CN211691509U - Wet spraying machine intelligent arm support and wet spraying machine - Google Patents

Abstract

The utility model provides a wet blasting machine intelligence cantilever crane and wet blasting machine relates to wet blasting machine rack construction technical field, carries out the in-process of adjusting for solving among the prior art to the flexible forearm of wet blasting machine, and operating procedure is loaded down with trivial details, leads to the beneath technical problem of work efficiency and designs. The utility model provides a wet blasting machine intelligence cantilever crane, through first angle sensor, first distance sensor, big arm every single move sensor, well arm every single move sensor, second angle sensor, second distance sensor and controller cooperation, and utilize the first driving piece of controller automatic control, the second driving piece, rotation mechanism and speed reducer, the automatic adjustment to flexible forearm has been realized, it compares to need the artifical regulation calibration to flexible forearm of operating personnel among the prior art, above-mentioned structure realizes automatically adjusting flexible forearm, thereby in having avoided carrying out the angle accommodation process to flexible forearm among the prior art, the operation step is loaded down with trivial details, lead to the beneath technical problem of work efficiency.

Description

Wet spraying machine intelligent arm support and wet spraying machine

Technical Field

The utility model belongs to the technical field of wet blasting machine rack construction technique and specifically relates to a wet blasting machine intelligence cantilever crane and wet blasting machine are related to.

Background

The sprayed concrete is produced by using compressed air to transport the mixture of concrete in certain proportion through pipeline and spray the mixture onto the sprayed surface at high speed for setting and hardening. In recent years, the shotcrete technology is widely applied to the fields of construction, railway and highway tunnel construction, mine and roadway construction, slope reinforcement and the like by virtue of simple process, unique effect, economic manufacturing cost and rapid construction speed.

The tunnel sprayed concrete is divided into dry spraying, wet spraying and mixed spraying according to the technological process. The main difference is that the feeding procedures of all the processes are different, particularly the time for adding water and the accelerating agent is different. When the above-mentioned spraying processes are used, the mixed material is sprayed to the rock surface by a wet spraying machine. The wet spraying machine can drive the spray head to be close to the surface to be sprayed, so that the spray head sprays towards the surface to be sprayed.

In the prior art, in the process of adjusting the arm support of the wet spraying machine, the manual operation steps are complicated, so that the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wet blasting machine intelligence cantilever crane and wet blasting machine to solve among the prior art and carrying out the in-process of adjusting at the cantilever crane to the wet blasting machine, the manual operation step is loaded down with trivial details, leads to the beneath technical problem of work efficiency.

The utility model provides a wet blasting machine intelligence cantilever crane, including rotation mechanism, revolving platform, flexible big arm, first driving piece, well arm, second driving piece, speed reducer, flexible forearm, shower nozzle, first angle sensor, first distance sensor, the big arm every single move sensor of big arm every single move sensor, well arm every single move sensor in the every single move sensor of big arm, second angle sensor, second distance sensor and with the equal electric connection's of above-mentioned a plurality of sensors controller.

The revolving platform with rotation mechanism transmission is connected, flexible big arm rotate connect in the revolving platform, first driving piece is used for the drive flexible big arm is the every single move rotation, well arm rotate connect in flexible big arm, the second driving piece is used for the drive well arm is the every single move rotation, the speed reducer install in well arm, flexible forearm with the speed reducer transmission is connected, the shower nozzle install in the one end of flexible forearm.

The first driving piece, the second driving piece, the swing mechanism and the speed reducer are all controlled by a controller to move.

The first angle sensor is arranged on the slewing mechanism; the first distance sensor is arranged on the telescopic large arm and used for detecting the telescopic length of the telescopic large arm; the second angle sensor is arranged on the speed reducer; the second distance sensor is arranged on the telescopic small arm and used for detecting the telescopic length of the telescopic small arm.

