Shotcrete slope protection robot and slope protection shotcreting method

Abstract

The application discloses a shotcrete slope protection robot and a slope protection shotcrete method. The shotcrete slope protection robot comprises a robot body and a shotcrete mechanism. The robot body comprises a frame, a track mechanism, a shell, a bearing plate, a control mechanism, a concrete slurry tank, an air compressor, a hydraulic station, a power module, a vertical limiting pipe, a driving mechanism, a first horizontal limiting pipe, a counterweight, a first shotcrete unit and a second shotcrete unit. The slope protection shotcrete method comprises slope protection shotcreting on a foundation pit and slope protection shotcreting in the foundation pit. The application provides an intelligent robot used for slope protection shotcreting. The shotcrete efficiency can be remarkably improved by the shotcrete slope protection robot, the shotcrete quality is guaranteed, the labor intensity of workers is reduced, and the dependence on personal experience is eliminated.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a shotcrete slope protection robot and a shotcrete method for slope protection. Background Technology

[0002] Current shotcrete slope protection construction processes require manual operation using concrete shotcrete machines. Due to the low level of automation of this equipment, the quality of the shotcrete largely depends on the operator's experience. Typically, the shotcrete thickness is uneven, and the quality of the shotcrete construction fails to meet standards. Furthermore, this method demands high skill from the operators, making it even more difficult to guarantee shotcrete quality under labor shortages. In addition, moving and transporting concrete shotcrete equipment for large foundation pits is difficult, resulting in low construction efficiency and potential safety hazards. Summary of the Invention

[0003] To address the problems existing in the prior art, the present invention aims to provide a shotcrete slope protection robot. This robot can achieve standardized processes through preset parameters, while reducing manual labor, equipment handling frequency, and safety hazards, and is convenient and efficient in construction.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] A shotcrete slope protection robot is characterized by comprising a robot body and a shotcrete mechanism. The robot body includes a frame, track mechanisms mounted on both sides of the frame, a shell fixedly mounted on the top of the frame, and a bearing plate fixedly mounted on the top of the shell.

[0006] The housing is divided into multiple working spaces by partitions. From front to back, the working spaces include a first space for setting up the control mechanism, a second space for installing the concrete slurry tank, a third space for installing the air compressor, and a fourth space for installing the hydraulic station.

[0007] The first space is equipped with a power module, the control mechanism is electrically connected to the power module, the side wall of the concrete slurry tank is equipped with a feed port, the feed port is equipped with a sealing cover, and the top of the concrete slurry tank is connected to a vertical limiting tube through a sealing bearing and rotated.

[0008] The vertical limiting tube is rotatably connected to the top wall of the shell and the bearing plate. The vertical limiting tube is rotated by a driving mechanism. The rear end of the vertical limiting tube above the bearing plate is fixedly connected to a horizontally set first horizontal limiting tube. The front end of the vertical limiting tube opposite to the first horizontal limiting tube is connected to an L-shaped counterweight. The end of the horizontal section of the counterweight is fixedly connected to the side wall of the vertical limiting tube.

[0009] The shotcrete mechanism includes a first shotcrete unit connected to a first horizontal limiting pipe, a second shotcrete unit penetrating the horizontal section and connected to a vertical limiting pipe, and a first vision sensor provided on both sides of the front end of the housing. Infrared sensors and ultrasonic ranging sensors are provided on the front, rear, left, and right ends of the side walls of the housing.

[0010] The first visual sensor, infrared sensor, and ultrasonic ranging sensor are respectively connected to the control mechanism via wires. The control mechanism is configured to control the drive mechanism, the first shotcrete unit, the second shotcrete unit, the air compressor, and the track mechanism.

[0011] The control mechanism includes a wireless signal transceiver device, which is connected to the construction site control center via the wireless signal transceiver device.

[0012] Preferably, the driving mechanism includes a drive motor, a driving gear, and a driven gear. The drive motor is fixedly connected to the upper end of the support plate, the output shaft of the drive motor is fixedly connected to the driving gear, the outer wall of the vertical limiting tube is fixedly connected to the driven gear, the driving gear and the driven gear are meshed, and the drive motor is electrically connected to the control mechanism.

[0013] Preferably, the first shotcrete unit includes a first rubber shotcrete pipe, a boom, a transfer container, and a first slurry nozzle. One end of the first rubber shotcrete pipe is inserted into the bottom of the concrete slurry tank, and the other end passes through a vertical limiting pipe and a first horizontal limiting pipe, and is connected to a transfer container.

[0014] The outer surface of the transfer container is evenly distributed with multiple first slurry nozzles in the left-right direction. The left and right ends of the transfer container are respectively detachably and fixedly connected with arms. The ends of the two arms are rotatably connected to the first horizontal limiting tube through hinge shafts.

[0015] A first angle adjustment mechanism is also connected between the boom and the first horizontal limiting tube. The pitch angle of the boom is adjusted by the first angle adjustment mechanism. Two laser rangefinders are provided on the outer end of each boom.

