Laser radar protection mechanism of underground coal mine intelligent guniting robot and control method

Abstract

The invention provides a laser radar protection mechanism and a control method for an underground coal mine intelligent guniting robot, and the mechanism comprises a pedestal which is fixedly disposed on the guniting robot; the mounting plate is rotationally arranged at the top end of the base, and a positioning assembly used for driving the mounting plate to rotate is arranged on the mounting plate; the mounting seat is fixedly arranged on the top surface of the mounting plate and is used for bearing a laser radar; the protective cover is rotationally arranged above the mounting seat and is used for covering the laser radar; the driving assembly is arranged on one side of the mounting base and used for driving the protective cover to rotate; and the limiting assembly is arranged on the other side of the mounting seat and is used for detecting the overturning state of the protective cover. The laser radar protection mechanism can be automatically controlled to be opened or closed, so that the laser radar is effectively protected, the damage risk of the laser radar is reduced, the situation that the laser radar is damaged due to falling of coal briquettes, and then the project progress is affected is avoided, and the working efficiency of underground tunneling face guniting operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground coal mine grouting, and in particular to a laser radar protection mechanism and a control method of an underground coal mine intelligent grouting robot. Background Art

[0002] The face shotcreting operation in coal mines is an important part of face shotcreting work. Traditional manual shotcreting operations are limited by manual labor and have low construction efficiency. Existing underground intelligent shotcreting robots need to use scanning laser radars as surrounding environment scanning and detection sensors. However, during the shotcreting operation, the scanning laser radars cannot be fully protected, resulting in high repair costs when damaged, and also affecting the progress of the underground face shotcreting operation. Summary of the invention

[0003] One of the main purposes of the present invention is to provide a laser radar protection mechanism for an intelligent shotcreting robot in an underground coal mine, so as to solve the problem that the laser radar in the prior art cannot be fully protected, resulting in high repair costs when damaged, and also affecting the progress of the underground excavation face shotcreting operation project; The second main purpose of the present invention is to provide a control method for the laser radar protection mechanism of an intelligent shotcreting robot in an underground coal mine, so as to solve the problem that the laser radar in the prior art cannot be fully protected, resulting in high repair costs when damaged, and also affecting the progress of the underground excavation face shotcreting operation project.

[0004] In order to solve the above problems, one of the purposes of the present invention is achieved as follows: a laser radar protection mechanism for an intelligent shotcrete robot in an underground coal mine, comprising: a base, fixedly mounted on the shotcrete robot; A mounting plate, rotatably disposed on the top of the base, wherein a positioning assembly for driving the mounting plate to rotate is provided on the mounting plate; A mounting seat, fixed on the top surface of the mounting plate, for receiving the laser radar; A protective cover, rotatably disposed above the mounting seat, and used for covering the laser radar; A driving assembly, arranged on one side of the mounting seat, for driving the protective cover to rotate; A limit assembly is arranged on the other side of the mounting seat and is used to detect the flipping state of the protective cover.

[0005] Furthermore, a first vertical plate and a second vertical plate are respectively extended from opposite sides of the top of the mounting seat, the driving assembly includes a rotating shaft rotatably arranged between the first vertical plate and the second vertical plate, one side of the protective cover is fixedly sleeved on the outer side of the rotating shaft, and one side of the mounting seat is provided with a power unit for driving the rotating shaft to rotate.

[0006] Furthermore, the rotation axis between the first vertical plate and the second vertical plate is polygonal, a polygonal hole is opened on one side of the protection cover, and the rotation axis is inserted into the polygonal hole.

[0007] Furthermore, the power unit includes a first synchronous wheel and a second synchronous wheel rotatably arranged on the outer side wall of the mounting seat, and a synchronous belt wound around the outer side of the first synchronous wheel and the second synchronous wheel. One end of the rotating shaft passes through the first vertical plate and is fixedly connected to the first synchronous wheel. A first motor is also provided on the mounting seat, and the output end of the first motor is fixedly connected to the second synchronous wheel.

[0008] Furthermore, a tensioning assembly is provided on the side wall of the mounting seat close to the power unit, and the tensioning assembly includes a fixed block fixed on the side wall of the mounting seat, one end of the fixed block is rotatably connected to a tensioning wheel, and the side wall of the tensioning wheel abuts against the synchronous belt.

