CN109595007A - A kind of full-automatic wet shot control method and full-automatic wet shot system - Google Patents
A kind of full-automatic wet shot control method and full-automatic wet shot system Download PDFInfo
- Publication number
- CN109595007A CN109595007A CN201811480602.6A CN201811480602A CN109595007A CN 109595007 A CN109595007 A CN 109595007A CN 201811480602 A CN201811480602 A CN 201811480602A CN 109595007 A CN109595007 A CN 109595007A
- Authority
- CN
- China
- Prior art keywords
- nozzle
- construction surface
- theoretical
- spray
- full
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000010276 construction Methods 0.000 claims abstract description 103
- 238000005507 spraying Methods 0.000 claims abstract description 23
- 239000007921 spray Substances 0.000 claims description 62
- 239000004567 concrete Substances 0.000 claims description 30
- 238000011897 real-time detection Methods 0.000 claims description 14
- 238000002347 injection Methods 0.000 claims description 13
- 239000007924 injection Substances 0.000 claims description 13
- 238000010304 firing Methods 0.000 claims description 2
- 238000007592 spray painting technique Methods 0.000 claims description 2
- 239000011248 coating agent Substances 0.000 abstract description 6
- 238000000576 coating method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 239000011378 shotcrete Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 231100000241 scar Toxicity 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses a kind of full-automatic wet shot control method and full-automatic wet shot systems; it is modeled by scanning construction surface and to construction surface; the spraying kinematic parameter of mechanical arm and nozzle is obtained using construction surface 3D model; and mechanical arm and nozzle are controlled according to kinematic parameter auto-action; complete the spraying operation of construction surface; entire spraying process is automatical and efficient; it is time saving and energy saving; the skill requirement to operator can not only be reduced; it is higher to improve coating quality; and it may be implemented under high-risk environment higher without operation or remote job, safety.
Description
Technical field
The present invention relates to concrete spraying technical fields, more particularly to a kind of full-automatic wet shot control method.In addition, this
Invention further relates to a kind of full-automatic wet shot system.
Background technique
Concrete sprayer, which refers to directly to be mapped to pressure delivering concrete mixture through nozzle on rock surface, to be formed admittedly
The supporting machine for tying concrete layer, is mainly used for the engineering supports such as underground mine well tunnel, it can also be used to which country rock infiltration is built in spray
Water and weathering protective layer, and be used cooperatively with anchor pole, to improve support capacity.
At present concrete sprayer in use, be by operator on station control hydraulic system, realize machine
Tool arm rises and falls, turns round, stretching and complete machine walking, and spray head is made neatly to change angle and orientation with the variation of scar, to guarantee
Spray head injection direction makes to keep best spray distance before spray head and scar always perpendicular to scar, efficiently controls coagulation
Rate is spilt in native jet quality, rebound degree and leakage.Manually control it is not only more demanding to the professional skill of operator and operating experience,
Wet shot quality cannot be guaranteed, and working efficiency is low, and labor intensity is high, and operator's personal safety obtains under certain high-risk environments
Less than guarantee.
Therefore how to solve that manual operation wet-spraying machine is time-consuming and laborious, safety is lower and wet shot quality is not easy to control etc. asks
Topic, is a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
The object of the present invention is to provide a kind of full-automatic wet shot control method and full-automatic wet shot systems, are applied by scanning
Work face simultaneously models construction surface, the spraying kinematic parameter of mechanical arm and nozzle is obtained using construction surface 3D model, and control machinery
Arm and nozzle complete the spraying operation of construction surface according to kinematic parameter auto-action, and time saving and energy saving, coating quality is higher, safety
Property is higher.
In order to solve the above technical problems, the present invention provides a kind of full-automatic wet shot control method, comprising:
S1: scanning construction surface obtains the outline data of construction surface；
S2: construction surface 3D model is established according to acquired construction surface outline data；
S3: quantity for spray and nozzle needed for each position are obtained in construction surface to construction surface according to the construction surface 3D model
Upper each position theoretical eject position of the nozzle and theoretical spray angle when spraying；
S4: the jet path that control mechanical arm drives the nozzle to be formed according to each theoretical eject position is mobile, and
It controls the nozzle and carries out concrete ejection according to the quantity for spray and theoretical spray angle each position in construction surface.
