Injection machine and mechanical arm, injection control method and injection control device thereof

Abstract

The invention discloses an injection machine and a mechanical arm, an injection control device and an injection control method thereof. In the injection control device of the injection machine, status sensors detect current status parameters of corresponding motion amplitudes of the mechanical arm, a controller determines current position and orientation parameters of nozzles according to the current status parameters of the motion amplitudes, and then the target position and orientation parameters of the nozzles are determined, the target status parameters of different motion amplitudes are determined, and preset control signals are formed according to the target status parameters of the motion amplitudes and the current status parameters of the motion amplitudes of the mechanical arm, and are sent to corresponding drivers of the mechanical arm finally. According to the target position and orientation parameters of the nozzles, the injection control device changes status parameters of the motion amplitudes of the mechanical arm, drives the nozzles to reach the preset target positions along the preset tracks so as to switch into the preset orientations, thereby realizing accurate control to injection angle and distance and reducing independence to personal factors of operators.

Description

technical field [0001] The present invention relates to a mechanical arm control technology of a spraying machine, in particular to a spraying control method and a spraying control device of a spraying machine, and also to a mechanical arm of a spraying machine comprising the spraying control device and a machine comprising the spraying machine Arm jet machinery. Background technique [0002] Concrete spraying is a construction technology that transports a certain proportion of concrete mixture to the nozzle part through the pipeline, and sprays the concrete mixture on the construction surface at high speed in the nozzle part to solidify and harden, and then forms the concrete support layer. Due to the characteristics of simple process, low economical cost and quick construction, concrete spraying technology is widely used in construction, railway, highway, tunnel construction, mine shaft construction, slope reinforcement and other fields. Concrete spraying technology inclu...

AI Technical Summary

Problems solved by technology

The experience, emotion and other personal factors of the operator have a great influence on the injection quality and effect; the accumulation of long-term control operations will also lead to excessive labor intensity of the operator, which will affect the stability of the injection quality

Therefore, the existing technology has the problem of relying too much on the personal factors of the operator

For the same reason, when using other concrete spraying machines with mechanical arms, there is also the problem that the quality of concrete spraying is too dependent on the personal factors of the operator

Images