CN112814707A

CN112814707A - Coal mine roadway robot guniting method and device

Info

Publication number: CN112814707A
Application number: CN202110217151.2A
Authority: CN
Inventors: 王强; 施访
Original assignee: Jiangsu Kexiang Mining Technology Co ltd
Current assignee: Jiangsu Kexiang Mining Technology Co ltd
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2021-05-18
Also published as: CN114704291A

Abstract

The invention discloses a coal mine tunnel robot guniting method and device, which comprise a chassis, a first transmission shaft, a first rotating shaft, a second transmission box, a limiting sleeve and a fifth electric push rod, wherein the first transmission box is connected below the chassis, a first motor is installed in the first transmission box, a first transmission belt is arranged on the first motor, and a transmission roller is fixed on the first transmission shaft. The coal mine tunnel robot guniting method and device are provided with a searchlight, a monitor, a distance sensor, an antenna, a first scraper plate, a second scraper plate and a third scraper plate, signals sent by a mobile terminal can be received through the antenna to control the device, so that an unmanned control device can be realized, the searchlight, the monitor and the distance sensor are provided with the scraper plates to clean the searchlight, the monitor and the distance sensor cannot be normally used, the inner wall of a mine is measured through the distance sensor, the stability of the device is guaranteed, and collision is prevented.

Description

Coal mine roadway robot guniting method and device

Technical Field

The invention relates to the technical field of roadway guniting, in particular to a robot guniting method and device for a coal mine roadway.

Background

In the process of coal mine tunneling, gas rushes out rapidly, the content of ventilation gas is often out of limit, and the operation is difficult to be smoothly carried out. In order to stabilize the gas emission rate and reduce the overrun frequency, the mine adopts the method of hanging net to shoot the concrete to close the roadway and the method of spraying the slurry onto the coal wall by the underground slurry-spraying material at present, and usually the materials such as cement, sand, stone, etc. are stirred on site, and then the materials are directly sprayed onto the coal mine rock stratum by a slurry spraying machine or a grouting machine, and the effect of closing and supporting can be achieved after the cement material is solidified, so that the emission of the gas from the coal wall is slowed down.

But carry out the whitewashing to the tunnel at present and all get into the construction site through artifical dress protective clothing and carry out the construction, because the mine sight is dim and can influence artifical sight in the whitewashing operation and lead to the whitewashing inhomogeneous to can not obtain the guarantee to constructor's personal safety. Therefore, a coal mine tunnel robot guniting method and a coal mine tunnel robot guniting device are provided so as to solve the problems provided in the prior art.

Disclosure of Invention

The invention aims to provide a coal mine roadway robot guniting method and a device, and aims to solve the problems that the existing roadway guniting method in the background technology is carried out by manually wearing protective clothing to enter a construction site for construction, the guniting is uneven due to the fact that the sight of a mine is dim and the sight of manual work is influenced in guniting operation, and the personal safety of constructors cannot be guaranteed.

