Building structure through hole filling and repairing tool, construction robot system and method

Abstract

The invention discloses a building structure through hole filling and repairing tool, a construction robot system and a method. The modification tool comprises a telescopic base, a tool cover, a rotary motor, a rotary sleeve, a fixed disc, a pin rod, a clamping groove disc, an electric drill, a dust collection tail end pipe, a plugging device, a grouting tail end pipe, a vibrator, a sprayer, a dust collection sealing ring, a grouting sealing ring, an outlet, an automatic telescopic rod, a telescopic shell, a magnet, a dust collection telescopic pipe and a grouting telescopic pipe. The rotating motor drives the clamping groove disc to rotate through the rotating sleeve, the fixing disc and the pin rod so that one of the electric drill, the dust collection tail end pipe, the plugging device, the grouting tail end pipe, the vibrator and the sprayer can be switched and aligned to an outlet of the tool cover. Corresponding tools are ejected out of an outlet of the tool cover through the automatic telescopic rod to carry out repairing procedures such as sleeve removal, dust collection and cleaning, one end plugging, grouting and filling, vibrating and waterproof material spraying on the perforated hole. The method has the advantages of being high in efficiency, low in labor intensity, high in safety and convenient to construct.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a tool for filling and repairing perforated holes in a building structure, a construction robot system and a method. Background Art

[0002] The perforated holes on building structures such as walls and floor slabs need to be filled and repaired after the connecting parts such as the tension bolts inside are removed. The conventional method in this field is: first use an electric drill to expand and clean the perforated holes and water them, use cement mortar to block one side of the perforated holes, fill polyurethane foam from the other side of the perforated holes inward, and then fill and seal the polyurethane foam outward with cement mortar and smooth it. After the mortar sealed on the outer side of the building structure is dry, waterproof and heat-insulating construction is carried out on the surface of the perforated holes. Its disadvantage is that the filling and repair of the perforated holes requires manual construction by construction workers, which has low construction efficiency, long time consumption and energy consumption; when the perforated holes are at a high place, there is a risk of falling from a high altitude when the construction workers use the aerial work platform to fill and repair the perforated holes; due to the length, width and height restrictions of the aerial work platform, there is a problem of inconvenience in construction. Summary of the invention

[0003] The purpose of the present invention is to provide a tool, a construction robot system and a method for filling and repairing perforated holes in a building structure, so as to solve the problems of low efficiency, long construction period, high labor intensity, inconvenience in construction and the risk of falling from height when repairing perforated holes manually.

[0004] In order to solve the above technical problems, the present invention provides a repair tool for filling holes in building structures, including a telescopic base and a tool cover thereon, a rotary motor installed on the axis of the telescopic base, a rotary sleeve arranged on the shaft of the rotary motor, a fixed plate coaxially arranged on the rotary sleeve, six pins are fixedly arranged in a circular array on the fixed plate, a slot plate located in the tool cover and inserted and pulled out on each of the pins, an electric drill, a dust suction terminal pipe, a plugger, a grouting terminal pipe, a vibrator and a sprayer vertically assembled and connected to one of the slot plates in a one-to-one correspondence, and a dust suction terminal pipe is connected to the dust suction terminal pipe on the slot plate. A sealing ring, a grouting sealing ring is connected to the grouting terminal pipe on the telescopic slot disk equipped with the grouting terminal pipe, and the end face of the tool cover away from the telescopic base is provided with an outlet; when the rotary motor is working, all the slot disks are driven to rotate synchronously through the rotating sleeve and the pin rod on the fixed disk to switch and align one of the electric drill, the dust suction terminal pipe, the plugger, the grouting terminal pipe, the vibrator and the sprayer to the outlet of the tool cover; an automatic telescopic rod is provided on the telescopic base, and a magnet for adsorbing the slot disk is provided at the end of the automatic telescopic rod, and the automatic telescopic rod includes a telescopic shell, and the telescopic shell is embedded with a dust suction telescopic tube and a grouting telescopic tube extending beyond the telescopic base.

[0005] Furthermore, the present invention provides a tool for filling and repairing perforated holes in a building structure, wherein the occluder includes a sealing rod and a skeleton and a membrane cap which are sequentially assembled and connected to one end of the rod, and a sealing membrane connected to the skeleton and the membrane cap, wherein when the skeleton is radially opened relative to the sealing rod, the sealing membrane is radially opened to be in a conical or circular shape, and when the skeleton is radially closed relative to the sealing rod, the sealing membrane is radially closed to be in a conical shape; the sealing membrane can be detached from the sealing rod when radially opened.

[0006] Furthermore, in the tool for filling and repairing perforated holes in building structures provided by the present invention, an outward-expanding cone is provided at the end of the dust suction terminal pipe.

[0007] Furthermore, in the tool for filling and repairing perforated holes in a building structure provided by the present invention, both the vacuuming telescopic tube and the grouting telescopic tube are corrugated tubes.

[0008] Furthermore, in the building structure perforation hole filling and repairing tool provided by the present invention, all the slot plates are spliced ​​into a circle or an annular shape.

[0009] Furthermore, the tool for filling and repairing perforated holes in a building structure provided by the present invention also includes a grouting device connected to the outside of the grouting telescopic tube and a dust collection device connected to the outside of the dust collection telescopic tube.

[0010] Compared with the prior art, the architectural structure provided by the present invention has the following beneficial effects on the perforation hole filling and repair tool:

[0011] The repair tool for filling and repairing holes in building structures is installed on the end of controllable lifting equipment such as the digging arm of the excavator, and the dust suction telescopic tube of the repair tool for filling and repairing holes in building structures is connected through an external dust suction device, and the grouting telescopic tube of the repair tool for filling and repairing holes in building structures is connected through an external grouting device. The touch screen display in the cab of the excavator or the mobile terminal is wirelessly connected with the electric drill, dust suction device, grouting device, vibrator, sprayer, and automatic telescopic rod of the repair tool; the repair tool is aimed at the through hole to be constructed through the controllable lifting equipment such as the excavator, and the driver in the excavator uses the touch screen display or the mobile terminal to carry a The construction workers at the terminal control the rotating motor through the mobile terminal to switch the electric drill to align with the outlet of the tool cover, and use the automatic telescopic rod to push the electric drill out of the outlet of the tool cover through the corresponding card slot disk thereon to penetrate into the perforated hole to remove the casing inside, and then retract and reset it in the tool cover; switch the vacuum cleaner through the rotating motor, and use the automatic telescopic rod to push the vacuum cleaner out of the outlet of the tool cover through the corresponding card slot disk thereon to vacuum and clean the perforated hole after the casing is removed, and then retract and reset it in the tool cover; switch the plugger to align with the outlet of the tool cover through the rotating motor, and use the automatic telescopic rod to push the plugger out of the outlet of the tool cover through the corresponding card slot disk thereon to seal the plugging material on the plugger. The material will seal and plug the inside of the perforated hole and then be retracted and reset in the tool cover. The grouting end tube is switched by the rotating motor to align with the outlet of the tool cover. The grouting end tube is pushed out of the outlet of the tool cover through the corresponding slot disk thereon by the automatic telescopic rod to penetrate into the inside of the perforated hole for grouting construction. After that, it is retracted and reset in the tool cover. The vibrator is switched by the rotating motor to align with the outlet of the tool cover. The vibrator is pushed out of the outlet of the tool cover through the corresponding slot disk thereon by the automatic telescopic rod to penetrate into the inside of the perforated hole for vibrating the grouting material inside the perforated hole and then be retracted and reset in the tool cover. The sprayer is pushed out of the outlet of the tool cover through the corresponding slot disk thereon by the automatic telescopic rod. After the waterproof material is sprayed on the outer surface of the perforated hole, it is retracted and reset in the tool cover, thereby realizing the automated filling and repair construction of the bolt holes on the walls, plates and other building structures, improving the construction efficiency, shortening the construction period, reducing the intensity of manual labor, and avoiding the risk of falling from heights caused by the construction workers having to stand on high-altitude work platforms such as scaffolding to carry out the repair construction of the perforated holes. The repair tool is equipped with construction tools for six processes, including electric drill, vacuum equipment, plugging device, grouting equipment, vibrator, sprayer, etc., avoiding the complexity of the construction workers having to manually change the tools of each process repeatedly during routine operations, and has the advantage of convenient construction.

