Guniting manipulator capable of being remotely controlled

Abstract

The utility model relates to the technical field of guniting machinery, in particular to a guniting manipulator capable of being remotely controlled, which comprises a chassis, a distribution box and a knocking component, the distribution box is mounted on the upper surface of the chassis, a storage bin is mounted on the upper surface of the chassis, a mechanical arm is mounted on the upper surface of the chassis, and a nozzle is mounted at the movable end of the mechanical arm. A guide pipe is installed at the output end of the storage bin and connected with the input end of the spray head, the knocking assembly is arranged on the upper surface of the spray head and comprises a limiting plate, the limiting plate is fixedly connected with the upper surface of the spray head, and a rotating hole is formed in the surface of the limiting plate. According to the device, the knocking assembly and the auxiliary assembly are arranged, so that auxiliary concrete in the spray gun can be quickly cleaned after the device finishes work, the problem that the concrete remains in the spray gun and easily interferes with normal work of the spray gun is solved, and the treatment effect of the device on the residual concrete is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying machinery, in particular to a spraying manipulator capable of remote control. Background Art

[0002] Shotcrete is sprayed concrete, also known as concrete and aerated block interface treatment. It is a term in construction engineering and is a construction project carried out to prevent hollowing of walls. The shotcrete robot is a mechanical device that uses a mechanical arm as a supporting structure to assist the shotcrete equipment. It is mostly used in construction fields such as tunnels and underground projects. It has the characteristics of high construction efficiency, good construction quality, low labor intensity and strong adaptability.

[0003] Prior art, such as the utility model with publication number CN215927410U, discloses a concrete auxiliary spraying manipulator for underground mine tunnels. The patent adopts a frame, a signal control mechanism, a support arm, a water adding mechanism and a power system. A walking mechanism is arranged at the bottom of the frame; the signal control mechanism includes a wireless receiver and a wireless transmitter, the wireless receiver is arranged on the frame, and the wireless transmitter is operated manually by hand; the support arm is arranged on the frame, and a nozzle mechanism is arranged at the action end of the support arm, and the support arm and the nozzle mechanism are used to control the position of concrete spraying; the water adding ... and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless transmitter is operated manually by hand; the support arm is arranged on the frame, and the support arm and the nozzle mechanism are used to control the position of concrete spraying; the water adding mechanism includes a wireless receiver and a wireless transmitter, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the action end of the support arm, and the support arm and the nozzle mechanism are used to control the position of concrete spraying; the water adding mechanism includes a wireless receiver and a wireless transmitter, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the action end of the support arm, and the support arm and the nozzle mechanism are used to control the position of concrete spraying; the water adding mechanism includes a wireless receiver and a wireless transmitter, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on the frame, and the wireless receiver is arranged on The invention comprises an electric ball valve and a water pipe, the electric ball valve is connected to a wireless receiver, and the opening degree of the electric ball valve is controlled by the wireless transmitter; the power system is connected to the wireless receiver, and the actions of various components in the power system are controlled by the wireless transmitter; the structural design of the application is reasonable, which can greatly improve the practicality of the product, can be remotely controlled, has crawler-type self-propelled ability, and can accurately control the amount of water supplied, so as to solve the problem that the current method of adding water to tunnel shotcrete is to add water by installing a manual valve at the nozzle position to connect the water pipe, and this method of manually controlling the valve cannot ensure the accurate control of the amount of water.

[0004] The inventors have discovered in their daily work that in the process of using a spraying robot to perform engineering operations, there are existing spraying robots such as the above-mentioned ones, which spray concrete onto a wall structure through a spray gun. After the spraying is completed, some concrete will remain on the inner wall of the spray gun. Since the concrete will solidify after a certain period of time, if the remaining concrete is not handled in time, it will solidify in the spray gun, thereby interfering with the spray gun nozzle, causing the spraying effect of the spray gun to deteriorate, and seriously causing the spray gun to be blocked. Utility Model Content

