Guniting manipulator convenient to move

Abstract

The guniting manipulator convenient to move comprises a movable carrier, a swing mechanism and a manipulator body, the swing mechanism is installed on the movable carrier, the manipulator body is connected with the swing mechanism, and the manipulator body comprises a supporting arm, a nozzle, a gear ring, a connecting rod, a rotating assembly, a first laser ranging probe and a second laser ranging probe. A concrete conveying pipe is connected with a nozzle, the nozzle is adjusted to the position where guniting is needed in cooperation with a rotary mechanism, accurate guniting is achieved, a first laser ranging probe is aligned with the guniting position of the nozzle, a rotating assembly drives a gear ring to rotate, and the position of a second laser ranging probe is adjusted; therefore, the second laser ranging probe is aligned with a reference area where concrete is not sprayed, and the difference between the distance detected by the second laser ranging probe and the distance detected by the first laser ranging probe is the spraying thickness of the concrete, so that the spraying thickness of the concrete can be quickly measured, and the spraying precision is improved.

Description

Technical Field

[0001] This utility model relates to the field of shotcrete manipulators, and in particular to a shotcrete manipulator that is easy to move. Background Technology

[0002] Shotcrete support is now widely used in railway and highway tunnels, mine roadways, water conservancy and hydropower tunnels and culverts, subways, and various underground (military and civilian) buildings. Shotcrete devices used in engineering construction include wet shotcrete systems. Wet shotcrete systems, also known as wet shotcrete robots, wet shotcrete machines, shotcrete manipulators, or shotcrete robots, utilize compressed air to mix concrete with water in a specific ratio. This mixture is then transported through pipelines to the nozzle of the wet shotcrete robot. After the addition of a quick-setting agent, the concrete is sprayed at high speed onto the target area, where it quickly hardens to form a concrete support layer. The wet shotcrete robot can spray concrete in any direction within a limited working area via a delivery pipeline. Traditional wet shotcrete robots have poor spraying accuracy. Traditional wet shotcrete robots are semi-automatic and manually operated, resulting in poor precision. Surface smoothness is highly dependent on the operator's skill level, and the thickness and spray volume of the concrete are difficult to control, placing high demands on the operator. Utility Model Content

[0003] (1) Technical issues to be resolved

[0004] To address the aforementioned problems in the prior art, this utility model provides a mobile shotcrete robot.

[0005] (2) Technical solution

[0006] In order to achieve the above-mentioned purpose, the main technical solutions adopted by this utility model include:

[0007] A mobile shotcrete robot includes a mobile carrier, a rotary mechanism, and the robot body.

[0008] The slewing mechanism is installed on the mobile vehicle;

[0009] The robotic arm body is connected to the rotary mechanism. The robotic arm body includes a support arm, a nozzle, a toothed ring, a connecting rod, a rotating assembly, a first laser ranging probe, and a second laser ranging probe.

[0010] The support arm is connected to the rotary mechanism;

[0011] The nozzle is installed on the upper surface of the support arm at one end away from the rotary mechanism;

[0012] The toothed ring is mounted on the support arm at the end away from the rotary mechanism via a bearing;

[0013] The rotating assembly is connected to the gear ring and is used to drive the gear ring to rotate;

[0014] The first laser ranging probe is installed at the end of the support arm away from the rotary mechanism;

[0015] One end of the connecting rod is connected to the outer wall of the toothed ring, and the other end of the connecting rod is connected to the second laser ranging probe.

[0016] Preferably, the rotating assembly includes a motor and a drive gear, the motor being connected to the drive gear, and the drive gear meshing with the gear ring.

[0017] Preferably, the rotary mechanism includes a base, a first robotic arm, and a second robotic arm;

[0018] The base is mounted on the mobile vehicle;

[0019] One end of the first robotic arm is connected to the base via a drive joint, and the other end of the first robotic arm is connected to the second robotic arm via a drive joint.

[0020] Preferably, the mobile carrier is equipped with a drive motor for controlling the rotation of the base.

[0021] Preferably, the mobile vehicle includes a carrier, a first movable arm, a second movable arm, a drive device, and an electric push rod;

[0022] The first movable arm is provided in two sets, which are arranged opposite to each other on the front of the carrier;

[0023] The second movable arm is provided in two sets, which are arranged opposite each other at the rear of both sides of the carrier;

[0024] The end of the first movable arm away from the carrier is connected to the drive device via an electric push rod, and a front wheel is mounted on the drive device;

[0025] The rear wheel is mounted on the end of the second movable arm away from the carrier via the drive device;

[0026] The drive device is used to drive the front wheel or the rear wheel to rotate.

[0027] Preferably, the mobile carrier is equipped with a control motor for controlling the swing of the second movable arm.

