CN108748983A - A kind of underground sequestration space structure seals system up for safekeeping - Google Patents
A kind of underground sequestration space structure seals system up for safekeeping Download PDFInfo
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- CN108748983A CN108748983A CN201810400909.4A CN201810400909A CN108748983A CN 108748983 A CN108748983 A CN 108748983A CN 201810400909 A CN201810400909 A CN 201810400909A CN 108748983 A CN108748983 A CN 108748983A
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- printing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/141—Processes of additive manufacturing using only solid materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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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
- B33Y10/00—Processes of 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
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underground sequestration space structures to seal system, including sniffing robot unit, 3D printing robot cell, the transport robot that holds account property unit and concentration electronic control unit up for safekeeping.Underground cavity three-dimensional space model is built after sniffing robot unit is completed to the scanning of underground cavity, central control computer generates underground sequestration space three-dimensional model according to Stress calculation analysis result and the fitting of the safety coefficient of input, printing path, seal transportation route up for safekeeping, 3D printing robot cell, the entity of direct 3D printing underground sequestration space three-dimensional model inside underground cavity, the movement of article to be sealed up for safekeeping successively coordinate is transported to the setting coordinate position inside underground sequestration spatial entities by the transport robot that holds account property unit, the intelligent automatic structure in underground sequestration space can be achieved, the intelligent automatic transhipment for sealing article up for safekeeping is sealed up for safekeeping, especially suitable for the carbon sequestration operation based on underground cavity.
Description
Technical field
The present invention relates to a kind of structures in underground sequestration space to seal system up for safekeeping, specifically a kind of based on such as underground coal mine coal
Underground cavity that the artificial ground activity such as large area coal seam burned out area formed in goaf, Underground Coal Gasification Process generates or
A series of underground sequestration space structure of the nature underground cavity such as cavities that the natural geological movement of person generates under earth's surface, which is sealed up for safekeeping, is
System, belongs to underground engineering technical field.
Background technology
The underground space refers to belonging to earth's surface hereinafter, mainly for a noun for building aspect, its range is very wide,
Such as the spaces such as underground commercial center, underground parking, subway, the tunnels Chuan Hai.The utilization of the underground space are urban developments
To the product of certain phase, urbanization accelerated development makes Urban Underground Space Excavation utilizes to synchronize to accelerate development as inevitable.
The existing underground space development in China is mostly developed and utilized for underground shallow layer part, such as underground traffic
The facilities such as facility, underground commerce facility, underground garage, Comprehensive Disaster Prevention for Cities facility, and with one line urban underground space of China
Utilization, underground shallow layer part will utilize finish, underground space development will be gradually to Deep Development, Deep underground space
The utilization of resource have become the major subjects of future city modernization construction.The exploitation of Deep underground space resource can also answer
For the military engineerings and oil cellar etc. such as underground military commanding center, military materials deposit undergrounds storage engineering, it might even be possible to
Especially it is to slow down greenhouse gas emission and the global gas of protection in recent years for sealing up for safekeeping such as nuke rubbish, heavy metal waste and other items
Wait and propose " carbon dioxide is directly discharged into air to replace in a manner of capturing carbon and secure storage " carbon sequestration skill
Art, the amount of storage of Deep underground space is big, stable quality, safeguards that the features such as being easy can provide for carbon sequestration and excellent seals field up for safekeeping
Institute.
Underground cavity refers to the space that earth's surface or less is covered by rock stratum, generally refer to space it is larger, be located at earth's surface below
The underground cavity pocket of deep layer.Artificial ground activity underground mining such as in coal mining accounts for the 60% of world's coal production, and underground
The coal goaf that large area is often left after the completion of the exploitations such as underground coal or gangue is formed into underground sky in recovery process
Hole；In addition, coal underground gasification technology can not only recycle the coal resources of mine abandonment, but also it can be also used for recovery well work
It is difficult to exploit or exploit the poor girdle of economy, safety, deep fractures, " under three " press coal and high-sulfur, high ash, high methane
Coal seam, although the lime-ash after underground coal gasification(UCG) burning stays in underground, the big face that can be also formed in Underground Coal Gasification Process
Product coal seam burned out area underground cavity；In addition, natural geological movement also will produce a series of underground cavities under earth's surface.
Although underground cavity can be as the exploitation basis of Deep underground space, the exploitation of traditional Deep underground space
Different from the exploitation of Subsurface, Deep underground space exploitation is equally first opened in earth's surface without the exploitation of image of Buddha Subsurface
It digs foundation pit, construct in foundation pit again, the exploitation of traditional Deep underground space is normally based on BIM technology and deep excavation dress
On the basis of standby and technology, typically first carry out excavating and after supporting using such as prefabricated reinforced concrete column foundation, prefabricated
The PC such as exterior wall, precast floor slab components carry out lifting concatenation construction process, then carry out pressure grouting and cast-in-place node processing etc. subsequently
Working procedure.On the one hand, the larger conveying of space hold is usually required in traditional Deep underground space exploitation work progress to set
Standby, support apparatus and lifting equipment, it usually needs expend a large amount of manpower and materials, Deep underground space development cost is larger；It is another
Aspect, Deep underground space virgin state of stress of Deep underground space after excavation is usually destroyed, to cause stress weight
It is new to be distributed, in Deep underground space work progress under the action of the factors such as burden pressure and underground water, Deep underground space pole
Such as wall caving, roof fall, gushing water, rock burst, the geological disaster of bump diversified forms easily occurs, construction environment is severe and constructs
Operational security is poor；In another aspect, the existing Deep underground space built up only is by deep layer as sealing up for safekeeping when place uses
The underground space is used simply as storage space, i.e., is placed into the container direct code that holds account property sealed up for safekeeping, space
Utilization rate is restricted by the container that holds account property.
Invention content
In view of the above-mentioned problems, the present invention, which provides a kind of underground sequestration space structure, seals system up for safekeeping, high degree of automation can be with
Deeper subsurface of the realization based on underground cavity seals space up for safekeeping under the premise of realizing to underground cavity inside progress effective support
Structure realizes that reduce development cost, reduce construction safety hidden danger while can realize the intelligent automatic structure in underground sequestration space
The intelligent automatic transhipment for building, sealing up for safekeeping article is sealed up for safekeeping, especially suitable for the carbon sequestration operation based on underground cavity.
To achieve the above object, structure system in underground sequestration space includes sniffing robot unit, 3D printing robot list
Member and concentration electronic control unit；
The sniffing robot unit includes full landform walking chassis, detection mechanical arm and controlled vehicle-mounted electrical device；Quan Di
Shape walking chassis is arranged in the bottom of sniffing robot unit, and full landform walking chassis includes automatically controlled driving mechanism and course changing control
Mechanism；The bottom end for detecting mechanical arm is mounted in full landform walking chassis, and the top for detecting mechanical arm is equipped with detection device, detection
Device includes detecting head, and detecting head includes range sensor, scanner, gyroscope, the driving of detecting head angle&orientation control, detection
Head angle&orientation control driving include at least along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism and
It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction；Controlled vehicle-mounted electrical device is fixedly mounted on entirely
In shape walking chassis, controlled vehicle-mounted electrical device includes industrial control computer, sniffing robot travelling control circuit, detecting head detection
Angle control loop, industrial control computer are electric with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively
Connection, industrial control computer are electrically connected with the driving of the detecting head angle&orientation control of detecting head；
The 3D printing robot cell includes full landform walking chassis, print machinery arm, printed material input unit
With printing electric control gear；Full landform walking chassis is arranged in the bottom of 3D printing robot cell, and full landform walking chassis includes
Automatically controlled driving mechanism and course changing control mechanism；Print machinery arm is mounted in full landform walking chassis, and print machinery arm includes beating
Mechanical arm driving is printed, the driving of print machinery arm includes at least the X-coordinate driving of control print machinery arm left and right horizontal direction movement
Mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm vertical direction movement
Z coordinate driving mechanism, the minor details of print machinery arm are equipped with 3D printing device, and 3D printing device includes 3D printing nozzle；It beats
Print material input includes that printed material is pumped into mechanism, and printed material is pumped into the input terminal and printed material supply son list of mechanism
First connection, printed material supply subelement and supply printed material, and printed material is pumped into the output end of mechanism and 3D printing nozzle leads to
Cross the connection of printed material output pipe；Printing electric control gear is fixedly mounted in full landform walking chassis, prints electric control gear packet
Include industrial control computer, 3D printing robot travelling control circuit, 3D printing nozzle position control loop, printed material are pumped into
Mechanism controls circuit, industrial control computer are electric with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively
Connection, industrial control computer are pumped into mechanism and are electrically connected with the driving of print machinery arm, printed material respectively；
The transport robot unit that holds account property includes walking chassis, workbench, transhipment mechanical arm and transhipment electricity
Control device；Walking chassis includes automatically controlled driving mechanism and course changing control mechanism；Workbench is mounted in walking chassis；Conveyance
Tool arm is mounted on workbench, and transhipment mechanical arm includes transhipment mechanical arm driving, and transhipment mechanical arm driving includes at least control
The Y of the X-coordinate driving mechanism, the direction movement of control transhipment mechanical arm anterior-posterior horizontal of transporting the movement of mechanical arm left and right horizontal direction is sat
Driving mechanism, the Z coordinate driving mechanism of control transhipment mechanical arm vertical direction movement are marked, the minor details for transporting mechanical arm are equipped with machinery
Hand；Transhipment electric control gear is fixedly mounted on workbench, and transhipment electric control gear includes industrial control computer, holding account property turns
Transport robot ambulation control loop, transhipment mechanical arm control loop, industrial control computer respectively with the automatically controlled drive of walking chassis
Motivation structure and the electrical connection of course changing control mechanism, industrial control computer are electrically connected with transhipment mechanical arm driving；
The concentration electronic control unit includes central control computer, detection control loop, data modeling circuit, explorer
Device people's position feedback corrective loop, 3D printing control loop, hold account property transhipment control loop, central control computer respectively with
The range sensor of detecting head, scanner, gyroscope electrical connection, the central control computer industry with controlled vehicle-mounted electrical device respectively
Control computer, the industrial control computer for printing electric control gear, the transport robot that holds account property unit transport electric control gear
Industrial control computer is electrically connected.
Scheme as a further improvement on the present invention, printed material include using carbon dioxide gas as the foam of filling gas
Geopolymer, using carbon dioxide gas as the foam geopolymer of filling gas include slag micropowder, solid slag micro mist, alkali swash
Send out agent, carbon dioxide foaming filling gas, foaming agent, accelerator.
Scheme as a further improvement on the present invention, the transport robot that holds account property unit are with 3D printing robot cell
The same robot cell, the printer of the transhipment mechanical arm and 3D printing robot cell of the transport robot that holds account property unit
Tool arm is the same mechanical arm；The manipulator of transhipment mechanical arm is the 3D printing device of print machinery arm.
The transhipment mechanical arm of scheme as a further improvement on the present invention, the transport robot unit that holds account property drives
Dynamic to further include along left and right horizontal direction the be A coordinates rotary drive mechanism of central axes moving in rotation or in anterior-posterior horizontal direction is
The B coordinates rotary drive mechanism of axis moving in rotation and vertically be central axes moving in rotation C coordinate rotary driving machines
Structure.
Scheme as a further improvement on the present invention, the transport robot that holds account property unit are transported in the minor details of mechanical arm
Be additionally provided with pattern-recognition sensor, it further includes that corrective loop is piled up in transhipment crawl to concentrate electronic control unit, central control computer with
Pattern-recognition sensor electrical connection in the minor details of the transhipment mechanical arm of the transport robot that holds account property unit.
Scheme as a further improvement on the present invention, the detection mechanical arm that underground sequestration space structure seals system up for safekeeping include visiting
Mechanical arm driving is surveyed, detection mechanical arm driving includes at least the X-coordinate driving of control detection mechanical arm left and right horizontal direction movement
Mechanism or the Y coordinate driving mechanism or control detection mechanical arm vertical direction of the direction movement of control detection mechanical arm anterior-posterior horizontal
Mobile Z coordinate driving mechanism；Controlled vehicle-mounted electrical device further includes detection mechanical arm control loop, the industry control of controlled vehicle-mounted electrical device
Computer processed is electrically connected with the detection mechanical arm driving of detection mechanical arm；It further includes that sweep span controls back to concentrate electronic control unit
Road.
Scheme as a further improvement on the present invention, underground sequestration space structure seal the print machinery arm driving of system up for safekeeping also
To include along left and right horizontal direction be the A coordinates rotary drive mechanism of central axes moving in rotation or is central axes along anterior-posterior horizontal direction
The B coordinate rotary drive mechanisms of moving in rotation, or further include being revolved for the A coordinates of central axes moving in rotation along left and right horizontal direction
Turn driving mechanism and the B coordinate rotary drive mechanisms along anterior-posterior horizontal direction for central axes moving in rotation.
Scheme as a further improvement on the present invention, underground sequestration space structure is sealed up for safekeeping to be additionally provided on the printing head of system
Pattern-recognition sensor, it further includes 3D printing entity corrective loop, central control computer and printing head to concentrate electronic control unit
On pattern-recognition sensor electrical connection.
Scheme as a further improvement on the present invention, concentrate the central control computer of electronic control unit respectively with controlled vehicle-mounted electrical
The industrial control computer of device, the industrial control computer for printing electric control gear, the transhipment of the transport robot that holds account property unit
The industrial control computer radio connection of electric control gear.
Scheme as a further improvement on the present invention, the printed material include building stones waste powder；Printed material
It supplies subelement to be arranged in underground passage, printed material supplies subelement and concentrates the central control computer electricity of electronic control unit
Connection, it includes raw material device for formulating that printed material, which supplies subelement, and raw material device for formulating includes crusher.
Compared with prior art, this underground sequestration space structure seals system up for safekeeping due to including that sniffing robot unit, 3D are beaten
It prints robot cell, the transport robot that holds account property unit and concentrates electronic control unit, completed to underground in sniffing robot unit
Underground cavity three-dimensional space model is built after the scanning in cavity, concentrates the central control computer of electronic control unit according to the ground of input
The lower cavity underground cavities peripheral environment geologic data such as geographic position data and country rock data is to underground cavity three-dimensional space model
It is external carry out Stress calculation analysis, first in underground cavity three-dimensional space model based on underground cavity three-dimensional space model
Interior surface fitting structure surface supporting layer model, then on the basis of the supporting layer model of surface further according to Stress calculation analyze
As a result quasi- in the stress concentration point position of corresponding underground cavity three-dimensional space model interior surface successively with the safety coefficient of input
Structure cylindricality model for anchor is closed, structure connection is then fitted according to the space layout of underground cavity on the basis of cylindricality model for anchor
Wall model between cylindricality model for anchor, the underground sequestration space three-dimensional model of final fitting generation compartment structure, and according to
It is secondary with reference coordinates origin planning and storage surface supporting layer model, cylindricality model for anchor, wall model printing path and beat
Reference coordinate is printed, 3D printing robot cell can beat direct 3D according to printing path and printing reference coordinate inside underground cavity
Print the entity of underground sequestration space three-dimensional model, the transport robot that finally holds account property unit transportation route and is sealed up for safekeeping according to sealing up for safekeeping
The movement of article to be sealed up for safekeeping successively coordinate is transported to the setting coordinate position inside underground sequestration spatial entities by transport reference coordinate
, empty according to underground cavity Stress calculation analysis result and the underground sequestration of input safety coefficient and the direct printing shapings of 3D
Between threedimensional model entity be have specific aim supporting entity build, supporting intensity can be fully met；Direct 3D printing is molding
Mode can save a large amount of manpower and materials, not need the larger conveying equipment of space hold, support apparatus and lifting equipment, drop
The cost of low Deep underground space exploitation, and there is higher construction efficiency；Simultaneously because construction operation does not need personnel's entrance
Underground cavity, and first print surface supporting layer model during physical print, cylindricality model for anchor, while cylindricality supporting are printed again
The printing of model is the sequence according to stress concentration from large to small, therefore realizes the molding of specific aim sequential entity, working security
It is higher；Since sniffing robot unit, 3D printing robot cell and the transport robot unit that holds account property are that computer is automatic
The intelligent automatic control changed control unit, therefore underground sequestration space structure may be implemented, seal article transhipment up for safekeeping, it is particularly suitable
In the carbon sequestration operation based on underground cavity.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the underground cavity structural schematic diagram carried out using the present invention before the structure of underground sequestration space；
Fig. 3 is the structural schematic diagram after the structure of underground sequestration space；
Fig. 4 is structural schematic diagram when carrying out underground sequestration using the present invention.
In figure：1, sniffing robot unit, 11, detection mechanical arm, 12, controlled vehicle-mounted electrical device, 13, detecting head, 2,3D beats
Print robot cell, 21, print machinery arm, 22, printed material input unit, 23, printing electric control gear, 24,3D printing nozzle,
3, the transport robot that holds account property unit, 4, concentrate electronic control unit.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the underground sequestration space structure system of sealing up for safekeeping includes sniffing robot unit 1,3D printing robot list
Member 2, the transport robot that holds account property unit 3 and concentration electronic control unit 4.
The sniffing robot unit 1 includes full landform walking chassis, detection mechanical arm 11 and controlled vehicle-mounted electrical device 12；
Full landform walking chassis is arranged in the bottom of sniffing robot unit 1, and full landform walking chassis includes automatically controlled driving mechanism and turns
To control mechanism；The bottom end for detecting mechanical arm 11 is mounted in full landform walking chassis, and the top of detection mechanical arm 11, which is equipped with, to be visited
Device is surveyed, detection device includes detecting head 13, and detecting head 13 is fixed including range sensor, scanner, gyroscope, detecting head angle
Position controls driving, and the driving of detecting head angle&orientation control is including at least the A seats for along left and right horizontal direction being central axes moving in rotation
Mark rotary drive mechanism and the B coordinate rotary drive mechanisms along anterior-posterior horizontal direction for central axes moving in rotation；Controlled vehicle-mounted electrical fills
It sets 12 to be fixedly mounted in full landform walking chassis, controlled vehicle-mounted electrical device 12 includes industrial control computer, sniffing robot row
Walk control loop, detecting head detection angle control loop, the industrial control computer automatically controlled drive with full landform walking chassis respectively
Motivation structure and the electrical connection of course changing control mechanism, the detecting head angle&orientation control driving electricity of industrial control computer and detecting head 13
Connection.
The 3D printing robot cell 2 includes full landform walking chassis, print machinery arm 21, printed material input dress
Set 22 and printing electric control gear 23；Full landform walking chassis is arranged at the bottom of 3D printing robot cell 2, full landform walking bottom
Disk includes automatically controlled driving mechanism and course changing control mechanism；Print machinery arm 21 is mounted in full landform walking chassis, print machinery
Arm 21 drives including print machinery arm, and the driving of print machinery arm includes at least the movement of control print machinery arm left and right horizontal direction
X-coordinate driving mechanism, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control print machinery arm are perpendicular
Histogram is equipped with 3D printing device to mobile Z coordinate driving mechanism, the minor details of print machinery arm 21, and 3D printing device includes 3D
Printing head 24；Printed material input unit 22 is pumped into mechanism including printed material, printed material be pumped into the input terminal of mechanism with
Printed material supplies subelement connection, and printed material is pumped into the output end of mechanism and 3D printing nozzle 24 is exported by printed material
Piping connection；Printing electric control gear 23 is fixedly mounted in full landform walking chassis, and printing electric control gear 23 includes Industry Control
Computer, 3D printing robot travelling control circuit, 3D printing nozzle position control loop, printed material are pumped into mechanism controls and return
Road, industrial control computer are electrically connected with the automatically controlled driving mechanism of full landform walking chassis and course changing control mechanism respectively, industry
Control computer is pumped into mechanism and is electrically connected with the driving of print machinery arm, printed material respectively；Printed material supplies subelement supply
Printed material, printed material include to be with carbon dioxide gas using carbon dioxide gas as the foam geopolymer of filling gas
The foam geopolymer of filling gas includes slag micropowder, solid slag micro mist, alkali-activator, carbon dioxide foaming filling gas
Body, foaming agent, accelerator.Can not only carburizing reagent be utilized to inhale using carbon dioxide gas as the foam geopolymer of filling gas
Carbon dioxide is received, greatly improves foam geopolymer intensity, and the pore structure of foam geopolymer is closed sphere, it can be with
Carbon dioxide gas is effectively sealed up, even if the carbon dioxide gas physical efficiency for extending the absorption that is not carbonized in time at any time
It is enough slowly to be overflowed from foam geopolymer, but the carbon dioxide gas overflowed can also be fully absorbed by earth's crust neutral and alkali substance,
To realize to carbon dioxide gas it is of short duration seal up for safekeeping with it is permanent cured, to reach the utilization of carbon dioxide, seal up for safekeeping and mineralising
Effective unification.
