CN108035763A - A kind of automatic pulp shooting machine and gunnite method - Google Patents

A kind of automatic pulp shooting machine and gunnite method Download PDF

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Publication number
CN108035763A
CN108035763A CN201711247376.2A CN201711247376A CN108035763A CN 108035763 A CN108035763 A CN 108035763A CN 201711247376 A CN201711247376 A CN 201711247376A CN 108035763 A CN108035763 A CN 108035763A
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CN
China
Prior art keywords
shooting machine
automatic
pulp shooting
car
whitewashing
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Pending
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CN201711247376.2A
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Chinese (zh)
Inventor
朱红青
李峰
王浩然
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China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology Beijing CUMTB
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Application filed by China University of Mining and Technology Beijing CUMTB filed Critical China University of Mining and Technology Beijing CUMTB
Priority to CN201711247376.2A priority Critical patent/CN108035763A/en
Publication of CN108035763A publication Critical patent/CN108035763A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F5/00Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
    • E21F5/02Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F5/00Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
    • E21F5/02Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
    • E21F5/06Fluids used for spraying

Abstract

The invention discloses a kind of automatic pulp shooting machine and automatic gunnite method.The automatic pulp shooting machine includes car body, central control system, spraying system, dynamical system and power supply;Central control system includes PLC controller and control panel, and control panel is used for the control parameter for inputting automatic pulp shooting machine;Spraying system includes slurry can, spray pressure pump, spray pressure pump driving motor and refractory gunning equipment;The end that is pumped into of spray pressure pump is connected with slurry can, is pumped out end and is connected with refractory gunning equipment;Spray pressure pump is used to the slurries in slurry being pumped out in refractory gunning equipment;Refractory gunning equipment sprays slurries;Dynamical system is used to drive car body;Power supply is used for for central control system, spraying system and dynamical system power supply.Using automatic pulp shooting machine of the present invention and automatic gunnite method, the traveling parameter of automatic pulp shooting machine and control parameter of whitewashing need to be only inputted, you can realize the Automatic Control of whitewashing process, without operating personnel's real-time control, greatly reduce hand labor intensity.

Description

A kind of automatic pulp shooting machine and gunnite method
Technical field
The present invention relates to mine safety fireproofing technique field, more particularly to a kind of automatic pulp shooting machine and gunnite method.
Background technology
Mine fire is one of colliery disaster, and it is sprinkling slurries and resistance to prevent one of important measures of coal spontaneous combustion at present Agent prevents coal spontaneous combustion, and to spray slurries and retardant can prevent coal spontaneous combustion in terms of three:The passage first, closure is leaked out, is reduced Leak out, reduce coal and air contact;Two are attached to coal body surface, completely cut off coal and oxygen, prevent oxidation of coal;Third, reduce coal body Temperature, prevents coal from reaching burning point.Therefore improvement retardant slurries sprinkling equipment, improve whitewashing efficiency to prevention coal-mine fire, Support personnel and property safety are of great significance.
At present slurries are sprayed under mine to complete mainly by manpower, single take slurry amount less, spraying efficiency is low, operating speed Slowly, and manual work process is also possible to cause certain threat to the healthy and safe of operating personnel.Numerous scholars are directed to for this Spouting plant how sprinkling slurries rapidly and efficiently, reduce operating personnel's labor intensity, devise different spouting plants.Such as A kind of mining pulp shooting machine being made of lifting unit and rotary unit of the prior art, lifting unit is by upper and lower two stands structure Into the system mechanics are complicated, spray gun can not realize tunnel 360 ° of coverings, without tracker action, mobile more difficult, spray Pulp grinder can not be realized and automatically controlled, and still need to operating personnel's real-time control.In another example a kind of mining mobile of the prior art is continuous Property stirring spraying system, be made of shuttle car system, stirring system and spraying system;Although the system can move, can not Automatic Control is carried out to whole whitewashing process, spray gun still needs to manually be operated, and labor strength demand is still larger.Cause How this, realize the automation of whitewashing process, reduce the technical problem that hand labor intensity is this area urgent need to resolve.
The content of the invention
The object of the present invention is to provide a kind of automatic pulp shooting machine and gunnite method, and whole whitewashing process is automatically controlled System, substantially reduces hand labor intensity.
To achieve the above object, the present invention provides following scheme:
A kind of automatic pulp shooting machine, the automatic pulp shooting machine include:Car body, central control system, spraying system, dynamical system and electricity Source;
The central control system is installed on the car body;The central control system includes PLC controller and control panel, described Control panel is connected with the PLC controller, for inputting the traveling parameter and whitewashing control parameter of the automatic pulp shooting machine;
The spraying system is installed on the front end of the car body;The spraying system includes slurry can, spray pressure pump, spray Starch compression pump driving motor and refractory gunning equipment;Spray pressure pump driving motor respectively with the PLC controller and the spray Starch compression pump connection;The end that is pumped into of the spray pressure pump is connected with the slurry can, is pumped out end and is connected with the refractory gunning equipment; The spray pressure pump is used to the slurries in the slurry being pumped out in the refractory gunning equipment;The refractory gunning equipment is used for will The slurries spray;
The dynamical system is connected with the wheel of the car body and the PLC controller respectively, for driving the car body;
The power supply is installed on the car body;The power supply respectively with the central control system, the spraying system and institute Dynamical system connection is stated, for powering for the central control system, the spraying system and the dynamical system.
Optionally, the refractory gunning equipment includes telescopic rubber pipe, shotcrete pipe and spray gun;
Described telescopic rubber pipe one end connects the spray pressure pump, and the other end connects the shotcrete pipe, for by the spray The slurries that slurry compression pump pumps out are delivered to the shotcrete pipe;
The spray gun is arranged on the shotcrete pipe, for the slurries in the shotcrete pipe to be sprayed.
Optionally, the refractory gunning equipment further includes rotary connector and rotary drive motor;The rotary drive motor point It is not connected with the PLC controller and the rotary connector, for driving the rotary connector to be rotated;The rotation One end of connector connects the telescopic rubber pipe, and the other end connects the shotcrete pipe;The rotary connector is used to drive described Shotcrete pipe rotates.
Optionally, the spraying system further includes lifting gear, and the lifting gear includes hydraulic pump, hydraulic pump drive electricity Machine, hydraulic lifting frame, hydraulic lifting pillar and rolling bearing;
The hydraulic pump drive motor is connected with the PLC controller and the hydraulic pump respectively;The hydraulic lifting frame One end connects the hydraulic pump, and the other end connects the hydraulic lifting pillar;The hydraulic pump is used to liquid being pumped into the liquid Press in crane, control rising or falling for the hydraulic lifting pillar;The rolling bearing respectively with the hydraulic lifting branch Column is fixedly connected with the shotcrete pipe, for driving the shotcrete pipe to follow the hydraulic lifting pillar to rise or fall.
Optionally, the automatic pulp shooting machine further includes cleaning recovery system;The cleaning recovery system includes mud shield With useless slurry tank;
The useless slurry tank is installed on the bottom of the car body, and useless slurry tank entrance is provided with the front end of the car body;It is described Mud shield is installed on the front end of the car body, below the spraying system, the useless slurry tank entrance top;The mud Shield is connected with the useless slurry tank entrance, for collecting unnecessary mud, and by unnecessary slurry transportation into the useless slurry tank.
Optionally, the automatic pulp shooting machine further includes safe-guard system;The safe-guard system includes warning lamp;Institute State warning lamp to be installed on the car body, for passing through the personnel described in light-emitting caution around car body.
The safe-guard system further includes infrared sensor;The infrared sensor is installed on the car body, described Whether infrared sensor is connected with the PLC controller, have the personnel close for detecting around the car body.
Optionally, the safe-guard system further includes emergency stop button;The emergency stop button is installed on described The compartment both sides of car body;The emergency stop button is connected with the power supply, in case of emergency cutting off the power.
The invention also discloses a kind of automatic gunnite method, the automatic gunnite method is applied to a kind of automatic pulp shooting machine, The automatic gunnite method includes:
Obtain the traveling parameter and whitewashing control parameter of the automatic pulp shooting machine;
Obtain enabled instruction;
It is described automatic according to the traveling parameter and the whitewashing control parameter control when getting the enabled instruction Pulp shooting machine is whitewashed automatically.
Optionally, the traveling parameter for obtaining the automatic pulp shooting machine and whitewashing control parameter specifically include:
The traveling parameter of the automatic pulp shooting machine is obtained, the traveling parameter includes direct of travel, gait of march and traveling Distance;
The whitewashing control parameter of the automatic pulp shooting machine is obtained, the whitewashing control parameter includes turning for the shotcrete pipe The pressure of the height of fast, described shotcrete pipe and spray pressure pump.
The specific embodiment provided according to the present invention, the invention discloses following technique effect:
The present invention, which provides a kind of automatic pulp shooting machine and automatic gunnite method, the automatic pulp shooting machine, to be included:Car body, middle control system System, spraying system, dynamical system and power supply;The central control system is installed on the car body;The central control system is controlled including PLC Device and control panel processed, the control panel are connected with the PLC controller, and the traveling for inputting the automatic pulp shooting machine is joined Number and whitewashing control parameter;The spraying system is installed on the car body front end;The spraying system includes slurry can, whitewashing pressure Power pump, spray pressure pump driving motor and refractory gunning equipment;Spray pressure pump driving motor respectively with the PLC controller and The spray pressure pump connection;The end that is pumped into of the spray pressure pump is connected with the slurry can, is pumped out end and is filled with the whitewashing Put connection;The spray pressure pump is used to the slurries in the slurry being pumped out in the refractory gunning equipment;The whitewashing dress Put for the slurries to be sprayed;The dynamical system is connected with the wheel of the car body and the PLC controller respectively, is used for Drive the car body;The power supply is installed on the car body;The power supply respectively with the central control system, the spraying system Connected with the dynamical system, for powering for the central control system, the spraying system and the dynamical system.Using this hair The bright automatic pulp shooting machine and automatic gunnite method, need to only input the traveling parameter and whitewashing control ginseng of the automatic pulp shooting machine Number, you can realize the Automatic Control of the automatic pulp shooting machine whitewashing process, without operating personnel's real-time control, greatly reduce Hand labor intensity.
In addition, automatic pulp shooting machine of the present invention is by setting the pressure that the spray pressure pumps, can be to whitewashing amount The control of accurate quantification is carried out on demand;It can realize that all standing whitewashing to whole tunnel is made by 360 ° of rotating shotcrete pipes Industry, improves whitewashing efficiency;Useless slurry is recycled by setting the mud shield with the useless slurry tank so that whitewashing process is more clear It is clean, reduce pollution of the spray operation to subsurface environment;By setting warning lamp and braking sensor-based system, whitewashing is substantially increased The security of operation process.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings Obtain other attached drawings.
