Efficient wet shotcreting manipulator

Abstract

The invention provides an efficient wet-spraying concrete spraying manipulator, and relates to the technical field of concrete spraying, the efficient wet-spraying concrete spraying manipulator comprises a spray head conversion frame, a rear connecting pipe frame, an upper connecting slider and an upper driving swing arm, the rear connecting pipe frame is arranged on the rear side of the spray head conversion frame, and the upper connecting slider is slidably connected to the top of the spray head conversion frame; the rear connecting pipe frame is rotationally connected with the upper driving swing arm, first coagulation wet nozzles are fixedly arranged on the two sides of the nozzle conversion frame, the lower portion of the nozzle conversion frame is slidably connected with a lower connecting sliding frame, and upper connecting sliding pipes are fixedly arranged on the two sides of the upper portion of the nozzle conversion frame. The nozzle conversion frame moves to drive the two different types of first concrete wet nozzles to be communicated with the middle communication feeding pipe, adjustment of the first concrete wet nozzles in different spraying states is rapidly achieved, the manual replacement process of workers is omitted, the labor consumption of additionally replacing the first concrete wet nozzles by the workers in the high-temperature and high-humidity environment in a tunnel is solved, and the working efficiency is improved. And the workload of personnel is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete spraying equipment, and particularly to an efficient wet-spraying concrete spraying manipulator. Background Art

[0002] For the initial support of tunnel spraying concrete, the wet-spraying process is adopted. The spraying concrete is centrally mixed at the mixing station outside the tunnel and transported into the tunnel by a concrete mixer truck. The wet-spraying machine is used for spraying operations (the project owner shall organize the acceptance of the wet-spraying equipment. If it fails to arrive or fails to meet the requirements after acceptance, the tunnel excavation shall not be carried out). After the tunnel excavation is completed, first spray 4 cm thick concrete to seal the rock surface, then set up anchor bolts, erect steel frames, and hang steel wire meshes. After cleaning the initially sprayed rock surface, re-spray to the designed thickness.

[0003] The existing concrete spraying manipulator can automatically adjust the vertical angle and horizontal angle through program control in addition to manual control. However, in actual construction, in order to meet different construction requirements, the concrete wet nozzle of the concrete spraying manipulator will be disassembled and replaced. When in the tunnel corner or narrow area, it can automatically switch to a small-diameter nozzle, and switch to a standard nozzle during large-area operations to improve the coverage efficiency. However, the temperature and humidity are high inside the tunnel. In this environment, the labor consumption of personnel for disassembling and replacing the concrete wet nozzle will be further increased, increasing the work burden of personnel. At the same time, the high-temperature and high-humidity environment will also reduce the speed of construction personnel for disassembling and replacing the concrete wet nozzle, and the disassembly and replacement time will be further increased. Summary of the Invention

[0004] The present invention provides an efficient wet-spraying concrete spraying manipulator. Through the double-nozzle linkage switching mechanism of the nozzle conversion frame, the automatic and rapid switching of different types of concrete wet nozzles is realized. When the spraying state needs to be adjusted, the movement of the nozzle conversion frame drives the connection of two different types of concrete wet nozzles and the middle connecting supply pipe, quickly realizing the adjustment of the concrete wet nozzle in different spraying states, eliminating the manual replacement process of personnel, removing the disassembly burden of personnel, shortening the disassembly and replacement time, realizing the switching of the concrete wet nozzle according to the on-site requirements, meeting different construction requirements, and supporting the flexible adaptation of complex construction scenarios. For example, it can automatically switch to a small-diameter nozzle in the tunnel corner or narrow area to achieve precise supplementary spraying; switch to a standard nozzle during large-area operations to improve the coverage efficiency and meet different construction requirements.

[0005] The present invention provides an efficient wet shotcrete spraying manipulator, which specifically includes a nozzle conversion frame, a rear connecting pipe frame, an upper connecting slider, and an upper driving swing arm. A rear connecting pipe frame is arranged at the rear side of the nozzle conversion frame. The upper connecting slider is slidably connected to the top of the nozzle conversion frame. The rear connecting pipe frame and the upper driving swing arm are rotationally connected and driven to rotate by a stepping motor. First concrete wet nozzles are fixedly arranged on both sides of the nozzle conversion frame. A lower connecting slider is slidably connected to the lower part of the nozzle conversion frame. The nozzle conversion frame moves along the lower connecting slider. Upper connecting sliding pipes are fixedly arranged on both sides of the upper part of the nozzle conversion frame.

