CN108716421B - A kind of underground movable grouting method - Google Patents
A kind of underground movable grouting method Download PDFInfo
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- CN108716421B CN108716421B CN201810484125.4A CN201810484125A CN108716421B CN 108716421 B CN108716421 B CN 108716421B CN 201810484125 A CN201810484125 A CN 201810484125A CN 108716421 B CN108716421 B CN 108716421B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 119
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000007569 slipcasting Methods 0.000 claims abstract description 52
- 239000000463 material Substances 0.000 claims abstract description 51
- 238000012544 monitoring process Methods 0.000 claims abstract description 41
- 239000002002 slurry Substances 0.000 claims abstract description 34
- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 13
- 238000004537 pulping Methods 0.000 claims abstract description 10
- 238000007689 inspection Methods 0.000 claims abstract description 4
- 239000000126 substance Substances 0.000 claims description 30
- 238000002156 mixing Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000007599 discharging Methods 0.000 claims description 17
- 238000005303 weighing Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 13
- 239000000084 colloidal system Substances 0.000 claims description 12
- 238000012360 testing method Methods 0.000 claims description 11
- 239000003245 coal Substances 0.000 claims description 10
- 239000011440 grout Substances 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 6
- 239000003795 chemical substances by application Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 3
- 238000004880 explosion Methods 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 claims 1
- 238000009510 drug design Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000002425 crystallisation Methods 0.000 description 1
- 230000008025 crystallization Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000010881 fly ash Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/02—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
- E21F5/06—Fluids used for spraying
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2231—Master slave
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Preparation Of Clay, And Manufacture Of Mixtures Containing Clay Or Cement (AREA)
Abstract
The invention discloses a kind of underground movable grouting methods, the device that this method uses includes crawler body mechanism, slip casting mechanism and monitoring module, the slip casting mechanism includes feeding structure and pulping mechanism, the crawler body mechanism includes chassis, crawler belt and track drive module, and the monitoring module includes master controller, charging monitoring module, water inletting monitoring module, motor power control module, the first wireless radio frequency modules and liquid crystal touch screen；Method includes the following steps: one, mine map is established and the movement of crawler body mechanism；Two, the inspection and connection of slip casting mechanism；Three, the slurrying and conveying of slip casting mechanism.The present invention has rational design, easy to operate, moving and using manpower and material resources sparingly by the mobile drive grouting device of crawler belt base mechanism, passes through real time monitoring water material, it is ensured that the concentration and quality of slurry, it is practical.
Description
Technical field
The invention belongs to Geotechnical Engineering fields, more particularly, to a kind of underground movable grouting method.
Background technique
Currently, fire extinguishing grouting device is widely used in the fire extinguishing work of underground coal mine, it is anti-to have become coal fire
Essential equipment in control.Common grouting device because its own weight is big, it is mobile inconvenient the features such as, generally use it is vehicle-mounted or
It fills the form hung and is moved to flame range, spend human and material resources, process of the extreme influence to fire extinguishing slip casting.In addition, its feeding manner master
Using mechanical charging and the slurrying of mass area ratio mode and slurry pipeline steel is carried out, it is past when needing to change slurry pipeline steel amount
Toward while changing extinguishing chemical material inlet amount, in order to guarantee that the concentration being slurried reaches the extinguishment requirement at scene, worker is usual
With feel control inflow, this will lead to corresponding inflow and is difficult to match in time, thus influence slurry concentration and
Using effect influences the smooth development of fire extinguishing work.
Therefore, in order to solve water material in the mobile inconvenient, pulping process in grouting device transportational process on the market at present
Ratio it is lack of standardization the problems such as, it is simple nowadays to lack a kind of structure, designs reasonable underground movable grouting method, passes through shoe
The move mode of mobile drive grouting device with base mechanism simultaneously uses manpower and material resources sparingly, by monitoring water material in real time, it is ensured that
The concentration and quality of slurry realize the monitoring control of blending process, thus the effect that fire extinguishing slip casting will be significantly increased.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is removable to provide a kind of underground
Dynamic formula grouting device designs reasonable, easy to operate, movement and section by the mobile drive grouting device of crawler belt base mechanism
Human-saving material resources, by monitoring water material in real time, it is ensured that the concentration and quality of slurry realize the monitoring control of blending process, from
And the effect that fire extinguishing slip casting will be significantly increased, it is practical.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of underground movable grouting device,
It is characterized in that: including crawler body mechanism, the slip casting mechanism being arranged in the crawler body mechanism and to the crawler body
The monitoring module that mechanism and the slip casting mechanism are monitored, the slip casting mechanism include feeding structure and pulping mechanism, described
Crawler body mechanism includes the track drive module on chassis, the crawler belt being mounted on the chassis and the driving crawler belt rotation,
The pulping mechanism include mix hopper, protrude into mixing hopper screw pump and driving screw pump rotation be made slurry and with it is described
The fire-proof motor of feeding structure transmission connection, the feeding structure include to mix the feeding assembly of hopper feeding, being arranged in institute
The discharging platform stating the feed inlet on feeding assembly and being arranged on feeding assembly, the fire-proof motor and the transmission of feeding assembly connect
It connects, the bottom of the mixing hopper is provided with colloid delivery pipe, is provided with pulp hose in the colloid delivery pipe；
The monitoring module includes master controller, charging monitoring module, water inletting monitoring module and motor power control module
And the first wireless radio frequency modules and liquid crystal touch screen connecting with master controller, the charging monitoring module include first from control
Device processed and the second wireless radio frequency modules to connect with first from controller, described first is terminated with weighing from the input of controller
Sensor, described first is terminated with charging solenoid valve from the output of controller, and the water inletting monitoring module includes second from control
Device and the third wireless radio frequency modules to connect with second from controller, described second is terminated with flow from the input of controller
Meter, described second is terminated with inlet water solenoid valve from the output of controller, and the motor power control module includes third from control
Device and the 4th wireless radio frequency modules to connect with third from controller, the third are terminated with relay from the output of controller
With the contactor for control and connect with relay output end to fire-proof motor current supply circuit, the weighing sensor setting exists
In discharging platform, the input of the master controller is terminated with laser radar, first wireless radio frequency modules and the second less radio-frequency
Module, third wireless radio frequency modules and the 4th wireless radio frequency modules carry out data radio communication, the input terminal of the master controller
It is connected to the locating module being mounted on chassis and is mounted on the pressure sensor of pulp flexible pipe outlet, the output of the master controller
It is terminated with alarm.
Above-mentioned a kind of underground movable grouting device, it is characterised in that: the track drive module includes crawler belt electricity
Machine driver and the crawler belt motor to connect with the crawler belt motor drive outputs, the input terminal of the crawler belt motor driver
Connect with the output end of master controller.
Above-mentioned a kind of underground movable grouting device, it is characterised in that: the screw pump and discharging platform and water inlet pipe
Connection, the inlet water solenoid valve are located on water inlet pipe, and the flowmeter is located in water inlet pipe, is provided with water on the water inlet pipe
Case.
A kind of above-mentioned underground movable grouting device, it is characterised in that: the feeding assembly include charging shell and
It is arranged in the charging shell and the screw rod of conveying extinguishing agent dry material, the fire-proof motor passes through transmission chain and spiral
Bar transmission connection.
Meanwhile a kind of the invention also discloses method and steps simple, the reasonable underground movable slip casting of design, feature
It is, method includes the following steps:
Step 1: mine map is established and the movement of crawler body mechanism:
Step 101, laser radar are scanned coal mine bottom, and the laser point cloud data that will acquire is sent to main control
Device, master controller handle the laser point cloud data, obtain mine map, main controller controls liquid crystal touch screen is to institute
Mine map is stated to be shown；Locating module is measured in real time the current location of crawler body mechanism, and will test
The current location of the crawler body mechanism is sent to master controller；
Step 102, staff manual setting slip casting target point, master controller on liquid crystal touch screen transfer shortest path
Planning module, to obtain the current location of the crawler body mechanism on the mine map to the shortest path of slip casting target point
Diameter；
Step 103, according to the shortest path of the current location of crawler body mechanism to slip casting target point, controller passes through shoe
The rotation of translator driver control crawler belt motor, it is mobile that crawler belt motor drives crawler belt, until reaching slip casting target point；
Step 2: the inspection and connection of slip casting mechanism:
Step 201 is initialized first from controller, second from controller and third from controller, operation the
Whether one is normal with the control signal that feeds solenoid valve from controller judgement, judges weighing sensor and first from the biography of controller
Whether defeated signal is normal, and whether operation second is normal with the control signal of inlet water solenoid valve from controller judgement, judges flowmeter
It is whether normal from the transmission signal of controller with second, operation third from the control signal of controller judgement and relay whether just
Often, it when each signal is normal, initializes successfully；
Step 202 adjusts pulp hose direction, and by the grouting piping connection of pulp hose and slip casting target point, master control
Device processed sends water inlet order by the first wireless radio frequency modules, and second receives water inlet by third wireless radio frequency modules from controller
Order, second opens from controller control inlet water solenoid valve, and the steering for starting fire-proof motor detection fire-proof motor meets slurrying
Fortune slurry requires, and fire-proof motor drives the rotation of feeding assembly, completes trial operation；
Step 3: the slurrying and conveying of slip casting mechanism:
Step 301, master controller by the first wireless radio frequency modules send motor rotation order and feed command, first from
Controller receives feed command by the second wireless radio frequency modules and controls charging solenoid closure, and third passes through the from controller
Four wireless radio frequency modules receive and pass through relay control contactor and are closed, so that fire-proof motor current supply circuit disconnects, anti-explosion electric
Machine rotation, fire-proof motor rotation drive the rotation of feeding assembly, make the extinguishing chemical dry material entered by feed inlet by discharging
Platform is transported in mixing hopper；
Step 302, weighing sensor are measured in real time the weight of the extinguishing chemical dry material Jing Guo discharging platform, and will
The extinguishing chemical dry material weight detected is sent to first from controller, the first extinguishing chemical dry powder that will be received from controller
Weight of material is sent to master controller, and master controller is according to the extinguishing chemical dry material and institute for first passing through liquid crystal touch screen setting in advance
Water flow proportionate relationship is needed, required water flow is obtained；
Obtained required water flow is sent to second and controlled from controller, second from controller by step 303, master controller
Inlet water solenoid valve is opened, and the water flow detection values that flowmeter is detected to by the flow of water, and be will test are sent to the
Two from controller, second from controller transfer difference comparsion device the water flow detection values and required water flow that receive are carried out it is poor
Value compares to obtain water flow deviation, and second adjusts the aperture of inlet water solenoid valve from controller according to water flow deviation, until
Water flow detection values meet required water flow；
Step 304, fire-proof motor drive screw pump rotation, stir extinguishing chemical dry material sufficiently in mixing hopper with water
It mixes, forms fire extinguishing slurry, and the fire extinguishing slurry is sprayed into fire extinguishing slurry by colloid delivery pipe and pulp hose, ejection is gone out
Fiery slurry enters slip casting target point.
