Construction device and construction method for plugging split bolt hole by intelligent robot

Abstract

The invention discloses a construction device and method for plugging a split bolt hole through an intelligent robot. The device comprises an intelligent robot body, a material box, a position adjusting arm, a lifting track and a plugging operation assembly. The material box is installed on the intelligent robot body, the lifting track is vertically installed on the material box, one end of the position adjusting arm is installed on the lifting track in a lifting mode, the plugging operation assembly is arranged at the other end of the position adjusting arm, and the plugging operation assembly is aligned with a bolt hole needing to be plugged through the intelligent robot body, the position adjusting arm and the lifting track. The material box communicates with the plugging operation assembly through a hose, materials in the material box are conveyed into the plugging operation assembly through the hose, and the plugging operation assembly plugs the bolt holes through the materials. The invention relates to the technical field of building construction and can solve the problems that in the prior art, bolt hole plugging needs a large amount of manpower, and the plugging quality cannot be guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to a construction device and a construction method for plugging tension bolt holes using an intelligent robot. Background Art

[0002] During the construction process of a building project, a large number of bolt holes need to be reserved on walls and other components. After the main structure is completed, the reserved bolt holes need to be sealed before the decoration and renovation project is started.

[0003] At present, bolt holes are mostly plugged manually. Although there are some auxiliary grouting tools in the prior art that can improve the construction efficiency of manual plugging of bolt holes, it still requires a lot of manual operation, and the plugging quality of bolt holes is greatly affected by the technical level of construction personnel. The construction quality is uneven, and problems such as untimely plugging of holes and hollow holes often occur. In severe cases, it will cause wall leakage, moisture and mold. Therefore, it is necessary to provide an intelligent robot plugging tension bolt hole construction device and construction method, which can solve the problem that bolt hole plugging in the prior art requires a lot of manual labor and the plugging quality cannot be guaranteed. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent robot construction device and construction method for plugging tension bolt holes, which can solve the problems in the prior art that bolt hole plugging requires a lot of manpower and the plugging quality cannot be guaranteed.

[0005] The present invention is achieved in that:

[0006] An intelligent robot construction device for plugging tension bolt holes comprises an intelligent robot body, a material box, a positioning arm, a lifting track and a plugging operation component; the material box is installed on the intelligent robot body, the lifting track is vertically installed on the material box, one end of the positioning arm is liftably installed on the lifting track, and the plugging operation component is arranged on the other end of the positioning arm, so that the plugging operation component is aligned with the bolt hole to be plugged through the intelligent robot body, the positioning arm and the lifting track; the material box is connected to the plugging operation component through a hose, the material in the material box is transported to the plugging operation component through the hose, and the plugging operation component plugs the bolt hole through the material.

[0007] The material box includes a foaming agent material box filled with foaming agent, a polyurethane material box filled with polyurethane, and a micro-expansive cement mortar material box filled with micro-expansive cement mortar. The foaming agent material box, the polyurethane material box, and the micro-expansive cement mortar material box are sequentially arranged on the material box at intervals; the foaming agent material box, the polyurethane material box, and the micro-expansive cement mortar material box are respectively connected to the sealing operation component through a hose.

[0008] The plugging operation component includes a vertically arranged mounting plate and an automatic telescopic nozzle for a foaming agent, a micro-expansive cement mortar coating mechanism, a polyurethane brush coating mechanism and a hole scanner respectively installed on the mounting plate. The automatic telescopic nozzle for a foaming agent is connected to a foaming agent material box through a hose, the micro-expansive cement mortar coating mechanism is connected to a micro-expansive cement mortar material box through a hose, and the polyurethane brush coating mechanism is connected to a polyurethane material box through a hose.

[0009] The automatic telescopic nozzle for foaming agent comprises a fixed branch pipe and a telescopic branch pipe, one end of the fixed branch pipe is fixedly arranged on the mounting plate and is connected to the corresponding pipe, the other end of the fixed branch pipe is formed with a narrowing diameter reducing section and is connected to one end of the telescopic branch pipe; the other end of the telescopic branch pipe is telescopically extended toward the bolt hole.

[0010] The micro-expanding cement mortar smearing mechanism includes a mortar compacting plate, a mud spraying branch pipe and a first telescopic shaft; the mortar compacting plate is movably arranged on the mounting plate through the first telescopic shaft, so that the mortar compacting plate can be fitted on the end surface of the bolt hole; the mud spraying branch pipe is arranged through the mortar compacting plate and the first telescopic shaft, one end of the mud spraying branch pipe is connected to the corresponding hose, and the other end of the mud spraying branch pipe extends to the outside of the mortar compacting plate and can be inserted into the bolt hole.

[0011] The polyurethane brush coating mechanism comprises a range controller, a brush and a second telescopic shaft; the range controller is movably arranged on a mounting plate through the second telescopic shaft so that the range controller can cover the outer side of the end of the bolt hole; the brush is rotatably arranged in the range controller; a material guide pipe connected to a hose is embedded in the center of the rotating shaft of the brush, and the material guide pipe is connected to the internal cavity of the range controller.

