摘要
为实现喷浆作业质量均匀稳定,本文针对岩孔喷浆过程中参数的影响及其控制进行研究,采用涂层建模、理论参数计算与实验验证方法,得到了喷枪参数、进给推进速度是关键影响因素结论。建立了涂层质量与喷枪参数模型和喷涂进给速度匹配方程,应用于实际喷浆机器人的设计和控制系统中。研制了小型喷浆机器人,完成了喷浆机器人的喷涂实验。实验表明:小型岩孔喷浆机器人可实现对模拟实验隧洞道的喷浆支护作业,本文设计的小型岩孔喷浆机器人能够满足使用要求。
In order to achieve uniform and stable quality of shotcrete operation,the influence and control of parameters in the shotcrete process of rock hole are studied in this paper.By using coating modeling,theoretical parameter calculation and experimental verification,it is concluded that gun parameters and feed speed are the key influencing factors.The model of coating quality and spray gun parameters and the matching equation of spray feed speed are established,which are applied to the design and control system of actual spray robot.The experiment shows that the small rock hole grouting robot can realize the grouting support operation of the simulated experimental tunnel,so the small rock hole grouting robot designed in this paper can meet the application requirements.
作者
张忠林
李伟生
韩瑞琦
李立全
张浩飞
刘强
刘锐
ZHANG Zhonglin;LI Weisheng;HAN Ruiqi;LI Liquan;ZHANG Haofei;LIU Qiang;LIU Rui(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2024年第8期1599-1606,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金重大仪器研制项目(51427803).
关键词
喷浆机器人
喷枪参数
喷涂质量
控制系统
喷浆支护
涂层建模
喷涂实验
隧道模拟系统
spraying robot
spray gun parameters
spraying quality
control system
shotcrete support
coating modeling
spraying experiment
tunnel simulation system
