Mechanical arm structure of underground coal mine intelligent guniting robot and control method

Abstract

The invention relates to a mechanical arm structure of an underground coal mine intelligent guniting robot and a control method, and relates to the field of guniting robos.The mechanical arm structure comprises a spray head, the spray head comprises a pipe body, a plurality of opening binding plates are hinged to the inner wall of the pipe body, and the hinge points of the opening binding plates are away from the outlet end of the pipe body; a supporting rod is slidably connected to the side wall, close to the outer wall of the pipe body, of the opening binding plate and slides on the opening binding plate in the axial direction of the pipe body, the length direction of the supporting rod is arranged in the radial direction of the pipe body, the supporting rod penetrates through the pipe body and extends out of the pipe body, the supporting rod is sleeved with a reset spring, and one end of the reset spring is fixed to the outer wall of the pipe body. The other end of the reset spring is fixed with one end of the support rod outside the pipe body; and the tube body is also provided with a driving piece for controlling the opening binding plate to rotate. The effect of improving the guniting efficiency is achieved.

Description

Technical Field

[0001] The present application relates to the field of shotcrete robots, and in particular to a mechanical arm structure and a control method of an intelligent shotcrete robot in underground coal mines. Background Art

[0002] During coal mining, it is necessary to control the shotcrete robot to spray concrete onto the well wall. Concrete is usually mixed with cement, sand, gravel and other raw materials in a certain proportion. After the concrete solidifies, it can play a role of sealing and supporting, thereby reducing gas outflow; the shotcrete robot includes a shotcrete vehicle and a multi-degree-of-freedom robotic arm installed on the shotcrete vehicle. The robotic arm includes a nozzle for spraying concrete.

[0003] Due to the viscosity of different raw materials, materials with high viscosity tend to adhere to the inner wall of the nozzle, causing material accumulation, which may eventually clog the nozzle. At this time, the nozzle needs to be stopped to clean, which wastes time and results in low spraying efficiency. Summary of the invention

[0004] The main purpose of this application is to improve the efficiency of spraying.

[0005] In order to achieve the above objectives, the present application provides a mechanical arm structure of an intelligent shotcrete robot in a coal mine, which adopts the following technical solutions: A mechanical arm structure of an intelligent shotcrete robot in a coal mine, comprising a spray head, wherein the spray head comprises a tube body, and a plurality of constriction plates are hinged on the inner wall of the tube body, and the hinge points of the constriction plates are far away from the outlet end of the tube body; A support rod is slidably connected to the side wall of the tie plate close to the outer wall of the tube body, and the support rod slides along the axial direction of the tube body on the tie plate. The length direction of the support rod is arranged along the radial direction of the tube body, and the support rod penetrates the tube body and extends outside the tube body. A return spring is sleeved on the support rod, and one end of the return spring is fixed to the outer wall of the tube body, and the other end of the return spring is fixed to the end of the support rod outside the tube body. The tube body is also provided with a driving member for controlling the rotation of the constriction plate.

[0006] By adopting the above technical scheme, in the initial state, the return spring makes the tie plate fit the inner wall of the pipe body. During spraying, the slurry is sprayed to the outside through the pipe body, and part of the material in the slurry adheres to the inner wall of the pipe body and the tie plate; during the spraying process, the driving part is controlled to work, so that the tie plate rotates into the pipe body, and then rotates to reset; when the tie plate rotates into the pipe body, the tie plate reduces the cross-sectional area of ​​the pipe body for the slurry to pass through, so that the pressure of the slurry when flowing through this place increases, so that the material adhered to this part of the pipe body and the tie plate is washed off, and the washed off material flows with the slurry, reducing the occurrence of nozzle blockage caused by material accumulation, thereby reducing the possibility of stopping the machine to clean the nozzle, and improving the spraying efficiency.

[0007] Optionally, the driving member includes at least two lead screws, which are rotatably mounted on the outer wall of the tube body, with the axial direction of the lead screws arranged along the axial direction of the tube body. A motor for driving the lead screws to rotate is also mounted on the tube body, and all the lead screws are commonly threadedly connected with a drive ring coaxial with the tube body, and the two end faces of the drive ring are inclined toward each other in a direction approaching the tube body, and the inner wall of the drive ring is located between the outer wall of the tube body and the end face of the support rod away from the restraining plate.

