard definition of tile height difference). Magnetic gripping allows for rapid pick-and-place, improving gripping efficiency.

[0046] Combination Figure 2 , Figure 8The quick-release injection mechanism 3 includes a fixed base 31, a guide joint 32, an injection head 33, and a compression spring 34. The fixed base 31 is fixedly connected to the connecting plate 22 by a butterfly-shaped fastener 26, which consists of a butterfly nut and a bolt. The bolt is inserted into the elongated hole of the connecting plate 22, and the butterfly nut can be manually tightened to achieve quick release and quick installation. At the same time, the installation position can be finely adjusted by relying on the elongated hole. The guide joint 32 is inserted into the fixed base 31, and the compression spring 34 is sleeved on the outside of the guide joint 32 below the fixed base 31. The top of the injection head 33 is sleeved on the bottom of the compression spring 34, and the bottom of the injection head 33 abuts against the grouting port plate 15. The quick-release injection mechanism 3 is designed to achieve centering by inserting the injection head 33 into the grouting port 15 when the pouring suction claw mechanism 2 moves downward, providing initial positioning for the docking of the electromagnet 23 and the magnetic suction plate 16. On the other hand, the pouring suction claw mechanism 2 is pressed down to a certain height, the compression spring 34 is further compressed, the grouting port 15 and the guide injection head 33 are fitted together and sealed, and the guide joint 32 is embedded in the guide injection head 33 to achieve sealing, so that the cement oil flowing out of the pressure valve mechanism 4 can be accurately guided into the pouring mechanism 1.

[0047] Combination Figure 2 , Figure 9 The pressure valve mechanism 4 includes a valve seat 41, a cylinder 42, a pressure strip 43, and a hose 44. The valve seat 41 is fixed to the claw plate 62. The cylinder 42 is fixed to the back plate of the valve seat 41 with screws. The pressure strip 43 is fixed to the pressure head of the cylinder 42 with screws. The silicone hose 44 is placed between the semi-open valve seat 41 pressure support plate and the pressure strip 43. One end of the hose 44 is connected to the feed wire hose, and the other end is connected to the straight pipe guide connector 32. The pumping system pipeline connection sequence is auger pump, wire hose, and hose 44. Both the auger pump and the pressure valve mechanism 4 are normally closed, and the start / stop signals are communicated and exchanged with the control center. When the robotic arm 61, carrying the pouring mechanism 1, arrives at the designated location for pouring cement oil, the control center first sends a signal to the pressure valve mechanism 4 to open the valve. The cylinder 42, carrying the pressure strip 43, retracts to the retracted state, and the hose 44 returns to its original state under no pressure, opening the flow channel. Then, a signal is sent to the auger pump to start pumping slurry, allowing the cement oil to flow along the pipeline system into the pouring mechanism 1. When the cement oil pouring is complete, the control center first sends a signal to the auger pump to shut down, stopping the pumping. Then, a signal is sent to the pressure valve mechanism 4 to close. At this time, the cylinder 42, carrying the pressure strip 43, extends to the retracted state, and the hose 44 is deformed by the pressure strip 43 to its closed state, closing the flow channel and achieving the function of stopping the outflow of cement oil at the end. At this point, one pumping process is completed.

[0048] In summary, this invention, through the design of two pouring mechanisms 1, combined with a nano-coating, guide teeth 112, and external teeth 19, enables the cement oil to be poured evenly and separately, ultimately achieving the effect of guiding the flow without merging, and reducing the likelihood of clogging. It achieves quantitative and consistent cement oil pouring, resulting in smooth discharge and preventing damage to the flattened dry mortar surface that could affect the paving effect. It is highly versatile and applicable to dry-laying cement oil pouring processes for all sizes of bricks, ultimately achieving the effect of eliminating skill requirements, ensuring consistent quality, and minimizing rework. Furthermore, the equipment has a simple structure, is easy to manufacture, operate, and maintain, effectively reducing labor intensity and minimizing contact between hands and cement oil (alkaline and corrosive), making it healthier and more environmentally friendly.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic cement oil pouring mechanism, characterized in that: The system includes a pouring mechanism (1), a pouring suction claw mechanism (2), a straight-through quick-release injection mechanism (3), and a pressure valve mechanism (4). The straight-through quick-release injection mechanism (3) is fixed on the pouring suction claw mechanism (2), and the pressure valve mechanism (4) is arranged above the straight-through quick-release injection mechanism (3). The pouring mechanism (1) includes a cavity (11), a three-way pipe (12), a distribution pipe (13), a cap (14), an injection port (15), and a magnetic plate (16). The three-way pipe (12) is installed in the middle of the cavity (11). The top of the three-way pipe (12) abuts against and connects with the straight-through quick-release injection mechanism (3). The two sides of the three-way pipe (12) are respectively connected to two distribution pipes with flow ports (131) spaced apart. 13) Connected, two caps (14) are fitted on the port of the distribution pipe (13) away from the three-way pipe (12) to close the port of the distribution pipe (13). The grouting port (15) is fixed between the three-way pipe (12) and the straight-through quick-release pressure injection mechanism (3). Several magnetic iron plates (16) are distributed at intervals on the upper part of the cavity (11). The pouring suction claw mechanism (2) abuts against the magnetic iron plates (16) by magnetic adsorption to move the pouring mechanism (1) with mixed nano-coating. The pressure valve mechanism (4) injects or stops injecting cement oil into the pouring mechanism (1) through the straight-through quick-release pressure injection mechanism (3). The cement oil flows continuously downward along the length of the pouring mechanism (1) at horizontal intervals.

