Guniting robot and mining laser radar installation and protection structure

Abstract

The invention discloses a guniting robot and a mining laser radar installation and protection structure. The guniting robot and mining laser radar installation and protection structure comprises a base, a laser radar, a sleeve type oil cylinder and an air curtain top cover. The base is fixed to a robot body and provided with an anti-skid damping rubber pad. A cylinder body of the sleeve type oil cylinder is cylindrical, an annular piston cavity is formed in the cylinder wall, a protective cover is fixed to a piston, the laser radar is fixed to the upper portion of the cylinder body and located in the protective cover to achieve protection when the piston stretches out, and a nano coating is arranged on the surface of the protective cover to reduce dust attachment. The air curtain top cover is fixed through a support and provided with 2-6 adjustable air taps, and the protective cover is cleaned to form air curtain protection. The piston cavity is provided with an oil hole and a control valve to control opening and closing of the protective cover. Through damping, dynamic protection and air curtain cleaning, underground dust, moisture and gravel are effectively resisted, the measurement precision of the laser radar is improved, the service life of the laser radar is prolonged, the vibration attenuation rate is increased, the dust invasion rate is remarkably reduced, and the structure is compact, adapts to various robot models and is suitable for complex mine environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine sensor protection, and particularly relates to a shotcreting robot and a mine laser radar installation and protection structure. BACKGROUND

[0002] Roadway support is a key link in mine safety production, and is directly related to the structural stability of the mine and the safety of the operating personnel. With the rapid development of intelligent technology in mines, shotcreting robots, as a kind of efficient and accurate supporting equipment, are widely used in underground roadway shotcreting operations. Shotcreting robots control the movement trajectory of the shotcreting arm automatically, realize uniform spraying of concrete, form a solid support layer, and effectively prevent roadway collapse and rock loosening. Laser radar, as the core perception component of the shotcreting robot, emits laser beams and receives reflected signals to obtain real-time three-dimensional profile data of the roadway, providing accurate basis for robot autonomous navigation, walking path planning and shotcreting path optimization. The measurement accuracy of the laser radar directly affects the shotcreting quality, and any deviation may lead to uneven support or blind area, increasing the safety hazard. However, the complex underground environment puts high requirements on the installation stability and protection performance of the laser radar.

[0003] The shotcreting operation environment is harsh, mainly in the following aspects: first, a large amount of concrete dust and particulate matter is generated during the shotcreting process, which easily adheres to the optical elements (such as lenses and sensors) of the laser radar, causing scattering or attenuation of the laser signal, and seriously reducing the measurement accuracy. Second, the underground environment is usually accompanied by high humidity, corrosive gases (such as hydrogen sulfide and carbon dioxide) and flying stones. Moisture may cause circuit short circuit, corrosive gases may erode seals, and flying stones may directly damage the radar shell. These factors not only shorten the service life of the laser radar, but also increase the maintenance cost, and even may cause production stoppage due to equipment failure. According to statistics, the perception system failure accounts for more than 30% of underground equipment failures, among which the laser radar related problems are particularly prominent.

[0004] Existing technologies for lidar installation and protection structures have significant shortcomings, making it difficult to meet the high reliability requirements of shotcrete robots. In terms of installation, traditional structures often use simple bolt fixation, lacking effective vibration damping design. When the robot moves or experiences vibrations during shotcreting, the base is prone to displacement or tilting, leading to lidar data deviation. While some designs incorporate vibration damping brackets, the materials lack sufficient corrosion resistance, making it difficult to withstand the long-term underground environment. Regarding protection, existing structures typically address only a single factor (such as dust or water), failing to provide comprehensive protection. For example, static dust covers cannot handle particle intrusion during dynamic shotcreting; while airflow cleaning systems can remove dust, they are not integrated with the protective structure, resulting in low efficiency or high energy consumption. Fully enclosed protective designs, while enhancing protection, limit the scanning flexibility of the lidar, making it difficult to adapt to complex tunnels. Furthermore, existing structures have low integration; the separate design of installation and protection results in large size and increased weight, affecting the robot's mobility in narrow tunnels, and exhibiting poor adaptability, making it difficult to be compatible with different models of shotcrete robots. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to solve the defects of poor installation stability, incomplete protection and low integration in the prior art, and to provide an installation and protection structure for a shotcrete robot and a mining lidar.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A mining lidar installation and protection structure includes a base, a lidar, and a sleeve-type hydraulic cylinder. The base is fixedly mounted on a shotcrete robot, and a shock-absorbing component is provided between the base and the shotcrete robot body. The sleeve-type hydraulic cylinder includes a cylinder body and a piston. The cylinder body is cylindrical, and an annular piston cavity is formed inside the cylinder wall. The piston is slidably disposed within the piston cavity. A protective cover is fixedly mounted on the piston. The lidar is fixed to the upper part of the cylinder body. When the piston extends, the lidar is located inside the protective cover to achieve shielding protection.