[0006] Further, a middle connecting feeding pipe is fixedly arranged in the middle of the rear connecting pipe frame. The front end of the middle connecting feeding pipe is axially slidably connected with an outer sealing ring. The upper roller is rotationally connected to the top of the outer sealing ring. Lower connecting sliding columns are fixedly connected to both sides of the rear connecting pipe frame. Side support springs are fixedly connected to both sides of the rear connecting pipe frame.

[0007] Further, the lower connecting slider is fixedly connected to the lower part of the rear connecting pipe frame. The lower connecting sliding column is axially slidably connected to the rear connecting pipe frame. The rear end of the side support spring is fixedly connected to the rear connecting pipe frame. The outer sealing ring is slidably attached to the outer side of the front end of the middle connecting feeding pipe.

[0008] Further, when the middle connecting feeding pipe and the first concrete wet nozzle are axially aligned, the side support spring supports the outer sealing ring to slide to the outside of the first concrete wet nozzle. The outer sealing ring surrounds and covers the outside of the splicing gap between the first concrete wet nozzle and the middle connecting feeding pipe. A sealing rubber ring is arranged inside the outer sealing ring to seal the first concrete wet nozzle and the middle connecting feeding pipe. The outer sealing ring ensures the coaxial alignment of the first concrete wet nozzle and the middle connecting feeding pipe.

[0009] Further, upper connecting sliding columns are fixedly connected to both sides of the upper connecting slider. Side buffer connecting elastic members are fixedly connected to both sides of the upper connecting slider. A lower guiding inclined frame is fixedly arranged at the lower part of the upper connecting slider. The rear side of the upper connecting slider is fixedly connected to a circulating chain. The middle driving shaft is tightly meshed on both sides of the circulating chain. The middle driving shaft is rotatably arranged on both sides of the rear fixing bracket. The rear fixing bracket is provided with a motor to drive the middle driving shaft to rotate.

[0010] Further, the upper connecting sliding column and the upper connecting sliding pipe are slidably connected through penetration. The rear end of the side buffer connecting elastic member is fixedly connected to the upper connecting sliding pipe. The rear fixing bracket is fixed to the top of the rear connecting pipe frame. The two side buffer connecting elastic members on both sides of the upper connecting slider support the upper connecting slider to reset and move to both sides to an equidistant state after stopping. The equidistant state on both sides of the upper connecting slider leaves a space for sequential movement.

[0011] Furthermore, both sides of the lower guiding inclined frame are narrowing inclined plane structures. When the lower guiding inclined frame and the upper roller move in contact, the inclined plane of the lower guiding inclined frame guides the upper roller and the outer sealing ring to move away from the first concrete wet spray nozzle, realizing the separation of the outer sealing ring and the first concrete wet spray nozzle.

[0012] Furthermore, the bottom of the upper driving swing arm is rotationally connected to the lower base in the horizontal direction and is driven to rotate by a stepping motor. The upper driving swing arm is driven by the stepping motor to achieve horizontal rotation between the upper driving swing arm and the lower base. The upper driving swing arm rotates horizontally to adjust the direction of the first concrete wet spray nozzle. After being driven by the stepping motor, the upper driving swing arm connects the pipe rack to rotate.

[0013] The present invention provides an efficient wet shotcrete spraying manipulator, which has the following beneficial effects: Through the double-nozzle linkage switching mechanism of the nozzle conversion frame, the present invention realizes the automatic and rapid switching of different models of the first concrete wet spray nozzles. When the spraying state needs to be adjusted, the movement of the nozzle conversion frame drives the two different models of the first concrete wet spray nozzles to be connected to the middle connecting supply pipe, quickly realizing the adjustment of the first concrete wet spray nozzles in different spraying states, eliminating the manual replacement process of personnel, shortening the disassembly and replacement time, realizing the switching of the first concrete wet spray nozzles according to the on-site requirements, meeting different construction requirements, and supporting the flexible adaptation of complex construction scenarios. For example, in the tunnel corner or narrow area, it can be automatically switched to the fine-diameter nozzle to achieve precise supplementary spraying; when working in a large area, it is switched to the standard nozzle to improve the coverage efficiency, effectively meeting the spraying requirements in different construction stages.

