Automatic screw hole plugging device and plugging method

Abstract

The invention provides an automatic plugging device and method for a screw hole. The plugging device comprises a rack, and the rack is provided with a moving mechanism, a laser scanning recognition mechanism, a mortar injection mechanism, a sealant injection mechanism, a positioning alignment mechanism and a path recognition mechanism. The laser scanning recognition mechanism comprises a laser scanning recognition instrument, a rotating assembly and a scanning lifting assembly. The mortar injection mechanism comprises a mortar storage cabin, a mortar storage chamber, a mortar hose and a mortar injection and smearing device which are communicated in sequence; the sealant injection mechanism comprises a foaming placement cabin, a foam storage chamber, a foaming hose and a foaming injector; and the positioning alignment mechanism comprises two groups of horizontal longitudinal moving assemblies, horizontal transverse moving assemblies and positioning lifting assemblies. The operation efficiency of screw hole plugging is improved, the physical labor of constructors is reduced, the construction procedure is simplified, and the safety risk is reduced; the device is accurate in positioning, the filling amount of mortar can be automatically adjusted, and the plugging effect and the overall quality of a building structure are ensured.

Description

Technical Field

[0001] The invention belongs to the field of building construction equipment, and in particular relates to an automatic plugging device and a plugging method for a screw hole. Background Art

[0002] During concrete construction, it is necessary to support the formwork and use screws to tie and fix it. In order to ensure the airtightness of the concrete of the building structure and achieve good waterproof, sound insulation and thermal insulation functions, the screw holes on the building structure need to be sealed after the formwork and screws are removed. The traditional sealing method mainly relies on manual operation and simple sealing tools. This method has low construction efficiency and is easily affected by the skills of the operator, resulting in uneven sealing quality, which affects the overall quality of the building structure; in addition, for some high-altitude construction sites, workers need to set up operating platforms and work at high altitudes. The construction operation is cumbersome and increases the safety risks of the construction. Therefore, the development of an intelligent, automated, and mechanized sealing device is of great significance to improving the overall quality and safety of construction projects. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an automatic screw hole plugging device and a plugging method, which improves the operating efficiency of screw hole plugging, reduces the physical labor of construction personnel, simplifies the construction process, and reduces safety risks.

[0004] The technical solution adopted by the present invention is: an automatic screw hole plugging device, comprising a frame, the frame is provided with a moving mechanism, a laser scanning and identification mechanism, a mortar injection mechanism, a sealant injection mechanism, a positioning and alignment mechanism and a path identification mechanism: the moving mechanism is arranged at the bottom of the frame, and is used to drive the frame to move; the laser scanning and identification mechanism is used to scan the building structure and identify the screw holes; the mortar injection mechanism is used to inject mortar into the screw holes; the sealant injection mechanism is used to inject sealant into the screw holes after the mortar is filled; the positioning and alignment mechanism is respectively connected to the mortar injection mechanism and the sealant injection mechanism, and is used to drive the two to move along the height direction, thickness direction and length direction of the building structure; the path identification mechanism is used to identify the moving path of the frame.

[0005] Furthermore, the laser scanning and identification mechanism includes a laser scanning and identification device, a rotating component and a scanning and lifting component. The laser scanning and identification device is connected to the driving end of the rotating component, and the rotating component is connected to the driving end of the scanning and lifting component.

[0006] Furthermore, the mortar injection mechanism includes a mortar storage cabin, a mortar storage chamber, a mortar hose and a mortar injector which are connected in sequence; the mortar storage cabin is arranged in the middle of the frame, and has a pressurizing device and a funnel-shaped mortar outlet; the mortar injector is connected to the positioning and alignment mechanism.

[0007] Furthermore, the sealant injection mechanism includes a foaming placement cabin, a foaming chamber, a foaming hose and a foaming syringe. A plurality of foaming tanks are detachably provided in the foaming placement cabin, and the discharge ports of the foaming tanks are all connected to the foaming chamber; the discharge port of the foaming chamber is arranged on the same side as the discharge port of the slurry storage chamber; and the foaming syringe is connected to the positioning and alignment mechanism.

[0008] Furthermore, the positioning and alignment mechanism includes two groups of horizontal longitudinal movement components, a horizontal transverse movement component and a positioning lifting component; the horizontal longitudinal movement components respectively clamp the mortar injector and the foaming syringe, and are connected to the driving end of the horizontal transverse movement component, and the horizontal transverse movement component is connected to the driving end of the positioning lifting component.