[0016] The laser rangefinder sensor's measuring beam direction is consistent with the orientation of the first slurry nozzle and perpendicular to the axes of the two arms. The axes of the two arms are coplanar with the horizontal midline of the transfer container.

[0017] The lower end of the boom is also provided with a traveling wheel, and the rear end of the first horizontal limiting tube extends out of the rear side of the housing; the first rubber spraying pipe is connected to a pump body on the pipe inside the vertical limiting tube, and the pump body is electrically connected to the control mechanism.

[0018] Preferably, the boom is composed of several boom segments connected to each other, and the transfer container includes several interconnected container units, each container unit being a cubic structure.

[0019] The first slurry nozzle includes a slurry outlet pipe and a nozzle body. One end of the slurry outlet pipe is fixedly connected to the outer wall of the container unit, and the other end is connected to the nozzle body. The axis of the slurry outlet pipe is perpendicular to the outer surface of the container unit.

[0020] The container unit is provided with a first interface at the upper end and a second interface at the lower end. In adjacent container units, the second interface of the upper container unit is detachably and fixedly connected to the first interface of the lower container unit. The first interface is provided with a first solenoid valve.

[0021] The container unit is equipped with a first pressure sensor for detecting slurry pressure. The control mechanism is electrically connected to the first solenoid valve and the first pressure sensor via wires. Four laser rangefinders are arranged in a rectangular shape and are respectively connected to the control mechanism via wires. When the distances detected by the four laser rangefinders to the slope surface are consistent, the vertical distances of all the first slurry nozzles from the slope surface are consistent.

[0022] The first angle adjustment mechanism includes two first hydraulic cylinders. One end of each first hydraulic cylinder is rotatably connected to a first fixed shaft at the left or right end of the first horizontal limiting tube, and the other end is rotatably connected to a second fixed shaft preset on the outer surface of the arm on the same side. The control circuit of the first hydraulic cylinder is electrically connected to the control mechanism through a wire.

[0023] Preferably, the second shotcrete unit includes a second horizontal limiting tube that penetrates the horizontal section of the counterweight block, one end of the second horizontal limiting tube is connected to and communicates with the side wall of the vertical limiting tube, and a second rubber shotcrete tube passes through the second horizontal limiting tube.

[0024] The inner end of the second rubber spray pipe is connected to the side wall of the first rubber spray pipe located at the upper end of the pump body. A fourth solenoid valve is provided on the first rubber spray pipe above the connection. The outer end of the second rubber spray pipe extends out to the outer end of the second horizontal limiting pipe and is fitted with a movable limiting pipe. A second angle adjustment mechanism is connected between the movable limiting pipe and the second horizontal limiting pipe.

[0025] The second angle adjustment mechanism includes a second hydraulic cylinder. One end of the second hydraulic cylinder is hinged to the bottom of the side wall of the second horizontal limiting tube, and the other end is hinged to the inner surface of the side wall of the movable limiting tube. The angle between the movable limiting tube and the second horizontal limiting tube is adjusted by the extension and retraction of the second hydraulic cylinder. The bottom end of the second rubber spraying pipe is connected to a bottom nozzle.

[0026] The bottom nozzle is equipped with a second solenoid valve. The inner wall of the movable limiting tube is fixedly connected to the outer wall of the second rubber spraying pipe. Several second slurry nozzles are evenly distributed from top to bottom at the front end of the movable limiting tube. Each second slurry nozzle is connected to the second rubber spraying pipe through a connecting pipe. The connecting pipe is equipped with a third solenoid valve. The second rubber spraying pipe is equipped with a second pressure sensor. The control circuits of the second pressure sensor, the second solenoid valve, the third solenoid valve, the fourth solenoid valve, and the second hydraulic cylinder are electrically connected to the control mechanism through wires.

[0027] Preferably, a second vision sensor is provided on the outer side of the lower surface of the first horizontal limiting tube. The second vision sensor is used to capture visual signals of the edge of the pit and is connected to the control mechanism via a wire.

[0028] Another object of the present invention is to provide a slope protection shotcrete method.

[0029] To achieve the above objectives, the technical solution adopted by this invention is as follows:

[0030] A slope protection shotcrete method, employing the aforementioned shotcrete slope protection robot, specifically includes the following:

[0031] Mode 1: Shotcrete for slope protection above the foundation pit;

[0032] Mode 2: Slope protection shotcreting within the foundation pit;

[0033] Both Mode 1 and Mode 2 include the step of setting parameters;

[0034] The parameters include: the vertical distance between the first or second slurry nozzle and the slope protection surface, the standard value set by the first pressure sensor, the standard value set by the second pressure sensor, and the slurry spraying time;

[0035] The amount of slurry sprayed per unit time on the slope protection surface is controlled by controlling the vertical distance between the first or second slurry nozzle and the slope protection surface, and by controlling the pressure of the slurry in the container unit or the pressure of the slurry in the second rubber spray pipe. The slurry thickness required by the process standard is achieved by controlling the vertical distance between the first or second slurry nozzle and the slope protection surface, and by controlling the pressure of the slurry in the container unit or the pressure of the slurry in the second rubber spray pipe.

