Method for conveying ceramic tile glue through screw pump in slurry spreading mechanism

Abstract

The invention discloses a method for conveying ceramic tile glue through a screw pump in a slurry laying mechanism, and relates to the technical field of screw pump conveying. Comprising the steps that according to the requirement of a tile paving robot in a slurry paving mechanism, a screw pump is selected and assembled with a screw pump driving device, and tile glue is conveyed; the theoretical displacement of the screw pump, the internal leakage rate of the screw pump in the working process and the shaft power of the screw pump are calculated according to the structural parameters of the screw pump; carrying out numerical simulation on the flowing process of the ceramic tile glue in the screw pump by utilizing fluid dynamic simulation software; designing a control system of the brick paving robot and the screw pump; after the design of the control system is completed, adjustment and optimization are carried out according to brick paving experiments and simulation results; and after adjustment and optimization, the ceramic tile glue is pushed to an outlet of the tile paving robot, and conveying of the ceramic tile glue is completed. The ceramic tile glue conveying efficiency and the ceramic tile paving efficiency in the slurry paving mechanism are improved.

Description

Technical Field

[0001] The invention relates to the technical field of screw pump conveying, and more particularly to a method for conveying tile adhesive by means of a screw pump in a slurry spreading mechanism. Background Art

[0002] Tile adhesive is a highly efficient building adhesive material, mainly used to fix ceramic tiles, floor tiles and other building materials. It has the characteristics of high adhesion, water resistance, freeze-thaw resistance, aging resistance, and easy construction. The functions of tile adhesive include: Fixing tiles: firmly sticking tiles on walls, floors and other building surfaces to prevent them from falling off, thereby enhancing stability and firmness; Waterproof and mildew-proof: Tile adhesive can form a sealing layer to effectively prevent moisture penetration and mold growth, and keep the wall dry; Caulking and sealing: Fill the gaps between tiles to prevent water and dust from entering, and keep the wall clean and beautiful; Repairing tiles: When tiles are damaged or hollow, tile adhesive can be used to repair or seal them; Adapting to thermal expansion and contraction: Due to its certain flexibility, tile adhesive can adapt to the expansion and contraction of the wall to avoid cracking of tiles.

[0003] In recent years, with the rapid development of the real estate industry, the area of ​​tile laying has become larger and larger. However, the traditional tile laying method mainly relies on manual labor, which is not only inefficient but also prone to quality problems. Tile laying robots came into being. Now the use of tile laying robots is becoming more and more widespread. The laying of tile adhesive is indispensable in the use of tile laying robots.

[0004] Therefore, it is an urgent problem for technical personnel in this field to propose a method for conveying tile adhesive by a screw pump in a grouting mechanism to solve the problem of low efficiency of tile adhesive conveying and tile paving in the grouting mechanism. Summary of the invention

[0005] In view of this, the present invention provides a method for conveying tile adhesive by a screw pump in a slurry spreading mechanism, so as to solve the technical problems existing in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A method for conveying tile adhesive by a screw pump in a grouting mechanism comprises the following steps:

[0008] According to the requirements of the tile laying robot in the grouting mechanism, a screw pump is selected and assembled with a screw pump drive device to deliver tile adhesive;

[0009] Calculate the theoretical displacement of the screw pump, the internal leakage of the screw pump during operation, and the shaft power of the screw pump according to the structural parameters of the screw pump;

[0010] The flow process of tile adhesive in the screw pump is numerically simulated using fluid dynamics simulation software;

[0011] Design control systems for bricklaying robots and screw pumps;

[0012] After the design control system is completed, adjustments and optimizations are made based on the brick laying experiments and simulation results;

[0013] After adjustment and optimization, the tile adhesive is pushed to the exit of the tile laying robot to complete the delivery of the tile adhesive.

[0014] The above method may optionally include selecting a screw pump and assembling it with a screw pump drive device as follows:

[0015] Select the drive mode according to the type and usage requirements of the screw pump;

[0016] Connect the drive device: Connect the screw pump to the drive device;

[0017] Check assembly: Before starting, check whether all parts of the screw pump are assembled correctly;

[0018] Start the pump body: Start the motor to start the screw pump. During the startup process, observe whether the screw pump runs smoothly and whether there are any abnormal sounds or vibrations.

