CN114320354A - Surrounding rock guniting device and guniting operation vehicle - Google Patents
Surrounding rock guniting device and guniting operation vehicle Download PDFInfo
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- CN114320354A CN114320354A CN202111415780.2A CN202111415780A CN114320354A CN 114320354 A CN114320354 A CN 114320354A CN 202111415780 A CN202111415780 A CN 202111415780A CN 114320354 A CN114320354 A CN 114320354A
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Abstract
The invention discloses a surrounding rock guniting device and a guniting operation vehicle, which comprise a guniting arm group and a guniting assembly, wherein the guniting assembly is arranged at the free end of the guniting arm group, the guniting assembly comprises a first sensor, a guniting base frame, a guniting sliding frame, a second sensor, a first guniting drive, a second guniting drive and a nozzle, the first sensor is arranged at the free end of the guniting arm group or the guniting base frame and is suitable for monitoring whether the free end is connected with the top or not, the guniting base frame is rotatably connected to the free end of the guniting arm group, the guniting sliding frame is assembled on the guniting base frame in a guiding sliding mode, the first guniting drive is connected between the guniting base frame and the guniting sliding frame and is suitable for driving the relative sliding of the guniting sliding frame and the guniting base frame, the nozzle is arranged on the guniting sliding frame, the second guniting drive is arranged between the nozzle and the guniting sliding frame and is suitable for driving the nozzle to move, and the nozzle is suitable for spraying of the guniting arm group. The surrounding rock guniting device can realize mechanization of guniting support, reduce labor intensity and improve support efficiency.
Description
Technical Field
The invention relates to the technical field of underground anchor-shotcrete support, in particular to a surrounding rock guniting device and a guniting operation vehicle using the same.
Background
In the process of underground roadway tunneling, in order to ensure the tunneling safety, the tunneled roadway needs to be anchored and protected in time, in the related technology, most of the anchored and protected tunneling roadway is anchor-shotcrete support, namely, the roadway surrounding rock is supported in a manner of anchor rods and shotcrete, but in the related technology, the shotcrete support is completed by the operation of underground workers, the work labor intensity is high, and the support efficiency is low.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the embodiment of the invention provides a surrounding rock guniting device, which can realize mechanization of guniting support, reduce labor intensity and improve support efficiency.
The embodiment of the invention also provides a guniting operation vehicle applying the surrounding rock guniting device.
The surrounding rock guniting device provided by the embodiment of the invention comprises: a guniting arm set; the guniting component is arranged at the free end of the guniting arm group and comprises a first sensor, a guniting base frame, a guniting sliding frame, a second sensor, a first guniting drive, a second guniting drive and a nozzle, the first sensor is arranged at the free end of the guniting arm group or the guniting base frame and is suitable for monitoring whether the guniting base frame is abutted or not, the guniting pedestal is rotatably connected with the free end of the guniting arm group, the guniting sliding frame is assembled on the guniting pedestal in a guiding and sliding manner, the first guniting drive is connected between the guniting pedestal and the guniting carriage and is suitable for driving the relative sliding of the guniting carriage and the guniting pedestal, the spray head is arranged on the guniting sliding frame, the second guniting drive is arranged between the spray head and the guniting sliding frame and is suitable for driving the spray head to move, and the spray head is suitable for spraying slurry.
The surrounding rock guniting device provided by the embodiment of the invention can realize mechanization of guniting support, reduce labor intensity and improve support efficiency.
In some embodiments, the guniting arm set comprises a first guniting arm, a second guniting arm, a third guniting drive, a guniting seat, a fourth guniting drive and a fifth guniting drive, the second guniting arm is rotatably connected with the free end of the first guniting arm through the third guniting drive, the guniting seat is rotatably connected with the free end of the second guniting arm through the fourth guniting drive, the fourth guniting drive is suitable for leveling the guniting assembly, the fifth guniting drive is connected between the guniting assembly and the guniting seat, and the fifth guniting drive is suitable for driving the guniting assembly to horizontally swing.
In some embodiments, the first guniting arm and the second guniting arm are telescopic, the first guniting arm is suitable for adjusting the height of the guniting assembly through stretching and retracting, the second guniting arm is suitable for adjusting the spatial position of the guniting assembly through stretching and swinging, the first guniting arm and the second guniting arm respectively comprise a guniting outer sleeve, a guniting inner sleeve and a guniting driver, the guniting inner sleeve is matched in the guniting outer sleeve in a guiding mode, the guniting driver is arranged in the guniting outer sleeve, one end of the guniting driver is connected with the guniting inner sleeve, the other end of the guniting driver is connected with the guniting outer sleeve, and the guniting driver is suitable for driving the guniting outer sleeve and the guniting inner sleeve to move relatively.
