CN109139054A - A kind of underworkings robot gunnite method and device - Google Patents
A kind of underworkings robot gunnite method and device Download PDFInfo
- Publication number
- CN109139054A CN109139054A CN201811263365.8A CN201811263365A CN109139054A CN 109139054 A CN109139054 A CN 109139054A CN 201811263365 A CN201811263365 A CN 201811263365A CN 109139054 A CN109139054 A CN 109139054A
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- China
- Prior art keywords
- robot
- track
- underworkings
- vehicle
- spray operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000007921 spray Substances 0.000 claims abstract description 17
- 239000011435 rock Substances 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 239000002002 slurry Substances 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 239000003245 coal Substances 0.000 abstract description 10
- 238000005507 spraying Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 239000003973 paint Substances 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011378 shotcrete Substances 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Lining And Supports For Tunnels (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
Safety of coal mines is the mostly important responsibility of class of digging up mine, by robot tunnel paint finishing, few gas overflowing amount can drop, reduce the gas permeation possibility as caused by unevenly spraying, so that coal mine downhole safety is further enhanced, while the waste of the sprayed on material as caused by spraying unevenness can also be reduced.Present invention aims at for existing deficiency in production, the underworkings robot gunnite method and device of a kind of automated job are provided.Underworkings robot gunnite method, comprising the following steps: on the mobile device by track installation；The mobile device is moved in underworkings, is then remain stationary；Laser scanner moves along the track and obtains rock layer surface data at this time；The whitewashing path of robot is determined by rock layer surface data；The robot carries out spray operation along the track that laser scanner is passed by；After the completion of step D spray operation, the mobile device drives the distance of the mobile track length of track, carries out next section of spray operation.
Description
Technical field
The invention belongs to technical field of automation in industry, specially a kind of underworkings robot gunnite method and device.
Background technique
China is one of coal mine gas disaster country the most serious in the world, recently as the further of mining depth
It increases, gas problem is increasingly severe, and present low gas non-protruding mine in part is faced with the upgrading to the prominent mine of high methane height, system
Meter shows that most protrusions and gas accident occur during tunnelling.Therefore, digging laneway gas emission pair is reduced
In mine safety, efficiently production meaning is especially great.
In coal mine tunneling process, gas is rapidly gushed out, and ventilating gas content transfinites often, and operation is difficult to go on smoothly.For
Make the rate tranquilization of Gas, reduce the frequency that transfinites, mine uses linked network to penetrate solidifying indigenous method enclosing tunnel and underground at present
The method of gunite material whitewashing coal wall, slows down coal wall Gas.
Both modes are all that artificial Portable device is sprayed at present.Due to having more sputtering and expansion during whitewashing
It dissipates, so that whitewashing environment is extremely severe.Construction personnel needs to wear whole body protection, nonetheless or can due to it is unsighted not
It obtains and does not stop constructing.The level of construction personnel is different with visual angle also to will appear uneven or even drain spray of whitewashing simultaneously.
Robot tunnel spraying system, technique needed for can complying fully with whitewashing, is automatically performed whitewashing process.It liberates high-risk
Whitewashing efficiency is accelerated in danger, highly difficult construction personnel.It is preferably minimized gas hazard.
Summary of the invention
Safety of coal mines is the mostly important responsibility of class of digging up mine, and can drop few gas overflowing by robot tunnel paint finishing
Amount reduces the gas permeation possibility as caused by unevenly spraying, so that coal mine downhole safety is further enhanced, simultaneously
The waste of the sprayed on material as caused by spraying unevenness can also be reduced.Present invention aims at for existing deficiency in production,
The underworkings robot gunnite method and device of a kind of automated job are provided.
Underworkings robot gunnite method, comprising the following steps:
A) on the mobile device by track installation；The mobile device is moved in underworkings, is then remain stationary；
B) laser scanner moves along the track and obtains rock layer surface data at this time；
C the whitewashing path of robot) is determined by rock layer surface data；
D) robot carries out spray operation along the track that laser scanner is passed by；
E) after the completion of step D spray operation, the mobile device drives the distance of the mobile track length of track, carries out down
One section of spray operation.
Underworkings robot refractory gunning equipment, comprising:
Vehicle, for driving track to move in underworkings；
Laser scanner, for obtaining rock layer surface data；
Robot, for carrying out spray operation；
Mobile platform is moved for band mobile robot and along track；
Size barrel, for storing whitewashing slurry；
Cable turntable, the winding for cable.
Underworkings robot refractory gunning equipment, comprising: vehicle, the track that the vehicle cab front end is set, can be with
Mobile platform, the robot and laser scanner of fixed setting on a mobile platform moved along the track；It is arranged in vehicle
The cable turntable of the vehicle tail is arranged in the size barrel of driver's cabin rear end；
Cable is wrapped on the cable turntable, and there are four hydraulic legs for the vehicle setting, for keeping the stabilization of vehicle.Machine
The end of device people is equipped with refractory gun.
When work, vehicle enters underworkings, then rises hydraulic leg, and vehicle is made to keep stable stationary state；This
When, laser scanner moves along track under the drive of mobile platform and obtains rock layer surface data；Pass through rock layer surface data
Determine the whitewashing path of robot；Next step robot carries out spray operation along the track that laser scanner is passed by, and whitewashing is made
After the completion of industry, vehicle recycles hydraulic leg, then the distance of moving track length, carries out next section of spray operation.
Industrial Robot Technology is applied to coal underground field for the first time by the present invention.For the manless working face of underground, reduce
Be further improved in terms of personnel, and coal mine downhole safety be further enhanced, at the same can also reduce due to
The waste of sprayed on material caused by spraying is uneven.
Detailed description of the invention
Fig. 1 is underworkings robot refractory gunning equipment schematic diagram of the present invention.
Specific embodiment
The embodiments given below are intended to further illustrate the invention, but is not to be construed as to the scope of the present invention
Limitation, content still falls within this to some nonessential modifications and adaptations of the invention to those skilled in the art according to the present invention
The protection scope of invention.
Embodiment: such as Fig. 1, underworkings robot refractory gunning equipment, comprising: vehicle 1 is arranged in 1 driver's cabin front end of vehicle
Track 2, can be along the mobile platform 3 that track 2 moves, the robot 4 and laser scanner that are fixed on mobile platform 3
5；The size barrel 6 of 1 driver's cabin rear end of vehicle is set, the cable turntable 7 of 1 tail portion of vehicle is set；Cable is wrapped in cable and turns
On disk 7, there are four hydraulic legs 8 for the setting of vehicle 1, for keeping the stabilization of vehicle.The end of robot 4 is equipped with refractory gun.
When work, vehicle 1 enters underworkings, then rises hydraulic leg 8, vehicle is made to keep stable stationary state；
At this point, laser scanner 5, which moves under the drive of mobile platform 3 along track 2, obtains rock layer surface data；Pass through rock layer surface
Data determine the whitewashing path of robot 4；Next step robot 4 carries out spray operation along the track that laser scanner is passed by,
After the completion of spray operation, vehicle 1 recycles hydraulic leg 8, then the distance of 2 length of moving track, carries out next section of spray operation.
Claims (3)
1. a kind of underworkings robot gunnite method, which comprises the following steps:
A) on the mobile device by track installation；The mobile device is moved in underworkings, is then remain stationary；
B) laser scanner moves along the track and obtains rock layer surface data at this time；
C the whitewashing path of robot) is determined by rock layer surface data；
D) robot carries out spray operation along the track that laser scanner is passed by；
E) after the completion of step D spray operation, the mobile device drives the distance of the mobile track length of track, carries out down
One section of spray operation.
2. a kind of underworkings robot refractory gunning equipment, characterized by comprising:
Vehicle, for driving track to move in underworkings；
Laser scanner, for obtaining rock layer surface data；
Robot, for carrying out spray operation；
Mobile platform is moved for band mobile robot and along track；
Size barrel, for storing whitewashing slurry；
Cable turntable, the winding for cable.
3. according to underworkings robot refractory gunning equipment described in patent requirements 2, characterized by comprising:
Vehicle, the track that the vehicle cab front end is set, can be along mobile platform that the track moves, fixed setting
Robot and laser scanner on a mobile platform；The size barrel of the vehicle cab rear end is set, is arranged described
The cable turntable of vehicle tail；
Cable is wrapped on the cable turntable, and there are four hydraulic legs for the vehicle setting, for keeping the stabilization of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811263365.8A CN109139054A (en) | 2018-10-28 | 2018-10-28 | A kind of underworkings robot gunnite method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811263365.8A CN109139054A (en) | 2018-10-28 | 2018-10-28 | A kind of underworkings robot gunnite method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109139054A true CN109139054A (en) | 2019-01-04 |
Family
ID=64810117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811263365.8A Pending CN109139054A (en) | 2018-10-28 | 2018-10-28 | A kind of underworkings robot gunnite method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109139054A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110761809A (en) * | 2019-11-12 | 2020-02-07 | 徐州秩润矿山设备科技有限公司 | Patching machine convenient to operation of ascending a height in pit |
| CN112757309A (en) * | 2020-12-08 | 2021-05-07 | 南京科工煤炭科学技术研究有限公司 | Control system and control method of spraying robot |
| CN113123808A (en) * | 2021-04-16 | 2021-07-16 | 重庆大学 | Intelligent guniting robot |
| CN114704291A (en) * | 2021-02-26 | 2022-07-05 | 南京科工煤炭科学技术研究有限公司 | Coal mine tunnel robot guniting method and device |
| CN116441094A (en) * | 2023-04-20 | 2023-07-18 | 云南途腾智能装备有限公司 | Guniting mechanical arm for concrete wet spraying trolley |
| CN116624186A (en) * | 2023-07-21 | 2023-08-22 | 北京科技大学 | Concrete spraying equipment for fireproof reinforcement of roadway wall under coal mine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000226996A (en) * | 1999-02-08 | 2000-08-15 | Sato Kogyo Co Ltd | Mobile work frame for spraying, tunnel construction method using the same, and operation method for spraying work |
| CN202055838U (en) * | 2011-04-12 | 2011-11-30 | 中国铁建重工集团有限公司 | Two-stage turntable supporting and traveling construction of an injection manipulator |
| CN103713647A (en) * | 2013-12-23 | 2014-04-09 | 中联重科股份有限公司 | Concrete sprayer and control method, device and system thereof |
| CN103939111A (en) * | 2013-01-22 | 2014-07-23 | 北京华强京工机械制造有限公司 | Concrete wet spraying trolley |
| CN205012622U (en) * | 2015-07-02 | 2016-02-03 | 长沙卓创机械科技有限公司 | Mortar spraying device based on automated control |
| CN205477658U (en) * | 2015-12-31 | 2016-08-17 | 天津兴实科技有限公司 | Novel underworkings whitewashing machine people |
-
2018
- 2018-10-28 CN CN201811263365.8A patent/CN109139054A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000226996A (en) * | 1999-02-08 | 2000-08-15 | Sato Kogyo Co Ltd | Mobile work frame for spraying, tunnel construction method using the same, and operation method for spraying work |
| CN202055838U (en) * | 2011-04-12 | 2011-11-30 | 中国铁建重工集团有限公司 | Two-stage turntable supporting and traveling construction of an injection manipulator |
| CN103939111A (en) * | 2013-01-22 | 2014-07-23 | 北京华强京工机械制造有限公司 | Concrete wet spraying trolley |
| CN103713647A (en) * | 2013-12-23 | 2014-04-09 | 中联重科股份有限公司 | Concrete sprayer and control method, device and system thereof |
| CN205012622U (en) * | 2015-07-02 | 2016-02-03 | 长沙卓创机械科技有限公司 | Mortar spraying device based on automated control |
| CN205477658U (en) * | 2015-12-31 | 2016-08-17 | 天津兴实科技有限公司 | Novel underworkings whitewashing machine people |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110761809A (en) * | 2019-11-12 | 2020-02-07 | 徐州秩润矿山设备科技有限公司 | Patching machine convenient to operation of ascending a height in pit |
| CN112757309A (en) * | 2020-12-08 | 2021-05-07 | 南京科工煤炭科学技术研究有限公司 | Control system and control method of spraying robot |
| CN112757309B (en) * | 2020-12-08 | 2022-05-24 | 南京科工煤炭科学技术研究有限公司 | Control system and control method of spraying robot |
| CN114704291A (en) * | 2021-02-26 | 2022-07-05 | 南京科工煤炭科学技术研究有限公司 | Coal mine tunnel robot guniting method and device |
| CN113123808A (en) * | 2021-04-16 | 2021-07-16 | 重庆大学 | Intelligent guniting robot |
| CN116441094A (en) * | 2023-04-20 | 2023-07-18 | 云南途腾智能装备有限公司 | Guniting mechanical arm for concrete wet spraying trolley |
| CN116441094B (en) * | 2023-04-20 | 2023-12-29 | 云南途腾智能装备有限公司 | Guniting mechanical arm for concrete wet spraying trolley |
| CN116624186A (en) * | 2023-07-21 | 2023-08-22 | 北京科技大学 | Concrete spraying equipment for fireproof reinforcement of roadway wall under coal mine |
| CN116624186B (en) * | 2023-07-21 | 2023-10-27 | 北京科技大学 | Concrete spraying equipment for fireproof reinforcement of roadway wall under coal mine |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190104 |
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| RJ01 | Rejection of invention patent application after publication |