Above-mentioned method, it is characterised in that: the first extinguishing chemical dry material weight that will be received from controller in step 302
When amount is sent to master controller, when the extinguishing chemical dry material weight that master controller receives is zero, main controller controls report
Alert device alarm, meanwhile, master controller is sent by the first wireless radio frequency modules stops water inlet order, second from controller control into
Water solenoid valve disconnects.
Above-mentioned method, it is characterised in that: second sends the water flow detection values received from controller in step 303
To master controller, when the water flow detection values that master controller receives are zero, main controller controls alarm equipment alarm, meanwhile,
Master controller is sent by the first wireless radio frequency modules stops feed command, and first, which controls charging solenoid valve from controller, disconnects.
Above-mentioned method, it is characterised in that: in step 304 during slurry is put out a fire in spray, pressure sensor is to pulp
The pressure of the outlet of hose is detected, and the grout outlet pressure that will test is sent to master controller, and master controller will receive
To grout outlet pressure be compared with preset pressure set points, when the grout outlet pressure that pressure sensor detects is big
When preset pressure set points, main controller controls alarm equipment alarm.
Compared with the prior art, the present invention has the following advantages:
1, used underground movable grouting device simple structure and reasonable design, it is easy to operate.
2, used laser radar realizes the foundation of mine map, obtains the crawler body on the mine map
The shortest path of the current location of mechanism to slip casting target point is gone so that controlling crawler body mechanism is moved to slip casting target point
It sails conveniently, adapts in underground coal mine environment, pass through the mobile drive underground movable grouting device of crawler belt base mechanism
It moves and uses manpower and material resources sparingly.
3, setting charging monitoring module and water inletting monitoring module, realization pair in used underground movable grouting device
The monitoring of the flow of the weight and water of extinguishing chemical dry material, so that the flow of the weight of extinguishing chemical dry material and water satisfaction is set
Fixed extinguishing chemical dry material and required water flow proportionate relationship, by monitoring water material in real time, it is ensured that the concentration and matter of slurry
Amount realizes the monitoring control of blending process, thus the effect that fire extinguishing slip casting will be significantly increased.
4, used underground movable grouting method step is simple, and rationally, input cost is low for design.
5, used underground movable grouting method step is simple, establishes mine map by laser radar first,
Then it is controlled and is carried out according to the shortest path of the current location of the crawler body mechanism on the mine map to slip casting target point
Band body chassis is mobile until slip casting target point；Then, check slip casting mechanism various pieces it is normal after, control slip casting mechanism into
Row slurrying and conveying, to realize the slip casting to slip casting target point.
In conclusion design is reasonable, easy to operate, simultaneously by the movement of the mobile drive grouting device of crawler belt base mechanism
It using manpower and material resources sparingly, by monitoring water material in real time, it is ensured that the concentration and quality of slurry realize the monitoring control of blending process,
It is practical to which the effect of fire extinguishing slip casting will be significantly increased.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is schematic block circuit diagram of the invention.
Fig. 3 is method flow block diagram of the invention.
Description of symbols:
1- master controller；The first wireless radio frequency modules of 2-；3- liquid crystal touch screen；
4-1- crawler belt motor driver；4-2- crawler belt motor；The second wireless radio frequency modules of 5-；
6- first is from controller；7- feeds solenoid valve；8- weighing sensor；
9- second is from controller；10- third wireless radio frequency modules；11- inlet water solenoid valve；
12- flowmeter；The 4th wireless radio frequency modules of 13-；14- third is from controller；
15- relay；16- contactor；17- laser radar；
18- screw pump；19- fire-proof motor；20- transmission chain；
21- screw rod；22- feeding assembly；23- discharging platform；
24- water inlet pipe；25- feed inlet；26- crawler belt base mechanism；
26-1- crawler belt；The chassis 26-2-；27- pulp hose；
28- colloid delivery pipe；29- water tank；30- mixing hopper；
31- locating module；32- pressure sensor；33- alarm.
