Automatic grouting device

Abstract

The utility model relates to the field of wallboard forming equipment, in particular to an automatic grouting device, which mainly solves the problem of low production efficiency of grouting in the prior art, and comprises a rack, a control system, a walking trolley, a guide rail, a driving mechanism and at least one grouting system, the guide rail is arranged on the rack and located on the upper side of the grouting station, the walking trolley is arranged on the guide rail, the driving mechanism is connected with the walking trolley, and the grouting system is arranged on the walking trolley. The grouting system comprises a base, a first sliding seat, a second sliding seat, a third sliding seat, a transverse guide mechanism, a longitudinal guide mechanism, a vertical guide mechanism, a transverse driving mechanism, a longitudinal driving mechanism, a vertical driving mechanism, a grouting gun and an electric switch valve. The control system comprises a controller, an image processor, a memory, an industrial camera, a first position sensor, a second position sensor and a third position sensor.

Description

Technical Field

[0001] The utility model relates to the field of wall panel forming equipment, in particular to an automatic grouting device. Background Art

[0002] During the production process of composite heat-insulating lightweight partition walls, grouting needs to be carried out multiple times. At present, most of the grouting methods use ordinary slurry pumps placed outside the slurry storage container. This method requires manual cooperation, not only has low automation, high labor intensity, low production efficiency, and cannot be applied to large-scale production on the assembly line, but also cannot automatically adjust the grouting thickness and cannot meet the grouting thickness requirements of templates with different thickness specifications.

[0003] The applicant applied for a patent with the authorization announcement number CN211104580U on September 20, 2019, and the patent name is a lightweight aggregate grouting device. Specifically, it discloses including a polystyrene board frame. Lifting and guiding devices are installed at both ends of the polystyrene board frame. A moving plate connected by the two lifting and guiding devices is connected to the piston rod of a lifting oil cylinder. Two silos are installed inside the polystyrene board frame. A butterfly valve is installed at the bottom of the silo. A trolley track is horizontally installed below the silo. A trolley is placed on the trolley track. A trolley frame is installed on the side of the trolley. The trolley is also connected to the piston rod of a feeding oil cylinder. This device drives the moving plate to move on the lifting and guiding device through the lifting oil cylinder. While the moving plate moves up and down, it drives the silo to move up and down, enabling the silo to lift. After discharging the material through the butterfly valve, the slurry is put into the trolley. The feeding oil cylinder pushes the trolley to move on the trolley track towards the trolley frame, and directly discharges the slurry into the forming mold, which can maintain the discharge amount each time, can perform automatic quantitative grouting, and save slurry.

[0004] However, during the use process, it is still necessary to manually observe on-site, adjust the feeding port of the trolley pushing to align with the grouting port of the forming mold, and then carry out grouting, which increases the manual labor intensity, and the time difference of alignment reduces the production efficiency. Summary of the Utility Model

[0005] Therefore, in view of the above problems, the utility model provides an automatic grouting device, which mainly solves the problem of low production efficiency of grouting in the prior art.

[0006] To achieve the above object, the utility model adopts the following technical solutions:

[0007] 1. An automatic grouting device, comprising a frame, a control system, a trolley, a guide rail, a driving mechanism and at least one grouting system, wherein the frame is provided with a grouting station for placing a forming mold, the guide rail is arranged on the frame and is located on the upper side of the grouting station, the guiding direction along the guide rail is defined as the transverse direction, the longitudinal direction is defined as the same horizontal plane as the transverse direction and is perpendicular to the transverse direction, the vertical direction is defined as the same vertical plane as the transverse direction and is perpendicular to the transverse direction, the trolley is arranged on the guide rail, the driving mechanism is connected to the trolley and is used to drive the trolley to reciprocate along the guiding direction of the guide rail, the grouting system is arranged on the trolley, the grouting system comprises a base, a first sliding seat, a second sliding seat, a third sliding seat, a transverse guiding mechanism, a longitudinal guiding mechanism, a vertical guiding mechanism, a transverse driving mechanism, a longitudinal driving mechanism, a vertical driving mechanism, a grouting gun and an electric switch valve, the base is fixedly arranged on the trolley, the transverse guiding mechanism is arranged on the base, the first sliding seat is arranged on the transverse guiding mechanism, the transverse driving mechanism is connected to the first sliding seat The vertical guide mechanism is arranged on the first sliding seat, the second sliding seat is arranged on the vertical guide mechanism, the vertical drive mechanism is connected to the second sliding seat, the longitudinal guide mechanism is arranged on the second sliding seat, the third sliding seat is arranged on the longitudinal guide mechanism, the longitudinal drive mechanism is connected to the third sliding seat, the grouting gun is arranged on the third sliding seat, the grouting gun has a feed port distributed at the upper end and a discharge port distributed at the lower end, the electric switch valve is arranged on the grouting gun and distributed between the feed port and the discharge port, the control system includes a controller, an image processor, a memory, an industrial camera arranged on the peripheral side of the grouting gun, a first position sensor for detecting the position of the first sliding seat, a second position sensor for detecting the position of the second sliding seat, and a third position sensor for detecting the position of the third sliding seat, the industrial camera is electrically connected to the image processor, and the image processor, the memory, the first position sensor, the second position sensor, the third position sensor, the drive mechanism, the lateral drive mechanism, the longitudinal drive mechanism and the vertical drive mechanism are electrically connected to the controller respectively.

[0008] Furthermore, the traveling trolley includes a trolley body, two first traveling wheels arranged on one lateral side of the trolley body, and two second traveling wheels arranged on the other lateral side of the trolley body, the first traveling wheel and the second traveling wheel each include a support shaft with one end fixed on the trolley body, a wheel body arranged on the support shaft through a bearing sleeve, and a connecting assembly for fixing the bearing and the wheel body, an anti-slip ring is provided on the axial side of the wheel body close to the trolley body, and the anti-slip ring abuts against one side of the bearing and the guide rail.

[0009] Furthermore, the connecting assembly includes a top sleeve which is sleeved on the supporting shaft and with one axial end abutting against the side face of the bearing, the other axial end of the top sleeve is provided with a top plate, the top plate is locked and connected to the trolley body by bolts, a connecting piece is provided on the side of the bearing away from the anti-slip ring, the connecting piece is clamped on the wheel body by a snap ring, the connecting piece includes a first part, a second part and a third part which are integrally connected, the first part is vertically distributed to the second part, the second part is vertically distributed to the third part, and the connecting piece is clamped so that a first mounting groove and a second mounting groove are formed on the side of the bearing away from the anti-slip ring, the snap ring is distributed in the first mounting groove, and a third mounting groove is recessed on an end face of the anti-slip ring close to the bearing, and tensioners are clamped in the second mounting groove and the third mounting groove.

[0010] Furthermore, the tensioning member includes a wear-resistant ring with an annular structure, the inner side surface of the wear-resistant ring is recessed with a fourth mounting groove, one side of the wear-resistant ring has an extension portion extending into the fourth mounting groove, so that a fifth mounting groove is formed between the extension portion and the wear-resistant ring, a support ring with an L-shaped cross-section is embedded in the fifth mounting groove, and a yield groove is recessed on one side surface of the wear-resistant ring close to the support shaft.

[0011] Furthermore, a metal clamping ring is clamped on the wear-resistant ring and located on the side of the fourth installation groove.

[0012] Furthermore, the driving mechanism includes a driving motor, a reducer, a rotating shaft, a gear and a rack. The rotating shaft is rotatably arranged on the trolley body along the longitudinal direction. The driving motor is connected to the rotating shaft through the reducer. The gear is fixed to one axial end or both axial ends of the rotating shaft. The rack is arranged on the frame and is meshed with the gear.

[0013] Furthermore, the grouting gun includes a first tube body, a second tube body and an anti-drip pipe, one end of the first tube body is connected to one end of the electric switch valve, one end of the anti-drip pipe is connected to the other end of the electric switch valve, and one end of the second tube body is connected to the other end of the anti-drip pipe.