[0008] By adopting the above technical scheme, in the initial state, the reset spring makes the end of the support rod outside the tube body aligned with the inclined end face of the driving ring. During spraying, the motor is controlled to work, and the two lead screws cooperate to make the driving ring move along the axial direction of the lead screw. The driving ring moves and pushes the support rod into the tube body, so that the support rod pushes the clamping plate to rotate into the tube body, and at the same time the support rod compresses the reset spring. When the driving ring moves to be out of contact with the support rod, the reset spring restores its deformation and drives the support rod and the mouthpiece to move, so that the clamping plate rotates and resets to the initial position; after the output shaft of the motor rotates forward for a period of time, the output shaft of the motor is controlled to rotate in the opposite direction, and the driving ring moves and resets to the initial position. During this process, the driving ring rotates and resets the clamping plate into the tube body again.

[0009] Optionally, a T-shaped slider is hinged at one end of the support rod close to the tie plate, a slide groove adapted to the slider is provided on the tie plate, the length direction of the slide groove is arranged along the axial direction of the tube body, and the slider is slidably inserted in the slide groove.

[0010] By adopting the above technical solution, the slider cooperates with the slide groove, so that the support rod and the constriction plate are slidably matched.

[0011] Optionally, a control component for controlling the operation of the driving member is provided at the inlet end of the tube body.

[0012] By adopting the above technical solution, during spraying, the control component works so that the driving member can work automatically.

[0013] Optionally, the control assembly includes a power ring disposed in the tube body and slidably connected to the tube body, the sliding direction of the power ring is arranged along the axial direction of the tube body, the inner diameter of the power ring is smaller than the inner diameter of the tube body, and the power ring is connected to a connecting spring, and one end of the connecting spring away from the power ring is fixed to the tube body; The inner wall of the tube body is provided with a mounting groove located between the power ring and the constriction plate, a limit spring is connected to the bottom wall of the mounting groove, a transmission block is provided in the mounting groove, the limit spring is fixed to the transmission block, and the side wall of the transmission block close to the power ring is inclined toward the outlet end of the tube body along the direction close to the axis of the tube body; A connecting rod is connected to the surface of the transmission block close to the outer wall of the tube body, and the connecting rod passes through the tube body. An end of the connecting rod outside the tube body is connected to a sensor sheet. A sensor adapted to the sensor sheet is installed outside the tube body. The sensor and the driving member are electrically connected to the controller of the spraying robot.

[0014] By adopting the above technical solution, Optionally, a connecting block is connected to the outer wall of the power ring, a connecting groove adapted to the connecting block is opened on the inner wall of the tube body, the length direction of the connecting groove is arranged along the axial direction of the tube body, and the connecting block is slidably inserted in the connecting groove.

[0015] By adopting the above technical solution, in the initial state, the power ring is not acted upon by external force. At this time, the connecting spring makes the position of the power ring the initial position, the power ring contacts the inclined side wall of the transmission block, the limit spring makes the positions of the transmission block and the sensor plate the initial positions of the two, and there is a distance between the sensor plate and the sensor; during spraying, the slurry flows and pushes the power ring to move in the direction close to the discharge port of the pipe body. At the same time, the power ring deforms the limit spring, and the power ring pushes the transmission block to move. The transmission block drives the connecting rod and the sensor plate to move until the sensor plate contacts the sensor. At this time, the sensor transmits the signal to the controller, and the controller controls the operation of the drive member.

[0016] At the end of spraying, the force acting on the power ring gradually decreases. During this process, the connecting spring restores its deformation and drives the power ring to move to the initial position. At the same time, the limit spring restores its deformation and drives the transmission block, connecting rod and induction plate to move and reset, so that the induction plate and the sensor are released. At this time, the sensor transmits the signal to the controller, and the controller controls the motor to stop working.

[0017] Optionally, sealing plates for sealing the connecting grooves are fixedly connected to both end faces of the power ring.

[0018] By adopting the above technical solution, the occurrence of slurry entering the connecting groove is reduced, allowing the power ring to move smoothly.

[0019] The present application also provides a control method for the mechanical arm of an intelligent shotcrete robot in an underground coal mine, which adopts the following technical solution: A control method for a mechanical arm of an underground coal mine intelligent shotcreting robot is applied to the mechanical arm structure of the above-mentioned underground coal mine intelligent shotcreting robot, comprising the following steps: S1, the controller obtains the target position of the nozzle by receiving the command; S2, the controller controls the big arm, telescopic arm, rotating hydraulic swing cylinder, left and right hydraulic swing cylinder, and circle hydraulic motor to make the sprinkler reach the target position, and the controller controls the sprinkler to work; S3, the controller controls the driving part to work, so that the tie plate rotates continuously and resets; S4: After the spraying is finished, the controller controls the driving parts to stop working.

[0020] In summary, the present application includes at least one of the following beneficial technical effects: By setting the pipe body, the constriction plate, the support rod, the return spring and the driving part, the occurrence of nozzle blockage caused by material accumulation is reduced, thereby reducing the possibility of stopping the machine to clean the nozzle and improving the efficiency of spraying; By arranging a lead screw, a driving ring and a motor, the opening plate can be rotated and reset; By arranging a power ring, a connecting spring, a transmission block, a limit spring, a sensing sheet and a sensor, the driving component can be made to work automatically. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0022] Figure 1 It is a schematic diagram of the structure of a robotic arm according to an embodiment of the present application.

[0023] Figure 2 It is a cross-sectional view of the structure inside the tube body according to an embodiment of the present application.

[0024] Figure 3 It is a cross-sectional view showing the positional relationship between the drive ring and the bump according to the embodiment of the present application.

[0025] Figure 4 It is a cross-sectional view showing the connection relationship between the slider and the restraining plate according to an embodiment of the present application.

[0026] Figure 5 It is a cross-sectional view of the control component structure of an embodiment of the present application.

[0027] Figure 6 It is a cross-sectional view of the transmission block structure according to an embodiment of the present application.

[0028] Explanation of the reference numerals in the accompanying drawings: 1. Connecting base; 2. Upper arm; 3. Telescopic arm; 4. Rotating hydraulic swing cylinder; 5. Left and right turning hydraulic swing cylinder; 6. Circle drawing hydraulic motor; 7. Nozzle; 71. Tube body; 72. Clamp plate; A. Hinge point; 721. Slide groove; 73. Slider; 74. Support rod; 75. Bump; 76. Return spring; 77. Connecting groove; 78. Mounting groove; 8. Driving member; 81. Lead screw; 82. Support plate; 83. Motor; 84. Driving ring; 9. Control assembly; 91. Power ring; 911. Connecting block; 92. Connecting spring; 93. Sealing plate; 94. Transmission block; 95. Limiting spring; 96. Connecting rod; 97. Induction sheet; 98. Inductor. DETAILED DESCRIPTION

[0029] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] The present application embodiment discloses a mechanical arm structure of an intelligent shotcrete robot in a coal mine. Figure 1 , including a connecting base 1 for being fixedly connected to the spraying vehicle, a boom 2 is installed on the connecting base 1, a telescopic arm 3 is rotatably connected to the upper end of the boom 2, the angle between the telescopic arm 3 and the boom 2 can be adjusted, a rotating hydraulic swing cylinder 4 is installed at the end of the telescopic arm 3 away from the boom 2, a left-right rotating hydraulic swing cylinder 5 is installed on the output shaft of the rotating hydraulic swing cylinder 4, a circle-drawing hydraulic motor 6 is installed on the output shaft of the left-right rotating hydraulic swing cylinder 5, and a nozzle 7 is installed on the output shaft of the circle-drawing hydraulic motor 6.

[0031] Reference Figure 1 , Figure 2 and Figure 3 The nozzle 7 includes a tube body 71, and a constriction plate 72 is hinged on the inner wall of the tube body 71. The hinge point A of the constriction plate 72 faces away from the outlet of the tube body 71. The constriction plate 72 is an arc-shaped plate. A groove for accommodating the constriction plate 72 is opened on the inner wall of the tube body 71. When the constriction plate 72 is located in the corresponding groove, the inner wall of the constriction plate 72 is flush with the inner wall of the tube body 71; in this embodiment, there are two groups of constriction plates 72, and the two groups of constriction plates 72 are symmetrically distributed along the circumference of the tube body 71. The number of constriction plates 72 in each group is three, and the three constriction plates 72 are evenly distributed along the axial direction of the tube body 71.

[0032] Reference Figure 3 and Figure 4 A T-shaped slider 73 is slidably connected to the outer wall of the cuff plate 72, and a slide groove 721 adapted to the slider 73 is opened on the outer wall of the cuff plate 72. The length direction of the slide groove 721 is arranged along the axial direction of the tube body 71, and the slider 73 is slidably inserted in the corresponding slide groove 721; a support rod 74 is hinged on the slider 73, and the length direction of the support rod 74 is arranged along the radial direction of the tube body 71. The support rod 74 penetrates the tube body 71 and is slidably inserted with the tube body 71, and a protrusion 75 is fixedly connected to the end of the support rod 74 away from the slider 73.

[0033] A return spring 76 is also sleeved on the support rod 74, and the return spring 76 is located between the protrusion 75 and the tube body 71. One end of the return spring 76 is fixed to the outer wall of the tube body 71, and the other end of the return spring 76 is fixed to the protrusion 75; in the initial state, the return spring 76 is in a compressed state, and the return spring 76 makes the restraining plate 72 located in the corresponding groove, and the inner wall of the restraining plate 72 is flush with the inner wall of the tube body 71. At this time, there is a distance between the protrusion 75 and the outer wall of the tube body 71.

[0034] Reference Figure 2 and Figure 3 The outer wall of the tube body 71 is also provided with a driving member 8 for driving the beam plate 72 to rotate, and a control assembly 9 for controlling the operation of the driving member 8. The driving member 8 includes a lead screw 81 rotatably mounted on the outer wall of the tube body 71, and there are at least two lead screws 81, all of which are evenly distributed along the circumference of the tube body 71, and the lead screw 81 is consistent with the axial direction of the tube body 71; both ends of the lead screw 81 are provided with a support plate 82, the support plate 82 is fixed to the outer wall of the tube body 71, and both ends of the lead screw 81 are rotatably connected to the corresponding support plate 82, and one end of the lead screw 81 is provided with a motor 83, which is mounted on one of the support plates 82, and the output shaft of the motor 83 is coaxial with the lead screw 81 and fixedly connected.

[0035] The driving member 8 includes a driving ring 84 sleeved outside the tube body 71, the inner diameter of the driving ring 84 is larger than the outer diameter of the tube body 71, and there is a distance between the inner wall of the driving ring 84 and the outer wall of the tube body 71, the driving ring 84 and the tube body 71 are coaxial, and each lead screw 81 passes through the driving ring 84 and is threadedly matched with the driving ring 84; refer to Figure 3 and Figure 4 The two end faces of the driving ring 84 are gradually inclined toward each other along the direction close to the axis of the tube body 71, so that the parts of the two end faces of the driving ring 84 close to the tube body 71 are both inclined surfaces. In the initial state, the inner wall of the driving ring 84 is located between the protrusion 75 and the outer wall of the tube body 71, and the projection of the protrusion 75 in the axial direction of the tube body 71 falls on the inclined end face of the driving ring 84.

[0036] Reference Figure 2 , Figure 5 and Figure 6 The control component 9 includes a power ring 91 located in the tube body 71 and slidingly matched with the tube body 71. The power ring 91 is coaxial with the tube body 71, and the outer wall of the power ring 91 contacts the inner wall of the tube body 71. The power ring 91 is located at the inlet end of the tube body 71; a connecting block 911 is fixedly connected to the outer wall of the power ring 91. In this embodiment, the number of connecting blocks 911 is two, and connecting grooves 77 corresponding to the connecting blocks 911 are opened on the inner wall of the tube body 71. The length direction of the connecting grooves 77 is arranged along the axial direction of the tube body 71. Each connecting block 911 is slidably inserted in the corresponding connecting groove 77. The connecting block 911 cooperates with the connecting groove 77 to enable the power ring 91 to slide along the axial direction of the tube body 71.

[0037] The connection block 911 is fixedly connected with a connection spring 92, and the expansion and contraction direction of the connection spring 92 is arranged along the axial direction of the tube body 71. The end of the connection spring 92 away from the connection block 911 is fixedly connected to the groove wall corresponding to the end of the connection groove 77; when the power ring 91 is not subjected to external force, the connection spring 92 makes the power ring 91 located at the inlet end of the tube body 71. The two end faces of the power ring 91 are connected with a blocking plate 93 corresponding to the connection groove 77. The blocking plate 93 is an arc plate, and the blocking plate 93 is coaxial with the tube body 71. The blocking plate 93 blocks the connection groove 77 to reduce the occurrence of materials entering the connection groove 77, so that the connection block 911 can slide normally.

[0038] An installation groove 78 is opened on the inner wall of the tube body 71, and the installation groove 78 is located between the power ring 91 and the leftmost restraining plate 72, and the installation groove 78 is close to the power ring 91. The control component 9 includes a transmission block 94 slidably inserted in the installation groove 78, and the side wall of the transmission block 94 close to the power ring 91 is inclined along the direction close to the axis of the tube body 71 toward the direction away from the power ring 91; the surface of the transmission block 94 close to the outer wall of the tube body 71 is fixedly connected to a limiting spring 95, and the end of the limiting spring 95 away from the transmission block 94 is fixed to the bottom wall of the installation groove 78.

[0039] The transmission block 94 is fixedly connected to the surface of the outer wall of the tube body 71 with a connecting rod 96, the length direction of the connecting rod 96 is arranged along the radial direction of the tube body 71, the connecting rod 96 penetrates the tube body 71 and is slidably plugged with the tube body 71; the end of the connecting rod 96 located outside the tube body 71 is fixedly connected to a sensing sheet 97, and an inductor 98 is installed on the outer wall of the tube body 71, and the inductor 98 is located directly above the sensing sheet 97. Both the inductor 98 and the motor 83 are electrically connected to the controller of the spraying robot, which is not shown in the figure. In the initial state, the transmission block 94 is not acted upon by external force, and the limit spring 95 cooperates with the connecting spring 92 to make the power ring 91 contact the inclined side wall of the transmission block 94, and there is a gap between the sensing sheet 97 and the inductor 98.

[0040] During spraying, high-pressure slurry flows and sprays out from the inlet end of the tube body 71 to the outlet end. During this process, the high-pressure slurry pushes the power ring 91 to move toward the outlet end of the tube body 71, and at the same time deforms the connecting spring 92. The power ring 91 moves and pushes the inclined side wall of the transmission block 94, so that the transmission block 94, the connecting rod 96 and the sensor plate 97 move upward, and the distance between the sensor plate 97 and the sensor 98 gradually decreases, and the limit spring 95 is compressed at the same time; when the sensor plate 97 contacts the sensor 98, the sensor 98 transmits a signal to the controller, and the controller controls the motor 83 to work, so that the output shaft of the motor 83 rotates forward for a period of time, and then reverses for a period of time, and repeats the above work continuously.

[0041] When the output shaft of the motor 83 rotates in the forward direction, the motor 83 drives the lead screw 81 to rotate, and the two lead screws 81 cooperate to move the drive ring 84 in the direction close to the motor 83; during the movement of the drive ring 84, the inclined side wall of the drive ring 84 contacts the protrusion 75, and pushes the protrusion 75, the support rod 74 and the slider 73 to move along the radial direction of the tube body 71. The movement of the slider 73 causes the restraining plate 72 to rotate around its own hinge point A into the tube body 71, and the movement of the slider 73 also compresses the return spring 76.

[0042] As the cuff plate 72 rotates toward the tube body 71, the cross-sectional area of ​​the tube body 71 for the slurry to pass through is reduced, and the pressure of the slurry increases when flowing through this point, thereby being able to wash off the material adhering to the cuff plate 72, and the washed-off material flows with the slurry; when the drive ring 84 is out of contact with the protrusion 75, the return spring 76 restores its deformation and drives the slider 73, the support rod 74 and the protrusion 75 to move and reset, and at the same time, the slider 73 drives the cuff plate 72 to rotate and reset in the direction close to the outer wall of the tube body 71; when the return spring 76 returns to its initial state, the cuff plate 72, the support rod 74 and the protrusion 75 all return to their initial positions.