In order to achieve the purpose, the invention provides the following technical scheme: a coal mine roadway robot guniting method and device comprises a chassis, a first transmission shaft, a first rotating shaft, a second transmission box, a limiting sleeve and a fifth electric push rod, wherein the first transmission box is connected below the chassis, a first motor is arranged inside the first transmission box, a first transmission belt is arranged on the first motor, a transmission roller is fixed on the first transmission shaft, the transmission roller is connected with the first transmission belt, a first bevel gear is installed at the rear end of the first transmission shaft, a second bevel gear is fixed on the first rotating shaft, the tooth surface of the second bevel gear is meshed with a third bevel gear, a second transmission shaft penetrates through the third bevel gear, tires are fixed at two ends of the second transmission shaft, a fourth bevel gear is installed at the front end of the first transmission shaft, a fifth bevel gear is meshed with the tooth surface of the fourth bevel gear, a first movable shaft penetrates through the tooth surface of the fifth bevel gear, a second movable shaft is connected to the first movable shaft, a first connecting block is fixed to the second movable shaft, a first linkage rod is connected to the first connecting block, a second connecting block is arranged on the first linkage rod, a second linkage rod is connected to the second connecting block, a third connecting block is arranged at the other end of the second linkage rod, a first electric push rod is connected between the second linkage rod and the second linkage rod, a shock absorber is arranged above the chassis, a storage box is arranged above the shock absorber, a bin cover is arranged on the top surface of the storage box, a hinge is connected between the bin cover and the storage box, a handle is arranged on the bin cover, an antenna is arranged on the storage box, a second electric push rod is arranged on the storage box, a monitor is fixed to the second electric push rod, a third electric push rod is arranged on the storage box, a third linkage rod is connected to the third electric push rod, and a searchlight is arranged on the third linkage rod, a fixed rod is connected below the searchlight, distance sensors are arranged on the side surface and the front surface of the storage box, a first chute is formed in the storage box, a second motor is arranged in the first chute, the shaft end of the second motor is connected with a second transmission belt, a second rotating shaft is arranged in the second transmission belt, a first fixed frame is connected onto the second rotating shaft, a first scraper blade is arranged below the first fixed frame, a second chute is formed above the first chute, a third motor is arranged in the second chute, a third transmission belt is connected onto the shaft end of the third motor, a third rotating shaft is arranged in the third transmission belt, a second fixed frame is connected onto the third rotating shaft, a second scraper blade is arranged on the second fixed frame, a discharge port is formed in the bottom surface of the storage box, a first pipeline is connected below the discharge port, and a mechanical shaft seal is arranged on the first pipeline, the other end of the mechanical shaft seal is connected with a torsion winder, a fourth motor is arranged inside the second transmission case, a first supporting arm is connected to the fourth motor, a second supporting arm is installed on the first supporting arm, a fourth electric push rod is fixed below the second supporting arm, a fixing sleeve is arranged at the front end of the fourth electric push rod, a sleeve rod penetrates through the fixing sleeve, the front end of the sleeve rod is connected with a sprayer, a feed inlet is formed in the upper portion of the sprayer, a second pipeline is connected to the feed inlet, a limiting sleeve wraps the outer side of the second pipeline, and a fifth electric push rod is connected to the rear end of the second supporting arm.

Preferably, the monitor forms a lifting mechanism through a second electric push rod, and the monitor and the second electric push rod are mounted on the chassis and the storage box.

Preferably, the monitor includes camera, safety cover, fluting, fourth pivot, third scraper blade, fourth connecting block, carousel and fifth motor, the safety cover is installed in the camera outside, and the safety cover top surface has seted up the fluting, install the fourth pivot in the fluting, and be connected with the third scraper blade in the fourth pivot, third scraper blade lower extreme is provided with the fourth connecting block, and fourth connecting block inboard is connected with the carousel, and installs the fifth motor below the carousel.

Preferably, the searchlight is movably connected to the fixing rod, and the searchlight forms a turnover mechanism on the fixing rod through a third electric push rod and a third linkage rod.

Preferably, the distance sensor is distributed on the storage box and has three groups, and the distance sensor is attached to the first scraper plate.

The invention provides a using method of a coal mine tunnel robot guniting device, which comprises the following steps:

firstly, lifting a handle to turn a bin cover open through a hinge, feeding the storage box, and closing the bin cover after feeding is finished;

then receiving a signal of the mobile terminal through an antenna, switching on a monitor and a second electric push rod to power on, adjusting the height of the monitor through the second electric push rod, and transmitting a picture to the mobile terminal through a camera in the monitor;

when the device enters a mine, the searchlight is started to realize the function of illuminating the mine, and the searchlight can adjust the angle through the third electric push rod and the third linkage rod;

then, the interior of the mine is measured by a distance sensor additionally arranged on the storage box, so that the problem that the device collides with the mine is solved;

