Automatic cleaning device for grouting rock stratum in three-dimensional grouting simulation test
Through the automated crushing, removing and cleaning mechanism, the problem of time-consuming and labor-intensive cleaning of grouting rock layers in three-dimensional grouting simulation tests was solved, an efficient and safe cleaning process was achieved, and the experimental equipment was protected.
Patent Information
- Application Number
- CN202422572995.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-09-23
- Estimated Expiration
- 2034-10-23
AI Technical Summary
In existing three-dimensional grouting simulation tests, cleaning the grouting rock layer is time-consuming and labor-intensive, and manual operation can easily damage the experimental equipment, affecting subsequent test observations.
An automatic cleaning device is designed, which includes a crushing and clearing mechanism and a cleaning mechanism. Through a servo motor-driven portal frame and lifting arm, combined with a crushing hammer and a shovel plate, the automatic crushing and cleaning of the grouting rock formation is achieved.
It improves cleaning efficiency, reduces manual operations, protects experimental equipment, and ensures that the test progress is not affected.
Smart Images
Figure CN223367771U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mining engineering, in particular to an automatic cleaning device for grouting rock layers used in three-dimensional grouting simulation tests. Background Art
[0002] Due to the complexity and unpredictability of changes in the overlying rock strata of actual underground working faces, a similar simulation test bench was used to simulate the mining of the working face. By excavating simulated coal seams, the laws of collapse, movement, destruction, and cracks of the aquifers in the overlying rock strata under the influence of mining were obtained, thereby providing technical guidance for the protection of water resources during coal mining.
[0003] Three-dimensional similarity simulation test is the main experimental research method in mining engineering and geotechnical engineering. It can be used to simulate and reproduce the actual coal seam mining excavation conditions at the engineering site, and through various means, monitor the surrounding rock stress, strain and displacement, aquifer damage, fracture development and water conduction path under these conditions.
[0004] The 3D similarity simulation test is simple, intuitive, and can be repeated according to different mining plans. Using similarity criteria, the surrounding rock movement patterns and support pressure distribution under the conditions of on-site mining can be calculated or inferred, providing a theoretical basis for the safe mining of on-site coal resources.
[0005] Three-dimensional similarity simulation test requires a simulation test box (such as Figure 6 Similar materials are laid inside and grouting is carried out. The simulation test box is made of a high-transparency plate. The grouting rock layer has a certain strength due to its long-term solidification and drying. Especially when cement and other reinforcement materials are used as experimental materials, its strength is even higher. Due to its inherent high strength, it is very easy to cause damage to the experimental equipment during the cleaning process. The manual operation method has the following problems: ① In the previous three-dimensional grouting simulation experiment, due to the high hardness of the simulated grouting rock layer, it is necessary to manually use a hammer to hit the chisel to break the grouting rock layer, and then manually shovel it out with a shovel. The manual operation is time-consuming and labor-intensive, and the cleaning work is inefficient and time-consuming; ② Personnel enter the test box to clean its bottom, which is easy to cause damage to the test box, affecting the observation of the fault in the later test. Therefore, the existing technology urgently needs to be further improved. Utility Model Content
[0006] In view of the deficiencies of the above-mentioned prior art, the purpose of the present invention is to propose an automatic cleaning device for grouting rock layers for three-dimensional grouting simulation tests. The existing cleaning method involves manually using a hammer to break up the grouting rock layers and then shoveling out the fragments with a shovel. The operation is time-consuming and labor-intensive, the cleaning efficiency is low, the time-consuming process is long, and it is easy to cause damage to the test box, affecting the observation of faults in later tests.
[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:
[0008] An automatic cleaning device for grouting rock layers in a three-dimensional grouting simulation test comprises a gantry frame 1, a gantry frame 2, a longitudinal linear module 1, a longitudinal linear module 2, a first drive mechanism, a second drive mechanism, a lifting arm 1, a lifting arm 2, a crushing and removing mechanism, a cleaning mechanism and a PLC controller. There are two longitudinal linear modules 1, which are arranged in parallel and at intervals on the surface of a workbench. There are also two longitudinal linear modules 2, which are arranged in parallel and symmetrically between the two longitudinal linear modules 1.
