CN108374675A - Gob side entry driving 3D printing crossheading wall robot and construction method - Google Patents
Gob side entry driving 3D printing crossheading wall robot and construction method Download PDFInfo
- Publication number
- CN108374675A CN108374675A CN201810142088.9A CN201810142088A CN108374675A CN 108374675 A CN108374675 A CN 108374675A CN 201810142088 A CN201810142088 A CN 201810142088A CN 108374675 A CN108374675 A CN 108374675A
- Authority
- CN
- China
- Prior art keywords
- crossheading
- wall
- printing
- nozzle
- side entry
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- C—CHEMISTRY; METALLURGY
- C04—CEMENTS; CONCRETE; ARTIFICIAL STONE; CERAMICS; REFRACTORIES
- C04B—LIME, MAGNESIA; SLAG; CEMENTS; COMPOSITIONS THEREOF, e.g. MORTARS, CONCRETE OR LIKE BUILDING MATERIALS; ARTIFICIAL STONE; CERAMICS; REFRACTORIES; TREATMENT OF NATURAL STONE
- C04B28/00—Compositions of mortars, concrete or artificial stone, containing inorganic binders or the reaction product of an inorganic and an organic binder, e.g. polycarboxylate cements
- C04B28/02—Compositions of mortars, concrete or artificial stone, containing inorganic binders or the reaction product of an inorganic and an organic binder, e.g. polycarboxylate cements containing hydraulic cements other than calcium sulfates
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y70/00—Materials specially adapted for additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/102—Removable shuttering; Bearing or supporting devices therefor
-
- C—CHEMISTRY; METALLURGY
- C04—CEMENTS; CONCRETE; ARTIFICIAL STONE; CERAMICS; REFRACTORIES
- C04B—LIME, MAGNESIA; SLAG; CEMENTS; COMPOSITIONS THEREOF, e.g. MORTARS, CONCRETE OR LIKE BUILDING MATERIALS; ARTIFICIAL STONE; CERAMICS; REFRACTORIES; TREATMENT OF NATURAL STONE
- C04B2111/00—Mortars, concrete or artificial stone or mixtures to prepare them, characterised by specific function, property or use
- C04B2111/00034—Physico-chemical characteristics of the mixtures
- C04B2111/00181—Mixtures specially adapted for three-dimensional printing (3DP), stereo-lithography or prototyping
Abstract
The invention discloses a kind of gob side entry driving 3D printing crossheading wall robot and construction methods, including hydraulic travel system, aggregate-storing system, stirring material extrusion system, three-dimensional right angle printer, nozzle and control system etc., stirring material extrusion system, aggregate-storing system are followed successively by above hydraulic travel system, three-dimensional right angle printer is located at hydraulic travel system side, stirring material extrusion system stirring is controlled by control system and squeezes concrete, while controlling three-dimensional right angle printer and nozzle print concrete said three-dimensional body.After the completion of crossheading printing, next return airway tunnels to form gob side entry driving along wall.The present invention realizes gob side entry driving 3D printing crossheading wall, is not necessarily to template, and 3D printing robot can improve underground concrete operating machinery degree and speed of application, be suitable for the fields such as coal mine, metallurgical mine, underground engineering and Tunnel Engineering from walking.
Description
Technical field
The invention belongs to coal mine machinery and without coal pillar mining technical field, and in particular to a kind of gob side entry driving 3D printing crossheading
Wall robot and construction method.
Background technology
No coal pillar mining is the important research direction of lasting exploit.No coal pillar mining include gob side entry retaining without coal pillar mining and
Gob side entry retaining is without coal pillar mining.Gob side entry retaining can be that each working face saves a crossheading, coal pillar recovery, alleviates digging anxiety
Relationship, while the ventilation of Y types may be implemented solve gas at upper corner to transfinite problem, make a profit instead of suffering a loss to coal mine, upgrading synergy, safety it is high
Effect production is of great significance.Since gob side entry retaining bears mining influence twice, tunnel is not easy to retain, and difficulty is larger.Along empty pick
A mining influence is born in lane, and Tunnel Pressure and deformation are smaller, is easy to safeguard, thus using more.Fender gob side entry driving is
After working face extraction goaf spoil inbreak compacting, working face certain distance is lagged, retains narrow and small coal pillar and carries out pick lane.But it is small
Coal column pick lane narrow and small coal pillar easily crushes, and causes roadway deformation big and easily leaks out, maintenance cost is high.At present have poured using template it is suitable
Then slot wall digs the technology in lane along wall.Template, template is used to need formwork, form removal, easy spillage, construction when wall pours
Speed is slow, and labor intensity is big.
3D printing, i.e. one kind of rapid shaping technique, it be one kind based on digital model file, with powdered gold
Belong to or the adhesive materials such as plastics, constructs the technology of object by layer-by-layer printing.3D printing is typically using number
Technologic material printer is realized.Often be used for modeling in fields such as mold manufacturing, industrial designs, after be gradually available for one
The direct manufacture of a little products has had using parts made of the printing of this technology.The technology is set in jewelry, footwear, industry
Meter, building, automobile, aerospace, dentistry and medical industries, education, GIS-Geographic Information System and other field are all applied.
Currently, 3D printing concrete has been used to ground building, this concrete is different from the material mixture ratio of normal concrete, wherein adding
Modified cement and additive.
In order to further increase the construction mechanization level that gob side entry driving pours crossheading wall, template is saved, construction is improved
Speed needs to research and develop a kind of gob side entry driving 3D printing crossheading wall robot and construction method.
Invention content
The purpose of the present invention is provided without template for underground coal mine gob side entry driving, improve crossheading wall construction mechanization journey
Degree and speed of application, the gob side entry driving 3D printing crossheading wall robot with walking function and construction method.
The present invention adopts the following technical scheme that realize：
Gob side entry driving 3D printing crossheading wall robot, including hydraulic travel system, aggregate-storing system, stirring material extrusion system,
Three-dimensional right angle printer, nozzle clamper, nozzle, support system and control system are followed successively by above hydraulic travel system and stir
It mixes material extrusion system, aggregate-storing system, three-dimensional right angle printer and is located at hydraulic travel system side, stirring material extrusion is controlled by control system
System stirring squeezes concrete, while controlling three-dimensional right angle printer and nozzle print concrete said three-dimensional body；Wherein,
Hydraulic travel system includes rotation crawler body, flat bed platform, hydraulic system, brake system and operating system, is put down
Plate platform is placed on rotation crawler body, and hydraulic system is used for as hydraulic travel system, aggregate-storing system and stirring material extrusion system
Power is provided, operating system is used to control the action of hydraulic travel system, and brake system is used to brake for hydraulic travel system；
Aggregate-storing system includes material storing box and lifting cylinder, and the tablet on one end and hydraulic travel system of material storing box bottom is flat
Supporting leg on platform is hinged, and the other end is hinged with lifting cylinder, and the cylinder sleeve bottom end of lifting cylinder is connect with flat bed platform, lifting cylinder
Angle of inclination for controlling material storing box；
Stirring material extrusion system includes blender and extruser, and blender is placed in above extruser, and blender goes out
Material mouth is connect with extruser feeding mouth, and extruser discharge port is connect with one end of concrete conveyance hose；
Three-dimensional right angle printer includes X to beam, Y-direction beam, Z-direction beam, driving motor, transmission belt, guide rail and sliding block, guide rail cloth
It sets in X on beam, Y-direction beam and Z-direction beam, Z-direction beam is connect with flat bed platform, and X, which is slid to beam one end and Z-direction beam by sliding block, to be connected
It connects, Y-direction beam both ends are slid by sliding block to beam with two X and connected, and the rotation of driving motor can drive conveyor belt motion, are driven
Band can drive the slide block movement on guide rail；
Nozzle clamper is slid by sliding block with Y-direction beam and is connected, and nozzle clamper is for being clamped nozzle, nozzle and concrete
The other end of delivery hose connects.
The present invention, which further improves, to be, storage bin discharge outlet is provided with metering screw, for controlling concrete
Load.
The present invention, which further improves, to be, extruser is single-screw or double helix.
The present invention, which further improves, to be, nozzle clamper is hinged with Y-direction beam, and can rotate horizontally 90 °.
The present invention, which further improves, to be, rotation crawler body can replace with wheel undercarriage.