[0009] Furthermore, the positioning lifting assembly includes a positioning lifting drive and a lifting frame, the lifting frame is connected to the driving end of the positioning lifting drive, and the horizontal lateral movement assembly is fixed to the lifting frame; the lifting frame is provided with a limiting groove for the mortar hose and the foaming hose to pass through.

[0010] Furthermore, the horizontal transverse movement assembly includes a transverse movement driver and a transverse movement bracket, the transverse movement bracket is connected to the driving end of the transverse movement driver, and the horizontal longitudinal movement assemblies are all arranged on the upper part of the transverse movement bracket.

[0011] Furthermore, the horizontal longitudinal movement assembly includes a longitudinal movement drive, a limit cabin and a pipe clamp, and the limit cabin is arranged on the upper part of the transverse movement bracket; the driving end of the transverse movement drive is connected to the pipe clamp, and the pipe clamp is movably arranged in the limit cabin and clamps the mortar injector or the foaming syringe.

[0012] Furthermore, it also includes a control system, which is electrically connected to the moving mechanism, the laser scanning and identification mechanism, the mortar injection mechanism, the sealant injection mechanism, the positioning and alignment mechanism and the path identification mechanism respectively.

[0013] A method for automatically plugging a screw hole, using the above-mentioned automatic plugging device for a screw hole, comprises the following steps:

[0014] Import the building 3D model and the shape feature set of the screw hole into the control system, and set the scanning target point and the moving path between the scanning target points;

[0015] Start the automatic screw hole plugging device, identify the target building structure environment through the laser scanning recognition mechanism and the path recognition mechanism, perform coordinate conversion and positioning, and automatically plan the path to reach the scanning target point;

[0016] Running the laser scanning and recognition mechanism to scan the target area, forming a screw hole data set, and automatically planning the operation points and operation paths;

[0017] Move to the first operation point, operate the positioning and alignment mechanism, align the mortar injector and extend it into the screw hole at the bottom, and operate the mortar injection mechanism to perform grouting operation;

[0018] The positioning and alignment mechanism is operated to align the foaming syringe with and extend it into the remaining hole section of the screw hole at the bottom, and the sealant injection mechanism is operated to perform the sealant operation;

[0019] Running the positioning and alignment mechanism to align the mortar injector with the screw hole adjacent to the upper side, and sequentially performing the grouting operation and the sealing operation;

[0020] Automatically move to the next operation point according to the operation path to perform the grouting operation and the sealing operation;

[0021] The device automatically moves to the next scanning target point according to the moving path to complete the plugging of the screw hole in the corresponding target area.

[0022] The advantages and positive effects of the present invention are:

[0023] The automatic screw hole plugging device proposed in this application can significantly improve the efficiency of screw hole plugging in building structures, greatly reduce the physical labor of construction workers, and avoid the traditional high-altitude operation that requires the construction of a frame, thereby simplifying the construction process and reducing safety risks. The device uses precise positioning technology to effectively prevent omissions during the screw hole plugging process, further ensuring the construction quality. At the same time, the device can automatically adjust the amount of mortar filled according to the depth of the screw hole, ensuring that each plugging can achieve the best effect, thereby ensuring the overall quality of the building structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a specific embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of a laser scanning recognition mechanism of a specific embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of a positioning and alignment mechanism of a specific embodiment of the present invention;

[0027] Figure 4 It is a top view of a positioning and alignment mechanism according to a specific embodiment of the present invention.

[0028] In the figure:

[0029] 1. Frame 11, base 12, host

[0030] 13. Moving mechanism 2. Laser scanning and identification mechanism 21. Laser scanning and identification device

[0031] 22. Rotating assembly 23. Scanning lifting assembly 231. Lifting drive

[0032] 232, lifting rod 3, path identification mechanism 4, mortar injection mechanism

[0033] 41. Mortar storage cabin 411. Pressurizing device 42. Mortar storage room

[0034] 43. Mortar hose 44. Mortar dispenser 5. Sealant injection mechanism

[0035] 51. Foaming placement cabin 52. Foam storage chamber 53. Foaming hose

[0036] 54. Foaming syringe 6. Positioning alignment mechanism 61. Positioning lifting assembly

[0037] 611, positioning lifting driver 612, limiting screw 613, lifting frame

[0038] 6131, limit slot 62, horizontal traverse assembly 621, traverse driver

[0039] 622, transverse slide rail 623, transverse bracket 63, horizontal and longitudinal moving assembly

[0040] 631, limit cabin 632, power cabin 633, longitudinal drive

[0041] 634、Pipe clamp 7、Control system DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described below with reference to the accompanying drawings.