[0012] The range controller is a disc-shaped structure with one end open. The range controller covers the outer side of the end of the bolt hole through its open end, and forms a cavity for the brush to rotate and apply polyurethane on the outer side of the end of the bolt hole.

[0013] The intelligent robot body is embedded with an obstacle scanner, and a plurality of obstacle scanners are arranged along the circumference of the intelligent robot body.

[0014] A construction method of an intelligent robot for sealing tension bolt holes, comprising the following steps:

[0015] Step 1: The main body of the intelligent robot moves to the bolt hole to be blocked, and aligns the blocking operation component with the bolt hole;

[0016] Step 2: The foaming agent automatic telescopic nozzle extends into the bolt hole, and at the same time, the foaming agent in the foaming agent material box is filled into the bolt hole;

[0017] Step 3: The foaming agent automatic telescopic nozzle is retracted, and the micro-expansion cement mortar coating mechanism is aligned with the bolt hole according to the position of the bolt hole;

[0018] Step 4: The micro-expansion cement mortar in the micro-expansion cement mortar material box is filled into the bolt hole through the micro-expansion cement mortar applying mechanism and compacted;

[0019] Step 5: Retract the first telescopic shaft, and align the polyurethane brush coating mechanism with the bolt hole according to the position of the bolt hole;

[0020] Step 6: The second telescopic shaft is retracted to complete the plugging of a bolt hole;

[0021] Step 7: Repeat steps 1 to 6 to seal all bolt holes.

[0022] The step 1 comprises the following sub-steps:

[0023] Step 1.1: The main body of the intelligent robot moves to the front of the bolt hole to be blocked, and the hole scanner of the blocking operation component collects the image of the bolt hole;

[0024] Step 1.2: The intelligent robot body determines the position of the bolt hole according to the image of the bolt hole, and according to the position of the bolt hole, the intelligent robot body moves the horizontal position of the mounting plate of the plugging operation component through the universal wheel at the bottom;

[0025] Step 1.3: The adjusting arm is raised and lowered through the lifting track to adjust the height position of the mounting plate;

[0026] Step 1.4: The mounting plate is rotated and adjusted in angle by the positioning arm so that the telescopic branch pipe of the automatic telescopic nozzle of the foaming agent is coaxially aligned with the bolt hole;

[0027] The step 3 comprises the following sub-steps:

[0028] Step 3.1: The main body of the intelligent robot moves the horizontal position of the mounting plate, and the positioning arm adjusts the height position of the mounting plate by lifting and lowering the lifting track;

[0029] Step 3.2: The mounting plate is rotated and adjusted in angle by the positioning arm so that the mud spraying branch pipe of the micro-expansion cement mortar coating mechanism is coaxially aligned with the bolt hole;

[0030] Step 3.3: The first telescopic shaft is extended to insert the mud spraying branch pipe into the bolt hole, and the mortar compacting plate is attached to the outer end wall of the bolt hole;

[0031] The step 5 comprises the following sub-steps:

[0032] Step 5.1: The main body of the intelligent robot moves the horizontal position of the mounting plate, and the positioning arm adjusts the height position of the mounting plate by lifting and lowering the lifting track;

[0033] Step 5.2: The mounting plate is rotated and adjusted in angle by the positioning arm so that the second telescopic axis of the polyurethane brush coating mechanism is coaxially aligned with the bolt hole;

[0034] Step 5.3: Extend the second telescopic shaft so that the range controller completely covers the bolt hole;

[0035] Step 5.4: Deliver the polyurethane in the polyurethane material box to the space between the range controller and the outer end of the bolt hole through the hose;

[0036] Step 5.5: Apply polyurethane by rotating the brush to completely cover the outer end of the bolt hole to form a polyurethane sealing layer.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. Since the present invention is provided with an intelligent robot body, an obstacle scanner, a blocking operation component and a material box, the intelligent robot body can be loaded with a plurality of different material boxes according to the blocking requirements of the bolt holes, thereby facilitating the automatic blocking of the bolt holes on the construction site by the blocking operation component, with high construction efficiency and good blocking effect of the bolt holes, which can greatly save manpower expenditure while ensuring the construction quality; at the same time, the intelligent robot body can scan the surrounding obstacles through a plurality of circumferentially arranged obstacle scanners during movement, which is conducive to ensuring the movement safety of the intelligent robot body.

[0039] 2. The present invention is provided with a sealing operation component, which can accurately locate the position of the hole through a hole scanner, thereby adjusting the horizontal position, height position and angle position of the mounting plate, and aligning the telescopic branch pipe, mud spraying branch pipe and range controller with the bolt hole in turn, which is convenient for filling the bolt hole with foaming agent and compacting the micro-expanding cement mortar to ensure that the bolt hole is densely filled to form a first-level sealing and plugging, and is also convenient for brushing polyurethane on the end of the bolt hole to form a second-level sealing and plugging, effectively ensuring the bolt hole sealing effect, which is conducive to reducing the loss of construction period or construction quality defects caused by untimely sealing of the bolt hole. In severe cases, quality problems such as external wall leakage and moisture regurgitation may occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a three-dimensional diagram of the construction device for plugging tension bolt holes using an intelligent robot according to the present invention;

[0041] Figure 2 It is an enlarged schematic diagram of the sealing operation components in the construction device for sealing tension bolt holes by an intelligent robot of the present invention.