The transport robot unit 3 that holds account property includes walking chassis, workbench, transhipment mechanical arm and transhipment electricity
Control device；Walking chassis includes automatically controlled driving mechanism and course changing control mechanism；Workbench is mounted on walking by pivoting support
On chassis；It transports mechanical arm to be mounted on workbench, transhipment mechanical arm includes transhipment mechanical arm driving, transhipment mechanical arm driving
X-coordinate driving mechanism, control transhipment mechanical arm anterior-posterior horizontal including at least the direction movement of control transhipment mechanical arm left and right horizontal
The Y coordinate driving mechanism of direction movement, the Z coordinate driving mechanism of control transhipment mechanical arm vertical direction movement, transport mechanical arm
Minor details be equipped with manipulator；Transhipment electric control gear is fixedly mounted on workbench, and transhipment electric control gear includes Industry Control meter
Calculation machine, the transport robot that holds account property travelling control circuit, transhipment mechanical arm control loop, industrial control computer respectively with row
Automatically controlled driving mechanism and the electrical connection of course changing control mechanism on chassis are walked, industrial control computer is electrically connected with transhipment mechanical arm driving
It connects.
The concentration electronic control unit 4 includes central control computer, detection control loop, data modeling circuit, detection
Robot position feedback corrective loop, 3D printing control loop, hold account property transhipment control loop, central control computer difference
Be electrically connected with the range sensor of detecting head 13, scanner, gyroscope, central control computer respectively with controlled vehicle-mounted electrical device 12
Industrial control computer, print electric control gear 23 industrial control computer, the transport robot that holds account property unit 3 transport electricity
Control the industrial control computer electrical connection of device.
This underground sequestration space structure seals system up for safekeeping before use, for the underground cavity that natural geological movement generates, and leads to
After crossing the Position Approximate of geologic radar detection underground cavity, ensure driving breakthrough point near pristine formation supporting intensity compared with
Suitable driving breakthrough point is selected under the premise of big, and the lane penetrated through with underground cavity is tunneled out through tunneling breakthrough point by development machine
Road simultaneously carries out effective support to the tunnel.And it is directed to the artificial rock such as coal mine gob underground cavity or coal seam burned out area underground cavity
The underground cavity that native activity is formed, since the underground cavity that artificial ground activity is formed all has the lane penetrated through with underground cavity
Road, therefore can be omitted the step.
By taking coal mine gob as an example, as shown in Fig. 2, by sniffing robot unit 1 and 3D printing robot cell 2 be placed in
In the tunnel of coal mine gob connection, the control detection of electronic control unit 4 control loop, sniffing robot position feedback is then concentrated to repair
Positive circuit, data modeling loop starts, central control computer sends out instruction first makes the detection of controlled vehicle-mounted electrical device 12
Head detection angle control loop is started to work, the detecting head of the industrial control computer control detecting head 13 of controlled vehicle-mounted electrical device 12
Angle&orientation control drive actions make the scanner of detecting head 13 be rotated into row within the scope of 360 ° in the basic point plane of scanning motion with first
Beginning position is the basic point flat scanning of reference coordinates origin, and the scanner of detecting head 13 simultaneously sends out the basic point flat scanning data
It send the scanner coordinate position data of reference coordinates origin position to the gyroscope of central control computer while detecting head 13
It is sent to central control computer, central control computer is by the scanning of basic point flat scanning data and reference coordinates origin position
Instrument coordinate position data is stored；
Then central control computer, which sends out instruction, makes the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device 12 open
Beginning work, the electricity of the full landform walking chassis of the industrial control computer control sniffing robot unit 1 of controlled vehicle-mounted electrical device 12
It is reference coordinates origin to coal that control driving mechanism and course changing control mechanism action, which keep sniffing robot unit 1 whole using initial position,
Ore goaf one setting step pitch of intrinsic coordinates movement stepping simultaneously stops, and then the gyroscope of detecting head 13 is first by the stepping position
The scanner coordinate position data set is sent to central control computer, will while then central control computer is stored
The scanner coordinate position data of the gyroscope feedback of the stepping position is by the scanner coordinate bit with reference coordinates origin position
It sets data and is compared, calculates the scanner coordinate position of the stepping position and the scanner coordinate bit of reference coordinates origin position
Grid deviation between setting and storage, then central control computer sends out instruction according to the grid deviation makes controlled vehicle-mounted electrical device
Task, the industrial control computer of controlled vehicle-mounted electrical device 12 control detecting head 13 to 12 detecting head detection angle control loop again
Detecting head angle&orientation control drive actions make the stepping position detecting head 13 rotate and position sweeping to the stepping position
The plane of scanning motion for retouching instrument is parallel to the position of the basic point plane of scanning motion, then the industrial control computer control of controlled vehicle-mounted electrical device 12
The detecting head angle&orientation control drive actions of detecting head 13 make scanner 360 ° of range inward turnings in the revised plane of scanning motion
Row first step anomaly Surface scan is rotated into, first step anomaly Surface scan data are sent to center control meter by the scanner of detecting head 13
Calculation machine, central control computer is according to the grid deviation of storage by first step anomaly Surface scan data and basic point flat scanning data
It is stored after carrying out the fitting of same benchmark and three-dimensional modeling；
Then central control computer, which sends out instruction, makes the industrial control computer of controlled vehicle-mounted electrical device 12 control explorer
The coordinate points of the whole above stepping position of device people unit 1 are that reference coordinates point moves step to coal mine gob intrinsic coordinates again
Into a setting step pitch and stop, and so on, sniffing robot unit 1 often walks further, and the gyroscope of detecting head 13 is first
The scanner coordinate position data of the stepping position is sent to central control computer, then central control computer is deposited
It is while storage that the scanner coordinate position data of the gyroscope of stepping position feedback and the gyroscope of previous step into position is anti-
The scanner coordinate position data of feedback is compared, calculates the scanner coordinate position of the stepping position and previous step into position
Grid deviation between scanner coordinate position and storage, then central control computer instruction is sent out according to the grid deviation and is made
The detecting head 13 of the stepping position, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to previous step carry
The position of the plane of scanning motion for the scanner set, the then spy of the industrial control computer control detecting head 13 of controlled vehicle-mounted electrical device 12
It is flat that gauge head angle&orientation control drive actions make scanner be rotated into row step pitch within the scope of 360 ° in the revised plane of scanning motion
Step pitch flat scanning data are sent to central control computer, central control computer by the scanner of Surface scan, detecting head 13
According to the grid deviation of storage by the step pitch flat scanning data of the stepping position and previous step into the step pitch flat scanning of position
Data are stored after carrying out the fitting of same benchmark and three-dimensional modeling, until according to the feedback of the range sensor of detecting head 13
The scanning of entire coal mine gob is completed, central control computer, which sends out instruction, makes 1 coordinate of sniffing robot unit retract to first
Beginning and stores final goaf three-dimensional space model position.
Data modeling loop starts, central control computer is according to the goaf geographic position data and country rock of input
The goafs such as data peripheral environment geologic data carries out the outside of goaf three-dimensional space model to apply Stress calculation analysis, and
To the stability of goaf three-dimensional space model, stress, displacement, crack, permeability, sound characteristics, light characteristic, electrical characteristics, Ci Te
The evolutionary process of the parameters such as property and architectural characteristic carries out calculating analysis, and central control computer is first with goaf three dimensions mould
It is fitted structure surface supporting layer model in the interior surface of goaf three-dimensional space model based on type, then in surface branch sheath
It is being corresponded to inside the three-dimensional space model of goaf successively further according to Calculation results and the safety coefficient of input on the basis of model
The stress concentration point position on surface and stability it is not high position fitting structure cylindricality model for anchor, then in cylindricality model for anchor
On the basis of be connected to according to the space layout of underground cavity fitting structure and cylindricality model for anchor periphery and be connected to cylindricality supporting mould
Wall model between type, final fitting generate the underground sequestration space three-dimensional model of compartment structure and store underground sequestration space
Threedimensional model co-ordinate position information；Then central control computer is first using the initial position of 3D printing robot cell 2 as reference
The printing path and printing reference coordinate of coordinate origin planning and storage surface supporting layer model, then with 3D printing robot cell
2 initial position is reference coordinates origin, is advised according to the sequence of stress concentration in underground sequestration space three-dimensional model from large to small
The printing path and printing reference coordinate for drawing and storing cylindricality model for anchor, finally with the initial bit of 3D printing robot cell 2
It is set to printing path and printing reference coordinate that reference coordinates origin is planned and stores wall model；Then central control computer
According to the co-ordinate position information of underground sequestration space three-dimensional model coordinate location information and article to be sealed up for safekeeping, with the transhipment that holds account property
The initial position of robot cell 3 is planned and is stored for reference coordinates origin and seals transportation route up for safekeeping and seal transport reference coordinate up for safekeeping.
3D printing control loop is started to work, and central control computer, which sends out instruction, makes the 3D printing of printing electric control gear 23
Robot ambulation control loop is started to work, and prints the industrial control computer of electric control gear 23 successively according to surface branch sheath mould
The printing path of type and printing reference coordinate, the printing path of cylindricality model for anchor and printing reference coordinate, wall model are beaten
It prints path and prints automatically controlled driving mechanism and the steering of the full landform walking chassis of reference coordinate control 3D printing robot cell 2
Control mechanism action makes 2 coordinate of 3D printing robot cell be moved to corresponding underground sequestration space three-dimensional mould inside coal mine gob
The setting position of type coordinate position, then 3D printing nozzle position control loop start-up operation, prints the industry of electric control gear 23
The print machinery arm drive actions that control computer controls print machinery arm 21 according to printing path make 24 coordinate of 3D printing nozzle
It is moved to printing reference coordinate location, printed material is pumped into mechanism controls loop starts, prints the industry of electric control gear 23
The printed material of control computer control printed material input unit 22, which is pumped into mechanism action, makes the printed material pumped out be beaten through 3D
It prints nozzle 24 to export, the print machinery arm for then printing the industrial control computer control print machinery arm 21 of electric control gear 23 drives
Action makes 3D printing nozzle 24 be moved according to printing path coordinate to carry out 3D printing, and the sequence of stress concentration from large to small can be with
Realize that the larger position of 3D printing stress concentration first carries out supporting first, to be further ensured that the safety of follow-up 3D printing,
As shown in figure 3, to the physical print for completing underground sequestration space three-dimensional model when printing path terminal, 3D printing robot cell
2 retract to initial position.
The transhipment control loop that holds account property is started to work, and central control computer, which sends out instruction, makes the transhipment machine that holds account property
Hold account property transport robot travelling control circuit and the transhipment mechanical arm control loop that people's unit 3 transports electric control gear start work
Make, transports the industrial control computer of electric control gear and hold account property according to sealing transportation route up for safekeeping and seal transport reference coordinate up for safekeeping to control
The full landform walking chassis of transport robot unit 3, transhipment mechanical arm act the transport robot unit 3 that makes to hold account property and will wait sealing
Coordinate movement is transported to the setting coordinate position inside underground sequestration spatial entities to stored goods successively, as shown in figure 4, to fortune is sealed up for safekeeping
Whole transhipments for sealing article up for safekeeping are completed when defeated path termination, the transport robot that holds account property unit 3 retracts to initial position.
For sealing up for safekeeping for carbon dioxide, in addition to can be during the physical print of underground sequestration space three-dimensional model by two
Carbonoxide, can also be empty to the cartridge type encompassed by wallboard other than direct 3D physical prints are sealed up for safekeeping in the form of foam geopolymer
Between internal injection comprising being sealed up for safekeeping to carbon dioxide by the foam geopolymer of filling gas of carbon dioxide gas, that is, make
For further improvement of the present invention scheme, the transport robot that holds account property unit 3 is the same machine with 3D printing robot cell 2
Device people's unit, the print machinery arm 21 of the transhipment mechanical arm and 3D printing robot cell 2 of the transport robot that holds account property unit 3
For the same mechanical arm, the manipulator for transporting mechanical arm is the 3D printing device of print machinery arm 21；The 3D printing of wall model
Path is planned successively in the path in cartridge type space around connection according to wallboard；After the 3D printing for completing wall model, envelope
The movement of article to be sealed up for safekeeping successively coordinate is transported to the setting inside underground sequestration spatial entities by storage money transport robot unit 3
The mode of coordinate position be 3D printing nozzle 24 directly to cartridge type space interior injection comprising with carbon dioxide gas be filling gas
The mode of the printed material of the foam geopolymer of body.Including straight as the foam geopolymer of filling gas using carbon dioxide gas
The solidification realization of cartridge type space interior is connected on to seal carbon dioxide up for safekeeping.
