Grout nozzle for grout extruder

Abstract

This disclosure relates to a grout nozzle for a grout extruder of an autonomous grouting robotic apparatus. The grouting nozzle has a connecting member for connecting to a grout extruder and an opening for receiving grout from the grout extruder. The grouting member comprises a grout surface, a containment means for containing the flow of grout on the grout surface, at least one outlet for releasing the extruded grout, and at least one scraper for pushing the grout into gaps in the application zone. At least one scraper is axially aligned with at least one outlet along the grouting direction, and at least one outlet precedes at least one scraper in the grouting direction.

Description

Technical Field

[0001] The present disclosure relates to the field of tile grouting and grouting products thereof. In particular, the present invention relates to a nozzle for a grout extruder that can be used for grouting, and more particularly, to a nozzle for a grout extruder of an autonomous grouting robot.

Background Art

[0002] After tiles are installed on a surface, grout is typically applied to fill gaps between adjacent tiles, or gaps between edge tiles and walls. Grout is a fluid mixture that hardens into a solid, typically a cement-based fluid mixture composed of water, cement, and additives such as sand and polymers depending on the application. Epoxy and polymer grouts are also used in specific applications. Grout is used to add mechanical strength to the tiles (i.e., support the edges and keep them spaced apart), protect the underlying surface of the tiles, and improve the appearance of the tiles.

[0003] Applying grout is a labor-intensive process in which tools such as a trowel or grout float are used to press grout into the gaps between tiles. Application is performed by pressing grout across the gaps between tiles along the grouting direction. Then, a sponge or cloth is used to gradually wipe excess grout off the tiles, taking care not to break / remove the grout in the gaps between the tiles. In view of the manual and labor-intensive nature of this work, various attempts have been made to develop improved tools and devices, including automated robots.

[0004] However, this is a challenging task because grouting must be carried out on various tiles of different sizes, shapes, and colors laid in various geometric configurations. In particular, the size and shape of the area surrounding the grout application zone vary considerably, and care must be taken with grouting around the edges to avoid grouting onto walls or surrounding areas. Furthermore, grouting must be carried out under various lighting and environmental conditions (e.g., indoor and outdoor locations).

[0005] Therefore, many of the tools or devices developed to date are only useful for specific tasks, such as cleaning with a sponge or working in large, open areas away from boundaries. Consequently, these devices remain inefficient compared to experienced human grouters / tile setters using trowels and sponges, which are more versatile and capable of grouting various different tiles (including corners and edges) in a variety of locations and environments.

[0006] Grout nozzles for grout extruders are generally known. These grout nozzles are suitable for applying grout into the gaps between floor tiles and the gaps at the edges between floor tiles and walls or wall tiles. Grout nozzles generally have slots that need to be aligned with the gaps in order to properly apply the grout. However, there is still a need to improve the reliability of grouting in automated grouting systems or apparatus.

[0007] This disclosure is intended, at least in part, to improve upon or overcome one or more aspects of prior art systems. [Overview of the Initiative]

[0008] This disclosure describes a grout nozzle for a grout extruder of an autonomous grouting robot apparatus as described in claim 1. The grout nozzle improves the reliability of grouting by increasing the error in the alignment between the grout spread and the gaps between tiles or the grout line. The grout nozzle enables simultaneous spreading of the extruded grout onto the grout line and pushing the extruded grout into the grout line or simulates the use of a grout float. The hydrostatic pressure of the grout is also adjusted during the application process. The grout nozzle is removable and can be replaced based on the needs of specific situations, such as the width and depth of the grout line.

[0009] As defined in the attached dependent claims, the grout nozzle provides multiple scrapers that operate sequentially to further push the grout into the grout line. The multiple scrapers simulate a human hand tracing the grout line multiple times. The grout nozzle also uses a flow guide to redirect residual grout, allowing it to be spread again onto the grout line. [Brief explanation of the drawing]

[0010] The features and advantages described herein, as well as other features, will be better understood from the following description of various embodiments when read in conjunction with the accompanying drawings. [Figure 1A] This is an isometric view of a first embodiment of a grout nozzle according to the present disclosure. [Figure 1B] Figure 1A is a top view of the nozzle. [Figure 1C] Figure 1A is a side view of the nozzle. [Figure 1D] Figure 1A is a rear view of the nozzle. [Figure 1E] Figure 1A is a front view of the nozzle. [Figure 1F] Figure 1A is a bottom view of the nozzle. [Figure 2A] This is an isometric view of a second embodiment of the grout nozzle according to the present disclosure. [Figure 2B] It is a top view of the nozzle in Figure 2A. [Figure 2C] It is a side view of the nozzle in Figure 2A. [Figure 2D] It is a rear view of the nozzle in Figure 2A. [Figure 2E] It is a front view of the nozzle in Figure 2A. [Figure 3A] It is an isometric view of the third embodiment of the grout nozzle according to the present disclosure. [Figure 3B] It is a top view of the nozzle in Figure 3A. [Figure 3C] It is a side view of the nozzle in Figure 3A. [Figure 3D] It is a rear view of the nozzle in Figure 3A. [Figure 3E] It is a front view of the nozzle in Figure 3A. [Figure 4A] It is an isometric view of the fourth embodiment of the grout nozzle according to the present disclosure. [Figure 4B] It is a top view of the nozzle in Figure 4A. [Figure 4C] It is a side view of the nozzle in Figure 4A. [Figure 4D] It is a rear view of the nozzle in Figure 4A. [Figure 4E] It is a front view of the nozzle in Figure 4A. [Figure 5] It is an isometric view of an alternative form of the first embodiment of the grout nozzle according to the present disclosure. [Figure 6] It is a top view of the grout nozzle according to the present disclosure having a plurality of scrapers and outlets. [Figure 7] It is a side view of the autonomous grouting robot apparatus. [Figure 8A] It is an isometric view of the fifth embodiment of the grout nozzle according to the present disclosure. [Figure 8B] It is a bottom view of the nozzle in Figure 8A. [Figure 8C] It is a top view of the nozzle in Figure 8A. [Figure 8D] It is a cross-sectional view of the nozzle in Figure 8A. [Figure 9A]It is a top view of the sixth embodiment of the grout nozzle according to the present disclosure. [Figure 9B] It is a front view of the nozzle of Figure 9A. [Figure 9C] It is a cross-sectional view through the nozzle of Figure 9A. [Figure 9D] It shows the deformation of the effector during the grouting operation. [Figure 10A] It is a top view of an alternative form of the sixth embodiment of the grout nozzle according to the present disclosure. [Figure 10B] It is a bottom view of the nozzle of Figure 10A. [Figure 10C] It is a rear view of the nozzle of Figure 10A. [Figure 10D] It is a cross-sectional view of the nozzle of Figure 10C. [Figure 10E] It is a side view of the nozzle of Figure 9A. [Figure 11A] It is an isometric view of the seventh embodiment of the grout nozzle according to the present disclosure. [Figure 11B] It is a bottom view of the nozzle of Figure 11A. [Figure 11C] It is a cross-sectional view through the nozzle of Figure 11B. [Figure 12] It is a cross-sectional view of an alternative form of the seventh embodiment of the grout nozzle according to the present disclosure. [Figure 13A] It is a bottom view of a further alternative form of the seventh embodiment of the grout nozzle according to the present disclosure. [Figure 13B] It is a cross-sectional view of the nozzle of Figure 13A. [Figure 14] It is a cross-sectional view of the eighth embodiment of the grout nozzle according to the present disclosure. [Figure 15A] It is a top view of the ninth embodiment of the grout nozzle according to the present disclosure. [Figure 15B] It is a cross-sectional view through the nozzle of Figure 15A. [Figure 16A] It is a front view of the tenth embodiment of the grout nozzle according to the present disclosure. [Figure 16B] It is a cross-sectional view through the nozzle of Figure 16A. [Figure 16C] It is an isometric view of the nozzle of Figure 16A. [Figure 16D] Figure 16A is a side view of the nozzle. [Figure 17] This is a top view of the eleventh embodiment of the grout nozzle according to the present disclosure. [Modes for carrying out the invention]

[0011] The present invention generally relates to a grout nozzle for spreading grout extruded from a grout extruder onto a grout line. A grout line is a gap to be filled with grout. An example of a grout line is a gap between tiles. A grout line is located in a coating zone identified for grouting. The coating zone includes the grout line and surfaces adjacent to the grout line. The grout nozzle can be engaged with an autonomous grouting robotic apparatus for applying grout within the coating zone.

[0012] Figures 1 to 6 and 8 to 17 (understood to show all figures identified by appended letters A to F) illustrate various embodiments of the grout nozzle 10. The following description discloses general features common to the four embodiments. Each embodiment of the grout nozzle 10 has a connecting member 12 and a grouting member 14. The grouting member 14 is located on the opposite side of the connecting member 12. The connecting member 12 and the grouting member 14 are formed on opposite sides of the grout nozzle 10.

[0013] In one embodiment, the connecting member 12 and the grouting member 14 are provided on opposite surfaces of the body of the grout nozzle 10. The connecting member 12 and the grouting member 14 may be formed as an integral structure. In an alternative embodiment, the connecting member 12 and the grouting member 14 are provided on separate bodies of the grout nozzle 10. Figure 6 shows an autonomous grouting robot device 100 having a grout extruder 102.