[0009] The lower end of gantry one is fixedly connected to the executive ends of the two longitudinal linear modules one, and the longitudinal linear module one drives gantry one to move forward and backward. The lower end of gantry two is fixedly connected to the executive ends of the two longitudinal linear modules two, and the longitudinal linear module two drives gantry two to move forward and backward.
[0010] A slide 1 is provided on the crossbeam of the first gantry frame, and a first driving mechanism drives the slide 1 to slide left and right. A slide 2 is provided on the crossbeam of the second gantry frame, and a second driving mechanism drives the slide 2 to slide left and right.
[0011] Lifting arms one and two are respectively vertically slidably arranged on slide one and slide two. Slide one and slide two both drive the corresponding lifting arms to rise or fall through a rack and pinion mechanism. The crushing and cleaning mechanism is arranged at the lower end of lifting arm one through rotating seat one, and the cleaning mechanism is arranged at the lower end of lifting arm two through rotating seat two.
[0012] The crushing and clearing mechanism includes a crushing hammer and a shovel plate, which are respectively slidably arranged on opposite sides of the rotating seat one. The cleaning mechanism includes a cleaning brush head and four nozzles, which are arranged at the lower end of the rotating seat two. The four nozzles are evenly arranged in a ring shape on the lower outer side of the lifting arm two.
[0013] Furthermore, the longitudinal linear module 1 and the longitudinal linear module 2 have the same structure, both including a guide rail, a guide slide, a first lead screw and a first servo motor. The cross-section of the guide rail is a C-shaped structure. The guide rail is longitudinally fixed to the surface of the workbench, and its open side is located at the top.
[0014] The lower part of the guide slide is slidably embedded in the inner side of the guide rail, the first lead screw is located on the inner side of the guide rail, passes through the inner side of the guide slide and engages with its thread, the first servo motor is located on the rear side of the guide rail, and its output end is coaxially fixedly connected to the rear end of the first lead screw, and the signal ends of each first servo motor are respectively connected to the PLC controller for communication.
[0015] Furthermore, the gantry frame 1 and the gantry frame 2 have the same structure, both including a left column and a right column, and the crossbeam is located between the left column and the right column, and its left and right ends are respectively fixedly connected to the upper ends of the left and right columns to form a whole.
[0016] The crossbeam is a square tube, and a guide groove is provided on the upper and lower surfaces of the crossbeam. A guide sliding block is provided in each guide groove. Slide 1 and slide 2 are both mounted on the corresponding crossbeam, and each guide sliding block is fixed to the corresponding slide as a whole. Slide 1 and slide 2 are both slidably matched with the corresponding crossbeam through the guide groove.
[0017] Furthermore, the first drive mechanism and the second drive mechanism have the same structure, including a second lead screw, a nut seat and a second servo motor. A long hole is opened on the front side wall of the beam, and the nut seat is slidably arranged on the inner side of the beam. The second lead screw is also arranged on the inner side of the beam, passing through the nut seat and engaging with its thread.
[0018] The left end of the second screw passes through the side wall of the left column, and the right end thereof is rotatably engaged with the end of the beam. In addition, the front side of the nut seat is fixedly connected to the inner side of slide one or slide two through a connector.
[0019] The second servo motor is fixedly installed on the upper left of the gantry one or two, and its output shaft is coaxially fixedly connected to the left end of the second screw. The second servo motor drives the slide one or slide two to move left or right along the beam through the nut.
[0020] Furthermore, the lifting arm 1 and the lifting arm 2 have the same structure, both of which are vertically arranged square tubes.
[0021] The slide 1 and slide 2 have the same structure, and both have a vertical through hole on the front. Two dovetail slide rails 1 are symmetrically fixed on the left and right sides of the lifting arm 1 and the lifting arm 2. The lifting arm 1 and the lifting arm 2 are respectively vertically arranged on the inner side of the corresponding slide, and are vertically slidably matched with the corresponding slide through the dovetail slide rail 1.
[0022] Furthermore, the rack and pinion mechanism includes a spur rack, a gear and a third servo motor, and the spur rack is installed on the rear side wall of the lifting arm 1 or the lifting arm 2 and is located on the inner side of the through hole.
