Intelligent boom of wet spraying machine and wet spraying machine

Abstract

The present invention provides an intelligent arm stand for a wet spraying machine and a wet spraying machine, which relates to the technical field of the frame structure of a wet spraying machine, and is designed to solve the technical problem that the operation steps are cumbersome and the work efficiency is low in the process of adjusting the telescopic arm of the wet spraying machine in the prior art. The intelligent arm stand for a wet spraying machine provided by the present invention cooperates with a controller through a first angle sensor, a first distance sensor, a large arm pitch sensor, a middle arm pitch sensor, a second angle sensor, a second distance sensor, and a controller, and uses the controller to automatically control the first driving member, the second driving member, the slewing mechanism, and the reducer, thereby realizing automatic adjustment of the telescopic arm. Compared with the prior art in which an operator is required to manually adjust and calibrate the telescopic arm, the above structure realizes automatic adjustment of the telescopic arm, thereby avoiding the technical problem that the operation steps are cumbersome and the work efficiency is low in the process of adjusting the angle of the telescopic arm in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of wet spraying machine frame structures, and in particular to an intelligent arm support of a wet spraying machine and a wet spraying machine. Background Art

[0002] Shotcrete uses compressed air to transport concrete mixtures in a certain proportion through pipelines and spray them at high speed onto the sprayed surface to solidify and harden, thus forming a concrete support layer. In recent years, shotcrete technology has been widely used in the fields of construction, railway and highway tunnel construction, mine shaft construction, slope reinforcement, etc. due to its simple process, unique effect, economical cost and fast construction speed.

[0003] Tunnel shotcrete is generally divided into four types according to the process flow: dry shotcrete, damp shotcrete, wet shotcrete and mixed shotcrete. The main difference is that the feeding procedures of each process are different, especially the timing of adding water and accelerator. When using the above-mentioned shotcrete processes, it is necessary to use a wet shotcrete machine to spray the mixed materials onto the rock surface. The wet shotcrete machine can drive the nozzle close to the surface to be sprayed, so that the nozzle sprays toward the surface to be sprayed.

[0004] In the prior art, in the process of adjusting the boom of the wet spraying machine, the manual operation steps are cumbersome, resulting in low work efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent boom of a wet spraying machine and a wet spraying machine, so as to solve the technical problem in the prior art that in the process of adjusting the boom of the wet spraying machine, the manual operation steps are cumbersome, resulting in low work efficiency.

[0006] The intelligent boom of a wet spraying machine provided by the present invention comprises a slewing mechanism, a slewing table, a telescopic boom, a first driving member, a middle arm, a second driving member, a reducer, a telescopic forearm, a spray head, a first angle sensor, a first distance sensor, a boom pitch angle sensor, a boom pitch sensor, a middle arm pitch angle sensor, a middle arm pitch sensor, a second angle sensor, a second distance sensor, and a controller electrically connected to the above multiple sensors.

[0007] The turntable is transmission-connected to the turntable, the telescopic boom is rotationally connected to the turntable, the first driving member is used to drive the telescopic boom to do pitch rotation, the middle arm is rotationally connected to the telescopic boom, the second driving member is used to drive the middle arm to do pitch rotation, the reducer is installed on the middle arm, the telescopic small arm is transmission-connected to the reducer, and the nozzle is installed at one end of the telescopic small arm.

[0008] The movements of the first driving member, the second driving member, the rotary mechanism and the reducer are all controlled by a controller.

[0009] The first angle sensor is arranged on the slewing mechanism; the first distance sensor is arranged on the telescopic arm and is used to detect the telescopic length of the telescopic arm; the second angle sensor is arranged on the reducer; the second distance sensor is arranged on the telescopic arm and is used to detect the telescopic length of the telescopic arm.

[0010] The boom pitch sensor includes a third angle sensor for detecting the pitch angle of the telescopic boom, or a third distance sensor for detecting the pitch angle of the telescopic boom; the middle arm pitch sensor includes a fourth angle sensor for detecting the pitch angle of the middle arm, or a fourth distance sensor for detecting the pitch angle of the middle arm.