[0009] Furthermore, a slide groove is provided on the side wall of the mounting seat, and the fixing block includes a fixing plate and a slider fixed on the bottom surface of the fixing plate, the slider is slidably arranged in the slide groove, one end of the slider protrudes from the fixing plate and extends toward the direction close to the synchronous belt, a connecting rod is fixed to the end of the slider away from the fixing plate, the tensioning wheel is rotatably sleeved on the outside of the connecting rod, and vertical through grooves are respectively provided on opposite sides of the fixing plate, the length direction of the through groove is the same as the extension direction of the slider, and two fixing bolts are provided on one side of the fixing plate, and the two fixing bolts respectively pass through the two through grooves and are fixedly connected to the mounting seat.

[0010] Furthermore, the limit assembly includes a first photoelectric limit switch and a second photoelectric limit switch fixedly mounted on the side wall on the other side of the mounting base, one end of the rotating shaft extends through the side wall of the mounting base in a direction close to the first photoelectric limit switch and the second photoelectric limit switch, and a limit sensing disk is fixedly mounted thereon, and when the protective cover is in a closed state, the limit sensing disk is located in the sensing area of ​​the first photoelectric limit switch, and when the protective cover is in an open state, the limit sensing disk is located in the sensing area of ​​the second photoelectric limit switch.

[0011] Furthermore, arc grooves are symmetrically provided on two opposite side walls of the base, and the positioning assembly includes a shaft rod, both ends of the shaft rod respectively pass through the two arc grooves and are rotatably connected to the two side walls of the mounting plate, an arc rack is fixedly provided on one side of each arc groove, and a gear is fixedly sleeved on the shaft rod corresponding to each arc rack, and each gear is respectively engaged with the corresponding arc rack, and a clamping portion for limiting the rotation of the shaft rod is provided on one side of the mounting plate.

[0012] Furthermore, the clamping portion includes a chuck fixedly mounted on the outer wall of the mounting plate, a plurality of clamping grooves being recessed on a side of the chuck away from the mounting plate, one end of the shaft rod passes through the side wall of the mounting plate and the chuck, and extends in a direction away from the mounting plate, a sleeve is slidably sleeved on one end of the shaft rod, an outer surface of one end of the shaft rod is polygonal, an annular plate is fixedly mounted on one end of the sleeve close to the chuck, an inner edge of the annular plate is matched with the outer surface of the shaft rod, a plurality of clamping blocks matched with the clamping grooves are convexly provided on one side of the annular plate, and a first spring for pushing the sleeve to move toward the chuck is sleeved on one end of the shaft rod.

[0013] The second object of the present invention is achieved as follows: a control method for a laser radar protection mechanism of an intelligent shotcreting robot in an underground coal mine, using the above-mentioned laser radar protection mechanism of the intelligent shotcreting robot in an underground coal mine, comprising the following steps: a. Determine whether to perform lane scanning operation b. When the laser radar does not need to perform a scanning operation, the controller controls the first motor to rotate in the reverse direction to close the protective cover; c. When the controller detects that the sensing area of ​​the first photoelectric limit switch is blocked by the limit sensing disk, and the sensing area of ​​the second photoelectric limit switch is not blocked by the limit sensing disk, the first motor is controlled to stop rotating, otherwise, step b is continued; d. When the laser radar needs to perform a lane scanning operation, the controller controls the first motor to rotate forward to open the radar cover; e. When the controller detects that the sensing area of ​​the second photoelectric limit switch is blocked by the limit sensing disk, and the sensing area of ​​the first photoelectric limit switch is not blocked by the limit sensing disk, the first motor is controlled to stop rotating, otherwise, step d is continued.

[0014] The beneficial effects of the present invention are: 1. The present invention can automatically control the laser radar protection mechanism to open when performing tunnel environment scanning operations and close when performing grouting operations or other operations by providing a protective cover, a driving component and a limit component, so as to effectively protect the laser radar, reduce the risk of damage to the laser radar, avoid damage to the laser radar due to falling coal blocks, and thus affect the progress of the project, and improve the work efficiency of the grouting operation of the underground excavation face; 2. By setting the rotating connection of the base and the mounting plate and cooperating with the positioning component, the angle of the laser radar can be adjusted to adapt to different usage environments; 3. By connecting the protective cover and the limit sensing disk to the rotating shaft respectively, the protective cover and the limit sensing disk can be ensured to rotate synchronously, thereby more accurately judging the position of the protective cover; 4. By setting a sliding groove to match the slider and by setting two through grooves to match two fixing bolts, it is convenient to adjust the position of the tensioning wheel, thereby better tensioning the synchronous belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] Figure 1 It is a schematic diagram of the installation of the laser radar protection mechanism of the intelligent shotcrete robot in underground coal mines of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of one side of the laser radar protection mechanism of the intelligent shotcrete robot in an underground coal mine of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the other side of the laser radar protection mechanism of the intelligent shotcrete robot in an underground coal mine of the present invention; Figure 4 It is a structural schematic diagram of the power unit of the present invention; Figure 5 It is a schematic diagram of the exploded structure of the tensioning assembly of the present invention; Figure 6 It is a schematic diagram of the exploded structure of the protection cover and the rotating shaft of the present invention; Figure 7 It is a schematic diagram of the installation structure of the limit assembly of the present invention; Figure 8 for Figure 5 A magnified view of part A; Fig. 9 It is a schematic diagram of the exploded structure of the positioning component of the present invention; Fig.10 It is a schematic diagram of the cross-sectional structure of the positioning component of the present invention.

