Guniting robot feeding pipe monitoring device

Abstract

This invention relates to the field of fault detection, and more particularly to a monitoring device for the feeding pipeline of a shotcrete robot. It aims to address the problem that existing shotcrete robots lack a mature fault monitoring system, making it difficult to determine the appropriateness of the slurry mix ratio and whether the pipeline is blocked during automated operation. The monitoring device includes hose connectors installed at both ends of each slurry feeding hose segment. Adjacent slurry feeding hose segments are connected by hose connector clamps. By providing pressure values ​​on the pipeline under two extreme conditions (too concentrated or too diluted), the pressure measured by the annular pressure detector on the hose connector is considered appropriate if the pressure falls between these two extreme values. When the pipeline is blocked, the slurry pressure on the pipeline will reach a high value within a short period. If such a high value is detected, it indicates a pipeline blockage.

Description

Technical Field

[0001] This invention relates to the field of fault detection, and more particularly to a monitoring device for the feeding pipeline of a shotcrete robot. Background Technology

[0002] During coal mine tunnel excavation, shotcrete support is required at the new excavation face to enhance the stability of the tunnel. With the development of automation technology, enterprises are gradually adopting shotcrete robots to replace manual labor for shotcrete support operations.

[0003] In response to the problems that occur during the shotcreting process, the existing shotcreting robots do not have a mature fault monitoring system. During automated operation, the existing shotcreting robots have difficulty judging whether the slurry ratio of the feeding pipe is appropriate and whether the feeding pipe is blocked. If staff are assigned to supervise on-site, it will not only consume manpower but also violate the original intention of "reducing manpower without reducing production" in the construction of smart mines. Summary of the Invention

[0004] This invention provides a monitoring device for the feeding pipeline of a shotcrete robot, which solves the problem that existing shotcrete robots do not have a mature fault monitoring system, making it difficult to determine whether the slurry ratio of the feeding pipeline is appropriate and whether the feeding pipeline is blocked during automated operation.

[0005] To achieve the above objectives, the present invention provides a monitoring device for the feeding pipeline of a shotcrete robot, including a hose connector. The hose connector is installed at both ends of each section of the slurry feeding hose. The hose connectors on two adjacent sections of the slurry feeding hose are connected by hose connector clamps. An annular pressure detector is provided on the hose connector.

[0006] In the aforementioned monitoring device for the feed pipe of the shotcrete robot, optionally, the annular pressure detector is connected to the connecting bolt fixing plate via a connector, and the hose connecting column is fixedly installed at the center of the connecting bolt fixing plate. The end of the slurry feed hose passes through the annular pressure detector and is fixed on the hose connecting column.

[0007] In the aforementioned monitoring device for the feed pipeline of the shotcrete robot, the connecting parts can optionally be connected with bolts.

[0008] In the aforementioned shotcrete robot feeding pipeline monitoring device, optionally, the connecting bolt fixing plate is welded to the hose connecting column.

[0009] In the aforementioned shotcrete robot feeding pipeline monitoring device, optionally, the inner diameter of the annular pressure detector is larger than the outer diameter of the hose connecting column.

[0010] In the aforementioned shotcrete robot feeding pipeline monitoring device, optionally, a connector clamp plate is fixedly installed at the end of the hose connecting column away from the annular pressure detector, and the hose connector clamp is fixed on the connector clamp plate of two adjacent hose connectors.

[0011] In the aforementioned monitoring device for the feed pipe of the shotcrete robot, optionally, the annular pressure detector includes an inner ring, an outer ring is set outside the inner ring, a pressure strain gauge is fixed on the outer wall of the inner ring, and a gap is set between the pressure strain gauge and the outer ring.

[0012] In the aforementioned monitoring device for the feed pipe of the shotcrete robot, the inner ring can optionally be a rubber ring.

[0013] In the aforementioned monitoring device for the feed pipeline of the shotcrete robot, the inner ring can optionally be a vulcanized rubber ring.

[0014] In the aforementioned monitoring device for the feed pipe of the shotcrete robot, the outer ring can optionally be a metal ring.