[0011] Furthermore, the first driving member and the second driving member are both linear driving members.

[0012] One of the fixed end and the output end of the first driving member is rotatably connected to the telescopic boom, and the other end is rotatably connected to the turntable; one of the fixed end and the output end of the second driving member is rotatably connected to the telescopic boom, and the other end is rotatably connected to the middle arm.

[0013] Furthermore, the third angle sensor is arranged at the rotation connection shaft between the telescopic boom and the turntable, and the fourth angle sensor is arranged at the rotation connection shaft between the middle arm and the telescopic boom.

[0014] Furthermore, the third distance sensor is disposed on the first driving member to detect the telescopic length of the output end of the first driving member, and the fourth distance sensor is disposed on the second driving member to detect the telescopic length of the output end of the second driving member.

[0015] Furthermore, the telescopic arm is a secondary telescopic arm, and the telescopic arm is a primary telescopic arm.

[0016] Furthermore, the telescopic forearm includes a forearm fixing portion and a forearm telescopic portion telescopically connected to the forearm fixing portion.

[0017] The forearm fixing part is transmission-connected with the reducer, and the nozzle is installed at the end of the forearm telescopic part.

[0018] Further, the telescopic boom comprises a boom fixing portion, a first boom telescopic portion and a second boom telescopic portion;

[0019] The first boom telescopic portion is telescopically connected to the boom fixed portion, and the second boom telescopic portion is telescopically connected to the first boom telescopic portion;

[0020] The upper arm fixing part is hinged to the rotating platform, and one end of the middle arm is hinged to the end of the second upper arm telescopic part.

[0021] Furthermore, the reducer is installed at one end of the middle arm away from the second large arm telescopic part; the reducer is transmission-connected to the middle part of the small arm fixing part.

[0022] Furthermore, the nozzle is rotatably connected to the end of the telescopic portion of the forearm.

[0023] The present invention also provides a wet spraying machine, comprising the above-mentioned intelligent arm support of the wet spraying machine.

[0024] The beneficial effects brought by the wet spraying machine intelligent boom and wet spraying machine provided by the present invention are:

[0025] The wet spraying machine intelligent arm frame provided by the present invention comprises a slewing mechanism, a slewing table, a telescopic boom, a first driving member, a middle arm, a second driving member, a reducer, a telescopic small arm, a spray head, a first angle sensor, a first distance sensor, a boom pitch sensor, a middle arm pitch sensor, a second angle sensor, a second distance sensor, and a controller electrically connected to the above multiple sensors;

[0026] The turntable is connected to the turntable by transmission, the telescopic boom is connected to the turntable by rotation, the first driving member is used to drive the telescopic boom to do pitch rotation, the middle arm is connected to the telescopic boom by rotation, the second driving member is used to drive the middle arm to do pitch rotation, the reducer is installed on the middle arm, the telescopic arm is connected to the reducer by transmission, and the nozzle is installed at one end of the telescopic arm; the first driving member, the second driving member, the slewing mechanism and the reducer are all controlled by the controller;

[0027] The first angle sensor is arranged on the slewing mechanism; the first distance sensor is arranged on the telescopic boom and is used to detect the telescopic length of the telescopic boom; the second angle sensor is arranged on the reducer; the second distance sensor is arranged on the telescopic arm and is used to detect the telescopic length of the telescopic arm;

[0028] The boom pitch sensor includes a third angle sensor for detecting the pitch angle of the telescopic boom, or a third distance sensor for detecting the pitch angle of the telescopic boom; the middle arm pitch sensor includes a fourth angle sensor for detecting the pitch angle of the middle arm, or a fourth distance sensor for detecting the pitch angle of the middle arm.