[0014] The outer sealing ring surrounds and covers to seal the splicing gap between the first concrete wet spray nozzle and the middle connecting supply pipe, which not only reduces the leakage of the splicing gap between the first concrete wet spray nozzle and the middle connecting supply pipe, but also ensures the coaxial alignment of the first concrete wet spray nozzle and the middle connecting supply pipe, avoiding problems such as pipe blockage or uneven spraying caused by misalignment, and significantly improving the continuity and stability of concrete conveying.

[0015] When the first concrete wet spray nozzle needs to be moved and switched, the upper connecting slider moves first. A sliding redundancy is set between the upper connecting slider and the nozzle conversion frame through the upper connecting column and the side buffer connecting elastic member to achieve sequential linkage control. The lower guiding inclined frame moves first and guides the outer sealing ring and the first concrete wet spray nozzle to separate. Subsequently, the nozzle conversion frame and the first concrete wet spray nozzle move and switch. The separation of the outer sealing ring and the first concrete wet spray nozzle does not require additional control components for control, reducing the control difficulty and effectively reducing the equipment failure points. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present invention, the drawings of the present invention will be briefly introduced below.

[0017] The drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0018] In the accompanying drawings: Figure 1 A schematic diagram showing the overall structure of the present application is shown; Figure 2 A schematic diagram showing the structure of the upper drive swing arm of the present application is shown; Figure 3 A schematic diagram showing the structure of the rear connection pipe rack of the present application is shown; Figure 4 A schematic diagram showing the structure of the outer sealing ring of the present application is shown; Figure 5 A schematic diagram showing the structure of the lower guiding inclined frame of the present application is shown; Figure 6 A schematic diagram showing the structure of the upper connection sliding member of the present application is shown; Figure 7 A schematic diagram showing the structure of the upper roller of the present application is shown; Figure 8 A schematic diagram showing the separated state of the nozzle conversion rack, the rear connection pipe rack, the upper connection sliding member, and the upper drive swing arm of the present application is shown.

[0019] Reference numerals: 1. Nozzle conversion rack; 101. First concrete wet nozzle; 102. Lower connection sliding frame; 103. Upper connection sliding pipe; 2. Rear connection pipe rack; 201. Middle communication supply pipe; 202. Outer sealing ring; 203. Upper roller; 204. Lower connection sliding column; 205. Side support spring; 3. Upper connection sliding member; 301. Upper connection sliding column; 302. Side buffer connection elastic member; 303. Lower guiding inclined frame; 304. Circulating chain; 305. Middle drive shaft; 306. Rear fixing bracket; 4. Upper drive swing arm; 401. Lower base. Detailed implementation manners

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1: Please refer to Figures 1 to 8 : The present invention provides an efficient wet shotcrete spraying manipulator, which includes a nozzle conversion frame 1, a rear connecting pipe frame 2, an upper connecting slider 3 and an upper driving swing arm 4. First concrete wet nozzles 101 are fixedly arranged on both sides of the nozzle conversion frame 1. A lower connecting slider 102 is slidably connected to the lower part of the nozzle conversion frame 1, and the nozzle conversion frame 1 moves along the lower connecting slider 102. Upper connecting sliding pipes 103 are fixedly arranged on both sides of the upper part of the nozzle conversion frame 1. A rear connecting pipe frame 2 is arranged at the rear of the nozzle conversion frame 1. A middle connecting feeding pipe 201 is fixedly arranged in the middle of the rear connecting pipe frame 2. The front end of the middle connecting feeding pipe 201 is axially slidably connected with an outer sealing ring 202. An upper roller 203 is rotatably connected to the top of the outer sealing ring 202. Lower connecting sliding columns 204 are fixedly connected to both sides of the rear connecting pipe frame 2. Side support springs 205 are fixedly connected to both sides of the rear connecting pipe frame 2. The lower part of the lower connecting slider 102 and the rear connecting pipe frame 2 are fixedly connected. The lower connecting sliding columns 204 are axially slidably connected with the rear connecting pipe frame 2. The tail end of the side support spring 205 is fixedly connected to the rear connecting pipe frame 2. The outer sealing ring 202 is slidably attached to the outside of the front end of the middle connecting feeding pipe 201. An upper connecting slider 3 is slidably connected to the top of the nozzle conversion frame 1. Upper connecting sliding columns 301 are fixedly connected to both sides of the upper connecting slider 3. Side buffer connecting elastic members 302 are fixedly connected to both sides of the upper connecting slider 3. A lower guiding inclined frame 303 is fixedly arranged at the lower part of the upper connecting slider 3. The rear side of the upper connecting slider 3 is fixedly connected to a circulating chain 304. The middle driving shaft 305 is tightly meshed on both sides of the circulating chain 304. The middle driving shaft 305 is rotatably arranged on both sides of the rear fixing bracket 306. The rear fixing bracket 306 is provided with a motor to drive the middle driving shaft 305 to rotate. The rear connecting pipe frame 2 and the upper driving swing arm 4 are rotatably connected and driven to rotate by a stepping motor. The upper connecting sliding columns 301 and the upper connecting sliding pipes 103 are slidably connected through each other. The tail end of the side buffer connecting elastic member 302 is fixedly connected to the upper connecting sliding pipe 103. The rear fixing bracket 306 is fixed on the top of the rear connecting pipe frame 2. The two side buffer connecting elastic members 302 on both sides of the upper connecting slider 3 support the upper connecting slider 3 to reset and move to both sides to an equidistant state after stopping. The equidistant state on both sides of the upper connecting slider 3 leaves a space for moving forward and backward. First, the outer sealing ring 202 and the first concrete wet nozzle 101 are separated. Then, the upper connecting slider 3 pushes the nozzle conversion frame 1 to move. Both sides of the lower guiding inclined frame 303 are narrowing inclined plane structures. When the lower guiding inclined frame 303 and the upper roller 203 are in contact and move, the inclined plane of the lower guiding inclined frame 303 guides the upper roller 203 and the outer sealing ring 202 to move away from the first concrete wet nozzle 101, realizing the separation of the outer sealing ring 202 and the first concrete wet nozzle 101, which is convenient for the movement and switching of the first concrete wet nozzle 101.

