A concrete spraying robot

Abstract

The application belongs to the technical field of spraying equipment, and discloses a concrete spraying robot, which comprises a mobile robot platform, a concrete spraying machine connected to the tail end of the mobile robot platform through traction, an execution module comprising a lifting mechanism arranged on the mobile robot platform, a mechanical arm movably arranged on the lifting mechanism, a tool rack fixedly installed on the mobile robot platform, a concrete spraying head placed on the tool rack and communicated with the concrete spraying machine and matched with the mechanical arm, a control cabinet installed on the mobile robot platform, a central control system arranged in the control cabinet and electrically connected with a sensor module arranged on the mobile robot platform. The application has the advantages of compact structure, high automation degree, convenient use, accurate control of the mobile robot platform and the mechanical arm, automatic navigation, accurate positioning and efficient spraying operation of the robot in complex indoor and outdoor environments, and improved automation level of the spraying operation.

Description

Technical Field

[0001] This invention relates to the field of spraying equipment technology, and more particularly to a concrete spraying robot. Background Technology

[0002] Shotcrete is a widely used construction technique for repairing tunnels, walls, and other large structures made of concrete. It mainly involves precisely proportioning and mixing concrete components such as aggregates, water, and binders into a mixture, which is then projected onto the desired surface through specialized nozzles to cover it.

[0003] In existing technologies, shotcrete technology is mainly operated manually. During operation, the operator needs to hold the concrete spray pipe, maintaining the appropriate distance and angle between the nozzle and the surface to achieve optimal quality and performance, and then spray the mixed concrete onto the wall. However, manual operation is prone to inaccurate control of the distance and angle between the nozzle and the structural surface, resulting in large errors. It relies heavily on the professional technical knowledge gained by the spraying operator through years of practice, which requires a high level of skill. At the same time, manual concrete spraying is physically demanding for the operator. Maintaining the same posture for a long time and handling heavy nozzle equipment can easily lead to shaking, reducing the quality of the spraying and causing physical strain and health problems for the operator. Furthermore, the presence of chemical materials and dust during shotcrete operations poses a risk to the health of workers. Rebound and material waste also lead to low work efficiency and increased costs.

[0004] Therefore, this application designs a concrete spraying robot to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a concrete spraying robot to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a concrete spraying robot, comprising: A mobile robot platform that moves on the ground via a walking component; a concrete spraying machine is towed to the rear end of the mobile robot platform. An execution module, the execution module including a lifting mechanism disposed on the mobile robot platform, wherein a robotic arm is movably disposed on the lifting mechanism; A tool rack is fixedly installed on the mobile robot platform. A concrete nozzle connected to the concrete spraying machine is placed on the tool rack. The concrete nozzle is adapted to and detachably connected to the robotic arm. A control cabinet is installed on the mobile robot platform. The control cabinet contains a central control system, which is electrically connected to the sensor modules installed on the mobile robot platform.

[0007] Preferably, the mobile robot platform has several retractable support legs symmetrically arranged on both sides, and the support legs are electrically connected to the central control system; when the mobile robot platform moves, the support legs retract and lift off the ground, and when spraying is performed, the support legs extend and lift the walking component off the ground.

[0008] Preferably, the walking component includes a drive module disposed within the mobile robot platform, the drive module being electrically connected to the central control system; a plurality of walking wheels are mounted on the bottom of the mobile robot platform, the walking wheels being drive-connected to the drive module.

[0009] Preferably, the robotic arm has a fast converter movably mounted at its end, and a parallel robotic arm is movably mounted at its end. The parallel robotic arm is correspondingly mounted to the concrete nozzle and can grasp the concrete nozzle.

[0010] Preferably, the sensor module includes a speed sensor, a vision module, and a LiDAR sensor electrically connected to the central control system, and the speed sensor, the vision module, and the LiDAR sensor are all fixedly mounted on the mobile robot platform.

[0011] Preferably, the central control system is electrically connected to a communication interface, and the central control system is electrically connected to the mobile robot platform, the support leg and the execution module through the communication interface.