[0036] Preferably, in Mode 1, the robot body rests on the base surface at the edge of the pit;

[0037] During the shotcreting process, the first shotcreting unit is turned to one side of the slope protection by the drive mechanism, and the first slurry nozzle is directed toward the slope protection surface. The distance detected by the four laser rangefinders is made consistent by the adjustment of the drive mechanism and the first hydraulic cylinder. At this time, the vertical distance between each first slurry nozzle and the slope protection surface is consistent. The vertical distance is adjusted to the set value by moving the robot body, and the pump and air compressor are started. The air pressure of the air compressor and the speed of the pump body are adjusted according to the standard value of the first pressure sensor so that the pressure value of the container unit meets the standard value. After the shotcreting set time, the robot body is moved to the next station.

[0038] Preferably, in Mode 1, the first solenoid valve of each container unit is opened sequentially from top to bottom, and each container unit is sprayed with slurry through the first slurry nozzle in sequence;

[0039] Throughout the construction process in Mode 1, the second vision sensor captures visual information of the edge of the foundation pit from directly above, and the robot body moves along the edge of the foundation pit based on the visual information of the edge of the foundation pit.

[0040] When the second vision sensor captures an image of the pit edge directly below it, it means the robot body is within a safe distance outside the pit edge.

[0041] Preferably, in Mode 2, the robot body is located at the bottom of the foundation pit near the slope protection side. By adjusting the position of the first hydraulic cylinder, the drive mechanism and the robot body, and referring to the value of the laser rangefinder, each first slurry nozzle is made to face the slope protection surface and maintain a set vertical distance from the slope protection surface. The pump body and air compressor are started, and the air compressor and pump body are adjusted according to the standard value of the first pressure sensor so that the pressure value of the container unit meets the standard value. After the slurry spraying time is set, the robot body is moved to the next work station.

[0042] For a small number of slope protection surfaces at lower locations that cannot be sprayed by the first spraying unit, the second spraying unit can be used to spray and fill the gaps, or the second hydraulic cylinder can be used to rotate the movable limiting tube at a certain angle so that the bottom nozzle is opposite to the slope protection surface and sprays and fills the gaps with slurry.

[0043] During the replenishment process, the control mechanism uses visual signals from the first vision sensor to determine whether the thickness of the sprayed slurry is consistent with the thickness of the already sprayed slurry.

[0044] The beneficial effects of this invention are:

[0045] 1. This invention provides an intelligent robot for slope protection shotcreting. The shotcreting robot can significantly improve shotcreting efficiency, ensure shotcreting quality, reduce the labor intensity of workers, and eliminate reliance on personal experience.

[0046] 2. By setting the parameters of the spraying process, this invention can make the spraying of grout on the slope surface uniform and the thickness almost uniform, and meet the process requirements.

[0047] 3. This invention greatly improves the safety performance of construction through remote control and intelligent operation of the robot body. The robot body can spray grout on the base surface at the edge of the foundation pit or at the bottom of the foundation pit. It is flexible in use and easy to move, avoiding the cumbersome operation of existing equipment entering and leaving the foundation pit. Attached Figure Description

[0048] Figure 1 : A side view of the shotcrete slope protection robot of the present invention in road walking mode;

[0049] Figure 2 : A top-view structural diagram of the shotcrete slope protection robot of the present invention in road walking mode;

[0050] Figure 3 : A schematic diagram illustrating the usage principle of the first mode of the present invention;

[0051] Figure 4 : A schematic diagram illustrating the usage principle of mode two of the present invention;

[0052] 1: First space, 2: Second space, 3: Third space, 4: Fourth space, 5: Track mechanism, 6: Vertical limiting tube, 7: First horizontal limiting tube, 8: Counterweight, 9: Second horizontal limiting tube, 10: Second rubber spraying pipe, 11: Movable limiting tube, 12: Second slurry nozzle, 13: Second hydraulic cylinder, 14: Driven gear, 15: Drive gear, 16: Drive motor, 17: Second vision sensor, 18: First fixed shaft, 19: First Hydraulic cylinder, 20: boom, 20-1: first section; 20-2: tail section, 20-3: middle section, 21: laser rangefinder, 22: first slurry nozzle, 23: traveling wheel, 24: first vision sensor, 25: articulated shaft, 26: first rubber slurry pipe, 27: container unit, 28: second interface, 29: first interface, 30: edge of the pit, 31: slope protection, 32: base surface of the edge of the pit, 33: bottom of the pit, 34: bottom nozzle. Detailed Implementation

[0053] The following description provides a detailed explanation of the embodiments of the present invention in a step-by-step manner. This description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0054] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limiting this invention.

[0055] Example 1

[0056] A shotcrete slope protection robot, such as Figure 1-4 As shown, the robot includes a robot body and a spraying mechanism. The robot body includes a frame, track mechanisms 5 installed on both sides of the frame, a shell (not marked in the figure) fixed on the top of the frame, and a bearing plate (not marked in the figure) fixed on the top of the shell.

[0057] The shell is divided into multiple working spaces by partitions. The working spaces, from front to back, include a first space 1 for setting up the control mechanism, a second space 2 for installing the concrete slurry tank, a third space 3 for installing the air compressor, and a fourth space 4 for installing the hydraulic station. The first space 1 is equipped with a power module, and the control mechanism is electrically connected to the power module. The side wall of the concrete slurry tank is equipped with a feed port.

[0058] The feed inlet is equipped with a sealing cover (not marked in the figure). The top of the concrete slurry tank is rotatably connected to a vertical limiting tube 6 through a sealed bearing. The vertical limiting tube 6 is rotatably connected to the top wall of the shell and the bearing plate. The vertical limiting tube 6 is rotated by a drive mechanism. The rear end of the vertical limiting tube 6 above the bearing plate is fixedly connected to a horizontally set first horizontal limiting tube 7. The front end of the vertical limiting tube 6 opposite to the first horizontal limiting tube 7 is connected to an L-shaped counterweight 8.

[0059] The horizontal section of the counterweight is fixedly connected to the side wall of the vertical limiting tube 6. The shotcrete mechanism includes a first shotcrete unit connected to the first horizontal limiting tube 7 and a second shotcrete unit that penetrates the horizontal section and is connected to the vertical limiting tube 6. First vision sensors 24 are provided on both sides of the front end of the housing. Infrared sensors (not shown in the figure) and ultrasonic ranging sensors (not shown in the figure) are provided on the front, rear, left, and right ends of the side walls of the housing. The first vision sensors, infrared sensors, and ultrasonic ranging sensors are respectively connected to the control mechanism via wires. The control mechanism is configured to control the drive mechanism, the first shotcrete unit, the second shotcrete unit, the air compressor, and the track mechanism.

[0060] In this embodiment, the control mechanism's control of the robot's movement is existing technology, and any content not mentioned will be addressed using existing solutions.

[0061] Example 2

[0062] Based on Example 1, this example has been further improved, specifically as follows:

[0063] like Figure 1 , 2 As shown, the control mechanism includes a wireless signal transceiver, which is connected to the construction site control center via the wireless signal transceiver. This enables remote control of the robot body.

[0064] like Figure 1 , 2 As shown, the driving mechanism includes a drive motor 16, a driving gear 15, and a driven gear 14. The drive motor 16 is fixedly connected to the upper end of the support plate, and the output shaft of the drive motor 16 is fixedly connected to the driving gear 15. The driven gear 14 is fixedly connected to the outer wall of the vertical limiting tube 6, and the driving gear 15 and the driven gear 14 are meshed together. The drive motor is electrically connected to the control mechanism. The vertical limiting tube is controlled to rotate through a set angle by the drive motor.

[0065] Example 3

[0066] Based on Example 2, this example has been further improved, specifically as follows:

[0067] like Figure 1 , 2 As shown, the first shotcrete unit includes a first rubber shotcrete pipe 26, a boom 20, a transfer container, and a first slurry nozzle 22. One end of the first rubber shotcrete pipe 26 is inserted into the bottom of the concrete slurry tank, and the other end passes through the vertical limiting pipe 6 and the first horizontal limiting pipe 7, and is connected to the transfer container.

[0068] Multiple first slurry nozzles 22 are evenly arranged on the outer surface of the transfer container along the left and right directions. Arms 20 are detachably and fixedly connected to the left and right ends of the transfer container. The ends of the two arms 20 are rotatably connected to the first horizontal limiting tube 7 through hinge shafts 25. A first angle adjustment mechanism is also connected between the arms 20 and the first horizontal limiting tube 7. The pitch angle of the arms 20 is adjusted by the first angle adjustment mechanism. Two laser rangefinders 21 are provided on the outer end of each arm.

[0069] The laser ranging sensor 21 measures light in the same direction as the first slurry nozzle 22 and is perpendicular to the axis of the two arms 20. The axis of the two arms is coplanar with the horizontal dividing plane of the transfer container. The lower end of the arm 20 is also provided with a traveling wheel 23. The rear end of the first horizontal limiting tube 7 extends out of the rear side of the housing. The first rubber spraying pipe 26 is connected to a pump body (not shown in the figure) on the pipe inside the vertical limiting tube 6. The pump body is electrically connected to the control mechanism.

[0070] like Figure 1 , 2 The diagram shows the walking mode of the shotcrete slope protection robot. In this mode, the first shotcrete unit is located behind the robot body and touches the ground via its wheels. When shotcreting the slope, the first shotcrete unit can be rotated to the side of the robot body via a drive mechanism for easier operation, or the first shotcrete unit can be retracted and tilted at a certain angle via a first hydraulic cylinder. This allows the shotcrete unit to be shotcreted on the slope regardless of whether it is located on the side, behind, or in front. The latter mode is the one where the robot is located inside the pit.