[0019] In the above method, optionally, the structural parameters of the screw pump include screw diameter, lead and speed, and the calculation formula for the theoretical displacement is:

[0020] Qt = 60Ftn;

[0021] Where F is the effective cross-sectional area of ​​the pump cylinder, t is the lead of the screw thread, and n is the number of revolutions per minute of the active screw;

[0022] The internal leakage is calculated as:

[0023] Qs=αp / σm;

[0024] Among them, p is the working pressure of the screw pump, σ is the viscosity of the discharged liquid, α is a coefficient related to the screw diameter and effective length, and m is an empirical coefficient used to adjust the formula to adapt to different types of screw pumps and working conditions. The value of m is 0.3-0.5.

[0025] In the above method, optionally, the shaft power of the screw pump is the sum of water power, friction power and leakage loss power, wherein the water power is calculated by the difference between the discharge pressure and the suction pressure of the screw pump and the actual displacement of the screw pump.

[0026] The above method is optional. The calculation formula of water power is:

[0027] Nc=PQ×10 -3 ;

[0028] Among them, P is the shaft power of the screw pump, in kw; Q is the flow rate of the screw pump, in m 3 / s.

[0029] The above method can optionally use fluid dynamics simulation software to perform numerical simulation on the flow process of tile adhesive in the screw pump. The specific contents are as follows:

[0030] Analyze the flow process: The flow of tile adhesive in the screw pump is divided into the inlet section, screw section and outlet section for analysis;

[0031] Establish geometric model: Establish a three-dimensional geometric model based on the actual structure and size of the screw pump;

[0032] Meshing: Gambit software is used for unstructured meshing;

[0033] Set simulation parameters: In the simulation software, set boundary conditions and initial conditions;

[0034] Physical property setting: input the physical properties of tile adhesive;

[0035] Perform simulation calculation: Run the simulation software to calculate the flow of the glue in the screw pump according to the set conditions and parameters;

[0036] Analysis results: The simulation results are used to predict the amount and flow rate of glue under different screw speeds and pressure conditions;

[0037] Experimental verification: verify the results of simulation predictions through experiments, compare experimental data with simulation results, and adjust and optimize the model;

[0038] Optimization design: Based on the simulation results, the design of the screw pump is optimized.

[0039] The above method can be optionally designed to include the following specific contents of the control system for the bricklaying robot and the screw pump:

[0040] Integrate the screw pump with the control system of the tile laying robot;

[0041] Design the control system architecture based on the motion controller of the bricklaying robot, the control unit of the screw pump and the programmable logic controller (PLC);

[0042] According to the paving task, the moving path and speed of the paving robot are planned, and the control logic of the screw pump is designed so that the flow and pressure of the screw pump can be adjusted according to the robot's motion state;

[0043] Write synchronization logic to ensure that the motion control signals of the tile laying robot match the control signals of the screw pump.

[0044] The above method is optional. After the control system is designed, the specific contents of adjustment and optimization according to the brick laying experiment and simulation results are as follows:

[0045] Pre-startup inspection: Before starting the screw pump, the control system will perform inspections to ensure that all equipment is in the best condition;

[0046] Start the screw pump: The control system issues a command to start the screw pump, which sucks the tile adhesive from the inlet and discharges it to the outlet by rotating;

[0047] Forming a sealed cavity: When the screw pump is working, a sealed cavity is formed between the screw and the bushing. The sealed cavity is distributed along the axis of the screw and moves with the rotation of the screw.

[0048] Flow and pressure control: The control system monitors the flow and outlet pressure of the screw pump and controls the flow and pressure by adjusting the speed of the screw pump or adjusting the outlet valve;

[0049] Suction of tile adhesive: When the screw rotates, the volume of the sealed chamber gradually increases, generating negative pressure at the inlet, sucking in tile adhesive;

[0050] Transporting tile adhesive: As the screw continues to rotate, the sealed chamber moves axially toward the outlet, and the volume gradually decreases, pushing the tile adhesive to the outlet;

[0051] Discharge of tile adhesive: When the sealed cavity reaches the outlet, the volume reaches the minimum, and the tile adhesive is discharged out of the screw pump, completing the conveying process;

[0052] Concentration and density monitoring: The control system monitors the concentration and density of the slurry in real time and adjusts it according to the preset standards to ensure that the quality of the slurry meets the requirements.