[0042] In the figure, 1 is an intelligent robot body, 2 is an obstacle scanner, 3 is a material box, 4 is a foaming agent material box, 5 is a polyurethane material box, 6 is a micro-expansion cement mortar material box, 7 is a hose, 8 is a positioning arm, 9 is a lifting track, 10 is an automatic telescopic nozzle for a foaming agent, 11 is a micro-expansion cement mortar coating mechanism, 12 is a polyurethane brushing mechanism, 13 is a plugging operation component, 14 is a hole scanner, 15 is a mounting plate, 16 is a fixed branch pipe, 17 is a telescopic branch pipe, 18 is a mortar compacting plate, 19 is a mud spraying branch pipe, 20 is a first telescopic axis, 21 is a range controller, 22 is a brush, and 23 is a second telescopic axis. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0044] Please see attached Figure 1 and attached Figure 2 A construction device for plugging tension bolt holes with an intelligent robot comprises an intelligent robot body 1, a material box 3, a positioning arm 8, a lifting rail 9 and a plugging operation component 13; the material box 3 is installed on the intelligent robot body 1, the lifting rail 9 is vertically installed on the material box 3, one end of the positioning arm 8 is liftably installed on the lifting rail 9, and the plugging operation component 13 is arranged on the other end of the positioning arm 8, so that the plugging operation component 13 is aligned with the bolt hole to be plugged through the intelligent robot body 1, the positioning arm 8 and the lifting rail 9; the material box 3 is connected with the plugging operation component 13 through a hose 7, and the material in the material box 3 is transported to the plugging operation component 13 through the hose 7, and the plugging operation component 13 plugs the bolt hole through the material.

[0045] Preferably, the intelligent robot body 1 can adopt the AI ​​intelligent robot of the prior art, and be equipped with a path planning and navigation module, and a deep learning model for bolt hole positioning. Among them, the path planning and navigation module is used to customize the optimal navigation path according to the design drawings of the main structure of the building and the number and position of the reserved bolt holes, so that the intelligent robot body 1 moves along the navigation path and sequentially blocks the bolt holes located on the navigation path. The deep learning model for bolt hole positioning is used to accurately locate the position of the bolt hole based on the collected image of the bolt hole based on image processing technology and a neural network deep learning model, so as to facilitate the plugging operation component 13 to perform accurate plugging operations on the bolt holes.

[0046] The material box 3 can be used to fill the materials required for plugging the bolt holes. The materials can be one or more, and the materials are selected according to the adaptability of the actual plugging process. When there are multiple materials, multiple material boxes 3 can be set to fill different materials respectively. Similarly, the plugging operation component 13 is also equipped with corresponding mechanisms for plugging bolt holes of multiple materials to ensure different plugging operations for different materials. Preferably, a pump body of appropriate specifications is set in each material box 3 to pump the materials in the material box 3 to the plugging operation component 13 through a hose to meet the plugging operation requirements.

[0047] Preferably, universal wheels can be installed at the bottom of the intelligent robot body 1 to ensure the horizontal and flexible movement of the intelligent robot body 1, and the lifting track 9 can adopt the electric lifting track of the prior art to drive the position adjustment arm 8 to rise and fall to adjust the height of the plugging operation component 13. An electric ball-axle joint can be installed between the position adjustment arm 8 and the plugging operation component 13 to adjust the angle of the plugging operation component 13, so as to ensure that the plugging operation component 13 can accurately plug the bolt hole through the adjustment of the horizontal position, height position and angle position.

[0048] The hose 7 can be made of rubber or plastic. The length of the hose 7 is reserved according to the adjustment range of the lifting track 9 and the positioning arm 8 to prevent the hose 7 from being pulled and broken or falling off.

[0049] Please see attached Figure 1 The material box 3 includes a foaming agent material box 4 filled with a foaming agent, a polyurethane material box 5 filled with polyurethane, and a micro-expansive cement mortar material box 6 filled with micro-expansive cement mortar. The foaming agent material box 4, the polyurethane material box 5, and the micro-expansive cement mortar material box 6 are sequentially arranged on the material box 3 at intervals; the foaming agent material box 4, the polyurethane material box 5, and the micro-expansive cement mortar material box 6 are respectively connected to the plugging operation component 13 through a hose 7.

[0050] According to the requirements for plugging the bolt holes, the bolt holes can be filled with foaming agent first, and then filled with micro-expansion cement mortar to make the bolt holes dense, and finally the outer ends of the bolt holes can be sealed by brushing polyurethane, so that the foaming agent material box 4 filled with foaming agent, the polyurethane material box 5 filled with polyurethane, and the micro-expansion cement mortar material box 6 filled with micro-expansion cement mortar can be configured accordingly to meet the requirements for plugging the bolt holes. Similarly, other material boxes can be adaptively selected according to the actual requirements for plugging materials.

