Multi-degree-of-freedom wet spraying mechanical arm for tunnel trolley

Abstract

The invention provides a multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley, and relates to the field of tunnel construction equipment. The wet spraying mechanical arm comprises a sliding rail, a sliding base, a telescopic large arm, a large arm angle adjusting oil cylinder, a first rotary disc, a telescopic small arm, a small arm angle adjusting oil cylinder, a second rotary disc, a turnover mechanism and a nozzle. Wherein the sliding rail is arranged on the tunnel trolley, and the sliding seat can move along the sliding rail; the telescopic large arm is hinged to the sliding seat, and the large arm angle adjusting oil cylinder is hinged between the sliding seat and the telescopic large arm; the first rotary disc is installed at the telescopic end of the telescopic large arm, and the telescopic small arm is hinged to the rotating end of the first rotary disc. The small arm angle adjusting oil cylinder is hinged between the first rotary disc and the telescopic small arm; the second rotary disc is mounted at the telescopic end of the telescopic small arm; the turnover mechanism is installed at the rotating end of the second rotary disc and provided with a turnover frame rotating eccentrically and obliquely. The wet spraying mechanical arm has eight degrees of freedom, so that the nozzle has high flexibility and adaptability, and the spraying rebound rate of concrete can be reduced.

Description

Technical Field

[0001] The present invention specifically relates to a multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley, and relates to the technical field of tunnel construction equipment. Background Art

[0002] Wet spraying is a support technology for tunnel concrete spraying, which is to mix cement, sand and gravel aggregates and admixtures in advance according to a certain water-cement ratio, and then use compressed air to transport them to the nozzle to mix with the accelerator. Compared with dry spraying, wet spraying greatly reduces the rebound rate and dust pollution of concrete during the spraying process, can achieve better construction quality, and improve the construction environment.

[0003] The wet spraying robot arm is a device for implementing wet spraying operations installed on a carrier. Most wet spraying robot arms in the prior art have the following defects: 1. Large size, taking up working space; 2. Not enough degrees of freedom and flexibility; 3. The spray angle is not easy to adjust and the rebound rate is high; 4. Poor adaptability.

[0004] References: Chinese Patent: CN 110056375 B Chinese Patent: CN 115045683 A Chinese Patent: CN 114941540 B Summary of the invention

[0005] In order to overcome the shortcomings of the background technology, the present invention discloses a multi-degree-of-freedom wet spraying robot arm for a tunnel trolley, which adopts the following technical solutions: A multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley, comprising: A slide rail, arranged on the tunnel trolley; A slide seat, movable along the slide rail; Telescopic boom, hinged on the slide; The boom angle adjustment cylinder is hinged between the slide and the telescopic boom and is used to adjust the rotation angle of the telescopic boom in the horizontal plane; The first turntable is mounted on the telescopic end of the telescopic boom; A telescopic arm, hinged to the rotating end of the first turntable; The arm angle adjustment cylinder is hinged between the first rotary table and the telescopic arm and is used to adjust the rotation angle of the telescopic arm; A second turntable is mounted on the telescopic end of the telescopic arm; The turning mechanism is installed at the rotating end of the second turntable and has a turning frame that rotates eccentrically and tiltedly; Nozzle, mounted on the flip frame.

[0006] Further improved technical solution: the slide rail is arranged along the traveling direction of the trolley, and a driving device is arranged between the slide rail and the slide seat.

[0007] Further improved technical solution: the rotation axis of the first turntable is arranged to coincide with the axis of the telescopic boom, and the rotation axis of the second turntable is arranged to intersect or be perpendicular to the axis of the telescopic arm.

[0008] Further improved technical solution: the telescopic boom and the telescopic arm have at least two sections of hydraulic telescopic arms.

[0009] Further improved technical solution: The flipping mechanism is mainly composed of a frame, a hydraulic motor, an eccentric disk, a universal joint and a flipping frame. The frame is installed at the rotating end of the second turntable, the hydraulic motor and the universal joint are installed on the frame, the eccentric disk is installed on the output shaft of the hydraulic motor, one end of the flipping frame is hinged to the eccentric disk, and the other end is hinged to the universal joint.

[0010] Further improved technical solution: relative to the rotation axis of the hydraulic motor output shaft, the tilting rotation angle of the turnover frame is 5-10°.

[0011] After implementing the above technical solution, compared with the background technology, the beneficial effects produced by the present invention are: 1. The wet spraying robot arm of the present invention has eight degrees of freedom, which can make the nozzle highly flexible and adaptable; 2. The wet spraying robot arm can accurately adjust the nozzle posture to keep the nozzle spraying angle constant, which is beneficial to reduce the spraying rebound rate of concrete; 3. This wet spraying robot arm is small in size and does not take up working space. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Attached Figure 1 What is shown is a three-dimensional structural schematic diagram of the wet spraying robot arm.

