shotcrete robot introduction

The shotcrete robot is a special engineered robot. Whether the mechanical structure of the robot is reasonable or not is not only related to the realization of its functions, but also directly affects the complexity of the robot control system, which determines the cost and performance of the robot.

The process requirements of the shotcreting operation and the reasonable design of the mechanical structure of the robot so that it can complete the required operation with the simplest action.

The design principle of the shotcrete robot body is that the robot should meet the requirements of the shotcrete process and operating environment as much as possible. Large-scale shotcreting robots are used for shotcreting operations in excavating various tunnels with a height ranging from 8m to 13m.

Exercise mode

1 big arm

The pitching movement is driven by the oil cylinder.

2 forearm

When swinging horizontally, because the forearm adopts a four-bar linkage, the end of the forearm performs a translational motion when swinging, so that the relative distance and posture of the horizontal telescopic arm fixed at its end and the spray surface remain unchanged.

3 Horizontal telescopic boom

It can move in the direction parallel to the axis of the tunnel, so that the spray gun can move horizontally and keep the posture unchanged.

4 cylinder

The posture of the spray gun can be adjusted, so that the spray gun can still be adjusted to be perpendicular to the spray surface when encountering large pits.

5 Rounding mechanism with the help of spray gun

The spray gun can be moved along the conical surface, so that the nozzle of the spray gun draws a 360° continuous circle. The shotcrete robot can be installed on a car or on a railed chassis car according to the needs of the site. The robot can be matched with wet spraying machine or dry spraying machine. Relying on these 8 degrees of freedom, any motion trajectory required for spray gun operation can be realized.

The nozzle is an important part of the concrete spraying manipulator. Because the nozzle directly controls the nozzle, it has a close relationship with the spray quality.