A concrete wet spraying apparatus

Abstract

The application discloses a concrete wet spraying device and relates to the technical field of concrete wet spraying, which comprises a moving trolley and a mechanical arm arranged on the moving trolley, a spraying gun for spraying concrete is fixedly arranged on the mechanical arm, a receiving tray for receiving most of rebounded and fallen concrete is fixedly arranged on the mechanical arm, an auxiliary mechanism for assisting in pushing concrete is arranged in the receiving tray, and a slicing section for slicing the concrete mixed with wall skin by moving is arranged at the moving end of the auxiliary mechanism. The receiving tray adopts a conical structure, the receiving tray is directly located below the spraying head, most of the rebounded and fallen concrete can be captured from the source, a ring-shaped groove is arranged in the top end of the receiving tray, the concrete received by the receiving tray is prevented from sliding out from the edge when the receiving tray is in an inclined operation, the recovery rate is ensured, and the waste of concrete is reduced.

Description

Technical Field

[0001] This application relates to the field of wet concrete spraying technology, and in particular to a wet concrete spraying device. Background Technology

[0002] In tunnel support construction, wet concrete spraying technology is widely used due to its advantages such as less dust, lower rebound rate, and higher lining strength. Existing wet spraying equipment typically consists of a mobile trolley, a robotic arm, and a spray gun. The robotic arm drives the spray gun to spray concrete onto the tunnel wall through manual or simple mechanical adjustments.

[0003] However, during the spraying process, due to factors such as inaccurate control of the spraying angle and distance, some rebound concrete is inevitably produced. This rebound material falls directly from the rock wall to the ground, not only causing a large amount of material waste, but also easily accumulating in the tunnel to form construction waste and polluting the working environment. Utility Model Content

[0004] To address the problem of waste in rebound concrete, this application provides a wet concrete spraying device.

[0005] The concrete wet spraying device provided in this application adopts the following technical solution:

[0006] A concrete wet spraying device includes a mobile trolley and a robotic arm mounted on the mobile trolley. A spray gun for spraying concrete is fixedly mounted on the robotic arm. A receiving tray for catching most of the rebound and falling concrete is fixedly mounted on the robotic arm. An auxiliary mechanism for assisting in pushing the concrete is provided inside the receiving tray. The moving end of the auxiliary mechanism is provided with a cutting blade for cutting concrete mixed with wall plaster by moving.

[0007] By adopting the above technical solutions, the mobile trolley allows the equipment to move freely inside the tunnel, while the robotic arm drives the spray gun to any complex location that needs to be sprayed. This is the foundation for achieving automation and large-scale operations. The spray gun is responsible for spraying concrete onto the tunnel wall at a specific speed and angle, and is the direct tool for forming the lining. The receiving plate can capture most of the rebound and falling concrete, reducing concrete waste. Through the cooperation of auxiliary mechanisms and slicers, the receiving plate can be prevented from clogging, and it can also cut up the mixed wall plaster and assist in pushing the concrete, transforming passive collection into active recycling.

[0008] Preferably, a conveying pipe communicating with the inside of the receiving plate is fixedly installed on the receiving plate, and a recycling box for receiving the recycled concrete in the conveying pipe is fixedly installed on the mobile trolley.

[0009] By adopting the above technical solution, the conveying pipe is a conveying channel connecting the receiving pan and the recycling bin, responsible for guiding the concrete collected in the receiving pan to the recycling bin.

[0010] Preferably, a distance sensor for monitoring the wet spray distance is fixedly installed on the spray gun, and a six-dimensional force sensor for dynamically capturing the spray tilt angle is fixedly installed on the spray gun.

[0011] By adopting the above technical solution, the distance sensor acts as the eyes of the device, which is used to monitor the distance between the spray gun head and the tunnel wall in real time. The six-dimensional force sensor acts as the tactile nerve of the device, which can measure force and torque, thereby indirectly and dynamically calculating the actual spray angle of the spray gun, and can sense the reaction force during spraying.

[0012] Preferably, the receiving plate is a hollow cone shape, and the top of the receiving plate is a circular groove.

[0013] By adopting the above technical solution, the conical shape of the receiving pan can guide the concrete to naturally converge and slide towards the central outlet, reducing the accumulation in the receiving pan.

[0014] Preferably, the auxiliary mechanism includes a connecting plate fixedly connected to the receiving plate, an auxiliary shell fixedly mounted on the connecting plate, a fixed cylinder fixedly mounted on the connecting plate, a movable cylinder fixedly connected to the slice on the fixed cylinder, and the movement of the slice is realized by a driving structure inside the fixed cylinder.

[0015] By adopting the above technical solution, the connecting plate fixes the entire auxiliary mechanism on the receiving plate; the auxiliary shell provides a sealed or semi-sealed protective environment for the internal driving components to prevent cement slurry from seeping in; the fixed cylinder is the transmission frame, and the moving cylinder is the carrier of power output, directly driving the slice movement.

[0016] Preferably, the driving structure includes a servo motor fixedly mounted to the connecting plate, a threaded rod fixedly mounted on the driving end of the servo motor, a square block threaded on the threaded rod, a cylinder rotatably mounted on the square block, a slider fixedly mounted on the cylinder, a spiral groove slidably connected to the slider on the fixed cylinder, and a side of the slider away from the cylinder fixedly connected to the moving cylinder.

[0017] By adopting the above technical solution, the servo motor provides precise and controllable rotational motion, while the threaded rod converts the rotational motion of the motor into linear motion. The cylinder follows the square block in linear motion, and the slider on it is embedded in the spiral groove of the fixed cylinder. When the slider is forced to make up-and-down linear motion in the spiral groove, the trajectory of the groove will force the slider to rotate along the path of the groove at the same time, thereby converting the linear motion into a composite motion of spiral upward / downward movement. The moving cylinder is driven by the slider, transmitting this composite motion of up-and-down movement and rotation to the slice.

[0018] Preferably, the inner wall of the fixing cylinder is square, and the shape of the square block is adapted to the shape of the inner wall of the fixing cylinder.

[0019] By adopting the above technical solution, the square block cooperates with the fixed cylinder of the square inner wall to ensure that when the threaded rod rotates, the square block can only move up and down in a strict straight line along the fixed cylinder, and will not rotate on its own.

[0020] Preferably, the servo motor is disposed inside the auxiliary housing.

[0021] By adopting the above technical solution, the auxiliary shell encapsulates the precision servo motor, which can isolate cement, dust and moisture to the greatest extent, significantly improving the durability, reliability and service life of the equipment.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] 1. The spray gun is equipped with a distance sensor that monitors the wet spraying distance in real time, and a six-dimensional force sensor that dynamically captures the spraying angle and reaction force. Through a feedback mechanism, the posture of the robotic arm is automatically adjusted to ensure that the spraying parameters are within the optimal range. This avoids the experience error in traditional manual operation, improves the adhesion, density and surface smoothness of concrete, and reduces quality defects such as hollowness and cracking.

[0024] 2. The receiving plate adopts a conical structure and is located directly below the nozzle. It can capture most of the rebound and falling concrete from the source. The top of the receiving plate is designed with an annular groove, which prevents the concrete caught by the receiving plate from slipping out of the edge when the receiving plate is tilted, thus ensuring the recycling rate and reducing concrete waste.

[0025] 3. The spiral groove guides the slider to drive the moving cylinder to rotate and move, and drives the double blades to rotate at high speed. The blades fit the inner diameter of the outlet pipe of the receiving plate, which can not only cut large pieces of concrete to prevent blockage, but also push the material into the conveying pipe by the rotational thrust. The rotating blades can effectively break up concrete that may clump or contain large wall plaster, preventing blockage at the outlet, and can also actively push the material into the conveying pipe by the rotational thrust, so as to prevent the concrete from falling under gravity when the receiving plate is tilted. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this application;

[0027] Figure 2 This is a schematic diagram of the takeover structure in this application;

[0028] Figure 3 This is a cross-sectional view of the internal structure of the structure acquired in this application;

[0029] Figure 4 This is a schematic diagram of the auxiliary mechanism structure of this application;

[0030] Figure 5 for Figure 4Enlarged structural diagram at point A in the middle;

[0031] Figure 6 This is a partial structural diagram of the auxiliary mechanism of this application.

[0032] Attached reference numerals: 1. Mobile trolley; 2. Robotic arm; 3. Spray gun; 31. Distance sensor; 32. Six-dimensional force sensor; 4. Receiving tray;

[0033] 5. Auxiliary mechanism; 51. Connecting plate; 52. Auxiliary shell; 53. Servo motor; 54. Fixed cylinder; 55. Moving cylinder; 56. Spiral groove; 57. Slider; 58. Square block; 59. Cylinder; 510. Threaded rod;

[0034] 6. Slicing; 7. Delivery pipe; 8. Recycling bin. Detailed Implementation

[0035] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.

[0036] This application discloses a concrete wet spraying device.

[0037] Reference Figure 1 , Figure 2 A concrete wet spraying device includes a mobile trolley 1 and a robotic arm 2 mounted on the mobile trolley 1. The top of the robotic arm 2 is fixedly installed on the surface of a spray gun 3, which is used to spray concrete. The top of the robotic arm 2 is fixedly installed on the surface of a receiving plate 4, which is used to catch most of the rebounding and falling concrete. An auxiliary mechanism 5 is provided inside the receiving plate 4 to assist in pushing the concrete to move. A slicer 6 is provided at the moving end of the auxiliary mechanism 5, which is used to cut the concrete mixed with wall plaster by moving. The bottom end of the receiving plate 4 is fixedly installed on the top of a conveying pipe 7, and the interior of the receiving plate 4 is connected to the interior of the conveying pipe 7. The surface of the conveying pipe 7 is fixedly installed on the surface of the robotic arm 2. The surface of the mobile trolley 1 is installed on the lower surface of a recycling box 8, which is used to catch the concrete recycled in the conveying pipe 7. The receiving plate 4 is hollow and conical, and the top of the receiving plate 4 has an annular groove inside to prevent concrete from slipping off the edge. The slicer 6 can be made of high-chromium alloy cast iron, which can effectively resist the severe wear of sand and aggregate in concrete and has a service life far exceeding that of ordinary steel.

[0038] During use, the robotic arm 2 moves the spray gun 3 and the receiving plate 4 within the concrete wet spraying range. The spray gun 3 sprays concrete onto the inner wall of the tunnel, and the receiving plate 4 is located below the spray gun 3. When the spray gun 3 sprays onto the inner wall of the tunnel, some concrete will inevitably bounce back. The bounced concrete falls onto the receiving plate 4. The inner wall and top of the receiving plate 4 are inclined to facilitate the concrete to slide into the interior of the receiving plate 4. Through the action of the auxiliary mechanism 5 and the slicer 6, large pieces of concrete are cut into pieces to prevent blockage. The material can also be spirally pushed into the interior of the conveying pipe 7 by the rotational thrust. The bottom end of the conveying pipe 7 is pleated and can be stretched and contracted to adapt to the movement of the robotic arm 2. The concrete inside the conveying pipe 7 falls into the interior of the recycling box 8 through the stretching of the conveying pipe 7 and its own gravity for recycling, reducing concrete waste. The conveying pipe 7 is made of steel wire reinforced polyurethane (PU) hose. The wear resistance of polyurethane is 5-8 times that of natural rubber, which can resist the erosion of concrete slurry for a long time.

[0039] Reference Figure 1 The outer surface of the spray gun 3 is fixedly installed with the distance sensor 31 and the six-dimensional force sensor 32 respectively. The distance sensor 31 is used to monitor the distance of the wet spray of the spray gun 3, and the six-dimensional force sensor 32 is used to dynamically capture the spray angle of the spray gun 3.

[0040] By connecting the spray gun 3 to the robotic arm 2, the robotic arm 2 drives the spray gun 3 to spray concrete onto the inner wall of the tunnel. The spray gun 3 drives the distance sensor 31 and the six-dimensional force sensor 32 to move. The posture of the robotic arm 2 is automatically adjusted through the feedback mechanism to ensure that the spraying parameters are within the optimal range, thus avoiding the experience error in traditional manual operation.

[0041] Reference Figure 3 , Figure 4 The auxiliary mechanism 5 includes a connecting plate 51 fixedly connected to the receiving plate 4. The connecting plate 51 is inclined to prevent concrete from remaining on the connecting plate 51. The upper surface of the end of the connecting plate 51 away from the receiving plate 4 is fixedly connected to the lower surface of the auxiliary shell 52. The lower surface of the end of the connecting plate 51 away from the receiving plate 4 is fixed to the upper surface of the fixed cylinder 54. The outer wall of the fixed cylinder 54 slides against the inner wall of the moving cylinder 55, and there is no gap between the fixed cylinder 54 and the moving cylinder 55 to prevent concrete from entering the moving cylinder 55. The outer wall of the moving cylinder 55 is connected to the surface of the slice 6. The slice 6 is fan-shaped, and the end of the slice 6 away from the moving cylinder 55 is relatively sharp, which can cut through uncured concrete and adhered wall plaster. The movement of the slice 6 is realized by a driving structure inside the fixed cylinder 54.

[0042] The principle of the connecting plate 51 is that one end of the receiving plate 4 is located at the center of the receiving plate 4, and the bottom end of the receiving plate 4 is cylindrical, which is set as the outlet end of the receiving plate 4. The end of the slice 6 away from the moving cylinder 55 is close to the inner wall of the outlet end of the receiving plate 4 to avoid missing the concrete inside the outlet end of the receiving plate 4. The moving cylinder 55 drives the slice 6 to move up and down in a spiral motion, which can not only cut up large pieces of concrete to prevent blockage, but also push the material into the conveying pipe 7 by rotational thrust, so as to prevent the concrete from falling under gravity when the receiving plate 4 is tilted.

[0043] Reference Figure 5 , Figure 6 The drive structure includes a servo motor 53 fixedly mounted on a connecting plate 51. The mounting end of the servo motor 53 is fixed to the upper surface of the connecting plate 51. The drive end of the servo motor 53 is connected to the top end of a threaded rod 510 via a coupling. The threaded end of the threaded rod 510 is threadedly connected to a square block 58. The upper surface of the square block 58 is rotatably connected to a cylinder 59. The cylinder 59 rotates around the threaded rod 510. The outer surface of the cylinder 59 is connected to one end of a slider 57. The other end of the slider 57 is connected to the inner wall of a moving cylinder 55. A spiral groove is formed on the surface of the fixed cylinder 54. 56. The spiral groove 56 penetrates the interior of the fixed cylinder 54 and is slidably connected to the slider 57. The inner wall of the fixed cylinder 54 is square, and the shape of the square block 58 is adapted to the shape of the inner wall of the fixed cylinder 54 to restrict the square block 58 from rotating with the threaded rod 510, thereby realizing the up and down movement of the square block 58. The servo motor 53 is set inside the auxiliary shell 52, which is conical in shape, to prevent falling concrete from accumulating on the auxiliary shell 52. The moving cylinder 55 completely covers the spiral groove 56 to prevent concrete from entering from the inside of the spiral groove 56.

[0044] In use, the servo motor 53 drives the threaded rod 510 to rotate, and the threaded rod 510 drives the square block 58 to slide inside the fixed cylinder 54. This allows the square block 58 to slide up and down inside the fixed cylinder 54 through the forward and reverse rotation of the servo motor 53. When the square block 58 slides up and down, it drives the cylinder 59, which is rotatably connected to the square block 58, to move up and down. The cylinder 59 slides inside the spiral groove 56 through the slider 57, so that the slider 57 spirals upward and rotates along the direction of the spiral groove 56 when it moves up and down. When the slider 57 rotates, it drives the moving cylinder 55 to rotate. The rotating cylinder 55 drives the slice 6 to rotate. When the slice 6 rotates up and down, it can cut up the concrete with wall plaster and help push the concrete into the inside of the conveying pipe 7 for recycling. The movement of the slice 6 can also prevent the outlet of the receiving plate 4 from being blocked.

[0045] Among them, the servo motor 53, the distance sensor 31, and the six-dimensional force sensor 32 are existing technologies, and their structural principles will not be described in detail. The servo motor 53 is connected to the main control system of the device, such as a PLC, via a cable. The main control system receives signals from the distance sensor 31 and the six-dimensional force sensor 32 on the spray gun 3, as well as other operating statuses of the equipment, in real time. When the system needs to activate the anti-blocking function according to the preset time interval, it will send a start command to the servo motor 53. The servo motor 53 drives the threaded rod 510 to rotate forward and backward according to the command. Then, through the cooperation of the square block 58, the cylinder 59, the slider 57, and the spiral groove 56, the linear motion is converted into the composite spiral motion of the moving cylinder 55 and the slice 6, thereby realizing the chopping and pushing functions.

[0046] The implementation principle of the concrete wet spraying device in this application embodiment is as follows: the robotic arm 2 drives the spray gun 3 and the receiving plate 4 to move within the concrete wet spraying range. The spray gun 3 sprays concrete onto the inner wall of the tunnel. The receiving plate 4 is located below the spray gun 3. When the spray gun 3 sprays onto the inner wall of the tunnel, some concrete will inevitably bounce back. The bounced concrete falls onto the receiving plate 4. The inner wall and top of the receiving plate 4 are inclined to facilitate the concrete to slide into the interior of the receiving plate 4. Through the action of the auxiliary mechanism 5 and the slicer 6, large pieces of concrete are cut into pieces to prevent blockage. The material can also be spirally pushed into the interior of the conveying pipe 7 by the rotational thrust. The bottom end of the conveying pipe 7 is pleated and can be stretched and contracted to adapt to the movement of the robotic arm 2. The concrete inside the conveying pipe 7 falls into the interior of the recycling box 8 through the stretching of the conveying pipe 7 and its own gravity for recycling, reducing concrete waste.

[0047] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A concrete wet spraying device, characterized in that: It includes a mobile trolley (1) and a robotic arm (2) mounted on the mobile trolley (1). A spray gun (3) for spraying concrete is fixedly mounted on the robotic arm (2). A receiving plate (4) for catching most of the rebound and falling concrete is fixedly mounted on the robotic arm (2). An auxiliary mechanism (5) for assisting in pushing the concrete is provided inside the receiving plate (4). The moving end of the auxiliary mechanism (5) is provided with a cutting blade (6) for cutting the concrete mixed with wall plaster by moving.

2. The concrete wet spraying device according to claim 1, characterized in that: The receiving plate (4) is fixedly provided with a conveying pipe (7) that communicates with the inside of the receiving plate (4), and the mobile trolley (1) is fixedly provided with a recycling box (8) for receiving the recycled concrete in the conveying pipe (7).

3. The concrete wet spraying device according to claim 1, characterized in that: The spray gun (3) is fixedly equipped with a distance sensor (31) for monitoring the wet spray distance, and the spray gun (3) is fixedly equipped with a six-dimensional force sensor (32) for dynamically capturing the spray tilt angle.

4. A concrete wet spraying device according to claim 2, characterized in that: The receiving plate (4) is a hollow cone shape, and the top of the receiving plate (4) is a circular groove.

5. A concrete wet spraying device according to claim 1, characterized in that: The auxiliary mechanism (5) includes a connecting plate (51) fixedly connected to the receiving plate (4), an auxiliary shell (52) fixedly provided on the connecting plate (51), a fixed cylinder (54) fixedly provided on the connecting plate (51), a movable cylinder (55) fixedly connected to the slice (6) provided on the fixed cylinder (54), and the movement of the slice (6) is realized in the fixed cylinder (54) by a driving structure.

6. A concrete wet spraying device according to claim 5, characterized in that: The drive structure includes a servo motor (53) fixedly mounted on a connecting plate (51). A threaded rod (510) is fixedly mounted on the drive end of the servo motor (53). A square block (58) is threaded onto the threaded rod (510). A cylinder (59) is rotatably mounted on the square block (58). A slider (57) is fixedly mounted on the cylinder (59). A spiral groove (56) is provided on the fixed cylinder (54) and is slidably connected to the slider (57). The end of the slider (57) away from the cylinder (59) is fixedly connected to the moving cylinder (55).

7. A concrete wet spraying device according to claim 6, characterized in that: The inner wall of the fixed cylinder (54) is square, and the shape of the square block (58) is adapted to the shape of the inner wall of the fixed cylinder (54).

8. A concrete wet spraying device according to claim 6, characterized in that: The servo motor (53) is located inside the auxiliary housing (52).

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