Nozzle structure and mud self-adaptive thickness control method

Abstract

The present application provides a nozzle structure, comprising a straight cylinder pipe section, an acceleration pipe section, a mixing pipe section and several bionic parts, wherein the straight cylinder pipe section is hollow inside for mud inflow; the acceleration pipe section is arranged on one side end face of the straight cylinder pipe section and is communicated with the straight cylinder pipe section, and the acceleration pipe section is used for extruding or blocking the inflow mud; the mixing pipe section is arranged on the side of the acceleration pipe section away from the straight cylinder pipe section and is communicated with the acceleration pipe section, and the axis of the mixing pipe section is in the same straight line with the axes of the acceleration pipe section and the straight cylinder pipe section; the several bionic parts are arranged in the mixing pipe section, and the bionic parts are used for mixing or blocking the inflow mud, the nozzle structure can prevent the phenomenon of nozzle dripping caused by the free outflow of mud or concrete raw materials when the pipeline is not pressurized, avoid unnecessary loss of mud or concrete raw materials, and effectively ensure the production quality.

Description

Technical Field

[0001] This invention relates to the field of robotic masonry construction technology, and in particular to a nozzle structure and a method for adaptive mud thickness control. Background Technology

[0002] With the rapid development of artificial intelligence technology, the construction industry has also begun to use this technology to improve work efficiency and address labor shortages. Masonry robots can perform various complex tasks, such as bricklaying, welding, and painting, and can complete various construction tasks well. At the same time, they can also achieve autonomous collaborative operation by connecting with other intelligent devices, improving the overall efficiency of construction while ensuring safety.

[0003] CN113969669A discloses an intelligent bricklaying robot system, including a movable robotic arm. The tool end of the robotic arm is equipped with a gripper for grasping bricks and a mortar extrusion device for applying mortar. After the robotic arm grasps the bricks, it directly transports the bricks to the bricklaying position. At the same time, the mortar extrusion device also follows to the bricklaying position, directly applying mortar to the bricklaying position. Then, the bricks are immediately placed on the mortar to complete the bricklaying.

[0004] Currently, masonry robots typically use pipe nozzles to apply concrete or slurry. Since the nozzles are made of stainless steel, the problem is that when the pipe is not pressurized, the slurry or concrete material flows out freely, causing the nozzle to drip. This results in unnecessary loss of slurry or concrete material and makes it impossible to guarantee the uniformity of the slurry thickness. Summary of the Invention

[0005] In view of this, the present invention proposes a nozzle structure and a method and system for adaptive thickness control of mud, which solves the problems of rational control of mud extrusion thickness and nozzle dripping when mud or concrete raw materials flow freely out of the pipeline without pressure, thus avoiding unnecessary loss of mud or concrete raw materials.

[0006] The technical solution of this invention is implemented as follows: Firstly, this invention provides a nozzle structure, comprising a straight tube section, an acceleration tube section, a mixing tube section, and several biomimetic parts, wherein...

[0007] The straight pipe section is hollow inside to allow slurry to flow in;

[0008] An acceleration pipe section is installed on one end face of a straight pipe section and the two are connected. The acceleration pipe section is used to squeeze or block the flowing mud.

[0009] The mixing pipe section is located on the side of the acceleration pipe section away from the straight pipe section, and the two are connected. The axis of the mixing pipe section is on the same straight line as the axes of the acceleration pipe section and the straight pipe section.

[0010] Several biomimetic parts are installed inside the mixing pipe section, and the biomimetic parts are used to mix or block the incoming mud.

[0011] Based on the above technical solutions, preferably, the outer surface of the accelerating pipe section is converged towards the end close to the mixing pipe section, the planar end of the accelerating pipe section is connected to the end face of the straight pipe section, and the outline of the accelerating pipe section is one of hemispherical, ellipsoidal, frustum or conical.