[0012] In order to solve the above technical problems, the present invention also provides a construction robot system for filling and repairing perforated holes in a building structure, comprising:

[0013] An industrial robot, comprising a walking mechanism and a mechanical arm thereon, and a repair tool as described above arranged at the end of the mechanical arm, wherein the walking mechanism comprises a body and wheels thereon;

[0014] It also includes a feed bin arranged in the vehicle body and a feed port or a feed box extending out of the vehicle body, a grouting pump located in the vehicle body and connected to the feed bin, the grouting pump is connected to the grouting telescopic pipe of the repair tool through a grouting arm pipe arranged along the mechanical arm; when the grouting terminal pipe on the slot plate equipped with the grouting terminal pipe is aligned with the outlet of the tool cover, the feed bin, the grouting pump, the grouting arm pipe, the grouting telescopic pipe and the grouting terminal pipe are connected to form a grouting subsystem;

[0015] It also includes a dust suction bin arranged in the body and a dust box extending out of the body, a dust suction motor located in the body and connected to the dust suction bin, and the dust suction motor is connected to the dust suction telescopic tube of the repair tool through a dust suction arm tube arranged along the mechanical arm; when the dust suction terminal tube on the slot disk equipped with the dust suction terminal tube is aligned with the outlet of the tool cover, the dust box, dust suction bin, dust suction motor, dust suction arm tube, dust suction telescopic tube, and dust suction terminal tube are connected to form a dust suction subsystem.

[0016] Furthermore, the present invention provides a construction robot system for filling and repairing perforated holes in building structures, wherein a visual camera is provided on the end face of the repair tool, and a monitoring camera is provided on the vehicle body, and the visual camera and the monitoring camera are connected to the controller of the industrial robot.

[0017] Furthermore, in the construction robot system for filling and repairing perforated holes in building structures provided by the present invention, the industrial robot is wirelessly connected to a visual remote controller via an antenna, and the visual remote controller is connected to the monitoring camera and the visual camera via a wireless communication module.

[0018] In order to solve the above technical problems, the present invention further provides a method for filling and repairing a perforated hole in a building structure, which adopts the above-mentioned robot system for filling and repairing a perforated hole in a building structure, comprising:

[0019] The video images transmitted by the surveillance camera to the visual remote controller are used to control the industrial robot to move to the building structure where the perforated hole is to be constructed;

[0020] The video image transmitted by the visual camera to the visual remote controller is used to scan the position of the counter-piercing hole to be constructed, and the visual remote controller is used to control the mechanical arm of the industrial robot to align the outlet of the repair tool on the industrial robot with the counter-piercing hole;

[0021] The rotary motor of the repair tool is started by the control switch on the visual remote control or the industrial robot, the electric drill is switched to be aimed at the exit of the tool cover, the automatic telescopic rod is controlled to extend by the control switch on the visual remote control or the industrial robot, and the magnet on the automatic telescopic rod is adsorbed on the card slot disk equipped with the electric drill to push the electric drill out of the exit of the tool cover, and the electric drill is started by the control switch on the visual remote control or the industrial robot to remove the casing in the perforated hole; the electric drill is turned off by the control switch on the visual remote control or the industrial robot, and the automatic telescopic rod is controlled to retract to drive the electric drill to retract into the tool cover, and after the automatic telescopic rod is retracted and reset, the magnet on the automatic telescopic rod is separated from the card slot disk equipped with the electric drill;

[0022] The rotary motor of the repair tool is started by the control switch on the visual remote control or the industrial robot, the dust suction terminal tube is switched to align with the outlet of the tool cover, the automatic telescopic rod is controlled to extend by the control switch on the visual remote control or the industrial robot, and the dust suction terminal tube is pushed out of the outlet of the tool cover by adsorbing the magnet on the rod on the rod on the slot disk equipped with the dust suction terminal tube, and the dust suction motor is started by the control switch on the visual remote control or the industrial robot to clean the perforated hole; the dust suction motor is turned off by the control switch on the visual remote control or the industrial robot, and the automatic telescopic rod is controlled to retract to drive the dust suction terminal tube to retract into the tool cover, and after the automatic telescopic rod is retracted and reset, the magnet on the rod is separated from the slot disk equipped with the dust suction terminal tube;

[0023] The rotary motor of the repair tool is started by the control switch on the visual remote control or the industrial robot, the occluder is switched to align with the exit of the tool cover, the automatic telescopic rod is controlled to extend by the control switch on the visual remote control or the industrial robot, and the magnet on the rod is adsorbed on the card slot disk equipped with the occluder to push the occluder out of the exit of the tool cover; the automatic telescopic rod is controlled by the visual remote control or the industrial robot to drive the occluder to penetrate into the perforated hole and fill the sealing material carried on the rod into the inner side of the perforated hole; the automatic telescopic rod is controlled by the visual remote control or the industrial robot to retract and drive the occluder to retract into the tool cover, and after the automatic telescopic rod is retracted and reset, the magnet on the rod is separated from the card slot disk equipped with the occluder;

[0024] Start the rotary motor of the repair tool through the visual remote control or the control switch on the industrial robot, switch the grouting terminal tube to align with the exit of the tool cover, control the automatic telescopic rod to extend through the visual remote control or the control switch on the industrial robot, and adsorb the magnet on the rod to the slot plate equipped with the grouting terminal tube to push the grouting terminal tube out of the exit of the tool cover, start the grouting pump through the control switch on the visual remote control or the industrial robot to grout the perforated hole; turn off the grouting pump through the control switch on the visual remote control or the industrial robot, control the automatic telescopic rod to retract and drive the grouting terminal tube to retract into the tool cover, and after the automatic telescopic rod retracts and resets, the magnet on it is separated from the slot plate equipped with the grouting terminal tube;

[0025] The rotary motor of the repair tool is started by a control switch on a visual remote controller or an industrial robot, the vibrator is switched to be aimed at the exit of the tool cover, the automatic telescopic rod is controlled to extend by a control switch on the visual remote controller or the industrial robot, and the vibrator is pushed out of the exit of the tool cover by adsorbing the magnet on the automatic telescopic rod on the card slot disk equipped with the vibrator; the vibrator is driven to penetrate into the perforated hole to vibrate the grouting material by controlling the automatic telescopic rod on the visual remote controller or the industrial robot, the vibrator is driven to retract into the tool cover by controlling the automatic telescopic rod on the visual remote controller or the industrial robot, and the magnet on the automatic telescopic rod is disengaged from the card slot disk equipped with the vibrator after the automatic telescopic rod is retracted and reset;

[0026] Start the rotary motor of the repair tool through the control switch on the visual remote control or the industrial robot, switch the sprayer to aim at the exit of the tool cover, control the automatic telescopic rod to extend through the control switch on the visual remote control or the industrial robot, and adsorb the magnet on the rod to the slot disk equipped with the sprayer to push the sprayer out of the exit of the tool cover; start spraying waterproof material on the outer side of the perforated hole after the grouting material is vibrated through the control sprayer on the visual remote control or the industrial robot, control the sprayer to close and control the automatic telescopic rod to retract to drive the sprayer to retract into the tool cover through the control switch on the visual remote control or the industrial robot, and after the automatic telescopic rod retracts and resets, the magnet on it is detached from the slot disk equipped with the sprayer.

