Intelligent robot sealing and pulling bolt hole construction device and construction method

Abstract

The application discloses a kind of intelligent robot plugging to pull bolt hole construction device and construction method, the device includes intelligent robot main body, material box, position adjusting arm, lifting track and plugging operation component;Material box is installed on intelligent robot main body, lifting track is vertically installed on material box, one end of position adjusting arm is liftable and is installed on lifting track, plugging operation component is set on the other end of position adjusting arm, so that plugging operation component is aligned by intelligent robot main body, position adjusting arm and lifting track and is set to the bolt hole required to be plugged;Material box is communicated with plugging operation component by hose, material in material box is transported to plugging operation component by hose, and plugging operation component is plugged bolt hole by material.The application relates to the technical field of building construction, can solve the problem that bolt hole plugging needs a large amount of manual work in the prior art, and plugging quality cannot be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to an intelligent robot device and method for sealing tie bolt holes. Background Technology

[0002] During the construction process, a large number of bolt holes need to be reserved on the wall and other components. After the main structure is completed, the reserved bolt holes need to be sealed before the decoration and finishing work is carried out.

[0003] Currently, bolt holes are mostly sealed manually. Although some auxiliary grouting tools exist to improve the efficiency of manual bolt hole sealing, a large amount of manual labor is still required. Furthermore, the sealing quality is greatly affected by the skill level of the construction workers, resulting in inconsistent quality. Problems such as untimely sealing and hollow holes are common, and in severe cases, can lead to wall leaks, dampness, and mold. Therefore, there is a need for an intelligent robotic device and method for sealing tie bolt holes, which can solve the problems of requiring a large amount of manual labor and inconsistent sealing quality in existing technologies. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent robot-based device and method for sealing tie bolt holes, which can solve the problems of existing technologies where bolt hole sealing requires a large amount of manual labor and the sealing quality cannot be guaranteed.

[0005] This invention is implemented as follows:

[0006] A smart robot device for sealing tie rod bolt holes includes a smart robot body, a material box, an adjusting arm, a lifting rail, and a sealing component. The material box is mounted on the smart robot body, the lifting rail is vertically mounted on the material box, one end of the adjusting arm is liftably mounted on the lifting rail, and the sealing component is mounted on the other end of the adjusting arm. The sealing component is aligned with the bolt hole to be sealed via the smart robot body, the adjusting arm, and the lifting rail. The material box is connected to the sealing component via a flexible hose, and the material in the material box is transported to the sealing component via the hose. The sealing component then seals the bolt hole with the material.

[0007] The material boxes include a foaming agent material box for filling foaming agent, a polyurethane material box for filling polyurethane, and a micro-expansion cement mortar material box for filling micro-expansion cement mortar. The foaming agent material box, polyurethane material box, and micro-expansion cement mortar material box are arranged sequentially and at intervals on the material box. The foaming agent material box, polyurethane material box, and micro-expansion cement mortar material box are respectively connected to the sealing operation component through hoses.

[0008] The sealing operation assembly includes a vertically arranged mounting plate and a foaming agent automatic telescopic nozzle, a micro-expansion cement mortar application mechanism, a polyurethane brushing mechanism, and a hole scanner, all mounted on the mounting plate. The foaming agent automatic telescopic nozzle is connected to the foaming agent material box via a hose, the micro-expansion cement mortar application mechanism is connected to the micro-expansion cement mortar material box via a hose, and the polyurethane brushing mechanism is connected to the polyurethane material box via a hose.

[0009] The foaming agent automatic telescopic nozzle includes a fixed branch pipe and a telescopic branch pipe. One end of the fixed branch pipe is fixedly mounted on the mounting plate and is connected to the corresponding flexible pipe. The other end of the fixed branch pipe forms a narrowing and diameter-changing section and is connected to one end of the telescopic branch pipe. The other end of the telescopic branch pipe extends horizontally to the bolt hole.

