Grouting collecting structure, automatic plastering equipment and plastering method

Abstract

The invention relates to the technical field of building equipment, and provides a grout collecting structure, automatic plastering equipment and a plastering method.The grout collecting structure comprises a grout collecting plate, a semi-wrapping baffle, a rear cambered surface vertical plate, a hollow rotating shaft, a grout storage bin and a first driving motor, and the edge of one side of the grout collecting plate is fixedly connected with the edge of one side of the rear cambered surface vertical plate; the semi-wrapping baffle is fixedly connected with the slurry collecting plate and the rear arc face vertical plate, the semi-wrapping baffle, the slurry collecting plate and the rear arc face vertical plate define a hollow semi-closed body used for scraping and storing slurry overflowing from bricks, and one end of the hollow rotating shaft is rotationally connected with a shell of the slurry storage bin and communicates with the slurry storage bin. The other end of the hollow rotating shaft is fixedly connected with the semi-wrapping baffle and communicates with the hollow semi-closed body, and the first driving motor is fixedly installed on a shell of the slurry storage bin and used for driving the hollow rotating shaft to rotate. According to the device, overflowing slurry can be scraped and recycled, the utilization efficiency of the slurry is improved, and waste of the slurry can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of construction equipment, and in particular to a slurry collecting structure, automatic slurry spreading equipment and a slurry spreading method. Background Art

[0002] Brick wall construction is a common construction method in modern buildings. With the improvement of building automation, manual bricklaying will gradually be replaced by machines. In the bricklaying construction process, applying slurry on the upper surface of bricks is one of the key processes. A slurry machine is a device that automatically applies slurry to the finished wall bricks during the wall laying process. In order to improve the efficiency of slurry application, a slurry machine is usually used for slurry application.

[0003] However, during the bricklaying process, the extrusion of bricks may cause the slurry just applied to overflow. Therefore, during the slurry application process, the overflowed slurry needs to be collected and reused. However, the existing slurry application machine is not provided with a slurry collection structure for recycling the overflowed slurry, resulting in a waste of slurry, and its structure needs to be improved. Summary of the invention

[0004] Based on this, in order to solve the problem that the existing slurry machine is not provided with a slurry collecting structure for recycling the overflow slurry, resulting in waste of slurry, the present invention provides a slurry collecting structure, an automatic slurry slurrying device and a slurry slurrying method, which makes the semi-wrapped baffle plate, the slurry collecting plate and the rear curved vertical plate enclose a hollow semi-enclosed body, and when the slurry slurrying machine is slurrying the target slurrying brick, the overflow slurry between the target slurrying brick and the next layer of bricks can be scraped off and the overflow slurry of the bricks can be stored, and after the slurry collecting plate is converted from a horizontal state to a vertical state, the collected overflow slurry can flow back to the slurry storage bin through a hollow rotating shaft for secondary utilization. The specific technical scheme is as follows: A pulp collecting structure, comprising a pulp collecting plate, a half-wrapped baffle, a rear curved vertical plate, a hollow rotating shaft, a pulp storage bin and a first driving motor, one side edge of the pulp collecting plate is fixedly connected to one side edge of the rear curved vertical plate, the half-wrapped baffle is fixedly connected to the pulp collecting plate and the rear curved vertical plate, the half-wrapped baffle, the pulp collecting plate and the rear curved vertical plate enclose a hollow semi-enclosed body for scraping off and storing overflowed pulp from bricks, one end of the hollow rotating shaft is rotatably connected to the outer shell of the pulp storage bin and communicated with the pulp storage bin, the other end of the hollow rotating shaft is fixedly connected to the half-wrapped baffle and communicated with the hollow semi-enclosed body, and the first driving motor is fixedly mounted on the outer shell of the pulp storage bin and used to drive the hollow rotating shaft to rotate; When the slurry collecting plate is in a horizontal state, the hollow semi-enclosed body scrapes off and stores the overflowing slurry of the bricks. When the slurry collecting plate is in a vertical state, the overflowing slurry stored in the hollow semi-enclosed body flows into the slurry storage bin through the hollow rotating shaft.

[0005] By arranging a semi-wrapped baffle, a slurry collecting plate and a rear curved vertical plate to form a hollow semi-enclosed body, when the slurry machine moves on the required slurry brick body and performs slurrying operation, the slurry collecting structure is in a horizontal state, and the overflow slurry squeezed out between the target slurry brick and the next layer of bricks can be scraped and recovered; when the slurry collecting structure is converted from a horizontal state to a vertical state, the recovered overflow slurry can flow back to the slurry storage bin through the hollow rotating shaft under the action of its own gravity, and then be recycled for a second time, thereby improving the utilization efficiency of the slurry, avoiding the waste of slurry, and solving the problem that the existing slurry machine is not provided with a slurry collecting structure for recycling the overflow slurry, resulting in the waste of slurry.

[0006] Preferably, the slurry collecting plate includes a first slurry collecting portion in the form of an arch surface and a second slurry collecting portion in the form of a triangular arc surface. The semi-wrapped baffle is fixedly mounted on the edge of the slurry collecting plate and the rear arc surface vertical plate close to the brick side, and the projection shape of the semi-wrapped baffle on the plane where the brick is located overlaps with the projection shape of the first slurry collecting portion and the rear arc surface vertical plate on the plane where the brick is located. When the slurry collecting plate is in a horizontal state, the semi-wrapped baffle is in contact with the side of the brick, and the hollow semi-enclosed body scrapes off the overflowed slurry from the brick through the semi-wrapped baffle.

[0007] Preferably, the grout collecting structure further comprises a vibrator fixedly mounted on the grout collecting plate, and when the grout collecting plate is in a horizontal state, the lower edge of the grout collecting plate is located below the upper surface edge of the next layer of bricks of the target grouting brick.

[0008] An automatic slurry spreading device comprises the slurry collecting structure.

[0009] Preferably, the automatic slurry spreading equipment also includes a moving mechanism, which includes a base, a first direction moving device and a second direction moving device, the first direction moving device and the second direction moving device are both installed on the base, the first direction is perpendicular to the second direction, the first direction moving device is used to drive the base to move along the first direction, and the second direction moving device is used to drive the base to move along the second direction.

[0010] Preferably, the automatic slurry adding equipment also includes an automatic slurry adding mechanism and a lifting mechanism. The automatic slurry adding mechanism is fixedly installed on the base and includes a slurry delivery pipe. The lifting mechanism is fixedly installed on the base and includes a lifting drive device and a lifting platform. One end of the slurry delivery pipe is fixedly installed on the lifting platform. The automatic slurry adding mechanism is used to grout the slurry storage bin through the slurry delivery pipe. The lifting drive device is used to drive the lifting platform back and forth in the vertical direction.

[0011] Preferably, the automatic plastering equipment also includes an automatic plastering assembly, which includes a rotating mechanism installed on the slurry storage bin, a walking mechanism fixedly installed on the bottom of the slurry storage bin, and a horizontal plastering plate. The walking mechanism is used to drive the slurry storage bin to move along the length direction of the bricks, and a slurrying space that matches the slurry groove is formed between the horizontal plastering plate and the walking mechanism. The rotating mechanism is used to open and close the slurry outlet of the slurry storage bin.

[0012] Preferably, the automatic slurry assembly also includes a plane feature measuring mechanism and a control mechanism, the measuring mechanism is installed on the slurry storage bin and is used to measure the plane feature data of the target slurry brick and feed it back to the control mechanism, the control mechanism is used to construct a slurry optimization function according to the plane feature data, slurry viscosity value, slurry outlet size, slurry groove size and the moving speed of the walking mechanism, obtain the optimal control parameters according to the slurry optimization function, and control the movement of the walking mechanism and the rotating mechanism according to the optimal control parameters.

[0013] An automatic slurry spreading method comprises the following steps: S1, before starting to apply grout to the target grouting brick, the automatic grouting assembly and the grout collecting structure are placed on the lifting platform, and the automatic grouting mechanism and the lifting mechanism are moved as a whole to the two sides of the desired grouting brick body through the moving mechanism; S2, detecting whether the base is flush with the required mortared brick body, and when the base is flush with the required mortared brick body, the automatic grouting mechanism works and grouts the grout storage bin through the grout delivery pipe; S3, after grouting is completed, the grout collecting plate is in a horizontal state, the walking mechanism drives the grout storage bin to move along the length direction of the brick, the rotating mechanism opens the grout outlet of the grout storage bin, the grout flows out of the grout outlet of the grout storage bin, the grout is leveled by the horizontal grouting plate, and the overflow grout between the target grouting brick and the next layer of bricks of the target grouting brick is scraped and stored by the hollow semi-enclosed body; S4, when the walking mechanism moves from one side of the required mortared brick body to the other side, the rotating mechanism closes the slurry outlet of the slurry storage bin, so that the slurry collecting plate is in a vertical state, and the overflow slurry scraped and stored by the hollow semi-enclosed body flows into the slurry storage bin through the hollow rotating shaft; S5, the walking mechanism moves the automatic slurry assembly as a whole to the lifting platform corresponding to the other side of the required slurry brick body, and drives the lifting platforms on both sides of the required slurry brick body to simultaneously raise the height of one brick through the lifting drive device; S6, repeating steps S2 to S5 until the grouting work of the required brick bodies is finally completed.

[0014] Preferably, the automatic slurrying method further comprises the following steps: Measuring plane feature data of the target mortar brick; Obtaining the slurry viscosity value, the slurry outlet size, the slurry trough size and the moving speed of the walking mechanism; Constructing a slurry spreading optimization function according to the plane feature data, the slurry viscosity value, the slurry outlet size, the slurry spreading groove size and the moving speed of the walking mechanism; Optimal control parameters are obtained according to the slurry optimization function, and the movements of the walking mechanism and the rotating mechanism are controlled according to the optimal control parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0016] Figure 1 It is a schematic diagram of the overall structure of an automatic slurry spreading device in one embodiment of the present invention; Figure 2 It is a schematic diagram of the overall structure of a pulp collecting structure in one embodiment of the present invention; Figure 3 The schematic diagram of the structure of the lifting mechanism and the automatic pulping mechanism in one embodiment of the present invention is Figure 4 It is a schematic diagram of the structural relationship between the pulp collecting structure and the automatic pulp spreading component in one embodiment of the present invention; Figure 5 It is a schematic diagram of the overall structure of the lifting mechanism in one embodiment of the present invention; Figure 6 The schematic diagram of the partial structure of the pulp collecting structure in one embodiment of the present invention is Figure 1 ; Figure 7 The schematic diagram of the partial structure of the pulp collecting structure in one embodiment of the present invention is Figure 2 ; Figure 8 It is a schematic diagram of the overall process of an automatic slurry spreading method in one embodiment of the present invention; Fig. 9 It is a schematic flow chart of an automatic slurry spreading method in another embodiment of the present invention.

