Spraying vehicle

Abstract

The spraying vehicle comprises a machine body and a spraying assembly, the spraying assembly is arranged at the front end of the machine body and comprises a first mechanical arm and a second mechanical arm, and spraying guns are arranged at the head of the first mechanical arm and the head of the second mechanical arm correspondingly; and the heads of the first mechanical arm and the second mechanical arm can move up and down relative to the machine body. According to the spraying vehicle, the sides of the roadway at different heights are sprayed at the same time, the height of equipment does not need to be adjusted for multiple times of spraying operation, and the spraying efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying equipment, in particular to a spraying vehicle. Background Art

[0002] Spraying is a new type of tunnel support technology. High-performance spraying materials are sprayed on both sides of the tunnel through spraying equipment to form a support layer, replacing the metal mesh to support the side. This process can save the time of laying the metal mesh, thereby increasing the speed of tunnel support. Currently, the manual spraying equipment on the market can only spray one side. In addition, due to the high height of the tunnel, it is necessary to stand on a raised place to spray the upper side first, and then stand on the ground to spray the lower side. The spraying operation is completed in two times, and the spraying efficiency is low. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] The technical solution of the present invention provides a spraying vehicle, which can spray the sides of a tunnel at different heights at the same time, and there is no need to adjust the height of the equipment to perform multiple spraying operations, thereby achieving high spraying efficiency.

[0005] The spraying vehicle of the embodiment of the present invention includes: a fuselage; a spraying assembly, wherein the spraying assembly is arranged at the front end of the fuselage and includes a first robotic arm and a second robotic arm, the heads of the first robotic arm and the second robotic arm are both provided with spray guns, and the heads of the first robotic arm and the second robotic arm are movable in the up and down directions relative to the fuselage.

[0006] In the spraying vehicle of the embodiment of the present invention, the spraying assembly is arranged at the front end of the fuselage and the spraying assembly includes a first robotic arm and a second robotic arm, the heads of the first robotic arm and the second robotic arm are both provided with spray guns, and the heads of the first robotic arm and the second robotic arm are movable in the up and down directions relative to the fuselage. Thus, the two independent robotic arms have the freedom of movement in the up and down directions, so that the spray guns can be carried to spray the sides of the tunnel at different heights at the same time, and there is no need to adjust the height of the equipment to perform multiple spraying operations, and the spraying efficiency is high.

[0007] In some embodiments, the first robotic arm and the second robotic arm are spaced apart in a width direction of the fuselage.

[0008] In some embodiments, the first robotic arm and the second robotic arm both include a lifting joint and a cantilever joint, the lifting joint is connected to the fuselage and is retractable in the up and down directions, one end of the cantilever joint is connected to the lifting joint, and the other end is connected to the spray gun.

[0009] In some embodiments, the cantilever joint is rotatable in a vertical plane relative to the lifting joint.

[0010] In some embodiments, the cantilever joint includes a telescopic joint, two ends of the telescopic joint are respectively connected to the lifting joint and the spray gun, and the telescopic joint is telescopic.

[0011] In some embodiments, the cantilever joint also includes a first rotation joint, the telescopic joint is connected between the lifting joint and the first rotation joint, the first rotation joint is rotatable around a first axis in a vertical plane relative to the telescopic joint, and the spray gun is connected to the first rotation joint.

[0012] In some embodiments, the cantilever also includes a second rotation joint, which is connected to an end of the first rotation joint away from the telescopic joint, and the second rotation joint is rotatable around a second axis relative to the first rotation joint, the second axis is perpendicular to the extension direction of the telescopic joint and the first axis, and the spray gun is connected to the end of the second rotation joint.

[0013] In some embodiments, an L-plate is provided on the lifting joint, and the L-plate includes a mounting plate parallel to the lifting joint, and the cantilever joint is mounted on an end surface of the mounting plate facing away from the lifting joint.

[0014] In some embodiments, the mounting plate is provided with a plurality of connection holes arranged at intervals, the plurality of connection holes are distributed in a ring shape, the cantilever joint is provided with a plurality of fixing holes corresponding to the connection holes, and the fixing holes are connected to the connection holes by bolts.

[0015] In some embodiments, a reinforcing rib is provided on the side of the L-plate facing the lifting joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of a spraying vehicle according to an embodiment of the present invention.

[0017] Figure 2 Schematic diagram of the structure of the L-plate of the mechanical arm of the spraying vehicle according to an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of the structure of the mechanical arm of the spraying vehicle according to an embodiment of the present invention.

[0019] Reference numerals:

[0020] The first robotic arm 1, the second robotic arm 2, the fuselage 3, the walking part 4, the pump station 5, the gas tank 6, the pump group 7, the material box 8, the control cabinet 9, the lifting joint 10, the telescopic joint 11, the first rotating joint 12, the second rotating joint 13, the spray gun 14, the protective plate 15, the L plate 16, and the connecting hole 17. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0022] like Figure 1-Figure 3 As shown, the spraying vehicle according to the embodiment of the present invention includes a body 3 and a spraying assembly.