[0023] The third servo motor is installed on the top of slide one or slide two, the gear is located on the rear side of the spur rack and meshes with it, the gear shaft end of the gear is coaxially fixedly connected to the output end of the third servo motor, and the third servo motor drives the lifting arm one or lifting arm two to rise or fall through the gear.
[0024] Furthermore, the first rotating seat is rotatably connected to the lower end of the first lifting arm via a slewing bearing, and the second rotating seat is rotatably connected to the lower end of the second lifting arm via the same slewing bearing.
[0025] A fourth servo motor is fixedly installed on the top of each lifting arm, and the output shaft of the fourth servo motor drives the rotating seat below to rotate horizontally in a forward or reverse direction through a transmission shaft located in the lifting arm.
[0026] Furthermore, two sets of dovetail slide rails 2 are symmetrically fixed on two opposite sides of the rotating seat 1, and the two sets of dovetail slide rails 2 are respectively provided with a mounting plate 1 and a mounting plate 2.
[0027] Two cylinders are provided on the top of the rotating seat one. The telescopic ends of the two cylinders are fixedly connected to the top of the mounting plate one and the mounting plate two respectively. The breaker hammer is fixedly installed on the side of the mounting plate one in an inclined manner. The shovel plate is a bent plate, and its upper end is fixed on the side of the mounting plate two. The two cylinders can respectively drive the breaker hammer and the shovel plate to rise or fall.
[0028] Furthermore, the cleaning brush head is a square column structure made of collodion, with a rigid core inside, and the upper end of the rigid core is detachably fixedly connected to the lower end of the second rotating seat.
[0029] Each nozzle is connected to a universal bamboo tube, and the inlet ends of the four universal bamboo tubes are connected to the water inlet pipe arranged on the second lifting arm, and the water inlet pipe is connected to the water supply device.
[0030] By adopting the above technical solution, the beneficial technical effect of the utility model is: the utility model replaces manual crushing and cleaning of the grouting rock layer in the simulation test box through the three-dimensional movement of the crushing and cleaning mechanism and the cleaning mechanism, which saves time and labor, has a high degree of automation, does not require manual entry into the simulation test box for operation, has high cleaning efficiency, and ensures that the progress of the simulation test is accelerated. BRIEF DESCRIPTION OF THE DRAWINGS
[0031] Figure 1 The utility model is a structural schematic diagram of an automatic cleaning device for grouting rock layers used in three-dimensional grouting simulation tests.
[0032] Figure 2 yes Figure 1 A partial enlarged view of part A of the utility model.
[0033] Figure 3 yes Figure 1 A partial enlarged view of part B of the utility model.
[0034] Figure 4 yes Figure 1 A sectional view of a portion thereof shows the combination of the crossbeam, the slide and the nut seat.
[0035] Figure 5 This is a usage state diagram of the utility model.
[0036] Figure 6It is a structural diagram of a simulation test box in the background technology. DETAILED DESCRIPTION
[0037] The utility model is described in detail below with reference to the accompanying drawings:
[0038] Example, combined with Figures 1 to 5 , an automatic cleaning device for grouting rock formations in a three-dimensional grouting simulation test, comprising a gantry 11, a gantry 2 12, a longitudinal linear module 1, a longitudinal linear module 2, a first drive mechanism, a second drive mechanism, a lifting arm 1 31, a lifting arm 2 32, a crushing and removing mechanism 5, a cleaning mechanism 6 and a PLC controller, wherein there are two longitudinal linear modules 1, which are arranged in parallel and at intervals on the surface of a workbench 101, and there are also two longitudinal linear modules 2, which are arranged in parallel and symmetrically between the two longitudinal linear modules 1. The automatic cleaning device for grouting rock formations in a three-dimensional grouting simulation test is also provided with a power distribution cabinet, which is arranged at the lower part of the workbench 101 and is externally connected to a 220V power supply in the laboratory for powering the servo motor of the automatic cleaning device.
[0039] Specifically, the longitudinal linear module 1 and the longitudinal linear module 2 have the same structure, both including a guide rail 21, a guide slide 22, a first lead screw 23 and a first servo motor 24. The cross-section of the guide rail 21 is a C-shaped structure, and the existing C-shaped steel can be selected. The guide rail 21 is longitudinally fixedly installed on the surface of the workbench 101, and its open side is located at the top. The four guide rails 21 are arranged in parallel at intervals. The two guide rails 21 located on the outside are used to support and drive the gantry frame 11 to move forward and backward, and the two guide rails 21 located on the inside are used to support and drive the gantry frame 2 12 to move forward and backward.