[0071] Example 4

[0072] Based on Example 3, this example has been further improved, specifically as follows:

[0073] like Figure 1 As shown, the boom 20 is composed of several boom segments connected to each other. The boom segments include a first segment 20-1, a last segment 20-2, and several intermediate segments. The connection method is a fixed connection, and the specific method can be set as needed. By setting different numbers of intermediate segments, the length of the boom can be adapted to slope protection at different heights.

[0074] like Figure 2 As shown, the transfer container includes several interconnected container units 27. The container unit 27 has a cubic structure. The first slurry nozzle 22 includes a slurry outlet pipe and a nozzle body. One end of the slurry outlet pipe is fixedly connected to the outer wall of the container unit 27, and the other end is connected to the nozzle body.

[0075] The axis of the slurry outlet pipe is perpendicular to the outer surface of the container unit 27; the upper end of the container unit 27 is provided with a first interface 29 and the lower end is provided with a second interface 28. In adjacent container units, the second interface of the upper container unit and the first interface of the lower container unit are detachably and fixedly connected. The connection method is set as needed. The first interface 29 is provided with a first solenoid valve (not shown in the figure). The container unit 27 is provided with a first pressure sensor (not shown in the figure) for detecting the slurry pressure.

[0076] The control mechanism is electrically connected to the first solenoid valve and the first pressure sensor via wires. The four laser rangefinders 21 are arranged in a rectangle and are respectively connected to the control mechanism via wires. When the distances detected by the four laser rangefinders to the slope surface are consistent, the vertical distances of all the first slurry nozzles from the slope surface are consistent (a reasonable range of error should be allowed in actual operation).

[0077] like Figure 1 , 2As shown, the first angle adjustment mechanism includes two first hydraulic cylinders 19. One end of each first hydraulic cylinder 19 is rotatably connected to a first fixed shaft 18 at the left or right end of the first horizontal limiting tube, and the other end is rotatably connected to a second fixed shaft (not marked in the figure) pre-set on the outer surface of the boom on the same side. The control circuit of the first hydraulic cylinder 19 is electrically connected to the control mechanism via wires. The first hydraulic cylinder is used to control the boom to drive the first slurry nozzle 22 to pitch at a certain angle so that it is directly opposite the slope protection surface.

[0078] Example 5

[0079] Based on Example 4, this example has been further improved, specifically as follows:

[0080] like Figure 1 , 2 As shown, the second shotcrete unit includes a second horizontal limiting tube 9 that penetrates the horizontal section of the counterweight block 8. One end of the second horizontal limiting tube 9 is connected to and communicates with the side wall of the vertical limiting tube 6. A second rubber shotcrete tube 10 passes through the second horizontal limiting tube.

[0081] The inner end of the second rubber spray pipe 10 is connected to the side wall of the first rubber spray pipe 26 located at the upper end of the pump body. A fourth solenoid valve is provided on the first rubber spray pipe above the connection point (not shown in the figure; when using the second spray unit, the fourth solenoid valve must be closed and the pump body and air compressor must be turned on). The outer end of the second rubber spray pipe 10 extends out to the outer end of the second horizontal limiting pipe 9 and is fitted with a movable limiting pipe 11.

[0082] A second angle adjustment mechanism is connected between the movable limiting tube 11 and the second horizontal limiting tube 9. The limiting tubes involved in this invention should be understood as restricting the position of the rubber spraying pipe to prevent excessive shaking during spraying, which could lead to blockage or pipe bursting; a further function is to promote the accuracy of intelligent control.

[0083] like Figure 1 As shown, the second angle adjustment mechanism includes a second hydraulic cylinder 13. One end of the second hydraulic cylinder 13 is hinged to the bottom of the side wall of the second horizontal limiting tube 9, and the other end is hinged to the inner surface of the side wall of the movable limiting tube 11. The angle between the movable limiting tube 11 and the second horizontal limiting tube 9 is adjusted by the extension and retraction of the second hydraulic cylinder. The bottom end of the second rubber spray pipe is connected to a bottom nozzle 34.

[0084] The bottom nozzle 34 is equipped with a second solenoid valve. The inner wall of the movable limiting tube 11 is fixedly connected to the outer wall of the second rubber spraying pipe 10. Several second slurry nozzles 12 are evenly distributed from top to bottom at the front end of the movable limiting tube 11. Each second slurry nozzle 12 is connected to the second rubber spraying pipe 10 through a connecting pipe. The connecting pipe is equipped with a third solenoid valve (not shown in the figure). The second rubber spraying pipe 10 is equipped with a second pressure sensor (not shown in the figure). The control circuits of the second pressure sensor, the second solenoid valve, the third solenoid valve, the fourth solenoid valve, and the second hydraulic cylinder are electrically connected to the control mechanism through wires.

