阅读说明：本技术 供料、制料及送料系统 (Feeding, preparing and feeding system ) 是由 李许 梁键钊 周逛 张伟强 于 2019-10-22 设计创作，主要内容包括：本发明涉及一种供料、制料及送料系统,其包括：物料暂存装置,用于暂存袋装物料；物料运送车,所述物料运送车用于向所述物料暂存装置补给所述袋装物料；调度及路径控制系统,所述调度及路径控制系统与所述物料运送车通信连接；上料装置,所述上料装置用于获取所述物料暂存装置上存放的所述袋装物料；及成品料运送车,所述成品料运送车用于承接所述上料装置输送来的所述袋装料并拌和成成品料,并将所述成品料输送至用料设备。通过各系统/装置的协同配合作业,能够自动完成袋装物料码垛到运送到搅拌的全流程工作,整个工作过程能够实现完全无人化操作。(The invention relates to a feeding, preparing and feeding system, comprising: the material temporary storage device is used for temporarily storing bagged materials; the material conveying vehicle is used for supplying the bagged materials to the temporary material storage device; a dispatch and path control system in communicative connection with the material handling vehicle; the feeding device is used for obtaining the bagged materials stored on the temporary material storage device; and the finished product material conveying vehicle is used for receiving the bagged materials conveyed by the feeding device, mixing the bagged materials into a finished product material and conveying the finished product material to material using equipment. Through the cooperative operation of each system/device, the full-flow work from bagged material stacking to stirring can be automatically completed, and the whole working process can realize completely unmanned operation.)

1. A feeding, material manufacturing and feeding system, characterized by comprising:

the material temporary storage device is used for temporarily storing bagged materials;

the material conveying vehicle is used for supplying the bagged materials to the temporary material storage device;

a dispatch and path control system in communicative connection with the material handling vehicle;

the feeding device is used for obtaining the bagged materials stored on the temporary material storage device; and

and the finished product material conveying vehicle is in communication connection with the dispatching and path control system, and is used for receiving the bag-loaded materials conveyed by the feeding device, mixing the bag-loaded materials into a finished product material and conveying the finished product material to material using equipment.

2. The feeding, preparing and feeding system of claim 1, wherein the material transfer cart comprises a first cart body, a moving and steering device disposed on the first cart body, an on-board control device disposed on the first cart body and electrically connected to the moving and steering device, and a material handling device disposed on the first cart body and electrically connected to the on-board control device.

3. The feeding, compounding and feeding system of claim 2, wherein said material transfer cart further comprises an automated guidance device disposed on said first cart body and communicatively coupled to said onboard control device, said dispatch and routing control system comprising a central dispatch system and a ground control system communicatively coupled to each other, said ground control system communicatively coupled to said automated guidance device.

4. The feeding, preparing and feeding system as claimed in claim 1, wherein the feeding device comprises a frame, a first electrical control cabinet disposed on the frame, a shifting mechanism disposed on the frame and electrically connected to the first electrical control cabinet, a material grabbing mechanism disposed on the shifting mechanism, and a bag breaking mechanism disposed on the frame and cooperating with the material grabbing mechanism.

5. The feeding, preparing and feeding system as claimed in claim 4, wherein the bag breaking mechanism comprises a driving member for outputting a rotational power, a rotating shaft connected to the driving member, and a cutting member disposed on the rotating shaft; the shifting mechanism comprises a horizontal moving module and a longitudinal moving module connected with the horizontal moving module, and the material grabbing mechanism is arranged on the longitudinal moving module.

6. The feeding, preparing and feeding system as set forth in claim 4, wherein the feeding device further comprises a material lifting mechanism disposed on the frame below the material grabbing mechanism, a water supply device disposed on the frame, and a metering device disposed on the frame and cooperating with the material lifting mechanism.

7. The feeding, preparing and feeding system as set forth in claim 6, wherein said feeding device further comprises a material shaking mechanism disposed on said frame above said material lifting mechanism for shaking the bags of said bagged material in said material grasping mechanism.