The large arm pitch sensor comprises a third angle sensor for detecting the pitch angle of the telescopic large arm or a third distance sensor for detecting the pitch angle of the telescopic large arm; the middle arm pitch sensor includes a fourth angle sensor for detecting a pitch angle of the middle arm, or a fourth distance sensor for detecting a pitch angle of the middle arm.

Further, the first driving member and the second driving member are both linear driving members.

One of the fixed end and the output end of the first driving piece is rotatably connected with the telescopic boom, and the other end of the first driving piece is rotatably connected with the rotary table; one of the fixed end and the output end of the second driving piece is in rotating connection with the telescopic big arm, and the other end of the second driving piece is in rotating connection with the middle arm.

Furthermore, the third angle sensor is arranged at the rotating connecting shaft of the telescopic big arm and the rotary table, and the fourth angle sensor is arranged at the rotating connecting shaft of the middle arm and the telescopic big arm.

Further, the third distance sensor is arranged on the first driving piece and used for detecting the telescopic length of the output end of the first driving piece, and the fourth distance sensor is arranged on the second driving piece and used for detecting the telescopic length of the output end of the second driving piece.

Furthermore, the telescopic big arm is a second-stage telescopic arm, and the telescopic small arm is a first-stage telescopic arm.

Further, the flexible forearm includes forearm fixed part and scalable connection in the forearm telescopic part of forearm fixed part.

The small arm fixing part is in transmission connection with the speed reducer, and the spray head is installed at the end part of the small arm telescopic part.

Furthermore, the telescopic big arm comprises a big arm fixing part, a first big arm telescopic part and a second big arm telescopic part;

the first large arm telescopic part is telescopically connected to the large arm fixing part, and the second large arm telescopic part is telescopically connected to the first large arm telescopic part;

the large arm fixing part is hinged to the rotary table, and one end of the middle arm is hinged to the end part of the second large arm telescopic part.

Furthermore, the speed reducer is installed at one end of the middle arm, which is far away from the second large arm telescopic part; the speed reducer is in transmission connection with the middle of the small arm fixing part.

Further, the spray head is rotatably connected to the end of the small arm telescopic part.

The utility model also provides a wet blasting machine, including foretell wet blasting machine intelligent boom frame.

The utility model provides a wet blasting machine intelligence cantilever crane and wet blasting machine bring beneficial effect is:

the utility model provides a wet spraying machine intelligent arm frame, which comprises a swing mechanism, a rotary table, a telescopic big arm, a first driving piece, a middle arm, a second driving piece, a speed reducer, a telescopic small arm, a spray head, a first angle sensor, a first distance sensor, a big arm pitching sensor, a middle arm pitching sensor, a second angle sensor, a second distance sensor and a controller electrically connected with the sensors;

the rotary table is in transmission connection with the rotary mechanism, the large telescopic arm is in rotation connection with the rotary table, the first driving piece is used for driving the large telescopic arm to perform pitching rotation, the middle arm is in rotation connection with the large telescopic arm, the second driving piece is used for driving the middle arm to perform pitching rotation, the speed reducer is installed on the middle arm, the small telescopic arm is in transmission connection with the speed reducer, and the spray head is installed at one end of the small telescopic arm; the first driving piece, the second driving piece, the swing mechanism and the speed reducer are all controlled by a controller to move;

the first angle sensor is arranged on the slewing mechanism; the first distance sensor is arranged on the telescopic large arm and used for detecting the telescopic length of the telescopic large arm; the second angle sensor is arranged on the speed reducer; the second distance sensor is arranged on the telescopic small arm and used for detecting the telescopic length of the telescopic small arm;

the large arm pitch sensor comprises a third angle sensor for detecting the pitch angle of the telescopic large arm or a third distance sensor for detecting the pitch angle of the telescopic large arm; the middle arm pitch sensor includes a fourth angle sensor for detecting a pitch angle of the middle arm, or a fourth distance sensor for detecting a pitch angle of the middle arm.