Preferably, the theoretical spray angle of the nozzle in construction surface when each position injection is perpendicular in construction surface
Azimuth at the position.The injection direction of the nozzle is always perpendicular to construction surface.
Preferably, controlling the nozzle, each position progress concrete ejection in construction surface includes: according to the quantity for spray
Controlling the mechanical arm drives the nozzle at the uniform velocity to move along the jet path,
The theoretical spray when nozzle is sprayed to each position is calculated according to the movement speed of the quantity for spray and the nozzle
Firing rate degree；
It controls the nozzle and carries out concrete ejection according to theoretical jet velocity each position in construction surface.
Preferably, S4 further include:
The actual ejection position of nozzle described in real-time detection；
Obtain the position deviation of the actual ejection position with the corresponding theoretical eject position；
It controls the mechanical arm and drives the mobile position deviation of the nozzle, until detecting that the position deviation is 0.
Preferably, further includes:
The actual ejection angle of nozzle described in real-time detection；
Obtain the angular deviation of the actual ejection angle with the corresponding theoretical spray angle；
It controls the mechanical arm and drives the mobile angular deviation of the nozzle, until detecting that the angular deviation is 0.
The present invention also provides a kind of full-automatic wet shot systems, including,
Nozzle for being sprayed to construction surface；
For driving the nozzle mobile and the mechanical arm of overturning；
It is located at the scanner of the mechanical arm front end, for scanning construction surface to obtain construction surface outline data；
The processor being connected with the scanner, for establishing construction surface 3D model according to the construction surface outline data,
And the quantity for spray according to needed for each position in construction surface 3D model acquisition construction surface and the nozzle are each in construction surface
Theoretical eject position and theoretical spray angle when position is sprayed；
The controller being connected with the processor and the mechanical arm drives the nozzle for controlling the mechanical arm
The jet path formed according to each theoretical eject position is mobile, and controls the nozzle according to the quantity for spray and the reason
By spray angle, each position carries out concrete ejection in construction surface.
It preferably, further include the position sensor of actual ejection position for nozzle described in real-time detection, the position
Sensor is connected with the processor, and the processor is also used to calculate the actual ejection position and corresponding theoretical injection position
The position deviation set, the controller are also used to adjust the eject position of the nozzle according to the position deviation.
It preferably, further include the angular transducer of actual ejection angle for nozzle described in real-time detection, the angle
Sensor is connected with the processor, and the processor is also used to calculate the actual ejection angle and corresponding theoretical jet angle
The angular deviation of degree, the controller are also used to adjust the spray angle of the nozzle according to the angular deviation.
Full-automatic wet shot control method provided by the invention and full-automatic wet shot system, by scanning construction surface and to applying
The modeling of work face, the spraying kinematic parameter of mechanical arm and nozzle is obtained using construction surface 3D model, and controls mechanical arm and nozzle is pressed
According to kinematic parameter auto-action, the spraying operation of construction surface is completed, entire spraying process is automatical and efficient, and it is time saving and energy saving, it can not only
Enough skill requirements reduced to operator, it is higher to improve coating quality, and may be implemented under high-risk environment without operation or remote
Cheng Zuoye, safety are higher.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of specific embodiment of full-automatic wet shot control method provided by the present invention；
Fig. 2 is a kind of schematic diagram of specific embodiment of full-automatic wet shot system provided by the present invention.
It is marked in attached drawing as follows:
Nozzle 1, mechanical arm 2, scanner 3, processor 4, controller 5, position sensor 6, angular transducer 7.
Specific embodiment
Core of the invention is to provide a kind of full-automatic wet shot control method and full-automatic wet shot system, is applied by scanning
Work face simultaneously models construction surface, the spraying kinematic parameter of mechanical arm and nozzle is obtained using construction surface 3D model, and control machinery
Arm and nozzle complete the spraying operation of construction surface according to kinematic parameter auto-action, and time saving and energy saving, coating quality is higher, safety
Property is higher.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is a kind of specific embodiment party of full-automatic wet shot control method provided by the present invention
The flow diagram of formula；Fig. 2 is a kind of schematic diagram of specific embodiment of full-automatic wet shot system provided by the present invention.