[0010] The micro-expansion cement mortar application mechanism includes a mortar compaction plate, a slurry spraying branch pipe, and a first telescopic shaft. The mortar compaction plate is movably mounted on the mounting plate via the first telescopic shaft, allowing it to fit against the end face of the bolt hole. The slurry spraying branch pipe is inserted through the mortar compaction plate and the first telescopic shaft. One end of the slurry spraying branch pipe is connected to a corresponding flexible hose, and the other end extends to the outside of the mortar compaction plate and can be inserted into the bolt hole.

[0011] The polyurethane brushing mechanism includes a range controller, a brush, and a second telescopic shaft. The range controller is movably mounted on the mounting plate via the second telescopic shaft, allowing it to cover the outer side of the bolt hole end. The brush is rotatably mounted inside the range controller. A guide tube connected to a flexible hose is embedded in the center of the brush's rotating shaft, and the guide tube is connected to the internal cavity of the range controller.

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

[0013] The intelligent robot body is equipped with an obstacle scanner, and several obstacle scanners are arranged around the circumference of the intelligent robot body.

[0014] A construction method for an intelligent robot-based device for sealing tie bolt holes includes the following steps:

[0015] Step 1: The main body of the intelligent robot moves to the bolt hole that needs to be sealed and aligns the sealing component with the bolt hole;

[0016] Step 2: The automatic telescopic nozzle of the foaming agent extends into the bolt hole, simultaneously filling the bolt hole with foaming agent from the foaming agent material box;

[0017] Step 3: The foaming agent automatic telescopic nozzle retracts, and the micro-expansion cement mortar application 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 holes through the micro-expansion cement mortar application mechanism and compacted.

[0019] Step 5: Retract the first telescopic shaft and align the polyurethane brushing mechanism with the bolt holes according to their positions.

[0020] Step 6: The second telescopic shaft retracts, completing the sealing of one bolt hole;

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

[0022] Step 1 includes 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 sealed and acquires an image of the bolt hole through the hole scanner of the sealing operation component;

[0024] Step 1.2: The main body of the intelligent robot determines the position of the bolt hole based on the image of the bolt hole, and moves the horizontal position of the mounting plate of the sealing operation component by means of the bottom caster wheels according to the position of the bolt hole;

[0025] Step 1.3: The adjusting arm adjusts the height of the mounting plate by raising and lowering it via the lifting rail;

[0026] Step 1.4: Adjust the angle and position of the mounting plate by rotating the adjusting arm to align the telescopic branch pipe of the foaming agent automatic telescopic nozzle coaxially with the bolt hole;

[0027] Step 3 includes the following sub-steps:

[0028] Step 3.1: The main body of the intelligent robot moves the installation plate to a horizontal position, and the adjustment arm adjusts the height of the installation plate by raising and lowering the lifting rail;

[0029] Step 3.2: The installation plate is rotated and the angle position is adjusted by adjusting the adjustment arm so that the mud spraying branch pipe of the micro-expansion cement mortar application mechanism is coaxially aligned with the bolt hole;

[0030] Step 3.3: The first telescopic shaft extends, allowing the mud spraying branch pipe to be inserted into the bolt hole, and the mortar compaction plate to adhere to the outer end wall surface of the bolt hole;

[0031] Step 5 includes the following sub-steps:

[0032] Step 5.1: The main body of the intelligent robot moves the installation plate to a horizontal position, and the adjustment arm adjusts the height of the installation plate by raising and lowering it via the lifting rail;

[0033] Step 5.2: The mounting plate is rotated and the angle position is adjusted by the adjustment arm so that the second telescopic shaft of the polyurethane brushing mechanism is coaxially aligned with the bolt hole.