[0022] In an embodiment of the present disclosure, when the middle connecting feed pipe 201 and the first concrete wet spray head 101 are axially aligned, the side support spring 205 supports the outer sealing ring 202 to slide to the outside of the first concrete wet spray head 101. The outer sealing ring 202 surrounds and covers the outside of the splicing gap between the first concrete wet spray head 101 and the middle connecting feed pipe 201. A sealing rubber ring is arranged inside the outer sealing ring 202 to seal the first concrete wet spray head 101 and the middle connecting feed pipe 201. The outer sealing ring 202 ensures the coaxial alignment of the first concrete wet spray head 101 and the middle connecting feed pipe 201, and avoids the situations of pipe blockage or uneven spraying caused by the misalignment of the first concrete wet spray head 101 and the middle connecting feed pipe 201.

[0023] In an embodiment of the present disclosure, the bottom of the upper driving swing arm 4 is rotatably connected to the lower base 401 in the horizontal direction and is driven to rotate by a stepping motor. The upper driving swing arm 4 is driven by the stepping motor to realize the horizontal rotation between the upper driving swing arm 4 and the lower base 401. The upper driving swing arm 4 horizontally rotates to adjust the direction of the first concrete wet spray head 101. After the upper driving swing arm 4 is driven by the stepping motor, the rear connecting pipe rack 2 rotates, and the rear connecting pipe rack 2 and the first concrete wet spray head 101 rotate in the up and down direction.

[0024] In the second embodiment, on the basis of the first embodiment, the upper driving swing arm 4 slides up and down and is telescoped into two parts. The upper and lower parts of the upper driving swing arm 4 are connected by an electric screw to realize the telescopic function of the upper and lower parts of the upper driving swing arm 4. When the upper driving swing arm 4 extends, the height of the rear connecting pipe rack 2 is increased. After the height of the rear connecting pipe rack 2 is increased, the range in which the rear connecting pipe rack 2 can rotate downward is larger, and the first concrete wet spray head 101 of the rear connecting pipe rack 2 can perform concrete spraying construction on a lower position.

