An automatic mortar spraying equipment and process

Abstract

This invention discloses an automatic mortar spraying equipment and process. The automatic mortar spraying equipment includes a frame, a moving and steering device disposed at the bottom of the frame for driving the frame to move and turn, a spraying device disposed on the frame, a vertical drive mechanism for driving the spraying device to move vertically on the frame, and a longitudinal drive mechanism for driving the spraying device to move longitudinally. The spraying device includes a nozzle, a mortar applicator disposed at the nozzle opening, and a rotary drive mechanism for driving the applicator to rotate. This automatic mortar spraying equipment can not only automatically spray mortar onto a wall surface but also apply mortar to the wall surface, achieving simultaneous spraying and applicating, thus improving construction efficiency and ensuring the quality of the wall construction by timely applicating the mortar.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, specifically to an automatic mortar spraying equipment and process. Background Technology

[0002] Currently, most residential buildings across the country use traditional mixed mortar plastering techniques for rough interior wall finishes, which involves manually applying the mixed mortar to the walls. To further improve construction efficiency, spraying machines are now used to spray the mortar onto the walls.

[0003] Existing shotcrete machines primarily use a pump to deliver mortar to the nozzle, where compressed air is then applied, causing the high-pressure air to accompany the mortar as it is sprayed onto the wall surface. However, existing shotcrete machines still have the following shortcomings:

[0004] 1. Existing shotcrete machines can only spray mortar onto the working wall surface. After the mortar is sprayed, it is still necessary to manually smooth the mortar on the wall surface, so the construction efficiency is still relatively low.

[0005] 2. When the shotcrete machine sprays mortar onto the wall surface, the thickness of the mortar on the wall surface is not uniform, and the plastering can only begin after the entire wall surface has been sprayed. At this time, most of the water in the mortar has been absorbed by the wall, and some mortar may have already begun to set, making it impossible to plaster in time, which affects the quality of the wall project. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned problems and provide an automatic mortar spraying device. This automatic mortar spraying device can not only automatically spray mortar onto the wall surface, but also apply mortar to the wall surface, realizing the function of spraying and applying at the same time, improving construction efficiency, and ensuring the quality of the wall project by applying mortar to the wall surface in a timely manner.

[0007] Another object of the present invention is to provide an automatic mortar spraying process.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] An automatic mortar spraying device includes a frame, a moving and steering device disposed at the bottom of the frame for driving the frame to move and steer, a spraying device disposed on the frame, a vertical drive mechanism for driving the spraying device to move vertically on the frame, and a longitudinal drive mechanism for driving the spraying device to move along the longitudinal direction; wherein,

[0010] The spraying device includes a spray head, a slurry applicator disposed at the nozzle of the spray head, and a rotary drive mechanism for driving the slurry applicator to rotate.

[0011] The working principle of the above-mentioned automatic mortar spraying equipment is as follows:

[0012] During operation, the moving steering device drives the vehicle frame to move until it reaches the spraying station. The moving steering device then turns the vehicle frame so that the spraying device is directly facing the wall. The moving steering device then stops, and the longitudinal drive mechanism drives the spraying device closer to the wall until the mortar tray maintains a set distance from the wall. This set distance is suitable for the nozzle to spray mortar and the mortar tray to apply it. Next, the nozzle sprays mortar onto the wall, while the rotation drive mechanism drives the mortar tray to rotate and smooth the mortar on the wall. The vertical drive mechanism then drives the spraying device to gradually move towards... The vertical drive mechanism drives the spraying device to its highest point, at which point the steering mechanism drives the frame to move laterally, parallel to the wall. Then, the vertical drive mechanism drives the spraying device to move downwards, spraying and coating the wall downwards. When the vertical drive mechanism drives the spraying device to its lowest point, the steering mechanism drives the frame to move laterally, and then the vertical drive mechanism drives the spraying device to gradually move upwards, spraying and coating the wall upwards. The above steps are repeated to spray and coat the entire wall surface.

[0013] In a preferred embodiment of the present invention, the mortar applicator includes a disc body, a through hole disposed at the center of the disc body, and a plurality of mortar applicators disposed on the disc body; wherein the plurality of mortar applicators are evenly distributed along the circumferential direction, and the axis of the through hole coincides with the axis of the nozzle. In the above structure, the axis of the through hole coincides with the axis of the nozzle. When the nozzle sprays mortar, the mortar is sprayed from the nozzle, passes through the through hole, and reaches the wall surface. The rotary drive mechanism drives the disc body to rotate, which in turn drives the mortar applicators to rotate, and the mortar applicators smooth the mortar on the wall surface.

[0014] Preferably, the mortar slab is arc-shaped, with the arc protruding in the direction of rotation. By setting the mortar slab to be arc-shaped, with the arc protruding in the direction of rotation, during mortar application, the mortar slab rotates around the center of the slab. The arc-shaped protruding part of the mortar slab is applied first, and then radiates to both sides, which facilitates the distribution of mortar to both sides. This improves the quality of mortar application and ensures a smoother mortar surface after application.