8. The feeding, preparing and feeding system as set forth in claim 7, wherein the feeding device further comprises a dust suction mechanism disposed on the frame, the dust suction mechanism comprises a dust collector and a dust suction pipe connected to the dust collector, and an air inlet of the dust suction pipe extends to a side of the bag breaking mechanism and a side of the material shaking mechanism.

9. The feeding, preparing and feeding system as set forth in claim 7, wherein the feeding device further comprises a bag pushing mechanism disposed at a distal end of the material grasping mechanism, a waste bag collecting mechanism disposed at an end of the frame and cooperating with the bag pushing mechanism, and a waste bag collecting box disposed on the frame and cooperating with the waste bag collecting mechanism.

10. The feeding, preparing and feeding system of claim 1, wherein the finished product material transfer cart comprises a second cart body, a second electrical control cabinet disposed on the second cart body, a hopper disposed on the second cart body, a stirring mechanism disposed in the hopper and electrically connected to the second electrical control cabinet, and a discharging lifting mechanism disposed on the second cart body and connected to the stirring mechanism, the discharging lifting mechanism further electrically connected to the second electrical control cabinet.

11. The feeding, preparing and feeding system of claim 10, wherein the finished product material transporting cart further comprises a delivery pump disposed on the second cart body and connected to the outlet of the hopper, a discharge pipe having one end connected to the delivery pump, and a discharge elevating mechanism disposed on the second cart body and connected to the discharge pipe, wherein the other end of the discharge pipe is connected to the material using equipment, and the discharge elevating mechanism is further electrically connected to the second electrical control cabinet.

12. The feeding, preparing and feeding system as claimed in claim 11, wherein the finished product material transfer cart further comprises an obstacle avoidance device disposed on the second cart body and electrically connected to the second electrical control cabinet.

Technical Field

The invention relates to the technical field of building construction equipment, in particular to a feeding system, a material manufacturing system and a feeding system.

Background

At present, the fluid materials used in the construction industry mainly comprise dry-mixed mortar, paint, putty powder, tile glue, joint mixture and the like. According to the traditional mixing mode of a construction site, a series of processes of material carrying, unloading, bag breaking, blanking, stirring, discharging and the like are completed by manual operation or semi-automatic operation by partial mechanical equipment, so that the problems of high labor intensity caused by large workload of workers, large operation error of the mixing mode of the construction site, unreasonable mixing material proportion and uneven stirring, incapability of ensuring the quality of prepared materials and finally influence on the building quality exist. Aiming at the problems, some material preparation systems capable of automatically completing a series of preparation processes such as feeding, material grabbing, bag breaking, metering and material preparation are also available in the market, and unmanned construction operation cannot be completely achieved, so that the problems of low construction efficiency, high labor cost, poor finished product quality and the like exist.

Disclosure of Invention

Based on this, it is necessary to provide a feeding, material manufacturing and feeding system, and the problem that the automation level is not high in the prior art, so that the construction efficiency is low, the labor cost is high, and the quality of finished products is poor is solved.

The technical scheme is as follows:

a feeding, preparing and feeding system, comprising:

the material temporary storage device is used for temporarily storing bagged materials;

the material conveying vehicle is used for supplying the bagged materials to the temporary material storage device;

a dispatch and path control system in communicative connection with the material handling vehicle;

the feeding device is used for obtaining the bagged materials stored on the temporary material storage device; and

and the finished product material conveying vehicle is in communication connection with the dispatching and path control system, and is used for receiving the bag-loaded materials conveyed by the feeding device, mixing the bag-loaded materials into a finished product material and conveying the finished product material to material using equipment.

When the feeding, preparing and feeding system is used for preparing the fluid material required by building construction, the material transfer cart can automatically stack bagged materials into the material temporary storage device according to the precise control of the scheduling and path control system; and then, the loading device automatically picks up the bagged materials in the material temporary storage device and conveys the materials to be prepared to a finished product material transfer cart, the finished product material transfer cart can automatically mix the materials to be prepared into finished product materials meeting the building construction requirements, and finally, the finished product materials are automatically moved to a material using device and conveyed to the material using device. The system can automatically complete the full-flow work of stacking bagged materials to conveying and then stirring through the cooperative operation of each system/device, and the whole working process can realize completely unmanned operation.

