Concrete spraying mechanical arm

Abstract

The invention belongs to the technical field of concrete spraying, and particularly relates to a concrete spraying mechanical arm which comprises a gun head fixing device, a supporting rod, a bottom plate, universal wheels and a connecting device, and a slewing mechanism is arranged below the gun head fixing device and comprises a slewing bearing device and a slewing driving device. The slewing bearing device comprises a swing arm, and the slewing driving device comprises a gun head spiral motor and an arm left-right rotating motor. By arranging the slewing mechanism, accurate angle positioning and slewing motion can be achieved, the machining precision and stability are ensured, meanwhile, stable slewing motion is achieved, impact and vibration in the motion process are reduced, and the practicability of the mechanical arm is improved.

Description

Technical Field

[0001] The invention relates to the technical field of concrete spraying, in particular to a concrete spraying mechanical arm. Background Art

[0002] In industrial fields such as mining, energy, and chemical industry, spherical warehouse structures are often used to store various materials. Concrete spraying robots play an important role in the spherical warehouse construction operations in these fields. Concrete spraying robots, also known as concrete spraying robots or shotcrete robots, are construction machinery designed and manufactured to reduce the labor intensity of shotcrete operations and improve working conditions. They are used to replace manual shotcrete spraying.

[0003] When adjusting the angle, the existing concrete spraying robot arm has insufficient angle positioning accuracy, which affects the processing accuracy and stability. At the same time, the entire rotary motion process is not smooth enough, and the impact and vibration during the motion are too large, which affects the practicality of the robot arm. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a concrete spraying robot arm to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a concrete spraying robot arm, comprising a gun head fixing device, a support rod, a bottom plate, a universal wheel and a connecting device, a slewing mechanism is arranged below the gun head fixing device, the slewing mechanism comprises a slewing support device and a slewing drive device, the slewing support device comprises a swing arm, and the slewing drive device comprises a gun head spiral motor and an arm left and right rotation motor.

[0006] As a preferred technical solution of the present invention, the concrete spray gun is fixed on the circular gun head fixing device.

[0007] As a preferred technical solution of the present invention, a support rod is provided on the rear end surface of the arm left-right rotation motor, and fixed hooks are provided on the cross beams on both sides above the support rod.

[0008] As a preferred technical solution of the present invention, the gun head spiral motor can make the gun head rotate around the swing arm, the joint motor can make the arm move vertically up and down, and the arm left and right rotation motor can make the arm rotate left and right.

[0009] As a preferred technical solution of the present invention, a joint motor is arranged at the rear of the swing arm, and a motor for rotating the arm left and right is arranged below the joint motor.

[0010] As a preferred technical solution of the present invention, the fixed hook is fixed on an aerial work platform at a height of - meters or according to the height of the building.

[0011] As a preferred technical solution of the present invention, a bottom plate is arranged below the support rod, a connecting device is arranged below the bottom plate, and a universal wheel is arranged inside the connecting device.

[0012] As a preferred technical solution of the present invention, a PLC is arranged on one side of the fixed hook, a pulse generator and a PLC display are arranged on the front end surface of the PLC, and a control handle is arranged above the PLC.

[0013] Compared with the prior art, the present invention provides a concrete spraying robot arm, which has the following beneficial effects:

[0014] This invention, by setting up a rotating mechanism, can achieve precise angle positioning and rotational motion, ensure processing accuracy and stability, and at the same time achieve smooth rotational motion, reduce impact and vibration during movement, and improve the practicality of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional diagram of the structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of the present invention from a first viewing angle;

[0017] Figure 3 It is a schematic diagram of the structure of the present invention from a second viewing angle.

