Concrete spraying robot with gravity balance

Abstract

The invention relates to the technical field of concrete spraying robots, in particular to a concrete spraying robot with gravity balance, which comprises a grabbing mechanism, a washing mechanism, a scraping mechanism, a locking mechanism, a camera mechanism, a balance mechanism and a range finder mechanism, the camera mechanism transmits real-time pictures of a spraying face to the tablet personal computer and the remote monitoring displayer, real-time monitoring is achieved, the functions of clear imaging on rainy days, backlight compensation and the like are achieved, the balance mechanism balances the gravity of a concrete material pipe through a spring balancer, the burden of a mechanical arm is relieved, and the movement precision and efficiency are improved. The range finder mechanism provides distance and angle information through three laser range finders and a double-shaft inclinometer, precise positioning is achieved, it is guaranteed that the spray gun is kept perpendicular to the sprayed face, the functions of real-time monitoring, burden relieving, precise positioning and the like are provided for the concrete spraying robot, and efficient, precise and safe operation of equipment is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete spraying robots, in particular to a concrete spraying robot with gravity balance. Background Art

[0002] A concrete spraying robot is an automated device that automatically sprays concrete through the coordinated operation of a robotic arm, spraying device, concrete supply system, travel mechanism, and control system. Its operating principle is as follows: a concrete mixer delivers concrete to a delivery pump, which then delivers the concrete through a delivery pipe to a nozzle. Driven by the robotic arm, the nozzle sprays the concrete onto the target surface. The control system regulates parameters such as spray pressure, flow rate, and direction, and controls the trajectory of the robotic arm and the movement of the travel mechanism. This robot can be used in tunneling, mining, construction, water conservancy, and other projects, offering advantages such as improved construction efficiency and quality, reduced labor intensity, strong adaptability, and reduced material waste. In the future, concrete spraying robots will develop towards intelligent, remote, and multifunctional capabilities, playing a more important role in construction projects.

[0003] In the existing field of concrete spraying robot technology, a manipulator is commonly used to clamp and fix the concrete nozzle to perform operations. However, this traditional design has certain limitations. During the concrete spraying process, due to splashing and rebound phenomena, concrete materials will inevitably gradually adhere to the surface of the manipulator. Over time, this adhered concrete will gradually accumulate, resulting in increased surface roughness of the manipulator, which in turn affects its clamping stability and reliability. If this adhered concrete is not cleaned promptly and effectively, the clamping force of the manipulator may gradually weaken, which may eventually cause the concrete nozzle to accidentally fall, resulting in construction interruption or even safety accidents. Summary of the Invention

[0004] One purpose of the present invention is to provide a concrete spraying robot with gravity balance. The present invention solves the problem raised in the above background that during the concrete spraying process, due to splashing and rebound phenomena, concrete materials will inevitably gradually adhere to the surface of the robot arm. Over time, these adhered concretes will gradually accumulate, resulting in increased surface roughness of the robot arm, which in turn affects its clamping stability and reliability. If these adhered concretes cannot be cleaned in a timely and effective manner, the clamping force of the robot arm may gradually weaken, which may eventually cause the concrete nozzle to fall accidentally, resulting in construction interruption or even safety accidents.

[0005] A concrete spraying robot with gravity balance according to an embodiment of the present invention includes:

[0006] A grabbing mechanism is movably mounted on the surface of the main frame and is used to clamp or release the concrete sprinkler head; the grabbing mechanism includes a main frame, a sliding frame and a grabbing block;

[0007] A flushing mechanism is installed on the lower surface of the main frame to achieve high-pressure flushing and cleaning of the grab block; the flushing mechanism includes a shielding plate and a high-pressure nozzle, the lower surface of the main frame is fixedly connected to a mounting plate, the high-pressure nozzle is provided on the lower surface of the mounting plate, and the shielding plate is fixedly connected to the lower surface of the sliding frame;

[0008] The scraping mechanism is installed on the surface of the sliding seat, and is used to scrape and clean the four side surfaces of the grab block; the scraping mechanism includes a driving unit and a cleaning unit, and the driving unit includes a meshing gear, a first gear, a second gear and a third gear. Grooves are provided on both sides of the upper surface of the main frame, and the interior of the groove is movably connected to a movable rack through an elastic telescopic rod. The meshing gear is rotatably connected to the upper surface of the sliding seat through a rotating shaft, and the meshing gear and the movable rack are meshed with each other. The first gear is fixedly connected to one side of the meshing gear, and the first gear and the second gear are meshed with each other. The third gear is rotatably connected to one side of the sliding seat through a connecting block and a rotating rod. The cleaning unit includes a sliding sleeve and a scraper, and the scraper is movably connected to the side surface of the sliding sleeve, and one side of the sliding sleeve is fixedly connected to a lifting rod;

[0009] The locking mechanism is installed on the upper surface of the sliding seat to lock the steering of the drive unit.