The specific embodiment of the invention provides a kind of full-automatic wet shot control method, so that concrete sprayer can entirely certainly
Dynamic to carry out wet shot operation, which specifically includes that
S1: scanning construction surface obtains the outline data of construction surface.
It, specifically can be by concrete sprayer mechanical arm in the control method that the specific embodiment of the invention provides
Scanner 3 is installed in 2 front end, is scanned by scanner 3 to construction surface to be sprayed, acquires the number of contours of the construction surface
According to.
S2: construction surface 3D model is established according to acquired construction surface outline data.
Acquired construction surface outline data can be sent to processor 4, processor 4 after scanning construction surface by scanner 3
Construction surface 3D model is established according to the construction surface outline data, the corresponding seat in each position on construction surface 3D model
Mark.
S3: quantity for spray and nozzle 1 needed for each position are obtained in construction surface to construction according to the construction surface 3D model
The theoretical eject position of the nozzle 1 and theoretical spray angle when each position is sprayed on face.
The sprayings standards such as the spray distance between coating thickness, nozzle 1 and construction surface can be preset in processor 4,
Construction surface 3D model foundation preprocessor 4 each position in construction surface can be obtained automatically according to preset spraying standard needed for spray
Painting amount etc..
Since actual construction surface is often uneven, when gunning concrete generally tend to fill little groove it is smooth,
Therefore quantity for spray needed for each position is often different in construction surface.
Wherein, theoretical spray angle of the nozzle 1 in construction surface when each position injection is preferably perpendicular to the position in construction surface
Set the azimuth at place, i.e. concrete ejection quality can be improved always perpendicular to construction surface in the injection direction of nozzle 1 in this way, and
It efficiently controls concrete ejection rebound degree and rate is spilt in leakage.
It should be noted that the theoretical eject position of nozzle 1 refers to the position at the theoretical place of nozzle 1 when concrete ejection
It sets；The angle of the theoretical injection direction relative level of nozzle 1 when the theoretical spray angle of nozzle 1 can be concrete ejection.
S4: the jet path that control mechanical arm 2 drives the nozzle 1 to be formed according to each theoretical eject position is mobile,
And it controls the nozzle 1 and carries out concrete spray according to the quantity for spray and theoretical spray angle each position in construction surface
It penetrates.
Wherein it should be noted that nozzle 1 is mounted on the end of mechanical arm 2, mechanical arm 2 generally by with telescoping mechanism,
The composition such as lift, revolution and turnover mechanism is able to drive nozzle 1 to all directions movement and overturning by mechanical arm 2.
The specific embodiment of the invention provide full-automatic wet shot control method, control nozzle 1 in construction surface everybody
When setting progress concrete ejection, the amount of gunite concrete needed for different location is different, specific to may be implemented there are many mode, one
In kind specific embodiment, mechanical arm 2 can be controlled by controller 5 and nozzle 1 is driven at the uniform velocity to move along jet path, in movement
Change quantity for spray in the process by adjusting the spray speed of nozzle 1, if a certain position is fluted in construction surface, which is needed
It asks more, then when nozzle 1 is sprayed to the position, the jet velocity of nozzle 1 can be increased, and then meet the requirement of quantity for spray.
Specifically, nozzle 1 can be calculated according to quantity for spray needed for each position in the movement speed of nozzle 1 and construction surface
Theoretical jet velocity when being sprayed to each position；Control mechanical arm 2 drives nozzle 1 at the uniform velocity to move along jet path according to movement speed
It is dynamic, and control nozzle 1 each position in construction surface carries out concrete ejection according to theoretical jet velocity.
In another embodiment specific implementation mode, each position at the uniform velocity gunite concrete in construction surface of nozzle 1 can be made, and led to
It crosses adjustment nozzle 1 and changes quantity for spray in the movement speed of each eject position when moving along jet path, if a certain in construction surface
Position is fluted, and the position concrete demand is more, then when nozzle 1 is sprayed to the position, can slow down mechanical arm 2 and drive nozzle
1 movement speed increases injecting time of the nozzle 1 to the position, and then meets the requirement of quantity for spray.
Specifically, spray can be calculated according to the jet velocity of nozzle 1 and with quantity for spray needed for each position in construction surface
Theoretical movement speed of the mouth 1 in each theoretical eject position；Controlling mechanical arm 2 drives nozzle 1 according to theoretical movement speed along spray
Rays diameter is mobile, and control nozzle 1 in construction surface each position according to jet velocity at the uniform velocity gunite concrete.
Further, the full-automatic wet shot control method provided in the specific embodiment of the invention, S4 can also include:
The actual ejection position of nozzle 1 described in real-time detection；
Obtain the position deviation of the actual ejection position with the corresponding theoretical eject position；
It controls the mechanical arm 2 and drives the mobile position deviation of the nozzle 1, until detecting that the position deviation is
0。
Specifically, it can be counted in real time by the position where 6 real-time detection nozzle of position sensor 1, and by processor 4
The position deviation of nozzle 1 is calculated, controller 5 controls mechanical arm 2 according to the position deviation and acts, and adjustment nozzle 1 to theory sprays position
It sets, real-time compensation adjustment guarantees the accurate spraying of nozzle 1.
Further, S4 can also include:
The actual ejection angle of nozzle 1 described in real-time detection；
Obtain the angular deviation of the actual ejection angle with the corresponding theoretical spray angle；
It controls the mechanical arm 2 and drives the mobile angular deviation of the nozzle 1, until detecting that the angular deviation is
0。
Specifically, it can be counted in real time by the spray angle of 7 real-time detection nozzle 1 of angular transducer, and by processor 4
The angular deviation of nozzle 1 is calculated, controller 5 controls mechanical arm 2 according to the angular deviation and acts, adjustment nozzle 1 to theoretical jet angle
Degree, real-time compensation adjustment, guarantees the accurate spraying of nozzle 1.
In conclusion the full-automatic wet shot control method that the specific embodiment of the invention provides, passes through acquisition construction surface
Outline data simultaneously models construction surface, the spraying kinematic parameter of mechanical arm 2 and nozzle 1 is obtained using construction surface 3D model, and control
Mechanical arm 2 and nozzle 1 processed complete the spraying operation of construction surface according to kinematic parameter auto-action, and entire spraying process is automatically high
Effect, it is time saving and energy saving, the skill requirement to operator can not only be reduced, it is higher to improve coating quality, and under high-risk environment
It may be implemented higher without operation or remote job, safety.
The specific embodiment of the invention additionally provides full-automatic wet shot system corresponding with above-mentioned control method, mainly wraps
Include nozzle 1, mechanical arm 2, scanner 3, processor 4 and controller 5, wherein nozzle 1 is mounted on 2 end of mechanical arm, passes through machinery
Arm 2 drives nozzle 1 mobile and overturning, realizes to the concrete spray operation of construction surface different location and the spraying of different angle
Operation；Scanner 3 is located at 2 front end of mechanical arm, for scanning construction surface and obtaining construction surface outline data；Processor 4 and scanning
Instrument 3 is connected, and for establishing construction surface 3D model according to construction surface outline data, and is obtained in construction surface according to construction surface 3D model
The theoretical eject position and theoretical jet angle of quantity for spray needed for each position and nozzle 1 in construction surface when each position injection
Degree；Controller 5 is connected with processor 4 and mechanical arm 2, drives nozzle 1 according to each theoretical eject position for controlling mechanical arm 2
The jet path of formation is mobile, and controls nozzle 1 and mixed according to quantity for spray and theoretical spray angle each position in construction surface
Solidifying soil injection.
In the control system provided by the specific embodiment of the invention, can also include position sensor 6, nozzle 1 to
In construction surface when each position gunite concrete, 6 real-time detection nozzle of position sensor, 1 position, position sensor 6 can be passed through
It is connected with processor 4, the actual ejection position of nozzle 1 is reached processor 4 by position sensor 6 in real time, and processor 4 is by nozzle 1
Actual ejection position is compared with corresponding theoretical spray angle, and obtains the position deviation of the two, and controller 5 is inclined according to the position
Difference control mechanical arm 2 acts, adjustment nozzle 1 to theoretical eject position.
