Mechanical arm type wet spraying vehicle

Abstract

The mechanical arm type wet spraying vehicle comprises a vehicle body, a power assembly, a storage type mechanical assembly and a main control panel, the storage type mechanical assembly and the main control panel are arranged on the vehicle body, the vehicle body comprises a feeding hopper arranged on a chassis and a wet spraying head communicated with the feeding hopper, and the storage type mechanical assembly comprises a movable storage part which is provided with an opening in the surface and arranged at the bottom of the chassis. And the mechanical arm is arranged in the movable storage part and can mount the wet spray head on the surface of the movable storage part. By means of the storage type mechanical assembly, when the wet spraying vehicle does not need wet spraying operation, the whole mechanical arm is stored in the movable storage part, then the whole movable storage part is stored to the bottom of the vehicle chassis, and therefore the situation that the whole mechanical arm is exposed outside and occupies too much space is avoided; and through mutual cooperation of the telescopic rod piece and the control motor, the mechanical arm gradually extends out of the interior of the storage box body, and when an operator installs the wet spray head on the mechanical arm, the working efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of wet shotcreting vehicles, and particularly relates to a manipulator-type wet shotcreting vehicle. Background Art

[0002] Mineral resources are important natural resources indispensable in modern society. With the gradual depletion of shallow mineral resources, mineral resource mining is gradually moving towards deep mining. As the mining depth increases, the in-situ stress in the tunnel will gradually increase, leading to problems such as roadway deformation and cracking. Shotcrete support is a commonly used support method in underground mine engineering and is widely used in tunnel construction, mine roadway support, slope protection, underground engineering, and other occasions where rapid construction is required.

[0003] Underground shotcrete generally uses a wet shotcreting machine for operation. In the process of shotcreting with existing wet shotcreting equipment, some small equipment requires the operator to hold the spray head to carry out shotcreting in the roadway. While the labor intensity is relatively large, the shotcreting effect will also vary due to the operator's proficiency, which directly affects the roadway stability. For wet shotcreting machines equipped with a manipulator for shotcreting, the manipulator is often large in size, and the overall equipment is inconvenient to move in the roadway, and its passability is also poor.

[0004] Therefore, it is urgent to improve the wet shotcreting equipment so that it can not only reduce the labor intensity of workers and ensure the shotcreting quality, but also reduce the overall volume of the equipment. Content of the Utility Model

[0005] To solve the above problems, the utility model provides the following technical solutions:

[0006] A manipulator-type wet shotcreting vehicle, comprising:

[0007] A vehicle body, which includes a vehicle chassis, a feed hopper arranged on the vehicle chassis, and a wet spray head communicated with the feed hopper;

[0008] A power assembly, which is arranged on the surface of the vehicle chassis and can pump the wet material in the feed hopper into the wet spray head for spraying;

[0009] A retractable mechanical assembly, which includes a movable storage part with an opening on the surface and arranged at the bottom of the vehicle chassis, a manipulator arranged inside the movable storage part and capable of mounting the wet spray head on its surface, and a control motor arranged on the surface of the movable storage part and capable of providing power for the manipulator. The manipulator can be completely retracted into the movable storage part. After the manipulator is retracted into the movable storage part, the opening on the surface of the movable storage part can be completely retracted under the vehicle chassis;

[0010] A main control panel, which is arranged on the surface of the vehicle chassis and can control all the electronic devices in the device.

[0011] On the basis of the above technical solution, the present invention can also be improved as follows.

[0012] Furthermore, the movable storage portion includes a storage box disposed at the bottom of the vehicle chassis, and a sliding connection structure connecting the storage box and the vehicle chassis.

[0013] Furthermore, a gap is left between the storage box and the ground, and a driving wheel capable of contacting the ground is provided on the surface of the storage box.