[0014] Referring to Figures 1 to 6, in one embodiment, the grout nozzle 10 extends longitudinally and may have a longitudinal axis A. The grout nozzle 10 may have a first end 11 and a second end 13. The first end 11 and the second end 13 are the lateral ends of the grout nozzle 10. The longitudinal axis A extends through the first end 11 and the second end 13.

[0015] During operation, the grout nozzle 10 needs to move along the grout line along the grouting direction X. The grout nozzle 10 has an orientation defined such that the first end 11 is ahead of the second end 13 with respect to the grouting direction X. Specifically, when the grout nozzle 10 is aligned with the grouting direction X, the first end 11 precedes the second end 13. The longitudinal axis A can be aligned with the grouting direction X during operation. The grouting direction X may be substantially parallel to the grout line.

[0016] In one embodiment, the grout nozzle 10 may have an elastomer coating. Such a coating may be rubber or a rubber-like substance. This coating simulates a softer trowel used for grouting, achieving an acceptable finish without damaging the tiles. One example may be a plastic grout nozzle 10 having a rubber coating.

[0017] Referring to Figures 1 to 6 and Figures 8 to 17, the connecting member 12 is configured to connect to the grout extruder. The connecting member 12 has a connecting means 16 for engaging with the grout extruder and an opening 18 for receiving grout from the grout extruder. The connecting means 16 is configured to removably engage with the discharge end of the grout extruder 102.

[0018] In one embodiment, the connecting means 16 is configured to slide-engage with a corresponding structure within the grout extruder 102. The sliding means 16 comprises an axially extending fitting structure that slidably fits into the corresponding structure provided on the grout extruder 102. The connecting means 16 may be open at a second end 13 to allow relative sliding engagement between the connecting means 16 and the corresponding structure on the grout extruder 102. The grout nozzle 10 engages with the grout extruder 102 by sliding relative to the grout extruder 102 in the direction opposite to the grouting direction X. The connecting means 16 may be closed at a first end 11 to prevent relative sliding engagement between the connecting means 16 and the corresponding structure on the grout extruder 102. The grout nozzle 10 disengages from the grout extruder 102 by sliding relative to the grout extruder 102 along the grouting direction X.

[0019] In an alternative embodiment, the connecting means 16 may be configured using removable mechanical engagement means such as a snap-fit ​​engagement or a clasp engagement.

[0020] Referring to Figure 1F, the opening 18 allows grout extruded from the grout extruder 102 to be discharged through the grout nozzle 10. The opening 18 is located on a surface facing the grout extruder 102. The opening 18 may be located in the center of the connecting member 12. The opening 18 may be bounded by a connecting means 16. The connecting means 16 may surround the opening 18. In another embodiment, the opening 18 may be defined by the connecting means 16. In an alternative embodiment, the opening 18 may be provided on the connecting means 16. Figure 1F is representative of the bottom views of embodiments in Figures 2 to 4. Embodiments in Figures 2 to 4 have a structure having an opening 18, as in the first embodiment in Figure 1. Figure 5 has the opening 18 shown in Figure 1F. Figure 6 has multiple openings 18.

[0021] In one embodiment, the grout is discharged directly into the grout nozzle 10. The grout from the grout extruder 102 is generally discharged into the opening 18 at substantially the same pressure as the extrusion pressure. In an alternative embodiment, the grout discharge pressure may be different from the grout extrusion pressure.

[0022] Referring to Figures 1 to 6 and Figures 8 to 17, the grouting member 14 is configured to apply grout into the gaps within the application zone. The grouting member 14 faces the application zone and contacts the surface of the application zone during grout application. The grouting member 14 is configured to apply the grout discharged from the grout extruder 102 to the application zone. The grout discharged into the opening 18 flows through the body of the grout nozzle 10 to the grouting member 14.

[0023] The grouting member 14 comprises a grout surface 20, a containment means 22, at least one outlet 26, and at least one scraper 30. The grout surface 20 is the outer layer of the grouting member 14. In one embodiment, the grout surface 20 is formed on the opposite side of the surface having the opening 18. The grout surface 20 may be a portion of the outer surface of the grouting member 14. In one embodiment, the grout surface 20 may constitute the entire outer surface of the grouting member 14. The grout surface 20 faces the application zone during the operation of the grout nozzle 10. In one embodiment, the grout surface 20 may be planar. The grout surface 14 may be substantially parallel to the surface of the application zone. Grout flowing out of the grout nozzle 10 exits through the grout surface 20. The grout may flow along the grout surface 20 as the grout nozzle 10 moves along the grouting direction X.

[0024] The containment means 22 contains the flow of grout on the grout surface 20. The containment means 22 regulates the hydrostatic pressure of the grout by restricting the flow of grout. The containment means 22 extends from the grout surface 20. The containment means 22 extends substantially perpendicular to the grout surface 20. In one embodiment, the containment means 22 may be perpendicular to the grout surface 20. The containment means 22 may be firmly mounted on the grout surface 20. The containment means 22 may be integral with the grout surface 20.

[0025] The containment means 22 has a free edge 23 that contacts the surface of the application zone during operation. The free edge 23 is elevated relative to the grout surface 20. The height of the containment means 22 determines the magnitude of the elevation of the free edge 23 and the amount of grout that can be contained. The height of the containment means 22 is constant so that the free edge 23 has a uniform elevation throughout the containment means 22. In one embodiment, the height of the containment means 22 may change continuously from a first end 11 to a second end 13, or vice versa, thereby changing the elevation of the free edge 23 accordingly. The free edge 23 may be flat. The free edge 23 may be parallel to the grout surface 20 and / or the surface of the application zone. In an alternative embodiment, the free edge 23 may be inclined or curved.

[0026] The containment means 22 defines a grout flow zone 24 on the grout surface 20. The grout flow zone 24 is defined by the containment means 22, the grout surface 22, and a plane formed on the free edge 23. The grout flow zone 24 is bounded by the containment means 22 with respect to its horizontal axis. The containment means 22 sets the lateral limit of the grout flow zone 24. The grout flow zone 24 is bounded by the grout surface 20 with respect to its vertical axis. The grout surface 20 sets the upper limit, and the plane formed by the free edge 23 sets the lower limit. The grout flowing on the grout surface 20 and through the grout zone 24 is contained by the containment means 22, the grout surface 20, and the surface of the coating zone in conjunction with them.

[0027] The application of grout in the application zone is controlled by the amount, hydrostatic pressure, and flow of grout in the grout flow zone 24. The sides of the containment means 22 defining the grout flow zone 24 may be substantially perpendicular to the grout surface 20 in order to maintain the flow of grout and the hydrostatic pressure of the grout within the grout flow zone 24.

[0028] Unused grout may flow from the grout zone 24 through areas not restricted by any containment means 22. Passages 25 may be formed in areas without containment means 22. In one embodiment, multiple passages 25 may be formed within the containment means 22. In an alternative embodiment, the containment means 22 may be formed without passages 25. In yet another embodiment, the containment means 22 may be formed with passages 25 that are closed by a scraper, as disclosed below.

[0029] In one embodiment, the containment means 22 comprises a plurality of containment walls 22. The containment walls 22 surround the grout surface 20 at least partially. Areas on the grout surface 20 may be left without any containment walls 22. The containment walls 22 extend horizontally over the grout surface 20. The containment walls 22 extend linearly across the grout surface 20.

[0030] In one embodiment, the containment wall 22 comprises a pair of side walls 40, 42 extending to opposite sides of the grout surface 20. The pair of side walls 40, 42 may be parallel to each other and have the same axial length. The pair of side walls 40, 42 may be parallel to the longitudinal axis A. The pair of side walls 40, 42 extend linearly from a first end 11 to a second end 13. The containment wall 22 may include an end wall 44 connecting the pair of side walls 40, 42 at the end of the grout surface 20. The end wall 44 may be adjacent to the first end 11 or located at the first end 11. The end wall 44 may be coplanar with the first end 11.

[0031] The end wall 44 is perpendicular to the pair of side walls 40 and 42. The end wall 44 extends laterally with respect to the longitudinal axis A. The length of the end wall 44 is determined by the relative distance between it and the side walls 40 and 42. The pair of side walls 40 and 42 are not connected to each other at the end opposite to the end wall 44, thereby forming a passage 25.

[0032] In another embodiment, the containment means 22 comprises a single containment wall 22. This containment wall 22 at least partially surrounds the grout surface 20. Areas on the grout surface 20 may be left without any containment wall 22. The containment wall 22 is formed by a single wall without corners. The containment wall 22 extends horizontally over the grout surface 20. The containment wall 22 may be curved, bow-shaped, or arc-shaped. The ends of the containment wall 22 do not contact each other to form a passage 25.

[0033] In an alternative embodiment, one or more containment walls 22 may be configured to contain the flow of grout over the entire grout surface 20. The containment walls 22 surround the entire grout surface 20. In this embodiment of one or more containment walls 22, no passage 25 is formed.

