CN114934786A - Intelligent full-autonomous operation guniting robot - Google Patents
Intelligent full-autonomous operation guniting robot Download PDFInfo
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- CN114934786A CN114934786A CN202210652694.1A CN202210652694A CN114934786A CN 114934786 A CN114934786 A CN 114934786A CN 202210652694 A CN202210652694 A CN 202210652694A CN 114934786 A CN114934786 A CN 114934786A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- 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
- B05B12/12—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Mining & Mineral Resources (AREA)
- Robotics (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 relates to the field of underground coal mine roadway guniting, in particular to an intelligent full-autonomous operation guniting robot, and aims to solve the problems of high labor intensity, low operation efficiency, nonuniform spraying, high guniting rebound rate and the like in the manual guniting process of an underground coal mine roadway. This intelligent full autonomous operation whitewashing robot, through magnetic starter, flame proof switch board and electromagnetism proportional multi-way valve realize hydraulic pressure track, the cable drum, annular scanning radar system, vertical hydraulic leg, hydraulic pressure slewing drive motor, the flexible pneumatic cylinder of big mechanical arm, the spiral tilt cylinder, the dip angle control hydro-cylinder, the flexible pneumatic cylinder of little mechanical arm and the linkage action of marking the circle motor, can independently accomplish the scanning work of whole tunnel section profile, rely on the tunnel section profile that the scanning obtained to mark circle motor system and carry out the trajectory planning, install concrete guniting pipe at last and mark the circle whitewashing action of marking it on marking the circle motor system, and then accomplish whole whitewashing operation process.
Description
Technical Field
The invention relates to the field of intelligent operation robots for coal mines, in particular to an intelligent full-autonomous operation guniting robot.
Background
Along with the continuous increase of the resource demand of human production and life, the coal mining amount is continuously increased, so that the underground concrete guniting operation amount of the coal mine is driven to be increased, the actual construction is mainly manual operation, the requirement on labor is high, the labor intensity of workers is high, the working efficiency is low, the production progress of the coal mine is delayed, the production cost is improved, and the harm to the body of workers is great. At present, dry spraying is mainly used for underground coal mine guniting, 4 workers are required to be equipped for each dry spraying machine, and the working efficiency is about 6m 3 The concrete has high rebound rate, generates a large amount of dust easily, causes great harm to human bodies, and has unstable quality and low solid wall strength because of uneven mixing of water and dry spraying materials.
Meanwhile, the existing guniting manipulator is simple, only has two or three degrees of freedom, and is poor in rigidity and operability. For a guniting manipulator or a robot taking a joint type structure as a main body, if a gunning gun rises and falls along an approximate plumb line in the process of spraying concrete, the relationship that a muzzle of the gunning gun is vertical to a sprayed surface and is equidistant needs to be kept, and the movement of at least two or even more joints needs to be adjusted. Therefore, when an operator carries out master-slave operation on the guniting manipulator or the robot, the operator firstly adjusts the action of one joint, then adjusts the action of the other joint, and then observes the resultant motion condition of the two joints to see whether the two joints reach the required position and posture. In the process of spraying concrete, the concrete conveying speed is high, so that the concrete cannot stay in a local spraying area for a long time, the visibility of the environment is reduced due to the rebounded concrete and diffused dust, the evaluation of an operator on the guniting effect is influenced, the coordination actions of several aspects are difficult to guarantee, and the optimal technological parameters of the sprayed concrete cannot be realized by considering the fact that the concrete cannot be sprayed.
In the intelligent coal mine construction process, safe and efficient production operation is the main foundation, and the guniting distance is too short and is less than 200m in the existing guniting operation, and the operation is required to be stopped for a period of time and then pushed forwards so as to ensure continuous operation. And a large amount of time is wasted in the movement of the equipment in the process, and the guniting pipeline is condensed due to overlong time, so that the condition that the equipment such as a pipe blockage cannot be normally used is caused, and the production operation efficiency is seriously influenced. Therefore, the intelligent full-autonomous operation guniting robot which can meet the optimal technological requirement of roadway concrete guniting and can ensure remote (more than 300 m) continuous operation is explored, a 'shield' can be provided for operation workers, the operation environment and the operation efficiency are effectively improved, safety accidents are reduced, and the production efficiency is greatly improved. However, the research finds that no intelligent full-autonomous operation guniting robot exists in the market at present.
Disclosure of Invention
The invention provides an intelligent full-autonomous operation guniting robot, which aims to solve the problems of high labor intensity, low operation efficiency, nonuniform spraying, high guniting rebound rate and the like of manual guniting in the guniting process of underground coal mine tunnels.
In order to achieve the purpose, the invention provides an intelligent full-autonomous operation guniting robot, which comprises a hydraulic crawler, a whole machine bottom plate, a motor-hydraulic pump unit system, a balance overload device, a cable drum, an electromagnetic proportional multi-way valve, a magnetic starter, an explosion-proof control cabinet, a radiator, a rotary fixing frame, a hydraulic rotary driving motor, an eight-way rotary joint, a vertical hydraulic support leg, an annular scanning radar system, a support square pipe, a large arm magnetostrictive sensor, a two-way rotary joint for rotation, a rotary support base plate, a rotary support, a mechanical large arm telescopic pipe, a small arm magnetostrictive sensor, a mechanical small arm telescopic pipe, a spiral swing cylinder fixing frame, an angle encoder, a spiral swing cylinder, an inclination angle control oil cylinder, a swing cylinder cross-connection frame, a ring-drawing motor system, an oil tank and the like, wherein two square pipes are symmetrically and fixedly arranged at the lower end of the whole machine bottom plate, two hydraulic tracks are symmetrically welded and arranged at the lower ends of two square tubes, a rotary fixing frame is fixed at the middle position of the front end of a bottom plate of the whole machine through bolts, a rotary support is installed on the rotary fixing frame through bolts, an eight-way rotary joint is installed on a rotary support shell, a rotary support base plate is fixedly connected with a rotary support driven turntable through bolts, a mechanical big arm is welded on the rotary support base plate, a big arm magnetostrictive sensor is installed at a telescopic oil cylinder barrel at the bottom of the mechanical big arm, a mechanical big arm telescopic pipe is installed in the mechanical big arm and forms moving fit through a telescopic oil cylinder, a two-way rotary joint rotor is installed at the middle lower part of the front end of the mechanical big arm, the lower end face of a spiral swing cylinder fixing frame is fixedly connected with the free end of the mechanical big arm telescopic pipe through bolts, a spiral swing cylinder is installed on the upper end face of the spiral swing cylinder fixing frame, and the front and rear two rotating faces of the spiral swing cylinder are fixedly connected with a swing cylinder bridging frame through bolts, the angle encoder is fixedly connected with the rear end of the swing cylinder cross-over connection frame through a bolt, the dip angle control oil cylinder is fixedly installed at the upper end of the swing cylinder cross-over connection frame through a bolt, a hanging lug at the lower middle part of the mechanical forearm and a hanging lug of the swing cylinder cross-over connection frame form hinge rotation fit, a hanging lug at the middle part of the mechanical forearm and the end part of a piston rod of the dip angle control oil cylinder form hinge rotation fit, the forearm magnetostrictive sensor is installed at the cylinder barrel part of the telescopic oil cylinder at the bottom of the mechanical forearm, the mechanical forearm telescopic pipe is installed in the mechanical forearm and forms movement fit through the telescopic oil cylinder, and the ring-scribing motor system is fixed at the free end part of the mechanical forearm telescopic pipe through a bolt.
In foretell full autonomous operation whitewashing robot of intellectuality, optionally, the cable drum passes through the bolt fastening at complete machine bottom plate rear end intermediate position, the radiator is installed and is being close to hydraulic rotary drive motor position department, vertical hydraulic leg respectively installs one at the front and back both ends of every square pipe, motor hydraulic pump unit system, balanced overload ware, magnetic force starter and oil tank are all through the vacant position of bolt-up at complete machine bottom plate up end, electromagnetism proportion multiple unit valve and magnetic force starter pass through the vacant position of bolt-up at the oil tank up end.
In foretell intelligent full autonomous operation whitewashing robot, optionally, the annular scanning radar system is including scanning radar mounting bracket, the annular scanning radar, the scanning radar guard shield, the scanning radar stretches out hydro-cylinder and flexible guide cylinder, the welding of scanning radar guard shield is at the bottom face of complete machine bottom plate, the scanning radar stretches out hydro-cylinder and flexible guide cylinder fixed mounting on hydraulic track crossbeam, the scanning radar mounting bracket is installed on the scanning radar stretches out the hydro-cylinder piston rod and on the flexible guide cylinder piston rod through the threaded connection mode, the annular scanning radar passes through the bolt fastening on the scanning radar mounting bracket.
In foretell full autonomous operation whitewashing robot of intellectuality, the optional, motor hydraulic pump unit system includes three-phase asynchronous machine, pump frame and hydraulic drive pump, and three-phase asynchronous machine passes through the bolt and installs on the complete machine bottom plate, and the big terminal surface of pump frame is installed on three-phase asynchronous machine through the bolt, and hydraulic drive pump passes through bolt fixed mounting on the little terminal surface of pump frame.
In the above-mentioned intelligent full-autonomous operation guniting robot, optionally, the circling motor system includes a circling main frame, a circling motor, a circling eccentric shaft, a swinging frame, a first universal joint, a cross shaft, a second universal joint and a connecting flange, the lower end of the circling main frame is fixedly mounted at the free end of the mechanical forearm extension tube through a bolt, the circling motor is mounted at the upper end of the circling main frame, the circling eccentric shaft is mounted at an output shaft of the circling motor, the upper end of the swinging frame is mounted on the circling eccentric shaft to form a rotating fit, the first universal joint is mounted at the lower end of the swinging frame, the first universal joint is connected with the second universal joint through the cross shaft, the second universal joint is fixed on the connecting flange through a bolt, and the bottom end face of the connecting flange is fastened at the lower end of the circling main frame through welding.
In the above-mentioned intelligent full-autonomous operation guniting robot, optionally, the slewing bearing includes a slewing bearing housing, a slewing bearing driven turntable rotating shaft and a slewing bearing driving turntable, the slewing bearing housing is fixed on the slewing fixing frame through bolts, the slewing bearing driven turntable rotating shaft is installed at the upper end of the slewing bearing housing, the slewing bearing driven turntable is installed on the slewing bearing driven turntable rotating shaft and forms a running fit, the hydraulic slewing drive motor is installed at the lower end of the slewing bearing housing, the slewing bearing driving turntable is installed and fixed on an output shaft of the hydraulic slewing drive motor, and forms a gear transmission fit with the slewing bearing driven turntable.
The intelligent full-autonomous operation guniting robot provided by the invention realizes the movement or rotation of a hydraulic crawler belt, a cable drum, a vertical hydraulic support leg, a hydraulic rotary driving motor, a mechanical big arm telescopic hydraulic cylinder, a spiral swing cylinder, an inclination angle control oil cylinder, a mechanical small arm telescopic hydraulic cylinder and a ring-drawing motor through a magnetic starter and an explosion-proof control cabinet, after the intelligent full-autonomous operation guniting robot moves to a designated position, the annular scanning radar can automatically complete the scanning work of the current sprayed roadway section, then plan the track of the circling motor system according to the roadway section profile obtained by scanning, the electromagnetic proportional multi-way valve is controlled by the explosion-proof control cabinet to realize the linkage action of the hydraulic driving piece, and the concrete guniting pipe is arranged on a swing frame of the ring-dividing motor system and follows the swing frame to perform ring-dividing guniting action, so that the guniting process of a roadway section is completed; and then, the intelligent full-autonomous operation guniting robot moves forward by 1m, and the guniting operation process is repeated. The intelligent full-autonomous operation guniting robot solves the problems of high labor intensity, low operation efficiency, non-uniform spraying, high guniting rebound rate and the like of manual guniting in the underground coal mine roadway guniting process to a great extent, obviously improves the operation environment of guniting workers, and has high popularization and application values in the field of intelligent mines.
The construction of the present invention and other objects and advantages thereof will be more apparent from the following description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structure diagram of an intelligent full-autonomous operation guniting robot provided by an embodiment of the invention;
fig. 2 is a schematic view of an overall structure of an intelligent full-autonomous operation guniting robot according to an embodiment of the invention from different perspectives;
fig. 3 is a schematic view of a retraction state of an annular scanning radar system of an intelligent full-autonomous operation guniting robot according to an embodiment of the invention;
fig. 4 is a schematic diagram of an extended state of an annular scanning radar system of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of a hydraulic motor-pump unit system of an intelligent fully-autonomous operation guniting robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a circling motor system of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention;
fig. 7 is a schematic structural view of a rotary fixing frame of an intelligent full-autonomous operation guniting robot according to an embodiment of the invention;
fig. 8 is a schematic structural view of a hydraulic slewing drive motor of an intelligent full-autonomous operation guniting robot provided by the embodiment of the invention;
fig. 9 is a schematic structural view of a slewing bearing substrate of an intelligent full-autonomous operation guniting robot according to an embodiment of the invention;
fig. 10 is a schematic structural view of a spiral tilt cylinder fixing frame of an intelligent full-autonomous operation guniting robot provided by the embodiment of the invention;
fig. 11 is a schematic structural view of a tilt cylinder cross-over frame of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention;
fig. 12 is a schematic view of a slewing bearing structure of an intelligent full-autonomous operation guniting robot provided by an embodiment of the invention;
fig. 13 is a schematic view of an operation range of a front view of an intelligent fully autonomous operation guniting robot provided by the embodiment of the invention;
fig. 14a is a schematic view of a vertical state of a mechanical forearm of an intelligent full-autonomous operation guniting robot provided by an embodiment of the invention;
fig. 14b is a schematic diagram illustrating an inclined state of a mechanical arm of the intelligent full-autonomous operation guniting robot according to the embodiment of the invention;
description of reference numerals:
1-a hydraulic crawler;
2-a whole machine bottom plate;
3-an electric motor hydraulic pump unit system;
301-three phase asynchronous machine; 302-a pump rack; 303-a hydraulically driven pump;
4-a balanced overload;
5-a cable drum;
6-electromagnetic proportional multi-way valve;
7-magnetic starter;
8-explosion-proof control cabinet;
9-a radiator;
10-a rotary fixing frame;
11-a hydraulic swing drive motor;
12-eight-way swivel joint;
13-vertical hydraulic support legs;
14-ring scanning radar system;
1401-scanning a radar mount; 1402-ring scanning radar; 1403-scanning radar shield; 1404-scanning the radar extension cylinder; 1405-telescopic guide cylinder;
15-supporting the square tube;
16-a large arm magnetostrictive sensor;
17-a two-way swivel rotator;
18-a slewing bearing substrate;
19-a slewing bearing;
1901-slewing bearing housing; 1902-slewing a driven turntable; 1903-slewing bearing driven turntable shaft; 1904-slewing bearing drive turntable;
20-a mechanical big arm;
21-mechanical large arm telescopic pipe;
22-a small arm magnetostrictive sensor;
23-mechanical small arm;
24-mechanical small arm telescopic tube;
25-a spiral tilt cylinder fixing frame;
26-an angle encoder;
27-a spiral tilt cylinder;
28-tilt angle control cylinder;
29-tilt cylinder cross-over mount;
30-a stroking motor system;
3001-a main frame of a ring-cutting; 3002-a ring-cutting motor; 3003-circling eccentric shaft; 3004-swing frame; 3005-first universal joint; 3006-cross shaft; 3007-a second gimbal; 3008-attachment flange;
31-a fuel tank;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention. 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. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic view of an overall structure of an intelligent full-autonomous operation guniting robot provided by an embodiment of the invention, fig. 2 is a schematic view of the overall structure of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention from different perspectives, fig. 7 is a schematic view of a structure of a rotary fixing frame of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, fig. 8 is a schematic view of a structure of a hydraulic rotary driving motor of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, fig. 9 is a schematic view of a structure of a rotary supporting substrate of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, fig. 10 is a schematic view of a structure of a spiral swing cylinder fixing frame of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, fig. 11 is a schematic view of a structure of a swing cylinder cross-frame of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, as shown in fig. 1, fig. 2, fig. 7, fig. 8, fig. 9, fig. 10 and fig. 11, the present invention provides an intelligent full-autonomous operation guniting robot, which comprises a hydraulic track 1, a complete machine bottom plate 2, a motor-hydraulic pump set system 3, a balance overload 4, a cable drum 5, an electromagnetic proportional multi-way valve 6, a magnetic starter 7, an explosion-proof control cabinet 8, a radiator 9, a rotary fixing frame 10, a hydraulic rotary driving motor 11, an eight-way rotary joint 12, a vertical hydraulic support leg 13, an annular scanning radar system 14, a support square tube 15, a boom magnetostrictive sensor 16, a two-way rotary joint rotation 17, a rotary support base plate 18, a rotary support 19, a mechanical boom 20, a mechanical boom extension tube 21, a boom magnetostrictive sensor 22, a mechanical boom 23, a mechanical boom extension tube 24, a spiral swing cylinder fixing frame 25, an angle encoder 26 and a spiral swing cylinder 27, an inclination angle control oil cylinder 28, a swing cylinder cross-over frame 29, a ring-cutting motor system 30, an oil tank 31 and the like, wherein two square pipes 15 are symmetrically and fixedly arranged at the lower end of a whole machine bottom plate 2, two hydraulic tracks 1 are symmetrically and welded at the lower ends of the two square pipes 15, a rotary fixing frame 10 is fixed at the middle position of the front end of the whole machine bottom plate 2 through bolts, a rotary support 19 is installed on the rotary fixing frame 10 through bolts, an eight-way rotary joint 12 is installed on a rotary support outer shell 1901, a rotary support base plate 18 is fixedly connected with a rotary support driven turntable 1902 through bolts, a mechanical big arm 20 is welded on the rotary support base plate 18, a big arm magnetostrictive sensor 16 is installed at the bottom of the mechanical big arm 20 and is installed at a telescopic oil cylinder barrel, a mechanical big arm telescopic pipe 21 is installed in the mechanical arm 20 and forms movable fit through a telescopic oil cylinder, a two-way rotary joint rotating body 17 is installed at the middle lower part of the front end of the mechanical big arm 20, the lower end face of a spiral swing cylinder fixing frame 25 is fixedly connected with the free end of a large mechanical arm extension tube 21 through a bolt, a spiral swing cylinder 27 is installed on the upper end face of the spiral swing cylinder fixing frame 25, the front and back rotating faces of the spiral swing cylinder 27 are fixedly connected with a swing cylinder cross-over frame 29 through bolts, an angle encoder 26 is fixedly connected with the rear end of the swing cylinder cross-over frame 29 through bolts, an inclination angle control oil cylinder 28 is fixedly installed at the upper end of the swing cylinder cross-over frame 29 through bolts, a hanging lug at the lower middle part of a small mechanical arm 23 and a hanging lug of the swing cylinder cross-over frame 29 form hinge rotation fit, a hanging lug at the middle part of the small mechanical arm 23 and the end part of a piston rod of the inclination angle control oil cylinder 28 form hinge rotation fit, a small arm magnetostrictive sensor 22 is installed at the cylinder barrel of the telescopic cylinder at the bottom of the small mechanical arm 23, a small mechanical arm 24 is installed in the small mechanical arm 23 and forms movement fit through the telescopic cylinder, and a circle-dividing motor system 30 is fixed at the free end of the small mechanical arm extension tube 24 through bolts.
Further, the cable drum 5 is fixed at the middle position of the rear end of the whole machine bottom plate 2 through a bolt, the radiator 9 is installed at a position close to the hydraulic rotary driving motor 11, the vertical hydraulic support legs 13 are respectively installed at the front end and the rear end of each square tube 15, the motor hydraulic pump unit system 3, the balance overload device 4, the magnetic starter 7 and the oil tank 31 are all fastened at the vacant positions of the upper end face of the whole machine bottom plate 2 through bolts, and the electromagnetic proportional multi-way valve 6 and the magnetic starter 7 are fastened at the vacant positions of the upper end face of the oil tank 31 through bolts.
Fig. 3 is a schematic diagram of a retracted state of an annular scanning radar system of an intelligent full-autonomous operation guniting robot provided by an embodiment of the invention, fig. 4 is a schematic diagram of an extended state of an annular scanning radar system of an intelligent full-autonomous operation guniting robot provided by an embodiment of the invention, as shown in fig. 3 and fig. 4, an annular scanning radar system 14 is installed at the front end of the intelligent full-autonomous operation guniting robot, the annular scanning radar system 14 comprises a scanning radar mounting frame 1401, an annular scanning radar 1402, a scanning radar shroud 1403, a scanning radar extension cylinder 1404 and a telescopic guide cylinder 1405, the scanning radar shroud 1403 is welded on the bottom end face of a bottom plate 2 of a whole machine, the scanning radar extension cylinder 1404 and the telescopic guide cylinder 1405 are fixedly installed on a hydraulic crawler 1 cross beam, the scanning radar mounting frame 1401 is installed on a piston rod of the scanning radar extension cylinder 1404 and a piston rod of the telescopic guide cylinder 1405 through a threaded connection manner, the annular scanning radar 1402 is bolted to the scanning radar mount 1401.
It should be noted that, the extension and retraction of the annular scanning radar 1402 can be realized by controlling the extension and retraction of the piston rod of the scan radar extension cylinder 1404 and the piston rod of the telescopic guide cylinder 1405.
Fig. 5 is a schematic structural diagram of a motor-hydraulic pump unit system of an intelligent full-autonomous operation guniting robot according to an embodiment of the present invention, and as shown in fig. 5, the motor-hydraulic pump unit system 3 includes a three-phase asynchronous motor 301, a pump frame 302 and a hydraulic drive pump 303, the three-phase asynchronous motor 301 is mounted on the entire machine bottom plate 2 through bolts, a large end face of the pump frame 302 is mounted on the three-phase asynchronous motor 301 through bolts, and the hydraulic drive pump 303 is fixedly mounted on a small end face of the pump frame 302 through bolts.
It should be noted that the power supply drives the three-phase asynchronous motor 301 to rotate, and the three-phase asynchronous motor 301 drives the hydraulic drive pump 303 to complete the hydraulic power drive of the whole intelligent full-autonomous operation guniting robot.
Fig. 6 is a schematic structural diagram of a circling motor system of an intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, as shown in fig. 6, the circling motor system 30 includes a circling main frame 3001, a circling motor 3002, a circling eccentric shaft 3003, a swing frame 3004, a first universal joint 3005, a cross shaft 3006, a second universal joint 3007 and a connecting flange 3008, wherein the lower end of the circling main frame 3001 is fixedly mounted at the free end of the mechanical forearm extension tube 24 through bolts, the upper end of the circling main frame 3001 is mounted with the circling motor 3002, the output shaft of the circling motor 3002 is mounted with the circling eccentric shaft 3003, the upper end of the swing frame 3004 is mounted on the circling eccentric shaft 3003 to form a rotating fit, the lower end of the swing frame 3004 is mounted with the first universal joint 3005, the first universal joint 3005 is connected with the second universal joint 3007 through the cross shaft 3006, the second universal joint 3007 is fixed on the connecting flange 3008 through bolts, and the bottom end face of the connecting flange 3008 is fastened to the lower end of the circling main frame 3001 through welding.
It should be noted that the circling motor 3002 drives the circling eccentric shaft 3003 to rotate, so as to drive the swing frame 3004 to swing, and the concrete guniting pipe is installed on the swing frame 3004 of the circling motor system and follows the swing frame 3004 to do circling and guniting actions, so as to ensure the uniformity of guniting.
Fig. 12 is a schematic view of a slewing bearing structure of an intelligent all-autonomous operation guniting robot provided by an embodiment of the present invention, as shown in fig. 12, a slewing bearing 19 includes a slewing bearing housing 1901, a slewing bearing driven turntable 1902, a slewing bearing driven turntable rotating shaft 1903 and a slewing bearing driving turntable 1904, the slewing bearing housing 1901 is fixed on a slewing fixing frame 10 through bolts, the slewing bearing driven turntable rotating shaft 1903 is installed at the upper end of the slewing bearing housing 1901, the slewing bearing driven turntable 1902 is installed on the slewing bearing driven turntable rotating shaft 1903 and forms a rotation fit, a hydraulic slewing drive motor 11 is installed at the upper end of the slewing bearing housing 1901, the slewing bearing driving turntable 1904 is installed and fixed on an output shaft of the hydraulic slewing drive motor 11 and forms a gear transmission fit with the slewing bearing driven turntable 1902.
It should be noted that the hydraulic slewing drive motor 11 drives the slewing bearing driving turntable 1904 to rotate, and the slewing bearing driving turntable 1904 transmits the rotation output by the hydraulic slewing drive motor 11 to the slewing bearing driven turntable 1902 through gear transmission, so as to drive the slewing bearing substrate 18 to rotate, thereby realizing the swinging of the whole mechanical boom 20.
In the working process, after the equipment is electrified, the magnetic starter 7 and the flameproof control cabinet 8 control the motor hydraulic pump unit system 3 to work, hydraulic oil in the oil tank 31 is sucked into the motor hydraulic pump unit system 3 and pumped out of the motor hydraulic pump unit system 3 to drive the hydraulic track 1, the cable drum 5, the vertical hydraulic support leg 13, the hydraulic rotary drive motor 11, the mechanical large arm 20 telescopic hydraulic cylinder, the spiral swing cylinder 27, the inclination angle control oil cylinder 28, the mechanical small arm 23 telescopic hydraulic cylinder and the circling motor 30 to move or rotate. After the intelligent full-autonomous operation guniting robot moves to a specified position, the vertical hydraulic support legs 13 extend out to support the whole robot, then the hydraulic crawler 1 extends out to improve the smoothness of the whole robot, the vertical hydraulic support legs 13 retract, the annular scanning radar 1402 of the annular scanning radar system 14 extends out to scan the section of the current sprayed roadway, then the circling motor system 30 is planned according to the section profile of the roadway obtained by scanning, the electromagnetic proportional multi-way valve 6 is controlled by the explosion-proof control cabinet 8 to realize the linkage action of the hydraulic driving piece, the concrete guniting pipe is arranged on the swinging frame 3004 to perform the circling guniting action along with the swinging of the swinging frame 3004 so as to complete the guniting process of one section of the roadway, fig. 13 is a schematic diagram of the operation range of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, and fig. 14a is a schematic diagram of the vertical state of a mechanical small arm of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, fig. 14b is a schematic diagram of an inclined state of a mechanical forearm of the intelligent full-autonomous operation guniting robot provided by the embodiment of the invention, wherein a 1m long roadway guniting process can be completed by one-time scanning; and then the hydraulic track 1 advances by 1m, an annular scanning radar 1402 of the annular scanning radar system 14 extends out and finishes scanning the current sprayed roadway section, then the circle marking motor system 30 is planned according to the roadway section profile obtained by scanning, the electromagnetic proportional multi-way valve 6 is controlled by the explosion-proof control cabinet 8 to realize the linkage action of the hydraulic driving piece, the guniting process is continuously repeated, and the automatic guniting operation process of the whole roadway is finished.
The intelligent full-autonomous operation guniting robot provided by the invention realizes the movement or rotation of a hydraulic track 1, a cable drum 5, a vertical hydraulic support leg 13, a hydraulic rotary driving motor 11, a mechanical big arm 20 telescopic hydraulic cylinder, a spiral swing cylinder 27, an inclination angle control oil cylinder 28, a mechanical small arm 23 telescopic hydraulic cylinder and a circling motor 30 through a magnetic starter 7 and an explosion-proof control cabinet 8, after the intelligent full-autonomous operation guniting robot moves to a specified position, an annular scanning radar 1402 can autonomously complete the scanning work of the current section of a sprayed roadway, then a circling motor system 30 is subjected to track planning according to the section profile of the roadway obtained by scanning, the explosion-proof control cabinet 8 controls an electromagnetic proportional multi-way valve 6 to realize the linkage action of the hydraulic driving part, a concrete guniting pipe is arranged on a swing frame 3004 of the circling motor system 30 to do circling guniting action along with the concrete guniting pipe, and then accomplish the sectional whitewashing process in a tunnel, intelligent full autonomous operation whitewashing robot gos forward 1m afterwards, repeats above-mentioned whitewashing operation process. The intelligent full-autonomous operation guniting robot solves the problems of high labor intensity, low operation efficiency, non-uniform spraying, high guniting rebound rate and the like of manual guniting in the underground coal mine roadway guniting process to a great extent.
In the description of the present invention, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art. The terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically stated otherwise.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An intelligent full-autonomous operation guniting robot is characterized by comprising a hydraulic crawler belt, a whole machine bottom plate, a motor hydraulic pump set system, a balance overload device, a cable drum, an electromagnetic proportional multi-way valve, a magnetic starter, an explosion-proof control cabinet, a radiator, a rotary fixing frame, a hydraulic rotary driving motor, an eight-way rotary joint, a vertical hydraulic support leg, an annular scanning radar system, a supporting square pipe, a large arm magnetostrictive sensor, a two-way rotary joint rotating, a rotary supporting base plate, a rotary supporting, a mechanical large arm telescopic pipe, a small arm magnetostrictive sensor, a mechanical small arm telescopic pipe, a spiral tilt cylinder fixing frame, an angle encoder, a spiral tilt cylinder, a tilt angle control oil cylinder, a tilt cylinder cross-over frame, a ring-cutting motor system, an oil tank and the like, wherein the two square pipes are symmetrically and fixedly arranged at the lower end of the whole machine bottom plate, and the two hydraulic crawler belts are symmetrically and fixedly arranged at the lower end of the two square pipes, the rotary fixing frame is fixed at the middle position of the front end of the whole machine bottom plate through bolts, the rotary support is installed on the rotary fixing frame through bolts, the eight-way rotary joint is installed on the rotary support shell, the rotary support base plate is fixedly connected with the rotary support driven turntable through bolts, the mechanical big arm is welded on the rotary support base plate, the big arm magnetostrictive sensor is installed at the telescopic cylinder barrel at the bottom of the mechanical big arm, the mechanical big arm telescopic pipe is installed in the mechanical big arm and forms moving fit through the telescopic cylinder, the two-way rotary joint rotor is installed at the middle lower part of the front end of the mechanical big arm, the lower end face of the spiral tilt cylinder fixing frame is fixedly connected with the free end of the mechanical big arm telescopic pipe through bolts, and the spiral tilt cylinder is installed on the upper end face of the spiral tilt cylinder fixing frame, the spiral swing cylinder front and back two rotating surfaces are fixedly connected with the swing cylinder cross-over connection frame through bolts, the angle encoder is fixedly connected with the rear end of the swing cylinder cross-over connection frame through bolts, the inclination angle control oil cylinder is fixedly installed at the upper end of the swing cylinder cross-over connection frame through bolts, a hanging lug at the lower middle part of the mechanical forearm and a hanging lug of the swing cylinder cross-over connection frame form hinge rotation fit, a hanging lug at the middle part of the mechanical forearm and the end part of a piston rod of the inclination angle control oil cylinder form hinge rotation fit, the forearm magnetostrictive sensor is installed at the telescopic oil cylinder barrel at the bottom of the mechanical forearm, the mechanical forearm telescopic pipe is installed in the mechanical forearm and forms movement fit through the telescopic oil cylinder, and the ring-drawing motor system is fixed at the free end part of the mechanical forearm telescopic pipe through bolts.
2. The intelligent full-autonomous operation guniting robot according to claim 1, wherein the cable drum is fixed at the middle position of the rear end of the whole machine bottom plate through bolts, the radiator is installed at a position close to the hydraulic rotary driving motor, the vertical hydraulic support legs are installed at the front end and the rear end of each square tube respectively, the motor hydraulic pump unit system, the balance overload device, the magnetic starter and the oil tank are fastened at multiple spare positions of the upper end face of the whole machine bottom plate through bolts, and the electromagnetic proportional valve and the magnetic starter are fastened at the spare positions of the upper end face of the oil tank through bolts.
3. The intelligent full-autonomous operation guniting robot according to claim 1, wherein the annular scanning radar system comprises a scanning radar mounting frame, an annular scanning radar, a scanning radar shield, a scanning radar extending oil cylinder and a telescopic guide cylinder, the scanning radar shield is welded to the bottom end face of the whole machine bottom plate, the scanning radar extending oil cylinder and the telescopic guide cylinder are fixedly mounted on the hydraulic crawler cross beam, the scanning radar mounting frame is mounted on a scanning radar extending oil cylinder piston rod and a telescopic guide cylinder piston rod in a threaded connection mode, and the annular scanning radar is fixed on the scanning radar mounting frame through bolts.
4. The intelligent full-autonomous operation guniting robot according to claim 1, wherein the motor-hydraulic pump unit system comprises a three-phase asynchronous motor, a pump frame and a hydraulic drive pump, the three-phase asynchronous motor is mounted on the whole machine base plate through bolts, a large end face of the pump frame is mounted on the three-phase asynchronous motor through bolts, and the hydraulic drive pump is fixedly mounted on a small end face of the pump frame through bolts.
5. The intelligent full-autonomous operation guniting robot according to claim 1, the ring-drawing motor system comprises a main ring-drawing frame, a ring-drawing motor, a ring-drawing eccentric shaft, a swinging frame, a first universal joint, a cross shaft, a second universal joint and a connecting flange, the lower end of the main circling frame is fixedly arranged at the free end of the mechanical small arm extension tube through a bolt, the upper end of the ring-drawing main frame is provided with the ring-drawing motor, the output shaft of the ring-drawing motor is provided with the ring-drawing eccentric shaft, the upper end of the swinging frame is arranged on the circling eccentric shaft to form rotating fit, the lower end of the swinging frame is provided with the first universal joint, the first universal joint is connected with the second universal joint through the cross shaft, the second universal joint is fixed on the connecting flange through a bolt, and the bottom end face of the connecting flange is fastened at the lower end of the ring-drawing main frame through welding.
6. The intelligent full-autonomous operation guniting robot according to claim 1, wherein the slewing bearing comprises a slewing bearing shell, a slewing bearing driven turntable rotating shaft and a slewing bearing driving turntable, the slewing bearing shell is fixed on the slewing fixing frame through bolts, the slewing bearing driven turntable rotating shaft is installed at the upper end of the slewing bearing shell, the slewing bearing driven turntable is installed on the slewing bearing driven turntable rotating shaft and forms a rotating fit, the hydraulic slewing driving motor is installed at the lower end of the slewing bearing shell, and the slewing bearing driving turntable is installed and fixed on an output shaft of the hydraulic slewing driving motor and forms a gear transmission fit with the slewing bearing driven turntable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210652694.1A CN114934786A (en) | 2022-06-07 | 2022-06-07 | Intelligent full-autonomous operation guniting robot |
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| CN202210652694.1A CN114934786A (en) | 2022-06-07 | 2022-06-07 | Intelligent full-autonomous operation guniting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116624186A (en) * | 2023-07-21 | 2023-08-22 | 北京科技大学 | Concrete spraying equipment for fireproof reinforcement of roadway wall under coal mine |
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- 2022-06-07 CN CN202210652694.1A patent/CN114934786A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116624186A (en) * | 2023-07-21 | 2023-08-22 | 北京科技大学 | Concrete spraying equipment for fireproof reinforcement of roadway wall under coal mine |
| CN116624186B (en) * | 2023-07-21 | 2023-10-27 | 北京科技大学 | Concrete spraying equipment for fireproof reinforcement of roadway wall under coal mine |
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