starting a guniting system after reaching a specified position, transmitting the materials stored in the storage box to the torsion winder through a first pipeline and a mechanical shaft seal, and transmitting the materials to the spray head through a second pipeline and the feed port for guniting;

during guniting operation, the first support arm can be rotated by the fourth motor to adjust left and right, and the second support arm is pulled by the fifth electric push rod to adjust up and down;

there will be some thick liquids splash to apart from inductor and searchlight at the whitewashing in-process, need drive second drive belt through the second motor this moment and make the second pivot slide on first spout and use first scraper blade to clean apart from the inductor, drive third drive belt through the third motor and make the third pivot slide at the second spout, realize the cleanness of second scraper blade to the searchlight.

Compared with the prior art, the invention has the beneficial effects that: the coal mine tunnel robot guniting method and device are provided with the searchlight, the monitor, the distance sensor, the antenna, the first scraper blade, the second scraper blade and the third scraper blade, signals sent by the antenna receiving mobile terminal are used for controlling the device, an unmanned control device can be realized, the personal safety of constructors can be guaranteed, the searchlight, the monitor and the distance sensor are provided with the scraper blades to clean the searchlight, slurry splashing is prevented when construction is carried out, the searchlight is enabled to be used normally, the monitor and the distance sensor can be used normally, the inner wall of a mine is measured through the distance sensor, the stability of the device is guaranteed, collision is prevented, and the device is more reasonable.

Drawings

FIG. 1 is a schematic structural diagram of a main body of a coal mine tunnel robot guniting method and device;

FIG. 2 is a schematic diagram of a side view of the coal mine roadway robot guniting method and apparatus of the present invention;

FIG. 3 is a schematic structural view showing a cross-sectional view of the transmission of the slurry spraying method and device for the coal mine tunnel robot of the present invention;

FIG. 4 is a schematic diagram of the transmission structure of the coal mine roadway robot guniting method and device;

FIG. 5 is a schematic view of a cross-sectional structure of a monitoring self-cleaning system for a coal mine tunnel robot guniting method and apparatus according to the present invention;

FIG. 6 is a schematic diagram of a first scraper transmission structure of the coal mine tunnel robot guniting method and device;

FIG. 7 is a schematic diagram of a second scraper transmission structure of the coal mine tunnel robot guniting method and device;

FIG. 8 is a schematic diagram of the structure at A in FIG. 2 illustrating a method and apparatus for coal mine roadway robot guniting according to the present invention;

fig. 9 is a schematic structural diagram of a coal mine tunnel robot guniting method and device of the invention, shown as B in fig. 3.

In the figure: 1. a chassis; 2. a first transmission case; 3. a first motor; 4. a first drive belt; 5. a first drive shaft; 6. a driving roller; 7. a first bevel gear; 8. a first rotating shaft; 9. a second bevel gear; 10. a third bevel gear; 11. a second drive shaft; 12. a tire; 13. a fourth bevel gear; 14. a fifth bevel gear; 15. a first movable shaft; 16. a second movable shaft; 17. a first connection block; 18. a first linkage rod; 19. a second connecting block; 20. a second linkage rod; 21. a third connecting block; 22. a first electric push rod; 23. a shock absorber; 24. a material storage box; 25. a bin cover; 26. a hinge; 27. a handle; 28. an antenna; 29. a second electric push rod; 30. a monitor; 3001. a camera; 3002. a protective cover; 3003. grooving; 3004. a fourth rotating shaft; 3005. a third squeegee; 3006. a fourth connecting block; 3007. a turntable; 3008. a fifth motor; 31. a third electric push rod; 32. a third link lever; 33. a searchlight; 34. fixing the rod; 35. a distance sensor; 36. a first chute; 37. a second motor; 38. a second drive belt; 39. a second rotating shaft; 40. a first fixed frame; 41. a first squeegee; 42. a second chute; 43. a third motor; 44. a third drive belt; 45. a third rotating shaft; 46. a second fixed frame; 47. a second squeegee; 48. a discharge port; 49. a first conduit; 50. sealing a mechanical shaft; 51. a wire winder is rotated; 52. a second transmission case; 53. a fourth motor; 54. a first support arm; 55. a second support arm; 56. a fourth electric push rod; 57. fixing a sleeve; 58. a loop bar; 59. a spray head; 60. a feed inlet; 61. a second conduit; 62. a limiting sleeve; 63. a fifth electric putter.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1-9, the present invention provides a technical solution: a coal mine tunnel robot guniting method and device comprises a chassis 1, a first transmission box 2, a first motor 3, a first transmission belt 4, a first transmission shaft 5, a transmission roller 6, a first bevel gear 7, a first rotating shaft 8, a second bevel gear 9, a third bevel gear 10, a second transmission shaft 11, a tire 12, a fourth bevel gear 13, a fifth bevel gear 14, a first movable shaft 15, a second movable shaft 16, a first connecting block 17, a first linkage rod 18, a second connecting block 19, a second linkage rod 20, a third connecting block 21, a first electric push rod 22, a shock absorber 23, a storage box 24, a cabin cover 25, a hinge 26, a handle 27, an antenna 28, a second electric push rod 29, a monitor 30, a third electric push rod 31, a third linkage rod 32, a searchlight 33, a fixed rod 34, a distance sensor 35, a first chute 36, a second motor 37, a second transmission belt 38, a second rotating shaft 39, a first rotating shaft 39, a second bevel gear 9, a first movable shaft 5, a second movable shaft, A first fixed frame 40, a first scraper 41, a second chute 42, a third motor 43, a third transmission belt 44, a third rotating shaft 45, a second fixed frame 46, a second scraper 47, a discharge port 48, a first pipeline 49, a mechanical shaft seal 50, a torsion winder 51, a second transmission case 52, a fourth motor 53, a first support arm 54, a second support arm 55, a fourth electric push rod 56, a fixed sleeve 57, a loop bar 58, a spray head 59, a feed port 60, a second pipeline 61, a limit sleeve 62 and a fifth electric push rod 63, a first transmission case 2 is connected below the chassis 1, a first motor 3 is installed inside the first transmission case 2, a first transmission belt 4 is arranged on the first motor 3, a transmission roller 6 is fixed on the first transmission shaft 5, the first transmission belt 4 is connected on the transmission roller 6, a first bevel gear 7 is installed at the rear end of the first transmission shaft 5, a second bevel gear 9 is fixed on the first rotating shaft 8, a third bevel gear 10 is meshed with the tooth surface of the second bevel gear 9, a second transmission shaft 11 penetrates through the third bevel gear 10, tires 12 are fixed at two ends of the second transmission shaft 11, a fourth bevel gear 13 is installed at the front end of the first transmission shaft 5, a fifth bevel gear 14 is meshed with the tooth surface of the fourth bevel gear 13, a first movable shaft 15 penetrates through the tooth surface of the fifth bevel gear 14, a second movable shaft 16 is connected onto the first movable shaft 15, a first connecting block 17 is fixed onto the second movable shaft 16, a first linkage rod 18 is connected onto the first connecting block 17, a second connecting block 19 is arranged on the first linkage rod 18, a second linkage rod 20 is connected onto the second connecting block 19, a third connecting block 21 is arranged at the other end of the second linkage rod 20, a first electric push rod 22 is connected between the second linkage rods 20, a shock absorber 23 is installed above the chassis 1, and a material storage box 24 is arranged above the shock absorber 23, the top surface of the storage box 24 is provided with a bin cover 25, a hinge 26 is connected between the bin cover 25 and the storage box 24, a handle 27 is mounted on the bin cover 25, an antenna 28 is arranged on the storage box 24, a second electric push rod 29 is mounted on the storage box 24, a monitor 30 is fixed on the second electric push rod 29, a third electric push rod 31 is mounted on the storage box 24, a third connecting rod 32 is connected on the third electric push rod 31, a searchlight 33 is mounted on the third connecting rod 32, a fixing rod 34 is connected below the searchlight 33, distance sensors 35 are mounted on the side surface and the front surface of the storage box 24, a first chute 36 is arranged on the storage box 24, a second motor 37 is mounted inside the first chute 36, the shaft end of the second motor 37 is connected with a second transmission belt 38, a second rotating shaft 39 is mounted inside the second transmission belt 38, a first fixing frame 40 is connected on the second rotating shaft 39, a first scraper 41 is mounted below the first fixing frame 40, a second chute 42 is arranged above the first chute 36, a third motor 43 is arranged in the second chute 42, the shaft end of the third motor 43 is connected with a third transmission belt 44, a third rotating shaft 45 is arranged in the third transmission belt 44, a second fixed frame 46 is connected on the third rotating shaft 45, a second scraper 47 is arranged on the second fixed frame 46, a discharge port 48 is arranged on the bottom surface of the material storage box 24, a first pipeline 49 is connected below the discharge port 48, a mechanical shaft seal 50 is arranged on the first pipeline 49, a torsion winder 51 is connected at the other end of the mechanical shaft seal 50, a fourth motor 53 is arranged in the second transmission box 52, a first support arm 54 is connected on the fourth motor 53, a second support arm 55 is arranged on the first support arm 54, a fourth electric push rod 56 is fixed below the second support arm 55, and a fixed sleeve 57 is arranged at the front end of the fourth electric push rod 56, and the fixed sleeve 57 is penetrated with a loop bar 58, the front end of the loop bar 58 is connected with a spray head 59, a feed inlet 60 is arranged above the spray head 59, the feed inlet 60 is connected with a second pipeline 61, the outer side of the second pipeline 61 is wrapped with a limit sleeve 62, and the rear end of the second support arm 55 is connected with a fifth electric push rod 63.

