CN205349369U - Compound co -ordinate -type concrete sprayer tool hand - Google Patents
Compound co -ordinate -type concrete sprayer tool hand Download PDFInfo
- Publication number
- CN205349369U CN205349369U CN201620126488.7U CN201620126488U CN205349369U CN 205349369 U CN205349369 U CN 205349369U CN 201620126488 U CN201620126488 U CN 201620126488U CN 205349369 U CN205349369 U CN 205349369U
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- arm
- forearm
- degree
- magic hand
- spraying concrete
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Abstract
The utility model relates to a compound co -ordinate -type concrete sprayer tool hand, including the main arm, the rotation mechanism that forearm and level set up, a rotation mechanism's top fixedly connected with gyration horn seat, perpendicular the 2nd rotation mechanism who sets up of front end fixedly connected with of gyration horn seat, the 2nd rotation mechanism's front end fixedly connected with reversing frame, the lower extreme of main arm is articulated with the reversing frame, the upper end of main arm is articulated with cranking arm of a distolateral side of forearm setting, the other end tip of forearm rotates and is connected with the injector head, be equipped with first pneumatic cylinder between the upper end of main arm and the reversing frame, the lower extreme of main arm and crank arm between be equipped with the second pneumatic cylinder, fixedly connected with is used for controlling the hydraulic control box that whole mechanical arm operating used on the gyration horn seat. The utility model provides an execute and spout the big and abominable problem of operation environment of operation personnel intensity of labour, improved the security, reduced material consumption, the qualities of the construction are improved to reduce on -the -spot workman's quantity in a large number.
Description
Technical field
This utility model relates to engineering mechanical device field, especially relates to a kind of composite coordinate formula magic hand for spraying concrete.
Background technology
Gunite concrete is the cement polymer of high velocity spray injection under certain pressure gas effect.By the gases at high pressure at nozzle place by gunite concrete with significantly high speed be sprayed on by spray plane so as to compacting, solidification, form a sheath.At present, light section (6m2～50m2) gunite concrete is mostly based on artificial hand-held spout, dry spray.And be transformed by dry spraying machine at the wet-spraying machine used at present, still held spray gun by people and execute spray.And the concrete quality after moistening strengthens, counteracting force strengthens, and manpower cannot manipulate.The concrete stock column quality of air-flow conveying is uneven, causes that the fluctuation of accelerator addition ratio is big, and easily plugging.Execute spray quality, springback capacity and dust not take on a new look at all.Engineering can adopt large-scale wet shot unit construct, but easily by the restriction of construction space, be not suitable for constructing in middle narrow-bore tunnel.Excavating operation and the high gradient in WR and hydropower construction operation, high tunnel for benching tunnelling method, existing concrete shotcrete vehicle is unable to reach the jetting height needed for operation；Concrete spraying vehicle top jet can be met difficulty, and some dead angle even cannot be carried out injection, the technical problem that the boundary of works area that causes concrete spraying vehicle occur is limited.
Being applied to light-gauge wet shot mechanical hand in prior art is all adopt plane rectangular coordinates horn, and when gunite concrete, the flexible of forearm necessarily makes nozzle change along with the distance of stretch out and draw back of forearm with the angle and distance by spray plane and change.Desire keeps making nozzle vertical with by spray plane and keeping and sprayed attitude by spray plane at a distance of the ideal of 1.2m～1.8m, it is necessary to coordinate 4 actions such as nozzle oscillation, shower nozzle rotation, flexible, the forearm pitching of forearm simultaneously.This makes operation sequence more complicated, and the operation level requirement of manipulator is higher, is often combined with linked network at gunite concrete especially, and construction quality and rebound degree are still difficult to be guaranteed.
Summary of the invention
The purpose of this utility model is the composite coordinate formula magic hand for spraying concrete combined for light section, multi-step tunnel excavation construction a kind of plane rectangular coordinates of proposition and polar coordinate, improves construction quality, reduces the labor intensity of material consumption and workman.
