CN215718819U - Mechanical arm and guniting robot - Google Patents

Abstract

The utility model discloses a mechanical arm and a guniting robot, wherein the mechanical arm is used for controlling the position and the posture of a nozzle of the guniting robot, the advancing direction of the guniting robot is taken as a reference direction, and the mechanical arm comprises: the first swing device or the cascaded composite device capable of outputting swing motion is used for installing the mechanical arm on the chassis of the guniting robot; the arm part is matched with the output member of the first swing device or the composite device to form a swing pair, and the corresponding swing plane is a vertical plane vertical to the reference direction or a forward-inclined swept plane which forms a fixed included angle of not less than 60 degrees with the reference direction; and a tip mounting assembly mounted on the tip of the arm to mount the head. The mechanical arm based on the utility model is relatively compact and is easy to obtain better guniting quality.

Description

Mechanical arm and guniting robot

Technical Field

The utility model relates to a mechanical arm and further relates to a guniting robot provided with the mechanical arm.

Background

Concrete injection work is very commonly used in, for example, mining industry and transportation tunnel construction, such as tunnel neoexcavation construction, and the primary support is usually injection concrete, and the injection concrete is very important for, for example, tunnel construction due to the safety involved in subsequent construction. Concrete spraying construction methods are mainly divided into a dry spraying method and a wet spraying method. The dry spraying method is relatively early, the construction process is simple, but the problems of high rebound rate and low strength of concrete formed by spraying exist, and the problem of very serious dust pollution in the construction process exists, and the dry spraying method is almost completely replaced by a wet spraying method at present.

Regarding the wet spraying operation, the problems exist at present, the construction equipment is relatively complex, the working strength is high, and the manual work in the current wet spraying operation often plays an important role, for example, in most cases, the control of the spraying needs to be completed manually, and particularly, a constructor needs to carry out spraying on a construction operation surface by carrying a spray head and a conveying pipe with a shoulder. The mode has high labor intensity for workers, low construction efficiency and difficult control of the injection quality. In addition, the operating personnel is close to the construction operation surface, is easy to be damaged by construction materials, and has certain potential safety hazards.

Some remote control type guniting equipment appears in the market at present, and the problems are relieved to a certain extent. For example, chinese patent document CN207048796U discloses a special concrete wet spraying trolley with a simple mechanical arm, in which a mechanical arm with rotation and pitching degrees of freedom is mounted on the trolley, and a material-air mixing system and a nozzle are mounted at the end of the mechanical arm. The guniting operation action is realized by means of rotation, extension and pitching of the mechanical arm, so that the burden of an operator is relieved. The rotation, the expansion and the pitching mainly realize the guniting operation in a larger range in front by taking the assembly position of the mechanical arm on the trolley as a reference after the trolley is parked in place, or realize the guniting operation in a larger range every time the trolley is parked. Although the mechanical arm can realize large-range guniting through rotation, extension and pitching, the number of times of parking of the trolley is relatively small, included angles between the nozzle and different positions are different, the range of the extending length and the deflection angle of the mechanical arm is relatively large, and the assembly position of the mechanical arm on the trolley and the burden of the mechanical arm are relatively heavy. Meanwhile, as is known, if the nozzle and the plane cannot maintain a proper spraying angle when spraying the slurry on the plane, the slurry is difficult to adhere to the target surface, and part of the slurry may be directly washed out; and the larger the deflection angle is, the less the general adhesion amount is, which also causes the control difficulty of the guniting, namely different algorithms are needed for dealing with different guniting angles, so that not only is the efficiency low, but also a large amount of material waste is generated.

Chinese patent document CN205135658U discloses a guniting trolley, where a guniting mechanical arm is mounted on the trolley through a rotary seat (with vertical axis), and the mechanical arm itself has a front and back pitching degree of freedom, a telescopic degree of freedom and a terminal rotational degree of freedom, and because the mechanical arm is entirely longer, the influence of the length of the mechanical arm realized purely by telescopic on the construction flexibility is large, and meanwhile, the mechanical arm inevitably has a large inclination with the surface to be gunned in the patent document, the control algorithm of the mechanical arm is complex, and a good guniting effect is not easy to obtain.

The mechanical arm of the current shotcrete machine focuses on multi-degree-of-freedom control, so that a large-area surface to be gunned can be gunned when the trolley is stopped at one position.

For example, chinese patent document CN203905964U discloses a mining concrete wet spraying manipulator device, in which a manipulator is mounted on a trolley through a rotary seat (with a vertical axis), the manipulator is equivalent to an upper part and a lower part, a rotational degree of freedom is provided between the two parts, and a part located at the end has a telescopic degree of freedom, and the operation mode is similar to that of the previous patent document.