[0040] The workbench 101 has four supporting legs mounted on its bottom. A simulation test chamber is mounted on the workbench 101. The simulation test chamber comprises a chamber body 103 and a baffle 104, which plugs into and seals the rear of the chamber body 103. A square discharge port for material removal is defined on the workbench 101 and is located adjacent to the rear of the simulation test chamber.
[0041] The lower part of the guide slide seat 22 is slidably embedded in the inner side of the guide rail 21. The guide slide seat 22 matches the inner cavity of the guide rail 21 and slides with the inner wall of the guide rail 21. The first lead screw 23 is located on the inner side of the guide rail 21, passes through the inner side of the guide slide seat 22 and is threadedly engaged with it. The first servo motor 24 is located on the rear side of the guide rail 21, and its output end is coaxially fixedly connected to the rear end of the first lead screw 23. The signal ends of each first servo motor 24 are respectively communicated with the PLC controller. The two first servo motors 24 of the longitudinal linear module 1 are driven synchronously, and the two first servo motors 24 of the longitudinal linear module 2 are driven synchronously.
[0042] The first and second gantry frames 11 and 12 have the same structure, each comprising a left column 111, a right column 112, and a crossbeam 113. Crossbeam 113 is located between the left and right columns 111 and 112, with its left and right ends fixedly connected to the upper ends of the left and right columns 112, respectively. The lower end of the first gantry frame 11 is fixedly connected to the actuator ends of the two first longitudinal linear modules, which drive the first gantry frame 11 to move forward and backward. The lower end of the second gantry frame 12 is fixedly connected to the actuator ends of the two second longitudinal linear modules, which drive the second gantry frame 12 to move forward and backward.
[0043] Slide 13 is mounted on the crossbeam 113 of gantry 11. A first drive mechanism drives slide 13 to slide left and right. Slide 14 is mounted on the crossbeam 113 of gantry 2 12. A second drive mechanism drives slide 14 to slide left and right. Specifically, crossbeam 113 is a square tube. A guide groove 1131 is provided on both the upper and lower surfaces of crossbeam 113. Each guide groove 1131 is provided with a guide block. Slide 13 and slide 14 are each sleeved on the corresponding crossbeam 113. Each guide block is fixed integrally to the corresponding slide. Slide 13 and slide 14 both slide left and right in cooperation with the corresponding crossbeam 113 via the guide groove 1131.
[0044] The first drive mechanism and the second drive mechanism have the same structure, including a second lead screw 43, a nut seat 41 and a second servo motor 42. The front side wall of the beam 113 is provided with a long hole 1132. The nut seat 41 is slidably arranged on the inner side of the beam 113. The second lead screw 43 is also arranged on the inner side of the beam 113, passes through the nut seat 41 and is threadedly engaged with it.
[0045] The left end of the second screw 43 passes through the side wall of the left column 111, and the right end thereof is rotatably engaged with the end of the beam 113. In addition, the front side of the nut seat 41 is fixedly connected to the inner side of the slide 13 or the slide 2 14 through a connector.
[0046] The second servo motor 42 is fixedly installed on the upper left of the gantry 11 or 2, and its output shaft is coaxially fixedly connected to the left end of the second screw 43. The second servo motor 42 drives the slide 13 or the slide 2 14 to move left or right along the beam 113 through the nut seat 41.
[0047] Lifting arm 1 31 and lifting arm 2 32 are identical in structure, both being vertically arranged square tubes. Lifting arm 1 31 and lifting arm 2 32 slide vertically through slide 1 13 and slide 2 14 , respectively. Both slide 1 13 and slide 2 14 are driven to raise or lower their corresponding lifting arms via a rack-and-pinion mechanism (gear 72).
[0048] Specifically, the slide 13 and the slide 2 14 have the same structure, and both have a vertical through hole 15 on the front. Two dovetail slide rails 1 311 are symmetrically fixed on the left and right sides of the lifting arm 1 31 and the lifting arm 2 32. The lifting arm 1 31 and the lifting arm 2 32 are respectively vertically inserted into the inner side of the corresponding slide, and vertically slide with the corresponding slide through the dovetail slide rail 1 311.
