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冶金部马鞍山矿山研究院与张家洼工程指挥部共同研制的CPG—Ⅰ型喷射混凝土机械手,是我国第一台新型的全液压控制的大臂折叠式喷射机械手。该机由于吸取了国内外先进机械手的长处,并在某些机构上做了较大改进和发展,具有结构紧凑,变幅灵活,动作齐全和工作范围大等突出优点。它不仅能用于小断面的矿山巷道喷护,也能用于铁路隧道,水工峒室等大断面的地下工程喷护,不仅能用于常规条件下的永久喷护,也能用于岩石较差,有局部冒顶或需要紧跟开挖面的及时喷护。该机在张家洼工程挥指部小官庄矿进行井下工业试验期间,喷护成巷100米,共喷射混凝土250米~3,试验表明,该机达到了设计要求,完全满足了喷射工艺需要。
The CPG-I shotcrete manipulator jointly developed by the Ma’anshan Mining Research Institute and the Zhangjiawa Engineering Command Department of the Ministry of Metallurgy is the first new type of full-arm controlled boom-type jetting manipulator in China. As the machine draws on the strengths of advanced robots at home and abroad, and in some institutions have made significant improvements and development, with compact structure, flexible amplitude, complete range of actions and work areas such as the outstanding advantages. It can not only be used for mine roadway with small cross section but also can be used for underground engineering such as railway tunnel and hydropower station. It can not only be used for permanent spray protection under normal conditions but also used for rock Poor, there is a partial roof or need to follow the excavation surface timely spraying. The machine in Zhangjiawa project Hui refers to the small Guzhuang mine during the underground industrial test, the spray lane into a lane 100 meters, a total of shotcrete 250 meters ~ 3, the test showed that the aircraft has reached the design requirements, fully meet the jetting process need.