By utilizing the structure, when the wet spraying machine works, the first angle sensor detects the rotation angle of the rotation mechanism in real time, so that the rotation angle of the large telescopic arm is determined, and a signal is sent to the controller; the first distance sensor detects the telescopic length of the telescopic boom in real time and sends a signal to the controller; the large arm pitching sensor detects the pitching angle of the telescopic large arm in real time and sends a signal to the controller; the middle arm pitching sensor detects the middle arm pitching angle in real time and sends a signal to the controller; the second angle sensor detects the rotation angle of the speed reducer in real time, so that the rotation angle of the telescopic small arm is determined, and a signal is sent to the controller; the second distance sensor detects the telescopic length of the telescopic small arm in real time and sends a signal to the controller.

The controller receives signals transmitted by the sensors in real time, when an operator executes any one or more of operations of controlling the first driving piece to drive the telescopic big arm to perform pitching rotation, controlling the second driving piece to drive the middle arm to perform pitching rotation, controlling the swing mechanism to drive the telescopic big arm to swing and controlling the speed reducer to drive the telescopic small arm to swing, the controller receives the signals transmitted by the sensors, and through calculation, the controller controls other driving mechanisms which are different from the driving mechanism controlled by the operator to act, and the telescopic small arm is enabled to be always parallel to the tunnel direction, so that the fact that the sprayer can be perpendicular to a sprayed surface through adjustment is guaranteed.

In the process, the first angle sensor, the first distance sensor, the big arm pitching sensor, the middle arm pitching sensor, the second angle sensor, the second distance sensor is matched with the controller, the controller is used for automatically controlling the first driving piece, the second driving piece, the rotating mechanism and the speed reducer, automatic adjustment of the telescopic small arm is realized, compared with the prior art that the telescopic small arm is adjusted and calibrated manually by operators, the structure realizes automatic adjustment of the telescopic small arm, the problem that the operation steps are complex and the technical problem that the working efficiency is low is solved in the process of adjusting the angle of the telescopic small arm in the prior art is solved.

The utility model provides a wet blasting machine, including foretell wet blasting machine intelligent boom frame.

In the above structure, the wet spraying machine includes the above intelligent arm support, and therefore, the advantages of the wet spraying machine include those of the above intelligent arm support, and are not described again.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of a working state of a wet spraying machine according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a wet spraying machine according to an embodiment of the present invention;

fig. 3 is an electrical connection schematic diagram of the intelligent arm support of the wet spraying machine provided by the embodiment of the present invention.

Icon: 110-telescopic small arm; 111-forearm fixation; 112-forearm extension; 120-middle arm; 130-a speed reducer; 200-telescopic big arm; 210-a large arm fixing part; 220-first big arm extension; 230-a second boom extension; 300-a first driver; 410-a slewing mechanism; 420-a turntable; 500-a second driver; 600-a spray head; 710-big arm pitch sensor; 720-mid-arm pitch sensor; 730-a first distance sensor; 740-a second distance sensor; 750-a first angle sensor; 760-a second angle sensor; 800-a controller.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that in the description of the present invention, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "connected" and "attached" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be directly connected or connected through an intermediate medium; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

The specific structure is shown in fig. 1-3.

The intelligent boom frame of the wet spraying machine provided by the embodiment mainly refers to fig. 1-3, and includes a swing mechanism 410, a swing table 420, a telescopic boom 200, a first driving member 300, a middle boom 120, a second driving member 500, a speed reducer 130, a telescopic boom 110, a spraying head 600, a first angle sensor 750, a first distance sensor 730, a boom pitch sensor 710, a middle boom pitch sensor 720, a second angle sensor 760, a second distance sensor 740, and a controller 800 electrically connected to the sensors;

the rotary table 420 is in transmission connection with the rotary mechanism 410, the large telescopic arm 200 is rotationally connected to the rotary table 420, the first driving member 300 is used for driving the large telescopic arm 200 to perform pitching rotation, the middle arm 120 is rotationally connected to the large telescopic arm 200, the second driving member 500 is used for driving the middle arm 120 to perform pitching rotation, the speed reducer 130 is installed on the middle arm 120, the small telescopic arm 110 is in transmission connection with the speed reducer 130, and the spray head 600 is installed at one end of the small telescopic arm 110; the first driving member 300, the second driving member 500, the swing mechanism 410 and the speed reducer 130 are controlled by the controller 800 to move.