[0012] Preferably, the communication interface is electrically connected to a robotic arm control module, which is electrically connected to both the lifting mechanism and the robotic arm.

[0013] Preferably, the lifting mechanism is provided with a quick-installation interface, and the bottom end of the robotic arm is quickly and detachably connected to the top end of the lifting mechanism through the quick-installation interface.

[0014] Preferably, the lifting mechanism includes a fixed base fixed to the mobile robot platform, a movable rod slidably connected inside the fixed base, the top end of the movable rod extending out of the fixed base and detachably connected to the bottom end of the robotic arm.

[0015] Preferably, the mobile robot platform is equipped with a safety bumper at its front end.

[0016] Compared with existing technologies, this invention has the following advantages and technical effects: This invention discloses a concrete spraying robot. The mobile robot platform moves on the ground through a walking component, providing mobility for the entire robot. Its tail end is connected to a concrete spraying machine, facilitating the machine's follow-up movement and ensuring concrete spraying can be performed at different work positions, thus guaranteeing the equipment's mobility. The execution module consists of a lifting mechanism and a robotic arm. The lifting mechanism is mounted on the mobile robot platform, providing vertical space for the robotic arm. The robotic arm is movably mounted on the lifting mechanism. The two work together to flexibly adjust the position and angle of the robotic arm to meet the concrete spraying needs at different heights and positions. The combination of the mobile robot platform, lifting mechanism, and robotic arm enables the robot to perform concrete spraying at different heights and positions, covering a wider work area compared to traditional manual handheld spraying. The system enhances operational adaptability and efficiency. A tool rack is fixedly mounted on the mobile robot platform to hold concrete nozzles or other maintenance tools connected to the concrete spraying machine. The nozzles are compatible with and detachably connected to the robotic arm, allowing selection of appropriate nozzles based on specific operational needs, thus meeting diverse concrete spraying tasks and enhancing equipment versatility. The control cabinet, mounted on the mobile robot platform, houses a central control system electrically connected to sensor modules on the platform. This system automatically receives commands, acquires environmental information, and controls the movement of various robot parts, enabling automatic navigation, positioning, and concrete spraying operations, thereby improving operational efficiency and automation. Simultaneously, the sensor modules provide data to the central control system, helping to promptly detect anomalies during operation and identify wall defects, ensuring safe and stable equipment operation and improving the quality of concrete spraying.

[0017] The invention features a compact structure, a high degree of automation, and ease of use. It enables precise control of the mobile robot platform and robotic arm, allowing the robot to achieve automatic navigation, precise positioning, and efficient spraying operations in complex indoor and outdoor environments, thereby improving the overall automation level of the spraying operation. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the concrete spraying robot of the present invention; Figure 2 This is a schematic diagram of the control principle of the concrete spraying robot of the present invention; In the diagram: 1. Robotic arm; 101. Fast converter; 102. Parallel manipulator; 2. Lifting mechanism; 3. Concrete spraying machine; 4. Mobile robot platform; 401. Safety bumper; 5. Support leg; 6. Tool rack; 7. Control cabinet; 701. Control panel; 702. LED signal tower; 8. Central control system; 9. Sensor module; 901. Speed ​​sensor; 902. Vision module; 903. LiDAR sensor; 10. Robotic arm control module; 11. Communication interface. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figures 1 to 2 As shown, this embodiment provides a concrete spraying robot, including: Mobile robot platform 4 moves on the ground via a walking component; a concrete spraying machine 3 is towed to the tail end of the mobile robot platform 4. The execution module includes a lifting mechanism 2 mounted on the mobile robot platform 4, and a robotic arm 1 is movably mounted on the lifting mechanism 2. Tool rack 6 is fixedly installed on mobile robot platform 4. Concrete nozzles connected to concrete spraying machine 3 are placed on tool rack 6. The concrete nozzles are adapted to and detachably connected to robotic arm 1. Control cabinet 7 is installed on mobile robot platform 4. Central control system 8 is installed inside control cabinet 7. Central control system 8 is electrically connected to sensor module 9 installed on mobile robot platform 4.