[0012] Based on the above technical solutions, preferably, the bionic parts are arranged vertically at intervals within the hybrid pipe section, and adjacent bionic parts are arranged in staggered positions on the vertical projection plane, and the bionic parts have a branch structure.

[0013] Based on the above technical solutions, preferably, the bionic part includes a main section and branch sections, wherein,

[0014] There are several main sections, and one end of each main section is set towards the accelerating pipe section and the aggregation point is located on the axial line of the mixing pipe section. Each main section has symmetrically distributed branch sections fixed on its outer side, and each branch section is on the same plane as the main section it is connected to.

[0015] The two adjacent main sections form a 90° angle in the vertical projection direction, and the main section forms a 60° angle with the axial line of the mixed pipe section;

[0016] The other ends of the main sections and branch sections are all fixed to the inner wall of the mixing pipe section.

[0017] Based on the above technical solutions, a preferred option also includes an outlet pipe section, wherein...

[0018] The outlet pipe section is cylindrical and is located on the side of the mixing pipe section away from the acceleration pipe section, and the two are connected. The outlet pipe section and the mixing pipe section have the same inner diameter, and the axis of the outlet pipe section and the axis of the mixing pipe section are on the same straight line.

[0019] The outer side of the outlet pipe section is provided with several triangular grooves for spreading mud onto the surface of the bricks. The triangular grooves are all located near the end face of the outlet pipe section away from the mixing pipe section. The triangular grooves are evenly distributed in a ring along the axis of the outlet pipe section. The angle of the triangular grooves is 30-120°.

[0020] Secondly, the present invention also provides a mud adaptive thickness control method, with the nozzle structure described above, comprising the following steps:

[0021] S1, the mud enters the straight pipe section through the pumped mud pipe, and then flows into the mixing pipe section after being accelerated through the acceleration pipe section. The mixing pipe section mixes the incoming mud and then flows out through the outlet pipe section. The speed of the mud flowing into the straight pipe section and the speed of the mud flowing out of the outlet section are measured.

[0022] S2, calculate the dissipation rate of the mud flow velocity and the flow rate of the nozzle per unit time based on the velocity of the mud flowing into the straight pipe section and the velocity of the mud flowing out of the outlet pipe section.

[0023] S3, preset the nozzle moving speed, obtain the width of the brick coating surface, calculate the ideal flat area, and calculate the ideal flat thickness based on the ideal flat area and the flow rate of the nozzle per unit time.

[0024] S4, place the bricks on the mud surface prepared in step S1, measure the mud thickness under the actual state after extrusion, and calculate the loss rate of mud after extrusion.

[0025] S5, preset the remaining slurry thickness, calculate the nozzle movement speed based on the preset remaining slurry thickness, and control the slurry thickness.

[0026] Based on the above technical solutions, preferably, in step S, the dissipation rate of the mud flow velocity and the flow rate of the nozzle per unit time are calculated based on the velocity of the mud flowing into the straight pipe section and the velocity of the mud flowing out of the outlet pipe section.

[0027] The formula for calculating the dissipation rate of the mud flow velocity is:

[0028]

[0029] In the formula, η1 is the dissipation rate of the mud flow velocity, V1 is the velocity of the mud flowing into the straight pipe section (1), and V2 is the velocity of the mud flowing out of the outlet pipe section.

[0030] The expression for calculating the flow rate out of the nozzle per unit time is:

[0031]

[0032] In the formula, Q is the flow rate out of the nozzle per unit time, and S 喷嘴 V1 is the cross-sectional area of ​​the end face of the outlet pipe section away from the mixing pipe section, d is the diameter of the end face of the outlet pipe section away from the mixing pipe section, and V2 is the velocity of the mud flowing out of the outlet pipe section.

[0033] Based on the above technical solutions, preferably, in step S3, the preset nozzle moving speed is used to obtain the width of the brick coating surface, calculate the ideal paving area, and calculate the ideal paving thickness based on the ideal paving area and the flow rate of the nozzle per unit time.

