CN217813501U - Mining concrete slurrying whitewashing robot complete set device - Google Patents

Abstract

A robot integrated device for preparing and spraying concrete for mines comprises a concrete feeding machine, a concrete delivery pump and a spraying mechanical arm; the output end of the concrete feeding machine is connected with a concrete conveying pump, and the output end of the concrete conveying pump is connected with a guniting mechanical arm; the efficient preparation and the guniting operation of the concrete can be remotely completed by field workers, so that underground workers are far away from the severe environment in the preparation and guniting process of the concrete, the continuity of pulping and guniting is ensured, the preparation efficiency and the quality of the concrete are improved, the number of the underground workers is reduced, the labor intensity of the workers is reduced, and the concrete guniting device has good application value.

Description

Complete set of device of mining concrete slurrying and guniting robot

Technical Field

The utility model belongs to the technical field of concrete slurrying whitewashing, in particular to mining concrete slurrying whitewashing machine people becomes complete set device.

Background

The concrete slurrying and shotcreting support operation of the existing coal mine tunnel mainly has several problems: (1) the operation personnel embrace the removal that the concrete spray gun need not stop, just can accomplish the injection operation to tunnel top and two groups, and its whitewashing tuber pipe internal pressure is about 0.5MPa, and the weight of spray gun is more than 10kg, and the operation personnel hold the spray gun operation for a long time, and its intensity of labour is very big, easily causes fatigue, and the operation personnel is nearer apart from the whitewashing face distance, and the face and the health of operation personnel are often hit to the stone of kick-backing, have the potential safety hazard. (2) 6-10 persons are required to be prepared for each concrete preparation and guniting operation, wherein: 4 people transport the batching of unloading, and 4 people are responsible for with the spade to the material loading in the patching machine hopper, and 2 whitewashing hand wheels flow embraces the spray gun. (3) The construction efficiency is low, 10 workers generally finish concrete preparation and guniting tasks of 10m < 3 >/class, and the average work efficiency is about 1m < 3 >/class. (4) The dust concentration is high during operation, the risk of occupational diseases is increased, the dust concentration can reach 28mg/m < 3 > during most of guniting operation, and the risk of silicosis of workers is increased when the guniting operation is carried out in an environment with high dust concentration for a long time. (5) The rebound rate is high, the guniting material and water are mixed at the nozzle, the mixing time of the material and the water is short and uneven, the quality of concrete formed by spraying is unstable, the strength is low, and the rebound is about 30 percent higher. (6) There is great potential safety hazard especially when the tunnel that highly exceeds 4m carries out the whitewashing operation, in order to improve the rate of going up the wall, reduces the rebound volume, guarantees the whitewashing quality, need set up the operation platform of ascending a height temporarily, and the workman stands and has the potential safety hazard of landing in the platform operation. At present, from the application condition of domestic coal mine concrete pulping and guniting, most of the devices are single mechanical devices, and no robot or intelligent equipment capable of being applied to underground coal mines for continuous concrete preparation and guniting exists.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mining concrete slurrying whitewashing machine people becomes complete set device to solve above-mentioned problem.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a robot integrated device for preparing and spraying concrete for mining comprises a concrete feeding machine, a concrete conveying pump and a spraying mechanical arm; the output end of the concrete feeding machine is connected with a concrete conveying pump, and the output end of the concrete conveying pump is connected with a guniting mechanical arm;

the concrete feeding machine comprises a feeding machine storage bin and a feeding machine belt, and the feeding machine storage bin is connected with the feeding machine belt;

the concrete conveying pump comprises a conveying pump feeding hopper, a conveying pump feeding belt, a stirring device and a conveying pump bidirectional conveying oil cylinder; the output end of the feeding machine belt is positioned above the feeding hopper of the conveying pump, the feeding hopper of the conveying pump is connected with the feeding belt of the conveying pump, the output end of the feeding belt of the conveying pump is connected with the stirring device, and the outlet of the stirring device is provided with a bidirectional conveying oil cylinder of the conveying pump;

the mechanical arm of the pulp spraying machine comprises a mechanical arm power device and a mechanical arm rotary telescopic mechanism; the two-way conveying oil cylinder of the conveying pump is connected with a conveying pipeline, the mechanical arm power device is connected with the mechanical arm rotary telescopic mechanism, and the conveying pipeline is connected to the mechanical arm rotary telescopic mechanism.

Further, the concrete feeding machine also comprises a rubber wheel, a feeding machine supporting oil cylinder device and a feeding machine electro-hydraulic control valve group; the feeding machine supporting oil cylinder device is connected with the rubber wheel and is used for controlling the rubber wheel to stretch up and down; and a handle is arranged on the electro-hydraulic control valve group of the feeding machine and used for controlling the starting and stopping of the supporting oil cylinder device of the feeding machine and a belt of the feeding machine.

Further, material loading machine storage silo intermediate part is the conveyor belt, and material loading machine storage silo both sides are collapsible mechanical baffle, and mechanical baffle expandes and rises through hydraulic cylinder control, rises back both sides and middle part and forms the trapezoidal structure of falling.

Further, the stirring device of the concrete delivery pump comprises a primary stirring device of the delivery pump and a secondary stirring device of the delivery pump; the primary stirring device of the delivery pump and the secondary stirring device of the delivery pump are sequentially connected; the bidirectional conveying oil cylinder of the conveying pump is arranged at the outlet of the secondary stirring device of the conveying pump.

Further, the concrete conveying pump also comprises a conveying pump S pipe reversing valve and a crawler travel mechanism; the crawler traveling mechanism is arranged at the bottom of the stirring device, and the S-shaped pipe reversing valve of the conveying pump controls the starting and stopping of the bidirectional conveying oil cylinder of the conveying pump.

Furthermore, the guniting mechanical arm also comprises a mechanical arm power distribution and control device and a mechanical arm electro-hydraulic control valve group; the mechanical arm power distribution and control device is arranged on the mechanical arm power device to supply power to the mechanical arm power device, and the mechanical arm electro-hydraulic control valve group is arranged on the mechanical arm rotary telescopic mechanism.

Further, the mechanical arm power device comprises a three-phase alternating current asynchronous motor, a coupler, a plunger pump and a hydraulic system; the three-phase alternating current asynchronous motor is connected with the mechanical arm rotary telescopic mechanism through a coupler, a plunger pump and a hydraulic system are arranged on the mechanical arm rotary telescopic mechanism, and the hydraulic system is used for driving the mechanical arm rotary telescopic mechanism.

Further, the feeding machine belt is a scraper type belt.

Compared with the prior art, the utility model discloses there is following technological effect:

the utility model discloses by the concrete material loading machine, the three equipment of concrete delivery pump and whitewashing arm is constituteed, accomplish colliery tunnel concrete slurrying and whitewashing machine ization operation flow, possess the ability that changes along with the change in construction site, ground at colliery tunnel height fluctuation unevenness carries out steady safe movement, all kinds of operating parameter of complete sets can show in real time, but on-the-spot manual work long-range completion concrete high efficiency preparation and whitewashing operation, make the workman keep away from the preparation of concrete and the adverse circumstances of whitewashing in-process in the pit, guarantee the continuity of slurrying and whitewashing, improve concrete preparation efficiency and quality, reduce workman's quantity in the pit, reduce workman intensity of labour, has fine using value.

Drawings

FIG. 1 is a structural diagram of the present invention

Fig. 2 is a flow chart of the present invention.

The concrete spraying and conveying system comprises a concrete feeding machine 1, a concrete conveying pump 2, a guniting mechanical arm 3, a feeding machine storage bin 4, a feeding machine supporting oil cylinder device 5, a feeding machine electro-hydraulic control valve group 6, a feeding machine belt 7, a conveying pump feeding hopper 8, a conveying pump feeding belt 9, a conveying pump primary stirring device 10, a conveying pump secondary stirring device 11, a conveying pump bidirectional conveying oil cylinder 12, a conveying pump S pipe valve assembly 13, a mechanical arm power distribution and control device 14, a mechanical arm power device 15, a mechanical arm electro-hydraulic control valve group 16 and a mechanical arm rotary telescopic mechanism 17.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

referring to fig. 1 to 2, a mining pulping and guniting robotic complete set is shown in fig. 1, and the complete set mainly comprises: the system comprises a concrete feeding machine, a concrete delivery pump and a guniting mechanical arm, and is installed according to the using method of the complete equipment construction process shown in the figure 2, so that the coal mine roadway concrete pulping and guniting robotized operation process is completed.

(1) The concrete feeding machine 1 of fig. 1 mainly comprises: the whole subsystem system can be operated through a remote controller with a display function and has the functions of remote control and video monitoring.

(1) Feeding machine storage bin: through trackless rubber-tyred car or forklift with cement, sand and stone mix the material loading machine storage silo according to corresponding proportion and construction volume in, the short time storage of mixture before the mainly used concrete construction, the storage silo intermediate part is the transportation belt, both sides are collapsible mechanical baffle, expand and rise the both sides baffle through hydraulic cylinder, can form a similar trapezoidal structure of falling with both sides and intermediate part after rising, the material is by both sides landing to middle belt part, carry out the material loading by middle part belt drive concrete.

(2) Material loading machine support cylinder device: the oil cylinders on the two sides of the feeding machine can expand and contract the baffle plates on the two sides of the feeding machine, and the rubber wheels of the feeding machine can be lifted through the supporting oil cylinders corresponding to the rubber wheels on the two sides, so that the feeding machine is in a walking mode and a working mode. During the walking mode, through hydraulic pressure valves control cylinder with rubber tyer and ground contact, the both sides baffle shrink, equipment can normally remove through the rubber tyer. During the working mode, the oil cylinder is controlled through the hydraulic valve group to lift the rubber wheel, the storage mechanism falls to be in contact with the ground, the trackless rubber wheel vehicle with the baffles on the two sides can drive the feeding machine to discharge, the storage mechanism is lifted after the discharging is finished, and the feeding can be carried out through the middle belt.

(3) Material loading machine electricity liquid control valves: the lifting of the baffles at two sides of the feeding machine, the lifting of the rubber wheels at two sides, the starting and stopping of the belt, the speed adjustment of the belt, the feeding height adjustment of the feeding machine and the like are mainly controlled by a handle on the hydraulic valve group.

(4) Material loading machine belt: the material loading machine belt is for scraping board-like belt, mainly includes horizontal segment belt and ascending section belt, and the horizontal segment can be with material propelling movement to ascending section part, and the ascending section transports the material to the discharge gate according to the height of belt. The whole device can adjust the speed of the belt through the hydraulic valve group according to actual conditions.

(2) The concrete delivery pump of fig. 1 mainly comprises the following components: the device comprises a conveying pump feeding hopper, a conveying pump feeding belt, a conveying pump primary stirring device, a conveying pump secondary stirring device, a conveying pump bidirectional conveying oil cylinder, a conveying pump S pipe reversing valve and a crawler traveling mechanism. The whole subsystem system can be operated by a remote controller with a display function and has the functions of remote control and video monitoring.

(1) The feeding hopper of the conveying pump: the material of concrete material loading machine discharge gate can be transported the feeding hopper of concrete pump in succession, and feeding hopper bottom is connected with the transportation belt, the primary mixing mechanism of concrete pump is carried to the misce bene in can be continuous in the hopper.

(2) Conveying pump feeding belt: the feeding hopper is connected with the feeding belt, the feeding speed of the belt is mainly adjustable by adopting a hydraulic valve group to control flow to drive a hydraulic motor to realize speed adjustment of the belt conveyor, the wireless remote controller adjusts the feeding speed of the belt, the feeding speed of the feeding machine and the pumping speed of the concrete of the conveying pump in real time in the actual use process, the wireless remote controller achieves the effect of material inlet and outlet matching according to the discharging condition of the discharging port and the parameters displayed by the liquid crystal of the remote controller, and the continuity of the whole process concrete preparation process is met.

(3) Primary stirring device of delivery pump: the mixing material to delivery pump feeding belt adds water and once stirs after getting into rabbling mechanism, and the rabbling mechanism is inside to have spiral agitating unit, and accessible remote controller adjusts the hydraulic pressure proportional valve and adjusts the rotational speed of screw mechanism and the inflow of rabbling mechanism to adjust the stirring and the ejection of compact characteristic of mixture.

(4) Conveying pump secondary agitating unit: the hydraulic motor is driven to work by a multi-way proportional reversing valve in the hydraulic system, and the stirring can be carried out in the forward direction or in the reverse direction. The opening of the electromagnetic proportional valve of the hydraulic system can adjust the rotating speed of the hydraulic motor, so that the speed of a main shaft of the stirring power structure is adjusted, an impeller arranged on the main shaft mechanism can stir materials for the second time, and meanwhile, the electromagnetic valve of the stirring mechanism controls the water adding amount.

(5) The two-way delivery cylinder of delivery pump: the core power unit of the concrete conveying device structure, the bidirectional conveying oil cylinder and the S pipe valve are matched and linked to work, and thick media similar to concrete are pushed into the concrete conveying pipe. When the double oil cylinders are in the middle position of the S pipe valve, the double oil cylinders do not work; when the S pipe valve is connected with one oil cylinder in a butt joint mode, the oil cylinder is in a concrete pushing state at the moment, and the other oil cylinder is in a concrete sucking state. After the S pipe valve is changed, the principle is similar, one oil cylinder is in pushing, the other oil cylinder is in sucking, and the operation is repeated in a circulating mode.

(6) Delivery pump S pipe valve assembly: the core power unit of the concrete conveying device structure, the bidirectional conveying oil cylinder and the S pipe valve are matched and linked to work, concrete can be pushed into the concrete conveying pipe, and the principle is explained in the working principle of the bidirectional conveying oil cylinder.

(3) The main components of the guniting robot arm 3 in fig. 1 include: the system comprises a mechanical arm power distribution and control unit, a mechanical arm power unit, a mechanical arm electro-hydraulic control valve group and a mechanical arm rotary telescopic mechanism, the whole subsystem system can be operated through a remote controller with a display function, and meanwhile, the system has the functions of remote control and video monitoring.

(1) Arm power distribution system and controlling means: the power distribution system is mainly used for supplying and distributing power to a power loop of the whole device, protecting an accessed load from short circuit, open phase, overcurrent, electric leakage, overload and the like, and displaying information such as voltage, current, faults and the like of the whole electric system in real time through the display screen. The control unit is mainly used for finishing data interaction with a remote control device, driving control of the hydraulic valve group, control of the illuminating lamp, real-time monitoring of oil temperature and oil level, control of the accelerator and monitoring of other sensors.

The control device has the function of memorizing the guniting, and can call the information of the register and the database through the main controller in a manual teaching mode to repeat all actions in the teaching process. In the aspect of intellectualization, the control system has the functions of local remote control, underground centralized control center remote control, ground dispatching center remote control and intelligent guniting of a three-dimensional scanning and roadway development design data model. In the aspect of remote monitoring, an open data uploading interface is reserved, and all data of the complete equipment are transmitted to a monitoring and dispatching center through the Ethernet. The software monitoring platform has all key operation functions of a local and remote control system, and can carry out remote control by combining a video system. A plurality of high definition cameras among the video monitoring system are generally installed on the whitewashing device fuselage, can collect the image information of surrounding environment, carry out the early warning to the personnel that enter into this region simultaneously.

(2) Mechanical arm power device: the mechanical arm hydraulic system mainly comprises a three-phase alternating current asynchronous motor, a coupler, a plunger pump, a hydraulic system and other units, wherein electric energy is converted into power of the hydraulic system, the main pressure of the mechanical arm hydraulic system is 16Mpa, and power is provided for oil cylinders or hydraulic motors of all parts through pipelines, valve blocks and a main control valve group.

(3) Mechanical arm electro-hydraulic control valve group: as a main control unit of the hydraulic system, the electro-hydraulic proportional control valve is controlled by the main controller, so that the control of the hydraulic systems such as a mechanical arm crawler hydraulic motor, a chassis rotating hydraulic motor, a large arm lifting hydraulic cylinder, a small arm telescopic hydraulic cylinder, a nozzle horizontal rotating hydraulic motor and a nozzle axial rotating hydraulic motor is completed.

(4) The mechanical arm rotates the telescopic mechanism: the control of the guniting mechanical arm such as lifting/descending of a large arm, stretching/contracting of a small arm, rotation of a chassis (+ -85 degrees), horizontal left/right rotation of a sprayer (+ -90 degrees), axial forward/reverse 360-degree rotation of the sprayer, forward/reverse circle drawing of a sprayer shaking motor and the like in the guniting process is completed. In the actual use process, the mechanical arm spray gun is connected with a guniting hose, and a worker controls the actions of each executing mechanism of the mechanical arm through a handle, a button and a switch on the remote controller to complete the concrete guniting construction operation of the roadway. Each rotary telescopic mechanism of the mechanical arm is provided with a rotary encoder and an oil cylinder sensor and is mainly used for path planning in remote control and intelligent control.

The site construction process of the concrete slurrying and guniting robotized device in the patent of fig. 2 is as follows:

(1) before the concrete guniting construction of the underground coal mine roadway, cement, sand, stones and an accelerator are stored to a concrete storage point of an underground chamber or a connection roadway in advance by a general mine so as to be used for quickly carrying out concrete preparation and guniting operation anytime and anywhere.

(2) In the field construction process, underground constructors can use a trackless rubber-tyred vehicle or a forklift to transport cement, sand and stones of a storage point to a concrete feeding machine storage bin according to the proportion of 1.

(3) The feeding speed of the oil cylinder action of the feeding machine and the belt is controlled and adjusted through a button on the control box, the mixture is poured into a feeding hopper of the concrete conveying pump at a discharging port of the feeding machine, the speed of the feeding machine belt and the speed of the concrete conveying pump belt are adjusted at any time according to the discharging amount, the feeding machine belt and the concrete conveying pump belt are enabled to be matched relatively, the mixture is poured into a primary stirring device through the feeding belt of the concrete conveying pump, an internal spiral stirring mechanism of the primary stirring device can repeatedly stir the watered mixture and then push the stirred mixture to the outlet, the mixed mixture enters the hopper of a secondary stirring device, a main shaft impeller is designed in the hopper to continuously stir the mixed mixture for the second time, secondary water adding adjustment is carried out according to the mixing condition of the concrete, a better mixing effect is achieved, and the mixed concrete is pumped through a bidirectional conveying oil cylinder of the concrete conveying pump and an S pipeline distribution valve.

(4) The belt feeding speed, the primary stirring speed, the primary water adding amount, the secondary stirring speed, the secondary water adding amount, the swing speed of the S pipe valve, the working frequency of the bidirectional conveying oil cylinder, the walking speed of the crawler belt and the like of the concrete conveying pump can be adjusted in a stepless mode through a remote controller, and various parameters can be displayed through a liquid crystal screen on the remote controller.

(5) A concrete conveying pipeline at the outlet of the concrete conveying pump is connected to the concrete spraying mechanical arm, and a field worker can control the hydraulic valve group of the concrete spraying mechanical arm through a remote controller, so that the hydraulic motor and the oil cylinder can do different actions at different times, and manual field spraying is simulated.

(6) At the concrete injection initial stage, the workman can combine the feedback information that liquid crystal display on the wireless remote control device can show the whitewashing arm according to the injection effect in concrete exit, and the ratio of real-time adjustment whitewashing in-process concrete and accelerator makes it reach better tunnel concrete whitewashing effect.

(7) The whole system has local remote control, remote control and intelligent control modes. And under the environment with poor roadway conditions, performing concrete pulping and guniting operation in a local remote control mode. Under the better condition of tunnel and top and bottom plate environment, the robot operation of the complete set of guniting equipment can be carried out by adopting a remote control mode or an intelligent mode.

While the foregoing is directed to the preferred embodiment of the present invention, it will be appreciated that numerous modifications and variations may be devised by those skilled in the art that will fall within the scope of the principles of this invention.

Claims (5)

1. A mining concrete slurrying and guniting robotic complete set of devices is characterized by comprising a concrete feeding machine (1), a concrete delivery pump (2) and a guniting mechanical arm (3); the output end of the concrete feeding machine (1) is connected with a concrete delivery pump (2), and the output end of the concrete delivery pump (2) is connected with a shotcrete mechanical arm (3);

the concrete feeding machine (1) comprises a feeding machine storage bin (4) and a feeding machine belt (7), wherein the feeding machine storage bin (4) is connected with the feeding machine belt (7);

the concrete conveying pump (2) comprises a conveying pump feeding hopper (8), a conveying pump feeding belt (9), a stirring device and a conveying pump bidirectional conveying oil cylinder (12); the output end of the feeding machine belt (7) is positioned above the conveying pump feeding hopper (8), the conveying pump feeding hopper (8) is connected with the conveying pump feeding belt (9), the output end of the conveying pump feeding belt (9) is connected with a stirring device, and the outlet of the stirring device is provided with a conveying pump bidirectional conveying oil cylinder (12);

the spraying machine mechanical arm (3) comprises a mechanical arm power device (15) and a mechanical arm rotary telescopic mechanism (17); the two-way conveying oil cylinder (12) of the conveying pump is connected with a conveying pipeline, the mechanical arm power device (15) is connected with a mechanical arm rotary telescopic mechanism (17), and the conveying pipeline is connected to the mechanical arm rotary telescopic mechanism (17);

the concrete feeding machine (1) also comprises rubber wheels, a feeding machine support oil cylinder device (5) and a feeding machine electro-hydraulic control valve group (6); the feeding machine supporting oil cylinder device (5) is connected with the rubber wheel and is used for controlling the rubber wheel to stretch up and down; a handle is arranged on the feeding machine electro-hydraulic control valve group (6) and used for controlling the starting and stopping of the feeding machine supporting oil cylinder device (5) and the feeding machine belt (7);

the middle part of the feeding machine storage bin (4) is provided with a conveying belt, two sides of the feeding machine storage bin (4) are provided with retractable mechanical baffles, the mechanical baffles are controlled to be unfolded and lifted through a hydraulic oil cylinder, and the two sides and the middle part form an inverted trapezoidal structure after being lifted;

the stirring device of the concrete delivery pump (2) comprises a delivery pump primary stirring device (10) and a delivery pump secondary stirring device (11); the conveying pump primary stirring device (10) and the conveying pump secondary stirring device (11) are sequentially connected; the two-way conveying oil cylinder (12) of the conveying pump is arranged at the outlet of the secondary stirring device (11) of the conveying pump.

2. The mining concrete pulping and guniting robotic complete set of devices according to claim 1, wherein the concrete delivery pump (2) further comprises a delivery pump S-pipe reversing valve (13) and a crawler walking mechanism; the crawler traveling mechanism is arranged at the bottom of the stirring device, and the S-shaped pipe reversing valve (13) of the conveying pump controls the starting and stopping of the bidirectional conveying oil cylinder (12) of the conveying pump.

3. The mining concrete pulping and guniting robotic complete set of devices according to claim 1, wherein the guniting mechanical arm (3) further comprises a mechanical arm power distribution and control device (14) and a mechanical arm electro-hydraulic control valve bank (16); the mechanical arm power distribution and control device (14) is arranged on the mechanical arm power device (15) to supply power to the mechanical arm power device, and the mechanical arm electro-hydraulic control valve group (16) is arranged on the mechanical arm rotary telescopic mechanism (17).

4. The mining concrete pulping and guniting robotic complete set of devices according to claim 3, wherein the mechanical arm power device comprises a three-phase alternating current asynchronous motor, a coupler, a plunger pump and a hydraulic system; the three-phase alternating current asynchronous motor is connected with the mechanical arm rotary telescopic mechanism (17) through a coupler, a plunger pump and a hydraulic system are arranged on the mechanical arm rotary telescopic mechanism (17), and the hydraulic system is used for driving the mechanical arm rotary telescopic mechanism (17).

5. The mining concrete pulping and guniting robotic complete set of devices according to claim 1, wherein the feeder belt (7) is a scraper belt.

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