[0028] (3) Beneficial effects

[0029] The beneficial effects of this utility model are as follows:

[0030] 1. Connect the concrete delivery pipe to the nozzle, and use the rotary mechanism to adjust the nozzle to the position where grouting is required to achieve precise grouting. The first laser ranging probe is aligned with the grouting position of the nozzle. The rotating component drives the gear ring to rotate, adjusting the position of the second laser ranging probe, so that the second laser ranging probe is aligned with the reference area where no concrete has been sprayed. The difference between the distance detected by the second laser ranging probe and the distance detected by the first laser ranging probe is the thickness of the concrete spraying, which can quickly measure the thickness of the concrete spraying and improve the spraying accuracy.

[0031] 2. The swing angles of the first and second robotic arms can be adjusted by driving the joints, thereby enabling the robotic arm body to move flexibly within the spraying area;

[0032] 3. Both the front and rear wheels are driven by separate drive units, achieving four-wheel drive, which makes the mobile vehicle more powerful. The electric push rod drives the front wheels to descend, while controlling the motor to drive the second movable arm to swing downward, which can increase the ground clearance of the vehicle and improve the passability of the mobile vehicle. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a mobile shotcrete robot.

[0034] Figure 2 This is a side view of a mobile shotcrete robot.

[0035] Figure 3 This is a schematic diagram of the connection structure between the rotary mechanism and the robot body.

[0036] Figure 4 This is a structural schematic diagram of a mobile vehicle.

[0037] [Explanation of Labels in the Attached Image]

[0038] 1. Mobile vehicles;

[0039] 11. Carrier; 12. First movable arm; 13. Second movable arm; 14. Electric push rod; 15. Drive device; 16. Front wheel; 17. Rear wheel;

[0040] 2. Slewing mechanism;

[0041] 21. Base; 22. First robotic arm; 23. Second robotic arm; 24. Drive joint;

[0042] 3. The robotic arm itself;

[0043] 31. Support arm; 32. Nozzle; 33. Gear ring; 34. Connecting rod; 35. First laser ranging probe; 36. Second laser ranging probe; 37. Drive gear; 38. Motor. Detailed Implementation

[0044] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0045] Please refer to Figures 1 to 4 This utility model provides a mobile shotcrete robot, including a mobile carrier 1, a rotary mechanism 2, and a robot body 3;

[0046] The slewing mechanism 2 is installed on the mobile vehicle 1;

[0047] The robotic arm body 3 is connected to the rotary mechanism 2. The robotic arm body 3 includes a support arm 31, a nozzle 32, a toothed ring 33, a connecting rod 34, a rotating assembly, a first laser ranging probe 35, and a second laser ranging probe 36.

[0048] Support arm 31 is connected to rotary mechanism 2;

[0049] Nozzle 32 is installed on the upper surface of support arm 31 at the end away from rotary mechanism 2;

[0050] The toothed ring 33 is mounted on the end of the support arm 31 away from the rotary mechanism 2 via a bearing;

[0051] The rotating assembly is connected to the gear ring 33 and is used to drive the gear ring 33 to rotate;

[0052] The first laser ranging probe 35 is installed at the end of the support arm 31 away from the rotary mechanism 2;

[0053] One end of the connecting rod 34 is connected to the outer wall of the toothed ring 33, and the other end of the connecting rod 34 is connected to the second laser ranging probe 36.

[0054] In use, the concrete delivery pipe is connected to the nozzle 32, and the nozzle 32 is adjusted to the position where grout needs to be sprayed in conjunction with the rotary mechanism 2 to achieve precise grout spraying. The first laser ranging probe 35 is aligned with the grout spraying position of the nozzle 32, and the rotating component drives the gear ring 33 to rotate, adjusting the position of the second laser ranging probe 36 so that the second laser ranging probe 36 is aligned with the reference area where no concrete has been sprayed. The difference between the distance detected by the second laser ranging probe and the distance detected by the first laser ranging probe is the thickness of the concrete spraying, which can quickly measure the thickness of the concrete spraying and improve the spraying accuracy.

[0055] In this embodiment, the rotating component includes a motor 38 and a drive gear 37. The motor 38 is connected to the drive gear 37, and the drive gear 37 meshes with the gear ring 33.

[0056] In this embodiment, the rotary mechanism 2 includes a base 21, a first robotic arm 22, and a second robotic arm 23;

[0057] The base 21 is mounted on the mobile vehicle 1;

[0058] One end of the first robotic arm 22 is connected to the base 21 via a drive joint 23, and the other end of the first robotic arm 22 is connected to the second robotic arm 23 via a drive joint 23.

[0059] In use, the swing angle of the first robotic arm 22 and the second robotic arm 23 can be adjusted by driving the joint 23, so that the robotic arm body 3 can move flexibly in the spraying area.

