Concrete spray mechanical arm

Abstract

The invention discloses a concrete spray mechanical arm, which mainly comprises a pivoting support, a large arm, a middle arm, a small arm, a small arm oscillating mechanism, a small arm parallel mechanism and a sprayer wrist gyrator. The pivoting support is arranged on a cement spraying machine frame; the large arm and the small arm are telescopic arms; an outer arm of the small arm is hinged with the middle arm; the sprayer wrist gyrator is arranged at the tail end of an inner arm of the small arm; the small arm parallel mechanism consists of two oil cylinders with the same cylinder diameter and rod diameter; the two oil cylinders are hinged with the pivoting support, an outer arm of the large arm, an inner arm of the large arm and the middle arm respectively; rod cavities are connected and rodless cavities are connected in the two oil cylinders; and the small arm oscillating mechanism consists of an oscillating oil cylinder, a tripod and a pull rod and is hinged with the middle arm and the small arm. The mechanical arm has the advantages of high working efficiency, high working quality and high adaptive capacity.

Description

technical field [0001] The invention relates to the technical field of concrete spraying, in particular to a concrete spraying mechanical arm for spraying concrete. Background technique [0002] The concrete spraying machine that is currently used for spraying concrete operations mainly completes concrete spraying by manually holding the spray head. Recently, a concrete sprayer with a mechanical arm has appeared. The typical example of the type of the mechanical arm is a multiple four-bar linkage mechanism. This kind of mechanical arm has a large motion inertia and a small working range; There is no horizontal arm rod, the arm swings up and down when the arm cylinder is stretched, and the arm can rotate around the axis. This kind of mechanical arm has a simple structure and a large working range, but there is no parallel movement mechanism for the nozzle; the mechanical arm for concrete pump trucks and distribution machines It is a joint-type folding robot arm with small mo...

AI Technical Summary

Problems solved by technology

Recently, a concrete sprayer with a mechanical arm has appeared. The typical example of the type of the mechanical arm is a multiple four-bar linkage mechanism. This kind of mechanical arm has a large motion inertia and a small working range; There is no horizontal arm rod, the arm swings up and down when the arm cylinder is stretched, and the arm can rotate around the axis. This kind of mechanical arm has a simple structure and a large working range, but there is no parallel movement mechanism for the nozzle; the mechanical arm for concrete pump trucks and distribution machines It is a joint-type folding robot arm with small motion inertia and large working range, but there is no parallel mechanism of the manipulator, so the working space requirement is large

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