[0034] The outlet 26 provides a discharge for the extruded grout. The grout extruded from the grout extruder 102 into the opening 18 enters the grout flow zone 24 through the outlet 26. The outlet 26 is located on the grout surface 20 and within the grout flow zone 24. The outlet 26 is formed at the height of the grout surface 20. The outlet 26 is connected to a through hole that connects to the opening 18. The through hole may extend through the body of the grout nozzle 10.

[0035] The outlet 26 can be shaped and dimensionally determined according to the grout application requirements of the grout nozzle 10. In one embodiment, the outlet 26 is rectangular in plan view. The outlet 26 is oriented such that its longitudinal axis is perpendicular to the longitudinal axis A. The grout is discharged from the outlet 26 at substantially the same pressure as the extrusion pressure. In an alternative embodiment, the grout discharge pressure may be different from the grout extrusion pressure.

[0036] The outlet 26 is located at the edge of the grout surface 20. The outlet 26 is positioned at the leading edge of the grout surface 20 with respect to the grouting direction X. The outlet 26 is positioned adjacent to the first end 11. The outlet 26 is positioned adjacent to the containment means 22. In one embodiment, the outlet 26 is continuous with the containment means 22. In particular, the outlet 26 is adjacent to the end wall 44. The outlet 26 may be continuous with the end wall 44.

[0037] The outlet 26 is centrally located with respect to the side surface of the grout nozzle 10. The outlet 26 is located along the longitudinal axis A. In one embodiment, the longitudinal axis A passes through the center of the outlet 26.

[0038] The grouting member 14 may have a first outlet, which is an outlet 26, and a second outlet 28. The second outlet 28 provides a further discharge point for the extruded grout. As shown in Figure 1F, the grout extruded from the grout extruder 102 into the second opening 19 passes through it and enters the grout flow zone 24 through the second outlet 28. The second outlet 28 is provided on the grout surface 20 and located within the grout flow zone 24. The second outlet 28 is formed at the height of the grout surface 20. The second outlet 28 is connected to a through hole that connects to the second opening 19. The through hole may extend through the body of the grout nozzle 10.

[0039] In another embodiment (not shown), both the first outlet 26 and the second outlet 28 may be connected to the first opening 18. The grout extruded from the grout extruder 102 into the first opening 18 passes through it and enters the grout flow zone 24 through the first outlet 26 and the second outlet 28.

[0040] The second opening 19 is spaced apart from the first opening 18 in the axial direction. The grout extruded from the grout extruder 102 is discharged from both the first opening 18 and the second opening 19. Figure 1F is a bottom view representative of the embodiments shown in Figures 2 to 4. The embodiments shown in Figures 2 to 4 have a structure having a second opening 19, as in the first embodiment shown in Figure 1.

[0041] The second outlet 28 may be shaped and dimensionally determined according to the grout application requirements of the grout nozzle 10. In one embodiment, the second outlet 28 is rectangular in plan view. The second outlet 28 is oriented such that its longitudinal axis is parallel to the longitudinal axis A. In one embodiment, the longitudinal axis of the second outlet 28 coincides with the longitudinal axis A.

[0042] The grout is discharged from the second outlet 28 at substantially the same pressure as the extrusion pressure. In an alternative embodiment, the grout discharge pressure may be different from the grout extrusion pressure. The grout discharged from the second outlet 28 is mixed with the residual grout from the first outlet 26 that was not pushed into the grout line.

[0043] The second outlet 28 is located at the edge of the grout surface 20. The second outlet 28 is located at the rear end of the grout surface 20 with respect to the grouting direction X. The second outlet 28 is located away from the first end 11 and closer to the second end 13. The second outlet 28 may be located adjacent to the second end 13. In one embodiment, the second outlet 28 is located adjacent to a passage 25 within the containment means 22. In an alternative embodiment, the second outlet 28 may be located within the passage 25. In yet another embodiment, the second outlet 28 is located adjacent to the containment means 22.

[0044] The second outlet 28 is centrally located relative to the side surface of the grout nozzle 10. The second outlet 28 is located along the longitudinal axis A. In one embodiment, the longitudinal axis A passes through the center of the second outlet 28.

[0045] The first outlet 26 is spaced axially away from the second outlet 28 within the grout flow zone 24. The first outlet 26 precedes the second outlet 28 along the grouting direction X. The first outlet 26 is positioned between the first end 11 and the second outlet 28. The length of the first outlet 26 is longer than the width of the second outlet 28, and both the length of the first outlet 26 and the width of the second outlet 28 are oriented perpendicular to the longitudinal axis A. The width of the first outlet 26 is shorter than the length of the second outlet 28, and both the width of the first outlet 26 and the length of the second outlet 28 are parallel to or coincide with the longitudinal axis A.

[0046] In one embodiment, the grouting member 14 may have a plurality of first outlets 26 and / or second outlets 28. The plurality of first outlets 26 may be arranged linearly along the longitudinal axis A between the end wall 44 and the second outlets 28. The plurality of first outlets 26 may be arranged equidistant from each other along the longitudinal axis A. Each first outlet 26 is connected to a corresponding first opening 18. The second outlets 28 follow the end first outlet 26 closest to the second end 13. In a further embodiment, the plurality of second outlets 28 may be arranged linearly along the longitudinal axis A between the first outlets 26 and the second end 13. The plurality of second outlets 28 may be arranged equidistant from each other along the longitudinal axis A. Each second outlet 28 is connected to a corresponding second opening 19.

[0047] The grout discharged from one or more subsequent first outlets 26 is mixed with residual grout from the preceding first outlet 26 that has not been pushed into the grout line before reaching one or more subsequent second outlets 28. The grout discharged from one or more subsequent second outlets 28 is mixed with residual grout from the preceding first outlets 26 that has not been pushed into the grout line.

[0048] The scraper 30 is configured to push the discharged grout into the gaps within the application zone. During operation, the grout exiting the outlet 26 comes into contact with the scraper 30 and is pushed by the scraper 30 along the grout line into the gaps that need to be filled. The scraper 30 extends from the grout surface 20 and is located within the grout flow zone 24. The scraper 30 extends substantially perpendicular to the grout surface 20. In one embodiment, the scraper 30 may extend perpendicular to the grout surface 20. The scraper 30 may be firmly mounted on the grout surface 20. The scraper 30 may be integral with the grout surface 20.

[0049] The scraper 30 has a free edge 31 that contacts the surface of the application zone during operation. The free edge 31 is elevated relative to the grout surface 20. The height of the scraper 30 determines the magnitude of the elevation of the free edge 31. The free edge 31 may be flat. The free edge 31 may be parallel to the grout surface 20 and / or the surface of the application zone. In an alternative embodiment, the free edge 31 may be inclined or curved. The scraper 30 may extend to the same height as the containment means 22. The free edge 31 of the scraper 30 may have the same elevation as the free edge 23 of the containment means 22. In one embodiment, the free edge 31 of the scraper 30 may be coplanar with the free edge 23 of the containment means 22.

[0050] The scraper 30 is located near the edge of the grout surface 20. The scraper 30 is positioned toward the leading edge of the grout surface 20 with respect to the grouting direction X. The scraper 30 is positioned near the first end 11 and spaced away from the second end 13. The scraper 30 is positioned adjacent to the first outlet 26.

[0051] The scraper 30 may be positioned centrally with respect to the side of the grout nozzle 10. The scraper 30 may be positioned along the longitudinal axis A. In one embodiment, the longitudinal axis A passes through the center of the scraper 30. The scraper 30 is positioned adjacent to the first outlet 26 in the axial direction. The first outlet 26 and the scraper 30 are aligned in the axial direction. In one embodiment, the first outlet 26 and the scraper 30 are aligned with each other on the longitudinal axis A. The scraper 30 may be positioned centrally with respect to the first outlet 26.

[0052] In one embodiment, the scraper 30 has a rectangular base in a plan view. The scraper 30 is oriented such that the longitudinal axis of the rectangular base is perpendicular to the longitudinal axis A. In one embodiment, the length of the rectangular base of the scraper 30 is shorter than the length of the first outlet 26, and each length is perpendicular to the longitudinal axis A. In another embodiment, the length of the rectangular base of the scraper 30 is the same as the length of the first outlet 26.

[0053] The scraper 30 may have a surface 33 facing the first outlet 26. The surface 33 may be inclined. The inclined surface 33 extends from the base of the scraper 30 to the free edge 31. The base is formed on the grout surface 20. In one embodiment, the base may form part of the grout surface 20. In another embodiment, the base may be raised from the grout surface 20. The base may be raised perpendicular to the grout surface 20.

[0054] The inclined surface 33 may be inclined away from the first outlet 26. The inclined surface 33 has an angle of inclination with respect to its base. The angle of inclination may be 30 to 60 degrees with respect to the grout surface 20. In particular, the angle of inclination may be 45 degrees with respect to the grout surface 20. In one embodiment, the inclined surface 33 is adjacent to the first outlet 26, and the free edge 31 is spaced away from the first outlet 26 in the axial direction as viewed from the plan view. The base edge of the inclined surface 33 may be joined to the first outlet 26. In another embodiment, the inclined surface 33 is spaced away from the first outlet 26, and the free edge 31 is spaced away from the first outlet 26 in the axial direction as viewed from the plan view. The base edge of the inclined surface 33 may be spaced away from the first outlet 26.