[0018] In the figure: 1. Control handle; 2. PLC display; 3. Pulse generator; 4. Arm left and right rotation motor; 5. Joint motor; 6. Swing arm; 7. Gun head spiral motor; 8. Gun head fixing device; 9. Fixing hook; 10. Bottom plate; 11. Universal wheel; 12. PLC; 13. Support rod; 14. Connecting device; 15. Rotating mechanism. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0020] Example

[0021] See also Figure 1-3The present invention provides the following technical solutions: a concrete spraying mechanical arm, the driving mechanism used in the driving mechanism mechanical arm is electrically driven, which is characterized by convenient power supply, fast response, large driving force (the weight of the joint type has reached 400kg), convenient signal detection, transmission and processing, and can adopt a variety of flexible control schemes. The arm includes a gun head fixing device 8, a support rod 13, a bottom plate 10, a universal wheel 11 and a connecting device 14. A slewing mechanism 15 is arranged below the gun head fixing device 8. The slewing mechanism 15 includes a slewing support device and a slewing drive device. The slewing support device includes a swing arm 6, and the slewing drive device includes a gun head spiral motor 7 and an arm left and right rotation motor 4. The driving motor adopts a stepping motor, and a DC servo motor (AC) is the main driving method. Due to the high speed of the motor, a reduction mechanism (such as harmonic drive, RV cycloid pinwheel drive, gear drive, spiral drive and multi-rod mechanism) must be used. Some manipulators have begun to use high-torque, low-speed motors without a reduction mechanism for direct drive (DD), which can simplify the mechanism and improve control accuracy. The concrete spray gun is fixed on a circular gun head fixing device 8. The rear end face of the arm left and right rotation motor 4 is provided with a support rod 13, and fixed hooks 9 are provided on the crossbeams on both sides above the support rod 13. The gun head spiral motor 7 can make the gun head rotate 6360° around the swing arm, and the joint motor 5 can make the arm move vertically 180° up and down. The arm left and right rotation motor 4 allows the arm to rotate left and right. A joint motor 5 is arranged at the rear of the swing arm 6, and an arm left and right rotation motor 4 is arranged below the joint motor 5. A fixed hook 9 is fixed on an aerial work platform at a height of 10-80 meters or according to the height of the building. A base plate 10 is arranged below the support rod 13, and a connecting device 14 is arranged below the base plate 10. A universal wheel 11 is arranged on the inner side of the connecting device 14. A PLC 12 is arranged on one side of the fixed hook 9, and a pulse generator 3 and a PLC display 2 are arranged on the front end surface of the PLC 12. A control handle 1 is arranged above the PLC 12.

[0022] In this embodiment,

[0023] The slewing mechanism 15 is an important mechanical transmission device, and its main advantages include:

[0024] Compact structure and space utilization:

[0025] The design of the slewing mechanism 15 is usually compact and space-saving. Especially in situations where frequent rotation or turning is required, the compactness of the structure is particularly important.

[0026] Smooth movement and accurate positioning:

[0027] The rotary mechanism 15 usually adopts a high-precision transmission mechanism such as a worm gear pair, a gear pair, etc., which can achieve smooth rotary motion and reduce impact and vibration during the motion.

[0028] Versatile and widely applicable:

[0029] The rotary mechanism 15 is not only suitable for simple rotational motion, but can also cooperate with other mechanisms to realize complex motion forms, such as continuous rotary feeding, indexing, etc.

[0030] Cost Savings:

[0031] The use of the rotary mechanism 15 can simplify the work process, reduce manual intervention, and thus reduce production costs.

[0032] Easy operation and maintenance:

[0033] With the development of technology, the operation interface of the slewing mechanism 15 is becoming more and more user-friendly, and the operator can complete the control of the slewing mechanism 15 through simple operations.

[0034] The maintenance of the slewing mechanism 15 is also relatively simple, and a standardized design is usually adopted to facilitate disassembly and replacement of damaged parts.

[0035] Advantages of robotic arm:

[0036] Improve work efficiency: It can work 24 hours a day without interruption, which significantly improves production efficiency. Improve safety: The robot arm has no emotions and desires, its behavior patterns and movement rules are relatively fixed and not easily affected by external factors, and has higher safety performance. Industrial robot arms operate in high-risk environments, avoiding safety issues caused by human errors.