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

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

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

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

[0038] 1. This invention comprises an intelligent robot body, an obstacle scanner, a sealing operation component, and material boxes. The intelligent robot body can be loaded with multiple different material boxes according to the sealing requirements of bolt holes, thereby facilitating the automatic sealing of bolt holes on the construction site through the sealing operation component. This results in high construction efficiency and good sealing effect, significantly saving manpower while ensuring construction quality. At the same time, the intelligent robot body can scan surrounding obstacles through several circumferentially arranged obstacle scanners during movement, which helps ensure the movement safety of the intelligent robot body.

[0039] 2. This invention, equipped with a sealing component, can accurately locate the position of the hole using a hole scanner. This allows for adjustment of the horizontal, vertical, and angular positions of the mounting plate, sequentially aligning the telescopic branch pipe, mud spraying branch pipe, and range controller with the bolt hole. This facilitates the filling and compaction of the bolt hole with foaming agent and micro-expansion cement mortar, ensuring a dense filling and forming the first layer of sealing. It also facilitates the application of polyurethane to the ends of the bolt hole, forming the second layer of sealing. This effectively guarantees the sealing effect of the bolt hole and helps reduce construction delays or quality defects caused by untimely bolt hole sealing, which can lead to serious quality problems such as external wall leakage and dampness. Attached Figure Description

[0040] Figure 1 This is a perspective view of the intelligent robot construction device for sealing tie bolt holes according to the present invention;

[0041] Figure 2 This is an enlarged schematic diagram of the sealing operation component in the intelligent robot sealing tie bolt hole construction device of the present invention.

[0042] In the diagram, 1 is the main body of the intelligent robot, 2 is the obstacle scanner, 3 is the material box, 4 is the foaming agent material box, 5 is the polyurethane material box, 6 is the micro-expansion cement mortar material box, 7 is the hose, 8 is the adjusting arm, 9 is the lifting rail, 10 is the automatic telescopic nozzle of the foaming agent, 11 is the micro-expansion cement mortar application mechanism, 12 is the polyurethane brushing mechanism, 13 is the sealing operation component, 14 is the hole scanner, 15 is the mounting plate, 16 is the fixed branch pipe, 17 is the telescopic branch pipe, 18 is the mortar compaction plate, 19 is the mud spraying branch pipe, 20 is the first telescopic shaft, 21 is the range controller, 22 is the brush, and 23 is the second telescopic shaft. Detailed Implementation

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

[0044] Please see the appendix Figure 1 and attached Figure 2 A smart robot device for sealing tie bolt holes includes a smart robot body 1, a material box 3, an adjusting arm 8, a lifting rail 9, and a sealing operation component 13. The material box 3 is installed on the smart robot body 1, the lifting rail 9 is vertically installed on the material box 3, one end of the adjusting arm 8 is liftably installed on the lifting rail 9, and the sealing operation component 13 is set on the other end of the adjusting arm 8, so that the sealing operation component 13 is aligned with the bolt hole to be sealed through the smart robot body 1, the adjusting arm 8, and the lifting rail 9. The material box 3 is connected to the sealing operation component 13 through a hose 7, and the material in the material box 3 is transported to the sealing operation component 13 through the hose 7. The sealing operation component 13 seals the bolt hole through the material.

[0045] Preferably, the intelligent robot body 1 can be an AI intelligent robot using existing technology, equipped with a path planning and navigation module and a deep learning model for bolt hole positioning. The path planning and navigation module is used to customize the optimal navigation path based on the design drawings of the main building structure and the number and location of the pre-reserved bolt holes, enabling the intelligent robot body 1 to move along the navigation path and sequentially seal the bolt holes located along it. The deep learning model for bolt hole positioning is used to accurately locate the bolt holes based on the acquired images, image processing technology, and a neural network deep learning model, thereby facilitating the accurate sealing operation of the bolt holes by the sealing component 13.