[0023] Specifically, the spraying assembly is arranged at the front end of the fuselage 3 and includes a first robotic arm 1 and a second robotic arm 2. The heads of the first robotic arm 1 and the second robotic arm 2 are both provided with spray guns 14, and the heads of the first robotic arm 1 and the second robotic arm 2 are movable in the up and down directions relative to the fuselage 3.

[0024] like Figure 1 As shown, walking parts 4 for driving the spraying vehicle to move are arranged on both sides of the fuselage 3, a pump station 5 and a gas tank 6 are arranged at the tail of the fuselage 3, a pump group 7, a material box 8 and a control cabinet 9 are arranged in the middle, and the spraying assembly is arranged at the head of the fuselage 3. It can be understood that the first mechanical arm 1 and the second mechanical arm 2 have freedom in the up and down directions, so that during the spraying operation, one of the two mechanical arms can carry a spray gun 14 to spray the upper side, and the other mechanical arm can carry a spray gun 14 to spray the lower side, that is, the dual mechanical arm design can spray the upper side and the lower side at the same time, thereby significantly improving the spraying efficiency.

[0025] The spraying vehicle of the embodiment of the present invention has a spraying assembly disposed at the front end of a fuselage 3 and the spraying assembly includes a first robotic arm 1 and a second robotic arm 2. The heads of the first robotic arm 1 and the second robotic arm 2 are both provided with spray guns 14, and the heads of the first robotic arm 1 and the second robotic arm 2 are movable in the up and down directions relative to the fuselage 3. Thus, the two independent robotic arms have freedom of movement in the up and down directions, so that the spray guns 14 can be carried to spray the sides of the tunnel at different heights at the same time, and there is no need to adjust the height of the equipment to perform multiple spraying operations, and the spraying efficiency is high.

[0026] Furthermore, the control systems, spray pumps, material boxes 8 and connecting pipes equipped in the first robot arm 1 and the second robot arm 2 are independent of each other, and the two robot arms will not affect or interfere with each other when they move simultaneously.

[0027] Furthermore, the first robot arm 1 and the second robot arm 2 are arranged at intervals in the width direction of the fuselage 3. Therefore, on the one hand, there is a sufficient safety distance between the two robot arms, and there will be no structural interference when the robot arms are operating. On the other hand, the two robot arms are arranged at intervals in the width direction of the fuselage 3 to increase the maximum spraying width. For example, when two robot arms are used to spray the upper part at the same time, the maximum spraying width is the sum of the spraying widths of the two robot arms, and the spraying efficiency is high.

[0028] Furthermore, if Figure 3 As shown, the first robot arm 1 and the second robot arm 2 both include a lifting joint 10 and a cantilever joint, the lifting joint 10 is connected to the fuselage 3 and can be extended in the up and down direction, one end of the cantilever joint is connected to the lifting joint 10, and the other end is connected to the spray gun 14. Therefore, the extension and retraction of the lifting joint 10 can ultimately drive the spray gun 14 to move in the up and down direction to achieve spraying of different height areas.

[0029] Optionally, the lifting joint 10 may be a hydraulic lifting cylinder.

[0030] Furthermore, the cantilever joint can rotate in a vertical plane relative to the lifting joint 10. Thus, the lifting joint 10 can provide a degree of freedom of movement in the up-down direction, while the cantilever joint can provide a degree of freedom of rotation in the vertical plane. After the lifting joint 10 drives the spray gun 14 to the working height, the height of the spray gun 14 can be further adjusted within the working area by swinging the cantilever joint, so as to perform mobile spraying in a small range and improve the control accuracy of the position of the spray gun 14.

[0031] Furthermore, the cantilever joint can swing up to 150° with 0° being vertically upward.

[0032] Furthermore, if Figure 3 As shown, the cantilever joint includes a telescopic joint 11, and the two ends of the telescopic joint 11 are respectively connected to the lifting joint 10 and the spray gun 14, and the telescopic joint 11 is telescopic. Therefore, the telescopic joint 11 can drive the spray gun 14 to extend forward or backward, so that the spray gun 14 has a flexible spraying distance. It should be noted that the side surfaces at different positions of the lane have undulations or sections, which may result in different distances between the side surfaces at different positions and the spray head vehicle. At this time, the telescopic joint 11 can be used to flexibly adjust the extension distance of the spray gun 14, so that effective spraying can be performed on the side surfaces at different distances.

[0033] Furthermore, if Figure 3As shown, the cantilever joint also includes a first rotating joint 12, the telescopic joint 11 is connected between the lifting joint 10 and the first rotating joint 12, the first rotating joint 12 is rotatable around a first axis in a vertical plane relative to the telescopic joint 11, and the spray gun 14 is connected to the first rotating joint 12. In other words, the first rotating joint 12 can provide a small degree of rotation freedom for the spray gun 14 in the vertical plane to adjust the pitch angle of the spray gun 14, ensuring that the spray gun 14 is always perpendicular to the spraying surface.