[0043] like Figure 1As shown, the present invention proposes an automatic screw hole plugging device for plugging screw holes in building structures, which can significantly improve the efficiency of screw hole plugging in building structures, greatly reduce the physical labor of construction workers, and avoid the traditional high-altitude operation that requires the construction of a frame, thereby simplifying the construction process and reducing safety risks. The device adopts precise positioning technology to effectively prevent omissions in the process of screw hole plugging, further ensuring the construction quality. At the same time, the device can automatically adjust the filling amount of mortar according to the depth of the screw hole, ensuring that each plugging can achieve the best effect, thereby ensuring the overall quality of the building structure.

[0044] like Figure 1 As shown, an automatic screw hole sealing device proposed in the present application includes a frame 1, and the frame 1 is provided with a moving mechanism 13, a laser scanning and identification mechanism 2, a mortar injection mechanism 4, a sealant injection mechanism 5, a positioning and alignment mechanism 6 and a path identification mechanism 3: wherein the moving mechanism 13 is arranged at the bottom of the frame 1, and is used to drive the frame 1 to move; the laser scanning and identification mechanism 2 is used to scan the building structure and identify the screw holes; the mortar injection mechanism 4 is used to inject mortar into the screw holes; the sealant injection mechanism 5 is used to inject sealant into the screw holes after filling with mortar; the positioning and alignment mechanism 6 is respectively connected to the mortar injection mechanism 4 and the sealant injection mechanism 5, and is used to drive the two to move along the height direction, thickness direction and length direction of the building structure; the path identification mechanism 3 is used to identify the moving path of the frame 1.

[0045] Through the above technical scheme, efficient and automatic sealing of screw holes on building structures is achieved. The moving mechanism 13 drives the frame 1 to move inside the building, and the path recognition mechanism 3 ensures that the frame 1 moves accurately along the predetermined path and avoids obstacles, so that it can reach the set position of the building structure to be constructed; the laser scanning and recognition mechanism 2 can scan and identify the position and shape of the screw hole, and the positioning and alignment mechanism 6 can make the mortar injection mechanism 4 and the sealant injection mechanism 5 respectively align with the screw hole to implement grouting and sealing operations. The entire process is automated, which significantly improves the efficiency and accuracy of screw hole sealing and reduces the tediousness and errors of manual operation.

[0046] like Figure 2 As shown, the laser scanning and identification mechanism 2 includes a laser scanning and identification device 21, a rotating component 22 and a scanning and lifting component 23. The laser scanning and identification device 21 is connected to the driving end of the rotating component 22, and the rotating component 22 is connected to the driving end of the scanning and lifting component 23. The laser scanning and identification device 21 is rotated and lifted relative to the frame 1 through the rotating component 22 and the scanning and lifting component 23 to meet the scanning requirements of different building structures.

[0047] Specifically, the laser scanning identification device 21 can emit a laser beam in the circumferential direction; the rotating assembly 22 includes a rotating motor, the laser scanning identification device 21 is connected to the rotating shaft of the rotating motor, and can rotate 360 ​​degrees around the vertical axis, thereby greatly improving the detection range and efficiency of the laser scanning identification device 21, ensuring that the detection target can be accurately scanned and identified, and improving the comprehensiveness and accuracy of identification. The scanning lifting assembly 23 includes a lifting driver 231 and a lifting rod 232. The lifting driver 231 can adopt a cylinder or other driving form, and its driving end is connected to the lifting rod 232 to drive the lifting rod 232 to rise or fall; the lifting rod 232 is arranged in the vertical direction, and the lifting driver 231 is arranged inside the frame 1 and connected to the bottom of the lifting rod 232; the upper end of the lifting rod 232 passes through the frame 1 and is connected to the rotating motor, thereby being able to drive the rotating motor and the laser scanning identification device 21 to rise and fall synchronously, so as to ensure that the range of the laser scanning operation can be adjusted according to the height of the building structure to prevent the occurrence of screw hole omission.

[0048] like Figure 1 As shown, the above-mentioned mortar injection mechanism 4 is used for grouting operations, including a mortar storage cabin 41, a mortar storage chamber 42, a mortar hose 43 and a mortar injector 44 which are connected in sequence; the mortar storage cabin 41 is arranged in the middle of the frame 1, and has a pressurizing device 411 and a funnel-shaped mortar outlet end; the mortar injector 44 is connected to the positioning and alignment mechanism 6.