[0027] Compared with the prior art, the beneficial effects of the robot system and method for filling and repairing perforated holes in building structures provided by the present invention are as follows:

[0028] A dust collection device mainly composed of a dust collection bin, a dust box, a dust collection motor and a dust collection arm pipe is arranged on the industrial robot; a grouting device mainly composed of a feed bin, a grouting pump and a grouting arm pipe is arranged on the industrial robot; a visual remote controller is wirelessly connected to the controller of the industrial robot through an antenna or a wireless communication module; a visual camera, a surveillance camera, a dust collection motor, a grouting pump, an electric drill, a vibrator, a sprayer, an automatic telescopic rod and a rotary motor are connected to the controller by wire or wirelessly through a cable or a wireless communication module; the body of the industrial robot is moved by displaying the same video picture of the surveillance camera and the vision through a visual remote controller; the robotic arm is controlled with multiple degrees of freedom to align the outlet of the repair tool with the through hole to be constructed; the rotary motor is controlled by the visual remote controller to switch six construction process tools, namely, an electric drill, a dust collection terminal pipe, a plugging device, a grouting terminal pipe, a vibrator and a sprayer, in sequence; and the corresponding electric drill, a vibrator, a vibrator, a sprayer, a telescopic rod, a rotary motor are moved when executing the corresponding process. The outlets of the dust suction terminal pipe, the plugging device, the grouting terminal pipe, the vibrator and the sprayer ejecting tool cover are aligned to carry out the corresponding construction process on the perforated hole, so that the casing in the perforated hole is removed by an electric drill, the dust suction subsystem formed by connecting the dust suction terminal pipe with the dust suction equipment will vacuum and clean the perforated hole, one side of the perforated hole will be sealed by the plugging device, the grouting subsystem formed by connecting the grouting terminal pipe with the grouting equipment will grout the perforated hole, the grouting material will be vibrated and densely filled by the vibrator, and the surface of the vibrated grouting material will be sprayed with waterproof material by the sprayer to waterproof the outer side of the perforated hole, so that the waterproof material of the perforated hole is flush with the surface of the building structure, realizing semi-automatic remote control filling and repair construction of the perforated hole, without the need for construction workers to stand on the aerial work platform for construction, avoiding the risk of falling from height, ensuring the safety of construction workers, facilitating construction, improving construction efficiency, shortening construction period, and reducing labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figures 1 to 3 It is a three-dimensional structural diagram of the construction robot system for filling and repairing perforated holes in building structures at different viewing angles and in different states of the robot arm;

[0030] Figure 4 It is a brief structural diagram of the interior of the industrial robot;

[0031] Figure 5 It is a three-dimensional structural diagram of the rotating node of an industrial robot;

[0032] Figure 6 It is a three-dimensional structural diagram of a tool for filling and repairing perforated holes in a building structure;

[0033] Figure 7It is a three-dimensional structural schematic diagram of a vacuum end pipe of a tool for filling and repairing a perforated hole in a building structure in a state of extending out of an outlet of a tool cover;

[0034] Figures 8 to 9 It is a three-dimensional structural diagram of a repair tool for filling a perforated hole in a building structure after removing the tool cover from different viewing angles;

[0035] Figure 10 to Figure 11 It is a three-dimensional structural schematic diagram of the card slot plate and the telescopic base in a separated state at different viewing angles;

[0036] Fig.12 is a schematic diagram of the three-dimensional structure of a card slot plate and a construction tool assembled thereon in another embodiment;

[0037] Fig.13 It is a three-dimensional structural schematic diagram of the automatic telescopic rod controlling the vacuum terminal pipe to be in an extended state;

[0038] Figure 14 to Figure 15 It is a three-dimensional structural schematic diagram of the telescopic base being connected to the card slot disk through the rotating motor at different viewing angles;

[0039] Fig.16 It is a three-dimensional structural diagram of a slot disk node;

[0040] Fig.17 is a schematic diagram of the three-dimensional structure of the occluder in a contracted state;

[0041] Fig.18 is a schematic diagram of the three-dimensional structure of the occluder in an expanded state;

[0042] Fig.19 It is a schematic diagram of the three-dimensional structure of the occluder with the occluding membrane in a detached state;

[0043] Fig. 20 It is a schematic diagram of the structure of the automatic telescopic rod and the magnet thereon;

[0044] Fig.21 It is the control principle diagram of the construction robot system for filling and repairing perforated holes in building structures;

[0045] Fig. 22 It is a simplified composition diagram of the grouting subsystem;

[0046] Fig.23 It is a simplified composition diagram of the dust collection subsystem;

[0047] Fig.24 It is a flowchart of the construction method of filling and repairing perforated holes in building structures;

[0048] As shown in the figure:

[0049] 1. Construction robot system for filling and repairing perforated holes in building structures;

[0050] 100. Industrial robot, 110. Walking mechanism, 111. Vehicle body, 112. Wheels, 113. Lighting, 114. Surveillance camera, 115. Antenna, 116. Control switch, 117. Controller, 118. Wireless communication module, 119. Battery;

[0051] 120, mechanical arm, 121, arm body, 122, rotating part, 123, rotating shaft, 124, base, 125, enclosure frame;

[0052] 130. Grouting equipment, 131. Feed bin, 132. Grouting pump, 133. Grouting arm pipe, 134. Discharge pipe, 135. Feed box;

[0053] 140. dust collection equipment, 141. dust collection bin, 142. dust box, 143. dust collection motor, 144. dust collection arm pipe, 145. dust outlet pipe;

[0054] 150. Visual remote control;

[0055] 200. Repair tool, 201. Telescopic base, 202. Tool cover, 203. Rotating motor, 204. Rotating sleeve, 205. Fixed plate, 206. Pin rod, 207. Slot plate, 208. Electric drill, 209. Dust suction terminal pipe, 210. Sealing device, 211. Grouting terminal pipe, 212. Vibrator, 213. Sprayer, 214. Grouting sealer, 215. Dust suction sealing ring, 216. Outlet, 217. Outlet pipe, 218. Automatic telescopic rod, 219. Magnet, 220. Sealing rod, 221. Skeleton, 222. Membrane cap, 223. Sealing membrane, 224. Outward expansion cone, 225. Visual camera, 226. Grouting telescopic tube, 227. Dust suction telescopic tube, 228. Telescopic shell. DETAILED DESCRIPTION

[0056] The present invention is described in detail below in conjunction with the accompanying drawings: The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are in very simplified form and in non-precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0057] Embodiment 1

