Feeding pulp shooting machine

Abstract

The invention relates to the technical field of coal mine tunnel guniting operation, in particular to a feeding guniting machine which comprises a frame platform and a control system, crawler walking devices are jointly installed on the two sides of the lower surface of the frame platform, laser radars are arranged at the front ends and the rear ends of the two sides of the frame platform, and electric bells are arranged in the middles of the front ends and the rear ends of the frame platform. Scram buttons are arranged at four corners of two sides of the frame platform, and a guniting device is arranged in the middle of the rear end of the upper surface of the frame platform. The device is used in cooperation with a downstream guniting robot (mechanical arm), a practical intelligent guniting operation system can be formed, intelligence of guniting operation is achieved, only one worker is needed for equipment operation, an operator can be away from the equipment in the whole guniting operation process, harm to a human body by a severe environment is avoided, personal safety is guaranteed, and the working efficiency is improved. Compared with existing equipment, the working efficiency is obviously improved, and staff reduction and efficiency improvement are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine tunnel grouting operations, in particular to a feeding grouting machine. Background Art

[0002] With the increasing demand for coal and the continuous improvement of coal mining level, higher requirements are put forward for coal mine roadway shotcreting operations. However, the current coal mine roadway shotcreting construction mainly relies on manual operations; there are problems such as harsh production environment, high risk, high labor intensity, and unstable construction quality. The coal mine roadway shotcreting construction faces low construction efficiency, which affects the further development of the coal mining industry. How to improve the technical level of shotcreting equipment and realize the automation and intelligence of roadway shotcreting is particularly urgent and important.

[0003] At present, there are dry and wet concrete spraying machines in China. Dry types are mostly rotor-type spraying machines, while wet types are mostly pump-type. Most of them are independent functional equipment, and require a separate feeder or manual feeding for them. They mainly rely on manual handheld spraying pipes to operate on the sprayed surface. The feeding and spraying have a low degree of automation, require manual participation, have low work efficiency, and have high labor intensity, which greatly harms the health and personal safety of operators. If it is composed of a separate feeder and spraying machine, the manufacturing cost and use cost are high, the degree of automation is low, and the purpose of reducing staff and increasing efficiency is not achieved. It is difficult to meet the current requirements of intelligent spraying operations in coal mine tunnels. In view of the single function, low degree of automation, manual participation in operation, high manufacturing and use costs of existing equipment, and the failure to achieve the purpose of reducing staff and increasing efficiency, the present invention proposes a feeding spraying machine. Summary of the invention

[0004] The object of the present invention is to provide a material-loading spraying machine to solve the problems raised by the above-mentioned background technology.

[0005] The object of the present invention can be achieved through the following technical solutions: a loading spraying machine, including a frame platform and a control system, crawler walking devices are installed on both sides of the lower surface of the frame platform, laser radars are provided at the front and rear ends of both sides of the frame platform, electric bells are provided in the middle of the front and rear ends of the frame platform, emergency stop buttons are provided at the four corners of both sides of the frame platform, a spraying device is provided in the middle of the rear end of the upper surface of the frame platform, an assembly box is installed on the upper surface of the front end of the frame platform, guide rods are installed on the frame platform through the inner walls on both sides of the assembly box, and the outer surfaces of the two guide rods are jointly sleeved with sliding The frame platform is provided with a translation cylinder through the middle of the inner wall of one side of the assembly box, the output end of the translation cylinder is connected to one side of the outer surface of the sliding seat, the upper surface of the sliding seat is provided with a rotary drive, the upper surface of the rotary drive is provided with a rotary frame, both sides of the upper surface of the front end of the rotary frame are provided with lifting frames, both sides of the upper surface of the front end of the rotary frame are provided with lifting cylinders, the lifting cylinders are located inside the lifting frames, the output end of the lifting cylinders is connected to the inner surface of the lifting frames, and the top rear ends of the two lifting frames are respectively provided with a mining intrinsically safe infrared ball-type pan-tilt camera and a vehicle body lighting lamp;