Further, control system provided by the specific embodiment of the invention can also include angular transducer 7, spray
Mouth 1 is in construction surface when each position gunite concrete, the spray angle of 7 real-time detection nozzle 1 of angular transducer, angular transducer
7 are connected with processor 4, and the actual ejection angle of nozzle 1 is reached processor 4 by angular transducer 7 in real time, and processor 4 is by nozzle 1
Actual ejection angle is compared with corresponding theoretical spray angle, and obtains the angular deviation of the two, and controller 5 is inclined according to the angle
Difference control mechanical arm 2 acts, adjustment nozzle 1 to theoretical spray angle, and real-time compensation adjustment guarantees the accurate spraying of nozzle 1.
In the description of the present patent application file, each embodiment is described in a progressive manner in specification, Mei Geshi
That applies that example stresses is the difference from other embodiments, and similar portion may refer to each other between each embodiment.
For the device disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so description is relatively simple, it is related
Place is referring to method part illustration.
Full-automatic wet shot control method provided by the present invention and full-automatic wet shot system are described in detail above.
Used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention.It should be pointed out that for those skilled in the art,
Without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improvement and modification
It falls into the protection scope of the claims in the present invention.
Claims (8)
1. a kind of full-automatic wet shot control method characterized by comprising
S1: scanning construction surface obtains the outline data of construction surface；
S2: construction surface 3D model is established according to acquired construction surface outline data；
S3: quantity for spray needed for obtaining each position in construction surface according to the construction surface 3D model and nozzle are each in construction surface
The position theoretical eject position of the nozzle and theoretical spray angle when spraying；
S4: the jet path that control mechanical arm drives the nozzle to be formed according to each theoretical eject position is mobile, and controls
The nozzle carries out concrete ejection according to the quantity for spray and theoretical spray angle each position in construction surface.
2. full-automatic wet shot control method according to claim 1, which is characterized in that the nozzle in construction surface everybody
Theoretical spray angle when injection is set perpendicular to the azimuth in construction surface at the position.The injection direction of the nozzle begins
Eventually perpendicular to construction surface.
3. full-automatic wet shot control method according to claim 1, which is characterized in that control the nozzle according to the spray
Painting amount each position in construction surface carries out concrete ejection and includes:
Controlling the mechanical arm drives the nozzle at the uniform velocity to move along the jet path,
The theoretical injection speed when nozzle is sprayed to each position is calculated according to the movement speed of the quantity for spray and the nozzle
Degree；
It controls the nozzle and carries out concrete ejection according to theoretical jet velocity each position in construction surface.
4. full-automatic wet shot control method according to claim 3, which is characterized in that S4 further include:
The actual ejection position of nozzle described in real-time detection；
Obtain the position deviation of the actual ejection position with the corresponding theoretical eject position；
It controls the mechanical arm and drives the mobile position deviation of the nozzle, until detecting that the position deviation is 0.
5. full-automatic wet shot control method according to claim 4, which is characterized in that further include:
The actual ejection angle of nozzle described in real-time detection；
Obtain the angular deviation of the actual ejection angle with the corresponding theoretical spray angle；
It controls the mechanical arm and drives the mobile angular deviation of the nozzle, until detecting that the angular deviation is 0.
6. a kind of full-automatic wet shot system, which is characterized in that including,
Nozzle for being sprayed to construction surface；
For driving the nozzle mobile and the mechanical arm of overturning；
It is located at the scanner of the mechanical arm front end, for scanning construction surface to obtain construction surface outline data；
The processor being connected with the scanner, for establishing construction surface 3D model, and root according to the construction surface outline data
Quantity for spray and the nozzle each position in construction surface needed for each position in construction surface are obtained according to the construction surface 3D model
Theoretical eject position and theoretical spray angle when injection；
The controller being connected with the processor and the mechanical arm, for control the mechanical arm drive the nozzle according to
The jet path that each theoretical eject position is formed is mobile, and controls the nozzle according to the quantity for spray and the theoretical spray
Firing angle degree each position in construction surface carries out concrete ejection.