[0015] Preferably, a mortar storage tank is provided between two adjacent mortar slabs, and an adaptive pushing mechanism is provided on the mortar storage tank. The adaptive pushing mechanism includes a pushing plate and a pushing spring disposed between the pushing plate and the disc body. One end of the pushing spring acts on the pushing plate, and the other end of the pushing spring acts on the disc body. During mortar spraying, the thickness of the mortar on the wall surface is not uniform, resulting in unevenness. With the above structure, during the mortar application process, as the mortar slab rotates and the mortar disc moves, excess mortar that protrudes will overcome the elastic force of the pushing spring and enter the mortar storage tank for temporary storage. When the mortar disc passes over a concave area, the elastic force of the pushing spring drives the pushing plate to move, filling the concave area with mortar from the storage tank, ensuring the smoothness of the mortar application, making the mortar distribution more uniform, and making full use of the mortar. By setting up the mortar storage tank, the mortar in the storage tank will not fall out during the mortar application process.

[0016] Preferably, the adaptive pushing mechanism further includes a guide and limiting component, which includes a guide hole on the disc body, a guide rod on the push plate, and a limiting head at the end of the guide rod. The guide rod is slidably connected to the guide hole, and the axis of the guide rod is parallel to the axis of the disc body. The pushing spring is sleeved on the guide rod. In the above structure, the elastic force of the pushing spring causes the limiting head to press against the back of the disc body, ensuring the stability of the push plate installation. During the storage of mortar, the slurry storage tank overcomes the elastic force of the pushing spring, pushing the push plate closer to the disc body, allowing the mortar to enter the storage tank. At the same time, the limiting head separates from the back of the disc body, and the push plate receives the elastic force and pushes the mortar, filling the depressions and improving the grouting effect.

[0017] Furthermore, there are two guide limiting components and two push springs, with each guide limiting component and push spring corresponding to the other. This ensures more stable force distribution on the push plate and improves the stability of its movement.

[0018] Preferably, the vehicle frame is provided with a vertical sliding frame, and the vertical sliding frame is provided with a longitudinal sliding frame; the vertical drive mechanism is connected to the vertical sliding frame, the longitudinal drive mechanism is connected to the longitudinal sliding frame, and the spraying device is mounted on the longitudinal sliding frame. By providing the vertical and longitudinal sliding frames, it is easier to move the spraying device vertically and towards or away from the wall, allowing the longitudinal drive mechanism and the vertical drive mechanism to work together better to drive the spraying device.

[0019] Preferably, the end of the longitudinal sliding frame is provided with a sleeve, the nozzle is located inside the sleeve, and the through hole is rotatably connected to the sleeve; the rotary drive mechanism includes a rotary drive motor mounted on the longitudinal sliding frame, a rotary drive driving gear mounted on the main shaft of the rotary drive motor, and a rotary drive driven gear mounted on the disc body, the rotary drive driving gear and the rotary drive driven gear meshing with each other. In the above structure, the rotary drive motor drives the rotary drive driving gear to rotate, which in turn drives the rotary drive driven gear to rotate, thereby driving the grouting disc to rotate on the sleeve, realizing the grouting function; by providing the sleeve, the installation of the nozzle and the disc body is facilitated.

[0020] Preferably, the vertical drive mechanism includes a vertical drive motor mounted on the frame and a lead screw and nut assembly. The main shaft of the vertical drive motor is connected to the lead screw of the lead screw and nut assembly, and the vertical sliding frame is connected to the nut of the lead screw and nut assembly. The longitudinal drive mechanism includes a longitudinal drive motor mounted on the vertical sliding frame, a longitudinal drive gear mounted on the main shaft of the longitudinal drive motor, and a longitudinal drive rack mounted on the longitudinal sliding frame. The longitudinal drive gear and the longitudinal drive rack mesh with each other. In the above structure, when the spraying device needs to move up and down, the vertical drive motor drives the lead screw to rotate, which can drive the nut to move up or down along the lead screw, thereby driving the vertical sliding frame to move up or down, so that the longitudinal drive mechanism, the longitudinal sliding frame, and the spraying device move together. When the spraying device needs to move closer to or away from the wall, the longitudinal drive motor drives the longitudinal drive gear to move, thereby realizing the movement of the longitudinal drive rack, which in turn drives the longitudinal sliding frame and the spraying device to move together.

[0021] Preferably, the mobile steering device includes four traveling wheels disposed below the vehicle frame, a wheel frame disposed between each traveling wheel and the vehicle frame, a steering drive mechanism for driving the four traveling wheels to turn synchronously, and a mobile drive mechanism for driving two adjacent traveling wheels to rotate. The upper end of the wheel frame is rotatably connected to the vehicle frame, and the traveling wheels are rotatably connected to the lower end of the wheel frame.