[0017] Description of reference numerals: 1. Slurry collecting structure; 2. Moving mechanism; 3. Automatic slurry adding mechanism; 4. Lifting mechanism; 5. Automatic slurry spreading assembly; 6. Laser leveling instrument; 100. Slurry collecting plate; 101. Half-wrapped baffle plate; 102. Rear curved vertical plate; 103. Hollow shaft; 104. Slurry storage bin; 105. First driving motor; 106. First slurry collecting part; 107. Second slurry collecting part; 108. Vibrator; 109. First gear; 110. Slurry outlet; 200. Base; 201. First direction moving motor; 202. First direction moving gear set; 203. First direction moving crawler; 204. First rod; 205. Second direction moving motor; 206. Second direction moving gear set; 207. Second direction moving crawler Belt; 208, second rod; 300, slurry adding motor; 301, vertical slurry adding rack; 302, slurry adding gear; 303, extrusion plate; 304, high pressure grouting machine; 305, slurry delivery pipe; 306, infrared rangefinder; 307, first magnetic suction interface; 400, vertical lifting rack; 401, slide rail; 402, lifting drive motor; 403, driving wheel; 404, large driven wheel; 405, small driven wheel; 406, lifting connecting rod; 407, gravity sensor; 500, horizontal slurry board; 501, travel drive motor; 502, travel gear; 503, rolling travel wheel; 504, rotation drive motor; 505, baffle; 506, infrared rangefinder sensor; 507, second magnetic suction interface. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with its embodiments. It should be understood that the specific implementation methods described herein are only used to explain the present invention and do not limit the protection scope of the present invention.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0021] The “first” and “second” mentioned in the present invention do not represent specific quantities and orders, but are merely used to distinguish names.

[0022] like Figure 1 , Figure 2 , Figure 4 , Figure 6 as well as Figure 7 As shown, the present invention provides a pulp collecting structure 1, comprising a pulp collecting plate 100, a semi-wrapped baffle plate 101, a rear curved vertical plate 102, a hollow rotating shaft 103, a pulp storage bin 104 and a first driving motor 105, one side edge of the pulp collecting plate 100 is fixedly connected to one side edge of the rear curved vertical plate 102, the semi-wrapped baffle plate 101 is fixedly connected to the pulp collecting plate 100 and the rear curved vertical plate 102, the semi-wrapped baffle plate 101, the pulp collecting plate 100 and the first driving motor 105 are fixedly connected to each other. The rear curved vertical plate 102 encloses a hollow semi-enclosed body for scraping off and storing overflow slurry from bricks. One end of the hollow rotating shaft 103 is rotatably connected to the outer shell of the slurry storage bin 104 and communicated with the slurry storage bin 104. The other end of the hollow rotating shaft 103 is fixedly connected to the semi-wrapped baffle 101 and communicated with the hollow semi-enclosed body. The first driving motor 105 is fixedly installed on the outer shell of the slurry storage bin 104 and is used to drive the hollow rotating shaft 103 to rotate.

[0023] When the slurry collecting plate 100 is in a horizontal state, the hollow semi-enclosed body scrapes off and stores the overflowing slurry of the bricks. When the slurry collecting plate 100 is in a vertical state, the overflowing slurry stored in the hollow semi-enclosed body flows into the slurry storage bin 104 through the hollow rotating shaft 103 .

[0024] Specifically, the first drive motor 105 is located between the outer shell of the pulp storage bin 104 and the semi-wrapped baffle 101, and the first drive motor 105 is in transmission connection with the first gear 109, and the hollow shaft 103 passes through the axis of the first gear 109 and is fixedly connected with the gear. The first drive motor 105 drives the hollow shaft 103 to rotate by driving the first gear 109, so that the hollow semi-enclosed body rotates around the hollow shaft 103, so that the pulp collecting plate 100 is in a horizontal state or a vertical state.

[0025] As a preferred technical solution, the slurry collecting plate 100 includes a first slurry collecting portion 106 with an arched surface and a second slurry collecting portion 107 with a triangular arc surface. The semi-wrapped baffle 101 is fixedly installed on the edge of the slurry collecting plate 100 and the rear arc vertical plate 102 close to the brick side, and the projection shape of the semi-wrapped baffle 101 on the plane where the brick is located overlaps with the projection shape of the first slurry collecting portion 106 and the rear arc vertical plate 102 on the plane where the brick is located. When the slurry collecting plate 100 is in a horizontal state, the semi-wrapped baffle 101 fits against the side of the brick, and the hollow semi-enclosed body scrapes off the overflowed slurry from the brick through the semi-wrapped baffle 101.

[0026] The semi-wrapped baffle 101 is a thin flat plate that plays a blocking role. When the pulp collecting plate 100 is in a vertical state, due to the blocking of the semi-wrapped baffle 101, the overflowing pulp stored in the hollow semi-enclosed body will not fall to the ground.

[0027] The direction of the second grout collecting part 107 toward the first grout collecting part 106 is the advancing direction of the trowel. When the trowel moves along the desired trowel brick, due to its gravity, the slurry between the target trowel brick and the next layer of bricks will be squeezed, so that the slurry overflows to form overflow slurry. The semi-wrapped baffle 101 is attached to the side of the brick, and the overflow slurry can be hung and stored in the hollow semi-enclosed body through the semi-wrapped baffle 101.

