CN220621878U - Five-degree-of-freedom concrete spraying mechanical arm and guniting robot - Google Patents
Five-degree-of-freedom concrete spraying mechanical arm and guniting robot Download PDFInfo
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- CN220621878U CN220621878U CN202322323276.0U CN202322323276U CN220621878U CN 220621878 U CN220621878 U CN 220621878U CN 202322323276 U CN202322323276 U CN 202322323276U CN 220621878 U CN220621878 U CN 220621878U
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- 238000005507 spraying Methods 0.000 title claims abstract description 76
- 239000004567 concrete Substances 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 239000007921 spray Substances 0.000 claims abstract description 55
- 210000000245 forearm Anatomy 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 239000002002 slurry Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 24
- 230000008569 process Effects 0.000 description 22
- 239000000428 dust Substances 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 239000003245 coal Substances 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000006880 cross-coupling reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004570 mortar (masonry) Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000011378 shotcrete Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Abstract
The utility model discloses a concrete spraying mechanical arm with five degrees of freedom and a spraying robot, and belongs to the technical field of concrete spraying. Comprises a big arm rotation mechanism, a small arm telescopic mechanism and a nozzle component rotation mechanism; one end of the small arm telescopic mechanism is connected with the large arm rotary mechanism, and the other end of the small arm telescopic mechanism is connected with the spray head assembly rotary mechanism; the large arm rotation mechanism comprises a rotation device, a large arm and a hydraulic push rod; the slewing device is matched with the big arm to form a revolute pair; the hydraulic push rod is connected with the big arm; the spray head assembly rotating mechanism comprises a first swing motor, a second swing motor, a third swing motor assembly, a circle drawing assembly and a spray head assembly; the first swing motor is embedded in the forearm telescopic mechanism, the second swing motor is connected with the first swing motor, and the third swing motor assembly is connected with the second swing motor; the circle drawing assembly is connected with the third swing motor assembly; the spray head assembly is connected with a third swing motor assembly.
Description
Technical Field
The utility model belongs to the technical field of concrete spraying, and relates to a five-degree-of-freedom concrete spraying mechanical arm and a spraying robot.
Background
The roadway guniting support is a support form for spraying mixed concrete slurry to the surface of surrounding rock of a roadway at a high speed by using compressed air power. The existing concrete spraying construction process is divided into three typical spraying modes of dry spraying, wet spraying and wet spraying, wherein the dry spraying process has been prohibited from being used in coal mines at present because of the defects of overlarge dust concentration, high rebound rate, unsecured spraying strength and the like. The wet spraying process combines the characteristics of light and rapid dry spraying operation, low dust yield of wet spraying and the like, and the price of a wet spraying machine is relatively low, so that the wet spraying machine is widely applied to underground coal mines at present. However, the wet spraying process also inherits the disadvantages of the dry and wet spraying processes, and when the material is not completely mixed with water, dust of a certain concentration is still generated during spraying.
The wet spraying process has low rebound rate and high production efficiency, reduces the dust concentration of the working environment of workers, has easy control of the water-cement ratio, has high concrete curing degree, improves the quality of sprayed concrete, and improves the uniformity of the concrete.
Further, the existing spraying operation adopts a traditional manual hand-held spray head mode to spray wet spraying, and as the spray arm needs to hold the spray head (a mortar pipe, a water pipe, a spray head, spraying slurry and the like) and continuously move during spraying, the spray head needs to be rotated continuously to spray slurry in a circle drawing mode in the moving process, so that the spraying quality can be ensured. In addition, the guniting pipeline increases the control difficulty of the guniting arm due to the larger wind pressure recoil.
Disclosure of Invention
In order to overcome the defects of the prior art, the utility model aims to provide a five-degree-of-freedom concrete spraying mechanical arm and a spraying robot, which solve the problems of low spraying quality and low working efficiency of manual operation in the spraying operation construction process of underground coal mine roadways.
In order to achieve the above purpose, the utility model is realized by adopting the following technical scheme:
the utility model provides a five-degree-of-freedom concrete spraying mechanical arm, which comprises a large arm rotating mechanism, a small arm telescopic mechanism and a spray head assembly rotating mechanism, wherein the large arm telescopic mechanism is arranged on the large arm;
one end of the small arm telescopic mechanism is connected with the large arm rotary mechanism, and the other end of the small arm telescopic mechanism is connected with the spray head assembly rotary mechanism;
the large arm rotation mechanism comprises a rotation device, a large arm and a hydraulic push rod; the turning device is matched with the big arm to form a turning pair; the hydraulic push rod is connected with the big arm;
the spray head assembly rotating mechanism comprises a first swing motor, a second swing motor, a third swing motor assembly, a circle drawing assembly and a spray head assembly;
the first swing motor is embedded in the forearm telescopic mechanism, the second swing motor is connected with the first swing motor, and the third swing motor assembly is connected with the second swing motor; the circle drawing assembly is connected with the third swing motor assembly; the spray head assembly is connected with a third swing motor assembly.
In the specific implementation process, the rotary device comprises a rotary table supporting seat and a rotary speed reducer; the rotary speed reducer is fixedly arranged in the rotary table supporting seat.
In the specific implementation process, the rotary speed reducer is connected with the big arm; the swing speed reducer drives the large arm to change the swing angle.
In the specific implementation process, the injection angle of the hydraulic push rod is adjusted to be-60 degrees to +70 degrees.
In the specific implementation process, the forearm telescopic mechanism comprises an outer beam, a middle beam and an inner beam;
the inner beam is arranged inside the middle beam, and the outer beam is arranged outside the middle beam and the inner beam; the outer beam, the middle beam and the inner beam are fixedly connected through a hydraulic push rod of the large-arm rotation mechanism.
In the concrete implementation process, two sides of the spray head component are provided with an accelerator pipe interface and a clear water pipe interface.
In the implementation process, the first swing motor and the second swing motor drive the spray head assembly to rotate; and the third swing motor assembly drives the nozzle assembly to uniformly draw circles and spray slurry through the circle drawing assembly.
In the specific implementation process, the second swing motor is connected with the first swing motor through a swing motor connecting frame; the third swing motor assembly is connected with the second swing motor through a U-shaped plate; a spring seat is arranged between the spray head assembly and the third swing motor assembly, and the spray head assembly is connected with the third swing motor assembly through a fixed bottom plate.
In a specific implementation process, the circle drawing assembly comprises an Oldham coupling and a cam structure, wherein the cam structure is arranged in the third swing motor assembly, and the Oldham coupling is connected with the third swing motor assembly.
The utility model also provides a guniting robot of the five-degree-of-freedom concrete spraying mechanical arm, which comprises any one of the five-degree-of-freedom concrete spraying mechanical arm and a chassis arranged at the bottom of the five-degree-of-freedom concrete spraying mechanical arm and used for carrying the spraying mechanical arm.
Compared with the prior art, the utility model has the following beneficial effects:
the utility model provides a five-degree-of-freedom concrete spraying mechanical arm, which consists of a large arm rotating mechanism, a small arm telescopic mechanism and a nozzle assembly rotating mechanism, wherein a chassis of a rotating device in the large arm rotating mechanism can rotate by 360 degrees; the big arm can lift under hydraulic push rod drive, the forearm can stretch out and draw back, 360 rotations can be realized to spray gun that spray head subassembly rotation mechanism's spray gun can perpendicular tunnel section, perpendicular fuselage 180 swings, it possesses horizontal gyration, perpendicular gyration, every single move and flexible function, improve the guniting quality and the operating efficiency of construction, not only can liberate the workman from abominable guniting environment, in addition when improving guniting quality and operating efficiency, the staff can keep away from the guniting point, reduce the harm of dust, the personal safety and the healthy of protection workman.
Drawings
FIG. 1 is a schematic front view of a five-degree-of-freedom multifunctional concrete spraying mechanical arm assembly structure;
FIG. 2 is a schematic top view of a five-degree-of-freedom multifunctional concrete spraying mechanical arm assembly according to the utility model;
wherein: 1-a rotary table supporting seat; 2-a slewing reducer; 3-big arm; 4-a hydraulic push rod; 5-an outer beam; 6, a middle beam; 7-an inner beam; 8-a first swing motor; 9-a swing motor connection rack; 10-a second swing motor; 11-a third swing motor assembly; 12-cross coupling; 13-spring seats; 14-spray head assembly.
