Guniting robot for underground coal mine

Abstract

The invention discloses a guniting robot for an underground coal mine. The guniting robot comprises a vehicle body, a walking mechanism, a multi-degree-of-freedom mechanical arm spraying device, an intelligent visual inspection device and a spraying head mechanism. A hydraulic pushing mechanism, a swing lever, a mechanical arm and a rotary spraying gun at the tail end of the mechanical arm are matched to complete concrete spraying series operation, free spraying movement in a tunnel is achieved, and control over the optimal spraying distance from the discharging end of the spraying gun to a spraying face is achieved through cooperation of three-dimensional movement achieved through six degrees of freedom provided by the mechanical arm and a visual ranging module. The working efficiency is high; and meanwhile, the pulling force is provided when the guniting vehicle climbs on a high-gradient terrain through the winch at the tail end of the guniting vehicle, the adaptability is high, the labor cost can be effectively saved while high-quality operation is completed, and the overall spraying efficiency of the guniting vehicle is improved.

Description

Technical Field

[0001] The invention belongs to the field of shotcrete machines, and in particular relates to a shotcrete robot used in underground coal mines. Background Art

[0002] The harsh environment of water concrete spraying affects the health of workers. Traditional coal mine underground concrete spraying support operations have dust pollution problems throughout the entire process from loading, mixing to the final spraying, especially in the final spraying stage, the amount of dust on site is very large, the working environment is very harsh, and it is extremely harmful to the health of workers; the traditional coal mine underground concrete spraying support operation loading stage is a full-manpower loading method with a hand-held shovel; the spraying stage is for workers to hold the nozzle and move it continuously, and the nozzle needs to be rotated continuously during the movement to achieve a circular spraying method to ensure the quality of the spraying. The workload of the workers is large and the efficiency is low; the frequent movement of equipment during the continuous spraying of the tunnel is mostly carried out manually, which is time-consuming and labor-intensive. Traditional dry or tidal spraying cannot guarantee the process requirements, resulting in the spraying layer being not dense and firm enough, the rebound rate is high, and resources are seriously wasted, increasing construction costs. Summary of the invention

[0003] The purpose of the present invention is to provide a shotcrete robot for use in underground coal mines.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a shotcrete robot for use in coal mines.

[0005] Including: vehicle body, walking mechanism, multi-degree-of-freedom robotic arm spraying structure and intelligent visual inspection system;

[0006] The vehicle body includes a winch, a control box, and an oil source. The control box is responsible for receiving instructions from sensors and operators and controlling various actions of the robot. The oil source is responsible for providing a power source for the robot.

[0007] The walking mechanism includes a driving gear and a load-bearing wheel. The driving gear is connected to the engine drive shaft and is responsible for driving the crawler to rotate. The load-bearing wheel is installed above the crawler close to the ground to ensure the smooth operation of the robot.

[0008] The multi-degree-of-freedom robotic arm spraying structure includes a telescopic hydraulic cylinder, a telescopic square robotic arm, a swing bar, and a nozzle mechanism; the telescopic hydraulic cylinder is arranged between the upper support plate and the lower support plate, and is connected to the telescopic square robotic arm through a hinge, and the swing bar is arranged on the end of the telescopic square robotic arm; the nozzle mechanism is connected to the tail end of the swing bar; the intelligent visual inspection system is installed on the nozzle mechanism and the lower support plate.

[0009] Furthermore, the intelligent control system includes a high-speed camera, a laser sensor, and a lighting device; the lighting device and the laser sensor are installed at the tail end of the conveying hose, located above the lower support plate; the high-speed camera is located on the spray gun mechanism. The system can monitor the distance and shape of the spray surface in real time, and by cooperating with the control box, it can realize the control of the optimal spraying distance from the discharge end of the spray gun to the spray surface, thereby ensuring the spraying quality.

[0010] Furthermore, the lower support plate is arranged on the track cover plate, and the upper support plate and the lower support plate are fixed by two identical triangular support frames. The triangular support frames are connected between the two diagonals of the lower support plate, and the square outer shell of the pushing cylinder is fixed diagonally in the remaining area between the two support plates to separate and reinforce it, so as to improve the strength and stability of the overall structure.

[0011] Furthermore, the winch is installed at the rear end of the lower pallet truck and arranged horizontally. A square hole is opened at the rear end of the winch body shell for leading out the winch wire. The winch is used to provide additional traction when the robot climbs a slope or crosses an obstacle, thereby enhancing the robot's adaptability and passing ability.

[0012] Furthermore, four curved thin baffles are welded around the lower support plate to prevent splashing coal dust or gravel from damaging the internal components of the robot when working underground in a coal mine.

[0013] Furthermore, the swing bar is connected to the end of the telescopic square mechanical arm via bolts using an H-shaped base, and the installation method is that the side of the swing bar is installed parallel to the telescopic square mechanical arm, so that the swing bar can more stably drive the nozzle mechanism to swing, which is convenient for adjusting the spraying angle and range of the nozzle.

[0014] Furthermore, a battery is arranged above the vehicle body to provide power for the driving device of the walking mechanism. The battery and the driving device are connected through a controller to achieve stepless speed regulation and precise control of the robot.

[0015] Furthermore, the spray gun mechanism includes a rotating mechanism, which includes a universal rotating structure, an eccentric mechanism and a rotating motor. The eccentric mechanism is located at the front end of the spray gun mechanism, and the universal rotating structure is located at the rear end of the spray gun mechanism. The eccentric mechanism and the rotating motor are connected to drive the rotation of the gun body and the nozzle, which is used to realize the nozzle circling during the spraying process, so that the overall slurry spraying process is more uniform.

[0016] Furthermore, the spray gun mechanism also includes an air inlet, which is located above the gun body and is used to provide compressed air to assist the spraying of the slurry. The gun body is provided with a cleaning port for cleaning the slurry residue inside the gun body.

[0017] Furthermore, the spray gun mechanism also includes a spray pipe, which extends from the area between the upper support plate and the lower support plate and is fixed by a plurality of U-shaped clamps to ensure the stability and accuracy of the spray pipe during the spraying process.

[0018] The beneficial effects of the present invention are:

[0019] The invention provides a trapezoidal crawler walking mechanism, which enables it to easily cross the complex terrain of coal mines, thereby improving the flexibility and adaptability of operations. Through a highly integrated hydraulic system, a multi-degree-of-freedom mechanical arm, and an intelligent visual detection system, accurate identification of the spraying area and efficient spraying are achieved, and the operating efficiency and spraying accuracy are significantly improved, reducing manual operation errors and repetitive labor. It has the advantages of easy operation, stable performance, high spraying efficiency, and high intelligence level. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 1 is a schematic diagram of the overall structure of a shotcrete robot used in a coal mine provided by an embodiment of the present invention;

[0021] Figure 2 is a front view of the overall structure of a shotcrete robot for use in coal mines provided by an embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a nozzle circle drawing mechanism provided by an embodiment of the present invention;

[0023] Figure 4 It is a schematic cross-sectional view of a partial structure of a nozzle circle drawing mechanism provided by an embodiment of the present invention;

[0024] Figure 5 is a structural schematic diagram of a crawler chassis mechanism provided by an embodiment of the present invention;

[0025] Figure 6 is a schematic diagram of the side structure of a crawler chassis mechanism provided by an embodiment of the present invention;

[0026] Reference numerals

[0027] The crawler body (1), the upper support plate (2), the lower support plate (3), the curved thin baffle plate (4), the square shell (5), the telescopic hydraulic cylinder (6), the telescopic square mechanical arm (7), the swing bar (8), the delivery hose (9), the universal steering structure (10), the rotating motor (11), the air inlet (12), the flange (13), the butt pipe (14), the nozzle (15), the triangular support frame (16), the driving device (17), the oil source (18), the control box (19), the vehicle body Shell (20), winch (21), triangular support frame (22), bent rod connecting seat (23), lower base (24), upper support seat (25), U-shaped pipe clamp (26), eccentric mechanism (27), connecting disc (28), track cover (29), driving gear (30), load-bearing wheel (31), link (32), driven gear (33), high-speed camera (34), lighting device (35), feed pump (36), feed chamber (37), laser sensor (38) DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings.