[0025] Working principle of the present invention: The lower base 401 is connected and fixed to the boom of the existing concrete wet shotcreting machine. The boom of the concrete wet shotcreting machine can perform telescopic and height adjustment operations. The pipeline of the concrete wet shotcreting machine is connected to the middle connecting feed pipe 201 for feeding concrete. The middle connecting feed pipe 201 is connected to the first concrete wet nozzle 101 to perform concrete spraying operations inside the tunnel. The upper driving swing arm 4 is driven by a stepping motor to achieve horizontal rotation between the upper driving swing arm 4 and the lower base 401. The horizontal rotation of the upper driving swing arm 4 adjusts the direction of the first concrete wet nozzle 101. After the upper driving swing arm 4 is driven by the stepping motor, the rear connecting pipe rack 2 rotates. The rear connecting pipe rack 2 and the first concrete wet nozzle 101 rotate up and down to adjust the concrete spraying height. The upper driving swing arm 4 is controlled by a remote control, enabling personnel to stay away from the concrete spraying position, reducing the splashing of sprayed concrete on construction workers, improving the operating environment of construction workers. At the same time, the stepping motor of the upper driving swing arm 4 can also perform reciprocating movement through the PLC control module. The reciprocating movement of the upper driving swing arm 4 realizes the reciprocating spraying process of an area and automatically rotates to realize the switching of the concrete spraying range, further reducing the operating burden of construction workers; When the first concrete wet nozzle 101 needs to be switched, the middle drive shaft 305 meshes to drive the circulating chain 304 to move in a cycle. The circulating chain 304 drives the upper connecting slider 3 to move. The upper connecting slider 3 moves first. The upper connecting slider 3 and the lower guiding inclined frame 303 move synchronously. A sliding redundancy is set between the upper connecting slider 3 and the nozzle conversion frame 1 through the upper connecting sliding column 301 and the side buffer connecting elastic member 302 to achieve sequential linkage control. The upper connecting slider 3 and the upper connecting sliding column 301 move synchronously and compress the side buffer connecting elastic member 302. At this time, the nozzle conversion frame 1 does not move. The lower guiding inclined frame 303 moves synchronously and guides the upper roller 203 to move through the inclined surface. The upper roller 203 and the outer sealing ring 202 move synchronously. The outer sealing ring 202 and the first concrete wet nozzle 101 are separated. The positioning of the first concrete wet nozzle 101 is released. At this time, the upper connecting slider 3 has compressed the side buffer connecting elastic member 302 to the minimum. The upper connecting slider 3 continues to move and pushes the nozzle conversion frame 1 to move. The nozzle conversion frame 1 and the first concrete wet nozzle 101 move again. Another first concrete wet nozzle 101 on the other side of the nozzle conversion frame 1 is aligned with the middle connecting feed pipe 201. The separation of the outer sealing ring 202 and the first concrete wet nozzle 101 does not require additional control components for control, reducing the control difficulty, effectively reducing the equipment failure points, and improving the reliability and maintenance convenience of long-term operations; After aligning another first concrete wet spray head 101 with the middle connecting feed pipe 201, the lower guiding inclined frame 303 and the upper roller 203 are separated, and the side support spring 205 supports the upper roller 203 and the outer sealing ring 202 to move back to their original positions. The outer sealing ring 202 surrounds and covers to seal the splicing gap between the first concrete wet spray head 101 and the middle connecting feed pipe 201, which not only reduces the leakage of concrete at the splicing gap between the first concrete wet spray head 101 and the middle connecting feed pipe 201, but also ensures the coaxial alignment of the first concrete wet spray head 101 and the middle connecting feed pipe 201, avoiding problems such as pipe blockage or uneven spraying caused by misalignment, significantly improving the continuity and stability of concrete conveying. During the switching process of the first concrete wet spray head 101, the movement away of the outer sealing ring 202 can also clean the residual concrete liquid on the inner side of the outer sealing ring 202 by the fitting of the inner side of the outer sealing ring 202 and the outer side of the rear connecting pipe frame 2, reducing the concrete residue on the inner side of the outer sealing ring 202; Through the double-spray-head linkage switching mechanism of the spray head conversion frame 1, the automatic and rapid switching of different models of the first concrete wet spray head 101 is realized. When the spraying state needs to be adjusted, the movement of the spray head conversion frame 1 drives the connection of two different models of the first concrete wet spray head 101 and the middle connecting feed pipe 201, quickly realizing the adjustment of the first concrete wet spray head 101 in different spraying states, eliminating the manual replacement process of personnel, shortening the disassembly and replacement time, realizing the switching of the first concrete wet spray head 101 according to the on-site requirements, meeting different construction requirements, and supporting the flexible adaptation of complex construction scenarios. For example, in the tunnel corner or narrow area, it can be automatically switched to a fine-diameter spray head with a spray diameter ≤ 30mm for precise supplementary spraying; when working in a large area, it is switched to a standard spray head with a spray diameter ≥ 50mm to improve the coverage efficiency, effectively meeting the spraying requirements in different construction stages, avoiding the situation of high temperature and high humidity inside the tunnel, large labor consumption for personnel to disassemble and replace the first concrete wet spray head 101, and slow disassembly speed of the first concrete wet spray head 101, reducing the work burden of construction personnel.

[0026] In this article, the following points need to be noted: 1. The drawings of the embodiments of the present disclosure only relate to the structures involved in the embodiments of the present disclosure, and other structures can refer to the general design.

[0027] 2. Without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0028] The above is only the specific implementation manner of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present disclosure can easily think of changes or substitutions, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. An efficient wet shotcrete spraying manipulator, comprising: Sprinkler conversion frame (1), rear connecting pipe frame (2), upper connecting slider (3) and upper driving swing arm (4); characterized in that a rear connecting pipe frame (2) is arranged at the rear side of the sprinkler conversion frame (1), an upper connecting slider (3) is slidably connected to the top of the sprinkler conversion frame (1), the rear connecting pipe frame (2) and the upper driving swing arm (4) are rotationally connected, first concrete wet spray nozzles (101) are fixedly arranged on both sides of the sprinkler conversion frame (1), a lower connecting slider (102) is slidably connected to the lower part of the sprinkler conversion frame (1), and upper connecting slide pipes (103) are fixedly arranged on both sides of the upper part of the sprinkler conversion frame (1).

2. The high-efficiency wet shotcrete spraying manipulator according to claim 1, characterized in that a middle connecting feed pipe (201) is fixedly arranged in the middle of the rear connecting pipe frame (2), an outer sealing ring (202) is axially slidably connected to the head end of the middle connecting feed pipe (201), an upper roller (203) is rotationally connected to the top of the outer sealing ring (202), lower connecting sliding columns (204) are fixedly connected to both sides of the rear connecting pipe frame (2), and side support springs (205) are fixedly connected to both sides of the rear connecting pipe frame (2).

3. The high-efficiency wet shotcrete spraying manipulator according to claim 2, characterized in that the lower connecting slider (102) is fixedly connected to the lower part of the rear connecting pipe frame (2), the lower connecting sliding column (204) is axially slidably connected to the rear connecting pipe frame (2), the tail end of the side support spring (205) is fixedly connected to the rear connecting pipe frame (2), and the outer sealing ring (202) is slidably attached to the outside of the head end of the middle connecting feed pipe (201).

4. The high-efficiency wet shotcrete spraying manipulator according to claim 3, characterized in that when the middle connecting feed pipe (201) is axially aligned with the first concrete wet spray nozzle (101), the side support spring (205) supports the outer sealing ring (202) to slide to the outside of the first concrete wet spray nozzle (101), and the outer sealing ring (202) surrounds and covers the outside of the splicing gap between the first concrete wet spray nozzle (101) and the middle connecting feed pipe (201).

5. The high-efficiency wet shotcrete spraying manipulator according to claim 1, characterized in that upper connecting sliding columns (301) are fixedly connected to both sides of the upper connecting slider (3), side buffer connecting elastic members (302) are fixedly connected to both sides of the upper connecting slider (3), a lower guiding inclined frame (303) is fixedly arranged at the lower part of the upper connecting slider (3), the rear side of the upper connecting slider (3) is fixedly connected to a circulating chain (304), and a middle driving shaft (305) is tightly meshed on both sides of the circulating chain (304), and the middle driving shaft (305) is rotatably arranged on both sides of a rear fixing bracket (306).

6. The high-efficiency wet shotcrete spraying manipulator according to claim 5, characterized in that the upper connecting sliding column (301) and the upper connecting slide pipe (103) are slidably connected through penetration, the tail end of the side buffer connecting elastic member (302) is fixedly connected to the upper connecting slide pipe (103), and the rear fixing bracket (306) is fixed to the top of the rear connecting pipe frame (2).

7. An efficient wet shotcrete spraying manipulator according to claim 6, characterized in that both sides of the lower guiding inclined frame (303) are narrowed inclined surface structures. When the lower guiding inclined frame (303) fits and moves with the upper roller (203), the inclined surface of the lower guiding inclined frame (303) guides the upper roller (203) and the outer sealing ring (202) to move away from the first concrete wet spray head (101).

8. An efficient wet shotcrete spraying manipulator according to claim 1, characterized in that the bottom of the upper driving swing arm (4) is rotatably connected to the lower base (401) in the horizontal direction.

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