SUMMERY OF THE UTILITY MODEL

In embodiments of the present invention, a robot arm is provided that is relatively compact and easy to achieve better guniting quality, and in embodiments of the present invention, a guniting robot equipped with the robot arm is also provided.

In an embodiment of the present invention, there is provided a robot arm for controlling a posture of a nozzle of a guniting robot, the robot arm including:

the first swing device or the cascaded composite device capable of outputting swing motion is used for installing the mechanical arm on the chassis of the guniting robot;

the arm part is matched with the output member of the first swing device or the composite device to form a swing pair, and the corresponding swing plane is a vertical plane vertical to the reference direction or a forward-inclined swept plane which forms a fixed included angle of not less than 60 degrees with the reference direction;

and a tip mounting assembly mounted on the tip of the arm to mount the head.

Optionally, the first swing device comprises:

the base is used for installing the first swinging device on the chassis;

a slewing bearing constructed or mounted on the base for mounting the arm on the base, the axis of the slewing bearing being parallel to the reference direction or at an angle of no more than 30 degrees;

a first drive assembly mounted on the base or chassis and driving the arm through a slewing bearing.

Optionally, the slewing bearing comprises a static ring fixedly mounted on the base and a moving ring in rolling fit or sliding fit with the static ring;

wherein, a gear ring is built or arranged at one end of the moving coil and is adapted with a structure connected with the arm part;

accordingly, the first drive assembly includes an output gear in meshing engagement with the ring gear.

Optionally, fixing holes are annularly arranged on the end surface of the gear ring on the side of the arm part;

correspondingly, the lower end of the arm part is provided with a fixed hole in a contraposition way;

the arm portion is fixed to the ring gear by means of the fixing hole and the fixed hole by means of a bolt or a screw.

Optionally, a detection device for detecting the rotation angle of the arm is provided on the base, the pivoting support or the first drive assembly.

The arm portion includes:

a large arm for connection of the arm portion to the output member;

the small arm is assembled at the tail end of the large arm, and the matched assembling part is provided with a rotating pair, so that the small arm has a rotating degree of freedom relative to the large arm; the axis of the revolute pair is perpendicular to the sweep plane.

Optionally, the big arm and/or the small arm have a telescopic working stroke;

accordingly, the large and/or small arm with said working stroke comprises:

the static arm is provided with a guide structure in the extending direction of the static arm;

the movable arm is guided by the guide structure.

In an embodiment of the present invention, there is also provided a guniting robot, which includes the mechanical arm, a chassis for mounting the mechanical arm, and a scanning device for scanning a working surface.

Optionally, the scanning device is a two-dimensional scanning device that scans a guniting interface currently scanned by the mechanical arm.

Optionally, the chassis is provided with an auxiliary support assembly to improve the support capability of the chassis during the operation of the mechanical arm.

In the embodiment of the utility model, the main motion of the mechanical arm is swing, the sweeping plane corresponding to the swing is a vertical plane or slightly inclines forwards, and each swing completes the guniting of one section, wherein one section is marked as a guniting surface with a preset width in the advancing direction of the guniting robot. Because the area of each scanning is very small, the 'width' of the preset width in the sprayed surface is a well-defined parameter, the scanning is equivalent to two-dimensional scanning, the calculated amount of modeling is small, the parameters of the output control mechanical arm are relatively small, and accurate control is easier to realize, so that better spraying quality is realized. Meanwhile, compared with a guniting robot capable of spraying in a large range at one time, the guniting robot based on the embodiment of the utility model can spray guniting in a relatively small range, the mechanical arm can be relatively short, the size of the storage state is easier to control, and the whole compactness is relatively good.

Drawings

Fig. 1 is a schematic front view of a guniting robot in an embodiment.

Fig. 2 is a schematic perspective view of a guniting robot in an embodiment.

FIG. 3 is a schematic diagram of a large arm structure according to an embodiment.

FIG. 4 is a schematic diagram of a lower arm structure in an embodiment.

Fig. 5 is a schematic front view of the swing device in one embodiment.

Fig. 6 is a schematic diagram of a right view structure of the swing device in an embodiment.

Fig. 7 is a schematic perspective view of an embodiment of a swing device.

Fig. 8 is a schematic diagram illustrating a principle of scanning a section of a roadway in an embodiment.

Fig. 9 is a schematic diagram illustrating a principle of guniting a section of a roadway in one embodiment.

In the figure: 1. the device comprises a chassis, 2 parts of a scanning device, 3 parts of a swinging device, 4 parts of a valve group, 5 parts of a large arm, 6 parts of a pipe group, 7 parts of a small arm, 8 parts of a small arm driving assembly and 9 parts of a tail end carrying assembly.