[0055] In one embodiment, the inclined surface 33 may be inclined toward the first outlet 26. The inclined surface 33 has an angle of inclination with respect to the plane formed by the first outlet 26 or the grout surface 20. The plane of the first outlet 26 is horizontal with respect to the grout surface 20 surrounding the first outlet 26. The angle of inclination may be 30 to 60 degrees with respect to the plane of the first outlet 26 or the grout surface 20. In particular, the angle of inclination may be 45 degrees with respect to the plane of the first outlet 26 or the grout surface 20. In one embodiment, the inclined surface 33 is adjacent to the first outlet 26, and the free edge 31 is axially positioned above the first outlet 26 as viewed from the plan view. The base edge of the inclined surface 33 may be joined to the first outlet 26. In another embodiment, the inclined surface 33 is spaced away from the first outlet 26, and the free edge 31 is positioned adjacent to the first outlet 26 or spaced away from the first outlet 26 in the axial direction, as viewed from the plan view. The base edge of the inclined surface 33 may be spaced away from the first outlet 26.

[0056] In one embodiment, the scraper 30 may have the form of a right-angle prism having a rectangular face formed on the grout surface 20 and triangular sides arranged substantially parallel to the longitudinal axis A, with the right angle opposite to the first exit 26. The inclined surface 33 opposite to the right angle is the face toward the first exit 26. The tip is truncated to form a free edge 31.

[0057] In one embodiment, the surface 33 may be perpendicular to the plane of the grout surface 20 or the first outlet 26. The perpendicular surface 33 extends from the base of the scraper 30 to the free edge 31. The base is formed on the grout surface 20. In one embodiment, the base may form part of the grout surface 20. In another embodiment, the base may be raised from the grout surface.

[0058] In one embodiment, the orthogonal surface 33 is adjacent to the first exit 26, and the free edge 31 is positioned adjacent to the first exit 26 in the axial direction as viewed from the plan view. The base edge of the orthogonal surface 33 may be joined to the first exit 26. In another embodiment, the orthogonal surface 33 is spaced away from the first exit 26, and the free edge 31 is positioned spaced away from the first exit 26 in the axial direction as viewed from the plan view. The base edge of the orthogonal surface 33 may be spaced away from the first exit 26.

[0059] In one embodiment, the scraper 30 may have the form of a right-angle prism having a rectangular face formed on the grout surface 20 and triangular sides arranged substantially parallel to the longitudinal axis A. The orthogonal face 33 faces the first exit 26. The tip is truncated to form a free edge 31.

[0060] The first outlet 26 precedes the scraper 30 along the grouting direction X. The first outlet 26 is located between the scraper 30 and the first end 11. The first outlet 26 is located between the scraper 30 and the containment means 22. The first outlet 26 is located between the scraper 30 and the containment means 22 with respect to the longitudinal axis A. In particular, the first outlet 26 is located between the scraper 30 and the end wall 44. In one embodiment, the scraper 30 is continuous with the first outlet 26. The edge of the scraper 30 may be adjacent to the boundary of the first outlet 26. The first outlet 26 may be spaced between the scraper 30 and the end wall 44. In an alternative embodiment, the scraper 30 may be separated from the first outlet 26. The alignment of the first outlet 26 and the scraper 30 on the longitudinal axis A forms a first grouting configuration in the axial direction. The pair of side walls 40 and 42 are positioned on opposite sides of the first grouting configuration formed by the scraper 30 and the first outlet 26.

[0061] The grouting member 14 may have a first scraper, which is a scraper 30, and a second scraper 32. The second scraper 32 is configured to push residual grout into gaps within the application zone. In one embodiment, the grout nozzle 10 may have a first configuration of a first outlet 26 and a first scraper 30, and a second scraper 32 separated from the first scraper 30.

[0062] During operation, the grout exiting outlet 26 comes into contact with the first scraper 30 and is pushed along the grout line into the gaps that need to be filled. Any grout that is not pushed into the gaps becomes residual grout and moves along the grout flow zone 24 to the second outlet 28 or the second scraper 32.

[0063] In one embodiment, residual grout, or a combination of residual grout and grout discharged from the second outlet 28, comes into contact with the second scraper 32 and is pushed along the same portion of the grout line and into the same portion of the gap containing the grout. The second scraper 32 is configured to provide a finish. In one embodiment, the second scraper 32 helps to push some residual grout into the grout line.

[0064] The second scraper 32 extends from the grout surface 20 and is located within the grout flow zone 24. The second scraper 32 extends substantially perpendicular to the grout surface 20. In one embodiment, the second scraper 32 may extend perpendicular to the grout surface 20. The second scraper 32 may be firmly mounted on the grout surface 20. The second scraper 32 may be integral with the grout surface 20.

[0065] The second scraper 32 has a free edge 35 that contacts the surface of the application zone during operation. The free edge 35 is elevated relative to the grout surface 20. The height of the second scraper 32 determines the magnitude of the elevation of the free edge 35. The free edge 35 may be flat. The free edge 35 may be parallel to the grout surface 20 and / or the surface of the application zone. In alternative embodiments, the free edge 35 may be inclined or curved.

[0066] The second scraper 32 may extend to the same height as the first scraper 30. The free edge 35 of the second scraper 32 may have the same height as the free edge 23 of the containment means 22. The second scraper 32 may extend to the same height as the containment means 22. In one embodiment, the free edge 35 of the second scraper 32 may be coplanar with the free edge 23 of the containment means 22. The free edge 35 of the second scraper 32 may have the same height as the free edge 31 of the first scraper 30. In one embodiment, the free edge 35 of the second scraper 32 may be coplanar with the free edge 31 of the first scraper 30. The free edge 35 of the second scraper 32 may have the same width as the free edge 31 of the first scraper 30, with each width parallel to the longitudinal axis A.

[0067] The second scraper 32 is located near the edge of the grout surface 20. The second scraper 32 is located near the rear end of the grout surface 20 with respect to the grouting direction X. The second scraper 32 is located near the second end 13 and spaced apart from the first end 11. The second scraper 32 is located between the second outlet 28 and the second end 13. The second scraper 32 may be located adjacent to the second outlet 28. The second scraper 32 may be located within the passage 25 of the containment means 22. The second scraper 32 may be located in the center of the passage 25. The second scraper 32 may be located between the ends of the containment wall 22 or between the side walls 40 and 42. In one embodiment, the second scraper closes the passage 25.

[0068] The second scraper 32 may be centrally located with respect to the side surface of the grout nozzle 10. The second scraper 32 may be located along the longitudinal axis A. In one embodiment, the longitudinal axis A passes through the center of the second scraper 32. The second scraper 32 is located adjacent to the second outlet 28 in the axial direction. The second outlet 28 and the second scraper 32 are aligned in the axial direction. In one embodiment, the second outlet 28 and the second scraper 32 are aligned with each other on the longitudinal axis A.

[0069] In one embodiment, the second scraper 32 has a rectangular base in the plan view. The second scraper 32 is oriented such that the longitudinal axis of the rectangular base is perpendicular to the longitudinal axis A. In one embodiment, the length of the base of the second scraper 32 is longer than the width of the second outlet 28, and the length of the base of the second scraper 32 and the width of the second outlet 28 are perpendicular to the longitudinal axis A. In another embodiment, the length of the base of the scraper 30 is the same as the width of the second outlet 28.

[0070] The second scraper 32 may have a surface 37 facing the second outlet 28. The surface 37 extends from the base of the second scraper 32 to the free edge 35. The base is formed on the grout surface 20. In one embodiment, the base may form part of the grout surface 20. In another embodiment, the base may be raised from the grout surface. The surface opposite to the surface 37 and facing away from the second outlet 28 may be perpendicular to the grout surface 20 or inclined with respect to the grout surface 20.

[0071] In one embodiment, the surface 37 may be aligned with the plane of the grout surface 20 or the second outlet 28. The orthogonal surface 37 may be adjacent to the second outlet 28, and the free edge 35 is positioned adjacent to the second outlet 28 in the axial direction as viewed from the plan view. The base edge of the orthogonal surface 37 may be adjacent to the second outlet 28. In another embodiment, the orthogonal surface 37 is spaced away from the second outlet 28, and the free edge 35 is positioned axially away from the second outlet 28 as viewed from the plan view. The base edge of the orthogonal surface 37 may be spaced away from the second outlet 28. The surface opposite to the orthogonal surface 37 and facing away from the second outlet 28 may be inclined with respect to the grout surface 20.

[0072] In one embodiment, the second scraper 32 may have the form of a right-angle prism having a rectangular face formed on the grout surface 20 and triangular sides arranged substantially parallel to the longitudinal axis A. The orthogonal face 37 faces the second exit 28. The tip is truncated to form a free edge 35.

[0073] In an alternative embodiment, the surface 37 may be inclined. The inclined surface 37 extends from the base of the second scraper 32 to the free edge 35. The base is formed on the grout surface 20. In one embodiment, the base may form part of the grout surface 20. In another embodiment, the base may be raised from the grout surface. The surface opposite to surface 37 and facing away from the second outlet 28 may be perpendicular to the grout surface 20.