[0014] Furthermore, the robotic arm includes a rotating base arranged inside the storage box, a telescopic rod arranged on the rotating base, a linear drive device arranged on the surface of the rotating base and capable of adjusting the angle between the telescopic rod and the rotating base, and a nozzle connection structure arranged at one end of the telescopic rod away from the rotating base.

[0015] Furthermore, the nozzle connection structure includes a fixing sleeve connected to the telescopic rod and adapted to the wet nozzle, and a tightening member arranged on the surface of the fixing sleeve. The fixing sleeve as a whole is an unclosed tubular structure, and the tightening member can tighten the fixing sleeve as a whole.

[0016] Furthermore, the telescopic rod is provided with an adjustment structure on the surface thereof, which can adjust the inclination of the fixed sleeve on the surface of the telescopic rod; the adjustment structure can be retracted into the storage box together with the telescopic rod.

[0017] Furthermore, a steering motor capable of driving the rotating base to rotate is provided inside the storage box, and an output end of the steering motor is connected to the rotating base via a transmission structure.

[0018] Furthermore, a main control module is provided inside the storage box, and an adapter module that can be connected to the main control module is provided at a position of the vehicle chassis near the opening of the storage box. A connecting line is provided between the adapter module and the main control module to allow the two to be connected to each other, and a cavity is provided at the bottom of the vehicle chassis for the connection line to move.

[0019] Furthermore, the wet spray head is connected to the feed hopper through a feed hose, and a placement rack for placing the feed hose is provided on the surface of the vehicle chassis.

[0020] Beneficial Effects

[0021] When the robotic arm type wet shotcreting vehicle of the present utility model does not need to perform wet shotcreting operation, through the provided retractable mechanical assembly, the whole robotic arm can be retracted into the interior of the movable storage part, and then the whole movable storage part can be retracted to the bottom of the vehicle chassis, thus avoiding the whole robotic arm being exposed outside and occupying too much space. At the same time, when wet shotcreting operation needs to be carried out, only the storage box body needs to be moved out from under the vehicle chassis. Through the mutual cooperation of the telescopic rod member and the control motor, the robotic arm is gradually extended from the interior of the storage box body. When the operator installs the wet spray head on the robotic arm, the shotcreting operation can be continued, replacing manual pointing of the wet spray head, ensuring uniform spraying of concrete and improving work efficiency. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0023] Figure 1 It is a front sectional structure schematic diagram of the robotic arm type wet shotcreting vehicle of the present utility model;

[0024] Figure 2 It is a three-dimensional structure schematic diagram of the storage box body in the present utility model;

[0025] Figure 3 It is a three-dimensional structure schematic diagram of the nozzle connection structure in the present utility model;

[0026] Figure 4 For Figure 1 The enlarged structure schematic diagram at position A in

[0027] Figure 5 For Figure 1 The enlarged structure schematic diagram at position B in

[0028] In the drawings, the list of components represented by each reference numeral is as follows:

[0029] 1, vehicle body; 11, vehicle chassis; 12, feeding hopper; 13, wet spray head; 2, power assembly; 3, retractable mechanical assembly; 31, movable storage part; 311, storage box body; 312, sliding connection structure; 313, driving wheel; 32, robotic arm; 321, rotating base; 322, telescopic rod member; 323, linear driving device; 324, nozzle connection structure; 33, control motor; 4, main control module. Detailed Embodiment

[0030] To facilitate the understanding of the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present utility model are given in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present utility model more thorough and comprehensive.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the specification of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0032] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0033] It should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the technical product is usually placed during use. It is only for the convenience of describing the present technology and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present technology. In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the component must be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0034] Please refer to Figure 1-5 , the robotic arm type wet shotcrete vehicle of the present utility model includes a vehicle body 1, a power assembly 2 providing suction power, a retractable mechanical assembly 3 provided on the vehicle body 1, and a main control panel.

[0035] Among them, the vehicle body 1 is a common structure of a wet shotcrete vehicle in the prior art, including a vehicle chassis 11, a feed hopper 12 provided on the vehicle chassis 11, and a wet spray head 13 communicating with the feed hopper 12. The power assembly 2 can be a common suction pump.

