A coal mine tunnel robot shotcrete method and device

Abstract

The present invention discloses a coal mine tunnel robot grouting method and device, including a chassis, a first transmission shaft, a first rotating shaft, a second transmission box, a limit sleeve and a fifth electric push rod, wherein the first transmission box is connected below the chassis, and a first motor is installed inside the first transmission box, a first transmission belt is arranged on the first motor, and a transmission roller is fixed on the first transmission shaft. The coal mine tunnel robot grouting method and device are provided with a searchlight, a monitor, a distance sensor, an antenna, a first scraper, a second scraper and a third scraper, and the device can be controlled by receiving a signal sent by a mobile terminal through the antenna, so that unmanned control of the device can be realized, and the searchlight, the monitor and the distance sensor are all provided with scrapers to clean them, so that the searchlight, the monitor and the distance sensor can be used normally, and the inner wall of the mine is measured by the distance sensor, so as to ensure the stability of the device and prevent collision.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel grouting, and in particular to a coal mine tunnel robot grouting method and device. Background Art

[0002] During coal mining, gas gushes out rapidly, and the ventilation gas content often exceeds the limit, making it difficult to carry out operations smoothly. In order to stabilize the rate of gas gushing out and reduce the frequency of exceeding the limit, the mine currently uses the method of hanging mesh shotcrete to close the tunnel and the method of underground shotcrete to spray the coal wall. Usually, cement, sand, gravel and other materials are mixed on site, and then sprayed directly onto the coal mine rock layer with a shotcrete machine or a grouting machine. Only after the cement material solidifies can it play the role of closed support to slow down the gas gushing out of the coal wall.

[0003] However, currently, the tunnel spraying is carried out manually by wearing protective clothing to enter the construction site. Due to the dim vision in the mine and the impact of the manual vision during the spraying operation, the spraying is uneven, and the personal safety of the construction workers cannot be guaranteed. Therefore, we propose a coal mine tunnel robot spraying method and device to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a coal mine tunnel robot grouting method and device to solve the problem raised in the above background technology that tunnel grouting is currently carried out by manually wearing protective clothing to enter the construction site for construction. Due to the dim vision in the mine and the impact of the manual vision during the spraying operation, the spraying leads to uneven spraying and the personal safety of the construction workers cannot be guaranteed.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a coal mine tunnel robot grouting method and device, including a chassis, a first transmission shaft, a first rotating shaft, a second transmission box, a limit sleeve and a fifth electric push rod, a first transmission box is connected to the bottom of the chassis, and a first motor is installed inside the first transmission box, a first transmission belt is arranged on the first motor, a transmission roller is fixed on the first transmission shaft, and a first transmission belt is connected to the transmission roller, a first bevel gear is installed on the rear end of the first transmission shaft, a second bevel gear is fixed on the first rotating shaft, and a third bevel gear is meshed with the tooth surface of the second bevel gear, a second transmission shaft passes through the third bevel gear, and tires are fixed at both ends of the second transmission shaft, and a fourth bevel gear is installed at the front end of the first transmission shaft The gear wheel is connected with the gear of the first transmission gear of the present invention, and the gear wheel is connected with the gear of the second transmission gear of the present invention. A monitor is fixed on the second electric push rod, a third electric push rod is installed on the storage box, and the third electric push rod is connected to a third linkage rod, a searchlight is installed on the third linkage rod, and a fixed rod is connected below the searchlight, distance sensors are installed on the side and front of the storage box, and a first slide slot is opened on the storage box, and a second motor is installed inside the first slide slot, a second transmission belt is connected to the shaft end of the second motor, and a second rotating shaft is installed inside the second transmission belt, and a first fixed frame is connected to the second rotating shaft, a first scraper is installed below the first fixed frame, and a second slide slot is opened above the first slide slot, a third motor is installed inside the second slide slot, and a third transmission belt is connected to the shaft end of the third motor, and a third transmission belt is installed inside the third transmission belt. A third rotating shaft is installed, and a second fixed frame is connected to the third rotating shaft, a second scraper is arranged on the second fixed frame, a discharge port is opened on the bottom surface of the storage box, and a first pipe is connected below the discharge port, and a mechanical shaft seal is installed on the first pipe, and a torsion winder is connected to the other end of the mechanical shaft seal, a fourth motor is installed inside the second transmission box, and a first support arm is connected to the fourth motor, a second support arm is installed on the first support arm, and a fourth electric push rod is fixed below the second support arm, a fixed sleeve is arranged at the front end of the fourth electric push rod, and a sleeve rod passes through the fixed sleeve, a nozzle is connected to the front end of the sleeve rod, and a feed port is opened above the nozzle, a second pipe is connected to the feed port, and a limiting sleeve is wrapped around the outer side of the second pipe,The rear end of the second support arm is connected to a fifth electric push rod.

