CN210660122U - Automatic spraying wall-climbing robot for concrete wet spraying machine - Google Patents
Automatic spraying wall-climbing robot for concrete wet spraying machine Download PDFInfo
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- CN210660122U CN210660122U CN201920959321.2U CN201920959321U CN210660122U CN 210660122 U CN210660122 U CN 210660122U CN 201920959321 U CN201920959321 U CN 201920959321U CN 210660122 U CN210660122 U CN 210660122U
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- 239000004567 concrete Substances 0.000 title claims abstract description 23
- 238000005507 spraying Methods 0.000 title claims abstract description 22
- 238000001179 sorption measurement Methods 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 239000007921 spray Substances 0.000 claims abstract description 17
- 230000009194 climbing Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 15
- 238000005422 blasting Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 abstract description 6
- 239000010959 steel Substances 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000011378 shotcrete Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses an automatic spraying wall-climbing robot for a concrete wet spraying machine, which comprises a frame, wherein the upper part of the frame is provided with a stand column, and the top of the stand column is connected with a spray head through a horizontal rotating mechanism and a pitching angle adjusting mechanism; the electromagnetic adsorption system is arranged on the lower portion of a chassis of the wall-climbing robot and used for providing adsorption force when the wall-climbing robot works, and the walking mechanism is arranged on the bottom of the frame and used for driving the frame and the equipment on the upper portion of the frame to move integrally. The robot can be adsorbed on a mine supporting steel wire net, the adsorption force is automatically adjusted, the walking resistance of the wall climbing robot is reduced, and the running safety of the wall climbing robot is ensured.
Description
Technical Field
The utility model relates to a concrete wet blasting machine is with automatic injection wall climbing robot belongs to mining device field.
Background
The sprayed concrete in the mine can prevent the main laneway, the curved road, the crossing, the shaft bottom yard, the machine maintenance station and the water pump room from rock peeling and weathering, and the thickness of the sprayed concrete can be changed between 5 mm and 30mm according to different rock stratum conditions, thereby having important effect on the safety of well construction and subsequent construction operation.
At present, before concrete guniting operation is carried out by utilizing a guniting machine in a coal mine, the guniting machine is placed according to site requirements and possibilities of construction workers, materials required by a wet spraying machine are conveyed to the concrete wet spraying machine by a mine car, workers need to hold a sprayer connected with the concrete wet spraying machine in a hand to spray concrete to a required area, and the labor intensity of the manual handheld sprayer is high due to the fact that the working environment in a roadway is poor. Taking the existing metal wall climbing robot as an example, the adsorption mode mainly combines three modes of permanent magnetic adsorption, electromagnetic adsorption and electromagnetic adsorption, wherein the permanent magnetic adsorption has wide application with large adsorption force and simple and reliable structure, but the adsorption force of the permanent magnetic adsorption can not be adjusted, so that the wall climbing robot bears large load on a complex wall surface, and the walking resistance is large. There is a need to provide an automatic spray wall-climbing robot for a concrete wet-spraying machine that can accurately control the adsorption force.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a concrete wet blasting machine automatic injection wall climbing robot of simple structure, operation safety convenience, wall climbing robot can improve workman operational environment at mine support steel wire online work for concrete wet blasting machine sprays working process easy and simple to handle, safety, increase substantially work efficiency.
The utility model discloses a solve the technical scheme that above-mentioned problem provided and be:
an automatic spraying wall-climbing robot for a concrete wet-spraying machine, comprising:
the top of the upright post is connected with the spray head through a horizontal rotating mechanism and a pitching angle adjusting mechanism;
the electromagnetic adsorption system is arranged at the lower part of a chassis of the wall-climbing robot, is used for providing adsorption force when the wall-climbing robot works, and comprises an electromagnetic chuck, an adsorption force detection sensor, a three-dimensional attitude sensor and a magnetic control unit, wherein the adsorption force detection sensor is fixed between the chassis of the robot and a frame and is used for detecting the adsorption force of the electromagnetic chuck;
the three-dimensional attitude sensor is fixed on the upper surface of the frame and used for acquiring different body attitudes of the wall-climbing robot;
the signal receiving end of the magnetic control unit is connected with the adsorption force detection sensor and the three-dimensional attitude sensor, and the signal output end of the magnetic control unit is connected with the electromagnetic chuck;
and the travelling mechanism is arranged at the bottom of the frame and used for driving the frame and the equipment on the upper part of the frame to integrally move.