[0013] Attached Figure 2 Shown is a front view of the wet spraying robot arm.

[0014] Attached Figure 3 Shown is a schematic structural diagram of the flip mechanism.

[0015] Attached Figure 4 Shown is a schematic structural diagram of the wet spraying robot arm during movement.

[0016] In the attached drawings: 1. slide rail; 2. slide seat; 3. telescopic boom; 4. boom angle adjustment cylinder; 5. first hydraulic rotary plate; 6. telescopic forearm; 7. forearm angle adjustment cylinder; 8. second hydraulic rotary plate; 9. turning mechanism; 91. frame; 92. hydraulic motor; 93. eccentric disk; 94. universal joint; 95. turning frame; 10. nozzle. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. It should be noted that in the description of the present invention, the terms "front", "rear", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of description, rather than indicating or implying that the device or element must have a specific orientation and positional relationship, and therefore cannot be understood as a limitation of the present invention. It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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 a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal connection of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0018] A multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley relates to the field of tunnel construction equipment and is mainly used to solve the problems of insufficient degrees of freedom, difficult adjustment of the spraying angle, and high rebound rate of the wet spraying mechanical arm in the prior art. The composition structure and working principle of the wet spraying mechanical arm are specifically described below.

[0019] Refer to the attached Figure 1 and attached Figure 2 The multi-degree-of-freedom wet spraying mechanical arm for the tunnel trolley is mainly composed of a slide rail 1, a slide seat 2, a telescopic boom 3, a boom angle adjustment cylinder 4, a first hydraulic rotary table 5, a telescopic small arm 6, a small arm angle adjustment cylinder 7, a second hydraulic rotary table 8, a turning mechanism 9, and a nozzle 10.

[0020] The slide rail 1 is arranged on the tunnel trolley and is arranged along the travel direction (X-axis direction) of the trolley. The slide seat 2 is installed on the slide rail 1 and can move along the slide rail 1. A driving device is arranged between the slide rail 1 and the slide seat 2. The length of the slide rail 1 is the same as the length of the trolley. When the slide seat 2 is at the starting position, the entire wet spraying robot arm is strip-shaped, and the shortest length of the wet spraying robot arm is roughly the same as the length of the trolley, and does not occupy the working space.

[0021] The slide seat 2 can move along the slide rail 1, so that the wet spraying robot arm has a degree of freedom to move forward and backward along the X-axis direction.

[0022] The telescopic boom 3 is hinged on the slide 2, and the boom angle adjustment cylinder 4 is hinged between the slide 2 and the telescopic boom 3. The function of the boom angle adjustment cylinder 4 is to adjust the rotation angle of the telescopic boom 3 in the horizontal plane (XY plane) so that the telescopic boom 3 has a degree of freedom to rotate in the XY plane.

[0023] The telescopic boom 3 has at least two hydraulic telescopic arms, so that the telescopic boom 3 has a telescopic degree of freedom in the length direction.

[0024] The first hydraulic rotary table 5 is installed at the telescopic end of the telescopic boom 3. The rotary axis of the first hydraulic rotary table 5 coincides with the axis of the telescopic boom 3. The telescopic arm 6 is hinged at the rotating end of the first hydraulic rotary table 5, so that the telescopic arm 6 has a coaxial degree of freedom relative to the telescopic boom 3 and can rotate 360°.

[0025] The telescopic arm 6 has at least two hydraulic telescopic arms, so that the telescopic arm 6 has a telescopic degree of freedom in the length direction.

[0026] The arm angle adjustment cylinder 7 is hinged between the first hydraulic rotary table 5 and the telescopic arm 6. The function of the arm angle adjustment cylinder 7 is to adjust the rotation angle of the telescopic arm 6 so that the telescopic arm 6 has a degree of freedom to rotate within a plane (the plane where the telescopic arm 6 and the telescopic boom 3 are located).

[0027] The second hydraulic rotary disk 8 is installed at the telescopic end of the telescopic arm 6, the rotation axis of the second hydraulic rotary disk 8 intersects or is vertically arranged with the axis of the telescopic arm 6, and the flipping mechanism 9 is installed at the rotating end of the second hydraulic rotary disk 8, so that the flipping mechanism 9 has a degree of freedom to rotate 360° with the second hydraulic rotary disk 8 as the rotation axis.