In some embodiments, the cross sections of the guniting outer sleeve and the guniting inner sleeve are both circular, a key groove is formed in the outer peripheral side of the guniting inner sleeve, the key groove extends along the extending direction of the guniting inner sleeve, a key is arranged on the guniting outer sleeve, the key is matched with the key groove to stop the guniting outer sleeve and the guniting inner sleeve, one end of the guniting driver is hinged to the guniting inner sleeve, the other end of the guniting driver is hinged to the guniting outer sleeve, and the third guniting driver is arranged on the outer peripheral side of the guniting outer sleeve.
In some embodiments, the first guniting arm and the second guniting arm each comprise a displacement sensor, a copper sleeve and a mud scraping ring, the displacement sensor is connected between the guniting driver and the guniting inner sleeve, the displacement sensor is suitable for monitoring the telescopic amount of the guniting driver, the copper sleeve and the mud scraping ring are arranged at a port, into which the guniting inner sleeve is inserted, of the guniting outer sleeve, and the copper sleeve is located between the guniting outer sleeve and the mud scraping ring.
In some embodiments, the apparatus has an operating configuration in which the first and second arms are extended and the guniting pedestal is rotated to one side of the guniting arm set and perpendicular to the second guniting arm, and an idle configuration in which the first and second arms are retracted and the guniting pedestal is rotated to a position parallel to the second guniting arm and the guniting pedestal and the second guniting arm are coincident.
In some embodiments, the guniting assembly comprises a guniting guide rod and a guniting guide seat, one of the guniting guide rod and the guniting guide seat is arranged on the guniting base frame, the other of the guniting guide rod and the guniting guide seat is arranged on the guniting carriage, the guniting guide rod is in guide fit with the guniting guide seat so that the guniting carriage and the guniting base frame can slide relatively, and the extension direction of the first guniting drive is consistent with the extension direction of the guniting guide rod.
In some embodiments, the second guniting drive comprises a guniting chain and a guniting motor, a driving end of the guniting motor is in meshing transmission with the guniting chain through a gear, the spray head is arranged on the guniting chain, and the guniting motor is suitable for driving the spray head to move by driving the guniting chain to rotate.
In some embodiments, the cleaning agent storage tank comprises a first storage tank, a second storage tank and a cleaning agent storage tank, wherein the first storage tank, the second storage tank and the cleaning agent storage tank are all communicated with the spray head, the first storage tank is suitable for storing a first material, the second storage tank is suitable for storing a second material, the first material and the second material are suitable for being sprayed out from the spray head and being mixed in an instant-hardening mode, the cleaning agent storage tank is suitable for storing a cleaning agent, and the cleaning agent is suitable for cleaning the spray head.
The shotcrete operation vehicle comprises a surrounding rock shotcrete device and a vehicle body, wherein the surrounding rock shotcrete device is arranged on the vehicle body, and the surrounding rock shotcrete device is the surrounding rock shotcrete device in any one of the embodiments.
Drawings
Fig. 1 is a schematic view of the overall structure of a guniting work vehicle according to an embodiment of the invention.
Fig. 2 is a schematic view showing a first working mode of the surrounding rock guniting device in fig. 1.
Fig. 3 is a schematic view of the surrounding rock guniting device in fig. 1 in an idle state.
Fig. 4 is a schematic view of the second working mode of the surrounding rock guniting device in fig. 1.
Fig. 5 is a schematic view of the structure of the first spray arm of fig. 2.
Fig. 6 is a schematic structural view of a third guniting drive in fig. 2.
Fig. 7 is a schematic view of the structure of the second spray arm of fig. 2.
Fig. 8 is a schematic structural view of the gunning assembly of fig. 2.
Reference numerals:
a surrounding rock guniting device 100;
a first material storage tank 1;
a second storage tank 2;
a cleaning agent storage tank 3;
a guniting arm group 4; a first slurry arm 41; a first guniting outer sleeve 411; a first inner guniting sleeve 412; a first guniting driver 413; a first displacement sensor 414; a first keyway 415; a first key 416; a first copper bush 417; a second spray arm 42; a second guniting outer sleeve 421; a second guniting inner sleeve 422; a second mud scraping ring 423; a second copper sleeve 424; a third guniting drive 43; a mounting plate 431; a drive motor 432; a worm 433; a turbine 434; an angle encoder 435; a fourth guniting drive 44; a guniting base 45; a fifth guniting drive 46;
a guniting assembly 5; a guniting pedestal 51; a guniting carriage 52; a first guniting drive 53; a guniting guide rod 54; a second guniting drive 55; a guniting chain 551; a guniting motor 552; a spray head 56; the first sensor 57;
a vehicle body 200.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 to 8, a wall rock guniting device 100 according to an embodiment of the invention comprises a guniting arm set 4 and a guniting assembly 5.