The monitor 30 constitutes a lifting mechanism through a second electric push rod 29, and the monitor 30 and the second electric push rod 29 are mounted on the chassis 1 and the storage box 24.

Monitor 30 includes camera 3001, protection cover 3002, fluting 3003, fourth pivot 3004, third scraper 3005, fourth connecting block 3006, carousel 3007 and fifth motor 3008, protection cover 3002 is installed in the camera 3001 outside, and fluting 3003 has been seted up to protection cover 3002 top surface, install fourth pivot 3004 in the fluting 3003, and be connected with third scraper 3005 on the fourth pivot 3004, third scraper 3005 lower extreme is provided with fourth connecting block 3006, and fourth connecting block 3006 inboard is connected with carousel 3007, and fifth motor 3008 is installed to carousel 3007 below.

The searchlight 33 is movably connected to the fixing rod 34, and the searchlight 33 forms a turnover mechanism on the fixing rod 34 through the third electric push rod 31 and the third linkage 32.

The distance sensors 35 are distributed on the storage box 24 in three groups, and the distance sensors 35 are connected with the first scraper 41 in a fitting manner.

Example two

Referring to fig. 1-9, the present invention provides a technical solution: a use method of a robot guniting device for a coal mine roadway comprises the following steps:

(A) firstly, lifting a handle 27 to turn a bin cover 25 open through a hinge 26, feeding the storage box 24, and closing the bin cover 25 after feeding;

(B) then, the signal of the mobile terminal is received through the antenna 28, the monitor 30 and the second electric putter 29 are powered on, the height of the monitor 30 is adjusted through the second electric putter 29, and the picture is transmitted to the mobile terminal through the camera 3001 in the monitor 30;

(C) when the device enters a mine, the searchlight 33 is started to realize the function of illuminating the mine, and the searchlight 33 can be adjusted in angle through the third electric push rod 31 and the third linkage rod 32;

(D) then, the interior of the mine is measured by a distance sensor 35 additionally arranged on the storage box 24, so that the problem that the device collides with the mine is solved;