[0028] As a preferred technical solution, the slurry collecting structure 1 also includes a vibrator 108 fixedly mounted on the slurry collecting plate 100. When the slurry collecting plate 100 is in a horizontal state, the lower edge of the slurry collecting plate 100 is located below the upper surface edge of the next layer of bricks of the target slurry brick. In this way, the overflowing slurry can be scraped off by the semi-wrapped baffle 101 and fall into the slurry collecting plate 100, and it can be recovered to prevent the overflowing slurry from falling to the ground. The vibrator 108 can be an electromagnetic vibrator 108. By setting the vibrator 108, when the slurry collecting plate 100 and the hollow semi-enclosed body are converted from a horizontal state to a vertical state, the vibrator 108 is controlled to operate, and the collected and stored overflowing slurry will be more easily detached under the action of its own gravity and the vibration of the vibrator 108 and flow into the slurry storage bin 104 through the through hole in the hollow shaft 103.

[0029] Specifically, the lower edge of the slurry collecting plate 100 is located at the lower middle position of the side of the next layer of bricks of the target slurry brick, and the edge of the semi-wrapped baffle 101 for hanging the overflowed slurry is close to the side of the slurry storage bin 104 facing away from the advancing direction. In this way, when the slurry machine falls on the target slurry brick, the slurry collecting plate 100 is in a horizontal state and moves along the desired slurry brick body, so as to scrape and recover as much overflowed slurry between the target slurry brick and the next layer of bricks as possible.

[0030] When the collected and stored overflow slurry needs to be reused, the first drive motor 105 can be used to drive the hollow shaft 103 and the slurry collecting plate 100 to rotate 90 degrees, so that the slurry collecting plate 100 and the hollow semi-enclosed body are transformed from a horizontal state to a vertical state (or perpendicular to the flat ground). In this way, the collected and stored overflow slurry will flow into the slurry storage bin 104 through the through hole in the hollow shaft 103 under the action of its own gravity.

[0031] For example, a lifting platform is provided at each of the two required mortar brick bodies. When the mortar collecting structure 1 reaches the right lifting platform, the mortar collecting plate 100 and the hollow semi-enclosed body are driven by the first driving motor 105 to rotate 90 degrees counterclockwise and switch from a horizontal state to a vertical state; when the mortar collecting structure 1 reaches the left lifting platform, the mortar collecting plate 100 and the hollow semi-enclosed body are driven by the first driving motor 105 to rotate 90 degrees clockwise and switch from a horizontal state to a vertical state.

[0032] In summary, by setting a semi-wrapped baffle 101, a slurry collecting plate 100 and a rear curved vertical plate 102 to form a hollow semi-enclosed body, when the slurry collecting machine moves on the required slurry brick body and performs slurrying operations, the slurry collecting structure 1 is in a horizontal state, and the overflow slurry squeezed out between the target slurry brick and the next layer of bricks can be scraped and recovered; when the slurry collecting structure 1 is converted from a horizontal state to a vertical state, the recovered overflow slurry can flow back to the slurry storage bin 104 through the hollow rotating shaft 103 under the action of its own gravity, and then be recycled for a second time, thereby improving the utilization efficiency of the slurry, avoiding the waste of slurry, and solving the problem that the existing slurry collecting structure 1 for recycling the overflow slurry is not provided for the existing slurry collecting machine, resulting in the waste of slurry.

[0033] This embodiment also provides an automatic slurry spreading device, which includes the slurry collecting structure 1.

[0034] The automatic slurry spreading equipment is used to rise and fall on both sides of the required slurry spreading brick body, walk on the surface of the target slurry spreading brick block, and perform slurry spreading construction operations on the upper surface of the target slurry spreading brick block.

[0035] like Figure 1 as well as Figure 3 As shown, the automatic slurry spreading device also includes a moving mechanism 2, and the moving mechanism 2 includes a base 200, a first direction moving device and a second direction moving device, the first direction moving device and the second direction moving device are both installed on the base 200, the first direction is perpendicular to the second direction, the first direction moving device is used to drive the base 200 to move along the first direction, and the second direction moving device is used to drive the base 200 to move along the second direction.

[0036] Specifically, the first direction moving device includes a first direction moving motor 201, a first direction moving gear set 202, a first direction moving track 203 and a first rod 204, and the second direction moving device includes a second direction moving motor 205, a second direction moving gear set 206, a second direction moving track 207 and a second rod 208. The two ends of the first rod 204 are transmission-connected with the first direction moving track 203, the first direction moving gear set 202 is transmission-connected with the first rod 204, the first direction moving motor 201 drives the first rod 204 to rotate by driving the first direction moving gear set 202, and then drives the first direction moving track 203 to rotate; the two ends of the second rod 208 are transmission-connected with the second direction moving track 207, the second direction moving gear set 206 is transmission-connected with the second rod 208, the second direction moving motor 205 drives the second rod 208 to rotate by driving the second direction moving gear set 206, and then drives the second direction moving track 207 to rotate.

[0037] As a preferred technical solution, Figure 1 As shown, the automatic slurry adding equipment also includes an automatic slurry adding mechanism 3 and a lifting mechanism 4. The automatic slurry adding mechanism 3 is fixedly installed on the base 200 and includes a slurry delivery pipe 305. The lifting mechanism 4 is fixedly installed on the base 200 and includes a lifting drive device and a lifting platform. One end of the slurry delivery pipe 305 is fixedly installed on the lifting platform, and the other end is connected to the bottom of the inner cavity of the high-pressure grouting machine 304. The automatic slurry adding mechanism 3 is used to grout the slurry storage bin 104 through the slurry delivery pipe 305, and the lifting drive device is used to drive the lifting platform to move back and forth in the vertical direction.

[0038] The automatic grouting mechanism 3 and the lifting mechanism 4 are integrally moved to the two sides of the desired brick body through the first direction moving device and the second direction moving device. That is, the automatic grouting equipment includes two sets of moving mechanisms 2, automatic grouting mechanisms 3 and lifting mechanisms 4, and the two sets of moving mechanisms 2, automatic grouting mechanisms 3 and lifting mechanisms 4 are respectively moved to the two sides of the desired brick body.