[0014] Furthermore, the anti-drip pipe includes a first flange, a second flange and an elastic tube body connecting the first flange and the second flange, and the axial middle portion of the elastic tube body is convex outward to form a spherical structure.

[0015] Furthermore, a grouting nozzle is provided at the other end of the second tube body, and the grouting nozzle includes a main body and a guide part. The main body is provided with a first guide hole, and the side of the first guide hole is inclined. The outer side surface of the main body is provided with an external thread threadedly connected to the second tube body, and the outer side surface of the main body is provided with a convex ring abutting against the end face of the second tube body. The guide part is a truncated cone structure, and the guide part is provided with a second guide hole.

[0016] By adopting the foregoing technical solutions, the beneficial effects of the present utility model are as follows: For this automatic grouting device, the molding die is parked at the grouting station. The controller controls the driving mechanism to drive the walking trolley to the grouting station, then controls the industrial camera to acquire an image, and the image processor processes the acquired image to determine the position of the grouting port of the molding die. Then, the controller controls the lateral driving mechanism, the longitudinal driving mechanism, and the vertical driving mechanism to drive the first sliding seat, the second sliding seat, and the third sliding seat to move respectively, so that the discharge port of the grouting gun is aligned with the grouting port, and controls the electric switch valve to open for grouting. It can achieve automatic alignment and grouting, reduce the labor intensity of workers, and the alignment speed is fast, improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is the front view structural schematic diagram of an embodiment of the present utility model;

[0018] Figure 2 is the left view structural schematic diagram of an embodiment of the present utility model;

[0019] Figure 3 is the top view structural schematic diagram of an embodiment of the present utility model;

[0020] Figure 4 is the front view structural schematic diagram of an embodiment of the present utility model with the frame omitted;

[0021] Figure 5 is the left view structural schematic diagram of an embodiment of the present utility model with the frame omitted;

[0022] Figure 6 is Figure 5 the partial enlarged view at A in

[0023] Figure 7 is Figure 6 the partial enlarged view at B in

[0024] Figure 8 is the sectional view structural schematic diagram of the tensioning member in an embodiment of the present utility model;

[0025] Figure 9 is the top view structural schematic diagram of an embodiment of the utility model with the frame omitted;

[0026] Figure 10 is the front view structural schematic diagram of an embodiment of the present utility model with the frame, guide rail, and rack omitted;

[0027] Figure 11 is Figure 10 the partial enlarged view at C in

[0028] Figure 12 is the front view structural schematic diagram of the grouting system in an embodiment of the present utility model during implementation;

[0029] Figure 13 It is a schematic diagram of the advantageous structure of the grouting system in the embodiment of the present utility model;

[0030] Figure 14 It is a circuit module diagram of the embodiment of the present utility model.

[0031] Explanation of reference numerals in the drawings:

[0032] 1, frame; 2, control system; 3, traveling trolley; 4, guide rail; 5, driving mechanism; 6, grouting system; 7, grouting station; 8, carbon rod;

[0033] 21, controller; 22, image processor; 23, memory; 24, industrial camera; 25, first position sensor; 26, second position sensor; 27, third position sensor;

[0034] 31, trolley body; 32, first traveling wheel; 33, second traveling wheel;

[0035] 51, driving motor; 52, reducer; 53, rotating shaft; 54, gear; 55, rack;

[0036] 61, base; 62, first sliding seat; 63, second sliding seat; 64, third sliding seat; 65, lateral guiding mechanism; 66, longitudinal guiding mechanism; 67, vertical guiding mechanism; 68, lateral driving mechanism; 69, longitudinal driving mechanism; 70, vertical driving mechanism; 71, grouting gun; 72, electric switch valve;

[0037] 101, support shaft; 102, bearing; 103, wheel body; 104, connecting component; 105, anti - detachment ring; 201, top sleeve; 202, top plate; 203, bolt; 204, connecting piece; 205, snap ring; 301, first part; 302, second part; 303, third part; 304, first installation groove; 305, second installation groove; 306, third installation groove; 307, tensioning piece; 401, wear - resistant ring; 402, fourth installation groove; 403, extension part; 404, fifth installation groove; 405, support ring; 406, relief groove; 407, metal snap ring; 501, first flange; 502, second flange; 503, elastic tube body; 601, main body part; 602, diversion part; 603, first diversion hole; 604, external thread; 605, convex ring; 606, second diversion hole;

