CN117627394A - Underground wall building robot for coal mine and wall building method - Google Patents

Abstract

The invention discloses a wall building robot and a wall building method for underground coal mines, wherein the wall building robot for underground coal mines comprises a frame, a travelling mechanism, a plurality of manipulators, an automatic plastering device and a control module, wherein the frame is provided with a bearing table for bearing bricks; the travelling mechanism is arranged at the lower part of the frame and is used for driving the frame to travel; the manipulator comprises a mechanical arm and a brick clamping device, wherein two ends of the mechanical arm are respectively connected with the frame and the brick clamping device, and the brick clamping device is used for clamping the brick; the automatic plastering device is arranged on the frame and is used for automatically plastering the brick blocks; the control module is arranged on the frame, and the travelling mechanism, the manipulator and the automatic plastering device are connected with the control module through signals. The underground wall-building robot for the coal mine can replace manual operation and improve the safety of underground operation of the coal mine.

Description

Underground wall building robot for coal mine and wall building method

Technical Field

The invention relates to the technical field of coal mining, in particular to a wall building robot and a wall building method for underground coal mines.

Background

In the underground engineering construction process of the coal mine, along with the continuous tunneling and coal mining of the underground coal mine, the underground abandoned coal mine of the goaf is necessarily sealed in time. At present, the closed wall is still built on the basis of cement and bricks, and is completed by workers in a manual masonry mode. Because the underground coal mine has the problems of poor light, environmental cramping, inconvenient transportation, insufficient ventilation of the underground abandoned coal mine and the like, the whole operation process is complicated and low-efficiency, the final construction quality and the construction period are difficult to ensure, and the personal safety of workers also has hidden trouble, the development of a wall building robot for the underground coal mine is needed to replace manual operation.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent.

Therefore, the invention provides the underground wall-building robot for the coal mine, which replaces manual operation by using the underground wall-building robot for the coal mine and improves the safety of underground operation of the coal mine.

The underground wall-building robot for the coal mine comprises a frame, a travelling mechanism, a plurality of manipulators, an automatic plastering device and a control module, wherein the frame is provided with a bearing table for bearing bricks; the travelling mechanism is arranged at the lower part of the frame and is used for driving the frame to travel; the manipulator comprises a mechanical arm and a brick clamping device, wherein two ends of the mechanical arm are respectively connected with the frame and the brick clamping device, and the brick clamping device is used for clamping the brick; the automatic plastering device is arranged on the frame and is used for automatically plastering the brick blocks; the control module is arranged on the frame, and the travelling mechanism, the manipulator and the automatic plastering device are connected with the control module through signals.

Optionally, the underground coal mine wall-building robot further comprises a plurality of supports, the supports are arranged at intervals, each support comprises a supporting leg extending along the up-down direction, each supporting leg is telescopic along the up-down direction, each supporting leg can be switched between a retracted state higher than the traveling mechanism and a supporting state lower than the traveling mechanism, and the supports are in signal connection with the control module.

Optionally, the support further includes a connecting arm extending along a horizontal direction, the connecting arm is retractable along the horizontal direction, and two ends of the connecting arm are respectively connected with the frame and the supporting leg.

Optionally, the underground coal mine wall building robot further comprises a stirrer for stirring cement, the stirrer is arranged on the frame, the automatic plastering machine is connected with the stirrer, and the stirrer is used for conveying cement to the automatic plastering machine.

Optionally, the frame includes the box, the box sets up the front side of plummer, the mixer sets up in the box, automatic claying ware sets up the front side of box.

Optionally, the manipulator is arranged at the left side and the right side of the box body, and the control module is arranged at the upper side of the box body; and/or, the upper part of the box body is higher than the bearing table, a baffle is arranged at the rear side of the bearing table, and a containing groove for containing the bricks is formed by surrounding the bearing table, the box body and the baffle.

Optionally, the underground coal mine wall building robot further comprises an infrared camera and/or a laser radar, wherein the infrared camera is arranged on the frame and is in signal connection with the control module, and the infrared camera is used for acquiring image information in a roadway; the laser radar is arranged on the rack, and the laser radar is in signal connection with the control module.

