Guniting mechanical arm with high stability

Abstract

The guniting mechanical arm with the high stability comprises a mechanical arm body, a guniting spray head and a stabilizing mechanism, the stabilizing mechanism is connected with the movable end of the mechanical arm body, the stabilizing mechanism comprises a supporting arm, an arm base and a single-cylinder type damping rod, the cross section of the arm base is of a [-shaped structure, and the cross section of the arm base is of a U-shaped structure. The arm seat is fixedly installed at the movable end of the mechanical arm body, one end of the supporting arm is rotatably installed in the arm seat, one end of the single-barrel type damping rod is rotatably connected with the arm seat, the other end of the single-barrel type damping rod is rotatably connected with the supporting arm, and the guniting nozzle is installed below the supporting arm. The mechanical arm body is used for adjusting the position of the supporting arm so that the guniting spray head at the bottom of the supporting arm can be aligned with a to-be-guniting area, and the single-barrel type damping rod is connected between the supporting arm and the arm base and used for reducing vibration generated by the guniting spray head to the supporting arm during guniting and improving construction stability.

Description

Technical Field

[0001] The utility model relates to the field of shotcrete manipulators, and particularly relates to a shotcrete manipulator with high stability. Background Art

[0002] In modern construction, especially in the fields of railway and highway tunnels, mine roadways, tunnels and culverts of water conservancy and hydropower projects, urban subways, building foundations, road slopes and various underground projects, shotcrete support is a widely used support method. Traditional shotcrete operations usually rely on manual operation, which not only has a high labor intensity, but also has a high concrete rebound rate, resulting in serious waste of raw materials. In order to overcome the deficiencies of manual shotcrete operations, in recent years, mechanized shotcrete equipment also exists on the market, but the common mechanized shotcrete equipment on the market has the problem of poor stability. Content of the Utility Model

[0003] (1) Technical Problems to be Solved

[0004] In order to solve the above problems of the prior art, the utility model provides a shotcrete manipulator with high stability.

[0005] (2) Technical Solutions

[0006] In order to achieve the above object, the main technical solutions adopted by the utility model include:

[0007] A shotcrete manipulator with high stability, including a manipulator main body, a shotcrete nozzle and a stabilizing mechanism;

[0008] The stabilizing mechanism is connected to the movable end of the manipulator main body, and the stabilizing mechanism includes a support arm, an arm seat and a single-tube shock absorber;

[0009] The cross-section of the arm seat is in a U-shaped structure, and the arm seat is fixedly installed on the movable end of the manipulator main body;

[0010] One end of the support arm is rotatably installed in the arm seat;

[0011] One end of the single-tube shock absorber is rotatably connected to the arm seat, and the other end of the single-tube shock absorber is rotatably connected to the support arm;

[0012] The shotcrete nozzle is installed below the support arm.

[0013] Preferably, there are two single-tube shock absorbers, and the two single-tube shock absorbers are arranged in parallel. One end of each of the two single-tube shock absorbers is respectively rotatably connected to the arm seat and the support arm, and one end of the other single-tube shock absorber is rotatably connected to the arm seat. The other end of the other single-tube shock absorber is connected with a movable rod, and the support arm is provided with a movable hole corresponding to the movable rod.

[0014] Preferably, it further includes a telescopic mechanism, which is installed on the support arm and connected to the spraying nozzle for controlling the telescopic movement of the spraying nozzle.

[0015] Preferably, the telescopic mechanism includes a first motor, a lead screw, a guide rail, a moving block and a connecting block;

[0016] The guide rail is fixedly installed on the top of the support arm;

[0017] The lead screw is installed in the guide rail;

[0018] The first motor is connected to one end of the lead screw;

[0019] The moving block is threadedly connected to the lead screw and slidably installed on the guide rail. The bottom of the moving block is fixedly connected to the connecting block, and the support arm is provided with an adjustment groove corresponding to the moving block;

[0020] The spraying nozzle is installed at the bottom of the connecting block.

[0021] Preferably, the connecting block is connected to the spraying nozzle through a swing mechanism. The swing mechanism includes a turntable, a second motor and a swing rod. The middle of the rod body of the swing rod is connected to the connecting block through a rotating shaft. A rotating groove is formed in the connecting block. The turntable is installed in the rotating groove. A driving rod is arranged at the eccentric position on the surface of the turntable. A strip-shaped hole corresponding to the driving rod is formed in the rod body of the swing rod. The second motor is connected to the turntable.