[0005] The utility model aims to solve the problem in the prior art that concrete will solidify after a certain period of time. When the residual concrete is not handled in time, it will solidify in the spray gun, thereby interfering with the spray gun nozzle, causing the spraying effect of the spray gun to deteriorate, and seriously causing the spray gun to be blocked. A remotely controlled spraying manipulator is proposed.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a remote-controlled spraying robot comprises a chassis, a distribution box and a knocking assembly, the distribution box is installed on the upper surface of the chassis, a storage bin is installed on the upper surface of the chassis, a mechanical arm is installed on the upper surface of the chassis, a nozzle is installed on the movable end of the mechanical arm, a conduit is installed on the output end of the storage bin, the conduit is connected to the input end of the nozzle, the knocking assembly is arranged on the upper surface of the nozzle, the knocking assembly comprises a limit plate, the limit plate is fixedly connected to the upper surface of the nozzle, a rotating hole is opened on the surface of the limit plate, the limit plate is located at the inner wall of the rotating hole and is rotatably connected with a connecting shaft, the arc surface of the connecting shaft is bolted with a support arm, the inner wall of the support arm is fixedly connected with a knocking hammer, the arc surface of the connecting shaft is bolted with a connecting frame, the lower surface of the connecting frame is fixedly connected with a reset spring, and the reset spring is fixedly connected to the upper surface of the nozzle.

[0007] Preferably, there are two limit plates, which are symmetrically arranged about the connecting shaft. The limit plates are in contact with the surface of the chassis arm, and the knocking hammer is located directly above the nozzle. By installing two limit plates on the nozzle, the supporting effect of the connecting shaft can be increased, thereby improving the stability of the connecting shaft in the installed state.

[0008] Preferably, there are two connecting frames, which are symmetrically arranged about the connecting shaft. The number of the reset springs matches the connecting frames. The position of the connecting frames can be constrained by the reset springs, and the connecting frames can be pushed to reset when the connecting frames lose pressure.

[0009] Preferably, an auxiliary component is provided on the upper surface of the nozzle, and the auxiliary component includes a mounting frame, the mounting frame is fixedly connected to the upper surface of the nozzle, a servo motor is bolted to the side surface of the mounting frame, a mounting sleeve is bolted to the driving end of the servo motor, a pressing cam is fixedly connected to the outer circumference of the mounting sleeve, the pressing cam abuts against the arc surface of the connecting frame, and the position of the servo motor can be supported and restricted by the mounting frame, thereby ensuring that the servo motor is in a suitable installation position.

[0010] Preferably, the inner circumference of the assembly sleeve is fixedly connected to a limit pin, the driving end of the servo motor is provided with a groove, the limit pin is plugged into the inner wall of the groove, and the pressing cam can be fixed to the driving end of the servo motor through the assembly sleeve, thereby realizing the linkage effect of the servo motor and the pressing cam.

[0011] Preferably, the number of the limit pins is three, and the three limit pins are arranged in a circular array about the assembly sleeve. The number of the grooves matches the limit pins. The limit pins can increase the structural strength between the assembly sleeve and the servo motor drive end, and improve the stability of the connection between the two.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] In the utility model, by arranging a knocking component and an auxiliary component, when the equipment is working, the operator can remotely control the equipment to work through an operating handle connected to the equipment. When the equipment is working, the spray gun is energized to cooperate with the conduit to extract the concrete in the storage bin and spray it evenly onto the wall. When the spraying operation of one area is completed, the staff operates the chassis to work, and the chassis drives the crawler to move the equipment forward or backward; when the equipment completes the operation and the nozzle of the spray head is aimed at the ground, the switch of the servo motor is turned on, and the servo motor is energized to cooperate with the assembly sleeve to drive the pressing cam to rotate counterclockwise. When the pressing cam rotates, it gradually approaches the connecting frame. When the pressing cam reaches the surface of the connecting frame, the pressing cam squeezes the connecting frame, and the connecting frame squeezes the reset spring. The reset spring is squeezed and deformed, and the connecting frame is driven by the pressing cam. The dynamic connecting shaft rotates, and the connecting shaft cooperates with the supporting arm to lift the knocking hammer. When the pressing cam rotates and disengages from the connecting frame, the connecting frame loses the pressure applied to the reset spring, and the reset spring loses the pressure and rebounds, and pushes the connecting frame to reset. The connecting frame pushes the connecting shaft under the action of the reset spring, and the connecting shaft cooperates with the supporting arm to push the knocking hammer. The knocking hammer is pushed to knock the sprinkler head. The servo motor drives the pressing cam to rotate cyclically, so that the knocking assembly works reciprocatingly, thereby vibrating the sprinkler head and shaking off the attached concrete in the sprinkler head. By setting the knocking assembly and the auxiliary assembly, the equipment can quickly clean the auxiliary concrete inside the spray gun after completing the work, thereby reducing the problem of concrete remaining in the spray gun, which is easy to interfere with the normal operation of the spray gun, and further improves the equipment's treatment effect on residual concrete. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A three-dimensional structural schematic diagram of a remotely controlled spraying manipulator is provided for the utility model;

[0015] Figure 2 A rear view structural schematic diagram of a remotely controlled spraying manipulator is provided for the utility model;

[0016] Figure 3 The utility model proposes a remote control spraying manipulator Figure 2 Schematic diagram of the structure at A in the middle;

[0017] Figure 4 A partial structural schematic diagram of a remotely controlled spraying manipulator is provided for the utility model;

[0018] Figure 5 The utility model proposes a remote control spraying manipulator Figure 4 Schematic diagram of the structure at point B in the middle.