Optionally, the underground coal mine wall building robot further comprises an automatic total station and/or an inertial navigation module, wherein the automatic total station is arranged on the frame and is in signal connection with the control module, and the automatic total station is used for acquiring absolute position coordinates of the underground coal mine wall building robot; the inertial navigation module is arranged on the frame, the inertial navigation module is in signal connection with the control module, and the inertial navigation module is used for acquiring the posture of the underground wall-building robot for the coal mine.

Optionally, the travelling mechanism is a crawler travelling mechanism.

The method for building the wall is implemented by the underground coal mine wall building robot according to any one of the above steps, and comprises the following steps:

controlling the travelling mechanism to drive the underground coal mine wall building robot to travel to a preset wall building position of a roadway;

controlling the manipulator to perform wall building operation;

when the width of the operation space in the roadway is larger than or equal to the preset width, wall building operation is performed by using all the manipulators; when the width of the operation space in the roadway is smaller than the preset width, a part of manipulator is utilized to carry out wall building operation.

The underground wall-building robot for the coal mine can perform wall-building operation in a roadway. Specifically, bricks used in wall building are placed on a bearing table of a rack; the method comprises the steps that a travelling mechanism is used for driving a wall building robot for underground coal mines to travel to a designated position, wherein the designated position is a position in a roadway where wall building operation is required; the manipulator moves and utilizes the brick clamp of manipulator to press from both sides from the plummer and get the fragment of brick, and the manipulator removes and makes fragment of brick reach automatic plastering machine department and automatic plastering to the fragment of brick, and the manipulator piles up the fragment of brick and carries out the wall construction operation. The operation can be automatically controlled through the control module, so that the underground wall-building robot for the coal mine is utilized to replace manual operation, and the safety of underground operation of the coal mine is improved. In addition, by arranging a plurality of manipulators, when the width of the operation space in the roadway is large, the manipulators can be used for simultaneously carrying out wall building operation, so that the wall building operation efficiency is improved; and when the width of the operation space in the roadway is smaller, a single manipulator is selected for wall building operation, so that the universality of the underground wall building robot for the coal mine is improved.

Drawings

FIG. 1 is a perspective view of a wall laying robot for use in a coal mine downhole according to one embodiment of the present invention.

FIG. 2 is a side view of a wall laying robot for use downhole in a coal mine in accordance with one embodiment of the present invention.

Reference numerals:

100. a wall building robot is used in a coal mine well;

1. a frame; 11. a carrying platform; 12. a case; 13. baffle plate

2. A walking mechanism;

3. a manipulator; 31. a brick clamping device; 32. a mechanical arm; 321. a first telescopic arm; 322. a second telescopic arm; 323. a third telescoping arm; 324. a fourth telescopic arm; 33. a turntable;

4. an automatic plastering device;

5. a control module;

6. a laser radar;

7. an infrared camera;

8. an automatic total station;

9. an inertial navigation module;

10. a bracket; 101. a support leg; 102. a connecting arm; 103. a support leg;

11. automatically leveling the base;

20. brick blocks.

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 by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

As shown in fig. 1 and 2, the underground wall-laying robot 100 for coal mine according to the embodiment of the present invention includes a frame 1, a traveling mechanism 2, a plurality of manipulators 3, an automatic plastering device 4 and a control module 5. The frame 1 has a carrying table 11 for carrying bricks 20. The travelling mechanism 2 is arranged at the lower part of the frame 1, and the travelling mechanism 2 is used for driving the frame 1 to travel. The manipulator 3 includes a mechanical arm 32 and a brick clamp 31, wherein two ends of the mechanical arm 32 are respectively connected with the frame 1 and the brick clamp 31, and the brick clamp 31 is used for clamping the brick 20. The automatic plastering device 4 is arranged on the frame 1, and the automatic plastering device 4 is used for automatically plastering bricks 20. The control module 5 is arranged on the frame 1, and the travelling mechanism 2, the manipulator 3 and the automatic plastering device 4 are all in signal connection with the control module 5.