Need the closed article sealed up for safekeeping, underground sequestration space three-dimensional model can be for nuke rubbish with radiation pollution etc.
Cartridge type space as described above compartment structure, passes through 3 turns of the transport robot unit that holds account property will need the closed article sealed up for safekeeping
It, can be by 3D printing nozzle 24 into cartridge type space after being transported to the cartridge type space compartment structure inside underground sequestration spatial entities Nei
The printed material of portion's injection setting metering is to realize to needing the closed article sealed up for safekeeping to carry out that insulation package is completely covered.
The plane of scanning motion for the scanner that this underground sequestration space structure seals system detecting head 13 up for safekeeping can be according to specific operating mode
Using horizontal scan plane or use vertical sweep plane, scan mode may be used radar scanning based on Radar Technology,
Laser scanning based on laser technology, the infrared scanning based on infrared imaging, the ultrasonic scanning based on ultrasonic wave positioning, base
In the magnetic scanning etc. of magnetic signal.
In order to obtain the lithology data of country rock around underground cavity while being scanned to underground cavity, in turn
Convenient for subsequent Stress calculation, scheme, the scan mode of the scanner of detecting head 13 use as a further improvement on the present invention
Based on the non-contact potential measurement mode wirelessly to conduct electricity.
For the waste for making full use of the artificial ground activity of such as gangue, barren rock to generate, as of the invention into one
Improvement project is walked, the printed material includes the cement prepared by the slag micropowder after the crushing such as gangue, barren rock.
For the underground cavity that natural geological movement generates, a kind of implementation of subelement is supplied as printed material of the present invention
Mode, printed material supply subelement setting on ground, and printed material supply subelement includes raw material device for formulating and extends to
Underground and the input terminal that mechanism is pumped into printed material are connected to the conveyance conduit of connection.
For the underground cavity that artificial ground activity is formed, the another kind that subelement is supplied as printed material of the present invention is real
Mode is applied, printed material supplies subelement and is arranged in underground passage, and it includes raw material device for formulating that printed material, which supplies subelement,
Raw material device for formulating includes crusher, and it is broken that the building stones waste such as gangue, barren rock is directly carried out scene by crusher.
In order to increase the flexibility ratio of transhipment mechanical arm, realize comprehensive transfer operation, as further changing for the present invention
Into scheme, the transhipment mechanical arm driving of the transport robot unit 3 that holds account property further includes in left and right horizontal direction is
The A coordinates rotary drive mechanism of axis moving in rotation rotates drive along anterior-posterior horizontal direction for the B coordinates of central axes moving in rotation
Motivation structure and vertically be central axes moving in rotation C coordinate rotary drive mechanisms.The transport robot that holds account property unit 3
The industrial control computer of transhipment electric control gear can flexibly control transhipment mechanical arm and be captured or piled up to seal article up for safekeeping.
For the further accurate crawl or stacking ensured to sealing article up for safekeeping, scheme as a further improvement on the present invention,
It is additionally provided with pattern-recognition sensor in the minor details of the transhipment mechanical arm of the transport robot that holds account property unit 3, concentrates electronic control unit 3
Further include that corrective loop, the transhipment machinery of central control computer and the transport robot unit 3 that holds account property are piled up in transhipment crawl
Pattern-recognition sensor electrical connection in the minor details of arm.During underground sequestration, the pattern-recognition transported in mechanical arm minor details passes
Sensor feeds back the feature dimension data for sealing article up for safekeeping that need to be captured or pile up to central control computer in real time, and transhipment crawl is piled up
Corrective loop works, and central control computer seals this up for safekeeping the feature dimension data of article and the positional number for sealing article up for safekeeping inputted
It is compared according to feature dimension data, if there are data deviation, central control computer sends out instruction control transhipment machinery
Arm drive actions make transhipment mechanical arm seal article up for safekeeping to this according to the position data for sealing article up for safekeeping and feature dimension data of input
It is captured or is piled up close to correcting.
Goaf three dimensions mould is generated in order to realize the uniformity between each plane of scanning motion and then more accurately be fitted
Type, scheme, the detection mechanical arm 11 include detection mechanical arm driving as a further improvement on the present invention, detect mechanical arm
Driving includes at least the X-coordinate driving mechanism or control detection mechanical arm of control detection mechanical arm 11 left and right horizontal direction movement
The Y coordinate driving mechanism of 11 anterior-posterior horizontal directions movement or the Z coordinate driving machine of control detection 11 vertical direction of mechanical arm movement
Structure；Controlled vehicle-mounted electrical device 12 further includes detection mechanical arm control loop, the industrial control computer of controlled vehicle-mounted electrical device 12 and spy
Survey the detection mechanical arm driving electrical connection of mechanical arm 11；The concentration electronic control unit 4 further includes sweep span control loop.It visits
It surveys robot cell 1 often to walk further, central control computer sends out instruction according to the grid deviation makes the spy of the stepping position
Gauge head 13, which rotates and positions the scanner for being parallel to previous step into position to the plane of scanning motion of the scanner of the stepping position, to be swept
Behind the position for retouching plane, central control computer sends out instruction according to the grid deviation simultaneously makes the detection of controlled vehicle-mounted electrical device 12
Mechanical arm control loop works, and the control detection mechanical arm drive actions of controlled vehicle-mounted electrical device 12 make the scanner of the stepping position
The plane of scanning motion and previous step are adjusted into the spacing between the plane of scanning motion of the scanner of position to setpoint distance, then controlled vehicle-mounted electrical
The detecting head angle&orientation control drive actions of the industrial control computer control detecting head 13 of device 12 make scanner correct
Row step pitch flat scanning is rotated into the plane of scanning motion afterwards within the scope of 360 °.
In order to increase the flexibility ratio of printing head 24, realize comprehensive 3D printing, as a further improvement on the present invention
Scheme, print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinates rotary drive mechanism or
It is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction
The A coordinates rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate
Driving mechanism.