[0074] In one embodiment, the inclined surface 37 may be inclined away from the second outlet 27. The inclined surface 37 has an angle of inclination with respect to the grout surface 20. The angle of inclination may be 30 to 60 degrees with respect to the grout surface 20. In particular, the angle of inclination may be 45 degrees with respect to the grout surface 20. In one embodiment, the inclined surface 37 is adjacent to the second outlet 28, and the free edge 35 is spaced away from the second outlet 28 in the axial direction as viewed from the plan view. The base edge of the inclined surface 37 may be joined to the second outlet 28. In another embodiment, the inclined surface 37 is spaced away from the second outlet 28, and the free edge 35 is spaced away from the second outlet 28 in the axial direction as viewed from the plan view. The base edge of the inclined surface 37 may be spaced away from the second outlet 28. The surface opposite to the inclined surface 37 and facing away from the second outlet 28 may be inclined or perpendicular to the grout surface 20.

[0075] In an alternative embodiment, the inclined surface 37 may be inclined toward the second outlet 28. The inclined surface 37 has an angle of inclination with respect to the plane formed by the second outlet 28 or the grout surface 20. The plane of the second outlet 28 is horizontal with respect to the grout surface 20 surrounding the second outlet 28. The angle of inclination may be 30 to 60 degrees with respect to the plane of the second outlet 28 or the grout surface 20. In particular, the angle of inclination may be 45 degrees with respect to the plane of the second outlet 28 or the grout surface 20. In one embodiment, the inclined surface 37 is adjacent to the second outlet 28, and the free edge 35 is positioned above the second outlet 28 as viewed from the plan view. The base edge of the inclined surface 37 may be joined to the second outlet 28. In another embodiment, the inclined surface 37 is spaced away from the second outlet 28, and the free edge 35 is adjacent to the second outlet 28 or spaced away from the second outlet 28 in the axial direction, as viewed from the plan view. The base edge of the inclined surface 37 may be spaced away from the second outlet 28. The surface opposite to the inclined surface 37 and facing away from the second outlet 28 may be inclined or perpendicular to the grout surface 20.

[0076] In one embodiment, the second scraper 32 may have the form of a right-angle prism having a rectangular face formed on the grout surface 20 and triangular sides arranged substantially parallel to the longitudinal axis A, with the right angle opposite to the second outlet 28. The inclined surface 37 faces the second outlet 28. The tip is truncated to form a free edge 31.

[0077] The first scraper 30 is spaced axially away from the second scraper 32 within the grout flow zone 24. The second outlet 28 precedes the second scraper 32 along the grouting direction X. The second outlet 28 is located between the second scraper 32 and the first end 11 with respect to the longitudinal axis A. The second scraper 32 is located between the second outlet 28 and the second end 13 along the longitudinal axis A. The second scraper 32 may be located between the second outlet 28 and the passage 25. The second outlet 28 is located between the scraper 30 and the containment means 22 with respect to the longitudinal axis A. In particular, the second outlet 28 is located between the second scraper 32 and the end wall 44.

[0078] The alignment of the second outlet 28 and the second scraper 32 on the longitudinal axis A forms the second grouting configuration. The pair of side walls 40 and 42 are positioned on opposite sides of the second grouting configuration formed by the second scraper 32 and the second outlet 28.

[0079] In another embodiment, a second pair of side walls 46, 48 are positioned on opposite sides of the second grouting configuration, which comprises a second scraper 32 and a second outlet 28. The distance of the grouting surface 20 between the first pair of side walls 40 and 42 is greater than the distance of the grouting surface 20 between the second pair of side walls 46 and 48. The second pair of side walls 46, 48 may be raised relative to the grout surface 20. The second pair of side walls 46, 48 may be at the same height as the first pair of side walls 40 and 42. In this embodiment, the second pair of side walls 46, 48 may be perpendicular to the grout surface 20 or inclined relative to the grout surface 20. Alternatively, the second pair of side walls 46, 48 may be at the same height as the grout surface 20.

[0080] The second grouting configuration, consisting of the second outlet 28 and the second scraper 32, is aligned with the first grouting configuration, consisting of the first outlet 26 and the first scraper 30, on the longitudinal axis A. Therefore, the first outlet 26 and the second outlet 28, and the first scraper 30 and the second scraper 32 are all aligned with each other on the longitudinal axis A. The first scraper 30 and the second scraper 32 alternate with the first outlet 26 and the second outlet 28, and each outlet 26, 28 precedes the corresponding scraper 30, 32 in the grouting direction X. In another embodiment, the grout nozzle 10 may include a first grouting configuration comprising a first outlet 26 and a first scraper 30, and a second axial grouting configuration comprising a second outlet 28 and a second scraper 32 spaced apart from the first scraper 30.

[0081] In one embodiment, the grouting member 14 may have a plurality of first scrapers 30 and / or second scrapers 32. The plurality of first scrapers 30 may be arranged linearly along the longitudinal axis A between the first end 11 and the second outlet 28 or the second scraper 32. The plurality of first scrapers 30 may be arranged equidistant from each other along the longitudinal axis A. The end first scraper 30 closest to the second end 13 is followed by either the second outlet 28 or the second scraper 32, or both. The plurality of first scrapers 30 function to fill the gaps with grout along the grout line, while the second scrapers 32 function to provide a finish. Further application of grout by the plurality of first scrapers 30 pushes the first layer of grout deeper into the gaps, thereby substantially filling the gaps. This further reduces the possibility of air pockets forming in the gaps along the grout lines.

[0082] Multiple second scrapers 32 may be arranged linearly along the longitudinal axis A between the first scraper 26 or second outlet 28 and the second end 13. Multiple second scrapers 32 may be arranged equidistant from each other along the longitudinal axis A.

[0083] In one embodiment, in the grouting zone 24 from the first end 11 to the second end 13, each first outlet 26 precedes a corresponding first scraper 30, and each second outlet 28 precedes a second scraper 32. In a plurality of first outlets 26 and second outlets 28, and a plurality of first scrapers 30 and second scrapers 32, the first outlets 26 alternate with the first scrapers 30, and then the second outlets 28 alternate with the second scrapers 32.

[0084] In one embodiment, a plurality of first scrapers 30 are arranged alternately with a plurality of first outlets 26, with the first outlets 26 positioned at the beginning and the first scrapers 30 at the end. In another embodiment, a plurality of second scrapers 32 are arranged alternately with a plurality of second outlets 28, with the second outlets 28 positioned at the beginning and the second scrapers 32 at the end.

[0085] In another embodiment, a plurality of first grouting configurations, each comprising a first outlet 26 and a first scraper 30, are positioned in front of a second grouting configuration, each comprising a second outlet 28 and a second scraper 32. The plurality of first grouting configurations are spaced apart from each other. The plurality of first grouting configurations are spaced apart from each other along the direction of the longitudinal axis A.

[0086] In a further embodiment, referring to Figure 6, a plurality of first grouting configurations consisting of a first outlet 26 and a first scraper 30 are positioned in front of a plurality of second grouting configurations consisting of a second outlet 28 and a second scraper 32. In the plurality of first grouting configurations, the first scraper 30 is continuous with the first outlet 26. The surface 33 of the first scraper 30 adjacent to the second outlet 28 is inclined. In the plurality of second grouting configurations, the second scraper 32 is spaced away from the second outlet 28. The end of the second scraper 32 closer to the second end 13 has an orthogonal surface 37 facing the corresponding second outlet 28. The second scraper 32 closer to the first end 13 has an inclined surface 37 facing the corresponding second outlet 28.

[0087] The residual grout flows sequentially along the grouting direction, from the preceding grouting configuration to the next grouting configuration. The side walls 40 and 42 are located on opposite sides of the aforementioned multiple grouting configurations.

[0088] In one embodiment, the second scraper 32 is continuous with the second outlet 28. In one embodiment, the first scraper 30 is continuous with the corresponding first outlet 28, and the second scraper 32 is separated from the second outlet 28. In an alternative embodiment, the first scraper 30 and the second scraper 32 are continuous with the corresponding first outlet 26 and second outlet 28.

[0089] Referring to Figures 1 to 4, the grouting member 14 further comprises a flow guide 34 for redirecting residual grout toward a second outlet 28 and / or a second scraper 32. The residual grout flows away from the first scraper 30 and is guided by the flow guide 34 toward the second outlet 28 and / or the second scraper 32 within the grout flow zone 24. The flow guide 34 extends from the grout surface 20 and is located within the grout flow zone 24. The flow guide 34 extends substantially perpendicular to the grout surface 20. In one embodiment, the flow guide 34 may be perpendicular to the grout surface 20.

[0090] The flow guide 34 protrudes horizontally from the containment means 22 into the grouting zone 24 onto the grout surface 20. The flow guide 34 may be located in the grouting zone 24 after the first scraper 30. In a plurality of first outlets 28 and first scrapers 30, a plurality of flow guides 34 are provided after each first scraper 30. In a plurality of first grouting configurations consisting of a first outlet 26 and first scrapers 30, the flow guide 34 may be located after each of the first grouting configurations. The flow guide 34 may be provided after a plurality of first grouting configurations. Referring to Figure 6, a pair of flow guides 34 extend from opposite containment walls 22 toward their respective second outlets 28.