The underground coal mine wall-building robot 100 of the embodiment of the invention can perform wall-building operation in a roadway. Specifically, the brick 20 used in the wall building is placed on the carrying platform 11 of the frame 1; the traveling mechanism 2 is utilized to drive the underground coal mine wall-building robot 100 to travel to a designated position, wherein the designated position is a position in a roadway where wall building operation is required; the manipulator 3 moves and clamps the brick 20 from the bearing table 11 by using the brick clamp 31 of the manipulator 3, the manipulator 3 moves to enable the brick 20 to reach the automatic plastering machine 4 and automatically plaster the brick 20, and the manipulator 3 piles the brick 20 for wall building. The operation can be automatically controlled by the control module 5, so that the underground wall-building robot 100 for the coal mine is utilized to replace manual operation, and the safety of underground operation of the coal mine is improved. In addition, by arranging the plurality of manipulators 3, when the width of the operation space in the roadway is large, the plurality of manipulators 3 can be selected to be used for simultaneously carrying out wall building operation, so that the wall building operation efficiency is improved; the single manipulator 3 can be selected to perform wall building operation when the width of the operation space in the roadway is smaller, so that the universality of the underground wall building robot 100 for the coal mine is improved.

In some embodiments, as shown in fig. 2, the mechanical arm 32 includes a first telescopic arm 321, a second telescopic arm 322, a third telescopic arm 323, and a fourth telescopic arm 324 that are sequentially connected, where an end of the first telescopic arm 321, which is far away from the second telescopic arm 322, is connected to the frame 1, and an end of the fourth telescopic arm 324, which is far away from the third telescopic arm 323, is connected to the brick clamp 31.

When the manipulator 3 moves, the first telescopic arm 321 is utilized to drive the second telescopic arm 322 to move, the second telescopic arm 322 is utilized to drive the third telescopic arm 323 to move, the third telescopic arm 323 is utilized to drive the fourth telescopic arm 324 to move, and the fourth telescopic arm 324 is utilized to drive the brick clamping device 31 to move, so that the bricks 20 are clamped.

Through setting the arm 32 to including the first flexible arm 321, the flexible arm 322 of second, the flexible arm 323 of third and the flexible arm 324 of fourth that connect gradually for the clamp 31 has more degrees of freedom, more does benefit to the arm 3 and carries out nimble clamp brick operation in the environment in the tunnel of forcing the zebra.

Optionally, at least one of first telescoping arm 321, second telescoping arm 322, third telescoping arm 323, and fourth telescoping arm 324 is a rotating telescoping arm. In other words, at least one of the first telescopic arm 321, the second telescopic arm 322, the third telescopic arm 323, and the fourth telescopic arm 324 is a rotating telescopic arm, and all of them are rotating telescopic arms; alternatively, part of the first telescopic arm 321, the second telescopic arm 322, the third telescopic arm 323, and the fourth telescopic arm 324 is a rotating telescopic arm, and the other part of the first telescopic arm 321, the second telescopic arm 322, the third telescopic arm 323, and the fourth telescopic arm 324 is a telescopic arm having only a telescopic function.

Wherein, the rotating telescopic arm can be understood as: the telescopic arm has a rotation function in addition to a telescopic function, for example, the rotary telescopic arm includes a first portion and a second portion, and the first portion is movable relative to the second portion to realize telescopic movement of the rotary telescopic arm; the first portion is rotatable relative to the second portion to effect rotation of the rotating telescopic arm.

At least one of the first telescopic arm 321, the second telescopic arm 322, the third telescopic arm 323 and the fourth telescopic arm 324 is a rotary telescopic arm, so that the brick clamping device 31 has more degrees of freedom, and the flexible brick clamping operation of the manipulator 3 in a narrow roadway is facilitated.

The first telescopic arm 321, the second telescopic arm 322, the third telescopic arm 323 and the fourth telescopic arm 324 are respectively provided with an explosion-proof electric cylinder, an explosion-proof motor and an encoder, and are used for realizing the telescopic and steering control of the telescopic arms.

Optionally, as shown in fig. 2, the manipulator 3 further includes a turntable 33, and opposite sides of the turntable 33 are respectively connected to the manipulator arm 32 and the brick clamp 31.