The horizontal rotation mechanism includes: horizontal rotation driving motor, first gear drive group and horizontal rotation platform, wherein, fix on the stand horizontal rotation driving motor, horizontal rotation driving motor's drive shaft is connected with the horizontal rotation platform drive through first gear drive group, sets up on the horizontal rotation platform every single move angle guiding mechanism, every single move angle guiding mechanism includes: every single move driving motor, second gear drive group and shower nozzle anchor clamps, wherein, fixed connection on the horizontal rotating platform every single move driving motor, every single move driving motor's drive shaft passes through second gear drive group with the shower nozzle anchor clamps are connected, press from both sides on the shower nozzle anchor clamps and establish the shower nozzle.
Electromagnetic chuck include a plurality of, a plurality of electromagnetic chuck equipartition in frame bottom, every electromagnetic chuck's upper portion all is provided with electromagnetic chuck height adjustment mechanism, electromagnetic chuck height adjustment mechanism includes sucking disc mount, electromagnetic chuck adjusting bolt and electromagnetic chuck adjusting nut, wherein the cartridge mount is fixed in the frame bottom, is equipped with the confession on the sucking disc mount electromagnetic chuck adjusting bolt threaded connection's screw hole, electromagnetic chuck adjusting bolt's upper end pass behind the screw hole on the sucking disc mount with electromagnetic chuck adjusting nut connects, electromagnetic chuck adjusting bolt's lower extreme with electromagnetic chuck fixed connection.
Running gear includes two at least drive unit, and every drive unit all includes walking driving motor, action wheel, follows driving wheel, track and sub vehicle frame, and wherein, frame bottom one side is fixed sub vehicle frame is fixed on the sub vehicle frame walking driving motor, walking driving motor's drive shaft and action wheel drive are connected, the action wheel with follow between the driving wheel through the track connection.
The utility model has the advantages that:
first, the wall climbing robot of this application can be in mine support steel wire net work, improves workman operational environment for concrete wet blasting machine sprays working process easy and simple to handle, safety, increase substantially work efficiency.
Second, the wall climbing robot of this application sets up electromagnet adjusting bolt, electromagnet adjusting nut, can adjust the electromagnet height in order to adapt to the mine of different models and strut the wire net.
Third, the wall climbing robot of this application sets up adsorption affinity detection sensor and three-dimensional attitude sensor, can the required adsorption affinity of the current operating condition of accurate calculation and control wall climbing robot, solves and leads to the problem that wall climbing robot removed the difficulty and the adsorption affinity undersize leads to wall climbing robot to drop because of the adsorption affinity is too big.
Fourth, the wall climbing robot of this application sets up horizontal rotation driving motor and every single move driving motor, can freely adjust wet blasting machine shower nozzle spray angle, reduces the concrete and kick-backs.
Drawings
FIG. 1 is a schematic front view of the device of the present invention;
FIG. 2 is a schematic left side view of the device of the present invention;
fig. 3 is an isometric illustration of the apparatus of the present invention;
fig. 4 is a schematic diagram of the arrangement of the electromagnetic chucks of the device of the present invention.
In the figure: the robot comprises a base, a driving mechanism and a driving mechanism, wherein the driving mechanism comprises a driving mechanism 1-an electromagnetic chuck, a 2-crawler, a 3-electromagnetic chuck adjusting bolt, a 4-electromagnetic chuck adjusting nut, a 5-walking driving motor, a 6-horizontal rotation driving motor, a 7-first gear transmission set, a 8-horizontal rotating table, a 9-pitching driving motor, a 10-nozzle clamp, a 11-nozzle, a 12-upright post, a 13-three-dimensional attitude sensor, a 14-adsorption force detection sensor, a 15-auxiliary frame, a 16-driving wheel, a 17-driven.
Detailed Description
The invention will be further elucidated with reference to the drawings and specific embodiments, it being understood that these examples are intended to illustrate the invention only and are not intended to limit the scope of the invention, and that modifications to the various equivalent forms of the invention, which may occur to those skilled in the art after reading the present invention, fall within the scope of the invention as defined in the claims appended hereto.
As shown in fig. 1 to 4, the automatic spraying wall-climbing robot for the concrete wet spraying machine comprises a walking mechanism, an electromagnetic adsorption system and a spraying mechanism.
The walking mechanism is fixed below the adsorption force detection sensor through bolts and comprises an auxiliary frame 15, a walking driving motor 5, a driving wheel 16, a driven wheel 17 and a crawler 2;
the electromagnetic adsorption system is arranged at the lower part of a chassis of the wall-climbing robot, the mechanism comprises an electromagnetic chuck 1, an adsorption force detection sensor 14, a three-dimensional attitude sensor 13 and a magnetic control unit, the adsorption force detection sensor 14 is fixed between the chassis of the robot and a frame through bolts, and the three-dimensional attitude sensor 13 is fixed on the upper surface of a frame 19 of the robot;
the spraying mechanism is arranged above the robot frame and comprises a horizontal rotation driving motor 6, a pitching driving motor 9, a spray head clamp 10, a horizontal rotation platform 8 and an upright post 12.
