CN210791444U - Automatic spraying maintenance robot for large-scale long beam or column-shaped structure PC component - Google Patents
Automatic spraying maintenance robot for large-scale long beam or column-shaped structure PC component Download PDFInfo
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- CN210791444U CN210791444U CN201921420672.2U CN201921420672U CN210791444U CN 210791444 U CN210791444 U CN 210791444U CN 201921420672 U CN201921420672 U CN 201921420672U CN 210791444 U CN210791444 U CN 210791444U
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Abstract
The utility model discloses an automatic spraying maintenance robot aiming at a large-scale long beam or a column-shaped structure PC component, which comprises a vehicle body, and a walking device, a spraying device and an electric control device which are arranged on the vehicle body; the traveling device comprises wheels, a wheel driving part and a wheel steering structure; the spraying device comprises a water tank, a spraying mechanical arm and a nozzle, the spraying mechanical arm comprises a basic folding arm and at least one section of telescopic arm, the basic folding arm is hinged to be installed on the base, a turnover control part is arranged between the basic folding arm and the vehicle body or the base, the telescopic arm is installed on the basic folding arm in a sliding fit mode through a telescopic sliding control part, and the nozzle is installed at the end part of the tail section of the telescopic arm and is arranged in a spraying mode along the left-right direction. The utility model discloses structural design is slim and graceful, the space occupies for a short time, can realize having higher flexibility, specially adapted large-scale long beam or cylindricality structure PC component production line under the prerequisite that the maintenance was sprayed to large-scale long beam or cylindricality structure PC component mould in the realization.
Description
Technical Field
The utility model relates to a spray maintenance robot specifically is a robot that is applicable to large-scale long beam or cylindricality structure PC component such as prefabricated bridge cushion cap component and prefabricated foundation pile component, the precast beam component to large-scale building and prefabricated post component to the bridge and sprays the maintenance, belongs to construction machinery and equips technical field.
Background
PC (precast concrete), a concrete precast member, is called a PC member for short, and is widely used in the fields of construction, traffic, water conservancy and the like. For the PC components with relatively small size, such as the prefabricated floor slab, the preset wallboard and the like, the maintenance is usually carried out through a maintenance kiln in the manufacturing process, and for the PC components with large long beams or column structures, such as the prefabricated bridge bearing platform component and the prefabricated foundation pile component of the bridge, the prefabricated beam component and the prefabricated column component of the large building and the like, the PC component is usually maintained in a field spraying mode because the length size and the height size of the PC component are relatively large.
The existing spray curing method for the large-scale long beam or column-shaped structure PC component mainly comprises two methods of manual watering curing and automatic curing of a spray system. For manual maintenance, the uncertainty of maintenance quality is large due to the influence of quality awareness and working attitude of an operator. And precast beam's spraying maintenance system is mostly with laying fixed spray piping and giving first place to, sprays the maintenance to the PC component through a plurality of nozzles of installing on spray piping promptly, though has certain mechanization degree, its flexibility is relatively poor, maintenance is inconvenient, and large-scale pipe laying wastes time and energy at the installation initial stage, consumes the cost higher, in addition, there is the uneven not comprehensive defect of water waste that the maintenance is not comprehensive, the mode that adopts spray piping to spray the maintenance.
Disclosure of Invention
To the above problem, the utility model provides an automatic spray maintenance robot to large-scale long beam or cylindricality structure PC component, structural design is slim and graceful, the space occupies for a short time, can realize having higher flexibility, specially adapted large-scale long beam or cylindricality structure PC component production line under the prerequisite of maintenance is sprayed to large-scale long beam or cylindricality structure PC component mould in the realization.
In order to achieve the aim, the automatic spraying maintenance robot for the large-scale long beam or column-shaped structure PC component comprises a vehicle body, and a walking device, a spraying device and an electric control device which are arranged on the vehicle body;
the running gear is arranged at the bottom of the vehicle body and comprises wheels, a wheel driving part and a wheel steering structure;
the spraying device comprises a water tank, a spraying mechanical arm and a nozzle; the water tank is fixedly arranged on the vehicle body, and a submersible pump is arranged in the water tank; the spraying mechanical arm is arranged on the vehicle body through a base, the spraying mechanical arm comprises a basic folding arm and at least one section of telescopic arm, the basic folding arm is hinged on the base, a turnover control part is arranged between the basic folding arm and the vehicle body or the base, and the telescopic arm is arranged on the basic folding arm in a sliding fit mode through a telescopic sliding control part; the nozzle is arranged at the end part of the tail section of the telescopic arm and is arranged in a spraying manner along the left-right direction, and the nozzle is connected with the pump-out end of a submersible pump in the water tank through a hose;
the electric control device comprises a controller, a vehicle body movement control loop and a spraying control loop, wherein the controller is respectively electrically connected with a turnover control part, a telescopic sliding control part, a submersible pump in the water tank and a wheel driving part of the traveling gear.