[0034] The expression for calculating the tiling area under the ideal condition is as follows:

[0035] L = n * d;

[0036] S 铺 =tV3nd;

[0037] In the formula, S 铺 The ideal paving area is t, the nozzle moving time is V3, the nozzle moving speed is d, the diameter of the end face of the outlet pipe section away from the mixing pipe section is n, the number of paving passes is n, and the width of the brick coating surface is L.

[0038] The expression for calculating the tiling thickness under the ideal condition is as follows:

[0039]

[0040] In the formula, h 理想 The ideal tiling thickness is given by t, where t is the nozzle travel time, Q is the flow rate from the nozzle per unit time, and S is the flow rate from the nozzle per unit time. 铺 This represents the ideal tiled area.

[0041] Based on the above technical solutions, preferably, in step S4, the bricks are placed on the surface of the mud prepared in step S1, the thickness of the mud after extrusion is measured, and the loss rate of the mud after extrusion is calculated.

[0042] The formula for calculating the loss rate after mud compression is as follows:

[0043]

[0044] In the formula, η2 is the loss rate after mud extrusion, and h 挤压 The thickness of the slurry after compression.

[0045] Based on the above technical solutions, preferably, in step S5, the preset residual slurry thickness is determined by calculating the nozzle's moving speed based on the preset residual slurry thickness, thereby controlling the slurry thickness.

[0046] The formula for calculating the predicted residual slurry thickness H is as follows:

[0047]

[0048] In the formula, H is the preset thickness of the remaining slurry after compression.

[0049] The nozzle structure and mud adaptive thickness control method of the present invention have the following advantages over the prior art:

[0050] (1) When the pump pressurizes the mud, the mud enters the straight pipe section through the pump mud pipe, and then flows into the mixing pipe section after being accelerated by the acceleration pipe section. Several bionic parts mix the incoming mud and then flow out through the outlet pipe section. When there is no pressurization, the acceleration pipe section can act as the first barrier to inhibit the free flow of mud and reduce the loss of mud. At the same time, several bionic parts act as the second barrier when there is no pressurization to inhibit the free flow of mud and further reduce the loss of mud, avoid the phenomenon of nozzle dripping, reduce unnecessary loss of mud or concrete raw materials, and effectively ensure production quality.

[0051] (2) By setting up an arc-shaped convergence and pressure extrusion acceleration structure in the acceleration pipe section, the flow rate of mud can be increased and the entry of mud can be accelerated when pressurized; when not pressurized, it can act as the first barrier to inhibit the free flow of mud and reduce mud loss. At the same time, the arc-shaped structure can reduce particle friction and thus reduce energy dissipation, and facilitate cleaning.

[0052] (3) By setting two bionic parts at a 45° angle, the mud can be mixed evenly under pressure, enhancing the uniformity of the mud; it can also suppress the free flow of mud under no pressure, further reducing mud loss. At the same time, the cylindrical branch structure can reduce the contact area of ​​particle impact friction, thereby reducing energy dissipation and facilitating cleaning.

[0053] (4) By calculating the loss rate after slurry extrusion, the required nozzle moving speed can be further predicted when the thickness of the remaining slurry after extrusion is given. The thickness of the slurry can be controlled by adjusting the moving speed of the nozzle. Conversely, if the moving speed of the nozzle is known, the thickness of the remaining slurry after extrusion can be predicted. In addition, if the thickness of the remaining slurry after extrusion and the moving speed of the nozzle are known, the inflow speed of the slurry can be predicted based on the flow rate dissipation rate. By precisely controlling the moving speed of the nozzle, it can be ensured that the slurry is applied more evenly on the surface of the bricks. A uniform coating thickness helps to improve the overall quality and stability of the building structure. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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.