[0022] This invention discloses a concrete spraying robot. A mobile robot platform 4 moves on the ground via a walking component, providing mobility for the entire robot. Its tail end is connected to a concrete spraying machine 3, facilitating the machine's follow-up movement and ensuring concrete spraying can be performed at different work positions, thus guaranteeing the equipment's mobility. The execution module consists of a lifting mechanism 2 and a robotic arm 1. The lifting mechanism 2 is mounted on the mobile robot platform 4, providing vertical space for the robotic arm 1. The robotic arm 1 is movably mounted on the lifting mechanism 2. Together, they allow for flexible adjustment of the robotic arm 1's position and angle to meet the concrete spraying needs at different heights and positions. The combination of the mobile robot platform 4, lifting mechanism 2, and robotic arm 1 enables the robot to perform concrete spraying at different heights and positions. Compared to traditional manual handheld spraying, this allows for coverage of a wider work area, improving operational adaptability and... Efficiency: The tool rack 6 is fixedly installed on the mobile robot platform 4 to hold concrete nozzles and other maintenance tools connected to the concrete spraying machine 3. The nozzles are compatible with and detachably connected to the robotic arm 1, allowing for selection of appropriate nozzles according to specific operational needs, satisfying diverse concrete spraying tasks and enhancing equipment versatility. The control cabinet 7 is installed on the mobile robot platform 4 and houses a central control system 8. The central control system 8 is electrically connected to the sensor module 9 on the mobile robot platform 4, enabling it to automatically receive instructions, acquire environmental information, and control the movement of various parts of the robot, achieving automatic navigation, positioning, and concrete spraying operations, thus improving operational efficiency and automation. Simultaneously, the sensor module 9 provides data to the central control system 8, helping to promptly detect abnormalities during operation and wall defects, ensuring safe and stable equipment operation and improving the quality of concrete spraying. This invention features a compact structure, high degree of automation, and ease of use. It enables precise control of the mobile robot platform 4 and the robotic arm 1, allowing the robot to achieve automatic navigation, precise positioning, and efficient spraying operations in complex indoor and outdoor environments, improving the overall automation level of the spraying operation.

[0023] In one embodiment of the present invention, a control panel 701 is installed on the top of the control cabinet 7. The control panel 701 is electrically connected to the central control system 8 and is used to display the parameters of the equipment operation, and can also manually input control commands.

[0024] In one embodiment of the present invention, an LED signal tower 702 is fixed on the top of the control cabinet 7 to provide feedback on the operating status of the equipment and support remote communication between the equipment and the control room, thereby enabling remote unmanned control.

[0025] Further optimizing the design, the mobile robot platform 4 is symmetrically equipped with several retractable support legs 5 on both sides. These support legs 5 are electrically connected to the central control system 8. When the mobile robot platform 4 moves, the support legs 5 retract and lift off the ground. During spraying operations, the support legs 5 extend and lift the walking components off the ground. The symmetrical arrangement of these support legs 5 on both sides of the mobile robot platform 4 allows the central control system 8 to control the retraction of the support legs 5 during movement, facilitating the movement and positioning of the equipment. The mobile robot platform 4 moves on the ground under the drive of the walking components, making it easier to move the device to the predetermined position and improving the flexibility of the mobile robot platform 4. During spraying, the central control system 8 controls the extension of the support legs 5 to lift the walking components off the ground, enhancing the stability of the equipment during spraying operations and preventing the mobile robot platform 4 from shaking and affecting the spraying quality.

[0026] The design is further optimized so that the walking component includes a drive module installed within the mobile robot platform 4, which is electrically connected to the central control system 8. Several wheels are mounted on the bottom of the mobile robot platform 4, and these wheels are connected to the drive module via a transmission connection. The drive module is installed within the mobile robot platform 4 and electrically connected to the central control system 8. The wheels are connected to the drive module via a transmission connection. The central control system 8 sends commands to the drive module, which drives the wheels to rotate, thus enabling the mobile robot platform 4 to move.

