CN112221784B - Automatic spraying equipment and spraying method thereof - Google Patents
Automatic spraying equipment and spraying method thereof Download PDFInfo
- Publication number
- CN112221784B CN112221784B CN202010861475.5A CN202010861475A CN112221784B CN 112221784 B CN112221784 B CN 112221784B CN 202010861475 A CN202010861475 A CN 202010861475A CN 112221784 B CN112221784 B CN 112221784B
- Authority
- CN
- China
- Prior art keywords
- spraying
- arm
- pipeline
- swing
- telescopic
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
An automatic spraying device and a spraying method thereof relate to a spraying machine, comprising a spraying robot and a paint stirring and pumping vehicle, wherein the spraying robot and the paint stirring and pumping vehicle are controlled by a remote controller, the paint stirring and pumping vehicle is connected with the spraying robot through a pipeline, the spraying robot comprises a crawler chassis A at the lower part of a bottom plate, a control system, a telescopic mechanical arm, a feeding pump, a storage box and a main motor, which are arranged at the upper part of the bottom plate, the control system is respectively connected with the main motor and the feeding pump, a feeding port of the feeding pump is connected with the storage box through a pipeline, a material pipeline is arranged on the telescopic mechanical arm, and a discharging port of the feeding pump is connected with the material pipeline; the invention has good spraying effect and high automation degree, meets the thin spraying requirement of high-speed tunneling roadways, reduces the labor intensity of operation and has higher safety.
Description
Technical Field
The invention relates to a spraying machine, in particular to automatic spraying equipment and a spraying method thereof.
Background
It is known that, with the thin spraying technology and thin spraying material series based on polymer materials, the sealing of the wall surface of the tunnel can be completed in some tunnels instead of sprayed concrete, so as to prevent the wall surface from weathering and spontaneous combustion, and even solve the work that the sprayed concrete can not realize the isolation of gas and other harmful gases. With the acceptance of thin spraying materials and thin spraying technologies for more and more coal mines, the existing construction process and equipment have great problems in construction roadways of large mines, large sections and the like. Along with the large construction amount and the high requirement of the construction efficiency, the length of a thin spraying construction roadway under a coal mine well reaches kilometers, the height of a part of the roadway is large, the operation and implementation of workers are difficult, and the spraying quality cannot be ensured. The common thin-spraying construction process and equipment can not meet the construction requirements, the existing equipment has low mechanization and automation degree, is difficult to meet the requirements of high-speed tunneling, and needs thin-spraying construction equipment with higher technical level and automation degree.
Based on the problems, the invention provides the robot for the underground coal mine spraying operation, which aims to enhance the occupational safety of operators, reduce the labor intensity of the operation and improve the efficiency of thin spraying operation, and becomes a basic appeal for technical personnel in the field.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses automatic spraying equipment and a spraying method thereof.
In order to realize the purpose, the invention adopts the following technical scheme:
an automatic spraying device comprises a spraying robot and a paint stirring and pumping vehicle, wherein the spraying robot and the paint stirring and pumping vehicle are controlled by a remote controller, the paint stirring and pumping vehicle is connected with the spraying robot through a pipeline, the spraying robot comprises a crawler chassis A at the lower part of a bottom plate, a control system arranged at the upper part of the bottom plate, a telescopic mechanical arm, a feeding pump, a storage box and a main motor, the control system is respectively connected with the main motor and the feeding pump, a feeding port of the feeding pump is connected with the storage box through a pipeline, the telescopic mechanical arm is provided with a material pipeline, and a discharging port of the feeding pump is connected with the material pipeline;
a rotary speed reducer is fixed on one side of the upper surface of the bottom plate, the rotary speed reducer realizes horizontal rotation of the telescopic mechanical arm, and the rotation angle is 0-360 degrees; the upper part of the rotary speed reducer is provided with a swing oil cylinder, the lower part of the telescopic mechanical arm is fixed on the swing oil cylinder, the swing oil cylinder realizes the vertical swing of the telescopic mechanical arm, and the swing range is 0-250 degrees;
The telescopic mechanical arm comprises a telescopic shell, a telescopic oil cylinder, a stretching pulley block, a retracting pulley block, wherein the telescopic shell comprises a basic arm, a two-section arm and a three-section arm which are sequentially connected in a sliding manner from bottom to top; the retracting pulley block comprises a steel wire rope B and a pulley B arranged in the two-section arm, one end of the steel wire rope B is fixed on the adjusting bolt of the basic arm, and the other end of the steel wire rope B is fixed on the three-section arm by bypassing the pulley B;
a pipeline drag chain is fixed between the outside of the basic arm and the upper end part of the three-section arm, a material pipeline is installed in the pipeline drag chain, a nozzle is installed at the upper end opening of the material pipeline, and a distance measuring sensor is arranged outside the basic arm.
The automatic spraying equipment is characterized in that a displacement sensor is arranged in the telescopic oil cylinder, and a wiring port of the displacement sensor extends out of the position of the lower steel pipe base.
Automatic spraying equipment, control system including setting up power box, motor control case and the total control case on the bottom plate, the power box passes through circuit connection with motor control case, total control case respectively, motor control case and main motor pass through line connection, main motor is connected with the main hydraulic pump that sets up on the bottom plate, the oil inlet of main hydraulic pump is connected with the oil tank that sets up middle part above the bottom plate, the oil-out of main hydraulic pump is connected with the operation valves at power box rear portion, the operation valves is manual or electronic valves, including six valves, installs a valves respectively on the both sides of crawler chassis A both sides walking motor, respectively is provided with a valves on flexible arm, swing hydro-cylinder, gyration reduction gear and material loading pump.
The automatic spraying equipment is characterized in that the upper ports of the basic arm, the two-section arm and the three-section arm are respectively provided with a dustproof sealing ring.
The automatic spraying equipment is characterized in that a chassis encoder is arranged on the side face of a crawler chassis A, a rotary encoder is installed on one side of a rotary speed reducer, guide sensors are arranged at four corners of the upper surface of a bottom plate, a swing encoder is installed on one side of a swing oil cylinder, and a master control box is connected with the chassis encoder, the rotary encoder, the guide sensors, the swing encoder and a distance measuring sensor through signals or lines.
The automatic spraying equipment is characterized in that a cooler is arranged on the front portion of the oil tank and above the bottom plate, an oil way pipeline is arranged inside the cooler, and two ends of the oil way pipeline are connected with a hydraulic oil return pipeline and the oil tank respectively.
The automatic spraying equipment is characterized in that the paint stirring and pump conveying vehicle comprises a crawler chassis B, a pumping device, a feeding stirring pump and a driving device, the pumping device, the feeding stirring pump and the driving device are respectively installed on the upper portion of a bottom plate of the crawler chassis B, the pumping device is connected with a storage box of the spraying robot through a pipeline, the driving device is a driving motor, the pumping device is connected with the feeding stirring pump through a pipeline, and the pumping device is an electric conveying pump or a hydraulic conveying pump.
The automatic spraying equipment further comprises a hydraulic valve group arranged on the bottom plate, and the hydraulic valve group is used for controlling the swing oil cylinder, the telescopic oil cylinder, the two-side walking motors and the rotary speed reducer.
A spraying method of automatic spraying equipment comprises a spraying robot and a paint stirring pump-conveying vehicle, and comprises the following specific operation steps:
(1) the spraying robot is in a standby state, the coating stirring and pumping vehicle is manually charged, water is added according to the proportion, the coating is stirred to be in a slurry state and meets the spraying requirement, and the stirred slurry is pumped into the storage box by the pumping device;
(2) The telescopic mechanical arm is operated by a remote controller to swing to an initial position, a rotary speed reducer drives the telescopic mechanical arm to horizontally rotate to a 1# position or a 2# position, a telescopic oil cylinder in a basic arm of the telescopic mechanical arm drives a two-section arm to extend out, the two-section arm extends out and simultaneously drives a pulley A to move forwards to push a three-section arm to extend out, and a distance measuring sensor outside the basic arm senses the extending distance of the telescopic mechanical arm and the distance between the extending distance and the inner wall of a roadway to prepare for spraying operation;
(3) connecting to a step, operating a swing oil cylinder to drive a telescopic mechanical arm to swing according to a 3# position, a 5# position, a 4# position, a 5# position and a 3# position, simultaneously pumping slurry in a storage tank into a material pipeline by a feeding pump, spraying the slurry onto the inner wall of a roadway through a nozzle at the port of the material pipeline, returning to swing spraying after one cycle is finished, and repeatedly spraying in such a way that the path sequence is the 4# position, the 5# position, the 3# position or the 3# position, the 5# position and the 4# position;
(4) after the spraying of the current position is finished, the spraying robot automatically steps for a certain distance according to set parameters or operates, the spraying operation process is repeatedly swung, and when the spraying meets the requirement, the spraying robot steps to the next operation area, so that the operation is circulated and the spraying is ceaseless;
(5) After the spraying operation is finished, the telescopic mechanical arm swings to the horizontal position according to the operation sequence, then rotates to the initial position, waits for the operation of the next shift, and the whole operation flow is finished.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. according to the automatic spraying equipment and the spraying method thereof, the telescopic mechanical arm is rotated by 0-360 degrees in the horizontal direction by arranging the rotary speed reducer, the swing oil cylinder is arranged at the upper part of the rotary speed reducer, the lower part of the telescopic mechanical arm is fixed on the swing oil cylinder, the telescopic mechanical arm is swung by 0-250 degrees in the vertical direction, the material pipeline is arranged on the telescopic mechanical arm and is connected with the discharge hole of the feeding pump, the spraying effect is good, the automation degree is high, and the thin spraying requirement of a high-speed tunneling roadway is met;
2. the spraying robot and the coating stirring and pumping vehicle are both controlled by a remote controller, and the coating stirring and pumping vehicle and the spraying robot are connected through a pipeline, so that the requirements on large construction quantity and high construction efficiency are met, the construction is relatively simple, the labor intensity of operation is reduced, and the safety is higher.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the telescopic robotic arm of the present invention;
FIG. 3 is a schematic view of the paint agitating and pumping vehicle of the present invention;
FIG. 4 is a schematic view of the connection structure of the paint stirring pump truck and the painting robot of the present invention;
FIG. 5 is a schematic view of the horizontal rotation operation of the telescopic robot arm of the present invention;
FIG. 6 is a schematic view of the swing of the telescopic robot arm of the present invention in the vertical direction
In the figure: 1. a crawler chassis A; 2. a base plate; 3. a rotary speed reducer; 4. a rotary encoder; 5. a swing oil cylinder; 6. a wobble encoder; 7. a telescopic mechanical arm; 8. a pipeline drag chain; 9. a material conduit; 10. an oil tank; 11. a ranging sensor; 12. a master control box; 13. a hydraulic valve block; 14. a power supply box; 15. operating the valve block; 16. a material storage box; 17. a cooler; 18. a feeding pump; 19. a motor control box; 20. a guide sensor; 21. a chassis encoder; 22. a main motor; 23. a main hydraulic pump; 24. a displacement sensor; 25. a telescopic oil cylinder; 26. a dustproof sealing ring; 27. a steel wire rope A; 28. a pulley A; 29. a steel wire rope B; 30. a pulley B; 31. a base arm; 32. a two-section arm; 33. a three-section arm; 34. adjusting the bolt; 35. a crawler chassis B; 36. a charging stirring pump; 37. a pumping device; 38. a drive device; 39. a pipeline; 40. a spraying robot; 41. stirring the paint and conveying the paint to a pump truck; 42. roadway surfaces; 43. the inner wall of the roadway; 44. a power source; 45. a water source.
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
The automatic spraying equipment described with reference to fig. 1-6 comprises a spraying robot 40 and a paint stirring and pumping vehicle 41, wherein the spraying robot 40 and the paint stirring and pumping vehicle 41 are controlled by a remote controller, the paint stirring and pumping vehicle 41 is connected with the spraying robot 40 through a pipeline 39, the spraying robot 40 comprises a crawler chassis a1 at the lower part of a bottom plate 2, a control system arranged at the upper part of the bottom plate 2, a telescopic mechanical arm 7, a feeding pump 18, a storage box 16 and a main motor 22, the control system is respectively connected with the main motor 22 and the feeding pump 18, a feeding port of the feeding pump 18 is connected with the storage box 16 through a pipeline, the telescopic mechanical arm 7 is provided with a material pipeline 9, and a discharging port of the feeding pump 18 is connected with the material pipeline 9;
the crawler chassis A1 is used for providing support for the whole spraying robot 40 and realizing the running function of the whole vehicle; the pipeline 39 realizes a material conveying passage from the paint stirring pump truck 41 to the spraying robot 40;
a rotary speed reducer 3 is fixed on one side of the upper surface of the bottom plate 2, the rotary speed reducer 3 realizes the horizontal rotation of the telescopic mechanical arm 7, and the rotation angle is 0-360 degrees; the upper part of the rotary speed reducer 3 is provided with a swing oil cylinder 5, the lower part of the telescopic mechanical arm 7 is fixed on the swing oil cylinder 5, the swing oil cylinder 5 realizes the vertical swing of the telescopic mechanical arm 7, and the swing range is 0-250 degrees;
The telescopic mechanical arm 7 comprises a telescopic shell, a telescopic oil cylinder 25, a stretching pulley block, a retracting pulley block, wherein the telescopic shell comprises a basic arm 31, a two-section arm 32 and a three-section arm 33 which are sequentially connected in a sliding manner from bottom to top, a flange outside the basic arm 31 is provided with a mounting fixing hole and fixedly connected with the swinging oil cylinder 5 through a bolt, the telescopic oil cylinder 25 is mounted in the basic arm 31, the jacking end of the telescopic oil cylinder 25 is fixed in the two-section arm 32, the stretching pulley block comprises a steel wire rope A27 and a pulley A28 arranged in the two-section arm, one end of the steel wire rope A27 is fixed on the base of the basic arm 31, and the other end of the steel wire rope A27 bypasses the pulley A28 and is fixed on the three-section arm 33; the retraction pulley block comprises a steel wire rope B29 and a pulley B30 arranged in the two-section arm, one end of the steel wire rope B29 is fixed on the adjusting bolt 34 of the basic arm 31, and the other end of the steel wire rope B29 passes through the pulley B30 and is fixed on the three-section arm 33;
a pipeline drag chain 8 is fixed between the outside of the basic arm 31 and the upper end of the three-link arm 33, a material pipeline 9 is installed in the pipeline drag chain 8, a nozzle is installed at the upper end of the material pipeline 9, and a distance measuring sensor 11 is installed outside the basic arm 31.
In the automatic spraying equipment, a displacement sensor 24 is arranged in a telescopic oil cylinder 25, and a wiring port of the displacement sensor extends out of the position of a lower steel pipe base;
When the telescopic mechanical arm 7 acts, a remote controller sends an instruction to the controller, the controller controls the telescopic oil cylinder 25 to extend or retract according to the instruction requirement, the displacement sensor 24 provides actual displacement information of the telescopic oil cylinder for the system, and the controller carries out PID adjustment according to the difference value of the sent instruction and the actual displacement feedback, so that the telescopic length and the speed of the mechanical arm meet the actual process requirements.
The automatic spraying equipment comprises a control system, wherein the control system comprises a power supply box 14, a motor control box 19 and a master control box 12 which are arranged on a bottom plate 2, the power supply box 14 is respectively connected with the motor control box 19 and the master control box 12 through circuits, the motor control box 19 is connected with a main motor 22 through circuits, the main motor 22 is connected with a main hydraulic pump 23 arranged on the bottom plate 2, an oil inlet of the main hydraulic pump 23 is connected with an oil tank 10 arranged in the middle of the upper surface of the bottom plate 2, an oil outlet of the main hydraulic pump 23 is connected with an operation valve group 15 arranged at the rear part of the power supply box 14, the operation valve group 15 is a manual or electric valve group and comprises six valve groups, two valve groups are respectively arranged on two sides of a walking motor on two sides of a track chassis A1, and a valve group is respectively arranged on a telescopic mechanical arm 7, a swing oil cylinder 5, a rotary speed reducer 3 and a feeding pump 18.
In the automatic spraying equipment, the upper ports of the basic arm 31, the two-section arm 32 and the three-section arm 33 are all provided with dustproof sealing rings 26.
In the automatic spraying equipment, a chassis encoder 21 is arranged on the side surface of a crawler chassis A1, a rotary encoder 4 is installed on one side of a rotary speed reducer 3, guide sensors 20 are arranged at four corners of the upper surface of a bottom plate 2, a swing encoder 6 is installed on one side of a swing oil cylinder 5, and a master control box 12 is respectively connected with the chassis encoder 21, the rotary encoder 4, the guide sensors 20, the swing encoder 4 and a distance measuring sensor 11 through signals or lines;
the rotary encoder 4 provides data support for horizontal rotation position detection and system control for the rotary speed reducer 3; the swing encoder 6 provides data support for horizontal rotation position detection and system control of the swing cylinder 5.
According to the automatic spraying equipment, a cooler 17 is arranged on the front portion of the oil tank 10 and above the bottom plate 2, an oil line pipeline is arranged inside the cooler 17, and two ends of the oil line pipeline are connected with a hydraulic oil return pipeline and the oil tank 10 respectively.
In the automatic spraying equipment, the paint stirring and pump feeding vehicle 41 comprises a crawler chassis B35, a pumping device 37, a feeding stirring pump 36 and a driving device 38, wherein the pumping device 37, the feeding stirring pump 36 and the driving device 38 are respectively installed on the upper part of the bottom plate of the crawler chassis B35, the pumping device 38 is connected with the storage box 16 of the spraying robot 40 through a pipeline 39, the driving device 38 is a driving motor, the pumping device 38 is connected with the feeding stirring pump 36 through a pipeline, and the pumping device 37 is an electric conveying pump or a hydraulic conveying pump;
Wherein, the feeding stirring pump 36 realizes the stirring function of the materials, so that the powdery thin spraying material and water are stirred into slurry spraying material; the pumping device 37 pumps the well-stirred slurry into the storage box 16 of the spraying robot 40 to realize spraying operation; the driving device 38 realizes the movement of the paint agitating and pumping truck 41, the supply of the kinetic energy of the pumping device 37, and the control function of the agitating and pumping truck 41.
The automatic spraying equipment further comprises a hydraulic valve group 13 arranged on the bottom plate 2, and the hydraulic valve group 13 is used for controlling the swing oil cylinder 5, the telescopic oil cylinder 25, the two-side walking motors and the rotary speed reducer 3.
A spraying method of automatic spraying equipment comprises a spraying robot 40 and a paint stirring and pumping vehicle 41, and comprises the following specific operation steps:
(1) when the spraying robot 40 is in a standby state, the coating stirring and pumping vehicle 41 is manually charged, water is added according to the proportion, the coating is stirred to be slurry-shaped and meets the spraying requirement, and the stirred slurry is pumped into the storage box 16 by the pumping device 37;
(2) the telescopic mechanical arm 7 is operated by a remote controller to swing to an initial position, the rotary speed reducer 3 drives the telescopic mechanical arm 7 to horizontally rotate to a 1# position or a 2# position, a telescopic oil cylinder 25 in a basic arm 31 of the telescopic mechanical arm 7 drives a two-section arm 32 to extend out, the two-section arm 32 extends out and simultaneously drives a pulley A28 to move forward to push a three-section arm 33 to extend out, and a distance between the extending distance of the telescopic mechanical arm 7 and the inner wall 43 of a roadway is sensed through a distance measuring sensor 11 outside the basic arm 31 to prepare for spraying operation;
(3) The step is connected, the swing oil cylinder 5 works to drive the telescopic mechanical arm 7 to swing according to the 3# position-5 # position-4 # position or the 4# position-5 # position-3 # position, meanwhile, the slurry in the storage tank 16 is pumped into the material pipeline 9 by the feeding pump 18 and is sprayed out to the inner wall 43 of the roadway through a nozzle at the upper port of the material pipeline 9, after one cycle is finished, swing spraying is returned, the path sequence is 4# position-5 # position-3 # position or 3# position-5 # position-4 # position, and spraying is repeated;
(4) after one operation cycle is finished, after the spraying thickness meets the requirement, the spraying is stopped, the telescopic mechanical arm 7 is stopped at the 3# or 4# position, after the spraying at the current position is finished, the spraying robot 40 automatically steps for a certain distance according to set parameters or operates for a certain distance, the spraying operation process is repeatedly swung, and when the spraying meets the requirement, the spraying robot steps to the next operation area, so that the operation is circulated and the spraying is ceaseless;
(5) after the spraying operation is finished, the telescopic mechanical arm 7 swings to the horizontal position according to the operation sequence, then rotates to the initial position, waits for the next operation, and the whole operation flow is finished.
When the automatic spraying equipment and the spraying method thereof are implemented, as shown in figure 4, a spraying robot 40 walks in the middle of a roadway surface 42, and a power supply 44 and a water source 45 of the spraying robot 40 and a paint stirring and pumping vehicle 41 are prepared and are in a standby state; the paint stirring and pumping vehicle 41 is manually fed with materials, water is added according to a proportion, the paint is stirred to be slurry, the spraying requirement is met, the stirred slurry is pumped into the storage tank 16 by the pumping device 37, the slurry in the storage tank 16 is pumped into the material pipeline 9 on the telescopic mechanical arm 7 by the feeding pump 18, and when the spraying is needed, the slurry is sprayed to the inner wall 43 of the roadway by the nozzle at the upper end of the material pipeline 9;
Operating the telescopic mechanical arm 7 to swing to an initial position by a remote controller, as shown in fig. 5, driving the telescopic mechanical arm 7 to horizontally rotate to a 1# position or a 2# position by the rotary speed reducer 3, driving the two-section arm 32 to extend out by the telescopic oil cylinder 25 in the basic arm 31 of the telescopic mechanical arm 7, driving the pulley A28 to move forward when the two-section arm 32 extends out, pushing the three-section arm 33 to extend out, and sensing the distance between the extending distance of the telescopic mechanical arm 7 and the inner wall 43 of the roadway by the distance measuring sensor 11 outside the basic arm 31 to prepare for spraying operation;
as shown in fig. 6, the swing oil cylinder 5 works to drive the telescopic mechanical arm 7 to swing according to the 3# position-5 # position-4 # position or 4# position-5 # position-3 # position, meanwhile, the slurry in the storage tank 16 is pumped into the material pipeline 9 by the feeding pump 18 and is sprayed out to the inner wall 43 of the roadway through a nozzle at the upper port of the material pipeline 9, after one cycle is finished, swing spraying is returned, the path sequence is 4# position-5 # position-3 # position or 3# position-5 # position-4 # position, and spraying is repeated; after one operation cycle is completed, after the spraying thickness meets the requirement, the spraying is stopped, the telescopic mechanical arm 7 stops at the 3# or 4# position, after the spraying at the current position is completed, the spraying robot 40 automatically steps for a certain distance according to set parameters or by operation, the spraying operation process is repeatedly swung, and when the spraying meets the requirement, the spraying robot further steps to the next operation area, so that the operation is circulated and the spraying is ceaseless; after the spraying operation is finished, the telescopic mechanical arm 7 swings to the horizontal position according to the operation sequence, then rotates to the initial position, waits for the next operation, and the whole operation flow is finished.
The present invention is not described in detail in the prior art.
The embodiments selected for the purpose of disclosing the invention, are presently considered to be suitable, it being understood, however, that the invention is intended to cover all variations and modifications of the embodiments which fall within the spirit and scope of the invention.
Claims (8)
1. A spraying method of automatic spraying equipment comprises a spraying robot and a paint stirring and pumping vehicle, wherein the spraying robot and the paint stirring and pumping vehicle are controlled by a remote controller, and the spraying method is characterized in that: the coating stirring pump-feeding vehicle is connected with the spraying robot through a pipeline, the spraying robot comprises a crawler chassis A at the lower part of a bottom plate, and a control system, a telescopic mechanical arm, a feeding pump, a storage box and a main motor which are arranged at the upper part of the bottom plate, the control system is respectively connected with the main motor and the feeding pump, the feeding port of the feeding pump is connected with the storage box through a pipeline, the telescopic mechanical arm is provided with a material pipeline, and the discharge port of the feeding pump is connected with the material pipeline; a rotary speed reducer is fixed on one side of the upper surface of the bottom plate, the rotary speed reducer realizes horizontal rotation of the telescopic mechanical arm, and the rotation angle is 0-360 degrees; the upper part of the rotary speed reducer is provided with a swing oil cylinder, the lower part of the telescopic mechanical arm is fixed on the swing oil cylinder, the swing oil cylinder realizes the vertical swing of the telescopic mechanical arm, and the swing range is 0-250 degrees; the telescopic mechanical arm comprises a telescopic shell, a telescopic oil cylinder, a stretching pulley block and a retracting pulley block, wherein the telescopic shell comprises a basic arm, a two-section arm and a three-section arm which are sequentially connected in a sliding manner from bottom to top, a flange outside the basic arm is provided with a mounting fixing hole and is fixedly connected with the swinging oil cylinder through a bolt, the telescopic oil cylinder is mounted in the basic arm, the jacking end of the telescopic oil cylinder is fixed in the two-section arm, the stretching pulley block comprises a steel wire rope A and a pulley A arranged in the two-section arm, one end of the steel wire rope A is fixed on a base of the basic arm, and the other end of the steel wire rope A bypasses the pulley A and is fixed on the three-section arm; the retracting pulley block comprises a steel wire rope B and a pulley B arranged in the two-section arm, one end of the steel wire rope B is fixed on the adjusting bolt of the basic arm, and the other end of the steel wire rope B is fixed on the three-section arm by bypassing the pulley B; a pipeline drag chain is fixed between the outside of the basic arm and the upper end part of the three-section arm, a material pipeline is installed in the pipeline drag chain, a nozzle is installed at the upper end opening of the material pipeline, and a distance measuring sensor is arranged outside the basic arm; the spraying operation comprises the following specific steps: (1) the spraying robot is in a standby state, the coating stirring and pumping vehicle is manually charged, water is added according to the proportion, the coating is stirred to be in a slurry state and meets the spraying requirement, and the stirred slurry is pumped into the storage box by the pumping device; (2) operating the telescopic mechanical arm to swing to an initial position by a remote controller, driving the telescopic mechanical arm to horizontally rotate to a 1# position or a 2# position by a rotary speed reducer, driving a two-section arm to extend by a telescopic oil cylinder in a basic arm of the telescopic mechanical arm, driving a pulley A to move forwards while the two-section arm extends, pushing a three-section arm to extend, and sensing the distance between the extending distance of the telescopic mechanical arm and the distance between the extending distance and the inner wall of a roadway by a distance measuring sensor outside the basic arm to prepare spraying operation; (3) the step is connected, the swing oil cylinder works to drive the telescopic mechanical arm to swing according to the 3# position-5 # position-4 # position or 4# position-5 # position-3 # position, meanwhile, the slurry in the storage box is pumped into the material pipeline by the feeding pump and is sprayed out to the inner wall of the roadway through a nozzle at the port of the material pipeline, after one cycle is finished, the swing spraying is returned, the path sequence is 4# position-5 # position-3 # position or 3# position-5 # position-4 # position, and the spraying is repeated; (4) after the spraying at the current position is finished, the spraying robot automatically steps for a certain distance according to set parameters or operates, then the swinging spraying operation flow is repeated, and when the spraying meets the requirement, the spraying robot steps to the next operation area, so that the operation is circulated and the spraying is uninterrupted; (5) after the spraying operation is finished, the telescopic mechanical arm swings to a horizontal position according to the operation sequence, then rotates to an initial position, waits for the next operation, and the whole operation flow is finished.
2. The coating method of the automatic coating device according to claim 1, wherein: a displacement sensor is arranged in the telescopic oil cylinder, and a wiring port of the displacement sensor extends out of the position of the lower steel pipe base.
3. The coating method of the automated coating device according to claim 1, wherein: control system is including setting up power box, motor control case and the total control case on the bottom plate, and the power box passes through circuit connection with motor control case, total control case respectively, and motor control case passes through line connection with main motor, and main motor is connected with the main hydraulic pump that sets up on the bottom plate, and the oil inlet of main hydraulic pump is connected with the oil tank that sets up the middle part above the bottom plate, and the oil-out of main hydraulic pump is connected with the operation valves at power box rear portion, the operation valves is manual or electronic valves, including six valves, installs a valves respectively on the both sides of track chassis A both sides walking motor, respectively is provided with a valves on flexible arm, swing hydro-cylinder, slewing reducer and material loading pump.
4. The coating method of the automated coating device according to claim 1, wherein: the upper ports of the basic arm, the two-section arm and the three-section arm are all provided with dustproof sealing rings.
5. The coating method of the automated coating device according to claim 3, wherein: the side of track chassis A is equipped with the chassis encoder, and rotary encoder is installed to one side of rotary reducer, all is equipped with the direction sensor in the higher authority four corners of bottom plate, installs the swing encoder in one side of swing hydro-cylinder, total control box pass through signal or line connection with chassis encoder, rotary encoder, direction sensor, swing encoder, range finding sensor respectively.
6. The coating method of the automated coating device according to claim 3, wherein: the cooler is arranged on the front part of the oil tank and positioned on the bottom plate, an oil way pipeline is arranged in the cooler, and two ends of the oil way pipeline are respectively connected with the hydraulic oil return pipeline and the oil tank.
7. The coating method of the automated coating device according to claim 1, wherein: the coating stirring pump conveying vehicle comprises a crawler chassis B, a pumping device, a feeding stirring pump and a driving device, wherein the pumping device, the feeding stirring pump and the driving device are respectively installed on the upper portion of a bottom plate of the crawler chassis B, the pumping device is connected with a storage box of the spraying robot through a pipeline, the driving device is a driving motor, the pumping device is connected with the feeding stirring pump through a pipeline, and the pumping device is an electric conveying pump or a hydraulic conveying pump.
8. The coating method of the automated coating device according to claim 1, wherein: the hydraulic valve group is used for controlling the swing oil cylinder, the telescopic oil cylinder, the two-side walking motors and the rotary speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010861475.5A CN112221784B (en) | 2020-08-25 | 2020-08-25 | Automatic spraying equipment and spraying method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010861475.5A CN112221784B (en) | 2020-08-25 | 2020-08-25 | Automatic spraying equipment and spraying method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112221784A CN112221784A (en) | 2021-01-15 |
| CN112221784B true CN112221784B (en) | 2022-05-24 |
Family
ID=74117206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010861475.5A Active CN112221784B (en) | 2020-08-25 | 2020-08-25 | Automatic spraying equipment and spraying method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112221784B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112221785B (en) * | 2020-08-25 | 2022-04-01 | 南京科工煤炭科学技术研究有限公司 | Automatic change spraying equipment |
| CN112403755B (en) * | 2021-01-22 | 2021-05-04 | 山东科技职业学院 | Pipe conveying device |
| CN113019765B (en) * | 2021-02-07 | 2023-05-12 | 中信重工机械股份有限公司 | Mechanical arm of tunnel thin spraying robot and spraying method using mechanical arm |