[0006] Preferably, the monitor forms a lifting mechanism through a second electric push rod, and the monitor and the second electric push rod are installed on the chassis and the storage box.

[0007] Preferably, the monitor includes a camera, a protective cover, a slot, a fourth rotating shaft, a third scraper, a fourth connecting block, a turntable and a fifth motor. A protective cover is installed on the outside of the camera, and a slot is provided on the top surface of the protective cover. A fourth rotating shaft is installed in the slot, and the third scraper is connected to the fourth rotating shaft. A fourth connecting block is provided at the lower end of the third scraper, and a turntable is connected to the inner side of the fourth connecting block, and a fifth motor is installed below the turntable.

[0008] Preferably, the searchlight is movably connected to the fixed rod, and the searchlight forms a flip mechanism on the fixed rod through a third electric push rod and a third linkage rod.

[0009] Preferably, the distance sensors are distributed in three groups on the storage box, and the distance sensors are connected to the first scraper in a fitting manner.

[0010] The present invention provides a method for using a coal mine tunnel robot shotcrete device, the steps of which include:

[0011] First, pull the handle to flip the bin cover open through the hinge, add materials to the storage box, and close the bin cover after adding materials;

[0012] Then, the signal from the mobile terminal is received through the antenna, the monitor and the second electric push rod are powered on, the height of the monitor is adjusted through the second electric push rod, and the image is transmitted to the mobile terminal through the camera in the monitor;

[0013] When the device enters the mine, the searchlight is started to realize the function of lighting the mine, and the angle of the searchlight can be adjusted through the third electric push rod and the third linkage rod;

[0014] Then, the distance sensor installed on the storage box is used to measure the inside of the mine to prevent the device from colliding with the mine.

[0015] After reaching the designated location, the spraying system is started, and the material stored in the storage box is transmitted to the torsion winder through the first pipeline and the mechanical shaft seal, and then transmitted to the spray head through the second pipeline and the feed port for spraying;

[0016] During the spraying operation, the first support arm can be rotated by the fourth motor to adjust left and right, and the second support arm can be pulled by the fifth electric push rod to adjust up and down;

[0017] During the spraying process, some slurry will splash onto the distance sensor and the searchlight. At this time, the second motor is required to drive the second transmission belt to make the second rotating shaft slide on the first slide groove, and the first scraper is used to clean the distance sensor. The third motor is required to drive the third transmission belt to make the third rotating shaft slide in the second slide groove, so that the second scraper can clean the searchlight.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: the coal mine tunnel robot grouting method and device are provided with a searchlight, a monitor, a distance sensor, an antenna, a first scraper, a second scraper and a third scraper. The device can be controlled by receiving a signal sent by a mobile terminal through the antenna, so that unmanned control of the device can be realized, which can ensure the personal safety of construction personnel, and the searchlight, monitor and distance sensor are all provided with scrapers to clean them to prevent slurry from splashing during construction, making the searchlight, monitor and distance sensor unable to be used normally, and the inner wall of the mine is measured by the distance sensor, thereby ensuring the stability of the device, preventing collisions, and making the device more reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a coal mine tunnel robot grouting method and a main structure of the device of the present invention;

[0020] Figure 2 A schematic diagram of the side structure of a coal mine tunnel robot shotcrete method and device of the present invention;

[0021] Figure 3 A schematic diagram of the transmission cross-sectional structure of a coal mine tunnel robot shotcrete method and device of the present invention;

[0022] Figure 4 A schematic diagram of a transmission structure of a coal mine tunnel robot shotcrete method and device according to the present invention;

[0023] Figure 5 A schematic diagram of a cross-sectional structure of a coal mine tunnel robot shotcreting method and device monitoring self-cleaning according to the present invention;

[0024] Figure 6 It is a schematic diagram of the transmission structure of the first scraper of a coal mine tunnel robot grouting method and device of the present invention;

[0025] Figure 7 It is a schematic diagram of the second scraper transmission structure of a coal mine tunnel robot shotcrete method and device of the present invention;

[0026] Figure 8 A coal mine tunnel robot grouting method and device of the present invention Figure 2 Schematic diagram of the structure at A in the middle;

[0027] Fig. 9A coal mine tunnel robot grouting method and device of the present invention Figure 3 Schematic diagram of the structure at point B in the middle.