[0029] In order to fully express the purpose, technical solutions and advantages of the embodiments of the present invention, the present invention will be described in full and clearly in conjunction with the drawings of the invention examples. Obviously, the embodiments described below are part of the embodiments of the present invention, but not all complete 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 6 The present invention provides a technical solution; a shotcrete robot used in coal mines, including a walking mechanism and a spraying mechanism above, wherein the spraying mechanism is mainly composed of a multi-degree-of-freedom mechanical arm, a rotary spray gun and an upper support plate.

[0031] Trapezoidal crawler walking mechanism base: The base is designed as a front and rear inverted ladder structure to enhance the robot's stability and passability in complex terrain. The walking mechanism consists of a driving gear, crawler tracks, driven gears, and load-bearing wheels. The crawler walking mechanism drives the walking gears 30 and 33 of the trapezoidal crawler tracks through the motor.

[0032] The crawler climbing module includes a driving gear 30, a driven gear 33, and a load-bearing wheel 31. A group of driving gears 30 and driven gears 33 rotate and are fixed at the front and rear ends of the crawler respectively. There are four load-bearing wheels 31 evenly distributed at the bottom of the inner side of the crawler. The crawler is arranged around the outside of the driving gear 30 and the driven gear 33 to form a quasi-inverted trapezoidal transmission mechanism with narrow ends and wide middle ends, thereby forming an oblique angle slope at the front and rear ends, which can move more smoothly on potholes and uneven roads, and at the same time correspondingly reduce the distance between the lower end surface of the crawler and the ground, so as to better adapt to the terrain. The driving device 17 is fixedly connected to the driving gear 30 by transmitting torque to the driving shaft;

[0033] The support plate is arranged on the track cover plate 29, and is composed of an upper support plate 2 and a lower support plate 3, which are fixedly connected between the two diagonals of the lower support plate by two identical triangular support frames 22. The remaining area between the two support plates is diagonally fixed with a square shell 5 of a pushing cylinder for separation and reinforcement to improve the strength and stability of the overall structure.

[0034] The oil source 18 is responsible for providing the power source for the robot, including key components such as hydraulic pumps and oil tanks, all of which are installed on the upper pallet. The control box is responsible for receiving instructions from sensors and operators and controlling various actions of the robot.

[0035] The winch 21 is installed at the rear end of the lower support plate 3 and arranged horizontally. A square hole is opened at the rear end of the winch 21 body shell 20 for leading out the winch wire. The winch 21 is used to provide additional traction when the robot needs to climb a slope or cross an obstacle, thereby enhancing the robot's adaptability and passing ability.

[0036] The multi-degree-of-freedom robotic arm includes a feed chamber 37, a feed pump 36, a delivery hose 9, a swing bar 8, and a telescopic hydraulic cylinder 6 that can drive the spray mechanism nozzle to move. The feed chamber 37 and the feed pump 36 are fixedly arranged at the upper end of the lower support plate 3 and arranged at the rear of the vehicle. The lower part of the feed pump 36 is opened and connected to the delivery hose 9 through the feed pump 36. The lighting device 35 is fixedly arranged at the end of the delivery hose 9; specifically, the multi-degree-of-freedom robotic arm adjustment mechanism in this embodiment includes a telescopic hydraulic cylinder 6, a swing bar 8, and some telescopic cylinder square shells 5. The swing bar is vertically fixed at the rear end of the square shell robotic arm, the telescopic hydraulic cylinder 6 is fixed in the square shell, and the telescopic oil cylinder is connected to the inner telescopic arm by a hinge to realize the oblique telescopic movement of the robotic arm; the swing oil cylinder drives the nozzle and the nozzle mechanism to swing in the vertical plane to achieve a wider spraying range.

