CN108374675B - 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
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- CN108374675B CN108374675B CN201810142088.9A CN201810142088A CN108374675B CN 108374675 B CN108374675 B CN 108374675B CN 201810142088 A CN201810142088 A CN 201810142088A CN 108374675 B CN108374675 B CN 108374675B
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- 238000010146 3D printing Methods 0.000 title claims abstract description 40
- 238000010276 construction Methods 0.000 title claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 44
- 238000003756 stirring Methods 0.000 claims abstract description 24
- 239000003245 coal Substances 0.000 claims abstract description 20
- 238000001125 extrusion Methods 0.000 claims abstract description 19
- 238000007639 printing Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000005065 mining Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- 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 OR ROCK 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
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- Mining & Mineral Resources (AREA)
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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 technique
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 save a crossheading, coal pillar recovery for each working face, alleviate digging anxiety
Relationship, while the ventilation of Y type 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.It is not easy to retain since gob side entry retaining bears mining influence, tunnel twice, difficulty is larger.Along empty pick
A mining influence is born in lane, and Tunnel Pressure and deformation are smaller, is easy maintenance, 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
Slot wall, then along the technology in wall pick lane.Template is used when wall pours, template needs formwork, demoulding, easy spillage, construction
Speed is slow, and labor intensity of workers is big.
3D printing, i.e. one kind of rapid shaping technique, it is 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 usually using number
Technologic material printer is realized.Often be used for modeling in fields such as mold manufacture, industrial designs, after be gradually available for one
The direct manufacture of a little products has had using components 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.
Summary of the invention
The purpose of the present invention is provide for underground coal mine gob side entry driving without template, 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 movement 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 plate 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
For controlling the tilt angle of 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 inlet, 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 is able to drive conveyor belt motion, are driven
Band is able to drive the slide block movement on guide rail；
Nozzle clamper and Y-direction beam are slid by sliding block to be connected, and nozzle clamper is for clamping nozzle, nozzle and concrete
The other end of delivery hose connects.
A further improvement of the present invention lies in that storage bin discharge outlet is provided with metering screw, for controlling concrete
Load.
A further improvement of the present invention lies in that extruser is single-screw or double helix.
A further improvement of the present invention lies in that nozzle clamper and Y-direction beam are hinged, and 90 ° can be rotated horizontally.
A further improvement of the present invention lies in that 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: successively installation siccative 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 track, successively printing forms crossheading wall, and when crossheading wall close to when pushing up, 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 lane, 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, guarantees 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 set distance and is close to above-mentioned 3D
The crossheading wall of printing tunnels a crossheading of lower working face, this crossheading is gob side entry driving.
The present invention has following beneficial technical 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.
Detailed description of the invention
Fig. 1 is gob side entry driving 3D printing crossheading wall of the present invention robot main 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 crawler chassis；2- flat bed platform；3- hydraulic system；4- operating system；5- material storing box；6- liter
Oil cylinder drops；7- blender；7-1- blender discharge port；8- extruser；8-1- spiral squeezes extruder feeding inlet；8-2- spiral
Squeeze extruder discharging mouth；9-X is to beam；10-Y is to beam；11-Z is to beam；12- sliding block；13- nozzle clamper；14- nozzle；15- is defeated
Send hose；16- crossheading wall；17- hydraulic support；18- crossheading；The goaf 19-；This working face of 20-；Working face under 21-；22-
Gob side entry driving.
Specific embodiment
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 movement 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 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 and lifting cylinder 6 are hinged, the cylinder sleeve bottom end of lifting cylinder 6 and flat
Plate platform 2 connects, and lifting cylinder 6 is used to control the tilt angle 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 inlet 8-1, extruser discharge port 8-2 and concrete conveyance hose 15
One end connection；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 connected to beam 9 by the sliding of sliding block 12 by the sliding connection of sliding block 12,10 both ends of Y-direction beam with two X, and driving motor turns
Dynamic to be able to drive conveyor belt motion, transmission belt is able to drive the movement of the sliding block 12 on guide rail；Nozzle clamper 13 and Y-direction beam 10 are logical
The sliding connection of sliding block 12 is crossed, nozzle clamper 13 is for clamping 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, for controlling the load of concrete.Extruser 8
For single-screw or double helix.Nozzle clamper 13 and Y-direction beam 10 are hinged, and can rotate horizontally 90 °.In addition, rotation track bottom
Disk 1 can replace with wheel undercarriage.