[0036] The retractable mechanical assembly 3 includes a movable storage part 31 with an opening on its surface and arranged at the bottom of the vehicle chassis 11, a robotic arm 32 arranged inside the movable storage part 31 and capable of mounting the wet nozzle 13 on its surface, and a control motor 33 arranged on the surface of the movable storage part 31 and capable of providing power for the robotic arm 32. The robotic arm 32 can be completely retracted into the movable storage part 31. After the robotic arm 32 is retracted into the movable storage part 31, the opening on the surface of the movable storage part 31 can be completely retracted to the bottom of the vehicle chassis 11. Users can choose whether to retract the robotic arm 32 into the movable storage part 31 or deploy it from the movable storage part 31 according to different usage requirements, so as to adapt to different usage scenarios.

[0037] Specifically, the movable storage part 31 includes a storage box body 311 arranged at the bottom of the vehicle chassis 11, and a sliding connection structure 312 connecting the storage box body 311 and the vehicle chassis 11. The sliding connection structure 312 can be a common slideway and slider in the prior art, aiming to limit the movement path of the storage box body 311 and ensure the overall stability of the device.

[0038] To facilitate the movement of the storage box body 311, a gap is left between the storage box body 311 and the ground. A driving wheel 313 capable of contacting the ground is arranged on the surface of the storage box body 311. The driving wheel 313 can be controlled by a driving motor and can move together with the vehicle body 1 without manual pulling of the storage box body 311.

[0039] In some embodiments, as Figure 4 、 Figure 5 shown, the robotic arm 32 includes a rotating base 321 arranged inside the storage box body 311, a telescopic rod member 322 arranged on the rotating base 321, a linear driving device 323 arranged on the surface of the rotating base 321 and capable of adjusting the angle between the telescopic rod member 322 and the rotating base 321, and a nozzle connection structure 324 arranged at one end of the telescopic rod member 322 far from the rotating base 321.

[0040] Among them, the telescopic rod member 322 can be a common hydraulic cylinder or air cylinder.

[0041] In some embodiments, the above-mentioned nozzle connection structure 324 includes a fixing sleeve connected to the telescopic rod member 322 and adapted to the wet nozzle 13, and a tightening member arranged on the surface of the fixing sleeve. The fixing sleeve is an unclosed tubular structure as a whole, and the tightening member can tighten the fixing sleeve as a whole.

[0042] Furthermore, an adjusting structure capable of adjusting the inclination of the fixing sleeve on the surface of the telescopic rod member 322 is arranged on the surface of the telescopic rod member 322. The adjusting structure can be retracted into the storage box body 311 together with the telescopic rod member 322. The adjusting structure can also be an air cylinder or a hydraulic cylinder. The fixing sleeve can be connected to the telescopic rod member 322 through a rotating shaft and a hinge.

[0043] Inside the storage box body 311, there is a steering motor capable of driving the rotation of the rotating base 321. The output end of the steering motor is connected to the rotating base 321 through a transmission structure. To save its floor space, the transmission structure can be a bevel gear set.

[0044] In some other embodiments, considering that the electronic devices inside the storage box body 311 need to ensure that they can be stably controlled when the storage box body 311 is moving, a main control module 4 is provided inside the storage box body 311. At a position of the vehicle chassis 11 close to the opening of the storage box, there is an adapter module capable of being connected to the main control module 4. A connecting line allowing the two to communicate with each other is provided between the adapter module and the main control module 4.

[0045] It should be noted that a cavity for the movement of the connecting line is provided at the bottom of the vehicle chassis 11. At the same time, to leave enough pipeline length, the wet nozzle 13 communicates with the feed hopper 12 through a feeding hose. A placement rack for placing the feeding hose is provided on the surface of the vehicle chassis 11.