[0022] The steering drive mechanism includes a steering drive motor fixed to the frame, a drive pulley mounted on one of the wheel frames, driven pulleys mounted on the remaining wheel frames, and belts sequentially connected to the drive pulley and each driven pulley. The steering drive motor drives the drive pulley to rotate, and through the belt transmission, the driven pulleys also move synchronously, achieving synchronized steering of all four wheels. This provides high steering flexibility and allows for 360° steering.

[0023] The mobile drive mechanism includes a transmission mechanism disposed between two wheel frames and a mobile drive motor disposed on one of the wheel frames. The main shaft of the mobile drive motor is connected to the traveling wheel. The transmission mechanism includes two sets of symmetrically arranged transmission components. Each set of transmission components includes a mounting plate, a transmission drive gear coaxially disposed with the traveling wheel, a transmission driven gear disposed on the mounting plate, and a transition gear coaxially disposed with the transmission driven gear. The transmission drive gear and the transmission driven gear mesh with each other, and the axis of the transmission drive gear is perpendicular to the axis of the transmission driven gear. The two transition gears mesh with each other. By setting up the above structure, when the mobile drive motor drives one traveling wheel to rotate, it will drive the corresponding transmission drive gear to rotate, which in turn drives the transmission driven gear to rotate, which drives the intermediate gear to rotate. This intermediate gear will drive another intermediate gear to rotate, which will drive another transmission driven gear to rotate, which will drive another transmission drive gear to rotate, and finally drive the other traveling wheel to rotate. This achieves synchronous rotation of two adjacent traveling wheels. By driving two traveling wheels with one mobile drive motor, resources are saved. In addition, by setting up the transmission mechanism, the operation of the mobile drive mechanism will not be affected when each traveling wheel turns, so that turning and moving can be carried out synchronously, improving the flexibility of the vehicle frame movement.

[0024] An automated mortar spraying process includes the following steps:

[0025] (1) The moving steering device drives the frame to move until the frame moves to the spraying station. The moving steering device drives the frame to turn so that the spraying device is facing the wall. Then the moving steering device stops driving.

[0026] (2) The longitudinal drive mechanism drives the spraying device to move towards the wall until the grouting tray maintains a set distance from the wall;

[0027] (3) The nozzle sprays mortar onto the wall surface, and at the same time the rotating drive mechanism drives the mortar trowel to rotate, smoothing the mortar on the wall surface;

[0028] (4) The vertical drive mechanism drives the spraying device to move upward gradually, spraying and coating the wall surface upward;

[0029] (5) When the vertical drive mechanism drives the spraying device to the highest point, the moving steering device drives the frame to move laterally a specified distance, and then the vertical drive mechanism drives the spraying device to move downward to spray and coat the wall surface downward.

[0030] (6) When the vertical drive mechanism drives the spraying device to the lowest position, the moving steering device drives the vehicle frame to move laterally a specified distance.

[0031] (7) Repeat steps (4)-(6) to complete the spraying and coating of the entire wall surface.

[0032] Compared with the prior art, the present invention has the following advantages:

[0033] 1. The automatic mortar spraying equipment of the present invention can realize the movement and steering of the automatic mortar spraying equipment through the moving steering device. During construction, the frame is moved to the spraying station, and the spraying device is driven to move through the longitudinal drive mechanism, so that the mortar spreading disc is kept at a set distance from the wall surface. The nozzle sprays mortar onto the wall surface, and at the same time the rotation drive mechanism drives the mortar spreading disc to rotate, smoothing the mortar on the wall surface, realizing the function of spraying and spreading at the same time. With the vertical drive mechanism and the moving steering device, the construction of the entire wall surface can be completed, and the construction efficiency is high.

[0034] 2. The automatic mortar spraying equipment of the present invention sprays mortar onto the wall surface through a nozzle and smooths the mortar with a mortar trowel. The spraying and troweling are carried out simultaneously, and the mortar on the wall surface is applied in a timely manner, which ensures the quality of the wall project.

[0035] 3. The automatic mortar spraying equipment of the present invention has a mortar spreading disc that can not only smooth the mortar on the wall surface, but also block and collect most of the reflected and splashed mortar during the spraying process of the nozzle, so as to minimize the pollution to the working environment.

[0036] 4. The automatic mortar spraying equipment of the present invention, by setting a longitudinal drive mechanism, can more accurately adjust the distance between the mortar application plate, the nozzle and the wall surface, thereby adjusting the thickness of the mortar application and further improving flexibility. In addition, for some walls with load-bearing columns and frames, the distance between the nozzle and the wall surface can be flexibly adjusted by the longitudinal drive mechanism, making the automatic mortar spraying equipment more applicable. Attached Figure Description

[0037] Figures 1-3 This is a schematic diagram of one specific embodiment of an automatic mortar spraying device according to the present invention, wherein, Figure 1 It is a 3D image. Figure 2 A stereoscopic view from another perspective. Figure 3 Main view, Figure 2 The arrows in the diagram indicate the direction of rotation of the plastering disc.

[0038] Figure 4 This is a schematic diagram of the working state of the automatic mortar spraying equipment of the present invention.

[0039] Figures 5-7 This is a schematic diagram of the installation structure of the longitudinal drive mechanism and the spraying device in this invention, wherein, Figure 5 It is a 3D image. Figure 6A stereoscopic view from another perspective. Figure 7 This is a sectional view.

[0040] Figure 8 This is a cross-sectional view of the grouting disc in this invention.

[0041] Figure 9 This is a three-dimensional structural diagram of the disk body in this invention.

[0042] Figure 10 This is a three-dimensional structural diagram of the adaptive feeding mechanism in this invention.

[0043] Figures 11-12 This is a schematic diagram of the installation structure of part of the vehicle frame and the moving steering device in this invention, wherein, Figure 11 It is a 3D image. Figure 12 Main view.

[0044] Figure 13 This is a three-dimensional structural diagram of the moving steering device in this invention.

[0045] Figure 14 This is a partial structural schematic diagram of another specific embodiment of the automatic mortar spraying equipment of the present invention. Detailed Implementation

[0046] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0047] Example 1

[0048] See Figures 1-4 This embodiment discloses an automatic mortar spraying device, including a frame 1, a moving and steering device disposed at the bottom of the frame 1 for driving the frame 1 to move and turn, a spraying device 2 disposed on the frame 1, a vertical drive mechanism 3 for driving the spraying device 2 to move vertically on the frame 1, and a longitudinal drive mechanism 4 for driving the spraying device 2 to move along the longitudinal direction.

[0049] See Figures 1-7 The spraying device 2 includes a spray head 5, a slurry applicator 6 disposed at the nozzle of the spray head 5, and a rotary drive mechanism 7 for driving the slurry applicator 6 to rotate.

[0050] See Figures 4-9The mortar applicator 6 includes a disc body 6-1, a through hole 6-2 located at the center of the disc body 6-1, and multiple mortar applicators 6-3 disposed on the disc body 6-1. The multiple mortar applicators 6-3 are evenly distributed along the circumference, and the axis of the through hole 6-2 coincides with the axis of the nozzle 5. In this structure, the axis of the through hole 6-2 coincides with the axis of the nozzle 5. When the nozzle 5 sprays mortar, the mortar is sprayed from the nozzle 5, passes through the through hole 6-2, and reaches the wall surface 21. The rotary drive mechanism 7 drives the disc body 6-1 to rotate, causing the mortar applicators 6-3 to rotate, and the mortar applicators 6-3 smooth the mortar on the wall surface 21.

[0051] See Figure 9 The plastering board 6-3 is integrally formed with the disc body 6-1.

[0052] See Figures 2-9 The mortar slab 6-3 is arc-shaped, with the arc protruding in the direction of rotation of the mortar slab 6-3. By setting the mortar slab 6-3 to be arc-shaped, with the arc protruding in the direction of rotation of the mortar slab 6-3, during mortar application, the mortar slab 6-3 rotates around the center of the disc body 6-1. The arc-shaped protruding part of the mortar slab 6-3 is first coated, and then radiates to both sides, which is conducive to the distribution of mortar to both sides. This can improve the quality of mortar application and ensure that the mortar surface is smoother after mortar application.

[0053] See Figures 2-10 A slurry storage tank 6-4 is provided between two adjacent slurry slabs 6-3. An adaptive pushing mechanism 8 is provided on the slurry storage tank 6-4. The adaptive pushing mechanism 8 includes a pushing plate 8-1 and a pushing spring 8-2 disposed between the pushing plate 8-1 and the disc body 6-1. One end of the pushing spring 8-2 acts on the pushing plate 8-1, and the other end of the pushing spring 8-2 acts on the disc body 6-1. During spraying, the mortar thickness on the wall surface 21 is uneven, resulting in irregularities. With the above structure, during the grouting process, as the grouting board 6-3 rotates and the grouting disc 6 moves, excess mortar that protrudes will overcome the elastic force of the pusher spring 8-2 and enter the grout storage tank 6-4 for temporary storage. When the grouting disc 6 passes through a recessed area, the elastic force of the pusher spring 8-2 drives the pusher plate 8-1 to move, filling the recessed area with mortar from the grout storage tank 6-4, ensuring the smoothness of the grouting, making the mortar distribution more uniform, and saving mortar. By setting the grout storage tank 6-4, the mortar in the grout storage tank 6-4 will not fall off during the grouting process.