7. full-automatic wet shot system according to claim 6, which is characterized in that further include for nozzle described in real-time detection
Actual ejection position position sensor, the position sensor is connected with the processor, and the processor is also used to count
The position deviation of the actual ejection position with corresponding theoretical eject position is calculated, the controller is also used to according to the position
The eject position of nozzle described in deviation adjusting.
8. full-automatic wet shot system according to claim 7, which is characterized in that further include for nozzle described in real-time detection
Actual ejection angle angular transducer, the angular transducer is connected with the processor, and the processor is also used to count
The angular deviation of the actual ejection angle with corresponding theoretical spray angle is calculated, the controller is also used to according to the angle
The spray angle of nozzle described in deviation adjusting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480602.6A CN109595007A (en) | 2018-12-05 | 2018-12-05 | A kind of full-automatic wet shot control method and full-automatic wet shot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480602.6A CN109595007A (en) | 2018-12-05 | 2018-12-05 | A kind of full-automatic wet shot control method and full-automatic wet shot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109595007A true CN109595007A (en) | 2019-04-09 |
Family
ID=65961237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811480602.6A Pending CN109595007A (en) | 2018-12-05 | 2018-12-05 | A kind of full-automatic wet shot control method and full-automatic wet shot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109595007A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259481A (en) * | 2019-06-24 | 2019-09-20 | 三一汽车制造有限公司 | Control method, wet-spraying machine and the computer readable storage medium of wet-spraying machine |
| CN110833941A (en) * | 2019-11-27 | 2020-02-25 | 湖南易兴建筑有限公司 | Spraying equipment |
| CN110961284A (en) * | 2019-10-25 | 2020-04-07 | 上海魅奈儿科技有限公司 | Automatic spraying device and method |
| CN112211651A (en) * | 2020-09-28 | 2021-01-12 | 中煤科工开采研究院有限公司 | Coal road spraying support system |
| CN112228100A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Air pumping system and method for forming roadway atmospheric pressure support |
| CN112228107A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Detection method and system for sealing spray layer of roadway support |
| CN112228101A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying-based roadway support forming method and system |
| CN112228102A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying temporary support and anchor rod permanent support method and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203175053U (en) * | 2013-04-15 | 2013-09-04 | 清华大学建筑设计研究院有限公司 | Spraying and thickness determination device for concrete |
| CN103558868A (en) * | 2013-10-31 | 2014-02-05 | 中联重科股份有限公司 | Device and method for controlling spraying angle of nozzle of concrete sprayer and engineering machine |
| CN104818999A (en) * | 2015-04-16 | 2015-08-05 | 浙江大学 | Concrete spraying and painting integration tunnel construction device |
| CN205012622U (en) * | 2015-07-02 | 2016-02-03 | 长沙卓创机械科技有限公司 | Mortar spraying device based on automated control |
| CN107939418A (en) * | 2017-11-24 | 2018-04-20 | 中铁十局集团第四工程有限公司 | A kind of gunite concrete automated construction device and its construction method |
| CN108104842A (en) * | 2017-12-26 | 2018-06-01 | 同济大学 | A kind of soft soil tunnel lining construction method and device based on 3D printing technique |
| CN108247811A (en) * | 2017-12-26 | 2018-07-06 | 同济大学 | A kind of mining tunnel lining construction method and device based on 3D printing technique |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
-
2018
- 2018-12-05 CN CN201811480602.6A patent/CN109595007A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203175053U (en) * | 2013-04-15 | 2013-09-04 | 清华大学建筑设计研究院有限公司 | Spraying and thickness determination device for concrete |
| CN103558868A (en) * | 2013-10-31 | 2014-02-05 | 中联重科股份有限公司 | Device and method for controlling spraying angle of nozzle of concrete sprayer and engineering machine |
| CN104818999A (en) * | 2015-04-16 | 2015-08-05 | 浙江大学 | Concrete spraying and painting integration tunnel construction device |