[0049] Specifically, the mortar storage chamber 41 is a box structure provided with a mortar feed port and a mortar feed port, through which mortar can be injected into the mortar storage chamber 41, and a pressurizing device 411 is provided inside the mortar storage chamber 41, and the mortar outlet end is arranged at the bottom of the mortar storage chamber 41, in a funnel shape; the mortar outlet is arranged at the lowest point of the mortar outlet end, and is connected to the mortar storage chamber 42 arranged on one side of the mortar storage chamber 41 through a discharge pipe, and the mortar is discharged to the mortar storage chamber 41 through the pressurizing device 411. Internal pressurization can inject mortar into the slurry storage chamber 42 to ensure that the mortar storage amount in the slurry storage chamber 42 meets the sealing requirement of at least one screw hole, so that the grouting operation of each screw hole can be carried out completely, avoiding interruption due to insufficient mortar supply, which affects the quality of sealing the screw hole; the outlet end of the slurry storage chamber 42 is connected to a mortar injector 44 through a mortar hose 43. The mortar injector 44 has sufficient rigidity and is moved by the action of the positioning and alignment mechanism 6 to extend into the screw hole for grouting operation.

[0050] like Figure 1As shown, the above-mentioned sealant injection mechanism 5 is used for sealing operations, including a foaming placement cabin 51, a foaming chamber 52, a foaming hose 53 and a foaming syringe 54. A plurality of foaming tanks are detachably provided in the foaming placement cabin 51. The sealant is stored under pressure in the foaming tanks. The discharge ports of the plurality of foaming tanks are connected to the foaming chamber 52 to ensure that there is enough sealant in the foaming chamber 52. The discharge port of the foaming chamber 52 is arranged on the same side as the discharge port of the slurry storage chamber 42, and is equipped with an electric valve. One end of the foaming hose 53 is connected to the discharge port of the foaming chamber 52, and the other end is connected to the foaming syringe 54. The foaming syringe 54 has sufficient rigidity and can be connected to the positioning and alignment mechanism 6. The positioning and alignment mechanism 6 drives the foaming syringe 54 to move to the position of the screw hole filled with mortar to perform the sealing operation, thereby realizing effective sealing of the screw hole.

[0051] In a specific embodiment, the frame 1 includes a base 11, a main machine 12 and a positioning alignment mechanism 6 are arranged on the upper part of the base 11, the main machine 12 is provided with a main machine 12 shell, the mortar storage cabin 41, the foaming placement cabin 51, the slurry storage chamber 42 and the foam storage chamber 52 are all located on the inner side of the main machine 12 shell; wherein the mortar storage cabin 41 is located in the middle of the main machine 12, and the foaming placement cabin 51 is located on the upper part of the mortar storage cabin 41; the slurry storage chamber 42 and the foam storage chamber 52 are fixed to the inner wall of the main machine 12 shell, and the discharge ports of the slurry storage chamber 42 and the foam storage chamber 52 are respectively arranged on the same side of the main machine 12 shell At different positions of the wall, preferably, the discharge ports of the two are staggered in the height direction; the foaming hose 53 and the foaming syringe 54, the mortar hose 43 and the mortar injector 44 are all located on the outside of the main body 12 shell, and the positioning alignment mechanism 6 is arranged on the same side as the discharge ports of the slurry storage chamber 42 and the foam storage chamber 52; the mortar injector 44 and the foaming syringe 54 are respectively connected to the positioning alignment mechanism 6, and the mortar hose 43 and the foaming hose 53 have sufficient length to meet the movement requirements of the positioning alignment mechanism 6, thereby realizing the grouting operation and sealing operation of the screw holes at different heights.

[0052] like Figure 1 , Figure 3 and Figure 4 As shown, the above-mentioned positioning and alignment mechanism 6 includes two groups of horizontal longitudinal movement components 63, a horizontal transverse movement component 62 and a positioning lifting component 61; the horizontal longitudinal movement components 63 respectively clamp the mortar injector 44 and the foaming syringe 54, and can drive the mortar injector 44 and the foaming syringe 54 to move back and forth longitudinally to extend into or away from the screw hole; the horizontal longitudinal movement component 63 is connected to the driving end of the horizontal transverse movement component 62, and can drive the horizontal longitudinal movement component 63 to move back and forth transversely to make one of the mortar injectors 44 or the foaming syringe 54 on the horizontal longitudinal movement component 63 align with the screw hole; the horizontal transverse movement component 62 is connected to the driving end of the positioning lifting component 61 to drive the horizontal transverse movement component 62, the horizontal longitudinal movement component 63, the mortar injector 44 and the foaming syringe 54 to rise or fall synchronously to match the heights of different screw holes.