31. The automatic brake device comprises a base, 32. an output gear, 33. a gear ring, 34. an assembly flange, 35. a driven gear, 36. an encoder, 37. a brake motor, 38. a shell and 39. a travel switch.

51. The large-arm electronic cabin comprises a large-arm electronic cabin, 52 parts of footstands, 53 parts of a large-arm oil cylinder, 54 parts of a large-arm mounting base plate, 55 parts of a large static arm, 56 parts of a large movable arm and 57 parts of a large mounting base.

71. The small arm electronic cabin comprises a small arm electronic cabin body 72, a small arm mounting base plate 73, a small arm oil cylinder 74, a small static arm 75, a small movable arm 76 and an output connecting seat 76.

Detailed Description

Traditional whitewashing robot's arm is relatively longer to the joint is more, its aim at whitewashing robot stops behind certain position, can carry out the whitewashing operation to receiving the spraying face in a large range, the technical problem who brings from this is, because it is bigger to receive the area of spraying face, namely the depth in the shotcrete machine robot advancing direction is bigger, can lead to the degree of difficulty grow of modelling on the one hand, when on the other hand can lead to the arm to expand completely, its and for example chassis 1 within a definite time connection structure's load is bigger, and the shower nozzle is difficult to control with receiving the contained angle between the spraying face.

As a further extension, to accommodate longer robotic arms, the piping to the spray head is relatively long, and there is a higher demand for operating pressure. Meanwhile, the mechanical arm has many joints, and when the whole mechanical arm is relatively long, the problem of accommodating the mechanical arm needs to be solved in consideration of the passability.

In view of the above, in the embodiments of the present invention, attention is focused on using a relatively compact mechanical arm to reduce the difficulty of scanning, modeling, and controlling, thereby improving the reliability and guniting quality of the guniting robot.

In the embodiment of the present invention, unless separately stated, the reference frame with the chassis 1 as a reference has the front, rear, left and right, and the upper and lower determined, and the front, rear, left and right, and the upper and lower in the embodiment of the present invention, that is, the chassis 1 as a reference frame.

Since the robot arm is driven by a modeling model, and the robot arm usually has multiple degrees of freedom, the motion trajectory of its joint space, and the pose of the cascade output end belong to the common general knowledge in the art, and are not described herein again. However, it can be understood that the more the mechanical arm joints are, the more the degree of freedom is, the more the control difficulty is. Therefore, in the embodiment of the utility model, the number of joints of the mechanical arm is relatively small, the motion form is relatively simple, the sampling precision of scanning and modeling is relatively high, the difficulty is relatively low, and particularly, the reliability of control is relatively good.

The guniting robot based on the embodiment of the utility model is applied to guniting construction of facilities such as bridges, tunnels and the like which are approximately provided with side walls, vaults or flat tops, and can also be applied to guniting construction of pure arch facilities.

Based on the basic idea of the utility model, it is known that the arm has a first degree of freedom of swing for implementing a sectional guniting, where the section is, for example, a section of a tunnel in the traveling direction of the guniting robot, and the arm swings for one cycle to complete the guniting of one section.

The swing rotary pair is one of rotary pairs, and has only one degree of freedom and swings in a preset rotation angle range. It has relatively no freedom to pitch.

In addition, as the basic structure, the mechanical arm of the guniting robot is basically used for controlling the position and the posture of the nozzle of the guniting robot, generally, the traditional guniting robot is matched with a three-dimensional coordinate by taking a certain position of a chassis 1 of the guniting robot as a 0 point, and the position and the posture of the nozzle are controlled in the three-dimensional space, so that the traditional guniting robot has two basic degrees of freedom of pitching and rotating. In the embodiment of the present invention, the traveling direction of the guniting robot is taken as the reference direction, that is, the basic reference system corresponds to two dimensions, and the above-mentioned section guniting is adapted to the point, specifically, the guniting operation after each scanning, for example, the boom 5 does not make a pitching motion.

It should be noted, however, that the basic reference system is two-dimensional, but does not exclude the adjustment of the robot in three dimensions, in particular, for example, the spray head, whose basic movement may be a spray in the form of a direct spray, an oblique spray or a circling motion, but the attitude of this spray is not related to the adjustment of the robot itself, but rather the basic movement of the end-carrying assembly 9. For the position and posture adjustment of the spray head in the guniting process, besides the swing motion mode, swing or pitching of a certain joint of the mechanical arm can be additionally introduced, wherein the pitching belongs to secondary motion relative to the swing motion of the arm, and is not primary motion.