[0015] The present invention provides a monitoring device for the slurry robot's feeding pipeline, including a hose connector. The hose connector is installed at both ends of each slurry feeding hose segment. The hose connectors on adjacent slurry feeding hose segments are connected by hose connector clamps. Annular pressure detectors are installed on the hose connectors. Multiple annular pressure detectors monitor the pressure of slurry on the pipeline at different positions in real time to maximize real-time performance. The hose connector is cylindrical in shape, which not only enables pressure monitoring but also facilitates the connection of adjacent slurry feeding hoses. The slurry in the slurry feeding hose exerts pressure on the slurry feeding hose, causing the inner ring of the annular pressure detector to deform. The deformation of the inner ring causes the pressure strain gauge to deform, reflecting the pressure of the slurry on the pipeline. By providing the pressure values ​​of the slurry on the pipeline under two extreme conditions of excessively concentrated or excessively diluted slurry, the measured pressure value between the two extreme values ​​indicates that the slurry ratio is appropriate. When the pipeline is blocked, the pressure of the slurry on the pipeline will reach a large value in a short time. If such a large value is detected, it indicates that the pipeline is blocked.

[0016] The structure of the present invention, as well as its other inventive objects and beneficial effects, will become more apparent from the description of preferred embodiments taken in conjunction with the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of the overall structure of the shotcrete robot feeding pipeline monitoring device provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the hose connector clamp of the shotcrete robot feeding pipeline monitoring device provided in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the flexible hose connector of the shotcrete robot feeding pipeline monitoring device provided in an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the annular pressure detector of the shotcrete robot feeding pipeline monitoring device provided in an embodiment of the present invention;

[0022] Figure 5 This is a cross-sectional view of the annular pressure detector of the shotcrete robot feeding pipeline monitoring device provided in an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the outer ring structure of the shotcrete robot feeding pipeline monitoring device provided in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1-Slurry feeding hose; 2-Hose connector clamp; 3-Hose connector; 301-Annular pressure detector; 302-Connecting bolt; 303-Hose connecting post; 304-Connecting bolt fixing plate; 305-Connector clamp plate; 3011-Inner ring; 3012-Outer ring; 3013-Pressure strain gauge. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be described in more detail below with reference to the accompanying drawings of the preferred embodiments. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] Ignoring malfunctions caused by mechanical damage to shotcrete robots, the most serious factors affecting shotcrete quality are currently the slurry mixing ratio and the blockage of the feeding pipe. At present, existing shotcrete robots lack a mature fault monitoring system to address issues such as abnormal slurry mixing ratios and blockages in the feeding pipe during the shotcrete process. Therefore, how to monitor the slurry mixing status and the blockage of the feeding pipe to further improve the automation level of shotcrete robots and the effectiveness of shotcrete support has become an important issue.

[0028] like Figure 1 , Figure 2 As shown, the present invention provides a monitoring device for the feeding pipeline of a shotcrete robot, including a hose connector 3. The hose connector 3 is installed at both ends of each section of the slurry feeding hose 1. The hose connectors 3 on two adjacent sections of the slurry feeding hose 1 are connected by hose connector clamps 2. An annular pressure detector 301 is provided on the hose connector 3.

[0029] It should be noted that the shotcrete feeding pipe is composed of multiple sections of slurry feeding hose 1 connected together. Each section of slurry feeding hose 1 is equipped with hose connectors 3 at both ends. Adjacent slurry feeding hoses 1 are connected by hose connectors 3 and hose connector clamps 2, and adjacent hose connectors 3 are connected by hose connector clamps 2.

[0030] During operation, the pressure of the slurry in the feeding pipe is monitored by the ring pressure detector 301. The pressure value is used to determine whether the slurry ratio meets the requirements and whether the feeding pipe is blocked. Since the entire slurry feeding pipe is spliced ​​from multiple slurry feeding hoses 1, there are multiple hose connectors 3 in the slurry feeding pipe, that is, there are multiple ring pressure detectors 301 to monitor the pressure of the slurry on the pipe at different positions in real time, so as to improve the real-time performance as much as possible.

[0031] like Figure 1 , Figure 2 , Figure 3 As shown, the annular pressure detector 301 is connected to the connecting bolt fixing plate 304 via a connector. The hose connecting column 303 is fixedly installed at the center of the connecting bolt fixing plate 304. The end of the slurry feeding hose 1 passes through the annular pressure detector 301 and is fixed on the hose connecting column 303.

[0032] It should be noted that the hose connector 3 is cylindrical in shape, which can both enable pressure monitoring and facilitate the connection of adjacent slurry feeding hoses 1.

[0033] like Figure 3 As shown, the connector uses 302 connecting bolts.

[0034] It should be noted that the connecting bolt 302 serves two purposes: First, the annular pressure sensor 301 outputs a signal through a wire, and the connecting bolt 302 restricts the position of the annular pressure sensor 301 to prevent it from sliding and breaking the wire as it travels along the shotcrete pipe; second, the hose connecting post 303 is made of metal, so when the pipe is blocked, the pressure change at the hose connecting post 303 is minimal. The relatively long connecting bolt 302 allows the annular pressure sensor 301 to be kept as far away from the hose connecting post 303 as possible, thus improving accuracy.

[0035] like Figure 3 As shown, the connecting bolt fixing plate 304 is welded to the hose connecting post 303.

[0036] It should be noted that the connecting bolt fixing plate 304 is annular, and the hose connecting post 303 is inserted into the center of the connecting bolt fixing plate 304 and welded to the connecting bolt fixing plate 304, so that the connection between the hose connecting post 303 and the connecting bolt fixing plate 304 is relatively stable.

[0037] like Figure 1 , Figure 2 , Figure 3 As shown, the inner diameter of the annular pressure detector 301 is larger than the outer diameter of the hose connecting post 303.

[0038] It should be noted that the inner diameter of the annular pressure detector 301 is larger than the outer diameter of the hose connecting post 303, so that the end of the slurry feeding hose 1 can pass through the inside of the annular pressure detector 301 and be fixed on the hose connecting post 303.

[0039] like Figure 1 , Figure 2 , Figure 3 As shown, a connector clamp plate 305 is fixedly installed at the end of the hose connector 303 away from the annular pressure detector 301, and the hose connector clamp 2 is fixed on the connector clamp plates 305 of the two adjacent hose connectors 3.

[0040] It should be noted that after the connector clamp plates 305 of two adjacent hose connectors 3 are fitted together, the hose connector clamp 2 is fixed on the fitted connector clamp plates 305. The hose connector clamp 2 and the hose connector 3 are detachably fixed, which facilitates the connection and separation of two adjacent hose connectors 3.

[0041] like Figure 3 , Figure 4 , Figure 5 As shown, the annular pressure detector 301 includes an inner ring 3011, an outer ring 3012 is disposed outside the inner ring 3011, a pressure strain gauge 3013 is fixed on the outer wall of the inner ring 3011, and a gap is provided between the pressure strain gauge 3013 and the outer ring 3012.

[0042] It should be noted that the outer ring 3012 is a metal outer ring, which is essentially a metal outer shell, such as... Figure 6 As shown. A pressure strain gauge 3013 is attached to the outer surface of the inner ring 3011. The inner ring 3011 is directly inserted into the groove of the outer ring 3012, with a small gap (or void) to allow for deformation space in the rubber inner ring 3011. The pressure strain gauge 3013 is directly attached to the perimeter of the inner ring 3011, forming a bridge circuit. A gap is provided between the inner wall of the outer ring 3012 and the pressure strain gauge 3013 to protect the strain circuit. The slurry feeding hose 1 passes through the inner ring 3011. The slurry in the slurry feeding hose 1 applies pressure to the slurry feeding hose 1, causing the inner ring 3011 to deform. The deformation of the inner ring 3011 causes the pressure strain gauge 3013 to deform, thus reflecting the pressure of the slurry on the pipeline.

[0043] like Figure 4 , Figure 5 As shown, the inner ring 3011 is a rubber ring.

[0044] It should be noted that when the shotcrete feeding pipe is conveying shotcrete, the shotcrete will exert pressure on the shotcrete feeding hose 1, thereby causing the rubber inner ring 3011 to deform.

[0045] like Figure 4 , Figure 5 As shown, the inner ring 3011 is a vulcanized rubber ring.

[0046] It should be noted that the inner ring 3011 is a vulcanized rubber ring, which has high elasticity and hardness.

[0047] like Figure 3 , Figure 4 , Figure 5 As shown, the outer ring 3012 is a metal ring.

[0048] It should be noted that the inner ring of the annular pressure detector 301 is connected to the connecting bolt fixing plate 304 through a connector, and the outer ring 3012 protects the inner ring 3011 and the pressure strain gauge 3013.

[0049] Since the degree of pipe bending also affects the pressure of the slurry on the pipe, in actual shotcreting operations, the pipe section where the hose connector 3 is installed needs to be straightened to avoid the influence of pipe bending.

[0050] During shotcreting operations, the slurry in the shotcreting feed pipe will exert pressure on the pipe, causing the inner rubber ring 3011 to deform to different degrees, thereby obtaining the pressure of different slurries on the pipe. Since the pressure of different slurry ratios on the pipe is different under the same conveying speed, the pressure value measured by the ring pressure detector 301 is used to determine whether the slurry ratio is appropriate.