[0054] There are four plastering boards 6-3, and correspondingly, there are also four slurry storage tanks 6-4. Each slurry storage tank 6-4 is equipped with the adaptive pushing mechanism 8.

[0055] See Figures 8-10The adaptive feeding mechanism 8 further includes a guide limiting component, which includes a guide hole 8-3 on the disc 6-1, a guide rod 8-4 on the feeding plate 8-1, and a limiting head 8-5 at the end of the guide rod 8-4. The guide rod 8-4 is slidably connected to the guide hole 8-3, and the axis of the guide rod 8-4 is parallel to the axis of the disc 6-1. The feeding spring 8-2 is sleeved on the guide rod 8-4. In the above structure, the elastic force of the pusher spring 8-2 causes the limiting head 8-5 to press against the back of the disc 6-1, ensuring the stability of the pusher plate 8-1 installation. During the storage of mortar, the mortar storage tank 6-4 will overcome the elastic force of the pusher spring 8-2 and push the pusher plate 8-1 towards the disc 6-1. The mortar enters the mortar storage tank 6-4. At the same time, the limiting head 8-5 will separate from the back of the disc 6-1. The pusher plate 8-1 receives the elastic force and pushes the mortar to fill the depression and improve the grouting effect.

[0056] Furthermore, there are two guide limiting components and two pusher springs 8-2, with each guide limiting component and pusher spring 8-2 corresponding to one another. This is to ensure more stable force distribution on the pusher plate 8-1 and to improve the stability of its movement.

[0057] See Figures 1-7 The vehicle frame 1 is equipped with a vertical sliding frame 9, and a longitudinal sliding frame 10 is mounted on the vertical sliding frame 9. A vertical drive mechanism 3 is connected to the vertical sliding frame 9, and a longitudinal drive mechanism 4 is connected to the longitudinal sliding frame 10. The spraying device 2 is mounted on the longitudinal sliding frame 10. By providing the vertical sliding frame 9 and the longitudinal sliding frame 10, it is easier to move the spraying device 2 vertically and towards or away from the wall 21. This allows the longitudinal drive mechanism 4 and the vertical drive mechanism 3 to work together more effectively to drive the spraying device 2.

[0058] See Figures 1-7The longitudinal sliding frame 10 has a sleeve 11 at its end, and the nozzle 5 is located inside the sleeve 11. The through hole 6-2 is rotatably connected to the sleeve 11. The rotary drive mechanism 7 includes a rotary drive motor 7-1 mounted on the longitudinal sliding frame 10, a rotary drive driving gear 7-2 mounted on the main shaft of the rotary drive motor 7-1, and a rotary drive driven gear 7-3 mounted on the disc body 6-1. The rotary drive driving gear 7-2 and the rotary drive driven gear 7-3 mesh with each other. In the above structure, the rotary drive motor 7-1 drives the rotary drive driving gear 7-2 to rotate, which in turn drives the rotary drive driven gear 7-3 to rotate, thereby driving the grouting disc 6 to rotate on the sleeve 11 to achieve the grouting function. The sleeve 11 facilitates the installation of the nozzle 5 and the disc body 6-1.

[0059] See Figures 7-8 The sleeve 11 has a stepped protrusion at its end and a stepped mating part on the through hole 6-2. The stepped protrusion and the stepped mating part are connected to each other. The purpose is to ensure that the through hole 6-2 can be rotatably set on the sleeve 11, and at the same time to prevent the disc 6-1 from falling out of the sleeve 11, thus playing a limiting role.

[0060] See Figures 5-7 The longitudinal sliding frame 10 is provided with a grout delivery pipe 12. One end of the grout delivery pipe 12 is connected to a pump, and the other end is connected to the nozzle 5. An air delivery pipe 13 is connected to the grout delivery pipe 12 and is connected to an air source. When the nozzle 5 sprays grout, the air is sent into the grout delivery pipe 12 through the air delivery pipe 13, and the nozzle 5 sprays high-pressure gas along with mortar onto the wall surface 21.

[0061] See Figures 1-7The vertical drive mechanism 3 includes a vertical drive motor 3-1 mounted on the frame 1 and a lead screw and nut assembly 3-2. The main shaft of the vertical drive motor 3-1 is connected to the lead screw of the lead screw and nut assembly 3-2, and the vertical sliding frame 9 is connected to the nut of the lead screw and nut assembly 3-2. The longitudinal drive mechanism 4 includes a longitudinal drive motor 4-1 mounted on the vertical sliding frame 9, a longitudinal drive gear 4-2 mounted on the main shaft of the longitudinal drive motor 4-1, and a longitudinal drive rack 4-3 mounted on the longitudinal sliding frame 10. The longitudinal drive gear 4-2 and the longitudinal drive rack 4-3 mesh with each other. In the above structure, when the spraying device 2 needs to move up and down, the vertical drive motor 3-1 drives the lead screw to rotate, which can drive the nut to move up or down along the lead screw, thereby driving the vertical sliding frame 9 to move up or down, so that the longitudinal drive mechanism 4, the longitudinal sliding frame 10 and the spraying device 2 move together; when the spraying device 2 needs to move closer to or away from the wall, the longitudinal drive motor 4-1 drives the longitudinal drive gear 4-2 to move, thereby realizing the movement of the longitudinal drive rack 4-3, which in turn drives the longitudinal sliding frame 10 and the spraying device 2 to move together.