[0053] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a method for conveying tile adhesive by a screw pump in a grouting mechanism, and its beneficial effects are:

[0054] The present invention uses a screw pump in the slurry laying mechanism of the tile laying robot to convey the tile adhesive, calculates various parameters of the screw pump, uses simulation software to simulate the conveying of the tile adhesive by the screw pump, and adjusts and optimizes the actual conveying parameters according to the simulation to ensure that the conveying of the tile adhesive meets the laying efficiency and speed of the tile laying robot;

[0055] The control system is designed to ensure that the motion control of the tile-laying robot matches the control signal of the screw pump, and can accurately control the screw pump to achieve closed-loop control. When the screw pump conveys tile adhesive, a sealed chamber is formed inside, the volume of the sealed chamber increases, and negative pressure is formed, sucking the tile adhesive from the hopper of the tile-laying robot. As the screw continues to rotate, the sealed chamber moves axially toward the outlet, and the volume gradually decreases, pushing the tile adhesive to the outlet, completing the delivery of the tile adhesive. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0057] Figure 1 The present invention provides a flow chart of a method for conveying tile adhesive by a screw pump in a grouting mechanism. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] See also Figure 1 As shown, the present invention discloses a method for conveying tile adhesive by a screw pump in a grouting mechanism, comprising the following steps:

[0060] According to the requirements of the tile laying robot in the grouting mechanism, a screw pump is selected and assembled with a screw pump drive device to deliver tile adhesive;

[0061] Calculate the theoretical displacement of the screw pump, the internal leakage of the screw pump during operation, and the shaft power of the screw pump according to the structural parameters of the screw pump;

[0062] The flow process of tile adhesive in the screw pump is numerically simulated using fluid dynamics simulation software;

[0063] Specifically, through simulation, the glue output and flow rate under different screw speeds and pressure conditions can be predicted, thus providing a theoretical basis for actual adjustments.

[0064] Design control systems for bricklaying robots and screw pumps;

[0065] Specifically, the control system of the paving robot needs to be able to accurately control the start, stop and running speed of the screw pump so as to adjust the slurry output according to the paving speed and brick size. The control system must be able to accurately control the movement of the paving robot, including the moving speed and direction, as well as synchronized operation with the screw pump.

[0066] After the design control system is completed, adjustments and optimizations are made based on the brick laying experiments and simulation results;

[0067] After adjustment and optimization, the tile adhesive is pushed to the exit of the tile laying robot to complete the delivery of the tile adhesive.

[0068] Further, the specific contents of selecting a screw pump and assembling it with a screw pump drive device are as follows:

[0069] Select the drive mode according to the type and usage requirements of the screw pump;

[0070] Connect the drive device: Connect the screw pump to the drive device;

[0071] Specifically, ensure that the rotor of the screw pump can be driven by the motor to perform planetary rotation;

[0072] Check assembly: Before starting, check whether all parts of the screw pump are assembled correctly;

[0073] Specifically, such as stators, rotors, bushings, etc., ensure that there is no looseness or improper fit.

[0074] Start the pump body: Start the motor to start the screw pump. During the startup process, observe whether the screw pump runs smoothly and whether there are any abnormal sounds or vibrations.

[0075] Furthermore, the structural parameters of the screw pump include screw diameter, lead and speed, and the calculation formula for the theoretical displacement is:

[0076] Qt = 60Ftn;

[0077] Where F is the effective cross-sectional area of ​​the pump cylinder, t is the lead of the screw thread, and n is the number of revolutions per minute of the active screw;

[0078] The internal leakage is calculated as:

[0079] Qs=αp / σm;

[0080] Among them, p is the working pressure of the screw pump, σ is the viscosity of the discharged liquid, α is a coefficient related to the screw diameter and effective length, and m is an empirical coefficient used to adjust the formula to adapt to different types of screw pumps and working conditions. The value of m is 0.3-0.5.

[0081] Specifically, the amount of internal leakage is usually related to the working pressure of the screw pump and the viscosity of the conveyed medium. When the screw pump conveys liquids of different viscosities, its displacement will change. The relationship between displacement and viscosity is calculated by the formula Q2=Qt-(Qt-Q1)(σ1 / σ2).