[0058] Please refer to Figures 6 to 20The first embodiment of the present invention provides a repair tool 200 for filling holes in building structures, comprising a telescopic base 201 and a tool cover 202 thereon, a rotary motor 203 mounted on the axis of the telescopic base 201, a rotary sleeve 204 arranged on the shaft of the rotary motor 203, a circular or other shaped fixed disk 205 coaxially arranged on the rotary sleeve 204, six pins 206 distributed and fixedly arranged in an annular array on the fixed disk 205, a fan-shaped or other shaped slot disk 207 located in the tool cover 202 and inserted and pulled out of each pin 206, one by one Corresponding to the electric drill 208, the dust suction terminal pipe 209, the plugging device 210, the grouting terminal pipe 211, the vibrator 212 and the sprayer 213 vertically assembled and connected to the slot plate 207, the slot plate 207 equipped with the dust suction terminal pipe 209 is connected to the dust suction terminal pipe 209 with a dust suction sealing ring 215, the telescopic slot plate 207 equipped with the grouting terminal pipe 211 is connected to the grouting terminal pipe 211 with a grouting sealing ring 214, the end surface of the tool cover 202 away from the telescopic base 201 is provided with an outlet 216, so that the outlet 216 can fit the end surface to be applied. On the surface of the building structure of the perforated hole, an outlet pipe 217 extending from the end face of the tool cover 202 can be provided at the outlet 216, wherein the outlet pipe 217 can be a metal round pipe; when the rotary motor 203 is working, the rotating sleeve 204 and the pin rod 206 on the fixed plate 205 drive all the slot plates 207 to rotate synchronously to switch the electric drill 208, the dust suction terminal pipe 209, the plugger 210, the grouting terminal pipe 211, the vibrator 212 and the sprayer 213 to align with the outlet 216 of the tool cover 202; the telescopic base 201 is provided with an automatic The telescopic rod 218, the end of the automatic telescopic rod 218 is provided with a magnet 219 for adsorbing the slot disk 207, and the automatic telescopic rod 218 is provided with a telescopic shell 228. In order to increase the thrust on the slot disk 207, the telescopic shell 228 can be a fan-shaped one that matches the shape of the slot disk 207. The contact surface between the telescopic shell 228 and the slot disk 207 is increased, which can improve the stability and strength of ejecting the slot disk 207. The telescopic shell 228 is embedded with a dust suction telescopic tube 227 and a grouting telescopic tube 226 that extend beyond the telescopic base 201.When the automatic telescopic rod 218 drives the telescopic housing 228 to extend, when the dust suction terminal tube 209 is aligned with the outlet 216 of the tool cover 202, the dust suction telescopic tube 227 is sealed and connected to the dust suction terminal tube 209 through the dust suction sealing ring 215, thereby ensuring the sealing of the dust suction telescopic tube 227 and the dust suction terminal tube 209, avoiding air leakage and affecting the dust suction effect and dust leakage at the connection to affect the rotation effect of the rotating motor 203 on the slot disk 207; when the grouting terminal tube 211 is aligned with the outlet 216 of the tool cover 202, the grouting telescopic tube 226 is sealed and connected to the grouting terminal tube 211 through the grouting sealing ring 214, thereby ensuring the sealing of the grouting telescopic tube 226 and the grouting terminal tube 211, avoiding grout leakage and affecting the rotation effect of the rotating motor 203 on the slot disk 207 and causing equipment failure. The automatic telescopic rod 218 can be an oil cylinder, an electric push rod, or a multi-stage telescopic sleeve rod with a pulley structure driven by a motor. The magnet 219 may be an iron-negium-boron magnet or an electromagnet, and the card slot disk 207 is made of steel. The magnet 219 may be arranged at the end of the telescopic housing. The automatic telescopic rod 218 and the telescopic housing 228 mounted thereon include but are not limited to a three-level structure. The telescopic base 201 may be in the shape of a cylinder, and the tool cover 202 may be in the shape of a cylinder. The pin rod 206 may be in the shape of a cylinder or a cone, and when the pin rod 206 is in the shape of a cone, when the automatic telescopic rod 218 and the telescopic housing 228 drive the card slot disk 207 to extend and retract through the magnet 219, the card slot disk 207 and the pin rod 206 are conveniently separated and connected.

[0059] The tool 200 for filling and repairing perforated holes in a building structure provided in the first embodiment of the present invention is installed at the end of a controllable lifting device such as an excavator arm of an excavator, connected to a dust suction telescopic tube 227 of the tool 200 for filling and repairing perforated holes in a building structure through an external dust suction device 140, connected to a grouting telescopic tube 226 of the tool 200 for filling and repairing perforated holes in a building structure through an external grouting device 130, and connected to an electric drill 208, a dust suction device 140, a grouting device 130, a vibrator 212, a sprayer 213, and an automatic telescopic rod 218 of the repair tool 200 through wireless communication via a touch screen display in the cab of the excavator or a mobile terminal such as a smart phone or a tablet computer;The repair tool 200 is aimed at the through-hole to be constructed by an excavator or other controllable lifting equipment. The driver in the excavator controls the rotary motor 203 through the touch screen display or the construction worker carrying the mobile terminal controls the rotary motor 203 through the mobile terminal to switch the electric drill 208 to align with the outlet 216 of the tool cover 202, and the electric drill 208 is pushed out of the outlet 216 of the tool cover 202 through the corresponding card slot disk 207 thereon by the automatic telescopic rod 218 to penetrate into the through-hole to remove the casing inside, and then retract and reset it in the tool cover 202, and the vacuum cleaner is switched by the rotary motor 203, and the vacuum cleaner is pushed out of the tool through the corresponding card slot disk 207 thereon by the automatic telescopic rod 218. The outlet 216 of the cover 202 vacuums and cleans the perforated hole after the casing is removed, and then is retracted and reset in the tool cover 202. The plugging device 210 is switched to align with the outlet 216 of the tool cover 202 by rotating the motor 203, and the plugging device 210 is pushed out of the outlet 216 of the tool cover 202 through the corresponding slot disk 207 thereon by the automatic telescopic rod 218. The plugging material on the plugging device 210 will seal the inner side of the perforated hole and then be retracted and reset in the tool cover 202. The grouting terminal tube 211 is switched to align with the outlet 216 of the tool cover 202 by rotating the motor 203, and the grouting terminal tube 211 is pushed out of the outlet 216 of the tool cover 202 through the corresponding slot disk thereon by the automatic telescopic rod 218. The outlet 216 of the tool cover 202 is pushed out by the 207 to penetrate into the perforated hole for grouting construction, and then retracted and reset in the tool cover 202. The vibrator 212 is switched to align with the outlet 216 of the tool cover 202 by the rotating motor 203, and the vibrator 212 is pushed out of the outlet 216 of the tool cover 202 through the corresponding slot disk 207 thereon by the automatic telescopic rod 218 to penetrate into the perforated hole, vibrate the grouting material inside the perforated hole, and then retracted and reset in the tool cover 202. The sprayer 213 is pushed out of the outlet 216 of the tool cover 202 through the corresponding slot disk 207 thereon by the automatic telescopic rod 218 to spray the waterproof material on the outer surface of the perforated hole. Retract and reset in the tool cover 202, so as to realize the automatic filling and repair construction of the bolt holes on the wall, board and other building structures, improve the construction efficiency, shorten the construction period, reduce the labor intensity, and avoid the problem that the construction workers must stand on the scaffolding and other high-altitude working platforms to repair the perforated holes and cause the risk of falling from the height. The repair tool 200 is equipped with six-process construction tools such as electric drill 208, dust suction equipment 140, plugging device 210, grouting equipment 130, vibrator 212, sprayer 213, etc., which avoids the complexity of the construction workers needing to manually change the tools of each process repeatedly during conventional operations, and has the advantage of convenient construction. ;

[0060] Please refer to Figure 8 , Figures 17 to 19In order to seal the perforated hole, the first embodiment of the present invention provides a tool 200 for filling and repairing perforated holes in a building structure. The sealer 210 includes a sealing rod 220 and a skeleton 221 and a membrane cap 222 which are sequentially assembled and connected at one end thereof, and a sealing membrane 223 connected to the skeleton 221 and the membrane cap 222. When the skeleton 221 is radially opened relative to the sealing rod 220, the sealing membrane 223 is radially opened in a conical or circular shape. When the skeleton 221 is radially closed relative to the sealing rod 220, the sealing membrane 223 is radially closed in a conical shape. When the sealing membrane 223 is radially opened, it can be separated from the sealing rod 220. The outer diameter of the sealing membrane 223 has a colloid, and the sealing membrane 223 can be bonded to the perforated hole after opening. The skeleton 221 is similar to the ribs of a straight umbrella, which may be radially retracted to the sealing rod 220 or unfolded relative to the sealing rod 220. The blocking principle is as follows:

[0061] When the occluder 210 is pushed against the outlet 216 of the tool cover 202 by the automatic telescopic rod 218 and the telescopic housing 228 through the slot plate 207 and is sent deep into the through hole to the inner end of the through hole, when the automatic telescopic rod 228 drives the telescopic housing 228 to retract, the occluding rod 220 is pulled back so that the skeleton 221 is in an open state and the occluding membrane 223 is radially opened in a conical or circular shape to block the inner end of the through hole, when the automatic telescopic rod 228 continues to retract, the membrane cap 222 and the occluding membrane 223 are separated from the occluding rod 220 and blocked in the through hole by the pulling force, and at this time, the skeleton 221 is retracted in the tool cover 202 in a radial state in the opposite direction. In particular, when the outer diameter of the occluding membrane 223 has a colloid, it can be bonded in the through hole.

