Spraying robot
By designing an underground spraying robot and adopting tracked movement and multi-angle spraying technology, the problem of insufficient flexibility and reliability of spraying robots in the underground coal mine environment has been solved, realizing efficient concrete spraying and safe operation, and promoting the mechanization and intelligence of mines.
Patent Information
- Application Number
- CN202512046014.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-02-10
AI Technical Summary
Existing spraying robots lack flexibility and reliability in underground coal mine environments, resulting in low spraying efficiency and failing to meet the needs of mine mechanization and intelligentization.
A painting robot comprising a frame, a walking mechanism, a feeding mechanism, a mixing mechanism, a cyclone separator, and a spray gun was designed. It adopts tracked movement, is equipped with lifting and a robotic arm, and can operate flexibly in complex underground environments. It can also adjust the wet material spraying through the cyclone separator and water pipes to achieve multi-angle spraying.
It improves the flexibility and reliability of spraying operations, enabling efficient concrete spraying underground, ensuring personnel safety, reducing the labor intensity of workers, improving operational efficiency, and promoting the mechanization and intelligentization of mines.
Smart Images
Figure CN121490946A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of coal mine underground supporting equipment, and particularly relates to a spraying robot. BACKGROUND
[0002] The concept of "intelligent manufacturing" first appeared in Manufacturing Intelligence, which defines intelligent manufacturing as a systematic process of implementing batch production by using manufacturing software system technology, integrated system engineering and machine device vision technology. In the "Intelligent Manufacturing Development Plan" issued by the Ministry of Industry and Information Technology, intelligent manufacturing is defined as a new production mode based on the deep integration of new-generation information communication technology and advanced manufacturing technology, which is applied throughout the design, production, management and service of manufacturing activities, and has functions such as self-perception, self-learning, self-decision, self-execution and self-adaptation. Therefore, intelligent manufacturing is a new production mode generated by the systematic application of new-generation information technology, automation technology, industrial software and modern management ideas in all fields and all processes of manufacturing enterprises.
[0003] As a spraying operation execution unit, the mechanism performance and intelligent degree of the spraying robot directly affect the spraying surface quality. The spraying robot belongs to a kind of industrial machine device, and the mechanism form of the articulated robot is widely used in spraying operations in the fields of industrial and agricultural production, transportation, aerospace, etc. due to its high degree of freedom, easy programming and control advantages. Since the first commercialized spraying robot was introduced, spraying robots have gradually evolved from hydraulic drive to motor drive, from heavy mechanism design to integrated lightweight mechanism, and spraying operations have evolved from single machine device operation to multi-machine device collaborative operation, from man-machine separation to man-machine cooperation, and future intelligent machine devices will independently complete highly complex tasks. Today, with the rapid development of mine intelligence, mechanization and unmanned operation, it is an important problem to be solved to improve the flexibility, reliability and applicability of intelligent spraying robots through innovative mechanism design. SUMMARY
[0004] The purpose of the present application is to provide a spraying robot to improve the use effect and operation efficiency of the concrete spraying robot in various underground environments and promote the mechanization and intelligentization process of mines.
[0005] To achieve the above purpose, the technical scheme adopted by the present application is as follows: a spraying robot, comprising a rack, a walking mechanism is installed at the bottom of the rack, a feeding mechanism and a stirring mechanism are arranged on the rack; a first hopper is connected to the discharge port of the stirring mechanism, a cyclone is connected to the first hopper, the cyclone is connected with a spraying gun through a spraying pipeline, and the spraying gun is installed on the rack through an adjusting mechanism.
[0006] As a preferred embodiment of the present invention, the feeding mechanism is a spiral feeding mechanism.
[0007] As a preferred embodiment of the present invention, the stirring mechanism is connected to a water inlet pipe.
[0008] As a preferred embodiment of the present invention, it further includes a water pipe, and the water inlet on the spray gun is connected to the water pipe.
[0009] As a preferred embodiment of the present invention, the stirring mechanism includes a stirring motor and a stirring shaft connected to the driving end of the stirring motor, and stirring blades are provided on the stirring shaft.
[0010] As a preferred embodiment of the present invention, the walking mechanism is a track.
[0011] As a preferred embodiment of the present invention, the adjustment mechanism includes a lifting mechanism and a robotic arm. The lifting mechanism is fixed on the frame, the robotic arm is fixed to the lifting end of the lifting mechanism, and the spray gun is fixed on the robotic arm.
[0012] As a preferred embodiment of the present invention, the lifting mechanism is a jack.
