Intelligent wall building machine suitable for mine

Abstract

The invention discloses an intelligent wall building machine suitable for mines. The intelligent wall building machine comprises a scanning positioning system, a stirring device, a moving trolley, a feeding device, a brick receiving device, a control system, a slurry supply device, a lifting table and a brick building device. The whole equipment highly integrates a series of functions required by wall building such as equipment moving, intelligent scanning, automatic positioning, brick supplying, slurry supplying, brick taking, slurry smearing, brick building and compacting, and the equipment is compact, convenient to transfer and high in intelligent degree.

Description

Technical Field

[0001] The invention belongs to the field of construction machinery and mining machinery, and particularly relates to an intelligent wall-building machine suitable for mines. Background Art

[0002] Wall masonry is usually built by manual operation, which is labor-intensive, has a bad working environment and poor safety. In recent years, science and technology have been continuously improved, and more and more automatic or semi-automatic masonry equipment has entered the research stage, but the use effect is not satisfactory. Typical cases are as follows: Chongqing Zhongyu Guli Intelligent Technology Co., Ltd. has developed a crawler bricklaying robot that can be used for wall laying operations in the construction industry. The equipment can move and achieve wall laying, but the equipment requires manual work to load bricks one by one, which does not achieve the purpose of reducing labor at all; Guangdong Bozhilin Robot Co., Ltd., a subsidiary of Country Garden Group, has developed a bricklaying robot with a lifting mechanism, which only achieves the displacement of bricks through a three-coordinate structure and relies on manual work to move the equipment, which has no practical value; the SAM100 bricklaying robot developed by the American Construction Robotics company achieves brick laying through the robot, but the equipment is large and cannot be used in confined spaces, such as the construction of filling board walls in underground mine access roads, or the construction of partition walls under the main frame of a built building in civil buildings. Therefore, it can only be used for straight single-wall construction in open environments, and there are very few applicable working conditions and low practical value.

[0003] In summary, although some companies at home and abroad have done research and development of conventional wall-building robots, the equipment has a very simple function and basically only realizes the function of moving bricks. At the same time, the equipment has high use conditions, and most of them remain in the research stage and have not been put into actual use. The few prototypes that have been made also have limitations such as low automation, only able to build straight walls, and high costs. There are no cases of automatic masonry in confined spaces. For wall masonry in confined spaces, such as board wall masonry in mine shafts, or partition wall masonry in civil buildings, there are many difficulties in using mechanized equipment for board wall masonry due to complex environments, harsh conditions, and narrow spaces. At present, no relevant application cases can be found at home and abroad. Summary of the invention

[0004] The present invention aims to solve the problem of automatic wall construction in confined spaces and to provide an intelligent wall-building machine under confined working conditions. The machine highly integrates a series of functions required for wall construction, including equipment movement, intelligent scanning, automatic positioning, brick supply, mortar supply, brick taking, mortar spreading, brick laying and compaction. The machine is compact, easy to transport and highly intelligent.

