CN110043038A - Vehicle-mounted wet shot arm-and-hand system and its application method - Google Patents
Vehicle-mounted wet shot arm-and-hand system and its application method Download PDFInfo
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- CN110043038A CN110043038A CN201910458059.8A CN201910458059A CN110043038A CN 110043038 A CN110043038 A CN 110043038A CN 201910458059 A CN201910458059 A CN 201910458059A CN 110043038 A CN110043038 A CN 110043038A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 210000000245 forearm Anatomy 0.000 claims abstract description 87
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 238000002347 injection Methods 0.000 claims abstract description 43
- 239000007924 injection Substances 0.000 claims abstract description 43
- 239000004567 concrete Substances 0.000 claims description 102
- 239000002002 slurry Substances 0.000 claims description 81
- 239000007921 spray Substances 0.000 claims description 26
- 239000011378 shotcrete Substances 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000010355 oscillation Effects 0.000 claims description 7
- 239000002689 soil Substances 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 7
- 230000008676 import Effects 0.000 claims description 6
- 238000003756 stirring Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 4
- 239000003795 chemical substances by application Substances 0.000 description 3
- 230000015271 coagulation Effects 0.000 description 3
- 238000005345 coagulation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention discloses a kind of vehicle-mounted wet shot arm-and-hand system, including transport vehicle, the bottom plate of transport vehicle is equipped with rack, and rack is equipped with cantilever mechanism, rabbling mechanism, conveying mechanism and injection equipment；Cantilever mechanism includes mounting disc, mounting disc has connected up the first mounting base, by being hinged with large arm at the top of first mounting base, first mounting base is respectively arranged on the left side and the right side large arm drive cylinder, the cylinder body of each large arm drive cylinder is connected with the first mounting base, and the extension bar of each large arm drive cylinder is connected with large arm；Large arm is connected with forearm, and large arm top is fixedly connected with downwards mounting plate, and mounting plate is respectively arranged on the left side and the right side forearm drive cylinder, and injection equipment is mounted on the upper end of forearm.The invention also discloses corresponding application methods.Present invention reduces the intensity requirements to oil cylinder, reduce revolving platform center of gravity, support and be driven more stable reliable, save the cost using more high standard oil cylinder.Inventive flow control is more accurate, and avoids frequently adjusting.
Description
Technical field
The present invention relates to a kind of technical field of concrete construction more particularly to concrete spraying technologies.
Background technique
Concrete sprayer is widely used a kind of construction equipment in engineering construction.Concrete sprayer is also referred to as wet-spraying machine
Tool hand, wet-spraying machine, shotcrete robot or Shotcrete Robot, function are utilized by compressed air, and certain ratio will be added water and stirred into
The concrete of example after accelerator is added, is ejected into is sprayed at a high speed at the spray frame spray head of pipeline to wet shot manipulator
It penetrates rapid condensation on position to harden, forms concrete supporting.
For the mobility for improving wet shot manipulator, there is vehicle-mounted wet shot arm-and-hand system, including transport vehicle, transport vehicle
Bottom plate be equipped with rack, rack is equipped with cantilever mechanism, rabbling mechanism, conveying mechanism and injection equipment, and cantilever mechanism includes
Large arm and forearm, rabbling mechanism include agitating device and the slurry-storing container that is connected with agitating device, and conveying mechanism includes coagulation
Soil pump, defeated slurry hose, air compressor, accelerator storage container and the suction pump for conveying accelerator, concrete pump into
Material mouth is connected with slurry-storing container, and the discharge port of concrete pump is connected with defeated slurry hose；It is empty that air compressor is connected with compression
Tracheae, air compressor is for being sent into defeated slurry hose through compressed air hose after being pressurized surrounding air；Suction pump is connected with rapid hardening
Agent delivery pipe, suction pump are used to the accelerator in accelerator storage container being sent into defeated slurry hose through accelerator delivery pipe；Defeated slurry
Hose is connected with injection equipment, and injection equipment is used to the concrete slurry that accelerator is added being sprayed onto target position.Wherein, greatly
Arm drive cylinder, forearm drive cylinder, concrete pump, air compressor and suction pump are connected with electric control gear.
Existing large arm drive cylinder and forearm drive cylinder are provided only with one, large arm drive cylinder and forearm when work
Drive cylinder stress is very big, needs the very high large arm drive cylinder of use intensity and forearm drive cylinder, higher cost.In addition existing
There is the freedom degree of vehicle-mounted wet shot arm-and-hand system in technology inadequate, can not achieve 360 degree rotation injection.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle-mounted wet shot arm-and-hand system for capableing of 360 degree rotation injection, center of gravity compared with
It is low, stable structure.
To achieve the above object, vehicle-mounted wet shot arm-and-hand system of the invention includes transport vehicle, is set on the bottom plate of transport vehicle
Organic frame, rack are equipped with cantilever mechanism, rabbling mechanism, conveying mechanism and injection equipment, and injection equipment includes mixed for spraying
The spray head of solidifying soil paste liquid；The direction to be moved forward with transport vehicle be it is preceding to；
Rabbling mechanism includes agitating device and the slurry-storing container that is connected with agitating device；
Conveying mechanism includes concrete pump, defeated slurry hose, air compressor, accelerator storage container and for conveying accelerator
Suction pump；
The import of concrete pump is connected with slurry-storing container, and the outlet of concrete pump is connected with defeated slurry hose；
Air compressor is connected with compressed air hose, and air compressor after being pressurized surrounding air through compressed air hose for being sent into
Defeated slurry hose；
The import of suction pump connects accelerator storage container, and the outlet of suction pump is connected with accelerator delivery pipe, and suction pump is used for
Accelerator in accelerator storage container is sent into defeated slurry hose through accelerator delivery pipe；
Defeated slurry hose is connected with injection equipment, and the spray head of injection equipment is used to the concrete slurry that accelerator is added being sprayed onto mesh
Cursor position；
It is characterized by: cantilever mechanism includes the mounting disc being rotatably connected on bottom plate, mounting disc has connected up the first installation
Seat, the first mounting base top are hinged with large arm by connecting pin shaft, and the first mounting base is respectively arranged on the left side and the right side large arm driving oil
Cylinder, the cylinder body lower end of each large arm drive cylinder pass through installation pin shaft and are connected with the first mounting base, each large arm drive cylinder
Extension bar is connected with large arm by gear pin；It is fixedly connected on bottom plate below mounting disc for driving installation to spiral
The the first hydraulic motor driving mechanism turned；
Large arm is connected with forearm, and large arm top is fixedly connected with downwards mounting plate, and mounting plate is respectively arranged on the left side and the right side forearm drive
Dynamic oil cylinder, the cylinder body of each forearm drive cylinder pass through installation pin shaft and are connected with mounting plate, the stretching of each forearm drive cylinder
Bar is connected with bindiny mechanism by gear pin, and bindiny mechanism is connected with forearm, and injection equipment is mounted on the upper of forearm
End.
Large arm drive cylinder, forearm drive cylinder, concrete pump, air compressor and suction pump are connected with electric control gear
It connects.
The bindiny mechanism includes the second mounting base；
The extension bar of each forearm drive cylinder is connected with the lower end of the second mounting base by gear pin；Second mounting base
Upper end be hinged by connection pin shaft with large arm；The second hydraulic motor driving mechanism, the second liquid are equipped in second mounting base
Pressure motor driving mechanism is sequentially connected with revolving platform, and revolving platform is fixedly connected with forearm, and the axis of rotation of revolving platform is located at forearm
It is rotated up and down in the plane of oscillation of swing；Hydraulic motor is connected with electric control gear.
The exit of concrete pump is equipped with for monitoring the density sensor of the density of concrete slurry, for monitoring coagulation
The electromagnetic valve of flow control of the flow sensor of the flow of soil paste liquid and the flow for adjusting concrete slurry, injection equipment
Spray head at be equipped with pressure sensor for monitor injection pressure, forearm is equipped with horizon sensor；
Horizon sensor, electromagnetic valve of flow control, density sensor, flow sensor and pressure sensor with electric control gear phase
Connection.
The invention also discloses the application methods of above-mentioned vehicle-mounted wet shot arm-and-hand system, sequentially include the following steps:
First step is transport, and the transport vehicle for being loaded with concrete and accelerator is opened to scheduled job site；
Second step is stirring, adds water and stirs in agitating device to concrete, obtains concrete slurry；What is be stirred is mixed
Solidifying soil paste liquid stream enters slurry-storing container storage；
Third step is gunite concrete；This step includes the conveying operation and adjusting position operation carried out simultaneously；
Conveying operation is: starting concrete pump, suction pump and air compressor by electric control gear, is controlled and flowed by electric control gear
Amount electromagnetic valve for adjusting is in half-open position, and the concrete slurry in slurry-storing container is sent into defeated slurry hose, air pressure by concrete pump
Compressed air is sent into defeated slurry hose by contracting machine；Concrete slurry is towards spraying machine under the action of concrete pump and compressed air
Accelerator is sent into the concrete slurry in defeated slurry hose by structure flowing, suction pump；Concrete slurry with accelerator is last
It is sprayed by the spray head of injection equipment, spray operation is carried out to target job face；
Adjusting position operation is: controlling the first hydraulic motor driving mechanism by electric control gear, driving mounting disc turns to needs
Rotation angle；Electric control gear controls the rotation angle of large arm by large arm drive cylinder, is controlled by forearm drive cylinder small
The rotation angle of arm finally makes the injection on forearm by the rotation angle of the second hydraulic motor driving mechanisms control revolving platform
The spray head of mechanism is directed toward scheduled injection direction.
Electric control gear is connected with display screen；During third step carries out, electric control gear monitors flow sensor
To the flow information of concrete slurry, pressure sensor monitoring to injection pressure and the coagulation that monitors of density sensor
The density information of soil paste liquid is shown on a display screen；
If the density of concrete slurry is higher or lower than preceding scheduled density range of constructing, staff increase accordingly or subtracts
Amount of water in few second step, by the Auto-regulating System of Density of Heavy Medium of concrete slurry to before constructing in scheduled density range；
The present flow rate of concrete slurry is X Liter Per Minute；The intermediate value of scheduled range of flow is Y Liter Per Minute before constructing；Stream
Measuring electromagnetic valve for adjusting maximum open degree is 100%,
Flow adjusts ∣/Y≤0.05 Guo ∣ X-Y such as the first sub-step:, the then open degree for keeping electromagnetic valve of flow control current；
Flow adjusts the second sub-step: such as Guo ∣ X-Y ∣/Y > 0.05, then carries out by following flow rate adjusting method:
Passing through electric control gear if X > Y reduces by 5% for the open degree of electromagnetic valve of flow control, if X < Y, by automatically controlled
The open degree of electromagnetic valve of flow control is increased 5% by device；
It repeats flow and adjusts the first sub-step and flow the second sub-step of adjusting, the present flow rate of concrete slurry is stablized
Within the scope of ∣ X-Y ∣/Y≤0.05；
Circulation carries out second step and third step, and the present flow rate of concrete slurry is stablized to the model of ∣/Y≤0.05 ∣ X-Y
Operation in enclosing, until completing wet shotcreting on target job face.
Third step carry out during, by control air compressor pressure at expulsion will spray pressure be adjusted to it is pre-
In fixed pressure limit.
When the inclination angle for the relative level for needing to keep forearm is invariable, electric control gear carries out forearm perseverance angle and makees
Industry；Forearm perseverance angle operation is: electric control gear obtains the current inclination α of forearm relative level by horizon sensor, if α
Less than target-angle, then stretched out by the extension bar that electric control gear controls forearm drive cylinder 14, thus rotate forearm upwards,
Until α is equal to target-angle；If α is greater than target-angle, the extension bar of forearm drive cylinder 14 is controlled by electric control gear
It withdraws, to make forearm be rotated down, until α is equal to target-angle.
The present invention has the advantage that:
Large arm drive cylinder and forearm drive cylinder have been arranged in pairs left and right two respectively, substantially reduce the stress of single oil cylinder
Intensity reduces the intensity requirement to oil cylinder, and not only the support to large arm and forearm and transmission are more stable reliable, and save
Use the cost of more high standard oil cylinder.
The setting of bindiny mechanism reduces the center of gravity of revolving platform, when gunite concrete and work when position operation is adjusted
Work is more stable, does not easily cause vehicle body unstable or even turns on one's side.
The axis of rotation of revolving platform is located at forearm and is rotated up and down in the plane of oscillation of swing, so that revolving platform is able to drive forearm
360 degree rotation is carried out on the direction perpendicular to its plane of oscillation, to allow forearm that spray head thereon is driven to be directed toward different sides
To.
Parameters when gunite concrete are checked by the display screen of electric control gear with can be convenient, mentioned for adjustment in time
For basis.
The present invention with 5% for electromagnetic valve of flow control adjusting unit, can more be accurately controlled the stream of concrete slurry
Amount, and do not expend excessively and adjust the required time.If carrying out flow adjusting, the identical amplitude of accommodation as unit of 1%
Obviously the time of 5 times of expense is spent more.
If the factors such as vibration can break this equation of X=Y using X=Y as control target, thus excessively frequently touching
It sends out flow and adjusts operation, cause job insecurity phenomenon.The present invention is by ∣/Y≤0.05 flow control ∣ X-Y of concrete slurry
It is interior, not only more precisely, but also avoid using X=Y as the phenomenon that control target bring job insecurity.
It is needing one fixed angle of altitude of horizontal (target-angle zero) injection or holding (target-angle is greater than zero) or is centainly bowing
When angle (target-angle is less than zero) is sprayed, by forearm perseverance angle operation, forearm can be controlled and be sprayed at constant inclination angle
Operation is penetrated, the uniform in effect of gunite concrete is stablized.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is schematic perspective view of the invention under another angle；
Fig. 3 is the schematic perspective view at large arm drive cylinder；
Fig. 4 is the schematic perspective view at forearm drive cylinder；
Fig. 5 is the schematic perspective view at forearm drive cylinder under another angle；
Fig. 6 is control principle drawing of the invention.
Specific embodiment
As shown in Figures 1 to 6, vehicle-mounted wet shot arm-and-hand system of the invention includes transport vehicle 1, on the bottom plate 2 of transport vehicle 1
Equipped with rack 3, rack 3 is equipped with cantilever mechanism, rabbling mechanism, conveying mechanism and injection equipment 4, and injection equipment 4 includes being used for
Spray the spray head 5 of concrete slurry；The direction to be moved forward with transport vehicle 1 be it is preceding to；
Rabbling mechanism includes agitating device and the slurry-storing container that is connected with agitating device；
Conveying mechanism includes concrete pump 16, defeated slurry hose, air compressor 17, accelerator storage container and for conveying rapid hardening
The suction pump 18 of agent；
The import of concrete pump 16 is connected with slurry-storing container, and the outlet of concrete pump 16 is connected with defeated slurry hose；
Air compressor 17 is connected with compressed air hose, air compressor 17 for after surrounding air is pressurized through compressed air hose
It is sent into defeated slurry hose；
The import of suction pump 18 connects accelerator storage container, and the outlet of suction pump 18 is connected with accelerator delivery pipe, suction pump
18 for being sent into defeated slurry hose through accelerator delivery pipe for the accelerator in accelerator storage container；
Defeated slurry hose is connected with injection equipment 4, and the spray head 5 of injection equipment 4 is used to be added the concrete slurry spray of accelerator
To target position.
Cantilever mechanism includes the mounting disc 6 being rotatably connected on bottom plate by bearing, and mounting disc 6 has connected up the first peace
Seat 7 is filled, passes through connection pin shaft 8 at the top of the first mounting base 7 and is hinged with large arm 11, the first mounting base 7 is respectively arranged on the left side and the right side greatly
Arm drive cylinder 9, the cylinder body lower end of each large arm drive cylinder 9 passes through installation pin shaft 10 and is connected with the first mounting base 7, major
The extension bar of arm drive cylinder 9 is connected with large arm 11 by gear pin 15；
The first hydraulic motor driving mechanism for driving mounting disc 6 to rotate is fixedly connected on the bottom plate 2 of 6 lower section of mounting disc
29；First hydraulic motor driving mechanism 29 includes hydraulic motor, turbine worm device both can be set as driving member, can also be with
It is not provided with turbine worm device.When turbine worm device is arranged as driving member, what hydraulic motor herein directly drove is whirlpool
Scroll bar device is taken turns, turbine worm device and mounting disc 6 are sequentially connected, and hydraulic motor herein passes through turbine worm device driving peace
Sabot 6.The relative merit that turbine worm device is arranged is the torque that can reduce to hydraulic motor output, to be able to using valence
The lower hydraulic motor of lattice.
When being not provided with turbine worm device, hydraulic motor herein is directly connected with mounting disc 6, directly drives mounting disc
6；Such relative merit is a simplified structure, and overall structure is more simple and compact；Hydraulic motor just needs defeated of course simultaneously
Biggish torque out is needed using the hydraulic motor of price costly.
Hydraulic motor driving mechanism is routine techniques, is specifically no longer described in detail.
Rack 3 is equipped with mounting groove 27, and the first mounting base 7 is located in mounting groove 27, to reduce the center of gravity of cantilever mechanism.
Large arm 11 is connected with forearm 12, and 11 top of large arm is fixedly connected with downwards mounting plate 13, and mounting plate 13 is respectively arranged on the left side and the right side
Forearm drive cylinder 14, the cylinder body of each forearm drive cylinder 14 pass through installation pin shaft 10 and are connected with mounting plate 13, each forearm
The extension bar of drive cylinder 14 is connected with bindiny mechanism by gear pin 15, and bindiny mechanism is connected with forearm 12, spray
Penetrate the upper end that mechanism 4 is mounted on forearm 12.
Wherein, each component of injection equipment 4, each component of rabbling mechanism and conveying mechanism is existing conventional techniques, figure
Each component of rabbling mechanism and each component of conveying mechanism are not shown.
Large arm drive cylinder 9 and forearm drive cylinder 14 have been arranged in pairs left and right two respectively, substantially reduce single oil
The stress intensity of cylinder reduces the intensity requirement to oil cylinder, and not only the support to large arm 11 and forearm 12 and transmission are more stable
Reliably, and the cost for using more high standard oil cylinder is saved.
Large arm drive cylinder 9, forearm drive cylinder 14, concrete pump 16, air compressor 17 and suction pump 18 with electricity
Control device 24 is connected.
The bindiny mechanism includes the second mounting base 25；
The extension bar of each forearm drive cylinder 14 is connected with the lower end of the second mounting base 25 by gear pin 15；Second
The upper end of mounting base 25 is hinged by connecting pin shaft 8 with large arm 11；The second hydraulic motor is equipped in second mounting base 25 to drive
Motivation structure 22, the second hydraulic motor driving mechanism 22 are sequentially connected with revolving platform 26, and revolving platform 26 is fixedly connected with forearm 12, return
The axis of rotation of turntable 26 is located at forearm 12 and is rotated up and down in the plane of oscillation of swing；Second hydraulic motor driving mechanism 22 with it is automatically controlled
Device 24 is connected.Second hydraulic motor driving mechanism 22 is as the first hydraulic motor driving mechanism 29, including hydraulic motor,
Both turbine worm device can be set as driving member, turbine worm device can also be not provided with.Turbine worm device is arranged to make
When for driving member, what hydraulic motor herein directly drove is turbine worm device, and turbine worm device and revolving platform 26 are driven
Connection, hydraulic motor herein drive revolving platform 26 by turbine worm device.When being not provided with turbine worm device, liquid herein
Pressure motor is directly connected with revolving platform 26, directly drives revolving platform 26.
The setting of bindiny mechanism reduces the center of gravity of revolving platform 26, when gunite concrete and when position operation is adjusted
It works more stable, does not easily cause vehicle body unstable or even turn on one's side.
The axis of rotation of revolving platform 26 is located at forearm 12 and is rotated up and down in the plane of oscillation of swing, enables 26 band of revolving platform
Dynamic forearm 12 carries out 360 degree rotation on the direction perpendicular to its plane of oscillation, to allow forearm 12 that spray head 5 thereon is driven to refer to
To different directions.
The exit of concrete pump 16 is equipped with for monitoring the density sensor 21 of the density of concrete slurry, for monitoring
The electromagnetic valve of flow control 23 of the flow sensor 19 of the flow of concrete slurry and the flow for adjusting concrete slurry,
The pressure sensor 20 for monitoring injection pressure is equipped at the spray head 5 of injection equipment 4, forearm is equipped with horizon sensor 30；
Horizon sensor 30, electromagnetic valve of flow control 23, density sensor 21, flow sensor 19 and pressure sensor 20 with
Electric control gear 24 is connected.
Electric control gear 24 has (or being connected with) display screen 28, is looked into can be convenient by the display screen 28 of electric control gear 24
It sees parameters when gunite concrete, provides basis for adjustment in time.
Electric control gear 24 is integrated circuit or single-chip microcontroller.
The invention also discloses the application methods of above-mentioned vehicle-mounted wet shot arm-and-hand system, sequentially include the following steps:
First step is transport, and the transport vehicle 1 for being loaded with concrete and accelerator is opened to scheduled job site；
Second step is stirring, adds water and stirs in agitating device to concrete, obtains concrete slurry；(amount of water exists
Being preset before concrete engineering according to construction requirement) concrete slurry that is stirred flows into slurry-storing container storage；
Third step is gunite concrete；This step includes the conveying operation and adjusting position operation carried out simultaneously；
Conveying operation is: starting concrete pump 16, suction pump 18 and air compressor 17 by electric control gear 24, passes through automatically controlled dress
It sets 24 control electromagnetic valve of flow control 23 and is in half-open position, the concrete slurry in slurry-storing container is sent into defeated by concrete pump 16
Hose is starched, compressed air is sent into defeated slurry hose by air compressor 17；It is mixed under the action of concrete pump 16 and compressed air
Solidifying soil paste liquid is flowed towards injection equipment 4, and accelerator is sent into the concrete slurry in defeated slurry hose by suction pump 18；With speed
The concrete slurry of solidifying agent is finally sprayed by the spray head 5 of injection equipment 4, carries out spray operation to target job face；
Adjusting position operation is: controlling the first hydraulic motor driving mechanism by electric control gear, driving mounting disc turns to needs
Rotation angle；Electric control gear 24 controls the rotation angle of large arm 11 by large arm drive cylinder 9, passes through forearm drive cylinder 14
The rotation angle for controlling forearm 12 is controlled the rotation angle of revolving platform 26 by the second hydraulic motor driving mechanism 22, finally made
The spray head 5 of injection equipment 4 on forearm 12 is directed toward scheduled injection direction.
Electric control gear 24 is connected with display screen 28；During third step carries out, electric control gear 24 is by flow sensing
The injection pressure and density sensor 21 that flow information, the pressure sensor 20 for the concrete slurry that device 19 monitors monitor
The density information of the concrete slurry monitored is shown on the display 28；
If the density of concrete slurry is higher or lower than preceding scheduled density range of constructing, staff increase accordingly or subtracts
In few second step amount of water (higher than when increase, lower than when reduce), will the Auto-regulating System of Density of Heavy Medium of concrete slurry it is pre- to before constructing
In fixed density range；
The present flow rate of concrete slurry is X Liter Per Minute；Intermediate value (the i.e. flow rate upper limit and stream of scheduled range of flow before constructing
Measure the average value of lower limit) it is Y Liter Per Minute；The maximum open degree of electromagnetic valve of flow control 23 is 100%,
Flow adjusts ∣/Y≤0.05 Guo ∣ X-Y such as the first sub-step:, the then open degree for keeping electromagnetic valve of flow control 23 current；
The absolute value of (∣ X-Y ∣, that is, X-Y.)
Flow adjusts the second sub-step: such as Guo ∣ X-Y ∣/Y > 0.05, then carries out by following flow rate adjusting method:
Passing through electric control gear 24 if X > Y reduces by 5% for the open degree of electromagnetic valve of flow control 23, if X < Y, passes through
The open degree of electromagnetic valve of flow control 23 is increased 5% by electric control gear 24；
It repeats flow and adjusts the first sub-step and flow the second sub-step of adjusting, the present flow rate of concrete slurry is stablized
Within the scope of ∣ X-Y ∣/Y≤0.05；
Circulation carries out second step and third step, and the present flow rate of concrete slurry is stablized to the model of ∣/Y≤0.05 ∣ X-Y
Operation in enclosing, until completing wet shotcreting on target job face.
The present invention can more be accurately controlled concrete slurry with the adjusting unit that 5% is electromagnetic valve of flow control 23
Flow, and do not expend excessively and adjust the required time.If carrying out flow adjusting as unit of 1%, identical adjusting width
Degree obviously will spend more the time of 5 times of expense.
If the factors such as vibration can break this equation of X=Y using X=Y as control target, thus excessively frequently touching
It sends out flow and adjusts operation, cause job insecurity phenomenon.The present invention is by ∣/Y≤0.05 flow control ∣ X-Y of concrete slurry
It is interior, not only more precisely, but also avoid using X=Y as the phenomenon that control target bring job insecurity.
During third step carries out, the pressure at expulsion by controlling air compressor 17 is adjusted to pressure is sprayed
In scheduled pressure limit.
When needing to keep the inclination angle of relative level of forearm 12 invariable, electric control gear carries out the permanent angle of forearm 12
Operation；The permanent angle operation of forearm 12 is: electric control gear 24 obtains the current of 12 relative level of forearm by horizon sensor 30
Inclination alpha is stretched out, to make if α is less than target-angle by the extension bar that electric control gear controls 12 drive cylinder 14 of forearm
Forearm 12 rotates upwards, until α is equal to target-angle；If α is greater than target-angle, forearm 12 is controlled by electric control gear 24
The extension bar of drive cylinder 14 is withdrawn, to make forearm 12 be rotated down, until α is equal to target-angle.
It is needing one fixed angle of altitude of horizontal (target-angle zero) injection or holding (target-angle is greater than zero) or is centainly bowing
When angle (target-angle is less than zero) is sprayed, by forearm perseverance angle operation, forearm can be controlled and be sprayed at constant inclination angle
Operation is penetrated, the uniform in effect of gunite concrete is stablized.
The above embodiments are only used to illustrate and not limit the technical solutions of the present invention, although referring to above-described embodiment to this hair
It is bright to be described in detail, those skilled in the art should understand that: still the present invention can be modified or be waited
With replacement, without departing from the spirit or scope of the invention, or any substitutions, should all cover in power of the invention
In sharp claimed range.
Claims (8)
1. vehicle-mounted wet shot arm-and-hand system, including transport vehicle, the bottom plate of transport vehicle is equipped with rack, and rack is equipped with cantilever machine
Structure, rabbling mechanism, conveying mechanism and injection equipment, injection equipment include the spray head for spraying concrete slurry；With transport vehicle
The direction to move forward be it is preceding to；
Rabbling mechanism includes agitating device and the slurry-storing container that is connected with agitating device；
Conveying mechanism includes concrete pump, defeated slurry hose, air compressor, accelerator storage container and for conveying accelerator
Suction pump；
The import of concrete pump is connected with slurry-storing container, and the outlet of concrete pump is connected with defeated slurry hose；
Air compressor is connected with compressed air hose, and air compressor after being pressurized surrounding air through compressed air hose for being sent into
Defeated slurry hose；
The import of suction pump connects accelerator storage container, and the outlet of suction pump is connected with accelerator delivery pipe, and suction pump is used for
Accelerator in accelerator storage container is sent into defeated slurry hose through accelerator delivery pipe；
Defeated slurry hose is connected with injection equipment, and the spray head of injection equipment is used to the concrete slurry that accelerator is added being sprayed onto mesh
Cursor position；
It is characterized by: cantilever mechanism includes the mounting disc being rotatably connected on bottom plate, mounting disc has connected up the first installation
Seat, the first mounting base top are hinged with large arm by connecting pin shaft, and the first mounting base is respectively arranged on the left side and the right side large arm driving oil
Cylinder, the cylinder body lower end of each large arm drive cylinder pass through installation pin shaft and are connected with the first mounting base, each large arm drive cylinder
Extension bar is connected with large arm by gear pin；It is fixedly connected on bottom plate below mounting disc for driving installation to spiral
The the first hydraulic motor driving mechanism turned；
Large arm is connected with forearm, and large arm top is fixedly connected with downwards mounting plate, and mounting plate is respectively arranged on the left side and the right side forearm drive
Dynamic oil cylinder, the cylinder body of each forearm drive cylinder pass through installation pin shaft and are connected with mounting plate, the stretching of each forearm drive cylinder
Bar is connected with bindiny mechanism by gear pin, and bindiny mechanism is connected with forearm, and injection equipment is mounted on the upper of forearm
End.
2. vehicle-mounted wet shot arm-and-hand system according to claim 1, it is characterised in that: large arm drive cylinder, forearm driving
Oil cylinder, concrete pump, air compressor and suction pump are connected with electric control gear.
3. vehicle-mounted wet shot arm-and-hand system according to claim 2, it is characterised in that: the bindiny mechanism includes the second peace
Fill seat；
The extension bar of each forearm drive cylinder is connected with the lower end of the second mounting base by gear pin；Second mounting base
Upper end be hinged by connection pin shaft with large arm；The second hydraulic motor driving mechanism, the second liquid are equipped in second mounting base
Pressure motor driving mechanism is sequentially connected with revolving platform, and revolving platform is fixedly connected with forearm, and the axis of rotation of revolving platform is located at forearm
It is rotated up and down in the plane of oscillation of swing；Hydraulic motor is connected with electric control gear.
4. vehicle-mounted wet shot arm-and-hand system according to claim 3, it is characterised in that: the exit of concrete pump, which is equipped with, to be used
In the density sensor of the density of monitoring concrete slurry, the flow sensor and use of flow for monitoring concrete slurry
It is equipped at the electromagnetic valve of flow control for the flow for adjusting concrete slurry, the spray head of injection equipment for monitoring injection pressure
Pressure sensor, forearm are equipped with horizon sensor；
Horizon sensor, electromagnetic valve of flow control, density sensor, flow sensor and pressure sensor with electric control gear phase
Connection.
5. the application method of vehicle-mounted wet shot arm-and-hand system described in claim 4, it is characterised in that sequentially include the following steps:
First step is transport, and the transport vehicle for being loaded with concrete and accelerator is opened to scheduled job site；
Second step is stirring, adds water and stirs in agitating device to concrete, obtains concrete slurry；What is be stirred is mixed
Solidifying soil paste liquid stream enters slurry-storing container storage；
Third step is gunite concrete；This step includes the conveying operation and adjusting position operation carried out simultaneously；
Conveying operation is: starting concrete pump, suction pump and air compressor by electric control gear, is controlled and flowed by electric control gear
Amount electromagnetic valve for adjusting is in half-open position, and the concrete slurry in slurry-storing container is sent into defeated slurry hose, air pressure by concrete pump
Compressed air is sent into defeated slurry hose by contracting machine；Concrete slurry is towards spraying machine under the action of concrete pump and compressed air
Accelerator is sent into the concrete slurry in defeated slurry hose by structure flowing, suction pump；Concrete slurry with accelerator is last
It is sprayed by the spray head of injection equipment, spray operation is carried out to target job face；
Adjusting position operation is: controlling the first hydraulic motor driving mechanism by electric control gear, driving mounting disc turns to needs
Rotation angle；Electric control gear controls the rotation angle of large arm by large arm drive cylinder, is controlled by forearm drive cylinder small
The rotation angle of arm finally makes the injection on forearm by the rotation angle of the second hydraulic motor driving mechanisms control revolving platform
The spray head of mechanism is directed toward scheduled injection direction.
6. application method according to claim 5, it is characterised in that: electric control gear is connected with display screen；In third step
During progress, flow information, the pressure sensor monitoring of the concrete slurry that electric control gear monitors flow sensor
To the density information of concrete slurry that monitors of injection pressure and density sensor show on a display screen；
If the density of concrete slurry is higher or lower than preceding scheduled density range of constructing, staff increase accordingly or subtracts
Amount of water in few second step, by the Auto-regulating System of Density of Heavy Medium of concrete slurry to before constructing in scheduled density range；
The present flow rate of concrete slurry is X Liter Per Minute；The intermediate value of scheduled range of flow is Y Liter Per Minute before constructing；Stream
Measuring electromagnetic valve for adjusting maximum open degree is 100%,
Flow adjusts ∣/Y≤0.05 Guo ∣ X-Y such as the first sub-step:, the then open degree for keeping electromagnetic valve of flow control current；
Flow adjusts the second sub-step: such as Guo ∣ X-Y ∣/Y > 0.05, then carries out by following flow rate adjusting method:
Passing through electric control gear if X > Y reduces by 5% for the open degree of electromagnetic valve of flow control, if X < Y, by automatically controlled
The open degree of electromagnetic valve of flow control is increased 5% by device；
It repeats flow and adjusts the first sub-step and flow the second sub-step of adjusting, the present flow rate of concrete slurry is stablized
Within the scope of ∣ X-Y ∣/Y≤0.05；
Circulation carries out second step and third step, and the present flow rate of concrete slurry is stablized to the model of ∣/Y≤0.05 ∣ X-Y
Operation in enclosing, until completing wet shotcreting on target job face.
7. application method according to claim 6, it is characterised in that: during third step carries out, pass through control
The pressure at expulsion of air compressor is adjusted to pressure is sprayed in scheduled pressure limit.
8. application method according to claim 5, it is characterised in that: at the inclination angle for the relative level for needing to keep forearm
When invariable, electric control gear carries out the angle operation of forearm perseverance；Forearm perseverance angle operation is: electric control gear passes through horizon sensor
The current inclination α of forearm relative level is obtained, if α is less than target-angle, forearm driving oil is controlled by electric control gear
The extension bar of cylinder 14 stretches out, to make forearm rotate upwards, until α is equal to target-angle；If α is greater than target-angle, lead to
The extension bar for crossing electric control gear control forearm drive cylinder 14 is withdrawn, to make forearm be rotated down, until α inclines equal to target
Angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910458059.8A CN110043038A (en) | 2019-05-29 | 2019-05-29 | Vehicle-mounted wet shot arm-and-hand system and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910458059.8A CN110043038A (en) | 2019-05-29 | 2019-05-29 | Vehicle-mounted wet shot arm-and-hand system and its application method |
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| Publication Number | Publication Date |
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| CN110043038A true CN110043038A (en) | 2019-07-23 |
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ID=67284038
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|---|---|---|---|
| CN201910458059.8A Pending CN110043038A (en) | 2019-05-29 | 2019-05-29 | Vehicle-mounted wet shot arm-and-hand system and its application method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112942839A (en) * | 2021-04-20 | 2021-06-11 | 江苏理工学院 | Movable automatic concrete pouring machine and control system thereof |
| CN113090283A (en) * | 2021-04-09 | 2021-07-09 | 三峡大学科技学院 | Integrated vehicle-mounted guniting device |
| CN114483090A (en) * | 2021-11-19 | 2022-05-13 | 浙江大学 | Angle self-adjusting device suitable for construction guniting of inclined shaft of pumped storage power station |
| CN114907039A (en) * | 2021-12-22 | 2022-08-16 | 三峡大学 | Magnetic concrete grout spraying and grout rebound reducing device and construction method |
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| CN201809983U (en) * | 2010-01-19 | 2011-04-27 | 湖南中铁五新重工有限公司 | Wet shotcreting machine |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
| CN210013486U (en) * | 2019-05-29 | 2020-02-04 | 河南省中智重型机械设备有限公司 | Vehicle-mounted wet spraying manipulator system |
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| US2861699A (en) * | 1950-10-16 | 1958-11-25 | Gen Mills Inc | Method and apparatus for performing operations at a remote point |
| CN201809983U (en) * | 2010-01-19 | 2011-04-27 | 湖南中铁五新重工有限公司 | Wet shotcreting machine |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113090283A (en) * | 2021-04-09 | 2021-07-09 | 三峡大学科技学院 | Integrated vehicle-mounted guniting device |
| CN112942839A (en) * | 2021-04-20 | 2021-06-11 | 江苏理工学院 | Movable automatic concrete pouring machine and control system thereof |
| CN112942839B (en) * | 2021-04-20 | 2022-04-01 | 江苏理工学院 | Control method of movable concrete automatic pouring machine |
| CN114483090A (en) * | 2021-11-19 | 2022-05-13 | 浙江大学 | Angle self-adjusting device suitable for construction guniting of inclined shaft of pumped storage power station |
| CN114907039A (en) * | 2021-12-22 | 2022-08-16 | 三峡大学 | Magnetic concrete grout spraying and grout rebound reducing device and construction method |
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