[0046] In the description of the present technology, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present technology can be understood according to specific situations.

[0047] The above is only a preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and the inventive concept of the present utility model, makes equivalent substitutions or changes, and should be covered by the protection scope of the present utility model.

Claims

1. A robotic arm type wet shotcreting vehicle, characterized in that, include: A vehicle body (1) comprising a vehicle chassis (11), a feed hopper (12) disposed on the vehicle chassis (11), and a wet spray head (13) communicated with the feed hopper (12); A power assembly (2) is arranged on the surface of the vehicle chassis (11) and is capable of pumping wet materials in the feed hopper (12) into the wet spray head (13) for spraying; The retractable mechanical assembly (3) comprises a movable retractable portion (31) having an opening on its surface and disposed at the bottom of a vehicle chassis (11), a mechanical arm (32) disposed inside the movable retractable portion (31) and capable of mounting a wet spray head (13) on its surface, and a control motor (33) disposed on the surface of the movable retractable portion (31) and capable of providing power to the mechanical arm (32); the mechanical arm (32) can be completely retracted into the movable retractable portion (31); after the mechanical arm (32) is retracted into the movable retractable portion (31), the opening on the surface of the movable retractable portion (31) can be completely retracted into the bottom of the vehicle chassis (11); A main control panel is arranged on the surface of the vehicle chassis (11) and is capable of controlling all electronic equipment in the device.

2. The robotic-arm type wet shotcreting vehicle according to claim 1, wherein: The movable storage portion (31) comprises a storage box (311) arranged at the bottom of the vehicle chassis (11), and a sliding connection structure (312) connecting the storage box (311) and the vehicle chassis (11).

3. The robotic arm type wet shotcreting vehicle according to claim 2, wherein: A gap is left between the storage box (311) and the ground, and a driving wheel (313) capable of contacting the ground is provided on the surface of the storage box (311).

4. The robotic arm type wet shotcreting vehicle according to claim 3, wherein: The mechanical arm (32) comprises a rotating base (321) arranged inside a storage box (311), a telescopic rod (322) arranged on the rotating base (321), a linear drive device (323) arranged on the surface of the rotating base (321) and capable of adjusting the angle between the telescopic rod (322) and the rotating base (321), and a nozzle connection structure (324) arranged at one end of the telescopic rod (322) away from the rotating base (321).

5. The robotic arm type wet shotcreting vehicle according to claim 4, characterized in that: The nozzle connection structure (324) comprises a fixing sleeve connected to the telescopic rod (322) and adapted to the wet nozzle (13), and a tightening member arranged on the surface of the fixing sleeve. The fixing sleeve as a whole is an unclosed tubular structure, and the tightening member can tighten the fixing sleeve as a whole.

6. The robotic arm type wet shotcreting vehicle according to claim 5, wherein: The surface of the telescopic rod (322) is provided with an adjustment structure capable of adjusting the inclination of the fixed sleeve on the surface of the telescopic rod (322); the adjustment structure can be retracted into the storage box (311) along with the telescopic rod (322).

7. The robotic arm type wet shotcreting vehicle according to claim 6, wherein: A steering motor capable of driving the rotating base (321) to rotate is provided inside the storage box (311), and an output end of the steering motor is connected to the rotating base (321) via a transmission structure.

8. The robotic arm type wet shotcreting vehicle according to claim 7, wherein: A main control module (4) is arranged inside the storage box (311); a switching module capable of being connected to the main control module (4) is arranged at a position close to the opening of the storage box on the vehicle chassis (11); a connecting line is arranged between the switching module and the main control module (4) to allow the two to communicate with each other; and a cavity is arranged at the bottom of the vehicle chassis (11) for the movement of the connecting line.

9. The robotic arm type wet shotcreting vehicle according to claim 8, wherein: The wet spray head (13) communicates with the feed hopper (12) through a feed hose, and a placement rack for placing the feed hose is provided on the surface of the vehicle chassis (11).

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