[0055] Figure 1This is a perspective view of a nozzle structure according to the present invention;

[0056] Figure 2 This is a front view of a nozzle structure according to the present invention;

[0057] Figure 3 A nozzle structure according to the present invention Figure 2 Enlarged view of a portion of point A in the middle;

[0058] Figure 4 This is a perspective view of the biomimetic part structure within a hybrid pipe section of a nozzle structure according to the present invention.

[0059] Figure 5 This is a top view of the biomimetic section structure within a hybrid tube segment of a nozzle structure according to the present invention;

[0060] Figure 6 This is a top view of the biomimetic part of a nozzle structure according to the present invention;

[0061] Figure 7 This is a side view of the biomimetic part of a nozzle structure according to the present invention;

[0062] Figure 8 This is a side view of the outlet pipe section of a nozzle structure according to the present invention;

[0063] Figure 9 This is a flowchart of a mud adaptive thickness control method according to the present invention. Detailed Implementation

[0064] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a section of the pipe, not embodiments of the entire pipe section. 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.

[0065] like Figure 1-8 As shown, a nozzle structure of the present invention includes a straight tube section 1, an acceleration tube section 2, a mixing tube section 3, several bionic parts 4, and an outlet tube section 5. The straight tube section 1 is hollow inside and is used for slurry inflow. The acceleration tube section 2 is disposed on one end face of the straight tube section 1 and the two are connected. The acceleration tube section 2 is used to squeeze or block the inflowing slurry. The mixing tube section 3 is disposed on the side of the acceleration tube section 2 away from the straight tube section 1 and the two are connected. Several bionic parts 4 are disposed inside the mixing tube section 3 and are used to mix or block the inflowing slurry. The outlet tube section 5 is cylindrical and is disposed on the side of the mixing tube section 3 away from the acceleration tube section 2 and the two are connected.

[0066] Among them, the mixing pipe section 3, the acceleration pipe section 2, the straight pipe section 1, several bionic parts 4 and the outlet pipe section 5 are all located on the same central axis.

[0067] It should be noted that when the pump pressurizes, the slurry enters the straight pipe section 1 through the pumping slurry pipeline, and then flows into the mixing pipe section 3 after being accelerated by the acceleration pipe section 2. Several bionic parts 4 mix the flowing slurry and then it flows out through the outlet pipe section 5. When there is no pressurization, the acceleration pipe section 2 can act as the first barrier to inhibit the free flow of slurry and reduce slurry loss. At the same time, several bionic parts 4 act as the second barrier to inhibit the free flow of slurry when there is no pressurization, further reducing slurry loss and avoiding the phenomenon of nozzle dripping. This reduces unnecessary loss of slurry or concrete raw materials and effectively ensures production quality.

[0068] In this embodiment, the straight pipe section 1 is cylindrical, and the outer side of the straight pipe section 1 is provided with a connecting external thread groove 100 for threadedly connecting the nozzle to the external pumping mud pipe, so that the nozzle as a whole is sealed and tightly connected to the mud pipe to prevent leakage of mud during the transmission process.

[0069] In this embodiment, the outer surface of the acceleration tube section 2 is converged towards the end close to the mixing tube section 3. The planar end of the acceleration tube section 2 is connected to the end face of the straight tube section 1. The outline of the acceleration tube section 2 is one of hemispherical, ellipsoidal, frustum or conical.

[0070] It should be noted that the acceleration section 2 is located below the straight pipe section 1 and is used to aggregate the input mud fluid to increase the fluid pressure and increase the fluid flow rate, so that the mud mixture can enter the downstream faster; and, in this embodiment, the preferred outline of the acceleration section 2 is hemispherical.