Detailed Description
In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The utility model is described in further detail below with reference to the attached drawing figures:
the utility model provides a five-degree-of-freedom concrete spraying mechanical arm, which comprises a large arm rotating mechanism, a small arm telescopic mechanism and a spray head assembly rotating mechanism, wherein the large arm telescopic mechanism is arranged on the large arm; the big arm slewing mechanism is arranged at one end of the small arm telescopic mechanism, and the spray head assembly slewing mechanism is arranged at the other end of the small arm telescopic mechanism. The maximum spraying height of the concrete spraying machine is 6m, and the minimum using roadway is 3m. Not only can liberate the workman from abominable guniting environment, in addition when improving guniting quality and operating efficiency, the operating personnel can keep away from the guniting point, reduces the harm of dust, protects workman's personal safety and healthy.
Specifically, the traveling direction of the guniting robot is taken as a reference direction, the reference direction is taken as an X-axis direction, as shown in fig. 1, the traveling direction is taken as an X-axis, and the direction vertical to the X-axis on the plane and upwards is taken as a Z-axis direction; the concrete spraying mechanical arm with five degrees of freedom comprises a large arm rotating mechanism consisting of a rotating device, a large arm 3 and a hydraulic push rod 4; the slewing device comprises a slewing table supporting seat 1 and a slewing reducer 2; the rotary speed reducer 2 is fixedly arranged in the rotary table supporting seat 1; the rotary speed reducer 2 is connected with the big arm 3, and the big arm 3 is matched with the rotary table supporting seat 1 or the rotary speed reducer 2 in the rotary device to form a revolute pair; and the corresponding swing angle of the large arm 3 is driven by the swing speed reducer 2, so that 360-degree rotation of the vertical plane can be satisfied. The hydraulic push rod 4 is connected with the big arm 3; the hydraulic push rod 4 is used for supporting the large arm 3 and adjusting the integral working Z-shaped pose of the mechanical arm, and the injection angles of different heights which can be adjusted by the hydraulic push rod 4 are-60 degrees to +70 degrees, namely, the injection angles of different heights are-60/+70.
The five-degree-of-freedom concrete spraying mechanical arm also comprises a small arm telescopic mechanism consisting of an outer beam 5, a middle beam 6 and an inner beam 7; the inner beam 7 is arranged inside the middle beam 6, and the outer beam 5 is arranged outside the middle beam 6 and the inner beam 7; the outer beam 5, the middle beam 6 and the inner beam 7 are fixedly connected through a hydraulic push rod 4 of the large-arm slewing mechanism, and the telescopic stroke of the mechanical arm is more than or equal to 1200mm. The pitching angle range of the telescopic arm is large, so that the spraying operation can be uniformly performed.
The five-degree-of-freedom concrete spraying mechanical arm further comprises a spray head assembly rotating mechanism consisting of a first swing motor 8, a second swing motor 10, a third swing motor assembly 11, a circle drawing assembly and a spray head assembly 14; the whole body of the spray head assembly slewing mechanism is arranged at the tail end of an inner beam 7 of the forearm telescopic mechanism, a first swing motor 8 is embedded in the inner beam 7 of the forearm telescopic mechanism, a second swing motor 10 is connected with the first swing motor 8, and a third swing motor assembly 11 is connected with the second swing motor 10; a more specific second swing motor 10 is connected to the first swing motor 8 through a swing motor connecting frame 9; the third swing motor assembly 11 is connected to the second swing motor 10 by a U-shaped plate. The first swing motor 8 drives the spray head assembly 14 to rotate around the X axis of the inner beam 7; the second swing motor 10 drives the showerhead assembly 14 to rotate about the reference Z-axis.
The circle drawing assembly is connected with a third swing motor assembly 11; the spray head assembly 14 is connected with the third swing motor assembly 11, and the third swing motor assembly 11 drives the spray head assembly 14 to uniformly draw a circle and spray slurry through the circle drawing assembly. The circle drawing assembly comprises an Oldham coupling 12 and a cam structure, wherein the cam structure is arranged in the third swing motor assembly 11, the third swing motor assembly 11 is connected with the Oldham coupling 12, in short, the third swing motor assembly 11 is internally connected with the cam structure and the Oldham coupling structure, and the spray head assembly 14 is controlled to draw a circle in the spraying process, so that the spraying operation surface is more uniform.