[0017] Description of Reference Numerals 100. Shotcrete robot; 200. Laser radar protection mechanism; 300. Laser radar; 1. Base; 11. Arc groove; 2. Mounting plate; 3. Mounting seat; 31. First vertical plate; 32. Second vertical plate; 33. Slide groove; 4. Protective cover; 41. Polygonal hole; 5. driving assembly; 51. rotating shaft; 52. power unit; 521. first synchronous wheel; 522. second synchronous wheel; 523. synchronous belt; 524. first motor; 53. first dust cover; 6. Limit assembly; 61. First photoelectric limit switch; 62. Second photoelectric limit switch; 63. Limit sensor disk; 64. Second dust cover; 7. Positioning assembly; 71. Shaft; 711. Baffle; 72. Gear; 73. Arc-shaped rack; 74. Clamping portion; 741. Chuck; 7411. Clamping groove; 742. Sleeve; 743. Ring plate; 7431. Clamping block; 744. First spring; 8. Tensioning assembly; 81. Fixing block; 811. Fixing plate; 8111. Through slot; 812. Sliding block; 813. Connecting rod; 82. Tensioning wheel; 83. Fixing bolt. DETAILED DESCRIPTION

[0018] The technical scheme in the embodiment of the present invention is described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention 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 invention, so the present invention is not limited by the specific embodiments disclosed below.

[0019] See also Figures 1 to 3 As shown, a laser radar protection mechanism for an intelligent shotcrete robot in a coal mine, the laser radar protection mechanism 200 includes: a base 1, a mounting plate 2, a mounting seat 3, a protective cover 4, a drive component 5 and a limit component 6, wherein, as Figure 1 As shown, the base 1 is used to be fixedly connected to the shotcrete robot 100. In actual operation, the base 1 can be fixed on the shotcrete robot 100 by multiple bolts. The mounting plate 2 is arranged on the top of the base 1, and the mounting seat 3 is used to receive the laser radar 300 and is fixed on the top surface of the mounting plate 2. In this embodiment, the mounting seat 3 is fixed on the top surface of the mounting plate 2 by multiple bolts to facilitate subsequent disassembly and maintenance.

[0020] See also Figure 5 and Figure 8 As shown, preferably, the mounting plate 2 is rotatably connected to the top of the base 1, and a positioning assembly 7 is provided on the mounting plate 2 for driving the mounting plate 2 to rotate. In this way, the inclination angle of the laser radar 300 can be adjusted conveniently so that the laser radar protection mechanism 200 can adapt to different working environments. In this embodiment, arc grooves 11 are symmetrically provided on the two opposite side walls of the base 1, and the positioning assembly 7 includes a shaft 71, two gears 72, two arc racks 73 and a clamping portion 74, wherein the two ends of the shaft 71 respectively pass through the two arc grooves 11 and are rotatably connected to the two side walls of the mounting plate 2, and the two arc racks 73 are respectively located on one side of the two arc grooves 11, and the specific arc rack 73 is adapted to the curvature of the arc groove 11, and the tooth surface of the arc rack 73 faces the arc groove 11, and the two gears 72 are respectively fixedly sleeved on the shaft 71 and respectively mesh with the two arc racks 73, and the clamping portion 74 is provided on one side of the mounting plate 2 to limit the rotation of the shaft 71.