The first angle sensor 750 is disposed at the swing mechanism 410; the first distance sensor 730 is disposed on the telescopic boom 200 and is used for detecting the telescopic length of the telescopic boom 200; the second angle sensor 760 is disposed on the reducer 130; the second distance sensor 740 is disposed on the telescopic arm 110 and is configured to detect a telescopic length of the telescopic arm 110.

The boom pitch sensor 710 includes a third angle sensor for detecting the pitch angle of the telescopic boom 200, or a third distance sensor for detecting the pitch angle of the telescopic boom 200; the middle arm pitch sensor 720 includes a fourth angle sensor for detecting the pitch angle of the middle arm 120, or a fourth distance sensor for detecting the pitch angle of the middle arm 120.

With the above-described structure, when the wet blasting machine operates, the first angle sensor 750 detects the rotation angle of the rotation mechanism 410 in real time, thereby determining the rotation angle of the telescopic boom 200 and transmitting a signal to the controller 800; the first distance sensor 730 detects the telescopic length of the telescopic boom 200 in real time and transmits a signal to the controller 800; the boom pitch sensor 710 detects the pitch angle of the telescopic boom 200 in real time and sends a signal to the controller 800; the middle arm pitch sensor 720 detects the pitch angle of the middle arm 120 in real time and sends a signal to the controller 800; the second angle sensor 760 detects the rotation angle of the reducer 130 in real time, thereby determining the rotation angle of the telescopic forearm 110, and sends a signal to the controller 800; the second distance sensor 740 detects the telescopic length of the telescopic arm 110 in real time and transmits a signal to the controller 800.

The controller 800 receives the signals from the above sensors in real time, when the operator performs any one or more of operations of controlling the first driving member 300 to drive the telescopic boom 200 to perform pitching rotation, controlling the second driving member 500 to drive the middle boom 120 to perform pitching rotation, controlling the swing mechanism 410 to drive the telescopic boom 200 to swing, and controlling the speed reducer 130 to drive the telescopic boom 110 to swing, the controller 800 receives the signals from the sensors, and through calculation, the controller 800 controls the other driving mechanisms different from the driving mechanism controlled by the operator to operate, and keeps the telescopic boom 110 parallel to the tunnel direction all the time, thereby ensuring that the spray head 600 can be perpendicular to the sprayed surface by adjusting.

In the above process, the first angle sensor 750, the first distance sensor 730, the upper arm pitch sensor 710, the middle arm pitch sensor 720, the second angle sensor 760 and the second distance sensor 740 are matched with the controller 800, and the controller 800 is used to automatically control the first driving element 300, the second driving element 500, the swing mechanism 410 and the speed reducer 130, so as to achieve automatic adjustment of the telescopic small arm 110.

In addition, the controller 800 preferably has two operating states, first, the controller 800 is in a semi-automatic mode, and in the semi-automatic mode, as described in the above process, the controller 800 can receive signals from the sensors and control the driving mechanisms to operate; second, the controller 800 is in a non-semi-automatic mode, in which the controller 800 does not actively control the operation of the driving mechanisms, and the operator manually controls the operation of each driving mechanism to adjust the angle or position of each mechanism.

Preferably, the large telescopic arm 200 and the small telescopic arm 110 enlarge the working range of the intelligent boom frame of the wet spraying machine, and reduce the workload generated when the intelligent boom frame of the wet spraying machine is frequently moved.