More specifically, the spray head assembly slewing mechanism further comprises a spring seat 13, the spring seat 13 is arranged between the spray head assembly 14 and the third swing motor assembly 11, and the spray head assembly 14 and the spring seat 13 are connected with the third swing motor assembly 11 through a fixed bottom plate; the two sides of the spray head assembly 14 are provided with the accelerator pipe interface and the clear water pipe interface, so that the rapid forming of a construction surface in the spraying process can be satisfied, the spraying operation can be uniformly performed by the structure, the rebound rate is less than 15%, and the dust concentration is less than 15mg/m3.
The chassis of the five-degree-of-freedom concrete spraying mechanical arm can rotate by 360 degrees, has the functions of lifting a large arm and telescoping a small arm, can rotate by 360 degrees perpendicular to the section of a roadway, and swings by 180 degrees perpendicular to a machine body.
The utility model also provides a guniting robot, wherein the guniting robot is provided with the five-degree-of-freedom concrete spraying mechanical arm, and the bottom of the five-degree-of-freedom concrete spraying mechanical arm is provided with a chassis for carrying the spraying mechanical arm.
The five-degree-of-freedom multifunctional mechanical arm is used for adjusting and controlling the spray head pose of the guniting robot by taking the travelling direction of the guniting robot as a reference direction; the rotary device consisting of the rotary table supporting seat 1 and the rotary speed reducer 2 is used as a composite device capable of outputting swing motion and is used for installing the mechanical arm on the crawler chassis of the guniting robot.
Examples
As shown in fig. 1, a five-degree-of-freedom multifunctional concrete spraying mechanical arm in the embodiment comprises a three-part structure; a first part: a large arm rotating mechanism consisting of a rotary table supporting seat 1, a rotary speed reducer 2, a large arm 3 and a hydraulic push rod 4; further, the rotary speed reducer 2 is fixedly arranged in the rotary support seat 1, the large arm 3 is in bolt connection with the rotary speed reducer 2, the large arm 3 is matched with the rotary table support seat 1 or the rotary speed reducer 2 to form a revolute pair, the corresponding swinging angle of the large arm 3 is driven by the rotary speed reducer 2 to rotate in 360 degrees on a vertical plane, the hydraulic push rod 4 is further used as a support part of the large arm 3, the pose of the whole working Z direction of the mechanical arm can be adjusted, and the spraying angles of different heights are adapted to-60 degrees/+70 degrees.
A second part: forearm telescopic machanism contains three parts: an outer beam 5, a middle beam 6 and an inner beam 7; the inner beam 7 is inlaid in the middle beam 6, the middle beam 6 and the inner beam 7 are inlaid in the outer beam 5 at the same time, the beams are fixedly connected through a hydraulic push rod, the telescopic requirement of the small arm is met, and the telescopic stroke of the mechanical arm is more than or equal to 1200mm.
Third part spray head assembly swing mechanism: comprises a first swing motor 8, a swing motor connecting frame 9, a second swing motor 10, a third swing motor assembly 11, an Oldham coupling 12, a spring seat 13 and a spray head assembly 14.
The whole shower nozzle subassembly 14 is put at the interior roof beam 7 end of forearm telescopic machanism, and first swing motor 8 is embedded in the interior roof beam 7 of forearm telescopic machanism, and second swing motor 10 is connected with first swing motor 8 through swing motor link 9, and third swing motor subassembly 11 is connected with second swing motor 10 through the U template, and shower nozzle subassembly 14 is put with spring holder 13 through fixed bottom plate and is connected with third swing motor subassembly 11. The first swing motor 8 controls the spray head assembly 14 to rotate around the X axis of the inner beam 7, the second swing motor 10 controls the spray head assembly 14 to rotate around the reference Z axis, the third swing motor assembly 11 is internally connected with a cam structure and an Oldham coupling 12 structure, and the spray head assembly is controlled to 'draw a circle' in the spraying process, so that the spraying operation surface is more uniform.
The two sides of the spray head assembly 14 are provided with accelerator pipes and clear water pipes, so that the rapid forming of the construction surface in the spraying process can be satisfied.
The above is only for illustrating the technical idea of the present utility model, and the protection scope of the present utility model is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present utility model falls within the protection scope of the claims of the present utility model.