[0053] In the present application, the positioning lifting assembly 61 includes a positioning lifting driver 611 and a lifting frame 613. The lifting frame 613 is connected to the driving end of the positioning lifting driver 611, and can move the driving direction of the positioning lifting driver 611 in the height direction. The horizontal lateral movement assembly 62 is fixed to the lifting frame 613; the positioning lifting driver 611 can adopt a gear rack transmission, a chain transmission or a cylinder transmission, etc., which is not limited here; in this embodiment, chain transmission is preferably adopted, and the positioning lifting assembly 61 also includes a limit screw 612. The positioning lifting driver 611 adopts a servo motor, and the output end of the servo motor is connected to the chain. It is connected to the limit screw 612 to drive the limit screw 612 to rotate synchronously; the lifting frame 613 is provided with a threaded hole that matches the limit screw 612, and moves stably along the limit screw 612 when the servo motor is running, so as to drive the horizontal lateral movement assembly 62 to move to a height that meets the use requirements; at the same time, the lifting frame 613 is provided with a limit groove 6131 for the mortar hose 43 and the foaming hose 53 to pass through, which can effectively limit and guide the movement of the mortar hose 43 and the foaming hose 53 within a specific path, ensuring that the two will not be damaged due to operational errors during the construction process, and ensuring the stable supply of mortar and sealant.

[0054] The above-mentioned horizontal transverse movement component 62 includes a transverse movement driver 621 and a transverse movement bracket 623. The transverse movement bracket 623 is connected to the driving end of the transverse movement driver 621, and the horizontal longitudinal movement components 63 are all arranged on the upper part of the transverse movement bracket 623. Through the action of the transverse movement driver 621, the transverse movement bracket 623 drives the horizontal longitudinal movement component 63 to move horizontally, so that the mortar injector 44 or the foaming syringe 54 on the horizontal longitudinal movement component 63 is aligned with the screw hole, thereby completing the grouting operation or the sealing operation; the transverse movement driver 621 is preferably driven by a cylinder, and a transverse movement slide 622 is provided on the upper part of the lifting frame 613. The transverse movement bracket 623 is slidably connected to the transverse movement slide 622, and reciprocates along the transverse movement slide 622 under the drive of the transverse movement driver 621, so that the mortar injector 44 or the foaming syringe 54 on the horizontal longitudinal movement component 63 is aligned with the screw hole.

[0055] Preferably, the two horizontal longitudinal movement components 63 are both arranged on the upper part of the same transverse movement bracket 623, and are arranged at intervals along the direction of the transverse movement of the transverse movement bracket 623, so that the transverse movement bracket 623 can simultaneously drive the two horizontal longitudinal movement components 63 to move laterally. In this way, when one horizontal longitudinal movement component 63 is aligned with the screw hole, the other horizontal longitudinal movement component 63 just leaves the screw hole, so that the mortar injector 44 or the foaming injector 54 is aligned with the screw hole in turn, and the grouting operation and the sealing operation are carried out alternately, so that the movement of the transverse movement bracket 623 is more precise and easy to control.

[0056] The above-mentioned horizontal longitudinal movement component 63 includes a longitudinal movement driver 633, a limiting cabin 631 and a pipe clamp 634. The limiting cabin 631 is arranged on the upper part of the transverse movement bracket 623. The limiting cabins 631 of the two horizontal longitudinal movement components 63 are spaced apart in a direction perpendicular to the transverse movement slide rail 622; the driving end of the longitudinal movement driver 633 is connected to the pipe clamp 634, and the pipe clamp 634 is movably arranged in the limiting cabin 631. It can be driven by the longitudinal movement driver 633 to perform longitudinal reciprocating movement along the limiting cabin 631. At the same time, the pipe clamp 634 clamps the mortar injector 44 or the foaming syringe 54 to drive the mortar injector 44 or the foaming syringe 54 to penetrate into the screw hole to carry out grouting or sealing operations.