[0091] The flow guide 34 comprises a first flange 36 and a second flange 38. The first flange 36 and the second flange 38 may be inclined with respect to the longitudinal axis A on the horizontal axis. Each flange 36, 38 is inclined away from the first outlet 26 and toward the second outlet 28 or the second scraper 32. The first flange 36 and the second flange 38 may each be inclined from the first end 11 toward the second end 13. The first flange 36 and the second flange 38 may have the same length.

[0092] The first flange 36 and the second flange 38 each project from the containment wall 22 on opposite sides of the grout surface 20. The first flange 36 projects from the first containment wall 22, and the second flange 38 projects from the second containment wall 22, with the first containment wall 22 facing the second containment wall 22. The first flange 36 projects from the side wall 40, and the second flange 38 projects from the opposite side wall 42. The first flange 36 and the second flange 38 are inclined with respect to their respective side walls 40, 42. In another embodiment, a flow guide 34 is spaced between the first pair of side walls 40, 42 and the second pair of side walls 46, 48.

[0093] In one embodiment, the first flange 36 and the second flange 38 project toward the second outlet 28 or the second scraper 32. The first flange 36 and the second flange 38 terminate at the second outlet 28 or the second scraper 32. The residual grout is redirected directly toward either the second outlet 28 or the second scraper 32. In another embodiment, the first flange 36 and the second flange 38 project toward the region between the first scraper 30 and the second outlet 28 or the second scraper 32. The first flange 36 and the second flange 38 terminate in the region between the first scraper 30 and the second outlet 28 or the second scraper 32. The residual grout is redirected toward the region preceding either the second outlet 28 or the second scraper 32.

[0094] In one embodiment, the first flange 36 and the second flange 38 are formed as upright walls projecting linearly across the grout surface 20. In another embodiment, the first flange 36 and the second flange 38 are formed as extensions of the containment wall 22.

[0095] The first flange 36 and the second flange 38 each have a free edge 39 that contacts the surface of the application zone during operation. The free edge 39 is elevated relative to the grout surface 20. The heights of the first flange 36 and the second flange 38 determine the magnitude of the elevation of each free edge 39 and the amount of directional residual grout. The first flange 36 and the second flange 38 extend to the same height. The heights of the first flange 36 and the second flange 38 are constant so that each free edge 39 has a uniform elevation. The free edge 39 may be flat. The free edge 39 may be parallel to the grout surface 20 and / or the surface of the application zone. In alternative embodiments, the free edge 39 may be inclined or curved.

[0096] The first flange 36 and the second flange 38 extend to the same height as the containment means 22. The first flange 36 and the second flange 38 extend to the same height as the first scraper 30 and the second scraper 32. The free edges 39 of the first flange 36 and the second flange 38 are coplanar with the free edge 23 of the containment means 22, the free edge 31 of the first scraper 30, and the free edge 35 of the second scraper 32.

[0097] In one embodiment, a flexible connecting member 50 is interposed between the connecting member 12 and the grouting member 14. The flexible connecting member 50 allows the grouting member 14 to move relative to the connecting member 12. A first outlet 26 is connected to a first opening 18 via a through-hole that penetrates the flexible member 50. In one embodiment, a second outlet 28 is connected to a second opening 19 via a through-hole that penetrates the flexible member 50. In one embodiment, the flexible connecting member 50 may be made from an elastomer polymer. Such a polymer may be rubber or a rubbery substance.

[0098] Referring to Figures 1A to 1F and Figure 5, the first embodiment and alternative embodiments of the first embodiment include the general features described herein. The first embodiment and alternative embodiments of the first embodiment also have the following features: The grouting member 14 and the connecting member 12 are formed as a single unit. The grouting member 14 has a flat outer surface 15 on the side opposite to the connecting member 12. The first outlet 26 is spaced between the end wall 44 and the first scraper 30. The inclined surface 33 of the first scraper 30 is inclined away from the first outlet 26.

[0099] Specifically, referring to Figures 1A to 1F, the second outlet 28 is spaced axially from the first scraper 30. The first flange 36 and the second flange 38 protrude toward the second outlet 28 and terminate at the second outlet 28. The second scraper 32 is spaced axially away from the second outlet 28.

[0100] The second scraper 32 has an orthogonal plane 37. The second scraper 32 is axially separated from the second end 13.

[0101] The containment wall 22 rises from the outer surface 15 so as to detour the grout surface 20 from the rest of the outer surface 15. The side walls 40, 42 of the containment wall 22 are vertical on the inside along the grout flow zone 24. Outside the grout flow zone 24, the side walls 40, 42 are inclined. The outer inclined surfaces of the side walls 40, 42 extend from the boundary of the outer surface 15 toward the free edge 23. Adjacent to the free edge 23, the inclined surfaces have respective upright portions that connect to the free edge 23. The ends of the side walls 40, 42 defining the passage 25 may be inclined with respect to the longitudinal axis A. The ends may be inclined from the first end 11 toward the second end 13. The endpoints of the ends may be positioned beyond the second scraper 32.

[0102] Referring to Figures 2A to 2E, the second embodiment includes the general features described herein. The second embodiment also has the following features: The grouting member 14 and the connecting member 12 are formed as a single unit. The grouting member 14 has an outer surface 15 on the side opposite to the connecting member 12 that is substantially inclined from the containment wall 22 toward the connecting member 12. In particular with respect to Figures 2D and 2E, the outer surface 15 is convex on both sides.

[0103] The first outlet 26 is spaced between the end wall 44 and the first scraper 30. The inclined surface 33 of the first scraper 30 is inclined away from the first outlet 26. The second outlet 28 is spaced axially away from the first scraper 30. The first flange 36 and the second flange 38 project toward and terminate at the second outlet 28. The second scraper 32 is spaced axially away from the second outlet 28. The second scraper 32 has an orthogonal surface 37. The second scraper 32 is adjacent to the second end 13. The second scraper 32 is coplanar with the second end 13.

[0104] The containment wall 22 rises from the outer surface 15 so as to detour the grout surface 20 from the rest of the outer surface 15. Particularly with respect to Figure 2C, the height of the containment wall 22 increases from the first end 11 to the second end 13. The height of the second scraper 32 is equal to the height of the ends of the side walls 40, 42.

[0105] The side walls 40 and 42 of the containment wall 22 are perpendicular to the inside along the grout flow zone 24. Outside the grout flow zone 24, the side walls 40 and 42 are perpendicular. The ends of the side walls 40 and 42 defining the passage 25 may be inclined with respect to the longitudinal axis A. The ends may be inclined from the first end 11 toward the second end 13. The endpoints of the ends may coincide with a portion of the second scraper 32.

[0106] Referring to Figures 3A to 3E, the third embodiment includes the general features described herein. The third embodiment also has the following features: The grouting member 14 and the connecting member 12 are formed as separate structures. A flexible member 50 is interposed between the grouting member 14 and the connecting member 12.

[0107] The grouting member 14 has an outer surface 15 that is substantially inclined from the containment wall 22 to the base of the grouting member 14. In particular, with respect to Figures 3D and 3E, the outer surface 15 is inclined on both sides. The outer surface 15 is formed on the grouting member 14.

[0108] The first outlet 26 is spaced between the end wall 44 and the first scraper 30. The inclined surface 33 of the first scraper 30 is inclined away from the first outlet 26. The second outlet 28 is spaced axially away from the first scraper 30. The first flange 36 and the second flange 38 project toward and terminate at the second outlet 28. The second scraper 32 is spaced axially away from the second outlet 28. The second scraper 32 has an orthogonal surface 37. The second scraper 32 is adjacent to the second end 13. The second scraper 32 is coplanar with the second end 13.

[0109] The containment wall 22 rises from the outer surface 15 so as to detour the grout surface 20 from the rest of the outer surface 15. The side walls 40, 42 of the containment wall 22 are perpendicular to the inside along the grout flow zone 24. Outside the grout flow zone 24, the side walls 40, 42 are perpendicular. The ends of the side walls 40, 42 defining the passage 25 may be inclined with respect to the longitudinal axis A. The ends may be inclined from the first end 11 toward the second end 13. The endpoints of the ends may be positioned in front of the second scraper 32.

[0110] Referring to Figures 4A to 4E, the fourth embodiment includes the general features described herein. The fourth embodiment also has the following features: The grouting member 14 and the connecting member 12 are formed as a single unit. The grouting member 14 has an outer surface 15 on the side opposite to the connecting member 12. The grout surface 20 is formed as a recess into the outer surface 15. The first outlet 26 is spaced away from the first end wall 11 and is continuous with the first scraper 30. The inclined surface 33 of the first scraper 30 is inclined away from the first outlet 26. The second outlet 28 is spaced axially away from the first scraper 30.

[0111] With respect to Figures 4C to 4E, the second scraper 32 has an elastic portion configured to move relative to the grouting surface 20. The second scraper 32 has a base 52 and an inclined portion 54. The inclined portion 54 is movable relative to the base 52. The inclined portion 54 is movable relative to the grout surface 20. In one embodiment, the inclined portion 54 is movable in the vertical direction. In one embodiment, the inclined portion 54 is made of an elastomer material. An inclined surface 37 is formed on the inclined portion 54. The inclined portion 54 has a free edge 35. The second scraper 32 is continuous with the second outlet 28. The inclined surface 37 of the second scraper 32 is inclined away from the second outlet 28. The second scraper 32 is positioned at the second end 13 and closes the passage 25. The width of the second outlet 28 is narrower than the length of the base 52.

