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A platform for research: civil engineering, architecture and urbanism
Underground coal mine multifunctional automatic masonry robot and method
The invention discloses a multifunctional automatic masonry robot for an underground coal mine. The multifunctional automatic masonry robot comprises a front vehicle, the rear vehicle is detachably connected with the front vehicle and is provided with a conveying pump for pumping building materials; the masonry manipulator is arranged on the front vehicle and is used for masonry; the brick conveying platform is arranged on the front vehicle and used for conveying bricks to the masonry manipulator; the inertial navigator is used for acquiring real-time position coordinates of the automatic masonry robot relative to the roadway; the three-dimensional laser scanner is used for monitoring roadway section parameters in real time; and the control module is used for controlling the front vehicle to move according to the information of the inertial navigator, controlling the information detected by the three-dimensional laser scanner, planning a masonry track, calculating a masonry algorithm and controlling the masonry manipulator to carry out masonry. The automatic bricklaying robot is suitable for the complex working condition environment of underground coal mine closed bricklaying, position positioning, bricklaying path planning and automatic bricklaying of the bricklaying robot are achieved, the efficiency of underground coal mine permanent closed bricklaying operation is effectively improved, the labor intensity of workers is relieved, and the safety of the workers is guaranteed.
本发明公开了一种煤矿井下多功能自动砌筑机器人，包括前车；后车，与前车可拆卸地连接，设有输送泵以泵送建筑材料；砌筑机械手，设于所述前车用于进行砌筑；砖块运输平台，设于所述前车，用于向所述砌筑机械手输送砖块；惯性导航仪，获取自动砌筑机器人相对于巷道实时位置坐标；三维激光扫描仪，实时监测巷道断面参数；控制模块，根据惯性导航仪的信息控制前车移动及三维激光扫描仪检测的信息，规划砌筑轨迹，计算砌筑算法，并控制砌筑机械手进行砌筑。本发明适应煤矿井下密闭砌筑的复杂工况环境，实现砌筑机器人的位置定位、砌砖路径规划、自动砌砖，有效提高煤矿井下永久密闭砌筑作业的效率，减轻工人的劳动强度，保证作业人员安全。
Underground coal mine multifunctional automatic masonry robot and method
The invention discloses a multifunctional automatic masonry robot for an underground coal mine. The multifunctional automatic masonry robot comprises a front vehicle, the rear vehicle is detachably connected with the front vehicle and is provided with a conveying pump for pumping building materials; the masonry manipulator is arranged on the front vehicle and is used for masonry; the brick conveying platform is arranged on the front vehicle and used for conveying bricks to the masonry manipulator; the inertial navigator is used for acquiring real-time position coordinates of the automatic masonry robot relative to the roadway; the three-dimensional laser scanner is used for monitoring roadway section parameters in real time; and the control module is used for controlling the front vehicle to move according to the information of the inertial navigator, controlling the information detected by the three-dimensional laser scanner, planning a masonry track, calculating a masonry algorithm and controlling the masonry manipulator to carry out masonry. The automatic bricklaying robot is suitable for the complex working condition environment of underground coal mine closed bricklaying, position positioning, bricklaying path planning and automatic bricklaying of the bricklaying robot are achieved, the efficiency of underground coal mine permanent closed bricklaying operation is effectively improved, the labor intensity of workers is relieved, and the safety of the workers is guaranteed.
本发明公开了一种煤矿井下多功能自动砌筑机器人，包括前车；后车，与前车可拆卸地连接，设有输送泵以泵送建筑材料；砌筑机械手，设于所述前车用于进行砌筑；砖块运输平台，设于所述前车，用于向所述砌筑机械手输送砖块；惯性导航仪，获取自动砌筑机器人相对于巷道实时位置坐标；三维激光扫描仪，实时监测巷道断面参数；控制模块，根据惯性导航仪的信息控制前车移动及三维激光扫描仪检测的信息，规划砌筑轨迹，计算砌筑算法，并控制砌筑机械手进行砌筑。本发明适应煤矿井下密闭砌筑的复杂工况环境，实现砌筑机器人的位置定位、砌砖路径规划、自动砌砖，有效提高煤矿井下永久密闭砌筑作业的效率，减轻工人的劳动强度，保证作业人员安全。
Underground coal mine multifunctional automatic masonry robot and method
一种煤矿井下多功能自动砌筑机器人及方法
XIE MIAO (author) / LIU DONGXU (author) / LU JINNAN (author) / LIU ZHIXIANG (author) / ZHANG HONGYU (author) / GUO CHENGHU (author) / LI YUQI (author) / MENG QINGSHUANG (author) / YAN SHUTONG (author) / REN ZE (author)
2022-12-30
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
/
E21D
SHAFTS
,
Schächte
/
E21F
Sicherheitsvorrichtungen, Förderung, Auffüllen oder Bergversatz, Rettungswesen, Bewetterung oder Entwässerung in oder von Gruben oder Tunnels
,
SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINAGE IN OR OF MINES OR TUNNELS
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