In a first embodiment of the utility model, the robot arm comprises a first swing device which, for example, cooperates with an arm portion of the robot arm, such as the large arm 5 shown in fig. 1, to form a swing pair, and the swing structure is formed by limiting the range of rotation angles of the swing pair.

The method is suitable for the shape of a roadway, the roadway is provided with side walls and a vault, and the rotating angle ranges from 180 degrees to 200 degrees.

It should be noted that the aforesaid rotation angle range can be realized by strongly coupled arm portions as a whole, such as the assembly of the large arm 5 and the small arm 7 shown in fig. 1, the large arm 5 has a sub-rotation angle range, the small arm 7 has a sub-rotation angle range, and the two sub-rotation angle ranges form the aforesaid rotation angle range based on the kinematic coupling of the model, and the sub-rotation angle range of the large arm 5 alone can be the aforesaid 180-200 degrees, and can also be an angle smaller than the rotation angle range, for example, to avoid the kinematic interference, the rotation angle range of the large arm 5 is preferably not larger than 180 degrees. For example, the chassis 1 is generally formed to have a certain height, and in order to spray the slurry to the bottom of the side wall, the small arm 7 needs to be further downwardly moved when the angle of rotation of the large arm 5 is relatively small, and the small arm 7 also needs to have a degree of freedom of swinging so as to spray the slurry to one cross section in all directions as a whole.

Likewise, if the chassis 1 is relatively tall, there may be a greater turning angle, for example 270 degrees, for the large arm 5.

The inherent property of the mechanical arm is strong coupling, and the end pose of the mechanical arm can be compounded through the motion of each joint. Similarly, for basic swinging motion, in some embodiments, a cascade of composite devices capable of outputting swinging motion may be adopted, and the composite device is a secondary option, and the aforementioned swinging pair formed by the arm and the first swinging device in cooperation is a preferred structure.

The first swing means cooperate with the arm to form a swing pair which, in the preferred embodiment, swings in a vertical plane perpendicular to the direction of travel of the chassis 1.

For the swing pair, the swing plane or the sweep plane of the corresponding arm part can be a forward-inclined plane, so that the spray head is relatively far away from the base plate 1, and the deposition of the splashed material on the base plate 1 is reduced.

The included angle between the forward-inclined plane or the sweep plane and the reference direction, that is, the advancing direction of the chassis, is not too large, otherwise the mechanical arm can generate a relatively large overturning moment on the chassis, and in some embodiments, the included angle between the forward-inclined plane or the sweep plane and the reference direction is not less than 60 degrees.

The anteversion angle of the sweep plane is a design angle, and the angle corresponds to the non-mechanical arm multi-input multi-output. However, in some embodiments, the aforementioned forward tilt angle may be used as an angle corresponding to the multiple input and multiple output of the robot arm, but may be used only as a fixed angle before the slurry spraying is scanned, rather than an adjustment angle for the multiple input and multiple output of the robot arm.

For example a first swing device, which can be understood as a seat of a robot arm, for mounting the robot arm on the chassis 1. As mentioned above, in general, the conventional robot arm is connected to the seat portion via a revolute pair having a vertical axis. Correspondingly, in the embodiment of the present invention, the rotation pair with a vertical axis formed between the mechanical arm and the seat is not substantially included, but the axis is horizontal or the swing rotation pair with an included angle of not more than 30 degrees with the horizontal plane is included.

The robot arm is finally used to control the attitude of the head, and the end of the robot arm is required to have or be separately equipped with the end mount assembly 9, and the head is generally mounted on the end mount assembly 9 by, for example, bolts because the weight of the head together with the piping (including the material) is large.

Fig. 5 to 7 illustrate a first swing device, implemented vertically with respect to the axis of the swing support of the conventional arm socket, in the illustrated structure, the axis of which is horizontal, as shown in the figure for the ring gear 33. It should be understood that the ring gear 33 is only one illustrative structure and not the only structure, and the ring gear 33 can be easily replaced by a gear, forming a driven large gear relative to the output gear 32, to achieve a desired gear ratio.

In the configuration illustrated in fig. 5 to 7, the first swing device includes a base 31, the base 31 has a seat hole, for example, a bearing is installed in the seat hole to construct a slewing bearing, and a first driving assembly for driving, for example, a ring gear 33 to rotate.

The housing 38, which is mounted on the base 31 or formed integrally (e.g. cast), may constitute, for example, a split bearing block, adapted with, for example, a slide bearing, for example, the large arm 5 may be adapted with a shaft, which is mounted on the base 31 via a slide bearing, and which shaft end is provided with the input gear.

For the ring gear 33 shown in fig. 5, the ring gear 33 is mounted on the base 31 by a slide bearing or a rolling bearing, and the ring gear 33 is fixedly connected to the boom 5.