The construction method of gob side entry driving 3D printing crossheading wall robot, includes the following steps：
1) equipment is installed：The siccative of installation successively conveying equipment, conveying in the crossheading of the advanced 100-500m of stope
Pipe and 3D printing crossheading wall robot；
2) cutting coal on coal mining work surface back production, the hydraulic support of advancing working face；
3) it is in place to be moved to crossheading wall to be printed side for 3D printing crossheading wall robot, and crossheading wall is close to crossheading pair
Side arrangement；
4) 3D printing crossheading wall robot prints crossheading wall：Three-dimensional rectangular coordinate printer is controlled by plug-in
Nozzle running orbit, successively printing form crossheading wall, and when crossheading wall is close to top, nozzle level is rotated by 90 °, and nozzle is stretched
Enter the gap between top crossheading wall and top plate waiting, the direction out of Fu Bangwang lanes, print top crossheading wall waiting and top plate it
Between gap, formed and connect the crossheading wall on top；
It 5), will via delivery pipe by siccative conveying equipment after the printing siccative of material storing box is finished when carrying out step 4)
Siccative inputs in material storing box, ensures there is siccative in material storing box；
6) repeat step 2) to 5), completing entire crossheading wall) 3D printing, form the continuous together suitable of patch crossheading pair side
Slot wall；
8) it after this working face extraction and goaf spoil inbreak compacting, lags this working face setpoint distance and is close to above-mentioned 3D
One crossheading of the lower working face of crossheading wall driving of printing, this crossheading is gob side entry driving.
The present invention has following beneficial technique effect：
Gob side entry driving 3D printing crossheading wall robot provided by the invention and construction method are underground gob side entry driving crossheading
Wall construction provides a kind of new approaches, has the characteristics that without template, walks certainly, improves mechanization degree and speed of application.
Description of the drawings
Fig. 1 is gob side entry driving 3D printing crossheading wall of the present invention robot front view；
Fig. 2 is gob side entry driving 3D printing crossheading wall robot plane figure of the present invention；
Fig. 3 is gob side entry driving 3D printing crossheading wall of the present invention robot construction plan.
In figure：1- Rotary crawlers chassis；2- flat bed platforms；3- hydraulic systems；4- operating systems；5- material storing box；6- liters
Oil cylinder drops；7- blenders；7-1- blender discharge ports；8- extruseres；8-1- spirals squeeze extruder feeding mouth；8-2- spirals
Squeeze extruder discharging mouth；9-X is to beam；10-Y is to beam；11-Z is to beam；12- sliding blocks；13- nozzle clampers；14- nozzles；15- is defeated
Send hose；16- crossheading walls；17- hydraulic supports；18- crossheadings；The goafs 19-；This working face of 20-；Working face under 21-；22-
Gob side entry driving.
Specific implementation mode
The present invention is made further instructions below in conjunction with attached drawing.
As shown in Figure 1 to Figure 3, gob side entry driving 3D printing crossheading wall provided by the invention robot, including hydraulic moving
System, aggregate-storing system, stirring material extrusion system, three-dimensional right angle printer, nozzle clamper 13, nozzle 14, support system and control
System is followed successively by stirring material extrusion system, aggregate-storing system, three-dimensional right angle printer above hydraulic travel system and is located at hydraulic moving
System side controls stirring material extrusion system stirring by control system and squeezes concrete, while controlling three-dimensional right angle printer and spray
Mouth prints concrete said three-dimensional body；Wherein, hydraulic travel system includes rotation crawler body 1, flat bed platform 2, hydraulic system 3, stops
Vehicle system and operating system 4, flat bed platform 2 be placed in rotation crawler body on 1, hydraulic system 3 be used for for hydraulic travel system,
Aggregate-storing system and stirring material extrusion system provide power, and operating system is used to control the action of hydraulic travel system, and brake system is used
It is braked in for hydraulic travel system；Aggregate-storing system includes material storing box 5 and lifting cylinder 6, one end and the hydraulic pressure row of 5 bottom of material storing box
The supporting leg on flat bed platform 2 on walking system is hinged, and the other end is hinged with lifting cylinder 6, the cylinder sleeve bottom end of lifting cylinder 6 with it is flat
Plate platform 2 connects, and lifting cylinder 6 is used to control the angle of inclination of material storing box 5；
Stirring material extrusion system includes blender 7 and extruser 8, and blender 7 is placed in 8 top of extruser, stirring
Machine discharge port 7-1 is connect with extruser feeding mouth 8-1, extruser discharge port 8-2 and concrete conveyance hose 15
One end connects；Three-dimensional right angle printer includes X to beam 9, Y-direction beam 10, Z-direction beam 11, driving motor, transmission belt, guide rail and sliding block
12, guide rail is arranged in X on beam 9, Y-direction beam 10 and Z-direction beam 11, and Z-direction beam 11 is connect with flat bed platform 2, and X is to 9 one end of beam and Z-direction
Beam 11 is slid by sliding block 12 and is connected, and 10 both ends of Y-direction beam are slid by sliding block 12 to beam 9 with two X and connected, and driving motor turns
Kinetic energy enough drives conveyor belt motion, transmission belt that the sliding block 12 on guide rail can be driven to move；Nozzle clamper 13 is logical with Y-direction beam 10
The sliding connection of sliding block 12 is crossed, nozzle clamper 13 is for being clamped nozzle 14, the other end of nozzle 14 and concrete conveyance hose 15
Connection.