[0028] See attached Figure 3 The flip mechanism 9 is mainly composed of a frame 91, a hydraulic motor 92, an eccentric disc 93, a universal joint 94 and a flip frame 95. The frame 91 is installed at the rotating end of the second hydraulic rotary plate 8, the hydraulic motor 92 and the universal joint 94 are installed on the frame 91, the eccentric disc 93 is installed on the output shaft of the hydraulic motor 92, one end of the flip frame 95 is hinged to the eccentric disc 93, and the other end is hinged to the universal joint 94, and the nozzle 10 is installed on the flip frame 95. Relative to the rotation axis of the output shaft of the hydraulic motor 92, the tilting rotation angle of the flip frame 95 is 5-10°. Since the flip frame 95 can make an eccentric tilt rotation with a trajectory of a cone around the rotation axis of the hydraulic motor 92, the nozzle 10 has a degree of freedom to make an eccentric tilt rotation around the rotation axis of the hydraulic motor 92.

[0029] See attached Figure 4. The nozzle 10 is a component for spraying concrete into the tunnel. It is located at the end of the movement of the wet spraying robot arm. The movement of any of the above components will cause the nozzle 10 to move in space. Therefore, it can be said that the nozzle 10 has the above eight degrees of freedom, which are sufficient to improve the flexibility and adaptability of the wet spraying robot arm. Among them, the slide 2, the telescopic boom 3, and the telescopic arm 6 are mainly used to adjust the position of the nozzle 10 in the X direction. The boom angle adjustment cylinder 4, the arm angle adjustment cylinder 7, and the first hydraulic rotary disk 5 are mainly used to adjust the position of the nozzle 10 in the YZ plane so that the nozzle 10 is close to the tunnel arch surface. Since the telescopic boom 3 and the telescopic arm 6 have a large length, a small turning angle can cause a large displacement of the nozzle 10. Therefore, the boom angle adjustment cylinder 4, the arm angle adjustment cylinder 7, and the first hydraulic rotary disk 5 are mainly used for coarse adjustment of the position of the nozzle 10. The second hydraulic rotary disk 8 and the flip mechanism 9 are mainly used to fine-tune the posture of the nozzle 10 so that the spraying angle of the nozzle 10 remains constant to reduce the rebound rate of the concrete.

[0030] It is worth noting that the contents not described in detail in the above embodiments are prior art. It is also worth noting that for those skilled in the art, any addition, subtraction, replacement and improvement made under the structure and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom wet spraying robot arm for a tunnel trolley, characterized in that: include: A slide rail, arranged on the tunnel trolley; A slide seat, movable along the slide rail; Telescopic boom, hinged on the slide; The boom angle adjustment cylinder is hinged between the slide and the telescopic boom and is used to adjust the rotation angle of the telescopic boom in the horizontal plane; The first turntable is mounted on the telescopic end of the telescopic boom; A telescopic arm, hinged to the rotating end of the first turntable; The arm angle adjustment cylinder is hinged between the first rotary table and the telescopic arm and is used to adjust the rotation angle of the telescopic arm; A second turntable is mounted on the telescopic end of the telescopic arm; The turning mechanism is installed at the rotating end of the second turntable and has a turning frame that rotates eccentrically and tiltedly; Nozzle, mounted on the flip frame.

2. A multi-degree-of-freedom wet spraying robot arm for a tunnel trolley according to claim 1, characterized in that: The slide rail is arranged along the traveling direction of the trolley, and a driving device is arranged between the slide rail and the slide seat.

3. A multi-degree-of-freedom wet spraying robot arm for a tunnel trolley according to claim 1, characterized in that: The rotation axis of the first rotating disk is arranged to coincide with the axis of the telescopic boom, and the rotation axis of the second rotating disk is arranged to intersect or be perpendicular to the axis of the telescopic boom.

4. A multi-degree-of-freedom wet spraying robot arm for a tunnel trolley according to claim 1, characterized in that: The telescopic boom and the telescopic small arm have at least two sections of hydraulic telescopic arms.

5. A multi-degree-of-freedom wet spraying robot arm for a tunnel trolley according to claim 1, characterized in that: The flipping mechanism is mainly composed of a frame, a hydraulic motor, an eccentric disk, a universal joint and a flipping frame. The frame is installed at the rotating end of the second turntable, the hydraulic motor and the universal joint are installed on the frame, the eccentric disk is installed on the output shaft of the hydraulic motor, one end of the flipping frame is hinged to the eccentric disk, and the other end is hinged to the universal joint.

6. A multi-degree-of-freedom wet spraying robot arm for a tunnel trolley as claimed in claim 5, characterized in that: Relative to the rotation axis of the hydraulic motor output shaft, the tilting rotation angle of the overturning frame is 5-10°.

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