[0022] (III) Beneficial effects

[0023] The beneficial effects of the present utility model are as follows:

[0024] 1. The manipulator main body is used to adjust the position of the support arm so that the spraying nozzle at the bottom of the support arm can be aligned with the area to be sprayed. The single-tube shock absorber is connected between the support arm and the arm seat to reduce the vibration generated by the spraying nozzle during spraying on the support arm and improve the stability of construction;

[0025] 2. The first motor drives the lead screw to rotate, driving the moving block along one end of the length direction of the lead screw, thereby adjusting the positions of the moving block and the connecting block, and further adjusting the distance between the spraying nozzle and the area to be sprayed, which is flexible and convenient to use;

[0026] 3. The second motor drives the turntable. During the rotation of the turntable, the swing rod is driven by the driving rod to continuously swing around the rotating shaft, thereby driving the slurry spraying nozzle to swing, so that the present application has the function of swinging slurry spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of a slurry spraying robotic arm with high stability;

[0028] Figure 2 It is a schematic side view structural diagram of a slurry spraying robotic arm with high stability;

[0029] Figure 3 It is a schematic structural diagram of the telescopic mechanism;

[0030] Figure 4 It is a schematic structural diagram of the swing mechanism.

[0031]

DESCRIPTION OF THE REFERENCE NUMERALS

[0032] 1. Main body of the robotic arm;

[0033] 2. Stabilizing mechanism;

[0034] 21. Arm base; 22. Support arm; 23. Single-cylinder shock-absorbing rod; 24. Movable rod;

[0035] 3. Telescopic mechanism;

[0036] 31. Guide rail; 32. Lead screw; 33. Moving block; 34. First motor; 35. Connecting block;

[0037] 4. Slurry spraying nozzle;

[0038] 5. Swing mechanism;

[0039] 51. Swing rod; 52. Turntable; 53. Driving rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] In order to better explain the present invention for easy understanding, the present invention will be described in detail below with reference to the accompanying drawings through specific embodiments.

[0041] Please refer to Figures 1 to 4 , the present invention provides a slurry spraying robotic arm with high stability, including a main body 1 of the robotic arm, a slurry spraying nozzle 4, and a stabilizing mechanism 2;

[0042] The stabilizing mechanism 2 is connected to the movable end of the main body 1 of the robotic arm, and the stabilizing mechanism 2 includes a support arm 22, an arm base 21, and a single-cylinder shock-absorbing rod 23;

[0043] The cross-section of the arm seat 21 is in a U-shaped structure, and the arm seat 21 is fixedly installed on the movable end of the robotic arm main body 1;

[0044] One end of the support arm 22 is rotatably installed in the arm seat 21;

[0045] One end of the single-tube shock absorber 23 is rotatably connected to the arm seat 21, and the other end of the single-tube shock absorber 23 is rotatably connected to the support arm 22;

[0046] The shotcrete nozzle 4 is installed below the support arm 22;

[0047] During use, the robotic arm main body 1 is used to adjust the position of the support arm 22 so that the shotcrete nozzle 4 at the bottom of the support arm 22 can be aligned with the area to be shotcreted. The single-tube shock absorber 23 is connected between the support arm 22 and the arm seat 21 to reduce the vibration generated by the shotcrete nozzle 4 during shotcreting on the support arm 22 and improve the stability of construction.

[0048] In this embodiment, two single-tube shock absorbers 23 are provided. The two single-tube shock absorbers 23 are arranged in parallel. One end of one of the single-tube shock absorbers 23 is respectively rotatably connected to the arm seat 21 and the support arm 22. One end of the other single-tube shock absorber 23 is rotatably connected to the arm seat 21, and the other end of the other single-tube shock absorber 23 is connected with a movable rod 24. The support arm 22 is provided with a movable hole corresponding to the movable rod 24; The two single-tube shock absorbers 23 form a double-inclined rod support mechanism, which greatly improves the connection stability between the support arm 22 and the arm seat 21.

[0049] In this embodiment, a telescopic mechanism 3 is further included. The telescopic mechanism 3 is installed on the support arm 22 and is connected to the shotcrete nozzle 4 for controlling the telescopic movement of the shotcrete nozzle 4. The telescopic mechanism 3 includes a first motor 34, a lead screw 32, a guide rail 31, a moving block 33 and a connecting block 35;

[0050] The guide rail 31 is fixedly installed on the top of the support arm 22;

[0051] The lead screw 32 is installed in the guide rail 31;

[0052] The first motor 34 is connected to one end of the lead screw 32;

[0053] The moving block 33 is threadedly connected to the lead screw 32 and is slidably installed on the guide rail 31. The bottom of the moving block 33 is fixedly connected to the connecting block 35. The support arm 22 is provided with an adjustment groove corresponding to the moving block 33;

[0054] The shotcrete nozzle 4 is installed at the bottom of the connecting block 35;

[0055] During use, the first motor 34 drives the lead screw 32 to rotate, driving the moving block 33 along one end of the length direction of the lead screw 32, thereby adjusting the positions of the moving block 33 and the connecting block 35, and further adjusting the distance between the spraying nozzle 4 and the area to be sprayed. It is flexible and convenient to use.