[0039] Preferably, the automatic grouting equipment further comprises a laser leveling device 6 fixedly mounted on the base 200. When the two groups of moving mechanisms 2, the automatic grouting mechanism 3 and the lifting mechanism 4 are respectively moved to the two sides of the required grouting brick body, the laser leveling device 6 is used to detect whether the required grouting brick body is flush, and when the bases 200 on both sides of the brick body are flush with the required grouting brick body, the automatic grouting mechanism 3 starts to work.

[0040] like Figure 5As shown, the lifting drive device includes a vertical lifting rack 400, a slide rail 401, a lifting drive motor 402, a driving wheel 403, a large driven wheel 404, a small driven wheel 405, a lifting connecting rod 406 and a gravity sensor 407. The vertical lifting rack 400 includes four and is fixedly installed on the base 200. The slide rail 401 is fixedly installed on the lifting platform. An infrared rangefinder 306 and a first magnetic interface 307 are also installed on the slide rail 401. One end of the slurry delivery pipe 305 is fixedly installed on the lifting platform through the first magnetic interface 307. The lifting platform is fixedly installed in the middle of four parallel lifting racks, the lifting drive motor 402 and the gravity sensor 407 are fixedly installed on the lifting platform, the two ends of the lifting link 406 are respectively fixedly installed with large driven wheels 404 meshing with the racks, the small driven wheel 405 is fixedly installed on the lifting link 406 and meshing with the driving wheel 403, the output shaft of the lifting drive motor 402 is connected with the driving wheel 403 and drives the small driven wheel 405, the lifting link 406 and the large driven wheel 404 to rotate through the driving wheel 403, so as to drive the lifting platform to rise and fall along the length direction of the racks. The gravity sensor 407 is used to detect whether the automatic slurry smearing component 5 and the slurry collecting structure 1 are on the lifting platform.

[0041] like Figure 3 As shown, the automatic grouting mechanism 3 also includes a grouting motor 300, a vertical grouting rack 301, a grouting gear 302, an extrusion plate 303 and a high-pressure grouting machine 304. The grouting motor 300 is fixedly installed on the top of the high-pressure grouting machine 304, and its output shaft is in driving connection with the grouting gear 302, and the grouting gear 302 is meshed with the vertical grouting gear 302, and the vertical grouting gear 302 moves through the top of the high-pressure grouting machine 304 and one end is fixedly connected to the extrusion plate 303, and the extrusion plate 303 is located inside the high-pressure grouting machine 304 and the edges around it are in sliding and sealing connection with the inner cavity side wall of the high-pressure grouting machine 304.

[0042] When the automatic grouting mechanism 3 is working, the high-pressure grouting machine 304 is filled with grouting slurry, and the grouting motor 300 drives the vertical grouting gear 302 and the extrusion plate 303 to move toward the bottom of the high-pressure grouting machine 304 through the grouting gear 302. The extrusion plate 303 moves downward and squeezes the grouting slurry in the high-pressure grouting machine 304, so that the grouting slurry flows out through the grouting pipe 305.

[0043] like Figure 2 as well as Figure 4As shown, as a preferred technical solution, the automatic slurry spreading device further includes an automatic slurry spreading assembly 5, which includes a rotating mechanism installed on the slurry storage bin 104, a walking mechanism fixedly installed at the bottom of the slurry storage bin 104, and a horizontal slurry spreading plate 500, the walking mechanism is used to drive the slurry storage bin 104 to move along the length direction of the brick, a slurry spreading space that matches the slurry spreading groove is formed between the horizontal slurry spreading plate 500 and the walking mechanism, and the rotating mechanism is used to open and close the slurry outlet 110 of the slurry storage bin 104. The automatic slurry spreading assembly 5 and the slurry collecting structure 1 together constitute an automatic slurry spreading robot.

[0044] The walking mechanism includes a walking drive motor 501 fixedly installed on the outer shell of the slurry storage bin 104, a walking gear 502 drivingly connected to the output shaft of the walking drive motor 501, and a rolling walking wheel 503 drivingly connected to the gear. Both ends of the rolling walking wheel 503 are rotatably connected to the outer shell of the slurry storage bin 104. The rolling walking wheel 503 is perpendicular to the length direction of the required slurry brick body. The walking drive motor 501 drives the rolling walking wheel 503 to rotate by driving the walking gear 502, thereby driving the overall movement of the slurry storage bin 104 and even the slurry collecting structure 1 and the automatic slurry assembly 5.

[0045] The rotating mechanism includes a rotating drive motor 504 and a baffle 505. The rotating drive motor 504 is fixedly mounted on the outer shell of the pulp storage bin 104 and the output shaft is fixedly connected to the center of the baffle 505. The baffle 505 is located inside the pulp storage bin 104 and the center is rotatably connected to the pulp storage bin 104 through a rotating shaft. The rotating drive motor 504 opens or closes the pulp outlet 110 by driving the baffle 505 to rotate.

[0046] Preferably, the front side of the horizontal trowel board 500 facing the target trowel brick is provided with a plurality of convex strips with a trapezoidal cross section. The plurality of convex strips are evenly arranged along the width direction of the horizontal trowel board 500. The rolling wheel 503 is evenly provided with a plurality of slots along the axial direction, and the slots are consistent with the grooves between two adjacent convex strips.