[0046] Material tank 3 can be used to fill the bolt holes with the materials required for sealing. The materials can be one or more, selected according to the specific sealing procedure. When multiple materials are available, multiple material tanks 3 can be provided for filling different materials separately. Similarly, the sealing assembly 13 is also equipped with corresponding mechanisms for sealing bolt holes with various materials to ensure different sealing operations for different materials. Preferably, each material tank 3 is equipped with a pump of appropriate specifications to pump the materials in the material tank 3 through a hose into the sealing assembly 13 to meet the sealing operation requirements.

[0047] Preferably, casters can be installed on the bottom of the intelligent robot body 1 to ensure flexible horizontal movement of the intelligent robot body 1. The lifting rail 9 can be an existing electric lifting rail to drive the adjusting arm 8 to lift and lower, thereby adjusting the height of the sealing operation component 13. An electric ball joint can be installed between the adjusting arm 8 and the sealing operation component 13 to adjust the angle of the sealing operation component 13. Thus, by adjusting the horizontal position, height position, and angle position, the sealing operation component 13 can accurately seal the bolt holes.

[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 rail 9 and the adjusting arm 8 to avoid the hose 7 being pulled and breaking or falling off.

[0049] Please see the appendix Figure 1 The material box 3 includes a foaming agent material box 4 for filling foaming agent, a polyurethane material box 5 for filling polyurethane, and a micro-expansion cement mortar material box 6 for filling micro-expansion cement mortar. The foaming agent material box 4, polyurethane material box 5, and micro-expansion cement mortar material box 6 are arranged sequentially and at intervals on the material box 3. The foaming agent material box 4, polyurethane material box 5, and micro-expansion cement mortar material box 6 are respectively connected to the sealing operation component 13 through a hose 7.

[0050] Based on the bolt hole sealing requirements, the bolt holes can be filled first with foaming agent, then filled tightly with micro-expansion cement mortar, and finally sealed by applying polyurethane to the outer end of the bolt holes. Accordingly, foaming agent material box 4 (for foaming agent), polyurethane material box 5 (for polyurethane), and micro-expansion cement mortar material box 6 (for micro-expansion cement mortar) can be configured to meet the bolt hole sealing operation requirements. Other material boxes can also be selected adaptably according to the actual sealing material needs.

[0051] Please see the appendix Figure 2The sealing operation assembly 13 includes a vertically arranged mounting plate 15 and a foaming agent automatic telescopic nozzle 10, a micro-expansion cement mortar application 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 through a hose 7, the micro-expansion cement mortar application mechanism 11 is connected to the micro-expansion 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] One side of the mounting plate 15 is connected to the adjusting arm 8 via an electric ball joint. The other side of the mounting plate 15 is used to mount the foaming agent automatic telescopic nozzle 10, the micro-expansion cement mortar application mechanism 11, the polyurethane brushing mechanism 12, and the hole scanner 14.

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

[0054] Preferably, the hole scanner 14 can be a high-definition camera used to collect images of bolt holes and send them to the intelligent robot body 1. The specifications and models of the hole scanner 14 can be adapted to the actual collection needs.

[0055] The intelligent robot body 1 is equipped with a deep learning model for image processing and bolt hole positioning. This model is used to locate the specific position of the bolt holes based on images acquired by the hole scanner 14. This allows the automatic telescopic nozzle 10 for the foaming agent, the micro-expansion cement mortar application mechanism 11, and the polyurethane brushing mechanism 12 to be aligned with the bolt holes, ensuring sealing quality. Establishing a deep learning model and combining it with image acquisition and processing techniques to extract features and determine their specific locations is a conventional technique in this field, and the positioning process will not be elaborated upon 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 brush coating mechanism 12 can be used for polyurethane brush coating. Through the sequential execution of the three processes, the effective sealing of the bolt holes is ensured.

[0057] Please see the appendix Figure 2 The foaming agent automatic telescopic nozzle 10 includes a fixed branch pipe 16 and a telescopic branch pipe 17. One end of the fixed branch pipe 16 is fixedly mounted on the mounting plate 15 and communicates with the corresponding flexible pipe 7. The other end of the fixed branch pipe 16 forms a narrowing diameter section and communicates with one end of the telescopic branch pipe 17. The other end of the telescopic branch pipe 17 extends horizontally toward the bolt hole.

