CN104533457A - Concrete shotcreting robot - Google Patents
Concrete shotcreting robot Download PDFInfo
- Publication number
- CN104533457A CN104533457A CN201410780394.7A CN201410780394A CN104533457A CN 104533457 A CN104533457 A CN 104533457A CN 201410780394 A CN201410780394 A CN 201410780394A CN 104533457 A CN104533457 A CN 104533457A
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- China
- Prior art keywords
- arm
- conveying cylinder
- rapid hardening
- concrete
- support chassis
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention relates to a new-type concrete shotcreting robot which is provided with a supporting chassis, the rear side of the upper part of the supporting chassis is provided with a supporting seat, the upper part of the supporting seat is fixedly connected with a supporting arm, the upper end of the supporting arm is provided with a dovetail groove in which a dovetail-shaped Z-direction guide rail arm is arranged in a matching manner, the upper part of the Z-direction guide rail arm is connected with a Y-direction lifting arm capable of going up and down, and the lower part of a disk-like fixing arm is fixedly connected with an X-direction guide rail arm; the upper part of the supporting chassis is provided with a rotational driving device, a rotating shaft is positioned in a conveying cylinder and connected with the rotational driving device; the outlet end of the conveying cylinder is connected with a concrete spraying gun via a shotcreting pipe, and a side of the spraying gun is fixedly connected below the X-direction guide rail arm. The shotcreting robot has a compact structure, is stable and safe when running, simple, convenient and reliable to operate, and low in maintenance costs, can freely move in three coordinate directions of x, y and x, and has high shotcreting efficiency, thereby being suitable for promotion and application in the construction industry.
Description
Technical field
The present invention relates to a kind of concrete Shotcrete Robot, belong to whitewashing field of mechanical technique.
Background technology
Whitewashing is exactly sprayed mortar.Gunite is the supporting method extensively adopted in modern construction construction.Shotcrete Robot can be used in the engineering of all needs whitewashing.Railway, highway tunnel, mine working, the tunnel of water conservancy and water power and culvert, subway and various underground (military, civilian) building etc., all generally adopt gunite now.Compared with traditional timber, girder steel supporting method, gunite not only saves a large amount of timber and steel, and has the advantages such as speed of application is fast, supporting effect is good.Concrete sprayer utilizes compressed air by concrete along pipeline continus convergence, and be ejected into the machinery that working face gets on.Divide dry spraying machine and wet spraying machine two class, the former is by the dry mix of Geldart-D particle, sprays after mixing at nozzle place with press water; The latter is sprayed through nozzle by strength or concrete pump delivering concrete mixture.Be widely used in the lining construction of underground construction, well tunnel, culvert etc.
In whitewashing process, spray gun is generally 0.8-1.0m with the distance by spray plane, crosses nearly easily resilience; Cross the aggregate that easily occurs far away to drop, not only waste material, and concrete structure density differs, the quality of spray-up can not be ensured, so how accurately to control spray gun and the optimum distance by spray plane, and freely adjust easily, become existing pulp shooting machine urgent problem.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of New Concrete Shotcrete Robot, this Shotcrete Robot compact conformation, stability and safety during running, reliably easy and simple to handle, maintenance cost is cheap, and whitewashing efficiency is high.
The technical solution adopted for the present invention to solve the technical problems is: this concrete Shotcrete Robot comprises Y-direction lifting arm, transverse arm, plate-like fixed arm, X direction guiding rail arm, stirs hopper, ejecting gun, rotating driving device, conveying cylinder, stirring vane, axis of rotation, shotcrete pipe, supporting seat, support arm, Z-direction rail arms, amplitude oil cylinder, support chassis, rapid hardening liquid pump, rapid hardening liquid woven hose and pressure mixing valve, this concrete Shotcrete Robot is provided with a support chassis, support chassis is provided with supporting seat on rear side of top, the top of supporting seat is fixedly connected with support arm, the upper end of support arm has dovetail groove, coupling is provided with swallow-tailed Z-direction rail arms in dovetail groove, and the top of Z-direction rail arms is connected with can the Y-direction lifting arm of oscilaltion, and the side transverse bending of Y-direction lifting arm forms transverse arm, transverse arm is provided with plate-like fixed arm, and the bottom of plate-like fixed arm is fixedly connected X direction guiding rail arm, the top of described support chassis is provided with by pump, the rotating driving device of motor and speed reducer composition, axis of rotation is positioned at conveying cylinder and is connected with rotating driving device, axis of rotation is provided with spiral helicine stirring vane, the top of conveying cylinder is connected to the bottom of stirring hopper, one end of amplitude oil cylinder is connected with the bottom of conveying cylinder, the other end is hinged and connected in support chassis, the port of export of conveying cylinder is connected with concrete ejection rifle by shotcrete pipe, the side of ejecting gun is fixedly connected on below X direction guiding rail arm, the side of shotcrete pipe is provided with a rapid hardening hydraulic coupling mixing valve, import on pressure mixing valve connects rapid hardening liquid woven hose and connects rapid hardening liquid delivery side of pump, how rapid hardening liquid pump is for corroding pump, its underpart is fixed in support chassis, the bottom of support chassis is provided with transportable wheel.