[0047] A second magnetic interface 507 matching the first magnetic interface 307 is provided on each side of the slurry storage bin 104. Preferably, the second magnetic interface 507 is located at the top of the left and right sides of the slurry storage bin 104. When the slurry collecting structure 1 and the automatic slurry spreading assembly 5 are driven by the walking mechanism to move to the lifting platform, the second magnetic interface 507 is connected to the first magnetic interface 307, the automatic slurry adding mechanism 3 works, the squeezing plate 303 is pressed down to squeeze the slurry spreading material out of the high-pressure grouting machine 304, and flows into the slurry storage bin 104 through the slurry delivery pipe 305 via the first magnetic interface 307 and the second magnetic interface 507. After the grouting of the slurry storage bin 104 is completed, the first magnetic suction interface 307 is disconnected from the second magnetic suction interface 507, and the walking drive motor 501 works and drives the slurry collecting structure 1 and the automatic slurry assembly 5 to move forward as a whole, that is, the walking mechanism drives the automatic slurry assembly 5 to move as a whole along the length direction of the required slurry brick body; at the same time, the rotating mechanism opens the slurry outlet 110, and the slurry outlet 110 starts to discharge slurry, and the horizontal slurry plate 500 smoothes the slurry flowing out of the slurry outlet 110 to complete the slurrying operation on the upper surface of the target slurry brick.

[0048] Infrared distance sensors 506 matching the infrared distance meter 306 are also installed on the left and right sides of the outer shell of the slurry storage bin 104. In the process of slurrying the required slurry brick body, the infrared distance meter 306 receives the signal of the infrared distance sensor 506 and analyzes the distance between the automatic slurry adding component and the lifting platform according to the signal. When the distance reaches zero, the first magnetic suction interface 307 is just adsorbed and connected with the second magnetic suction interface 507, and the automatic slurry adding component works, and grouting is poured into the slurry storage bin 104 through the slurry delivery pipe 305 and the first magnetic suction interface 307 and the second magnetic suction interface 507.

[0049] Preferably, a solar panel and an energy storage battery can be installed on the top of the shell of the slurry storage bin 104, and the energy storage battery can be charged by the solar panel to provide power for the automatic slurry spreading device. Since the slurry spreading work is mostly carried out on sunny days, the solar panel can continuously supply power to the automatic slurry spreading device to reduce energy consumption.

[0050] To summarize, the automatic grouting equipment can scrape and recover the overflow slurry squeezed out between the target grouting brick and the next layer of bricks by setting the slurry collecting structure 1, and make the recovered overflow slurry flow back to the slurry storage bin 104 through the hollow rotating shaft 103 under the action of its own gravity, and then be recycled for the second time, thereby improving the utilization efficiency of the slurry and avoiding the waste of slurry, thereby solving the problem that the existing grouting machine is not provided with a slurry collecting structure 1 for recycling the overflow slurry, resulting in the waste of slurry; by setting the moving mechanism 2, the automatic slurry adding mechanism 3, the lifting mechanism 4 and the automatic grouting assembly 5, the required grouting brick body can be continuously grouted, thereby solving the problem that the current grouting robot can only slurry the bricks on one surface, and still needs to rely on manual lifting and feeding, the degree of automation is not high, and the work efficiency is low.

[0051] The plane feature data is used to characterize the flatness of the upper surface of the target mortared brick. Factors such as manufacturing process parameters, bumps and wear during transportation may cause depressions and bulges on the surface of bricks. Generally speaking, slight depressions and bulges will not have much impact on the mortaring quality of bricks. If the surface of the brick is seriously depressed or bulged, under certain mortar groove design dimensions or mortar thickness conditions, it may cause the mortar to be insufficient or too much overflow of mortar. In order to avoid the problem of insufficient mortaring due to depressions on the surface of the brick, a saturated mortaring method can be adopted, that is, by increasing the slurry flow rate of the mortar outlet 110 of the mortar robot and / or reducing the walking speed. In this way, there is a serious problem of overflow of slurry, which easily leads to waste of slurry.

[0052] After searching, it was found that the existing grouting robots did not take the surface flatness of the target grouting bricks into consideration when adjusting the flow rate of the slurry outlet 110 and the walking speed when grouting the target bricks. There is room for further improvement in the intelligence level and grouting quality.

[0053] In order to solve the above problems, the automatic slurry assembly 5 also includes a plane feature measurement mechanism (including but not limited to a distance measuring instrument and a visual sensor installed at the bottom of the slurry storage bin 104) and a control mechanism. The measuring mechanism is installed on the slurry storage bin 104 and is used to measure the plane feature data of the target slurry brick and feed it back to the control mechanism. The control mechanism is used to construct a slurry optimization function according to the plane feature data, slurry viscosity value, slurry outlet 110 size, slurry groove size and the moving speed of the walking mechanism, obtain the optimal control parameters according to the slurry optimization function, and control the movement of the walking mechanism and the rotating mechanism according to the optimal control parameters.

[0054] Specifically, the viscosity of the slurry can be measured by a viscometer. The slurry optimization function can be understood as adjusting the moving speed of the walking mechanism and the size of the slurry outlet according to the plane feature data, that is, the flatness of the target slurry brick surface, when the slurry viscosity and the size of the slurry groove are constant. Ideally, the preset time period The volume of slurry flowing out of the slurry outlet is equal to the volume of the slurry groove of the target slurry brick, that is, At this time, the slurry just fills the slurry groove, and there is no overflow of slurry; Indicates the moving speed, , , Indicates the starting time and ending time of the preset time period. Indicates the diameter of the outlet tube of the viscometer, Indicates the surface area of ​​the pulp outlet, Indicates the width of the target mortar brick, Indicates that based on the plane feature data, the walking mechanism moves at a speed The surface area between the target trowel brick and the horizontal trowel board after moving for a preset period of time, represents a small length along the length of the target mortar brick, Indicates the slurry viscosity value.