Specific embodiment
As depicted in figs. 1 and 2, a kind of underground movable grouting device of the present invention, including crawler body mechanism 26, setting
Slip casting mechanism in the crawler body mechanism 26 and the crawler body mechanism 26 and the slip casting mechanism are monitored
Monitoring module, the slip casting mechanism includes feeding structure and pulping mechanism, the crawler body mechanism 26 include chassis 26-2,
The crawler belt 26-1 being mounted on the chassis 26-2 and the track drive module for driving the crawler belt 26-1 to rotate, the pulper
Structure include mix hopper 30, protrude into mixing hopper 30 screw pump 18 and driving screw pump 18 rotation be made slurry and with it is described into
Expect that the fire-proof motor 19 of structure driven connection, the feeding structure include to mix the feeding assembly 22 of 30 feeding of hopper, setting
Feed inlet 25 on the feeding assembly 22 and the discharging platform 23 being arranged on feeding assembly 22, the fire-proof motor 19 with give
Expect that assembly 22 is sequentially connected, the bottom of the mixing hopper 30 is provided with colloid delivery pipe 28, sets in the colloid delivery pipe 28
It is equipped with pulp hose 27；
The monitoring module includes master controller 1, charging monitoring module, water inletting monitoring module and motor power control module
And the first wireless radio frequency modules 2 and liquid crystal touch screen 3 connecting with master controller 1, the charging monitoring module include first
From controller 6 and the second wireless radio frequency modules 5 to connect with first from controller 6, described first from the input terminal of controller 6
It is connected to weighing sensor 8, described first is terminated with charging solenoid valve 7 from the output of controller 6, and the water inletting monitoring module includes
Second from controller 9 and the third wireless radio frequency modules 10 to connect with second from controller 9, and described second from controller 9
Input is terminated with flowmeter 12, and described second is terminated with inlet water solenoid valve 11, the motor power supply control from the output of controller 9
Module includes third from controller 14 and the 4th wireless radio frequency modules 13 to connect with third from controller 14, the third from
The output of controller 14 be terminated with relay 15 and to 19 current supply circuit of fire-proof motor carry out control and with 15 output end of relay
The contactor 16 to connect, the weighing sensor 8 are arranged in discharging platform 23, and the input of the master controller 1 is terminated with laser
Radar 17, first wireless radio frequency modules 2 and the second wireless radio frequency modules 5, third wireless radio frequency modules 10 and the 4th are wireless
Radio-frequency module 13 carries out data radio communication, and the input of the master controller 1 is terminated with the positioning mould being mounted on the 26-2 of chassis
Block 31 and the pressure sensor 32 for being mounted on the outlet of pulp hose 27, the output of the master controller 1 are terminated with alarm 33.
In the present embodiment, the track drive module include crawler belt motor driver 4-1 and with the crawler belt motor driven
The input terminal of crawler belt motor 4-2, the crawler belt motor driver 4-1 that device 4-1 output end connects and the output end of master controller 1
Connect.
In the present embodiment, the screw pump 18 is connect with discharging platform 23 and water inlet pipe 24, and the inlet water solenoid valve 11 is located at
On water inlet pipe 24, the flowmeter 12 is located in water inlet pipe 24, is provided with water tank 29 on the water inlet pipe 24.
In the present embodiment, the feeding assembly 22 includes charging shell and is arranged in the charging shell and conveys fire extinguishing
The screw rod 21 of agent dry material, the fire-proof motor 19 are sequentially connected by transmission chain 20 and screw rod 21.
In the present embodiment, the setting of water tank 29 is in order to store water to avoid that accident or other accidents occur because of underground not
Energy external water source is the case where mixing hopper 30 supplies water.
In the present embodiment, fire-proof motor 19 selects the electricity of 660/1140V voltage rating, power 7.5KW, revolving speed 960r/min
Machine does the processing of underground coal mine explosion-proof electric apparatus, and fire-proof motor 19 drives screw pump operating, and drives screw rod 21 by transmission chain 20
Rotation transport mixture material enters transport material platform 23.
In the present embodiment, the setting of pulp hose 27, be in order to which FREE TORSION pulp hose 27 is to adjust pulp direction, with
The demand of different slip casting positions is adapted to, in addition because pulp hose 27 has elasticity, can preferably adapt to different bored groutings
It is required that.
The setting of colloid delivery pipe 28 controls helical rotor by screw pump for the pipeline that mixtures of materials is sufficiently stirred
It drives mixtures of materials and water to be sufficiently stirred to form fire extinguishing colloid and be delivered to pulp hose 27 again with stator.
In the present embodiment, the master controller 1 be single-chip microcontroller, DSP microcontroller or ARM microcontroller, described first
It is single-chip microcontroller, DSP microcontroller or ARM microcontroller from controller 6, described second from controller 9 is that single-chip microcontroller, DSP are micro-
Controller perhaps the ARM microcontroller third from controller 14 be single-chip microcontroller, DSP microcontroller or ARM microcontroller.
In the present embodiment, further preferably, the master controller 1 be 51 single-chip microcontrollers, described first from controller 6 be 51
Single-chip microcontroller, described second from controller 9 be 51 single-chip microcontrollers, the third from controller 14 be 51 single-chip microcontrollers, it is at low cost, structure letter
It is single.In actual use, the master controller 1, first is equal from controller 9 and third from controller 14 from controller 6, second
Other kinds of microcontroller can be used.
In the present embodiment, first wireless radio frequency modules 2, the second wireless radio frequency modules 5, third less radio-frequency mould
Block 10 and the 4th wireless radio frequency modules 13 are RF-ZM-1338A wireless radio frequency modules, are because of RF-ZM-1338A less radio-frequency
Module has the characteristics that low in energy consumption, small in size, long transmission distance, strong antijamming capability, and the reliable and stable data transmission distance of quality
From remote, so as to reliably receive order, guarantee that each component actuation is accurate.
In the present embodiment, the pressure sensor 32 is ceramic-type pressure sensor.In actual use, the pressure
Other kinds of pressure sensor can be used in sensor 32.
In the present embodiment, further, the pressure sensor 32 is CCPS18 dry type ceramic capacitive pressure sensors, is
Because ceramics thermal stability property can make its operating temperature range be up to -40~125 DEG C, and have measurement high-precision,
High stability, it adapts to various adverse circumstances, resistance to frost, crystallization and viscous medium, and compact, easy to install, anticorrosive, anti-
Polishing machine and be suitble to coal mine adverse circumstances.
In the present embodiment, the flowmeter 12 is restriction flowmeter.In actual use, the flowmeter 12 can be adopted
With other kinds of pressure sensor.
In the present embodiment, it is because of YJLB that further, the flowmeter 12, which is YJLB type the Integrated Throttle Flowmeter,
The advantages that type the Integrated Throttle Flowmeter adaptability is good, movement-less part, high temperature high voltage resistant, impact resistance are unlikely to deform, and instrument
Table is not required to heat preservation, heat tracing and condenser, keeps structure more reasonable, is easily installed, greatly reduces maintenance.
In the present embodiment, the weighing sensor 8 is resistance strain weighing transducer, is because resistance-strain type is weighed
Sensor, structure is simpler, and accuracy is high, and the service life is long, it is easy to accomplish miniaturization, consequently facilitating be mounted in discharging platform 23, and
It can be used under the poor environment that compares, be adapted to coal mine bottom.
In the present embodiment, further, the laser radar is MEMS solid-state laser radar, at low cost.
In the present embodiment, further, the locating module 31 is GPS positioning module.
In the present embodiment, the crawler belt motor driver 4-1 is stepper motor driver, and the crawler belt motor 4-2 is step
It is and the error not long-term accumulation because the stride value of stepper motor is not influenced by various disturbing factors, control performance into motor
It is good.
In the present embodiment, further, the crawler belt motor driver 4-1 is stepper motor driver CW250.
As shown in figure 3, a kind of underground movable grouting method of the present invention, including
Step 1: mine map is established and the movement of crawler body mechanism:
Step 101, laser radar 17 are scanned coal mine bottom, and the laser point cloud data that will acquire is sent to master control
Device 1 processed, master controller 1 handle the laser point cloud data, obtain mine map, and master controller 1 controls LCD touch
3 pairs of mine maps of screen are shown；Locating module 31 is measured in real time the current location of crawler body mechanism 26, and
The current location for the crawler body mechanism 26 that will test is sent to master controller 1；
Step 102, staff the manual setting slip casting target point on liquid crystal touch screen 3, master controller 1 transfer shortest path
Diameter planning module, to obtain the current location of crawler body mechanism 26 on the mine map to slip casting target point most
Short path；
Step 103, the shortest path according to the current location of crawler body mechanism 26 to slip casting target point, master controller 1
Crawler belt motor 4-2 rotation is controlled by crawler belt motor driver 4-1, it is mobile that crawler belt motor 4-2 drives crawler belt 26-1, until reaching
Slip casting target point；
Step 2: the inspection and connection of slip casting mechanism:
Step 201 is initialized first from controller 6, second from controller 9 and third from controller 14, behaviour
Make first whether normal with the control signal that feeds solenoid valve 7 from the judgement of controller 6, judges weighing sensor 8 and first from control
Whether the transmission signal of device 6 processed is normal, and just whether operation second judge with the control signal of inlet water solenoid valve 11 from controller 9
Often, judge whether flowmeter 12 is normal from the transmission signal of controller 9 with second, operation third judges from controller 14 and relay
Whether the control signal of device 15 is normal, when each signal is normal, initializes successfully；
Step 202 adjusts 27 direction of pulp hose, and by the grouting piping connection of pulp hose 27 and slip casting target point,
Master controller 1 sends water inlet order by the first wireless radio frequency modules 2, and second passes through third wireless radio frequency modules from controller 9
10 receive water inlet order, and second, which controls inlet water solenoid valve 11 from controller 9, opens, and starts fire-proof motor 19 and detect fire-proof motor
19 steering meets slurrying fortune slurry and requires, and fire-proof motor 19 drives feeding assembly 22 to rotate, and completes trial operation；
Step 3: the slurrying and conveying of slip casting mechanism:
Step 301, master controller 1 is ordered by the transmission motor rotation of the first wireless radio frequency modules 2 and feed command, and first