As shown in fig. 1 to 4, the traveling mechanism comprises at least two driving units, each unit comprises a crawler 2, a driving wheel 16, a driven wheel 17, a traveling driving motor 5 and an auxiliary frame 15, the traveling driving motor and the auxiliary frame are connected through bolts, the driving wheel and the driven wheel are connected through keys, the crawler is arranged between the driving wheel and the driven wheel, the trafficability of the wall-climbing robot on a mine supporting steel wire mesh can be improved through the crawler, and the wall-climbing robot can steer by adjusting the difference of the rotating speeds between the two driving units.
As shown in fig. 1 to 4, in the present embodiment, the electromagnetic adsorption system includes 6 electromagnetic chucks 1, an electromagnetic chuck adjusting bolt 3, an electromagnetic chuck adjusting nut 4, an adsorption force detection sensor 14, and a three-dimensional attitude sensor 13. The electromagnetic chuck is connected with the frame 19 through an electromagnetic chuck adjusting bolt 3 and an electromagnetic chuck adjusting nut 4;
the adsorption force detection sensor 14 is arranged between the frame 19 and the auxiliary frame 15 and is used for detecting the adsorption force of the electromagnetic chuck;
the positions of the battery suckers 1 are reasonably arranged according to the types of the supporting steel wire meshes;
the three-dimensional attitude sensor 13 is arranged on the upper surface of the frame in parallel and used for acquiring different body attitudes of the wall-climbing robot, so that the microprocessor can calculate the required adsorption force of the wall-climbing robot conveniently.
As shown in fig. 1 to 4, the injection mechanism includes: the device comprises a stand column 12, a first gear transmission group 7, a horizontal rotating platform 8, a horizontal rotation driving motor 6, a pitching driving motor 9, a pitching driving gear 18, a spray head clamp 10 and a spray head 11. The upright post 12 is arranged above the frame 19, the horizontal rotation driving motor 6 is fastened on the upright post 12 through a screw, and a driving shaft of the horizontal rotation driving motor 6 is in driving connection with the horizontal rotation platform through the first gear transmission group 7.
The pitching driving motor 9 is fixed on the horizontal rotating platform 8, and a driving shaft of the pitching driving motor 9 is connected with the spray head fixture 10 through a second gear transmission set.
The utility model relates to a concrete wet blasting machine is with automatic work method who sprays wall climbing robot, including several following steps:
step 1: the three-dimensional attitude sensor detects the inclination angles of the wall-climbing robot in three directions on the mine support steel wire net and transmits the detected data to the magnetic control unit;
step 2: the magnetic control unit calculates the adsorption force required by the wall-climbing robot for the current safe work according to the inclination angle data of the wall-climbing robot, the weight of the wall-climbing robot and the flow of the spray head;
and step 3: the magnetic control unit adjusts the adsorption force of the electromagnetic chuck by adjusting the working current of the electromagnetic chuck;
and 4, step 4: the adsorption force detection sensor detects the adsorption force provided by the current electromagnetic chuck, transmits data to the magnetic control unit to be compared with the required adsorption force, and adjusts the current required by the electromagnetic chuck again until the current detected by the adsorption force detection sensor is consistent with the required current.
According to the working method of the automatic spraying wall-climbing robot for the concrete wet sprayer, the adsorption force required by the safe operation of the trolley is calculated according to the following formula:
F=5*（F 1 +F 2 +G）=5*（Sv 2ρ+ G·cosα1·cosα2+ G), wherein,
sigma is a safety coefficient; in this embodiment, the safety factor σ =5 is empirically selected
G is the gravity borne by the trolley;
α1、α2the inclination angle of the vehicle body in the direction X, Y;
s is the cross-sectional area of the spray head;
vis the concrete flow rate;
ρ concrete density.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (4)
1. The utility model provides a concrete wet blasting machine is with automatic wall climbing robot that sprays which characterized in that includes:
the top of the upright post is connected with the spray head through a horizontal rotating mechanism and a pitching angle adjusting mechanism;
the electromagnetic adsorption system is arranged at the lower part of a chassis of the wall-climbing robot, is used for providing adsorption force when the wall-climbing robot works, and comprises an electromagnetic chuck, an adsorption force detection sensor, a three-dimensional attitude sensor and a magnetic control unit, wherein the adsorption force detection sensor is fixed between the chassis of the robot and a frame and is used for detecting the adsorption force of the electromagnetic chuck;
the three-dimensional attitude sensor is fixed on the upper surface of the frame and used for acquiring different body attitudes of the wall-climbing robot;
the signal receiving end of the magnetic control unit is connected with the adsorption force detection sensor and the three-dimensional attitude sensor, and the signal output end of the magnetic control unit is connected with the electromagnetic chuck;
and the travelling mechanism is arranged at the bottom of the frame and used for driving the frame and the equipment on the upper part of the frame to integrally move.
2. The automatic spray wall-climbing robot for a concrete wet-spraying machine according to claim 1, wherein the horizontal rotation mechanism comprises: horizontal rotation driving motor, first gear drive group and horizontal rotation platform, wherein, fix on the stand horizontal rotation driving motor, horizontal rotation driving motor's drive shaft is connected with the horizontal rotation platform drive through first gear drive group, sets up on the horizontal rotation platform every single move angle guiding mechanism, every single move angle guiding mechanism includes: every single move driving motor, second gear drive group and shower nozzle anchor clamps, wherein, fixed connection on the horizontal rotating platform every single move driving motor, every single move driving motor's drive shaft passes through second gear drive group with the shower nozzle anchor clamps are connected, press from both sides on the shower nozzle anchor clamps and establish the shower nozzle.
3. The automatic spraying wall-climbing robot for the concrete wet-spraying machine according to claim 1, characterized in that: the electromagnetic chuck include a plurality of, a plurality of electromagnetic chuck equipartition in frame bottom, every electromagnetic chuck's upper portion all is provided with electromagnetic chuck height adjustment mechanism, electromagnetic chuck height adjustment mechanism includes sucking disc mount, electromagnetic chuck adjusting bolt and electromagnetic chuck adjusting nut, wherein the sucking disc mount is fixed in the frame bottom, is equipped with the confession on the sucking disc mount electromagnetic chuck adjusting bolt threaded connection's screw hole, electromagnetic chuck adjusting bolt's upper end pass behind the screw hole on the sucking disc mount with electromagnetic chuck adjusting nut connects, electromagnetic chuck adjusting bolt's lower extreme with electromagnetic chuck fixed connection.
4. The automatic spraying wall-climbing robot for the concrete wet spraying machine according to claim 1, wherein the traveling mechanism comprises at least two driving units, each driving unit comprises a traveling driving motor, a driving wheel, a driven wheel, a crawler and a subframe, the subframe is fixed on one side of the bottom of the frame, the traveling driving motor is fixed on the subframe, a driving shaft of the traveling driving motor is in driving connection with the driving wheel, and the driving wheel is connected with the driven wheel through the crawler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920959321.2U CN210660122U (en) | 2019-06-24 | 2019-06-24 | Automatic spraying wall-climbing robot for concrete wet spraying machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920959321.2U CN210660122U (en) | 2019-06-24 | 2019-06-24 | Automatic spraying wall-climbing robot for concrete wet spraying machine |
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| Publication Number | Publication Date |
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| CN210660122U true CN210660122U (en) | 2020-06-02 |
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| CN201920959321.2U Active CN210660122U (en) | 2019-06-24 | 2019-06-24 | Automatic spraying wall-climbing robot for concrete wet spraying machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110206562A (en) * | 2019-06-24 | 2019-09-06 | 徐州秩润矿山设备科技有限公司 | A kind of concrete spraying machine automatic injection climbing robot and its working method |
| CN115166448A (en) * | 2022-08-10 | 2022-10-11 | 特恩普电力科技（杭州）有限公司 | Switch cabinet partial discharge monitoring device |
| CN118322170A (en) * | 2024-04-22 | 2024-07-12 | 上海如身机器人科技有限公司 | Robot and fixing method thereof |
-
2019
- 2019-06-24 CN CN201920959321.2U patent/CN210660122U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110206562A (en) * | 2019-06-24 | 2019-09-06 | 徐州秩润矿山设备科技有限公司 | A kind of concrete spraying machine automatic injection climbing robot and its working method |
| CN110206562B (en) * | 2019-06-24 | 2023-12-12 | 徐州秩润矿山设备科技有限公司 | Automatic spraying wall climbing robot for concrete wet spraying machine and working method of automatic spraying wall climbing robot |
| CN115166448A (en) * | 2022-08-10 | 2022-10-11 | 特恩普电力科技（杭州）有限公司 | Switch cabinet partial discharge monitoring device |
| CN118322170A (en) * | 2024-04-22 | 2024-07-12 | 上海如身机器人科技有限公司 | Robot and fixing method thereof |
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