CN203189034U - Split type jetting manipulator - Google Patents

Split type jetting manipulator Download PDF

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Publication number
CN203189034U
CN203189034U CN 201320216283 CN201320216283U CN203189034U CN 203189034 U CN203189034 U CN 203189034U CN 201320216283 CN201320216283 CN 201320216283 CN 201320216283 U CN201320216283 U CN 201320216283U CN 203189034 U CN203189034 U CN 203189034U
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CN
China
Prior art keywords
arm
water jet
spray arm
jet pump
split type
Prior art date
Application number
CN 201320216283
Other languages
Chinese (zh)
Inventor
刘飞香
程永亮
郑大桥
张海涛
刘金书
张廷寿
Original Assignee
中国铁建重工集团有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 中国铁建重工集团有限公司 filed Critical 中国铁建重工集团有限公司
Priority to CN 201320216283 priority Critical patent/CN203189034U/en
Application granted granted Critical
Publication of CN203189034U publication Critical patent/CN203189034U/en

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Abstract

The utility model provides a split type jetting manipulator which comprises a jetting arm and a jetting pump. The jetting arm and the jetting pump are connected through a detachable pipeline, and the jetting arm comprises a jetting arm walking mechanism, a rotary seat, an arm support assembly and a jetting arm carframe. The rotary seat is arranged at one end of the upper surface of the jetting arm carframe and is connected to a sprayer component through the arm support assembly which comprises a rotary platform, at least two connected mechanical arms and mechanical oil cylinders matched with the mechanical arms. The jetting pump comprises a jetting pump walking mechanism, a pumping mechanism, an additive system and a jetting pump carframe. After the jetting arm is separated from a concrete pump, the jetting arm can be independently arranged on an independent chassis, the split type jetting manipulator runs driven by an engine, the split type jetting manipulator is flexible and small in size, and can be flexibly placed in a proper place according to the on-site complex terrain.

Description

A kind of split type jet robot

Technical field

The utility model relates to concrete spraying technique field, especially, relates to a kind of split type jet robot.

Background technology

Because replace hand spray high viscosity concrete with jet robot, have that cost is relatively low, safety factor is higher, characteristics such as applied widely, environmental protection, be widely used in the construction of underground tunnel construction in Asia and European and American countries in recent years.Along with the construction of China Express Railway, the tunnel of excavation day by day increases, and the use of jet robot also more and more widely.

At present, the jet robot of domestic use mostly is monolithic, is about to manipulator and concrete pump and is installed on the same chassis of travelling, and this chassis can be wheeled or crawler type.Characteristics such as the jet robot of this mode has that travel speed is fast, spray regime is wide, automaticity is high, high safety, ejection efficiency height and environmental protection have been made outstanding contributions for the mechanization that realizes state's inner tunnel spray operation.But the integral type jet manipulator also has its limitation:

1, for the tunnel of benching tunnelling method construction, the integral type jet manipulator can't be ejected into concrete the position, rock stratum at place, step top, the top because being subjected to the restriction of track and mechanical arm height;

2, for the tunnel of minor diameter section, the integral type jet manipulator is because volume is excessive, can't enter the tunnel and can't construct.

Therefore, be badly in need of a kind of benching tunnelling method construction and little jet robot of volume of adapting at present on the market.

The utility model content

The utility model purpose is to provide a kind of split type jet robot, and existing jet robot adaptation to the ground scope is wideless to solve, the excessive technical problem of volume.

For achieving the above object, the utility model provides a kind of split type jet robot, comprise spray arm and water jet pump, connect by detachable pipeline between described spray arm and the described water jet pump, detachable pipeline is connected to the vehicle frame afterbody of described water jet pump from the vehicle frame afterbody of described spray arm by snap joint;

Described spray arm comprises spray arm walking mechanism, revolving bed, jib assembly and spray arm vehicle frame; Described spray arm walking mechanism is positioned at spray arm bottom of frame bottom; Described revolving bed is positioned at described spray arm vehicle frame upper surface one end, is connected to described nozzle component by described jib assembly;

Described jib assembly comprises panoramic table and at least two mechanical arms that link together that are connected with described revolving bed, and with the suitable mechanical arm oil cylinder of each described mechanical arm; At least one described mechanical arm is connected with described panoramic table;

Described water jet pump comprises water jet pump walking mechanism, pumping mechanism, additive system and water jet pump vehicle frame; Described water jet pump walking mechanism is positioned at water jet pump bottom of frame bottom; Described pumping mechanism and described additive system are positioned at water jet pump vehicle frame upper surface two ends.