[0049] The gear 72 rack mechanism includes a spur rack 71 , a gear 72 and a third servo motor 73 . The spur rack 71 is mounted on the rear side wall of the lifting arm 1 31 or the lifting arm 2 32 and is located inside the through hole 15 .
[0050] The third servo motor 73 is installed on the top of the slide 13 or the slide 2 14, the gear 72 is located on the rear side of the spur rack 71 and meshes with it, the gear 72 shaft end of the gear 72 is coaxially fixedly connected to the output end of the third servo motor 73, and the third servo motor 73 drives the lifting arm 1 31 or the lifting arm 2 32 to rise or fall through the gear 72.
[0051] The crushing and cleaning mechanism 5 is mounted on the lower end of the first lifting arm 31 via a rotating base 81, and the cleaning mechanism 6 is mounted on the lower end of the second lifting arm 32 via a rotating base 82. The first rotating base 81 is rotatably connected to the lower end of the first lifting arm 31 via a slewing bearing, and the second rotating base 82 is rotatably connected to the lower end of the second lifting arm 32 via the same slewing bearing.
[0052] A fourth servo motor 83 is fixedly mounted on the top of each lifting arm. The output shaft of this fourth servo motor 83 drives the rotating base below in forward or reverse horizontal rotation via a drive shaft located within the lifting arm. Specifically, two sets of dovetail rails 84 are symmetrically fixed on opposite sides of the rotating base 1 (81). Mounting plates 1 (85) and 2 (86) are attached to these two sets of dovetail rails 84, respectively.
[0053] The crushing and clearing mechanism 5 includes a breaker hammer 51 and a shovel plate 52, which are slidably mounted on opposite sides of the rotating base 1 81. Two cylinders 87 are mounted on top of the rotating base 1 81. The telescopic ends of the two cylinders 87 are fixedly connected to the tops of the first and second mounting plates 85 and 86, respectively. The breaker hammer 51 is fixedly mounted at an angle to the side of the first mounting plate 85. The shovel plate 52 is a bent plate with its upper end fixed to the side of the second mounting plate 86. The two cylinders 87 can respectively drive the breaker hammer 51 and the shovel plate 52 to rise or fall.
[0054] The cleaning mechanism 6 includes a cleaning brush head 61 and four nozzles 62. The cleaning brush head 61 is arranged at the lower end of the rotating base 82. The cleaning brush head 61 is a square cylindrical structure made of collodion, with a rigid core inside. The upper end of the rigid core is detachably fixed to the lower end of the rotating base 82.
[0055] Four nozzles 62 are evenly arranged in a circular pattern on the lower outer side of the second lifting arm 32. Each nozzle 62 is connected to a universal bamboo tube, the inlet ends of which are connected to the water inlet pipe provided on the second lifting arm 32. The water inlet pipe is connected to the water supply device. The direction of the nozzle 62 can be adjusted through the universal bamboo tube, and the water output of each nozzle 62 can be controlled separately.
[0056] The working principle or general working process of the present invention is as follows: After the three-dimensional grouting simulation test is completed, the baffle 104 of the simulation test box is removed. The automatic cleaning device is turned on, and one cylinder 87 drives the shovel plate 52 to rise to the top dead center of its stroke, while the other cylinder 87 drives the breaker hammer 51 to descend to the bottom dead center of its stroke. Then, the breaker hammer 51 crushes the grouting rock formation. During the crushing process, the breaker hammer 51 combines forward and backward movement, left and right movement, and up and down movement, and can be rotated at an angle to perform matrix crushing of the grouting rock formation. After the crushing is completed, the breaker hammer 51 rises to the bottom dead center of its stroke, and the shovel plate 52 descends to the bottom dead center of its stroke.