[0051] Please see attached Figure 2The plugging operation component 13 includes a vertically arranged mounting plate 15 and a foaming agent automatic telescopic nozzle 10, a micro-expansive cement mortar smearing mechanism 11, a polyurethane brushing mechanism 12 and a hole scanner 14 respectively installed on the mounting plate 15. The foaming agent automatic telescopic nozzle 10 is connected to the foaming agent material box 4 through a hose 7, the micro-expansive cement mortar smearing mechanism 11 is connected to the micro-expansive cement mortar material box 6 through a hose 7, and the polyurethane brushing mechanism 12 is connected to the polyurethane material box 5 through a hose 7.

[0052] The center of one surface of the mounting plate 15 is connected to the adjusting arm 8 through an electric ball-axle joint, and the other surface of the mounting plate 15 is used to install the automatic telescopic nozzle 10 of the foaming agent, the micro-expansion cement mortar coating mechanism 11, the polyurethane brushing mechanism 12 and the hole scanner 14.

[0053] The foaming agent automatic telescopic nozzle 10, the micro-expansive cement mortar coating mechanism 11, and the polyurethane brushing mechanism 12 are respectively used for filling the foaming agent, filling the micro-expansive cement mortar, and brushing the polyurethane. Other corresponding operating mechanisms can also be installed according to the actual plugging process to meet the plugging requirements.

[0054] Preferably, the hole scanner 14 can use a high-definition camera to capture images of bolt holes and send them to the intelligent robot body 1. The specifications and models of the hole scanner 14 can be adaptively selected according to actual collection requirements.

[0055] The intelligent robot body 1 is equipped with a deep learning model for image processing and bolt hole positioning, which is used to locate the specific position of the bolt hole according to the bolt hole image collected by the hole scanner 14, so that the foaming agent automatic telescopic nozzle 10, the micro-expansion cement mortar coating mechanism 11, and the polyurethane brushing mechanism 12 can be respectively aligned with the bolt hole to ensure the plugging quality. The establishment of a deep learning model and the combination of image acquisition and processing technology to extract features to determine the specific location of the feature are conventional technical means in this field, and the positioning process will not be repeated here.

[0056] The foaming agent automatic telescopic nozzle 10 can be used for foaming agent filling, the micro-expansion cement mortar coating mechanism 11 can be used for micro-expansion cement mortar filling, and the polyurethane brushing mechanism 12 can be used for polyurethane brushing. The three processes are carried out in sequence to ensure effective sealing of the bolt hole.

[0057] Please see attached Figure 2 The automatic telescopic nozzle 10 for foaming agent includes a fixed branch pipe 16 and a telescopic branch pipe 17. One end of the fixed branch pipe 16 is fixedly arranged on the mounting plate 15 and is connected to the corresponding pipe 7. The other end of the fixed branch pipe 16 is formed with a narrowing diameter section and is connected to one end of the telescopic branch pipe 17; the other end of the telescopic branch pipe 17 is telescopically extended toward the bolt hole.

[0058] Preferably, the telescopic branch pipe 17 can be an electric telescopic pipe, which can realize the telescopic function and can be electrically controlled by the control system of the intelligent robot body 1. According to the thickness of the wall, that is, the depth of the bolt hole, the telescopic length of the telescopic branch pipe 17 is adaptively controlled, so as to ensure that the foaming agent is fully filled into the bolt hole, which is conducive to ensuring the filling density of the foaming agent. The diameter of the telescopic branch pipe 17 can be adaptively selected according to the aperture of the bolt hole to be blocked, so as to ensure that the telescopic branch pipe 17 can be inserted into the bolt hole, thereby ensuring the filling density of the foaming agent and avoiding quality defects such as hollowing of the bolt hole.

[0059] The fixed branch pipe 16 is used to transport the foaming agent, and the variable diameter section thereof can achieve a pressurization effect by reducing the diameter, thereby further ensuring the filling density of the foaming agent.

[0060] Please see attached Figure 2 The micro-expansive cement mortar smearing mechanism 11 includes a mortar compacting plate 18, a mud spraying branch pipe 19 and a first telescopic shaft 20; the mortar compacting plate 18 is movably arranged on the mounting plate 15 through the first telescopic shaft 20, so that the mortar compacting plate 18 can be fitted on the end surface of the bolt hole; the mud spraying branch pipe 19 is arranged through the mortar compacting plate 18 and the first telescopic shaft 20, one end of the mud spraying branch pipe 19 is connected to the corresponding hose 7, and the other end of the mud spraying branch pipe 19 extends to the outside of the mortar compacting plate 18 and can extend into the bolt hole.