As the utility model discloses a further improvement scheme, the swing of the folding arm fore-and-aft direction of basis sets up, and the nozzle sets up to two at least in pairs, and two nozzles are set up back to back.
As an embodiment of the traveling device of the present invention, the wheel is a universal pair roller structure, the wheel includes at least four rollers, each roller is provided with a roller drive, the roller-shaped outer surface of the roller is provided with a plurality of spiral protrusions spirally formed along the roller-shaped outer surface, and the spiral protrusions are uniformly distributed along the rotation center of the roller, the spiral protrusions rub against the ground during the rotation of the roller to provide a component force inclined to the moving direction of the roller, thereby achieving steering, each two rollers are concentrically arranged and are respectively arranged in bilateral symmetry with respect to the vehicle body to form a front roller set and a rear roller set, and the front roller set and the rear roller set are symmetrically arranged in front and back with respect to the vehicle body; the four roller drives are respectively electrically connected with a controller of the electric control device.
As the utility model discloses a further improvement scheme still is equipped with the on-vehicle hydraulic power unit who has the valve unit on the automobile body, and wheel drive part is the hydraulic motor structure, turns over a control part and all is the pneumatic cylinder structure with flexible sliding control part, and wheel drive part, a control part and flexible sliding control part are connected with on-vehicle hydraulic power unit's valve unit through hydraulic line respectively, and the valve unit is connected with electrically controlled device's controller electricity.
As a further improvement of the utility model, a distance sensor is arranged on the vehicle body and is electrically connected with the controller of the electric control device.
As a further improvement of the utility model, an electronic flow control valve is arranged on the nozzle and is electrically connected with a controller of the electric control device.
As the utility model discloses a further improvement scheme is equipped with the electron level gauge in the water tank, and the electron level gauge is connected with electrically controlled device's controller electricity, and electrically controlled device still includes automatic water supply control circuit.
Compared with the prior art, the automatic spraying maintenance robot for the large-scale long beam or column-shaped structure PC component adopts a self-walking mode and a spraying mechanical arm to carry out spraying maintenance operation, when in use, the vehicle body can be arranged between large-scale long beams or column-shaped structural PC components which are arranged in parallel and need spray maintenance, the vehicle body can realize the spray maintenance operation on the PC components at the left side and the right side simultaneously in the moving process, after the vehicle body moves to the front end of the PC component and the spray maintenance of the side is finished, the controller can control the car body to turn to and move to the front end of another side of PC component according to built-in walking route and carry out the maintenance of spraying of returning journey, realizes quick continuous spraying maintenance operation, and structural design is light, and the space occupies for a short time, can realize having higher flexibility under the prerequisite that realizes spraying the maintenance to large-scale long beam or column structure PC component mould, and the specially adapted is large-scale long beam or column structure PC component production line.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of the utility model in a folded and stored state;
fig. 2 is a schematic three-dimensional structure in the expanded state of the present invention;
fig. 3 is a front view of the present invention in the expanded state;
fig. 4 is a schematic structural view of the walking device of the present invention adopting a universal pair of rollers.
In the figure: 1. the spraying device comprises a vehicle body, 2, a walking device, 3, a spraying device, 31, a water tank, 32, a spraying mechanical arm, 321, a basic folding arm, 322, a telescopic arm, 323, a turnover control part, 324, a telescopic sliding control part, 33 and a nozzle.
Detailed Description
The present invention will be further explained with reference to the drawings (hereinafter, the length direction of the large long beam or column-shaped PC member will be described as front and rear).
As shown in fig. 1 to 3, the automatic spray maintenance robot for large long beam or column structure PC component comprises a vehicle body 1, a traveling device 2 arranged on the vehicle body 1, a spray device 3 and an electric control device.