[0057] The shovel plate 52 scrapes the crushed grouting rock layer toward the front side of the simulation test box, and enters the square discharge port of the workbench 101 through the front opening of the simulation test box, and falls into the waste collection box placed below the square discharge port. In the process of cleaning the grouting rock layer fragments, the shovel plate 52 moves forward and backward, left and right, and moves up and down, and adjusts the angle. It is particularly important to note that the scraping of the grouting rock layer fragments by the shovel plate 52 and the crushing of the grouting rock layer by the breaker hammer 51 can be performed alternately according to actual conditions, and finally the grouting rock layer in the simulation test box is cleared. Afterwards, the rotating seat 81 drives the shovel plate 52 to rotate so that it is located near the inner wall of the simulation test box to clean the inner wall of the simulation test box. After the crushing and cleaning process is completed, the gantry 11 moves to the front end of the longitudinal linear module 1 and stays there.
[0058] Afterwards, the gantry 12 drives the cleaning brush head 61 to move to the inside of the simulation test box. The side of the cleaning brush head 61 contacts the inner wall of the simulation test box and moves back and forth or rotates, and combines with the nozzle 62 to spray water to the inner wall of the simulation test box. During the flushing process, the baffle 104 can be installed back into the simulation test box and cleaned together. After the cleaning operation is completed, the gantry 12 is reset. After there is no water inside the simulation test box, the next set of three-dimensional grouting simulation tests can be carried out.
[0059] Parts not described in the present invention can be realized by adopting or drawing on existing technologies.
[0060] In addition, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.
[0061] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.
[0062] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.
Claims
1. An automatic cleaning device for grouting rock formations used in three-dimensional grouting simulation tests, characterized in that: It includes a gantry frame 1, a gantry frame 2, a longitudinal linear module 1, a longitudinal linear module 2, a first drive mechanism, a second drive mechanism, a lifting arm 1, a lifting arm 2, a crushing and removing mechanism, a cleaning mechanism and a PLC controller. There are two longitudinal linear modules 1, which are arranged in parallel and spaced apart on the surface of the workbench. There are also two longitudinal linear modules 2, which are arranged in parallel and symmetrically between the two longitudinal linear modules 1. The lower end of the gantry frame 1 is fixedly connected to the execution ends of the two longitudinal linear modules 1, and the longitudinal linear modules 1 drive the gantry frame 1 to move forward and backward. The lower end of the gantry frame 2 is fixedly connected to the execution ends of the two longitudinal linear modules 2, and the longitudinal linear modules 2 drive the gantry frame 2 to move forward and backward. A slide 1 is provided on the crossbeam of the first gantry frame, and a first driving mechanism drives the slide 1 to slide left and right; a slide 2 is provided on the crossbeam of the second gantry frame, and a second driving mechanism drives the slide 2 to slide left and right; The first and second lifting arms are respectively vertically slidably arranged on the first and second slides. The first and second slides drive the corresponding lifting arms to rise or fall through a gear rack mechanism. The crushing and cleaning mechanism is arranged at the lower end of the first lifting arm through the first rotating seat. The cleaning mechanism is arranged at the lower end of the second lifting arm through the second rotating seat. The crushing and clearing mechanism includes a crushing hammer and a shovel plate, which are respectively slidably arranged on opposite sides of the rotating seat one. The cleaning mechanism includes a cleaning brush head and four nozzles, which are arranged at the lower end of the rotating seat two. The four nozzles are evenly arranged in a ring shape on the lower outer side of the lifting arm two.
2. The automatic cleaning device for grouting rock formations in a three-dimensional grouting simulation test according to claim 1, characterized in that: The longitudinal linear module 1 and the longitudinal linear module 2 have the same structure, both comprising a guide rail, a guide slide, a first lead screw and a first servo motor. The cross section of the guide rail is a C-shaped structure. The guide rail is longitudinally fixed to the surface of the workbench, with its open side located at the top. The lower part of the guide slide is slidably embedded in the inner side of the guide rail, the first lead screw is located on the inner side of the guide rail, passes through the inner side of the guide slide and engages with its thread, the first servo motor is located on the rear side of the guide rail, and its output end is coaxially fixedly connected to the rear end of the first lead screw, and the signal ends of each first servo motor are respectively connected to the PLC controller for communication.