[0062] Of course, in order to achieve the blocking of the perforated hole, the occluder 210 is not limited to the above-mentioned structure. It can also be a sealing rod 220 with sealing glue or sealing flexible material at one end inserted into the perforated hole and pushed into the inner end of the perforated hole by the automatic telescopic rod 218 and the telescopic shell 228. When the automatic telescopic rod 218 retracts, the sealing glue or sealing flexible material separates from the sealing rod 220 and remains in the perforated hole.

[0063] Please refer to Figure 8 and Fig.13In order to improve the vacuum cleaning effect of the perforated holes, the first embodiment of the present invention provides a tool 200 for filling and repairing perforated holes in a building structure, and the end of the vacuum terminal tube 209 is provided with an outward expansion cone 224. The outward expansion cone 224 can cover the end face of the perforated hole and seal it on the surface of the building structure, so that the perforated hole can be vacuumed and cleaned. In order to improve the sealing performance, the outward expansion cone 224 can be made of rubber material. Of course, when there is no outward expansion cone 224, the vacuum terminal tube 209 can be extended into the perforated hole for vacuum cleaning.

[0064] Please refer to Fig.11 In order for the corresponding dust suction telescopic tube 227 and grouting telescopic tube 226 to be able to follow the extension and retraction when the automatic telescopic rod 218 and the telescopic shell 228 connected to the outer shell are extended and retracted, the building structure perforation hole filling and repairing tool 200 provided in the first embodiment of the present invention is a bellows. In order for the dust suction telescopic tube 227 and the grouting telescopic tube 226 to be able to be sealed and connected to the corresponding dust suction terminal tube 209 and the grouting terminal tube 211 when following the extension and retraction, the bellows are preferably hard bellows. Of course, the dust suction telescopic tube 227 and the grouting telescopic tube 226 can also be other hard telescopic tube structures with non-active telescopic structures, such as multiple sections of mutually nested round steel pipes. Since the dust suction terminal tube 209 and the grouting terminal tube 211 are not switched to be aligned at the same time, and there are no connection nodes between the construction tools such as the electric drill 208, the sealer 210, the vibrator 212 and the sprayer 213, the dust suction telescopic tube 227 and the grouting telescopic tube 226 do not affect the use of other construction tools when the automatic telescopic rod 218 and the telescopic shell 228 connected to the outer sleeve are extended or retracted.

[0065] The number of the slotted discs 207 is not limited to six, and the number of the plugger 210 and the sprayer 213 of the six construction tools, including the electric drill 208, the dust suction terminal pipe 209, the plugger 210, the grouting terminal pipe 211, the vibrator 212 and the sprayer 213, mounted on the slotted disc 207 is not limited to one, so that the plugger 210 can perform secondary plugging when the plugging and sealing in the perforated hole is not airtight, and when the spraying of the waterproof material is uneven or the thickness is insufficient, the second sprayer 213 can perform spraying. When the number of pluggers 210 and sprayers 213 increases, the number of the slotted discs 207 and the pin rods 206 will increase accordingly.

[0066] Please refer to Figures 8 to 16 In order to improve the overall stability of all the slot plates 207, the building structure perforation hole filling repair tool 200 provided in the first embodiment of the present invention has all the slot plates 207 spliced ​​into a circle or an annular shape.

[0067] Please refer to Figure 22 to Figure 23In order to cooperate with the combined use of liftable equipment such as an excavator and the repair tool 200, the building structure perforated hole filling repair tool 200 provided in the first embodiment of the present invention may also include a grouting device 130 externally connected to the grouting telescopic tube 226, and a dust suction device 140 externally connected to the dust suction telescopic tube 227.

[0068] Embodiment 2

[0069] Please refer to Figures 1 to 23 Embodiment 2 of the present invention provides a construction robot system 1 for filling and repairing a perforated hole in a building structure, comprising:

[0070] The industrial robot 100 includes a walking mechanism 110 and a mechanical arm 120 thereon, and a repair tool 200 as described above arranged at the end of the mechanical arm 120. The walking mechanism 110 includes a body 111 and wheels 112 thereon. The function of the body 111 to control the movement of the wheels 112 can adopt any known public technology. The wheels 112 can be rubber tires or crawler tracks. The mechanical arm 120 of the industrial robot 100 can include but is not limited to two-section articulated arm bodies 121 and a rotating part 122 at the head end thereof, wherein the rotating part 122 includes a rotating shaft 123 articulated with the first section arm body 121, and the rotating shaft 123 is rotatably connected to a base 124, and the base 124 is arranged on the body 111. In order to protect the rotating part 122 and prevent personnel from contacting the rotating part 122 and causing injury accidents, a protective frame 125 surrounding the rotating part 122 is arranged on the base 124. In order to facilitate the repair and filling of the perforated hole in a dark environment, a lighting lamp 113 may be installed on the body 111 of the industrial robot 100. The industrial robot 100 is not limited to the above disclosed structure, and may be any known technology.

[0071] The feed bin 131 arranged in the vehicle body 111 and the feed port or feed box 135 extending out of the vehicle body 111 can be used to load cement, concrete and other grouting materials into the feed bin 131 through the feed port or feed box 135. The grouting pump 132 located in the vehicle body 111 and connected to the feed bin 131 can be connected to the grouting telescopic pipe 226 of the repair tool 200 through the grouting arm pipe 133 arranged along the mechanical arm 120 through the discharge pipe 134 and other pipe bodies; when the grouting terminal pipe 211 on the slot disk 207 equipped with the grouting terminal pipe 211 is aligned with the outlet 216 of the tool cover 202, the feed bin 131, the grouting pump 132, the grouting arm pipe 133, the grouting telescopic pipe 226 and the grouting terminal pipe 211 are connected to form a grouting subsystem. The main components such as the feed bin 131, the grouting pump 132 and the grouting arm pipe 133 constitute the grouting equipment 130. In order to prevent the power generated by the flow of the grouting material during grouting from causing the connection of the grouting arm pipe 133 to be separated, the grouting arm pipe 133 is provided with a curved shape with multiple folds, and the grouting arm pipe 133 can be a bellows. When the power impact generated by the flow of the grouting material occurs, the grouting arm pipe 133 can automatically stretch, which indirectly ensures the reliability of the connection between the grouting arm pipe 133 and the grouting pump 132 and avoids separation.