For example, the turntable 33 includes a fixed table and a rotating table, the rotating table is rotatably connected to the fixed table, the fixed table is fixedly connected to the fourth telescopic arm 324, and the rotating table is fixedly connected to the brick clamp 31. When the manipulator 3 performs brick clamping operation, the rotating table can rotate relative to the fixed table, so that the brick clamp 31 rotates relative to the manipulator 32. The rotating table and the fixed table can be connected through a bearing.

The turntable 33 is arranged, so that the brick clamping device 31 has more degrees of freedom, and is more beneficial to flexible brick clamping operation of the manipulator 3 in a tunnel with a cramped environment.

Alternatively, as shown in fig. 1 and 2, the running gear 2 is a crawler running gear 2.

The crawler-type travelling mechanism 2 comprises a crawler, a driving wheel, a loading wheel, a riding wheel and the like, and the crawler is wound on the driving wheel, the loading wheel and the riding wheel.

Through setting running gear 2 to crawler-type running gear 2 for running gear 2 is more flexible, thereby can be better be applicable to the environment and force the tunnel of narrow and tight, be favorable to improving colliery underground with the commonality of robot 100 of building a wall.

Of course, in other embodiments, the running gear 2 may also be configured as a wheel running gear.

In some embodiments, as shown in fig. 1 and 2, the downhole wall-laying robot 100 for coal mine further includes a plurality of brackets 10, the plurality of brackets 10 being spaced apart, the brackets 10 being in signal connection with the control module 5. The stand 10 includes legs 101 extending in the up-down direction, the legs 101 being retractable in the up-down direction. The leg 101 is switchable between a retracted state above the running gear 2 and a supporting state below the running gear 2.

For example, the number of the brackets 10 is four, and four brackets 10 are provided at four corners of the chassis 1, respectively. The leg 101 may be a hydraulic push rod or an electric push rod.

When the underground coal mine walling robot 100 needs to move, the supporting legs 101 are shortened to be higher than the retraction state of the travelling mechanism 2, and at the moment, the supporting legs 101 are higher than the travelling mechanism 2, so that the supporting legs 101 cannot interfere with the ground of a roadway when the travelling mechanism 2 travels. When the underground coal mine wall building robot 100 needs to perform wall building operation, the supporting legs 101 stretch to a supporting state lower than the travelling mechanism 2, at this time, the supporting legs 101 are lower than the travelling mechanism 2, so that the travelling mechanism 2 is separated from the ground of a roadway, the underground coal mine wall building robot 100 is stably supported on the ground of the roadway by the supporting legs 101, and the stability of the underground coal mine wall building robot 100 in the wall building process is improved, so that the wall building quality is improved.

Optionally, the lower end of the leg 101 is provided with a foot 103.

The arrangement of the support legs 103 is beneficial to increasing the contact area between the support 10 and the ground of a roadway, so that the support stability of the support 10 is increased, and the stability of the underground coal mine wall building robot 100 in the wall building process is further improved.

Optionally, the bracket 10 further includes a connecting arm 102 extending in a horizontal direction, the connecting arm 102 being retractable in the horizontal direction, and both ends of the connecting arm 102 being connected to the frame 1 and the leg 101, respectively.

For example, one end of the connection arm 102 is connected to the side surface of the frame 1, and the other end of the connection arm 102 is connected to the leg 101. When the connecting arm 102 is extended, the distance between the leg 101 and the frame 1 is long, and when the connecting arm 102 is shortened, the distance between the leg 101 and the frame 1 is short. The connection arm 102 may be a hydraulic push rod or an electric push rod.

When the underground coal mine wall-building robot 100 needs to move, the connecting arm 102 is shortened, so that the whole occupied area of the underground coal mine wall-building robot 100 is small, and the underground coal mine wall-building robot 100 is prevented from colliding with other objects when moving in a roadway. When the underground coal mine wall building robot 100 needs to perform wall building operation, the connecting arms 102 stretch, so that the supporting surface between the supporting legs 101 and the floor of the roadway is larger, the supporting stability of the support 10 is further improved, and the stability of the underground coal mine wall building robot 100 in the wall building process is further improved.

The supporting surface is a plane formed by supporting points and is a plane formed by connecting lines of the outermost supporting points. For example, the number of the supporting legs 101 is four, one supporting point is formed between each supporting leg 101 and the ground of the roadway, four supporting points are formed between the four supporting legs 101 and the ground of the roadway, and a plane surrounded by connecting lines of the four supporting points is a supporting surface.

Optionally, as shown in fig. 1 and 2, the underground coal mine walling robot 100 further comprises an infrared camera 7, and the infrared camera 7 is arranged on the frame 1. The infrared camera 7 is connected with the control module 5 in a signal way, and the infrared camera 7 is used for acquiring image information in a roadway. The infrared camera 7 may be an explosion-proof infrared camera.

For example, the infrared camera 7 acquires image information in a roadway, the brickwork state is monitored in real time through an image recognition algorithm, the brickwork position is corrected in real time, and the accuracy of the final brickwork position and the brickwork stability are improved. In addition, the infrared camera 7 can also monitor the relative positions of a plurality of manipulators 3 in real time and the relative positions between the manipulators 3 and the top plate and the side plate of the roadway, and the control module 5 is used for controlling the moving positions of the manipulators 3 so as to avoid interference between any two manipulators 3 and avoid interference between the manipulators 3 and the top plate and the side plate of the roadway, so that the manipulators 3 are damaged.

Thereby, the infrared camera 7 is arranged to be beneficial to the accurate positioning and stability of the high-rise wall and the safety of the manipulator 3.

Optionally, as shown in fig. 1 and 2, the underground coal mine walling robot 100 further comprises a laser radar 6, wherein the laser radar 6 is arranged on the frame 1, and the laser radar 6 is in signal connection with the control module 5.

The laser radar 6 obtains three-dimensional point cloud data of the roadway by emitting and receiving laser beams to the surface of the roadway, and transmits the point cloud data to the control module 5, and the control module 5 calculates and measures the relative position of the underground coal mine wall-building robot 100 in the roadway according to the point cloud data, and plans the walking path and the wall-building sequence of the underground coal mine wall-building robot 100.

Optionally, as shown in fig. 1 and 2, the underground wall-building robot 100 for coal mine further includes an automatic total station 8, the automatic total station 8 is disposed on the frame 1, the automatic total station 8 is in signal connection with the control module 5, and the automatic total station 8 is used for obtaining absolute position coordinates of the underground wall-building robot 100 for coal mine.

The automatic total station 8 can acquire the absolute position coordinates of the underground coal mine wall-building robot 100 according to targets of any two known positions in the roadway through a rear intersection method, and the control module 5 can control the underground coal mine wall-building robot 100 to move to a preset wall-building position more accurately based on the acquired absolute position coordinates, so that the accuracy of the underground coal mine wall-building position of the underground coal mine wall-building robot 100 is improved.

Optionally, as shown in fig. 1 and 2, the underground wall-laying robot 100 for coal mine further includes an automatic leveling base 11, the automatic leveling base 11 is disposed on the frame 1, and the automatic total station 8 is disposed on an upper side of the automatic leveling base 11. The self-leveling base 11 also becomes a self-leveling instrument.

Wherein the automatic total station 8 is mounted on the upper side of the automatic leveling base 11 by means of a connection, which may be a bolt, a screw, a rivet, etc.

When the underground coal mine wall-building robot 100 is used, the automatic leveling base 11 automatically levels firstly, so that the automatic total station 8 automatically levels, and the absolute position coordinates of the underground coal mine wall-building robot 100 acquired by the automatic total station 8 are more accurate. Thereby, the accuracy of the wall building position of the underground coal mine wall building robot 100 is further improved.

Optionally, as shown in fig. 1 and fig. 2, the underground coal mine wall-building robot 100 further includes an inertial navigation module 9, the inertial navigation module 9 is disposed on the frame 1, the inertial navigation module 9 is in signal connection with the control module 5, and the inertial navigation module 9 is used for acquiring the posture of the underground coal mine wall-building robot 100.

For example, the inertial navigation module 9 is used to obtain the direction angle, pitch angle and roll angle of the underground coal mine walling robot 100.

The attitude of the wall-building robot 100 for the underground coal mine is acquired through the inertial navigation module 9, so that the attitude of the wall-building robot 100 for the underground coal mine can be conveniently adjusted in real time according to the wall-building requirement, and the wall-building efficiency and quality can be improved.

The data of the automatic total station 8 and the inertial navigation module 9 are transmitted to the control module 5, and after being processed by a data fusion algorithm in the control module 5, the running track and the gesture of the underground coal mine wall-building robot 100 can be drawn in real time, so that the underground coal mine wall-building robot 100 can automatically walk according to a planned path.

In addition, before the underground coal mine wall-building robot 100 reaches a specified position for wall building operation, the inertial navigation module 9 can be used for measuring the roll angle, the pitch angle and the direction angle of the frame 1, the underground coal mine wall-building robot 100 is kept horizontal by adjusting the bracket 10, the phenomenon that the underground coal mine wall-building robot 100 is offset due to the action of the manipulator 3 or the change of the mass center in the wall building process is avoided, and the position of the underground coal mine wall-building robot 100 is not changed in one brick building cycle is ensured. Wherein a brickwork cycle can be understood as: the underground coal mine wall construction robot 100 reaches a designated position and starts wall construction, and the whole process of the underground coal mine wall construction robot 100 at the designated position and moving to the next designated position is completed.

The control module 5 comprises a power supply, an industrial personal computer, a data acquisition module, a data storage module, a wireless transmission module and the like, and integrally controls the underground coal mine wall building robot 100.

In some embodiments, the downhole wall laying robot 100 for coal mine further includes a mixer for mixing cement, and the mixer is provided on the frame 1. The automatic plastering machine 4 is connected with a stirrer, and the stirrer is used for conveying cement to the automatic plastering machine 4.

Utilize the mixer to stir cement, can effectively avoid cement to take place to solidify, guarantee can be to automatic plastering machine 4 continuous conveyance cement, be favorable to improving the wall efficiency of building the wall robot 100 for the colliery in pit.

Alternatively, as shown in fig. 2, the frame 1 includes a case 12, the case 12 is provided at the front side of the loading table 11, the mixer is provided in the case 12, and the automatic plastering machine 4 is provided at the front side of the case 12.

By arranging the mixer in the box 12, the condition that the mixer is exposed outside and other objects in the roadway enter the mixer to damage the mixer and pollute cement can be avoided, and the safety of the underground wall building robot 100 for the coal mine can be improved. The bearing table 11 and the automatic plastering device 4 are arranged on different sides of the box 12, so that the brick 20 can be effectively prevented from shielding the automatic plastering device 4.

Alternatively, as shown in fig. 2, the upper part of the box 12 is higher than the carrying platform 11, the rear side of the carrying platform 11 is provided with a baffle 13, and a containing groove for containing the bricks 20 is defined between the carrying platform 11, the box 12 and the baffle 13.

Therefore, the brick 20 can be effectively limited by the box body 12 and the baffle 13, the brick 20 is prevented from falling from the frame 1, and the reliability of the underground wall-building robot 100 for the coal mine is improved.

Alternatively, the robot 3 is disposed at both left and right sides of the case 12, and the control module 5 is disposed at an upper side of the case 12.

For example, as shown in fig. 1, one robot 3 is provided on each of the left and right sides of the case 12.

The manipulators 3 are arranged on the left side and the right side of the box body 12, so that interference of the manipulators 3 on the two sides during wall building operation can be effectively avoided, and the reliability of the underground wall building robot 100 for the coal mine can be further improved. The control module 5 is arranged on the upper side of the box body 12, so that on one hand, the box body 12 is used as an installation platform of the control module 5, and the whole structure of the underground wall-building robot 100 for the coal mine is facilitated to be simplified; on the other hand, the control module 5 can be effectively prevented from colliding with other objects in the roadway, and the safety of the control module 5 is improved.

Alternatively, as shown in fig. 1 and 2, the laser radar 6, the infrared camera 7, the automatic total station 8, and the inertial navigation module 9 are all disposed on the upper side of the case 12.

The control module 5, the laser radar 6, the infrared camera 7, the automatic total station 8 and the inertial navigation module 9 are all arranged on the upper side of the box 12, so that the distances among the laser radar 6, the infrared camera 7, the automatic total station 8 and the inertial navigation module 9 and the control module 5 are relatively short, the reliability of signal connection among the laser radar 6, the infrared camera 7, the automatic total station 8 and the inertial navigation module 9 and the control module 5 is improved, and the reliability of the underground wall-building robot 100 for a coal mine is further improved.