[0028] In the figure: 1, chassis; 2, first transmission box; 3, first motor; 4, first transmission belt; 5, first transmission shaft; 6, transmission roller; 7, first bevel gear; 8, first rotating shaft; 9, second bevel gear; 10, third bevel gear; 11, second transmission shaft; 12, tire; 13, fourth bevel gear; 14, fifth bevel gear; 15, first movable shaft; 16, second movable shaft; 17, first connecting block; 18, first linkage rod; 19, second connecting block; 20, second linkage rod; 21, third connecting block; 22, first electric push rod; 23, shock absorber; 24, storage box; 25, bin cover; 26, hinge; 27, handle; 28, antenna; 29, second electric push rod; 30, monitor; 3001, camera; 3002, protective cover; 3003, slot; 3004, fourth rotating shaft; 3005, third scraper; 3006, fourth linkage Connecting block; 3007, turntable; 3008, fifth motor; 31, third electric push rod; 32, third linkage rod; 33, searchlight; 34, fixed rod; 35, distance sensor; 36, first slide; 37, second motor; 38, second transmission belt; 39, second rotating shaft; 40, first fixed frame; 41, first scraper; 42, second slide; 43, third motor; 44, third transmission belt; 45, third rotating shaft Shaft; 46, second fixed frame; 47, second scraper; 48, discharge port; 49, first pipeline; 50, mechanical shaft seal; 51, winder; 52, second transmission box; 53, fourth motor; 54, first support arm; 55, second support arm; 56, fourth electric push rod; 57, fixed sleeve; 58, sleeve rod; 59, nozzle; 60, feed port; 61, second pipeline; 62, limit sleeve; 63, fifth electric push rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Embodiment 1

[0031] See also Figure 1-9The present invention provides a technical solution: a coal mine tunnel robot grouting method and device, including a chassis 1, a first transmission box 2, a first motor 3, a first transmission belt 4, a first transmission shaft 5, a transmission roller 6, a first bevel gear 7, a first rotating shaft 8, a second bevel gear 9, a third bevel gear 10, a second transmission shaft 11, a tire 12, a fourth bevel gear 13, a fifth bevel gear 14, a first movable shaft 15, a second movable shaft 16, a first connecting block 17, a first linkage rod 18, a second connecting block 19, a second linkage rod 20, a third connecting block 21, a first electric push rod 22, a shock absorber 23, a storage box 24, a bin cover 25, a hinge 26, a handle 27, an antenna 28, a second electric push rod 29, a monitor 30, a third electric push rod 31, a third linkage Rod 32, searchlight 33, fixed rod 34, distance sensor 35, first slide 36, second motor 37, second transmission belt 38, second rotating shaft 39, first fixed frame 40, first scraper 41, second slide 42, third motor 43, third transmission belt 44, third rotating shaft 45, second fixed frame 46, second scraper 47, discharge port 48, first pipeline 49, mechanical shaft seal 50, torsion winder 51, second transmission box 52, fourth motor 53, first support arm 54, second support arm 55, fourth electric push rod 56, fixed sleeve 57, sleeve rod 58, nozzle 59, feed port 60, second pipeline 61, limit sleeve 62 and fifth electric push rod 63, the first transmission box 2 is connected below the chassis 1, and the first transmission box 2 A first motor 3 is installed inside, a first transmission belt 4 is arranged on the first motor 3, a transmission roller 6 is fixed on the first transmission shaft 5, and the transmission roller 6 is connected to the first transmission belt 4, a first bevel gear 7 is installed at the rear end of the first transmission shaft 5, a second bevel gear 9 is fixed on the first rotating shaft 8, and the tooth surface of the second bevel gear 9 is meshed with a third bevel gear 10, a second transmission shaft 11 passes through the third bevel gear 10, and tires 12 are fixed at both ends of the second transmission shaft 11, a fourth bevel gear 13 is installed at the front end of the first transmission shaft 5, and the tooth surface of the fourth bevel gear 13 is meshed with a fifth bevel gear 14, a first movable shaft 15 passes through the tooth surface of the fifth bevel gear 14, and the first movable shaft 15 is connected to the second movable shaft 16, and a first connecting block 17 is fixed to the second movable shaft 16 , and the first connecting block 17 is connected to the first linkage rod 18, the first linkage rod 18 is provided with a second connecting block 19, and the second connecting block 19 is connected to the second linkage rod 20, the other end of the second linkage rod 20 is provided with a third connecting block 21, and the middle of the second linkage rod 20 is connected with a first electric push rod 22, a shock absorber 23 is installed above the chassis 1, and a storage box 24 is provided above the shock absorber 23, a bin cover 25 is provided on the top surface of the storage box 24, and a hinge 26 is connected between the bin cover 25 and the storage box 24, a handle 27 is installed on the bin cover 25, and the storage box 24 is provided with an antenna 28, a second electric push rod 29 is installed on the storage box 24, and a monitor 30 is fixed on the second electric push rod 29, and a third electric push rod 31 is installed on the storage box 24,A third linkage rod 32 is connected to the third electric push rod 31, a searchlight 33 is installed on the third linkage rod 32, and a fixed rod 34 is connected below the searchlight 33. Distance sensors 35 are installed on the side and front of the storage box 24, and a first slide 36 is opened on the storage box 24, and a second motor 37 is installed inside the first slide 36, a second drive belt 38 is connected to the shaft end of the second motor 37, and a second rotating shaft 39 is installed inside the second drive belt 38, and a first fixed frame 40 is connected to the second rotating shaft 39, a first scraper 41 is installed below the first fixed frame 40, and a second slide 42 is opened above the first slide 36, a third motor 43 is installed inside the second slide 42, and a third drive belt 44 is connected to the shaft end of the third motor 43, a third rotating shaft 45 is installed inside the third drive belt 44, and the third rotating shaft 45 is connected to the second fixed frame 46 , A second scraper 47 is provided on the second fixed frame 46, a discharge port 48 is provided on the bottom surface of the storage box 24, and a first pipe 49 is connected below the discharge port 48, and a mechanical shaft seal 50 is installed on the first pipe 49, and a torsion winding device 51 is connected to the other end of the mechanical shaft seal 50, a fourth motor 53 is installed inside the second transmission box 52, and a first support arm 54 is connected to the fourth motor 53, a second support arm 55 is installed on the first support arm 54, and a fourth electric push rod 56 is fixed below the second support arm 55, a fixed sleeve 57 is provided at the front end of the fourth electric push rod 56, and a sleeve rod 58 passes through the fixed sleeve 57, a nozzle 59 is connected to the front end of the sleeve rod 58, and a feed port 60 is provided above the nozzle 59, a second pipe 61 is connected to the feed port 60, and a limiting sleeve 62 is wrapped around the outer side of the second pipe 61, and a fifth electric push rod 63 is connected to the rear end of the second support arm 55. ,

[0032] The monitor 30 forms a lifting mechanism through the second electric push rod 29 , and the monitor 30 and the second electric push rod 29 are installed on the chassis 1 and the storage box 24 .

[0033] The monitor 30 includes a camera 3001, a protective cover 3002, a slot 3003, a fourth rotating shaft 3004, a third scraper 3005, a fourth connecting block 3006, a turntable 3007 and a fifth motor 3008. The protective cover 3002 is installed on the outside of the camera 3001, and the slot 3003 is opened on the top surface of the protective cover 3002. The fourth rotating shaft 3004 is installed in the slot 3003, and the third scraper 3005 is connected to the fourth rotating shaft 3004. The fourth connecting block 3006 is arranged at the lower end of the third scraper 3005, and the turntable 3007 is connected to the inner side of the fourth connecting block 3006, and the fifth motor 3008 is installed below the turntable 3007.

[0034] The searchlight 33 is movably connected to the fixed rod 34 , and the searchlight 33 forms a flip mechanism on the fixed rod 34 through the third electric push rod 31 and the third linkage rod 32 .

[0035] There are three groups of distance sensors 35 distributed on the storage box 24, and the distance sensors 35 are connected to the first scraper 41 in a fitting manner.

[0036] Embodiment 2

[0037] See also Figure 1-9 The present invention provides a technical solution: a method for using a coal mine tunnel robot shotcrete device, the steps of which include:

[0038] (A) First, pull the handle 27 to flip open the bin cover 25 through the hinge 26, add materials to the storage box 24, and close the bin cover 25 after the addition is completed;

[0039] (B) Then, the antenna 28 receives the signal from the mobile terminal, the monitor 30 and the second electric push rod 29 are powered on, the height of the monitor 30 is adjusted by the second electric push rod 29, and the image is transmitted to the mobile terminal through the camera 3001 in the monitor 30;

[0040] (C) When the device enters the mine, the searchlight 33 is started to realize the function of illuminating the mine, and the angle of the searchlight 33 can be adjusted by the third electric push rod 31 and the third linkage rod 32;

[0041] (D) Then the distance sensor 35 installed on the storage box 24 is used to measure the inside of the mine to prevent the device from colliding with the mine;

[0042] (E) After reaching the designated location, the spraying system is started, and the material stored in the storage box 24 is transmitted to the torsion winder 51 through the first pipeline 49 and the mechanical shaft seal 50, and then transmitted to the spray head 59 through the second pipeline 61 and the feed port 60 for spraying;

[0043] (F) During the spraying operation, the first support arm 54 can be rotated by the fourth motor 53 to adjust left and right, and the second support arm 55 can be pulled by the fifth electric push rod 63 to adjust up and down;

[0044] (G) During the spraying process, some slurry will splash onto the distance sensor 35 and the searchlight 33. At this time, the second motor 37 is required to drive the second transmission belt 38 to make the second rotating shaft 39 slide on the first slide 36, and the first scraper 41 is used to clean the distance sensor 35. The third motor 43 drives the third transmission belt 44 to make the third rotating shaft 45 slide on the second slide 42, so that the second scraper 47 can clean the searchlight 33.

[0045] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A coal mine tunnel robot shotcrete device, comprising a chassis (1), a first transmission shaft (5), a first rotating shaft (8), a second transmission box (52), a limit sleeve (62) and a fifth electric push rod (63), characterized in that: A first transmission box (2) is connected below the chassis (1), and a first motor (3) is installed inside the first transmission box (2); a first transmission belt (4) is arranged on the first motor (3); a transmission roller (6) is fixed on the first transmission shaft (5), and the transmission roller (6) is connected to the first transmission belt (4); a first bevel gear (7) is installed at the rear end of the first transmission shaft (5); a second bevel gear (9) is fixed on the first rotating shaft (8), and a third bevel gear (10) is meshed on the tooth surface of the second bevel gear (9); a second transmission shaft (11) passes through the third bevel gear (10), and tires (12) are fixed at both ends of the second transmission shaft (11); a fourth bevel gear (7) is installed at the front end of the first transmission shaft (5) (13), and the tooth surface of the fourth bevel gear (13) is meshed with the fifth bevel gear (14), the tooth surface of the fifth bevel gear (14) passes through a first movable shaft (15), and the first movable shaft (15) is connected to a second movable shaft (16), a first connecting block (17) is fixed to the second movable shaft (16), and the first connecting block (17) is connected to a first linkage rod (18), a second connecting block (19) is provided on the first linkage rod (18), and the second connecting block (19) is connected to a second linkage rod (20), a third connecting block (21) is provided at the other end of the second linkage rod (20), and a first electric push rod (22) is connected in the middle of the second linkage rod (20), and a shock absorber (22) is installed above the chassis (1). 23), and a material storage box (24) is provided above the shock absorber (23), a bin cover (25) is provided on the top surface of the material storage box (24), and a hinge (26) is connected between the bin cover (25) and the material storage box (24), a handle (27) is installed on the bin cover (25), and an antenna (28) is provided on the material storage box (24), a second electric push rod (29) is installed on the material storage box (24), and a monitor (30) is fixed on the second electric push rod (29), a third electric push rod (31) is installed on the material storage box (24), and a third linkage rod (32) is connected to the third electric push rod (31), a searchlight (33) is installed on the third linkage rod (32), and a fixing rod (34) is connected below the searchlight (33). ), a distance sensor (35) is installed on the side and front of the storage box (24), and a first slide groove (36) is provided on the storage box (24), and a second motor (37) is installed inside the first slide groove (36), the shaft end of the second motor (37) is connected to a second transmission belt (38), and a second rotating shaft (39) is installed inside the second transmission belt (38), and a first fixed frame (40) is connected to the second rotating shaft (39), a first scraper (41) is installed below the first fixed frame (40), and a second slide groove (42) is provided above the first slide groove (36), a third motor (43) is installed inside the second slide groove (42), and a third transmission belt (44) is connected to the shaft end of the third motor (43),A third rotating shaft (45) is installed inside the third transmission belt (44), and a second fixed frame (46) is connected to the third rotating shaft (45), and a second scraper (47) is arranged on the second fixed frame (46). A discharge port (48) is provided on the bottom surface of the storage box (24), and a first pipe (49) is connected below the discharge port (48), and a mechanical shaft seal (50) is installed on the first pipe (49), and the other end of the mechanical shaft seal (50) is connected to a torsion winding device (51). A fourth motor (53) is installed inside the second transmission box (52), and the fourth motor (53) is connected to a first support A support arm (54), a second support arm (55) is mounted on the first support arm (54), and a fourth electric push rod (56) is fixed below the second support arm (55), a fixing sleeve (57) is arranged at the front end of the fourth electric push rod (56), and a sleeve rod (58) is passed through the fixing sleeve (57), a nozzle (59) is connected to the front end of the sleeve rod (58), and a feed port (60) is provided above the nozzle (59), a second pipe (61) is connected to the feed port (60), and a limiting sleeve (62) is wrapped around the outer side of the second pipe (61), and a fifth electric push rod (63) is connected to the rear end of the second support arm (55).

2. A coal mine tunnel robot shotcrete device according to claim 1, characterized in that: The monitor (30) forms a lifting mechanism through a second electric push rod (29), and the monitor (30) and the second electric push rod (29) are both installed on the chassis (1) and the material storage box (24).

3. A coal mine tunnel robot shotcrete device according to claim 1, characterized in that: The monitor (30) comprises a camera (3001), a protective cover (3002), a slot (3003), a fourth rotating shaft (3004), a third scraper (3005), a fourth connecting block (3006), a turntable (3007) and a fifth motor (3008); the protective cover (3002) is installed on the outside of the camera (3001), and the top surface of the protective cover (3002) is provided with a slot (3003); the fourth rotating shaft (3004) is installed in the slot (3003), and the third scraper (3005) is connected to the fourth rotating shaft (3004); the fourth connecting block (3006) is arranged at the lower end of the third scraper (3005), and the turntable (3007) is connected to the inner side of the fourth connecting block (3006), and the fifth motor (3008) is installed below the turntable (3007).

4. A coal mine tunnel robot shotcrete device according to claim 1, characterized in that: The searchlight (33) is movably connected to the fixed rod (34), and the searchlight (33) forms a turning mechanism on the fixed rod (34) through a third electric push rod (31) and a third linkage rod (32).

5. A coal mine tunnel robot shotcrete device according to claim 1, characterized in that: The distance sensors (35) are distributed in three groups on the material storage box (24), and the distance sensors (35) are connected to the first scraper (41) in a fitting manner.

6. The method for using a coal mine tunnel robot shotcrete device according to claim 1, characterized in that: The steps include: (A) First, pull the handle (27) to flip open the bin cover (25) through the hinge (26), add materials to the storage box (24), and close the bin cover (25) after the addition is completed; (B) Then, the signal from the mobile terminal is received through the antenna (28), the monitor (30) and the second electric push rod (29) are powered on, the height of the monitor (30) is adjusted through the second electric push rod (29), and the image is transmitted to the mobile terminal through the camera (3001) in the monitor (30); (C) When the device enters the mine, the searchlight (33) is started to realize the function of illuminating the mine, and the searchlight (33) can be adjusted in angle through the third electric push rod (31) and the third linkage rod (32); (D) Then, the distance sensor (35) installed on the storage box (24) is used to measure the inside of the mine to prevent the device from colliding with the mine; (E) After reaching the designated position, the spraying system is started, and the material stored in the storage box (24) is transmitted to the twisting winder (51) through the first pipeline (49) and the mechanical shaft seal (50), and then transmitted to the spray head (59) through the second pipeline (61) and the feed port (60) for spraying; (F) During the spraying operation, the first support arm (54) can be rotated by the fourth motor (53) to adjust left and right, and the second support arm (55) can be pulled by the fifth electric push rod (63) to achieve up and down adjustment; (G) During the spraying process, part of the slurry will splash onto the distance sensor (35) and the searchlight (33). At this time, it is necessary to drive the second transmission belt (38) through the second motor (37) to make the second rotating shaft (39) slide on the first slide groove (36) and use the first scraper (41) to clean the distance sensor (35). The third transmission belt (44) is driven by the third motor (43) to make the third rotating shaft (45) slide on the second slide groove (42), so that the second scraper (47) can clean the searchlight (33).

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