[0085] Example 6

[0086] Based on Example 5, this example has been further improved, specifically as follows:

[0087] like Figure 1 , 3 As shown, a second visual sensor 17 is provided on the outer side of the lower surface of the first horizontal limiting tube 7. The second visual sensor 17 is used to capture visual signals of the pit edge 30 and is connected to the control mechanism via wires. For details of the specific function of this embodiment, please refer to the following embodiments.

[0088] Example 7

[0089] Based on Example 6, this example discloses:

[0090] A slope protection shotcrete method, such as Figure 1-4 As shown:

[0091] Includes Mode 1: Shotcrete for slope protection above the foundation pit; Mode 2: Shotcrete for slope protection inside the foundation pit;

[0092] Both Mode 1 and Mode 2 include a parameter setting step. The parameters include: the vertical distance between the first or second slurry nozzle and the slope protection surface, the standard value set by the first pressure sensor, the standard value set by the second pressure sensor, and the spraying time. By controlling the vertical distance between the first or second slurry nozzle and the slope protection surface and controlling the pressure of the slurry in the container unit or the slurry pressure in the second rubber spraying pipe, the spraying volume per unit time of the slope protection surface is controlled, and the spraying thickness required by the process standard is achieved through the preset spraying time.

[0093] Example 8

[0094] Based on Example 7, this example discloses:

[0095] like Figure 3As shown, in Mode 1, the robot body rests on the base surface 32 at the edge of the pit. During the spraying process, the first spraying unit is turned to the slope protection side by the drive mechanism, and the first slurry nozzle 22 is directed toward the slope protection surface. The distances detected by the four laser rangefinders are made consistent by the adjustment of the drive mechanism and the first hydraulic cylinder.

[0096] At this time, the vertical distance between each first slurry nozzle 22 and the slope protection surface is consistent. The vertical distance is adjusted to the set value by moving the robot body (which can achieve uniform slurry spraying on the slope protection surface). The pump body and air compressor are started. The air pressure of the air compressor and the speed of the pump body are adjusted according to the standard value of the first pressure sensor so that the pressure value of the container unit 27 meets the standard value. After the slurry spraying time is set, the robot body is moved to the next station.

[0097] like Figure 1-4 As shown, in Mode 1, the first solenoid valve of each container unit 27 is opened sequentially from top to bottom, and each container unit 27 is sprayed with slurry through the first slurry nozzle 22 in sequence. Throughout the construction process in Mode 1, the second vision sensor 17 captures visual information of the pit edge 30 from directly above. The robot body moves along the pit edge based on the visual information of the pit edge. When the second vision sensor 17 captures the pit edge located directly below the second vision sensor, it means that the robot body is within a safe distance outside the pit edge 30.

[0098] Preferably, two second vision sensors 17 are arranged side-by-side along the width direction of the first horizontal limiting tube. When both second vision sensors capture images of the pit edge directly below, the robot body is located within a safe distance 30 mm outside the pit edge. This design aims to ensure the robot body can safely travel along the pit edge, avoiding applying destructive pressure to the pit edge while protecting the robot body's safety.

[0099] Based on this design, combined with the first vision sensor, infrared sensor, and ultrasonic ranging sensor installed on the robot body of this invention, the process of automatic spraying and slope protection by the robot body can be precisely controlled.

[0100] Example 9

[0101] Based on Example 8, this example discloses:

[0102] like Figure 1-4As shown, in Mode 2, the robot body is located at the bottom 33 of the foundation pit, close to the slope 31. By adjusting the position of the first hydraulic cylinder 19, the drive mechanism, and the robot body, and referring to the value of the laser rangefinder 21, each first slurry nozzle 22 is directed toward the slope 31 and maintains a set vertical distance from the slope 31. The pump and air compressor are started, and the air compressor and pump are adjusted according to the standard value of the first pressure sensor to make the pressure value of the container unit meet the standard value. After the slurry spraying time is set, the robot body is moved to the next station. For a small number of slope surfaces at lower positions that cannot be sprayed by the first slurry spraying unit, the second slurry nozzles 12 of the second slurry spraying unit are used to spray and fill the gaps, or the movable limit tube 11 is rotated by the second hydraulic cylinder at a certain angle so that the bottom nozzle 34 is opposite to the slope 31 and sprays and fills the gaps with slurry. During the filling process, the control mechanism combines the visual signal of the first vision sensor 24 to determine whether the thickness of the sprayed slurry is consistent with the thickness of the already sprayed slurry.

Claims

1. A shotcrete slope protection robot, characterized by: It includes a robot body and a spraying mechanism. The robot body includes a frame, track mechanisms mounted on both sides of the frame, a housing fixed to the top of the frame, and a support plate fixed to the top of the housing. The housing is divided into multiple working spaces by partitions. From front to back, the working spaces include a first space for setting up the control mechanism, a second space for installing the concrete slurry tank, a third space for installing the air compressor, and a fourth space for installing the hydraulic station. The first space is equipped with a power module, the control mechanism is electrically connected to the power module, the side wall of the concrete slurry tank is equipped with a feed port, the feed port is equipped with a sealing cover, and the top of the concrete slurry tank is connected to a vertical limiting tube through a sealing bearing and rotated. The vertical limiting tube is rotatably connected to the top wall of the shell and the bearing plate. The vertical limiting tube is rotated by a driving mechanism. The rear end of the vertical limiting tube above the bearing plate is fixedly connected to a horizontally set first horizontal limiting tube. The front end of the vertical limiting tube opposite to the first horizontal limiting tube is connected to an L-shaped counterweight. The end of the horizontal section of the counterweight is fixedly connected to the side wall of the vertical limiting tube. The shotcrete mechanism includes a first shotcrete unit connected to a first horizontal limiting pipe, a second shotcrete unit penetrating the horizontal section and connected to a vertical limiting pipe, and a first vision sensor provided on both sides of the front end of the housing. Infrared sensors and ultrasonic ranging sensors are provided on the front, rear, left, and right ends of the side walls of the housing. The first visual sensor, infrared sensor, and ultrasonic ranging sensor are respectively connected to the control mechanism via wires. The control mechanism is configured to control the drive mechanism, the first shotcrete unit, the second shotcrete unit, the air compressor, and the track mechanism. The control mechanism includes a wireless signal transceiver device, which is connected to the construction control center at the construction site via the wireless signal transceiver device; the first shotcrete unit includes a first rubber shotcrete pipe, a boom, a transfer container, and a first slurry nozzle, with one end of the first rubber shotcrete pipe inserted into the bottom of the concrete slurry tank, and the other end passing through a vertical limiting pipe and a first horizontal limiting pipe, and connected to the transfer container; the drive mechanism includes a drive motor, a drive gear, and a driven gear. The outer surface of the transfer container is evenly distributed with multiple first slurry nozzles in the left-right direction. The left and right ends of the transfer container are respectively detachably and fixedly connected with arms. The ends of the two arms are rotatably connected to the first horizontal limiting tube through hinge shafts. The first rubber spray pipe is connected to a pump body on the pipe inside the vertical limiting pipe, and the pump body is electrically connected to the control mechanism. The transit container includes several interconnected container units, each of which is a cubic structure. The container unit is provided with a first interface at the upper end and a second interface at the lower end. In adjacent container units, the second interface of the upper container unit is detachably and fixedly connected to the first interface of the lower container unit. The first interface is provided with a first solenoid valve. The container unit is equipped with a first pressure sensor for detecting slurry pressure, and the control mechanism is electrically connected to the first solenoid valve and the first pressure sensor via wires.

2. The shotcrete slope protection robot as described in claim 1, characterized in that: The drive motor is fixedly connected to the upper end of the support plate, and the output shaft of the drive motor is fixedly connected to a drive gear. The outer wall of the vertical limiting tube is fixedly connected to a driven gear. The drive gear and the driven gear are meshed and connected. The drive motor is electrically connected to the control mechanism.

3. The shotcrete slope protection robot as described in claim 1, characterized in that: A first angle adjustment mechanism is also connected between the boom and the first horizontal limiting tube. The pitch angle of the boom is adjusted by the first angle adjustment mechanism. Two laser rangefinders are provided on the outer end of each boom. The laser rangefinder sensor's measuring beam direction is consistent with the orientation of the first slurry nozzle and perpendicular to the axes of the two arms. The axes of the two arms are coplanar with the horizontal midline of the transfer container. The lower end of the arm is also provided with a traveling wheel, and the rear end of the first horizontal limiting tube extends out of the rear side of the housing.

4. The shotcrete slope protection robot as described in claim 3, characterized in that: The boom is composed of several boom segments connected to each other; The first slurry nozzle includes a slurry outlet pipe and a nozzle body. One end of the slurry outlet pipe is fixedly connected to the outer wall of the container unit, and the other end is connected to the nozzle body. The axis of the slurry outlet pipe is perpendicular to the outer surface of the container unit. Four laser rangefinders are arranged in a rectangular shape and are respectively connected to the control mechanism via wires. When the distances detected by the four laser rangefinders to the slope protection surface are consistent, the vertical distances of all the first slurry nozzles from the slope protection surface are consistent. The first angle adjustment mechanism includes two first hydraulic cylinders. One end of each first hydraulic cylinder is rotatably connected to a first fixed shaft at the left or right end of the first horizontal limiting tube, and the other end is rotatably connected to a second fixed shaft preset on the outer surface of the arm on the same side. The control circuit of the first hydraulic cylinder is electrically connected to the control mechanism through a wire.

5. The shotcrete slope protection robot as described in claim 4, characterized in that: The second shotcrete unit includes a second horizontal limiting tube that penetrates the horizontal section of the counterweight block. One end of the second horizontal limiting tube is connected to and communicates with the side wall of the vertical limiting tube. A second rubber shotcrete tube passes through the second horizontal limiting tube. The inner end of the second rubber spray pipe is connected to the side wall of the first rubber spray pipe located at the upper end of the pump body. A fourth solenoid valve is provided on the first rubber spray pipe above the connection. The outer end of the second rubber spray pipe extends out to the outer end of the second horizontal limiting pipe and is fitted with a movable limiting pipe. A second angle adjustment mechanism is connected between the movable limiting pipe and the second horizontal limiting pipe. The second angle adjustment mechanism includes a second hydraulic cylinder. One end of the second hydraulic cylinder is hinged to the bottom of the side wall of the second horizontal limiting tube, and the other end is hinged to the inner surface of the side wall of the movable limiting tube. The angle between the movable limiting tube and the second horizontal limiting tube is adjusted by the extension and retraction of the second hydraulic cylinder. The bottom end of the second rubber spraying pipe is connected to a bottom nozzle. The bottom nozzle is equipped with a second solenoid valve. The inner wall of the movable limiting tube is fixedly connected to the outer wall of the second rubber spraying pipe. Several second slurry nozzles are evenly distributed from top to bottom at the front end of the movable limiting tube. Each second slurry nozzle is connected to the second rubber spraying pipe through a connecting pipe. The connecting pipe is equipped with a third solenoid valve. The second rubber spraying pipe is equipped with a second pressure sensor. The control circuits of the second pressure sensor, the second solenoid valve, the third solenoid valve, the fourth solenoid valve, and the second hydraulic cylinder are electrically connected to the control mechanism through wires.

6. The shotcrete slope protection robot as described in claim 5, characterized in that: A second vision sensor is provided on the outer side of the lower surface of the first horizontal limiting tube. The second vision sensor is used to capture visual signals of the edge of the pit and is connected to the control mechanism via a wire.

7. A slope protection shotcrete method, characterized by: The shotcrete slope protection robot described in claim 6 specifically includes the following: Mode 1: Shotcrete for slope protection above the foundation pit; Mode 2: Slope protection shotcreting within the foundation pit; Both Mode 1 and Mode 2 include the step of setting parameters; The parameters include: the vertical distance between the first or second slurry nozzle and the slope protection surface, the standard value set by the first pressure sensor, the standard value set by the second pressure sensor, and the slurry spraying time; The amount of slurry sprayed per unit time on the slope protection surface is controlled by controlling the vertical distance between the first or second slurry nozzle and the slope protection surface, and by controlling the pressure of the slurry in the container unit or the pressure of the slurry in the second rubber spray pipe. The slurry thickness required by the process standard is achieved by controlling the vertical distance between the first or second slurry nozzle and the slope protection surface, and by controlling the pressure of the slurry in the container unit or the pressure of the slurry in the second rubber spray pipe.

8. The slope protection shotcrete method as described in claim 7, characterized in that: In Mode 1, the robot body rests on the base surface at the edge of the pit; During the shotcreting process, the first shotcreting unit is turned to one side of the slope protection by the drive mechanism, and the first slurry nozzle is directed toward the slope protection surface. The distance detected by the four laser rangefinders is made consistent by the adjustment of the drive mechanism and the first hydraulic cylinder. At this time, the vertical distance between each first slurry nozzle and the slope protection surface is consistent. The vertical distance is adjusted to the set value by moving the robot body, and the pump and air compressor are started. The air pressure of the air compressor and the speed of the pump body are adjusted according to the standard value of the first pressure sensor so that the pressure value of the container unit meets the standard value. After the shotcreting set time, the robot body is moved to the next station.

9. A slope protection shotcrete method as described in claim 8, characterized in that: In Mode 1, the first solenoid valve of each container unit is opened sequentially from top to bottom, and each container unit is sprayed with slurry through the first slurry nozzle in sequence. Throughout the construction process in Mode 1, the second vision sensor captures visual information of the edge of the foundation pit from directly above, and the robot body moves along the edge of the foundation pit based on the visual information of the edge of the foundation pit. When the second vision sensor captures an image of the pit edge directly below it, it means the robot body is within a safe distance outside the pit edge.

10. A slope protection shotcrete method as described in claim 9, characterized in that: In the second mode, the robot body is located at the bottom of the pit near the slope protection. By adjusting the position of the first hydraulic cylinder, the drive mechanism and the robot body, and referring to the value of the laser rangefinder, each first slurry nozzle is made to face the slope protection surface and maintain a set vertical distance from the slope protection surface. The pump body and air compressor are started, and the air compressor and pump body are adjusted according to the standard value of the first pressure sensor so that the pressure value of the container unit meets the standard value. After the slurry spraying time is set, the robot body is moved to the next work station. For a small number of slope protection surfaces at lower locations that cannot be sprayed by the first spraying unit, the second spraying unit can be used to spray and fill the gaps, or the second hydraulic cylinder can be used to rotate the movable limiting tube at a certain angle so that the bottom nozzle is opposite to the slope protection surface and sprays and fills the gaps with slurry. During the replenishment process, the control mechanism uses visual signals from the first vision sensor to determine whether the thickness of the sprayed slurry is consistent with the thickness of the already sprayed slurry.

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