If the base 31 is provided with a shaft, the shaft and the arm may be connected by, for example, a key; such as the ring gear 33, may be assembled with the arm portion, for example, by way of a flange connection.

When the base 31 is used as a basic base part, it forms a seat bore for mounting, for example, a bearing bush or a rolling bearing, for mounting a shaft element, which may be a shaft adapted to the ring gear 33 or a shaft directly mounted between, for example, the boom 5.

Fig. 5 to 7 are schematic views of the first swing device, such as the housing 38 for constructing a bearing seat, a vertical plate for supporting the housing 38, etc., shown in the drawings, which may be a integrally cast component, and further, for example, the vertical plate, which may be a block on its body.

In fig. 5, the base 31 is shown as a seat plate + a vertical plate, and a reinforcing plate, and may be integrally formed by casting or may be a plate-welded member.

The seat plate is provided with fixing holes for fixing to the chassis 1 by means of bolts, for example.

With regard to the components of the slewing bearing, limited by the foregoing mounting structure such as the seat bore or the bearing, in a preferred embodiment, the axis of the seat bore is a horizontal axis, and the axis of the seat bore is parallel to the reference direction.

In some embodiments, the pivot bearing may be adapted to a particular pivot plane, such as a forward-tilted pivot plane, in which case the pivot bearing axis is at an angle of no more than 30 degrees to the reference direction.

The forward tilt plane can be determined directly by, for example, the structure of the boom 5 itself in the case of using a horizontal seat hole axis, and the boom 5 can be a crank arm including a horizontal shaft or a sleeve, for example, to be engaged with the seat hole or a fixed shaft provided on the base 31, and the main body of the boom 5 is tilted forward, whereby the forward tilt plane can be realized.

The means for driving the swing of, for example, the boom 5 is denoted as a first drive assembly, which is mounted on the base 31 or chassis and drives the boom via a slewing bearing.

The power unit of the first drive assembly may employ, for example, a brake motor 37 as shown in fig. 7, and may also employ, for example, a swing cylinder with a hydraulic lock, a hydraulic motor, or the like.

Among other things, the brake motor 37 may be of the explosion-proof type for certain applications, such as in the construction of coal mine roadways.

Alternatively, the brake motor 37 may be replaced by a brake hydraulic motor, which is explosion-proof and may be integrated into the hydraulic system of the guniting robot.

In some embodiments, the slewing bearing comprises a stationary ring fixedly mounted on the base 31 and a moving ring in rolling or sliding engagement with the stationary ring, whereby a rolling or sliding bearing is constructed.

In fig. 5, a gear ring 33 is constructed at one end of the moving coil or the moving coil is provided with the gear ring 33, and a structure connected with the arm part is adapted to the moving coil;

accordingly, the first drive assembly includes an output gear 32 that meshes with the ring gear.

If the first drive assembly is, for example, a hydraulic swing cylinder, it converts the linear motion of the hydraulic cylinder into a rotary motion via a rack and pinion mechanism, so that a swing is obtained via a gear output. Under the condition, the gear output of the swing hydraulic cylinder is directly connected or the gear set drives the large arm 5 to swing.

As for the connection between the first drive unit and the arm portion, for example, the boom 5, as can be seen from fig. 5, the end face of the ring gear 33 on which the fixing holes are arranged is the end face on the side of the arm portion of the ring gear 33, and the boom illustrated in fig. 3 is provided with a boom mounting base plate 54, and the mounting holes are formed in the boom mounting base plate 54 so as to be aligned with the ring gear 33, and both are fixedly connected by bolts or screws.

Since the arm is connected with the chassis 1 to form a kinematic pair which is a simple kinematic pair in the embodiment of the present invention, compared with the conventional mechanical arm, the conventional mechanical arm is connected with the chassis 1 to form a compound kinematic pair generally, and the compound kinematic pair comprises two revolute pairs with mutually perpendicular axes. In this case, the arm has only one pivot pair due to its connection to the chassis, whereby the structural requirements for its mounting on the chassis 1 are also relatively low. Thus, since the lower portion of the robotic arm is generally rectangular in cross-section, in some embodiments, a rectangular mounting hole may be provided in, for example, the gear shaft or housing 38 of the ring gear 33, and the robotic arm may be locked after insertion into the rectangular mounting hole using, for example, a set screw.

In some embodiments, the boom mounting base plate 54 as shown in fig. 3 is replaced by a gear fixedly connected to the lower portion of the boom 5, and the gear of the gear is mounted on the first swing device through a bearing and driven by a gear transmission mechanism.

In the guniting operation, the control precision of the mechanical arm is not relatively required, but the control precision is required, and in some embodiments, the mechanical arm is controlled by the instruction of the control element without feeding monitoring.