[0037] Reduce labor costs: Robotic arms can replace manual labor to perform tasks, reducing labor costs. Robotic arms can replace traditional labor and improve economic efficiency.

[0038] Enhanced durability: The robot arm can continue to work for a long time without being affected by fatigue and emotional fluctuations. The robot arm can continue to perform the same task in the same working environment without fatigue and errors.

[0039] Improved accuracy: The robotic arm can precisely control and perform operations, completing tasks faster and more accurately than humans, ensuring the quality and efficiency of concrete spraying.

[0040] Enhanced repeatability: The robot arm can perform the same task repeatedly in the same working environment without fatigue and errors caused by repetitive work.

[0041] Enhanced programmability: The robotic arm can be programmed and operated as needed to adapt to different tasks and environments.

[0042] In summary, robots have significant advantages in improving work efficiency, enhancing learning ability, improving safety, and reducing labor costs. At the same time, they also perform well in durability, precision, versatility, repeatability, and programmability. They establish a unified command process and monitoring, ensure safe construction, shorten construction period, save equipment costs, and have reliable movements, freeing construction personnel from high-intensity physical labor and dangerous environments.

[0043] The working principle and use process of the present invention are as follows: According to the different sizes of the vertical section and the arc section of the warehouse body, a 4-6 meter cage is selected and fixed on the cage with a fixed hook 9. The personnel stand on the working platform to control the handle 1 to complete the concrete spraying operation. PLC12 completes specific actions by controlling the motor of each degree of freedom of the manipulator, and at the same time receives information fed back by the sensor to form a stable closed-loop control. The core of the control system is usually composed of a microcontroller such as a single-chip microcomputer or a DSP. The desired functions are realized by programming it. In three-dimensional space, a three-axis controlled motion machine is used to complete the spraying. During the spraying, the construction personnel stand on the working platform and use the control handle to control the translation and adjustment of the concrete spray gun up and down, and change the position and posture of the spray gun according to the working surface. Spraying operation; and control the start and stop of the concrete spray gun.

[0044] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A concrete spraying robot arm, comprising a gun head fixing device (8), a support rod (13), a bottom plate (10), a universal wheel (11) and a connecting device (14), characterized in that: A slewing mechanism (15) is provided below the gun head fixing device (8), and the slewing mechanism (15) includes a slewing support device and a slewing drive device, the slewing support device includes a swing arm (6), and the slewing drive device includes a joint motor (5), a gun head spiral motor (7) and an arm left and right rotation motor (4).

2. A concrete spraying robot arm according to claim 1, characterized in that: The concrete spray gun is fixed on the circular gun head fixing device (8).

3. A concrete spraying robot arm according to claim 2, characterized in that: A support rod (13) is provided on the rear end surface of the arm left-right rotation motor (4), and fixed hooks (9) are provided on the cross beams on both sides above the support rod (13).

4. A concrete spraying robot arm according to claim 3, characterized in that: The gun head spiral motor (7) can make the gun head rotate 360 ​​degrees around the swing arm (6), the joint motor (5) can make the arm move vertically 180 degrees up and down, and the arm left and right rotation motor (4) can make the arm rotate left and right.

5. A concrete spraying robot arm according to claim 4, characterized in that: A joint motor (5) is arranged behind the swing arm (6), and a motor (4) for rotating the arm left and right is arranged below the joint motor (5).

6. A concrete spraying robot arm according to claim 5, characterized in that: The fixing hook (9) is fixed on an aerial work platform at a height of 10-80 meters or according to the height of the building.

7. A concrete spraying robot arm according to claim 6, characterized in that: A bottom plate (10) is arranged below the support rod (13), a connecting device (14) is arranged below the bottom plate (10), and a universal wheel (11) is arranged inside the connecting device (14).

8. A concrete spraying robot arm according to claim 7, characterized in that: A PLC (12) is arranged on one side of the fixing hook (9), a pulse generator (3) and a PLC display (2) are arranged on the front end surface of the PLC (12), and a control handle (1) is arranged above the PLC (12).

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