[0027] In one embodiment of the present invention, the drive module is powered by electricity, gasoline or diesel, and those skilled in the art can choose according to their needs; the present invention does not impose any restrictions.

[0028] The design is further optimized by incorporating a quick-change converter 101 at the end of the robotic arm 1. A parallel robotic arm 102 is then attached to the end of the quick-change converter 101, corresponding to the concrete nozzle. The parallel robotic arm 102 can grasp the concrete nozzle. The quick-change converter 101 and the parallel robotic arm 102 at the end of the robotic arm 1, with the parallel robotic arm 102 corresponding to the concrete nozzle, allow the robotic arm 1 to adjust its posture via the quick-change converter 101. The parallel robotic arm 102 grasps or lowers the concrete nozzle, facilitating nozzle replacement to adapt to different operational needs, improving the ease of connection between the robotic arm 1 and the nozzle, and enhancing the equipment's versatility.

[0029] In one embodiment of the present invention, the parallel robot 102 can also grasp different tools on the tool rack 6, and perform operations by clamping different tools according to different task requirements.

[0030] In one embodiment of the invention, the parallel manipulator 102 adopts a compact and lightweight design to maximize the effective load of the manipulator 1.

[0031] Further optimizing the design, sensor module 9 includes a speed sensor 901, a vision module 902, and a LiDAR sensor 903, all electrically connected to the central control system 8. These components are all fixedly mounted on the mobile robot platform 4. Sensor module 9 includes speed sensor 901, vision module 902, and LiDAR sensor 903; speed sensor 901 detects the robot's current speed, vision module 902 provides detailed and accurate environmental perception, and LiDAR sensor 903, as a distance sensor, uses laser technology to accurately map the environment and detect obstacles, enabling precise navigation and obstacle avoidance. The sensors transmit data to the central control system 8, allowing the central control system 8 to acquire robot status and environmental information, achieving automatic navigation, positioning, and obstacle avoidance, ensuring safe operation of the equipment.

[0032] In one embodiment of the present invention, in order to increase the accuracy and stability of the device operation, multiple sets of sensor modules 9 can be set in multiple directions, and the collected information can be mutually verified to avoid inaccurate positioning caused by environmental interference.

[0033] Further optimizing the design, the central control system 8 is electrically connected to a communication interface 11. The central control system 8 is electrically connected to the mobile robot platform 4, the support leg 5, and the execution module via the communication interface 11. The central control system 8 transmits data with each component through the communication interface 11, enabling control over them and ensuring information exchange between the central control system 8 and the components, thus ensuring the coordinated operation of the entire equipment.

[0034] In a further optimized design, the communication interface 11 is electrically connected to the robotic arm control module 10, which is electrically connected to both the lifting mechanism 2 and the robotic arm 1. The central control system 8 sends commands to the robotic arm control module 10 via the communication interface 11. The robotic arm control module 10 then controls the movement of the lifting mechanism 2 and the robotic arm 1, achieving precise control of the robotic arm 1 and the lifting mechanism 2 to meet different spraying operation requirements.

[0035] The design has been further optimized by incorporating a quick-installation interface on the lifting mechanism 2. The bottom end of the robotic arm 1 is detachably connected to the top end of the lifting mechanism 2 via this interface. This quick-installation interface allows for rapid installation or removal of the robotic arm 1, facilitating its assembly and disassembly and improving the efficiency of equipment maintenance and component replacement.

[0036] Further optimizing the design, the lifting mechanism 2 includes a fixed base fixed to the mobile robot platform 4, with a movable rod slidably connected inside the fixed base. The top end of the movable rod extends out of the fixed base and is detachably connected to the bottom end of the robotic arm 1. The lifting mechanism 2 consists of a fixed base fixed to the mobile robot platform 4 and a movable rod slidably connected inside the fixed base. The top end of the movable rod extends out of the fixed base and is detachably connected to the bottom end of the robotic arm 1. The central control system 8 controls the motor to drive the movable rod to slide within the fixed base, expanding the vertical working space of the robotic arm 1, facilitating the vertical movement of the robotic arm 1, ensuring that the robotic arm 1 is always in the optimal working position, and that the entire extension and retraction process is stable and vibration-free.