Wherein, 5 discharge outlet of storage bin is provided with metering screw, the load for controlling concrete.Extruser 8
For single-screw or double helix.Nozzle clamper 13 is hinged with Y-direction beam 10, and can rotate horizontally 90 °.In addition, rotation track bottom
Disk 1 can replace with wheel undercarriage.
When work, is controlled discharge by the metering screw of 5 lower part discharge port of material storing box first, after siccative drains to blender 7,
Water is added to stir, then, the concrete wet feed being stirred enters the extruser feeding mouth 8-1 of extruser 8, passes through spiral
Rotary extrusion concrete, via concrete conveyance hose 15 reach nozzle 14, control system acquiescence motion track under, squeeze
Go out concrete graded layer printing concrete wall 16, when concrete wall 16 is close to top, rotates horizontally 90 ° of nozzle, printing is filled out in spray
The space of concrete wall 16 and top forms the concrete wall 16 that can connect top.In addition, passing through pipeline siccative to storage
Hopper 5.
The construction method of gob side entry driving 3D printing crossheading wall provided by the invention robot, includes the following steps：
1) equipment is installed：It is the siccative of installation successively conveying equipment in the crossheading 18 of the advanced 100-500m of stope, defeated
Send pipe and 3D printing crossheading wall robot；
2) cutting coal on coal mining work surface back production, the hydraulic support 17 of advancing working face；
3) it is in place to be moved to 16 side of crossheading wall to be printed for 3D printing crossheading wall robot, and crossheading wall 16 is close to suitable
The secondary side arrangement of slot 18；
4) 3D printing crossheading wall robot printing crossheading wall 16：Three-dimensional rectangular coordinate printer passes through plug-in control
14 running orbit of nozzle processed, successively printing form crossheading wall 16, and when crossheading wall 16 is close to top, nozzle 14 rotates horizontally 90
Degree, nozzle 14 stretch into the gap between top crossheading wall 16 and top plate waiting, and the direction out of Fu Bangwang lanes prints top crossheading waiting
Gap between wall 16 and top plate forms the crossheading wall 16 for connecing top；
It 5), will via delivery pipe by siccative conveying equipment after the printing siccative of material storing box 5 is finished when carrying out step 4
Siccative inputs in material storing box 5, ensures there is siccative in material storing box 5；
6) step 2) is repeated to the 3D printing for 5), completing entire crossheading wall 16, forms connecting together for 18 secondary side of patch crossheading
Continuous crossheading wall 16；
8) it after 20 back production of this working face and 19 spoil inbreak of goaf compacting, lags 20 setpoint distance of this working face and is close to
A crossheading of working face 21 under the driving of crossheading wall 16 of above-mentioned 3D printing, this crossheading is gob side entry driving 22.
In conclusion gob side entry driving 3D printing crossheading wall robot provided by the invention and construction method, gob side entry driving
When construction crossheading wall be not necessarily to template, improve concrete construction mechanization degree and speed of application, be suitable for coal mine, metallurgical mine
The fields such as mountain, underground engineering, Tunnel Engineering.