In order to solve above-mentioned technical problem, this utility model provides a kind of composite coordinate formula magic hand for spraying concrete, including principal arm, forearm and horizontally disposed first slew gear, the fixed above of first slew gear is connected to turn-around machine arm seat, the front end of turn-around machine arm seat is fixedly connected with vertically disposed second slew gear, the front end of the second slew gear is fixedly connected with reversing frame, the lower end of principal arm is hinged with reversing frame, cranking arm that the upper end of principal arm and the side, one end of forearm are arranged is hinged, the other end end of forearm is rotatably connected to injector head, it is provided with the first hydraulic cylinder between upper end and the reversing frame of principal arm, the lower end of principal arm and be provided with the second hydraulic cylinder between cranking arm, described turn-around machine arm seat is fixedly connected with the hydraulic control box for controlling whole Robot actions.
Described forearm includes basic arm, telescopic arm, and described telescopic arm is socketed in basic arm, is provided with the 3rd hydraulic cylinder between basic arm and telescopic arm.
Telescopic arm protective cover it is arranged with outside described telescopic arm.
The stroke of described 3rd hydraulic cylinder is not more than 2 meters.
Telescopic foldable and the resistance to protective jacket tearing, being convenient for changing it is provided with between piston rod and the cylinder body of described first hydraulic cylinder.
Telescopic foldable and the resistance to protective jacket tearing, being convenient for changing it is provided with between piston rod and the cylinder body of described second hydraulic cylinder.
Described first slew gear angle of revolution on the horizontal level ranges for 0 degree～275 degree.
Described second slew gear angle of revolution on a vertical plane ranges for 0 degree～360 degree.
Described principal arm angle between principal arm and vertical direction when doing elevating movement is 0 degree～90 degree.
Described forearm relative to principal arm turn back motion time principal arm and forearm between angle be 0 degree～107 degree.
The beneficial effects of the utility model are, adopt magic hand for spraying concrete of the present invention when light section, multi-step tunnel excavation construction supporting operation, composite coordinate formula magic hand for spraying concrete combines the feature of both Cartesian coordinate type and polar coordinates type, in vertical 360 degree revolutions be greatly expanded spout with by spray plane can coverage area, and manipulator manipulates, and spout location is directly perceived, processing ease.Can keep when carrying out the adjustment of jetting height and position making nozzle vertical with by spray plane and keeping and sprayed attitude by spray plane at a distance of the ideal of 1.2m～1.8m, the track and the attitude that need by spray technology carry out operation, meet the needs of concrete spraying support operation in light section, multi-step tunnel excavation work progress, it is achieved the long-range control of concrete ejection operation；Solve to execute the problem that spray operating personnel's labor intensity is big and working environment is severe, improve safety, reduce material consumption；Improve construction quality, and substantially reduce the number the number of workers of on-the-spot operation simultaneously.
Accompanying drawing explanation
Fig. 1 is the front view of this utility model composite coordinate formula magic hand for spraying concrete；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural representation of this utility model composite coordinate formula magic hand for spraying concrete forearm.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and beneficial effect clearly, below in conjunction with accompanying drawing, this utility model embodiment is described in further detail.
As shown in Figure 1 and Figure 2, this utility model provides a kind of composite coordinate formula magic hand for spraying concrete, including horizontally disposed first slew gear 1, vertically disposed second slew gear 3, principal arm 5, forearm 6, wherein the first slew gear 1 and the second slew gear 3 are prior art, and its operation principle is identical with the operation principle of the slew gear on loop wheel machine.As shown in Figure 3, described forearm 6 includes basic arm 61, telescopic arm 62, described telescopic arm 62 is socketed in basic arm 61, the 3rd hydraulic cylinder 63 it is provided with between basic arm 61 and telescopic arm 62, in this embodiment, the stroke of the 3rd hydraulic cylinder 63 is not more than 2 meters, and telescopic arm 62 moves reciprocatingly under the driving of the 3rd hydraulic cylinder 63.The side of basic arm 61 is fixedly connected with cranks arm 7, telescopic arm protective cover 64 it is arranged with outside telescopic arm 62, can effectively prevent from being subject to the concrete slurry that spraying rebounds metope gets off to pollute telescopic arm 62 in the process of construction, thus affecting the normal use of telescopic arm 62.