[0037] To further optimize the design, a safety bumper 401 is installed at the front end of the mobile robot platform 4. With the safety bumper 401 at the front end, when the robot encounters an obstacle during movement, the safety bumper 401 makes contact with the obstacle first, acting as a buffer to protect the robot and the working environment, preventing collisions that could damage equipment or injure personnel.

[0038] In one embodiment of the present invention, a pressure sensor is integrated inside the safety bumper 401, which triggers an emergency braking signal when a collision is detected, and the bumper is made of an elastic material to absorb impact energy.

[0039] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A concrete spraying robot, characterized in that, include: A mobile robot platform (4) moves on the ground via a walking component; a concrete spraying machine (3) is towed to the tail end of the mobile robot platform (4). The execution module includes a lifting mechanism (2) mounted on the mobile robot platform (4), and a robotic arm (1) is movably mounted on the lifting mechanism (2). Tool rack (6), the tool rack (6) is fixedly installed on the mobile robot platform (4), the tool rack (6) is equipped with a concrete nozzle that communicates with the concrete spraying machine (3), the concrete nozzle is adapted to the robotic arm (1) and can be detachably connected. A control cabinet (7) is installed on the mobile robot platform (4). A central control system (8) is installed inside the control cabinet (7). The central control system (8) is electrically connected to the sensor module (9) installed on the mobile robot platform (4).

2. The concrete spraying robot according to claim 1, characterized in that: The mobile robot platform (4) is symmetrically provided with several retractable support legs (5) on both sides. The support legs (5) are electrically connected to the central control system (8). When the mobile robot platform (4) moves, the support legs (5) retract and leave the ground. When spraying is performed, the support legs (5) unfold and lift the walking component off the ground.

3. The concrete spraying robot according to claim 2, characterized in that: The walking component includes a drive module disposed within the mobile robot platform (4), the drive module being electrically connected to the central control system (8); a plurality of walking wheels are mounted on the bottom end of the mobile robot platform (4), the walking wheels being connected to the drive module in a transmission manner.

4. The concrete spraying robot according to claim 1, characterized in that: The robotic arm (1) is equipped with a fast converter (101) at its end, and a parallel robotic arm (102) is equipped at its end. The parallel robotic arm (102) is configured to correspond to the concrete nozzle and can grab the concrete nozzle.

5. The concrete spraying robot according to claim 1, characterized in that: The sensor module (9) includes a speed sensor (901), a vision module (902) and a LiDAR sensor (903) electrically connected to the central control system (8). The speed sensor (901), the vision module (902) and the LiDAR sensor (903) are all fixedly installed on the mobile robot platform (4).

6. The concrete spraying robot according to claim 2, characterized in that: The central control system (8) is electrically connected to a communication interface (11), and the central control system (8) is electrically connected to the mobile robot platform (4), the support leg (5) and the execution module through the communication interface (11).

7. The concrete spraying robot according to claim 6, characterized in that: The communication interface (11) is electrically connected to the robotic arm control module (10), which is electrically connected to the lifting mechanism (2) and the robotic arm (1) respectively.

8. The concrete spraying robot according to claim 2, characterized in that: The lifting mechanism (2) is provided with a quick-installation interface, and the bottom end of the robotic arm (1) is quickly and detachably connected to the top end of the lifting mechanism (2) through the quick-installation interface.

9. The concrete spraying robot according to claim 2, characterized in that: The lifting mechanism (2) includes a fixed seat fixed on the mobile robot platform (4), a movable rod slidably connected inside the fixed seat, the top of the movable rod extending out of the fixed seat and detachably connected to the bottom of the robotic arm (1).

10. The concrete spraying robot according to claim 1, characterized in that: The mobile robot platform (4) is equipped with a safety bumper (401) at its front end.

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