[0029] By utilizing the above structure, when the wet spraying machine is working, the first angle sensor detects the rotation angle of the rotating mechanism in real time, thereby determining the rotation angle of the telescopic boom, and sending a signal to the controller; the first distance sensor detects the telescopic length of the telescopic boom in real time, and sends a signal to the controller; the boom pitch sensor detects the pitch angle of the telescopic boom in real time, and sends a signal to the controller; the middle arm pitch sensor detects the pitch angle of the middle arm in real time, and sends a signal to the controller; the second angle sensor detects the rotation angle of the reducer in real time, thereby determining the rotation angle of the telescopic arm, and sending a signal to the controller; the second distance sensor detects the telescopic length of the telescopic arm in real time, and sends a signal to the controller.

[0030] The controller receives signals from the above-mentioned sensors in real time. When the operator performs any one or more operations of controlling the first driving member to drive the telescopic arm to pitch and rotate, controlling the second driving member to drive the middle arm to pitch and rotate, controlling the slewing mechanism to drive the telescopic arm to rotate, and controlling the reducer to drive the telescopic arm to rotate, the controller receives the signal sent by the sensor. Through calculation, the controller will control the actions of other driving mechanisms different from the driving mechanism controlled by the operator, and make the telescopic arm always remain parallel to the direction of the tunnel, thereby ensuring that the nozzle can be adjusted to be perpendicular to the sprayed surface.

[0031] In the above process, the first angle sensor, the first distance sensor, the upper arm pitch sensor, the middle arm pitch sensor, the second angle sensor, the second distance sensor cooperate with the controller, and the controller automatically controls the first drive member, the second drive member, the slewing mechanism and the reducer, thereby realizing automatic adjustment of the telescopic arm. Compared with the prior art which requires an operator to manually adjust and calibrate the telescopic arm, the above structure realizes automatic adjustment of the telescopic arm, thereby avoiding the technical problem of cumbersome operating steps and low work efficiency during the angle adjustment of the telescopic arm in the prior art.

[0032] The wet spraying machine provided by the present invention comprises the above-mentioned intelligent arm support of the wet spraying machine.

[0033] In the above structure, the wet spraying machine includes the above intelligent arm of the wet spraying machine. Therefore, the advantages of the wet spraying machine include the advantages of the above intelligent arm of the wet spraying machine, which will not be repeated. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the working state of a wet spraying machine provided by an embodiment of the present invention;

[0036] Figure 2 A schematic structural diagram of a wet spraying machine provided in an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of electrical connections of an intelligent arm of a wet spraying machine provided in an embodiment of the present invention.

[0038] Icons: 110 - telescopic forearm; 111 - forearm fixing part; 112 - telescopic part of forearm; 120 - middle arm; 130 - reducer; 200 - telescopic boom; 210 - boom fixing part; 220 - first telescopic part of boom; 230 - second telescopic part of boom; 300 - first driving member; 410 - slewing mechanism; 420 - slewing table; 500 - second driving member; 600 - nozzle; 710 - boom pitch sensor; 720 - middle arm pitch sensor; 730 - first distance sensor; 740 - second distance sensor; 750 - first angle sensor; 760 - second angle sensor; 800 - controller. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that in the description of the present invention, the terms "first", "second", "third" and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Unless otherwise clearly specified and limited, the terms "connection" and "installation" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or connected through an intermediate medium; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0042] Specific structure such as Figure 1 - Figure 3 shown.

[0043] The wet spraying machine intelligent arm provided in this embodiment mainly refers to Figure 1 - Figure 3, including a slewing mechanism 410, a slewing platform 420, a telescopic boom 200, a first driving member 300, a middle arm 120, a second driving member 500, a reducer 130, a telescopic small arm 110, a nozzle 600, a first angle sensor 750, a first distance sensor 730, a boom pitch sensor 710, a middle arm pitch sensor 720, a second angle sensor 760, a second distance sensor 740 and a controller 800 electrically connected to the above multiple sensors;

[0044] The turntable 420 is connected to the slewing mechanism 410 in transmission connection, the telescopic boom 200 is rotatably connected to the turntable 420, the first driving member 300 is used to drive the telescopic boom 200 to do pitch rotation, the middle arm 120 is rotatably connected to the telescopic boom 200, the second driving member 500 is used to drive the middle arm 120 to do pitch rotation, the reducer 130 is installed on the middle arm 120, the telescopic small arm 110 is connected to the reducer 130 in transmission connection, and the nozzle 600 is installed on one end of the telescopic small arm 110; the first driving member 300, the second driving member 500, the slewing mechanism 410 and the reducer 130 are all controlled by the controller 800.