The wall construction method according to the embodiment of the present invention is implemented by using the wall construction robot 100 for underground coal mine according to any of the above embodiments. The wall building method comprises the following steps:

the traveling mechanism 2 is controlled to drive the underground coal mine wall-building robot 100 to travel to a preset wall-building position of a roadway;

controlling the manipulator 3 to perform wall building operation;

when the width of the operation space in the roadway is larger than or equal to the preset width, the wall building operation is performed by using all the manipulators 3; when the width of the operation space in the roadway is smaller than the preset width, a part of the manipulator 3 is utilized for wall building operation.

The operation of the manipulator 3 for building a wall includes: the manipulator 3 moves and clamps the brick 20 from the bearing table 11 by using the brick clamp 31 of the manipulator 3, the manipulator 3 moves to enable the brick 20 to reach the automatic plastering machine 4 and automatically plaster the brick 20, and the manipulator 3 piles the brick 20 for wall building.

By arranging the plurality of manipulators 3, when the width of the operation space in the roadway is large, the plurality of manipulators 3 can be used for simultaneously carrying out wall building operation, so that the wall building operation efficiency is improved; and when the width of the operation space in the roadway is smaller, a single manipulator 3 is selected to perform wall building operation, so that the manipulator 3 is prevented from interfering with a top plate or a side plate of the roadway. Therefore, the universality of the underground coal mine wall-building robot 100 can be improved while the high wall-building efficiency of the underground coal mine wall-building robot 100 is ensured.

The following describes a specific workflow of a downhole wall laying robot 100 for coal mines according to an embodiment of the present invention with reference to fig. 1 to 2:

and (3) an automatic walking flow:

after the whole machine is electrified, the automatic leveling base 11 starts to work, so that the automatic total station 8 arranged above the automatic leveling base 11 realizes automatic leveling; the automatic total station 8 automatically searches for targets or prisms with any two preset known absolute positions in a roadway, automatically calculates to obtain own absolute position coordinates by a rear intersection method, and converts to obtain the absolute position coordinates of the underground wall-building robot 100; the inertial navigation module 9 measures the direction angle, the pitch angle and the roll angle of the underground wall-building robot 100 in real time after self-alignment; the data of the inertial navigation module 9 and the automatic total station 8 are transmitted to the control module 5, and after being processed by a data fusion algorithm in the control module 5, the running track and the gesture of the underground wall-building robot 100 for the coal mine can be drawn in real time, and the automatic walking is realized according to a planned path.

An automatic brick laying process;

after the underground coal mine wall-building robot 100 automatically walks to a preset wall-building position according to a planned path, the bracket 10 starts to act; the connecting arms extend outwards from the joints of the frame 1, the supporting legs extend towards the ground until the travelling mechanism 2 leaves the ground, the whole underground coal mine wall-building robot 100 is kept horizontal by means of the inertial navigation module 9, and the plurality of supports 10 jointly ensure that the position of the underground coal mine wall-building robot 100 is not changed in one brick building cycle; after the position is fixed, the laser radar 6 draws and updates the tunnel section parameters in real time by combining the image information of the infrared camera 7, and determines the brickwork track; after the brickwork circulation begins, the manipulator 3 is controlled to clamp the bricks 20 by means of a manipulator control algorithm built in the control module 5.

After the clamping action of the brick 20 is finished, the mechanical arm 3 automatically moves to the position of the automatic plastering device 4, and the automatic plastering device 4 automatically releases the equivalent amount of cement to be plastered on one side of the brick 20 after receiving the signal of the control module 5; after the plastering operation is finished, the manipulator 3 starts to build the wall layer by layer according to the brickwork track.

