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Stability Control Technology for the Boom of Wet-Spraying Carriages During Spraying Operations
Release time:
2026-08-05
Source:
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Summary:
When wet‑spray robotic platforms are used for concrete spraying in tunnels, slope stabilization, and other construction projects, the stability of the boom is a critical factor that determines spray quality, material rebound rate, and construction safety. Any uncontrolled sway or vibration of the boom while it is extended can cause deviations in the spray trajectory, uneven concrete distribution, a sharp increase in rebound, and even fatigue damage to the machine’s structural components. Achieving precise and stable control of the boom is a systematic engineering challenge that integrates equipment condition monitoring, operational procedural standards, dynamic parameter adjustments, and intelligent assistance.
I. Foundation Stabilization and Condition Verification Prior to Work
The aerial stability of the boom begins with absolute ground stability. Before commencing work, ensure that the equipment is positioned on a firm, level surface, and fully extend and properly shim all outriggers in strict accordance with the operating procedures, thereby completely unloading the tires and transforming the vehicle into a stable working platform. Any loose connection at an outrigger or any ground settlement can amplify even minor deformations during operation into significant sway at the boom’s tip. In addition, thoroughly inspect the condition and fastening of all boom articulation points and hydraulic cylinder pins to confirm there is no looseness or abnormal wear—this constitutes the mechanical foundation for maintaining the boom’s rigidity.
II. Core Principles of Precision Operation Techniques
The operator’s control technique is a direct factor influencing the boom’s dynamic stability.
1. Follow “ Steady, slow, even ” Operating principle: All boom movements, particularly the composite motions of multi-section booms, must comply with “ Smooth start, uniform speed during movement, and gentle stop. ” A strict rule: never forcefully push or pull the control lever, as this can cause pressure surges in the hydraulic system and result in severe boom vibrations. Precise, fine‑tuned micro‑movements are the hallmark of expert operation.
2. Optimizing jet trajectory and attitude: Prioritize planning smooth, continuous jet paths (such as helical trajectories or… “S” (Shape of the spray pattern), to avoid abrupt changes in posture. During spraying, the nozzle should be kept as perpendicular as possible to the surface being sprayed, and the optimal spraying distance should be maintained (typically...). 1 To 1.5 m). In this configuration, the concrete jet strikes the rock surface perpendicularly, minimizing kinetic energy loss and reducing the disruptive impact of rebound forces on the boom. Avoid prolonged, high‑intensity spraying when the nozzle is severely tilted or at the limit of its extension, as the boom is most unstable in these conditions.
3. Make effective use of the equipment’s built-in stabilization features: Modern wet‑spraying rigs are typically equipped with active boom vibration damping or electronic stabilization systems. These systems use sensors to detect boom vibrations and activate hydraulic valves to generate counter‑compensation, thereby reducing sway. Operators should ensure that this feature remains enabled when working in complex postures or during high‑pressure spraying.
III. Dynamic Stability Maintenance During the Injection Process
Spraying operations are dynamic processes that require continuous adjustments based on real-time feedback.
1. Coordinated Control of Concrete Pumping Pressure: The primary disturbance forces acting on the boom are generated by pressure pulsations during concrete pumping. The pumping system should operate in a stable, continuous output mode to prevent abrupt fluctuations in flow rate. Operators must monitor the pump pressure gauge; when a systematic correlation is observed between pressure readings and boom vibrations, they should notify the pump operator to make coordinated adjustments, aiming to maintain overall system pressure stability.
2. Handling Sudden Material Jamming or Pipe Blockage: When signs of an instantaneous material jam or pipe blockage occur, the spraying system will generate a strong recoil vibration. At this point, the operator’s first response should be to immediately stop pumping (shut off the concrete flow), rather than forcibly swinging the boom in an attempt to dislodge the obstruction. Once the pressure has been relieved and the vibrations have subsided, proceed with troubleshooting. This approach helps protect the boom structure from impact‑induced damage.
IV. Environmental Adaptability and Handling of Special Operating Conditions
Complex environments pose additional challenges to boom stability.
1. Addressing Space Constraints and Complex Cross-Sections: When working in narrow tunnels or with irregularly shaped cross-sections, the boom may adopt an asymmetrical, non‑standard extension configuration. In such cases, it is advisable to operate at a more conservative travel speed; if necessary, reduce the pumping flow rate appropriately, trading some efficiency for enhanced stability.
2. External disturbances such as strong winds: When working on open‑air slopes, gusts can introduce wind loads as an additional source of disturbance. Wind conditions should be assessed, and, if necessary, precision spraying operations at height or involving long‑span booms should be suspended until the wind subsides or temporary reinforcement measures are implemented.
Summary
Controlling the stability of the boom on a wet‑spraying carriage essentially involves achieving a high degree of integration among mechanical rigidity, hydraulic smoothness, and operational fluidity. This demands that the operator be not only a… “ Driver ” , and also someone who understands mechanical dynamics, hydraulic transmission, and the rheological properties of concrete “ System Coordinator ” Only by solidifying the physical foundation, honing precise operations, achieving dynamic coordination, and fully leveraging intelligent stabilization technologies can we ensure that the boom—this… “ Steel Giant Arm ” Tamed into a tool that draws with precision and stability in three-dimensional space. “ Dexterous hands ” , thereby completing the shotcrete support task efficiently and with high quality.
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