The technical solution of the present application is further described below:

in one embodiment, the material transfer cart comprises a first cart body, a moving and steering device arranged on the first cart body, an on-board control device arranged on the first cart body and electrically connected with the moving and steering device, and a material handling device arranged on the first cart body and electrically connected with the on-board control device.

In one embodiment, the material handling vehicle further comprises an automatic guidance device disposed on the first vehicle body and communicatively coupled to the onboard control device, and the dispatch and path control system comprises a central dispatch system and a ground control system communicatively coupled to each other, the ground control system communicatively coupled to the automatic guidance device.

In one embodiment, the feeding device comprises a rack, a first electrical control cabinet arranged on the rack, a shifting mechanism arranged on the rack and electrically connected with the first electrical control cabinet, a material grabbing mechanism arranged on the shifting mechanism, and a bag breaking mechanism arranged on the rack and matched with the material grabbing mechanism.

In one embodiment, the bag breaking mechanism comprises a driving member for outputting rotary power, a rotating shaft connected with the driving member, and a cutting member arranged on the rotating shaft; the shifting mechanism comprises a horizontal moving module and a longitudinal moving module connected with the horizontal moving module, and the material grabbing mechanism is arranged on the longitudinal moving module.

In one embodiment, the feeding device further comprises a material lifting mechanism arranged on the frame and positioned below the material grabbing mechanism, a water supply device arranged on the frame, and a metering device arranged on the frame and matched with the material lifting mechanism.

In one embodiment, the feeding device further comprises a material shaking mechanism, and the material shaking mechanism is arranged on the frame and above the material lifting mechanism and used for shaking the packaging bags of the bagged materials in the material grabbing mechanism.

In one embodiment, the feeding device further comprises a dust suction mechanism arranged on the rack, the dust suction mechanism comprises a dust collector and a dust suction pipe communicated with the dust collector, and an air inlet of the dust suction pipe extends to the side faces of the bag breaking mechanism and the material shaking mechanism.

In one embodiment, the feeding device further comprises a bag pushing mechanism arranged at the tail end of the material grabbing mechanism, a waste bag collecting mechanism arranged at the end part of the rack and matched with the bag pushing mechanism, and a waste bag collecting box arranged on the rack and matched with the waste bag collecting mechanism.

In one embodiment, the finished product material transfer cart comprises a second cart body, a second electrical control cabinet arranged on the second cart body, a hopper arranged on the second cart body, a stirring mechanism arranged in the hopper and electrically connected with the second electrical control cabinet, and a discharging lifting mechanism arranged on the second cart body and connected with the stirring mechanism, wherein the discharging lifting mechanism is further electrically connected with the second electrical control cabinet.

In one embodiment, the finished product material transfer cart further comprises a delivery pump arranged on the second cart body and communicated with the discharge hole of the hopper, a discharge pipe with one end communicated with the delivery pump, and a discharge lifting mechanism arranged on the second cart body and connected with the discharge pipe, wherein the other end of the discharge pipe is communicated with the material using equipment, and the discharge lifting mechanism is further electrically connected with the second electrical control cabinet.

In one embodiment, the finished product material transfer cart further comprises an obstacle avoidance device arranged on the second cart body and electrically connected with the second electrical control cabinet.

Drawings

Fig. 1 is a schematic view of a combined structure of a material temporary storage device and a feeding device according to an embodiment of the present invention;

FIG. 2 is a right side view structural diagram of FIG. 1;

fig. 3 is a schematic structural view of a material transfer cart according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a finished product material conveying vehicle according to an embodiment of the present invention;

fig. 5 is a right structural view of fig. 4.