[0013] As a preferred embodiment of the present invention, it further includes a second hopper, the inlet of which is connected to the outlet of the hopper, and the hydrocyclone is connected to the outlet of the second hopper.
[0014] The beneficial effects of this invention are: This invention provides a spraying robot that has high flexibility, reliability and applicability when in use, can improve the concrete spraying effect in various underground environments, greatly improve the use effect and operation efficiency, and has a significant impact on promoting the mechanization and intelligentization of mines, and has great market promotion and application prospects. Attached Figure Description
[0015] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a front view of an underground concrete spraying robot according to the present invention; Figure 2 This is a schematic diagram of the deployment position of an underground concrete spraying robot according to the present invention. In the diagram: 1. Frame, 2. Hydraulic motor, 3. Dry material feed port, 4. Feeding mechanism, 5. Agitator shaft, 6. Agitator blade, 7. Feeding box, 8. Injection pipe, 9. Water pipe, 10. Injection gun, 11. Agitator motor, 12. Mechanical arm, 13. First hopper, 14. Rotary silo, 15. Hydrocyclone, 16. Lifting mechanism, 17. Frame, 18. Goaf, 19. Roadway. Detailed Implementation
[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0017] Example 1 like Figure 1 As shown, a painting robot of the present invention includes a frame 17, a walking mechanism is installed at the bottom of the frame 17, and the frame 17 is provided with a feeding mechanism 4 and a stirring mechanism 7; the discharge port of the stirring mechanism 7 is connected to a first hopper 13, the first hopper 13 is connected to a hydrocyclone 15, the hydrocyclone 15 is connected to a spray gun 10 through a spray pipe 8, the water inlet of the spray gun 10 is connected to a water pipe 9, and the spray gun 10 is mounted on the frame 17 through an adjustment mechanism.
[0018] like Figure 1 As shown, this invention discloses a spraying robot. The inlet of the mixing mechanism 7 is a dry material feeding port 3. During use, the mixed dry concrete is poured into the dry material feeding port 3. The feeding mechanism 4 is activated to spirally transport the mixed dry material to the upper part of the concrete spraying machine. After reaching the top, the mixed dry material moves laterally along the mixing mechanism and is mixed to form a wet mixture. After reaching the head position of the mixing mechanism 7, the wet material falls naturally into the first hopper 13. When wet material is needed for spraying concrete, the first hopper 13 is opened, and the material is transported through the cyclone separator 15 into the spraying pipe 8. When it reaches the spray gun 10, water is added through the water pipe 9 to form a material with suitable moisture content, which is then sprayed out by the spray gun 10 to achieve concrete spraying on the walls of underground tunnels to prevent air leakage. This spraying robot can operate efficiently in dangerous areas, ensure personnel safety, improve work efficiency, and avoid the problem of pipe blockage that easily occurs when storing wet material.
[0019] like Figure 2 As shown, the present invention provides a spraying robot (shown as A in the figure) which is deployed in the underground roadway 19, or not so close to the goaf 18. It is flexible and versatile, and can be deployed in various parts and areas underground. It can replace workers in dangerous areas and can also reduce the labor intensity of workers by spraying concrete at high and low points in conventional areas.
[0020] Example 2 like Figure 1As shown in Example 1, Example 2 of the present invention provides a spraying robot, which also includes a frame 17. A walking mechanism is installed at the bottom of the frame 17. The frame 17 is provided with a feeding mechanism 4 and a stirring mechanism 7. The discharge port of the stirring mechanism 7 is connected to a first hopper 13. The first hopper 13 is connected to a hydrocyclone 15. The hydrocyclone 15 is connected to a spray gun 10 through a spray pipe 8. The water inlet on the spray gun 10 is connected to a water pipe 9. The spray gun 10 is mounted on the frame 17 through an adjustment mechanism.
[0021] Unlike Embodiment 1, in Embodiment 2, the walking mechanism 1 used in a painting robot of the present invention is a track, which is driven to move by a hydraulic motor 2.
[0022] like Figure 1 As shown, this invention discloses a spraying robot, which mainly relies on a hydraulic motor 2 to drive a walking mechanism 1 to achieve the movement of the concrete spraying robot. The walking mechanism 1 adopts a tracked movement and can be moved by remote control or manual operation by the worker. The tracked walking mechanism 1 can adapt to the uneven environment underground, has better passability than tires, and when the track fails, only part of the track needs to be replaced, making maintenance more convenient.
[0023] like Figure 1 As shown, this invention discloses a spraying robot. The inlet of the mixing mechanism 7 is a dry material feeding port 3. During use, the mixed dry concrete is poured into the dry material feeding port 3. The feeding mechanism 4 is activated to spirally transport the mixed dry material to the upper part of the concrete spraying machine. After reaching the top, the mixed dry material moves laterally along the mixing mechanism and is mixed to form a wet mixture. After reaching the head position of the mixing mechanism 7, the wet material falls naturally into the first hopper 13. When wet material is needed for spraying concrete, the first hopper 13 is opened, and the material is transported through the cyclone separator 15 into the spraying pipe 8. When it reaches the spray gun 10, water is added through the water pipe 9 to form a material with suitable moisture content, which is then sprayed out by the spray gun 10 to achieve concrete spraying on the walls of underground tunnels to prevent air leakage. This spraying robot can operate efficiently in dangerous areas, ensure personnel safety, improve work efficiency, and avoid the problem of pipe blockage that easily occurs when storing wet material.
[0024] like Figure 2 As shown, the present invention provides a spraying robot (shown as A in the figure) which is deployed in the underground roadway 19, or not so close to the goaf 18. It is flexible and versatile, and can be deployed in various parts and areas underground. It can replace workers in dangerous areas and can also reduce the labor intensity of workers by spraying concrete at high and low points in conventional areas.
[0025] Example 3 like Figure 1As shown in Example 2, Example 3 of the present invention, a spraying robot, also includes a frame 17. A walking mechanism is installed at the bottom of the frame 17. The frame 17 is equipped with a feeding mechanism 4 and a stirring mechanism 7. The discharge port of the stirring mechanism 7 is connected to a first hopper 13, and the first hopper 13 is connected to a hydrocyclone 15. The hydrocyclone 15 is connected to a spray gun 10 through a spray pipe 8. The water inlet on the spray gun 10 is connected to a water pipe 9. The spray gun 10 is mounted on the frame 17 through an adjustment mechanism. The walking mechanism 1 used is a track, which is driven by a hydraulic motor 2.
[0026] Unlike Embodiment 2, in Embodiment 3, a spraying robot of the present invention includes an adjustment mechanism comprising a lifting mechanism 16 and a robotic arm 12. The lifting mechanism 16 is fixed on the frame 17, the robotic arm 12 is fixed on the lifting end of the lifting mechanism 17, and the spray gun 10 is fixed on the robotic arm 12. The lifting mechanism 17 is a hydraulic column.
[0027] like Figure 1 As shown, this invention discloses a spraying robot, which mainly relies on a hydraulic motor 2 to drive a walking mechanism 1 to achieve the movement of the concrete spraying robot. The walking mechanism 1 adopts a tracked movement and can be moved by remote control or manual operation by the worker. The tracked walking mechanism 1 can adapt to the uneven environment underground, has better passability than tires, and when the track fails, only part of the track needs to be replaced, making maintenance more convenient.
[0028] like Figure 1 As shown, this invention discloses a spraying robot. The inlet of the mixing mechanism 7 is a dry material feeding port 3. During use, the mixed dry concrete is poured into the dry material feeding port 3. The feeding mechanism 4 is activated to spirally transport the mixed dry material to the upper part of the concrete spraying machine. After reaching the top, the mixed dry material moves laterally along the mixing mechanism and is mixed to form a wet mixture. After reaching the head position of the feeding box 7, the wet material falls naturally into the first hopper 13. When wet material is needed for concrete spraying, the first hopper 13 is opened, and the material is transported through the hydrocyclone 15 into the wet material spraying pipe 8. When it reaches the spray gun 10, water is added through the water pipe 9 to form a material with suitable moisture content, which is then sprayed out by the spray gun 10 to achieve concrete spraying on the underground tunnel wall to prevent air leakage. This spraying robot can operate efficiently in dangerous areas, ensure personnel safety, improve work efficiency, and avoid the problem of pipe blockage that easily occurs when storing wet material.
[0029] like Figure 1As shown, the adjustment mechanism consists of a lifting mechanism 16 and a robotic arm 12. These two parts enable the extension, retraction, and steering functions of the robotic arm. When spraying at a high point, the robotic arm 12 extends; when spraying at a low point, the robotic arm 12 retracts. The lifting mechanism 16 controls the raising or lowering of the robotic arm 12. During depressurization, the spray angle of the robotic arm 12 decreases; during pressurization, the spray angle increases. This enables multi-angle, multi-directional downhole concrete spraying.