[0019] Legend:

[0020] 1. Chassis; 2. Distribution box; 3. Storage bin; 4. Robotic arm; 5. Nozzle; 6. Conduit; 7. Knocking assembly; 71. Limiting plate; 72. Connecting shaft; 73. Support arm; 74. Knocking hammer; 75. Connecting frame; 76. Reset spring; 8. Auxiliary assembly; 81. Mounting frame; 82. Servo motor; 83. Assembly sleeve; 84. Pressing cam; 85. Limiting pin; 86. Groove. DETAILED DESCRIPTION

[0021] See also Figure 1-5 The utility model provides a technical solution: a remotely controlled spraying robot, comprising a chassis 1, a distribution box 2 and a knocking assembly 7, the distribution box 2 is installed on the upper surface of the chassis 1, a storage bin 3 is installed on the upper surface of the chassis 1, a mechanical arm 4 is installed on the upper surface of the chassis 1, a nozzle 5 is installed on the movable end of the mechanical arm 4, a conduit 6 is installed at the output end of the storage bin 3, the conduit 6 is connected to the input end of the nozzle 5, the knocking assembly 7 is arranged on the upper surface of the nozzle 5, and an auxiliary assembly 8 is arranged on the upper surface of the nozzle 5.

[0022] The specific settings and functions of the striking component 7 and the auxiliary component 8 are described in detail below.

[0023] In this embodiment: the knocking component 7 includes a limit plate 71, the limit plate 71 is fixedly connected to the upper surface of the nozzle 5, a rotating hole is opened on the surface of the limit plate 71, the limit plate 71 is located on the inner wall of the rotating hole and is rotatably connected to a connecting shaft 72, the arc surface of the connecting shaft 72 is bolted with a support arm 73, the inner wall of the support arm 73 is fixedly connected with a knocking hammer 74, the arc surface of the connecting shaft 72 is bolted with a connecting frame 75, the lower surface of the connecting frame 75 is fixedly connected with a reset spring 76, and the reset spring 76 is fixedly connected to the upper surface of the nozzle 5.

[0024] Specifically, there are two limit plates 71 , which are symmetrically arranged about the connecting shaft 72 . The limit plates 71 abut against the surface of the chassis arm, and the knocking hammer 74 is located directly above the nozzle 5 .

[0025] In this embodiment, by installing two limit plates 71 on the nozzle 5, the supporting effect of the connecting shaft 72 can be increased, thereby improving the stability of the connecting shaft 72 in the installed state.

[0026] Specifically, there are two connecting frames 75, and the two connecting frames 75 are symmetrically arranged about the connecting shaft 72. The number of reset springs 76 matches the connecting frames 75. The position of the connecting frames 75 can be constrained by the reset springs 76, and the connecting frames 75 can be pushed to reset when the connecting frames 75 lose pressure.

[0027] In this embodiment: the auxiliary component 8 includes a mounting frame 81, the mounting frame 81 is fixedly connected to the upper surface of the nozzle 5, the side surface of the mounting frame 81 is bolted with a servo motor 82, the driving end of the servo motor 82 is bolted with a mounting sleeve 83, the outer circumference of the mounting sleeve 83 is fixedly connected with a pressing cam 84, and the pressing cam 84 abuts against the arc surface of the connecting frame 75.

[0028] In this embodiment: the position of the servo motor 82 can be supported and limited by the mounting bracket 81, thereby ensuring that the servo motor 82 is in a suitable mounting position.

[0029] Specifically, the inner circumference of the assembly sleeve 83 is fixedly connected to the limit pin 85, and the driving end of the servo motor 82 is provided with a groove 86. The limit pin 85 is plugged into the inner wall of the groove 86. The pressing cam 84 can be fixed to the driving end of the servo motor 82 through the assembly sleeve 83, thereby realizing the linkage effect of the servo motor 82 and the pressing cam 84.

[0030] Specifically, the number of the limiting pins 85 is three, and the three limiting pins 85 are arranged in a circular array about the mounting sleeve 83 , and the number of the grooves 86 matches the number of the limiting pins 85 .