[0071] In addition, in this embodiment, the diameter of the planar end of the accelerating pipe section 2 is the same as the diameter of the straight pipe section 1, and the size ratio of the planar end face to the aggregation end face of the accelerating pipe section 2 is 3:1. Its working principle is as follows: on the one hand, when pressurized, the slurry enters the accelerating pipe section 2 from the straight pipe section 1 and expands to both sides. After impacting the arc-shaped structure, it aggregates and restricts the flow range of the slurry, so that the slurry is confined in a small area, increasing the velocity and flow kinetic energy of the slurry. At the same time, the slurry can generate a pressure gradient during the flow process. This pressure gradient will drive the fluid to flow rapidly in the structure, thereby achieving fluid acceleration. On the other hand, when not pressurized, it can act as a first blocking part to prevent the free flow of slurry, which helps to reduce slurry loss and suppress the occurrence of dripping. In addition, since the contour of the accelerating pipe section 2 is hemispherical and the inner cavity is arc-shaped, it can reduce particle friction, prevent slurry retention, and facilitate cleaning.

[0072] In this embodiment, the acceleration pipe section 2 effectively accelerates and restricts the mud fluid, increasing the flow rate and pressure of the mud while reducing particle friction and mud retention. This not only improves the working efficiency of the nozzle but also helps reduce mud loss and dripping.

[0073] In this embodiment, several bionic parts 4 are arranged vertically at intervals within the mixing pipe section 3, and adjacent bionic parts 4 are arranged in staggered positions on the vertical projection plane, with the bionic parts 4 having a branch structure.

[0074] It should be noted that the mixing section 3 is located below the acceleration section 2, and the two are closely connected. Several bionic parts 4 inside the mixing section 3 are placed at a 45° staggered arrangement. During the flow of the mud, more eddies and turbulence are generated, which allows the components in the mud to be mixed more thoroughly and improves the mixing uniformity. At the same time, when the nozzle is not pressurized, it can act as a second blocking part to prevent the free flow of mud fluid. The branch structure of the bionic parts 4 requires the mud to bypass multiple obstacles during the flow, thereby increasing the flow resistance, effectively preventing mud dripping and reducing mud loss.

[0075] Specifically, in this embodiment, there are two bionic parts 4, which are arranged vertically at intervals, and the angle between the two bionic parts 4 differs by 45°.

[0076] In this embodiment, the bionic section 4 includes a main section 41 and branch sections 42. There are several main sections 41, and one end of each main section 41 is converged towards the acceleration tube section 2, with the convergence point located on the axial line of the mixing tube section 3. Each main section 41 has symmetrically distributed branch sections 42 fixed on its outer side, and each branch section 42 is on the same plane as the main section 41 connected to it. Two adjacent main sections 41 form a 90° angle in the vertical projection direction, and the main section 41 forms a 60° angle with the axial line of the mixing tube section 3. The other ends of the main sections 41 and the branch sections 42 are fixed to the inner wall of the mixing tube section 3.

[0077] Specifically, the bionic part 4 includes four main sections 41, which are evenly arranged at 90°. Each main section 41 contains three branch sections 42. The angle between two adjacent branch sections 42 is 49.31°, and the angle between two relative main sections 41 is 120°. This angle can buffer the collision force applied by the mud fluid when it enters the contact area, reducing energy loss. At the same time, both the main sections 41 and the branch sections 42 are cylindrical. The cylindrical structure can also prevent the mud fluid from remaining. In addition, the cylindrical structure can also reduce particle friction, thereby reducing energy dissipation and facilitating cleaning.

[0078] In this embodiment, the outlet pipe section 5 has the same inner diameter as the mixing pipe section 3; a number of triangular grooves 500 are provided on the outer side of the outlet pipe section 5 for spreading mud onto the surface of the bricks. The number of triangular grooves 500 are all located near the end face of the outlet pipe section 5 away from the mixing pipe section 3. The number of triangular grooves 500 are evenly distributed in a ring along the axis of the outlet pipe section 5. The angle of the triangular grooves 500 is 30-120°.

[0079] It should be noted that the outlet pipe section 5 is located below the mixing pipe section 3 and is used for the outflow of mud mixture; the triangular groove 500 is connected to the outlet pipe section 5, and the angle of the triangular groove 500 is 30-120°, which can evenly spread the outflowing mud on the surface of the brick to meet different brick widths, while also allowing the nozzle to move freely in all directions, so as to achieve uniform mud spreading and free movement of the nozzle.

[0080] Specifically, in this embodiment, the triangular groove 500 is opened at an angle of 95.45°. The triangular groove 500 can achieve uniform spreading of the sprayed mud fluid. At the same time, different angles of the triangular groove 500 can also adjust the thickness of the mud slurry, further controlling the thickness of the mud slurry. On the other hand, the triangular groove 500 can improve the flexibility and freedom of the nozzle movement, enabling smooth left-right and forward-backward movement while avoiding the loss of spread mud, ensuring the uniformity of the spreading area, and ensuring the spreading rate of the mud fluid.

[0081] Furthermore, for ease of cleaning, all parts of the nozzle in this embodiment are made of stainless steel. Stainless steel has excellent corrosion resistance, resisting the erosion of most chemicals, including acids and alkalis, and has excellent durability. It also has high wear resistance, is not easily worn, and has a long service life. In addition, stainless steel has high strength, preventing nozzle compression. Compared to other materials, stainless steel has a smooth and flat surface, does not easily adhere to dirt, and is easy to clean.

[0082] like Figure 9 As shown, in a second aspect, the present invention also provides a mud adaptive thickness control method, with the nozzle structure described above, comprising the following steps:

[0083] S1, the mud enters the straight pipe section 1 through the pumped mud pipe, and then flows into the mixing pipe section 3 after being accelerated through the acceleration pipe section 2. The mixing pipe section 3 mixes the mud flowing in and then flows out through the outlet pipe section 5. The speed of the mud flowing into the straight pipe section 1 and the speed of the mud flowing out of the outlet pipe section 5 are measured.

[0084] S2, based on the velocity of the mud flowing into the straight pipe section 1 and the velocity of the mud flowing out of the outlet pipe section 5, calculate the dissipation rate of the mud flow velocity and the flow rate of the nozzle per unit time.

[0085] The expression for calculating the dissipation rate of the mud flow velocity is as follows:

[0086]

[0087] In the formula, η1 is the dissipation rate of the mud flow velocity, V1 is the velocity of the mud flowing into the straight pipe section 1, and V2 is the velocity of the mud flowing out of the outlet pipe section 5.

[0088] The expression for calculating the flow rate out of the nozzle per unit time is:

[0089]

[0090] In the formula, Q is the flow rate of the nozzle per unit time, and S... 喷嘴 d is the cross-sectional area of ​​the end face of the outlet pipe section 5 away from the mixing pipe section 3, d is the diameter of the end face of the outlet pipe section 5 away from the mixing pipe section 3, and V2 is the velocity of the mud flowing out of the outlet pipe section 5.

[0091] S3, preset the nozzle moving speed, obtain the width of the brick coating surface, calculate the ideal flat area, and calculate the ideal flat thickness based on the ideal flat area and the flow rate of the nozzle per unit time.

[0092] The expression for calculating the tiling area under the ideal condition is as follows:

[0093] L = n * d;

[0094] S 铺 =tV3nd;

[0095] In the formula, S 铺 The ideal paving area is t, the nozzle moving time is V3, the nozzle moving speed is d, the diameter of the end face of the outlet pipe section 5 away from the mixing pipe section 3 is n, the number of paving times is n, and the width of the brick coating surface is L.

[0096] The expression for calculating the tiling thickness under the ideal condition is as follows:

[0097]

[0098] In the formula, h 理想 The ideal tiling thickness is given by t, where t is the nozzle travel time, Q is the flow rate from the nozzle per unit time, and S is the flow rate from the nozzle per unit time. 铺 This represents the ideal tiled area.

[0099] S4, place the bricks on the mud surface prepared in step S1, measure the mud thickness under the actual state after extrusion, and calculate the loss rate of mud after extrusion.