[0005] To achieve the above object, the technical solution of the present invention is: An intelligent wall-building machine suitable for mines, the intelligent wall-building machine comprising: The mobile trolley is composed of a frame, a walking and steering mechanism, and a body leveling device. The frame is used to carry all functional components of the intelligent wall-building machine; the walking and steering mechanism is arranged at the bottom of the frame, including a walking unit and a steering unit, which are used to drive the frame to walk and turn; the body leveling device is arranged around the frame, including a level detection sensor, a swing leg seat, and a telescopic leg, which are used to detect and adjust the level of the body; Furthermore, the vehicle body leveling device is composed of a horizontal detection sensor, four swing leg seats and telescopic legs installed on the four swing leg seats; the horizontal detection sensor is a dual-axis tilt sensor, which detects the tilt angles of the frame in two horizontal directions through the dual-axis tilt sensor, and controls the extension and retraction of the telescopic legs through a programmable controller, so as to ensure the verticality of the wall-building machine and the ground during the laying process, that is, to ensure the verticality of the laid wall; the swing leg seat is hinged to the frame in the horizontal direction; when the equipment is working, the swing leg seat is opened and fixed, so that the chassis area of ​​the equipment is larger and the stability is higher; when the equipment is moving, the swing leg seat is folded up and fixed close to the frame, so that the equipment has a smaller appearance and a stronger passing ability; The scanning and positioning system includes a pan-tilt and a laser radar. The pan-tilt is installed on the frame and has a horizontal rotation function; the laser radar is installed on the pan-tilt and has a vertical line scanning function. Through the horizontal rotation of the pan-tilt and the vertical line scanning of the laser radar, a spatial point cloud model of the external lane contour of the wall to be built is obtained, and the relative position of the equipment and the external contour is located, so as to provide the required raw data for the control system to implement automatic masonry operations; Furthermore, the pan-tilt platform comprises a fixed base and a rotating table, the rotating table can rotate horizontally relative to the fixed base, and the fixed base is installed on the frame; the laser radar is installed on the rotating table, and can perform vertical line scanning to obtain a fan point cloud in the vertical direction of the external contour; while the laser radar is scanning, the pan-tilt platform drives the laser radar to rotate horizontally at a uniform speed; through internal fitting of the control system, all spatial point clouds corresponding to the longitudinal scanning within the horizontal rotation angle range are obtained; by adjusting the scanning angle of the equipment, the spatial point cloud model of the external lane contour of the wall to be built, the relative position of the equipment and the lane and other information can be obtained, and the original data required for the control system to implement automatic masonry and other operations can be provided; The brick receiving device is composed of a brick support and a positioning device, and is fixedly mounted on the frame; the brick support receives bricks neatly arranged according to a specific rule, and ensures that the position and posture of the bricks are fixed through the positioning device; A feeding device, fixed on the frame, is composed of a feeding hopper, a lifting track, a lifting mechanism, a water adding device and supporting legs, and is used to add water and feed materials into the stirring device; A stirring device, fixed on the frame, consisting of a stirring barrel and a rotating mechanism, used for stirring mortar required for masonry; The mortar supply device is fixed on the frame and consists of a hopper, a pump, a pumping pipeline and a nozzle. The hopper receives the mortar mixed by the stirring device, and the pumping mechanism and the pumping pipeline transport the mixed mortar to the nozzle for applying the mortar to the bricks. A bricklaying device, comprising a robot, a brick fixture and a force sensor connected to the brick fixture; the robot takes bricks one by one from the brick receiving device, applies mortar through the nozzle of the mortar supply device, and places the bricks at the designated position of the wall to be built as planned by the control system; Furthermore, the bricklaying device may be one or more. When there are multiple bricklaying devices, the equipment decomposes the actions of taking bricks, applying mortar, placing bricks and compacting. Each bricklaying device completes at least one action, and multiple bricklaying devices complete the action in relay, thereby improving the overall working efficiency of the intelligent wall-building machine. Furthermore, the mobile trolley is also equipped with a lifting platform, which is composed of a base, a lifting mechanism and a table top. The base is installed on the frame, a bricklaying device is installed on the table top, and the lifting mechanism is installed between the base and the table top. The table top can be lifted and lowered relative to the base by the lifting mechanism, thereby increasing the height range of the bricklaying device. The control system is fixed inside the frame and is composed of a programmable controller, a touch screen and peripheral devices, and is used to realize fully automatic control of the intelligent wall-building machine; brick specifications, wall thickness and the masonry form of each layer of bricks are manually input through the touch screen, and the programmable controller automatically generates a 3D model and a masonry path of the wall to be built based on the original data provided by the scanning and positioning system, and controls the bricklaying device to complete the automatic masonry of the wall to be built.

[0006] In summary, the fully automatic intelligent wall-building machine of the present invention can realize the automatic construction of walls in underground mine tunnels through the control system, scanning and positioning system and bricklaying device, which greatly improves the operating environment of workers, reduces the labor intensity of workers and improves labor efficiency; in addition, the legs of the vehicle body leveling device, the lifting track of the feeding device, the brick receiving device and the robot of the bricklaying device can all be folded and unfolded, and the lifting platform can be raised or lowered, so as to realize the intelligent wall-building machine. While meeting the masonry function, increasing the single masonry area, reducing the number of equipment shifts, and enhancing the overall working stability of the equipment, the volume of the equipment is reduced and its transportation and traffic capacity in narrow spaces is improved.