[0006] A bucket lifting device is fixedly installed on the upper part of the side close to the two lifting frames through high-strength bolts, and a front lighting lamp and a mining intrinsically safe network camera are fixedly installed on both sides of the top of the bucket lifting device. A screw conveyor device 1 is installed in the middle of the side close to the two lifting frames, and the feed inlet end of the screw conveyor device 1 is installed opposite to the discharge of the bucket lifting device. A hydraulic oil radiator and an explosion-proof electric control box are respectively provided on one side of the middle of the upper surface of the frame platform, and a motor pump group and a flameproof vacuum electromagnetic starting box are respectively provided on the other side of the middle of the upper surface of the frame platform. An electrical system is provided on the upper surface of the explosion-proof electric control box, and a hydraulic oil tank is provided at the rear end of the middle of the upper surface of the frame platform, and a hydraulic system is provided on one side of the hydraulic oil radiator;

[0007] A right tripod and a left tripod are respectively provided on both sides of the rear end of the upper surface of the frame platform, a methane sensor and an accelerator adding device are respectively fixedly installed on the top and the middle of the inner surface of the left tripod, a water circuit electric ball valve assembly and a gas circuit electric ball valve assembly are respectively installed on the frame platforms at the front ends of the right tripod and the left tripod, a supporting crossbeam is commonly installed on the upper part of the side close to the right tripod and the left tripod, a screw conveying device 2 is provided above the frame platform, one end of the screw conveying device 2 is fixedly connected to the supporting crossbeam, and the other end of the screw conveying device 2 is fixedly connected to the lifting frame, and a material detection device is fixedly installed at the discharge port of the screw conveying device 2.

[0008] As a further improvement of the present invention, the crawler walking device is fixedly connected to the frame platform by high-strength bolts, and the crawler walking device 2 includes a walking reducer, a driving wheel, a supporting roller, a track frame, a guide wheel, a track shoe, and a supporting roller. The front end of the track frame is provided with a walking reducer, the outer surface of the walking reducer is sleeved with a driving wheel, the rear end of the track frame is provided with a guide wheel, the driving wheel and the guide wheel are both connected to the two ends of the inner surface of the track shoe, a plurality of supporting rollers are evenly arranged on the lower surface of the track frame, the outer surface of the supporting roller is in contact with the inner surface of the track shoe, and a supporting roller is provided in the middle part of the upper surface of the track frame, and the outer surface of the supporting roller is in contact with the inner surface of the track shoe.

[0009] As a further improvement of the present invention, the bucket-type lifting device includes a right-side aggregate cage, a lifting bucket, a left-side aggregate cage, a lifting device frame, a lifting chain, a lifting motor, a speed measuring gear, and a speed sensor. A driving shaft is installed on the upper end of the lifting device frame, and lifting motors are installed at both ends of the driving shaft. A speed measuring gear is fixedly installed between the driving shaft and the lifting motor. A speed sensor is installed on an upper part of one side of the lifting device frame, and the speed sensor is installed corresponding to the speed measuring gear. Two sprockets are installed on the driving shaft, and a driven shaft is installed on the lower end of the lifting device frame. The left-side aggregate cage is installed on the left side of the driven shaft, and the right-side aggregate cage is installed on the right side of the driven shaft. Two sprockets are installed on the driven shaft, and the two sprockets installed on the driving shaft and the two sprockets installed on the driven shaft are commonly correspondingly sleeved with a lifting chain, and the lifting chain cooperates with the upper and lower sprockets, and the lifting bucket is fixedly installed on the lifting chain.

[0010] As a further improvement of the present invention, the control system is composed of main core components such as a controller, a wireless remote control, a human-machine interface, an IO control module, an ultrasonic sensor, a CAN / Ethernet / 485 gateway, a switch, a wireless router, an industrial computer, a network camera, a radar, etc. The communication of the entire system is mainly composed of CAN communication, Ethernet communication, and a 485 communication network.