[0082] Furthermore, the shaft power of the screw pump is the sum of water power, friction power and leakage loss power, wherein the water power is calculated by the difference between the discharge pressure and the suction pressure of the screw pump and the actual displacement of the screw pump.

[0083] Furthermore, the calculation formula of water power is:

[0084] Nc=PQ×10 -3 ;

[0085] Among them, P is the shaft power of the screw pump, in kw; Q is the flow rate of the screw pump, in m 3 / s.

[0086] Furthermore, the specific contents of the numerical simulation of the flow process of tile adhesive in the screw pump using fluid dynamics simulation software are as follows:

[0087] Analyze the flow process: The flow of tile adhesive in the screw pump is divided into the inlet section, screw section and outlet section for analysis;

[0088] Establish geometric model: Establish a three-dimensional geometric model based on the actual structure and size of the screw pump;

[0089] Specifically, the 3D geometric model accurately reflects the shape and dimensions of the screw pump interior to enable precise simulations.

[0090] Meshing: Gambit software is used for unstructured meshing;

[0091] Specifically, the internal flow field of the pump is divided into a plurality of small control volumes for numerical simulation.

[0092] Set simulation parameters: In the simulation software, set boundary conditions and initial conditions;

[0093] Specifically, such as inlet pressure, outlet pressure, wall conditions and screw speed;

[0094] Inlet pressure: Set the inlet pressure value according to the actual situation, which usually depends on the system supply pressure or experimental measurement value;

[0095] Outlet pressure: The pressure at the outlet also needs to be set according to the system's working pressure or expected working pressure;

[0096] Wall conditions: The wall is usually set to a no-slip condition, which means that it is assumed that there is no relative motion between the fluid and the screw pump wall;

[0097] Speed: Set the speed of the screw. The speed setting is based on the design parameters of the screw pump and the expected working conditions.

[0098] Physical property setting: input the physical properties of tile adhesive;

[0099] Perform simulation calculation: Run the simulation software to calculate the flow of the glue in the screw pump according to the set conditions and parameters;

[0100] Analysis results: The simulation results are used to predict the amount and flow rate of glue under different screw speeds and pressure conditions;

[0101] Experimental verification: verify the results of simulation predictions through experiments, compare experimental data with simulation results, and adjust and optimize the model;

[0102] Optimization design: Based on the simulation results, the design of the screw pump is optimized.

[0103] Furthermore, the specific contents of designing the control system of the bricklaying robot and the screw pump are as follows:

[0104] Integrate the screw pump with the control system of the tile laying robot;

[0105] Specifically, the screw pump is integrated with the control system of the brick-laying robot. The control system needs to integrate the motion control module of the brick-laying robot and the control module of the screw pump to ensure that they can share data and instructions; write a program to synchronize the motion control signal of the brick-laying robot with the control signal of the screw pump.

[0106] Define signal interface: Determine the communication interface between the paving robot and the screw pump, including the definition and format of input and output signals, so that the paving robot and the screw pump can communicate through electrical signals.

[0107] Design a synchronization mechanism: According to the requirements, design a synchronization mechanism to ensure that the motion control signal of the paving robot is synchronized with the control signal of the screw pump. This can be achieved by using methods such as timestamps, flags, or state machines.

[0108] Shared data and instructions: Establish a shared data and instruction storage area so that the paving robot and the screw pump can access and modify this data, achieving real-time data synchronization and instruction transmission between the two systems.

[0109] Write synchronization logic code: Write the corresponding synchronization logic code according to the designed synchronization mechanism. This may involve parsing, processing and conversion of signals.

[0110] Design the control system architecture based on the motion controller of the bricklaying robot, the control unit of the screw pump and the programmable logic controller (PLC);

[0111] Specifically, communication interface: determine the communication interface and protocol between the PLC and the motion controller and screw pump control unit of the bricklaying robot;

[0112] Divide the control system into a motion control module and a screw pump control module;

[0113] Motion control module design: Develop a path planning algorithm to enable the paving robot to move according to the predetermined paving pattern; implement a closed-loop control system to adjust the speed and position of the paving robot to ensure accurate tracking of the predetermined path, form sensor feedback (such as encoders, IMU, etc.), and monitor and correct the motion trajectory in real time.