[0062] See Figure 5 The vertical sliding frame 9 is provided with a longitudinal guide groove 14, and the longitudinal drive rack 4-3 is slidably engaged with the longitudinal guide groove 14. The purpose is to further ensure the stability of the movement of the longitudinal sliding frame 10, thereby ensuring the stability of the movement of the spraying device 2.

[0063] See Figures 1-4 The vehicle frame 1 is vertically equipped with multiple guide sliding rods 15, and the vertical sliding frame 9 is equipped with multiple guide sleeves 16. The multiple guide sliding rods 15 and multiple guide sleeves 16 are arranged in a one-to-one correspondence and are connected to each other. By setting the above structure, the stability of the movement of the vertical sliding frame 9 is ensured, thereby ensuring the stability of the movement of the spraying device 2.

[0064] See Figures 1-4 and Figures 11-13 The mobile steering device includes four traveling wheels 17 disposed below the frame 1, a wheel frame 18 disposed between each traveling wheel 17 and the frame 1, a steering drive mechanism 19 for driving the four traveling wheels 17 to turn synchronously, and a mobile drive mechanism 20 for driving two adjacent traveling wheels 17 to rotate. The upper end of the wheel frame 18 is rotatably connected to the frame 1, and the traveling wheels 17 are rotatably connected to the lower end of the wheel frame 18.

[0065] See Figures 1-4 and Figures 11-13The steering drive mechanism 19 includes a steering drive motor 19-1 fixed to the frame 1, a drive pulley 19-2 disposed on the upper end of one of the wheel carriers 18, a driven pulley 19-3 disposed on the upper end of the remaining wheel carriers 18, and a belt 19-4 sequentially connected to the drive pulley 19-2 and each driven pulley 19-3. The steering drive motor 19-1 drives the drive pulley 19-2 to rotate, and through the transmission of the belt 19-4, the driven pulleys 19-3 also move synchronously, achieving synchronous steering of the four wheels 17. This provides high steering flexibility and allows for 360° steering.

[0066] See Figures 11-13 The frame 1 is equipped with four tensioning guide wheels 19-5, which are used to tension the belt 19-4, ensuring the accuracy of the belt 19-4 transmission and thus ensuring the accuracy of synchronous steering.

[0067] See Figures 1-4 and Figures 11-13 The mobile drive mechanism 20 includes a transmission mechanism disposed between two wheel frames 18 and a mobile drive motor 20-1 disposed on one of the wheel frames 18. The main shaft of the mobile drive motor 20-1 is connected to the traveling wheel 17. The transmission mechanism includes two sets of symmetrically arranged transmission components 20-2. Each set of transmission components 20-2 includes a mounting plate 20-21, a transmission drive gear 22-22 coaxially disposed with the traveling wheel 17, a transmission driven gear 20-23 disposed on the mounting plate 20-21, and a transition gear 20-24 coaxially disposed with the transmission driven gear 20-23. The transmission drive gear 22-22 and the transmission driven gear 20-23 mesh with each other, and the axis of the transmission drive gear 22-22 is perpendicular to the axis of the transmission driven gear 20-23. The two transition gears 20-24 mesh with each other. By setting up the above structure, when the mobile drive motor 20-1 drives one of the walking wheels 17 to rotate, it will drive the corresponding transmission drive gear 22-22 to rotate, which in turn drives the transmission driven gear 20-23 to rotate, and drives the transition gear 20-24 to rotate. The transition gear 20-24 will drive another transition gear 20-24 to rotate, which will drive another transmission driven gear 20-23 to rotate, and drive another transmission drive gear 22-22 to rotate, ultimately driving the other walking wheel 17 to rotate. This achieves synchronous rotation of two adjacent walking wheels 17. By driving two walking wheels 17 to rotate with one mobile drive motor 20-1, resources are saved. In addition, by setting up the transmission mechanism, the operation of the mobile drive mechanism 20 will not be affected when each walking wheel 17 turns, so that turning and moving can be carried out synchronously, improving the flexibility of the frame 1's movement.

[0068] In this embodiment, the mobile drive mechanism 20 is mounted on two wheels 17 near one end of the spraying device 2.

[0069] The driving gear 22-22 and the driven gear 20-23 can be bevel gears.