[0030] like Figure 2 As shown, the present invention provides a spraying robot (shown as A in the figure) which is deployed in the underground roadway 19, or not so close to the goaf 18. It is flexible and versatile, and can be deployed in various parts and areas underground. It can replace workers in dangerous areas and can also reduce the labor intensity of workers by spraying concrete at high and low points in conventional areas.
[0031] Example 4 like Figure 1 As shown in Example 4, similar to Example 3, a painting robot of the present invention also includes a frame 17. A walking mechanism is installed at the bottom of the frame 17. The frame 17 is provided with a feeding mechanism 4 and a mixing mechanism 7. The discharge port of the mixing mechanism 7 is connected to a first hopper 13, and the first hopper 13 is connected to a cyclone separator 15. The cyclone separator 15 is connected to a spray gun 10 through a spray pipe 8. The water inlet on the spray gun 10 is connected to a water pipe 9. The spray gun 10 is mounted on the frame 17 through an adjustment mechanism. The walking mechanism 1 used is a track, which is driven by a hydraulic motor 2. The adjustment mechanism includes a lifting mechanism 16 and a robotic arm 12. The lifting mechanism 16 is fixed on the frame 17, the robotic arm 12 is fixed on the lifting end of the lifting mechanism 17, and the spray gun 10 is fixed on the robotic arm 12. The lifting mechanism 17 is a hydraulic column.
[0032] Unlike Embodiment 3, in Embodiment 4, the spraying robot of the present invention further includes a rotating chamber 14, the inlet of the rotating chamber 14 is connected to the outlet of the first hopper 13, and the hydrocyclone 15 is connected to the outlet of the rotating chamber 14.
[0033] like Figure 1 As shown, this invention discloses a spraying robot, which mainly relies on a hydraulic motor 2 to drive a walking mechanism 1 to achieve the movement of the concrete spraying robot. The walking mechanism 1 adopts a tracked movement and can be moved by remote control or manual operation by the worker. The tracked walking mechanism 1 can adapt to the uneven environment underground, has better passability than tires, and when the track fails, only part of the track needs to be replaced, making maintenance more convenient.
[0034] like Figure 1As shown, this invention discloses a spraying robot. The inlet of the mixing mechanism 7 is a dry material feeding port 3. During use, the mixed dry concrete is poured into the dry material feeding port 3. The feeding mechanism 4 is activated to spirally transport the mixed dry concrete to the top of the concrete spraying machine. After reaching the top, the mixed dry concrete moves laterally along the mixing mechanism and is mixed to form a wet mixture. After reaching the head position of the mixing mechanism 7, the wet mixture falls naturally into the first hopper 13. When wet concrete is needed for spraying, the first hopper 13 is opened and the wet mixture falls naturally into the rotating chamber 14. The wet mixture is further mixed in the rotating chamber 14 and transported through the hydrocyclone 15 into the wet material spraying pipe 8. When it reaches the spray gun 10, water is added through the water pipe 9 to form a material with suitable moisture content, which is then sprayed out by the spray gun 10 to achieve concrete spraying on the walls of underground tunnels to prevent air leakage. This spraying robot can operate efficiently in dangerous areas, ensure personnel safety, improve work efficiency, and avoid the problem of pipe blockage that easily occurs when storing wet materials.
[0035] like Figure 1 As shown, the adjustment mechanism consists of a lifting mechanism 16 and a robotic arm 12. These two parts enable the extension, retraction, and steering functions of the robotic arm. When spraying at a high point, the robotic arm 12 extends; when spraying at a low point, the robotic arm 12 retracts. The lifting mechanism 16 controls the raising or lowering of the robotic arm 12. During depressurization, the spray angle of the robotic arm 12 decreases; during pressurization, the spray angle increases. This enables multi-angle, multi-directional downhole concrete spraying.
[0036] like Figure 2 As shown, the present invention provides a spraying robot (shown as A in the figure) which is deployed in the underground roadway 19, or not so close to the goaf 18. It is flexible and versatile, and can be deployed in various parts and areas underground. It can replace workers in dangerous areas and can also reduce the labor intensity of workers by spraying concrete at high and low points in conventional areas.