The fixed above of first slew gear 1 is connected to turn-around machine arm seat 2, the front end of turn-around machine arm seat 2 is fixedly connected with vertically disposed second slew gear 3, the front end of the second slew gear 3 is fixedly connected with reversing frame 4, the lower end of principal arm 5 is hinged with reversing frame 4, it is 7 hinged that what the upper end of principal arm 5 and the right-hand member side of forearm 6 were arranged crank arm, the left end end of forearm 6 is rotatably connected to injector head 10, injector head 10 is prior art, injector head 10 has three degree of freedom on forearm 6, ensure that injector head 10 flexible rotating on forearm 6, ensure that the injection without dead angle of jet face.In use procedure, injector head 10 is quickly connected with the concrete delivery pipe of wet shot unit, blowpipe and accelerator conveying pipe respectively, it is possible to realize coordinating with the efficient of wet shot unit.
As shown in Figure 1 and Figure 2, it is provided with the first hydraulic cylinder 8 between upper end and the reversing frame 4 of principal arm 5, the lower end of principal arm 5 and crank arm and be provided with the second hydraulic cylinder 9 between 7, described turn-around machine arm seat 2 is fixedly connected with the hydraulic control box 11 for controlling whole Robot actions, between piston rod and the cylinder body of described first hydraulic cylinder 8, is provided with the telescopic foldable and resistance to protective jacket tearing, being convenient for changing；Telescopic foldable and the resistance to protective jacket tearing, being convenient for changing it is provided with between piston rod and the cylinder body of described second hydraulic cylinder 9.
When principal arm 5 does elevating movement under the driving of the first hydraulic cylinder 8, the angle between principal arm 5 and vertical direction is 0 degree～90 degree；Forearm 6 under the driving of the second hydraulic cylinder 9 relative to principal arm 5 turn back motion time, the angle between principal arm 5 and forearm 6 is 0 degree～107 degree.
During use, first slew gear 1 of whole jet robot is arranged on moveable chassis, it can be creeper undercarriage that line mode is walked on chassis, or the walking mechanism of the supporting track drive combination of swing arm universal wheel, it is possible to select wheel type traveling mechanism according to the situation of job site.First slew gear 1 is under the driving of hydraulic motor and reductor, it is possible to achieve the gyration within the scope of the first slew gear 10 degree on the horizontal level～275 degree；Second slew gear 3 is under the driving of hydraulic motor and reductor, it is possible to achieve the gyration within the scope of the second slew gear 30 degree on a vertical plane～360 degree；
The hydraulic control system of above-mentioned all of driving mechanism controls by the hydraulic control box 11 being arranged on turn-around machine arm seat 2, and the hydraulic control system in the present embodiment is load-sensitive open system, and two or more driving mechanism can be driven to work simultaneously.Load-sensitive open system is made up of load sensing multi-way valve and load-reacting pump, and wherein load sensing multi-way valve can by wirelessly or non-wirelessly remote control；When there being requirement of explosion proof, it is also possible to Hydraulic guide control.
Of the present utility model ultimate principle, principal character and of the present utility model advantage have more than been shown and described.Skilled person will appreciate that of the industry; this utility model is not restricted to the described embodiments; described in above-described embodiment and description is that principle of the present utility model is described; under the premise without departing from this utility model spirit and scope, this utility model also has various changes and modifications, and these changes and improvements both fall within the scope of claimed utility model.This utility model claims scope and is defined by appending claims and equivalent.
Claims (10)
1. a composite coordinate formula magic hand for spraying concrete, it is characterized in that: include principal arm, forearm and horizontally disposed first slew gear, the fixed above of first slew gear is connected to turn-around machine arm seat, the front end of turn-around machine arm seat is fixedly connected with vertically disposed second slew gear, the front end of the second slew gear is fixedly connected with reversing frame, the lower end of principal arm is hinged with reversing frame, cranking arm that the upper end of principal arm and the side, one end of forearm are arranged is hinged, the other end end of forearm is rotatably connected to injector head, it is provided with the first hydraulic cylinder between upper end and the reversing frame of principal arm, the lower end of principal arm and be provided with the second hydraulic cylinder between cranking arm, described turn-around machine arm seat is fixedly connected with the hydraulic control box for controlling whole Robot actions.