[0070] See Figures 1-7 The working principle of the above-mentioned automatic mortar spraying equipment is as follows:

[0071] During operation, the moving steering device drives the frame 1 to move until it reaches the spraying station. The moving steering device then turns the frame 1 so that the spraying device 2 is directly facing the wall 21. The moving steering device then stops, and the longitudinal drive mechanism 4 drives the spraying device 2 towards the wall 21 until the mortar applicator 6 maintains a set distance from the wall. This set distance is suitable for the spray nozzle 5 to spray mortar and for the mortar applicator to apply it. Next, the nozzle 5 sprays mortar onto the wall, while the rotation drive mechanism 7 drives the mortar applicator 6 to rotate, smoothing the mortar on the wall. The vertical drive mechanism 3 then drives the spraying device 2 to gradually move upwards, smoothing the wall surface upwards. For spraying and coating, the further the coating disc 6 is from the wall, the greater the flow rate of mortar sprayed by the nozzle 5, and vice versa. When the vertical drive mechanism 3 drives the spraying device 2 to the highest point, the moving steering device drives the frame 1 to move laterally, that is, to move in a direction parallel to the wall. Then the vertical drive mechanism 3 drives the spraying device 2 to move downward to spray and coat the wall downward. When the vertical drive mechanism 3 drives the spraying device 2 to the lowest point, the moving steering device drives the frame 1 to move laterally. Then the vertical drive mechanism 3 drives the spraying device 2 to move gradually upward to spray and coat the wall upward. Repeat the above steps to spray and coat the entire wall surface.

[0072] See Figure 1 The horizontal direction is the X-axis direction, the vertical direction is the Y-axis direction, and the vertical direction is the Z-axis direction.

[0073] Example 2

[0074] See Figures 1-7 This embodiment discloses an automatic mortar spraying process, which is applied to the automatic mortar spraying equipment described in Embodiment 1, and includes the following steps:

[0075] (1) The moving steering device drives the frame 1 to move until the frame 1 moves to the spraying station. The moving steering device drives the frame 1 to turn so that the spraying device 2 is facing the wall. Then the moving steering device stops driving.

[0076] (2) The longitudinal drive mechanism 4 drives the spraying device 2 to move towards the wall until the grouting plate 6 maintains a set distance from the wall;

[0077] (3) The nozzle 5 sprays mortar onto the wall surface, and at the same time the rotating drive mechanism 7 drives the mortar trowel 6 to rotate, smoothing the mortar on the wall surface.

[0078] (4) The vertical drive mechanism 3 drives the spraying device 2 to move upward gradually, spraying and coating the wall surface upward;

[0079] (5) When the vertical drive mechanism 3 drives the spraying device 2 to the highest position, the moving steering device drives the frame 1 to move laterally a specified distance, and then the vertical drive mechanism 3 drives the spraying device 2 to move downward to spray and coat the wall surface downward.

[0080] (6) When the vertical drive mechanism 3 drives the spraying device 2 to the lowest position, the moving steering device drives the frame 1 to move laterally a specified distance.

[0081] (7) Repeat steps (4)-(6) to complete the spraying and coating of the entire wall surface.

[0082] See Figures 1-7 The specified distance by which the frame 1 moves laterally is greater than the radius of the grouting disc 6 and less than the diameter of the grouting disc. The purpose is to ensure that the wall surface can be sprayed and coated in one go, and to prevent some omissions that would require repeated construction.

[0083] Example 3

[0084] See Figure 14 In this embodiment, the other structures are the same as in Embodiment 1, except that an adaptive spring 22 is fitted onto the sleeve 11. One end of the adaptive spring 22 acts on the longitudinal sliding frame 10, and the other end acts on the longitudinal driven gear. By setting the above structure, during the application of mortar by the mortar-applying disc 6, the elasticity of the adaptive spring 22 will cause the entire mortar-applying disc 6 to press firmly against the mortar on the wall, ensuring that the mortar application on the wall is more solid and firm.

[0085] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An automatic mortar spraying device, characterized in that, The system includes a frame, a moving and steering device disposed at the bottom of the frame for driving the frame to move and steer, a painting device disposed on the frame, a vertical drive mechanism for driving the painting device to move vertically on the frame, and a longitudinal drive mechanism for driving the painting device to move along the longitudinal direction; wherein, The spraying device includes a spray head, a slurry applicator disposed at the nozzle of the spray head, and a rotary drive mechanism for driving the slurry applicator to rotate. The grouting tray includes a tray body, a through hole at the center of the tray body, and multiple grouting plates disposed on the tray body; wherein, the multiple grouting plates are evenly distributed along the circumferential direction, and the axis of the through hole coincides with the axis of the nozzle. A slurry storage tank is provided between two adjacent slurry slabs. An adaptive pushing mechanism is provided on the slurry storage tank. The adaptive pushing mechanism includes a pushing plate and a pushing spring disposed between the pushing plate and the disc body. One end of the pushing spring acts on the pushing plate, and the other end of the pushing spring acts on the disc body. The adaptive feeding mechanism further includes a guide and limiting component, which includes a guide hole on the disc body, a guide rod on the feeding plate, and a limiting head at the end of the guide rod. The guide rod is slidably connected to the guide hole, and the axis of the guide rod is parallel to the axis of the disc body. The feeding spring is sleeved on the guide rod.