[0045] The first angle sensor 750 is arranged on the rotating mechanism 410; the first distance sensor 730 is arranged on the telescopic boom 200 and is used to detect the telescopic length of the telescopic boom 200; the second angle sensor 760 is arranged on the reducer 130; the second distance sensor 740 is arranged on the telescopic arm 110 and is used to detect the telescopic length of the telescopic arm 110.

[0046] The boom pitch sensor 710 includes a third angle sensor for detecting the pitch angle of the telescopic boom 200, or a third distance sensor for detecting the pitch angle of the telescopic boom 200; the middle arm pitch sensor 720 includes a fourth angle sensor for detecting the pitch angle of the middle arm 120, or a fourth distance sensor for detecting the pitch angle of the middle arm 120.

[0047] By using the above structure, when the wet spraying machine is working, the first angle sensor 750 detects the rotation angle of the rotating mechanism 410 in real time, thereby determining the rotation angle of the telescopic boom 200, and sending a signal to the controller 800; the first distance sensor 730 detects the telescopic length of the telescopic boom 200 in real time, and sends a signal to the controller 800; the boom pitch sensor 710 detects the pitch angle of the telescopic boom 200 in real time, and sends a signal to the controller 800; the middle arm pitch sensor 720 detects the pitch angle of the middle arm 120 in real time, and sends a signal to the controller 800; the second angle sensor 760 detects the rotation angle of the reducer 130 in real time, thereby determining the rotation angle of the telescopic arm 110, and sending a signal to the controller 800; the second distance sensor 740 detects the telescopic length of the telescopic arm 110 in real time, and sends a signal to the controller 800.

[0048] The controller 800 receives signals from the above-mentioned sensors in real time. When the operator performs any one or more operations of controlling the first driving member 300 to drive the telescopic arm 200 to pitch and rotate, controlling the second driving member 500 to drive the middle arm 120 to pitch and rotate, controlling the slewing mechanism 410 to drive the telescopic arm 200 to rotate, and controlling the reducer 130 to drive the telescopic arm 110 to rotate, the controller 800 receives the signal sent by the sensor. Through calculation, the controller 800 will control the actions of other driving mechanisms different from the driving mechanism controlled by the operator, and make the telescopic arm 110 always remain parallel to the direction of the tunnel, thereby ensuring that the nozzle 600 can be adjusted to be perpendicular to the sprayed surface.

[0049] In the above process, the first angle sensor 750, the first distance sensor 730, the upper arm pitch sensor 710, the middle arm pitch sensor 720, the second angle sensor 760, the second distance sensor 740 cooperate with the controller 800, and the controller 800 automatically controls the first drive member 300, the second drive member 500, the rotary mechanism 410 and the reducer 130, thereby realizing automatic adjustment of the telescopic arm 110. Compared with the prior art that requires an operator to manually adjust and calibrate the telescopic arm 110, the above structure realizes automatic adjustment of the telescopic arm 110, thereby avoiding the technical problem of cumbersome operating steps and low work efficiency during the angle adjustment of the telescopic arm 110 in the prior art.

[0050] In addition, the above-mentioned controller 800 preferably has two working states. First, the controller 800 is in a semi-automatic mode. In the semi-automatic mode, as described in the above process, the controller 800 can receive signals from various sensors and control the operation of various driving mechanisms; second, the controller 800 is in a non-semi-automatic mode. In this mode, the controller 800 does not actively control the operation of the driving mechanism, and the operator manually controls the operation of each driving mechanism to adjust the angle or position of each mechanism.

[0051] Preferably, the telescopic boom 200 and the telescopic arm 110 increase the working range of the wet spraying machine intelligent boom, thereby reducing the workload caused by frequently moving the wet spraying machine intelligent boom.