[0056] In this embodiment, the connecting block 35 is connected to the spraying nozzle 4 through a swinging mechanism 5. The swinging mechanism 5 includes a turntable 52, a second motor, and a swinging rod 51. The middle of the rod body of the swinging rod 51 is connected to the connecting block 35 through a rotating shaft. A rotating groove is provided on the connecting block 35. The turntable 52 is installed in the rotating groove. A driving rod 53 is provided at an eccentric position on the surface of the turntable 52. A strip-shaped hole corresponding to the driving rod 53 is provided on the rod body of the swinging rod 51. The second motor is connected to the turntable 52;

[0057] During use, the second motor drives the turntable 52. During the rotation of the turntable 52, the driving rod 53 drives the swinging rod 51 to continuously swing around the rotating shaft, thereby driving the spraying nozzle 4 to swing, so that the present application has the function of swinging spraying.

[0058] The working principle of the present utility model is as follows:

[0059] The robotic arm main body 1 is used to adjust the position of the support arm 22, so that the spraying nozzle 4 at the bottom of the support arm 22 can be aligned with the area to be sprayed. The single-cylinder shock-absorbing rod 23 is connected between the support arm 22 and the arm seat 21, and is used to reduce the vibration generated by the spraying nozzle 4 during spraying on the support arm 22, and improve the stability of construction.

[0060] The circuits, electronic components, and modules involved are all prior arts, which can be fully realized by those skilled in the art without further elaboration. The content protected by the present utility model does not involve improvements to software and methods either.

[0061] The above are only embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in related technical fields, shall be equally included in the patent protection scope of the present utility model.

[0062] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A shotcreting robotic arm with high stability, characterized in that, It includes a robotic arm main body, a shotcrete nozzle, and a stabilizing mechanism; The stabilizing mechanism is connected to the movable end of the robotic arm main body. The stabilizing mechanism includes a support arm, an arm seat, and a single-cylinder shock absorber; The cross-section of the arm seat is in a U-shaped structure, and the arm seat is fixedly installed on the movable end of the robotic arm main body; One end of the support arm is rotatably installed in the arm seat; One end of the single-cylinder shock absorber is rotatably connected to the arm seat, and the other end of the single-cylinder shock absorber is rotatably connected to the support arm; The shotcrete nozzle is installed below the support arm.

2. The shotcreting robotic arm with high stability according to claim 1, wherein, There are two single-cylinder shock absorbers. The two single-cylinder shock absorbers are arranged in parallel. One end of one of the single-cylinder shock absorbers is respectively rotatably connected to the arm seat and the support arm. One end of the other single-cylinder shock absorber is rotatably connected to the arm seat, and the other end of the other single-cylinder shock absorber is connected to a movable rod. The support arm is provided with a movable hole corresponding to the movable rod.

3. A shotcreting robotic arm with high stability according to claim 1, characterized in that, It further includes a telescopic mechanism. The telescopic mechanism is installed on the support arm and is connected to the shotcrete nozzle for controlling the telescopic movement of the shotcrete nozzle.

4. A shotcrete robotic arm with high stability according to claim 3, characterized in that, The telescopic mechanism includes a first motor, a lead screw, a guide rail, a moving block, and a connecting block; The guide rail is fixedly installed on the top of the support arm; The lead screw is installed in the guide rail; The first motor is connected to one end of the lead screw; The moving block is threadedly connected to the lead screw and is slidably installed on the guide rail. The bottom of the moving block is fixedly connected to the connecting block. The support arm is provided with an adjustment groove corresponding to the moving block; The shotcrete nozzle is installed at the bottom of the connecting block.

5. The shotcreting robotic arm with high stability according to claim 4, characterized in that, The connecting block is connected to the shotcrete nozzle through a swinging mechanism. The swinging mechanism includes a turntable, a second motor, and a swinging rod. The middle of the rod body of the swinging rod is connected to the connecting block through a rotating shaft. A rotating groove is formed on the connecting block. The turntable is installed in the rotating groove. A driving rod is arranged at the eccentric position on the surface of the turntable. A strip-shaped hole corresponding to the driving rod is formed on the rod body of the swinging rod. The second motor is connected to the turntable.

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