[0058] Preferably, the telescopic branch pipe 17 can be an electrically operated telescopic pipe, capable of telescopic function. It can be electrically controlled by the control system of the intelligent robot body 1, adaptively controlling the telescopic length of the branch pipe 17 according to the wall thickness, i.e., the depth of the bolt holes. This ensures that the foaming agent is fully filled into the bolt holes, facilitating the filling density of the foaming agent. The diameter of the telescopic branch pipe 17 can be adaptively selected according to the diameter of the bolt holes to be sealed, ensuring that the telescopic branch pipe 17 can extend into the bolt holes, thereby guaranteeing the filling density of the foaming agent and avoiding quality defects such as hollow areas in the bolt hole sealing.

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

[0060] Please see the appendix Figure 2 The micro-expansion cement mortar application mechanism 11 includes a mortar compaction plate 18, a slurry spraying branch pipe 19, and a first telescopic shaft 20. The mortar compaction plate 18 is movably mounted on the mounting plate 15 via the first telescopic shaft 20, so that the mortar compaction plate 18 can fit against the end face of the bolt hole. The slurry spraying branch pipe 19 is inserted through the mortar compaction plate 18 and the first telescopic shaft 20. One end of the slurry spraying branch pipe 19 is connected to the corresponding hose 7, and the other end of the slurry spraying branch pipe 19 extends to the outside of the mortar compaction plate 18 and can extend into the bolt hole.

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

[0062] Preferably, the first telescopic shaft 20 can be an existing electric telescopic rod, capable of telescopic movement, 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 compaction plate 18. When the first telescopic shaft 20 extends, the mud spraying branch pipe 19 is inserted into the bolt hole, and the mortar compaction plate 18 is pressed against the wall surface at the bolt hole end, thus ensuring the filling density after filling with micro-expansion cement mortar, thereby ensuring the reliability of the sealing. The mortar compaction plate 18 can be a circular plate, and its size should be larger than the bolt hole diameter to ensure the mortar compaction effect.

[0063] Please see the appendix 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 mounted 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 mounted inside the range controller 21. A guide tube (not shown in the figure) connected to the hose 7 is embedded in the center of the rotating shaft of the brush 22, and the guide tube 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 and the guide pipe. The motor controls the rotation of the shaft of the brush 22, and the brush 22 evenly applies the polyurethane to the end of the bolt hole, forming a polyurethane sealing layer at the end of the bolt hole, which plays a role in waterproofing and seepage prevention.

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

[0066] Brush 22 has three bristles arranged at 120° intervals. The length of the bristles is slightly smaller than the radius of the disc-shaped structure. When rotating, the bristles can evenly apply polyurethane to the ends of the bolt holes and the surrounding wall surface within the range of the disc-shaped structure. The size of the disc-shaped structure can be adjusted according to the size of the bolt holes to ensure the coverage of the polyurethane at the ends of the bolt holes.

[0067] The brush shaft can be hollow, which facilitates the installation of the guide tube and ensures that the polyurethane can enter the range controller 21. A dynamic sealing ring can be installed between the outer wall of the guide tube and the inner wall of the shaft to prevent the rotation of the brush driven by the shaft from interfering with the guiding action of the guide tube.

[0068] A motor can be installed next to the rotating shaft of the brush bristles. The output shaft of the motor and the rotating shaft of the brush bristles can be driven by two mutually perpendicular bevel gears to achieve the rotation of the brush bristles without affecting the internal installation of the guide tube.

[0069] Please see the appendix Figure 1 The intelligent robot body 1 is equipped with an obstacle scanner 2, and several obstacle scanners 2 are arranged around the circumference of the intelligent robot body 1.