The guniting arm set 4 is a mechanical arm, the guniting arm set 4 can be fixed on the walking device or on a preset basis, and the guniting arm set 4 is mainly used for adjusting the space position of the guniting assembly 5.
The guniting assembly 5 is arranged at the free end of the guniting arm group 4, the guniting assembly 5 comprises a first sensor 57, a guniting pedestal 51, a guniting carriage 52, a second sensor, a first guniting drive 53, a second guniting drive 55 and a nozzle 56, the first sensor 57 is arranged at the free end of the guniting arm group 4 or the guniting pedestal 51 and is suitable for monitoring whether the guniting pedestal 51 is connected with the top or not, the guniting pedestal 51 is rotatably connected with the free end of the guniting arm group 4, the guniting carriage 52 is assembled on the guniting pedestal 51 in a guiding and sliding mode, the first guniting drive 53 is connected between the guniting pedestal 51 and the guniting carriage 52 and is suitable for driving the guniting carriage 52 and the guniting pedestal 51 to slide relatively, the nozzle 56 is arranged on the guniting carriage 52, the second guniting drive 55 is arranged between the nozzle 56 and the guniting carriage 52 and is suitable for driving the nozzle 56 to move, and the nozzle 56 is suitable for spraying slurry.
Specifically, as shown in fig. 2, the guniting assembly 5 can be installed at the driving end of the guniting arm set 4, and the spatial orientation of the guniting assembly 5 can be adjusted through the guniting arm set 4, so that the guniting assembly 5 can be conveniently adjusted in place.
The whitewashing base can be flat-plate-shaped, the one end of whitewashing base can rotationally link to each other with the drive end of whitewashing arm group 4, the axis of rotation between whitewashing base and the whitewashing arm group 4 can extend along upper and lower direction, therefore, whitewashing subassembly 5 can swing in the horizontal plane, thereby make whitewashing subassembly 5 can remain parallel with the roof in tunnel is generally kept all the time, the spraying operation has been made things convenient for, the flexibility of operation mode has also been strengthened, make the mode of spraying adjust through the mode of rotating the whitewashing base.
The guniting sliding frame 52 can be guided to slide and assembled on the guniting base through a guide rail structure, the sliding direction of the guniting sliding frame 52 can be consistent with the extending direction of the guniting base, the spraying operation range can be increased through the arrangement of the guniting sliding frame 52, and therefore the flexibility of spraying operation and the adaptability to roadways with different sizes are enhanced.
Alternatively, the guniting carriage 52 may be portal in cross-section and the first guniting drive 53 may fit within a recess formed in the guniting carriage 52.
The spray head 56 can be guided to slide and assembled on the guniting sliding frame 52 through a guide rail structure, the second guniting drive 55 can also be a hydraulic telescopic oil cylinder, one end of the second guniting drive 55 can be hinged to the guniting sliding frame 52, the other end of the second guniting drive 55 can be hinged to the spray head 56, and the sliding drive of the spray head 56 can be realized through the telescopic action of the second guniting drive 55. Therefore, during the spraying operation, the spray head 56 can spray the slurry to the top plate or the side wall of the roadway, and the second slurry spraying drive 55 can drive the spray head 56 to move slowly, so that the range operation of the spray head 56 is realized.
It should be noted that the spray head 56 may be in communication with a slurry supply device through a hose, and the slurry supply device may supply slurry to the spray head 56.
It should be noted that the anchor protection guniting robot may further be provided with a control device, and the control device may be a PLC control system, or of course, may also be another processor or controller. The wall rock guniting device 100 can be electrically connected with the control device, overall control over the wall rock guniting device 100 can be achieved through the control device, and therefore automation of guniting support can be achieved.
The first sensor 57 and the second sensor can be pressure sensors, and the first sensor 57 can be mounted on the guniting base frame 51 or at the free end of the guniting arm set 4. After the guniting arm set 4 extends, the first sensor 57 can be firstly contacted with the top plate of the roadway, so that the guniting arm set 4 can be judged to be in place, and the extension of the guniting arm set 4 can be stopped at the moment. The second sensor can be arranged at the end part of the guniting sliding frame 52, and when the top plate close to the roadway side wall needs to be sprayed, the second sensor can be firstly contacted with the roadway side wall, so that the situation that the guniting sliding frame 52 moves in place can be judged. The arrangement of the first sensor 57 and the second sensor realizes the monitoring of the state adjustment of the guniting component 5, is favorable for realizing the automation of spraying and plays a role in protection.