In addition, the specific position of the spray head 600 can be confirmed by the above structure, the rotating mechanism 410 rotates, the first angle sensor 750 detects the rotating angle of the rotating mechanism, and the rotating angle of the telescopic boom 200 driven by the rotating mechanism 410 is determined. The reducer 130 rotates, and the second angle sensor 760 detects the rotation angle thereof, and determines the rotation angle of the telescopic small arm 110 driven by the reducer 130. Meanwhile, the rotation angle of the telescopic large arm 200 and the rotation angle of the telescopic small arm 110 are driven by the large arm pitch sensor 710 and the middle arm pitch sensor 720, respectively. When the telescopic boom 200 is telescopically adjusted, the first distance sensor 730 can detect the telescopic length of the telescopic boom 200; the second distance sensor 740 can detect the telescopic length of the telescopic boom 200 when the telescopic boom 200 is telescopically adjusted.

Signals detected by the large arm pitch sensor 710, the middle arm pitch sensor 720, the first angle sensor 750, the second angle sensor 760, the first distance sensor 730 and the second distance sensor 740 are transmitted to the controller 800, and the position coordinates of the spray head 600 relative to the turntable 420 are calculated, so that the accurate control of the position of the spray head 600 by an operator is facilitated.

It should be noted that the working principle of the first angle sensor 750, the first distance sensor 730, the large arm pitch sensor 710, the middle arm pitch sensor 720, the second angle sensor 760 and the second distance sensor 740 in cooperation with the controller 800 can refer to the prior art.

In an alternative solution of this embodiment, the first driving member 300 and the second driving member 500 are both linear driving members;

one of the fixed end and the output end of the first driving member 300 is rotatably connected with the telescopic boom 200, and the other end is rotatably connected with the rotary table 420; one of the fixed end and the output end of the second driving member 500 is rotatably connected to the telescopic boom 200, and the other end is rotatably connected to the middle arm 120.

Preferably, the fixed end of the first driving member 300 is hinged to the telescopic boom 200, the output end of the first driving member 300 is hinged to the turntable 420, and the first driving member 300 can drive the telescopic boom 200 to pitch and rotate. The fixed end of the second driving element 500 is hinged with the middle arm 120, the output end of the second driving element 500 is hinged with the telescopic big arm 200, and the second driving element 500 can drive the middle arm 120 to rotate in a pitching manner.

Preferably, the linear actuator is any one of an electric push rod, a cylinder and a hydraulic cylinder.

In addition, the first driving member 300 and the second driving member 500 may also be motors, the motors are installed on the large telescopic arm 200, the middle arm 120 is in transmission connection with the output end of the motor on the large telescopic arm 200, and the starting motor can directly drive the middle arm 120 to rotate in a pitching manner. The motor is arranged on the rotary table 420, the telescopic big arm 200 is in transmission connection with the output end of the motor arranged on the rotary table 420, and the motor is started to drive the telescopic big arm 200 to rotate in a pitching mode.

In an optional technical solution of this embodiment, mainly referring to fig. 1 to 3, the large arm pitch sensor 710 is a third distance sensor, and the middle arm pitch sensor 720 is a fourth distance sensor;

the third distance sensor is disposed on the first driving member 300 for detecting the length of the output end of the first driving member 300, and the fourth distance sensor is disposed on the second driving member 500 for detecting the length of the output end of the second driving member 500.

Preferably, when the first driver 300 and the second driver 500 are both linear drivers, the large arm pitch sensor 710 is a third distance sensor, and the middle arm pitch sensor 720 is a fourth distance sensor. Specifically, a third distance sensor is installed on the first driving member 300, and the third distance sensor can detect the length of the extension and retraction of the output end of the first driving member 300; the fourth distance sensor is installed at the second driving member 500, and the fourth distance sensor can detect the length of the extension and contraction of the output end of the second driving member 500.