[0112] Referring to Figures 4A and 4B, the first flange 36 and the second flange 38 project toward and terminate in the region between the second outlet 28 and the first scraper 30. The first flange 36 and the second flange 38 are formed as part of a containment wall 22. The containment wall 22 is formed within the grouting member 14 and extends vertically from the raised outer surface 15 to the recessed grout surface 20.

[0113] The containment wall 22 has a first pair of side walls 40, 42 and a second pair of side walls 46, 48. The distance of the grouting surface 20 between the first pair of side walls 40 and 42 is greater than the distance of the grouting surface 20 between the second pair of side walls 46 and 48. The first side walls 40, 42 and the second first side walls 46, 48 of the containment wall 22 are perpendicular to the inside along the grout flow zone 24.

[0114] Figure 7 shows an autonomous grouting robot apparatus 100 equipped with a grout nozzle 10 as described herein. The autonomous grouting robot apparatus 100 comprises a grout extruder 102. The grout extruder 102 comprises a grout extruder mounting assembly (not shown) configured to support a grout storage container 104 or to receive and support a removable grout storage container 104, and an electric plunger (not shown). The grout storage container 104 is configured to receive the grout nozzle 10.

[0115] Referring to Figures 8 to 17, in further embodiments, the grout nozzle 10 may further comprise at least one effector 56. At least one effector 56 is configured to wipe the grouted gap. During operation, as the grout nozzle 10 moves along the grout line being filled with grout, at least one effector 56 moves along the filled grout line. At least one effector 56 can control the required finish of the grout in the filled gap. The softness and height of at least one effector 56 determine the sinking of the grout finish in the filled gap. The above discussion of the embodiments is applicable to the corresponding features of the following embodiments.

[0116] At least one effector 56 is mounted on the grouting member 14. At least one effector 56 is mounted on the surface of the grouting member 14. At least one effector 56 may be bonded to the surface of the grouting member 14. In one embodiment, at least one effector 56 may be mechanically fastened to the grouting member 14. In a further embodiment, at least one effector 56 may be bonded to the grouting member 14 and mechanically fastened. Referring to Figures 10A to 10E, in one embodiment, at least one effector 56 is supported on a plate 57 that is mechanically fastened to the grouting member 14.

[0117] Referring to Figures 8 to 17, at least one effector 56 is positioned on the surface of the grouting member 14, behind the containment means 22 along the grouting direction X. At least one effector 56 extends from the surface of the grouting member 14.

[0118] In one embodiment, at least one effector 56 is positioned on the grout surface 20, behind the containment means 22 along the grouting direction X. The at least one effector 56 extends from the grout surface 20.

[0119] In one embodiment, at least one effector 56 is positioned behind the containment means 22 with respect to the movement of the grout nozzle 10 as it moves along the grouting direction X during the grouting operation. At least one effector 56 is positioned between the second end 13 and the containment means 22.

[0120] In one embodiment, at least one effector 56 is positioned behind the first and / or second grouting configuration. At least one effector 56 may be positioned between the second end 13 and the first and / or second grouting configuration. In a further embodiment, at least one effector 56 is positioned behind a plurality of first and / or second grouting configurations. At least one effector 56 may be positioned between the second end 13 and a plurality of first and / or second grouting configurations.

[0121] The vertical distance of at least one effector 56 from the surface of the grouting member 14 is at least equal to or greater than the vertical distance of the first scraper 30 and / or the second scraper 32.

[0122] In one embodiment, the vertical distance of at least one effector 56 from the grout surface 20 is at least equal to or greater than the vertical distance of the first scraper 30 and / or the second scraper 32. The extension of at least one effector 56 over the first scraper 30 and / or the second scraper 32 affects the finish of the grouting in the gap. The vertical distance of at least one effector 56 from the grout surface 20 is at least equal to or greater than the vertical distance of the multiple first scrapers 30 and / or the second scrapers 32.

[0123] At least one effector 56 is inclined with respect to the grouting direction (X). At least one effector 56 is inclined with respect to the grouting direction X and the longitudinal axis A of the grout nozzle 10. The inclination of at least one effector 56 results in any residual grout from the grouting operation being directed towards the cleaning mechanism in the grouting robot device 100. At least one effector 56 extends linearly along its longitudinal axis. The longitudinal axis of at least one effector 56 is inclined with respect to the grouting direction X and the longitudinal axis A of the grout nozzle 10.

[0124] In one embodiment, at least one effector 56 may be in contact with the containment means 22.

[0125] At least one end of the effector 56 may be in contact with the containment means 22. At least one effector 56 may extend from the containment means 22 across the surface of the grouting member 14 and / or the grout surface 20.

[0126] In one embodiment, at least one effector 56 extends laterally with respect to the containment means 22. At least one effector 56 extends across the surface of the grouting member 14 and / or the grout surface 20 so as to extend beyond the lateral width of the containment means 22. In one embodiment, at least one effector 56 extends laterally with respect to a first and / or second grouting configuration. At least one effector 56 may extend laterally with respect to a plurality of first and / or second grouting configurations.

[0127] In one embodiment, the grout nozzle 10 comprises two or more sets of effectors 56, the effectors 56 arranged parallel to each other on the grout surface 20. The effectors 56 are aligned to be parallel to each other. The arrangement and mounting of at least one effector 56 as described above is applicable to a set of effectors 56.

[0128] Figure 9D shows an effector 56 configured to deform during the grouting operation. The effector 56 deforms when it comes into contact with the surface of the ground having the grout line to be filled. Referring to Figures 9A–9C, in one embodiment, the effector 56 is formed as a flexible foam block. Referring to Figures 10A–10E, in an alternative embodiment, the effector 56 is formed as a flexible rubber blade. The shape, form, and material can be adapted to suit the surface having the grout line and the required finish.

[0129] Figures 9 and 10 show one embodiment of a grouting configuration having a first scraper 30 and / or a second scraper 32 extending between the walls of the containment means 22. The first scraper 30 and / or the second scraper 32 extend laterally with respect to the grouting direction X and the longitudinal axis A of the grout nozzle 10. The opposite ends of the first scraper 30 and / or the second scraper 32 are connected to the opposite walls of the containment means 22. In this embodiment, there is no flow guide 34.

[0130] Referring to Figures 8 to 17, the grout nozzle 10 may further include at least one guide vane 58 for directing grout from the grout extruder 102 into the corresponding opening 18. The guide vane 58 is provided on the connecting member 12 of the grout nozzle 10. The guide vane 58 extends from the opening 18 toward the grout extruder 102. In one embodiment, the grout nozzle 10 may be provided with a plurality of guide vanes 18. Each opening 18, 19 may be provided with a corresponding guide vane 58. Figures 11 to 13 show a plurality of guide vanes 58 together with embodiments of a plurality of effectors 56 in the form of a flexible foam block or a flexible rubber blade.

[0131] In one embodiment, the guide vane 58 may be formed as a flat quadrilateral. The guide vane 58 may be formed as a parallelogram having a first shorter parallel side surface positioned at the first opening 18 and / or the second opening 19, and a second longer parallel side surface facing the grout extruder 102. The guide vane 58 is inclined with respect to the plane of the first opening 18 and / or the second opening 19. The guide vane 58 is inclined toward the second end 13 in a direction away from the first end 11.

[0132] Referring to Figure 14, in one embodiment, the first scraper 30 and / or the second scraper 32 are formed from a flexible rubber material. The first scraper 30 and / or the second scraper 32 can bend during the grouting operation. The first scraper 30 and / or the second scraper 32 deform when they come into contact with the ground having the grout line to be filled.

[0133] Referring to Figure 15, in one embodiment, the first scraper 30 and / or the second scraper 32 are inclined laterally. The first scraper 30 and / or the second scraper 32 are inclined laterally with respect to the grouting direction (X). The first scraper 30 and / or the second scraper 32 are inclined laterally with respect to the grouting direction X and the longitudinal axis A of the grout nozzle 10. The first scraper 30 and / or the second scraper 32 have an end connected to the wall of the containment means 22 and a free end adjacent to the opposite wall of the containment means 22.

[0134] The first scraper 30 and / or the second scraper 32 are inclined vertically. Each of the first scraper 30 and / or the second scraper 32 is inclined with respect to the grout surface 20 toward the second end 13, away from the first end 11. The vertically inclined first scraper 30 and / or the second scraper 32, together with the grout surface 20, present channels through which the grout flows within the grout flow zone 24. The vertical inclination of the scraper 30 and / or the second scraper 32 mimics manual grouting.

[0135] Referring to Figure 15B, the grout surface 20 is sloped from the end adjacent to the first end 11 to the end adjacent to the second end 13. The height of the first scraper 30 and / or the second scraper 32 decreases from the first end 11 to the second end 13, corresponding to the sloped grout surface 20. The sloped grout surface 20 results in a reduction in volume for the grout flow through the grout flow zone 24. This forces the grout into the grout line.

[0136] In this embodiment, only a single opening 18 for receiving grout and a single outlet 26 for discharging grout are provided. The free ends of the first scraper 30 and / or the second scraper 32 may be formed from a flexible material such as rubber.