The walking device 2 is arranged at the bottom of the vehicle body 1 and comprises wheels, a wheel driving part and a wheel steering structure; the wheel driving part can directly adopt an electric driving motor structure or a hydraulic control hydraulic motor structure, and the rotation of the wheels can be controlled by controlling the action of the wheel driving part, so that the integral forward movement or backward movement of the vehicle body 1 is realized; the wheel steering structure can adopt a traditional structure for steering through a steering axle, and can also adopt other structures such as a structure for steering through controlling the forward and reverse rotation of the wheels.
The spraying device 3 comprises a water tank 31, a spraying mechanical arm 32 and a nozzle 33; the water tank 31 is fixedly arranged on the vehicle body 1, and a submersible pump is arranged in the water tank 31; the spraying mechanical arm 32 is arranged on the vehicle body 1 through a base; the spraying mechanical arm 32 comprises a basic folding arm 321 and at least one section of telescopic arm 322, the basic folding arm 321 is hinged on a base, the basic folding arm 321 can swing back and forth, a turnover control part 323 is arranged between the basic folding arm 321 and the vehicle body 1 or the base, the turnover control part 323 can adopt a hydraulic cylinder or a cylinder structure, or can adopt other turnover control structures such as a gear ring structure controlled by a motor drive, the swinging of the basic folding arm 321 can be controlled to be in a vertical spraying state or a horizontal storage state by controlling the action of the turnover control part 323, the telescopic arm 322 is arranged on the basic folding arm 321 in a sliding fit manner through the telescopic sliding control part 324, the telescopic sliding control part 324 can adopt a hydraulic cylinder or a cylinder structure, or can adopt other telescopic control structures such as an electric screw rod structure, and the extending spraying state or retracting storage state of the telescopic arm 322 can be controlled by controlling the action of the telescopic sliding control part 324 A state; the nozzle 33 is installed at the end of the tail section of the telescopic arm 322, and the nozzle 33 is arranged in a spraying manner along the left-right direction, and the nozzle 33 is connected with the pump-out end of the submersible pump in the water tank 31 through a hose.
The electric control device comprises a controller, a vehicle body movement control loop and a spraying control loop, wherein the controller is respectively electrically connected with a turnover control part 323, a telescopic sliding control part 324, a submersible pump in the water tank 31 and a wheel driving part of the traveling device 2.
When the automatic spraying maintenance robot for the large long beam or column-shaped structure PC component is used, the robot can be placed between the large long beam or column-shaped structure PC components which are arranged in parallel and need to be sprayed and maintained, the controller starts the vehicle body movement control loop to control the vehicle body 1 to move forwards and simultaneously starts the spraying control loop, the controller firstly controls the turnover control part 323 and the telescopic sliding control part 324 to sequentially act to enable the basic folding arm 321 to swing, the telescopic arm 322 to extend out to be in a vertical spraying state, then the submersible pump is controlled to start, water in the water tank 31 is sprayed out through the nozzle 33 to carry out spraying maintenance operation on the PC component on the left side or the right side, and the spraying maintenance operation on the PC components on the left side and the right side can be simultaneously realized under the condition that the nozzle 33 is arranged back to back in; and after the vehicle body 1 moves forwards to the front end of the PC component and spraying maintenance of the side is finished, the submersible pump is closed, and the controller can control the vehicle body 1 to turn to move to the front end of the other side of the PC component according to the built-in walking path to carry out return spraying maintenance, so that quick and continuous spraying maintenance operation can be realized.