When the output end of the first driving member 300 is pushed out to drive the large telescopic arm 200 to rotate, the first distance sensor 730 transmits a detected signal to the controller 800, the controller 800 controls the second driving member 500 to start, the output end of the second driving member 500 retracts, the second sensor detects the retraction length of the second driving member 500 and transmits the signal to the controller 800, when the retraction length of the output end of the second driving member 500 is consistent with the extension length of the first driving member 300, the rotation angle of the middle arm 120 around the hinge shaft of the middle arm 120 and the large telescopic arm 200 is consistent with the pitch rotation angle of the large telescopic arm 200, and the controller 800 controls the second driving member 500 to stop, so that the small telescopic arm 110 is automatically adjusted to be in a state parallel to the tunnel direction under the driving of the middle arm 120.

In an optional technical solution of this embodiment, mainly referring to fig. 1 to 3, the large arm pitch sensor 710 is a third angle sensor, and the middle arm pitch sensor 720 is a fourth angle sensor;

the fourth angle sensor is arranged at the rotating connecting shaft of the middle arm 120 and the telescopic big arm 200, and the third angle sensor is arranged at the rotating connecting shaft of the telescopic big arm 200 and the rotary table 420.

Preferably, a third angle sensor is disposed at a position where the telescopic boom 200 is rotatably connected to the turntable 420, and is used for detecting a rotation angle of the telescopic boom 200 and transmitting a signal to the controller 800. The fourth angle sensor is disposed at a position where the telescopic boom 200 and the middle boom 120 are rotatably connected.

When the first driving member 300 drives the large telescopic arm 200 to rotate, the third angle sensor transmits a detected signal to the controller 800, the controller 800 controls the second driving member 500 to start, the second driving member 500 drives the middle arm 120 to reversely rotate, the fourth angle sensor detects the rotation angle of the middle arm 120 and transmits the signal to the controller 800, when the rotation angle of the middle arm 120 around the hinge shaft of the middle arm 120 and the large telescopic arm 200 is consistent with the pitch rotation angle of the large telescopic arm 200, the controller 800 controls the second driving member 500 to stop, so that the small telescopic arm 110 is automatically adjusted back to a state parallel to the tunnel direction under the driving of the middle arm 120.

In an optional technical solution of this embodiment, the large telescopic arm 200 is a second-stage telescopic arm, and the small telescopic arm 110 is a first-stage telescopic arm.

Preferably, the large telescopic arm 200 and the small telescopic arm 110 are both telescopic arms, so that the working range of the intelligent arm support of the wet spraying machine is enlarged, and the workload generated by frequently moving the intelligent arm support of the wet spraying machine is reduced. The telescopic boom 200 is a two-stage telescopic boom, which effectively increases the acting radius of the telescopic boom 200, so that the middle boom 120 and the telescopic small boom 110 can extend to farther positions. The telescopic small arm 110 is a first-stage telescopic arm, and the structure of the first-stage telescopic arm avoids the problem that the speed reducer 130 bears the overlarge moment of the telescopic small arm 110 compared with a second-stage telescopic arm structure of the telescopic large arm 200 while the acting radius of the telescopic small arm 110 is increased.

In an alternative technical solution of this embodiment, referring mainly to fig. 1-3, the telescopic arm 110 includes an arm fixing portion 111 and an arm telescopic portion 112 telescopically connected to the arm fixing portion 111;

the arm fixing portion 111 is drivingly connected to the speed reducer 130, and the head 600 is attached to the end of the arm extending portion 112.

This forearm fixed part 111 of flexible forearm 110 is connected with speed reducer 130 transmission, and speed reducer 130 can drive forearm fixed part 111 and rotate to drive forearm pars contractilis 112 gyration, shower nozzle 600 is installed to the tip of forearm pars contractilis 112, and under the drive of forearm pars contractilis 112, shower nozzle 600 can also realize rotating around the output shaft of speed reducer 130, thereby realizes adjusting shower nozzle 600 position, makes flexible forearm 110 can keep unanimous with the tunnel direction all the time through adjusting simultaneously.