Claims (10)
1. The concrete spraying mechanical arm with five degrees of freedom is characterized by comprising a large arm rotating mechanism, a small arm telescopic mechanism and a spray head assembly rotating mechanism;
one end of the small arm telescopic mechanism is connected with the large arm rotary mechanism, and the other end of the small arm telescopic mechanism is connected with the spray head assembly rotary mechanism;
the large arm rotation mechanism comprises a rotation device, a large arm (3) and a hydraulic push rod (4); the turning device is matched with the large arm (3) to form a revolute pair; the hydraulic push rod (4) is connected with the big arm (3);
the sprayer assembly slewing mechanism comprises a first swing motor (8), a second swing motor (10), a third swing motor assembly (11), a circle drawing assembly and a sprayer assembly (14);
the first swing motor (8) is embedded in the forearm telescopic mechanism, the second swing motor (10) is connected with the first swing motor (8), and the third swing motor assembly (11) is connected with the second swing motor (10); the circle drawing assembly is connected with a third swing motor assembly (11); the spray head assembly (14) is connected with a third swing motor assembly (11).
2. The five-degree-of-freedom concrete spraying mechanical arm according to claim 1, wherein the slewing device comprises a slewing table supporting seat (1) and a slewing reducer (2); the rotary speed reducer (2) is fixedly arranged in the rotary table supporting seat (1).
3. The five degree of freedom concrete spraying mechanical arm according to claim 2, characterized in that the slewing reducer (2) is connected with a large arm (3); the swing reducer (2) drives the big arm (3) to change the swing angle.
4. The five-degree-of-freedom concrete spraying mechanical arm according to claim 1, characterized in that the hydraulic push rod (4) has an adjusted spraying angle of-60 ° to +70°.
5. The five-degree-of-freedom concrete spraying mechanical arm according to claim 1, characterized in that the small arm telescopic mechanism comprises an outer beam (5), a middle beam (6) and an inner beam (7);
the inner beam (7) is arranged inside the middle beam (6), and the outer beam (5) is arranged outside the middle beam (6) and the inner beam (7); the outer beam (5), the middle beam (6) and the inner beam (7) are fixedly connected with each other through a hydraulic push rod (4) of the large-arm rotation mechanism.
6. The five-degree-of-freedom concrete spraying mechanical arm according to claim 1, wherein accelerator pipe interfaces and clear water pipe interfaces are provided on both sides of the spray head assembly (14).
7. The five degree of freedom concrete spraying mechanical arm of claim 1 wherein the first swing motor (8) and second swing motor (10) drive the spray head assembly (14) to rotate; and the third swing motor assembly (11) drives the spray head assembly (14) to uniformly draw a circle and spray slurry through the circle drawing assembly.
8. The five degree of freedom concrete spraying mechanical arm according to claim 1 or 7, characterized in that the second swing motor (10) is connected to the first swing motor (8) through a swing motor connection frame (9); the third swing motor assembly (11) is connected with the second swing motor (10) through a U-shaped plate; a spring seat (13) is arranged between the spray head assembly (14) and the third swing motor assembly (11), and the spray head assembly (14) and the spring seat (13) are connected with the third swing motor assembly (11) through a fixed bottom plate.
9. The five degree of freedom concrete spraying mechanical arm of claim 1 wherein the circle drawing assembly includes an oldham coupling (12) and a cam structure, the cam structure being disposed inside the third swing motor assembly (11), the oldham coupling (12) being connected to the third swing motor assembly (11).
10. A guniting robot of a five-degree-of-freedom concrete spraying mechanical arm, which is characterized by comprising the five-degree-of-freedom concrete spraying mechanical arm according to any one of claims 1 to 9 and a chassis arranged at the bottom of the five-degree-of-freedom concrete spraying mechanical arm and used for carrying the spraying mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322323276.0U CN220621878U (en) | 2023-08-28 | 2023-08-28 | Five-degree-of-freedom concrete spraying mechanical arm and guniting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322323276.0U CN220621878U (en) | 2023-08-28 | 2023-08-28 | Five-degree-of-freedom concrete spraying mechanical arm and guniting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220621878U true CN220621878U (en) | 2024-03-19 |
Family
ID=90234625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322323276.0U Active CN220621878U (en) | 2023-08-28 | 2023-08-28 | Five-degree-of-freedom concrete spraying mechanical arm and guniting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220621878U (en) |
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2023
- 2023-08-28 CN CN202322323276.0U patent/CN220621878U/en active Active
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