[0070] Preferably, obstacle scanners 2 can be embedded on the front, rear, left, and right sides of the intelligent robot body 1. The obstacle scanners 2 can be infrared scanners. The obstacle scanners 2 are used to scan and identify obstacles around the intelligent robot body 1 using infrared technology, and to determine the distance between the intelligent robot body 1 and the obstacles. This allows the intelligent robot body 1 to brake or change its route in a timely manner based on the distance information, so as to avoid collisions between the intelligent robot body 1 and the obstacles.

[0071] Using infrared technology to identify obstacles and measure distances is a standard practice in this field and will not be elaborated upon here.

[0072] Please see the appendix Figure 1 and attached Figure 2 A method for sealing tie bolt holes using an intelligent robot includes the following steps:

[0073] Step 1: The main body 1 of the intelligent robot 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, several obstacle scanners 2 use infrared technology to scan the surrounding obstacles and brake the intelligent robot body 1 in time to avoid collisions between the intelligent robot body 1 and the surrounding obstacles.

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

[0076] Step 1.1: The main body 1 of the intelligent robot moves to the front of the bolt hole to be sealed and acquires an 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 perform infrared ranging on the wall where the bolt hole is located, and stop the intelligent robot body 1 at a safe distance in front of the wall to avoid collision between the sealing operation component 13 and the wall. Then, the hole scanner 14 can be used to acquire images of the bolt hole.

[0078] Step 1.2: The main body 1 of the intelligent robot determines the position of the bolt hole based on the image of the bolt hole, and moves the horizontal position of the mounting plate 15 by means of the bottom caster wheels according to the position of the bolt hole.

[0079] The relative positions of the bolt holes and the foaming agent automatic telescopic nozzle 10, the micro-expansion cement mortar application mechanism 11, and the polyurethane brushing mechanism 12 on the sealing operation component 13 can be precisely located using a spatial coordinate system. This facilitates precise adjustment of the position of the sealing operation component 13, including the movement of the intelligent robot body 1 in the horizontal plane, the movement of the adjustment arm 8 along the lifting track 9 in the vertical direction, and the angular rotation of the mounting plate 15 relative to the adjustment arm 8. This meets the usage requirements of the foaming agent automatic telescopic nozzle 10, the micro-expansion cement mortar application mechanism 11, and the polyurethane brushing mechanism 12.

[0080] Step 1.3: Adjust the height of the mounting plate 15 by raising and lowering the lifting arm 8 via the lifting rail 9.

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

[0082] Step 2: The telescopic branch pipe 17 of 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 through the hose 7 via the fixed branch pipe 16 and the telescopic branch pipe 17.

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

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

[0085] After the foaming agent is applied, the micro-expansion cement mortar is then applied.

[0086] Step 3 includes the following sub-steps:

[0087] Step 3.1: The main body 1 of the intelligent robot moves the horizontal position of the mounting plate 15 by means of the bottom universal wheels, and the adjustment arm 8 adjusts the height position of the mounting plate 15 by means of the lifting rail 9.

[0088] Step 3.2: The mounting plate 15 is rotated and the angle position is adjusted by the adjustment 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 methods for the horizontal position, height position, and angle of the mounting plate 15 are the same as those in step 1, and will not be repeated here.

[0090] Step 3.3: The first telescopic shaft 20 extends, allowing the mud spraying branch pipe 19 to be inserted into the bolt hole, and the mortar compaction plate 18 to adhere to the outer end wall surface 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, based on the distance between the mortar compaction plate 18 and the wall.

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

[0093] The delivery volume of micro-expansion cement mortar can be controlled by the control system of the intelligent robot body 1, which controls the pump in the micro-expansion cement mortar material box 6 according to the sealing and coating requirements. The micro-expansion cement mortar is compacted by the mortar compaction plate 18. After solidification, the micro-expansion cement mortar expands slightly, ensuring full filling of the bolt holes and preventing wall leakage caused by hollow 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 holes are filled and sealed, polyurethane is applied to the end face of the bolt holes and the wall surface to form a seal, further improving the sealing effect of the bolt holes.