[0038] 711, feed port; 712, discharge port; 713, first pipe body; 714, second pipe body; 715, anti - dripping pipe; 716, grouting nozzle. Detailed implementation manners

[0039] The present utility model will be further described below in conjunction with the drawings and specific implementation manners.

[0040] The embodiments of the present utility model are as follows:

[0041] Referring to Figures 1 to 14 As shown, an automatic grouting device includes a frame 1, a control system 2, a traveling trolley 3, a guide rail 4, a driving mechanism 5, and two grouting systems 6. A grouting station 7 for placing a forming mold is provided on the frame 1. The guide rail 4 is provided on the frame 1 and is located above the grouting station 7. It is defined that the direction extending along the guiding direction of the guide rail 4 is the transverse direction, the direction perpendicular to the transverse direction and on the same horizontal plane as the transverse direction is the longitudinal direction, and the direction perpendicular to the transverse direction and on the same vertical plane as the transverse direction is the vertical direction. The traveling trolley 3 is provided on the guide rail 4. The driving mechanism 5 is connected to the traveling trolley 3 and is used to drive the traveling trolley 3 to reciprocate along the guiding direction of the guide rail 4. The grouting system 6 is provided on the traveling trolley 3. The grouting system 6 includes a base 61, a first sliding seat 62, a second sliding seat 63, a third sliding seat 64, a transverse guiding mechanism 65, a longitudinal guiding mechanism 66, a vertical guiding mechanism 67, a transverse driving mechanism 68, a longitudinal driving mechanism 69, a vertical driving mechanism 70, a grouting gun 71, and an electric switch valve 72. The base 61 is fixedly provided on the traveling trolley 3. The transverse guiding mechanism 65 is provided on the base 61. The first sliding seat 62 is provided on the transverse guiding mechanism 65. The transverse driving mechanism 68 is connected to the first sliding seat 62. The vertical guiding mechanism 67 is provided on the first sliding seat 62. The second sliding seat 63 is provided on the vertical guiding mechanism 67. The vertical driving mechanism 70 is connected to the second sliding seat 63. The longitudinal guiding mechanism 66 is provided on the second sliding seat 63. The third sliding seat 64 is provided on the longitudinal guiding mechanism 66. The longitudinal driving mechanism 69 is connected to the third sliding seat 64. The grouting gun 71 is provided on the third sliding seat 64. The grouting gun 71 has a feed port 711 distributed at the upper end and a discharge port 712 distributed at the lower end. The electric switch valve 72 is provided on the grouting gun 71 and is distributed between the feed port 711 and the discharge port 712. The control system 2 includes a controller 21, an image processor 22, a memory 23, an industrial camera 24 provided on the periphery of the grouting gun 71, a first position sensor 25 for detecting the position of the first sliding seat 62, a second position sensor 26 for detecting the position of the second sliding seat 63, and a third position sensor 27 for detecting the position of the third sliding seat 64. The industrial camera 24 is electrically connected to the image processor 22. The image processor 22, the memory 23, the first position sensor 25, the second position sensor 26, the third position sensor 27, the driving mechanism 5, the transverse driving mechanism 68, the longitudinal driving mechanism 69, and the vertical driving mechanism 70 are respectively electrically connected to the controller 21.

[0042] The above-mentioned lateral guiding mechanism 65, longitudinal guiding mechanism 66, and vertical guiding mechanism 67 are all combinations of sliding rails and sliders. Of course, they can also be combinations of guide rods and sliding sleeves or other guiding mechanisms; the above-mentioned lateral driving mechanism 68, longitudinal driving mechanism 69, and vertical driving mechanism 70 are all driven by a driving motor to rotate a screw to achieve driving. Of course, they can also be driving mechanisms such as a driving motor driving a gear to cooperate with a rack. This is prior art and will not be elaborated here.

[0043] For this automatic grouting device, the forming mold is parked at the grouting station 7. The controller 21 controls the driving mechanism 5 to drive the traveling trolley 3 to the grouting station 7, then controls the industrial camera 24 to acquire an image, and the image processor 22 processes the acquired image to determine the position of the grouting port of the forming mold. Then, the controller 21 controls the lateral driving mechanism 68, longitudinal driving mechanism 69, and vertical driving mechanism 70 to drive the first sliding seat 62, second sliding seat 63, and third sliding seat 64 to move respectively, so that the discharge port 712 of the grouting gun 71 is aligned with the grouting port, and controls the electric switch valve 72 to open for grouting. It can achieve automatic alignment and grouting, reduce the labor intensity of workers, and has a fast alignment speed, improving production efficiency.

[0044] Specifically, the control method of the control system includes the following steps:

[0045] 1) Preset the initial coordinate position of the traveling trolley 3, the initial coordinate position of the grouting gun 71, and the coordinate position of the grouting station 7;

[0046] 2) Park the forming mold at the forming station 7 and determine the standard coordinate position of the grouting port of the forming mold;

[0047] 3) The controller 21 controls the driving mechanism 5 to drive the traveling trolley 3 to the coordinate position of the grouting station 7, sets this position as the first parking coordinate position, then controls the industrial camera 24 to acquire the first standard image at the first parking position, and stores it in the memory 23;

[0048] 4) The controller 21 controls the lateral driving mechanism 68 and longitudinal driving mechanism 69 to drive the grouting gun 71 to move to the standard coordinate position of the grouting port, sets this position as the second parking coordinate position, then controls the industrial camera 24 to acquire the second standard image at the second parking position, and stores it in the memory 23;

[0049] 5) The controller 21 controls the vertical driving mechanism 70 to drive the grouting gun 71 to move downward, so that the discharge port 712 of the grouting gun 71 is aligned with the grouting port, and realizes the first grouting. After the grouting is completed, the driving mechanism 5 and the grouting gun 71 are respectively driven to the initial coordinate position of the traveling trolley 3 and the initial coordinate position of the grouting gun 71;

[0050] 6) During secondary grouting, park the forming mold at grouting station 7, drive the walking trolley 3 to the first parking coordinate position, then control the industrial camera 24 to obtain the first image of the first parking position, and transmit the first image to the image processor 22. The image processor 22 obtains the first standard image in the memory 23 for comparison, and obtains the offset dimension of the grouting port from the first image and the first standard image, so as to determine the coordinate position of the actual grouting port;

[0051] 7) The controller 21 controls the lateral drive mechanism 68 and the longitudinal drive mechanism 69 to drive the grouting gun 71 to move to the coordinate position of the grouting port, then controls the industrial camera 24 to obtain the second image, and transmits the second image to the image processor 22. The image processor 22 obtains the second standard image in the memory 23 for comparison, and obtains the size ratio of the grouting port from the second image and the second standard image, so as to drive the height difference between the grouting gun 71 and the grouting port;

[0052] 8) The controller 21 controls the vertical drive mechanism 70 to drive the grouting gun 71 to move downward, so that the discharge port 712 of the grouting gun 71 is aligned with the grouting port, and grouting is realized, and steps 6) to 8) are repeated to realize multiple groutings.

[0053] Through the control method of the above control system 2, the grouting device can realize the automatic alignment and automatic grouting of the grouting gun 71, improve the alignment speed, and thus improve the production efficiency; and this control method can reduce the load of the processor, improve the processing efficiency, and thus ensure the operation stability.

[0054] Furthermore, a carbon rod 8 is provided on the periphery of the grouting gun 71. The carbon rod 8 is electrically connected to the controller 21. Whether the grouting is completed is detected through the carbon rod 8. When the slurry submerges the carbon rod 8, the circuit can be connected, so that the electric switch valve 72 is controlled to close through the controller 21.