The underground wall-building robot 100 for the coal mine has the following advantages:

(1) Under a wide operation space, the plurality of manipulators 3 act simultaneously, so that the wall building efficiency can be greatly improved; under a narrow operation space, a single manipulator 3 acts to improve the applicability of the underground wall-building robot 100 for the coal mine;

(2) The inertial navigation module 9 is combined with the automatic total station 8 to construct a multi-data fusion navigation attitude determination positioning algorithm, so that absolute position coordinates of the underground coal mine wall building robot 100 are obtained, and the accuracy of the wall building position is ensured;

(3) The laser radar 6 is combined with the infrared camera 7 to draw a lane section brickwork track, the laser radar 6 updates section parameter information in real time, the infrared camera 7 monitors the brickwork state in real time through an image recognition algorithm, and the brickwork position accuracy is ensured;

(4) The support 10 depends on the inertial navigation module 9 to ensure the stability of the underground wall-building robot 100 for the coal mine in the bricking process, and avoid the deviation of the underground wall-building robot 100 for the coal mine due to the action of the manipulator 3 or the change of the mass center and other reasons in the bricking process.

While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those skilled in the art without departing from the scope of the invention.

Claims (10)

1. A wall building robot for use in a coal mine, comprising:

a frame having a carrying table for carrying bricks;

the travelling mechanism is arranged at the lower part of the frame and is used for driving the frame to travel;

the brick clamping device comprises a rack, a plurality of mechanical arms and brick clamping devices, wherein the two ends of each mechanical arm are respectively connected with the rack and the brick clamping devices;

the automatic plastering device is arranged on the rack and is used for automatically plastering the bricks;

the control module is arranged on the frame, and the travelling mechanism, the manipulator and the automatic plastering device are connected with the control module through signals.

2. The underground coal mine walling robot according to claim 1, further comprising a plurality of brackets, wherein a plurality of the brackets are arranged at intervals, the brackets comprise supporting legs extending in the up-down direction, the supporting legs are telescopic in the up-down direction, the supporting legs can be switched between a retracted state higher than the travelling mechanism and a supporting state lower than the travelling mechanism, and the brackets are in signal connection with the control module.

3. The underground coal mine walling robot according to claim 2, wherein the bracket further comprises a connecting arm extending in a horizontal direction, the connecting arm is retractable in the horizontal direction, and two ends of the connecting arm are respectively connected with the frame and the supporting legs.

4. The underground coal mine walling robot according to claim 1, further comprising a mixer for mixing cement, the mixer being provided on the frame, the automatic plastering machine being connected with the mixer, the mixer being for conveying cement to the automatic plastering machine.

5. The underground coal mine walling robot of claim 4, wherein the frame comprises a box body, the box body is arranged on the front side of the bearing table, the stirrer is arranged in the box body, and the automatic plastering device is arranged on the front side of the box body.

6. The underground coal mine walling robot according to claim 5, wherein the manipulators are arranged on the left and right sides of the box body, and the control module is arranged on the upper side of the box body; and/or

The upper portion of box is higher than the plummer sets up, the rear side of plummer is equipped with the baffle, the plummer the box with enclose between the baffle and be used for holding the holding tank of fragment of brick.

7. The underground coal mine walling robot of claim 1, further comprising:

the infrared camera is arranged on the frame and is in signal connection with the control module, and the infrared camera is used for acquiring image information in a roadway; and/or

The laser radar is arranged on the rack and is in signal connection with the control module.

8. The underground coal mine walling robot of claim 1, further comprising:

the automatic total station is arranged on the frame and is in signal connection with the control module, and the automatic total station is used for acquiring absolute position coordinates of the underground wall building robot for the coal mine; and/or

The inertial navigation module is arranged on the frame, is in signal connection with the control module and is used for acquiring the posture of the underground wall building robot of the coal mine.

9. A downhole wall laying robot for coal mines according to any of claims 1-8, wherein said travelling mechanism is a crawler-type travelling mechanism.

10. A method of walling, wherein the method is carried out by a robot for walling in a coal mine as claimed in any one of claims 1 to 9, comprising the steps of:

controlling the travelling mechanism to drive the underground coal mine wall building robot to travel to a preset wall building position of a roadway;

controlling the manipulator to perform wall building operation;

when the width of the operation space in the roadway is larger than or equal to the preset width, wall building operation is performed by using all the manipulators; when the width of the operation space in the roadway is smaller than the preset width, a part of manipulator is utilized to carry out wall building operation.