[0114] Screw pump control module design: Develop the flow control logic of the screw pump so that it can automatically adjust the slurry output according to the speed of the brick-laying robot and the size of the bricks; realize the start / stop control of the screw pump, as well as the pressure monitoring and alarm mechanism when necessary; integrate sensors related to the screw pump (such as flow meters, pressure sensors) for real-time monitoring and control.

[0115] According to the paving task, the moving path and speed of the paving robot are planned, and the control logic of the screw pump is designed so that the flow and pressure of the screw pump can be adjusted according to the robot's motion state;

[0116] Specifically, path planning algorithm: Select an appropriate path planning algorithm RRT to calculate the optimal or feasible path. Consider the dynamics and kinematic constraints of the bricklaying robot to ensure that the path is executable.

[0117] Speed ​​planning: Based on the path planning results, a speed planning algorithm is designed to ensure that the brick-laying robot moves smoothly along the path.

[0118] Control system design: Design closed-loop control systems, such as PID controllers, to precisely control the speed and position of the tile-laying robot. Use integrated sensor feedback, such as encoders, IMUs, etc., to track and correct real-time motion.

[0119] Develop closed-loop control algorithms, such as PID control, to achieve precise control of screw pump flow and pressure.

[0120] Design the control logic of the screw pump and adjust the speed or valve opening of the screw pump according to the control signal to change the flow and pressure.

[0121] Write synchronization logic to ensure that the motion control signals of the tile laying robot match the control signals of the screw pump.

[0122] Specifically, when the position data of the brick-laying robot matches the preset slurry-laying position, the control system sends a signal to start the screw pump. The control system should start or stop the screw pump through the electrical control interface of the screw pump (such as a relay or a frequency converter) according to the trigger signal. For example, when the brick-laying robot moves to the specified position, a signal is sent to start the screw pump; when the brick laying is completed and the brick-laying robot is ready to move to the next position, a signal is sent to stop the screw pump.

[0123] A sensor or encoder is used to obtain position data of the tile-laying robot to determine the current position of the tile-laying robot.

[0124] Compare the position data of the paving robot with the preset paving position. If the position of the paving robot matches the preset paving position, proceed to the next step; otherwise, continue to wait until the paving robot reaches the correct position.

[0125] When the position of the brick-laying robot matches the preset mortar-laying position, a signal is sent to start the screw pump, which is achieved by sending a specific instruction or signal to the screw pump.

[0126] The screw pump receives the signal and starts the operation. The working status of the screw pump is monitored or its output is checked to ensure that the screw pump starts working after receiving the start signal.

[0127] After the screw pump is started, the position of the paving robot and the working status of the screw pump continue to be monitored. If the position of the paving robot or the working parameters of the screw pump need to be adjusted, they can be adjusted according to the real-time data.

[0128] When the slurry spreading task is completed, a signal is sent to stop the screw pump, which is achieved by sending a specific stop command or signal to the screw pump.

[0129] The screw pump receives the signal and performs a shutdown operation. The working status of the screw pump is monitored or its output is checked to ensure that the screw pump stops working after receiving the stop signal.

[0130] Specifically, sensors and feedback systems: Install sensors such as encoders to monitor the position of the paving robot, and flow and pressure sensors to monitor the status of the screw pump. Use the data from these sensors as feedback to achieve closed-loop control and ensure that the actual performance of the paving robot and the screw pump is consistent with the expected performance.

[0131] Safety monitoring: The integrated safety monitoring function ensures that the operation can be stopped immediately when an abnormality occurs in the paving robot or screw pump, thus ensuring the safety of personnel and equipment.

[0132] User Interface and Operation: Design the user interface so that the operator can easily set the synchronization parameters, monitor the status of the tiling robot and the progressive cavity pump, and intervene manually when necessary.

[0133] Communication protocol: Ensure that the various parts of the control system are connected through appropriate communication protocols to achieve efficient data transmission.

[0134] Testing and optimization: Before actual operation, perform sufficient testing to verify the effectiveness of the synchronization logic and optimize it based on the test results.