[0021] See also Figures 8 to 10 As shown, specifically, the clamping portion 74 includes a chuck 741, a sleeve 742 and a first spring 744, wherein the chuck 741 is fixed on the outer side wall of the mounting plate 2, and a plurality of clamping grooves 7411 are recessed on the side of the chuck 741 away from the mounting plate 2, and the plurality of clamping grooves 7411 are evenly arranged along the circumference of the chuck 741, and one end of the shaft rod 71 passes through the side wall of the mounting plate 2 and the chuck 741, and extends in a direction away from the mounting plate 2, and the sleeve 742 is slidably sleeved on one end of the shaft rod 71. It should be noted that the outer surface of one end of the shaft rod 71 is polygonal, and an annular plate 743 is fixed on one end of the sleeve 742 close to the chuck 741, and the inner edge of the annular plate 743 is adapted to the outer surface of the shaft rod 71, so that the sleeve 742 can slide along the shaft rod 71, and when the staff rotates the sleeve 742, the sleeve 742 can also drive the shaft rod 71 to rotate.

[0022] A plurality of blocks 7431 adapted to the slots 7411 are convexly provided on one side of the annular plate 743, so as to be engaged with the slots 7411 through the blocks 7431. The first spring 744 is sleeved on one end of the shaft 71 and located on the inner side of the sleeve 742, so as to push the sleeve 742 to move toward the chuck 741. Specifically, a baffle 711 is fixedly provided at one end of the shaft 71, and the two ends of the first spring 744 are respectively in contact with the baffle 711 and the annular plate 743, so that the sleeve 742 is moved toward the chuck 741 through the elasticity of the first spring 744.

[0023] Under normal conditions, the block 7431 of the annular plate 743 is clamped in the clamping groove 7411 of the clamping disc 741. When it is necessary to rotate the mounting plate 2, the staff first pulls the sleeve 742 to move the sleeve 742 away from the clamping disc 741. At this time, the first spring 744 is compressed, and the block 7431 is separated from the clamping groove 7411. Then the staff rotates the sleeve 742. Since the inner edge of the annular plate 743 is a polygon that matches the outer surface of the shaft rod 71 (the shaft rod 71 in this embodiment) The sleeve 742 is rectangular, i.e., a quadrilateral), so when the sleeve 742 is rotated, the shaft 71 will rotate accordingly, thereby driving the gear 72 to rotate, so that the gear 72 moves along the tooth surface of the arc-shaped rack 73. When the mounting plate 2 is rotated to a suitable position, the staff releases the sleeve 742. At this time, the sleeve 742 moves toward the direction close to the chuck 741 through the elasticity of the first spring 744, and then the block 7431 is re-engaged in the slot 7411 to limit the rotation of the shaft 71. The present invention sets a rotation connection between the base 1 and the mounting plate 2, and cooperates with the positioning assembly 7 to adjust the angle of the laser radar 300, so as to adapt to different usage environments.

[0024] In this embodiment, the protective cover 4 is rotatably arranged above the mounting seat 3 to cover the laser radar 300, and the driving assembly 5 is arranged on one side of the mounting plate 2 to drive the protective cover 4 to rotate. That is, through the driving assembly 5, it is convenient to open the protective cover 4 when the laser radar 300 is used, or close the protective cover 4 when the laser radar 300 is not needed, thereby protecting the laser radar 300.

[0025] See also Figure 6 As shown, specifically, the first vertical plate 31 and the second vertical plate 32 are respectively extended on opposite sides of the top of the mounting seat 3, and the driving assembly 5 includes a rotating shaft 51 and a power unit 52, wherein the rotating shaft 51 is arranged between the first vertical plate 31 and the second vertical plate 32, and is rotatably connected with the first vertical plate 31 and the second vertical plate 32, and one side of the protective cover 4 is fixedly sleeved on the outer side of the rotating shaft 51, so that the rotating shaft 51 drives the protective cover 4 to rotate along the central axis of the rotating shaft 51 during the rotation of the rotating shaft 51. Preferably, the outer surface of the rotating shaft 51 located between the first vertical plate 31 and the second vertical plate 32 is polygonal, and a polygonal hole 41 is opened on one side of the protective cover 4, and the rotating shaft 51 is penetrated in the polygonal hole 41, thereby facilitating the removal and installation between the protective cover 4 and the rotating shaft 51, and at the same time, when the rotating shaft 51 rotates, it can also drive the protective cover 4 to rotate synchronously.