In some embodiments, the command control cooperates with the conditioning of the feed forward signal to provide the robotic arm with relatively high motion accuracy.

In still other embodiments, a closed-loop control is used to achieve relatively high control accuracy of the robot arm.

Further, with respect to closed loop control, in some embodiments, a detection device for detecting the rotation angle of the arm is provided on the base 31, the slewing bearing, or the first drive assembly.

In the configuration shown in fig. 5, a driven gear 35 is mounted on the housing 38, the driven gear 35 meshes with the ring gear 33, and the rotation parameter of the ring gear 33 can be inferred based on the rotation parameter sampled from the driven gear 35 based on the determined gear ratio.

It is assumed that the toothed ring 33 is fitted with a gear shaft, on the end of which a rotary encoder, for example, can be fitted; likewise, the encoder 36 provided to the gear shaft of the driven gear 35 as shown in fig. 5 is also preferably a rotary encoder.

It should be understood that the monitoring data for a certain component of the drive train may be applied to other components due to the determined motion relationship, and therefore, other simple changes made by those skilled in the art based on the exemplary structure fall within the scope of the present invention.

Regarding the control of the rotation angle range of the swing pair formed by the arm part and the first swing device and the arm part, on one hand, soft limit can be adopted to avoid over-travel; hard limits may also be employed in some embodiments, such as the travel switch 39 shown in FIG. 7; in still other embodiments, mechanical stops may be provided to form hard stops. Three kinds of spacing mode can cooperate the use, for example soft spacing cooperation hard spacing use, and mechanical spacing is as supplementary. In some embodiments, the soft limit is primary and the hard limit and the mechanical limit are secondary.

Regarding the arm portion, it includes a large arm 5 and a small arm 7 in the structure illustrated in fig. 1, wherein a swing pair (hereinafter referred to as a first swing pair) formed by the connection of the large arm 5 and the output member on the first swing device is the basis of the implementation of the first concept of the present invention, and is also the main motion of the robot arm. Whereas the telescopic movements like the large arm 5 and the small arm 7 are conventional movements. The second swing pair formed between the small arm 7 and the large arm 5 is an auxiliary kinematic pair to reduce the burden of the first swing pair and the difficulty of adjustment.

The small arm 7 is assembled at the tail end of the large arm 5, and the assembled part which is used for assembling the small arm 7 and the large arm 5 is provided with a rotating pair, namely the second swinging pair, so that the small arm has a rotating degree of freedom relative to the large arm; the axis of the second swing pair is perpendicular to the sweeping plane, or the axes of the first swing pair and the second swing pair are parallel.

It should be noted that in some embodiments a relatively forward-inclined sweep plane, such as the first swing pair, is used in view of the problem that in some implementations, when guniting operations are considered, the slurry involved in dropping may fall on, for example, the chassis 1. In other embodiments, forward tilting can also be manifested, for example, on a second pivot pair, in which case the axis of the first pivot pair is horizontal.

The first swing pair and the second swing pair can enable swing control of the mechanical arm to be more flexible, and particularly when the rotation angle range of the large arm 5 is limited due to the influence of the assembly structure, the rotation angle range of the small arm 7 can be used for assisting.

In the preferred embodiment, the boom 5 and/or the boom 7 have a telescopic working stroke to accommodate guniting operations on different work surfaces.

In order to obtain a larger adjustment range, the large arm 5 and the small arm 7 can both have telescopic capacity; in order to reduce the control difficulty, one of the two devices can have the expansion and contraction capability; when either one of the two has the telescopic capability, the large arm 5 preferably has the telescopic capability.

Correspondingly, the large arm 5 and/or the small arm 7 with said working stroke comprise:

the static arm is provided with a guide structure in the extending direction of the static arm;

the movable arm is guided by the guide structure.

Taking fig. 3 as an example, the large arm 5 includes a large stationary arm 55, and the large stationary arm 55 is mounted with a large arm mounting base plate 54 for fitting with, for example, the ring gear 33. The large stationary arm 55 itself can form a guide sleeve structure, or it can have a cylinder structure, and the large movable arm 56 cooperates with the guide sleeve structure, for example, to form a sliding pair.

The matching between the static arm and the movable arm can adopt a cylinder body push rod structure which is common in the mechanical field, and the details are not repeated. Regarding the linear wire structure, it is common knowledge in the field of machinery, and other guide rails and guide bar-assisted guides can be used.

In the embodiment of the present invention, the telescopic structure of the large arm 5 and/or the small arm 7 is not a modification of the present invention, for example, for the end mounting assembly, centering on the first swing pair, and the existing structure may be adopted. It should be particularly noted that a robot arm incorporating an end carrier assembly, such as an end carrier assembly, that is improved over the prior art would still fall within the scope of the present invention without departing from the structure, motion, or use of the basic concept, basic structure of the present invention.