[0051] The controller is positioned around the shotcrete pipeline, and a ring pressure sensor 301 is connected to the controller via wires. During shotcrete operations, the pressure value obtained by the ring pressure sensor determines whether there is a blockage in the spraying pipeline. Only two extreme conditions—too concentrated or too diluted—need to be specified in the pressure value of the slurry on the pipeline. If the pressure value measured by the ring pressure sensor 301 falls between these two extremes, the slurry ratio is considered appropriate. When the pipeline is blocked, the pressure value measured by the ring pressure sensor 301 will show abnormal changes. Unlike the pressure changes caused by the slurry ratio, when the feed pipeline is blocked, the pressure of the slurry on the pipeline will reach a large value in a short period. If such a large value is detected, it indicates a blockage in the pipeline. If the pressure measured by the ring pressure sensor 301 shows an abnormal value, it indicates a blockage in the shotcrete pipeline or a problem with the slurry ratio (at the same flow rate, different fluid densities produce different pressures on the pipeline). When an abnormal value occurs, the controller needs to react promptly, followed by manual troubleshooting to clear the pipeline or adjust the slurry ratio.

[0052] The spraying robot feeding pipeline monitoring device provided by this invention includes a hose connector 3, which is installed at both ends of each slurry feeding hose 1. The hose connectors 3 on adjacent slurry feeding hose 1 are connected by hose connector clamps 2. Annular pressure detectors 301 are installed on the hose connectors 3. Multiple annular pressure detectors 301 monitor the pressure of slurry on the pipeline at different positions in real time to improve real-time performance as much as possible. The hose connector 3 is cylindrical in shape, which can realize pressure monitoring and facilitate the connection of adjacent slurry feeding hoses 1. The slurry in the slurry feeding hose 1 applies pressure to the slurry feeding hose 1, causing the inner ring 3011 of the annular pressure detector 301 to deform. The deformation of the inner ring 3011 causes the pressure strain gauge 3013 to deform, which reflects the pressure of slurry on the pipeline. By giving the pressure value of slurry on the pipeline under two extreme conditions of too thick or too thin, the measured pressure value between the two extreme values ​​indicates that the slurry ratio is appropriate. When the pipeline is blocked, the pressure of slurry on the pipeline will reach a large value in a short time. If such a large value is detected, it indicates that the pipeline is blocked.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A monitoring device for the feeding pipeline of a shotcrete robot, characterized in that, Includes a hose connector, which is installed at both ends of each slurry feeding hose section. The hose connectors on two adjacent slurry feeding hose sections are connected by hose connector clamps. An annular pressure detector is installed on the hose connector. The annular pressure detector is connected to the connecting bolt fixing plate via a connector. A hose connecting column is fixedly installed at the center of the connecting bolt fixing plate. The end of the slurry feeding hose passes through the annular pressure detector and is fixed on the hose connecting column. The connecting component uses connecting bolts; The hose connector is made of metal, and the connecting bolt is relatively long, which allows the annular pressure detector to be kept as far away from the hose connector as possible, thus improving accuracy.

2. The monitoring device for the feed pipeline of the shotcrete robot according to claim 1, characterized in that, The connecting bolt fixing plate is welded to the hose connecting post.

3. The monitoring device for the feed pipeline of the shotcrete robot according to claim 2, characterized in that, The inner diameter of the annular pressure detector is larger than the outer diameter of the hose connecting post.

4. The monitoring device for the feed pipeline of the shotcrete robot according to any one of claims 1-3, characterized in that, A connector clamp plate is fixedly installed at the end of the hose connector column away from the annular pressure detector, and the hose connector clamp is fixed on the connector clamp plates of two adjacent hose connectors.

5. The monitoring device for the feed pipeline of the shotcrete robot according to claim 1, characterized in that, The annular pressure detector includes an inner ring and an outer ring outside the inner ring. A pressure strain gauge is fixed on the outer wall of the inner ring, and a gap is provided between the pressure strain gauge and the outer ring.

6. The monitoring device for the feed pipeline of the shotcrete robot according to claim 5, characterized in that, The inner ring is a rubber ring.

7. The monitoring device for the feed pipeline of the shotcrete robot according to claim 6, characterized in that, The inner ring is a vulcanized rubber ring.

8. The monitoring device for the feed pipeline of the shotcrete robot according to claim 7, characterized in that, The outer ring is a metal ring.

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