[0026] See also Figure 4 As shown, the power unit 52 is arranged on one side of the mounting seat 3, and is used to drive the rotating shaft 51 to rotate. In this embodiment, the power unit 52 includes a first synchronous wheel 521, a second synchronous wheel 522, a synchronous belt 523 and a first motor 524, wherein the first synchronous wheel 521 and the second synchronous wheel 522 are rotatably arranged on the outer side wall of the mounting seat 3, and the synchronous belt 523 is wound around the outer side of the first synchronous wheel 521 and the second synchronous wheel 522, so as to realize the synchronous rotation between the first synchronous wheel 521 and the second synchronous wheel 522 through the synchronous belt 523. Specifically, the first synchronous wheel 521 and the second synchronous wheel 522 can be selected from sprockets or pulleys in the prior art, and the synchronous belt 523 can be a chain or belt in the prior art, which is not limited here. One end of the rotating shaft 51 passes through the first vertical plate 31 and is fixedly connected to the first synchronous wheel 521, and the first motor 524 is fixedly arranged on one side of the mounting seat 3, and the output end of the first motor 524 is fixedly connected to the second synchronous wheel 522, so as to drive the second synchronous wheel 522 to rotate.

[0027] When implementing, Figure 4As shown, the first motor 524 is started, and the first motor 524 rotates forward or reversely to drive the second synchronous wheel 522 to rotate. At this time, the first synchronous wheel 521 is synchronously rotated through the transmission of the synchronous belt 523, thereby rotating the rotating shaft 51 fixedly connected to the first synchronous wheel 521, thereby driving the protective cover 4 to open or close. It should be noted that in this embodiment, the first motor 524 is an explosion-proof stepper motor in the prior art, and the explosion-proof stepper motor needs to meet the GB / T 3836-2021 standard to better adapt to the underground environment of coal mines. Preferably, the outer cover of the power unit 52 is provided with a first dust cover 53 to protect the power unit 52.

[0028] See also Figure 5 As shown, preferably, a tensioning assembly 8 is provided on the side wall of the mounting seat 3 close to the power unit 52. In this embodiment, the tensioning assembly 8 includes a fixed block 81 and a tensioning wheel 82. The fixed block 81 is fixed on the side wall of the mounting seat 3. The tensioning wheel 82 is rotatably connected with the fixed block 81, and the side wall of the tensioning wheel 82 abuts against the synchronous belt 523. Through the abutment between the tensioning wheel 82 and the synchronous belt 523, the synchronous belt 523 is more closely matched with the first synchronous wheel 521 and the second synchronous wheel 522, thereby ensuring that the first synchronous wheel 521 and the second synchronous wheel 522 rotate synchronously.

[0029] Specifically, a slide groove 33 is provided on the side wall of the mounting seat 3, and one end of the slide groove 33 extends in a direction close to the synchronous belt 523. The fixed block 81 includes a fixed plate 811, a slider 812 and a connecting rod 813. The fixed plate 811 is a rectangular plate, and the slider 812 is fixedly arranged on the bottom surface of the rectangular plate and slidably arranged in the slide groove 33. One end of the slider 812 protrudes from the fixed plate 811 and extends in a direction close to the synchronous belt 523. The connecting rod 813 is fixed to the end of the slider 812 away from the fixed plate 811. The central axis of the connecting rod 813 is perpendicular to the length direction of the slider 812. The tensioning wheel 82 is rotatably sleeved on the outer side of the connecting rod 813. The fixed plate 811 is respectively provided with vertically penetrating through grooves 8111 on opposite sides. The length direction of the through groove 8111 is the same as the extension direction of the slider 812. One side of the fixed plate 811 is provided with two fixing bolts 83, and the two fixing bolts 83 respectively pass through the two through grooves 8111 and are fixedly connected to the mounting seat 3.

[0030] During implementation, the staff pushes the fixing plate 811, and the fixing plate 811 drives the slider 812 to move toward the direction close to the synchronous belt 523, so that the tensioning wheel 82 abuts against the outer side of the synchronous belt 523, and then the staff fixes the fixing plate 811 to the side wall of the mounting seat 3 through two fixing bolts 83. By setting the slide groove 33 to match the slider 812 and by setting two through grooves 8111 to match the two fixing bolts 83, the position of the tensioning wheel 82 can be easily adjusted, thereby better tensioning the synchronous belt 523.

[0031] See also Figure 6 , Figure 7 As shown, the limit assembly 6 is arranged on the other side of the mounting seat 3, and is used to detect the flipping state of the protective cover 4. Specifically, the limit assembly 6 includes a first photoelectric limit switch 61, a second photoelectric limit switch 62, and a limit sensor disk 63, wherein the first photoelectric limit switch 61 and the second photoelectric limit switch 62 are respectively fixed on the side wall of the other side of the mounting seat 3 (i.e., on the side wall away from the power unit 52), and one end of the rotating shaft 51 passes through the side wall of the mounting seat 3 and extends in the direction close to the first photoelectric limit switch 61 and the second photoelectric limit switch 62, and is fixedly sleeved with the limit sensor disk 63. Preferably, the outer peripheral surface of the contact area between the rotating shaft 51 and the limit sensor disk 63 is set to a polygon (a quadrilateral in this embodiment), and the limit sensor disk 63 is provided with a polygonal fixing hole adapted to the rotating shaft 51, so that the limit sensor disk 63 can rotate synchronously during the rotation of the rotating shaft 51.

[0032] It should be noted that when the protective cover 4 is in a closed state, the limit sensing disk 63 is located in the sensing area of ​​the first photoelectric limit switch 61, and when the protective cover 4 is in an open state, the limit sensing disk 63 is located in the sensing area of ​​the second photoelectric limit switch 62. Preferably, the outer fixed cover of the limit assembly 6 is provided with a second dust cover 64 to protect the limit assembly 6. By connecting the protective cover 4 and the limit sensing disk 63 to the rotating shaft 51 respectively, it is ensured that the protective cover 4 and the limit sensing disk 63 rotate synchronously, thereby more accurately judging the position of the protective cover 4.

[0033] When the present invention is implemented, the staff first fixes the base 1 on the spraying robot 100 by bolts, and then pulls the sleeve 742 of the clamping portion 74 to disengage the block 7431 from the clamping groove 7411, and then rotates (forward or reverse) the sleeve 742, and the sleeve 742 drives the shaft 71 to rotate, thereby, the gear 72 fixedly connected to the shaft 71 cooperates with the arc-shaped rack 73 fixed on the side wall of the base 1 to make the mounting seat 3 rotate, and then adjust the angle of the laser radar 300. When the laser radar 300 is adjusted to a suitable position, the staff loosens the sleeve 742, and the sleeve 742 moves toward the direction close to the chuck 741 through the elasticity of the first spring 744, so that the block 7431 is re-clamped in the clamping groove 7411. At this time, no rotation will occur between the mounting seat 3 and the base 1.

[0034] Under normal circumstances, the protective cover 4 is arranged above the mounting base 3 to protect the laser radar 300. When the laser radar 300 is required to perform a scanning operation, the first motor 524 is started, and the first motor 524 drives the second synchronous wheel 522 to rotate (forward rotation). At this time, the first synchronous wheel 521 is rotated synchronously through the transmission of the synchronous belt 523, thereby rotating the rotating shaft 51 fixedly connected to the first synchronous wheel 521, thereby driving the protective cover 4 to open. At the same time, during the rotation of the rotating shaft 51, the limit sensing disk 63 of the limit assembly 6 rotates synchronously with the shaft rod 71. At this time, the limit sensing disk 63 moves from the sensing area of ​​the first photoelectric limit switch 61 to the sensing area of ​​the second photoelectric limit switch 62, thereby judging that the protective cover 4 has been opened in place.

[0035] On the contrary, when the laser radar 300 is not needed to perform scanning operations, the first motor 524 drives the second synchronous wheel 522 to rotate (reverse), the second synchronous wheel 522 drives the first synchronous wheel 521 to rotate through the synchronous belt 523, and the first synchronous wheel 521 drives the rotating shaft 51 to rotate synchronously, thereby driving the protective cover 4 to close. At the same time, during the rotation of the rotating shaft 51, the limit sensing disk 63 of the limit assembly 6 moves from the sensing area of ​​the second photoelectric limit switch 62 to the sensing area of ​​the first photoelectric limit switch 61, thereby judging that the protective cover 4 has been closed in place, that is, the position of the limit sensing disk 63 is detected by the first photoelectric limit switch 61 and the second photoelectric limit switch 62 to determine the open or closed state of the protective cover 4.

[0036] It should be noted that the spraying robot 100 of the present invention is provided with a controller (not shown in the figure), which is a codable controller in the prior art, and the first photoelectric limit switch 61, the second photoelectric limit switch 62, and the first motor 524 are all electrically connected to the controller. The controller obtains the current state of the first photoelectric limit switch 61 and the second photoelectric limit switch 62, and then obtains the position state of the protective cover 4.

[0037] The present invention also provides a control method for a laser radar protection mechanism of an underground coal mine intelligent shotcreting robot, using the above-mentioned laser radar protection mechanism 200 of the underground coal mine intelligent shotcreting robot, comprising the following steps: a. Determine whether to perform lane scanning operation b. When the laser radar 300 does not need to perform a scanning operation, the controller controls the first motor 524 to rotate in the reverse direction to close the protective cover 4; c. When the controller detects that the sensing area of ​​the first photoelectric limit switch 61 is blocked by the limit sensing disk 63, and the sensing area of ​​the second photoelectric limit switch 62 is not blocked by the limit sensing disk 63, the first motor 524 is controlled to stop rotating, otherwise, step b is continued; d. When the laser radar 300 needs to perform a lane scanning operation, the controller controls the first motor 524 to rotate forward to open the radar cover; e. When the controller detects that the sensing area of ​​the second photoelectric limit switch 62 is blocked by the limit sensing disk 63, and the sensing area of ​​the first photoelectric limit switch 61 is not blocked by the limit sensing disk 63, the first motor 524 is controlled to stop rotating, otherwise, step d is continued.

[0038] The present invention, by providing a protective cover 4, a drive assembly 5 and a limit assembly 6, can automatically control the laser radar protection mechanism 200 to be turned on when performing a tunnel environment scanning operation, and to be turned off when performing a grouting operation or other operations, so as to effectively protect the laser radar 300, reduce the risk of damage thereof, avoid damage to the laser radar 300 due to falling coal blocks, thereby affecting the progress of the project, and improve the work efficiency of the grouting operation of the underground excavation face.

[0039] The above description is only a preferred embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not 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.

Claims

1. A laser radar protection mechanism for an intelligent shotcrete robot in a coal mine, characterized in that: include: A base (1) is fixedly mounted on the shotcrete robot (100); A mounting plate (2) rotatably mounted on the top of the base (1), wherein a positioning assembly (7) for driving the mounting plate (2) to rotate is provided on the mounting plate (2); A mounting seat (3) fixedly mounted on the top surface of the mounting plate (2) and used for receiving the laser radar (300); A protective cover (4) is rotatably disposed above the mounting seat (3) and is used to cover the laser radar (300); A driving assembly (5), arranged on one side of the mounting seat (3), and used for driving the protective cover (4) to rotate; A limit assembly (6) is arranged on the other side of the mounting seat (3) and is used to detect the flipping state of the protective cover (4).

2. The laser radar protection mechanism of the intelligent shotcrete robot in underground coal mines according to claim 1 is characterized in that: A first vertical plate (31) and a second vertical plate (32) are respectively extended and arranged on opposite sides of the top end of the mounting seat (3); the driving assembly (5) comprises a rotating shaft (51) rotatably arranged between the first vertical plate (31) and the second vertical plate (32); one side of the protective cover (4) is fixedly sleeved on the outer side of the rotating shaft (51); and one side of the mounting seat (3) is provided with a power unit (52) for driving the rotating shaft (51) to rotate.

3. The laser radar protection mechanism of the intelligent shotcrete robot in coal mines according to claim 2 is characterized in that: The rotation axis (51) located between the first vertical plate (31) and the second vertical plate (32) is polygonal in shape, a polygonal hole (41) is provided on one side of the protection cover (4), and the rotation axis (51) is inserted into the polygonal hole (41).

4. The laser radar protection mechanism of the intelligent shotcrete robot in coal mines according to claim 2 is characterized in that: The power unit (52) comprises a first synchronous wheel (521) and a second synchronous wheel (522) rotatably arranged on the outer side wall of the mounting seat (3), and a synchronous belt (523) wound around the outer sides of the first synchronous wheel (521) and the second synchronous wheel (522); one end of the rotating shaft (51) passes through the first vertical plate (31) and is fixedly connected to the first synchronous wheel (521); a first motor (524) is also provided on the mounting seat (3); an output end of the first motor (524) is fixedly connected to the second synchronous wheel (522).

5. The laser radar protection mechanism of the intelligent shotcrete robot in underground coal mines according to claim 4 is characterized in that: A tensioning assembly (8) is also provided on a side wall of the mounting seat (3) close to the power unit (52), the tensioning assembly (8) comprising a fixing block (81) fixedly mounted on the side wall of the mounting seat (3), one end of the fixing block (81) being rotatably connected to a tensioning wheel (82), the side wall of the tensioning wheel (82) being in contact with the synchronous belt (523).

6. The laser radar protection mechanism of the intelligent shotcrete robot in coal mines according to claim 5 is characterized in that: A slide groove (33) is provided on the side wall of the mounting seat (3); the fixed block (81) comprises a fixed plate (811) and a slider (812) fixed to the bottom surface of the fixed plate (811); the slider (812) is slidably arranged in the slide groove (33); one end of the slider (812) protrudes from the fixed plate (811) and extends in a direction close to the synchronous belt (523); and one end of the slider (812) away from the fixed plate (811) is fixedly provided with a connecting rod ( 813), the tensioning wheel (82) is rotatably sleeved on the outside of the connecting rod (813), and vertically penetrating through grooves (8111) are respectively opened on opposite sides of the fixing plate (811), and the length direction of the through groove (8111) is the same as the extension direction of the slider (812), and two fixing bolts (83) are provided on one side of the fixing plate (811), and the two fixing bolts (83) respectively pass through the two through grooves (8111) to be fixedly connected to the mounting seat (3).

7. The laser radar protection mechanism of the intelligent shotcrete robot in coal mines according to claim 1 is characterized in that: The limit assembly (6) comprises a first photoelectric limit switch (61) and a second photoelectric limit switch (62) fixedly mounted on the side wall of the other side of the mounting seat (3); one end of the rotating shaft (51) passes through the side wall of the mounting seat (3) and extends in a direction close to the first photoelectric limit switch (61) and the second photoelectric limit switch (62); and a limit sensing disk (63) is fixedly sleeved thereon; when the protective cover (4) is in a closed state, the limit sensing disk (63) is located in a sensing area of ​​the first photoelectric limit switch (61); and when the protective cover (4) is in an open state, the limit sensing disk (63) is located in a sensing area of ​​the second photoelectric limit switch (62).

8. The laser radar protection mechanism of the intelligent shotcrete robot in coal mines according to claim 1 is characterized in that: The base (1) has two opposite side walls symmetrically provided with arc grooves (11). The positioning assembly (7) comprises a shaft (71). Two ends of the shaft (71) respectively pass through the two arc grooves (11) and are rotatably connected to the two side walls of the mounting plate (2). An arc rack (73) is fixedly provided on one side of each arc groove (11). A gear (72) is fixedly sleeved on the shaft (71) corresponding to each arc rack (73), and each gear (72) is meshed with the corresponding arc rack (73). A clamping portion (74) for limiting the rotation of the shaft (71) is provided on one side of the mounting plate (2).

9. The laser radar protection mechanism of the intelligent shotcrete robot in underground coal mines according to claim 8, characterized in that: The clamping portion (74) comprises a clamping disk (741) fixedly mounted on the outer side wall of the mounting plate (2); a plurality of clamping grooves (7411) are recessed on a side of the clamping disk (741) away from the mounting plate (2); one end of the shaft rod (71) passes through the side wall of the mounting plate (2) and the clamping disk (741) and extends in a direction away from the mounting plate (2); a sleeve (742) is slidably sleeved on one end of the shaft rod (71); and the outer surface of one end of the shaft rod (71) is The surface is polygonal, an annular plate (743) is fixedly provided at one end of the sleeve (742) close to the chuck (741), the inner edge of the annular plate (743) is matched with the outer surface of the shaft rod (71), a plurality of blocks (7431) matched with the grooves (7411) are convexly provided on one side of the annular plate (743), and one end of the shaft rod (71) is sleeved with a first spring (744) for pushing the sleeve (742) to move toward the chuck (741).

10. A control method for a laser radar protection mechanism of an intelligent shotcrete robot in a coal mine, characterized in that: The laser radar protection mechanism of the underground intelligent shotcreting robot of a coal mine as claimed in any one of claims 1 to 9 comprises the following steps: a. Determine whether to perform lane scanning operation b. When the laser radar (300) does not need to perform a scanning operation, the controller controls the first motor (524) to rotate in the reverse direction to close the protective cover (4); c. When the controller detects that the sensing area of ​​the first photoelectric limit switch (61) is blocked by the limit sensing disk (63), and the sensing area of ​​the second photoelectric limit switch (62) is not blocked by the limit sensing disk (63), the first motor (524) is controlled to stop rotating, otherwise, step b is continued; d. When the laser radar (300) needs to perform a lane scanning operation, the controller controls the first motor (524) to rotate in the forward direction to open the radar cover; e. When the controller detects that the sensing area of ​​the second photoelectric limit switch (62) is blocked by the limit sensing disk (63), and the sensing area of ​​the first photoelectric limit switch (61) is not blocked by the limit sensing disk (63), the first motor (524) is controlled to stop rotating, otherwise, step d is continued.

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