[0055] Considering that there must be a certain amount of overflow slurry in actual situations, by setting the excess ratio of the overflow slurry, for example, some technicians set the excess ratio based on experience. So, considering the excess amount of overflow slurry, according to the formula The slurry optimization function can be obtained ,in, Indicates the proportion of excess overflow slurry.

[0056] Based on the optimization function of the paste , the optimal control parameters can be obtained through optimization iteration such as the least squares method.

[0057] By constructing a grouting optimization function, when grouting the target bricks, the flow rate of the grout outlet and the walking speed can be adjusted according to the surface flatness of the target bricks, thereby improving the intelligence level and grouting quality, and avoiding the problems of insufficient grouting or excessive overflow of grout.

[0058] This embodiment also provides an automatic slurry spreading method, such as Figure 8 As shown, the following steps are included: S1, before starting to slurry the target slurry brick, the automatic slurry slurry assembly and the slurry collecting structure are placed on the lifting platform, and the automatic slurry adding mechanism and the lifting mechanism are moved as a whole to the two sides of the desired slurry brick body through the moving mechanism.

[0059] S2, detecting whether the base is flush with the required mortared brick body. When the base is flush with the required mortared brick body, the automatic grouting mechanism works and grouts the grout storage bin through the grout delivery pipe.

[0060] S3, after grouting is completed, the grout collecting plate is in a horizontal state, the walking mechanism drives the grout storage bin to move along the length direction of the brick, the rotating mechanism opens the slurry outlet of the slurry storage bin, the slurry flows out from the slurry outlet of the slurry storage bin, the slurry is smoothed by the horizontal slurry plate, and the overflow slurry between the target grouting brick and the next layer of bricks of the target grouting brick is scraped and stored by the hollow semi-enclosed body.

[0061] S4, when the walking mechanism moves from one side of the required mortared brick body to the other side, the rotating mechanism closes the slurry outlet of the slurry storage bin, so that the slurry collecting plate is in a vertical state, and the overflowing slurry scraped off and stored by the hollow semi-enclosed body flows into the slurry storage bin through the hollow rotating shaft.

[0062] At this time, the automatic slurry adding component can be driven to work, and grouting can be poured into the slurry storage bin through the slurry delivery pipe, the first magnetic suction interface and the second magnetic suction interface. After the grouting is completed and the automatic slurry applying component leaves the lifting platform, the slurry collecting plate is driven to continue to rotate 90 degrees and return to a horizontal state, so that the slurry collecting structure can continue to collect slurry.

[0063] S5, the walking mechanism moves the automatic slurry assembly as a whole to the lifting platform corresponding to the other side of the required slurry brick body, and drives the lifting platforms on both sides of the required slurry brick body to lift the height of one brick at the same time through the lifting drive device, ensuring that the lifting platforms on both sides of the required slurry brick body always remain on the same horizontal plane.

[0064] S6, repeating steps S2 to S5 until the grouting work of the required brick bodies is finally completed.

[0065] Preferably, if Fig. 9 As shown, the automatic slurry spreading method also includes the following steps: S7, measuring the plane feature data of the target mortared brick; the plane feature data can be understood as the flatness of the upper surface of the target mortared brick.

[0066] S8, obtaining the slurry viscosity value, the slurry outlet size, the slurry trough size and the moving speed of the walking mechanism; S9, constructing a slurry optimization function according to the plane feature data, the slurry viscosity value, the slurry outlet size, the slurry groove size and the moving speed of the walking mechanism.

[0067] Specifically, the slurry optimization function .in, Indicates the moving speed, , , Indicates the starting time and ending time of the preset time period. Indicates the diameter of the outlet tube of the viscometer, Indicates the surface area of ​​the pulp outlet, Indicates the width of the target mortar brick, Indicates that based on the plane feature data, the walking mechanism moves at a speed The surface area between the target trowel brick and the horizontal trowel board after moving for a preset period of time, represents a small length along the length of the target mortar brick, Indicates the excess ratio of overflow slurry, Indicates the slurry viscosity value.

[0068] S10, obtaining optimal control parameters according to the slurry optimization function, and controlling the movement of the walking mechanism and the rotating mechanism according to the optimal control parameters.

[0069] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A pulp collecting structure, characterized in that: The slurry collecting structure includes a slurry collecting plate, a half-wrapped baffle, a rear curved vertical plate, a hollow rotating shaft, a slurry storage bin and a first driving motor, one side edge of the slurry collecting plate is fixedly connected to one side edge of the rear curved vertical plate, the half-wrapped baffle is fixedly connected to the slurry collecting plate and the rear curved vertical plate, the half-wrapped baffle, the slurry collecting plate and the rear curved vertical plate enclose a hollow semi-enclosed body for scraping off and storing slurry overflowing from bricks, one end of the hollow rotating shaft is rotatably connected to the outer shell of the slurry storage bin and communicated with the slurry storage bin, the other end of the hollow rotating shaft is fixedly connected to the half-wrapped baffle and communicated with the hollow semi-enclosed body, and the first driving motor is fixedly installed on the outer shell of the slurry storage bin and is used to drive the hollow rotating shaft to rotate; When the slurry collecting plate is in a horizontal state, the hollow semi-enclosed body scrapes off and stores the overflowing slurry of the bricks. When the slurry collecting plate is in a vertical state, the overflowing slurry stored in the hollow semi-enclosed body flows into the slurry storage bin through the hollow rotating shaft.