Description of reference numerals:

10. a material temporary storage device; 20. bagging the materials; 30. a material transfer cart; 31. a first vehicle body; 32. a moving and steering device; 33. a material handling device; 40. a feeding device; 41. a frame; 42. a first electrical control cabinet; 43. a displacement mechanism; 44. a material grabbing mechanism; 45. a bag breaking mechanism; 46. a material lifting mechanism; 47. a water supply device; 48. a metering device; 49. a material shaking mechanism; 50. a finished product material transfer cart; 51. a second vehicle body; 52. a second electrical control cabinet; 53. a hopper; 54. a stirring mechanism; 55. a discharging lifting mechanism; 56. a delivery pump; 57. a discharge pipe; 58. a discharging lifting mechanism; 60. a dust suction mechanism; 70. a bag pushing mechanism; 80. a waste bag collecting mechanism; 90. and a waste bag collecting box.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "secured to," "disposed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the specific manner of fixedly connecting one component to another component can be implemented by the prior art, and will not be described herein, and the fixing manner of the overlapping connection is preferably adopted.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

The application claims a feed, system material and feeding system, this system is applied to in the building trade, specifically is used for stirring bagged materials 20 and prepares into the finished product material that satisfies construction quality requirement to finally supply finished product material for the use of material equipment, and whole operation flow need not the manpower and participates in, can accomplish the feed work of fluid matter materials such as big batch, wall putty of large tracts of land high-efficiently.

The bagged material 20 is composed of an outer packaging bag and a powder material contained in the packaging bag. As can be understood, the packaging bag is a plastic bag or a gunny bag with certain strength and waterproof performance; the powder material is any fluid material used in the construction industry, such as but not limited to dry-mixed mortar, paint, putty powder, tile glue, joint mixture, and the like. For convenience of description and understanding of the technical solution, the powder material is taken as putty powder as an example for explanation.

The working content of the system is that the putty powder in the packaging bag is taken out, and is uniformly mixed with water according to a certain proportion to form a finished product material, and then the finished product material is automatically supplied to material using equipment for use. The material using equipment can be, but is not limited to, various types of construction robots.

As shown in fig. 1, 3 and 4, in one embodiment, the feeding, preparing and feeding system comprises: the system comprises a material temporary storage device 10, a material conveying vehicle 30, a dispatching and path control system, a feeding device 40 and a finished product material conveying vehicle 50. The material temporary storage device 10 is used for temporarily storing bagged materials 20 for the loading device 40 to take, so that the continuity of production and processing is ensured. Optionally, the material temporary storage device 10 is a stacking device, specifically, a fixed structure stacking device formed by assembling wood plates or dry plates, and is used for being arranged on one side of the feeding end of the feeding device 40, so that the feeding device 40 can take the bagged materials 20 one by one. Of course, in other embodiments, the material buffer device 10 may be a palletizer or other type of device or apparatus with other structures, as long as it can serve to buffer the bagged material 20.

As can be appreciated, to reduce the space occupied by palletizing, a stack or stacks of bagged materials 20 can be placed on the upper surface of the palletized product with a limited area in a stacking manner, so as to ensure that the materials can be continuously supplied to the loading device 40 for use in a certain processing period. In particular, the stack is provided with a detection sensor for detecting the amount of remaining bagged material 20. When the detection shows that the quantity of the residual bagged materials 20 is less than a safety value, for example, less than 3 bags, a signal is fed back to the system and an alarm is given out to remind the user to feed materials in time.

The material transfer cart 30 is used to supply the bagged material 20 to the temporary material storage device 10. It will be appreciated that the material transfer cart 30 is capable of transferring and stacking bags of material 20 stored in the warehouse from bag to bag on a pallet.

The dispatch and path control system is in communication with the material handling cart 30. The scheduling and path control system is used for scheduling different material transfer carts 30 to participate in work and planning the traveling route and behavior of the current material transfer cart 30, so that the material transfer carts 30 can quickly and accurately stack bagged materials 20 on a stack.

The feeding device 40 is used for obtaining the bagged materials 20 stored on the material temporary storage device 10; the finished product material transfer cart 50 is used for receiving the bagged material conveyed by the feeding device 40, mixing the bagged material and the blended finished product material, and conveying the finished product material to a material using device.