[0057] Specifically, the longitudinal drive 633 in the present application is preferably driven by a cylinder, and the longitudinal drive 633 is arranged in the power cabin 632, and the power cabin 632 is arranged at the bottom of the limit cabin 631, and a sliding groove is provided between the two, and the bottom of the clamp 634 passes through the sliding groove and is connected to the driving end of the longitudinal drive 633; ​​as shown in the figure, the mortar injector 44 or the foaming injector 54 are both hollow steel pipes, the front end of the hollow steel pipe is the injection end, and the tail end is connected to the mortar hose 43 or the foaming hose 53 through a connector, and the mortar hose 4 3 or the foaming hose 53 is passed through the limiting cabin 631, and the pipe clamp 634 is clamped at the connecting part to drive the mortar injector 44 and the mortar hose 43 or the foaming injector 54 and the foaming hose 53 to move synchronously; preferably, the limiting cabin 631 has a horizontal section and a vertical section, and the vertical section extends to above the limiting groove 6131 of the lifting frame 613 to effectively limit and isolate the mortar hose 43 and the foaming hose 53 to prevent them from being damaged or interlaced during movement, thereby affecting the supply of mortar and sealant.

[0058] The automatic screw hole sealing device proposed in the present application also includes a control system 7, which is electrically connected to the moving mechanism 13, the laser scanning and identification mechanism 2, the mortar injection mechanism 4, the sealant injection mechanism 5, the positioning and alignment mechanism 6 and the path identification mechanism 3, respectively, to control the laser scanning and identification mechanism 2 to perform laser scanning operations, control the positioning and alignment mechanism 6 to adjust the positions of the mortar injection mechanism 4 and the sealant injection mechanism 5 according to the position of the screw hole, and control the mortar injection mechanism 4 and the sealant injection mechanism 5 to perform grouting operations and sealing operations respectively to complete the sealing of the screw hole; control the moving mechanism 13 and the path identification mechanism 3 to cooperate to move the device to the next operating position to achieve continuous operation.

[0059] In a specific embodiment of the present application, an automatic screw hole plugging device proposed in the present application includes a frame 1, the frame 1 includes a base 11, a main machine 12 and a positioning and alignment mechanism 6 are provided on the upper part of the base 11, and a moving mechanism 13 is provided on the lower part of the base 11; the main machine 12 is provided with a main machine 12 shell, the mortar storage cabin 41 is located in the middle of the inner side of the main machine 12, and the foaming placement cabin 51 is located in the upper part of the mortar storage cabin 41; the positioning and alignment mechanism 6 is located on one side of the main machine 12, and is on the same side as the discharge ports of the slurry storage chamber 42 and the foam storage chamber 52; the discharge ports of the slurry storage chamber 42 and the foam storage chamber 52 are located at different heights of the side wall of the same main machine 12 shell, and are staggered in the lateral direction; the feed port of the mortar storage cabin 41 and the loading port of the foaming placement cabin 51 are both located On the side wall of the main engine 12 shell on the opposite side of the positioning and alignment mechanism 6; the path recognition mechanism 3 includes a camera, which is arranged on the other side wall of the main engine 12 shell different from the discharge port of the slurry storage chamber 42 and the foam storage chamber 52, the feed port of the mortar storage cabin 41 and the loading port of the foaming placement cabin 51; the laser scanning and recognition mechanism 2 is arranged near the side wall opposite to the side wall where the camera is located, and avoids the mortar storage cabin 41 and the foaming placement cabin 51; through the above technical scheme, the laser scanning and recognition mechanism 2, the mortar injection mechanism 4, the sealant injection mechanism 5, the positioning and alignment mechanism 6 and the path recognition mechanism 3 can operate independently, minimize the influence between each other, and ensure the stable operation of the screw hole automatic plugging device.

[0060] The second aspect of the present application further proposes an automatic screw hole plugging method, which uses the automatic screw hole plugging device proposed in the present application to plug the screw holes on the wall of the building structure, including the following steps:

[0061] S1, importing the shape feature set of the building three-dimensional model and the screw hole into the control system 7, and setting the scanning target point and the moving path between the scanning target points;

[0062] The 3D building model includes the ground and walls of each structural layer inside the building structure. The scale of the 3D model is consistent with the actual scale of the structure. The shape feature set of the screw hole includes the shape and depth of the screw hole under general construction conditions.

[0063] The automatic screw hole plugging device performs scanning operations at some specific positions on the building structure, and defines the specific positions as scanning target points. The specific positions are set according to the area that can be covered by each scanning operation of the laser scanning recognition mechanism 2 to ensure that the entire area of ​​the target building structure can be covered by performing scanning operations at each scanning target point.

[0064] The moving path between the scanning target points defines the moving order of the screw hole automatic plugging device between the scanning target points to avoid obstacles and improve working efficiency.