The surrounding rock guniting device 100 provided by the embodiment of the invention can be used for spraying surrounding rocks of a roadway, so that the mechanized automation of guniting support is realized, the condition that manual spraying is needed in the related technology is avoided, the labor intensity of workers is reduced, and the support efficiency is improved.
In some embodiments, the guniting arm set 4 comprises a first guniting arm 41, a second guniting arm 42, a third guniting drive 43, a guniting seat 45, a fourth guniting drive 44 and a fifth guniting drive 46, wherein the second guniting arm 42 is rotatably connected with the free end of the first guniting arm 41 through the third guniting drive 43, the guniting seat 45 is rotatably connected with the free end of the second guniting arm 42 through the fourth guniting drive 44, the fourth guniting drive 44 is suitable for adjusting the guniting assembly 5 to be horizontal, the fifth guniting drive 46 is connected between the guniting assembly 5 and the guniting seat 45, and the fifth guniting drive 46 is suitable for driving the guniting assembly 5 to swing horizontally.
Specifically, as shown in fig. 2 to 4, the first slurry spraying arm 41 may be disposed along the up-down direction, the bottom end of the first slurry spraying arm 41 may be fixedly mounted to the traveling device, one end of the second slurry spraying arm 42 may be rotatably connected to the top plate of the first slurry spraying arm 41, the third slurry spraying drive 43 may be a swing drive, the third slurry spraying drive 43 may be disposed between the first slurry spraying arm 41 and the second slurry spraying arm 42, the third slurry spraying drive 43 may be configured to enable the second slurry spraying arm 42 to swing in the front-back direction, and the slurry spraying assembly 5 may be disposed at the other end of the second slurry spraying arm 42. From this, can realize the adjustment of whitewashing subassembly 5 position around running gear, increase the whitewashing operation scope on the one hand, on the other hand can adjust anchor and protect whitewashing robot's focus to be favorable to promoting stability.
The fourth guniting drive 44 can be fixed at the end part, departing from the first guniting arm 41, of the second guniting arm 42, the fourth guniting drive 44 can be in rotation drive, the guniting seat 45 can be in an L shape, the guniting seat 45 can be fixed on the outer peripheral side of the fourth guniting drive 44, and the driving shaft of the fourth guniting drive 44 can extend along the left-right direction, so that the up-and-down swinging drive of the guniting seat 45 can be achieved.
It should be noted that, after the second guniting arm 42 is adjusted in a swinging manner, the orientation of the guniting assembly 5 is also changed, at this time, the nozzle 56 cannot be aligned with the top plate of the roadway, and the fourth guniting drive 44 is arranged to correct the spraying direction of the nozzle 56.
The fifth guniting drive 46 can be a motor, the cylinder wall of the fifth guniting drive 46 can be fixedly connected with the guniting base 45, the guniting base frame 51 can be fixedly connected with the driving shaft of the fifth guniting drive 46, and the driving shaft of the fifth guniting drive 46 can extend along the vertical direction, so that the position adjustment of the guniting base frame 51 in the horizontal direction can be realized.
Preferably, as shown in fig. 8, the first sensor 57 is fixed to the mortar discharging stand 45.
In some embodiments, the first guniting arm 41 and the second guniting arm 42 are telescopic, the first guniting arm 41 is suitable for adjusting the height of the guniting assembly 5 through telescoping, the second guniting arm 42 is suitable for adjusting the spatial position of the guniting assembly 5 through telescoping and swinging, each of the first guniting arm 41 and the second guniting arm 42 comprises a guniting outer sleeve, a guniting inner sleeve and a guniting driver, the guniting inner sleeve is in guiding fit with the guniting outer sleeve, the guniting driver is arranged in the guniting outer sleeve, one end of the guniting driver is connected with the guniting inner sleeve, the other end of the guniting driver is connected with the guniting outer sleeve, and the guniting driver is suitable for driving the guniting outer sleeve and the guniting inner sleeve to move relatively.
Specifically, as shown in fig. 4, the lengths of the first and second slurry spraying arms 41 and 42 can be telescopically adjusted, for example, the first and second slurry spraying arms 41 and 42 can be hydraulic telescopic cylinders. In the use, can satisfy the use in not unidimensional tunnel through the flexible adjustment of first whitewashing arm 41 and second whitewashing arm 42.