[0055] In this embodiment, the walking trolley 3 includes a trolley body 31, two first walking wheels 32 provided on one lateral side of the trolley body 31, and two second walking wheels 33 provided on the other lateral side of the trolley body 31. Both the first walking wheels 32 and the second walking wheels 33 include a support shaft 101 fixedly provided at one end on the trolley body 31, a wheel body 103 sleeved on the support shaft 101 through a bearing 102, and a connection assembly 104 for fixing the bearing 102 and the wheel body 103. An anti - detachment ring 105 is provided on an axial side of the wheel body 103 close to the trolley body 31. The anti - detachment ring 105 abuts against one side surface of the bearing 102 and the guide rail 4. The connection assembly 104 includes a top sleeve 201 sleeved on the support shaft 101 and axially abutting against the side surface of the bearing 102 at one end. A top plate 202 is provided at the other axial end of the top sleeve 201. The top plate 202 is fixedly connected to the trolley body 31 through a bolt 203. A connecting member 204 is provided on a side of the bearing 102 away from the anti - detachment ring 105. The connecting member 204 is clamped on the wheel body 103 through a snap ring 205. The connecting member 204 includes a first part 301, a second part 302, and a third part 303 integrally connected. The first part 301 and the second part 302 are perpendicularly distributed, and the second part 302 and the third part 303 are perpendicularly distributed. Through the clamping of the connecting member 204, a first installation groove 304 and a second installation groove 305 are formed on a side of the bearing 102 away from the anti - detachment ring 105. The snap ring 205 is distributed in the first installation groove 304. A third installation groove 306 is concavely provided on an end surface of the anti - detachment ring 105 close to the bearing 102. Tightening members 307 are clamped in both the second installation groove 305 and the third installation groove 306.

[0056] Through the arrangement of the connection assembly 204, the connection between the bearing 102 and the wheel body 103 is firm, which plays a role in sealing and anti - detachment of the bearing 102. Specifically, the top plate 202 is locked to the trolley body 31 through the bolt 203. Then, one end of the bearing 102 is abutted through the top sleeve 201, and the other end is connected by clamping the connecting member 204 and the wheel body 103 through the snap ring 205. The structural arrangement of the snap ring 205 enables the connection between the other end of the bearing 102 and the wheel body 103. Then, by installing the tightening member 307 in the second installation groove 305 to push the connecting member 204, the connecting member 204, the snap ring 205, the bearing 102, and the wheel body 103 are tightly connected, resulting in high connection strength and good dynamic stability, and improving the dynamic stability of the walking trolley 3.

[0057] In addition, the tensioning member 307 includes a wear-resistant ring 401 with an annular structure, and the inner side surface of the wear-resistant ring 401 is recessed with a fourth mounting groove 402, and one side of the wear-resistant ring 401 extends with an extension portion 403 into the fourth mounting groove 402, so that a fifth mounting groove 404 is formed between the extension portion 403 and the wear-resistant ring 401, and the fifth mounting groove 403 is embedded with a support ring 405 with an L-shaped cross-section. A yield groove 406 is recessed on one side surface of the wear-resistant ring 401 and close to the support shaft 101, and a metal clamping ring 407 is clamped on the wear-resistant ring 401 and on the side of the fourth mounting groove 402, which plays a supporting and tightening role, has good durability, can reduce dust entry, increase the service life of the bearing 102, and can ensure the supporting role of the connecting member 204.

[0058] In this embodiment, the driving mechanism 5 includes a driving motor 51, a reducer 52, a rotating shaft 53, a gear 54 and a rack 55. The rotating shaft 53 is rotatably arranged on the trolley body 31 along the longitudinal direction. The driving motor 51 is connected to the rotating shaft 53 through the reducer 52. The gear 54 is fixed at both axial ends of the rotating shaft 53. The rack 55 is arranged on the frame 1 and is meshed with the gear 54. When in use, the driving motor 51 drives the rotating shaft 53 to rotate through the reducer 52, thereby driving the gear 54 to rotate. Since the gear 54 is meshed with the rack 55, it drives the trolley body 31 to move forward, thereby improving the transmission efficiency and facilitating the precise control of the walking trolley 31.