[0061] The micro-expansive cement mortar in the micro-expansive cement mortar material box 6 can be transported to the mud spraying branch pipe 19 through the pump body via the hose 7, and sprayed into the bolt hole by the mud spraying branch pipe 19, and the mortar compacting plate 18 is pressed to the end of the bolt hole through the first telescopic shaft 20, thereby compacting the micro-expansive cement mortar inside, ensuring the filling density of the micro-expansive cement mortar, and avoiding quality defects such as plugging and hollowing of the bolt hole.

[0062] Preferably, the first telescopic shaft 20 can adopt an electric telescopic rod of the prior art, which can realize the telescopic function and can be electrically controlled by the control system of the intelligent robot body 1. The end of the mud spraying branch pipe 19 protrudes from the mortar compacting plate 18. When the first telescopic shaft 20 is extended, the mud spraying branch pipe 19 is extended into the bolt hole, and the mortar compacting plate 18 is pressed against the wall surface at the end of the bolt hole, so that the filling density can be ensured after filling the micro-expansion cement mortar, thereby ensuring the sealing reliability. The mortar compacting plate 18 can be a circular plate, and the size of the mortar compacting plate 18 should be larger than the bolt hole diameter to ensure the mortar compaction effect.

[0063] Please see attached Figure 2The polyurethane brushing mechanism 12 includes a range controller 21, a brush 22 and a second telescopic shaft 23; the range controller 21 is movably arranged on the mounting plate 15 through the second telescopic shaft 23, so that the range controller 21 can cover the outer side of the end of the bolt hole; the brush 22 is rotatably arranged in the range controller 21; the center of the rotating shaft of the brush 22 is embedded with a material guide pipe (not shown in the figure) connected to the hose 7, and the material guide pipe is connected to the internal cavity of the range controller 21.

[0064] The polyurethane in the polyurethane brushing mechanism 12 is transported to the range controller 21 through the hose 7 via the material guide pipe. The rotation of the rotating shaft of the brush 22 is controlled by the motor. The brush 22 evenly brushes the polyurethane to the end of the bolt hole, forming a polyurethane sealing layer at the end of the bolt hole to play a role in waterproofing and anti-seepage.

[0065] Please see attached Figure 2 The range controller 21 is a disc-shaped structure with one end open. The range controller 21 covers the outer side of the end of the bolt hole through its open end, and forms a cavity for the brush 22 to rotate and brush polyurethane on the outer side of the end of the bolt hole.

[0066] The brush 22 may have three bristles arranged at an equal interval of 120°, and the length of the bristles is slightly smaller than the radius of the disc-shaped structure. The bristles may evenly apply polyurethane to the end of the bolt hole within the range of the disc-shaped structure and the wall surface around it when the brush rotates. The size of the disc-shaped structure may be adaptively adjusted according to the size of the bolt hole, and the coverage of the end of the bolt hole by the polyurethane is ensured by the size of the disc-shaped structure.

[0067] The rotating shaft of the bristles can be a hollow rotating shaft, which is convenient for setting the guide pipe to ensure that the polyurethane can enter the range controller 21. A dynamic sealing ring can be set between the outer wall of the guide pipe and the inner wall of the rotating shaft so that the rotation action of the bristles driven by the rotating shaft and the guiding action of the guide pipe will not interfere with each other.

[0068] A motor can be arranged beside the rotating shaft of the bristles, and the output shaft of the motor and the rotating shaft of the bristles can be meshed and driven by two mutually perpendicular bevel gears to realize the rotation of the bristles without affecting the internal installation of the guide tube.

[0069] Please see attached Figure 1 The intelligent robot body 1 is embedded with an obstacle scanner 2, and a plurality of obstacle scanners 2 are arranged along the circumference of the intelligent robot body 1.

[0070] Preferably, obstacle scanners 2 may be embedded on the front, rear, left and right sides of the intelligent robot body 1. The obstacle scanner 2 may be an infrared scanner. The obstacle scanner 2 is used to scan and identify obstacles around the intelligent robot body 1 through infrared technology, and to measure the distance between the intelligent robot body 1 and the obstacles, so that the intelligent robot body 1 can brake or change the route in time according to the distance information to avoid collision between the intelligent robot body 1 and the obstacles.

[0071] Obstacle identification and distance measurement using infrared technology are conventional methods in this field and will not be described in detail here.

[0072] Please see attached Figure 1 and attached Figure 2 , a construction method for plugging tension bolt holes using an intelligent robot, comprising the following steps:

[0073] Step 1: The intelligent robot body 1 moves to the bolt hole to be sealed, and aligns the sealing operation component 13 with the bolt hole.

[0074] During the movement of the intelligent robot body 1, a plurality of obstacle scanners 2 use infrared technology to scan surrounding obstacles, and brake the intelligent robot body 1 in time to avoid collision between the intelligent robot body 1 and surrounding obstacles.

[0075] Specifically, the step 1 includes the following sub-steps:

[0076] Step 1.1: The intelligent robot body 1 moves to the front of the bolt hole to be blocked, and collects the image of the bolt hole through the hole scanner 14.

[0077] Preferably, the obstacle scanner 2 at the front end of the intelligent robot body 1 can be used to perform infrared ranging on the wall where the bolt hole is located, and the intelligent robot body 1 can be stopped at a safe distance in front of the wall to avoid collision between the blocking operation component 13 and the wall. Then, the image of the bolt hole can be collected by the hole scanner 14.

[0078] Step 1.2: The intelligent robot body 1 determines the position of the bolt hole according to the image of the bolt hole, and according to the position of the bolt hole, the intelligent robot body 1 moves the horizontal position of the mounting plate 15 through the bottom universal wheel.

[0079] The relative positions of the bolt hole and the automatic telescopic nozzle 10 of the foaming agent, the micro-expansive cement mortar coating mechanism 11, and the polyurethane brush coating mechanism 12 on the plugging operation component 13 can be accurately located through the spatial coordinate system, thereby facilitating the precise adjustment of the position of the plugging operation component 13, including the movement of the intelligent robot body 1 in the horizontal plane, the movement of the positioning arm 8 in the vertical direction along the lifting track 9, and the angular rotation of the mounting plate 15 relative to the positioning arm 8, thereby meeting the use requirements of the automatic telescopic nozzle 10 of the foaming agent, the micro-expansive cement mortar coating mechanism 11, and the polyurethane brush coating mechanism 12.

[0080] Step 1.3: The adjusting arm 8 is raised and lowered via the lifting rail 9 to adjust the height position of the mounting plate 15 .

[0081] Step 1.4: The mounting plate 15 is rotated and adjusted in angle through the positioning arm 8 so that the telescopic branch pipe 17 of the automatic telescopic nozzle 10 of the foaming agent is coaxially aligned with the bolt hole.

[0082] Step 2: The telescopic branch pipe 17 of the automatic telescopic nozzle 10 of the foaming agent is extended into the bolt hole, and at the same time, the foaming agent in the foaming agent material box 4 is filled into the bolt hole through the hose 7 via the fixed branch pipe 16 and the telescopic branch pipe 17.

[0083] The filling amount of the foaming agent can be controlled according to the sealing requirements of the bolt holes, and the start and stop of the pump body and the pumping power in the foaming agent material box 4 can be controlled by the control system of the intelligent robot body 1.

[0084] Step 3: The telescopic branch pipe 17 of the automatic telescopic nozzle 10 of the foaming agent is retracted, and the micro-expansion cement mortar coating mechanism 11 is aligned with the bolt hole according to the position of the bolt hole.

[0085] After the foaming agent is filled, the micro-expanding cement mortar is filled and applied.

[0086] The step 3 comprises the following sub-steps:

[0087] Step 3.1: The intelligent robot body 1 moves the horizontal position of the mounting plate 15 via the universal wheels at the bottom, and the positioning arm 8 adjusts the height position of the mounting plate 15 by lifting and lowering the lifting track 9.

[0088] Step 3.2: The mounting plate 15 is rotated and adjusted in angle through the positioning arm 8 so that the mud spraying branch pipe 19 of the micro-expansion cement mortar coating mechanism 11 is coaxially aligned with the bolt hole.

[0089] The adjustment method of the horizontal position, height position and angle of the mounting plate 15 is the same as that in step 1, and will not be repeated here.

[0090] Step 3.3: The first telescopic shaft 20 is extended to insert the mud spraying branch pipe 19 into the bolt hole, and the mortar compacting plate 18 is attached to the outer end wall of the bolt hole.

[0091] The extension length of the first telescopic shaft 20 is precisely controlled by the control system of the intelligent robot body 1 according to the distance between the mortar compaction plate 18 and the wall.

[0092] Step 4: The micro-expansive cement mortar in the micro-expansive cement mortar material box 6 is filled into the bolt hole through the mud spraying branch pipe 19 of the micro-expansive cement mortar coating mechanism 11, and is compacted by the mortar compacting plate 18.

[0093] The delivery amount of the micro-expansion cement mortar can be controlled by the control system of the intelligent robot body 1 according to the sealing and brushing requirements to control the pump body in the micro-expansion cement mortar material box 6. The micro-expansion cement mortar is compacted by the mortar compacting plate 18, and the micro-expansion cement mortar expands slightly after solidification to ensure that the bolt holes are fully filled and avoid wall leakage caused by hollowing of the bolt holes.

[0094] Step 5: The first telescopic shaft 20 is retracted, and the polyurethane brushing mechanism 12 is aligned with the bolt hole according to the position of the bolt hole.

[0095] After the bolt hole is filled and sealed, polyurethane is applied to the end face and wall surface of the bolt hole to form a seal, further improving the sealing effect of the bolt hole.

[0096] The step 5 comprises the following sub-steps:

[0097] Step 5.1: The intelligent robot body 1 moves the horizontal position of the mounting plate 15 via the universal wheels at the bottom, and the positioning arm 8 adjusts the height position of the mounting plate 15 by lifting and lowering the lifting track 9.