To sum up, the implementation of the technical scheme of the application has the following beneficial effects: when the feeding, preparing and feeding system is used for preparing fluid materials required by building construction, the material transfer cart 30 can automatically stack bagged materials 20 into the material temporary storage device 10 according to the precise control of the scheduling and path control system; then, the loading device 40 automatically picks up the bagged materials 20 in the material temporary storage device 10 and conveys the materials (putty powder) to be prepared inside the bagged materials to the finished product material transfer cart 50, the finished product material transfer cart 50 can automatically mix the materials to be prepared into finished product materials (putty paste) meeting the building construction requirements, and finally, the finished product materials are automatically moved to a material using device to be conveyed to the material using device. The system can automatically complete the full flow from the stacking of bagged materials 20 to the conveying of the materials to be stirred through the cooperative operation of each system/device, and the whole working process can realize completely unmanned operation.

With continued reference to fig. 3, in one embodiment, the material handling vehicle 30 is an agv (automated guided vehicle) vehicle. Specifically, the material conveying vehicle 30 includes a first vehicle body 31, a moving and steering device 32 disposed on the first vehicle body 31, an on-board control device disposed on the first vehicle body 31 and electrically connected to the moving and steering device 32, and a material handling device 33 disposed on the first vehicle body 31 and electrically connected to the on-board control device. Thus, the vehicle-mounted control device can control the movement and steering device 32 to work, so that the material conveying vehicle 30 has a correct movement direction and abundant movement power; the material handling device 33 can pick up the bagged materials 20 and lift the bagged materials to a proper height to be placed on a stack.

The material handling device 33 comprises a drive module and a handling arm. The drive module can output the straight line power of a plurality of directions alone or export the compound pitch arc power that forms of two above direction straight line powers simultaneously for the action orbit and the flexibility ratio of staff can be simulated out to the transport arm, possess extremely strong material and grab and put the ability.

In addition, a battery is mounted on the first vehicle body 31 for supplying electric power to the remaining devices on the material conveying vehicle 30. The battery may be any type or configuration of battery product known in the art.

Further, the material conveying vehicle 30 further includes an automatic guiding device disposed on the first vehicle body 31 and in communication connection with the vehicle-mounted control device, the dispatching and path control system includes a central dispatching system and a ground control system in communication connection with each other, and the ground control system is in communication connection with the automatic guiding device. The automatic guiding device is a guiding device which works by adopting a battery or optical guiding principle, and can guide the material conveying vehicle 30 to run along a specified path, namely, the material conveying vehicle 30 runs along an optimal path, and the problems of collision, detour and long-distance running are avoided. The central dispatching system and the ground control system can work in coordination, so that different material transfer carts 30 can be accurately dispatched, bagged materials 20 can be efficiently supplied, and the working performance of the system can be further improved.

With reference to fig. 1 and fig. 2, in the present embodiment, the feeding device 40 can perform a series of operations including material grabbing, bag breaking, material shaking, waste bag recycling, material lifting and feeding, dust removal, and precise dosing. Specifically, the feeding device 40 includes a frame 41, a first electrical control cabinet disposed on the frame 41, a shifting mechanism 43 disposed on the frame 41 and electrically connected to the first electrical control cabinet, a material grasping mechanism 44 disposed on the shifting mechanism 43, and a bag breaking mechanism 45 disposed on the frame 41 and engaged with the material grasping mechanism 44. The first electrical control cabinet is specifically installed at an inner side position of the rack 41, and is protected by a shell plate outside the rack 41 to avoid direct exposure to the environment and be easily damaged. All the electric or electronic components/devices related to the operation flow control and communication of the feeding device 40 are installed in the first electric control cabinet. The shifting mechanism 43 is used for outputting moving power to drive the material grabbing mechanism 44 to move to the upper side of the stacking, and the material grabbing mechanism 44 grabs a bag of bagged putty powder; then the shifting mechanism 43 moves and resets to drive the material grabbing mechanism 44 to retreat into the rack 41; in the process, the bagged putty powder can contact with the bag breaking mechanism 45, and the bag breaking mechanism 45 cuts the packaging bag to break so that the putty powder in the packaging bag automatically falls out. The above-mentioned each mechanism collaborative operation can accomplish to grab the material and break a bag operation, realizes that putty powder gets and uses the purpose, fine replacement traditional manpower manual work, and is efficient, the good reliability.