Shotcrete Robot when using this, by amplitude oil cylinder, conveying cylinder is elevated to the height being applicable to whitewashing, and by X direction guiding rail arm, Y-direction lifting arm and Z-direction rail arms, ejecting gun is adjusted to suitable whitewashing position, open rotating driving device, and then driven rotary axle rotates, the concrete stirred in hopper to be sucked in conveying cylinder and by the squeezing action of the stirring vane on axis of rotation by concrete transport to shotcrete pipe, the liquid of rapid hardening simultaneously also can together be injected in by shotcrete pipe and concrete the region needing to whitewash, and plays good reinforcement effect.
The invention has the beneficial effects as follows, this Shotcrete Robot compact conformation, stability and safety during running, reliably easy and simple to handle, maintenance cost is cheap, and can in x, y, x tri-coordinate direction arbitrarily movements, and whitewashing efficiency is high, is adapted at building trade and promotes the use of.
Accompanying drawing explanation
Fig. 1 is structural principle schematic diagram of the present invention.
In figure, 1.Y to lifting arm, 2. transverse arm, 3. plate-like fixed arm, 4.X direction guiding rail arm, 5. stirs hopper, 6. ejecting gun, 7. rotating driving device, 8. carry cylinder, 9. stirring vane, 10. axis of rotation, 11. shotcrete pipes, 12. supporting seats, 13. support arms, 14.Z direction guiding rail arm, 15. amplitude oil cylinder, 16. support chassis, 17. rapid hardening liquid pumps, 18. rapid hardening liquid woven hoses, 19. pressure mixing valves.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
In FIG, this concrete Shotcrete Robot comprises Y-direction lifting arm 1, transverse arm 2, plate-like fixed arm 3, X direction guiding rail arm 4, stirs hopper 5, ejecting gun 6, rotating driving device 7, conveying cylinder 8, stirring vane 9, axis of rotation 10, shotcrete pipe 11, supporting seat 12, support arm 13, Z-direction rail arms 14, amplitude oil cylinder 15, support chassis 16, rapid hardening liquid pump 17, rapid hardening liquid woven hose 18 and pressure mixing valve 19, this concrete Shotcrete Robot is provided with a support chassis 16, support chassis 16 is provided with supporting seat 12 on rear side of top, the top of supporting seat 12 is fixedly connected with support arm 13, the upper end of support arm 13 has dovetail groove, in dovetail groove, coupling is provided with swallow-tailed Z-direction rail arms 14, the top of Z-direction rail arms 14 is connected with can the Y-direction lifting arm 1 of oscilaltion, the side transverse bending of Y-direction lifting arm 1 forms transverse arm 2, transverse arm 2 is provided with plate-like fixed arm 3, and the bottom of plate-like fixed arm 3 is fixedly connected X direction guiding rail arm 4, the top of described support chassis 16 is provided with by pump, the rotating driving device 7 of motor and speed reducer composition, axis of rotation 10 is positioned at conveying cylinder 8 and is connected with rotating driving device 7, axis of rotation 10 is provided with spiral helicine stirring vane 9, the top of conveying cylinder 8 is connected to the bottom of stirring hopper 5, one end of amplitude oil cylinder 15 is connected with the bottom of conveying cylinder 8, the other end is hinged and connected in support chassis 16, the port of export of conveying cylinder 8 is connected with concrete ejection rifle 6 by shotcrete pipe 11, the side of ejecting gun 6 is fixedly connected on below X direction guiding rail arm 4, the side of shotcrete pipe 11 is provided with a rapid hardening hydraulic coupling mixing valve 19, import on pressure mixing valve 19 connects rapid hardening liquid woven hose 18 and connects the outlet of rapid hardening liquid pump 17, how rapid hardening liquid pump 17 is for corroding pump, its underpart is fixed in support chassis 16, the bottom of support chassis 16 is provided with transportable wheel.
This Shotcrete Robot during use, by amplitude oil cylinder 15, conveying cylinder 8 is elevated to the height being applicable to whitewashing, and by X direction guiding rail arm 4, ejecting gun 6 is adjusted to suitable whitewashing position by Y-direction lifting arm 1 and Z-direction rail arms 14, open rotating driving device 7, and then driven rotary axle 10 rotates, the concrete stirred in hopper 5 to be sucked in conveying cylinder 8 and by the squeezing action of the stirring vane 9 on axis of rotation 10 by concrete transport to shotcrete pipe 11, the liquid of rapid hardening simultaneously also can together be injected in by shotcrete pipe 11 and concrete the region needing to whitewash, play good reinforcement effect.
