CN215633017U - Visual distance wireless remote control system for mechanical arm of mining shotcrete machine - Google Patents
Visual distance wireless remote control system for mechanical arm of mining shotcrete machine Download PDFInfo
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- CN215633017U CN215633017U CN202121973695.3U CN202121973695U CN215633017U CN 215633017 U CN215633017 U CN 215633017U CN 202121973695 U CN202121973695 U CN 202121973695U CN 215633017 U CN215633017 U CN 215633017U
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Abstract
The utility model provides a visual distance wireless remote control system for a mining shotcrete machine arm, which effectively controls a crawler-type shotcrete robot host through an electrical control system, replaces the traditional construction method of manually holding a spray gun, enables workers to be far away from the severe environment in the shotcrete operation process, improves the construction efficiency and quality of shotcrete, reduces the labor intensity of the workers, and ensures the health and construction safety of the workers.
Description
Technical Field
The utility model relates to the field of construction operation needing concrete reinforcement, such as tunnels, mine roadways, slope management, underground engineering and the like, is particularly suitable for concrete guniting support of a roadway structure after underground tunneling work of a coal mine is completed, and particularly relates to a visual distance wireless remote control system for a mechanical arm of a mining guniting machine.
Background
From the coal mine underground roadway guniting equipment and the field construction condition, the automation degree of the existing guniting mechanical equipment is relatively low, and concrete spraying operation is mainly completed by manually holding a nozzle or operating mechanical equipment. The underground guniting construction operation of the coal mine has the advantages that the environment is relatively severe, pneumoconiosis is easily caused, the labor intensity of workers is high, the guniting efficiency is low, more potential safety hazards exist, and the guniting quality and efficiency are directly determined by the experience of field workers.
SUMMERY OF THE UTILITY MODEL
The utility model provides a visual distance wireless remote control system for a mining shotcrete machine arm, which is simple in structure and convenient to operate, and controls a crawler-type shotcrete mechanical arm or a shotcrete robot to replace manpower to carry out shotcrete operation on site through a wireless remote controller, aiming at the problems that in the prior art, a shotcrete device for underground coal mine roadways relies on a manual spray head or operates mechanical equipment to complete concrete spray operation, so that pneumoconiosis is easily caused, the labor intensity of workers is high, and the shotcrete efficiency is low. The whole wireless remote control system is simple in structure, flexible to operate, high in response speed, complete in function and high in intelligent degree, the site construction efficiency can be greatly improved, and the safety and health of personnel are guaranteed.
The utility model is realized by the following technical scheme:
a visual distance wireless remote control system for a mining guniting mechanical arm comprises a crawler-type guniting robot host and an electrical control system; the crawler-type guniting robot host is connected with a power supply of an electrical control system;
the crawler-type guniting robot host comprises a crawler-type traveling mechanism, a large arm lifting oil cylinder, a small arm telescopic oil cylinder, a swing mechanism and a spray gun; the fixed end of the large-arm lifting oil cylinder is assembled on a fixed platform of the crawler-type traveling mechanism, one end of the small-arm telescopic oil cylinder is connected with the large-arm lifting oil cylinder, the other end of the small-arm telescopic oil cylinder is connected with the slewing mechanism, and the spray gun is installed on the slewing mechanism
The electric control system comprises an electric control box and a wireless remote control system, and a controller is arranged in the electric control box; the input end of the controller is connected with the signal input module, and the output end of the controller is respectively connected with the wireless remote control transceiving module, the lifting driving module, the telescopic driving module and the displacement module; the output end of the lifting driving module is connected with the large arm lifting oil cylinder, and the output end of the telescopic driving module is connected with the small arm telescopic oil cylinder; the output of the displacement module is connected with a plurality of displacement sensors; a plurality of displacement sensors are assembled on the slewing mechanism; the wireless remote control system comprises a visible distance wireless remote controller, and the output end of the wireless remote control transceiving module is connected with the visible distance wireless remote controller.
Preferably, a human-computer interaction module is arranged in the electric control box, and the input end of the human-computer interaction module is connected with the output end of the controller and used for displaying the received information.
Preferably, the output end of the controller is connected with the spray gun through a switch signal output module and is used for controlling the switch of the spray gun.
Preferably, the output end of the controller is connected with a pump motor and a hydraulic valve group through an electromagnetic valve driving module, and the pump motor and the hydraulic valve group are assembled on one side of an oil tank of a hydraulic system of the crawler-type guniting robot host machine and used for providing kinetic energy for the large-arm lifting oil cylinder and the small-arm telescopic oil cylinder.
Preferably, the slewing mechanism comprises a spray gun axial slewing mechanism and a spray gun horizontal slewing mechanism; the spray gun axial swing mechanism is assembled on the small arm telescopic oil cylinder, the spray gun horizontal swing mechanism is assembled on the spray gun axial swing mechanism, and the spray gun is assembled on the spray gun horizontal swing mechanism.
Furthermore, displacement sensors are respectively arranged on the axial swing mechanism and the horizontal swing mechanism of the spray gun.
Furthermore, the swing mechanism further comprises a mechanical arm horizontal swing mechanism, the mechanical arm horizontal swing mechanism is assembled on a fixed platform of the crawler-type traveling mechanism, the mounting end of the large arm lifting oil cylinder is assembled on the mechanical arm horizontal swing mechanism, and a displacement sensor is arranged on the mechanical arm horizontal swing mechanism.
Preferably, an oil cylinder supporting mechanism is further arranged on the fixed platform of the crawler type travelling mechanism and used for supporting the large arm lifting oil cylinder and the small arm telescopic oil cylinder.
Preferably, the crawler-type guniting robot host is provided with an alternating current asynchronous motor for providing kinetic energy for the whole mechanism of the crawler-type guniting robot host.
Compared with the prior art, the utility model has the following beneficial technical effects:
the utility model provides a visual distance wireless remote control system for a mining shotcrete machine arm, which effectively controls a crawler-type shotcrete robot host through an electrical control system, replaces the traditional construction method of manually holding a spray gun, enables workers to be far away from the severe environment in the shotcrete operation process, improves the construction efficiency and quality of shotcrete, reduces the labor intensity of the workers, and ensures the health and construction safety of the workers.
Furthermore, a human-computer interaction module is arranged in the electric control box, the input end of the human-computer interaction module is connected with the output end of the controller and used for displaying received information, and meanwhile, the crawler-type guniting robot host can be controlled through the information displayed by the human-computer interaction module, so that the intellectualization of the crawler-type guniting robot host is effectively improved.
Furthermore, the output end of the controller is connected with the spray gun through the switch signal output module and used for controlling the switch of the spray gun, the switch of the spray gun is controlled through the controller, manual work is replaced, the guniting operation is carried out on the site, the site construction efficiency can be greatly improved, and the safety and the health of personnel are guaranteed.
Furthermore, the output end of the controller is connected with a pump motor and a hydraulic valve bank through an electromagnetic valve driving module, and the pump motor and the hydraulic valve bank are assembled on a hydraulic system oil tank of the crawler-type guniting robot host machine, so that kinetic energy is effectively provided for the large-arm lifting oil cylinder and the small-arm telescopic oil cylinder.
Furthermore, the axial swing mechanism and the horizontal swing mechanism of the spray gun are convenient for the movement of the spray gun, and the displacement flexibility of the spray gun during guniting is improved.
Furthermore, displacement sensors are respectively arranged on the spray gun axial rotation mechanism and the spray gun horizontal rotation mechanism, so that the spray gun axial rotation mechanism and the spray gun horizontal rotation mechanism can be conveniently controlled by the displacement sensors through a controller.
Furthermore, the swing mechanism also comprises a mechanical arm horizontal swing mechanism, so that the large arm lifting oil cylinder can move on the crawler-type traveling mechanism conveniently, and the displacement flexibility of the spray gun during guniting is improved.
Furthermore, an oil cylinder supporting mechanism is further arranged on a fixed platform of the crawler type travelling mechanism and used for supporting the large arm lifting oil cylinder and the small arm telescopic oil cylinder, and the stability of the large arm lifting oil cylinder and the small arm telescopic oil cylinder during working operation is improved.
Drawings
FIG. 1 is a schematic structural diagram of a crawler-type guniting robot host in the utility model;
FIG. 2 is a schematic structural diagram of a controller according to the present invention;
FIG. 3 is a schematic structural diagram of an electrical control system according to an embodiment of the present invention;
fig. 4 is a view of a visible-distance wireless remote control panel according to an embodiment of the present invention.
In the figure: 1-a crawler-type travelling mechanism; 2-an oil cylinder supporting mechanism; 3-a hydraulic system oil tank; 4-alternating current asynchronous motor; 5-pump motor and hydraulic valve group; 6-an electrical control box; 7-a large arm lift cylinder; 8-small arm telescopic oil cylinder; 9-axial rotation mechanism of the spray gun; 10-a horizontal slewing mechanism of the spray gun; 11-a spray gun; 12-mechanical arm horizontal slewing mechanism.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above 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 utility model described herein are capable of operation in sequences other than those illustrated or 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.
The utility model is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, in one embodiment of the present invention, a wireless remote control system for visual range of a mining guniting mechanical arm is provided, the system has a simple structure and is convenient to operate, and a crawler-type guniting mechanical arm or guniting robot is controlled by a wireless remote controller to replace manual guniting operation in a field. The whole wireless remote control system is simple in structure, flexible to operate, high in response speed, complete in function and high in intelligent degree, the site construction efficiency can be greatly improved, and the safety and health of personnel are guaranteed.
Specifically, the system comprises a crawler-type guniting robot host and an electrical control system; the crawler-type guniting robot host is connected with a power supply of an electrical control system;
the crawler-type guniting robot host comprises a crawler-type travelling mechanism 1, a large arm lifting oil cylinder 7, a small arm telescopic oil cylinder 8, a slewing mechanism and a spray gun 11; the fixed end of the large arm lifting oil cylinder 7 is assembled on a fixed platform of the crawler-type traveling mechanism 1, one end of the small arm telescopic oil cylinder 8 is connected with the large arm lifting oil cylinder 7, the other end of the small arm telescopic oil cylinder is connected with the slewing mechanism, and the spray gun 11 is installed on the slewing mechanism
The electric control system comprises an electric control box 6 and a wireless remote control system, and a controller is arranged in the electric control box 6, as shown in fig. 2; the input end of the controller is connected with the signal input module, and the output end of the controller is respectively connected with the wireless remote control transceiving module, the lifting driving module, the telescopic driving module and the displacement module; the output end of the lifting driving module is connected with a large arm lifting oil cylinder 7, and the output end of the telescopic driving module is connected with a small arm telescopic oil cylinder 8; the output of the displacement module is connected with a plurality of displacement sensors; a plurality of displacement sensors are assembled on the slewing mechanism; the wireless remote control system comprises a visible distance wireless remote controller, and the output end of the wireless remote control transceiving module is connected with the visible distance wireless remote controller.
Specifically, a human-computer interaction module is arranged in the electric control box 6, and the input end of the human-computer interaction module is connected with the output end of the controller and used for displaying the received information.
Specifically, the output end of the controller is connected with the spray gun through the switch signal output module and used for controlling the switch of the spray gun.
Specifically, the output of controller connects pump motor and hydraulic valve group 5 through solenoid valve drive module, pump motor and hydraulic valve group 5 assembly are in the hydraulic system oil tank 3 side of crawler-type whitewashing robot host computer for provide kinetic energy to big arm lift cylinder 7 and forearm flexible hydro-cylinder 8.
Specifically, the swing mechanism comprises a spray gun axial swing mechanism 9 and a spray gun horizontal swing mechanism 10; the spray gun axial swing mechanism 9 is assembled on the small arm telescopic oil cylinder 8, the spray gun horizontal swing mechanism 10 is assembled on the spray gun axial swing mechanism 9, the spray gun 11 is assembled on the spray gun horizontal swing mechanism 10, and displacement sensors are respectively arranged on the spray gun axial swing mechanism 9 and the spray gun horizontal swing mechanism 10.
The slewing mechanism further comprises a mechanical arm horizontal slewing mechanism 12, the mechanical arm horizontal slewing mechanism 12 is assembled on a fixed platform of the crawler-type travelling mechanism 1, the mounting end of the large arm lifting oil cylinder 7 is assembled on the mechanical arm horizontal slewing mechanism 12, and a displacement sensor is arranged on the mechanical arm horizontal slewing mechanism 12.
Specifically, an oil cylinder supporting mechanism 2 is further arranged on a fixed platform of the crawler-type traveling mechanism 1 and used for supporting a large arm lifting oil cylinder 7 and a small arm telescopic oil cylinder 8.
The crawler-type guniting robot host is provided with the alternating-current asynchronous motor 4 and is used for providing kinetic energy for the whole mechanism of the crawler-type guniting robot host.
Examples
Aiming at the problems commonly existing in the coal mine underground roadway guniting operation process, the visual distance wireless remote control system of the mining guniting robot is provided, and the crawler-type guniting mechanical arm or the guniting robot is controlled by the wireless remote controller to replace manual guniting operation on site. The whole wireless remote control system is simple in structure, flexible to operate, high in response speed, complete in function and high in intelligent degree, the site construction efficiency can be greatly improved, and the safety and health of personnel are guaranteed.
A mining guniting robot is shown in figure 1 and mainly comprises: the device comprises a crawler-type travelling mechanism 1, an oil cylinder supporting mechanism 2, an alternating-current asynchronous motor 4, a pump motor and hydraulic valve group 5, an electric control box 6, a large arm lifting oil cylinder 7, a small arm telescopic oil cylinder 8, a spray gun axial swing mechanism 9, a spray gun horizontal swing mechanism 10, a mechanical arm horizontal swing mechanism 12 and a spray gun 11.
The electric control system comprises an electric control box 6 and a wireless remote control system, and a controller is arranged in the electric control box 6; the input end of the controller is connected with the signal input module, and the output end of the controller is respectively connected with the wireless remote control transceiving module, the lifting driving module, the telescopic driving module and the displacement module; the output end of the lifting driving module is connected with a large arm lifting oil cylinder 7, and the output end of the telescopic driving module is connected with a small arm telescopic oil cylinder 8; the output of the displacement module is connected with a plurality of displacement sensors; a plurality of displacement sensors are assembled on the slewing mechanism; the wireless remote control system comprises a visible distance wireless remote controller, and the output end of the wireless remote control transceiving module is connected with the visible distance wireless remote controller.
As shown in fig. 4, the electrical control system mainly includes: the intelligent monitoring system comprises an industrial control computer, a Chinese display screen, a visual distance wireless remote controller, a remote control transceiving unit, an intelligent monitoring unit, a motor control unit, a lighting/voice control unit, an electromagnetic valve driving device, an accelerator control unit and a remote data communication unit. The industrial control computer carries out bidirectional data exchange with the wireless remote control transceiving unit and each intelligent unit through a field bus technology (CANbus). The Chinese display device and the industrial control computer graphically display the running state information of the guniting robot on a display screen through an RS232 bus.
The wireless remote control system mainly comprises: the system comprises a visual range wireless remote controller, a wireless remote control transceiving unit and an industrial control computer. The visual range wireless remote controller is in wireless communication with a remote control receiving device in the electric cabinet of the mining guniting robot through a 433MHz frequency band. The wireless remote control receiving device transmits the received instruction on the remote control panel to the industrial control computer in the form of message information through a CANbus, analyzes the data frame bit and the byte at the same time, and controls each unit according to the logic and the algorithm which are programmed in advance. The remote control receiving device carries out bidirectional data exchange with an industrial control computer through a CANbus, the onboard remote control receiving device and the wireless remote controller carry out bidirectional communication through a 433MHz wireless frequency band, and information received by the remote controller is finally displayed in a digital mode through a remote controller liquid crystal display unit.
As shown in fig. 3, the control panel of the remote control system mainly includes: chinese liquid crystal display (1), two-position control switch (12), analog potentiometer knob (3), multi-functional control handle (2). After the remote controller main control board finishes power-on self-inspection, input instructions of operators are circularly detected in real time and are sent to an onboard electrical control system in a 433MHz frequency band wireless mode according to a uniform coding mode, and an industrial control computer can control all mechanisms of the guniting robot according to a pre-programmed logic and control algorithm after decoding.
Chinese liquid crystal display: the guniting robot has a read-only function and mainly displays the state information of each part of the guniting robot. The remote controller can display the battery state, the communication connection state, the operation given state, the feedback state of the actuating mechanism, the sensor acquisition information, the remote controller system fault information and the complete machine mechanical and electrical system fault information of the remote controller.
A two-position control switch: the remote controller mainly comprises an upper gear and a lower gear, and sends a signal operation state to a remote controller main control board by defining functions of different switches.
A power switch: mainly controls the power-on and power-off of the remote controller.
Starting and stopping the pump: the start and stop of the motor are controlled by controlling the power-on and power-off of a pump motor contactor in the electric cabinet.
Starting and stopping the accelerator: the start and stop of the accelerator pump are controlled by controlling the electrification and the breakpoint of the accelerator contactor in the electric control box.
The switch of the illuminating lamp: the on-off of the illuminating lamp is controlled by controlling the on-off of the intermediate relay in the electric cabinet.
Brushing start and stop: the on-off of the electromagnetic valve is controlled to control the hydraulic brushing motor to control the spray gun to draw a circle in the spraying process.
Page turning: and controlling the liquid crystal display screen to display the frame circulation switching of the information in the form of the rising edge pulse.
A learning mode: various data of the guniting robot in a manual teaching mode are stored in a power-down maintaining register or a database in an industrial control computer, so that data calling in the later stage of the industrial control computer is facilitated.
And (4) memory guniting: and the industrial computer repeatedly outputs all actions of the guniting robot in the teaching process by calling the register or database information stored in the learning mode.
Local control: various operations are carried out on the equipment through a remote controller or a handle of the hydraulic valve group, the signal locking is carried out on the remote control mode, and the remote operation does not work.
Remote control: the remote control system can be operated at a remote control end through a computer, and meanwhile, the priority of local control of the remote controller is higher than that of remote control. If any remote controller operates in the remote control mode, the system automatically switches to local control, locks the operation of the remote control end and simultaneously displays corresponding warning prompt information on a panel of the remote controller.
A walking mode: the crawler-type guniting robot is mainly used for controlling functions of advancing, retreating, steering, stretching and retracting of the supporting legs and the like of the crawler-type guniting robot, and the guniting mode is forbidden under the walking mode.
And (3) a guniting mode: and other guniting operations except for walking modes, such as large arm lifting/descending, small arm extending/contracting, chassis rotating (+/-85 degrees), horizontal left-turning/right-turning (+/-90 degrees) of the sprayer, axial 360-degree rotation of the sprayer, accelerator control, air quantity and water quantity control, motor control, illumination/voice control, remote control operation and the like, are completed in the guniting process.
Environmental scanning: in this mode, the walking mode is on and the guniting mode is disabled. The guniting robot scans the three-dimensional space of the roadway through the encoder and the three-dimensional scanner, converts scanned image information into a real multi-dimensional coordinate array of the roadway through the intelligent conversion module and a software algorithm, and simultaneously stores the real multi-dimensional coordinate array into a data storage area of the industrial control computer according to the section and the length of the roadway.
Intelligent mode: in this mode, the industrial control computer in the electric cabinet performs full-automatic guniting operation of the equipment according to a pre-programmed control logic and algorithm by taking multidimensional coordinate information obtained by environmental scanning as a reference.
Simulation potentiometer knob: the accelerator, the air volume and the water volume are mainly adjusted, and signals with 0-100% opening degree are given to the valve through an analog potentiometer knob on a remote controller panel, so that the purpose of controlling the flow of the accelerator, the air volume and the water volume is achieved.
Multifunctional control handle: the multifunctional control handle can be used for logical multiplexing, analog signal giving in four directions including an upper direction, a lower direction, a left direction and a right direction can be performed, the maximum giving amount in each direction is marked as 100, and the maximum giving amount in the middle position after automatic reset can be marked as 0. The top of the handle is provided with a digital signal button with a reset function, and the axial pulse width signal of the spray head can be given. In the walking mode, the left handle of the multifunctional control handle moves upwards to move forward for the left crawler belt and moves downwards to move backwards for the left crawler belt; the right side handle moves forward upwards for the right crawler belt and moves backwards downwards for the right crawler belt. The straight line is moved forwards, namely the left handle and the right handle are pushed forwards simultaneously, and the left handle and the right handle are pushed backwards simultaneously when the straight line is moved backwards. The shower nozzle axial reversal when left side handle top button is pressed, shower nozzle axial corotation when right side handle top button is pressed, the procedure is inside to handle top button about having carried out the logic interlocking, the shower nozzle irrotational when pressing simultaneously.
In conclusion, the utility model provides a visual distance wireless remote control system for a mechanical arm of a mining shotcreting machine, which effectively controls a crawler-type shotcreting robot host through an electrical control system, replaces the traditional construction method of manually holding a spray gun, enables workers to be far away from the severe environment in the shotcreting operation process, improves the construction efficiency and quality of shotcreting, reduces the labor intensity of the workers, and ensures the health of the workers and the construction safety.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the utility model without departing from the spirit and scope of the utility model, which is to be covered by the claims.