[0065] S2, start the automatic screw hole plugging device, identify the target building structure environment through the laser scanning recognition mechanism 2 and the path recognition mechanism 3, perform coordinate conversion and positioning, and automatically plan the path to reach the scanning target point;

[0066] After startup, the laser scanning and recognition mechanism 2 rotates. During the rotation process, it obtains the building structure environment data near the initial position, matches it with the building three-dimensional model, performs coordinate conversion, obtains its position and posture in the building structure environment, compares the position of the scanning target point, and automatically plans a path to move to the scanning target point.

[0067] S3, running the laser scanning and recognition mechanism 2 to scan the target area, forming a screw hole data set, and automatically planning the operation point and operation path;

[0068] After reaching the scanning target point, the laser scanning and recognition mechanism 2 rotates to obtain the scanning data of the target area, matches it with the shape feature set of the screw hole, identifies the screw hole, and calculates the position of the screw hole. Usually, multiple screw holes are arranged along the height direction of the building structure. In this application, each scanning operation can identify multiple columns of screw holes, and each column of screw holes corresponds to an operating point; the control system 7 automatically plans the operating sequence and operating path to realize movement and continuous operation between multiple operating points.

[0069] S4, move to the first operation point, operate the positioning and alignment mechanism 6, align the mortar injector 44 and extend it into the bottom screw hole, and operate the mortar injection mechanism 4 to perform grouting operation;

[0070] Specifically, the control system 7 controls the movement of the positioning and lifting component 61 and the horizontal transverse movement component 62 of the positioning and alignment mechanism 6 according to the screw hole data set obtained by scanning, so that the mortar injector 44 is aligned with the screw hole at the bottom of the operation point, and then operates the horizontal longitudinal movement component 63 to make the mortar injector 44 extend into the screw hole. As the pressurizing device 411 of the mortar injection mechanism 4 continues to pressurize the mortar storage compartment, the mortar is injected into the mortar storage chamber 42, and flows from the mortar storage chamber 42 into the mortar injector 44 and then into the screw hole. The horizontal longitudinal movement component 63 moves synchronously with the grouting operation in a direction away from the screw hole, driving the mortar injector 44 to move outward synchronously; when a remaining section of the hole of a set length is left in the screw hole, the horizontal longitudinal movement component 63 drives the mortar injector 44 to leave the screw hole, completing the grouting operation.

[0071] S5, operate the positioning and alignment mechanism 6, align the foaming syringe 54 with and extend it into the remaining hole section of the bottom screw hole, and operate the sealant injection mechanism 5 to perform the sealant operation;

[0072] Specifically, the horizontal transverse moving assembly 62 and the horizontal longitudinal moving assembly 63 are operated in sequence. When the foaming syringe 54 is aligned with and extends into the remaining hole section of the screw hole, the electric valve of the foam storage chamber 52 is opened to fill the sealant in the remaining hole section, thereby completing the sealing operation.

[0073] S6, operate the positioning and alignment mechanism 6 to align the mortar injector 44 with the upper adjacent screw hole, and perform the grouting operation in step S4 and the sealing operation in step S5 in sequence;

[0074] S7, automatically moving to the next operation point according to the operation path, and performing grouting and sealing operations;

[0075] When all the screw holes corresponding to the operation point are sealed, move to the next operation point according to the planned operation path, and perform grouting and sealing operations again until all the screw holes in the target area are sealed.

[0076] S8, automatically moving to the next scanning target point according to the moving path, repeating steps S3 to S7, and completing the plugging of the screw holes in the corresponding target area.

[0077] It can be understood that the automatic screw hole sealing device proposed in the present application can also be used to independently perform grouting operations or sealing operations. In a specific embodiment, the screw hole passes through the building structure, and the automatic screw hole sealing device is used to perform grouting operations and sealing operations on one side of the building structure, and only sealing operations are performed on the other side, thereby completing the sealing of both ends of the screw hole.

[0078] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An automatic screw hole plugging device, characterized in that: The invention comprises a frame, which is provided with a moving mechanism, a laser scanning and identifying mechanism, a mortar injection mechanism, a sealant injection mechanism, a positioning and alignment mechanism and a path identification mechanism: the moving mechanism is arranged at the bottom of the frame, and is used to drive the frame to move; the laser scanning and identifying mechanism is used to scan the building structure and identify the screw holes; the mortar injection mechanism is used to inject mortar into the screw holes; the sealant injection mechanism is used to inject sealant into the screw holes filled with the mortar; the positioning and alignment mechanism is respectively connected with the mortar injection mechanism and the sealant injection mechanism, and is used to drive the two to move along the height direction, thickness direction and length direction of the building structure; the path identification mechanism is used to identify the moving path of the frame.

