Multi-degree-of-freedom wet spraying mechanical arm for tunnel trolley

Abstract

The utility model provides a multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley, and relates to the field of tunnel construction equipment. The wet spraying mechanical arm comprises a sliding rail, a sliding base, a telescopic large arm, a large arm angle adjusting oil cylinder, a first rotary disc, a telescopic small arm, a small arm angle adjusting oil cylinder, a second rotary disc, a turnover mechanism and a nozzle. Wherein the sliding rail is arranged on the tunnel trolley, and the sliding seat can move along the sliding rail; the telescopic large arm is hinged to the sliding seat, and the large arm angle adjusting oil cylinder is hinged between the sliding seat and the telescopic large arm; the first rotary disc is installed at the telescopic end of the telescopic large arm, and the telescopic small arm is hinged to the rotating end of the first rotary disc. The small arm angle adjusting oil cylinder is hinged between the first rotary disc and the telescopic small arm; the second rotary disc is mounted at the telescopic end of the telescopic small arm; the turnover mechanism is installed at the rotating end of the second rotary disc and provided with a turnover frame rotating eccentrically and obliquely. The wet spraying mechanical arm has eight degrees of freedom, so that the nozzle has high flexibility and adaptability, and the spraying rebound rate of concrete can be reduced.

Description

Technical Field

[0001] This utility model is specifically a multi-degree-of-freedom wet spraying robotic arm for tunnel trolleys, relating to the field of tunnel construction equipment technology. Background Technology

[0002] Wet spraying is a technique for applying shotcrete to tunnels. It involves pre-mixing cement, sand and gravel aggregates, and admixtures according to a specific water-cement ratio, then using compressed air to deliver the mixture to nozzles and mix it with an accelerator. Compared to dry spraying, wet spraying significantly reduces the rebound rate of concrete and dust pollution during the spraying process, achieves better construction quality, and improves the construction environment.

[0003] A wet spraying robotic arm is a wet spraying operation device installed on a vehicle. Most existing wet spraying robotic arms suffer from the following drawbacks:

[0004] 1. Large size, taking up workspace;

[0005] 2. Insufficient degrees of freedom and lack of flexibility;

[0006] 3. The spray angle is not easy to adjust, and the rebound rate is relatively high;

[0007] 4. Poor adaptability.

[0008] References:

[0009] Chinese Patent: CN 110056375 B

[0010] Chinese Patent: CN 115045683 A

[0011] Chinese Patent: CN 114941540 B Utility Model Content

[0012] To overcome the shortcomings of the prior art, this utility model discloses a multi-degree-of-freedom wet spraying robotic arm for tunnel trolleys, adopting the following technical solution:

[0013] A multi-degree-of-freedom wet spraying robotic arm for tunnel trolleys includes:

[0014] The slide rail is installed on the tunnel trolley;

[0015] The slide block can move along the slide rail;

[0016] The telescopic boom is hinged to the slide block;

[0017] The boom angle adjustment cylinder is hinged between the slide and the telescopic boom and is used to adjust the rotation angle of the telescopic boom in the horizontal plane.

[0018] The first turntable is installed at the telescopic end of the telescopic boom;

[0019] The telescopic arm is hinged to the rotating end of the first rotary table;

[0020] The boom angle adjustment cylinder is hinged between the first rotary table and the telescopic boom, and is used to adjust the rotation angle of the telescopic boom.

[0021] The second turntable is installed at the telescopic end of the telescopic boom;

[0022] The tilting mechanism, installed at the rotating end of the second turntable, has an eccentric tilting frame.

[0023] The nozzle is mounted on the tilting frame.

[0024] Further improvement of the technical solution: The slide rail is set along the traveling direction of the trolley, and a driving device is set between the slide rail and the slide base.

[0025] Further improve the technical solution: the rotation axis of the first rotary table is set to coincide with the axis of the telescopic boom, and the rotation axis of the second rotary table is set to intersect or be perpendicular to the axis of the telescopic arm.

[0026] Further improve the technical solution: The telescopic boom and telescopic arm should each have at least two sections of hydraulic telescopic boom.

[0027] Further improvements to the technical solution: The tilting mechanism mainly consists of a frame, a hydraulic motor, an eccentric disc, a universal joint, and a tilting frame. The frame is installed on the rotating end of the second rotary table, the hydraulic motor and the universal joint are installed on the frame, the eccentric disc is installed on the output shaft of the hydraulic motor, one end of the tilting frame is hinged to the eccentric disc, and the other end is hinged to the universal joint.

[0028] Further improve the technical solution: the tilting angle of the tilting frame is 5-10° relative to the rotation axis of the hydraulic motor output shaft.