[0072] The dust collection bin 141 disposed in the vehicle body 111 and the dust box 142 extending out of the vehicle body 111, the dust collection motor 143 located in the vehicle body 111 and connected to the dust collection bin 141, the dust collection motor 143 can be connected to the dust collection telescopic tube 227 of the repair tool 200 through the dust outlet pipe 145 and other pipe bodies along the dust collection arm pipe 144 disposed on the robot arm 120; when the dust collection terminal pipe 209 on the slot plate 207 equipped with the dust collection terminal pipe 209 is aligned with the outlet 216 of the tool cover 202, the dust box 142, the dust collection bin 141, the dust collection motor 143, the dust collection arm pipe 144, the dust collection telescopic tube 227, and the dust collection terminal pipe 209 are connected to form a dust collection subsystem. The dust collection bin 141, the dust collection motor 143, the dust collection arm pipe 144 and other main components constitute the dust collection device 140. Optionally, in order to prevent the dust suction arm pipe 144 from being separated by the wind force of dust suction, the dust suction arm pipe 144 may also adopt a corrugated pipe with multiple curved sections.

[0073] Please refer to Figure 6 and Fig.21 In the second embodiment of the present invention, a construction robot system 1 for filling and repairing a perforated hole in a building structure is provided. A visual camera 226 is provided on the end face of the repair tool 200, and a monitoring camera 114 is provided on the vehicle body 111. The visual camera 226 and the monitoring camera 114 are connected to the controller 117 of the industrial robot 100. The visual camera 226 can be powered independently or can be powered by a battery of the industrial robot 100 through a cable.

[0074] Please refer to Fig.21 In the second embodiment of the present invention, the building structure perforation hole filling and repair construction robot system 1 is provided, wherein the industrial robot 100 is wirelessly connected to the visual remote controller 150 via the antenna 115, and the visual remote controller 150 is connected to the monitoring camera 114 and the visual camera 226 via a wireless communication module 118 such as a Bluetooth module and a wireless network module. The antenna 115 is a signal transceiver antenna corresponding to a 2.4G or other radio remote controller, and the visual remote controller 150 is wirelessly connected to the industrial robot 100 via the radio remote control frequency via the wireless 115. The visual remote controller 150 can be composed of a radio remote controller connected to a smart phone via Bluetooth, or it can be a smart phone or a tablet computer installed with special software, and the visual remote controller is remotely controlled via the special software.

[0075] Please refer to Figures 1 to 24 The second embodiment of the present invention further provides a method for repairing a perforated hole in a building structure, and the robot system 1 for repairing a perforated hole in a building structure mentioned above may include:

[0076] Step 301, controlling the movement of the industrial robot 100 through the visual remote controller 150: using the video image transmitted to the visual remote controller 150 by the monitoring camera 114 to control the industrial robot 100 to move to the building structure where the through-holes are to be constructed. The through-holes include but are not limited to the through-holes after the tension bolts are removed.

[0077] Step 302, control the movement of the industrial robot 100 through the visual remote control 150 to drive the movement of the repair tool 200: use the video image transmitted to the visual remote control 150 by the visual camera 226 to scan the position of the through hole to be constructed, and control the mechanical arm 120 of the industrial robot 100 through the visual remote control 150 to align the outlet 216 of the repair tool 200 thereon with the through hole.

[0078] Step 303, the electric drill removes the inner casing of the perforated hole: the rotary motor 203 of the repair tool 200 is started through the visual remote control 150 or the control switch 116 on the industrial robot 100, the electric drill 208 is switched to aim at the outlet 216 of the tool cover 202, and the automatic telescopic rod 218 and the telescopic housing 228 connected to the outer cover are controlled to extend and adsorbed on the card slot disk 207 equipped with the electric drill 208 through the control switch 116 on the visual remote control 150 or the industrial robot 100. The electric drill 208 is pushed out of the exit 216 of the tool cover 202, and the electric drill 208 is started through the visual remote control 150 or the control switch 116 on the industrial robot 100 to remove the casing in the perforated hole; the electric drill 208 is turned off through the visual remote control 150 or the control switch 116 on the industrial robot 100, and the automatic telescopic rod 218 is controlled to retract to drive the electric drill 208 to retract into the tool cover 202. After the automatic telescopic rod 218 retracts and resets, the magnet 219 thereon is detached from the card slot disk 207 equipped with the electric drill 208.

[0079] Step 304, the vacuuming subsystem vacuums and cleans the perforated hole: the rotary motor 203 of the repair tool 200 is started by the visual remote controller 150 or the control switch 116 on the industrial robot 100, the vacuuming terminal tube 209 is switched to align with the outlet 216 of the tool cover 202, and the automatic telescopic rod 218 is extended by the visual remote controller 150 or the control switch 116 on the industrial robot 100, and the magnet 219 on the telescopic rod 218 is adsorbed on the card slot disk 207 equipped with the vacuuming terminal tube 209 to close the vacuuming terminal tube 209. The tool is pushed out of the exit 216 of the tool cover 202, and the dust suction motor 143 is started through the visual remote controller 150 or the control switch 116 on the industrial robot 100 to clean the perforated hole; the dust suction motor 143 is turned off through the visual remote controller 150 or the control switch 116 on the industrial robot 100, and the automatic telescopic rod 218 is controlled to retract and drive the dust suction terminal tube 209 to retract into the tool cover 202. After the automatic telescopic rod 218 is retracted and reset, the magnet 219 on it is separated from the card slot disk 207 equipped with the dust suction terminal tube 209. That is, the perforated hole is cleaned by dust suction subsystem.

[0080] Step 305, the occluder seals the inner end of the perforated hole, and the rotation motor 203 of the repair tool 200 is started through the visual remote control 150 or the control switch 116 on the industrial robot 100, and the occluder 210 is switched to align with the outlet 216 of the tool cover 202. The automatic telescopic rod 218 is extended through the visual remote control 150 or the control switch 116 on the industrial robot 100, and the magnet 219 on the rod is adsorbed on the card slot disk 207 equipped with the occluder 210 to push the occluder 210 out. The outlet 216 of the tool cover 202; the plugging device 210 is driven to penetrate into the through hole by the visual remote controller 150 or the automatic telescopic rod 218 controlled by the industrial robot 100 to fill the plugging material carried on it into the inner side of the through hole; the plugging device 210 is driven to retract into the tool cover 202 by the automatic telescopic rod 218 controlled by the visual remote controller 150 or the industrial robot 100; after the automatic telescopic rod 218 is retracted and reset, the magnet 219 on it is separated from the card slot disk 207 equipped with the plugging device 210. The inner side of the through hole refers to the opposite side of the working surface of the repair tool 200.

[0081] Step 306, the grouting subsystem grouts in the perforated hole: the rotary motor 203 of the repair tool 200 is started by the visual remote controller 150 or the control switch 116 on the industrial robot 100, the grouting terminal tube 211 is switched to align with the outlet 216 of the tool cover 202, and the automatic telescopic rod 218 is controlled to extend and adsorbed on the slot plate 207 equipped with the grouting terminal tube 211 by the control switch 116 on the visual remote controller 150 or the industrial robot 100, so as to close the grouting terminal tube 211. 1 is pushed out of the outlet 216 of the tool cover 202, and the grouting pump 132 is started through the visual remote controller 150 or the control switch 116 on the industrial robot 100 to grout the perforated hole; the grouting pump 132 is turned off through the visual remote controller 150 or the control switch 116 on the industrial robot 100, and the automatic telescopic rod 218 is controlled to retract to drive the grouting terminal tube 211 to retract into the tool cover 202. After the automatic telescopic rod 218 retracts and resets, the magnet 219 on it is separated from the card slot disk 207 equipped with the grouting terminal tube 211. That is, the perforated hole is grouted and blocked by the grouting subsystem.