Feed command is received by the second wireless radio frequency modules 5 from controller 6 and controls charging solenoid valve 7 and is closed, and third is from controller
14 are received by the 4th wireless radio frequency modules 13 and are closed by 15 control contactor 16 of relay, so that fire-proof motor 19 is powered
Circuit disconnects, and fire-proof motor 19 rotates, and the rotation of fire-proof motor 19 drives feeding assembly 22 to rotate, and makes to enter by feed inlet 25
Extinguishing chemical dry material is transported in mixing hopper 30 by discharging platform 23；
Step 302, the weight of 8 pairs of the weighing sensor extinguishing chemical dry materials Jing Guo discharging platform 23 are measured in real time,
And the extinguishing chemical dry material weight that will test is sent to first from controller 6, the first fire extinguishing that will be received from controller 6
Agent dry material weight is sent to master controller 1, and master controller 1 is dry according to the extinguishing chemical for first passing through the setting of liquid crystal touch screen 3 in advance
Powder material and required water flow proportionate relationship, obtain required water flow；
Obtained required water flow is sent to second from controller 9 by step 303, master controller 1, and second from controller 9
It controls inlet water solenoid valve 11 to open, the water flow detection values that flowmeter 12 is detected to by the flow of water, and be will test
It is sent to second and transfers difference comparsion device to the water flow detection values and required water received from controller 9 from controller 9, second
Flow carries out difference comparsion and obtains water flow deviation, and second adjusts inlet water solenoid valve according to water flow deviation from controller 9
11 aperture, until water flow detection values meet required water flow；
Step 304, fire-proof motor 19 drive screw pump 18 to rotate, and make extinguishing chemical dry material with water in mixing hopper 30
It is sufficiently stirred, forms fire extinguishing slurry, and the fire extinguishing slurry is sprayed into fire extinguishing slurry by colloid delivery pipe 28 and pulp hose 27
The fire extinguishing slurry of body, ejection enters slip casting target point.
In the present embodiment, the extinguishing chemical dry material is loess, shale, spoil, flyash or tailing, the fire extinguishing
The granularity of agent dry material is 0.1mm~1mm, guarantees the viscosity requirement of manufactured fire extinguishing slurry, preferably prevents going out for coal mine
Fire.
In the present embodiment, setting master controller 1 and charging monitoring module, water inletting monitoring module and motor power control module
It is twireless radio-frequency communication, so that charging monitoring module, water inletting monitoring module and motor power control module are laid conveniently, avoids
The complexity of wired connection.
In the present embodiment, setting charging monitoring module and water inletting monitoring module realize the monitoring to charging and water inlet, from
And extinguishing chemical dry material and required water flow is made to meet the proportionate relationship of setting, it is ensured that the concentration and quality of slurry are kept away
Exempt from worker usually with feel control inflow.
In the present embodiment, on the one hand trial operation in step 202 is because checking whether are fire-proof motor 19 and feeding assembly 22
Can work normally, and water flowing during trial operation, thus check water inlet pipe whether leak, guarantee that pulping mechanism can normal work
Make, avoiding pulping mechanism, there are failures；Still further aspect water flowing trial operation and do not lead to extinguishing chemical dry material, be in order to reduce examination
The cost of operation；In addition consider to be passed through water and clean pulping mechanism, avoid in mixture residual slurry to manufactured fire extinguishing
The influence of slurry guarantees fire extinguishing slurry quality.
In the present embodiment, the extinguishing chemical dry material weight received is sent to master from controller 6 by first in step 302
When controller 1, when the extinguishing chemical dry material weight that master controller 1 receives is zero, master controller 1 controls alarm 33 and reports
It is alert, meanwhile, master controller 1, which by the first wireless radio frequency modules 2 sends motor, ceases and desist order and stops intaking and order, and second from control
Device 9 processed controls inlet water solenoid valve 11 and disconnects, and third is received by the 4th wireless radio frequency modules 13 from controller 14 and passes through relay
15 control contactor 16 of device disconnects, so that 19 current supply circuit of fire-proof motor disconnects, fire-proof motor 19 stops operating.
In the present embodiment, the water flow detection values received are sent to master controller from controller 9 by second in step 303
1, when the water flow detection values that master controller 1 receives are zero, master controller 1 controls alarm 33 and alarms, meanwhile, main control
Device 1 sends motor by the first wireless radio frequency modules 2 and ceases and desist order and stops feed command, and first from the control of controller 6
It feeds solenoid valve 7 to disconnect, third is received by the 4th wireless radio frequency modules 13 from controller 14 and connect by the control of relay 15
Tentaculum 16 disconnects, so that 19 current supply circuit of fire-proof motor disconnects, fire-proof motor 19 stops operating.