In one embodiment, the bag breaking mechanism 45 includes a driving member for outputting a rotational power, a rotating shaft connected to the driving member, and a cutting member disposed on the rotating shaft. Specifically, the driving member is a speed reducing motor, the speed reducing motor is mounted on the frame 41, and a power shaft of the speed reducing motor is connected with the rotating shaft through a coupling. The cutting piece is circular blade, and gear motor drive circular blade is rotatory, can cut brokenly the packing bag fast. Preferably, the circular blade of two or above quantity is installed at the interval on the rotation axis, can cut the wrapping bag simultaneously, makes inside putty powder spill from a plurality of broken holes simultaneously, does benefit to and promotes discharging efficiency. Of course, in other embodiments, other mechanisms in the prior art may be adopted, as long as the bag breaking function is achieved, and the invention is also within the protection scope of the present application.

In one embodiment, the shifting mechanism 43 includes a horizontal moving module and a longitudinal moving module connected to the horizontal moving module, and the material grabbing mechanism 44 is disposed on the longitudinal moving module. As the name suggests, the horizontal moving module can output horizontal linear power, and is particularly used for outputting linear reciprocating power; the material grabbing mechanism 44 can extend out of the rack 41 and be positioned above the stacking, so that the material grabbing is convenient; after the material grabbing is finished, the horizontal linear power is reversely output to recover the material grabbing mechanism 44 into the rack 41 for bag breaking operation. The longitudinal moving module can output vertical reciprocating power to realize the lifting movement of the material grabbing mechanism 44, so that the material grabbing and placing actions of the material grabbing mechanism 44 can be better realized.

In this scheme, the horizontal migration module specifically is a telescopic actuating mechanism, and the flexible certain distance of activity truss that it had can be in the horizontal direction, and this design does benefit to the length and size that the at utmost reduces loading attachment 40, reduces occupation space, convenient transportation simultaneously. For example, the horizontal moving module can be, but is not limited to, a cylinder telescopic module, a motor gear toothed belt telescopic module, a telescopic rod module, a scissor module, etc. Similarly, the longitudinal moving module can also adopt any mature technical means in the prior art; in consideration of cost saving, easy implementation and other factors, it is preferable that the longitudinal moving module directly adopts a winch.

With reference to fig. 1 and fig. 2, in a further embodiment, the feeding device 40 further includes a material lifting mechanism 46 disposed on the frame 41 and located below the material grabbing mechanism 44, a water supply device 47 disposed on the frame 41, and a metering device 48 disposed on the frame 41 and cooperating with the material lifting mechanism 46. The material lifting mechanism 46 is composed of a hopper and a spiral lifting module communicated with the hopper. After the packaging bag is cut, the putty powder in the packaging bag can directly fall into the hopper and is contained by the hopper; then, the putty powder with a specific weight is conveyed into the metering device 48 by the spiral lifting module. The metering device 48 accurately meters the weight of the putty powder, then the weighed putty powder is poured into the finished product material transfer cart 50, and meanwhile, the water supply device 47 also injects a proper amount of water into the finished product material transfer cart 50, so that a mixture of the putty powder and the water in a specific ratio is obtained.

It should be noted that different program instructions are prestored in the system, and the different program instructions correspond to the putty powder and the water in different proportions. In practice, the amount of putty powder delivered to the metering device 48 can be precisely controlled by controlling the rotational speed (or number of revolutions) of the auger. Or the delivered putty powder is weighed by a rotor scale weighing mechanism of the metering device 48, so that the putty powder meets the specific proportioning requirement. In addition, the water supply device 47 mainly includes a water inlet pipe, a water tank, a water pump, an electromagnetic valve, a flow meter, a float switch, a level meter and the like, which are connected with each other at preset positions, and the water which is measured can be pumped into the finished product material transfer cart 50 to be mixed with putty powder, so that the finished product material can be mixed.