Fig. 1 is a kind of structure diagram of automatic pulp shooting machine of the present invention;
Fig. 2 is the structure diagram of refractory gunning equipment of the present invention;
Fig. 3 is the structure diagram of lifting gear of the present invention;
Fig. 4 (a) is the front view of mud shield of the present invention;
Fig. 4 (b) is the top view of mud shield of the present invention;
Fig. 4 (c) is the side view of mud shield of the present invention;
Fig. 5 is a kind of method flow diagram of automatic gunnite method of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work Embodiment, belongs to the scope of protection of the invention.
The object of the present invention is to provide a kind of automatic pulp shooting machine and gunnite method, with realize to whole whitewashing process it is complete from Dynamic control, reduces hand labor intensity.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real Applying mode, the present invention is described in further detail.
Fig. 1 is a kind of structure diagram of automatic pulp shooting machine of the present invention.Referring to Fig. 1, automatic pulp shooting machine of the present invention Including:Car body 1, central control system, spraying system, dynamical system and power supply 2.
The central control system is installed on the car body 1.The central control system include PLC controller (not shown) and Control panel 3, the control panel 3 are connected with the PLC controller, for input the automatic pulp shooting machine traveling parameter and Whitewashing control parameter.
Specifically, control panel switch, start-stop button, LED display, action instruction are provided with the control panel 3 Button and parameter setting keys.
Preferably, the central control system further includes remote controler, and the telecontrol panel is also equipped with start-stop button, LED is shown Display screen, action instruction button and parameter setting keys, are controlled for the traveling parameter of automatic pulp shooting machine described in remote input and whitewashing Parameter processed.When spray operation working space is narrow and small, personnel are difficult to enter, or Work places are there are during certain risk, can be with Action order is remotely sent to the automatic shotcrete vehicle by the remote controler, realizes the remote auto control of the automatic shotcrete vehicle System.
The spraying system is installed on 1 front end of car body.The spraying system include slurry can 4, spray pressure pump 5, Spray pressure pump driving motor 6 and refractory gunning equipment.The slurry can 4 is used for the slurries for storing prevention coal spontaneous combustion.Preferably, it is described Slurries are mud retardant, and the mud retardant is mainly the suspension that water is formed with soil.The mud retardant is in mud During slurry dehydration, coal temperature can be reduced, mud, which then deposits, after mud retardant dehydration is covered in coal body surface, makes to prevent The float coal in fire extinguishing region and coal column cracking part are covered with mud, so as to completely cut off air, prevent oxidation of coal.Water in mud at the same time Evaporation improves the moisture of grout compartment, is conducive to slow down the moisture evaporation of coal, directly or indirectly achievees the purpose that to prevent coal spontaneous combustion.
The spray pressure pump driving motor 6 is connected with the PLC controller and spray pressure pump 5 respectively.It is described The end that is pumped into of spray pressure pump 5 is connected with the slurry can 4, is pumped out end and is connected with the refractory gunning equipment.The spray pressure pump 5 For the slurries in the slurry can 4 to be pumped out in the refractory gunning equipment.The refractory gunning equipment is used to spray in the slurries.
Spray pressure pump 5 be pressure adjustable type compression pump, the total head tune journey of the spray pressure pump 5 is 0.1~ 0.5Mp.By adjusting the pressure of the spray pressure pump 5, the spouting velocity of the slurries can be controlled.
The dynamical system is connected with the wheel 7 of the car body 1 and the PLC controller respectively, and the dynamical system is excellent Elect driving motor 8 as, the wheel 7 being connected with the driving motor 8 is used as driving wheel, for driving the car body 1.Work as institute When stating the front-wheel 701 of car body 1 and being connected with the dynamical system, the car body 1 is forerunner's type of drive.When the car body 1 after When wheel 702 is connected with the dynamical system, the car body 1 is rear-guard type of drive.In Fig. 1, the car body 1 is provided with described One end of spraying system is front end, and the wheel close to 1 front end of car body is the front-wheel 701.The driving of the dynamical system Motor has a frequency conversion function, thus can be by the control panel 3 and the PLC controller to the automatic pulp shooting machine row It is configured into speed.
The power supply 2 is installed on the car body 1.The power supply 2 respectively with the central control system, the spraying system and The dynamical system connection, for powering for the central control system, the spraying system and the dynamical system.
Fig. 2 is the structure diagram of refractory gunning equipment of the present invention.Referring to Fig. 2, refractory gunning equipment of the present invention includes stretching Contracting sebific duct 201, shotcrete pipe 202 and spray gun 203.
One end of the telescopic rubber pipe 201 connects the spray pressure pump 5, and the other end connects the shotcrete pipe 202, is used for The slurries that spray pressure pump 5 pumps out are delivered to the shotcrete pipe 202.When needs are adjusted spraying height When, the telescopic rubber pipe 201 can freely adjust collapsing length, effectively prevent tension from causing to damage to the shotcrete pipe 202.
The spray gun 203 is arranged on the shotcrete pipe 202, for the slurries in the shotcrete pipe 202 to be sprayed. The spray gun 203 is made with the shotcrete pipe 202 by the preferable material of rigidity, and the spray gun 203 and the shotcrete pipe 202 are fixedly connected, therefore the spray gun 203 and the shotcrete pipe 202 are overall in rigidity.The spray gun 203 at least two, The same side of the shotcrete pipe 202 is arranged at, 30~50cm is spaced between two spray guns 203.By setting certain intervals Two spray guns 203, can increase the area coverage once whitewashed, improve whitewashing efficiency.As shown in Fig. 2, the spray gun 203 in the wide circular platform type of the narrow abdomen of mouth, and the top of spray gun 203 tilts to pulp shooting machine direction of advance and is in 5~15 ° with gravity direction Angle.The slurries that the setting of the angle can prevent from spraying during whitewashing are trickled down on the automatic pulp shooting machine, are prevented Only the automatic pulp shooting machine is polluted and damaged.Preferably, the exit radius of the spray gun 203 is 1~5cm.
Preferably, the refractory gunning equipment further includes rotary connector 204 and rotary drive motor 205.The rotation driving Motor 205 is connected with the PLC controller and the rotary connector 204 respectively.The rotary drive motor 205 is the rotation Turn connector 204 and power is provided, for driving the rotary connector 204 to be rotated.The rotary drive motor 205 has Frequency conversion function, thus can by the control panel 3 and the PLC controller to the rotating speed of the rotary connector 204 into Row is set.
One end of the rotary connector 204 connects the telescopic rubber pipe 201, and the other end connects the shotcrete pipe 202, institute The slurries stated between telescopic rubber pipe 201 and the shotcrete pipe 202 are conveyed by the rotary connector 204.Because the spray Slurry pipe 202 and the spray gun 203 are made of rigid material, and the rotary connector 204 is fixed with the shotcrete pipe 202 and connected Connect, therefore the rotary connector can drive the shotcrete pipe 202 to carry out 360 ° of rotations.Therefore, it is of the present invention automatic Pulp shooting machine by can 360 ° of rotating shotcrete pipes 202 realize spray operation to whole tunnel all standing, greatly improve Whitewashing efficiency.
During the automatic pulp shooting machine work, the rotary drive motor 205 provides power for the rotary connector 204, The shotcrete pipe 202 is driven to rotate.Because while the shotcrete pipe 202 rotates, the automatic pulp shooting machine also forward or to After advance, therefore the covering surface of the slurries of rotary spraying is spiral shape.Although multiple spray guns 203 are set to increase Big area coverage, but in practical operation, the gait of march of the automatic pulp shooting machine and 202 rotary speed of the shotcrete pipe are set Difference is put, still can cause a degree of drain spray area, it is therefore desirable to which the automatic pulp shooting machine traveling parameter to match each other is set With whitewashing control parameter, the occurrence of to reduce drain spray.
Preferably, the spraying system further includes lifting gear, and Fig. 3 is the structural representation of lifting gear of the present invention Figure.Referring to Fig. 3, lifting gear of the present invention include hydraulic pump drive motor 301, hydraulic pump 302, hydraulic lifting frame 303, Hydraulic lifting pillar 304 and rolling bearing 305.
The hydraulic pump drive motor 301 is connected with the PLC controller and the hydraulic pump 302 respectively.The hydraulic pressure 303 one end of crane connects the hydraulic pump 302, and the other end connects the hydraulic lifting pillar 304.The hydraulic pump 302 is used In liquid being pumped into the hydraulic lifting frame 303, control the raising and lowering of the hydraulic lifting pillar 304.
The rolling bearing 305 is fixedly connected with the hydraulic lifting pillar 304 and the shotcrete pipe 202 respectively, specifically Be connected for the outer ring of the rolling bearing 305 with the hydraulic lifting pillar 304, the inner ring of the rolling bearing 305 with it is described Shotcrete pipe 202 is connected.By using the rolling bearing 305 so that the shotcrete pipe 202 and the hydraulic lifting pillar 304 Between friction reduce, reduce friction produce heat and part machinery damage probability, ensure system operational security it is reliable.
The rolling bearing 305 be used for drive the shotcrete pipe 202 follow the hydraulic lifting pillar 304 rising and under Drop carries out raising and lowering movement, so as to adjust the height of the shotcrete pipe 202.The course of work of the lifting gear For:When needing to raise the height of the shotcrete pipe 202, the PLC controller controls the hydraulic pump 302 to the hydraulic pressure liter Descending branch column 304 pressurizes, and raises the shotcrete pipe 202.When needing to reduce the height of the shotcrete pipe 202, the PLC controls Device controls the hydraulic pump 302 to depressurize the hydraulic lifting pillar 304, declines the shotcrete pipe 202.
Preferably, the automatic pulp shooting machine further includes cleaning recovery system.Referring to Fig. 1, the cleaning recovery system includes Mud shield 9 and useless slurry tank 10.
The useless slurry tank 10 is installed on 1 bottom of car body, and is provided with useless slurry tank entrance 11 in 1 front end of car body.Institute State mud shield 9 and be installed on 1 front end of car body, below the spraying system, above the useless slurry tank entrance 11.It is described Mud shield 9 is connected with the useless slurry tank entrance 11, for collecting unnecessary mud, and by unnecessary slurry transportation to the useless slurry tank In 10.
Fig. 4 (a)~Fig. 4 (c) is respectively front view, top view and the side view of mud shield of the present invention.Referring to Fig. 1 With Fig. 4 (a)~Fig. 4 (c), mud shield 9 of the present invention is inclined cylindrical shell, is installed on 1 front end of car body, with Horizontal line is inclined upwardly in 10~30 ° of angles, and can dismantle.As shown in Fig. 4 (c), the arc of the columnar mud shield 9 Spend for pi/2~π.The setting of the radian is used to limit whitewashing angle, can stop that the slurries in arc range are trickled down, so that anti- Only slurries trickle down pollution Crane Rail and bottom plate.The mud shield 9 is installed on the front end of the car body 1, is in 10 with horizontal line ~30 ° of angles are inclined upwardly, and for collecting unnecessary slurries, the slurries slip into institute under the effect of gravity, through the mud shield 9 State and be collected in useless slurry tank 10.When needing to carry out 360 ° of spray operations to tunnel, dismountable mud can be hidden Plate 9 is dismantled, and realizes 360 ° of sprayings in tunnel.
As it can be seen that automatic pulp shooting machine of the present invention is by setting the mud shield 9 useless to recycle with the useless slurry tank 10 Slurry so that whitewashing process more cleans, and reduces pollution of the spray operation to subsurface environment.And, can after shield is removed The all standing spray operation to whole tunnel is realized by 360 ° of rotating shotcrete pipes, substantially increases whitewashing efficiency.
Preferably, the automatic pulp shooting machine further includes safe-guard system.Referring to Fig. 1, the safe-guard system includes Warning lamp 12, infrared sensor 13 and emergency stop button 14.
The warning lamp 12 is installed on the full position on the car body 1, around by car body described in light-emitting caution 1 Personnel.The warning lamp 12 at least 4, is respectively arranged at the top, rear end and compartment both sides of the car body 1, so as to well Lower miner can have found the running automatic pulp shooting machine in time from all directions, prevent spray operation from being damaged to miner. Preferably, the warning lamp 12 is red LED lamp, and when the automatic pulp shooting machine normal operation, the warning lamp 12 is with 1Hz's Frequency scintillation.Since red light wavelength is longer, there is stronger penetrability, therefore in the more coal dusts in underground and rather dark building ring There is more preferable warning effect in border.
The infrared sensor 13 is installed on the car body 1, and the infrared sensor 13 connects with the PLC controller Connect, whether there are the personnel close for detecting around the car body 1.The infrared sensor 13 at least 4, is respectively arranged at institute State the edge of front, rear, left and right four in the compartment of car body 1.When underground operators close to the infrared sensor 13 and enter institute When stating the detection range of infrared sensor 13, the infrared sensor 13 detects personnel in the pit, at this time the infrared sensor 13 send signal to the PLC controller.After the PLC controller receives the signal that the infrared sensor 13 is sent, to The spray pressure pump driving motor 6, the rotary drive motor and dynamical system driving motor 8 send halt instruction, Spray operation suspends.After personnel in the pit away from the automatic pulp shooting machine, leave the detection range of the infrared sensor 13 after, institute State infrared sensor 13 and send signal to the PLC controller, the PLC controller receives the infrared sensor 13 and sends Signal after, to the spray pressure pump driving motor 6, the rotary drive motor and the dynamical system driving motor 8 send out Go out enabled instruction, spray operation continues.The start and stop distance of the automatic pulp shooting machine operation and the infrared sensor 13 Detection range is related, it is preferred that the detection range of the infrared sensor 13 is 2~5m meters, to ensure the safety of operation process.
The emergency stop button 14 at least two, is respectively arranged in the left and right sides in the compartment of the car body 1.It is described A diameter of 5~10cm of emergency stop button 14, inside are equipped with red LED background light.Automatic pulp shooting machine of the present invention is by institute State emergency stop button 14 and be arranged to larger diameter, and inside is equipped with red LED background light so that the emergency stop button 14 More obvious, convenient in emergency circumstances staff can quickly find scram button, stop the action of the automatic pulp shooting machine. The emergency stop button 14 is connected with the power supply 2, when operation process something unexpected happened, press the emergent stopping by Button 14 can cut off the power, and stop the operation process of the automatic pulp shooting machine.
As it can be seen that automatic pulp shooting machine of the present invention is passed by the braking for setting infrared sensor and emergency stop button to form Sensing system, and the setting to warning lamp, improve the security of spray operation jointly.
Automatic pulp shooting machine of the present invention on the control panel 3 when in use, it is necessary to set the specific of whitewashing process Parameter, including the traveling parameter of the automatic pulp shooting machine and whitewashing control parameter, to realize to the spraying system and described dynamic The control of Force system.Be provided with the control panel 3 control panel switch, start-stop button, LED display, action instruction by Button and parameter setting keys.The process of the design parameter of the automatic pulp shooting machine whitewashing process is set by the control panel 3 It is as follows:
1) the control panel switch is clicked on, opens the control panel 3.
2) the traveling parameter to the automatic pulp shooting machine is needed to be configured according to actual whitewashing process, including:
1. the direct of travel of the automatic pulp shooting machine is set;
Direct of travel is provided with the control panel 3 button is set, be specially forward key and Reverse keys;Pass through phase It is " advance " or " retrogressing " to answer button to set the direct of travel;
2. the gait of march of the automatic pulp shooting machine is set;
Gait of march is provided with the control panel 3 button is set, be specially number key and "+", "-" button, pass through The gait of march sets the gait of march of the button setting automatic pulp shooting machine, such as it is " 0.3m/ to set the gait of march s”;
3. the travel distance of the automatic pulp shooting machine is set;
The gait of march setting button can also be used for setting the gait of march of the automatic pulp shooting machine;The control panel The gait of march, the input frame of the travel distance are provided with 3, by set on the control panel 3 it is upper and lower, left, Right button selection needs the corresponding input frame of parameter inputted, then carries out parameter value by the number key and "+", "-" button Setting, such as it is " 10m " to set the travel distance.