[0052] In addition, the above structure can also confirm the specific position of the nozzle 600. The slewing mechanism 410 rotates, and the first angle sensor 750 detects its slewing angle to determine the angle through which the telescopic boom 200 rotates under the drive of the slewing mechanism 410. The reducer 130 rotates, and the second angle sensor 760 detects its slewing angle to determine the angle through which the telescopic arm 110 rotates under the drive of the reducer 130. At the same time, the boom pitch sensor 710 and the middle arm pitch sensor 720 are used to drive the rotation angle of the telescopic boom 200 and the rotation angle of the telescopic arm 110 respectively. When the telescopic boom 200 is adjusted to be telescopic, the first distance sensor 730 can detect the telescopic length of the telescopic boom 200; when the telescopic boom 200 is adjusted to be telescopic, the second distance sensor 740 can detect the telescopic length of the telescopic boom 200.

[0053] The signals detected by the upper arm pitch sensor 710, the middle arm pitch sensor 720, the first angle sensor 750, the second angle sensor 760, the first distance sensor 730 and the second distance sensor 740 are all transmitted to the controller 800. The position coordinates of the nozzle 600 relative to the turntable 420 are calculated, thereby facilitating the operator to accurately control the position of the nozzle 600.

[0054] It should be noted that the working principle of the first angle sensor 750, the first distance sensor 730, the upper arm pitch sensor 710, the middle arm pitch sensor 720, the second angle sensor 760 and the second distance sensor 740 in cooperation with the controller 800 can refer to the existing technology.

[0055] In the optional technical solution of this embodiment, the first driving member 300 and the second driving member 500 are both linear driving members;

[0056] One of the fixed end and the output end of the first driving member 300 is rotatably connected to the telescopic boom 200, and the other end is rotatably connected to the turntable 420; one of the fixed end and the output end of the second driving member 500 is rotatably connected to the telescopic boom 200, and the other end is rotatably connected to the middle arm 120.

[0057] Preferably, the fixed end of the first driving member 300 is hinged to the telescopic boom 200, the output end of the first driving member 300 is hinged to the turntable 420, and the first driving member 300 can drive the telescopic boom 200 to pitch and rotate. The fixed end of the second driving member 500 is hinged to the middle arm 120, the output end of the second driving member 500 is hinged to the telescopic boom 200, and the second driving member 500 can drive the middle arm 120 to pitch and rotate.

[0058] Preferably, the linear drive member is any one of an electric push rod, a cylinder and a hydraulic cylinder.

[0059] In addition, the first driving member 300 and the second driving member 500 can also use a motor, which is installed on the telescopic boom 200, and the middle arm 120 is connected to the output end of the motor on the telescopic boom 200 by transmission, and starting the motor can directly drive the middle arm 120 to pitch and rotate. The motor is installed on the rotating platform 420, and the telescopic boom 200 is connected to the output end of the motor installed on the rotating platform 420 by transmission, and starting the motor can drive the telescopic boom 200 to pitch and rotate.

[0060] In the optional technical solutions of this embodiment, the main reference is Figure 1 - Figure 3 , the upper arm pitch sensor 710 is a third distance sensor, and the middle arm pitch sensor 720 is a fourth distance sensor;

[0061] The third distance sensor is disposed on the first driving member 300 for detecting the telescopic length of the output end of the first driving member 300 . The fourth distance sensor is disposed on the second driving member 500 for detecting the telescopic length of the output end of the second driving member 500 .

[0062] Preferably, when both the first driving member 300 and the second driving member 500 are linear driving members, the upper arm pitch sensor 710 is a third distance sensor, and the middle arm pitch sensor 720 is a fourth distance sensor. Specifically, the third distance sensor is installed on the first driving member 300, and the third distance sensor can detect the length of the output end of the first driving member 300; the fourth distance sensor is installed on the second driving member 500, and the fourth distance sensor can detect the length of the output end of the second driving member 500.