[0082] Step 307, the vibrator vibrates the grouting material in the perforated hole: the rotary motor 203 of the repair tool 200 is started by the visual remote control 150 or the control switch 116 on the industrial robot 100, the vibrator 212 is switched to be aligned with the outlet 216 of the tool cover 202, and the automatic telescopic rod 218 is controlled to extend and adsorbed on the slot plate 207 equipped with the vibrator 212 by the control switch 116 on the visual remote control 150 or the industrial robot 100 to vibrate the vibrator. 212 is pushed out of the exit 216 of the tool cover 202; the vibrator 212 is driven to penetrate into the perforated hole to vibrate the grouting material by controlling the automatic telescopic rod 218 on the visual remote control 150 or the industrial robot 100; the vibrator 212 is driven to retract into the tool cover 202 by controlling the automatic telescopic rod 218 on the visual remote control 150 or the industrial robot 100; after the automatic telescopic rod 218 retracts and resets, the magnet 219 thereon is disengaged from the card slot disk 207 equipped with the vibrator 212.

[0083] Step 308, the sprayer sprays the waterproof material on the outer side of the perforated hole: the rotary motor 203 of the repair tool 200 is started by the visual remote control 150 or the control switch 116 on the industrial robot 100, the sprayer 213 is switched to be aimed at the outlet 216 of the tool cover 202, and the automatic telescopic rod 218 is controlled to extend by the visual remote control 150 or the control switch 116 on the industrial robot 100 and the magnet 219 on the rod is adsorbed on the card slot disk 207 equipped with the sprayer 213 to push the sprayer 213 out of the tool cover 202. The outlet 216 of the cover 202 is opened; the sprayer 213 is controlled by the visual remote controller 150 or the industrial robot 100 to start spraying waterproof material on the outer side of the perforated hole after the grouting material is vibrated, and the sprayer 213 is controlled to be closed and the automatic telescopic rod 218 is controlled to retract to drive the sprayer 213 to retract into the tool cover 202 by the control switch 116 on the visual remote controller 150 or the industrial robot 100. After the automatic telescopic rod 218 is retracted and reset, the magnet 219 on it is separated from the card slot disk 207 equipped with the sprayer 213. That is, a waterproof layer is formed by spraying waterproof material. The sprayer 213 can be equipped with a pump body of waterproof material, or it can be connected to the spray pump and spray tank set in the vehicle body 111 through the spray telescopic tube embedded in the telescopic cover and the spray arm tube on the mechanical arm 120.

[0084] When the control switch 116 controls the corresponding component, the switch control of the corresponding component can be performed by turning on and off the control switch 116, or by triggering the control switch 116 once or twice.

[0085] Among them, the main idea of ​​steps 303 to 308 is to control the six construction tools in the repair tool 200 through the visual remote control 150 to carry out the repair processes such as casing removal, vacuum cleaning, one-end sealing, grouting filling, vibration and waterproof material spraying of the perforated hole.

[0086] The robot system 1 and method for repairing a perforated hole in a building structure provided in the second embodiment of the present invention are as follows: a dust collection device 140 mainly composed of a dust collection bin 141, a dust box 142, a dust collection motor 143 and a dust collection arm pipe 144 is arranged on the industrial robot 100; a grouting device 130 mainly composed of a feed bin 131, a grouting pump 132 and a grouting arm pipe 133 is arranged on the industrial robot 100; a visual remote controller 150 is wirelessly connected to a controller 117 of the industrial robot 100 via an antenna 115 or a wireless communication module 118; a visual camera 226, a monitoring camera 114, a dust collection motor 143 and a dust collection arm pipe 144 are connected to the industrial robot 100; and a visual remote controller 150 is wirelessly connected to a controller 117 of the industrial robot 100 via an antenna 115 or a wireless communication module 118. 3. The grouting pump 132, the electric drill 208, the vibrator 212, the sprayer 213, the automatic telescopic rod 218, and the rotary motor 203 are connected to the controller 117 by wire or wirelessly through a cable or a wireless communication module 118. The monitoring camera 114 and the same video picture are displayed by the visual remote control 150 to move the body 111 of the industrial robot 100, and the mechanical arm 120 is controlled by multiple degrees of freedom to align the outlet 216 of the repair tool 200 with the through hole to be constructed. The rotary motor is controlled by the visual remote control 150 to switch the electric drill 208, the vacuum terminal pipe 209, the plugging device 210, and the grouting device in turn. The six construction process tools are terminal pipe 211, vibrator 212 and sprayer 213. When executing the corresponding process, the corresponding electric drill 208, dust suction terminal pipe 209, plugging device 210, grouting terminal pipe 211, vibrator 212 and sprayer 213 are pushed out of the outlet 216 of the tool cover 202 through the automatic telescopic rod 218 to align the corresponding process construction with the perforated hole, so that the casing in the perforated hole is removed by the electric drill 208, the dust suction subsystem formed by the dust suction terminal pipe 209 connected to the dust suction device 140 will vacuum and clean the perforated hole, the plugging device 210 will seal one side of the perforated hole, and the grouting terminal 211 will be sealed. The grouting subsystem formed by the connection between the pipe 211 and the grouting equipment 130 will fill the perforated holes with grouting, vibrate the grouting material to make it dense by the vibrator 212, and spray the waterproof material on the surface of the vibrated grouting material by the sprayer 213. The outer side of the perforated hole will be waterproofed to make the waterproof material of the perforated hole flush with the surface of the building structure, thereby realizing semi-automatic remote control filling and repair construction of the perforated hole. There is no need for construction workers to stand on an aerial work platform to carry out construction, which avoids the risk of falling from a height, ensures the safety of construction workers, facilitates construction, improves construction efficiency, shortens construction period, and reduces labor intensity.

[0087] The present invention is not limited to the above-mentioned specific implementation modes. Obviously, the above-mentioned embodiments are only some embodiments of the embodiments of the present invention, but not all embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention. Those skilled in the art can make other levels of modifications and changes to the present invention. In this way, if these modifications and changes of the present invention fall within the scope of the claims of the present invention, the present invention is also intended to include these changes and changes.

Claims

1. A tool for filling and repairing perforated holes in a building structure, characterized in that: It includes a telescopic base and a tool cover thereon, a rotary motor installed on the axis of the telescopic base, a rotary sleeve arranged on the shaft of the rotary motor, a fixed plate coaxially arranged on the rotary sleeve, six pins are fixedly arranged in an annular array on the fixed plate, a slot plate located in the tool cover and inserted and pulled out on each of the pins, an electric drill, a dust suction terminal pipe, a plugging device, a grouting terminal pipe, a vibrator and a sprayer vertically assembled and connected to one of the slot plates in a one-to-one correspondence, a dust suction sealing ring is connected to the dust suction terminal pipe on the slot plate equipped with the dust suction terminal pipe, and a telescopic slot equipped with the grouting terminal pipe A grouting sealing ring is provided on the disk which is connected with the grouting terminal pipe, and an outlet is provided on the end face of the tool cover away from the telescopic base; when the rotary motor is working, all the slot disks are driven to rotate synchronously through the rotating sleeve and the pin rod on the fixed disk to switch and align one of the electric drill, the dust suction terminal pipe, the plugger, the grouting terminal pipe, the vibrator and the sprayer to the outlet of the tool cover; an automatic telescopic rod is provided on the telescopic base, and a magnet for adsorbing the slot disk is provided at the end of the automatic telescopic rod, and the automatic telescopic rod includes a telescopic shell, and a telescopic tube for dust suction and a telescopic tube for grouting extending beyond the telescopic base are embedded and installed in the telescopic shell.

2. The tool for filling and repairing perforated holes in a building structure according to claim 1, characterized in that: The occluder includes an occluding rod and a frame and a membrane cap which are sequentially assembled and connected at one end thereof, and an occluding membrane connected to the frame and the membrane cap. When the frame is radially opened relative to the occluding rod, the occluding membrane is radially opened in a conical or circular shape. When the frame is radially closed relative to the occluding rod, the occluding membrane is radially closed in a conical shape. When the occluding membrane is radially opened, it can be detached from the occluding rod.