3. The automatic cleaning device for grouting rock formations in a three-dimensional grouting simulation test according to claim 1, characterized in that: The first and second gantry frames have the same structure, both comprising a left column and a right column, a crossbeam located between the left and right columns, and a left and right end of the crossbeam being fixedly connected to the upper ends of the left and right columns, respectively; The crossbeam is a square tube, and a guide groove is provided on the upper and lower surfaces of the crossbeam. A guide sliding block is provided in each guide groove. Slide 1 and slide 2 are both mounted on the corresponding crossbeam, and each guide sliding block is fixed to the corresponding slide as a whole. Slide 1 and slide 2 are both slidably matched with the corresponding crossbeam through the guide groove.
4. The automatic cleaning device for grouting rock formations in a three-dimensional grouting simulation test according to claim 3, characterized in that: The first drive mechanism and the second drive mechanism have the same structure, including a second lead screw, a nut seat and a second servo motor. The front side wall of the crossbeam is provided with a long hole, the nut seat is slidably arranged on the inner side of the crossbeam, and the second lead screw is also arranged on the inner side of the crossbeam, passing through the nut seat and engaging with the thread thereof; The left end of the second screw passes through the side wall of the left column, and the right end thereof is rotatably engaged with the end of the crossbeam. In addition, the front side of the nut seat is fixedly connected to the inner side of the slide 1 or slide 2 through a connector; The second servo motor is fixedly installed on the upper left of the gantry one or two, and its output shaft is coaxially fixedly connected to the left end of the second screw. The second servo motor drives the slide one or slide two to move left or right along the beam through the nut.
5. The automatic cleaning device for grouting rock formations used in three-dimensional grouting simulation tests according to claim 1, characterized in that: The lifting arm 1 and the lifting arm 2 have the same structure and are both vertically arranged square tubes; The slide 1 and slide 2 have the same structure, and both have a vertical through hole on the front. Two dovetail slide rails 1 are symmetrically fixed on the left and right sides of the lifting arm 1 and the lifting arm 2. The lifting arm 1 and the lifting arm 2 are respectively vertically arranged on the inner side of the corresponding slide, and are vertically slidably matched with the corresponding slide through the dovetail slide rail 1.
6. The automatic cleaning device for grouting rock formations used in three-dimensional grouting simulation tests according to claim 5, characterized in that: The rack and pinion mechanism includes a spur rack, a gear, and a third servo motor, wherein the spur rack is mounted on the rear side wall of the first lifting arm or the second lifting arm and is located inside the through hole; The third servo motor is installed on the top of slide one or slide two, the gear is located on the rear side of the spur rack and meshes with it, the gear shaft end of the gear is coaxially fixedly connected to the output end of the third servo motor, and the third servo motor drives the lifting arm one or lifting arm two to rise or fall through the gear.
7. The automatic cleaning device for grouting rock formations used in three-dimensional grouting simulation tests according to claim 1, characterized in that: The first rotating seat is rotatably connected to the lower end of the first lifting arm via a slewing bearing, and the second rotating seat is rotatably connected to the lower end of the second lifting arm via the same slewing bearing; A fourth servo motor is fixedly installed on the top of each lifting arm, and the output shaft of the fourth servo motor drives the rotating seat below to rotate horizontally in a forward or reverse direction through a transmission shaft located in the lifting arm.
8. The automatic cleaning device for grouting rock formations used in three-dimensional grouting simulation tests according to claim 1, characterized in that: Two sets of dovetail slide rails 2 are symmetrically fixed on opposite sides of the rotating seat 1, and the two sets of dovetail slide rails 2 are respectively provided with a mounting plate 1 and a mounting plate 2; Two cylinders are provided on the top of the rotating seat one. The telescopic ends of the two cylinders are fixedly connected to the top of the mounting plate one and the mounting plate two respectively. The breaker hammer is fixedly installed on the side of the mounting plate one in an inclined manner. The shovel plate is a bent plate, and its upper end is fixed on the side of the mounting plate two. The two cylinders can respectively drive the breaker hammer and the shovel plate to rise or fall.
9. The automatic cleaning device for grouting rock formations used in three-dimensional grouting simulation tests according to claim 1, characterized in that: The cleaning brush head is a square cylindrical structure made of collodion, with a rigid core inside. The upper end of the rigid core is detachably fixedly connected to the lower end of the rotating base 2; Each nozzle is connected to a universal bamboo tube, and the inlet ends of the four universal bamboo tubes are connected to the water inlet pipe arranged on the second lifting arm, and the water inlet pipe is connected to the water supply device.