Nozzle injection angle control device, method and engineering machinery of concrete injection machine

Abstract

The invention discloses a device and method for controlling the spraying angle of a nozzle of a concrete sprayer and an engineering machine comprising the device. The device comprises a receiving device used for receiving arm rest posture signals of the sprayer and a control device used for conducting the following operation that according to the arm rest posture signals, center coordinates of the root portion of the nozzle and center coordinates of the tail end of the nozzle are determined; according to the center coordinates of the root portion and the center coordinates of the tail end, a pointing direction vector of the nozzle is determined; according to a hook face outline model of a sprayed face and the vector, position coordinates of a spraying point are calculated; according to the hook face outline model and the position coordinates, a normal vector of the sprayed face on the position coordinates is calculated; the included angle between the normal vector and the vector representing the pointing direction of the nozzle is calculated; under the condition that the included angle is larger than a preset value, the position of the nozzle is adjusted, so that the included angle between the vector representing the pointing direction of the nozzle and the normal vector is smaller than or equal to the preset value. According to the device and method for controlling the spraying angle of the nozzle of the concrete sprayer, the spraying angle can be accurately controlled and the compactness of sprayed concrete is enhanced.

Description

technical field [0001] The invention relates to the field of construction machinery, in particular to a nozzle injection angle control device and method for a concrete sprayer and construction machinery including the device. Background technique [0002] The concrete spraying machine is used to spray concrete to the surface to be sprayed, and whether the spraying angle (that is, the angle between the direction of the nozzle and the surface to be sprayed) is appropriate or not is directly related to the quality of the spray and the rebound rate of the concrete. The above impact on the spraying quality is mainly manifested in the decrease of the compactness of the sprayed layer concrete on the sprayed surface, which will reduce the structural strength of the sprayed layer; and the high rebound rate will cause waste of concrete and increase construction costs. The ideal spraying angle is that the direction of the nozzle is 90° to the sprayed surface, which can reduce the reboun...

AI Technical Summary

Problems solved by technology

There are two defects in manual operation to control the spray angle of the nozzle: (1) inaccurate control, resulting in poor spray quality and waste of concrete; (2) increasing the labor intensity of the machine operator

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