[0063] When the output end of the first driving member 300 is pushed out, driving the telescopic boom 200 to rotate, the first distance sensor 730 transmits the detected signal to the controller 800, and the controller 800 controls the second driving member 500 to start, and the output end of the second driving member 500 retracts. The second sensor detects the retracted length of the second driving member 500 and sends a signal to the controller 800. When the retracted length of the output end of the second driving member 500 is consistent with the extended length of the first driving member 300, the angle of rotation of the middle arm 120 around its own hinge axis with the telescopic boom 200 is consistent with the value of the pitch rotation angle of the telescopic boom 200. The controller 800 controls the second driving member 500 to stop, so that the telescopic small arm 110 is automatically adjusted back to a state parallel to the tunnel direction under the drive of the middle arm 120.

[0064] In the optional technical solutions of this embodiment, the main reference is Figure 1 - Figure 3 , the upper arm pitch sensor 710 is a third angle sensor, and the middle arm pitch sensor 720 is a fourth angle sensor;

[0065] The fourth angle sensor is arranged at the rotation connection shaft between the middle arm 120 and the telescopic arm 200 , and the third angle sensor is arranged at the rotation connection shaft between the telescopic arm 200 and the turntable 420 .

[0066] Preferably, the third angle sensor is disposed at the rotation connection position between the telescopic boom 200 and the turntable 420, for detecting the rotation angle of the telescopic boom 200 and transmitting the signal to the controller 800. The fourth angle sensor is disposed at the rotation connection position between the telescopic boom 200 and the middle arm 120.

[0067] When the first driving member 300 drives the telescopic boom 200 to rotate, the third angle sensor transmits the detected signal to the controller 800, and the controller 800 controls the second driving member 500 to start, and the second driving member 500 drives the middle arm 120 to rotate in the opposite direction. The fourth angle sensor detects the rotation angle of the middle arm 120 and sends a signal to the controller 800. When the angle of rotation of the middle arm 120 around its own hinge axis with the telescopic boom 200 is consistent with the value of the pitch rotation angle of the telescopic boom 200, the controller 800 controls the second driving member 500 to stop, so that the telescopic arm 110 is automatically adjusted back to a state parallel to the tunnel direction under the drive of the middle arm 120.

[0068] In the optional technical solution of this embodiment, the telescopic arm 200 is a secondary telescopic arm, and the telescopic arm 110 is a primary telescopic arm.

[0069] Preferably, the telescopic boom 200 and the telescopic arm 110 are both telescopic arms, so that the working range of the wet spraying machine intelligent arm frame is enlarged and the workload caused by frequently moving the wet spraying machine intelligent arm frame is reduced. The telescopic boom 200 is a secondary telescopic arm, which effectively increases the effective radius of the telescopic boom 200, so that the middle arm 120 and the telescopic arm 110 can be extended to a farther position. The telescopic arm 110 is a primary telescopic arm. While increasing the effective radius of the telescopic arm 110, compared with the secondary telescopic arm structure of the telescopic boom 200, the structure of the primary telescopic arm avoids the problem of the reducer 130 being subjected to excessive torque of the telescopic arm 110.

[0070] In the optional technical solutions of this embodiment, the main reference is Figure 1 - Figure 3 The telescopic arm 110 includes an arm fixing portion 111 and an arm telescopic portion 112 telescopically connected to the arm fixing portion 111;

[0071] The forearm fixing portion 111 is in transmission connection with the reducer 130 , and a nozzle 600 is installed at the end of the forearm telescopic portion 112 .

[0072] The arm fixing part 111 of the telescopic arm 110 is connected to the reducer 130 in transmission. The reducer 130 can drive the arm fixing part 111 to rotate, thereby driving the telescopic arm part 112 to rotate. A nozzle 600 is installed at the end of the telescopic arm part 112. Driven by the telescopic arm part 112, the nozzle 600 can also rotate around the output shaft of the reducer 130, thereby adjusting the position of the nozzle 600, and at the same time, the telescopic arm 110 can always be kept consistent with the direction of the tunnel through adjustment.