Referring to fig. 1 and 2, in actual processing, the packing bag is bent to easily store putty powder, so that the putty powder cannot fall into the hopper of the material lifting mechanism 46, and the putty powder is discarded and wasted along with the packing bag. In view of this problem, in a further embodiment, the feeding device 40 further comprises a material shaking mechanism 49, wherein the material shaking mechanism 49 is disposed on the frame 41 and above the material lifting mechanism 46, and is used for shaking the packaging bag of the bagged material 20 in the material grabbing mechanism 44. Shaking mechanism 49 can shake the wrapping bag in horizontal direction or vertical direction or slant to can shake the material hopper of material hoist mechanism 46 with all putty powder that remain hiding in the wrapping bag, guarantee the utilization ratio of putty powder, avoid causing the raw materials extravagant.

As described above, the housing plate is installed outside the frame 41, and the housing plate can enclose the inner space to form a relatively sealed space, so that when bag breaking and material shaking operations are performed on the bagged putty powder, although dust overflow, environmental pollution and harm to the health of workers can be avoided to a certain extent, dust leakage still cannot be completely inhibited. Based on this, in a further embodiment of the present application, the feeding device 40 further includes a dust suction mechanism 60 disposed on the frame 41, the dust suction mechanism 60 includes a dust collector and a dust suction pipe connected to the dust collector, and an air inlet of the dust suction pipe extends to a side of the bag breaking mechanism 45 and a side of the material shaking mechanism 49. Preferably, two or more dust suction pipes extend to each side of the bag breaking mechanism 45 and the material shaking mechanism 49 respectively, so that generated dust can be absorbed and filtered thoroughly, the dust overflow is reduced to the greatest extent, and the pollution to the construction environment is reduced.

It should be noted that the above-mentioned vacuum cleaner can be any type or structure of vacuum cleaner known in the art. Preferably, at least two layers of filter screens are arranged in the dust collector, and the filter screens are sequentially arranged along the air flowing direction, so that multi-stage filtration can be formed, and dust can be filtered and retained in the dust collector to be discharged with clean air.

Referring to fig. 2, the feeding device 40 further includes a bag pushing mechanism 70 disposed at the end of the material grabbing mechanism 44, a waste bag collecting mechanism 80 disposed at the end of the frame 41 and cooperating with the bag pushing mechanism 70, and a waste bag collecting box 90 disposed on the frame 41 and cooperating with the waste bag collecting mechanism 80. The bag pushing mechanism 70 can perform vertical lifting or falling actions to push the broken packaging bag into the cavity of the waste bag collecting mechanism 80; then the waste bag collecting mechanism 80 sends the broken packaging bags into the waste bag collecting box 90 for centralized storage, so that the situation that the abandoned broken packaging bags scatter around to influence the tidiness of the construction site is avoided. Further, the waste bag collecting mechanism 80 is provided with a bag compressing mechanism therein, which can compress the large-sized irregular-shaped broken bag into a small-sized regular-shaped compressed body, so that the waste bag collecting box 90 can contain more broken bags.

In particular, the wall of the waste bag collecting box 90 is designed with a box door which can be opened or closed, and the box is internally provided with a material level sensor. When the material level sensor detects that the broken packaging bag in the waste bag collecting box 90 is full, an alarm can be timely given to remind a worker to timely empty the stored broken packaging bag, so that the waste bag collecting box 90 can continuously and normally work.

In this embodiment, the finished product material transfer cart 50 is used to transfer the mixed putty paste into the material cylinder of the construction robot at the material end. In the advancing process of the finished product material transfer cart 50, the communication with the building robot is realized through signal docking of a ground control system, laser radar navigation, positioning and the like, and finally through a central dispatching system. Optionally, the finished goods delivery vehicle 50 is also, but not limited to, an AGV cart.