Preferably, the first angle sensor 750 is disposed on the swing mechanism 410, and the swing mechanism 410 drives the swing table 420 to rotate, thereby driving the telescopic boom 200 to rotate. The first angle sensor 750 detects the rotation angle of the swing mechanism 410 and transmits a signal to the controller 800, the controller 800 receives the signal and controls the reduction gear 130 to rotate in the reverse direction, the middle arm 120 is driven to rotate, and the telescopic small arm 110 is driven to rotate, and the second angle sensor 760 detects the rotation angle of the reduction gear 130 and transmits a signal to the controller 800. When the angle of the middle arm 120 driving the telescopic small arm 110 to rotate in the reverse direction is consistent with the value of the angle of the rotation of the swing mechanism 410, the controller 800 receives the signal of the second angle sensor 760 and controls the speed reducer 130 to stop. Thereby adjusting the telescopic small arms 110 back to a direction parallel to the extending direction of the tunnel.

In an alternative technical solution of this embodiment, referring mainly to fig. 1-3, the telescopic boom 200 includes a boom fixing portion 210, a first boom extension portion 220, and a second boom extension portion 230;

the first boom extension part 220 is telescopically connected to the boom fixing part 210, and the second boom extension part 230 is telescopically connected to the first boom extension part 220;

the boom fixing part 210 is hinged to the turn table 420, and one end of the middle boom 120 is hinged to an end of the second boom extension part 230.

Preferably, the above structure is used to realize the two-stage extension and contraction of the telescopic boom 200. Thereby increasing the range of action of the telescoping boom 200.

In an alternative technical solution of this embodiment, referring mainly to fig. 1-3, a speed reducer 130 is installed at one end of the middle arm 120 away from the second big arm extension part 230; the speed reducer 130 is in transmission connection with the middle of the small arm fixing part 111.

Preferably, the reduction motor is drivingly connected to the middle of the arm fixing portion 111, so that the cantilever beam formed by the telescopic arm 110 reduces stress between the telescopic arm 110 and the reducer 130. Meanwhile, the small arm fixing part 111 is disposed at a position close to a hinge shaft of the middle arm 120 and the telescopic boom 200, preventing the telescopic small arm 110 from interfering with the telescopic boom 200.

In an alternative embodiment of this embodiment, spray head 600 is rotatably connected to the end of forearm extension 112.

Preferably, the rotation of the spray head 600 is adjustable, so that the spray head 600 can be always in a position corresponding to the vertical direction of the surface to be sprayed.

Preferably, the spray head 600 is rotatably coupled to one end of the small arm telescopic part 112, and the angle of the spray head 600 is adjusted such that the spray head 600 is disposed toward the tape spraying surface at the time of a spraying operation.

The embodiment also provides a wet spraying machine, which mainly refers to fig. 1-2 and comprises the intelligent arm support of the wet spraying machine.

The following should preferably be mentioned: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.

Claims (10)

1. The intelligent arm support of the wet spraying machine is characterized by comprising a rotary mechanism (410), a rotary table (420), a telescopic large arm (200), a first driving piece (300), a middle arm (120), a second driving piece (500), a speed reducer (130), a telescopic small arm (110), a spray head (600), a first angle sensor (750), a first distance sensor (730), a large arm pitching sensor (710), a middle arm pitching sensor (720), a second angle sensor (760), a second distance sensor (740) and a controller (800) which is electrically connected with the sensors;