[0043] As the drive ring 84 continues to move, the drive ring 84 drives the remaining restraint plates 72 to rotate and reset in turn, thereby cleaning the material adhering to the inner wall of the tube body 71; when the drive ring 84 moves close to the motor 83, the controller controls the output shaft of the motor 83 to rotate in the opposite direction, so that the drive ring 84 moves and resets in the direction away from the motor 83. During the resetting process of the drive ring 84, the drive ring 84 drives all the restraint plates 72 to rotate and reset again, so that the material on the inner wall of the tube body 71 can be cleaned again.

[0044] During the spraying process, the motor 83 works reciprocatingly, and can continuously clean the material on the inner wall of the tube body 71, reducing the occurrence of material clogging the nozzle 7, thereby reducing the possibility of needing to stop the machine to clean the nozzle 7, and ultimately achieving the purpose of improving the spraying efficiency; when the spraying is completed, the force acting on the power ring 91 continues to decrease, and at the same time, the connecting spring 92 restores its deformation and drives the power ring 91 to move toward the inlet end of the tube body 71, and the limit spring 95 also restores its deformation and pushes the transmission block 94 to move into the tube body 71, and the transmission block 94 drives the connecting rod 96 and the sensor plate 97 to move, so that the sensor plate 97 and the sensor 98 are released, and at this time the controller controls the motor 83 to stop working.

[0045] The implementation principle of the mechanical arm structure of an intelligent shotcreting robot in an underground coal mine according to an embodiment of the present application is as follows: when spraying, the slurry drives the power ring 91 to move, and at the same time deforms the connecting spring 92, and the power ring 91 pushes the transmission block 94 and the induction plate 97 to move until the induction plate 97 contacts the induction plate 98. At this time, the controller controls the motor 83 to work, so that the drive ring 84 moves back and forth along the lead screw 81. During the movement of the drive ring 84, the drive ring 84 rotates and resets the clamping plate 72 in turn; when the spraying is completed, the connecting spring 92 restores its deformation to move the power ring 91 to the initial position, and at the same time, the limit spring 95 restores its deformation to move the transmission block 94 to reset, thereby releasing the coordination between the induction plate 97 and the induction plate 98, and at this time, the controller controls the motor 83 to stop working.

[0046] The embodiment of the present application also discloses a control method for a mechanical arm of an intelligent grouting robot in an underground coal mine, which is applied to the mechanical arm structure of the above-mentioned intelligent grouting robot in an underground coal mine.

[0047] S1, the controller obtains the target position of the nozzle 7 by receiving the command; S2, the controller controls the boom 2, the telescopic arm 3, the rotary hydraulic swing cylinder 4, the left and right hydraulic swing cylinder 5, and the circle hydraulic motor 6 to work, so that the sprinkler 7 reaches the target position, and the controller controls the sprinkler 7 to work; S3, the induction sheet 97 cooperates with the sensor 98, the sensor 98 transmits the signal to the controller, and the controller controls the driving member 8 to work, so that the constriction plate 72 rotates continuously and resets; S4, after the spraying is finished, the sensor sheet 97 and the sensor 98 are released from the working state, the sensor 98 transmits the signal to the controller, and the controller controls the driving member 8 to stop working.

[0048] Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

Claims

1. A mechanical arm structure of an intelligent shotcrete robot in an underground coal mine, comprising a spray head (7), wherein the spray head (7) comprises a tube body (71), characterized in that: A plurality of constriction plates (72) are hingedly connected to the inner wall of the tube body (71), and the hinge points of the constriction plates (72) are far away from the outlet end of the tube body (71); A support rod (74) is slidably connected to the side wall of the constriction plate (72) close to the outer wall of the tube body (71); the support rod (74) slides on the constriction plate (72) along the axial direction of the tube body (71); the length direction of the support rod (74) is arranged along the radial direction of the tube body (71); the support rod (74) penetrates the tube body (71) and extends outside the tube body (71); a return spring (76) is sleeved on the support rod (74); one end of the return spring (76) is fixed to the outer wall of the tube body (71); the other end of the return spring (76) is fixed to one end of the support rod (74) located outside the tube body (71); The tube body (71) is also provided with a driving member (8) for controlling the rotation of the constriction plate (72).