3) the whitewashing control parameter to the automatic pulp shooting machine is needed to be configured according to actual whitewashing process:
4. the rotating speed of the shotcrete pipe 202 is set;
The input frame of the rotating speed is provided with the control panel 3, by set on the control panel 3 it is upper and lower, Left and right button selects the corresponding input frame of the rotating speed, then carries out setting for tachometer value by the number key and "+", "-" button Put, such as it is " 0.5 revolutions per second " to set the rotating speed of the shotcrete pipe 202.
5. the height of the shotcrete pipe 202 is set;
The input frame of the height is provided with the control panel 3, by set on the control panel 3 it is upper and lower, Left and right button selects the highly corresponding input frame, then carries out setting for height by the number key and "+", "-" button Put, such as it is " 0.1m " to set the height of the shotcrete pipe 202.
6. the pressure of the spray pressure pump 5 is set;
Ignore the viscosity of the slurries and think that the slurries are incompressible, can calculate under certain pump pressure, the spray gun Mouth sprays the initial velocity of slurries, such as is calculated according to following Bernoulli equation:
Wherein, PbRepresent the pressure of the spray pressure pump;P represents the exit static pressure of the spray gun, about 1atm;ρ tables Show the serum density, g represents acceleration of gravity;H represents the vertical range of the relatively described spray pressure pump of the lance outlet.
Assuming that the pressure P of the spray pressure pumpbIt is for 0.11Mpa, spray gun port radius 3cm, the relative density ρ of mud 1.5, gravity acceleration g 9.8m/s2, underground atmospheric pressure p is 1 atmospheric pressure, brings above-mentioned parameter into Bernoulli equation (1), It is 3.65m/s that initial velocity of the slurries at lance outlet, which can be solved,.
, can also be by setting the spray pressure to pump 5 pressure, to control the slurries in turn according to above formula (1) Spouting velocity, such as go for the slurries spouting velocity of 3.65m/s, can be calculated according to formula (1) needs to set at this time The pressure of the spray pressure pump 5 is 0.11Mpa.As it can be seen that automatic pulp shooting machine of the present invention can be by setting the spray The pressure of compression pump is starched, to carry out the control of accurate quantification on demand to whitewashing amount.
To the above-mentioned parameter of the automatic pulp shooting machine after setting completed, the start button on the control panel 3, institute are clicked on State PLC controller to start to start countdown, after 30s, the PLC controller controls the automatic pulp shooting machine to start according to setting Parameter works.
As it can be seen that automatic pulp shooting machine of the present invention need to only input the traveling parameter of the automatic pulp shooting machine and whitewashing controls Parameter, you can realize the Automatic Control of the automatic pulp shooting machine whitewashing process, without operating personnel's real-time control, save people Power, and greatly reduce hand labor intensity.
In addition, automatic pulp shooting machine of the present invention has further the advantage that:
1st, by setting the pressure of the spray pressure pump 5, the control of accurate quantification can be carried out on demand to whitewashing amount;
2nd, it can realize all standing spray operation to whole tunnel by 360 ° of rotating shotcrete pipes 202, improve whitewashing Efficiency;
3rd, useless slurry is recycled by setting the mud shield 9 with the useless slurry tank 10 so that whitewashing process more cleans, Reduce pollution of the spray operation to subsurface environment;
4th, by the braking sensor-based system for setting infrared sensor 13 and emergency stop button 14 to form, and to warning lamp 12 setting, substantially increases the security of spray operation process.
Meanwhile present invention also offers a kind of automatic gunnite method, the automatic gunnite method is applied to the automatic spray Pulp grinder.Fig. 5 is a kind of method flow diagram of automatic gunnite method of the present invention.Referring to Fig. 5, automatic gunnite method bag of the present invention Include:
Step 501:Obtain the traveling parameter and whitewashing control parameter of the automatic pulp shooting machine;
The step 501 specifically includes:
The traveling parameter of the automatic pulp shooting machine is obtained, the traveling parameter includes direct of travel, gait of march and traveling Distance;
The whitewashing control parameter of the automatic pulp shooting machine is obtained, the whitewashing control parameter includes turning for the shotcrete pipe The pressure of the height of fast, described shotcrete pipe and spray pressure pump.
Wherein, the pressure of the spray pressure pump is according to formulaDetermine.Wherein, PbTable Show the pressure of the spray pressure pump;P represents the exit static pressure of the spray gun, about 1atm;ρ represents the serum density, g tables Show acceleration of gravity;H represents the vertical range of the relatively described spray pressure pump of the lance outlet.
The traveling parameter and whitewashing control parameter of the automatic pulp shooting machine are set by the control panel 3, design parameter Setting up procedure it is as follows:
1) the control panel switch is clicked on, opens the control panel 3.