Preferably, described jib assembly comprises four mechanical arms, is respectively by bearing pin and is hinged on the first arm on the panoramic table, is hinged on second arm on the first arm by bearing pin, is built in the 3rd arm of second arm, is built in the 4th arm of the 3rd arm.

Preferably, described additive system comprises additive delivery device and additive tube, and the additive tube is built in a frame, and described tube frame is connected on the water jet pump vehicle frame by the 3rd bolt; Described additive delivery device connects described additive tube and described pumping mechanism.

Preferably, also utilize spray arm vehicle frame otic placode to be connected with water jet pump vehicle frame otic placode between described spray arm and the described water jet pump.

Preferably, described spray arm walking mechanism is crawler type walking mechanism.

Preferably, described water jet pump walking mechanism is wheel type traveling mechanism.

Preferably, described revolving bed, comprise the one-level rotating disk and vertical rotating secondary rotating disk of horizontal rotation, the jib assembly is connected on the secondary rotating disk, and the one-level rotating disk is bolted on the spray arm vehicle frame by first.

Preferably, form an angle between described secondary rotating disk and the one-level rotating disk.

Preferably, described detachable pipeline is connected to described spray arm and described water jet pump by clip and snap joint.

Preferably, described spray arm also comprises nozzle component, and described nozzle component comprises jet nozzle and be installed in motor and shower nozzle on the jet nozzle that the bottom of described jet nozzle is connected with the front end of described mechanical arm.

The utlity model has following beneficial effect:

1, adaptation to the ground is wide: the application's spray arm is with after concrete pump separates, can be installed on separately on the separate chassis, walk by motor driven, not only increased the maneuverability of spray arm, and reduced machine volume, then can lay according to the suitable place of the motor-driven selection of the complex-terrain at scene; Particularly for the benching tunnelling method construction of big section, spray arm can directly move on the less small stair of area work plane is carried out operation, has remedied the deficiency of existing jet robot;

2, jib location accurately: a, the one-level rotating disk by comprising horizontal rotation and the revolving bed of vertical rotating secondary rotating disk are regulated principal arm, then regulate arm support position on a large scale; B, by a plurality of mechanical arms that bearing pin is articulated as one, a plurality of mechanical arms have oil cylinder respectively, but the relative position of flexible modulation jib length, angle and each mechanical arm; C, shower nozzle can by rotary actuator and rotary motor realize swinging up and down of shower nozzle and about revolution, more accurate location among a small circle; To sum up, the application by revolving bed regulate, the rotary oscillation of the folding retractable of jib assembly and nozzle component realizes the accurate location to spray site;

3, jib length height: the application's boom system adopts the folding mode of placing of more piece, under the prerequisite that machine volume reduces, still keeps higher jetting height, adapts to the large cross-section tunnel of most middle-size and small-size tunnels and benching tunnelling method construction.

Except purpose described above, feature and advantage, the utility model also has other purpose, feature and advantage.

With reference to figure, the utility model is described in further detail below.

Description of drawings

The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present utility model, and illustrative examples of the present utility model and explanation thereof are used for explaining the utility model, do not constitute improper restriction of the present utility model.In the accompanying drawings:

Fig. 1 is the overall structure schematic diagram of the utility model preferred embodiment;

Fig. 2 is the structural representation of the spray arm of the utility model preferred embodiment;

Fig. 3 is the structural representation of the water jet pump of the utility model preferred embodiment;

Wherein, 1, spray arm; 2, water jet pump; 3, detachable pipeline; 4, spray arm vehicle frame; 5, first bolt; 6, one-level rotating disk; 7, secondary rotating disk; 8, second bolt; 9, panoramic table; 10, an arm oil cylinder; 11, first bearing pin; 12, an arm; 13, second bearing pin; 14, two arm oil cylinders; 15, two arms; 16, three arm oil cylinders; 17, four arm oil cylinders; 18, spray arm car body; 19, three arms; 20, four arms; 21, jet nozzle; 22, rotary actuator; 23, shower nozzle; 24, rotary motor; 25, spray arm vehicle frame otic placode; 26, water jet pump vehicle frame otic placode; 27, additive tube; 28, tube frame; 29, the 3rd bolt; 30, water jet pump car body; 31, water jet pump vehicle frame; 32, water jet pump walking mechanism; 33, pumping mechanism.

The specific embodiment

Below in conjunction with accompanying drawing embodiment of the present utility model is elaborated, but the utility model can be implemented according to the multitude of different ways that claim limits and covers.

Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of split type jet robot comprises spray arm 1 and water jet pump 2, connects by detachable pipeline 3 between described spray arm 1 and the described water jet pump 2.

Described detachable pipeline 3 is connected to described spray arm 1 and described water jet pump 2, then quick release by clip and snap joint.By the connection of detachable pipeline 3, then the relative position between spray arm 1 and the water jet pump 2 is more flexible, not limited by landform.

Described spray arm 1 comprises spray arm walking mechanism, revolving bed, jib assembly and spray arm vehicle frame 4; Described spray arm walking mechanism is positioned at bottom, spray arm vehicle frame 4 bottom, is beneficial to mobile whole spray arm.Described revolving bed is positioned at described spray arm vehicle frame 4 upper surfaces one end, is connected to described nozzle component by described jib assembly.Then can pass through the operation revolving bed, thereby drive the position of the mobile shower nozzle of jib then.

Described jib assembly comprises panoramic table 9 and at least two mechanical arms that link together that are connected with described revolving bed, and with the suitable mechanical arm oil cylinder of each described mechanical arm, then each mechanical arm shift position flexibly.At least one described mechanical arm is connected with described panoramic table, drives whole mechanical arm with the movement according to panoramic table.The control system of panoramic table can be built in the spray arm car body 18.

Described spray arm 1 can also comprise nozzle component, described nozzle component comprises jet nozzle 21 and is installed in motor and shower nozzle 23 on the jet nozzle 21, the bottom of described jet nozzle 21 is connected with the front end of described mechanical arm, changes the position thereby can drive shower nozzle according to the movement of mechanical arm.Motor can comprise rotary actuator 22 and rotary motor 24, the rotation by rotary actuator 22 and rotary motor 24 can realize respectively swinging up and down of shower nozzle 23 and about revolution.

Described water jet pump 2 comprises water jet pump walking mechanism 32, pumping mechanism 33, additive system and water jet pump vehicle frame 31; Described water jet pump walking mechanism 32 is positioned at bottom, water jet pump vehicle frame 31 bottom; Described pumping mechanism 33 and described additive system are positioned at water jet pump vehicle frame 31 upper surface two ends.

Preferably, described jib assembly can comprise four mechanical arms, is respectively by bearing pin and is hinged on a arm 12 on the panoramic table, is hinged on two arms 15 on the arm 12 by bearing pin, is built in three arms 19 of two arms 15, is built in four arms 20 of three arms 19.

Can connect by second bearing pin 13 between one arm 12 and two arms 15, and realize the folding of certain angle by an arm oil cylinder 10 and two arm oil cylinders 14, three arms 19 realize necessarily stretching stroke by the three arm oil cylinders 16 that are built in two arms 15, similarly, four arms 20 realize necessarily stretching stroke by being built in three arms, 19 4 arm oil cylinders 17.

In addition, described additive system can comprise additive delivery device and additive tube 27, and additive tube 27 is built in a frame 28, and described tube frame 28 is connected on the water jet pump vehicle frame 31 by the 3rd bolt 29; Described additive delivery device can be built in the water jet pump car body 30, connects described additive tube 27 and described pumping mechanism 33.

Can also utilize spray arm vehicle frame otic placode 25 to be connected with water jet pump vehicle frame otic placode 26 between described spray arm 1 and the described water jet pump 2, thereby the water jet pump vehicle frame 31 that can utilize spray arm 1 to drag water jet pump 2 move ahead.

Described spray arm walking mechanism is crawler type walking mechanism, and good stability and climbing capacity are strong; Crawler type walking mechanism can comprise caterpillar chain and drive unit and guiding swelling device etc.The water jet pump walking mechanism is wheel type traveling mechanism, can advance under low-power drives.

Described revolving bed can comprise the one-level rotating disk 6 and vertical rotating secondary rotating disk 7 of horizontal rotation, by the horizontal rotation of one-level rotating disk 6 realization jib assemblies, realizes the vertical revolution of jib assemblies by secondary rotating disk 7.The jib assembly can be connected on the secondary rotating disk 7 by second bolt 8 and first bearing pin 11, and the folding retractable by the jib assembly and the rotary oscillation of nozzle component are realized the accurate location to spray site.One-level rotating disk 6 can be fixed on the spray arm vehicle frame 4 by first bolt 5.

Can form an angle between described secondary rotating disk 7 and the one-level rotating disk 6 and be connected, thus handled easily.

The course of work of the application's device can be referring to following description:

1, by bearing pin that spray arm vehicle frame otic placode 25 and water jet pump vehicle frame otic placode 26 is hinged, utilize spray arm 2 that water jet pump 3 is towed to the place of distance work plane certain distance and park;

2, park water jet pump 3 after, spray arm 2 continues to move to the optimum position of spraying because volume is little and self-powered, flexibility is stronger, for the benching tunnelling method construction, can directly spray arm 2 be travelled to step; Park spray arm 2 then, and connect the quick distachable pipeline 3 between spray arm 2 and the water jet pump 3;

3, treat that preparation is ready, begin to spray.Realize the horizontal rotation of jib assemblies by one-level rotating disk 6, realize the vertical revolution of jib assemblies by secondary rotating disk 7, the folding retractable by the jib assembly and the rotary oscillation of nozzle component are realized the accurate location to spray site.

The above is preferred embodiment of the present utility model only, is not limited to the utility model, and for a person skilled in the art, the utility model can have various changes and variation.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.

Claims (10)

1. split type jet robot, it is characterized in that, comprise spray arm and water jet pump, connect by detachable pipeline between described spray arm and the described water jet pump that detachable pipeline is connected to the vehicle frame afterbody of described water jet pump from the vehicle frame afterbody of described spray arm by snap joint;
Described spray arm comprises spray arm walking mechanism, revolving bed, jib assembly and spray arm vehicle frame; Described spray arm walking mechanism is positioned at spray arm bottom of frame bottom; Described revolving bed is positioned at described spray arm vehicle frame upper surface one end, is connected to described nozzle component by described jib assembly;
Described jib assembly comprises panoramic table and at least two mechanical arms that link together that are connected with described revolving bed, and with the suitable mechanical arm oil cylinder of each described mechanical arm; At least one described mechanical arm is connected with described panoramic table;
Described water jet pump comprises water jet pump walking mechanism, pumping mechanism, additive system and water jet pump vehicle frame; Described water jet pump walking mechanism is positioned at water jet pump bottom of frame bottom; Described pumping mechanism and described additive system are positioned at water jet pump vehicle frame upper surface two ends.
2. a kind of split type jet robot according to claim 1, it is characterized in that, described jib assembly comprises four mechanical arms, be respectively by bearing pin and be hinged on the first arm on the panoramic table, be hinged on second arm on the first arm by bearing pin, be built in the 3rd arm of second arm, be built in the 4th arm of the 3rd arm.
3. a kind of split type jet robot according to claim 1 is characterized in that, described additive system comprises additive delivery device and additive tube, and the additive tube is built in a frame, and described tube frame is connected on the water jet pump vehicle frame by the 3rd bolt; Described additive delivery device connects described additive tube and described pumping mechanism.
4. a kind of split type jet robot according to claim 1 is characterized in that, also utilizes spray arm vehicle frame otic placode to be connected with water jet pump vehicle frame otic placode between described spray arm and the described water jet pump.
5. a kind of split type jet robot according to claim 1 is characterized in that, described spray arm walking mechanism is crawler type walking mechanism.
6. a kind of split type jet robot according to claim 1 is characterized in that, described water jet pump walking mechanism is wheel type traveling mechanism.
7. a kind of split type jet robot according to claim 1, it is characterized in that, described revolving bed, comprise the one-level rotating disk and vertical rotating secondary rotating disk of horizontal rotation, the jib assembly is connected on the secondary rotating disk, and the one-level rotating disk is bolted on the spray arm vehicle frame by first.
8. a kind of split type jet robot according to claim 7 is characterized in that, forms an angle between described secondary rotating disk and the one-level rotating disk.
9. a kind of split type jet robot according to claim 1 is characterized in that, described detachable pipeline is connected to described spray arm and described water jet pump by clip and snap joint.
10. a kind of split type jet robot according to claim 1, it is characterized in that, described spray arm also comprises nozzle component, and described nozzle component comprises jet nozzle and be installed in motor and shower nozzle on the jet nozzle that the bottom of described jet nozzle is connected with the front end of described mechanical arm.
CN 201320216283 2013-04-25 2013-04-25 Split type jetting manipulator CN203189034U (en)