[0008] Furthermore, an air curtain cover is provided above the lidar, which is fixed to the base by a bracket. The air curtain cover is provided with several air nozzles that are connected to compressed air, forming a protective air curtain when the lidar is working.

[0009] Furthermore, the air nozzle is located on the outside of the protective cover, and the ejected airflow is directed toward the protective cover to clean it.

[0010] Furthermore, the piston chamber is provided with two oil holes located on both sides of the piston, and control valves are connected to the oil holes. The control valves are used to switch the direction of hydraulic oil inflow and outflow to open and close the protective cover.

[0011] Further, the shock-absorbing component is an anti-skid shock-absorbing rubber pad arranged between the base and the robot body of the shotcreting robot, used for absorbing vibration and preventing displacement.

[0012] Further, the hollow structure of the cylinder body of the sleeve type oil cylinder is 30-100 mm in diameter, facilitating the passing of the laser radar cable and the oil cylinder pipeline.

[0013] Further, the air nozzle is an angle-adjustable air nozzle, with an adjustment range of 0-90°, to adapt to different cleaning and protection requirements.

[0014] Further, the number of air nozzles of the air curtain top cover is 2-6, which are evenly distributed around the protective cover.

[0015] Further, the protective cover forms a sealing fit with the air curtain top cover when in contact.

[0016] Further, the size of the protective cover is greater than that of the cylinder body, and when the piston is retracted, the cylinder body is located in the protective cover.

[0017] Further, the surface of the protective cover has a nano coating to reduce dust adhesion.

[0018] A shotcreting robot comprises the mine laser radar mounting and protection structure as described above.

[0019] The beneficial effects of the present application are as follows:

[0020] The present application significantly improves the mounting stability and protection performance of the laser radar of the shotcreting robot through integrated design, and solves the technical problems in the complex underground environment.

[0021] Firstly, the high-strength alloy base combined with the anti-skid shock-absorbing rubber pad effectively absorbs the vibration during the walking and shotcreting of the robot, and tests show that the vibration attenuation rate is more than 92%, ensuring that the measurement accuracy of the laser radar is not affected by displacement or inclination.

[0022] Secondly, the annular piston cavity design of the sleeve type oil cylinder takes into account the internal wiring and protection functions, and the protective cover is fixed to the piston. When the piston is extended, the laser radar is completely located in the protective cover, forming dynamic shielding, and fully resisting dust, moisture, corrosive gas and flying stones, with a dust invasion rate of less than 4%. The surface of the protective cover is coated with a nano coating, which significantly reduces dust adhesion, prolongs the cleaning cycle and reduces the maintenance frequency. The air curtain top cover is equipped with 2-6 adjustable air nozzles (angle 0-90°), which blow off the surface debris of the protective cover and form a continuous air curtain through compressed air, further enhancing the protection effect and improving the cleaning efficiency by more than 10%. The setting of the oil hole and the control valve realizes the precise opening and closing of the protective cover, which is flexible and low in energy consumption.

[0023] In addition, the structure is compact and rigid as a whole, the base porous position is designed to adapt to different types of shotcrete robots, is suitable for narrow roadway operation, and improves the mobility and versatility. After integration with the robot control system, automatic protection control is supported, and unmanned operation of the mine is promoted.