[0137] Referring to Figure 16, the connecting member 12 is offset relative to the grouting member 14. The openings 18 and 19 are offset relative to the corresponding outlets 26 and 28. The openings 18 and 19 are connected to the corresponding outlets 26 and 28 via channels 60 that extend through the grout nozzle 10. The channels 60 are configured to connect the connecting member 12, which is offset relative to the grouting member 14.

[0138] Referring to Figure 17, in a further embodiment, the grouting nozzle 10 comprises a first set of effectors 56 and a second set of effectors 56, the first set of effectors 56 being angled relative to the second set of effectors 56 on the surface of the grouting member 14 and / or the grout surface 20. Both the first and second sets of effectors 56 are angled with respect to the longitudinal axis A of the grouting nozzle 10.

[0139] In one embodiment, the first and second sets of effectors 56 are arranged alternately. The second set of effectors 56 follows the first set of effectors 56. At least one end of the first set of effectors 56 is positioned between the second set of effectors 56, and at least one end of the second set of effectors 56 is positioned between the first set of effectors 56.

[0140] Those skilled in the art will understand that the embodiments described above may be modified or combined to obtain the grouting nozzle 10 of the present disclosure.

[0141] Industrial applicability This disclosure describes a grouting nozzle 10 for applying grout into the gaps between tiles on a shower or kitchen floor. The grouting nozzle 10 can be detachably connected to a grouting extruder 102 for applying grout. In particular, the grouting nozzle 10 is used in conjunction with a grouting extruder 102 located within a grouting machine, such as an autonomous grouting robot device 100.

[0142] The widths of the first scraper 30 and scraper 32, and therefore the width of the grout nozzle 10, can be adjusted based on the thickness of the grout line. The width can also take into account any possible movement along the axis perpendicular to the grouting direction X to account for any errors.

[0143] Accordingly, this disclosure includes all modifications and equivalents of the subject matter described in the claims appended herein, as permitted by applicable law. Furthermore, any combination of the above elements in all possible variations thereof is incorporated herein unless otherwise indicated herein.

[0144] Where reference numerals follow technical features mentioned in any claim, the reference numerals are included solely for the purpose of enhancing the understanding of the claim, and therefore neither the reference numerals nor their absence shall have any limiting effect on the scope of the aforementioned technical features or any claim elements.

[0145] Those skilled in the art will understand that this disclosure can be embodied in other specific forms without departing from the disclosure or its essential features. Therefore, the embodiments described herein should be considered illustrative and not limiting in any way to the disclosure described herein. Accordingly, the scope of the invention is indicated by the appended claims rather than by the foregoing description, and all modifications that fall within the meaning and equivalents of the claims are intended to be encompassed therein.

Claims

1. A grouting nozzle (10) for a grout extruder (102) of an autonomous grouting robot device (100), The grouting nozzle (10) is a connecting member (12) for connecting to the grout extruder (102), and the connecting member (12) has a connecting means (16) for engaging with the grout extruder (102) and an opening (18) for receiving grout from the grout extruder (102), A grouting member (14) for applying grout into gaps within a coating zone, the grouting member (14) is positioned on the opposite side of the connecting member (12) for the passage of grout from the grout extruder (102) to the coating zone, The grouting member (14) is provided with, The grout surface (20) and A containment means (22) for containing the flow of grout on the grout surface (20), the containment means (22) extending from the grout surface (20) and defining a grout flow zone (24), At least one outlet (26) for discharging the extruded grout, provided on the grout surface (20) and located within the grout flow zone (24), At least one scraper (30) for pushing the discharged grout into the gaps within the coating zone, the at least one scraper (30) extending from the grout surface (20) and positioned within the grout flow zone (24), The grouting configuration comprises the at least one outlet (26) and the at least one scraper (30) being axially aligned in the first grouting configuration, wherein the at least one outlet (26) precedes the at least one scraper (30) along the grouting direction (X), Grout nozzle (10).

2. The grout nozzle (10) according to claim 1, further comprising a second scraper (32) for pushing the grout into the gaps in the application zone, wherein the second scraper (32) extends from the grout surface (20) and is located within the grout flow zone (24), and the second scraper (32) is axially separated from the first grouting configuration within the grout flow zone (24).

3. The grout nozzle (10) according to claim 2, further comprising a second outlet (28) for discharging the extruded grout, wherein the second outlet (28) is provided on the grout surface (20) and is located within the grout flow zone (24), the second outlet (28) and the second scraper (32) are axially aligned in the second grouting configuration, the second outlet (28) precedes the second scraper (32) along the grouting direction (X), and the first grouting configuration is axially separated from the second grouting configuration.

4. The grout nozzle (10) according to claim 3, wherein the connecting member (12) has a second opening (19) for receiving grout from the grout extruder (102), the second opening (19) is axially separated from the first opening (18), the first opening (18) is connected to the first outlet (26), and the second opening (19) is connected to the second outlet (28).

5. The grout nozzle (10) according to claim 2, 3, or 4, wherein the second scraper (32) has a perpendicular surface (37) facing the second outlet (28).

6. The grout nozzle (10) according to claim 3, 4, or 5, wherein the second scraper (32) is spaced apart from the second outlet (28).

7. The grout nozzle (10) according to claim 3, 4, 5, or 6, wherein the grouting member (14) further comprises a flow guide (34) for redirecting residual grout toward the second outlet (28) and / or the second scraper (32), the flow guide (34) extending from the grout surface (20) and positioned within the grout flow zone (24).

8. The grout nozzle (10) according to claim 7, wherein the flow guide (34) comprises a first flange (36) and a second flange (38), and each flange (36, 38) is inclined with respect to the longitudinal axis (A) of the grout nozzle (10) toward the second outlet (28) or the second scraper (32) in a direction away from the first outlet (26).

9. The grout nozzle (10) according to claim 8, wherein the containment means (22) comprises a containment wall (22), the first flange (36) protruding from the first containment wall (22), the second flange (38) protruding from the second containment wall (22), and the first containment wall (22) facing the second containment wall (22).

10. The grout nozzle (10) according to any one of claims 1 to 9, wherein the first scraper (30) is adjacent to the first outlet (26).

11. The grout nozzle (10) according to any one of claims 1 to 10, wherein the first scraper (30) has an inclined surface (33) facing the first outlet (26), and the direction of the inclination is away from the first outlet (26).

12. The grout nozzle (10) according to any one of claims 1 to 11, wherein the containment means (22) comprises a pair of side walls (40, 42) positioned on opposite sides of the first grouting configuration comprising the at least one scraper (30) and the at least one outlet (26).

13. A grout nozzle (10) according to claim 12, wherein an end wall (44) connects the two side walls (40, 42) at the end of the grouting surface (20) adjacent to the at least one first outlet (26).

14. A grout nozzle (10) according to any one of claims 1 to 13, further comprising a plurality of first grouting configurations, wherein a plurality of the first scrapers (30) and a plurality of the first outlets (26) are aligned in the axial direction.

15. The grout nozzle (10) according to claim 14, wherein the plurality of first grouting configurations are spaced apart from each other along the grout surface (20).

16. A grout nozzle (10) according to any one of claims 1 to 15, wherein a flexible connecting member (50) is placed between the connecting member (12) and the grouting member (14).

17. The grout nozzle (10) according to claim 2, wherein the second scraper (32) has an inclined portion (54) configured to move relative to the grouting surface (20).

18. The grout nozzle (10) according to any one of claims 1 to 17, wherein the connecting means (16) is configured to slide-engage with a corresponding structure within the grout extruder (102).

19. The grout nozzle (10) according to any one of claims 1 to 18, wherein the connecting member (12) has an opening at the second end (13) of the grout nozzle (10) for accessing the connecting means (16) and is closed at the first end (11) of the grout nozzle (10) to restrict the sliding engagement of the connecting means (16).

20. A grout nozzle (10) according to any one of claims 1 to 19, further comprising at least one effector (56) for wiping a grouted gap, wherein the at least one effector (56) is positioned on the grouting member (14) behind the containment means (22) along the grouting direction (X), and the at least one effector (56) is inclined with respect to the grouting direction (X).

21. A grout nozzle (10) according to claim 20, comprising a set of two or more effectors (56), wherein the effectors (56) are arranged parallel to each other on the grout surface (20).

22. The grout nozzle (10) according to claim 21, comprising a first set of effectors (56) and a second set of effectors (56), wherein the first set of effectors (56) is angled relative to the second set of effectors (56) on the grouting member (14).

23. The grout nozzle (10) according to claim 20 or 21, wherein the effector (56) is formed as a flexible foam block.

24. The grout nozzle (10) according to claim 20 or 21, wherein the effector (56) is formed as a flexible rubber blade.

25. The grout nozzle (10) according to any one of claims 1 to 24, further comprising guide vanes (58) for directing grout from the grout extruder (102) into a corresponding opening (18).

26. A grout nozzle (10) according to any one of claims 2 to 24, wherein the first scraper (30) and the second scraper (32) are formed from a flexible rubber material so that the first scraper (30) and the second scraper (32) flex during the grouting operation.

27. An autonomous grouting robot device (100) comprising a grout nozzle (10) according to any one of claims 1 to 26.

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