2. The mechanical arm structure of the intelligent shotcrete robot in coal mines according to claim 1, characterized in that: The driving member (8) comprises at least two lead screws (81), the lead screws (81) being rotatably mounted on the outer wall of the tube body (71), the axial direction of the lead screws (81) being arranged along the axial direction of the tube body (71), and a motor (83) for driving the lead screws (81) to rotate is also mounted on the tube body (71), and a driving ring (84) coaxial with the tube body (71) is commonly threadedly connected to all the lead screws (81), the two end faces of the driving ring (84) being inclined in a direction approaching each other along a direction approaching the tube body (71), and the inner wall of the driving ring (84) is located between the outer wall of the tube body (71) and the end face of the support rod (74) away from the constriction plate (72).

3. The mechanical arm structure of the intelligent shotcrete robot in coal mine according to claim 1, characterized in that: A T-shaped slider (73) is hingedly connected to one end of the support rod (74) close to the constriction plate (72); a slide groove (721) adapted to the slider (73) is provided on the constriction plate (72); the length direction of the slide groove (721) is arranged along the axial direction of the tube body (71); and the slider (73) is slidably inserted into the slide groove (721).

4. The mechanical arm structure of the intelligent shotcrete robot for underground coal mines according to any one of claims 1 to 3, characterized in that: The inlet end of the tube body (71) is provided with a control component (9) for controlling the operation of the driving member (8).

5. The mechanical arm structure of the intelligent shotcrete robot in coal mines according to claim 4, characterized in that: The control assembly (9) comprises a power ring (91) disposed in the tube body (71) and slidably connected to the tube body (71); the sliding direction of the power ring (91) is arranged along the axial direction of the tube body (71); the inner diameter of the power ring (91) is smaller than the inner diameter of the tube body (71); the power ring (91) is connected to a connecting spring (92); one end of the connecting spring (92) away from the power ring (91) is fixed to the tube body (71); The inner wall of the tube body (71) is provided with a mounting groove (78) located between the power ring (91) and the constriction plate (72); a limit spring (95) is connected to the bottom wall of the mounting groove (78); a transmission block (94) is provided in the mounting groove (78); the limit spring (95) is fixed to the transmission block (94); and a side wall of the transmission block (94) close to the power ring (91) is inclined toward the outlet end of the tube body (71) along a direction close to the axis of the tube body (71); A connecting rod (96) is connected to a surface of the transmission block (94) close to the outer wall of the tube body (71); the connecting rod (96) passes through the tube body (71); an end of the connecting rod (96) located outside the tube body (71) is connected to a sensing sheet (97); a sensor (98) adapted to the sensing sheet (97) is installed outside the tube body (71); and the sensor (98) and the driving member (8) are both electrically connected to a controller of the shotcrete robot.

6. The mechanical arm structure of the intelligent shotcrete robot in coal mines according to claim 5, characterized in that: A connecting block (911) is connected to the outer wall of the power ring (91), and a connecting groove (77) adapted to the connecting block (911) is provided on the inner wall of the tube body (71). The length direction of the connecting groove (77) is arranged along the axial direction of the tube body (71), and the connecting block (911) is slidably inserted into the connecting groove (77).

7. The mechanical arm structure of the intelligent shotcrete robot in coal mines according to claim 6, characterized in that: Both end surfaces of the power ring (91) are fixedly connected with sealing plates (93) for sealing the connection groove (77).

8. A control method for a mechanical arm of an intelligent shotcreting robot in an underground coal mine, applied to the mechanical arm structure of an intelligent shotcreting robot in an underground coal mine as claimed in any one of claims 1 to 7, comprising the following steps: S1, the controller obtains the target position of the nozzle (7) by receiving the command; S2, the controller controls the boom (2), the telescopic arm (3), the rotary hydraulic swing cylinder (4), the left-right hydraulic swing cylinder (5), and the circle hydraulic motor (6) to operate, so that the nozzle (7) reaches the target position, and the controller controls the nozzle (7) to operate; S3, the controller controls the driving member (8) to work, so that the constriction plate (72) continuously rotates and resets; S4, when the spraying is finished, the controller controls the driving member (8) to stop working.

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