First spouting arm 41 and second spouting arm 42 all can include the whitewashing outer sleeve, whitewashing inner skleeve and whitewashing driver, the whitewashing inner skleeve cooperation can slide in the whitewashing outer sleeve and relative whitewashing outer sleeve, the whitewashing driver can be the flexible hydro-cylinder of hydraulic pressure, the whitewashing driver is established in the whitewashing outer sleeve, the one end of whitewashing driver can be articulated with the whitewashing outer sleeve, the other end of whitewashing driver can be articulated with the whitewashing inner skleeve, the relative movement of whitewashing inner skleeve and whitewashing outer sleeve is realized through the flexible of whitewashing driver, and then can realize the flexible adjustment of first spouting arm 41 and second whitewashing arm 42.
In the use process, the guniting inner sleeve and the guniting outer sleeve are mainly used for bearing bending and shearing acting forces, and the guniting driver is slightly influenced by external force, so that the guniting driver is protected, and the use stability and the structural strength of the first guniting arm 41 and the second guniting arm 42 are ensured.
In some embodiments, the cross sections of the guniting outer sleeve and the guniting inner sleeve are circular, the outer periphery of the guniting inner sleeve is provided with a key groove, the key groove extends along the extending direction of the guniting inner sleeve, the guniting outer sleeve is provided with a key, the key is matched in the key groove to stop the guniting outer sleeve and the guniting inner sleeve, one end of the guniting driver is hinged with the guniting inner sleeve, the other end of the guniting driver is hinged with the guniting outer sleeve, and the third guniting driver 43 is arranged on the outer periphery of the guniting outer sleeve.
Specifically, as shown in fig. 5 and 6, the first and second slurry arms 41 and 42 are circular in cross section. Thus, the first spray arm 41 and the second spray arm 42 have better structural strength in case of the same consumable. At this time, in order to avoid the relative rotation of the guniting inner sleeve and the guniting outer sleeve, a key groove can be arranged on the outer peripheral side of the guniting inner sleeve, the key groove extends along the extending direction of the guniting inner sleeve, a key can be installed on the guniting outer sleeve, a part of the key can be matched in the key groove, and the rotation stopping matching of the guniting inner sleeve and the guniting outer sleeve can be realized through the stop of the key and the key groove.
For example, as shown in fig. 5, the first guniting arm 41 includes a first guniting outer sleeve 411, a first guniting inner sleeve 412 and a first guniting driver 413, an outer peripheral side of the first guniting inner sleeve 412 may be provided with two first key slots 415, the two first key slots 415 are oppositely arranged and extend along an axial direction of the first guniting inner sleeve 412, the first guniting outer sleeve 411 may be provided with two first keys 416, the two first keys 416 are oppositely arranged, and the two first keys 416 are respectively fitted in the two first key slots 415, when the first guniting outer sleeve 411 slides relative to the first guniting inner sleeve 412, the two first keys 416 may respectively slide in the corresponding first key slots 415, thereby achieving a rotation stopping effect.
In some embodiments, the first and second guniting arms 41 and 42 each include a displacement sensor connected between the guniting driver and the guniting inner sleeve, a copper sleeve and a mud scraping ring, the displacement sensor adapted to monitor the amount of extension and retraction of the guniting driver, the copper sleeve and the mud scraping ring being provided at a port of the guniting outer sleeve into which the guniting inner sleeve is inserted, the copper sleeve being located between the guniting outer sleeve and the mud scraping ring.
Specifically, as shown in fig. 5, the first slurry spraying arm 41 further includes a first displacement sensor 414, a first copper bush 417 and a first mud scraping ring, the first displacement sensor 414 may be connected between an end of the first slurry spraying driver 53 413 and a corresponding pivot shaft, and the first displacement sensor 414 may monitor a telescopic amount of the first slurry spraying driver 53 413 in real time, so as to conveniently control an extension condition of the first slurry spraying arm 41 in real time, which is beneficial to realizing automatic regulation.
As shown in fig. 7, the second guniting arm 42 includes a second guniting outer sleeve 421, a second guniting inner sleeve 422, a second guniting driver 55, a second displacement sensor, a second copper sleeve 424, and a second mud scraping ring 423, and the specific structure of the second guniting arm 42 is the same as that of the first guniting arm 41, and is not described herein again.
In some embodiments, the wall rock guniting device 100 has an operating configuration in which the first guniting arm 41 and the second guniting arm 42 are extended, the guniting base frame 51 is rotated to one side of the guniting arm set 4 and perpendicular to the second guniting arm 42, and a resting configuration in which the first guniting arm 41 and the second guniting arm 42 are retracted, the guniting base frame 51 is rotated to a position parallel to the second guniting arm 42, and the guniting base frame 51 and the second guniting arm 42 are coincident.
Specifically, as shown in fig. 2 and 4, in the operating mode, the guniting assembly 5 can be rotated to the front side by the guniting arm set 4, the guniting base frame 51 can be rotated to the left side or the right side of the guniting arm set 4, and the guniting base frame 51 extends in the left-right direction. Then, the spraying is completed by the expansion and contraction of the first and second slurry drives 53 and 55.