[0037] Example 5 like Figure 1As shown in Example 5, similar to Example 4, a spraying robot of the present invention also includes a frame 17. A walking mechanism is installed at the bottom of the frame 17. The frame 17 is provided with a feeding mechanism 4 and a stirring mechanism 7. The discharge port of the stirring mechanism 7 is connected to a first hopper 13, and the first hopper 13 is connected to a cyclone separator 15. The cyclone separator 15 is connected to a spray gun 10 through a spray pipe 8. The water inlet on the spray gun 10 is connected to a water pipe 9. The spray gun 10 is mounted on the frame 17 through an adjustment mechanism. The walking mechanism 1 used is a track, which is driven by a hydraulic motor 2. The adjustment mechanism includes a lifting mechanism 16 and a robotic arm 12. The lifting mechanism 16 is fixed on the frame 17, the robotic arm 12 is fixed to the lifting end of the lifting mechanism 17, and the spray gun 10 is fixed on the robotic arm 12. The lifting mechanism 17 is a hydraulic column. It also includes a rotating chamber 14, the inlet of which is connected to the outlet of the first hopper 13, and a hydrocyclone 15 connected to the outlet of the rotating chamber 14.
[0038] Unlike Example 4, in Example 5 of the present invention, a painting robot, the lifting mechanism 17 is preferably a jack.
[0039] Example 6 like Figure 1 As shown in Example 5, similar to Example 4, a spraying robot of the present invention also includes a frame 17. A walking mechanism is installed at the bottom of the frame 17. The frame 17 is provided with a feeding mechanism 4 and a stirring mechanism 7. The discharge port of the stirring mechanism 7 is connected to a first hopper 13, and the first hopper 13 is connected to a cyclone separator 15. The cyclone separator 15 is connected to a spray gun 10 through a spray pipe 8. The water inlet on the spray gun 10 is connected to a water pipe 9. The spray gun 10 is mounted on the frame 17 through an adjustment mechanism. The walking mechanism 1 used is a track, which is driven by a hydraulic motor 2. The adjustment mechanism includes a lifting mechanism 16 and a robotic arm 12. The lifting mechanism 16 is fixed on the frame 17, the robotic arm 12 is fixed to the lifting end of the lifting mechanism 17, and the spray gun 10 is fixed on the robotic arm 12. The lifting mechanism 17 is a hydraulic column. It also includes a rotating chamber 14, the inlet of which is connected to the outlet of the first hopper 13, and a hydrocyclone 15 connected to the outlet of the rotating chamber 14. The lifting mechanism 17 is preferably a jack.
[0040] Unlike Embodiment 5, in Embodiment 6, a spraying robot of the present invention includes a stirring mechanism comprising a stirring motor 11 and a stirring shaft 5 connected to the drive end of the stirring motor 11, with stirring blades 6 disposed on the stirring shaft 5.
[0041] The foregoing description illustrates and describes several preferred embodiments of the invention. However, as previously stated, it should be understood that the invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the invention should be within the protection scope of the appended claims.
Claims
1. A painting robot, characterized in that, Includes a frame (17), the bottom of which is equipped with a walking mechanism, and the frame (17) is provided with a feeding mechanism (4) and a stirring mechanism (7); the discharge port of the stirring mechanism (7) is connected to a first hopper (13), the first hopper (13) is connected to a hydrocyclone (15), the hydrocyclone (15) is connected to a spray gun (10) through a spray pipe (8), and the spray gun (10) is installed on the frame (17) through an adjustment mechanism.
2. The painting robot according to claim 1, characterized in that, The feeding mechanism (4) is a spiral feeding mechanism.
3. The painting robot according to claim 1, characterized in that, The stirring mechanism is connected to a water inlet pipe (18).
4. The painting robot according to claim 1, characterized in that, It also includes a water pipe (9), and the water inlet on the spray gun (10) is connected to the water pipe (9).
5. The painting robot according to claim 1, characterized in that, The stirring mechanism includes a stirring motor (11) and a stirring shaft (5) connected to the drive end of the stirring motor (11), and stirring blades (6) are provided on the stirring shaft (5).
6. The painting robot according to claim 1, characterized in that, The walking mechanism (1) is a track.
7. The painting robot according to claim 1, characterized in that, The adjustment mechanism includes a lifting mechanism (16) and a robotic arm (12). The lifting mechanism (16) is fixed on the frame (17), the robotic arm (12) is fixed on the lifting end of the lifting mechanism (17), and the spray gun (10) is fixed on the robotic arm (12).
8. The painting robot according to claim 7, characterized in that, The lifting mechanism (17) is a jack.
9. The painting robot according to claim 8, characterized in that, It also includes a second hopper (14), the inlet of which is connected to the outlet of the hopper (13), and the hydrocyclone (15) is connected to the outlet of the second hopper (14).