2. The automatic screw hole plugging device according to claim 1, characterized in that: The laser scanning and identification mechanism comprises a laser scanning and identification instrument, a rotating component and a scanning and lifting component. The laser scanning and identification instrument is connected to the driving end of the rotating component, and the rotating component is connected to the driving end of the scanning and lifting component.

3. The automatic screw hole plugging device according to claim 1 or 2, characterized in that: The mortar injection mechanism includes a mortar storage cabin, a mortar storage chamber, a mortar hose and a mortar injector which are connected in sequence; the mortar storage cabin is arranged in the middle of the frame, and has a pressurizing device and a funnel-shaped mortar outlet; the mortar injector is connected to the positioning and alignment mechanism.

4. The automatic screw hole plugging device according to claim 3 is characterized in that: The sealant injection mechanism includes a foaming placement cabin, a foaming chamber, a foaming hose and a foaming syringe. A plurality of foaming tanks are detachably provided in the foaming placement cabin, and the discharge ports of the foaming tanks are all connected to the foaming chamber; the discharge port of the foaming chamber is arranged on the same side as the discharge port of the slurry storage chamber; and the foaming syringe is connected to the positioning and alignment mechanism.

5. The automatic screw hole plugging device according to claim 4, characterized in that: The positioning and alignment mechanism includes two groups of horizontal longitudinal movement components, a horizontal transverse movement component and a positioning lifting component; the horizontal longitudinal movement components respectively clamp the mortar injector and the foaming syringe, and are connected to the driving end of the horizontal transverse movement component, and the horizontal transverse movement component is connected to the driving end of the positioning lifting component.

6. The automatic screw hole plugging device according to claim 5, characterized in that: The positioning lifting assembly includes a positioning lifting drive and a lifting frame, the lifting frame is connected to the driving end of the positioning lifting drive, and the horizontal lateral movement assembly is fixed to the lifting frame; the lifting frame is provided with a limiting groove for the mortar hose and the foaming hose to pass through.

7. The automatic screw hole plugging device according to claim 5 or 6, characterized in that: The horizontal transverse movement assembly includes a transverse movement driver and a transverse movement bracket. The transverse movement bracket is connected to the driving end of the transverse movement driver. The horizontal longitudinal movement assemblies are all arranged on the upper part of the transverse movement bracket.

8. The automatic screw hole plugging device according to claim 7, characterized in that: The horizontal longitudinal movement assembly includes a longitudinal movement drive, a limit cabin and a pipe clamp, wherein the limit cabin is arranged on the upper part of the transverse movement bracket; the driving end of the transverse movement drive is connected to the pipe clamp, and the pipe clamp is movably arranged in the limit cabin and clamps the mortar injector or the foaming syringe.

9. The automatic screw hole plugging device according to claim 8, characterized in that: It also includes a control system, which is electrically connected to the moving mechanism, the laser scanning and identifying mechanism, the mortar injection mechanism, the sealant injection mechanism, the positioning and alignment mechanism, and the path identifying mechanism respectively.

10. A method for automatically plugging a screw hole, characterized in that: The automatic screw hole plugging device according to any one of claims 1 to 9 comprises the following steps: Import the building 3D model and the shape feature set of the screw hole into the control system, and set the scanning target point and the moving path between the scanning target points; Start the automatic screw hole plugging device, identify the target building structure environment through the laser scanning recognition mechanism and the path recognition mechanism, perform coordinate conversion and positioning, and automatically plan the path to reach the scanning target point; Running the laser scanning and recognition mechanism to scan the target area, forming a screw hole data set, and automatically planning the operation points and operation paths; Move to the first operation point, operate the positioning and alignment mechanism, align the mortar injector and extend it into the screw hole at the bottom, and operate the mortar injection mechanism to perform grouting operation; The positioning and alignment mechanism is operated to align the foaming syringe with and extend it into the remaining hole section of the screw hole at the bottom, and the sealant injection mechanism is operated to perform the sealant operation; Running the positioning and alignment mechanism to align the mortar injector with the screw hole adjacent to the upper side, and sequentially performing the grouting operation and the sealing operation; Automatically move to the next operation point according to the operation path to perform the grouting operation and the sealing operation; The device automatically moves to the next scanning target point according to the moving path to complete the plugging of the screw hole in the corresponding target area.

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