In addition, an electric power-assisted wheel, a first universal wheel and a battery are mounted on the bottom of the first vehicle body 31. The storage battery provides driving force for the electric power-assisted wheel, and the electric power-assisted wheel can be matched with the first universal wheel to provide support and flexible steering for the feeding device 40 to move on the construction site.

Optionally, the storage battery is a chemical battery, which may be, but not limited to, a lead-acid battery, a lithium iron phosphate battery, and the like, and has excellent stability and power supply capability.

Referring to fig. 4 and fig. 5, in an embodiment, the finished product material conveying cart 50 includes a second cart body 51, a second electrical control cabinet 52 disposed on the second cart body 51, a hopper 53 disposed on the second cart body 51, a stirring mechanism 54 disposed in the hopper 53 and electrically connected to the second electrical control cabinet 52, and a discharging lifting mechanism 55 disposed on the second cart body 51 and connected to the stirring mechanism 54, wherein the discharging lifting mechanism 55 is further electrically connected to the second electrical control cabinet 52. Similarly, all the electrical or electronic components/devices related to the control and multi-machine communication of the finished product material transfer cart 50 are installed in the second electrical control cabinet 52, so as to ensure that the finished product material transfer cart 50 can reliably and automatically operate. The quantitative putty powder after breaking the bag and dropping and weighing and the quantitative water conveyed by the water supply device 47 can be concentrated in the hopper 53, and are stirred by the stirring mechanism 54 and finally mixed into the finished putty paste with uniform texture, so that the finished putty paste meets the quality requirement of construction materials. In addition, through setting up row material elevating system 55, can drive rabbling mechanism 54 oscilaltion removal, make rabbling mechanism 54 can adapt to the stirring needs of the mixed thick liquids of different quantity, guarantee putty thick liquids and stir even and finished product quality.

With reference to fig. 4 and fig. 5, the finished product material conveying cart 50 further includes a delivery pump 56 disposed on the second cart body 51 and connected to the discharge port of the hopper 53, a discharge pipe 57 having one end connected to the delivery pump 56, and a discharge lifting mechanism 58 disposed on the second cart body 51 and connected to the discharge pipe 57, wherein the other end of the discharge pipe 57 is used for connecting to the material consumption equipment, and the discharge lifting mechanism 58 is further electrically connected to the second electrical control cabinet 52. Therefore, after the putty paste is mixed, the putty paste can be directly discharged into the conveying pump 56 from the discharge hole at the bottom of the hopper 53, then is pumped into the discharge pipe 57 by the conveying pump 56, and finally is sprayed out of the discharge pipe 57 and is sent into a charging barrel of the construction robot (namely, material equipment), so that continuous and reliable feeding of the construction robot is realized.

In particular, in order to accommodate cartridges having different heights, the discharge elevating mechanism 58 can drive the discharge pipe 57 to move up and down, so as to ensure that the discharge pipe 57 can be reliably docked with cartridges of different construction robots.

It should be noted that the discharging material lifting mechanism 55 and the discharging material lifting mechanism 58 may be any device or device that is mature in the prior art and can realize lifting movement, such as a scissor mechanism, a motor screw mechanism, a telescopic rod mechanism, and the like, and are not limited in particular.

In addition, the finished product material transfer cart 50 further includes an obstacle avoidance device disposed on the second cart body 51 and electrically connected to the second electrical control cabinet 52. Specifically, the obstacle avoidance device may be, but is not limited to, an obstacle avoidance laser radar; keep away barrier laser radar comprises laser emission unit, laser receiving element and information processing unit triplex, can survey, discernment, distinguish and trail the target, can avoid the finished product material transfer cart 50 to bump by self-adaptation obstacle detouring simultaneously.

In order to provide the finished product material transfer cart 50 with excellent maneuvering capability, a steering wheel, a second universal wheel and a power battery are respectively mounted at the bottom of the second cart body 51. The steering wheels and the second universal wheels are obliquely and symmetrically arranged, the steering wheels are driven by power batteries to realize the functions of moving and steering, and the second universal wheels can be matched with the steering wheels to move the finished product material transfer cart 50 from one place to another place in a construction site to provide support and flexibly steer.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.