Mechanical arm, and system and method for planning motion track of mechanical arm

Abstract

The invention discloses a mechanical arm, and a system and method for planning a motion track of the mechanical arm. According to the method, a nozzle is driven to move to a plurality of measuring points on an arc line of a construction tunnel section through the mechanical arm, corresponding spatial coordinates of the nozzle at the multiple measuring points are obtained, a fitting equation curvecorresponding to the arc line of the construction tunnel section can be obtained by fitting, and the motion track of the mechanical arm is planned accordingly, so that under driving of the mechanicalarm, the nozzle moves by the first preset distance each time in the direction of a construction tunnel line when moving in the horizontal plane, and moves by the second preset distance each time according to the fitting equation curve when moving in the construction tunnel section, that is, when a wet spraying machine conducts automatic wet spraying, the mechanical arm only needs to be controlledto drive the nozzle to move horizontally in the horizontal plane and make lifting moving in the construction tunnel section. Compared with the prior art, the motion track of the mechanical arm duringautomatic wet spraying of the wet spraying machine can be simplified, the control difficulty of the mechanical arm is lowered, and the construction cost is saved.

Description

Technical field [0001] The invention relates to the technical field of concrete wet spraying, and in particular to a mechanical arm, a movement trajectory planning system and method of the mechanical arm. Background technique [0002] The wet concrete spraying machine is mainly used for the construction of tunnels. The concrete mixture is sprayed directly on the rock surface through the nozzle to form a consolidated concrete layer, and the robot arm is raised and lowered, revolved, telescopic and the whole machine walks, so that the nozzle follows the rock The change of the surface can flexibly change the angle and orientation to ensure that the spray direction of the nozzle is always perpendicular to the rock surface, and to maintain the best spray distance between the nozzle and the rock surface, and effectively control the concrete spray quality, rebound rate and leakage rate. [0003] At present, when the concrete wet spraying machine is in use, the scanning instrument is mainl...

AI Technical Summary

Problems solved by technology

However, the scanning equipment used to collect the profile data of the construction section is often relatively expensive, and the motion trajectory of the entire robotic arm established after scanning is very complicated, which makes the control of the robotic arm very difficult.

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