Research on the operation and quality control of small rock hole shotcrete robot

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Advances in Mechanical Engineering Pub Date : 2024-06-01 DOI:10.1177/16878132241254960

Zhonglin Zhang, Weisheng Li, Liquan Li, Fanlin Min, Ang Li, Linxiang Li

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Abstract

A small rock shotcrete robot is applied in the deep tunnel dynamic disaster physical simulation system in order to simulate the final operation process of the tunnel project. The robot’s spraying operation and control include many kind of factors. In this paper, the main parameters affecting the spraying operation are analyzed by establishing the spraying model and coating growth model. For matching reasonably the spraying parameters, the matching equation of spraying quality and spraying gun parameter model and spraying feed speed has been derived. Based on the matching equation, the spraying gun structure and robot control system are designed, and the spraying distance and spraying gun movement velocity including horizontal and vertical driving have been controlled better. On the basis of theoretical analysis, a small rock hole shotcrete robot prototype has been developed and the spraying experiments have been finished. The experimental results showed that the model and equation established can guided the spraying quality control. With the increase of the injection elevation angle, the length of the long and short axes of the elliptic coating becomes larger, and the average thickness of the coating center is between 2.23 and 2.34 mm, which meets the design index of the injection robot. The rock hole shotcrete robot meet the design requirements.

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小岩洞喷射混凝土机器人操作与质量控制研究

将小型岩石喷射混凝土机器人应用于深层隧道动态灾害物理仿真系统，以模拟隧道工程的最终作业过程。机器人的喷射操作和控制包括多种因素。本文通过建立喷涂模型和涂层生长模型，分析了影响喷涂操作的主要参数。为合理匹配喷涂参数，得出了喷涂质量与喷枪参数模型和喷涂进给速度的匹配方程。根据匹配方程，设计了喷枪结构和机器人控制系统，较好地控制了喷涂距离和喷枪运动速度，包括水平和垂直驱动。在理论分析的基础上，研制了小型岩石孔喷射混凝土机器人样机，并完成了喷射实验。实验结果表明，所建立的模型和方程能够指导喷射质量控制。随着喷射仰角的增大，椭圆形涂层的长短轴长度变大，涂层中心平均厚度在 2.23 至 2.34 mm 之间，达到了喷射机器人的设计指标。岩石孔喷射混凝土机器人满足设计要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Advances in Mechanical Engineering 工程技术-机械工程

CiteScore

3.60

自引率

4.80%

发文量

353

审稿时长

6-12 weeks

期刊介绍： Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering