Control method of intelligent concrete shotcrete robot for tunnel

A control method, concrete technology, used in tunnels, tunnel linings, earthwork drilling, etc.

Inactive Publication Date: 2019-02-19
CHANGSHA KEDA INTELLIGENT EQUIP INC CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a tunnel intelligent concrete spraying robot control method to solve the limitation problem between the action time of the mechanical arm and the concrete rebound rate, and to achieve the highest efficiency and the lowest loss Complete the spraying work on the tunnel surface

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  • Control method of intelligent concrete shotcrete robot for tunnel
  • Control method of intelligent concrete shotcrete robot for tunnel
  • Control method of intelligent concrete shotcrete robot for tunnel

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Embodiment Construction

[0017] Step 1: hardware system construction; the present invention takes the KC30 series spraying machine equipment of Changsha Keda Intelligent Equipment Co., Ltd. as an example (but the related technology of the present invention is applicable to other similar equipment), and the mechanical arms of this equipment are nine in total The joints are driven by hydraulic pressure; the core of the control system is the motion controller and the industrial control board, and sensors are installed on each joint of the arm frame. The hardware block diagram is as follows: figure 2 shown;

[0018] The hardware architecture is mainly aimed at the two core tasks of real-time motion control and rapid environment perception. The former controls the manipulator to complete specified actions in real time through the sensor data of each joint and the planning results, and the latter receives data from environmental perception sensors (mainly lidar) to quickly complete the environment. Perceiv...

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Abstract

The invention discloses a control method of an intelligent concrete shotcrete robot for a tunnel. The method uses mechanical arm kinematic resolution, tunnel three-dimensional scanning modeling technology, multi-objective constraint trajectory planning optimization technology, boom vibration suppression, and multi-joint adaptive fuzzy control to perform real-time intelligent control on concrete injection. The control method solves the problems of the lack of operator hands and the difficulty of after-sales service which restricts the promotion and the application of the shotcrete machines in China. The application range is wide, and the intelligence degree and the construction efficiency are high.

Description

technical field [0001] The invention relates to an intelligent operating system of a wet spraying machine used for tunnel spraying support operations, in particular to a control method for a tunnel intelligent concrete spraying robot. Background technique [0002] In recent years, the research on concrete wet spraying technology has made great progress and considerable development at home and abroad, and has achieved gratifying results. In China, wet concrete spraying machines have become mainstream models in the market and have been well promoted and applied. At present, there are common problems in operation, use and maintenance in the wet spraying machine industry, and the operation level of operators is uneven, and the actual spraying effect is often difficult to meet the requirements of construction quality. [0003] For a long time, there is still a big gap between my country's self-developed wet jet machines and foreign equipment in terms of intelligence, automation, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04E21D11/10
CPCE21D11/10G05B13/042
Inventor 邵凡郎媛林叔斌张惠斌彭龙
Owner CHANGSHA KEDA INTELLIGENT EQUIP INC CO
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