[0073] Preferably, the first angle sensor 750 is arranged on the slewing mechanism 410, and the slewing mechanism 410 drives the slewing platform 420 to rotate, thereby driving the telescopic boom 200 to rotate. The first angle sensor 750 detects the rotation angle of the slewing mechanism 410, and transmits the signal to the controller 800. The controller 800 receives the signal and controls the reducer 130 to rotate in the opposite direction, driving the middle arm 120 to rotate, thereby driving the telescopic arm 110 to rotate. The second angle sensor 760 detects the rotation angle of the reducer 130, and transmits the signal to the controller 800. When the angle of the telescopic arm 110 driven by the middle arm 120 to rotate in the opposite direction is consistent with the angle value of the slewing mechanism 410, the controller 800 receives the signal of the second angle sensor 760 and controls the reducer 130 to stop. Thus, the telescopic arm 110 is adjusted back to a direction parallel to the extension direction of the tunnel.

[0074] In the optional technical solutions of this embodiment, the main reference is Figure 1 - Figure 3The telescopic boom 200 includes a boom fixing portion 210, a first boom telescopic portion 220 and a second boom telescopic portion 230;

[0075] The first boom telescopic portion 220 is telescopically connected to the boom fixed portion 210 , and the second boom telescopic portion 230 is telescopically connected to the first boom telescopic portion 220 ;

[0076] The boom fixing portion 210 is hinged to the rotating platform 420 , and one end of the middle arm 120 is hinged to the end of the second boom telescopic portion 230 .

[0077] Preferably, the above structure is used to realize the two-stage extension and retraction of the telescopic boom 200, thereby increasing the range of action of the telescopic boom 200.

[0078] In the optional technical solutions of this embodiment, the main reference is Figure 1 - Figure 3 A reducer 130 is installed at one end of the middle arm 120 that is away from the second large arm telescopic part 230; the reducer 130 is transmission-connected to the middle part of the small arm fixing part 111.

[0079] Preferably, the reduction motor is connected to the middle of the arm fixing part 111, so that the cantilever beam formed by the telescopic arm 110 reduces the stress between the telescopic arm 110 and the reducer 130. At the same time, the arm fixing part 111 is arranged near the hinge axis position of the middle arm 120 and the telescopic boom 200 to avoid interference between the telescopic arm 110 and the telescopic boom 200.

[0080] In an optional technical solution of this embodiment, the nozzle 600 is rotatably connected to the end of the telescopic part 112 of the forearm.

[0081] Preferably, the rotation of the spray head 600 is adjustable, so that the spray head 600 can always be in a position perpendicular to the surface to be sprayed.

[0082] Preferably, the spray head 600 is rotatably connected to one end of the telescopic part 112 of the small arm. During the spraying operation, the angle of the spray head 600 is adjusted so that the spray head 600 is disposed toward the spraying surface.

