CN104165062B - A kind of obstacle detouring shotcrete robot - Google Patents
A kind of obstacle detouring shotcrete robot Download PDFInfo
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- CN104165062B CN104165062B CN201410401513.3A CN201410401513A CN104165062B CN 104165062 B CN104165062 B CN 104165062B CN 201410401513 A CN201410401513 A CN 201410401513A CN 104165062 B CN104165062 B CN 104165062B
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- crawler
- hydraulic cylinder
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- 239000011378 shotcrete Substances 0.000 title abstract description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000009471 action Effects 0.000 claims abstract description 34
- 239000007921 spray Substances 0.000 claims description 44
- 230000005540 biological transmission Effects 0.000 claims description 13
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 238000004880 explosion Methods 0.000 claims description 6
- 241000227287 Elliottia pyroliflora Species 0.000 claims description 5
- 239000004567 concrete Substances 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 4
- 239000003245 coal Substances 0.000 abstract description 3
- 241000219098 Parthenocissus Species 0.000 abstract 2
- 238000000034 method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention discloses a kind of obstacle detouring shotcrete robot, comprise chassis, actuating unit, equipment and hydraulic control system, chassis comprises vehicle frame and is arranged on the running gear of frame downward, running gear is four crawler units, it comprises main creeper undercarriage and obstacle detouring creeper undercarriage, equipment comprises jib and is arranged on the shower head mechanism of jib front end, jib is connected with vehicle frame by slew gear, actuating unit and hydraulic control system are all arranged on vehicle frame, and the action of hydraulic control system to described jib, shower head mechanism and running gear controls.Entirety of the present invention is small and exquisite, flexibly and easily, is particularly useful for coal mine roadway etc. to the conditional occasion of working space, greatly can improves the efficiency of construction in tunnel and tunnel, alleviate the burden of staff.
Description
Technical Field
The invention relates to a manipulator, in particular to an obstacle-crossing slurry spraying manipulator.
Background
At present, the use of a guniting manipulator is more and more extensive in tunnel construction of railways and highways, particularly concrete construction of coal mine roadways. The manipulator that uses in the colliery tunnel mainly is crawler-type manipulator, but at the earlier stage in-process of drivage in tunnel, mostly has the rubble, and shotcrete machine hand leads to unable big track owing to receive the restriction in space, causes crawler-type manipulator walking difficulty, uses extremely inconveniently.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
Disclosure of Invention
The invention provides the obstacle-crossing guniting manipulator for avoiding the defects in the prior art.
The technical scheme adopted by the invention is as follows:
the utility model provides a guniting manipulator hinders more, including the chassis, power unit, equipment and hydraulic control system, the chassis includes the frame and installs the running gear in the frame lower part, running gear is four crawler running gear, it includes main crawler running gear and hinders more crawler running gear, equipment includes the cantilever crane and sets up the shower nozzle mechanism at the cantilever crane front end, the cantilever crane passes through rotation mechanism and links to each other with the frame, power unit and hydraulic control system all set up on the frame, power unit includes the motor and by motor drive's hydraulic pump, the hydraulic pump is the duplex pump, it includes main pump and secondary pump, the main pump provides power for equipment and main crawler running gear, the secondary pump provides obstacle-crossing power for hindering more crawler running gear, the hydraulic control system is right cantilever crane, shower nozzle mechanism and running gear's action are controlled.
The hydraulic control system comprises an oil tank, the oil tank is arranged above the frame, a spray head action control loop, an arm support action control loop, a main track action control loop and an obstacle crossing track action control loop are arranged in the oil tank, the spray head action control loop, the arm support action control loop and the main track action control loop are all connected with a multi-way valve, and the multi-way valve is a load sensitive multi-way valve; the arm support action control loop comprises an arm support rotation branch, an arm support pitching branch and an arm support telescopic branch; the spray head action control loop comprises a spray head rotation branch, a spray head swinging branch and a spray head circle drawing branch; the main crawler motion control loop comprises two main crawler walking branches, a walking motor is arranged in each main crawler walking branch, and each walking motor is connected with the main pump through an oil supply pipeline; the obstacle crossing crawler motion control loop comprises two obstacle crossing crawler walking branches, each obstacle crossing crawler walking branch comprises a first telescopic hydraulic cylinder, and each first telescopic hydraulic cylinder is connected with the auxiliary pump through an oil supply pipeline.
The frame includes rectangular frame and lower rectangular frame, links to each other four spliced poles that are parallel to each other through four spliced poles that are parallel to each other between upper and lower rectangular frame the mounted position of spliced pole is two liang relative, wherein, the outside of two spliced poles that are located the place ahead has all linked firmly a fixed axle, all installs double sprocket on each fixed axle, is provided with first copper sheathing between double sprocket and the fixed axle, and double sprocket includes outer sprocket and interior sprocket, and the free end of fixed axle is provided with lock nut, is provided with the lock washer between lock nut and the outer sprocket, and upper and lower rectangular frame and spliced pole are made by the square steel.
The main crawler traveling mechanism comprises two parallel rear crawlers, each rear crawler is driven by one traveling motor, each rear crawler is sleeved on two rear crawler wheels which are arranged in tandem, the output shafts of the traveling motors are connected with the rear crawler wheels positioned in front respectively, the rear crawler wheels are fixedly connected with a first transmission shaft through bolts, the first transmission shaft is connected with a rear crawler chain wheel through a flat key, and the rear crawler chain wheel is connected with the inner chain wheel through a first chain.
The obstacle-crossing crawler traveling mechanism comprises two parallel front crawlers and two front crawler supporting plates for mounting the front crawlers, each front crawler is sleeved on two front crawler wheels which are arranged in tandem, wherein the front crawler wheel positioned at the rear is fixedly connected with a second transmission shaft through a bolt, the second transmission shaft is connected with a front crawler chain wheel through a flat key, the front crawler chain wheel is connected with an outer chain wheel through a second chain, a rotating hole is formed in the front crawler supporting plate, the front crawler supporting plate is sleeved between the inner chain wheel and the outer chain wheel, a second copper sleeve is arranged between the front crawler supporting plate and the fixed shaft, and the second copper sleeve is semicircular; the both sides of going up rectangular frame are provided with the first mount pad of flexible pneumatic cylinder respectively, the first mount pad of flexible pneumatic cylinder is located the place ahead of fixed axle, the outside of each preceding track backup pad all is provided with flexible pneumatic cylinder second mount pad, above-mentioned first flexible pneumatic cylinder one end links to each other with the first mount pad of flexible pneumatic cylinder, the other end links to each other with flexible pneumatic cylinder second mount pad, two above-mentioned first flexible pneumatic cylinders are parallelly connected, and supply oil pipe way is provided with first switching-over valve before two first flexible pneumatic cylinders, preceding track can lift up or fall under the drive of first flexible pneumatic cylinder.
The obstacle-crossing guniting manipulator further comprises a supporting leg mechanism, the supporting leg mechanism comprises two supporting legs, a supporting leg action control circuit is further arranged in the oil tank and comprises two supporting leg walking branches, each supporting leg walking branch comprises a supporting leg hydraulic cylinder, each supporting leg is driven by one supporting leg hydraulic cylinder respectively, each supporting leg can be lifted up or fall down under the drive of the supporting leg hydraulic cylinder, a cross beam is arranged between the two front crawler supporting plates, positioning plates are fixedly arranged at two ends of the cross beam, a supporting leg positioning seat and a supporting leg hydraulic cylinder positioning seat are fixedly arranged on the front end face of each positioning plate, the supporting legs are arranged on the supporting leg positioning seats through pin shafts, the supporting leg hydraulic cylinders are arranged on the supporting leg hydraulic cylinder positioning seats through pin shafts, each supporting leg hydraulic cylinder is connected with the auxiliary pump through, and the oil supply pipeline is provided with a second reversing valve in front of the two supporting leg hydraulic cylinders.
First hydraulic locks are arranged on the oil supply pipelines communicated with the first telescopic hydraulic cylinders and are positioned between the first reversing valves and the first telescopic hydraulic cylinders; and second hydraulic locks are arranged on the oil supply pipelines communicated with the supporting leg hydraulic cylinders and are positioned between the second reversing valves and the supporting leg hydraulic cylinders.
The spray head mechanism comprises a spray head and a spherical hinge seat connected with the spray head, and the spray head is connected with a concrete conveying pipe, a compressed air conveying pipe and an accelerator conveying pipe of the wet spraying machine; an autorotation motor is arranged in the nozzle autorotation branch and is connected with the main pump through an oil supply pipeline, and the nozzle is driven by the autorotation motor to rotate around the axis of the arm frame; a swinging hydraulic cylinder is arranged in the nozzle swinging branch, and the nozzle can rotate for 90 degrees around the axis vertical to the arm support under the driving of the swinging hydraulic cylinder; the circle drawing motor is arranged in the circle drawing branch of the spray head and drives the spray head to draw a circle around the spherical hinge seat through an eccentric wheel.
The slewing mechanism comprises a slewing bearing motor, a slewing bearing and a slewing pillar, the slewing bearing is arranged on the frame, one end of the slewing pillar is fixedly arranged above the slewing bearing, the slewing bearing motor is arranged on one side of the slewing bearing, the slewing bearing motor is arranged in a slewing branch of the arm support and is connected with the main pump through an oil supply pipeline, and the slewing bearing motor drives the slewing pillar to rotate relative to the frame under the control of a hydraulic control system; the other end of the rotary support is connected with an arm support, a pitching hydraulic cylinder is arranged in a pitching branch of the arm support, the pitching hydraulic cylinder is connected with a main pump through an oil supply pipeline, a third hydraulic lock is arranged on the oil supply pipeline communicated with the pitching hydraulic cylinder, a first pitching hydraulic cylinder seat ear is arranged at the lower part of the rotary support, a second pitching hydraulic cylinder seat ear is arranged at the lower part of the arm support, one end of the pitching hydraulic cylinder is connected with the first pitching hydraulic cylinder seat ear, and the other end of the pitching hydraulic cylinder is connected with the second pitching hydraulic cylinder seat ear; two second telescopic hydraulic cylinders are arranged in the telescopic branch of the arm support and are connected with the main pump through oil supply pipelines, and the two second telescopic hydraulic cylinders are arranged in the arm support in a reverse binding mode.
The main pump is a plunger type variable pump, the auxiliary pump is a gear pump, the upper portion of the frame is further provided with an anti-explosion box and a driving seat, the anti-explosion box is located behind the motor, the driving seat is located behind the oil tank, and the oil tank is further provided with an oil filter.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. two rear tracks and two front tracks are arranged under the chassis, the rear track chain wheel is driven by the traveling motor while the rear tracks are driven by the traveling motor, and the front tracks are driven by the rear track chain wheel through the double-row chain wheel and the second chain, so that the full driving of the traveling device can be realized only through the two traveling motors, the sliding and steering of the traveling device can also be realized, the structure of the whole machine is simple, and the manufacturing cost is reduced.
2. The guniting manipulator is hydraulically driven, when the guniting manipulator walks on a flat road surface, the front crawler belt and the rear crawler belt are in horizontal positions, when an obstacle is encountered, the front crawler belt is lifted, the supporting legs are lifted along with the front crawler belt, the guniting manipulator is favorable for crossing the obstacle, and the adaptability of the whole machine to severe working environments is improved.
3. The working device and the walking motor for driving the rear crawler are controlled by the load-sensitive multi-way valve, so that the simultaneous work of the slewing bearing motor, the pitching hydraulic cylinder, the swinging hydraulic cylinder, the walking motor and the like can be realized, and the utilization efficiency of energy is improved.
4. The invention is small and exquisite in whole, flexible and convenient, is particularly suitable for occasions with limited working space, such as coal mine tunnels and the like, can greatly improve the construction efficiency of tunnels and roadways and reduce the burden of workers.
Drawings
Fig. 1 is a front view of the obstacle-surmounting guniting manipulator walking at an obstacle.
Fig. 2 is a schematic structural view of the vehicle frame in the invention.
FIG. 3 is a schematic view showing the connection relationship between the fixed shaft and the double row sprocket and the front track support plate according to the present invention.
Fig. 4 is a schematic structural view of the obstacle crossing crawler traveling mechanism of the present invention.
Fig. 5 is a right side view of the obstacle detouring crawler travel unit of the present invention.
FIG. 6 is a schematic view of the connection between the rear track wheel and the rear track sprocket of the present invention.
Fig. 7 is a schematic diagram of a hydraulic control system of the present invention.
Fig. 8 is a schematic view of the working state of the obstacle-surmounting guniting manipulator in the invention.
Fig. 9 is a schematic view of the obstacle-surmounting guniting manipulator of the invention walking on a flat road surface.
Wherein,
1. the anti-explosion device comprises a power mechanism 101, a motor 102, a hydraulic pump 102.1, a main pump 102.2, a secondary pump 103, an anti-explosion box 2, a frame 201, an upper rectangular frame 202, a lower rectangular frame 203, a connecting column 204, a fixed shaft 205, a first mounting seat 206 of a telescopic hydraulic cylinder, a first copper bush 207, an inner chain wheel 208, a second copper bush 209, an outer chain wheel 210, a stop washer 211, a locking nut 3, a working device 301, a sprayer mechanism 302, an arm support 303, a rotary support 4, a rear crawler 402 of a main crawler walking mechanism 401, a rear crawler wheel 403, a first transmission shaft 404, a bolt 405, a rear crawler chain wheel 5, an obstacle crossing crawler walking mechanism 501, a front crawler 502, a front crawler support plate 503, a rotary hole 504, a second mounting seat 505 of a telescopic hydraulic cylinder, a cross beam 506, a front crawler chain wheel 6, a support leg mechanism 601, a support leg 602, a positioning plate 603, a hydraulic cylinder positioning, Oil filter 703, first directional control valve 704, first telescopic hydraulic cylinder 705, first hydraulic lock 706, leg hydraulic cylinder 707, second hydraulic lock 708, second directional control valve 709, multi-way valve 710, walking motor 711, swing hydraulic cylinder 712, second telescopic hydraulic cylinder 713, pitch hydraulic cylinder 714, third hydraulic lock 715, slewing bearing motor 8, riding seat
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, but the present invention is not limited to these examples.
As shown in fig. 1 to 9, an obstacle-crossing shotcrete manipulator comprises a chassis, a power mechanism 1, a working device 3 and a hydraulic control system 7, wherein the chassis comprises a frame 2 and a traveling device arranged at the lower part of the frame 2, the traveling device is a four-crawler traveling device and comprises a main crawler traveling mechanism 4 and an obstacle-crossing crawler traveling mechanism 5, the working device 3 comprises an arm support 302 and a spray head mechanism 301 arranged at the front end of the arm support 302, the arm support 302 is connected with the frame 2 through a slewing mechanism, the spray head mechanism 301 comprises a spray head and a spherical hinge seat connected with the spray head, the spray head is connected with a concrete conveying pipe, a compressed air conveying pipe and an accelerator conveying pipe of a wet shotcrete machine, the working device 3 has five degrees of freedom and comprises arm support slewing, arm support pitching, arm support telescoping, the spray head rotates around the axis of the arm support and the spray head rotates around a straight line vertical to the axis of the arm support, the, the power mechanism 1 comprises a motor 101 and a hydraulic pump 102 driven by the motor 101, the hydraulic pump 102 is connected with the motor 101 through a coupler, the hydraulic pump 102 is a duplex pump and comprises a main pump 102.1 and an auxiliary pump 102.2, the main pump 102.1 is a plunger type variable displacement pump, the auxiliary pump 102.2 is a gear pump, the main pump 102.1 provides power for a working device and a main crawler travel mechanism, the auxiliary pump 102.2 provides obstacle crossing power for the obstacle crossing crawler travel mechanism, and the hydraulic control system 7 controls the actions of the arm support 302, the spray head mechanism 301 and the travel mechanism; the upper portion of the frame 2 is further provided with an explosion-proof box 103 and a driver seat 8, the explosion-proof box 103 is located behind the motor 101, the driver seat 8 is located behind an oil tank 701, and the oil tank 701 is further provided with an oil filter 702.
The hydraulic control system comprises an oil tank 701, the oil tank 701 is installed above the frame 2, a spray head action control loop, an arm support action control loop, a main crawler action control loop and an obstacle crossing crawler action control loop are arranged in the oil tank 701, the spray head action control loop, the arm support action control loop and the main crawler action control loop are all connected with a multi-way valve 709, and the multi-way valve 709 is a load sensitive multi-way valve; the arm support action control loop comprises an arm support rotation branch, an arm support pitching branch and an arm support telescopic branch; the spray head action control loop comprises a spray head rotation branch, a spray head swinging branch and a spray head circle drawing branch; the main crawler motion control loop comprises two main crawler walking branches, a walking motor 710 is arranged in each main crawler walking branch, and each walking motor 710 is connected with the main pump 102.1 through an oil supply pipeline; the obstacle crossing crawler motion control loop comprises two obstacle crossing crawler walking branches, each obstacle crossing crawler walking branch comprises a first telescopic hydraulic cylinder 704, and each first telescopic hydraulic cylinder 704 is connected with the auxiliary pump 102.2 through an oil supply pipeline.
Frame 2 includes rectangular frame 201 and lower rectangular frame 202, links to each other through four spliced poles 203 that are parallel to each other between the upper and lower rectangular frame, four spliced pole 203's mounted position is two liang relative, wherein, the outside of two spliced poles that are located the place ahead has all linked firmly a fixed axle 204, all installs double sprocket on each fixed axle 204, is provided with wear-resisting first copper sheathing 206 between double sprocket and the fixed axle 204, and double sprocket includes outer sprocket 209 and inner sprocket 207, and the free end of fixed axle 204 is provided with lock nut 211, is provided with lock washer 210 between lock nut 211 and the outer sprocket 209, and upper and lower rectangular frame and spliced pole 203 are made by the square steel.
The main crawler travel mechanism 4 comprises two parallel rear crawlers 401, each rear crawler 401 is driven by one of the travel motors 710, each rear crawler 401 is sleeved on two rear crawler wheels 402 arranged in tandem, the output shafts of the travel motors 710 are connected with the rear crawler wheel positioned in front respectively and fixedly connected with a first transmission shaft 403 through bolts 404, the first transmission shaft 403 is connected with a rear crawler chain wheel 405 through a flat key, and the rear crawler chain wheel 405 is connected with the inner chain wheel 207 through a first chain.
The obstacle crossing crawler traveling mechanism 5 comprises two parallel front crawlers 501 and two front crawler support plates 502 for mounting the front crawlers 501, each front crawler 501 is sleeved on two front crawler wheels which are arranged in tandem and behind each other, wherein the front crawler wheel positioned behind is fixedly connected with a second transmission shaft through a bolt, the second transmission shaft is connected with a front crawler chain wheel 506 through a flat key, the front crawler chain wheel 506 is connected with an outer chain wheel 209 through a second chain, a rotating hole 503 is formed in the front crawler support plate 502, the front crawler support plate 502 is sleeved between the inner chain wheel and the outer chain wheel, the front crawler support plate 502 can rotate around a fixed shaft 204, a second copper bush 208 is arranged between the front crawler support plate 502 and the fixed shaft 204, and the second copper bush 208 is semicircular; the two sides of the upper rectangular frame 201 are respectively provided with a first mounting base 205 of a telescopic hydraulic cylinder, the first mounting base 205 of the telescopic hydraulic cylinder is positioned in front of the fixed shaft 204, the outer side of each front track supporting plate 502 is provided with a second mounting base 504 of the telescopic hydraulic cylinder, one end of the first telescopic hydraulic cylinder 704 is connected with the first mounting base 205 of the telescopic hydraulic cylinder, the other end is connected with the second mounting base 504 of the telescopic hydraulic cylinder, a first reversing valve 703 is arranged in front of the two first telescopic hydraulic cylinders 704, the front track 501 can be lifted up or down under the driving of the first telescopic hydraulic cylinder 704, the process is concretely that when walking on a flat road, the first telescopic hydraulic cylinder 704 extends to enable the front track 501 to be horizontal, when an obstacle is encountered, the first reversing valve 703 is controlled to enable the first telescopic hydraulic cylinder 704 to be shortened, the front end of the front track 501 is lifted up, and when the obstacle is crossed, the first reversing valve 703 is controlled to enable the first telescopic hydraulic cylinder 704, the front crawler 501 returns to the horizontal state.
The obstacle-crossing guniting manipulator further comprises a supporting leg mechanism 6, the supporting leg mechanism 6 comprises two supporting legs 601, a supporting leg action control loop is further arranged in the oil tank 701 and comprises two supporting leg walking branches, each supporting leg walking branch comprises a supporting leg hydraulic cylinder 706, each supporting leg 601 is driven by one supporting leg hydraulic cylinder 706, each supporting leg 601 can be lifted up or fall down under the driving of the supporting leg hydraulic cylinder 706, the process is specifically that when the obstacle-crossing guniting manipulator works, each supporting leg 601 is controlled to fall down by the supporting leg hydraulic cylinder 706, the stability of the guniting manipulator is enhanced, when the obstacle-crossing guniting manipulator is in a walking state, each supporting leg 601 is controlled to be lifted up by the supporting leg hydraulic cylinder 706, the whole machine can conveniently walk under the driving of a walking device, and a cross beam 505 is arranged between the two front crawler supporting plates 502, the two ends of the cross beam 505 are fixedly provided with positioning plates 602, the front end face of the positioning plate 602 is fixedly provided with a supporting leg positioning seat 604 and a supporting leg hydraulic cylinder positioning seat 603, the supporting leg 601 is mounted on the supporting leg positioning seat 604 through a pin shaft, the supporting leg hydraulic cylinders 706 are mounted on the supporting leg hydraulic cylinder positioning seat 603 through a pin shaft, each supporting leg hydraulic cylinder 706 is connected with the auxiliary pump 102.2 through an oil supply pipeline, and a second reversing valve 708 is arranged in front of each of the two supporting leg hydraulic cylinders 706.
Each oil supply pipeline communicated with each first telescopic hydraulic cylinder 704 is provided with a first hydraulic lock 705, and the first hydraulic lock 705 is positioned between the first reversing valve 703 and the first telescopic hydraulic cylinder 704; and a second hydraulic lock 707 is arranged on each oil supply pipeline communicated with each support leg hydraulic cylinder 706, and the second hydraulic lock 707 is positioned between the second reversing valve 708 and the support leg hydraulic cylinder 706.
An autorotation motor is arranged in the nozzle autorotation branch and is connected with the main pump 102.1 through an oil supply pipeline, and the nozzle rotates around the axis of the arm frame 302 under the driving of the autorotation motor; a swing hydraulic cylinder 711 is arranged in the spray head swing branch, and the spray head can rotate for 90 degrees around an axis perpendicular to the arm support 302 under the driving of the swing hydraulic cylinder 711; the circle drawing motor is arranged in the circle drawing branch of the spray head and drives the spray head to draw a circle around the spherical hinge seat through an eccentric wheel.
The slewing mechanism comprises a slewing bearing motor 715, a slewing support and a slewing pillar 303, the slewing support is arranged on the frame 2, one end of the slewing pillar 303 is fixedly arranged above the slewing support, the slewing bearing motor 715 is arranged on one side of the slewing support, the slewing bearing motor is arranged in a slewing branch of the arm support and is connected with the main pump 102.1 through an oil supply pipeline, and the slewing bearing motor 715 drives the slewing pillar 303 to rotate relative to the frame 2 under the control of a hydraulic control system 7; the other end of the slewing pillar 303 is connected with the arm support 302, a pitching hydraulic cylinder 713 is arranged in a pitching branch of the arm support, the pitching hydraulic cylinder 713 is connected with the main pump 102.1 through an oil supply pipeline, a third hydraulic lock 714 is arranged on the oil supply pipeline communicated with the pitching hydraulic cylinder 713, a first pitching hydraulic cylinder seat ear is arranged at the lower part of the slewing pillar 303, a second pitching hydraulic cylinder seat ear is arranged at the lower part of the arm support 302, one end of the pitching hydraulic cylinder 713 is connected with the first pitching hydraulic cylinder seat ear, and the other end of the pitching hydraulic cylinder 713 is connected with the second pitching hydraulic cylinder seat ear; two second telescopic hydraulic cylinders 712 are arranged in the telescopic branch of the arm support, the two second telescopic hydraulic cylinders 712 are connected with the main pump 102.1 through oil supply pipelines, and the two second telescopic hydraulic cylinders 712 are arranged in the arm support 302 in a reverse binding mode.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides a manipulator of patching hinders more, includes chassis, power unit, equipment and hydraulic control system, and the chassis includes the frame and installs the running gear in the frame lower part, its characterized in that: the walking device is a four-crawler walking device and comprises a main crawler walking mechanism and an obstacle crossing crawler walking mechanism, the working device comprises an arm support and a spray head mechanism arranged at the front end of the arm support, the arm support is connected with the frame through a swing mechanism, a power mechanism and a hydraulic control system are arranged on the frame, the power mechanism comprises a motor and a hydraulic pump driven by the motor, the hydraulic pump is a duplex pump and comprises a main pump and an auxiliary pump, the main pump provides power for the working device and the main crawler walking mechanism, the auxiliary pump provides obstacle crossing power for the obstacle crossing crawler walking mechanism, and the hydraulic control system controls the actions of the arm support, the spray head mechanism and the walking device; the hydraulic control system comprises an oil tank, the oil tank is arranged above the frame, a spray head action control loop, an arm support action control loop, a main track action control loop and an obstacle crossing track action control loop are arranged in the oil tank, the spray head action control loop, the arm support action control loop and the main track action control loop are all connected with a multi-way valve, and the multi-way valve is a load sensitive multi-way valve; the arm support action control loop comprises an arm support rotation branch, an arm support pitching branch and an arm support telescopic branch; the spray head action control loop comprises a spray head rotation branch, a spray head swinging branch and a spray head circle drawing branch; the main crawler motion control loop comprises two main crawler walking branches, a walking motor is arranged in each main crawler walking branch, and each walking motor is connected with the main pump through an oil supply pipeline; the obstacle crossing crawler motion control loop comprises two obstacle crossing crawler traveling branches, each obstacle crossing crawler traveling branch comprises a first telescopic hydraulic cylinder, and each first telescopic hydraulic cylinder is connected with the auxiliary pump through an oil supply pipeline; the frame comprises an upper rectangular frame and a lower rectangular frame, the upper rectangular frame and the lower rectangular frame are connected through four connecting columns which are parallel to each other, the mounting positions of the four connecting columns are opposite in pairs, wherein the outer sides of the two connecting columns positioned in front are fixedly connected with a fixed shaft, double-row chain wheels are mounted on the fixed shafts respectively, a first copper bush is arranged between each double-row chain wheel and the fixed shaft, each double-row chain wheel comprises an outer chain wheel and an inner chain wheel, a locking nut is arranged at the free end of the fixed shaft, a stop washer is arranged between each locking nut and the outer chain wheel, and the upper rectangular frame, the lower rectangular frame and the connecting columns are made; the spray head mechanism comprises a spray head and a spherical hinge seat connected with the spray head, and the spray head is connected with a concrete conveying pipe, a compressed air conveying pipe and an accelerator conveying pipe of the wet spraying machine; an autorotation motor is arranged in the nozzle autorotation branch and is connected with the main pump through an oil supply pipeline, and the nozzle is driven by the autorotation motor to rotate around the axis of the arm frame; a swinging hydraulic cylinder is arranged in the nozzle swinging branch, and the nozzle is driven by the swinging hydraulic cylinder to rotate for 90 degrees around the axis vertical to the arm support; the circle drawing motor is arranged in the circle drawing branch of the spray head and drives the spray head to draw a circle around the spherical hinge seat through an eccentric wheel.
2. The obstacle-surmounting guniting manipulator as claimed in claim 1, wherein: the main crawler traveling mechanism comprises two parallel rear crawlers, each rear crawler is driven by one traveling motor, each rear crawler is sleeved on two rear crawler wheels which are arranged in tandem, the output shafts of the traveling motors are connected with the rear crawler wheels positioned in front respectively, the rear crawler wheels are fixedly connected with a first transmission shaft through bolts, the first transmission shaft is connected with a rear crawler chain wheel through a flat key, and the rear crawler chain wheel is connected with the inner chain wheel through a first chain.
3. The obstacle-surmounting guniting manipulator as claimed in claim 2, wherein: the obstacle-crossing crawler traveling mechanism comprises two parallel front crawlers and two front crawler supporting plates for mounting the front crawlers, each front crawler is sleeved on two front crawler wheels which are arranged in tandem, wherein the front crawler wheel positioned at the rear is fixedly connected with a second transmission shaft through a bolt, the second transmission shaft is connected with a front crawler chain wheel through a flat key, the front crawler chain wheel is connected with the outer chain wheel through a second chain, a rotating hole is formed in the front crawler supporting plate, the front crawler supporting plate is sleeved between the inner chain wheel and the outer chain wheel, a second copper sleeve is arranged between the front crawler supporting plate and the fixed shaft, and the second copper sleeve is semicircular; the both sides of going up rectangular frame are provided with the first mount pad of flexible pneumatic cylinder respectively, the first mount pad of flexible pneumatic cylinder is located the place ahead of fixed axle, the outside of each preceding track backup pad all is provided with flexible pneumatic cylinder second mount pad, above-mentioned first flexible pneumatic cylinder one end links to each other with the first mount pad of flexible pneumatic cylinder, the other end links to each other with flexible pneumatic cylinder second mount pad, two above-mentioned first flexible pneumatic cylinders are parallelly connected, and supply oil pipe way is provided with first switching-over valve before two first flexible pneumatic cylinders, preceding track can lift up or fall under the drive of first flexible pneumatic cylinder.
4. The obstacle-surmounting guniting manipulator as claimed in claim 3, wherein: the obstacle-crossing guniting manipulator further comprises a supporting leg mechanism, the supporting leg mechanism comprises two supporting legs, a supporting leg action control circuit is further arranged in the oil tank and comprises two supporting leg walking branches, each supporting leg walking branch comprises a supporting leg hydraulic cylinder, each supporting leg is driven by one supporting leg hydraulic cylinder respectively, each supporting leg can be lifted up or fall down under the drive of the supporting leg hydraulic cylinder, a cross beam is arranged between the two front crawler supporting plates, positioning plates are fixedly arranged at two ends of the cross beam, a supporting leg positioning seat and a supporting leg hydraulic cylinder positioning seat are fixedly arranged on the front end face of each positioning plate, the supporting legs are arranged on the supporting leg positioning seats through pin shafts, the supporting leg hydraulic cylinders are arranged on the supporting leg hydraulic cylinder positioning seats through pin shafts, each supporting leg hydraulic cylinder is connected with the auxiliary pump through, and the oil supply pipeline is provided with a second reversing valve in front of the two supporting leg hydraulic cylinders.
5. The obstacle-surmounting guniting manipulator as claimed in claim 4, wherein: first hydraulic locks are arranged on the oil supply pipelines communicated with the first telescopic hydraulic cylinders and are positioned between the first reversing valves and the first telescopic hydraulic cylinders; and second hydraulic locks are arranged on the oil supply pipelines communicated with the supporting leg hydraulic cylinders and are positioned between the second reversing valves and the supporting leg hydraulic cylinders.
6. The obstacle-surmounting guniting manipulator as claimed in claim 1, wherein: the slewing mechanism comprises a slewing bearing motor, a slewing bearing and a slewing pillar, the slewing bearing is arranged on the frame, one end of the slewing pillar is fixedly arranged above the slewing bearing, the slewing bearing motor is arranged on one side of the slewing bearing, the slewing bearing motor is arranged in a slewing branch of the arm support and is connected with the main pump through an oil supply pipeline, and the slewing bearing motor drives the slewing pillar to rotate relative to the frame under the control of a hydraulic control system; the other end of the rotary support is connected with an arm support, a pitching hydraulic cylinder is arranged in a pitching branch of the arm support, the pitching hydraulic cylinder is connected with a main pump through an oil supply pipeline, a third hydraulic lock is arranged on the oil supply pipeline communicated with the pitching hydraulic cylinder, a first pitching hydraulic cylinder seat ear is arranged at the lower part of the rotary support, a second pitching hydraulic cylinder seat ear is arranged at the lower part of the arm support, one end of the pitching hydraulic cylinder is connected with the first pitching hydraulic cylinder seat ear, and the other end of the pitching hydraulic cylinder is connected with the second pitching hydraulic cylinder seat ear; two second telescopic hydraulic cylinders are arranged in the telescopic branch of the arm support and are connected with the main pump through oil supply pipelines, and the two second telescopic hydraulic cylinders are arranged in the arm support in a reverse binding mode.
7. The obstacle-surmounting guniting manipulator as claimed in claim 1, wherein: the main pump is a plunger type variable pump, the auxiliary pump is a gear pump, the upper portion of the frame is further provided with an anti-explosion box and a driving seat, the anti-explosion box is located behind the motor, the driving seat is located behind the oil tank, and the oil tank is further provided with an oil filter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410401513.3A CN104165062B (en) | 2014-08-15 | 2014-08-15 | A kind of obstacle detouring shotcrete robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410401513.3A CN104165062B (en) | 2014-08-15 | 2014-08-15 | A kind of obstacle detouring shotcrete robot |
Publications (2)
| Publication Number | Publication Date |
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| CN104165062A CN104165062A (en) | 2014-11-26 |
| CN104165062B true CN104165062B (en) | 2016-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410401513.3A Expired - Fee Related CN104165062B (en) | 2014-08-15 | 2014-08-15 | A kind of obstacle detouring shotcrete robot |
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| CN (1) | CN104165062B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104537945B (en) * | 2015-01-09 | 2017-04-26 | 山东科技大学 | Underground coal wall hole drilling robot simulation experiment machine and work method of underground coal wall hole drilling robot simulation experiment machine |
| CN104806268A (en) * | 2015-03-20 | 2015-07-29 | 山东新特机械设备有限公司 | Plunger pump type continuous wet-type guniting machine |
| CN113276085A (en) * | 2021-07-01 | 2021-08-20 | 顺德职业技术学院 | Chassis buffer protection structure of mobile robot |
| CN115571236B (en) * | 2022-12-07 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Manipulator with remove feedwater function |
| CN116441094B (en) * | 2023-04-20 | 2023-12-29 | 云南途腾智能装备有限公司 | Guniting mechanical arm for concrete wet spraying trolley |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007056585A (en) * | 2005-08-25 | 2007-03-08 | Tonneru No Rental:Kk | Working device for construction |
| CN101412414B (en) * | 2008-11-27 | 2010-07-14 | 北京林业大学 | Folding crawler type walking device and vehicle |
| CN202991064U (en) * | 2013-01-04 | 2013-06-12 | 北京华强京工机械制造有限公司 | Drive system for concrete wet-blasting trolley and concrete wet-blasting trolley |
| CN103498686B (en) * | 2013-10-16 | 2016-01-20 | 长沙科达建设机械制造有限公司 | Magic hand for spraying concrete |
| CN103742169A (en) * | 2014-01-26 | 2014-04-23 | 中铁工程装备集团有限公司 | Tracked wet spraying machine |
| CN103775103A (en) * | 2014-02-26 | 2014-05-07 | 徐州徐工施维英机械有限公司 | Grouting manipulator |
| CN204002853U (en) * | 2014-08-15 | 2014-12-10 | 山东科技大学 | A kind of obstacle detouring shotcrete robot |
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2014
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