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Application Number Priority Date Filing Date Title
CN 201320216283 CN203189034U (en) 2013-04-25 2013-04-25 Split type jetting manipulator

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Application Number Priority Date Filing Date Title
CN 201320216283 CN203189034U (en) 2013-04-25 2013-04-25 Split type jetting manipulator

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103498686A (en) * 2013-10-16 2014-01-08 长沙科达建设机械制造有限公司 Concrete spraying mechanical arm
CN103742169A (en) * 2014-01-26 2014-04-23 中铁工程装备集团有限公司 Tracked wet spraying machine
CN103758537A (en) * 2014-01-26 2014-04-30 中铁工程装备集团有限公司 Boom system of wet spraying machine
CN103775103A (en) * 2014-02-26 2014-05-07 徐州徐工施维英机械有限公司 Grouting manipulator
CN109057410A (en) * 2018-08-28 2018-12-21 铜仁市人民医院 A kind of hyperbaric oxygen chamber manufacturing method
CN109779659A (en) * 2019-04-08 2019-05-21 中国铁建重工集团有限公司 Multi-arm shotcreting jumbo

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103498686A (en) * 2013-10-16 2014-01-08 长沙科达建设机械制造有限公司 Concrete spraying mechanical arm
CN103498686B (en) * 2013-10-16 2016-01-20 长沙科达建设机械制造有限公司 Magic hand for spraying concrete
CN103742169A (en) * 2014-01-26 2014-04-23 中铁工程装备集团有限公司 Tracked wet spraying machine
CN103758537A (en) * 2014-01-26 2014-04-30 中铁工程装备集团有限公司 Boom system of wet spraying machine
CN103775103A (en) * 2014-02-26 2014-05-07 徐州徐工施维英机械有限公司 Grouting manipulator
CN109057410A (en) * 2018-08-28 2018-12-21 铜仁市人民医院 A kind of hyperbaric oxygen chamber manufacturing method
CN109779659A (en) * 2019-04-08 2019-05-21 中国铁建重工集团有限公司 Multi-arm shotcreting jumbo

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GR01 Patent grant
CP03 Change of name, title or address
CP03 Change of name, title or address

Address after: 410100 No. 88 East 7 Line, Changsha Economic and Technological Development Zone, Hunan Province

Patentee after: China Railway Construction Heavy Industry Group Co., Ltd.

Address before: 410100 Changsha Province, the city of Hunan by the East Road, No. seven, No. 88

Patentee before: China Railway Construction Heavy Industry Co.,Ltd.