In the idle state, as shown in fig. 1 to 3, the first guniting arm 41 and the second guniting arm 42 are both contracted to the shortest length, the second guniting arm 42 can swing to the rear side of the first guniting arm 41, the guniting pedestal 51 can rotate to a position extending substantially along the front-rear direction, and the guniting pedestal 51 can rotate forward, at this time, in the front-rear direction, the guniting pedestal 51 substantially overlaps the second guniting arm 42, so that the space occupancy rate can be reduced on one hand, and on the other hand, when the surrounding rock guniting device 100 is installed on a traveling device, the guniting assembly 5 is located at the rear side of the traveling device, so that the condition that the center of gravity moves forward is avoided, the structural distribution is balanced, and the stability of movement is improved.
In some embodiments, the guniting assembly 5 comprises a guniting guide rod 54 and a guniting guide seat, one of the guniting guide rod 54 and the guniting guide seat is arranged on the guniting base frame 51, the other is arranged on the guniting carriage 52, the guniting guide rod 54 is in guiding fit with the guniting guide seat so that the guniting carriage 52 and the guniting base frame 51 can slide relatively, and the telescopic direction of the first guniting drive 53 is consistent with the extending direction of the guniting guide rod 54.
Specifically, as shown in fig. 8, the guniting guide rod 54 may be fixed on the guniting carriage 52, the guniting guide seat is fixed on the guniting base frame 51, a guide hole is formed in the guniting guide seat, and the guniting guide rod 54 is guided and fitted in the guide hole of the guniting guide seat. The extension direction of the guniting guide rod 54 is consistent with the driving direction of the first guniting driver 53, so that when the first guniting driver 53 is extended, the guniting guide rod 54 can slide in the guide hole of the guniting guide seat, and the directional driving of the guniting carriage 52 is realized. The provision of the gunite guide rod 54 and the gunite guide holder enhances the guidance of the movement of the gunite carriage 52.
Alternatively, the two guniting guide rods 54 and the two guniting guide seats may be provided more than two, as shown in fig. 2 and 8, when two guniting guide rods 54 are provided, the two guniting guide rods 54 are fixed on the guniting carriage 52 and are arranged in parallel at intervals along the width direction of the guniting carriage 52, the two guniting guide seats are fixed on the guniting base frame 51 and are arranged at intervals along the width direction of the guniting base frame 51, and the two guniting guide rods 54 are guided and matched in the corresponding guniting guide seats, so that the moving guidance of the guniting carriage 52 can be enhanced.
In some embodiments, the second guniting drive 55 comprises a guniting chain 551 and a guniting motor 552, wherein a driving end of the guniting motor 552 is in gear transmission with the guniting chain 551, the spray head 56 is arranged on the guniting chain 551, and the guniting motor 552 is suitable for driving the spray head 56 to move by driving the guniting chain 551 to rotate.
Specifically, as shown in fig. 8, the slurry spraying carriage 52 may be provided with a driven gear, the driving end of the slurry spraying motor 552 is provided with a driving gear, the slurry spraying motor 552 is provided at one end of the slurry spraying carriage 52, the driven gear is provided at the other end of the slurry spraying carriage 52, the slurry spraying chain 551 is annular and meshed with the outer peripheries of the driving gear and the driven gear, and the spray head 56 may be fixedly connected to the slurry spraying chain 551, so that when the slurry spraying motor 552 drives the chain to rotate, the spray head 56 may be driven to move, thereby realizing the adjustment of the spraying position. In order to enhance the guidance of the movement of the spray head 56, the spray head 56 may be slidably mounted on the guniting carriage 52 by means of a guide rail structure.
In some embodiments, the cleaning agent storage tank comprises a first storage tank 1, a second storage tank 2 and a cleaning agent storage tank 3, the first storage tank 1, the second storage tank 2 and the cleaning agent storage tank 3 are all communicated with the spray head 56, the first storage tank 1 is suitable for storing a first material, the second storage tank 2 is suitable for storing a second material, the first material and the second material are suitable for being sprayed out at the spray head 56 and being mixed in an instant-condensing mode, the cleaning agent storage tank 3 is suitable for storing cleaning agent, and the cleaning agent is suitable for cleaning the spray head 56.
Specifically, as shown in fig. 1, when country rock guniting device 100 is installed on running gear, first storage tank 1, second storage tank 2, cleaner storage tank 3 can all be installed on running gear, during the use, can pass through the pipeline with the first material of high-pressure pump and second material and carry shower nozzle 56 department to mix, utilize pressure to spout the mixture of taking the accelerating agent to by solidifying rapidly behind the tunnel wall of spouting, form and have elastic shell with the dangerous falling rocks on tunnel surface stable fixed, play the effect of maintaining the roof, the pipeline for high-pressure pump in the automatic start cleaner jar after the whitewashing is poured into the shower nozzle 56 with the cleaner and is washd remaining mixture so that use next time.
In some embodiments, as shown in fig. 6, the third guniting drive 43 may include a mounting plate 431, a driving motor 432, a worm 433, a worm wheel 434 and an angle encoder 435, wherein the driving motor 432 may drive the worm 433 to rotate, and the worm 433 may drive the worm wheel 434 to rotate, so as to realize a slewing drive. The mounting plate 431 facilitates the connection and fixation of the third guniting drive 43 and the first guniting arm 41, and the angle encoder 435 facilitates the real-time monitoring of the rotation angle of the third guniting drive 43.
In some embodiments, each shutdown position of the guniting arm set 4 can be provided with an encoder, so that the rotation angle can be monitored in real time conveniently, and automatic regulation and control can be realized.
The following describes a guniting work vehicle according to an embodiment of the present invention.
As shown in fig. 1, the shotcrete working vehicle according to the embodiment of the present invention includes a surrounding rock shotcrete device 100 and a vehicle body 200, the surrounding rock shotcrete device 100 is provided on the vehicle body 200, and the surrounding rock shotcrete device 100 is the surrounding rock shotcrete device 100 described in the above embodiment. When the device is used, the device can be moved to a position needing spraying through the vehicle body 200, and then the surrounding rock guniting device 100 is used for completing spraying.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A wall rock guniting device, comprising:
a guniting arm set;
the guniting component is arranged at the free end of the guniting arm group and comprises a first sensor, a guniting base frame, a guniting sliding frame, a second sensor, a first guniting drive, a second guniting drive and a nozzle, the first sensor is arranged at the free end of the guniting arm group or the guniting base frame and is suitable for monitoring whether the guniting base frame is abutted or not, the guniting pedestal is rotatably connected with the free end of the guniting arm group, the guniting sliding frame is assembled on the guniting pedestal in a guiding and sliding manner, the first guniting drive is connected between the guniting pedestal and the guniting carriage and is suitable for driving the relative sliding of the guniting carriage and the guniting pedestal, the spray head is arranged on the guniting sliding frame, the second guniting drive is arranged between the spray head and the guniting sliding frame and is suitable for driving the spray head to move, and the spray head is suitable for spraying slurry.
2. The wall rock guniting device according to claim 1, wherein the guniting arm group comprises a first guniting arm, a second guniting arm, a third guniting drive, a guniting seat, a fourth guniting drive and a fifth guniting drive, the second guniting arm is rotatably connected with the free end of the first guniting arm through the third guniting drive, the guniting seat is rotatably connected with the free end of the second guniting arm through the fourth guniting drive, the fourth guniting drive is suitable for adjusting the guniting component to be horizontal, the fifth guniting drive is connected between the guniting component and the guniting seat, and the fifth guniting drive is suitable for driving the guniting component to swing horizontally.
3. The wall rock guniting device of claim 2, wherein the first guniting arm and the second guniting arm are telescopic, the first guniting arm is suitable for adjusting the height of the guniting assembly through stretching and retracting, the second guniting arm is suitable for adjusting the spatial position of the guniting assembly through stretching and swinging, the first guniting arm and the second guniting arm respectively comprise a guniting outer sleeve, a guniting inner sleeve and a guniting driver, the guniting inner sleeve is matched in the guniting outer sleeve in a guiding mode, the guniting driver is arranged in the guniting outer sleeve, one end of the guniting driver is connected with the guniting inner sleeve, the other end of the guniting driver is connected with the guniting outer sleeve, and the guniting driver is suitable for driving the guniting outer sleeve and the guniting inner sleeve to move relatively.
4. The wall rock guniting device according to claim 3, wherein the cross sections of the guniting outer sleeve and the guniting inner sleeve are circular, a key groove is formed in the outer peripheral side of the guniting inner sleeve and extends along the extending direction of the guniting inner sleeve, a key is arranged on the guniting outer sleeve and is matched with the key groove to rotate the guniting outer sleeve and the guniting inner sleeve in a stopping mode, one end of the guniting driver is hinged to the guniting inner sleeve, the other end of the guniting driver is hinged to the guniting outer sleeve, and the third guniting driver is arranged on the outer peripheral side of the guniting outer sleeve.