[0059] In this embodiment, the grouting gun 71 includes a first pipe body 713, a second pipe body 714 and an anti-dripping pipe 715. One end of the first pipe body 713 is connected to one end of the electric switch valve 72. One end of the anti-dripping pipe 715 is connected to the other end of the electric switch valve 72. One end of the second pipe body 714 is connected to the other end of the anti-dripping pipe 715. The anti-dripping pipe 715 includes a first flange 501, a second flange 502 and an elastic pipe body 503 connecting the first flange 501 and the second flange 502. The axial middle part of the elastic pipe body 503 protrudes outward to form a spherical structure. The other end of the second pipe body 714 is provided with a grouting nozzle 716. The grouting nozzle 716 includes a main body part 601 and a diversion part 602. The main body part 601 is provided with a first diversion hole 603 on it. The side surface of the first diversion hole 603 is inclined. The outer side surface of the main body part 601 is provided with an external thread 604 for threaded connection with the second pipe body 714. The outer side surface of the main body part 601 is provided with a convex ring 605 that abuts against the end surface of the second pipe body 714. The diversion part 602 has a frustum structure. The diversion part 602 is provided with a second diversion hole 606, which is convenient for the connection between the grouting gun 71 and the slurry pipe. And the setting of the grouting nozzle 716 realizes the diameter change of the grouting gun 71, improves the grouting speed, and enables the elastic pipe body 503 of the anti-dripping pipe 715 to expand during grouting. Then, in the case of the electric switch valve 72, through the elastic reset of the elastic pipe body 503, the slurry in the second pipe body 714 and the grouting nozzle 716 is extruded, avoiding the dripping of the slurry after stopping grouting and improving the convenience of use.

[0060] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0061] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral body; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0062] In the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0063] Although the present utility model has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes may be made to the present utility model in terms of form and details without departing from the spirit and scope of the present utility model as defined by the appended claims, and all such changes are within the protection scope of the present utility model.

Claims

1. An automatic grouting device, characterized in that: The invention comprises a frame, a control system, a traveling trolley, a guide rail, a driving mechanism and at least one grouting system, wherein the frame is provided with a grouting station for placing a forming mold, the guide rail is arranged on the frame and is located at the upper side of the grouting station, and the guiding direction along the guide rail is defined as the transverse direction, the longitudinal direction is defined as the longitudinal direction, the vertical direction is defined as the longitudinal direction, and the trolley is arranged on the same vertical plane as the transverse direction and is perpendicular to the transverse direction. The traveling trolley is arranged on the guide rail, and the driving mechanism is connected with the traveling trolley for driving the traveling trolley to reciprocate along the guiding direction of the guide rail. The grouting system is arranged on the traveling trolley, and the grouting system comprises a base, a first sliding seat, a second sliding seat, a third sliding seat, a transverse guiding mechanism, a longitudinal guiding mechanism, a vertical guiding mechanism, a transverse driving mechanism, a longitudinal driving mechanism, a vertical driving mechanism, a grouting gun and an electric switch valve. The base is fixedly arranged on the traveling trolley, the transverse guiding mechanism is arranged on the base, the first sliding seat is arranged on the transverse guiding mechanism, the transverse driving mechanism is connected with the first sliding seat, and the The vertical guide mechanism is arranged on the first sliding seat, the second sliding seat is arranged on the vertical guide mechanism, the vertical drive mechanism is connected to the second sliding seat, the longitudinal guide mechanism is arranged on the second sliding seat, the third sliding seat is arranged on the longitudinal guide mechanism, the longitudinal drive mechanism is connected to the third sliding seat, the grouting gun is arranged on the third sliding seat, the grouting gun has a feed port distributed at the upper end and a discharge port distributed at the lower end, the electric switch valve is arranged on the grouting gun and distributed between the feed port and the discharge port, the control system includes a controller, an image processor, a memory, an industrial camera arranged on the peripheral side of the grouting gun, a first position sensor for detecting the position of the first sliding seat, a second position sensor for detecting the position of the second sliding seat, and a third position sensor for detecting the position of the third sliding seat, the industrial camera is electrically connected to the image processor, and the image processor, the memory, the first position sensor, the second position sensor, the third position sensor, the drive mechanism, the transverse drive mechanism, the longitudinal drive mechanism and the vertical drive mechanism are electrically connected to the controller respectively.