[0135] Furthermore, after the design of the control system is completed, the specific contents of adjustment and optimization according to the brick laying experiment and simulation results are as follows:

[0136] Pre-startup inspection: Before starting the screw pump, the control system will perform inspections to ensure that all equipment is in the best condition;

[0137] Start the screw pump: The control system issues a command to start the screw pump, which sucks the tile adhesive from the inlet and discharges it to the outlet by rotating;

[0138] Forming a sealed cavity: When the screw pump is working, a sealed cavity is formed between the screw and the bushing. The sealed cavity is distributed along the axis of the screw and moves with the rotation of the screw.

[0139] Flow and pressure control: The control system monitors the flow and outlet pressure of the screw pump and controls the flow and pressure by adjusting the speed of the screw pump or adjusting the outlet valve;

[0140] Suction of tile adhesive: When the screw rotates, the volume of the sealed chamber gradually increases, generating negative pressure at the inlet, sucking in tile adhesive;

[0141] Transporting tile adhesive: As the screw continues to rotate, the sealed chamber moves axially toward the outlet, and the volume gradually decreases, pushing the tile adhesive to the outlet;

[0142] Discharge of tile adhesive: When the sealed cavity reaches the outlet, the volume reaches the minimum, and the tile adhesive is discharged out of the screw pump, completing the conveying process;

[0143] Concentration and density monitoring: The control system monitors the concentration and density of the slurry in real time and adjusts it according to the preset standards to ensure that the quality of the slurry meets the requirements.

[0144] Specifically, monitoring and feedback: the control system is usually equipped with sensors to monitor the working status of the screw pump and use pressure sensors to monitor the flow and pressure of tile adhesive in real time, and feed back these data to the control system.

[0145] Characteristic curve monitoring: The monitoring system can also draw the characteristic curve of the screw pump, which reflects the flow rate, speed, torque and other data of the screw pump under different pressure conditions, so as to calculate the conversion flow rate, conversion power, volumetric efficiency and system efficiency. This information is essential for evaluating the performance of the screw pump and optimizing its operation.

[0146] Abnormal vibration detection: Screw pumps may generate abnormal vibrations during operation, which not only affects the normal operation of the equipment, but also poses a threat to personnel safety. Therefore, the monitoring system usually includes the detection of the vibration level of the screw pump in order to detect and deal with abnormal vibration problems in a timely manner.

[0147] Data analysis: The control system will analyze the real-time data feedback. If the flow or pressure exceeds the normal range or the screw pump vibrates abnormally, the system will judge it as an abnormal situation.

[0148] Automatic alarm: Once an abnormal situation is detected, the system will trigger the alarm mechanism and automatically stop running, reminding the operator to check and handle it.

[0149] Manual intervention: Manual intervention is required to solve the problem after monitoring an abnormality. The operator can perform fault diagnosis based on the alarm prompts and data provided by the system, and take appropriate measures to solve the problem.

[0150] Recording and tracing: The system records all monitoring data, alarm events, and operation logs. These records help track the root cause of problems and evaluate system performance and stability.

[0151] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0152] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for conveying tile adhesive by a screw pump in a grouting mechanism, characterized in that: The following steps are involved: According to the requirements of the tile laying robot in the grouting mechanism, a screw pump is selected and assembled with a screw pump drive device to deliver tile adhesive; Calculate the theoretical displacement of the screw pump, the internal leakage of the screw pump during operation, and the shaft power of the screw pump according to the structural parameters of the screw pump; The flow process of tile adhesive in the screw pump is numerically simulated using fluid dynamics simulation software; Design control systems for bricklaying robots and screw pumps; After the design control system is completed, adjustments and optimizations are made based on the brick laying experiments and simulation results; After adjustment and optimization, the tile adhesive is pushed to the exit of the tile laying robot to complete the delivery of the tile adhesive.

2. The method for conveying tile adhesive by a screw pump in a grouting mechanism according to claim 1, characterized in that: The details of selecting a screw pump and assembling it with a screw pump drive are: Select the drive mode according to the type and usage requirements of the screw pump; Connect the drive device: Connect the screw pump to the drive device; Check assembly: Before starting, check whether all parts of the screw pump are assembled correctly; Start the pump body: Start the motor to start the screw pump. During the startup process, observe whether the screw pump runs smoothly and whether there are any abnormal sounds or vibrations.