2. composite coordinate formula magic hand for spraying concrete according to claim 1, it is characterised in that: described forearm includes basic arm, telescopic arm, and described telescopic arm is socketed in basic arm, is provided with the 3rd hydraulic cylinder between basic arm and telescopic arm.
3. composite coordinate formula magic hand for spraying concrete according to claim 2, it is characterised in that: it is arranged with telescopic arm protective cover outside described telescopic arm.
4. composite coordinate formula magic hand for spraying concrete according to any one in Claims 2 or 3, it is characterised in that: the stroke of described 3rd hydraulic cylinder is not more than 2 meters.
5. composite coordinate formula magic hand for spraying concrete according to claim 1, it is characterised in that: it is provided with telescopic foldable the and resistance to protective jacket tearing, being convenient for changing between piston rod and the cylinder body of described first hydraulic cylinder.
6. composite coordinate formula magic hand for spraying concrete according to claim 1, it is characterised in that: it is provided with telescopic foldable the and resistance to protective jacket tearing, being convenient for changing between piston rod and the cylinder body of described second hydraulic cylinder.
7. composite coordinate formula magic hand for spraying concrete according to claim 1, it is characterised in that: described first slew gear angle of revolution on the horizontal level ranges for 0 degree～275 degree.
8. composite coordinate formula magic hand for spraying concrete according to claim 1, it is characterised in that: described second slew gear angle of revolution on a vertical plane ranges for 0 degree～360 degree.
9. composite coordinate formula magic hand for spraying concrete according to claim 1, it is characterised in that: described principal arm angle between principal arm and vertical direction when doing elevating movement is 0 degree～90 degree.
10. composite coordinate formula magic hand for spraying concrete according to claim 1, it is characterised in that: described forearm is 0 degree～107 degree relative to principal arm angle between principal arm and forearm when turning back motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620126488.7U CN205349369U (en) | 2016-02-18 | 2016-02-18 | Compound co -ordinate -type concrete sprayer tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620126488.7U CN205349369U (en) | 2016-02-18 | 2016-02-18 | Compound co -ordinate -type concrete sprayer tool hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205349369U true CN205349369U (en) | 2016-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620126488.7U Expired - Fee Related CN205349369U (en) | 2016-02-18 | 2016-02-18 | Compound co -ordinate -type concrete sprayer tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205349369U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112968A (en) * | 2016-07-12 | 2016-11-16 | 邢永安 | A kind of logistics robot palletizer |
| CN107989633A (en) * | 2017-12-27 | 2018-05-04 | 湖南鹏翔星通汽车有限公司 | A kind of arm support, wet-spraying machine and wet shot system |
| CN108756938A (en) * | 2018-04-24 | 2018-11-06 | 庄玉琼 | A kind of construction of underground tunnel equipment |
| CN112228692A (en) * | 2020-09-18 | 2021-01-15 | 南京安透可智能系统有限公司 | Intelligent pipeline plugging robot system |
| WO2021169605A1 (en) * | 2020-02-28 | 2021-09-02 | 山东精砼工程机械股份有限公司 | Concrete mixer truck material addition robotic hand |
-
2016
- 2016-02-18 CN CN201620126488.7U patent/CN205349369U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112968A (en) * | 2016-07-12 | 2016-11-16 | 邢永安 | A kind of logistics robot palletizer |
| CN106112968B (en) * | 2016-07-12 | 2018-03-02 | 北京诚联信科技有限责任公司 | A kind of logistics robot palletizer |
| CN107989633A (en) * | 2017-12-27 | 2018-05-04 | 湖南鹏翔星通汽车有限公司 | A kind of arm support, wet-spraying machine and wet shot system |
| CN108756938A (en) * | 2018-04-24 | 2018-11-06 | 庄玉琼 | A kind of construction of underground tunnel equipment |
| WO2021169605A1 (en) * | 2020-02-28 | 2021-09-02 | 山东精砼工程机械股份有限公司 | Concrete mixer truck material addition robotic hand |
| CN112228692A (en) * | 2020-09-18 | 2021-01-15 | 南京安透可智能系统有限公司 | Intelligent pipeline plugging robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20190218 |