2. The fully automatic cement and oil pouring mechanism according to claim 1, characterized in that: The watering mechanism (1) is mounted on the AGV chassis (6). A six-degree-of-freedom robotic arm (61) is installed on the AGV chassis (6). A claw disk (62) is rotatably connected to the working end of the robotic arm (61). The watering suction claw mechanism (2) and the pressure valve mechanism (4) are both fixedly connected to the claw disk (62).

3. The fully automatic cement oil pouring mechanism according to claim 2, characterized in that: The internal structure of the cavity (11) is a hopperless structure, and the bottom opening of the cavity (11) is provided with guide teeth (112) with inverted triangular cross-section.

4. The fully automatic cement and oil pouring mechanism according to claim 3, characterized in that: An arc-shaped support plate (111) is fixedly connected to the cavity (11) at intervals. The cross section of the support plate (111) is perpendicular to the axis of the distribution pipe (13), and the support plate (111) does not contact the distribution pipe (13).

5. The fully automatic cement oil pouring mechanism according to claim 4, characterized in that: The top of the cavity (11) is fixed with a ring-shaped hanger (113) at intervals, and a strip-shaped support frame (5) is fixed to one side of the AGV chassis (6). The hanger (113) is sleeved on the outside of the support frame (5) so that the watering mechanism (1) is hung on the AGV chassis (6).

6. The fully automatic cement oil pouring mechanism according to claim 1, characterized in that: The internal structure of the cavity (11) is a hopper structure. The material distribution pipe (13) is placed in the hopper inside the cavity (11). The top of the cavity (11) is covered with a top cover (17) to close the hopper. The magnetic iron plate (16) is fixed on the top cover (17). The bottom opening of the cavity (11) is bolted with an external tooth (19). The external tooth (19) is a plate-shaped structure with several holes and several inverted triangular teeth at intervals.

7. The fully automatic cement and oil pouring mechanism according to claim 6, characterized in that: The top cover (17) has spring-loaded latches (18) that slide at both ends along its length to fix the top cover (17) to the cavity (11).

8. The fully automatic cement oil pouring mechanism according to claim 1, characterized in that: The watering suction claw mechanism (2) includes a suction claw frame (21), a connecting plate (22), an electromagnet (23), and a sensor (24). The suction claw frame (21) is fixed on the claw plate (62). The connecting plate (22) with several elongated holes is fixed in the middle of the suction claw frame (21). The straight-through quick-release injection mechanism (3) is fixed on the connecting plate (22). Several magnet frames (25) are fixed at intervals on both sides of the suction claw frame (21). The distribution position of the magnet frames (25) is the same as that of the magnetic suction plate (16). The electromagnet (23) is fixed on the magnet frames (25). The sensor (24) is fixed on one side of the suction claw frame (21) and the detection port points to the watering mechanism (1).

9. The fully automatic cement and oil pouring mechanism according to claim 8, characterized in that: The quick-release injection mechanism (3) includes a fixed seat (31), a guide joint (32), an injection head (33), and a compression spring (34). The fixed seat (31) is fixedly connected to the connecting plate (22). The guide joint (32) is inserted into the fixed seat (31). The compression spring (34) is sleeved on the guide joint (32) below the fixed seat (31). The top of the injection head (33) is sleeved on the bottom of the compression spring (34). The bottom of the injection head (33) abuts against the grouting port (15).

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