3. The method for conveying tile adhesive by a screw pump in a grouting mechanism according to claim 1, characterized in that: The structural parameters of the screw pump include screw diameter, lead and speed. The calculation formula for the theoretical displacement is: Qt = 60Ftn; Where F is the effective cross-sectional area of ​​the pump cylinder, t is the lead of the screw thread, and n is the number of revolutions per minute of the active screw; The internal leakage is calculated as: Qs=αp / σm; Among them, p is the working pressure of the screw pump, σ is the viscosity of the discharged liquid, α is a coefficient related to the screw diameter and effective length, and m is an empirical coefficient used to adjust the formula to adapt to different types of screw pumps and working conditions. The value of m is 0.3-0.

5.

4. The method for conveying tile adhesive by a screw pump in a grouting mechanism according to claim 1, characterized in that: The shaft power of the screw pump is the sum of the water power, friction power and leakage loss power, wherein the water power is calculated by the difference between the discharge pressure and the suction pressure of the screw pump and the actual displacement of the screw pump.

5. The method for conveying tile adhesive by a screw pump in a grouting mechanism according to claim 4, characterized in that: The calculation formula of water power is: Nc=PQ×10 -3 ; Among them, P is the shaft power of the screw pump, in kw; Q is the flow rate of the screw pump, in m 3 / s.

6. The method for conveying tile adhesive by a screw pump in a grouting mechanism according to claim 1, characterized in that: The specific contents of numerical simulation of the flow process of tile adhesive in the screw pump using fluid dynamics simulation software are as follows: Analyze the flow process: The flow of tile adhesive in the screw pump is divided into the inlet section, screw section and outlet section for analysis; Establish geometric model: Establish a three-dimensional geometric model based on the actual structure and size of the screw pump; Meshing: Gambit software is used for unstructured meshing; Set simulation parameters: In the simulation software, set boundary conditions and initial conditions; Physical property setting: input the physical properties of tile adhesive; Perform simulation calculation: Run the simulation software to calculate the flow of the glue in the screw pump according to the set conditions and parameters; Analysis results: The simulation results are used to predict the amount and flow rate of glue under different screw speeds and pressure conditions; Experimental verification: verify the results of simulation predictions through experiments, compare experimental data with simulation results, and adjust and optimize the model; Optimization design: Based on the simulation results, the design of the screw pump is optimized.

7. The method for conveying tile adhesive by a screw pump in a grouting mechanism according to claim 1, characterized in that: The specific contents of designing the control system of the bricklaying robot and the screw pump are: Integrate the screw pump with the control system of the tile laying robot; Design the control system architecture based on the motion controller of the bricklaying robot, the control unit of the screw pump and the programmable logic controller (PLC); According to the paving task, the moving path and speed of the paving robot are planned, and the control logic of the screw pump is designed so that the flow and pressure of the screw pump can be adjusted according to the robot's motion state; Write synchronization logic to ensure that the motion control signals of the tile laying robot match the control signals of the screw pump.

8. The method for conveying tile adhesive by a screw pump in a grouting mechanism according to claim 1, characterized in that: After the design of the control system is completed, the specific contents of adjustment and optimization based on the brick laying experiment and simulation results are as follows: Pre-startup inspection: Before starting the screw pump, the control system will perform inspections to ensure that all equipment is in the best condition; Start the screw pump: The control system issues a command to start the screw pump, which sucks the tile adhesive from the inlet and discharges it to the outlet by rotating; Forming a sealed cavity: When the screw pump is working, a sealed cavity is formed between the screw and the bushing. The sealed cavity is distributed along the axis of the screw and moves with the rotation of the screw. Flow and pressure control: The control system monitors the flow and outlet pressure of the screw pump and controls the flow and pressure by adjusting the speed of the screw pump or adjusting the outlet valve; Suction of tile adhesive: When the screw rotates, the volume of the sealed chamber gradually increases, generating negative pressure at the inlet, sucking in tile adhesive; Transporting tile adhesive: As the screw continues to rotate, the sealed chamber moves axially toward the outlet, and the volume gradually decreases, pushing the tile adhesive to the outlet; Discharge of tile adhesive: When the sealed cavity reaches the outlet, the volume reaches the minimum, and the tile adhesive is discharged out of the screw pump, completing the conveying process; Concentration and density monitoring: The control system monitors the concentration and density of the slurry in real time and adjusts it according to the preset standards to ensure that the quality of the slurry meets the requirements.

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