[0024] Compared with the prior art, the service life and reliability of the laser radar are significantly improved, the failure rate and maintenance cost are reduced, significant economic benefits are obtained, and the laser radar is suitable for various underground harsh environments.

[0025] Other advantages, objects and features of the present application will be in part apparent and in part pointed out below in the specification, as some of them will be observed by those skilled in the art upon examination of the specification, or can be learned by practice of the application. The objects and other advantages of the present application can be realized and attained by the below specification. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to make the objects, technical solutions and advantages of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, in which:

[0027] Figure 1 Figure 1 is a schematic view of the protective closed state of the mine laser radar installation and protection structure in the embodiment of the present application.

[0028] Figure 2 Figure 2 is a schematic view of the protective open state of the mine laser radar installation and protection structure in the embodiment of the present application.

[0029] Figure 3 Figure 3 is a front view of the mine laser radar installation and protection structure in the embodiment of the present application. Figure 1 Figure 4 is a B-B sectional view of the mine laser radar installation and protection structure in the embodiment of the present application.

[0030] Figure 4 Figure 5 is a top view of the mine laser radar installation and protection structure in the embodiment of the present application. Figure 1

[0031] Reference signs: 1-base; 2-cylinder; 3-piston; 4-protection cover; 5-laser radar; 6-air curtain top cover; 7-air nozzle; 8-hydraulic chamber; 9-first oil hole; 10-second oil hole. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure of the specification. The present application can also be implemented or applied by different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.​

[0033] In the drawings, only for example, the representation is a schematic diagram, not a physical diagram, and cannot be understood as a limitation of the present application; in order to better illustrate the embodiments of the present application, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0034] In the drawings of the embodiments of the present application, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only for example and cannot be understood as a limitation of the present application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0035] Embodiment 1

[0036] The present embodiment provides a mine laser radar mounting and protection structure, as shown in Figures 1 to 4 , the structure is mainly applied to a shotcreting robot, used for stable installation and comprehensive protection of the laser radar in the underground roadway support operation, realizing accurate three-dimensional profile data acquisition, and improving the accuracy of robot autonomous navigation and shotcreting path planning. The structure includes a base 1, a laser radar 5, a sleeve type oil cylinder and an air curtain top cover 6. The base 1 is made of aluminum alloy, with a thickness of 20 mm, fixed to the shotcreting robot body by M8 bolts, and a non-slip damping rubber pad with a thickness of 5 mm is arranged between the base 1 and the body, used to absorb the vibration during the robot walking and shotcreting process, prevent the base 1 from displacement, and ensure the stability of the measurement accuracy of the laser radar 5.

[0037] The sleeve type oil cylinder includes a cylinder body 2 and a piston 3, the cylinder body 2 is in a cylindrical structure, with a hollow diameter of 50 mm, facilitating the passage of the laser radar 5 cable and the oil cylinder pipeline, an annular hydraulic chamber 8 is formed in the cylinder wall, with a width of 10 mm, and the piston 3 is slidingly arranged in the hydraulic chamber 8, realizing smooth driving. A protective cover 4 is fixedly sleeved on the piston 3, the protective cover 4 is made of stainless steel, with a nano coating on the surface to reduce dust adhesion and improve self-cleaning ability. The laser radar 5 is fixed on the upper part of the cylinder body 2, when the piston 3 is extended, the protective cover 4 completely wraps the laser radar 5, realizing a protective closed state, as shown in Figure 1 , at this time, the structure can effectively resist underground dust, moisture, corrosive gas and flying stones, protecting the hardware of the laser radar 5 from damage; when the piston 3 is retracted, the laser radar 5 is exposed for scanning, entering a protective open state, as shown inFigure 2 As shown, this facilitates real-time data acquisition. The hydraulic chamber 8 is equipped with a first oil hole 9 and a second oil hole 10, located on both sides of the piston 3 respectively. The oil holes are connected to a control valve, which controls the opening and closing of the protective cover 4 by switching the hydraulic oil in and out. The stroke is 100mm, and the response time is less than 1 second, ensuring efficient dynamic protection.

[0038] The air curtain top cover 6 is fixed to the base 1 by a steel bracket. The air curtain top cover 6 is equipped with 4 air nozzles 7. The angle of the air nozzles 7 is adjustable from 0 to 90°, and the air pressure is 0.5MPa. They are evenly distributed on the outside of the protective cover 4. The air jet is directed toward the protective cover 4 to clean the surface debris and form a protective air curtain to prevent dust from entering.

[0039] Among them, the protective cover 4 is larger than the cylinder 2. When the piston 3 retracts, the cylinder 2 is located inside the protective cover 4, forming a compact storage. When the protective cover 4 comes into contact with the air curtain top cover 6, a sealing fit is formed, further enhancing multi-layer protection.

[0040] This structure is compact and rigid, making it suitable for low-to-medium humidity mining environments. In practical applications, it is installed at the end of a shotcrete robot arm and integrated with the robot's control system, supporting automated safety control: when the robot enters the shotcrete work area, the control valve switches the hydraulic oil direction, piston 3 extends to close the protective cover 4, and simultaneously, compressed air is connected to the air nozzle 7 to form an air curtain; during the scanning phase, piston 3 retracts to open the protective cover 4, and the lidar 5 acquires tunnel data. Tests show that this structure achieves a vibration attenuation rate of 92% and a dust intrusion rate of 4%, significantly improving robot operating efficiency and safety, and is suitable for mine support tasks with tunnel widths of 2-5m.

[0041] Example 2

[0042] This embodiment is an optimization of Embodiment 1, providing an enhanced installation and protection structure for mine-use lidar in high-humidity and highly corrosive mining environments, such as... Figures 1 to 4 As shown, this structure is applied to a shotcrete robot for high-reliability support operations in complex underground roadways. It ensures stable operation of the lidar 5 under harsh conditions, enabling precise path planning and shotcrete control, thereby improving the overall safety level of the mine. The structure includes a base 1, lidar 5, a sleeve-type hydraulic cylinder, and an air curtain top cover 6. The base 1 is upgraded to be made of titanium alloy, 22mm thick, and is fixed to the shotcrete robot body with M10 bolts. A 6mm thick anti-slip and shock-absorbing rubber pad is installed between the base 1 and the robot body to enhance vibration absorption, adapt to high-intensity operating scenarios, prevent displacement of the base 1 during rapid robot movement, and ensure the accuracy of lidar 5 data.

[0043] The sleeve-type hydraulic cylinder includes a cylinder body 2 and a piston 3. The cylinder body 2 has a cylindrical structure with a hollow diameter increased to 60mm, facilitating the passage of more cables and pipelines and improving integration. An annular hydraulic chamber 8, 12mm wide, is formed inside the cylinder wall. The piston 3 slides within the hydraulic chamber 8, providing smoother driving performance. A protective cover 4 is fixedly fitted onto the piston 3. The protective cover 4 is made of composite material with an optimized 0.1μm thickness nano-coating on its surface, further reducing dust adhesion, improving wear resistance by 20%, and enhancing corrosion resistance. A lidar 5 is fixed to the upper part of the cylinder body 2. When the piston 3 extends, the protective cover 4 completely encloses the lidar 5, achieving a protective closed state. Figure 1 As shown, it comprehensively resists moisture penetration and corrosive gas erosion in high humidity environments; when piston 3 retracts, lidar 5 is exposed and enters the protective open state, as... Figure 2 As shown, it supports high-speed scanning. The hydraulic chamber 8 is equipped with a first oil hole 9 and a second oil hole 10, which are located on both sides of the piston 3 respectively. The oil holes are connected to a high-precision control valve, and the protective cover 4 is opened and closed precisely by switching the hydraulic oil in and out. The stroke is 120mm, the response time is shortened to 0.8 seconds, and it supports frequent switching.

[0044] The air curtain top cover 6 is fixed to the base 1 by a reinforced steel bracket and is equipped with 6 air nozzles 7. The angle of the air nozzles 7 is adjustable from 0 to 90°, and the air pressure is increased to 0.6MPa. They are evenly distributed on the outside of the protective cover 4 and spray air towards the protective cover 4 to efficiently clean surface debris and form a stronger protective air curtain, which is suitable for high dust environments.

[0045] The protective cover 4 is larger than the cylinder 2. When the piston 3 retracts, the cylinder 2 is located inside the protective cover 4, ensuring a compact structure. When the protective cover 4 comes into contact with the air curtain top cover 6, a sealed fit is formed, providing multi-layer protection.

[0046] This structure boasts higher overall rigidity, making it suitable for high-humidity and highly corrosive mining environments. In practical applications, it is installed at the end of a shotcrete robot arm and deeply integrated with the robot's control system, supporting intelligent automated protection: Sensors monitor ambient humidity; when humidity exceeds 80%, the control valve automatically switches the hydraulic oil direction, piston 3 extends to close the protective cover 4, and simultaneously, the air nozzle 7 strengthens airflow to form an air curtain. During low-risk scanning phases, piston 3 retracts to open the protective cover 4, and the lidar 5 acquires data in real time, enabling the robot to adapt to complex tunnels (such as curved or irregular shapes). Tests show that this structure achieves a vibration attenuation rate of 95%, reduces dust intrusion rate to 3%, improves cleaning efficiency by 10%, and significantly extends the lifespan of the lidar 5. It is suitable for high-risk mine support tasks in tunnels with widths of 1-6 meters, enhancing the safety and efficiency of unmanned operations.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A mining lidar installation and protection structure, characterized in that, The system includes a base, a lidar, and a sleeve-type hydraulic cylinder. The base is fixedly mounted on the shotcrete robot, and a shock-absorbing component is provided between the base and the robot body. The sleeve-type hydraulic cylinder includes a cylinder body and a piston. The cylinder body is cylindrical, and an annular piston cavity is formed inside the cylinder wall. The piston is slidably disposed within the piston cavity. A protective cover is fixedly mounted on the piston. The lidar is fixed to the upper part of the cylinder body. When the piston extends, the lidar is located inside the protective cover to achieve shielding protection.

2. The installation and protection structure for mining lidar according to claim 1, characterized in that, An air curtain cover is provided above the lidar. The air curtain cover is fixed to the base by a bracket. The air curtain cover is provided with several air nozzles that are connected to compressed air, forming a protective air curtain when the lidar is working.

3. The installation and protection structure for mining lidar according to claim 2, characterized in that, The air nozzle is located on the outside of the protective cover, and the airflow is directed toward the protective cover to clean it.

4. The installation and protection structure for mining lidar according to claim 1, characterized in that, The piston chamber is provided with two oil holes located on both sides of the piston. Control valves are connected to the oil holes. The direction of hydraulic oil flow is switched by the control valves to open and close the protective cover.

5. The installation and protection structure for mining lidar according to claim 1, characterized in that, The shock absorption component is an anti-slip and shock-absorbing rubber pad, which is placed between the base and the body of the shotcrete robot to absorb vibration and prevent displacement.

6. The installation and protection structure for mining lidar according to claim 1, characterized in that, The hollow structure of the sleeve-type hydraulic cylinder has a diameter of 30-100mm, which facilitates the passage of lidar cables and hydraulic cylinder pipelines.

7. The installation and protection structure for mining lidar according to claim 2, characterized in that, The air nozzle is an angle-adjustable nozzle with an adjustment range of 0-90° to adapt to different cleaning and protection needs.

8. The installation and protection structure for mining lidar according to claim 2, characterized in that, The air curtain top cover has 2-6 air nozzles, which are evenly distributed around the protective cover.

9. The installation and protection structure for mining lidar according to claim 1, characterized in that, The protective cover forms a sealed fit when it comes into contact with the air curtain top cover.

10. The installation and protection structure for mining lidar according to claim 1, characterized in that, The size of the protective cover is larger than the size of the cylinder body, and when the piston retracts, the cylinder body is located inside the protective cover.

11. The installation and protection structure for mining lidar according to claim 1, characterized in that, The surface of the protective cover has a nano-coating to reduce dust adhesion.

12. A shotcrete robot, characterized in that, Includes the installation and protection structure for mining lidar as described in any one of claims 1 to 11.

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