(E) after reaching the designated position, the guniting system is started, and the material stored in the storage box 24 is transmitted to the torsion winder 51 through the first pipeline 49 and the mechanical shaft seal 50 and is transmitted to the nozzle 59 through the second pipeline 61 and the feeding port 60 for guniting;

(F) during guniting operation, the first supporting arm 54 can be rotated by the fourth motor 53 to adjust left and right, and the second supporting arm 55 is pulled by the fifth electric push rod 63 to adjust up and down;

(G) during the guniting process, a part of grout splashes onto the distance sensor 35 and the searchlight 33, at this time, the second motor 37 is required to drive the second transmission belt 38 to enable the second rotating shaft 39 to slide on the first chute 36, the first scraper 41 is used for cleaning the distance sensor 35, the third motor 43 is required to drive the third transmission belt 44 to enable the third rotating shaft 45 to slide on the second chute 42, and the second scraper 47 is used for cleaning the searchlight 33.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a coal mine tunnel robot whitewashing device, includes chassis (1), first transmission shaft (5), first pivot (8), second transmission case (52), stop collar (62) and fifth electric putter (63), its characterized in that: the utility model discloses a tyre, including chassis (1), first transmission case (2) is connected with below, and first transmission case (2) internally mounted has first motor (3), be provided with first driving belt (4) on first motor (3), be fixed with driving roller (6) on first transmission shaft (5), and be connected with first driving belt (4) on driving roller (6), first bevel gear (7) are installed to first transmission shaft (5) rear end, be fixed with second bevel gear (9) on first pivot (8), and second bevel gear (9) flank of tooth meshing has third bevel gear (10), third bevel gear (10) run through have second transmission shaft (11), and second transmission shaft (11) both ends are fixed with tire (12), fourth bevel gear (13) is installed to first transmission shaft (5) front end, and fourth bevel gear (13) flank of tooth meshing has fifth bevel gear (14), a first movable shaft (15) penetrates through the tooth surface of the fifth bevel gear (14), a second movable shaft (16) is connected onto the first movable shaft (15), a first connecting block (17) is fixed onto the second movable shaft (16), a first linkage rod (18) is connected onto the first connecting block (17), a second connecting block (19) is arranged on the first linkage rod (18), a second linkage rod (20) is connected onto the second connecting block (19), a third connecting block (21) is arranged at the other end of the second linkage rod (20), a first electric push rod (22) is connected between the second linkage rod (20), a shock absorber (23) is arranged above the chassis (1), a storage box (24) is arranged above the shock absorber (23), a bin cover (25) is arranged on the top surface of the storage box (24), and a hinge (26) is connected between the bin cover (25) and the storage box (24), the novel multifunctional garage is characterized in that a handle (27) is installed on the bin cover (25), an antenna (28) is arranged on the storage box (24), a second electric push rod (29) is installed on the storage box (24), a monitor (30) is fixed on the second electric push rod (29), a third electric push rod (31) is installed on the storage box (24), a third linkage rod (32) is connected on the third electric push rod (31), a searchlight (33) is installed on the third linkage rod (32), a fixing rod (34) is connected below the searchlight (33), distance sensors (35) are installed on the side face and the front face of the storage box (24), a first chute (36) is formed in the storage box (24), a second motor (37) is installed inside the first chute (36), a second transmission belt (38) is connected to the shaft end of the second motor (37), and a second rotating shaft (39) is installed inside the second transmission belt (38), a first fixing frame (40) is connected to the second rotating shaft (39), a first scraper (41) is installed below the first fixing frame (40), a second chute (42) is formed above the first chute (36), a third motor (43) is installed inside the second chute (42), a third transmission belt (44) is connected to the shaft end of the third motor (43), a third rotating shaft (45) is installed inside the third transmission belt (44), a second fixing frame (46) is connected to the third rotating shaft (45), a second scraper (47) is arranged on the second fixing frame (46), a discharge port (48) is formed in the bottom surface of the storage box (24), a first pipeline (49) is connected below the discharge port (48), a mechanical shaft seal (50) is installed on the first pipeline (49), and a torsion winder (51) is connected to the other end of the mechanical shaft seal (50), second transmission case (52) internally mounted has fourth motor (53), and is connected with first support arm (54) on fourth motor (53), install second support arm (55) on first support arm (54), and second support arm (55) below is fixed with fourth electric push rod (56), fourth electric push rod (56) front end is provided with fixed cover (57), and has run through loop bar (58) on fixed cover (57), loop bar (58) front end is connected with shower nozzle (59), and has seted up feed inlet (60) above shower nozzle (59), be connected with second pipeline (61) on feed inlet (60), and second pipeline (61) outside parcel has stop collar (62), second support arm (55) rear end is connected with fifth electric push rod (63).