[0037] It also includes an intelligent control system, which includes multiple high-speed cameras 34, laser sensors 38, lighting devices 35 and controllers. Multiple high-speed cameras 34, laser sensors 38, lighting devices 35 are fixedly connected to the mechanical arm spraying mechanism and the lower support plate 3. The high-definition cameras 34, laser sensors 38, lighting devices 35 are connected to the controller through circuits; wherein the controller is set in a control box 19 above the lower support plate 3, and the control box 19 protects the controller from being damaged by external impact or spillage of concrete slurry. The system can monitor the distance and shape of the spraying surface in real time, and through cooperation with the control box, it can realize the control of the optimal spraying distance from the discharge end of the spray gun to the spraying surface to ensure the spraying quality.

[0038] When the device is moving, the intelligent control system can identify the complex terrain ahead. When it is necessary to cross an obstacle, the climbing mechanism will perform a corresponding upward or downward rotation with the assistance of the drive device 17 to ensure that the entire device is stably supported during the crossing process. At the same time, the drive device 17 will drive the crawler to move the climbing mechanism on the support point. This process effectively assists the walking mechanism, enabling it to successfully complete the crossing of complex terrain.

[0039] Four curved thin baffles 4 are welded around the lower support plate to prevent the splashing coal dust or gravel from damaging the internal components of the robot when working in the coal mine.

[0040] Connection method of swing bar: The swing bar is connected to the end of the mechanical arm through bolts using an H-shaped base, and the installation method is that the side of the swing bar is installed parallel to the mechanical arm, which is convenient for adjusting the spraying angle and range of the nozzle. A battery is also installed above the robot to provide power for the walking mechanism drive device (motor). The battery and the drive device are connected through a controller to achieve stepless speed regulation and precise control of the robot.

[0041] The spray gun part includes a rotating motor 11, an eccentric mechanism 27, an upper support seat 25, a lower base 24, a nozzle 15, a universal steering structure 10, an air inlet 12, a curved rod connecting seat 23 and a U-shaped pipe clamp 26. The rotating mechanism includes a universal rotating structure 10, an eccentric mechanism 27 and a rotating motor 11 to drive the rotation of the gun body and the nozzle. During the spraying process, the nozzle circle is realized through the cooperation of the universal joint and the offset rotating rod, so that the overall spraying slurry process is more uniform. The front end of the gun body is installed on the eccentric mechanism, the rear end is installed on the universal rotating mechanism, and the nozzle is installed at the front end of the gun body. The connecting mechanism connects the spray gun to the feeding system of the wet spraying machine, and the U-shaped pipe clamp connects the multi-stage nozzle and the gun body. An air inlet is set above the gun body to provide compressed air to assist the spraying of the slurry; a cleaning port is set on the gun body to clean the slurry residue inside the gun body. The delivery hose 9 extends from the area between the upper and lower support plates and is fixed by a plurality of U-shaped clamps 26 to ensure the stability and accuracy of the spraying pipe during the spraying process.

[0042] In summary, the spraying robot for coal mines provided by the present invention completes a series of concrete spraying operations through the cooperation of a hydraulic propulsion mechanism, a swing bar, a mechanical arm, and a rotating spray gun at the end of the mechanical arm, thereby achieving freedom and efficiency of spraying movement in the tunnel. At the same time, through the cooperation of an intelligent visual detection system and a multi-degree-of-freedom mechanical arm, the optimal spraying distance is controlled and the spraying quality is improved. In addition, the design of the winch enhances the adaptability and passing ability of the robot, and the combination of a battery and a motor drive enhances the flexibility and ease of operation of the robot.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wet shotcrete robot for use in coal mines, the characteristics of which include: Car body, walking mechanism, multi-DOF robotic arm spraying structure and intelligent visual inspection system; The vehicle body comprises a winch (21), a control box (19), and an oil source (18), wherein the control box (19) is responsible for receiving instructions from sensors and operators and controlling various actions of the robot, and the oil source (18) is responsible for providing a power source for the robot; The walking mechanism comprises a driving gear (30) and a load-bearing wheel (31), wherein the driving gear (30) is connected to the engine drive shaft and is responsible for driving the crawler belt to rotate, and the load-bearing wheel (31) is installed above the crawler belt close to the ground to ensure the stable operation of the robot; The multi-degree-of-freedom mechanical arm spraying structure comprises a telescopic hydraulic cylinder (6), a telescopic square mechanical arm (7), a swing bar (8), and a nozzle mechanism; the telescopic hydraulic cylinder (6) is arranged between an upper support plate (2) and a lower support plate (3), and is connected to the telescopic square mechanical arm (7) through a hinge; the swing bar (8) is arranged on the end of the telescopic square mechanical arm (7); the nozzle mechanism is connected to the tail end of the swing bar (8); and the intelligent visual detection system is installed on the nozzle mechanism and the lower support plate (3).