[0011] As a further improvement of the present invention, the operation steps of the feeding spraying machine based on the control system are as follows:

[0012] Step 1: After the loading and spraying machine is started, it will first perform a self-test. The self-test items include various sensors, the original status of the control system, the data transmission function of the host computer, etc. Only after the self-test is completed can it enter the normal operation state;

[0013] Step 2: After receiving the start command, run according to the set program;

[0014] Step 3: When a fault occurs during operation, the equipment automatically stops and sends relevant instructions to downstream equipment. The on-site electric bell alarms and the host computer displays an alarm signal at the same time to remind the staff that the equipment has a fault. Operations can only be carried out after the fault is eliminated.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention proposes a fully autonomous feeding and spraying machine that integrates material taking, spraying, and crawler walking. The machine is suitable for the situation where the mine car is feeding the material. The machine can automatically align the mine car, take the material from the mine car and spray it. At the same time, the material taking amount can be automatically adjusted according to the specific material demand, thereby realizing the integration of material taking and spraying. The machine has a one-key operation function, and all operations can be automatically performed or manually operated by the operator. The upper computer is used for monitoring, and the equipment operation data and the real-time operation status on site are displayed on the upper computer, with a high degree of automation.

[0017] The present invention is used in conjunction with a downstream shotcrete robot (mechanical arm) to form a practical intelligent shotcrete operation system, which realizes the intelligence of the shotcrete operation. Only one worker is needed to operate the equipment. During the entire shotcrete operation, the operator can stay away from the equipment to avoid harm to the human body caused by the harsh environment. Personal safety is guaranteed, and work efficiency is significantly improved compared with existing equipment, thereby achieving reduction in staff and increase in efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0019] Figure 1 It is a front view of the present invention;

[0020] Figure 2 is a side view of the present invention;

[0021] Figure 3 It is a front view of the present invention;

[0022] Figure 4 It is a rear view of the present invention;

[0023] Figure 5 A top view of the present invention;

[0024] Figure 6 A perspective view of the present invention;

[0025] Figure 7 It is a partial structural split diagram of the present invention;

[0026] Figure 8 It is a partial structural split diagram of the present invention;

[0027] Fig. 9 It is a system block diagram of the present invention.

[0028] In the figure: 1. Frame platform; 2. Crawler travel device; 81. Travel reducer (including motor); 82. Driving wheel; 83. Supporting wheel; 84. Crawler frame; 85. Guide wheel; 86. Track plate; 87. Support wheel; 3. Laser radar; 4. Electric bell; 5. Rotary frame; 6. Bucket lifting device; 61. Right aggregate cage; 62. Lifting hopper; 63. Left aggregate cage; 64. Lifting device frame; 65. Lifting chain; 66. Lifting motor; 67. Speed ​​measuring gear; 68. Speed ​​measuring sensor; 7. Lifting frame; 8. Screw conveyor device 1; 9. Rotary drive; 10. Hydraulic oil radiator; 11. Screw conveyor device 2; 12. Explosion-proof Electric control box; 13. Methane sensor; 14. Material detection device; 15. Accelerator adding device; 16. Shotcrete spraying device; 17. Front lighting; 18. Mine intrinsically safe network camera; 19. Lifting cylinder; 20. Mine intrinsically safe infrared ball pan-tilt camera; 21. Translation cylinder; 22. Emergency stop button; 23. Motor pump group; 24. Flameproof vacuum electromagnetic starting box; 25. Water circuit electric ball valve assembly; 26. Right tripod; 27. Support beam; 28. Left tripod; 29. ​​Air circuit electric ball valve assembly; 30. Electrical system; 31. Hydraulic oil tank; 32. Hydraulic system; 33. Sliding seat; 34. Guide rod; 35. Vehicle body lighting. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 9 As shown, a loading shotcrete machine includes a frame platform 1 and a control system. Crawler walking devices 2 are installed on both sides of the lower surface of the frame platform 1. The crawler walking device 2 is fixedly connected to the frame platform 1 by high-strength bolts. The crawler walking device 2 includes a travel reducer including a motor 81, a driving wheel 82, a supporting roller 83, a track frame 84, a guide wheel 85, a track shoe 86, and a supporting wheel 87. The front end of the track frame 84 is provided with a travel reducer including a motor 81, the outer surface of the travel reducer including the motor 81 is sleeved with a driving wheel 82, the rear end of the track frame 84 is provided with a guide wheel 85, the driving wheel 82 and the guide wheel 85 are connected to the two ends of the inner surface of the track shoe 86, a plurality of supporting rollers 83 are evenly arranged on the lower surface of the track frame 84, the outer surface of the supporting roller 83 is in contact with the inner surface of the track shoe 86, and a supporting wheel 87 is provided in the middle of the upper surface of the track frame 84, and the outer surface of the supporting wheel 87 is in contact with the inner surface of the track shoe 86.