[0100] The formula for calculating the loss rate after mud compression is as follows:

[0101]

[0102] In the formula, η2 is the loss rate after mud extrusion, and h 挤压 The thickness of the slurry after compression.

[0103] S5, preset the remaining slurry thickness, calculate the nozzle movement speed based on the preset remaining slurry thickness, and control the slurry thickness.

[0104] The calculation expression for the predicted residual slurry thickness H is as follows:

[0105]

[0106] In the formula, H is the preset thickness of the remaining slurry after compression.

[0107] When applying mortar, the thickness H of the mortar can be controlled by adjusting the nozzle moving speed V3. Conversely, if the nozzle moving speed V3 is known, the thickness H of the remaining mortar after squeezing can be predicted. Furthermore, if the thickness H of the remaining mortar after squeezing is known, the inflow velocity V1 of the mortar can be predicted based on the flow rate dissipation rate. By precisely controlling the nozzle moving speed, it can be ensured that the mortar is applied more evenly to the brick surface. A uniform application thickness helps to improve the overall quality and stability of the building structure.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A nozzle structure, characterized in that, It includes a straight tube section (1), an acceleration tube section (2), a mixing tube section (3), and several biomimetic parts (4), among which, The straight pipe section (1) is hollow inside for mud to flow in; The acceleration pipe section (2) is set on one end face of the straight pipe section (1) and the two are connected. The acceleration pipe section (2) is used to squeeze or block the flowing mud. The mixing pipe section (3) is located on the side of the acceleration pipe section (2) away from the straight pipe section (1), and the two are connected. The axis of the mixing pipe section (3) is on the same straight line as the axis of the acceleration pipe section (2) and the straight pipe section (1). Several bionic parts (4) are arranged in the mixing pipe section (3), and the bionic parts (4) are used to mix or block the flowing mud; The bionic parts (4) are arranged vertically and intermittently within the hybrid pipe section (3), and two adjacent bionic parts (4) are arranged in staggered positions on the vertical projection plane. The bionic parts (4) have a branch structure. It also includes the outlet pipe section (5), in which, The outlet pipe section (5) is cylindrical and is located on the side of the mixing pipe section (3) away from the acceleration pipe section (2), and the two are connected. The outlet pipe section (5) has the same inner diameter as the mixing pipe section (3), and the axis of the outlet pipe section (5) is on the same straight line as the axis of the mixing pipe section (3). The outer side of the outlet pipe section (5) is provided with several triangular grooves (500) for spreading mud on the surface of the bricks. The several triangular grooves (500) are all set close to the end face of the outlet pipe section (5) away from the mixing pipe section (3). The several triangular grooves (500) are evenly distributed in a ring along the axis of the outlet pipe section (5). The angle of the triangular grooves (500) is 30-120°.

2. The nozzle structure as described in claim 1, characterized in that: The outer surface of the acceleration tube section (2) is converged towards the end close to the mixing tube section (3). The planar end of the acceleration tube section (2) is connected to the end face of the straight tube section (1). The outline of the acceleration tube section (2) is one of hemispherical, ellipsoidal, frustum or conical.

3. The nozzle structure as described in claim 2, characterized in that: The bionic part (4) includes a main section (41) and branch sections (42), wherein, There are several main sections (41), and one end of each main section (41) is arranged to converge toward the acceleration pipe section (2), and the convergence point is located on the axial line of the mixing pipe section (3). Each main section (41) has a symmetrically distributed branch section (42) fixed on its outer side, and each branch section (42) is on the same plane as the main section (41) connected to it. The two adjacent main sections (41) form a 90° angle in the vertical projection direction, and the main section (41) forms a 60° angle with the axial line of the mixed pipe section (3); The other ends of the main sections (41) and the branch sections (42) are fixed to the inner wall of the mixing pipe section (3).

4. A method for adaptive mud thickness control, comprising the nozzle structure as described in any one of claims 1-3, characterized in that, Includes the following steps: S1, the mud enters the straight pipe section (1) through the pumped mud pipe, and then flows into the mixing pipe section (3) after being accelerated by the acceleration pipe section (2). The mixing pipe section (3) mixes the mud flowing in and then flows out through the outlet pipe section (5). The speed of the mud flowing into the straight pipe section (1) and the speed of the mud flowing out of the outlet pipe section (5) are measured. S2, calculate the dissipation rate of the mud flow velocity and the flow rate of the nozzle per unit time based on the velocity of the mud flowing into the straight pipe section (1) and the velocity of the mud flowing out of the outlet pipe section (5); S3, preset the nozzle moving speed, obtain the width of the brick coating surface, calculate the ideal flat area, and calculate the ideal flat thickness based on the ideal flat area and the flow rate of the nozzle per unit time. S4, place the bricks on the mud surface prepared in step S1, measure the mud thickness under the actual state after extrusion, and calculate the loss rate of mud after extrusion. S5, preset the remaining slurry thickness, calculate the nozzle movement speed based on the preset remaining slurry thickness, and control the slurry thickness.

5. The mud adaptive thickness control method as described in claim 4, characterized in that: In step S2, the dissipation rate of the mud flow velocity and the flow rate of the nozzle per unit time are calculated based on the velocity of the mud flowing into the straight pipe section (1) and the velocity of the mud flowing out of the outlet pipe section (5). The formula for calculating the dissipation rate of the mud flow velocity is: ； In the formula, η1 is the dissipation rate of the mud flow velocity, V1 is the velocity of the mud flowing into the straight pipe section (1), and V2 is the velocity of the mud flowing out of the outlet pipe section (5). The expression for calculating the flow rate out of the nozzle per unit time is: ； In the formula, Q is the flow rate out of the nozzle per unit time, and S 喷嘴 d is the cross-sectional area of ​​the end face of the outlet pipe section (5) away from the mixing pipe section (3), d is the diameter of the end face of the outlet pipe section (5) away from the mixing pipe section (3), and V2 is the velocity of the mud flowing out of the outlet pipe section (5).

6. The mud adaptive thickness control method as described in claim 5, characterized in that: In step S3, the preset nozzle moving speed is used to obtain the width of the brick coating surface, calculate the ideal paving area, and calculate the ideal paving thickness based on the ideal paving area and the flow rate of the nozzle per unit time. The expression for calculating the tiling area under the ideal condition is as follows: L=n*d; S 铺 =tV3nd; In the formula, S 铺 The ideal paving area is t, the nozzle moving time is V3, the preset nozzle moving speed is d, the diameter of the end face of the outlet pipe section (5) away from the mixing pipe section (3) is n, the number of paving times is n, and the width of the brick coating surface is L. The expression for calculating the tiling thickness under the ideal condition is as follows: ； In the formula, h 理想 The ideal tiling thickness is given by t, where t is the nozzle travel time, Q is the flow rate from the nozzle per unit time, and S is the flow rate from the nozzle per unit time. 铺 This represents the ideal tiled area.

7. The mud adaptive thickness control method as described in claim 6, characterized in that: In step S4, the bricks are placed on the surface of the mud prepared in step S1, the thickness of the mud after extrusion is measured, and the loss rate of the mud after extrusion is calculated. The formula for calculating the loss rate after mud compression is as follows: ； In the formula, η2 is the loss rate after mud extrusion, and h 挤压 The thickness of the slurry after compression.

8. The mud adaptive thickness control method as described in claim 7, characterized in that: In step S5, the preset residual slurry thickness is determined by calculating the nozzle's moving speed based on this preset residual slurry thickness, thereby controlling the slurry thickness. The expression for calculating the moving speed of the nozzle is: ； ； ； In the formula, H is the preset thickness of the remaining slurry after compression.

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