the rotary table (420) is in transmission connection with the rotary mechanism (410), the large telescopic arm (200) is rotationally connected to the rotary table (420), the first driving piece (300) is used for driving the large telescopic arm (200) to rotate in a pitching mode, the middle arm (120) is rotationally connected to the large telescopic arm (200), the second driving piece (500) is used for driving the middle arm (120) to rotate in a pitching mode, the speed reducer (130) is installed on the middle arm (120), the small telescopic arm (110) is in transmission connection with the speed reducer (130), and the spray head (600) is installed at one end of the small telescopic arm (110);

the first driving element (300), the second driving element (500), the slewing mechanism (410) and the speed reducer (130) are controlled by a controller (800) to move;

the first angle sensor (750) is arranged on the rotary mechanism (410); the first distance sensor (730) is arranged on the telescopic large arm (200) and is used for detecting the telescopic length of the telescopic large arm (200); the second angle sensor (760) is arranged on the speed reducer (130); the second distance sensor (740) is arranged on the telescopic small arm (110) and is used for detecting the telescopic length of the telescopic small arm (110);

the boom pitch sensor (710) includes a third angle sensor for detecting a pitch angle of the telescopic boom (200) or a third distance sensor for detecting a pitch angle of the telescopic boom (200); the middle arm pitch sensor (720) includes a fourth angle sensor for detecting a pitch angle of the middle arm (120), or a fourth distance sensor for detecting a pitch angle of the middle arm (120).

2. The intelligent boom frame of a wet blasting machine according to claim 1, wherein the first driving member (300) and the second driving member (500) are both linear driving members;

one of the fixed end and the output end of the first driving piece (300) is rotationally connected with the telescopic big arm (200), and the other end of the first driving piece is rotationally connected with the rotary table (420); one of the fixed end and the output end of the second driving piece (500) is rotatably connected with the telescopic large arm (200), and the other end of the second driving piece is rotatably connected with the middle arm (120).

3. The intelligent boom frame of a wet spraying machine as claimed in claim 2, wherein the third angle sensor is arranged at a rotating connecting shaft of the large telescopic boom (200) and the rotary table (420), and the fourth angle sensor is arranged at a rotating connecting shaft of the middle boom (120) and the large telescopic boom (200).

4. The intelligent boom of a wet sprayer according to claim 2, wherein the third distance sensor is disposed on the first driving member (300) for detecting the extension length of the output end of the first driving member (300), and the fourth distance sensor is disposed on the second driving member (500) for detecting the extension length of the output end of the second driving member (500).

5. The intelligent boom support of a wet spraying machine according to claim 2, wherein the large telescopic boom (200) is a secondary telescopic boom, and the small telescopic boom (110) is a primary telescopic boom.

6. The intelligent boom support of the wet spraying machine according to claim 5, wherein the telescopic boom (110) comprises a boom fixing part (111) and a boom telescopic part (112) telescopically connected to the boom fixing part (111);

the small arm fixing part (111) is in transmission connection with the speed reducer (130), and the spray head (600) is mounted at the end part of the small arm telescopic part (112).

7. The intelligent boom support of the wet blasting machine according to claim 6, wherein the telescopic boom (200) comprises a boom fixing part (210), a first boom extension part (220) and a second boom extension part (230);

the first large arm telescopic part (220) is telescopically connected to the large arm fixing part (210), and the second large arm telescopic part (230) is telescopically connected to the first large arm telescopic part (220);

the large arm fixing part (210) is hinged to the rotary table (420), and one end of the middle arm (120) is hinged to the end of the second large arm telescopic part (230).

8. The intelligent boom frame of a wet spraying machine according to claim 7, characterized in that one end of the middle boom (120) facing away from the second large boom extension part (230) is provided with the speed reducer (130); the speed reducer (130) is in transmission connection with the middle of the small arm fixing part (111).

9. The intelligent boom support of a wet blasting machine according to claim 6, wherein the spray head (600) is rotatably connected to the end of the small arm telescopic part (112).

10. A wet blasting machine, characterized by comprising the intelligent boom of the wet blasting machine of any one of claims 1-9.

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