5. The wall rock guniting device of claim 4, wherein the first guniting arm and the second guniting arm respectively comprise a displacement sensor, a copper sleeve and a mud scraping ring, the displacement sensor is connected between the guniting driver and the guniting inner sleeve, the displacement sensor is suitable for monitoring the expansion amount of the guniting driver, the copper sleeve and the mud scraping ring are arranged at a port, into which the guniting inner sleeve is inserted, of the guniting outer sleeve, and the copper sleeve is located between the guniting outer sleeve and the mud scraping ring.
6. A wall rock guniting device according to claim 3, wherein the wall rock guniting device has an operating configuration in which the first guniting arm and the second guniting arm are extended and the guniting pedestal is rotated to one side of the guniting arm set and perpendicular to the second guniting arm, and an idle configuration in which the first guniting arm and the second guniting arm are retracted and the guniting pedestal is rotated to a position parallel to the second guniting arm and the guniting pedestal and the second guniting arm are coincident.
7. The wall rock guniting device according to claim 1, wherein the guniting assembly comprises a guniting guide rod and a guniting guide seat, one of the guniting guide rod and the guniting guide seat is arranged on the guniting base frame, the other one of the guniting guide rod and the guniting guide seat is arranged on the guniting sliding frame, the guniting guide rod is in guide fit with the guniting guide seat so that the guniting sliding frame and the guniting base frame can slide relatively, and the telescopic direction of the first guniting drive is consistent with the extending direction of the guniting guide rod.
8. The wall rock guniting device according to claim 1, wherein the second guniting drive comprises a guniting chain and a guniting motor, a driving end of the guniting motor is in meshing transmission with the guniting chain through a gear, the nozzle is arranged on the guniting chain, and the guniting motor is suitable for driving the nozzle to move by driving the guniting chain to rotate.
9. The surrounding rock guniting device according to any one of claims 1 to 8, comprising a first storage tank, a second storage tank and a cleaning agent storage tank, wherein the first storage tank, the second storage tank and the cleaning agent storage tank are all communicated with the nozzle, the first storage tank is suitable for storing a first material, the second storage tank is suitable for storing a second material, the first material and the second material are suitable for being sprayed out at the nozzle and are subjected to rapid solidification and mixing, the cleaning agent storage tank is suitable for storing a cleaning agent, and the cleaning agent is suitable for cleaning the nozzle.
10. A shotcrete operation vehicle, comprising a surrounding rock shotcrete device and a vehicle body, wherein the surrounding rock shotcrete device is arranged on the vehicle body, and the surrounding rock shotcrete device is the surrounding rock shotcrete device according to any one of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111415780.2A CN114320354B (en) | 2021-11-25 | 2021-11-25 | Surrounding rock guniting device and guniting operation vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111415780.2A CN114320354B (en) | 2021-11-25 | 2021-11-25 | Surrounding rock guniting device and guniting operation vehicle |
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| CN114320354A true CN114320354A (en) | 2022-04-12 |
| CN114320354B CN114320354B (en) | 2023-09-19 |
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| US6626376B1 (en) * | 2001-06-14 | 2003-09-30 | Airtech Spray Systems, Inc. | Spray coating device |
| KR200431559Y1 (en) * | 2006-09-07 | 2006-11-23 | 효동개발 주식회사 | Shotcrete injection machine for a tunnel |
| CN104533459A (en) * | 2014-12-30 | 2015-04-22 | 山东科技大学 | Guniting manipulator |
| CN105484772A (en) * | 2016-02-25 | 2016-04-13 | 中铁工程装备集团有限公司 | Dual-power automobile-mounted wet spraying machine |
| JP2019199784A (en) * | 2018-05-18 | 2019-11-21 | 株式会社大林組 | Spray support device |
| CN210660121U (en) * | 2019-06-06 | 2020-06-02 | 湖北天腾重型机械股份有限公司 | Wet spraying vehicle working arm mechanism |
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2021
- 2021-11-25 CN CN202111415780.2A patent/CN114320354B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6626376B1 (en) * | 2001-06-14 | 2003-09-30 | Airtech Spray Systems, Inc. | Spray coating device |
| KR200431559Y1 (en) * | 2006-09-07 | 2006-11-23 | 효동개발 주식회사 | Shotcrete injection machine for a tunnel |
| CN104533459A (en) * | 2014-12-30 | 2015-04-22 | 山东科技大学 | Guniting manipulator |
| CN105484772A (en) * | 2016-02-25 | 2016-04-13 | 中铁工程装备集团有限公司 | Dual-power automobile-mounted wet spraying machine |
| JP2019199784A (en) * | 2018-05-18 | 2019-11-21 | 株式会社大林組 | Spray support device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114320354B (en) | 2023-09-19 |
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