[0007] The present invention fills the blank of automatic wall construction in confined spaces in my country and can be applied to the construction of board walls in mines or the construction of partition walls in civil buildings, greatly promoting scientific and technological progress and social and economic development, reducing the labor intensity of workers and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a schematic diagram of the working state of an intelligent wall-building machine suitable for mines according to the present invention; Figure 2 It is a structural schematic diagram of a mobile trolley of an intelligent wall-building machine suitable for mines according to the present invention; Figure 3 It is a structural schematic diagram of a walking and steering mechanism in a mobile trolley of an intelligent wall-building machine suitable for mines according to the present invention; Figure 4 It is a schematic diagram of the structure of a scanning and positioning system of an intelligent wall-building machine suitable for mines according to the present invention; Figure 5 It is a structural schematic diagram of a brick receiving device of an intelligent wall-building machine suitable for mines according to the present invention; Figure 6 It is a structural schematic diagram of a stirring device and a feeding device of an intelligent wall-building machine suitable for mines according to the present invention; Figure 7 It is a structural schematic diagram of a slurry supply device of an intelligent wall-building machine suitable for mines according to the present invention; Figure 8 It is a structural schematic diagram of a lifting platform and a bricklaying device of an intelligent wall-building machine suitable for mines of the present invention; Fig. 9 It is a schematic diagram of the walking or transporting state of an intelligent wall-building machine suitable for mines according to the present invention; Figure 1 The marks are as follows: Scanning and positioning system 1 Stirring device 2 Mobile car 3 Feeding device 4 Brick receiving device 5 Control system 6 Slurry supply device 7 lifting platform 8 bricklaying device 9; Figure 2 and Figure 3 The marks are as follows: Frame 3.1 Travel and steering mechanism 3.2 Travel wheels 3.2.1 Travel transmission mechanism 3.2.2 Travel motor 3.2.3 Wire rope 3.2.4 Steering driven wheel 3.2.5 Steering motor 3.2.6 Steering driving wheel 3.2.7 Level detection sensor 3.3.1 Swinging outrigger seat 3.3.2 Telescopic outrigger 3.3.3; Figure 4 The marks are as follows: PTZ 1.1 Fixed base 1.1.1 Rotating table 1.1.2 LiDAR 1.2; Figure 5 The marks are as follows: First connecting rod 5.1 Second connecting rod 5.2 Bracket 5.3 Guide plate 5.3.1 Tabletop 5.3.2 Legs 5.3.3 Positioning pin 5.4; Figure 6 The marks are as follows: Mixing drum 2.1 Rotating mechanism 2.2 Upper hopper 4.1 Lifting track 4.2 Lifting mechanism 4.3 Water adding device 4.4 Outrigger 4.5; Figure 7 The marks are as follows: Hopper 7.1 Pumping pipeline 7.2 Pump 7.3 Nozzle 7.4; Figure 8 The marks are as follows: Base 8.1 Lifting mechanism 8.2 Table 8.3 Transition bracket 8.4 Robot 9.1 Brick fixture 9.2 Force Sensor 9.3 The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0009] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below through the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0010] Reference Figure 1 and 9 , an intelligent wall-building machine suitable for mines, including a scanning and positioning system 1, a stirring device 2, a mobile trolley 3, a feeding device 4, a brick receiving device 5, a control system 6, a slurry supply device 7, a lifting platform 8, and a bricklaying device 9. The entire device highly integrates a series of functions required for wall construction, such as equipment movement, intelligent scanning, automatic positioning, brick supply, slurry supply, brick taking, slurry spreading, bricklaying and compaction, and the equipment is compact, convenient to transport, and highly intelligent.

[0011] Reference Figure 2The mobile trolley 3 is composed of a frame 3.1, a travel and steering mechanism 3.2 and a vehicle body leveling device 3.3. The frame 3.1 is a box-type structure welded with steel plates, which is used to carry all functional components of the intelligent bricklaying machine. The travel and steering mechanism 3.2 is arranged at the bottom of the frame 3.1, including a travel unit and a steering unit, which are used to drive the frame 3.1 to travel and turn; the vehicle body leveling device 3.3 is arranged around the frame 3.1, including a horizontal detection sensor, a swing leg seat and a telescopic leg, which are used to detect and adjust the horizontality of the vehicle body.

[0012] The vehicle body leveling device 3.3 is composed of a horizontal detection sensor 3.3.1, four swing leg seats 3.3.2 and four telescopic legs 3.3.3; the horizontal detection sensor 3.3.1 is a dual-axis tilt sensor that can detect the tilt angles of the frame 3.1 in two horizontal directions; the dual-axis tilt sensor is used to detect the tilt angles of the frame in two horizontal directions, and the programmable controller is used to control the independent extension and retraction of the telescopic legs 3.3.3 to meet the needs of adjusting the horizontality of the vehicle body under uneven ground conditions, thereby ensuring the verticality of the bricklayer and the ground during the laying process, that is, ensuring the verticality of the laid wall; the swing leg seat 3.3.2 is hinged to the frame 3.1 in the horizontal direction; when the equipment is working, the swing leg seat 3.3.2 is opened and fixed to make the chassis area of ​​the equipment larger and the stability higher; when the equipment is moving, the swing leg seat 3.3.2 is folded up and fixed close to the frame to make the equipment smaller in size and have stronger passing ability.

[0013] Reference Figure 3 The walking units of the walking steering mechanism 3.2 are four groups, each of which includes a walking motor 3.2.3, a walking wheel 3.2.1, and a walking transmission mechanism 3.2.2 connecting the walking motor 3.2.3 and the driving walking wheel 3.2.1. Each group of walking units can travel in forward and reverse directions and are independent of each other; the steering unit of the walking steering mechanism 3.2 is a group, including a steering motor 3.2.6, a steering drive wheel 3.2.7 and at least three steering driven wheels 3.2.5, and multiple steel wire ropes 3.2.4; the output shaft of the steering motor 3.2.6 is fixedly connected to the steering drive wheel 3.2.7; a steering driven wheel 3.2.5 is fixed on each walking transmission mechanism 3.2.2 box; one end of the steel wire rope 3.2.4 starts from the steering drive wheel 3.2.7 and is connected in series to each steering driven wheel 3.2.5 in sequence, and finally returns to the steering drive wheel 3.2.7 and is connected to the other end to form a closed-loop driven steel wire rope drive structure.

[0014] The scanning and positioning system 1 includes a pan-tilt head 1.1 and a laser radar 1.2; the pan-tilt head 1.1 is installed on the frame 3.1 and has a horizontal rotation function; the laser radar 1.2 is installed on the pan-tilt head 1.1 and has a vertical line scanning function; the horizontal rotation of the pan-tilt head 1.1 and the vertical line scanning of the laser radar 1.2 act simultaneously, and can obtain the spatial point cloud model of the external tunnel contour of the wall to be built, the relative position of the equipment and the tunnel and other information, so as to provide the required original data for the control system 6 to implement automatic masonry and other operations.

[0015] Reference Figure 4 The pan-tilt head 1.1 comprises a fixed base 1.1.1 and a rotating table 1.1.2, the rotating table 1.1.2 can rotate horizontally relative to the fixed base 1.1.1, and the fixed base 1.1.1 is installed on the mobile trolley 3; the laser radar 1.2 is installed on the rotating table 1.1.2, and can perform vertical line scanning to obtain the fan point cloud of the vertical direction of the external contour; while the laser radar 1.2 is scanning, the pan-tilt head 1.1 drives the laser radar 1.2 to rotate horizontally at a uniform speed; through the internal fitting of the control system, all the spatial point clouds corresponding to the longitudinal scanning within the horizontal rotation angle range can be obtained; in specific application: adjust the scanning angle of the equipment, the programmable controller controls the laser radar 1.2 and the pan-tilt head 1.1 to work simultaneously, and the spatial point cloud model of the external lane contour of the wall to be built, the relative position of the equipment and the lane and other information can be obtained, and the control system 6 can be provided with the original data required for the implementation of automatic masonry and other operations.

[0016] Reference Figure 5 The brick receiving device 5 is composed of a brick stomp bracket and a positioning device, and is fixedly installed on the mobile trolley 3; the brick stomp bracket receives brick stomp arranged neatly according to a specific rule, and ensures that the brick stomp is fixed in position relative to the mobile trolley 3 through the positioning device; Specifically, the brick receiving device 5 includes a first connecting rod 5.1, a second connecting rod 5.2, a bracket 5.3 and a positioning pin 5.4; the first connecting rod 5.1 is fixedly connected to the mobile trolley 3, the second connecting rod 5.2 and the connecting rod 5.1 are hinged, the first connecting rod 5.2 and the bracket 5.3 are hinged, and the bracket 5.3 is used to place brick piles with a tray; when the equipment is in operation, the bracket 5.3 is adjusted to a horizontal posture, and the positioning pin 5.4 is installed beside the hinge axis of the bracket 5.3 and the second connecting rod 5.2 to fix the relative angle between the bracket 5.3 and the connecting rod 5.2; the positioning pin 5.4 is installed beside the hinge axis of the second connecting rod 5.2 and the first connecting rod 5.1 to fix the relative angle between the second connecting rod 5.2 and the first connecting rod 5.1; at this time, the bracket 5.3, The second connecting rod 5.2 and the first connecting rod 5.1 have been fixed as a whole, and the relative position remains unchanged; the bracket 5.3 is surrounded by a table 5.3.2, a guide plate 5.3.1 and a leg 5.3.3; the opening formed by the guide plate 5.3.1 around the table 5.3.2 is large at the top and small at the bottom, which can well receive the brick pallet sent by the auxiliary vehicle, and automatically center the pallet during the lowering process, so that the position of each brick and the bracket 5.3 remains unchanged; and each brick is placed according to a fixed rule and position when it is received, so it is guaranteed that the position and posture of each brick in each brick are fixed relative to the mobile trolley 3, which provides the basic data of the posture of each brick for the automatic brick-taking function of the equipment. The leg 5.3.3 adopts a long screw structure, and each leg can be adjusted in length independently to ensure that when working on uneven roads, the bottom of each leg 5.3.3 can still be reliably in contact with the ground, so that the load of the brick can be effectively transferred to the ground through each leg.

[0017] Reference Figure 6 The stirring device 2 is arranged on the mobile trolley 3, and is composed of a stirring drum 2.1 and a rotating mechanism 2.2. The stirring drum 2.1 is provided with spiral blades, and the rotating mechanism 2.2 can drive the stirring drum to rotate forward and reversely; the stirring drum 2.1 receives the raw materials such as sand, cement and water added by the feeding device 4, and the rotating mechanism 2.2 drives the stirring drum 2.1 to rotate to achieve the mixing of mortar. After the mortar is mixed, the stirring drum is reversed to send the mortar to the receiving hopper 7.1 in the mortar supply device 7; The feeding device 4 is arranged on the mobile trolley 3, and is composed of a feeding hopper 4.1, a lifting track 4.2, a lifting mechanism 4.3, a water adding device 4.4 and a support leg 4.5. The feeding hopper 4.1 is used to receive dry materials such as sand, gravel and cement added manually, and a rotary unloading valve is arranged at the bottom of the feeding hopper 4.1; the lifting mechanism 4.3 drives the feeding hopper 4.1 to rise and fall along the lifting track 4.2, and after being lifted into place, the rotary unloading valve at the bottom of the feeding hopper 4.1 is opened, and the materials enter the mixing drum 2.1; preferably, the lifting mechanism 4.3 is a winch; the water adding device 4.4 is composed of a pipeline, a flow meter and an automatic valve, etc., and is used to quantitatively add water to the mixing drum 2.1; the support leg 4.5 is a screw structure, fixed under the lifting track 4.2, and the screw structure is adjusted so that the base of the support leg 4.5 contacts the ground and bears appropriate force, so as to transfer the load of the lifting track 4.2 to the ground.

[0018] Reference Figure 7 The mortar supply device 7 is arranged on the mobile trolley 3, and includes a hopper 7.1, a pump 7.3, a nozzle 7.4, and a pumping pipeline 7.2 connecting the three. The hopper 7.1 receives the mixed mortar sent by the mixing drum 2.1, and sends it to the suction section of the pump 7.3 through the pumping pipeline 7.2. After being pressurized by the pump 7.3, it is sent out from the pump outlet, and then sent to the nozzle 7.4 through the pumping pipeline 7.2 for bricks to be coated with mortar. In order to realize automatic control of spraying, a solenoid valve is also installed at the nozzle 7.4, and the solenoid valve is linked with the pump 7.3 for control.

[0019] Reference Figure 8 The lifting platform 8 is composed of a base 8.1, a lifting mechanism 8.2 and a table 8.3. The base 8.1 is installed on the mobile trolley 3, and a bricklaying device 9 is installed on the table 8.3. The table 8.3 can be lifted and lowered relative to the base 8.1 under the drive of the lifting mechanism 8.2, thereby increasing the masonry height range of the masonry device 9; The bricklaying device 9 is composed of a robot 9.1, a brick clamp 9.2 and a force sensor 9.3; the robot 9.1 is a multi-degree-of-freedom industrial robot arm, and the brick clamp 9.2 has a clamping device for grabbing and placing bricks; the force sensor 9.3 is connected between the end flange of the robot 9.1 and the flange of the special clamp 9.2, and can sense the reaction force or torque of the brick clamp 9.2 in at least one direction, so as to determine the integrity of the brick and serve as feedback on the compaction of each brick during wall construction.

[0020] Furthermore, the equipment can be provided with one or more bricklaying devices 9. When there are multiple bricklaying devices, the equipment will decompose the actions of taking bricks, applying mortar, placing bricks, compacting, etc. Each bricklaying device 9 completes at least one action, and multiple bricklaying devices 9 complete the action in relay, which can improve the overall working efficiency of the intelligent wall-building machine.

[0021] In this embodiment, two sets of bricklaying devices 9 are provided, and a transition bracket 8.4 is additionally provided on the lifting platform 8 to realize the relay of bricks between the two sets of bricklaying devices 9; two sets of bricklaying devices 9 are provided, so as to achieve a more reasonable equipment cost and equipment volume on the basis of meeting the reasonable production capacity requirements adapted to the actual working conditions.

[0022] Furthermore, the legs of the vehicle body leveling device, the lifting track 4.2 of the feeding device 4, the brick receiving device 5, and the robot 9.1 of the bricklaying device 9 can all be folded and unfolded, the lifting platform 8 can be raised or lowered, and each component can be fixed by a pin shaft after folding and unfolding, so that the intelligent bricklaying machine can reduce the volume of the equipment in the walking or transportation state while meeting the masonry function, increasing the single masonry area, reducing the number of equipment shifts, and enhancing the stability of the equipment working state (in this embodiment, the equipment is in the folded transportation state, and the overall dimensions are approximately 2.7 meters long × 2.3 meters wide × 2.4 meters high, which can adapt to the masonry of underground filling board walls and civil building partition walls), improving its transportation and traffic capacity in narrow spaces.

[0023] The control system 6 is fixed inside the frame 3.1 and consists of a programmable controller, a touch screen and peripheral devices (switches, cables, etc.), and is used to realize fully automatic control of the intelligent wall-building machine; specifically, the programmable controller and the touch screen are installed inside the box-type structure of the frame 3.1. When in use, the cover plate at the touch screen position is opened, the touch screen is taken out, and the brick specifications, wall thickness and the laying form of each layer of bricks are manually input through the touch screen. The programmable controller automatically generates a 3D model and a laying path of the wall to be built based on the original data provided by the scanning and positioning system, and controls the bricklaying device to complete the automatic laying of the wall to be built.

[0024] In addition to realizing the above-mentioned automatic wall building function, the control system 6 can also realize functions including but not limited to automatic scanning of the equipment surrounding environment, automatic adjustment of the equipment levelness, and equipment movement.

[0025] The specific working process of the intelligent wall-building machine (hereinafter referred to as the device) of the present invention is as follows: 1) The equipment is in place: the equipment is in a walking or transporting state, traveling or being towed by other vehicles to the initial working position in front of the wall to be built in the mine tunnel; 2) Automatic leveling of the equipment: unfold the four swing outriggers 3.3.2; the four telescopic outriggers 3.3.3 automatically extend a certain distance to lift the travel wheels 3.2.1 off the ground; the control system 6 automatically calculates the telescopic adjustment amount of each telescopic outrigger 3.3.3 according to the inclination value of the frame 3.1 fed back by the level detection sensor 3.3.1; the telescopic outriggers 3.3.3 are independently adjusted according to the calculated telescopic adjustment amount; the inclination value of the frame 3.1 is detected again, and if it is within the allowable range, the leveling is terminated. If the level is still not up to standard, it is automatically adjusted again until the level is up to standard; 3) The brick receiving device 5 is put in place: the tabletop 5.3.2 is unfolded to a horizontal level, the connecting rod 5.1, the connecting rod 5.2 and the bracket 5.3 are fixed by the positioning pin 5.4, and each supporting leg 5.3.3 is adjusted individually to make the supporting leg touch the ground and bear the load appropriately; 4) The loading device 4 is in place: unfold the lifting track 4.2 and connect the fixing pin; adjust each leg 4.5 individually so that the leg base touches the ground and bears the load appropriately; lower the loading hopper 4.1 to the lower part of the track to prepare for receiving dry materials such as cement, sand and gravel; connect the pipeline of the water adding device 4.4 to the external water source pipeline and prepare to add water; 5) Scanning and positioning: The scanning and positioning system 1 obtains the spatial point cloud model of the external tunnel contour and the relative position of the equipment and the tunnel through scanning, and sends it to the control system 6; 6) Masonry path planning: Manually set parameters such as brick specifications and thickness of the wall to be built; the control system 6 receives the point cloud model and positioning data provided by the system scanning and positioning system 1, automatically plans the 3D model of the wall to be built, automatically plans the masonry path according to the masonry process requirements, and sends the coordinates of each block to the bricklaying device 9 according to the masonry order; 7) Material equipment: The auxiliary brick loading device loads a row of bricks onto the brick receiving device 5; a fixed amount of cement, sand and other dry materials are manually added to the loading hopper 4.1 in proportion; according to the amount of dry materials added, the water adding device 4.4 automatically adds a corresponding amount of water into the mixing drum 2.1; 8) Mortar mixing and pumping: Rotate the mixing drum 2.1 forward, and the stirring device 2 starts the stirring mode; the upper hopper 4.1 is raised to a high position, and dry materials are added to the mixing drum 2.1, mixed with water, and fully stirred to obtain mortar; rotate the mixing drum 2.1 reversely, and the stirring device 2 starts the discharging mode, and the mortar is sent from the mixing drum to the receiving hopper 7.1; the pump 7.3 continuously pumps the mortar to the nozzle 7.4, and waits for the bricklaying device 9 to apply the mortar; 9) Wall masonry: The bricklaying device 9 receives the data such as the coordinates of the bricks sent by the control system 6 and starts to automatically masonry; the two bricklaying devices 9 work in relay, take out the bricks one by one from the brick pile according to the set brick taking order, put them on the transition bracket 8.4, take the bricks from the transition bracket 8.4, apply mortar, and put the bricks to the planned target position; repeat this step, and the bricklaying device 9 completes the wall within the reach; 10) Extension of masonry height: When the actual tunnel height exceeds the accessible height range of the bricklaying device 9, the lifting platform 8 can be raised to a high position to extend the working range of the bricklaying device 9, so that the bricklaying device 9 can continue to lay bricks in the height direction; 11) Equipment movement: When the actual lane width exceeds the accessible width range of the bricklaying device 9, the equipment can expand the working range of the bricklaying device 9 by moving horizontally for a certain distance: fold the brick receiving device 5 and the lifting track 4.2; retract the legs 3.3.3 to make the walking wheels 3.2.1 touch the ground; move the trolley 3 to drive the equipment horizontally for a certain distance; repeat steps 2), 3), and 4) to put the equipment into working state again; 12) Equipment secondary positioning: The scanning and positioning system 1 scans again to obtain a new spatial point cloud model of the external tunnel contour and a new relative position of the equipment and the tunnel, and sends them to the control system 6; the control system 6 compares and analyzes the point cloud model before and after the equipment moves, and adopts processing methods such as point cloud overlap or coordinate transformation to reversely calculate the position change increment of the equipment in the original coordinate system before and after the move, and substitutes it into the originally planned masonry path program for corresponding adjustments, thereby continuing the previously planned unfinished masonry work; 13) Repeat steps 10), 11), 12) etc. until all planned masonry work is completed.

[0026] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An intelligent wall-building machine suitable for mines, characterized in that: The intelligent wall-building machine comprises: The mobile trolley is composed of a frame, a walking and steering mechanism, and a body leveling device. The frame is used to carry all functional components of the intelligent wall-building machine; the walking and steering mechanism is arranged at the bottom of the frame, including a walking unit and a steering unit, which are used to drive the frame to walk and turn; the body leveling device is arranged around the frame, including a level detection sensor, a swing leg seat, and a telescopic leg, which are used to detect and adjust the level of the body; The scanning and positioning system includes a pan-tilt and a laser radar. The pan-tilt is installed on the frame and has a horizontal rotation function; the laser radar is installed on the pan-tilt and has a vertical line scanning function. Through the horizontal rotation of the pan-tilt and the vertical line scanning of the laser radar, a spatial point cloud model of the external lane contour of the wall to be built is obtained, and the relative position of the equipment and the external contour is located, so as to provide the required raw data for the control system to implement automatic masonry operations; The brick receiving device is composed of a brick support and a positioning device, and is fixedly mounted on the frame; the brick support receives bricks neatly arranged according to a specific rule, and ensures that the position and posture of the bricks are fixed through the positioning device; A feeding device, fixed on the frame, is composed of a feeding hopper, a lifting track, a lifting mechanism, a water adding device and supporting legs, and is used to add water and feed materials into the stirring device; A stirring device, fixed on the frame, consisting of a stirring barrel and a rotating mechanism, used for stirring mortar required for masonry; The mortar supply device is fixed on the frame and consists of a hopper, a pump, a pumping pipeline and a nozzle. The hopper receives the mortar mixed by the stirring device, and the pumping mechanism and the pumping pipeline transport the mixed mortar to the nozzle for applying the mortar to the bricks. A bricklaying device, comprising a robot, a brick fixture and a force sensor connected to the brick fixture; the robot takes bricks one by one from the brick receiving device, applies mortar through the nozzle of the mortar supply device, and places the bricks at the designated position of the wall to be built as planned by the control system; The control system is fixed on the inner side of the frame and is composed of a programmable controller, a touch screen and peripheral devices, and is used to realize the fully automatic control of the intelligent wall-building machine; the brick specifications, wall thickness and the masonry form of each layer of bricks are manually input through the touch screen, and the programmable controller automatically generates a 3D model and a masonry path of the wall to be built according to the original data provided by the scanning and positioning system, and controls the bricklaying device to complete the automatic masonry of the wall to be built.

2. An intelligent wall-building machine suitable for mines as claimed in claim 1, characterized in that: The vehicle body leveling device is composed of a horizontal detection sensor, four swing leg seats and telescopic legs installed on the four swing leg seats; the horizontal detection sensor is a dual-axis inclination sensor, which detects the inclination of the frame in two horizontal directions through the dual-axis inclination sensor, and controls the extension and retraction of the telescopic legs through a programmable controller, thereby ensuring the verticality of the wall-building machine and the ground during the building process, that is, ensuring the verticality of the built wall.

3. The intelligent wall-building machine suitable for mines as claimed in claim 1, characterized in that: The bricklaying device may be one or more. When there are multiple bricklaying devices, the equipment will decompose the actions of taking bricks, applying mortar, placing bricks and compacting. Each bricklaying device completes at least one action, and multiple bricklaying devices complete the action in relay, thereby improving the overall working efficiency of the intelligent wall-building machine.

4. The intelligent wall-building machine suitable for mines as claimed in claim 1, characterized in that: The mobile trolley is also equipped with a lifting platform, which consists of a base, a lifting mechanism and a table top. The base is installed on the frame, a bricklaying device is installed on the table top, and the lifting mechanism is installed between the base and the table top. The lifting mechanism can realize the lifting and lowering of the table top relative to the base, thereby increasing the height range of the bricklaying device.

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