| CN112814707A (en) * | 2021-02-26 | 2021-05-18 | 江苏科巷矿山科技有限公司 | Coal mine roadway robot guniting method and device |
| CN114320352B (en) * | 2021-10-21 | 2023-07-07 | 西安科技大学 | Mining intelligent thin spraying equipment |
| CN113751251B (en) * | 2021-11-09 | 2022-02-11 | 山东天河科技股份有限公司 | Three-row anchor rod construction marking system for double-arm hydraulic anchor rod drill carriage |
| CN114278338B (en) * | 2021-11-25 | 2023-08-25 | 中国煤炭科工集团太原研究院有限公司 | Guniting method based on guniting operation vehicle |
| CN114146850A (en) * | 2021-12-03 | 2022-03-08 | 山东泽明能源科技有限公司 | Intelligent guniting robot |
| CN114643149A (en) * | 2022-03-25 | 2022-06-21 | 武汉中地大非开挖研究院有限公司 | Non-excavation type large-diameter pipeline repairing automatic spraying system and method |
| CN114733682A (en) * | 2022-04-11 | 2022-07-12 | 山东重诺锻造股份有限公司 | Automatic oiling station of large-scale flange |
| CN115709135B (en) * | 2022-11-17 | 2024-05-10 | 中国电建集团贵阳勘测设计研究院有限公司 | Water channel surface repair coating equipment and coating method thereof |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT408019B (en) * | 1998-11-18 | 2001-08-27 | Tamrock Voest Alpine Bergtech | DEVICE FOR DETECTING AND COMPENSATING VIBRATIONS OF PARTIAL CUTTING MILLING MACHINES |
| CN204194340U (en) * | 2014-09-10 | 2015-03-11 | 国家电网公司 | Living water washing robot of rail mounted transformer station |
| CN105032805B (en) * | 2014-09-10 | 2017-04-05 | 山东鲁能智能技术有限公司 | A kind of living water washing robot of transformer station that accurately can be rinsed |
| CN107055351A (en) * | 2016-11-30 | 2017-08-18 | 内蒙动力机械研究所 | A kind of telescopic arm |
| CN106737560A (en) * | 2017-03-13 | 2017-05-31 | 蒋学凯 | Building decoration intelligent robot |
| CN109236325A (en) * | 2018-09-19 | 2019-01-18 | 中国铁建重工集团有限公司 | A kind of intelligent concrete wet shot trolley |
| CN209483377U (en) * | 2018-12-18 | 2019-10-11 | 中铁十八局集团第五工程有限公司 | A kind of high-pressure rotary jetting apparatus for constructing tunnel |
| CN110842187A (en) * | 2019-12-03 | 2020-02-28 | 南京伊顿派克重工机械有限公司 | Automatic steel slag raking machine |
| CN112221785B (en) * | 2020-08-25 | 2022-04-01 | 南京科工煤炭科学技术研究有限公司 | Automatic change spraying equipment |
-
2020
- 2020-08-25 CN CN202010861475.5A patent/CN112221784B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112221784A (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112221784B (en) | Automatic spraying equipment and spraying method thereof | |
| CN112221785B (en) | Automatic change spraying equipment | |
| CN104564050A (en) | Process method and equipment for heading and anchoring parallel operation construction | |
| CN110500108B (en) | Novel earth pressure balance shield machine and working method | |
| CN106238257A (en) | Tunnel-side flush coater | |
| CN112576273A (en) | Muck transportation system for shield tunneling machine and transportation method thereof | |
| CN210685994U (en) | Novel earth pressure balance shield machine | |
| CN112012773B (en) | Intelligent tunneling robot system for coal mine | |
| CN102889088B (en) | Crawler belt walking wet type concrete sprayer | |
| CN206635762U (en) | A kind of wind spraying aid type concrete sprayer | |
| CN203570324U (en) | Traction self-propelled concrete sprayer with spraying nozzle capable of automatically rotating | |
| CN116877116A (en) | End face variable full face heading machine | |
| CN112343636B (en) | Mine tunnel construction is with strutting arrangement | |
| CN215486063U (en) | Movable type guniting device for roadway support | |
| CN212027810U (en) | 3D prints underground space construction robot and entry driving machine | |
| CN101837568A (en) | Small steel shot feeding circulator and numerical control metal surface treating machine using the same | |
| CN114934786A (en) | Intelligent full-autonomous operation guniting robot | |
| CN216043750U (en) | Movable grouting equipment | |
| CN210919080U (en) | Tunnel pipe wall crack filling device | |
| CN102828757A (en) | Pre-agitating system and wet spraying machine | |
| CN112443341A (en) | Movable grouting equipment | |
| CN220909720U (en) | Wet concrete guniting system for coal mine | |
| CN110725683A (en) | Slurry circulation slag discharging system for shaft boring machine | |
| CN215927410U (en) | Concrete auxiliary guniting manipulator for mine tunnel | |
| CN219823018U (en) | Auxiliary unloading device for single bucket truck of strip mine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |