METHOD AND DEVICE FOR CONTROL OF NOZZLE MOVEMENT IN GUNITING Russian patent published in 1998 - IPC

FIELD: construction engineering. SUBSTANCE: according to method, robotized unit for guniting is provided with manipulator having tangible sensor. Mounted on manipulator boom by means of parallelogram mechanism is guniting nozzle for pressure-spraying of concrete mix. Connected to this nozzle is material supply hose. With the help of aforesaid mechanism, nozzle is held in technologically most favorable position in relation to surface and additionally it is oscillated in process of moving along surface. Control process consisting in adjusting velocity of oscillation movement is performed in cyclic manner by sections of work surface and their dimensions are programmed in advance proceeding from preset profiles of working contour before and after guniting up to average required thickness of concrete coating. In each cycle of control, tangible sensor is brought in contact with work surface sector at programmed point and coordinates are measured of actual relief of surface. According to results of measurement, velocity of oscillation movement is corrected to ensure application of even coating with its thickness formed with taking into consideration surface irregularity of relief. EFFECT: high efficiency. 2 cl, 4 dwg