2. The robotic guniting device for the coal mine roadway of claim 1, wherein: the monitor (30) forms a lifting mechanism through a second electric push rod (29), and the monitor (30) and the second electric push rod (29) are installed on the chassis (1) and the material storage box (24).

3. The robotic guniting device for the coal mine roadway of claim 1, wherein: monitor (30) include camera (3001), safety cover (3002), fluting (3003), fourth pivot (3004), third scraper blade (3005), fourth connecting block (3006), carousel (3007) and fifth motor (3008), safety cover (3002) are installed in the camera (3001) outside, and safety cover (3002) top surface has seted up fluting (3003), install fourth pivot (3004) in fluting (3003), and be connected with third scraper blade (3005) on fourth pivot (3004), third scraper blade (3005) lower extreme is provided with fourth connecting block (3006), and fourth connecting block (3006) inboard is connected with carousel (3007), and installs fifth motor (3008) below carousel (3007).

4. The robotic guniting device for the coal mine roadway of claim 1, wherein: the searchlight (33) is movably connected to the fixing rod (34), and the searchlight (33) forms a turnover mechanism on the fixing rod (34) through the third electric push rod (31) and the third linkage rod (32).

5. The robotic guniting device for the coal mine roadway of claim 1, wherein: distance inductor (35) distribute on storage case (24) and have three groups, and the connected mode between distance inductor (35) and first scraper blade (41) is for laminating the connection.

6. The use method of the robotic guniting device for the coal mine roadway as recited in claim 1, further comprising the steps of:

(A) firstly, lifting a handle (27) to turn a bin cover (25) open through a hinge (26), feeding a storage box (24), and closing the bin cover (25) after feeding is finished;

(B) then, signals of the mobile terminal are received through an antenna (28), the monitor (30) and the second electric push rod (29) are powered on, the height of the monitor (30) is adjusted through the second electric push rod (29), and a picture is transmitted to the mobile terminal through a camera (3001) in the monitor (30);

(C) when the device enters a mine, a searchlight (33) is started to realize the function of illuminating the mine, and the searchlight (33) can be subjected to angle adjustment through a third electric push rod (31) and a third linkage rod (32);

(D) then, the interior of the mine is measured by a distance sensor (35) additionally arranged on the storage box (24), so that the problem that the device collides with the mine is solved;

(E) after the specified position is reached, the guniting system is started, the material stored in the storage box (24) is transmitted to the torsion winder (51) through the first pipeline (49) and the mechanical shaft seal (50), and is transmitted to the nozzle (59) through the second pipeline (61) and the feeding port (60) to be gunited;

(F) during guniting operation, the first supporting arm (54) can be rotated by the fourth motor (53) to be adjusted left and right, and the second supporting arm (55) is pulled by the fifth electric push rod (63) to be adjusted up and down;

(G) in the slurry spraying process, partial slurry can splash onto the distance sensor (35) and the searchlight (33), at the moment, the second motor (37) is required to drive the second transmission belt (38) to enable the second rotating shaft (39) to slide on the first sliding chute (36) and use the first scraper (41) to clean the distance sensor (35), the third motor (43) is required to drive the third transmission belt (44) to enable the third rotating shaft (45) to slide on the second sliding chute (42), and the searchlight (33) is cleaned by the second scraper (47).