When work, discharging is controlled by the metering screw of 5 lower part discharge port of material storing box first, after siccative drains to blender 7,
It adds water and stirs, then, the concrete wet feed being stirred enters the extruser feeding inlet 8-1 of extruser 8, passes through spiral
Rotary extrusion concrete, via concrete conveyance hose 15 reach nozzle 14, control system default motion track under, squeeze
Concrete graded layer prints concrete wall 16 out, when concrete wall 16 close to when pushing up, 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: successively installation siccative 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 prints crossheading wall 16: three-dimensional rectangular coordinate printer passes through plug-in control
14 running track of nozzle processed, successively printing forms crossheading wall 16, and when crossheading wall 16 close to when pushing up, nozzle 14 rotates horizontally 90
Degree, nozzle 14 protrude into the gap between top crossheading wall 16 and top plate waiting, and the direction out of Fu Bangwang lane 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, guarantees 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 19 spoil inbreak of goaf compacting, 20 set distance of this working face abutting is lagged
The crossheading wall 16 of above-mentioned 3D printing tunnels a crossheading of lower working face 21, 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 to be hydraulic travel system, storing system
System and stirring material extrusion system provide power, and operating system is used to control the movement 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 hingedly, the cylinder sleeve bottom end of lifting cylinder (6) and plate are flat for the other end and lifting cylinder (6)
Platform (2) connection, lifting cylinder (6) are used to control the tilt angle 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 inlet (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 and Z-direction beam (11) are connected by sliding block (12) sliding, and Y-direction beam (10) both ends pass through sliding block to beam (9) with two X
(12) sliding connection, the rotation of driving motor are able to drive conveyor belt motion, and transmission belt is able to drive the sliding block (12) on guide rail
Movement；
Nozzle clamper (13) and Y-direction beam (10) are connected by sliding block (12) sliding, and nozzle clamper (13) is for clamping nozzle
(14), nozzle (14) is connect with the other end of concrete conveyance hose (15).
2. gob side entry driving 3D printing crossheading wall according to claim 1 robot, which is characterized in that material storing box (5) goes out
Metering screw is provided at material mouth, for controlling the load of concrete.
3. gob side entry driving 3D printing crossheading wall according to claim 1 robot, which is characterized in that extruser
It (8) is single-screw or double helix.
4. gob side entry driving 3D printing crossheading wall according to claim 1 robot, which is characterized in that nozzle clamper
(13) hingedly with Y-direction beam (10), and 90 ° can be rotated horizontally.
5. gob side entry driving 3D printing crossheading wall according to claim 1 robot, which is characterized in that rotation crawler body
(1) wheel undercarriage can be replaced with.
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: successively installation siccative 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 track, successively printing forms crossheading wall (16), and when crossheading wall (16) close to when pushing up, nozzle (14) is horizontal
It is rotated by 90 °, nozzle (14) protrudes into the gap between top crossheading wall (16) waiting and top plate, the direction out of Fu Bangwang lane, printing
Gap between top crossheading wall (16) waiting and 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 by siccative conveying equipment via delivery pipe
In material input material storing box (5), guarantee 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) set distance
A crossheading for stating crossheading wall (16) driving lower working face (21) of 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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|---|---|---|---|
| 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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| CN105625720B (en) * | 2016-01-05 | 2018-10-23 | 江苏敦超电子科技有限公司 | More materials build 3 D-printing forming method |
| DE102016104340B3 (en) * | 2016-03-09 | 2017-06-01 | Hainspitzer Bauchemie Handel GmbH | Concrete or mortar mixture, potting structure and use of a concrete or mortar mixing device |
| CN106088610B (en) * | 2016-06-15 | 2019-02-05 | 博湃建筑科技（上海）有限公司 | The equipment of the method for 3D printing construction wall and 3D printing building |
| CN106499182B (en) * | 2016-09-29 | 2020-04-17 | 深圳市特辰科技股份有限公司 | High-rise building integrated construction robot |
| CN206220536U (en) * | 2016-10-11 | 2017-06-06 | 蒋旭峰 | 3D builds print job platform |
| CN106968367A (en) * | 2017-05-03 | 2017-07-21 | 中国建筑股份有限公司 | A kind of new 3D printing reinforced wall and its construction method |
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2018
- 2018-02-11 CN CN201810142088.9A patent/CN108374675B/en active Active
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