| CN205012622U (en) * | 2015-07-02 | 2016-02-03 | 长沙卓创机械科技有限公司 | Mortar spraying device based on automated control |
| CN107939418A (en) * | 2017-11-24 | 2018-04-20 | 中铁十局集团第四工程有限公司 | A kind of gunite concrete automated construction device and its construction method |
| CN108104842A (en) * | 2017-12-26 | 2018-06-01 | 同济大学 | A kind of soft soil tunnel lining construction method and device based on 3D printing technique |
| CN108247811A (en) * | 2017-12-26 | 2018-07-06 | 同济大学 | A kind of mining tunnel lining construction method and device based on 3D printing technique |
| CN108915267A (en) * | 2018-08-31 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of wet shot manipulator with from cruise whitewashing function |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259481A (en) * | 2019-06-24 | 2019-09-20 | 三一汽车制造有限公司 | Control method, wet-spraying machine and the computer readable storage medium of wet-spraying machine |
| CN110259481B (en) * | 2019-06-24 | 2022-01-25 | 三一汽车制造有限公司 | Control method of wet spraying machine, wet spraying machine and computer readable storage medium |
| CN110961284A (en) * | 2019-10-25 | 2020-04-07 | 上海魅奈儿科技有限公司 | Automatic spraying device and method |
| CN110833941A (en) * | 2019-11-27 | 2020-02-25 | 湖南易兴建筑有限公司 | Spraying equipment |
| CN112211651A (en) * | 2020-09-28 | 2021-01-12 | 中煤科工开采研究院有限公司 | Coal road spraying support system |
| CN112228100A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Air pumping system and method for forming roadway atmospheric pressure support |
| CN112228107A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Detection method and system for sealing spray layer of roadway support |
| CN112228101A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying-based roadway support forming method and system |
| CN112228102A (en) * | 2020-09-28 | 2021-01-15 | 中煤科工开采研究院有限公司 | Spraying temporary support and anchor rod permanent support method and system |
| CN112228101B (en) * | 2020-09-28 | 2023-01-10 | 中煤科工开采研究院有限公司 | Roadway support forming method and system based on spraying |
| CN112228100B (en) * | 2020-09-28 | 2023-03-07 | 中煤科工开采研究院有限公司 | Air pumping system and method for forming roadway atmospheric pressure support |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109595007A (en) | A kind of full-automatic wet shot control method and full-automatic wet shot system | |
| CN103775104B (en) | Underground coal mine Wet-type concrete shotcreting process | |
| CN205025113U (en) | Laser flattening machine people that paves | |
| CN205766713U (en) | Building 3D printing equipment | |
| EP3626420A1 (en) | Concrete structure manufacturing apparatus and method | |
| CN205349369U (en) | Compound co -ordinate -type concrete sprayer tool hand | |
| CN103628662A (en) | Wall surface spraying machine and operation equipment | |
| CN104295110B (en) | Device is filled up in a kind of crack of building | |
| CN107939418A (en) | A kind of gunite concrete automated construction device and its construction method | |
| CN106988510A (en) | A kind of method that use mortar spraying carries out white washed wall construction | |
| CN107237641B (en) | Single shell lining intelligence sprayed construction method and device based on monitoring feedback technique | |
| JPH0227015A (en) | Jet grouting method | |
| CN208184747U (en) | It is a kind of to go up and down universal gunite concrete spray gun certainly | |
| CN204691787U (en) | A kind of concrete ejection smears integrated constructing tunnel device | |
| CN105781584A (en) | Concrete wet-spraying self-walking shotcrete support robot | |
| CN206701558U (en) | One kind climbs wall paint-spray robot rotating nozzle structure | |
| AU2005228979B2 (en) | Device for coating tunnel walls | |
| JP4491274B2 (en) | Steel pile construction management method | |
| CN205714218U (en) | Concrete spraying is from walking gunite robot | |
| CN113882628A (en) | Automatic mortar spraying machine | |
| CN114483105A (en) | Wet spraying construction method and wet spraying construction system | |
| CN209354162U (en) | A kind of preliminary supporting 3D printing device in tunnel | |
| CN213297211U (en) | A cement sprays curing means for civil engineering | |
| CN106930305B (en) | Large open caisson high-pressure water jet base cleaning device and open caisson base cleaning method thereof | |
| CN219092479U (en) | Anti-dry-crack water supplementing device for constructional engineering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190409 |