In order to realize the greater flexibility of the automatic spray maintenance robot for the PC component with the large-scale long beam or the cylindrical structure, as the utility model discloses an implementation mode of running gear 2, the wheel is universal pair roller structure, as shown in fig. 4, the wheel includes at least four rollers, all be equipped with the roller drive on each roller, be equipped with a plurality of spiral protrusions that are helicine along the roller form surface on the roller form surface of roller, and a plurality of spiral protrusions are evenly distributed along the center of rotation of roller and set up, spiral protrusion can provide the component force that inclines in the roller moving direction with the ground friction in the roller rotary moving process, and then can realize turning, every two rollers set up concentrically, and set up and constitute front roller group and back roller group with respect to automobile body 1 bilateral symmetry respectively, and front roller group and back roller group set up with respect to automobile body 1 anteroposterior symmetry; the four roller drives are respectively electrically connected with a controller of the electric control device. The controller simultaneously controls the four rollers to drive the four rollers to rotate in the same direction, so that the four rollers can rotate in the same direction, and the component forces which are generated by the front roller set and the rear roller set respectively consisting of the two rollers and are inclined to the moving direction of the rollers are mutually offset, so that the frame 1 can keep linear walking; the controller simultaneously controls the front and rear rollers on the left side of the vehicle body 1 to rotate in the same direction at the same time, the front and rear rollers on the right side of the vehicle body 1 to rotate in the opposite directions at the same time, the rotating speeds of the front and rear rollers on the left side of the vehicle body 1 are different from the rotating speeds of the front and rear rollers on the right side of the vehicle body 1, component forces which are generated by the four rollers and inclined to the moving direction of the rollers are superposed, and the steering of the vehicle body 1 to the superposition direction; the controller simultaneously controls the four rollers to simultaneously rotate in opposite directions, the rotating speeds of the four rollers are the same, and the component forces which are generated by the four rollers and are inclined to the moving direction of the rollers are completely superposed, so that the vehicle body 1 can be translated in the superposing direction; the wheels of the universal pair roller structure can realize the in-situ rotation of the vehicle body 1 within the range of +/-360 degrees, and can be suitable for places with relatively narrow space.
In order to realize reducing the complexity that the mechanism set up, as the utility model discloses a further improvement scheme still is equipped with the on-vehicle hydraulic power unit who has the valve unit on the automobile body 1, and wheel drive part is the hydraulic motor structure, turns over a control part 323 and flexible slide control part 324 and all is the pneumatic cylinder structure, and wheel drive part, a control part 323 and flexible slide control part 324 are connected with on-vehicle hydraulic power unit's valve unit through hydraulic line respectively, and the valve unit is connected with electrically controlled device's controller electricity. Namely, the whole vehicle adopts a hydraulic control structure.
In order to further realize the automation, as the utility model discloses a further improvement scheme is equipped with distance sensor on the automobile body 1, and distance sensor is connected with electrically controlled device's controller electricity. In the spraying maintenance process, the controller judges whether the spraying maintenance of the side face of the PC component is finished or not according to the feedback of the distance sensor, and when the distance sensor feeds back that the vehicle body 1 moves to the end part of the side face of the PC component, the controller controls the vehicle body 1 to turn to move to the front end of the other side face of the PC component according to the built-in walking path to carry out return spraying maintenance.
In order to spray water and maintain according to the needs of maintenance water spray volume, as the utility model discloses a further improvement scheme is equipped with the electron flow control valve on the nozzle 33, and the electron flow control valve is connected with electrically controlled device's controller electricity. The controller can adjust the opening and closing size of the electronic flow control valve according to the input maintenance water spraying amount data, so that the water spraying amount is controlled, and the water consumption is reduced.
In order to realize the automatic water supply of water tank 31, as the utility model discloses a further improvement scheme is equipped with the electron level gauge in the water tank 31, and the electron level gauge is connected with electrically controlled device's controller electricity, and electrically controlled device still includes automatic water supply control circuit. When the liquid level in the electronic liquid level meter feedback water tank 31 is lower than a set value, the controller stops the spraying control loop and starts the automatic water replenishing control loop, the controller controls the traveling device 2 according to the built-in field region coordinate graph to enable the vehicle body 1 to move to a set water replenishing place for water replenishing, and after water replenishing is completed, the vehicle returns to the original path to continue spraying operation.
Claims (7)
1. An automatic spraying maintenance robot for a large-scale long beam or column-shaped structure PC component is characterized by comprising a vehicle body (1), a walking device (2) arranged on the vehicle body (1), a spraying device (3) and an electric control device;
the walking device (2) is arranged at the bottom of the vehicle body (1) and comprises wheels, a wheel driving part and a wheel steering structure;
the spraying device (3) comprises a water tank (31), a spraying mechanical arm (32) and a nozzle (33); the water tank (31) is fixedly arranged on the vehicle body (1), and a submersible pump is arranged in the water tank (31); the spraying mechanical arm (32) is installed on the vehicle body (1) through a base, the spraying mechanical arm (32) comprises a basic folding arm (321) and at least one section of telescopic arm (322), the basic folding arm (321) is hinged to the base, a turnover control part (323) is arranged between the basic folding arm (321) and the vehicle body (1) or the base, and the telescopic arm (322) is installed on the basic folding arm (321) in a sliding fit mode through a telescopic sliding control part (324); the nozzle (33) is arranged at the end part of the tail section of the telescopic arm (322), the nozzle (33) is arranged in a spraying mode along the left-right direction, and the nozzle (33) is connected with the pump-out end of a submersible pump in the water tank (31) through a hose;
the electric control device comprises a controller, a vehicle body movement control loop and a spraying control loop, wherein the controller is respectively and electrically connected with a turnover control part (323), a telescopic sliding control part (324), a submersible pump in the water tank (31) and a wheel driving part of the walking device (2).