In the present embodiment, in step 304 during slurry is put out a fire in spray, pressure sensor 32 goes out to pulp hose 27
The grout outlet pressure that the pressure of mouth is detected, and will test is sent to master controller 1, and master controller 1 goes out what is received
Slurry mouth pressure is compared with preset pressure set points, when the grout outlet pressure that pressure sensor 32 detects is greater than in advance
When the pressure set points first set, master controller 1 controls alarm 33 and alarms.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (7)
1. a kind of underground movable grouting method, the device that this method uses includes crawler body mechanism (26), is arranged in institute
It states the slip casting mechanism on crawler body mechanism (26) and the crawler body mechanism (26) is monitored with the slip casting mechanism
Monitoring module, the slip casting mechanism includes feeding structure and pulping mechanism, and the crawler body mechanism (26) includes chassis
The track drive mould of (26-2), the crawler belt (26-1) being mounted on the chassis (26-2) and driving crawler belt (26-1) rotation
Block, the pulping mechanism include mixing hopper (30), the screw pump (18) for protruding into mixing hopper (30) and driving screw pump (18)
Slurry and the fire-proof motor (19) with feeding structure transmission connection is made in rotation, and the feeding structure includes for mixing hopper
(30) feed inlet (25) and setting of the feeding assembly (22) of feeding, setting on the feeding assembly (22) are in feeding assembly
(22) discharging platform (23) on, the fire-proof motor (19) and feeding assembly (22) are sequentially connected, mixing hopper (30)
Bottom is provided with colloid delivery pipe (28), is provided with pulp hose (27) on the colloid delivery pipe (28)；
The monitoring module include master controller (1), charging monitoring module, water inletting monitoring module and motor power control module with
And the first wireless radio frequency modules (2) and liquid crystal touch screen (3) connecting with master controller (1), the charging monitoring module include
First from controller (6) and the second wireless radio frequency modules (5) to connect with first from controller (6), and described first from control
The input of device (6) is terminated with weighing sensor (8), and described first is terminated with charging solenoid valve (7) from the output of controller (6),
The water inletting monitoring module includes second from controller (9) and the third less radio-frequency mould to connect with second from controller (9)
Block (10), described second is terminated with flowmeter (12) from the input of controller (9), and described second from the output ends of controller (9)
Be connected to inlet water solenoid valve (11), the motor power control module include third from controller (14) and and third from controller
(14) the 4th wireless radio frequency modules (13) to connect, the third are terminated with relay (15) and right from the output of controller (14)
Fire-proof motor (19) current supply circuit carries out the contactor (16) for controlling and connecting with relay (15) output end, the weighing and sensing
Device (8) is arranged on discharging platform (23), and the input of the master controller (1) is terminated with laser radar (17), and described first is wireless
Radio-frequency module (2) and the second wireless radio frequency modules (5), third wireless radio frequency modules (10) and the 4th wireless radio frequency modules (13) into
Row data radio communication, the input of the master controller (1) be terminated with the locating module (31) being mounted on chassis (26-2) and
It is mounted on the pressure sensor (32) of pulp hose (27) outlet, the output of the master controller (1) is terminated with alarm (33),
It is characterized in that, method includes the following steps:
Step 1: mine map is established and the movement of crawler body mechanism:
Step 101, laser radar (17) are scanned coal mine bottom, and the laser point cloud data that will acquire is sent to main control
Device (1), master controller (1) handle the laser point cloud data, obtain mine map, and master controller (1) controls liquid crystal
Touch screen (3) shows the mine map；Locating module (31) carries out the current location of crawler body mechanism (26)
Real-time detection, and the current location for the crawler body mechanism (26) that will test is sent to master controller (1)；
Step 102, staff the manual setting slip casting target point on liquid crystal touch screen (3), master controller (1) transfer shortest path
Diameter planning module, to obtain the current location of crawler body mechanism (26) on the mine map to slip casting target point
Shortest path；
Step 103, the shortest path according to the current location of crawler body mechanism (26) to slip casting target point, master controller (1)
By crawler belt motor driver (4-1) control crawler belt motor (4-2) rotation, crawler belt motor (4-2) drives crawler belt (26-1) mobile,
Until reaching slip casting target point；
Step 2: the inspection and connection of slip casting mechanism:
Step 201 is initialized first from controller (6), second from controller (9) and third from controller (14),
Operation first from controller (6) judge with feed solenoid valve (7) control signal it is whether normal, judge weighing sensor (8) and
Whether first is normal from the transmission signal of controller (6), control of the operation second from controller (9) judgement and inlet water solenoid valve (11)
Whether signal processed is normal, judges whether flowmeter (12) is normal from the transmission signal of controller (9) with second, operates third from control
Whether device (14) processed judgement is normal with the control signal of relay (15), when each signal is normal, initializes successfully；
Step 202 adjusts pulp hose (27) direction, and by the grouting piping connection of pulp hose (27) and slip casting target point,
Master controller (1) sends water inlet order by the first wireless radio frequency modules (2), and second is wirelessly penetrated from controller (9) by third
Frequency module (10) receives water inlet order, and second opens from controller (9) control inlet water solenoid valve (11), and starts fire-proof motor
(19) steering for detecting fire-proof motor (19) meets slurrying fortune slurry and requires, and fire-proof motor (19) drives feeding assembly (22) rotation,
Complete trial operation；
Step 3: the slurrying and conveying of slip casting mechanism:
Step 301, master controller (1) is ordered by the first wireless radio frequency modules (2) transmission motor rotation and feed command, and first
From controller (6) by the second wireless radio frequency modules (5) receive feed command and control charging solenoid valve (7) be closed, third from
Controller (14) is received by the 4th wireless radio frequency modules (13) and is closed by relay (15) control contactor (16), so that
Fire-proof motor (19) current supply circuit disconnects, and fire-proof motor (19) rotation, fire-proof motor (19) rotation drives feeding assembly (22) to turn
It is dynamic, it is transported to the extinguishing chemical dry material entered by feed inlet (25) in mixing hopper (30) by discharging platform (23)；
Step 302, weighing sensor (8) are measured in real time the weight of the extinguishing chemical dry material by discharging platform (23),
And the extinguishing chemical dry material weight that will test is sent to first from controller (6), first from controller (6) by what is received
Extinguishing chemical dry material weight is sent to master controller (1), and master controller (1) first passes through liquid crystal touch screen (3) setting according to pre-
Extinguishing chemical dry material and required water flow proportionate relationship, obtain required water flow；
Obtained required water flow is sent to second from controller (9) by step 303, master controller (1), and second from controller
(9) control inlet water solenoid valve (11) is opened, the water flow that flowmeter (12) is detected to by the flow of water, and be will test
Detected value is sent to second from controller (9), and second, which transfers difference comparsion device from controller (9), detects the water flow received
Value and required water flow carry out difference comparsion and obtain water flow deviation, second from controller (9) according to water flow deviation tune
The aperture of inlet water solenoid valve (11) is saved, until water flow detection values meet required water flow；
Step 304, fire-proof motor (19) drive screw pump (18) rotation, and extinguishing chemical dry material is made to mix hopper (30) with water
In be sufficiently stirred, formed fire extinguishing slurry, and by the fire extinguishing slurry by colloid delivery pipe (28) and pulp hose (27) ejection,
The fire extinguishing slurry of ejection enters slip casting target point.
2. a kind of underground movable grouting method described in accordance with the claim 1, it is characterised in that: the track drive module
Including crawler belt motor driver (4-1) and the crawler belt motor (4-2) to connect with crawler belt motor driver (4-1) output end,
The input terminal of the crawler belt motor driver (4-1) connects with the output end of master controller (1).
3. a kind of underground movable grouting method described in accordance with the claim 1, it is characterised in that: the mixing hopper (30)
It is connect with discharging platform (23) and water inlet pipe (24), the inlet water solenoid valve (11) is located on water inlet pipe (24), the flowmeter
(12) it is located in water inlet pipe (24), is provided with water tank (29) on the water inlet pipe (24).
4. a kind of underground movable grouting method described in accordance with the claim 1, it is characterised in that: the feeding assembly (22)
Including charging shell and be arranged in it is described charging shell in and conveying extinguishing agent dry material screw rod (21), the anti-explosion electric
Machine (19) is sequentially connected by transmission chain (20) and screw rod (21).
5. a kind of underground movable grouting method described in accordance with the claim 1, it is characterised in that: in step 302 first from
When the extinguishing chemical dry material weight received is sent to master controller (1) by controller (6), when master controller (1) receives
Extinguishing chemical dry material weight when being zero, master controller (1) controls alarm (33) alarm, meanwhile, master controller (1) passes through
First wireless radio frequency modules (2) transmission motor ceases and desist order and stops intaking and orders, and second controls water inlet electromagnetism from controller (9)
Valve (11) disconnects, and third is received by the 4th wireless radio frequency modules (13) from controller (14) and connect by relay (15) control
Tentaculum (16) disconnects, so that fire-proof motor (19) current supply circuit disconnects, fire-proof motor (19) stops operating.
6. a kind of underground movable grouting method described in accordance with the claim 1, it is characterised in that: in step 303 second from
The water flow detection values received are sent to master controller (1) by controller (9), when the water flow that master controller (1) receives
When detected value is zero, master controller (1) controls alarm (33) alarm, meanwhile, master controller (1) passes through the first less radio-frequency mould
Block (2) sends motor and ceases and desist order and stops feed command, and first controls charging solenoid valve (7) disconnection, third from controller (6)
It is received from controller (14) by the 4th wireless radio frequency modules (13) and is disconnected by relay (15) control contactor (16), made
It obtains fire-proof motor (19) current supply circuit to disconnect, fire-proof motor (19) stops operating.
7. a kind of underground movable grouting method described in accordance with the claim 1, it is characterised in that: go out in step 304 in spray
During fiery slurry, pressure sensor (32) detects the pressure of the outlet of pulp hose (27), and will test
Grout outlet pressure is sent to master controller (1), and master controller (1) sets the grout outlet pressure received with preset pressure
Definite value is compared, main when the grout outlet pressure that pressure sensor (32) detects is greater than preset pressure set points
Controller (1) controls alarm (33) alarm.
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| CN201810484125.4A CN108716421B (en) | 2018-05-19 | 2018-05-19 | A kind of underground movable grouting method |
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| CN201810484125.4A CN108716421B (en) | 2018-05-19 | 2018-05-19 | A kind of underground movable grouting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109990840A (en) * | 2019-04-22 | 2019-07-09 | 镇江宝城注浆设备有限公司 | A kind of Portable slurries monitoring device |
| CN112627876B (en) * | 2020-12-17 | 2022-09-30 | 滨州学院 | Intelligent fire prevention and extinguishing integrated grouting device and method for coal mine |
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