[0029] After implementing the above technical solution, the beneficial effects of this utility model compared to the prior art are:

[0030] 1. The wet spraying robotic arm of this utility model has eight degrees of freedom, which enables the nozzle to have high flexibility and adaptability;

[0031] 2. This wet spraying robotic arm can precisely adjust the nozzle posture to keep the nozzle spraying angle constant, which helps to reduce the rebound rate of sprayed concrete.

[0032] 3. This wet spraying robotic arm is small in size and does not occupy working space. Attached Figure Description

[0033] Appendix Figure 1 The diagram shown is a three-dimensional structural schematic of this wet spraying robotic arm.

[0034] Appendix Figure 2The image shown is a front view of the wet spraying robotic arm.

[0035] Appendix Figure 3 The diagram shown is a structural schematic of the flipping mechanism.

[0036] Appendix Figure 4 The diagram shown is a structural schematic of the wet spraying robotic arm during its movement.

[0037] In the attached diagram: 1. Slide rail; 2. Slide block; 3. Telescopic boom; 4. Boom angle adjustment cylinder; 5. First hydraulic rotary table; 6. Telescopic forearm; 7. Forearm angle adjustment cylinder; 8. Second hydraulic rotary table; 9. Tilting mechanism; 91. Frame; 92. Hydraulic motor; 93. Eccentric plate; 94. Universal joint; 95. Tilting frame; 10. Nozzle. Detailed Implementation

[0038] The preferred embodiments of this utility model are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of this utility model and are not intended to limit the scope of protection of this utility model. It should be noted that in the description of this utility model, terms such as "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is merely for ease of description and does not indicate or imply that the device or element must have a specific orientation and positional relationship, and therefore should not be construed as a limitation of this utility model. It should also be noted that in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] A multi-degree-of-freedom wet spraying robotic arm for tunnel trolleys, relating to the field of tunnel construction equipment, is mainly used to solve problems in existing wet spraying robotic arms such as insufficient degrees of freedom, difficulty in adjusting the spraying angle, and high rebound rate. The composition and working principle of this wet spraying robotic arm are described in detail below.

[0040] See attached document Figure 1 and attached Figure 2 The multi-degree-of-freedom wet spraying robotic arm for this tunnel trolley mainly consists of a slide rail 1, a slide base 2, a telescopic boom 3, a boom angle adjustment cylinder 4, a first hydraulic rotary table 5, a telescopic forearm 6, a forearm angle adjustment cylinder 7, a second hydraulic rotary table 8, a tilting mechanism 9, and a nozzle 10.

[0041] The slide rail 1 is mounted on the tunnel trolley and is positioned along the trolley's travel direction (X-axis). The slide block 2 is mounted on the slide rail 1 and can move along the slide rail 1. A drive device is installed between the slide rail 1 and the slide block 2. The length of the slide rail 1 is the same as the length of the trolley. When the slide block 2 is in the starting position, the entire wet spraying robotic arm is strip-shaped, and the shortest length of the wet spraying robotic arm is approximately the same as the length of the trolley, thus not occupying any workspace.

[0042] The slide block 2 can move along the slide rail 1, giving the wet spraying robot arm a degree of freedom to move back and forth along the X-axis.

[0043] The telescopic boom 3 is hinged to the slide 2, and the boom angle adjustment cylinder 4 is hinged between the slide 2 and the telescopic boom 3. The function of the boom angle adjustment cylinder 4 is to adjust the rotation angle of the telescopic boom 3 in the horizontal plane (XY plane), so that the telescopic boom 3 has a degree of freedom to rotate in the XY plane.

[0044] The telescopic boom 3 has at least two hydraulic telescopic boom sections, giving the telescopic boom 3 one degree of freedom in the length direction.

[0045] The first hydraulic rotary table 5 is installed at the telescopic end of the telescopic boom 3. The rotation axis of the first hydraulic rotary table 5 is set to coincide with the axis of the telescopic boom 3. The telescopic arm 6 is hinged to the rotating end of the first hydraulic rotary table 5, so that the telescopic arm 6 has a coaxial degree of freedom relative to the telescopic boom 3 and can rotate 360°.

[0046] The telescopic boom 6 has at least two hydraulic telescopic boom sections, giving the telescopic boom 6 one degree of freedom in the length direction.

[0047] The forearm angle adjustment cylinder 7 is hinged between the first hydraulic rotary table 5 and the telescopic forearm 6. The function of the forearm angle adjustment cylinder 7 is to adjust the rotation angle of the telescopic forearm 6 so that the telescopic forearm 6 has a degree of freedom to rotate in a plane (the plane in which the telescopic forearm 6 and the telescopic boom 3 are located).

[0048] The second hydraulic rotary table 8 is installed at the telescopic end of the telescopic boom 6. The rotation axis of the second hydraulic rotary table 8 is intersected or perpendicular to the axis of the telescopic boom 6. The flipping mechanism 9 is installed at the rotating end of the second hydraulic rotary table 8, so that the flipping mechanism 9 has a degree of freedom to rotate 360° with the second hydraulic rotary table 8 as the rotation axis.

[0049] See attached document Figure 3The tilting mechanism 9 mainly consists of a frame 91, a hydraulic motor 92, an eccentric disk 93, a universal joint 94, and a tilting frame 95. The frame 91 is mounted on the rotating end of the second hydraulic rotary table 8. The hydraulic motor 92 and the universal joint 94 are mounted on the frame 91. The eccentric disk 93 is mounted on the output shaft of the hydraulic motor 92. One end of the tilting frame 95 is hinged to the eccentric disk 93, and the other end is hinged to the universal joint 94. A nozzle 10 is mounted on the tilting frame 95. The tilting frame 95 has a tilting angle of 5-10° relative to the rotation axis of the output shaft of the hydraulic motor 92. Since the tilting frame 95 can make an eccentric tilting rotation around the rotation axis of the hydraulic motor 92 with a conical trajectory, the nozzle 10 has a degree of freedom to make an eccentric tilting rotation around the rotation axis of the hydraulic motor 92.

[0050] See attached document Figure 4 Nozzle 10 is the component that sprays concrete into the tunnel. Located at the very end of the wet spraying robotic arm's movement, the movement of any of the aforementioned components causes nozzle 10 to move spatially. Therefore, nozzle 10 can be said to possess the eight degrees of freedom mentioned above, which are sufficient to improve the flexibility and adaptability of this wet spraying robotic arm. Specifically, slide 2, telescopic boom 3, and telescopic arm 6 are mainly used to adjust the position of nozzle 10 in the X direction. Boom angle adjustment cylinder 4, arm angle adjustment cylinder 7, and the first hydraulic rotary table 5 are mainly used to adjust the position of nozzle 10 in the YZ plane, bringing nozzle 10 closer to the tunnel arch. Because telescopic boom 3 and telescopic arm 6 have a large length, even a small turning angle can cause nozzle 10 to produce a large displacement. Therefore, boom angle adjustment cylinder 4, arm angle adjustment cylinder 7, and the first hydraulic rotary table 5 are mainly used for coarse adjustment of nozzle 10's position. The second hydraulic rotary table 8 and the tilting mechanism 9 are mainly used for fine adjustment of nozzle 10's posture, keeping the spray angle of nozzle 10 constant to reduce concrete rebound rate.

[0051] It is worth noting that the content not described in detail in the above embodiments is prior art. It is also worth noting that any additions, subtractions, substitutions, and improvements made by those skilled in the art based on the structure and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley, characterized by: The utility model relates to a tunnel spraying device, comprising: a slide rail arranged on a tunnel trolley; a slide base movable along the slide rail; a telescopic large arm hinged to the slide base; a large arm angle adjusting cylinder hinged between the slide base and the telescopic large arm for adjusting the rotation angle of the telescopic large arm in a horizontal plane; a first rotary disc installed at the telescopic end of the telescopic large arm; a telescopic small arm hinged to the rotation end of the first rotary disc; a small arm angle adjusting cylinder hinged between the first rotary disc and the telescopic small arm for adjusting the rotation angle of the telescopic small arm; a second rotary disc installed at the telescopic end of the telescopic small arm; a turnover mechanism installed at the rotation end of the second rotary disc, which has an eccentric and inclined rotation turnover frame; a nozzle installed on the turnover frame.

2. The multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley according to claim 1, characterized in that: The slide rail is arranged along the walking direction of the trolley, and a driving device is arranged between the slide rail and the slide base.

3. The multi-degree-of-freedom wet spraying mechanical arm for a tunnel trolley according to claim 1, characterized in that: The rotation axis of the first rotary disc coincides with the axis of the telescopic large arm, and the rotation axis of the second rotary disc intersects or is perpendicular to the axis of the telescopic small arm.

4. The multi-degree-of-freedom wet spray robotic arm for a tunnel trolley of claim 1, wherein: The telescopic large arm and the telescopic small arm are at least two-section hydraulic telescopic arms.

5. The multi-degree-of-freedom wet spray robotic arm for a tunnel trolley of claim 1, wherein: The turnover mechanism mainly comprises a frame body, a hydraulic motor, an eccentric disc, a universal joint and a turnover frame. The frame body is installed at the rotation end of the second rotary disc, the hydraulic motor and the universal joint are installed on the frame body, the eccentric disc is installed on the output shaft of the hydraulic motor, one end of the turnover frame is hinged to the eccentric disc, and the other end is hinged to the universal joint.

6. The multi-degree-of-freedom wet spray robotic arm for a tunnel jumbo as claimed in claim 5, characterized in that: The inclination rotation angle of the turnover frame relative to the rotation axis of the output shaft of the hydraulic motor is 5-10°.

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