2. The automatic grouting device according to claim 1, characterized in that: The traveling trolley comprises a trolley body, two first traveling wheels arranged on one lateral side of the trolley body, and two second traveling wheels arranged on the other lateral side of the trolley body, the first traveling wheel and the second traveling wheel each comprising a supporting shaft with one end fixed on the trolley body, a wheel body arranged on the supporting shaft through a bearing sleeve, and a connecting assembly for fixing the bearing and the wheel body, an anti-slip ring is provided on the axial side of the wheel body close to the trolley body, and the anti-slip ring abuts against one side of the bearing and the guide rail.

3. The automatic grouting device according to claim 2, characterized in that: The connecting assembly includes a top sleeve which is sleeved on the support shaft and with one axial end abutting against the side surface of the bearing, the other axial end of the top sleeve is provided with a top plate, the top plate is locked and connected to the trolley body by bolts, a connecting piece is provided on the side of the bearing away from the anti-slip ring, the connecting piece is clamped on the wheel body through a snap ring, the connecting piece includes a first part, a second part and a third part which are integrally connected, the first part is vertically distributed to the second part, the second part is vertically distributed to the third part, and the connecting piece is clamped so that a first mounting groove and a second mounting groove are formed on the side of the bearing away from the anti-slip ring, the snap ring is distributed in the first mounting groove, and a third mounting groove is recessed on an end surface of the anti-slip ring close to the bearing, and tensioners are clamped in the second mounting groove and the third mounting groove.

4. The automatic grouting device according to claim 3, characterized in that: The tensioning member includes a wear-resistant ring with an annular structure, the inner side surface of the wear-resistant ring is recessed with a fourth mounting groove, one side of the wear-resistant ring has an extension portion extending into the fourth mounting groove, so that a fifth mounting groove is formed between the extension portion and the wear-resistant ring, a support ring with an L-shaped cross-section is embedded in the fifth mounting groove, and a yield groove is recessed on one side surface of the wear-resistant ring close to the support shaft.

5. The automatic grouting device according to claim 4, characterized in that: A metal clamping ring is clamped on the wear-resistant ring and located on the side of the fourth installation groove.

6. The automatic grouting device according to any one of claims 1 to 5, characterized in that: The driving mechanism includes a driving motor, a reducer, a rotating shaft, a gear and a rack. The rotating shaft is rotatably arranged on the trolley body along the longitudinal direction. The driving motor is connected to the rotating shaft through the reducer. The gear is fixed to one axial end or both axial ends of the rotating shaft. The rack is arranged on the frame and is meshed with the gear.

7. The automatic grouting device according to any one of claims 1 to 5, characterized in that: The grouting gun includes a first tube body, a second tube body and an anti-drip pipe, one end of the first tube body is connected to one end of the electric switch valve, one end of the anti-drip pipe is connected to the other end of the electric switch valve, and one end of the second tube body is connected to the other end of the anti-drip pipe.

8. The automatic grouting device according to claim 7, characterized in that: The anti-drip pipe comprises a first flange, a second flange and an elastic tube body connecting the first flange and the second flange, and the axial middle portion of the elastic tube body is convex outwardly to form a spherical structure.

9. The automatic grouting device according to claim 8, characterized in that: The other end of the second tube body is provided with a grouting nozzle, and the grouting nozzle includes a main body and a guide part. The main body is provided with a first guide hole, and the side of the first guide hole is inclined. The outer side surface of the main body is provided with an external thread threadedly connected to the second tube body, and the outer side surface of the main body is provided with a convex ring abutting against the end face of the second tube body. The guide part is a truncated cone structure, and the guide part is provided with a second guide hole.

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