Folding mechanical arm structure for construction of wet spraying machine

Abstract

The utility model relates to the technical field of wet spraying machines, and discloses a folding mechanical arm structure for wet spraying machine construction, which comprises a machine body and a base arranged above the machine body, a rotating seat is fixed at the top of the base, a first mechanical arm is rotatably connected with the inner wall of the rotating seat, and a hydraulic rod is fixed between the base and the first mechanical arm; the first rotating mechanism is arranged in the machine body; according to the spraying device, the two sets of mechanical arms, the hydraulic rod and the two sets of rotating mechanisms are used in cooperation, the effects of two-arm stretching and retracting, two-stage rotation and full-angle rotation of the spraying head are achieved, dead-corner-free spraying is achieved, the spraying speed is high, and the spraying effect is good. The wet spraying machine is simple in structure and convenient to operate, meets the operation requirements of various types of excavation construction, improves the practicability, adopts full-hydraulic drive of the whole vehicle, and is foldable in mechanical arm, so that the space is compact, the operation is convenient, the maintenance is simple, and the safety is higher.

Description

Technical Field

[0001] This utility model relates to the field of spray machine technology, specifically to a folding mechanical arm structure for spray machine construction. Background Technology

[0002] A wet shotcrete machine, also known as a spraying machine, is a mechanical device used for spraying concrete or mortar. It is widely used in shotcrete construction operations in mines, tunnels, culverts, subways, hydropower projects, underground engineering, and coal mine roadways, as well as in various scenarios such as spraying fine aggregate concrete for wall reinforcement, spraying or repairing refractory materials for industrial furnace linings, and transporting and spraying soil in slope protection and greening construction.

[0003] When using a wet shotcrete machine, a robotic arm is employed to replace manual labor in shotcreting operations. This offers advantages such as high construction efficiency, low rebound, enhanced safety, and a better working environment. Currently, some wet shotcrete machines are equipped with only one robotic arm, and these arms cannot achieve omnidirectional shotcreting, resulting in limited practicality. Furthermore, some robotic arms cannot be folded, causing the equipment to occupy significant space when not in use, which is particularly disadvantageous in confined working environments such as tunnels and mines. Utility Model Content

[0004] The purpose of this invention is to provide a folding robotic arm structure for spraying wet machine construction, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a folding robotic arm structure for spraying wet machine construction, comprising a body, and further comprising:

[0006] A base is set above the machine body, a rotating seat is fixed on the top of the base, a first robotic arm is rotatably connected to the inner wall of the rotating seat, and two symmetrical hydraulic rods are fixed between the base and the first robotic arm.

[0007] A first rotating mechanism is installed inside the machine body to drive the first robotic arm to rotate.

[0008] A second robotic arm is positioned above the first robotic arm, and a second rotating mechanism for driving the second robotic arm to rotate is provided between the first and second robotic arms.

[0009] Preferably, the first rotating mechanism includes a first motor fixed to the inner wall of the machine body, and a first rotating shaft is fixed to the output end of the first motor, the first rotating shaft being rotatably connected to the inner wall of the machine body.

[0010] Preferably, a first rotating plate is fixed to the top of the first rotating shaft, and the first rotating plate is installed to the bottom of the base by bolts.

[0011] Preferably, the top of the machine body is provided with a first limiting groove, and the inner wall of the first limiting groove is rotatably connected to a first limiting ring, which is fixed to the bottom of the first rotating plate.

[0012] Preferably, the second rotating mechanism includes a drive box fixed to one end of the first robotic arm, a second motor fixed to the inner wall of the drive box, a second rotating shaft fixed to the output end of the second motor, and the second rotating shaft being rotatably connected to the inner wall of the drive box.

[0013] Preferably, a second rotating plate is fixed to the top of the second rotating shaft, a second limiting groove is provided on the top of the drive box, a second limiting ring is rotatably connected to the inner wall of the second limiting groove, and the second limiting ring is fixed to the bottom of the second rotating plate.

[0014] Preferably, a column is fixed to the top of the second rotating plate, and the column is fixed to the bottom of the second robotic arm.

[0015] Preferably, a mounting base is detachably mounted on one end of the second robotic arm, a connecting rod is fixed to the outer side of the mounting base, an elastic retaining ring is fixed to the bottom end of the connecting rod, and a spray gun is provided on the inner side of the elastic retaining ring.

[0016] Preferably, an electrical box is fixed to the outside of the base, and a hub box is fixed to the outside of the first robotic arm.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] This utility model achieves the effects of two-arm extension and retraction, two-stage rotation, and full-angle rotation of the nozzle through the coordinated use of two sets of robotic arms, hydraulic rods, and two sets of rotating mechanisms, realizing spraying without dead angles, meeting the operational needs of various types of excavation construction, improving the practicality of the sprayer, and expanding the application range of the sprayer. At the same time, the sprayer adopts a fully hydraulic drive for the entire vehicle, and the robotic arms are foldable, making it compact, convenient to operate, simple to maintain, and safer. Attached Figure Description

[0019] Figure 1 A schematic diagram of a preferred embodiment of the folding robotic arm structure for spraying wet machine construction provided by this utility model;

[0020] Figure 2 A schematic diagram of the structure of the first rotating mechanism provided by this utility model;

[0021] Figure 3 A schematic diagram of the structure of the second robotic arm provided by this utility model;

[0022] Figure 4 A schematic diagram of the structure of the second rotating mechanism provided by this utility model;

[0023] Figure 5 A schematic diagram of the spray gun installation provided by this utility model.

[0024] In the diagram: 1. Body; 2. Base; 3. Rotating seat; 4. First robotic arm; 5. Hydraulic rod; 6. First rotating mechanism; 61. First motor; 62. First rotating shaft; 63. First rotating plate; 64. First limiting groove; 65. First limiting ring; 7. Second robotic arm; 8. Second rotating mechanism; 81. Drive box; 82. Second motor; 83. Second rotating shaft; 84. Second rotating plate; 85. Second limiting groove; 86. Second limiting ring; 87. Column; 9. Mounting seat; 10. Connecting rod; 11. Elastic retaining ring; 12. Spray gun; 13. Electrical box; 14. Hub box. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1-5 As shown, a folding robotic arm structure for spraying a wet machine includes a body 1 and a base 2 disposed above the body 1. A rotating seat 3 is fixed to the top of the base 2, and a first robotic arm 4 is rotatably connected to the inner wall of the rotating seat 3. Two symmetrical hydraulic rods 5 are fixed between the base 2 and the first robotic arm 4. The body 1 is part of the spraying wet machine body. The base 2 is disposed above the body 1, and the rotating seat 3 is fixed on the base 2. The first robotic arm 4 can be rotated by the rotating seat 3. The rotating seat 3 is configured as two pieces, mirror-fixed to the top of the base 2. The hydraulic rods 5 are fixed between the base 2 and the first robotic arm 4. The first robotic arm 4 can be moved by the power of the hydraulic rods 5. While the first robotic arm 4 moves, it will rotate on the inner wall of the rotating seat 3. The hydraulic rods 5 generate high-pressure liquid through mechanical movement by a hydraulic pump, and then deliver it to the hydraulic cylinder through a pipeline. The piston in the hydraulic cylinder is subjected to the liquid pressure, generating a pushing force, thereby driving the mechanical equipment to move. This technology is common knowledge to those skilled in the art and will not be described in detail here.

[0027] A first rotating mechanism 6, installed inside the body 1, is used to drive the first robotic arm 4 to rotate. This mechanism facilitates omnidirectional rotation of the first robotic arm 4. The first rotating mechanism 6 includes a first motor 61 fixed to the inner wall of the body 1, with a first rotating shaft 62 fixed to the output end of the motor 61. The first rotating shaft 62 is rotatably connected to the inner wall of the body 1. A first rotating plate 63 is fixed to the top of the first rotating shaft 62 and bolted to the bottom of the base 2. A first limiting groove 64 is formed on the top of the body 1, with a first limiting ring 65 rotatably connected to the inner wall of the first limiting groove 64. The first limiting ring 65 is fixed to the first rotating plate. The bottom of 63; by installing a first motor 61 inside the body 1, the first rotating shaft 62 can be driven to rotate. When the first rotating shaft 62 rotates, it can drive the first rotating plate 63 fixed on its top to rotate. Since the first rotating plate 63 and the base 2 are fixed together by multiple bolts, when the first rotating plate 63 rotates, it can drive the base 2 to rotate. By opening a first limiting groove 64 on the top of the body 1 and fixing a first limiting ring 65 at the bottom of the first rotating plate 63, when the first rotating plate 63 rotates, the first limiting ring 65 rotates in the first limiting groove 64, which can improve the stability of the rotation of the first rotating plate 63. The size of the first limiting ring 65 is adapted to the inner diameter of the first limiting groove 64.

[0028] A second robotic arm 7 is positioned above the first robotic arm 4. A second rotating mechanism 8 is provided between the first robotic arm 4 and the second robotic arm 7 to drive the second robotic arm 7 to rotate. By setting the first robotic arm 4, the construction range of the sprayer can be expanded, and the practicality of the sprayer can be improved. By setting the second rotating mechanism 8, it is easy to drive the second robotic arm 7 to rotate in all directions. The second rotating mechanism 8 includes a drive box 81 fixed to one end of the first robotic arm 4. A second motor 82 is fixed to the inner wall of the drive box 81. A second rotating shaft 83 is fixed to the output end of the second motor 82. The second rotating shaft 83 is rotatably connected to the inner wall of the drive box 81. A second rotating plate 84 is fixed to the top of the second rotating shaft 83. A second limiting groove 85 is opened on the top of the drive box 81. A second limiting ring 86 is rotatably connected to the inner wall of the second limiting groove 85. The second limiting ring 86 is fixed to the bottom of the second rotating plate 84. A column 87 is fixed to the top of the second rotating plate 84, and the column 87 is fixed to the bottom of the second robotic arm 7. The first robotic arm 4 can be connected by a drive box 81, and a second motor 82 can be installed inside it. The second motor 82 can drive the second rotating shaft 83 to rotate. When the second rotating shaft 83 rotates, it can drive the second rotating plate 84 fixed to its top to rotate, and then drive the column 87 fixed to its top to rotate. Since the column 87 is fixed to the bottom of the second robotic arm 7, the second robotic arm 7 will rotate synchronously when the second rotating plate 84 rotates. By opening a second limiting groove 85 on the top of the drive box 81 and fixing a second limiting ring 86 at the bottom of the second rotating plate 84, the second limiting ring 86 can rotate in the second limiting groove 85 when the second rotating plate 84 rotates, which can improve the stability of the rotation of the second rotating plate 84. The size of the second limiting ring 86 is adapted to the inner diameter of the second limiting groove 85.

[0029] A mounting base 9 is detachably mounted on one end of the second robotic arm 7. A connecting rod 10 is fixed to the outside of the mounting base 9, and an elastic retaining ring 11 is fixed to the bottom end of the connecting rod 10. A spray gun 12 is disposed on the inside of the elastic retaining ring 11. An electrical box 13 is fixed to the outside of the base 2, and a junction box 14 is fixed to the outside of the first robotic arm 4. The spray gun 12 can be installed by setting the mounting base 9 at one end of the second robotic arm 7. Two connecting rods 10 are fixed to the outside of the mounting base 9, and an elastic retaining ring 11 is fixed to the bottom end of the connecting rod 10. The inner diameter of the retaining ring 11 is adapted to the size of the spray gun 12. After the spray gun 12 is inserted into the elastic retaining ring 11, the bottom of the elastic retaining ring 11 can be sealed with bolts to clamp the spray gun 12, thereby improving the stability of the spray gun 12 installation. By setting up the spray gun 12, wet spraying can be performed. One end of the spray gun 12 is connected to a pipe for conveying slurry. By setting up the electrical box 13 and the junction box 14, the power lines used by the two sets of robotic arms, the two sets of rotating mechanisms and the spray gun 12 can be centralized to avoid messy wiring and affect the use of the robotic arms.

[0030] Working principle: The operator operates the spraying machine. When the spraying machine is in use, the first robotic arm 4 can be moved by the hydraulic rod 5 to adjust the overall height of the robotic arm. When the hydraulic rod 5 is retracted, the first robotic arm 4 can be folded. While the first robotic arm 4 is moving, it will rotate on the inner wall of the rotating seat 3 on the base 2. When it is necessary to adjust the direction of the robotic arm, the first robotic arm 4 and the second robotic arm 7 can be rotated as a whole by the first rotating mechanism 6. If it is necessary to rotate the second robotic arm 7, it can be driven by the second rotating mechanism 8. When spraying is working, the spray gun 12 installed on the mounting seat 9 at one end of the second robotic arm 7 is working. One end of the spray gun 12 is connected to a pipe for conveying slurry.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A folding robotic arm structure for spraying wet machine construction, comprising a body (1), characterized in that, Also includes: A base (2) is set above the body (1). A rotating seat (3) is fixed on the top of the base (2). A first mechanical arm (4) is rotatably connected to the inner wall of the rotating seat (3). Two symmetrical hydraulic rods (5) are fixed between the base (2) and the first mechanical arm (4). A first rotating mechanism (6) is installed inside the body (1) to drive the first robotic arm (4) to rotate; A second mechanical arm (7) is disposed above the first mechanical arm (4), and a second rotating mechanism (8) is provided between the first mechanical arm (4) and the second mechanical arm (7) for driving the second mechanical arm (7) to rotate.

2. The folding robotic arm structure for spraying wet machine construction according to claim 1, characterized in that: The first rotating mechanism (6) includes a first motor (61) fixed to the inner wall of the machine body (1), and a first rotating shaft (62) is fixed to the output end of the first motor (61). The first rotating shaft (62) is rotatably connected to the inner wall of the machine body (1).

3. The folding robotic arm structure for spraying wet machine construction according to claim 2, characterized in that: The top end of the first rotating shaft (62) is fixed with a first rotating plate (63), which is bolted to the bottom of the base (2).

4. The folding robotic arm structure for spraying wet machine construction according to claim 1, characterized in that: The top of the body (1) is provided with a first limiting groove (64), and the inner wall of the first limiting groove (64) is rotatably connected with a first limiting ring (65), which is fixed to the bottom of the first rotating plate (63).

5. The folding robotic arm structure for spraying wet machine construction according to claim 1, characterized in that: The second rotating mechanism (8) includes a drive box (81) fixed to one end of the first robotic arm (4). A second motor (82) is fixed to the inner wall of the drive box (81). A second rotating shaft (83) is fixed to the output end of the second motor (82). The second rotating shaft (83) is rotatably connected to the inner wall of the drive box (81).

6. The folding robotic arm structure for spraying wet machine construction according to claim 5, characterized in that: The top of the second rotating shaft (83) is fixed with a second rotating plate (84), and the top of the drive box (81) is provided with a second limiting groove (85). The inner wall of the second limiting groove (85) is rotatably connected with a second limiting ring (86), and the second limiting ring (86) is fixed to the bottom of the second rotating plate (84).

7. The folding robotic arm structure for spraying wet machine construction according to claim 6, characterized in that: A column (87) is fixed to the top of the second rotating plate (84), and the column (87) is fixed to the bottom of the second robotic arm (7).

8. The folding robotic arm structure for spraying wet machine construction according to claim 1, characterized in that: The second robotic arm (7) is detachably mounted with a mounting base (9) at one end. A connecting rod (10) is fixed to the outside of the mounting base (9). An elastic retaining ring (11) is fixed to the bottom end of the connecting rod (10). A spray gun (12) is provided on the inside of the elastic retaining ring (11).

9. The folding robotic arm structure for spraying wet machine construction according to claim 1, characterized in that: An electrical box (13) is fixed to the outside of the base (2), and a hub box (14) is fixed to the outside of the first robotic arm (4).

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