[0083] This embodiment also provides a wet spraying machine, mainly referring to Figure 1 - Figure 2 , including the above-mentioned wet spraying machine intelligent arm.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wet spraying machine intelligent boom, characterized in that: The invention comprises a slewing mechanism (410), a slewing platform (420), a telescopic boom (200), a first driving member (300), a middle arm (120), a second driving member (500), a reducer (130), a telescopic small arm (110), a nozzle (600), a first angle sensor (750), a first distance sensor (730), a boom pitch sensor (710), a middle arm pitch sensor (720), a second angle sensor (760), a second distance sensor (740), and a controller (800) electrically connected to the above-mentioned multiple sensors; The turntable (420) is connected to the turntable (410) in a transmission manner, the telescopic boom (200) is rotatably connected to the turntable (420), the first driving member (300) is used to drive the telescopic boom (200) to perform pitch rotation, the middle arm (120) is rotatably connected to the telescopic boom (200), the second driving member (500) is used to drive the middle arm (120) to perform pitch rotation, the reducer (130) is installed on the middle arm (120), the telescopic small arm (110) is connected to the reducer (130), and the nozzle (600) is installed on one end of the telescopic small arm (110); The first driving member (300), the second driving member (500), the rotary mechanism (410) and the reducer (130) are all controlled in motion by a controller (800); The first angle sensor (750) is arranged on the slewing mechanism (410); the first distance sensor (730) is arranged on the telescopic boom (200) and is used to detect the telescopic length of the telescopic boom (200); the second angle sensor (760) is arranged on the reducer (130); the second distance sensor (740) is arranged on the telescopic arm (110) and is used to detect the telescopic length of the telescopic arm (110); The boom pitch sensor (710) comprises a third angle sensor for detecting the pitch angle of the telescopic boom (200), or a third distance sensor for detecting the pitch angle of the telescopic boom (200); the middle boom pitch sensor (720) comprises a fourth angle sensor for detecting the pitch angle of the middle boom (120), or a fourth distance sensor for detecting the pitch angle of the middle boom (120); The telescopic forearm (110) comprises a forearm fixing portion (111) and a forearm telescopic portion (112) telescopically connected to the forearm fixing portion (111); The forearm fixing portion (111) is transmission-connected to the reducer (130), and the spray head (600) is installed at the end of the forearm telescopic portion (112); The spray head (600) is rotatably connected to the end of the telescopic part (112) of the small arm; When the operator performs any one or more operations of controlling the first driving member (300) to drive the telescopic arm (200) to perform pitch rotation, controlling the second driving member (500) to drive the middle arm (120) to perform pitch rotation, controlling the slewing mechanism (410) to drive the telescopic arm (200) to perform slewing, and controlling the reducer (130) to drive the telescopic arm (110) to perform slewing, the controller (800) receives signals sent by various sensors, and through calculation, the controller (800) controls the actions of other driving mechanisms different from the driving mechanism controlled by the operator, and makes the telescopic arm (110) always remain parallel to the tunnel direction, thereby ensuring that the nozzle (600) can be adjusted to be perpendicular to the sprayed surface.

2. The intelligent boom of the wet spraying machine according to claim 1 is characterized in that: The first driving member (300) and the second driving member (500) are both linear driving members; One of the fixed end and the output end of the first driving member (300) is rotationally connected to the telescopic boom (200), and the other end is rotationally connected to the turntable (420); one of the fixed end and the output end of the second driving member (500) is rotationally connected to the telescopic boom (200), and the other end is rotationally connected to the middle arm (120).

3. The intelligent boom of the wet spraying machine according to claim 2 is characterized in that: The third angle sensor is arranged at the rotation connection shaft between the telescopic boom (200) and the turntable (420), and the fourth angle sensor is arranged at the rotation connection shaft between the middle arm (120) and the telescopic boom (200).

4. The intelligent boom of the wet spraying machine according to claim 2 is characterized in that: The third distance sensor is arranged on the first driving member (300) and is used to detect the telescopic length of the output end of the first driving member (300), and the fourth distance sensor is arranged on the second driving member (500) and is used to detect the telescopic length of the output end of the second driving member (500).

5. The intelligent boom of the wet spraying machine according to claim 2 is characterized in that: The telescopic arm (200) is a secondary telescopic arm, and the telescopic arm (110) is a primary telescopic arm.

6. The intelligent arm support of the wet spraying machine according to claim 1 is characterized in that: The telescopic boom (200) comprises a boom fixing portion (210), a first boom telescopic portion (220) and a second boom telescopic portion (230); The first boom telescopic portion (220) is telescopically connected to the boom fixed portion (210), and the second boom telescopic portion (230) is telescopically connected to the first boom telescopic portion (220); The upper arm fixing portion (210) is hinged to the rotating platform (420), and one end of the middle arm (120) is hinged to the end of the second upper arm telescopic portion (230).

7. The intelligent arm support of the wet spraying machine according to claim 6 is characterized in that: The reducer (130) is installed at one end of the middle arm (120) away from the second large arm telescopic portion (230); the reducer (130) is in transmission connection with the middle portion of the small arm fixing portion (111).

8. A wet spraying machine, characterized in that: The invention comprises the intelligent boom of the wet spraying machine as described in any one of claims 1 to 7.

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