[0010] Preferably, a driving motor is fixedly connected to one side of the main frame, and a sliding groove is provided on a surface of one side of the main frame.

[0011] Preferably, the output end of the driving motor is transmission-connected with a screw, the screw is rotationally connected to the inside of the sliding groove, and the grabbing blocks are threadedly connected to both sides of the surface of the screw.

[0012] Preferably, a mounting block for fixing the robot grasping auxiliary device on the robot arm is fixedly connected to the upper surface of the main frame.

[0013] Preferably, a first gear column is fixedly connected to one side surface of the first gear, and a second gear column is fixedly connected to one side surface of the second gear.

[0014] Preferably, one end of the rotating rod is fixedly connected to a meshing wheel, and the meshing wheel is meshed with the first gear and the second gear respectively through the first gear column and the second gear column.

[0015] Preferably, a tooth groove is provided on one side surface of the lifting rod, and the lifting rod is meshed with the third gear through the tooth groove.

[0016] Preferably, one side surface of the scraper is rotatably connected to the surface of the sliding sleeve via a rotating structure, and a first spring is installed between the upper portion of the inner surface of the scraper and the outer surface of the sliding sleeve.

[0017] Preferably, the locking mechanism includes a ratchet and ratchet teeth, the ratchet is fixedly connected to one end of the rotating shaft, a fixed rod is fixedly connected to one side of the upper surface of the sliding seat, a second spring is installed between the upper part of one side of the fixed rod and the outer upper part of the ratchet teeth, and the lower part of the ratchet teeth is rotatably connected to the upper surface of the sliding seat.

[0018] Preferably, the grasping mechanism is fixedly mounted on a robotic arm mechanism through a mounting block, the robotic arm mechanism is fixedly mounted on the inner side of a hanging basket, and an X-direction module, a Y-direction laser ranging, a camera mechanism, a battery pack, a material pipe, a balancing mechanism and a rangefinder mechanism are respectively mounted on the inner side of the hanging basket, the camera mechanism includes a high-definition camera, and the high-definition camera is fixedly mounted on the inner side of the hanging basket through a camera bracket and a fixing seat, the balancing mechanism includes a balancer and a balancing bracket, and the balancer is mounted inside the hanging basket through the balancing bracket, the rangefinder mechanism includes a first rangefinder, a second rangefinder and a third rangefinder, and the first rangefinder, the second rangefinder and the third rangefinder are respectively fixedly mounted at different positions on the inner side of the hanging basket.

[0019] The beneficial effects of the present invention are:

[0020] The present invention provides a scraping mechanism, when the grab block clamps and grabs the concrete sprinkler head, the grab block slides from the outside to the inside, and the driving unit drives the meshing gear to rotate through the movable rack, so that the first gear and the second gear rotate synchronously, and the first gear column and the second gear column are engaged with the third gear, so that the third gear is driven to rotate in one direction and then in the opposite direction, and finally drives the cleaning unit to perform reciprocating cleaning, and drives the scraper to cling to the four side surfaces of the grab block and scrape downward to achieve cleaning through the sliding sleeve. Subsequently, when the third gear rotates in the opposite direction, the scraper slides upward to achieve automatic retraction to prevent the grab block from affecting the grabbing of the concrete sprinkler head, thereby achieving automatic cleaning of the grab block in the process of grabbing the concrete sprinkler head and effectively preventing the sputtered concrete from adhering to the surface of the grab block. This design reduces the number of shutdowns for cleaning and significantly improves the operating efficiency and work continuity of the equipment.

[0021] The present invention provides a flushing mechanism. When the grab block slides inward to clamp and grab the concrete sprinkler head, the sliding seat drives the shielding plate to slide toward the middle. The shielding plate blocks the high-pressure nozzle on the inside, exposing the high-pressure nozzle on the outside. The outer surface of the grab block and the outer scraper and other structures are subjected to high-pressure flushing through the high-pressure nozzle on the outside. When the grab block slides from the inside to the outside to release the concrete sprinkler head, the shielding plate slides toward the outside, so that the high-pressure nozzle on the inside is opened, and the high-pressure nozzle on the outside is blocked. The grab block and the inner scraper and other structures are subjected to high-pressure flushing through the high-pressure nozzle on the inside, achieving scraping and flushing cleaning at the same time. The flushing mechanism is linked with the sliding direction of the grab block to achieve automatic high-pressure flushing and cleaning of the inner and outer surfaces of the grab block and the scraper, thereby avoiding splashed concrete residue and improving the grabbing efficiency and cleanliness.

[0022] The present invention provides a grabbing mechanism. When in use, the driving motor drives the screw to rotate, so that the two grabbing blocks threadedly connected on both sides of the screw surface slide synchronously toward the middle or to both sides, and the left and right sides of the grabbing blocks are symmetrical. When the grabbing blocks slide synchronously toward the middle, the concrete sprinkler head is clamped and grabbed. When the grabbing blocks slide synchronously toward the outside, the concrete sprinkler head is released. The grabbing blocks on the left and right sides slide synchronously toward the middle or to both sides, realizing the left and right gravity balance of the robot. The synchronously sliding grabbing blocks realize stable clamping and release of the concrete sprinkler head and maintain the left and right gravity balance of the robot.

[0023] The present invention provides a locking mechanism. When the grab block is driven by the grab mechanism to slide toward the middle, the ratchet rotates with the meshing gear through the rotating shaft. The meshing gear rotates by engaging with the movable rack, thereby driving the cleaning unit from top to bottom and then upward to clean the surface of the grab block once. When the grab block slides from the middle to the outside, the ratchet teeth block the ratchet, so that the ratchet cannot rotate, thereby preventing the meshing gear from rotating. When the meshing gear contacts the movable rack, the movable rack is squeezed downward and retracted into the groove, preventing the cleaning unit from overtravel when the grab block slides outward, protecting the safety of the structure and ensuring the smooth progress of the cleaning action. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 This is a structural schematic diagram of a gravity-balanced concrete spraying robot proposed by the present invention, which is installed inside a hanging basket during operation;

[0026] Figure 2This is a top view of the internal structure of the hanging basket of a concrete spraying robot with gravity balance proposed by the present invention;

[0027] Figure 3 This is a front view of the internal structure of the hanging basket of a concrete spraying robot with gravity balance proposed by the present invention;

[0028] Figure 4 This is a side view of the internal structure of the hanging basket of a concrete spraying robot with gravity balance proposed by the present invention;

[0029] Figure 5 This is a structural schematic diagram of a gravity-balanced concrete spraying robot proposed by the present invention;

[0030] Figure 6 This is a schematic structural diagram of the lower surface of a gravity-balanced concrete spraying robot proposed in the present invention;

[0031] Figure 7 This is a perspective schematic diagram of the rear side of a concrete spraying robot with gravity balance proposed by the present invention;

[0032] Figure 8 The invention proposes a concrete spraying robot with gravity balance Figure 3 Enlarged view of point A in the middle;

[0033] Figure 9 The invention proposes a concrete spraying robot with gravity balance Figure 3 Enlarged view of point B in the middle;

[0034] Figure 10 This is a structural schematic diagram of the scraping mechanism of a concrete spraying robot with gravity balance proposed by the present invention;

[0035] Figure 11 This is a structural schematic diagram of a driving unit in a concrete spraying robot with gravity balance proposed by the present invention;

[0036] Figure 12 This is a schematic diagram of the internal structure of the main frame of a concrete spraying robot with gravity balance proposed by the present invention;

[0037] In the figure: 1. Mounting block; 2. Grabbing mechanism; 201. Main frame; 202. Drive motor; 203. Sliding groove; 204. Screw; 205. Sliding frame; 206. Grabbing block; 3. Flushing mechanism; 301. Mounting plate; 302. High-pressure nozzle; 303. Shielding plate; 4. Scraping mechanism; 401. Drive unit; 4011. Groove; 4012. Elastic telescopic rod; 4013. Movable rack; 4014. Rotating shaft; 4015. Meshing gear; 4016. First gear ; 4017, first gear column; 4018, second gear; 4019, second gear column; 40110, meshing wheel; 40111, rotating rod; 40112, connecting block; 40113, third gear; 402, cleaning unit; 4021, lifting rod; 4022, tooth groove; 4023, sliding sleeve; 4024, scraper; 4025, first spring; 4026, rotating structure; 5, locking mechanism; 501, ratchet; 502, ratchet; 503, second spring; 504, fixing rod;

[0038] 6. Battery pack; 7. Robotic arm mechanism; 8. Camera mechanism; 801. High-definition camera; 802. Camera bracket; 803. Fixed base; 9. X-direction module; 10. Y-direction laser ranging; 11. Hanging basket; 12. Material tube; 13. Balancing mechanism; 1301. Balancer; 1302. Balancing bracket; 14. Rangefinder mechanism; 1401. First rangefinder; 1402. Second rangefinder; 1403. Third rangefinder. DETAILED DESCRIPTION

[0039] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0040] refer to Figure 1-12 , a concrete spraying robot with gravity balance, including the following embodiments:

[0041] Example 1:

[0042] A concrete spraying robot with gravity balance includes a gripping mechanism 2, which is movably mounted on the surface of a main frame 201 and is used to clamp or release a concrete spraying head; the gripping mechanism 2 includes a main frame 201, a sliding frame 205 and a gripping block 206; a driving motor 202 is fixedly connected to one side of the main frame 201, a sliding groove 203 is provided on one side of the main frame 201, a screw 204 is connected to the output end of the driving motor 202, the screw 204 is rotatably connected to the inside of the sliding groove 203, and the gripping block 206 is threadedly connected to both sides of the surface of the screw 204. The upper surface of 01 is fixedly connected with a mounting block 1 for fixing the robot grasping auxiliary device on the robotic arm. Through the provided grasping mechanism 2, the screw 204 is driven to rotate by the driving motor 202 during use, so that the two grasping blocks 206 threadedly connected on both sides of the surface of the screw 204 slide synchronously toward the middle or to both sides, and the left and right sides of the grasping blocks 206 are symmetrical. When the grasping blocks 206 slide synchronously toward the middle, the outer side of the concrete sprinkler head is clamped and grasped. When the grasping blocks 206 slide synchronously toward the outer side, the concrete sprinkler head is clamped and fixed, and the two-way sliding of the grasping blocks 206 is realized.

[0043] Example 2:

[0044] The flushing mechanism 3 is installed on the lower surface of the main frame 201 to realize high-pressure flushing and cleaning of the grab block 206; the flushing mechanism 3 includes a shielding plate 303 and a high-pressure nozzle 302. The lower surface of the main frame 201 is fixedly connected to the mounting plate 301, and the high-pressure nozzle 302 is opened on the lower surface of the mounting plate 301. The shielding plate 303 is fixedly connected to the lower surface of the sliding frame 205. Through the provided flushing mechanism 3, when the grab block 206 slides inward to clamp and grab the concrete sprinkler, the sliding seat drives the shielding plate 303 to slide toward the middle, and the shielding plate 303 blocks the inner high-pressure nozzle 302, exposing the outer high-pressure nozzle 302. The outer surface of the grab block 206 and the outer scraper 4024 and other structures are subjected to high-pressure flushing treatment. When the grab block 206 slides from the inside to the outside to relax the concrete nozzle, the baffle 303 slides toward the outside, so that the inner high-pressure nozzle 302 is opened and the outer high-pressure nozzle 302 is blocked. The grab block 206 and the inner scraper 4024 and other structures are subjected to high-pressure flushing through the inner high-pressure nozzle 302, achieving scraping and flushing cleaning at the same time. Through the linkage of the flushing mechanism 3 and the sliding direction of the grab block 206, automatic high-pressure flushing and cleaning of the inner and outer surfaces of the grab block 206 and the scraper 4024 is achieved, thereby avoiding splashed concrete residue and improving the grabbing efficiency and cleanliness.

[0045] Example 3:

[0046] The scraping mechanism 4 is installed on the surface of the sliding seat and is used to scrape and clean the four side surfaces of the grab block 206; the scraping mechanism 4 includes a driving unit 401 and a cleaning unit 402, the driving unit 401 includes a meshing gear 4015, a first gear 4016, a second gear 4018 and a third gear 40113, and grooves 4011 are provided on both sides of the upper surface of the main frame 201. The interior of the groove 4011 is movably connected to a movable rack 4013 through an elastic telescopic rod 4012, and the meshing gear 4015 is rotatably connected to the sliding seat through a rotating shaft 4014. On the upper surface of the seat, the meshing gear 4015 and the movable rack 4013 are meshed with each other, the first gear 4016 is fixedly connected to one side of the meshing gear 4015, the first gear 4016 and the second gear 4018 are meshed with each other, the third gear 40113 is rotatably connected to one side of the sliding seat through the connecting block 40112 and the rotating rod 40111, and the cleaning unit 402 includes a sliding sleeve 4023 and a scraper 4024, the scraper 4024 is movably connected to the side surface of the sliding sleeve 4023, and a lifting rod 4021 is fixedly connected to one side of the sliding sleeve 4023;A first gear column 4017 is fixedly connected to one side surface of the first gear 4016, a second gear column 4019 is fixedly connected to one side surface of the second gear 4018, and a meshing wheel 40110 is fixedly connected to one end of the rotating rod 40111. The meshing wheel 40110 is meshed with the first gear column 4017 and the second gear column 4019 respectively. A tooth groove 4022 is provided on one side surface of the lifting rod 4021. Through the meshing between the tooth groove 4022 and the third gear 40113, one side surface of the scraper 4024 is rotatably connected to the surface of the sliding sleeve 4023 through the rotating structure 4026. A first spring 4025 is installed between the upper inner surface of the scraper 4024 and the outer surface of the sliding sleeve 4023. When the grab block 206 is used to clamp the concrete nozzle from the outside, the drive unit 401 is driven by the movable gear when the grab block 206 slides from the outside to the inside. The bar 4013 drives the meshing gear 4015 to rotate, thereby causing the first gear 4016 and the second gear 4018 to rotate synchronously. The first and second gear columns 4017 and 4019 mesh with the third gear 40113, driving the third gear 40113 to rotate in one direction and then in the opposite direction, ultimately driving the cleaning unit 402 to perform reciprocating cleaning. The sliding sleeve 4023 slides downward, driving the scraper 4024 to closely contact the four side surfaces of the grab block 206 and scrape downward to achieve cleaning. Subsequently, when the third gear 40113 rotates in the opposite direction, the scraper 4024 slides upward and automatically retracts, preventing it from affecting the grab block 206's grasping of the next concrete nozzle. This achieves automatic cleaning of the grab block 206 during the process of grasping the concrete nozzle, effectively preventing splashed concrete from adhering to the surface of the grab block 206. This design reduces the number of shutdowns for cleaning, significantly improving the equipment's operating efficiency and work continuity.

[0047] Example 4:

[0048] The locking mechanism 5 is installed on the upper surface of the sliding seat to lock the steering of the driving unit 401. The locking mechanism 5 includes a ratchet 501 and a ratchet 502. The ratchet 501 is fixedly connected to one end of the rotating shaft 4014. A fixed rod 504 is fixedly connected to one side of the upper surface of the sliding seat. A second spring 503 is installed between the upper part of one side of the fixed rod 504 and the outer upper part of the ratchet 502. The lower part of the ratchet 502 is rotatably connected to the upper surface of the sliding seat. Through the provided locking mechanism 5, when the grab block 206 is driven by the grab mechanism 2 to slide toward the middle, the ratchet 501 rotates with the meshing gear 4015 through the rotating shaft 4014. The meshing gear 4015 rotates by meshing with the movable rack 4013, thereby driving the cleaning unit 402 to clean the surface of the grab block 206 from top to bottom and then upward. When the grab block 206 slides from the middle to the outside, the ratchet 501 is blocked by the ratchet 502, so that the ratchet 501 cannot rotate, thereby preventing the meshing gear 4015 from rotating. When the meshing gear 4015 contacts the movable rack 4013, the movable rack 4013 is squeezed downward and retracted into the groove 4011, preventing the cleaning unit 402 from overtravel when the grab block 206 slides outward, protecting the structural safety and ensuring the smooth progress of the cleaning action.

[0049] Example 5:

[0050] The grabbing mechanism is fixedly mounted on the manipulator mechanism 7 through a mounting block, and the manipulator mechanism 7 is fixedly mounted on the inner side of the hanging basket 11. The inner side of the hanging basket 11 is respectively installed with an X-direction module 9, a Y-direction laser ranging 10, a camera mechanism 8, a battery pack 6, a material tube 12, a balancing mechanism 13 and a rangefinder mechanism 14. The camera mechanism 8 includes a high-definition camera 801, and the high-definition camera 801 is fixedly mounted on the inner side of the hanging basket 11 through a camera bracket 802 and a fixing seat 803. The balancing mechanism 13 includes a balancer 1301 and a balancing bracket 1302. The balancer 1 301 is installed inside the hanging basket 11 through a balancing bracket 1302. The rangefinder mechanism 14 includes a first rangefinder 1401, a second rangefinder 1402 and a third rangefinder 1403. The first rangefinder 1401, the second rangefinder 1402 and the third rangefinder 1403 are fixedly installed at different positions inside the hanging basket 11 respectively; the high-definition camera 801 of the camera mechanism 8 can transmit the real-time image of the spraying surface to the tablet computer and the remote monitoring display, so that the operator can observe the construction situation in real time to ensure the construction quality and efficiency. The camera has a built-in rain sensor and can monitor the situation according to the actual situation. The wipers are automatically started and stopped and the wiper speed is adjusted according to the rainfall, ensuring clear imaging in rainy days and adapting to various construction environments; the professional-grade blue glass lens and dedicated image algorithm effectively improve the backlight problem, solve the stray light interference, and provide clear and stable image quality; the spring balancer 1301 of the balancing mechanism 13 is used to balance the gravity of the concrete material pipe 12, reducing the burden on the robot arm and improving the movement accuracy and efficiency of the robot arm; by balancing the gravity of the material pipe 12, the robot arm is prevented from being subjected to excessive loads for a long time, thereby extending the service life of the robot arm; the tension can be adjusted by adjusting the nut, which is convenient for the operator to adjust , adapted to different construction needs; the rangefinder mechanism 14 uses three laser rangefinders located at the four corners of the hanging basket 11 to detect the distance between the hanging basket 11 and the construction work surface, and provide the robot arm with horizontal coordinate values and height position information; the dual-axis inclinometer installed at the bottom of the middle fence detects the angle between the fence and the horizontal plane in real time, and provides angle information for the robot arm, which is convenient for the robot arm to make posture adjustments, ensure that the spray gun remains perpendicular to the sprayed surface, and ensure construction quality; through distance feedback and posture adjustment, the robot arm can accurately control the position and posture of the spray gun to achieve efficient and accurate concrete spraying. In short, the coordinated work of the camera mechanism 8, the balancing mechanism 13 and the rangefinder mechanism 14 provides the concrete spraying robot with functions such as real-time monitoring, burden reduction, and precise positioning, ensuring the efficient, accurate and safe operation of the equipment and improving the quality and efficiency of concrete spraying construction.

[0051] When in use, the screw 204 is driven by the driving motor 202 to rotate, so that the two symmetrical grab blocks 206 threadedly connected to the two sides of the screw 204 surface slide synchronously toward the middle or to the sides. When the grab blocks 206 slide synchronously toward the middle, the outer side of the concrete nozzle is clamped and grabbed;When the grab block 206 slides synchronously to the outside, the concrete sprinkler head is relaxed, and the two-way sliding of the grab block 206 is achieved. During the sliding process of the grab block 206, the ratchet 501 rotates with the meshing gear 4015 through the rotating shaft 4014, and the meshing gear 4015 rotates by meshing with the movable rack 4013, thereby driving the cleaning unit 402 from top to bottom and then upward to achieve a cleaning of the surface of the grab block 206. When the grab block 206 slides from the middle to the outside, the ratchet 502 blocks the ratchet 501, so that the ratchet 501 cannot rotate, thereby making the meshing gear 4015 unable to rotate. When the meshing gear 4015 contacts the movable rack 4013 The movable rack 4013 is squeezed downward and retracted into the groove 4011 to prevent the cleaning unit 402 from sliding upward and overtravel, causing damage to the structure. At the same time, when the grab block 206 slides inward to clamp the concrete nozzle, the sliding seat drives the baffle 303 to slide toward the middle, and the baffle 303 blocks the inner high-pressure nozzle 302, exposing the outer high-pressure nozzle 302. The outer surface of the grab block 206 and the outer scraper 4024 and other structures are subjected to high-pressure flushing through the outer high-pressure nozzle 302. When the grab block 206 slides from the inside to the outside, the concrete nozzle is relaxed, and the baffle 303 slides toward the outside to open the inner high-pressure nozzle 302. The outer high-pressure nozzle 302 is blocked, and the inner high-pressure nozzle 302 is used to perform high-pressure flushing on the grab block 206 and the inner scraper 4024 and other structures, so as to achieve scraping and cleaning by flushing. When the grab block 206 is used to clamp and grab the concrete nozzle on the outside, the grab block 206 slides from the outside to the inside, and the driving unit 401 drives the meshing gear 4015 to rotate through the movable rack 4013, thereby causing the first gear 4016 and the second gear 4018 to rotate synchronously, and the third gear 40113 is driven to rotate in one direction and then in the opposite direction through the mutual meshing relationship between the first gear column 4017 and the second gear column 4019 and the third gear 40113. The third gear 40113 rotates in the opposite direction, and finally drives the cleaning unit 402 to perform reciprocating cleaning. The sliding sleeve 4023 slides downward to drive the scraper 4024 to closely contact the four side surfaces of the grab block 206 and scrape downward to achieve cleaning. Then, when the third gear 40113 rotates in the opposite direction, the scraper 4024 slides upward to achieve automatic retraction, so as to prevent the grab block 206 from affecting the grabbing of the next concrete nozzle. Through the coordinated work of the above mechanisms, the grab block 206 is automatically cleaned in the process of grabbing the concrete nozzle, and the splashed concrete is effectively prevented from adhering to the surface of the grab block 206. This design reduces the number of shutdowns for cleaning and significantly improves the operating efficiency and work continuity of the equipment.The concrete spraying robot achieves automated concrete spraying through the coordinated operation of a robotic arm, sensors, actuators, and a control system. Four laser rangefinders and a dual-axis inclinometer on the hanging basket 11 measure the distance between the hanging basket 11 and the construction surface and the angle between the fence and the horizontal plane, respectively. These sensors provide coordinate and angle information to the robotic arm, which uses this information to adjust the spray gun's position and posture in real time, ensuring it remains perpendicular to the surface being sprayed. A high-definition camera 801 on the hanging basket 11 transmits real-time images of the spraying surface to a tablet computer and a remote monitoring display, allowing the operator to observe the construction progress in real time. The robotic arm moves the spray gun up, down, left, and right within a plane parallel to the construction surface, adjusting the distance to the spraying surface to complete the concrete spraying operation. A spring balancer 1301 balances the weight of the concrete feed pipe 12, reducing the load on the robotic arm. A lithium iron phosphate battery provides continuous power for the equipment. An industrial computer processes and calculates data, controlling the robotic arm's motion trajectory and the spray gun's spray parameters. Operators operate the equipment through a tablet computer or remote control handle. The equipment supports one-button control and automatic mode, which facilitates operation and monitoring by operators, thereby achieving efficient, accurate and safe concrete spraying construction.

[0052] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A concrete spraying robot with gravity balance, characterized in that: include A gripping mechanism (2) is movably mounted on the surface of the main frame (201) and is used to clamp or release the concrete spray head; the gripping mechanism (2) comprises a main frame (201), a sliding frame (205) and a gripping block (206); A flushing mechanism (3) is installed on the lower surface of the main frame (201) to achieve high-pressure flushing and cleaning of the grab block (206); the flushing mechanism (3) includes a shielding plate (303) and a high-pressure nozzle (302); the lower surface of the main frame (201) is fixedly connected to the mounting plate (301), the high-pressure nozzle (302) is opened on the lower surface of the mounting plate (301), and the shielding plate (303) is fixedly connected to the lower surface of the sliding frame (205); A scraping mechanism (4) is installed on the surface of the sliding seat and is used to scrape and clean the four side surfaces of the grab block (206); the scraping mechanism (4) includes a driving unit (401) and a cleaning unit (402); the driving unit (401) includes a meshing gear (4015), a first gear (4016), a second gear (4018) and a third gear (40113); grooves (4011) are provided on both sides of the upper surface of the main frame (201); the interior of the groove (4011) is movably connected to a movable rack (4013) via an elastic telescopic rod (4012); the meshing gear (4015) is rotatably connected to the sliding seat via a rotating shaft (4014); On the upper surface of the seat, the meshing gear (4015) and the movable rack (4013) are meshed with each other, the first gear (4016) is fixedly connected to one side of the meshing gear (4015), the first gear (4016) and the second gear (4018) are meshed with each other, the third gear (40113) is rotatably connected to one side of the sliding seat through a connecting block (40112) and a rotating rod (40111), the cleaning unit (402) includes a sliding sleeve (4023) and a scraper (4024), the scraper (4024) is movably connected to the side surface of the sliding sleeve (4023), and one side of the sliding sleeve (4023) is fixedly connected to a lifting rod (4021); The locking mechanism (5) is mounted on the upper surface of the sliding seat to lock the steering direction of the driving unit (401).

2. A gravity-balanced concrete spraying robot according to claim 1, characterized in that: A driving motor (202) is fixedly connected to one side of the main frame (201), and a sliding groove (203) is provided on a surface of one side of the main frame (201).

3. The gravity-balanced concrete spraying robot according to claim 2, characterized in that: The output end of the driving motor (202) is connected to a screw rod (204) in a transmission manner. The screw rod (204) is rotatably connected to the inside of the sliding groove (203). The grab blocks (206) are threadedly connected to both sides of the surface of the screw rod (204).

4. The gravity-balanced concrete spraying robot according to claim 1, characterized in that: The upper surface of the main frame (201) is fixedly connected with a mounting block (1) for fixing the robot grasping auxiliary device on the robot arm.

5. The gravity-balanced concrete spraying robot according to claim 1, characterized in that: A first gear column (4017) is fixedly connected to one side surface of the first gear (4016), and a second gear column (4019) is fixedly connected to one side surface of the second gear (4018).

6. The gravity-balanced concrete spraying robot according to claim 1, characterized in that: One end of the rotating rod (40111) is fixedly connected to a meshing wheel (40110), and the meshing wheel (40110) is meshed with the first gear (4016) and the second gear (4018) respectively through the first gear column (4017) and the second gear column (4019).

7. The gravity-balanced concrete spraying robot according to claim 1, characterized in that: A tooth groove (4022) is provided on one side surface of the lifting rod (4021), and the lifting rod (4021) is meshed with the third gear (40113) through the tooth groove (4022).

8. The gravity-balanced concrete spraying robot according to claim 1, characterized in that: One side surface of the scraper (4024) is rotatably connected to the surface of the sliding sleeve (4023) via a rotating structure (4026), and a first spring (4025) is installed between the upper inner surface of the scraper (4024) and the outer surface of the sliding sleeve (4023).

9. The gravity-balanced concrete spraying robot according to claim 1, characterized in that: The locking mechanism (5) comprises a ratchet (501) and a ratchet tooth (502); the ratchet (501) is fixedly connected to one end of the rotating shaft (4014); a fixing rod (504) is fixedly connected to one side of the upper surface of the sliding seat; a second spring (503) is installed between an upper portion of one side of the fixing rod (504) and an outer upper portion of the ratchet tooth (502); and the lower portion of the ratchet tooth (502) is rotatably connected to the upper surface of the sliding seat.

10. The gravity-balanced concrete spraying robot according to claim 1, characterized in that: The grabbing mechanism (2) is fixedly mounted on a manipulator mechanism (7) via a mounting block (1); the manipulator mechanism (7) is fixedly mounted on the inner side of a hanging basket (11); an X-direction module (9), a Y-direction laser distance measurement (10), a camera mechanism (8), a battery pack (6), a material pipe (12), a balancing mechanism (13), and a rangefinder mechanism (14) are respectively mounted on the inner side of the hanging basket (11); the camera mechanism (8) includes a high-definition camera (801); the high-definition camera (801) is fixedly mounted on the inner side of the hanging basket (11) via a camera bracket (802) and a fixing seat (803). The invention relates to a suspension basket (11) and a balancing mechanism (13) comprising a balancer (1301) and a balancing bracket (1302); the balancer (1301) is mounted inside the suspension basket (11) via the balancing bracket (1302); the rangefinder mechanism (14) comprises a first rangefinder (1401), a second rangefinder (1402) and a third rangefinder (1403); the first rangefinder (1401), the second rangefinder (1402) and the third rangefinder (1403) are respectively and fixedly mounted at different positions inside the suspension basket (11).

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