[0096] Step 5 includes the following sub-steps:

[0097] Step 5.1: The main body 1 of the intelligent robot moves the horizontal position of the mounting plate 15 by means of the bottom universal wheels, and the adjustment arm 8 adjusts the height position of the mounting plate 15 by means of the lifting rail 9.

[0098] Step 5.2: The mounting plate 15 is rotated and the angle position is adjusted by the adjustment arm 8 so that the second telescopic shaft 23 of the polyurethane brushing mechanism 12 is coaxially aligned with the bolt hole.

[0099] The adjustment methods for the horizontal position, height position, and angle of the mounting plate 15 are the same as those in step 1, and will not be repeated here.

[0100] Step 5.3: The second telescopic shaft 23 extends 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 based on 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 ends of the bolt holes and the brush 22 are located in this cavity.

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

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

[0104] Step 5.5: Apply polyurethane by rotating the brush 22 until the polyurethane completely covers the outer end of the bolt hole, forming a polyurethane sealing layer.

[0105] As polyurethane enters the cavity between the range controller 21 and the wall, the rotating brush 22 evenly applies the polyurethane to the wall and the outer end of the bolt hole, thereby forming a polyurethane sealing layer at the outer end of the bolt hole, completely covering the gap between the bolt hole and the wall.

[0106] Step 6: The second telescopic shaft 23 retracts, completing the sealing of one bolt hole.

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

[0108] The above are merely 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 within the scope of protection of the present invention.

Claims

1. A smart robot-based device for sealing tie bolt holes, characterized in that: The system includes an intelligent robot body (1), a material box (3), an adjusting arm (8), a lifting rail (9), and a sealing operation component (13). The material box (3) is installed on the intelligent robot body (1), the lifting rail (9) is installed vertically on the material box (3), one end of the adjusting arm (8) is installed on the lifting rail (9), and the sealing operation component (13) is set on the other end of the adjusting arm (8). The sealing operation component (13) is aligned with the bolt holes to be sealed through the intelligent robot body (1), the adjusting arm (8), and the lifting rail (9). The material box (3) is connected to the sealing operation component (13) through a hose (7). The material in the material box (3) is transported to the sealing operation component (13) through the hose (7), and the sealing operation component (13) seals the bolt holes through the material. The material box (3) includes a foaming agent material box (4) for filling foaming agent, a polyurethane material box (5) for filling polyurethane, and a micro-expansion cement mortar material box (6) for filling micro-expansion cement mortar. The foaming agent material box (4), polyurethane material box (5), and micro-expansion cement mortar material box (6) are arranged sequentially and at intervals on the material box (3). The foaming agent material box (4), polyurethane material box (5), and micro-expansion cement mortar material box (6) are respectively connected to the sealing operation component (13) through a hose (7). The sealing operation assembly (13) includes a vertically arranged mounting plate (15) and a foaming agent automatic telescopic nozzle (10), a micro-expansion cement mortar application 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-expansion cement mortar application mechanism (11) is connected to the micro-expansion 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). The foaming agent automatic telescopic nozzle (10) includes a fixed branch pipe (16) and a telescopic branch pipe (17). One end of the fixed branch pipe (16) is fixedly mounted on the mounting plate (15) and connected to the corresponding hose (7). The other end of the fixed branch pipe (16) forms 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) extends horizontally toward the bolt hole. The polyurethane brushing mechanism (12) includes a range controller (21), a brush (22), and a second telescopic shaft (23); the range controller (21) is movably mounted on the mounting plate (15) via the second telescopic shaft (23), so that the range controller (21) can cover the outer side of the bolt hole end; the brush (22) is rotatably mounted inside the range controller (21); a guide tube communicating with the hose (7) is embedded in the center of the rotating shaft of the brush (22), and the guide tube communicates with the internal cavity of the range controller (21); The range controller (21) is a disc-shaped structure with one end open. The range controller (21) covers the outside of the bolt hole through its open end and forms a cavity on the outside of the bolt hole for the brush (22) to rotate and apply polyurethane. The intelligent robot body (1) is equipped with an obstacle scanner (2), and several obstacle scanners (2) are arranged around the circumference of the intelligent robot body (1).