[0060] In this embodiment, a drive motor for controlling the rotation of the base 21 is installed inside the mobile carrier 1, thereby adjusting the direction of the robotic arm body 3.

[0061] In this embodiment, the mobile vehicle 1 includes a carrier 11, a first movable arm 12, a second movable arm 13, a drive device 15, and an electric push rod 14.

[0062] Two sets of first movable arms 12 are provided, which are arranged opposite to each other on the front of the carrier 11;

[0063] The second movable arm 13 is provided in two sets, which are arranged opposite each other at the rear of the two sides of the carrier 11;

[0064] The end of the first movable arm 12 away from the carrier 11 is connected to the drive device 15 via an electric push rod 14. A front wheel 16 is mounted on the drive device 15.

[0065] The rear wheel 17 is mounted on the end of the second movable arm 13 away from the carrier 11 via the drive device 15;

[0066] The drive device 15 is used to drive the front wheel 16 or the rear wheel 17 to rotate, and the mobile carrier 1 is equipped with a control motor for controlling the swing of the second movable arm 13.

[0067] In use, the front wheel 16 and the rear wheel 17 are both driven by separate drive devices 15 to achieve four-wheel drive, which makes the mobile vehicle 1 more powerful. The electric push rod 14 drives the front wheel 16 to descend, while controlling the motor to drive the second movable arm 13 to swing downward, which can increase the ground clearance of the carrier 11 and improve the passability of the mobile vehicle 1.

[0068] The working principle of this utility model is as follows:

[0069] The concrete delivery pipe is connected to the nozzle 32, and the nozzle 32 is adjusted to the position where grout needs to be sprayed in conjunction with the rotary mechanism 2 to achieve precise grout spraying. The first laser ranging probe 35 is aligned with the grout spraying position of the nozzle 32, and the rotating component drives the gear ring 33 to rotate, adjusting the position of the second laser ranging probe 36 so that the second laser ranging probe 36 is aligned with the reference area where no concrete has been sprayed. The difference between the distance detected by the second laser ranging probe and the distance detected by the first laser ranging probe is the thickness of the concrete spraying, which can quickly measure the thickness of the concrete spraying and improve the spraying accuracy.

[0070] The circuits, electronic components and modules involved are all existing technologies and can be fully implemented by those skilled in the art. Needless to say, the content protected by this utility model does not involve improvements to software and methods.

[0071] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

[0072] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider 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 mobile shotcrete robot, characterized in that, Includes the mobile vehicle, the rotating mechanism, and the robotic arm itself; The slewing mechanism is installed on the mobile vehicle; The robotic arm body is connected to the rotary mechanism. The robotic arm body includes a support arm, a nozzle, a toothed ring, a connecting rod, a rotating assembly, a first laser ranging probe, and a second laser ranging probe. The support arm is connected to the rotary mechanism; The nozzle is installed on the upper surface of the support arm at one end away from the rotary mechanism; The toothed ring is mounted on the support arm at the end away from the rotary mechanism via a bearing; The rotating assembly is connected to the gear ring and is used to drive the gear ring to rotate; The first laser ranging probe is installed at the end of the support arm away from the rotary mechanism; One end of the connecting rod is connected to the outer wall of the toothed ring, and the other end of the connecting rod is connected to the second laser ranging probe.

2. The easily movable shotcrete robot according to claim 1, characterized in that, The rotating assembly includes a motor and a drive gear, the motor being connected to the drive gear, and the drive gear meshing with the gear ring.

3. The easily movable shotcrete robot according to claim 1, characterized in that, The rotary mechanism includes a base, a first robotic arm, and a second robotic arm; The base is mounted on the mobile vehicle; One end of the first robotic arm is connected to the base via a drive joint, and the other end of the first robotic arm is connected to the second robotic arm via a drive joint.

4. The easily movable shotcrete robot according to claim 3, characterized in that, The mobile vehicle is equipped with a drive motor for controlling the rotation of the base.

5. The easily movable shotcrete robot according to claim 1, characterized in that, The mobile vehicle includes a carrier, a first movable arm, a second movable arm, a drive device, and an electric push rod; The first movable arm is provided in two sets, which are arranged opposite to each other on the front of the carrier; The second movable arm is provided in two sets, which are arranged opposite each other at the rear of both sides of the carrier; The end of the first movable arm away from the carrier is connected to the drive device via an electric push rod, and a front wheel is mounted on the drive device; The rear wheel is mounted on the end of the second movable arm away from the carrier via the drive device; The drive device is used to drive the front wheel or the rear wheel to rotate.

6. The easily movable shotcrete robot according to claim 5, characterized in that, The mobile vehicle is equipped with a control motor for controlling the swing of the second movable arm.

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