[0098] Step 5.2: The mounting plate 15 is rotated and adjusted in angle through the positioning arm 8 so that the second telescopic shaft 23 of the polyurethane brush coating mechanism 12 is coaxially aligned with the bolt hole.

[0099] The adjustment method of the horizontal position, height position and angle of the mounting plate 15 is the same as that in step 1, and will not be repeated here.

[0100] Step 5.3: The second telescopic shaft 23 is extended so that the range controller 21 completely covers the bolt hole.

[0101] The extension length of the second telescopic shaft 23 is precisely controlled by the control system of the intelligent robot body 1 according to the distance between the range controller 21 and the wall. After the second telescopic shaft 23 pushes the range controller 21 against the wall, a relatively closed cavity is formed between the range controller 21 and the wall, and the end of the bolt hole and the brush 22 are both located in the cavity.

[0102] Step 5.4: The polyurethane in the polyurethane material box 5 is conveyed to the cavity between the range controller 21 and the outer end of the bolt hole through the hose 7.

[0103] The delivery amount of polyurethane can be controlled by the control system of the intelligent robot body 1 to control the pump body in the polyurethane material box 5 according to the sealing coating requirements.

[0104] Step 5.5: Apply polyurethane by rotating the brush 22 so that the polyurethane completely covers the outer end of the bolt hole to form a polyurethane sealing layer.

[0105] While the polyurethane enters the cavity between the range controller 21 and the wall, the polyurethane is evenly applied to the wall and the outer ends of the bolt holes by the rotating brush 22, thereby forming a polyurethane sealing layer at the outer ends of the bolt holes, completely covering the gap between the bolt holes and the wall.

[0106] Step 6: The second telescopic shaft 23 is retracted to complete the sealing of one bolt hole.

[0107] Step 7: Repeat steps 1 to 6 to seal all bolt holes.

[0108] The above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent robot construction device for plugging tension bolt holes, characterized by: The invention comprises an intelligent robot body (1), a material box (3), a positioning arm (8), a lifting rail (9) and a plugging operation component (13); the material box (3) is mounted on the intelligent robot body (1), the lifting rail (9) is vertically mounted on the material box (3), one end of the positioning arm (8) is mounted on the lifting rail (9) in a liftable manner, and the plugging operation component (13) is arranged on the other end of the positioning arm (8), so that the plugging operation component (13) is aligned with the bolt hole to be plugged through the intelligent robot body (1), the positioning arm (8) and the lifting rail (9); the material box (3) is connected to the plugging operation component (13) through a hose (7), the material in the material box (3) is transported to the plugging operation component (13) through the hose (7), and the plugging operation component (13) plugs the bolt hole through the material.

2. The intelligent robot construction device for plugging tension bolt holes according to claim 1 is characterized in that: The material box (3) comprises a foaming agent material box (4) filled with a foaming agent, a polyurethane material box (5) filled with polyurethane, and a micro-expanding cement mortar material box (6) filled with micro-expanding cement mortar. The foaming agent material box (4), the polyurethane material box (5), and the micro-expanding cement mortar material box (6) are sequentially arranged on the material box (3) at intervals; the foaming agent material box (4), the polyurethane material box (5), and the micro-expanding cement mortar material box (6) are respectively connected to the plugging operation component (13) through a hose (7).

3. The intelligent robot construction device for plugging tension bolt holes according to claim 2 is characterized in that: The plugging operation assembly (13) comprises a vertically arranged mounting plate (15) and a foaming agent automatic telescopic nozzle (10), a micro-expansive cement mortar smearing mechanism (11), a polyurethane brushing mechanism (12) and a hole scanner (14) respectively mounted on the mounting plate (15); the foaming agent automatic telescopic nozzle (10) is connected to the foaming agent material box (4) via a hose (7); the micro-expansive cement mortar smearing mechanism (11) is connected to the micro-expansive cement mortar material box (6) via a hose (7); and the polyurethane brushing mechanism (12) is connected to the polyurethane material box (5) via a hose (7).

4. The intelligent robot construction device for plugging tension bolt holes according to claim 3 is characterized in that: The foaming agent automatic telescopic nozzle (10) comprises a fixed branch pipe (16) and a telescopic branch pipe (17); one end of the fixed branch pipe (16) is fixedly arranged on a mounting plate (15) and is connected to a corresponding pipe (7); the other end of the fixed branch pipe (16) is formed with a narrowing diameter reducing section and is connected to one end of the telescopic branch pipe (17); the other end of the telescopic branch pipe (17) is telescopically extended toward a bolt hole.

5. The intelligent robot construction device for plugging tension bolt holes according to claim 3 is characterized in that: The micro-expansive cement mortar smearing mechanism (11) comprises a mortar compacting plate (18), a mud spraying branch pipe (19) and a first telescopic shaft (20); the mortar compacting plate (18) is movably arranged on the mounting plate (15) via the first telescopic shaft (20), so that the mortar compacting plate (18) can be fitted on the end surface of the bolt hole; the mud spraying branch pipe (19) is arranged through the mortar compacting plate (18) and the first telescopic shaft (20), one end of the mud spraying branch pipe (19) is connected to the corresponding hose (7), and the other end of the mud spraying branch pipe (19) extends to the outside of the mortar compacting plate (18) and can be inserted into the bolt hole.