[0031] In this embodiment, the limiting latch 85 can increase the structural strength between the assembly sleeve 83 and the driving end of the servo motor 82, and improve the stability of the connection portion between the two.

[0032] Working principle: When the equipment completes the operation and the nozzle of the nozzle 5 is aimed at the ground, the switch of the servo motor 82 is turned on, and the servo motor 82 is energized to cooperate with the assembly sleeve 83 to drive the pressing cam 84 to rotate counterclockwise. When the pressing cam 84 rotates, it gradually approaches the connecting frame 75. When the pressing cam 84 reaches the surface of the connecting frame 75, the pressing cam 84 squeezes the connecting frame 75, and the connecting frame 75 squeezes the return spring 76. The return spring 76 is squeezed and deformed. At the same time, the connecting frame 75 drives the connecting shaft 72 to rotate under the action of the pressing cam 84, and the connecting shaft 72 cooperates with the support arm 7 The knocking hammer 74 is lifted up. When the pressing cam 84 rotates and separates from the connecting frame 75, the connecting frame 75 loses the pressure applied to the return spring 76. The return spring 76 loses the pressure and rebounds, and pushes the connecting frame 75 to return to its original position. The connecting frame 75 pushes the connecting shaft 72 under the action of the return spring 76. The connecting shaft 72 cooperates with the supporting arm 73 to push the knocking hammer 74. The knocking hammer 74 is pushed to knock the sprinkler head 5. The servo motor 82 drives the pressing cam 84 to rotate cyclically, so that the knocking assembly 7 works reciprocatingly, thereby vibrating the sprinkler head 5 and shaking off the attached concrete in the sprinkler head 5.

Claims

1. A remotely controlled spraying robot, comprising a chassis (1), a distribution box (2) and a striking assembly (7), characterized in that: The distribution box (2) is mounted on the upper surface of the chassis (1); a storage bin (3) is mounted on the upper surface of the chassis (1); a mechanical arm (4) is mounted on the upper surface of the chassis (1); a nozzle (5) is mounted on the movable end of the mechanical arm (4); a conduit (6) is mounted on the output end of the storage bin (3); the conduit (6) is connected to the input end of the nozzle (5); the knocking assembly (7) is arranged on the upper surface of the nozzle (5); the knocking assembly (7) comprises a limit plate (71); the limit plate (71) and the nozzle (5) are connected to each other. The upper surface of the nozzle (5) is fixedly connected, a rotating hole is opened on the surface of the limit plate (71), the limit plate (71) is rotatably connected to the inner wall of the rotating hole with a connecting shaft (72), the arc surface of the connecting shaft (72) is bolted with a support arm (73), the inner wall of the support arm (73) is fixedly connected with a hammer (74), the arc surface of the connecting shaft (72) is bolted with a connecting frame (75), the lower surface of the connecting frame (75) is fixedly connected with a reset spring (76), and the reset spring (76) is fixedly connected to the upper surface of the nozzle (5).

2. A remotely controlled spraying robot according to claim 1, characterized in that: There are two limit plates (71), which are arranged symmetrically about the connecting shaft (72). The limit plates (71) are in contact with the surface of the chassis arm, and the knocking hammer (74) is located directly above the spray head (5).

3. A remotely controlled spraying robot according to claim 1, characterized in that: The number of the connecting frames (75) is two, and the two connecting frames (75) are arranged in a left-right symmetrical manner with respect to the connecting shaft (72), and the number of the reset springs (76) matches that of the connecting frames (75).

4. A remotely controlled spraying robot according to claim 1, characterized in that: An auxiliary component (8) is provided on the upper surface of the spray head (5), and the auxiliary component (8) comprises a mounting frame (81), the mounting frame (81) is fixedly connected to the upper surface of the spray head (5), a servo motor (82) is bolted to the side surface of the mounting frame (81), a driving end of the servo motor (82) is bolted to an assembly sleeve (83), the outer circumference of the assembly sleeve (83) is fixedly connected to a pressing cam (84), and the pressing cam (84) abuts against the arc surface of the connecting frame (75).

5. A remotely controlled spraying robot according to claim 4, characterized in that: The inner circumference of the assembly sleeve (83) is fixedly connected to a limit pin (85), a driving end of the servo motor (82) is provided with a groove (86), and the limit pin (85) is plugged into the inner wall of the groove (86).

6. A remotely controlled spraying robot according to claim 5, characterized in that: The number of the limiting latches (85) is three, and the three limiting latches (85) are arranged in a circular array about the assembly sleeve (83), and the number of the grooves (86) matches the number of the limiting latches (85).

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