[0034] Furthermore, if Figure 3 As shown, the cantilever further includes a second rotary joint 13, which is connected to the first rotary joint 12, and the second rotary joint 13 is rotatable relative to the first rotary joint 12 around a second axis, the second axis is perpendicular to the extension direction of the telescopic joint 11 and the first axis, and the spray gun 14 is connected to the end of the second rotary joint 13. In other words, the second rotary joint 13 can rotate around the y-axis so that the spray gun 14 can swing and spray within a certain width area.

[0035] Specifically, the rotation angle of the second rotation joint 13 can reach plus or minus 60 degrees, and the width of the spraying coverage in one continuous operation can reach 1 meter in the X direction.

[0036] Furthermore, a protective plate 15 is also provided on the second rotating joint 13 , and the protective plate 15 and the spray gun 14 move synchronously with the second rotating joint 13 , which can effectively control the splashing range of the spraying material.

[0037] In some embodiments, the lifting joint 10 is provided with an L plate 16, the L plate 16 includes a mounting plate parallel to the lifting joint 10, the cantilever joint is installed on the end surface of the mounting plate away from the lifting joint 10, the mounting plate is provided with a plurality of spaced connection holes 17, the plurality of connection holes 17 are distributed in a ring shape, the cantilever joint is provided with a plurality of fixing holes corresponding to the connection holes 17, and the fixing holes are connected to the connection holes 17 by bolts. Figure 2 As shown, the mounting plate is provided with eight connection holes 17, and the eight bolt holes form a circular band. The cantilever joint can rotate at a large angle after being fixed on the L plate 16 by bolts.

[0038] Furthermore, a reinforcing rib is provided on the side of the L-plate 16 facing the lifting joint 10 to increase the structural strength of the L-plate 16 .

[0039] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0044] It should be understood that the present invention does not limit its application to the detailed structure and arrangement of the components proposed in this specification. The present invention can have other embodiments and can be implemented and executed in a variety of ways. The aforementioned variations and modifications fall within the scope of the present invention. It should be understood that the present invention and the invention defined in this specification extend to all alternative combinations of two or more individual features mentioned or evident in the text and / or the drawings. All these different combinations constitute multiple alternative aspects of the present invention. The embodiments of this specification illustrate the best mode known for implementing the present invention and will enable those skilled in the art to utilize the present invention.

Claims

1. A spraying vehicle, characterized in that: include: body; A spraying assembly is arranged at the front end of the fuselage and includes a first robotic arm and a second robotic arm. The heads of the first robotic arm and the second robotic arm are both provided with spray guns, and the heads of the first robotic arm and the second robotic arm are movable in the up and down directions relative to the fuselage.

2. The spraying vehicle according to claim 1, characterized in that: The first robot arm and the second robot arm are arranged at intervals in a width direction of the fuselage.

3. The spraying vehicle according to claim 1, characterized in that: The first robotic arm and the second robotic arm both include a lifting joint and a cantilever joint. The lifting joint is connected to the fuselage and is retractable in the up and down directions. One end of the cantilever joint is connected to the lifting joint, and the other end is connected to the spray gun.

4. The spraying vehicle according to claim 3, characterized in that: The cantilever joint is rotatable relative to the lifting joint in a vertical plane.

5. The spraying vehicle according to claim 4, characterized in that: The cantilever joint comprises a telescopic joint, two ends of which are respectively connected to the lifting joint and the spray gun, and the telescopic joint is telescopic.

6. The spraying vehicle according to claim 5, characterized in that: The cantilever joint also includes a first rotating joint. The telescopic joint is connected between the lifting joint and the first rotating joint. The first rotating joint is rotatable around a first axis in a vertical plane relative to the telescopic joint. The spray gun is connected to the first rotating joint.

7. The spraying vehicle according to claim 6, characterized in that: The cantilever also includes a second rotation joint, which is connected to the first rotation joint and can rotate around a second axis relative to the first rotation joint. The second axis is perpendicular to the extension direction of the telescopic joint and the first axis, and the spray gun is connected to the end of the second rotation joint.

8. The spraying vehicle according to claim 4, characterized in that: The lifting joint is provided with an L-plate, and the L-plate comprises a mounting plate parallel to the lifting joint, and the cantilever joint is mounted on the end surface of the mounting plate away from the lifting joint.

9. The spraying vehicle according to claim 8, characterized in that: The mounting plate is provided with a plurality of connection holes arranged at intervals, the plurality of connection holes are distributed in a ring shape, the cantilever joint is provided with a plurality of fixing holes corresponding to the connection holes, and the fixing holes are connected to the connection holes by bolts.

10. The spraying vehicle according to claim 8, characterized in that: A reinforcing rib is provided on the side of the L-plate facing the lifting joint.

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