2. The intelligent robot-based device for sealing tie bolt holes according to claim 1, characterized in that: The micro-expansion cement mortar coating mechanism (11) includes a mortar compaction plate (18), a mud spraying branch pipe (19), and a first telescopic shaft (20). The mortar compaction plate (18) is movably mounted on the mounting plate (15) via the first telescopic shaft (20), so that the mortar compaction plate (18) can fit against the end face of the bolt hole. The mud spraying branch pipe (19) is installed through the mortar compaction 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 compaction plate (18) and can be inserted into the bolt hole.

3. A construction method for an intelligent robot-based device for sealing tie bolt holes as described in claim 1, characterized in that: Includes the following steps: Step 1: The main body (1) of the intelligent robot moves to the bolt hole to be sealed and aligns the sealing 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 fills the bolt hole with foaming agent from the foaming agent material box (4); Step 3: The foaming agent automatic telescopic nozzle (10) is retracted, and the micro-expansion cement mortar application mechanism (11) is aligned with the bolt hole according to the position of the bolt hole; Step 4: The micro-expansion cement mortar in the micro-expansion cement mortar material box (6) is filled into the bolt hole by the micro-expansion cement mortar application 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) retracts, completing the sealing of one bolt hole; Step 7: Repeat steps 1 to 6 to seal all bolt holes in sequence; Step 1 includes the following sub-steps: Step 1.1: The main body of the intelligent robot (1) moves to the front of the bolt hole to be sealed and collects an image of the bolt hole through the hole scanner (14) of the sealing operation component (13); Step 1.2: The main body of the intelligent robot (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 main body of the intelligent robot (1) moves the horizontal position of the mounting plate (15) of the sealing operation component (13) by means of the bottom universal wheels; Step 1.3: The adjusting arm (8) adjusts the height of the mounting plate (15) by raising and lowering it via the lifting rail (9); Step 1.4: The mounting plate (15) is rotated and the angle position is adjusted by the adjusting arm (8) so that the telescopic branch pipe (17) of the foaming agent automatic telescopic nozzle (10) is coaxially aligned with the bolt hole; Step 3 includes the following sub-steps: Step 3.1: The main body (1) of the intelligent robot moves the horizontal position of the mounting plate (15), and the adjustment arm (8) adjusts the height of the mounting plate (15) by lifting and lowering through the lifting rail (9); Step 3.2: The mounting plate (15) is rotated and the angle position is adjusted by the adjusting 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) extends, allowing the mud spraying branch pipe (19) to be inserted into the bolt hole, and the mortar compaction plate (18) to be attached to the outer end wall surface of the bolt hole; Step 5 includes the following sub-steps: Step 5.1: The main body (1) of the intelligent robot moves the horizontal position of the mounting plate (15), and the adjustment arm (8) adjusts the height of the mounting plate (15) by lifting and lowering through the lifting rail (9); Step 5.2: The mounting plate (15) is rotated and the angle position is adjusted by the adjusting arm (8) so that the second telescopic shaft (23) of the polyurethane brushing mechanism (12) is coaxially aligned with the bolt hole; Step 5.3: The second telescopic shaft (23) extends so that the range controller (21) completely covers the bolt hole; Step 5.4: Deliver the polyurethane in the polyurethane material box (5) through the hose (7) into the space between the range controller (21) and the outer end of the bolt hole; Step 5.5: Apply polyurethane by rotating the brush (22) to completely cover the outer end of the bolt hole, forming a polyurethane sealing layer.

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