Claims (3)
1. a New Concrete Shotcrete Robot, this concrete Shotcrete Robot comprises Y-direction lifting arm (1), transverse arm (2), plate-like fixed arm (3), X direction guiding rail arm (4), stir hopper (5), ejecting gun (6), rotating driving device (7), conveying cylinder (8), stirring vane (9), axis of rotation (10), shotcrete pipe (11), supporting seat (12), support arm (13), Z-direction rail arms (14), amplitude oil cylinder (15), support chassis (16), rapid hardening liquid pump (17), rapid hardening liquid woven hose (18) and pressure mixing valve (19), it is characterized in that, this concrete Shotcrete Robot is provided with a support chassis (16), supporting seat (12) is provided with on rear side of support chassis (16) top, the top of supporting seat (12) is fixedly connected with support arm (13), the upper end of support arm (13) has dovetail groove, in dovetail groove, coupling is provided with swallow-tailed Z-direction rail arms (14), the top of Z-direction rail arms (14) is connected with can the Y-direction lifting arm (1) of oscilaltion, the side transverse bending of Y-direction lifting arm (1) forms transverse arm (2), transverse arm (2) is provided with plate-like fixed arm (3), and the bottom of plate-like fixed arm (3) is fixedly connected X direction guiding rail arm (4).
2. a kind of New Concrete Shotcrete Robot according to claim 1, it is characterized in that, the top of described support chassis (16) is provided with by pump, the rotating driving device (7) of motor and speed reducer composition, axis of rotation (10) is positioned at conveying cylinder (8) and is connected with rotating driving device (7), axis of rotation (10) is provided with spiral helicine stirring vane (9), the top of conveying cylinder (8) is connected to the bottom of stirring hopper (5), one end of amplitude oil cylinder (15) is connected with the bottom of conveying cylinder (8), the other end is hinged and connected in support chassis (16), the port of export of conveying cylinder (8) is connected with concrete ejection rifle (6) by shotcrete pipe (11), the side of ejecting gun (6) is fixedly connected on X direction guiding rail arm (4) below.
3. a kind of New Concrete Shotcrete Robot according to claim 1, it is characterized in that, the side of described shotcrete pipe (11) is provided with a rapid hardening hydraulic coupling mixing valve (19), import on pressure mixing valve (19) connects rapid hardening liquid woven hose (18) and connects the outlet of rapid hardening liquid pump (17), how rapid hardening liquid pump (17) is for corroding pump, its underpart is fixed in support chassis (16), and the bottom of support chassis (16) is provided with transportable wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410780394.7A CN104533457A (en) | 2014-12-17 | 2014-12-17 | Concrete shotcreting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410780394.7A CN104533457A (en) | 2014-12-17 | 2014-12-17 | Concrete shotcreting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104533457A true CN104533457A (en) | 2015-04-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410780394.7A Pending CN104533457A (en) | 2014-12-17 | 2014-12-17 | Concrete shotcreting robot |
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| CN (1) | CN104533457A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107237641A (en) * | 2017-08-07 | 2017-10-10 | 水利部交通运输部国家能源局南京水利科学研究院 | The intelligent sprayed construction method and device of single shell lining based on monitoring feedback technique |
| CN108979673A (en) * | 2018-09-27 | 2018-12-11 | 中铁工程装备集团有限公司 | A kind of preliminary supporting 3D printing device in tunnel, material and its method |
| CN109358500A (en) * | 2018-09-27 | 2019-02-19 | 长沙科达智能装备股份有限公司 | A kind of tunnel intelligent concrete spraying machine people's control method |
| CN111287768A (en) * | 2020-02-11 | 2020-06-16 | 夏玉军 | Construction structure for grouting and repairing tunnel crack and construction method thereof |
| CN111794054A (en) * | 2020-07-14 | 2020-10-20 | 嘉兴新博信息科技有限公司 | A slip casting equipment for town road construction |
| CN112065450A (en) * | 2020-09-14 | 2020-12-11 | 蔡宇斌 | Auxiliary device of concrete sprayer and using method thereof |
-
2014
- 2014-12-17 CN CN201410780394.7A patent/CN104533457A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107237641A (en) * | 2017-08-07 | 2017-10-10 | 水利部交通运输部国家能源局南京水利科学研究院 | The intelligent sprayed construction method and device of single shell lining based on monitoring feedback technique |
| CN108979673A (en) * | 2018-09-27 | 2018-12-11 | 中铁工程装备集团有限公司 | A kind of preliminary supporting 3D printing device in tunnel, material and its method |
| CN109358500A (en) * | 2018-09-27 | 2019-02-19 | 长沙科达智能装备股份有限公司 | A kind of tunnel intelligent concrete spraying machine people's control method |
| CN111287768A (en) * | 2020-02-11 | 2020-06-16 | 夏玉军 | Construction structure for grouting and repairing tunnel crack and construction method thereof |
| CN111794054A (en) * | 2020-07-14 | 2020-10-20 | 嘉兴新博信息科技有限公司 | A slip casting equipment for town road construction |
| CN112065450A (en) * | 2020-09-14 | 2020-12-11 | 蔡宇斌 | Auxiliary device of concrete sprayer and using method thereof |
| CN112065450B (en) * | 2020-09-14 | 2022-08-09 | 湖南三耳重工科技发展有限公司 | Auxiliary device of concrete sprayer and using method thereof |
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Legal Events
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150422 |
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| WD01 | Invention patent application deemed withdrawn after publication |