The mechanical arm is the core structure of the guniting robot, and depends on the chassis 1, in the embodiment of the utility model, the chassis 1 moves once according to a preset step length, for example, once per the first swing auxiliary swing, so as to realize section guniting. In the process, the width of the cross section in the reference direction is taken as a key element, and the range of one-time guniting operation is completed under the condition that the mechanical arm does not perform pitching motion.

In fig. 8, the scanning may be only one cross-sectional scanning, which belongs to a pure two-dimensional scanning, and for the guniting robot, guniting is performed according to a two-dimensional model obtained by the scanning as a swinging path of the mechanical arm, and in addition, in more applications, for example, the end carrying assembly 9 may enable the guniting to obtain a relatively larger width during the operation of the mechanical arm, so as to form a guniting effect of obtaining a given width by one swinging of the mechanical arm shown in fig. 9.

The calculation amount of the two-dimensional scan is obviously greatly reduced compared with the three-dimensional scan, and the principle shown in fig. 8 can be clearly confirmed. Meanwhile, the two dimensions are also matched with the swinging motion of the mechanical arm, one-time scanning corresponds to one-time swinging, the working mode is relatively simple, and the guniting effect is easier to control.

In addition, as the time required by two-dimensional scanning and calculation is shorter, when the water loss of the slurry of the former width is relatively less, the slurry of the latter width can be superposed, so that the layering is not easy to generate, and the quality of the whole slurry spraying is ensured.

Correspondingly, a scanning device for scanning the working surface is arranged on the chassis 1, for example, the scanning device scans the section in each time, the range is relatively small, the modeling speed is high, and the algorithm is relatively simple because the scanning device is similar to two dimensions on the whole.

Based on the concept of the present invention, the range of each scanning is adapted to the aforementioned section, which is relatively small, and is approximately at the position of the base 31, such as the roadway section, so that the available scanning device has more choices than the conventional guniting robot, and in some embodiments, the conventional radar scanning device, the ultrasonic scanning device, and the optical scanning device may be selected.

In some embodiments, the scanning device is a two-dimensional scanning device that scans the guniting interface that the mechanical arm currently scans.

A robot for whitewashing operation, its chassis 1 adopts crawler-type chassis more, and this type of chassis 1 supports stability relatively better, nevertheless also when carrying out the whitewashing to different positions because of the robotic arm, leads to whitewashing robot whole focus to change and influence the whitewashing precision, for this reason, sets up the auxiliary stay assembly for chassis 1 to when the robotic arm operation, improve the support capacity on chassis.

With respect to the auxiliary support assembly, in some embodiments, hydraulic feet, for example, may be employed, which are lowered after the guniting robot is in place.

In some embodiments, the auxiliary support assembly may be a hoe that is lowered to support the front of the chassis 1 after the guniting robot is in place.

In some embodiments, the auxiliary support assembly may also be a hydraulic push shovel installed at the front of the chassis 1, and after the guniting robot is in place, the hydraulic push shovel is lowered to improve the support stability of the chassis 1.

Regarding the adaptive guniting method, the general requirements of wet spraying are met firstly, and in the embodiment of the utility model, the adaptive guniting method is characterized in that the range of each scanning is relatively small, so that the workload of single modeling is reduced, and the working strength of a mechanical arm of single guniting is reduced.

The guniting construction method comprises the following steps:

1) after the guniting robot stops stably, starting a scanning device to scan the surface to be gunned with the preset width in the advancing direction of the guniting robot, and obtaining scanning data; the preset width is not more than 150cm, preferably 100cm, and the maximum guniting width under the condition of not generating pitching motion in the swinging and rotating process of the mechanical arm is met.

Considering that for example, the slurry spraying mode of the spray head may include a circling motion, which may generate a relatively large slurry spraying width, but considering that the slurry spraying angle is not too large, the range of the circling motion is not large, and the circling motion is combined with the swing of the mechanical arm to form a spiral slurry spraying mode in the swing direction.

In some embodiments, the slurry spraying does not include the above-mentioned nozzle circling motion, and the nozzle follows the mechanical arm to make a simple swinging motion. In view of the embodiment of the present invention, each scanning is accompanied by one movement of the chassis 1, the predetermined width is not too small, so as to reduce the number of movements of the chassis 1; especially in case of the need to open e.g. the auxiliary support after each movement. Therefore, the predetermined width is not preferably less than 50 cm.

And when the spiral line advances, the spiral line is pressed by half a circle.