2) the traveling parameter to the automatic pulp shooting machine is needed to be configured according to actual whitewashing process, including:
1. the direct of travel of the automatic pulp shooting machine is set;
Direct of travel is provided with the control panel 3 button is set, be specially forward key and Reverse keys;Pass through phase It is " advance " or " retrogressing " to answer button to set the direct of travel;
2. the gait of march of the automatic pulp shooting machine is set;
Gait of march is provided with the control panel 3 button is set, be specially number key and "+", "-" button, pass through The gait of march sets the gait of march of the button setting automatic pulp shooting machine, such as it is " 0.3m/ to set the gait of march s”;
3. the travel distance of the automatic pulp shooting machine is set;
The gait of march setting button can also be used for setting the gait of march of the automatic pulp shooting machine;The control panel The gait of march, the input frame of the travel distance are provided with 3, by set on the control panel 3 it is upper and lower, left, Right button selection needs the corresponding input frame of parameter inputted, then carries out parameter value by the number key and "+", "-" button Setting, such as it is " 10m " to set the travel distance.
3) the whitewashing control parameter to the automatic pulp shooting machine is needed to be configured according to actual whitewashing process:
4. the rotating speed of the shotcrete pipe 202 is set;
The input frame of the rotating speed is provided with the control panel 3, by set on the control panel 3 it is upper and lower, Left and right button selects the corresponding input frame of the rotating speed, then carries out setting for tachometer value by the number key and "+", "-" button Put, such as it is " 0.5 revolutions per second " to set the rotating speed of the shotcrete pipe 202.
5. the height of the shotcrete pipe 202 is set;
The input frame of the height is provided with the control panel 3, by set on the control panel 3 it is upper and lower, Left and right button selects the highly corresponding input frame, then carries out setting for height by the number key and "+", "-" button Put, such as it is " 0.1m " to set the height of the shotcrete pipe 202.
6. the pressure of the spray pressure pump 5 is set;
Ignore the viscosity of the slurries and think that the slurries are incompressible, can calculate under certain pump pressure, the spray gun Mouth sprays the initial velocity of slurries, such as is calculated according to following Bernoulli equation:
Wherein, PbRepresent the pressure of the spray pressure pump;P represents the exit static pressure of the spray gun, about 1atm;ρ tables Show the serum density, g represents acceleration of gravity;H represents the vertical range of the relatively described spray pressure pump of the lance outlet.
, can be by setting the spray pressure to pump 5 pressure, to control the ejection of the slurries fast according to above formula (1) Degree, such as the slurries spouting velocity of 3.65m/s is gone for, can be calculated according to formula (1) needs to set the whitewashing at this time The pressure of compression pump 5 is 0.11Mpa.As it can be seen that automatic pulp shooting machine of the present invention can be by setting the spray pressure to pump Pressure, to carry out the control of accurate quantification on demand to whitewashing amount.
Step 502:Obtain enabled instruction;
To the above-mentioned parameter of the automatic pulp shooting machine after setting completed, the start button on the control panel 3, institute are clicked on State PLC controller and obtain the enabled instruction.
Step 503:When getting the enabled instruction, according to the traveling parameter and the whitewashing control parameter control The automatic pulp shooting machine is whitewashed automatically, is specially:
After the PLC controller obtains the enabled instruction, start to start countdown, after 30s, the PLC controller control Make the automatic pulp shooting machine to start to work according to the parameter of setting, be specially:
The PLC controller controls start and stop and the rotating speed of the hydraulic pump drive motor 301, so as to control the hydraulic pump 302 pairs of 304 pressure or decompression of hydraulic lifting pillar, make the shotcrete pipe 202 reach setting height;
The PLC controller controls the automatic pulp shooting machine to advance according to the direct of travel;
The PLC controller controls the rotating speed of the dynamical system driving motor 8, so as to control the automatic pulp shooting machine to press Advance according to the gait of march;
The PLC controller controls rotational speed of the rotary drive motor 205 according to setting, so as to control the spray Starch the rotating speed and swing circle of pipe 202;
The PLC controller controls the rotating speed of the spray pressure pump driving motor 6, so as to control the spray pressure to pump 5 reach the pressure value of setting, and then control the spouting velocity of the slurries;
When the automatic pulp shooting machine reaches the travel distance setting value, the PLC controller controls the dynamical system System driving motor 8 stops operating, so as to control the automatic pulp shooting machine to stop advancing.
As it can be seen that automatic pulp shooting machine of the present invention need to only input the traveling parameter of the automatic pulp shooting machine and whitewashing controls Parameter, you can realize the Automatic Control of the automatic pulp shooting machine whitewashing process, without operating personnel's real-time control, save people Power, and greatly reduce hand labor intensity.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part It is bright.
Specific case used herein is set forth the principle of the present invention and embodiment, and above example is said It is bright to be only intended to help the method and its core concept for understanding the present invention;Meanwhile for those of ordinary skill in the art, foundation The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion this specification content is not It is interpreted as limitation of the present invention.

Claims (10)

1. a kind of automatic pulp shooting machine, it is characterised in that the automatic pulp shooting machine includes:It is car body, central control system, spraying system, dynamic Force system and power supply;
The central control system is installed on the car body;The central control system includes PLC controller and control panel, the control Panel is connected with the PLC controller, for inputting the traveling parameter and whitewashing control parameter of the automatic pulp shooting machine;
The spraying system is installed on the front end of the car body;The spraying system includes slurry can, spray pressure pump, whitewashing pressure Power pump driving motor and refractory gunning equipment;The spray pressure pump driving motor is pressed with the PLC controller and the whitewashing respectively Power pump connection;The end that is pumped into of the spray pressure pump is connected with the slurry can, is pumped out end and is connected with the refractory gunning equipment;It is described Spray pressure pump is used to the slurries in the slurry being pumped out in the refractory gunning equipment;The refractory gunning equipment is used for by described in Slurries spray;
The dynamical system is connected with the wheel of the car body and the PLC controller respectively, for driving the car body;
The power supply is installed on the car body;The power supply respectively with the central control system, the spraying system and described dynamic Force system connects, for powering for the central control system, the spraying system and the dynamical system.
