Intelligent gunite robot

Abstract

The utility model provides a kind of intelligent shotcrete mechanical hand, including mechanical arm main body, support arm, shotcrete nozzle and detection mechanism, the mechanical arm main body swing end is connected the support arm, the support arm is installed the shotcrete nozzle at the end away from the mechanical arm main body, and the periphery side wall of the support arm is all provided with the detection mechanism;Multiple different position thickness data can be acquired simultaneously in the application, control system can use algorithm (such as taking average, taking median, ignoring abnormal value) to process these data, filter out accidental interference, and the obtained spray thickness data is much more stable, more reliable than single-point measurement;Four detection support rods provide four reference point selections, even if one or two directions of sight are blocked, the application can still obtain effective reference distance data from other directions, ensure the continuity of measurement, and avoid using in corner, cavern intersection, area with a large number of supporting steel.

Description

Technical Field

[0001] This utility model relates to the field of intelligent shotcrete manipulators, and in particular to an intelligent shotcrete manipulator. Background Technology

[0002] Automated wet spraying robots are gradually replacing traditional manual spraying. To improve spraying quality, existing technologies typically integrate distance measuring devices into the robots to monitor the concrete spray thickness in real time. Chinese utility model patent CN217530858U discloses a fully automatic wet spraying robot that uses a single arm equipped with a laser ranging probe to estimate thickness by calculating the distance difference between the probe at the nozzle and the probe in the reference area. However, this method has insufficient measurement reliability. The single-point measurement method is prone to data distortion due to local unevenness of the working surface, obstruction by obstacles (such as support steel bars), or interference from spray splashes. Secondly, it has poor environmental adaptability. In complex tunnel intersections, corners, or narrow areas, the reference point of the single arm is easily blocked, causing the automatic measurement system to fail. Utility Model Content

[0003] (a) Technical problems to be solved To address the aforementioned problems in the prior art, this utility model provides an intelligent shotcrete robot.

[0004] (II) Technical Solution To achieve the above objectives, the main technical solutions adopted by this utility model include: A smart shotcrete manipulator includes a manipulator body, a support arm, a shotcrete nozzle, and a detection mechanism; The movable end of the main body of the robotic arm is connected to the support arm; The shotcrete nozzle is installed at the end of the support arm away from the main body of the robotic arm, and the detection mechanism is provided on all four sides of the support arm. The detection mechanism includes a mounting slot, a detection support rod, and a laser ranging probe; The mounting groove is formed on the side wall surface of the support arm; The detection rod is installed in the mounting groove, and the end of the detection rod near the shotcrete nozzle is connected to the inner wall of the mounting groove via a hinge; The laser ranging probe is mounted on the surface of the detection support rod.

[0005] Preferably, the detection mechanism includes a fixing plate and a fixing screw; The fixing plate is positioned directly above the end of the mounting groove near the shotcrete nozzle; The fixing screw is threaded onto the fixing plate; The probe support rod has a positioning groove corresponding to the fixing screw.

[0006] Preferably, it also includes a U-shaped fixing frame, wherein the two free ends of the U-shaped fixing frame are respectively provided with the shotcrete nozzle and the limiting tube.

[0007] Preferably, a laser ranging probe is provided at the end of the U-shaped fixing frame away from the main body of the robotic arm.

[0008] Preferably, a groove is formed on the surface of the detection support rod, a slider is slidably installed in the groove, the laser ranging probe is installed on the surface of the slider, and the slider is fixed in the groove by a fixing member.

[0009] Preferably, the laser ranging probe is electrically connected to a PLC controller, and the PLC controller is electrically connected to an audible and visual alarm.

[0010] (III) Beneficial Effects The beneficial effects of this utility model are as follows: 1. This application can acquire thickness data from multiple different locations simultaneously. The control system can use algorithms (such as averaging, median, and ignoring outliers) to process these data, filter out accidental interference, and obtain coating thickness data that is far more stable and reliable than single-point measurement. 2. The four probes provide four reference point options. Even if the line of sight is blocked in one or two directions, this application can still obtain effective reference distance data from other directions, ensuring the continuity of measurement and avoiding the inability to use the device at corners, cavern intersections, or areas with a large amount of support steel bars. 3. When it is not necessary to obtain the spray thickness of the sprayed grout, the detection support rod is stored in the mounting groove and can measure the distance between the spray nozzle and obstacles in four directions (up, down, left, and right), thus avoiding the spray nozzle from contacting obstacles. Attached Figure Description

[0011] Figure 1 A schematic diagram of the structure of an intelligent shotcrete robot; Figure 2 for Figure 1 Enlarged diagram of section A in the middle; Figure 3 This is a schematic diagram of the structure of the second embodiment of the present utility model.

[0012] [Explanation of Labels in the Attached Image] 1. Main body of the robotic arm; 2. Support arm; 3. Detection mechanism; 31. Detection support rod; 32. Laser rangefinder probe; 33. Mounting slot; 34. Fixing screw; 35. Fixing plate; 36. Slide groove; 37. Slider; 38. Fixing component; 4. Shotcrete nozzle; 5. Limiting tube; 6. U-shaped fixing bracket. Detailed Implementation

[0013] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0014] Please refer to Figures 1 to 2 The first embodiment of this utility model: A smart shotcrete manipulator includes a manipulator body 1, a support arm 2, a shotcrete nozzle 4, and a detection mechanism 3; The movable end of the robotic arm body 1 is connected to the support arm 2; A shotcrete nozzle 4 is installed at the end of the support arm 2 away from the main body 1 of the robotic arm, and detection mechanisms 3 are provided on all four sides of the support arm 2. The detection mechanism 3 includes a mounting slot 33, a detection support rod 31, and a laser ranging probe 32; Mounting groove 33 is formed on the side wall surface of support arm 2; The probe rod 31 is installed in the mounting groove 33, and the end of the probe rod 31 near the shotcrete nozzle 4 is connected to the inner wall of the mounting groove 33 by a hinge. The laser ranging probe 32 is mounted on the surface of the detection support rod 31.

[0015] Preferably, the detection mechanism 3 includes a fixing plate 35 and a fixing screw 34; The fixing plate 35 is positioned directly above the end of the mounting groove 33 near the shotcrete nozzle 4; The fixing screw 34 is threaded onto the fixing plate 35; The probe support rod 31 has a positioning groove corresponding to the fixing screw 34.

[0016] It also includes a U-shaped fixing frame 6, with a shotcrete nozzle 4 and a limiting tube 5 respectively installed at the two free ends of the U-shaped fixing frame 6, and a laser rangefinder 32 installed at the end of the U-shaped fixing frame 6 away from the main body of the robotic arm 1. In use, the concrete delivery pipe is connected to the spray nozzle 4. The support arm 2 is moved by the main body 1 of the robotic arm to control the spraying. The laser ranging probe 32 in the U-shaped fixing frame 6 is aligned with the spraying position of the spray nozzle 4. Then, the detection support rod 31 is flipped outward from the mounting groove 33. Multiple laser ranging probes 32 on the multiple detection mechanisms 3 are used to simultaneously calibrate multiple reference areas. The difference between the distance detected by the laser ranging probe 32 in the U-shaped fixing frame 6 and the distance detected by the laser ranging probe 32 on the detection mechanism 3 is the spraying thickness of the concrete, thus enabling rapid measurement of the spraying thickness of the concrete. This application can simultaneously acquire thickness data from multiple different locations. The control system can use an algorithm (such as taking...) The system intelligently processes these data (average value, median, and ignoring outliers) to filter out accidental interference, resulting in more stable and reliable spray thickness data than single-point measurements. Furthermore, the four probe rods 31 provide four reference point options, ensuring that even if the line of sight is blocked in one or two directions, the system can still obtain effective reference distance data from other directions, guaranteeing measurement continuity and preventing inaccessibility at corners, cavern intersections, or areas with a large amount of reinforcing steel. When it is not necessary to obtain the spray thickness, the probe rods 31 are stored in the mounting slot 33 and can measure the distance between the spray nozzle 4 and obstacles in four directions (up, down, left, and right), preventing the spray nozzle 4 from contacting obstacles.

[0017] In this embodiment, a groove 36 is provided on the surface of the detection rod 31, and a slider 37 is slidably installed in the groove 36. The laser ranging probe 32 is installed on the surface of the slider 37, and the slider 37 is fixed in the groove 36 by a fixing member 38. In use, the position of the laser ranging probe 32 can be adjusted according to actual needs, and then fixed by the fixing member 38.

[0018] In this embodiment, the laser ranging probe 32 is electrically connected to the PLC controller, and the PLC controller is electrically connected to the audible and visual alarm. When in use, the detection support rod 31 is stored in the mounting slot 33 to measure the distance between the obstacle and the nozzle 4 in the four directions of up, down, left, and right. When the distance between the obstacle and the nozzle is too close, the audible and visual alarm will sound an alarm.

[0019] refer to Figure 3 The second embodiment of this utility model: In this embodiment, the detection mechanism 3 at the top of the support arm 2 adopts an offset design, which does not affect the connection of the concrete delivery pipe to the spray nozzle 4.

[0020] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this utility model does not involve any improvement to the software and methods.

[0021] The above are merely embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

[0022] 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. An intelligent shotcrete robot, characterized in that, Includes the main body of the robotic arm, the support arm, the shotcrete nozzle, and the detection mechanism; The movable end of the main body of the robotic arm is connected to the support arm; The shotcrete nozzle is installed at the end of the support arm away from the main body of the robotic arm, and the detection mechanism is provided on all four sides of the support arm. The detection mechanism includes a mounting slot, a detection support rod, and a laser ranging probe; The mounting groove is formed on the side wall surface of the support arm; The detection rod is installed in the mounting groove, and the end of the detection rod near the shotcrete nozzle is connected to the inner wall of the mounting groove via a hinge; The laser ranging probe is mounted on the surface of the detection support rod.

2. The intelligent shotcrete robot according to claim 1, characterized in that, The detection mechanism includes a fixing plate and a fixing screw; The fixing plate is positioned directly above the end of the mounting groove near the shotcrete nozzle; The fixing screw is threaded onto the fixing plate; The probe support rod has a positioning groove corresponding to the fixing screw.

3. The intelligent shotcrete robot according to claim 1, characterized in that, It also includes a U-shaped fixing frame, with the shotcrete nozzle and the limiting tube respectively installed at the two free ends of the U-shaped fixing frame.

4. The intelligent shotcrete robot according to claim 3, characterized in that, A laser ranging probe is installed at the end of the U-shaped fixing frame away from the main body of the robotic arm.

5. The intelligent shotcrete robot according to claim 1, characterized in that, The surface of the detection support rod is provided with a sliding groove, and a slider is slidably installed in the sliding groove. The laser ranging probe is installed on the surface of the slider, and the slider is fixed in the sliding groove by a fixing component.

6. The intelligent shotcrete robot according to claim 1, characterized in that, The laser ranging probe is electrically connected to the PLC controller, and the PLC controller is electrically connected to the audible and visual alarm.

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