2. The automatic spray maintenance robot for large long beam or column structure PC member according to claim 1, characterized in that the basic folding arm (321) is swing-arranged back and forth, the nozzles (33) are arranged at least in two pairs, and the two nozzles (33) are arranged back to back.
3. The automatic spraying maintenance robot for the PC component with the large-scale long beam or the cylindrical structure according to claim 1, wherein the wheels are of a universal pair roller structure and comprise at least four rollers, each roller is provided with a roller drive, the roller-shaped outer surface of each roller is provided with a plurality of spiral protrusions which are spirally shaped along the roller-shaped outer surface, the spiral protrusions are uniformly distributed along the rotating center of the roller, the spiral protrusions rub with the ground in the rotating movement process of the rollers to provide component force inclined to the moving direction of the rollers and further realize steering, each two rollers are concentrically arranged and are respectively arranged in a left-right symmetry mode relative to the vehicle body (1) to form a front roller set and a rear roller set, and the front roller set and the rear roller set are symmetrically arranged in a front-back mode relative to the vehicle body (1); the four roller drives are respectively electrically connected with a controller of the electric control device.
4. The automatic spraying maintenance robot for the PC component with the large-scale long beam or cylindrical structure according to claim 1, 2 or 3, characterized in that a vehicle-mounted hydraulic pump station with a control valve group is further arranged on the vehicle body (1), the wheel driving part is of a hydraulic motor structure, the turning control part (323) and the telescopic sliding control part (324) are of hydraulic cylinder structures, the wheel driving part, the turning control part (323) and the telescopic sliding control part (324) are respectively connected with the control valve group of the vehicle-mounted hydraulic pump station through hydraulic pipelines, and the control valve group is electrically connected with a controller of an electric control device.
5. The automatic spray maintenance robot for the large long beam or column structure PC component according to claim 1, 2 or 3, characterized in that the vehicle body (1) is provided with a distance sensor, and the distance sensor is electrically connected with a controller of the electric control device.
6. The automatic spray maintenance robot for the large long beam or column structure PC component according to claim 1, 2 or 3, characterized in that the nozzle (33) is provided with an electronic flow control valve, and the electronic flow control valve is electrically connected with a controller of the electric control device.
7. The automatic spray maintenance robot for the large-scale long beam or column structure PC component according to claim 1, 2 or 3, characterized in that an electronic liquid level meter is arranged in the water tank (31), the electronic liquid level meter is electrically connected with a controller of the electric control device, and the electric control device further comprises an automatic water replenishing control loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921420672.2U CN210791444U (en) | 2019-08-29 | 2019-08-29 | Automatic spraying maintenance robot for large-scale long beam or column-shaped structure PC component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921420672.2U CN210791444U (en) | 2019-08-29 | 2019-08-29 | Automatic spraying maintenance robot for large-scale long beam or column-shaped structure PC component |
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| Publication Number | Publication Date |
|---|---|
| CN210791444U true CN210791444U (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921420672.2U Active CN210791444U (en) | 2019-08-29 | 2019-08-29 | Automatic spraying maintenance robot for large-scale long beam or column-shaped structure PC component |
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| CN (1) | CN210791444U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113599933A (en) * | 2021-07-14 | 2021-11-05 | 中交天航环保工程有限公司 | A operation environmental control system for earthwork |
-
2019
- 2019-08-29 CN CN201921420672.2U patent/CN210791444U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113599933A (en) * | 2021-07-14 | 2021-11-05 | 中交天航环保工程有限公司 | A operation environmental control system for earthwork |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221122 Address after: No. 1588, Yuanzhou Avenue, Yuanzhou District, Yichun City, Jiangxi Province 336000 Patentee after: Jiangxi Yichun Highway Construction Group Co.,Ltd. Address before: No. 15, Shiyun Village, Yuanzhou District, Yichun City, Jiangxi Province 336000 Patentee before: Jiangxi yixijie Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |