The shotcrete manipulator is a specially designed and manufactured device that replaces the traditional manual spraying method, can reduce the labor intensity of shotcrete operations and improve working conditions. The equipment consists of an operating arm, a nozzle and other parts. The operating arm is usually equipped with telescopic, lifting, rotating and flipping mechanisms, and is operated by hydraulic or mechanical transmission. Some shotcrete manipulators are also equipped with independent walking mechanisms to achieve full mechanization of the shotcrete operation, thereby improving the quality and efficiency of the shotcrete and improving the working environment of the workers.
Composition and working principle of shotcrete manipulator
Concrete shotcrete manipulators mainly include walking system, control system, hydraulic system, power system, concrete pumping system, lubrication system and working device. Its working principle is to transport cement, aggregate, water and admixtures mixed evenly according to the construction ratio to the spraying site through a concrete transport tanker and add them to the sprayer. The sprayer pumps the concrete to the nozzle, mixes it with the quick-setting agent controlled by the computer's fully automatic ratio, and then sprays it with high-pressure air.
Structure and function of shotcrete manipulator
Concrete shotcrete manipulators consist of an upper working device and a lower chassis. The lower chassis is equipped with motors, hydraulic oil tanks, optical cable coils, control rooms, water tanks, oil tanks, hydraulic pipelines, quick-setting agent boxes, hoppers and other devices. The general manipulator has eight degrees of freedom, including waist rotation, arm pitch, arm pitch, arm telescopic, horizontal arm telescopic, horizontal arm swing, wrist rotation and gun bar posture adjustment, to ensure that the spray gun is perpendicular to the sprayed surface and maintains the best distance. According to needs, the working device can be installed on different chassis.
Characteristics of different types of shotcrete manipulators
In actual applications, different types of concrete spraying manipulators have their own characteristics. For example, a large-scale shotcrete manipulator can spray up to 30 to 40 cubic meters per hour, significantly improving the construction progress. The wet spraying process is used to make the concrete more adherent, more uniform and dense, and ensure the construction quality. Only 2 to 3 main operators are required, with a high degree of mechanization, which significantly improves the construction efficiency. The operation range is large, suitable for large-area construction, and has a wide range of applications. It can effectively control the rebound rate and quality of the spraying, and the spraying effect is good. Mechanized operation is far away from the face, with high safety and little impact on the surrounding environment and construction personnel.
Application of shotcrete manipulator
Concrete shotcrete manipulator is widely used in shotcrete support construction in transportation tunnels, hydraulic tunnels, mine tunnels, underground projects and building foundation pits. Research on it is also constantly improving at home and abroad, mainly focusing on structural updates, new admixtures and shotcrete development, material research, miniaturization and multifunctionality, improving the degree of automation, long-distance concrete transportation, and intelligent and self-checking function research.