2. The automatic mortar spraying equipment according to claim 1, characterized in that, The plastering slab is arc-shaped, and the arc protrudes in the direction of rotation of the plastering slab.

3. The automatic mortar spraying equipment according to claim 1, characterized in that, The vehicle frame is provided with a vertical sliding frame, and the vertical sliding frame is provided with a longitudinal sliding frame; the vertical drive mechanism is connected to the vertical sliding frame, the longitudinal drive mechanism is connected to the longitudinal sliding frame, and the spraying device is disposed on the longitudinal sliding frame.

4. The automatic mortar spraying equipment according to claim 3, characterized in that, The end of the longitudinal sliding frame is provided with a sleeve, the nozzle is located inside the sleeve, and the through hole is rotatably connected to the sleeve; the rotary drive mechanism includes a rotary drive motor disposed on the longitudinal sliding frame, a rotary drive drive gear disposed on the main shaft of the rotary drive motor, and a rotary drive driven gear disposed on the disc body, wherein the rotary drive drive gear and the rotary drive driven gear mesh with each other.

5. The automatic mortar spraying equipment according to claim 3, characterized in that, The vertical drive mechanism includes a vertical drive motor mounted on the frame and a lead screw and nut assembly. The main shaft of the vertical drive motor is connected to the lead screw of the lead screw and nut assembly, and the vertical sliding frame is connected to the nut of the lead screw and nut assembly. The longitudinal drive mechanism includes a longitudinal drive motor mounted on the vertical sliding frame, a longitudinal drive gear mounted on the main shaft of the longitudinal drive motor, and a longitudinal drive rack mounted on the longitudinal sliding frame. The longitudinal drive gear and the longitudinal drive rack mesh with each other.

6. The automatic mortar spraying equipment according to claim 1, characterized in that, The mobile steering device includes four traveling wheels disposed below the vehicle frame, a wheel frame disposed between each traveling wheel and the vehicle frame, a steering drive mechanism for driving the four traveling wheels to turn synchronously, and a mobile drive mechanism for driving two adjacent traveling wheels to rotate. The upper end of the wheel frame is rotatably connected to the vehicle frame, and the traveling wheels are rotatably connected to the lower end of the wheel frame. The steering drive mechanism includes a steering drive motor fixed on the frame, a drive pulley disposed on the upper end of one of the wheel frames, a driven pulley disposed on the upper end of the remaining wheel frames, and belts sequentially connected to the drive pulley and each driven pulley. The mobile drive mechanism includes a transmission mechanism disposed between two wheel frames and a mobile drive motor disposed on one of the wheel frames. The main shaft of the mobile drive motor is connected to the traveling wheel. The transmission mechanism includes two sets of symmetrically arranged transmission components. Each set of transmission components includes a mounting plate, a transmission drive gear coaxially disposed with the traveling wheel, a transmission driven gear disposed on the mounting plate, and a transition gear coaxially disposed with the transmission driven gear. The transmission drive gear and the transmission driven gear mesh with each other, and the axis of the transmission drive gear is perpendicular to the axis of the transmission driven gear. The two transition gears mesh with each other.

7. An automatic mortar spraying process, characterized in that, The automatic mortar spraying process is applied to the automatic mortar spraying equipment as described in any one of claims 1-6, and the automatic mortar spraying process includes the following steps: (1) The moving steering device drives the frame to move until the frame moves to the spraying station. The moving steering device drives the frame to turn so that the spraying device is facing the wall. Then the moving steering device stops driving. (2) The longitudinal drive mechanism drives the spraying device to move towards the wall until the grouting tray maintains a set distance from the wall; (3) The nozzle sprays mortar onto the wall surface, and at the same time the rotating drive mechanism drives the mortar trowel to rotate, smoothing the mortar on the wall surface; (4) The vertical drive mechanism drives the spraying device to move upward gradually, spraying and coating the wall surface upward; (5) When the vertical drive mechanism drives the spraying device to the highest point, the moving steering device drives the frame to move laterally a specified distance, and then the vertical drive mechanism drives the spraying device to move downward to spray and coat the wall surface downward. (6) When the vertical drive mechanism drives the spraying device to the lowest position, the moving steering device drives the vehicle frame to move laterally a specified distance; (7) Repeat steps (4)-(6) to complete the spraying and coating of the entire wall surface.

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