6. The intelligent robot construction device for plugging tension bolt holes according to claim 3 is characterized in that: The polyurethane brushing mechanism (12) comprises a range controller (21), a brush (22) and a second telescopic shaft (23); the range controller (21) is movably arranged on the mounting plate (15) via the second telescopic shaft (23), so that the range controller (21) can cover the outer side of the end of the bolt hole; the brush (22) is rotatably arranged in the range controller (21); a material guide pipe connected to the hose (7) is embedded in the center of the rotating shaft of the brush (22), and the material guide pipe is connected to the internal cavity of the range controller (21).

7. The intelligent robot construction device for plugging tension bolt holes according to claim 6 is characterized in that: The range controller (21) is a disc-shaped structure with one end open. The range controller (21) covers the outer side of the end of the bolt hole through its open end, and forms a cavity for the brush (22) to rotate and brush polyurethane on the outer side of the end of the bolt hole.

8. The intelligent robot construction device for plugging tension bolt holes according to claim 1 is characterized in that: The intelligent robot body (1) is embedded with an obstacle scanner (2), and a plurality of obstacle scanners (2) are arranged along the circumference of the intelligent robot body (1).

9. A construction method of the intelligent robot construction device for plugging tension bolt holes according to claim 3, characterized in that: The following steps are involved: Step 1: The intelligent robot body (1) moves to the bolt hole to be blocked, and aligns the blocking operation component (13) with the bolt hole; Step 2: The foaming agent automatic telescopic nozzle (10) extends into the bolt hole, and at the same time, the foaming agent in the foaming agent material box (4) is filled into the bolt hole; Step 3: The foaming agent automatic telescopic nozzle (10) is retracted, and the micro-expansion cement mortar coating mechanism (11) is aligned with the bolt hole according to the position of the bolt hole; Step 4: The micro-expansive cement mortar in the micro-expansive cement mortar material box (6) is filled into the bolt hole through the micro-expansive cement mortar applying mechanism (11), and compacted; Step 5: The first telescopic shaft (20) is retracted, and the polyurethane brushing mechanism (12) is aligned with the bolt hole according to the position of the bolt hole; Step 6: The second telescopic shaft (23) is retracted to complete the sealing of one bolt hole; Step 7: Repeat steps 1 to 6 to seal all bolt holes.

10. The construction method according to claim 9, characterized in that: The step 1 comprises the following sub-steps: Step 1.1: The intelligent robot body (1) moves to the front of the bolt hole to be blocked, and collects an image of the bolt hole through the hole scanner (14) of the blocking operation component (13); Step 1.2: The intelligent robot body (1) determines the position of the bolt hole according to the image of the bolt hole, and according to the position of the bolt hole, the intelligent robot body (1) moves the horizontal position of the mounting plate (15) of the plugging operation component (13) through the universal wheel at the bottom; Step 1.3: The adjusting arm (8) is raised and lowered by the lifting rail (9) to adjust the height of the mounting plate (15); Step 1.4: The mounting plate (15) is rotated and adjusted in angle through the positioning arm (8) so that the telescopic branch pipe (17) of the foaming agent automatic telescopic nozzle (10) is coaxially aligned with the bolt hole; The step 3 comprises the following sub-steps: Step 3.1: The intelligent robot body (1) moves the horizontal position of the mounting plate (15), and the positioning arm (8) adjusts the height position of the mounting plate (15) by lifting and lowering through the lifting track (9); Step 3.2: The mounting plate (15) is rotated and adjusted in angle through the positioning arm (8) so that the mud spraying branch pipe (19) of the micro-expansion cement mortar coating mechanism (11) is coaxially aligned with the bolt hole; Step 3.3: The first telescopic shaft (20) is extended to allow the mud spraying branch pipe (19) to be inserted into the bolt hole, and the mortar compacting plate (18) is attached to the outer end wall of the bolt hole; The step 5 comprises the following sub-steps: Step 5.1: The intelligent robot body (1) moves the horizontal position of the mounting plate (15), and the positioning arm (8) adjusts the height position of the mounting plate (15) by lifting and lowering through the lifting track (9); Step 5.2: The mounting plate (15) is rotated and adjusted in angle through the positioning arm (8) so that the second telescopic axis (23) of the polyurethane brush coating mechanism (12) is coaxially aligned with the bolt hole; Step 5.3: The second telescopic shaft (23) is extended so that the range controller (21) completely covers the bolt hole; Step 5.4: The polyurethane in the polyurethane material box (5) is transported to the space between the range controller (21) and the outer end of the bolt hole through the hose (7); Step 5.5: Use a brush (22) to apply polyurethane by rotating it so that the polyurethane completely covers the outer end of the bolt hole to form a polyurethane sealing layer.

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