2. A pulp collecting structure according to claim 1, characterized in that: The slurry collecting plate includes a first slurry collecting portion in the form of an arch surface and a second slurry collecting portion in the form of a triangular arc surface. The semi-wrapped baffle is fixedly mounted on the slurry collecting plate and the edge of the rear arc surface vertical plate close to the brick side, and the projection shape of the semi-wrapped baffle on the plane where the brick is located overlaps with the projection shape of the first slurry collecting portion and the rear arc surface vertical plate on the plane where the brick is located. When the slurry collecting plate is in a horizontal state, the semi-wrapped baffle fits against the side of the brick, and the hollow semi-enclosed body scrapes off the overflowed slurry from the brick through the semi-wrapped baffle.

3. A pulp collecting structure according to claim 2, characterized in that: The grout collecting structure further comprises a vibrator fixedly mounted on the grout collecting plate. When the grout collecting plate is in a horizontal state, the lower edge of the grout collecting plate is located below the upper surface edge of the next layer of bricks of the target grouting brick.

4. An automatic slurry spreading device, characterized in that: The automatic slurry spreading equipment comprises the slurry collecting structure as described in any one of claims 1-3.

5. An automatic slurry spreading device as claimed in claim 4, characterized in that: The automatic slurry spreading equipment also includes a moving mechanism, which includes a base, a first direction moving device and a second direction moving device, the first direction moving device and the second direction moving device are both installed on the base, the first direction is perpendicular to the second direction, the first direction moving device is used to drive the base to move along the first direction, and the second direction moving device is used to drive the base to move along the second direction.

6. An automatic slurry spreading device as claimed in claim 5, characterized in that: The automatic slurry adding equipment also includes an automatic slurry adding mechanism and a lifting mechanism. The automatic slurry adding mechanism is fixedly installed on the base and includes a slurry delivery pipe. The lifting mechanism is fixedly installed on the base and includes a lifting drive device and a lifting platform. One end of the slurry delivery pipe is fixedly installed on the lifting platform. The automatic slurry adding mechanism is used to grout the slurry storage bin through the slurry delivery pipe. The lifting drive device is used to drive the lifting platform back and forth in the vertical direction.

7. An automatic slurry spreading device as claimed in claim 6, characterized in that: The automatic slurry spreading device also includes an automatic slurry spreading assembly, which includes a rotating mechanism installed on the slurry storage bin, a walking mechanism fixedly installed on the bottom of the slurry storage bin, and a horizontal slurry spreading plate. The walking mechanism is used to drive the slurry storage bin to move along the length direction of the bricks. A slurry spreading space that matches the slurry spreading groove is formed between the horizontal slurry spreading plate and the walking mechanism. The rotating mechanism is used to open and close the slurry outlet of the slurry storage bin.

8. The automatic slurry spreading device according to claim 7, characterized in that: The automatic slurry assembly also includes a plane feature measuring mechanism and a control mechanism. The measuring mechanism is installed on the slurry storage bin and is used to measure the plane feature data of the target slurry brick and feed it back to the control mechanism. The control mechanism is used to construct a slurry optimization function according to the plane feature data, slurry viscosity value, slurry outlet size, slurry groove size and the moving speed of the walking mechanism, obtain optimal control parameters according to the slurry optimization function, and control the movement of the walking mechanism and the rotating mechanism according to the optimal control parameters.

9. An automatic slurry spreading method, characterized in that: The automatic slurry spreading method comprises the following steps: S1, before starting to apply grout to the target grouting brick, the automatic grouting assembly and the grout collecting structure are placed on the lifting platform, and the automatic grouting mechanism and the lifting mechanism are moved as a whole to the two sides of the desired grouting brick body through the moving mechanism; S2, detecting whether the base is flush with the required mortared brick body, and when the base is flush with the required mortared brick body, the automatic grouting mechanism works and grouts the grout storage bin through the grout delivery pipe; S3, after grouting is completed, the grout collecting plate is in a horizontal state, the walking mechanism drives the grout storage bin to move along the length direction of the brick, the rotating mechanism opens the grout outlet of the grout storage bin, the grout flows out of the grout outlet of the grout storage bin, the grout is leveled by the horizontal grouting plate, and the overflow grout between the target grouting brick and the next layer of bricks of the target grouting brick is scraped and stored by the hollow semi-enclosed body; S4, when the walking mechanism moves from one side of the required mortared brick body to the other side, the rotating mechanism closes the slurry outlet of the slurry storage bin, so that the slurry collecting plate is in a vertical state, and the overflow slurry scraped and stored by the hollow semi-enclosed body flows into the slurry storage bin through the hollow rotating shaft; S5, the walking mechanism moves the automatic slurry assembly as a whole to the lifting platform corresponding to the other side of the required slurry brick body, and drives the lifting platforms on both sides of the required slurry brick body to simultaneously raise the height of one brick through the lifting drive device; S6, repeating steps S2 to S5 until the grouting work of the required brick bodies is finally completed.

10. An automatic slurry spreading method according to claim 9, characterized in that: The automatic slurry spreading method further comprises the following steps: Measuring plane feature data of the target mortar brick; Obtaining the slurry viscosity value, the slurry outlet size, the slurry trough size and the moving speed of the walking mechanism; Constructing a slurry spreading optimization function according to the plane feature data, the slurry viscosity value, the slurry outlet size, the slurry spreading groove size and the moving speed of the walking mechanism; Optimal control parameters are obtained according to the slurry optimization function, and the movements of the walking mechanism and the rotating mechanism are controlled according to the optimal control parameters.

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