For the further accurate effect for ensureing 3D printing, scheme as a further improvement on the present invention, printing head 24
On be additionally provided with pattern-recognition sensor, it further includes 3D printing entity corrective loop to concentrate electronic control unit 4, central control computer with
Pattern-recognition sensor is electrically connected.During 3D printing, pattern-recognition sensor is beaten to central control computer feedback 3D in real time
The feature dimension data of entity are printed, the work of 3D printing entity corrective loop, central control computer is by the shape of the 3D printing entity
Body dimension data is compared with the model data of corresponding part on the underground sequestration space three-dimensional model of storage, if 3D printing is real
The feature dimension data of body are less than the model data of corresponding part on underground sequestration space three-dimensional model, then central control computer
It sends out instruction control 3D printing nozzle 24 and interrupts printing path and according to the mould of corresponding part on underground sequestration space three-dimensional model
Type data repeat the 3D printing of this part printing path according to the printing path of this part, until the body of 3D printing entity
Dimension data is greater than or equal to the model data of corresponding part on underground sequestration space three-dimensional model, then central control computer
Instruction control 3D printing nozzle 24 is sent out again to continue to carry out 3D printing by the printing path of planning.
This underground sequestration space structure seal up for safekeeping system due to include sniffing robot unit 1,3D printing robot cell 2,
The transport robot that holds account property unit 3 and concentration electronic control unit 4 complete the scanning to underground cavity in sniffing robot unit 1
Underground cavity three-dimensional space model is built afterwards, concentrates the central control computer of electronic control unit 4 according to the underground cavity of input
Manage the underground cavities peripheral environment geologic data such as position data and country rock data to the outside of underground cavity three-dimensional space model into
Row Stress calculation is analyzed, in the inside table of underground cavity three-dimensional space model first based on underground cavity three-dimensional space model
Face fitting structure surface supporting layer model, then further according to Stress calculation analysis result and defeated on the basis of the supporting layer model of surface
The safety coefficient entered is successively in the stress concentration point position fitting structure column of corresponding underground cavity three-dimensional space model interior surface
Then shape model for anchor is connected to cylindricality branch on the basis of cylindricality model for anchor according to the space layout of underground cavity fitting structure
The wall model between model is protected, final fitting generates the underground sequestration space three-dimensional model of compartment structure, and successively with reference
Coordinate origin planning and storage surface supporting layer model, cylindricality model for anchor, the printing path of wall model and printing benchmark
Coordinate, 3D printing robot cell 2 can the direct 3D printings inside underground cavity according to printing path and printing reference coordinate
Under seal the entity of space three-dimensional model up for safekeeping, the transport robot that finally holds account property unit 3 is according to sealing transportation route up for safekeeping and seal fortune up for safekeeping
The movement of article to be sealed up for safekeeping successively coordinate is transported to the setting coordinate position inside underground sequestration spatial entities i.e. by defeated reference coordinate
Can, according to the underground sequestration space of underground cavity Stress calculation analysis result and input safety coefficient and the direct printing shapings of 3D
Threedimensional model entity is that there is the entity of specific aim supporting to build, and can fully meet supporting intensity；The molding side of direct 3D printing
Formula can save a large amount of manpower and materials, not need the larger conveying equipment of space hold, support apparatus and lifting equipment, reduce
The cost of Deep underground space exploitation, and there is higher construction efficiency；Simultaneously because construction operation, which does not need personnel, enters ground
Lower cavity, and first print surface supporting layer model during physical print, cylindricality model for anchor, while cylindricality supporting mould are printed again
The printing of type is the sequence according to stress concentration from large to small, thus realize specific aim sequential entity molding, working security compared with
It is high；Since sniffing robot unit 1,3D printing robot cell 2 and the transport robot unit 3 that holds account property are that computer is automatic
The intelligent automatic control changed control unit, therefore underground sequestration space structure may be implemented, seal article transhipment up for safekeeping, it is particularly suitable
In the carbon sequestration operation based on underground cavity.
Claims (10)
1. a kind of underground sequestration space structure seals system up for safekeeping, which is characterized in that including sniffing robot unit (1), 3D printer
Device people unit (2), the transport robot that holds account property unit (3) and concentration electronic control unit (4)；
The sniffing robot unit (1) includes full landform walking chassis, detection mechanical arm (11) and controlled vehicle-mounted electrical device
(12)；Full landform walking chassis is arranged in the bottom of sniffing robot unit (1), and full landform walking chassis includes automatically controlled driving machine
Structure and course changing control mechanism；The bottom end for detecting mechanical arm (11) is mounted in full landform walking chassis, detection mechanical arm (11)
Top is equipped with detection device, and detection device includes detecting head (13), and detecting head (13) includes range sensor, scanner, gyro
Instrument, the driving of detecting head angle&orientation control, it is axis that the driving of detecting head angle&orientation control, which is included at least along left and right horizontal direction,
The A coordinates rotary drive mechanism of line moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinates rotate driving
Mechanism；Controlled vehicle-mounted electrical device (12) is fixedly mounted in full landform walking chassis, and controlled vehicle-mounted electrical device (12) includes Industry Control
Computer, sniffing robot travelling control circuit, detecting head detection angle control loop, industrial control computer respectively with entirely
The automatically controlled driving mechanism and course changing control mechanism of shape walking chassis are electrically connected, the detection of industrial control computer and detecting head (13)
Head angle&orientation control driving electrical connection；
The 3D printing robot cell (2) includes full landform walking chassis, print machinery arm (21), printed material input dress
Set (22) and printing electric control gear (23)；Full landform walking chassis is arranged in the bottom of 3D printing robot cell (2), full landform
Walking chassis includes automatically controlled driving mechanism and course changing control mechanism；Print machinery arm (21) is mounted in full landform walking chassis,
Print machinery arm (21) includes the driving of print machinery arm, and the driving of print machinery arm includes at least control print machinery arm left and right horizontal
The X-coordinate driving mechanism of direction movement, the Y coordinate driving mechanism of control print machinery arm anterior-posterior horizontal direction movement, control are beaten
The Z coordinate driving mechanism of mechanical arm vertical direction movement is printed, the minor details of print machinery arm (21) are equipped with 3D printing device, and 3D is beaten
Printing equipment is set including 3D printing nozzle (24)；Printed material input unit (22) includes that printed material is pumped into mechanism, printed material pump
The input terminal for entering mechanism is connect with printed material supply subelement, and printed material supplies subelement and supplies printed material, prints material
The output end that material is pumped into mechanism is connect with 3D printing nozzle (24) by printed material output pipe；It is solid to print electric control gear (23)
In full landform walking chassis, printing electric control gear (23) includes industrial control computer, 3D printing robot ambulation for Dingan County
Control loop, 3D printing nozzle position control loop, printed material are pumped into mechanism controls circuit, industrial control computer respectively with
The automatically controlled driving mechanism of full landform walking chassis and the electrical connection of course changing control mechanism, industrial control computer respectively with print machinery
Arm driving, printed material are pumped into mechanism electrical connection；
The transport robot unit (3) that holds account property includes that walking chassis, workbench, transhipment mechanical arm and transhipment are automatically controlled
Device；Walking chassis includes automatically controlled driving mechanism and course changing control mechanism；Workbench is mounted in walking chassis；Transhipment machinery
Arm is mounted on workbench, and transhipment mechanical arm includes transhipment mechanical arm driving, and transhipment mechanical arm driving includes at least control and turns
Transport the X-coordinate driving mechanism of mechanical arm left and right horizontal direction movement, the Y coordinate of control transhipment mechanical arm anterior-posterior horizontal direction movement
Driving mechanism, the Z coordinate driving mechanism of control transhipment mechanical arm vertical direction movement, the minor details for transporting mechanical arm are equipped with machinery
Hand；Transhipment electric control gear is fixedly mounted on workbench, and transhipment electric control gear includes industrial control computer, holding account property turns
Transport robot ambulation control loop, transhipment mechanical arm control loop, industrial control computer respectively with the automatically controlled drive of walking chassis
Motivation structure and the electrical connection of course changing control mechanism, industrial control computer are electrically connected with transhipment mechanical arm driving；
The concentration electronic control unit (4) includes central control computer, detection control loop, data modeling circuit, explorer
Device people's position feedback corrective loop, 3D printing control loop, hold account property transhipment control loop, central control computer respectively with
The range sensor of detecting head (13), scanner, gyroscope electrical connection, central control computer respectively with controlled vehicle-mounted electrical device
(12) industrial control computer, the transport robot that the holds account property unit of industrial control computer, printing electric control gear (23)
(3) the industrial control computer electrical connection of transhipment electric control gear.