2) Furthermore, the guniting robot carries out modeling according to the scanning data, and guniting operation is carried out by driving the mechanical arm according to the built model. This is common general knowledge in the art and will not be described further herein.

3) Accordingly, the guniting robot guniting the surface to be gunited according to the modeling.

4) And the arm swings for one period to finish the guniting of the current sprayed surface, the guniting robot moves forward one step, the step length is equal to the preset amplitude, and the guniting of the sprayed surface with the next width is carried out.

And circulating the steps to finish the guniting operation of the current working face.

In a preferred embodiment, before the first scanning is performed in step 1), the method includes the step of determining arm base data, and the step includes:

after the guniting robot reaches the initial operation position, the tail end of the arm is controlled to sequentially reach the starting point and the end point when guniting is carried out on the first preset width, the working parameters of each joint of the arm corresponding to the starting point and the end point are recorded, the movement path of the arm is fitted according to the scanning data, and the overall calculated amount is reduced.

When the arm basic data is determined, the control of the arm can be manually completed to deal with the complex sprayed surface.

During the guniting operation, the distance between the nozzle and the sprayed surface is 0.8-2 m, so as to obtain better rebound rate.

And for the sprayed surface hung with the reinforcing mesh, the spray head is inclined by 1-10 degrees relative to the sprayed surface without the reinforcing mesh during spraying, or if the sprayed surface is hung with the mesh, the spray head is inclined relatively more so as to improve the spraying quality.

In the preferred embodiment, different wind pressures are adopted for feeding different positions of the sprayed surface during spraying, wherein the wind pressure for spraying the arch part is larger than that for spraying the side wall.

Preferably, the air pressure of the guniting to the arch part is 0.1-0.15 MPa greater than that of the guniting to the side wall.

Claims (10)

1. The utility model provides a mechanical arm for the control of whitewashing machine people shower nozzle position appearance uses whitewashing machine people's advancing direction as the benchmark direction, its characterized in that, the mechanical arm includes:

the first swing device or the cascaded composite device capable of outputting swing motion is used for installing the mechanical arm on the chassis of the guniting robot;

the arm part is matched with the output member of the first swing device or the composite device to form a swing pair, and the corresponding swing plane is a vertical plane vertical to the reference direction or a forward-inclined swept plane which forms a fixed included angle of not less than 60 degrees with the reference direction;

and a tip mounting assembly mounted on the tip of the arm to mount the head.

2. A robotic arm as claimed in claim 1, in which the first oscillating means comprises:

the base is used for installing the first swinging device on the chassis;

a slewing bearing constructed or mounted on the base for mounting the arm on the base, the axis of the slewing bearing being parallel to the reference direction or at an angle of no more than 30 degrees;

a first drive assembly mounted on the base or chassis and driving the arm through a slewing bearing.

3. A robotic arm as claimed in claim 2, in which the slewing bearing comprises a stationary ring fixedly mounted on the base and a moving ring in rolling or sliding engagement with the stationary ring;

wherein, a gear ring is built or arranged at one end of the moving coil and is adapted with a structure connected with the arm part;

accordingly, the first drive assembly includes an output gear in meshing engagement with the ring gear.

4. A robot arm as claimed in claim 3, wherein the ring gear has fixing holes arranged annularly on an end surface on the side of the arm portion;

correspondingly, the lower end of the arm part is provided with a fixed hole in a contraposition way;

the arm portion is fixed to the ring gear by means of the fixing hole and the fixed hole by means of a bolt or a screw.

5. A robotic arm as claimed in any one of claims 2 to 4, in which the base, the slewing bearing or the first drive assembly is provided with means for detecting the angle of rotation of the arm.

6. The robotic arm of claim 1, wherein the arm comprises:

a large arm for connection of the arm portion to the output member;

the small arm is assembled at the tail end of the large arm, and the matched assembling part is provided with a rotating pair, so that the small arm has a rotating degree of freedom relative to the large arm; the axis of the revolute pair is perpendicular to the sweep plane.

7. A robotic arm as claimed in claim 6, in which the large and/or small arms have a telescopic working stroke;

accordingly, the large and/or small arm with said working stroke comprises:

the static arm is provided with a guide structure in the extending direction of the static arm;

the movable arm is guided by the guide structure.

8. A guniting robot, characterized by comprising the mechanical arm as set forth in any one of claims 1 to 7, a chassis for mounting the mechanical arm, and a scanning device for scanning a work surface.

9. The guniting robot according to claim 8, wherein the scanning device is a two-dimensional scanning device for scanning a roadway section corresponding to the current sweeping of the mechanical arm.

10. The guniting robot of claim 8, wherein the chassis is provided with an auxiliary support assembly to improve the support capability of the chassis during operation of the robotic arm.

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