3. The tool for filling and repairing a perforated hole in a building structure according to claim 1, characterized in that: The end of the dust suction terminal pipe is provided with an outward expansion cone.

4. The tool for filling and repairing a perforated hole in a building structure according to claim 1, characterized in that: The vacuuming telescopic tube and the grouting telescopic tube are both corrugated tubes.

5. The tool for filling and repairing a perforated hole in a building structure according to claim 1, characterized in that: All the slot disks are spliced ​​into a circle or an annular shape.

6. The tool for filling and repairing a perforated hole in a building structure according to claim 1, characterized in that: It also includes a grouting device which is externally connected to the grouting telescopic pipe, and a dust collection device which is externally connected to the dust collection telescopic pipe.

7. A construction robot system for filling and repairing perforated holes in a building structure, characterized in that: include: An industrial robot, comprising a walking mechanism and a mechanical arm thereon, and a repair tool as claimed in any one of claims 1 to 5 arranged at the end of the mechanical arm, wherein the walking mechanism comprises a body and wheels thereon; It also includes a feed bin arranged in the vehicle body and a feed port or a feed box extending out of the vehicle body, a grouting pump located in the vehicle body and connected to the feed bin, the grouting pump is connected to the grouting telescopic pipe of the repair tool through a grouting arm pipe arranged along the mechanical arm; when the grouting terminal pipe on the slot plate equipped with the grouting terminal pipe is aligned with the outlet of the tool cover, the feed bin, the grouting pump, the grouting arm pipe, the grouting telescopic pipe and the grouting terminal pipe are connected to form a grouting subsystem; It also includes a dust suction bin arranged in the body and a dust box extending out of the body, a dust suction motor located in the body and connected to the dust suction bin, and the dust suction motor is connected to the dust suction telescopic tube of the repair tool through a dust suction arm tube arranged along the mechanical arm; when the dust suction terminal tube on the slot disk equipped with the dust suction terminal tube is aligned with the outlet of the tool cover, the dust box, dust suction bin, dust suction motor, dust suction arm tube, dust suction telescopic tube, and dust suction terminal tube are connected to form a dust suction subsystem.

8. The robot system for repairing and filling holes in building structures according to claim 7 is characterized in that: A visual camera is arranged on the end surface of the repair tool, and a monitoring camera is arranged on the vehicle body. The visual camera and the monitoring camera are connected to the controller of the industrial robot.

9. The robot system for repairing perforated holes in building structures according to claim 8 is characterized in that: The industrial robot is wirelessly connected to a visual remote controller via an antenna, and the visual remote controller is connected to the monitoring camera and the visual camera via a wireless communication module.

10. A method for filling and repairing a perforated hole in a building structure, characterized in that: The construction robot system for filling and repairing perforated holes in a building structure according to claim 9 comprises: The video images transmitted by the surveillance camera to the visual remote controller are used to control the industrial robot to move to the building structure where the perforated hole is to be constructed; The video image transmitted by the visual camera to the visual remote controller is used to scan the position of the counter-piercing hole to be constructed, and the visual remote controller is used to control the mechanical arm of the industrial robot to align the outlet of the repair tool on the industrial robot with the counter-piercing hole; The rotary motor of the repair tool is started by the control switch on the visual remote control or the industrial robot, the electric drill is switched to be aimed at the exit of the tool cover, the automatic telescopic rod is controlled to extend by the control switch on the visual remote control or the industrial robot, and the magnet on the automatic telescopic rod is adsorbed on the card slot disk equipped with the electric drill to push the electric drill out of the exit of the tool cover, and the electric drill is started by the control switch on the visual remote control or the industrial robot to remove the casing in the perforated hole; the electric drill is turned off by the control switch on the visual remote control or the industrial robot, and the automatic telescopic rod is controlled to retract to drive the electric drill to retract into the tool cover, and after the automatic telescopic rod is retracted and reset, the magnet on the automatic telescopic rod is separated from the card slot disk equipped with the electric drill; The rotary motor of the repair tool is started by the control switch on the visual remote control or the industrial robot, the dust suction terminal tube is switched to align with the outlet of the tool cover, the automatic telescopic rod is controlled to extend by the control switch on the visual remote control or the industrial robot, and the dust suction terminal tube is pushed out of the outlet of the tool cover by adsorbing the magnet on the rod on the rod on the slot disk equipped with the dust suction terminal tube, and the dust suction motor is started by the control switch on the visual remote control or the industrial robot to clean the perforated hole; the dust suction motor is turned off by the control switch on the visual remote control or the industrial robot, and the automatic telescopic rod is controlled to retract to drive the dust suction terminal tube to retract into the tool cover, and after the automatic telescopic rod is retracted and reset, the magnet on the rod is separated from the slot disk equipped with the dust suction terminal tube; The rotary motor of the repair tool is started by the control switch on the visual remote control or the industrial robot, the occluder is switched to align with the exit of the tool cover, the automatic telescopic rod is controlled to extend by the control switch on the visual remote control or the industrial robot, and the magnet on the rod is adsorbed on the card slot disk equipped with the occluder to push the occluder out of the exit of the tool cover; the automatic telescopic rod is controlled by the visual remote control or the industrial robot to drive the occluder to penetrate into the perforated hole and fill the sealing material carried on the rod into the inner side of the perforated hole; the automatic telescopic rod is controlled by the visual remote control or the industrial robot to retract and drive the occluder to retract into the tool cover, and after the automatic telescopic rod is retracted and reset, the magnet on the rod is separated from the card slot disk equipped with the occluder; Start the rotary motor of the repair tool through the visual remote control or the control switch on the industrial robot, switch the grouting terminal tube to align with the exit of the tool cover, control the automatic telescopic rod to extend through the visual remote control or the control switch on the industrial robot, and adsorb the magnet on the rod to the slot plate equipped with the grouting terminal tube to push the grouting terminal tube out of the exit of the tool cover, start the grouting pump through the control switch on the visual remote control or the industrial robot to grout the perforated hole; turn off the grouting pump through the control switch on the visual remote control or the industrial robot, control the automatic telescopic rod to retract and drive the grouting terminal tube to retract into the tool cover, and after the automatic telescopic rod retracts and resets, the magnet on it is separated from the slot plate equipped with the grouting terminal tube; The rotary motor of the repair tool is started by a control switch on a visual remote controller or an industrial robot, the vibrator is switched to be aimed at the exit of the tool cover, the automatic telescopic rod is controlled to extend by a control switch on the visual remote controller or the industrial robot, and the vibrator is pushed out of the exit of the tool cover by adsorbing the magnet on the automatic telescopic rod on the card slot disk equipped with the vibrator; the vibrator is driven to penetrate into the perforated hole to vibrate the grouting material by controlling the automatic telescopic rod on the visual remote controller or the industrial robot, the vibrator is driven to retract into the tool cover by controlling the automatic telescopic rod on the visual remote controller or the industrial robot, and the magnet on the automatic telescopic rod is disengaged from the card slot disk equipped with the vibrator after the automatic telescopic rod is retracted and reset; Start the rotary motor of the repair tool through the control switch on the visual remote control or the industrial robot, switch the sprayer to aim at the exit of the tool cover, control the automatic telescopic rod to extend through the control switch on the visual remote control or the industrial robot, and adsorb the magnet on the rod to the slot disk equipped with the sprayer to push the sprayer out of the exit of the tool cover; start spraying waterproof material on the outer side of the perforated hole after the grouting material is vibrated through the control sprayer on the visual remote control or the industrial robot, control the sprayer to close and control the automatic telescopic rod to retract to drive the sprayer to retract into the tool cover through the control switch on the visual remote control or the industrial robot, and after the automatic telescopic rod retracts and resets, the magnet on it is detached from the slot disk equipped with the sprayer.

Images