Claims (9)
1. A visual distance wireless remote control system for a mechanical arm of a mining guniting robot is characterized by comprising a crawler-type guniting robot host and an electrical control system; the crawler-type guniting robot host is connected with a power supply of an electrical control system;
the crawler-type guniting robot host comprises a crawler-type traveling mechanism (1), a large arm lifting oil cylinder (7), a small arm telescopic oil cylinder (8), a slewing mechanism and a spray gun (11); the fixed end of the large-arm lifting oil cylinder (7) is assembled on a fixed platform of the crawler-type traveling mechanism (1), one end of the small-arm telescopic oil cylinder (8) is connected with the large-arm lifting oil cylinder (7), the other end of the small-arm telescopic oil cylinder is connected with the slewing mechanism, and the spray gun (11) is installed on the slewing mechanism
The electric control system comprises an electric control box (6) and a wireless remote control system, and a controller is arranged in the electric control box (6); the input end of the controller is connected with the signal input module, and the output end of the controller is respectively connected with the wireless remote control transceiving module, the lifting driving module, the telescopic driving module and the displacement module; the output end of the lifting driving module is connected with a large arm lifting oil cylinder (7), and the output end of the telescopic driving module is connected with a small arm telescopic oil cylinder (8); the output of the displacement module is connected with a plurality of displacement sensors; a plurality of displacement sensors are assembled on the slewing mechanism; the wireless remote control system comprises a visible distance wireless remote controller, and the output end of the wireless remote control transceiving module is connected with the visible distance wireless remote controller.
2. The mining shotcrete machine arm visual distance wireless remote control system according to claim 1, wherein a human-computer interaction module is arranged in the electric control box (6), and an input end of the human-computer interaction module is connected with an output end of the controller and used for displaying received information.
3. The mining shotcrete machine arm visual distance wireless remote control system according to claim 1, wherein an output end of the controller is connected with the spray gun (11) through a switch signal output module, and is used for controlling the switch of the spray gun (11).
4. The mining shotcrete machine arm visual distance wireless remote control system according to claim 1, wherein an output end of the controller is connected with a pump motor and a hydraulic valve group (15) through an electromagnetic valve driving module, and the pump motor and the hydraulic valve group (15) are assembled on one side of a hydraulic system oil tank (3) of a crawler-type guniting robot host machine and used for providing kinetic energy for a large arm lifting oil cylinder (7) and a small arm telescopic oil cylinder (8).
5. The mining shotcrete machine arm line-of-sight wireless remote control system of claim 1, wherein the swing mechanism comprises a lance axial swing mechanism (9) and a lance horizontal swing mechanism (10); the spray gun axial swing mechanism (9) is assembled on the small arm telescopic oil cylinder (8), the spray gun horizontal swing mechanism (10) is assembled on the spray gun axial swing mechanism (9), and the spray gun (11) is assembled on the spray gun horizontal swing mechanism (10).
6. The mining shotcrete machine arm visual distance wireless remote control system according to claim 5, wherein displacement sensors are respectively arranged on the lance axial swing mechanism (9) and the lance horizontal swing mechanism (10).
7. The mining shotcrete machine arm visual distance wireless remote control system according to claim 5, wherein the swing mechanism further comprises a machine arm horizontal swing mechanism (12), the machine arm horizontal swing mechanism (12) is assembled on a fixed platform of the crawler type traveling mechanism (1), the mounting end of the large arm lift cylinder (7) is assembled on the machine arm horizontal swing mechanism (12), and the machine arm horizontal swing mechanism (12) is provided with a displacement sensor.
8. The mining shotcrete machine arm visual distance wireless remote control system according to claim 1, wherein an oil cylinder supporting mechanism (2) is further arranged on a fixed platform of the crawler type travelling mechanism (1) and is used for supporting a large arm lifting oil cylinder (7) and a small arm telescopic oil cylinder (8).
9. The mining shotcrete machine arm line-of-sight wireless remote control system according to claim 1, wherein the crawler-type shotcrete robot main unit is equipped with an alternating current asynchronous motor (4) for providing kinetic energy to an integral mechanism of the crawler-type shotcrete robot main unit.
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| CN202121973695.3U CN215633017U (en) | 2021-08-20 | 2021-08-20 | Visual distance wireless remote control system for mechanical arm of mining shotcrete machine |
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| CN202121973695.3U CN215633017U (en) | 2021-08-20 | 2021-08-20 | Visual distance wireless remote control system for mechanical arm of mining shotcrete machine |
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