2. underground sequestration space structure according to claim 1 seals system up for safekeeping, which is characterized in that printed material includes with two
Carbon oxide gas is the foam geopolymer of filling gas, includes by the foam geopolymer of filling gas of carbon dioxide gas
Slag micropowder, solid slag micro mist, alkali-activator, carbon dioxide foaming filling gas, foaming agent, accelerator.
3. underground sequestration space structure according to claim 2 seals system up for safekeeping, which is characterized in that hold account property transhipment machine
People's unit (3) is the same robot cell with 3D printing robot cell (2), the transport robot that holds account property unit (3)
The print machinery arm (21) for transporting mechanical arm and 3D printing robot cell (2) is the same mechanical arm；Transport the machine of mechanical arm
Tool hand is the 3D printing device of print machinery arm (21).
4. underground sequestration space structure according to claim 1 seals system up for safekeeping, which is characterized in that described holding account property turns
The transhipment mechanical arm driving of fortune robot cell (3) further includes being revolved for the A coordinates of central axes moving in rotation along left and right horizontal direction
In turning driving mechanism or being the B coordinates rotary drive mechanism of central axes moving in rotation along anterior-posterior horizontal direction and be vertically
The C coordinate rotary drive mechanisms of axis moving in rotation.
5. underground sequestration space structure according to claim 4 seals system up for safekeeping, which is characterized in that hold account property transhipment machine
Pattern-recognition sensor is additionally provided in the minor details of the transhipment mechanical arm of people's unit (3), it further includes that transhipment is grabbed to concentrate electronic control unit (3)
Code fetch puts corrective loop, and central control computer is transported with the transport robot unit (3) that holds account property in the minor details of mechanical arm
Pattern-recognition sensor electrical connection.
6. underground sequestration space structure according to claim 1 seals system up for safekeeping, which is characterized in that underground sequestration space is built
The detection mechanical arm (11) for sealing system up for safekeeping includes detection mechanical arm driving, and detection mechanical arm driving includes at least control detection machinery
The X-coordinate driving mechanism of arm (11) left and right horizontal direction movement or the Y of control detection mechanical arm (11) anterior-posterior horizontal direction movement
Coordinate driving mechanism or the Z coordinate driving mechanism of control detection mechanical arm (11) vertical direction movement；Controlled vehicle-mounted electrical device (12)
Further include detection mechanical arm control loop, the spy of the industrial control computer and detection mechanical arm (11) of controlled vehicle-mounted electrical device (12)
Survey mechanical arm driving electrical connection；It further includes sweep span control loop to concentrate electronic control unit (4).
7. the underground sequestration space structure according to claim 1 or 4 or 5 or 6 seals system up for safekeeping, which is characterized in that underground is sealed
Deposit space structure seal up for safekeeping system print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinates
Rotary drive mechanism is the B coordinate rotary drive mechanisms of central axes moving in rotation along anterior-posterior horizontal direction, or further includes edge
Left and right horizontal direction is the A coordinates rotary drive mechanism of central axes moving in rotation and is that central axes rotation moves along anterior-posterior horizontal direction
Dynamic B coordinate rotary drive mechanisms.
8. underground sequestration space structure according to claim 7 seals system up for safekeeping, which is characterized in that underground sequestration space is built
It seals up for safekeeping and is additionally provided with pattern-recognition sensor on the printing head (24) of system, it further includes 3D printing entity to concentrate electronic control unit (4)
Corrective loop, central control computer are electrically connected with the pattern-recognition sensor on printing head (24).
9. the underground sequestration space structure according to claim 1 to 6 any claim seals system up for safekeeping, which is characterized in that
Concentrate the central control computer of electronic control unit (4) electric with the industrial control computer of controlled vehicle-mounted electrical device (12), printing respectively
Control the industrial control computer of device (23), the Industry Control meter of the transport robot that holds account property unit (3) transhipment electric control gear
Calculation machine radio connection.
10. the underground sequestration space structure according to claim 1 to 6 any claim seals system up for safekeeping, which is characterized in that
The printed material includes slag micropowder；Printed material supplies subelement and is arranged in underground passage, printed material supply
Unit is electrically connected with the central control computer of electronic control unit (3) is concentrated, and printed material supply subelement includes that raw material prepares dress
It sets, raw material device for formulating includes crusher.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400909.4A CN108748983B (en) | 2018-04-28 | 2018-04-28 | System is sealed in a kind of building of underground sequestration space up for safekeeping |
| PCT/CN2019/084726 WO2019206319A1 (en) | 2018-04-28 | 2019-04-28 | Underground space intelligent construction system and method |
| AU2019259069A AU2019259069C1 (en) | 2018-04-28 | 2019-04-28 | Underground space intelligent construction system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400909.4A CN108748983B (en) | 2018-04-28 | 2018-04-28 | System is sealed in a kind of building of underground sequestration space up for safekeeping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108748983A true CN108748983A (en) | 2018-11-06 |
| CN108748983B CN108748983B (en) | 2019-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810400909.4A Active CN108748983B (en) | 2018-04-28 | 2018-04-28 | System is sealed in a kind of building of underground sequestration space up for safekeeping |
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| Country | Link |
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| CN (1) | CN108748983B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019206319A1 (en) * | 2018-04-28 | 2019-10-31 | 中国矿业大学 | Underground space intelligent construction system and method |
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