2. automatic pulp shooting machine according to claim 1, it is characterised in that the refractory gunning equipment includes telescopic rubber pipe, whitewashing Pipe and spray gun;
Described telescopic rubber pipe one end connects the spray pressure pump, and the other end connects the shotcrete pipe, for the whitewashing to be pressed The slurries that power pumps out are delivered to the shotcrete pipe;
The spray gun is arranged on the shotcrete pipe, for the slurries in the shotcrete pipe to be sprayed.
3. automatic pulp shooting machine according to claim 2, it is characterised in that the refractory gunning equipment further include rotary connector and Rotary drive motor;The rotary drive motor is connected with the PLC controller and the rotary connector respectively, for driving The rotary connector is rotated;One end of the rotary connector connects the telescopic rubber pipe, and the other end connects the spray Slurry pipe;The rotary connector is used to drive the shotcrete pipe to rotate.
4. automatic pulp shooting machine according to claim 2, it is characterised in that the spraying system further includes lifting gear, institute Stating lifting gear includes hydraulic pump, hydraulic pump drive motor, hydraulic lifting frame, hydraulic lifting pillar and rolling bearing;
The hydraulic pump drive motor is connected with the PLC controller and the hydraulic pump respectively;Described hydraulic lifting frame one end The hydraulic pump is connected, the other end connects the hydraulic lifting pillar;The hydraulic pump is used to liquid being pumped into the hydraulic pressure liter Drop in frame, control rising or falling for the hydraulic lifting pillar;The rolling bearing respectively with the hydraulic lifting pillar and The shotcrete pipe is fixedly connected, for driving the shotcrete pipe to follow the hydraulic lifting pillar to rise or fall.
5. automatic pulp shooting machine according to claim 1, it is characterised in that the automatic pulp shooting machine further includes cleaning recycling system System;The cleaning recovery system includes mud shield and useless slurry tank;
The useless slurry tank is installed on the bottom of the car body, and useless slurry tank entrance is provided with the front end of the car body;The mud Shield is installed on the front end of the car body, below the spraying system, the useless slurry tank entrance top;The mud shield It is connected with the useless slurry tank entrance, for collecting unnecessary mud, and by unnecessary slurry transportation into the useless slurry tank.
6. automatic pulp shooting machine according to claim 1, it is characterised in that the automatic pulp shooting machine further includes safety guarantee system System;The safe-guard system includes warning lamp;The warning lamp is installed on the car body, for by described in light-emitting caution Personnel around car body.
7. automatic pulp shooting machine according to claim 6, it is characterised in that the safe-guard system further includes infrared sensing Device;The infrared sensor is installed on the car body;The infrared sensor is connected with the PLC controller, for detecting Whether there are the personnel close around the car body.
8. automatic pulp shooting machine according to claim 6, it is characterised in that the safe-guard system further includes emergent stopping Button;The emergency stop button is installed on the compartment both sides of the car body;The emergency stop button is connected with the power supply, For in case of emergency cutting off the power.
9. a kind of automatic gunnite method, the automatic gunnite method is applied to the automatic spray described in claim 2-8 any one Pulp grinder, it is characterised in that the automatic gunnite method includes:
Obtain the traveling parameter and whitewashing control parameter of the automatic pulp shooting machine;
Obtain enabled instruction;
When getting the enabled instruction, according to the traveling parameter and the whitewashing control parameter control automatic whitewashing Machine is whitewashed automatically.
10. automatic gunnite method according to claim 9, it is characterised in that the row for obtaining the automatic pulp shooting machine Specifically included into parameter and whitewashing control parameter:
The traveling parameter of the automatic pulp shooting machine is obtained, the traveling parameter includes direct of travel, gait of march and travel distance;
The whitewashing control parameter of the automatic pulp shooting machine is obtained, the whitewashing control parameter includes the rotating speed of the shotcrete pipe, institute State the height of shotcrete pipe and the pressure of spray pressure pump.
CN201711247376.2A 2017-12-01 2017-12-01 A kind of automatic pulp shooting machine and gunnite method Pending CN108035763A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711247376.2A CN108035763A (en) 2017-12-01 2017-12-01 A kind of automatic pulp shooting machine and gunnite method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711247376.2A CN108035763A (en) 2017-12-01 2017-12-01 A kind of automatic pulp shooting machine and gunnite method

Publications (1)

Publication Number Publication Date
CN108035763A true CN108035763A (en) 2018-05-15

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110630295A (en) * 2019-11-12 2019-12-31 徐州秩润矿山设备科技有限公司 Downhole guniting machine convenient and fast in dust fall
CN110919859A (en) * 2019-12-20 2020-03-27 林碧琴 Intelligent building construction device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110630295A (en) * 2019-11-12 2019-12-31 徐州秩润矿山设备科技有限公司 Downhole guniting machine convenient and fast in dust fall
CN110919859A (en) * 2019-12-20 2020-03-27 林碧琴 Intelligent building construction device

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