2. A wet shotcrete robot for use in coal mines as claimed in claim 1, characterized in that: The intelligent control system comprises a high-speed camera (34), a laser sensor (38), and a lighting device (35); the lighting device (35) and the laser sensor (38) are installed at the rear end of the conveying hose (9) and are located above the lower support plate (3); the high-speed camera (34) is located on the spray gun mechanism. The system can monitor the distance and shape of the spraying surface in real time, and by cooperating with the control box (19), the system can control the optimal spraying distance from the discharge end of the spray gun to the spraying surface, thereby ensuring the spraying quality.

3. A wet shotcrete robot for use in coal mines as claimed in claim 1, characterized in that: The lower support plate (3) is arranged on the track cover plate (29), and the upper support plate (2) and the lower support plate (3) are fixed by two identical triangular support frames (22). The triangular support frames (22) are connected between two diagonal corners of the lower support plate (3), and the square shell (5) of the driving cylinder is fixed diagonally in the remaining area between the two support plates to separate and reinforce them, so as to improve the strength and stability of the overall structure.

4. A wet shotcrete robot for use in coal mines as claimed in claim 1, characterized in that: The winch (21) is installed at the rear end of the lower support plate (3) and arranged transversely. A square hole is opened at the rear end of the body shell (20) of the winch (21) for leading out the winch wire. The winch (21) is used to provide additional traction when the robot climbs a slope or crosses an obstacle, thereby enhancing the adaptability and passing ability of the robot.

5. A wet shotcrete robot for use in coal mines as claimed in claim 1, characterized in that: Four curved thin baffles (4) are welded around the lower support plate (3) to prevent splashing coal dust or gravel from damaging the internal components of the robot when working in an underground coal mine.

6. The shotcrete spraying robot for use in coal mines according to claim 1, characterized in that; The swing bar (8) is connected to the end of the telescopic square mechanical arm (7) by bolts using an H-shaped base, and the installation method is that the side of the swing bar (8) is installed parallel to the telescopic square mechanical arm (7), so that the swing bar (8) can drive the nozzle mechanism to swing more stably, which is convenient for adjusting the spraying angle and range of the nozzle.

7. The shotcrete spraying robot for use in coal mines according to claim 1, characterized in that; A storage battery is also arranged above the vehicle body to provide power for the walking mechanism driving device (17); the storage battery and the driving device (17) are connected via a controller to achieve stepless speed regulation and precise control of the robot.

8. The shotcrete robot for use in coal mines according to claim 1, characterized in that; The spray gun mechanism comprises a rotating mechanism, which comprises a universal rotating structure (10), an eccentric mechanism (27) and a rotating motor (11), wherein the eccentric mechanism (27) is located at the front end of the spray gun mechanism, and the universal rotating structure (10) is located at the rear end of the spray gun mechanism. The eccentric mechanism (27) and the rotating motor (11) are connected to drive the rotation of the gun body and the nozzle, so as to realize the nozzle drawing a circle during the spraying process, thereby making the overall slurry spraying process more uniform.

9. The shotcrete robot for use in coal mines according to claim 8, characterized in that: The spray gun mechanism also includes an air inlet (12), which is located above the gun body and is used to provide compressed air to assist the spraying of slurry. The gun body is provided with a cleaning port, which is used to clean the slurry residue inside the gun body.

10. The shotcrete spraying robot for use in coal mines according to claim 8, characterized in that; The spray gun mechanism also includes a spray pipe (15), which extends from the area between the upper support plate (2) and the lower support plate (3) and is fixed by a plurality of U-shaped clamping tubes to ensure the stability and accuracy of the spray pipe (15) during the spraying process.

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