[0031] Through the coordination of the structural components of the crawler walking device 2, the entire loading and spraying machine can be driven to move in the coal mine tunnel, which is conducive to the efficient movement of the loading and spraying machine in the tunnel, thereby improving the operating efficiency.

[0032] Laser radars 3 are provided at the front and rear ends of both sides of the frame platform 1, electric bells 4 are provided in the middle of the front and rear ends of the frame platform 1, emergency stop buttons 22 are provided at the four corners of both sides of the frame platform 1, a spraying device 16 is provided in the middle of the rear end of the upper surface of the frame platform 1, an assembly box is installed on the upper surface of the front end of the frame platform 1, guide rods 34 are installed on the inner walls of both sides of the assembly box, and a sliding seat 33 is installed on the outer surfaces of the two guide rods 34, and a translation cylinder 21 is installed on the frame platform 1 through the middle of the inner wall of one side of the assembly box. The output end of the cylinder 21 is connected to one side of the outer surface of the sliding seat 33, the upper surface of the sliding seat 33 is installed with a rotary drive 9, the upper surface of the rotary drive 9 is installed with a rotary frame 5, both sides of the upper surface of the front end of the rotary frame 5 are installed with lifting frames 7, both sides of the upper surface of the front end of the rotary frame 5 are provided with lifting cylinders 19, the lifting cylinders 19 are located inside the lifting frames 7, the output end of the lifting cylinder 19 is connected to the inner surface of the lifting frames 7, and the top rear ends of the two lifting frames 7 are respectively installed with a mining intrinsically safe infrared ball-type pan-tilt camera 20 and a vehicle body lighting lamp 35.

[0033] The intrinsically safe infrared ball pan-tilt camera 20 for mining is a key device for real-time image monitoring in industrial television systems. It has the characteristics of Ethernet electrical port output and Ethernet optical signal output. Users can choose the output method according to the actual situation of the usage scenario. At the same time, the device has the advantages of compact structure, small size, light weight, explosion-proof, shock-resistant, moisture-proof, low illumination, high clarity and long transmission distance. It is suitable for use in environments containing coal dust and methane explosive mixtures, and is conducive to real-time monitoring of the function of the feeding shotcrete machine in the coal mine tunnel.

[0034] A bucket lifting device 6 is fixedly installed on the upper part of one side close to the two lifting frames 7 by high-strength bolts. The bucket lifting device 6 includes a right-side aggregate cage 61, a lifting bucket 62, a left-side aggregate cage 63, a lifting device frame 64, a lifting chain 65, a lifting motor 66, a speed measuring gear 67, and a speed sensor 68. A driving shaft is installed on the upper end of the lifting device frame 64, and lifting motors 66 are installed at both ends of the driving shaft. A speed measuring gear 67 is fixedly installed between the driving shaft and the lifting motor 66. One side of the lifting device frame 64 A speed sensor 68 is installed on the upper part, and the speed sensor 68 is installed corresponding to the speed gear 67. Two sprockets are installed on the driving shaft. A driven shaft is installed at the lower end of the lifting device frame 64. A left-side aggregate cage 63 is installed on the left side of the driven shaft, and a right-side aggregate cage 61 is installed on the right side of the driven shaft. Two sprockets are installed on the driven shaft, and a lifting chain 65 is installed corresponding to the two sprockets installed on the driving shaft and the two sprockets installed on the driven shaft. The lifting chain 65 cooperates with the upper and lower sprockets, and a lifting bucket 62 is fixedly installed on the lifting chain 65.

[0035] Through the coordination of the various structural components of the bucket lifting device 6, the left-side aggregate cage 63 and the right-side aggregate cage 61 are used to stir the material while controlling the material to move toward the middle into the lifting hopper 62. At this time, the lifting motor 66 controls the operation of the drive shaft. Since two sprockets are provided on the driving shaft, and two sprockets are provided on the driven shaft corresponding to the driving shaft, and the sprockets are connected by a lifting chain 65. In this case, the lifting motor 66 controls the operation of the driving shaft to control the lifting chain 65 to perform a lifting and reciprocating motion, thereby synchronously driving the lifting hopper 62 to perform a lifting and reciprocating motion. In this case, the material moved into the lifting hopper 62 can be lifted and transported. When the lifting hopper 62 passes the highest point of the lifting device frame 64, it can be flipped over to drop the material into the feed port of the screw conveying device 8 for subsequent material transmission.

[0036] The speed measuring gear 67 rotates with the operating power of the lifting motor 66, and the speed measuring gear 67 is monitored by the speed sensor 68 to determine the operating status of the bucket lifting device 6, so as to adjust the material taking amount of the bucket lifting device 6.

[0037] A front lighting 17 and a mining intrinsically safe network camera 18 are fixedly installed on both sides of the top of the bucket lifting device 6, and a screw conveying device 8 is installed in the middle of the side close to the two lifting frames 7. The feed port end of the screw conveying device 8 is installed opposite to the discharge point of the bucket lifting device 6. A hydraulic oil radiator 10 and an explosion-proof electric control box 12 are respectively provided on one side of the middle part of the upper surface of the frame platform 1, and a motor pump group 23 and a flameproof vacuum electromagnetic starting box 24 are respectively provided on the other side of the middle part of the upper surface of the frame platform 1. An electrical system 30 is provided on the upper surface of the explosion-proof electric control box 12, and a hydraulic oil tank 31 is provided at the rear end of the middle part of the upper surface of the frame platform 1, and a hydraulic system 32 is provided on one side of the hydraulic oil radiator 10.

[0038] The intrinsically safe network camera 18 for mining has the characteristics of explosion-proof and anti-interference, and can work stably in dangerous environments. It can realize remote monitoring and image transmission through the video monitoring system, and is equipped with infrared night vision function, so that monitoring in dark environments can also be effectively realized. In addition, the intrinsically safe camera for mining also has automatic exposure, automatic white balance, digital noise reduction and other technologies, which can provide high-definition images and video data, and can effectively monitor the working conditions in dangerous environments of coal mines, discover safety hazards and abnormal conditions in time, and help enterprise managers to grasp the production situation in real time and take corresponding measures to ensure the normal progress of production operations.

[0039] A right tripod 26 and a left tripod 28 are respectively provided on both sides of the rear end of the upper surface of the frame platform 1, and a methane sensor 13 and an accelerator adding device 15 are respectively fixedly installed on the top and the middle of the inner surface of the left tripod 28, and a water circuit electric ball valve assembly 25 and a gas circuit electric ball valve assembly 29 are respectively installed on the frame platform 1 at the front ends of the right tripod 26 and the left tripod 28. A supporting beam 27 is commonly installed on the upper part of the side close to the right tripod 26 and the left tripod 28. A screw conveying device 11 is provided above the frame platform 1, one end of the screw conveying device 11 is fixedly connected to the supporting beam 27, and the other end of the screw conveying device 11 is fixedly connected to the lifting frame 7, and a material detection device 14 is fixedly installed at the discharge port of the screw conveying device 11.

[0040] Please refer to Figure 9. The control system consists of main core components such as controller, wireless remote control, human-machine interface, IO control module, ultrasonic sensor, CAN / Ethernet / 485 gateway, switch, wireless router, industrial computer, network camera scene recognition, radar, etc. The communication of the whole system mainly consists of CAN communication, Ethernet communication and 485 communication network.

[0041] Based on the control system, the operation steps of the shotcrete feeding machine are as follows:

[0042] Step 1: After the loading and spraying machine is started, it will first perform a self-test. The self-test items include various sensors, the original status of the control system, the data transmission function of the host computer, etc. Only after the self-test is completed can it enter the normal operation state;

[0043] Step 2: After receiving the start command, run according to the set program;

[0044] Step 3: When a fault occurs during operation, the equipment automatically stops and sends relevant instructions to the downstream equipment. The on-site bell 4 alarms, and the host computer displays an alarm signal at the same time to remind the staff that the equipment has a fault. Operations can only be carried out after the fault is eliminated.

[0045] When the present invention is in use, the operator remotely controls the material feeding spraying machine to reach the working position, the lifting device is raised, and after swinging and translating, it is aligned with the mine car filled with materials. After the spraying robot used in conjunction with it is ready, it sends a command to the material feeding spraying machine, and the material feeding spraying machine automatically starts (it can also be started manually with one button). The starting sequence of each action is as follows: the oil pump motor / radiator motor starts - the lower air path of the spraying device is opened - the water path is opened - the upper air path is opened - the spraying device 16 is started - the screw conveying device 11 is started - the screw conveying device 8 is started - the bucket lifting device 6 is started, and the material lifting and spraying operation begins. The quick-setting agent adding device 15 can be started according to the on-site conditions. The quick-setting agent adding device 15 can be used to add quick-setting agent to the concrete so that the concrete can be quickly solidified and hardened;

[0046] After starting, the materials in the mine car are stirred by the left aggregate cage 63 and the right aggregate cage 61 while moving toward the middle, and then the materials are lifted by the lifting hopper 62. After the hopper passes the highest point, it turns over, and the materials fall into the feed port of the screw conveyor 8, and are transported to the discharge port through the screw conveyor 8 and discharged into the feed port of the screw conveyor 2 11. At this time, the materials are transported by the screw conveyor 2 11 from the discharge port into the vibrating hopper of the spraying device 16, and the materials are transported to the nozzle through the spraying pipe by pressurized air through the rotor cavity of the spraying device 16, thereby realizing the spraying operation.

[0047] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A material spraying machine, comprising a frame platform (1) and a control system, characterized in that: Crawler walking devices (2) are installed on both sides of the lower surface of the frame platform (1), laser radars (3) are installed at the front and rear ends of both sides of the frame platform (1), electric bells (4) are installed in the middle of the front and rear ends of the frame platform (1), emergency stop buttons (22) are installed at the four corners of both sides of the frame platform (1), a spraying device (16) is installed in the middle of the rear end of the upper surface of the frame platform (1), an assembly box is installed on the upper surface of the front end of the frame platform (1), guide rods (34) are installed on the frame platform (1) through the inner walls of both sides of the assembly box, and a sliding seat (33) is installed on the outer surfaces of the two guide rods (34), and the frame platform (1) is installed in the middle of the inner wall of one side of the assembly box. A translation cylinder (21) is provided, the output end of the translation cylinder (21) is connected to one side of the outer surface of the sliding seat (33), a rotary drive (9) is installed on the upper surface of the sliding seat (33), a rotary frame (5) is installed on the upper surface of the rotary drive (9), lifting frames (7) are installed on both sides of the upper surface of the front end of the rotary frame (5), lifting cylinders (19) are provided on both sides of the upper surface of the front end of the rotary frame (5), the lifting cylinders (19) are located inside the lifting frames (7), the output end of the lifting cylinder (19) is connected to the inner surface of the lifting frames (7), and a mining intrinsically safe infrared ball-type pan-tilt camera (20) and a vehicle body lighting lamp (35) are respectively installed at the top rear ends of the two lifting frames (7); A bucket lift device (6) is fixedly installed on the upper part of the side close to the two lifting frames (7) by high-strength bolts, and a front lighting lamp (17) and a mining intrinsically safe network camera (18) are fixedly installed on both sides of the top of the bucket lift device (6). A screw conveying device (8) is installed on the middle part of the side close to the two lifting frames (7). The feed port end of the screw conveying device (8) is connected to the discharge port of the bucket lift device (6). A hydraulic oil radiator (10) and an explosion-proof electric control box (12) are provided on one side of the middle of the upper surface of the vehicle frame platform (1), a motor pump group (23) and an explosion-proof vacuum electromagnetic starting box (24) are provided on the other side of the middle of the upper surface of the vehicle frame platform (1), an electrical system (30) is provided on the upper surface of the explosion-proof electric control box (12), a hydraulic oil tank (31) is provided at the rear end of the middle of the upper surface of the vehicle frame platform (1), and a hydraulic system (32) is provided on one side of the hydraulic oil radiator (10); A right tripod (26) and a left tripod (28) are respectively provided on both sides of the rear end of the upper surface of the frame platform (1); a methane sensor (13) and an accelerator adding device (15) are respectively fixedly installed on the top and the middle of the inner surface of the left tripod (28); a water circuit electric ball valve assembly (25) and a gas circuit electric ball valve assembly (29) are respectively installed on the frame platform (1) at the front ends of the right tripod (26) and the left tripod (28); a supporting crossbeam (27) is commonly installed on the upper part of the side close to the right tripod (26) and the left tripod (28); a screw conveying device (11) is provided above the frame platform (1); one end of the screw conveying device (11) is fixedly connected to the supporting crossbeam (27), and the other end of the screw conveying device (11) is fixedly connected to the lifting frame (7); a material detection device (14) is fixedly installed at the discharge port of the screw conveying device (11).

2. A feeding spraying machine according to claim 1, characterized in that: The crawler walking device (2) is fixedly connected to the frame platform (1) by high-strength bolts. The crawler walking device (2) comprises a travel reducer (81), a driving wheel (82), a supporting wheel (83), a track frame (84), a guide wheel (85), a track shoe (86), and a supporting wheel (87). The front end of the track frame (84) is provided with a travel reducer (81). The outer surface of the travel reducer (81) is sleeved with a driving wheel (82). The track frame A guide wheel (85) is provided at the rear end of the track frame (84), the driving wheel (82) and the guide wheel (85) are both connected to the two ends of the inner surface of the track shoe (86), a plurality of supporting rollers (83) are evenly provided on the lower surface of the track frame (84), the outer surface of the supporting rollers (83) is in contact with the inner surface of the track shoe (86), and a supporting wheel (87) is provided in the middle of the upper surface of the track frame (84), the outer surface of the supporting wheel (87) is in contact with the inner surface of the track shoe (86).

3. A feeding spraying machine according to claim 1, characterized in that: The bucket-type lifting device (6) comprises a right-side aggregate cage (61), a lifting bucket (62), a left-side aggregate cage (63), a lifting device frame (64), a lifting chain (65), a lifting motor (66), a speed measuring gear (67) and a speed sensor (68). A driving shaft is installed at the upper end of the lifting device frame (64), and lifting motors (66) are installed at both ends of the driving shaft. A speed measuring gear (67) is fixedly installed between the driving shaft and the lifting motor (66). A speed measuring sensor (68) is installed on the upper part of one side of the lifting device frame (64). The sensor (68) is installed corresponding to the speed measuring gear (67), two sprockets are installed on the driving shaft, a driven shaft is installed at the lower end of the lifting device frame (64), a left-side aggregate cage (63) is installed on the left side of the driven shaft, and a right-side aggregate cage (61) is installed on the right side of the driven shaft. Two sprockets are installed on the driven shaft, and a lifting chain (65) is installed corresponding to the two sprockets installed on the driving shaft and the two sprockets installed on the driven shaft. The lifting chain (65) cooperates with the upper and lower sprockets, and a lifting bucket (62) is fixedly installed on the lifting chain (65).

4. A feeding spraying machine according to claim 1, characterized in that: The control system consists of a controller, a wireless remote controller, a human-machine interface, an IO control module, an ultrasonic sensor, a CAN / Ethernet / 485 gateway, a switch, a wireless router, an industrial computer, a network camera and a radar.

5. A feeding spraying machine according to claim 4, characterized in that: Based on the control system, the operation steps of the feeding shotcrete machine are as follows: Step 1: After the loading and spraying machine is started, it will first perform a self-test. The self-test items include various sensors, the original status of the control system, the data transmission function of the host computer, etc. Only after the self-test is completed can it enter the normal operation state; Step 2: After receiving the start command, run according to the set program; Step 3: When a fault occurs during operation, the equipment automatically stops and sends relevant instructions to the downstream equipment. The on-site bell (4) sounds an alarm, and the host computer displays an alarm signal at the same time to remind the staff that the equipment has a fault. The staff can continue to work after the fault is eliminated.

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