Claims (6)
1. gob side entry driving 3D printing crossheading wall robot, which is characterized in that including hydraulic travel system, aggregate-storing system, stirring
Material extrusion system, three-dimensional right angle printer, nozzle clamper (13), nozzle (14), support system and control system, hydraulic moving system
It is followed successively by stirring material extrusion system, aggregate-storing system, three-dimensional right angle printer above system and is located at hydraulic travel system side, by controlling
System control stirring material extrusion system stirring squeezes concrete, while controlling three-dimensional right angle printer and nozzle print concrete three-dimensional
Body；Wherein,
Hydraulic travel system includes rotation crawler body (1), flat bed platform (2), hydraulic system (3), brake system and operation system
It unites (4), flat bed platform (2) is placed on rotation crawler body (1), and hydraulic system (3) is used for as hydraulic travel system, storing system
System and stirring material extrusion system provide power, and operating system is used to control the action of hydraulic travel system, and brake system is used to be liquid
Press running gear braking；
Aggregate-storing system includes material storing box (5) and lifting cylinder (6), on one end and hydraulic travel system of material storing box (5) bottom
Supporting leg on flat bed platform (2) is hinged, and the other end is hinged with lifting cylinder (6), and the cylinder sleeve bottom end of lifting cylinder (6) and tablet are flat
Platform (2) connects, and lifting cylinder (6) is used to control the angle of inclination of material storing box (5)；
Stirring material extrusion system includes blender (7) and extruser (8), and blender (7) is placed in above extruser (8),
Blender discharge port (7-1) is connect with extruser feeding mouth (8-1), and extruser discharge port (8-2) and concrete are defeated
One end of hose (15) is sent to connect；
Three-dimensional right angle printer includes X to beam (9), Y-direction beam (10), Z-direction beam (11), driving motor, transmission belt, guide rail and sliding block
(12), guide rail is arranged in X on beam (9), Y-direction beam (10) and Z-direction beam (11), and Z-direction beam (11) is connect with flat bed platform (2), X to
Beam (9) one end is slid by sliding block (12) with Z-direction beam (11) and is connected, and Y-direction beam (10) both ends pass through sliding block with two X to beam (9)
(12) sliding connection, the rotation of driving motor can drive conveyor belt motion, transmission belt that can drive the sliding block (12) on guide rail
Movement；
Nozzle clamper (13) is slid by sliding block (12) with Y-direction beam (10) and is connected, and nozzle clamper (13) is for being clamped nozzle
(14), nozzle (14) is connect with the other end of concrete conveyance hose (15).
2. gob side entry driving 3D printing crossheading wall robot, which is characterized in that storage bin (5) discharge outlet is provided with metering spiral shell
Rotation, the load for controlling concrete.
3. gob side entry driving 3D printing crossheading wall robot, which is characterized in that extruser (8) is single-screw or double helix.
4. gob side entry driving 3D printing crossheading wall robot, which is characterized in that nozzle clamper (13) is hinged with Y-direction beam (10),
And 90 ° can be rotated horizontally.
5. gob side entry driving 3D printing crossheading wall robot, which is characterized in that rotation crawler body (1) can replace with wheeled bottom
Disk.
6. the construction method of gob side entry driving 3D printing crossheading wall according to claim 1 robot, which is characterized in that packet
Include following steps：
1) equipment is installed：The siccative of installation successively conveying equipment, conveying in the crossheading (18) of the advanced 100-500m of stope
Pipe and 3D printing crossheading wall robot；
2) cutting coal on coal mining work surface back production, the hydraulic support (17) of advancing working face；
3) it is in place to be moved to crossheading wall (16) side to be printed for 3D printing crossheading wall robot, and crossheading wall (16) is close to suitable
The secondary side arrangement of slot (18)；
4) 3D printing crossheading wall robot printing crossheading wall (16)：Three-dimensional rectangular coordinate printer is controlled by plug-in
Nozzle (14) running orbit, successively printing form crossheading wall (16), and when crossheading wall (16) is close to top, nozzle (14) is horizontal
It is rotated by 90 °, nozzle (14) stretches into gap of the top crossheading wall (16) waiting between top plate, the direction out of Fu Bangwang lanes, printing
Gap of the top crossheading wall (16) waiting between top plate, forms the crossheading wall (16) for connecing top；
5) it when carrying out step 4), after the printing siccative of material storing box (5) is finished, will be done via delivery pipe by siccative conveying equipment
In material input material storing box (5), ensure there is siccative in material storing box (5)；
6) step 2) is repeated to the 3D printing for 5), completing entire crossheading wall (16), forms connecting together for the secondary side of patch crossheading (18)
Continuous crossheading wall (16)；
8) after (20) back production of this working face and goaf (19) spoil inbreak compacting, it is tight to lag this working face (20) setpoint distance
A crossheading of the lower working face (21) of crossheading wall (16) driving for stating 3D printing is sticked, this crossheading is gob side entry driving
(22)。
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|---|---|---|---|
| CN201810142088.9A CN108374675B (en) | 2018-02-11 | 2018-02-11 | Gob side entry driving 3D printing crossheading wall robot and construction method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142088.9A CN108374675B (en) | 2018-02-11 | 2018-02-11 | Gob side entry driving 3D printing crossheading wall robot and construction method |
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| CN108374675B CN108374675B (en) | 2019-07-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020128791A1 (en) * | 2018-12-18 | 2020-06-25 | Heidelbergcement Ag | Cementitious mixture for a 3d printer, with improved performance, and relative use in said printer |
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| CN105625720A (en) * | 2016-01-05 | 2016-06-01 | 江苏敦超电子科技有限公司 | Multi-material building three-dimensional printing and molding method |
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| Publication number | Publication date |
|---|---|
| CN108374675B (en) | 2019-07-30 |
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