CN108748983B - System is sealed in a kind of building of underground sequestration space up for safekeeping - Google Patents
System is sealed in a kind of building of underground sequestration space up for safekeeping Download PDFInfo
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- CN108748983B CN108748983B CN201810400909.4A CN201810400909A CN108748983B CN 108748983 B CN108748983 B CN 108748983B CN 201810400909 A CN201810400909 A CN 201810400909A CN 108748983 B CN108748983 B CN 108748983B
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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 buildings of underground sequestration space 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 constructed after sniffing robot unit is completed to the scanning of underground cavity, central control computer generates underground sequestration space three-dimensional model according to the safety coefficient fitting that Stress calculation analyzes result and 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, by article to be sealed up for safekeeping, successively coordinate movement is transported to the setting coordinate position inside underground sequestration spatial entities to the transport robot that holds account property unit, the intelligent automatic building 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 buildings 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 building 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 technique
The underground space, which refers to, belongs 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 tunnel Chuan Hai.The development and utilization of the underground space are urban developments
To the product of certain phase, urbanization accelerated development makes Urban Underground Space Excavation become inevitable using synchronizing to accelerate development.
The existing underground space development in China is 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
Development and utilization, underground shallow layer part will be using finishing, and underground space development will be gradually to Deep Development, Deep underground space
The development and 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 undergrounds such as military engineerings and oil cellar such as underground military commanding center, military materials deposit storage engineering, it might even be possible to
For sealing up for safekeeping such as nuke rubbish, heavy metal waste and other items, especially in recent years to slow down greenhouse gas emission and protect global gas
Wait and propose " carbon dioxide is directly discharged into atmosphere to replace in a manner of capturing carbon and secure storage " carbon sequestration skill
The features such as art, the amount of storage of Deep underground space is big, quality is stable, maintenance is easy can provide for carbon sequestration 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 biggish, 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 also will form in Underground Coal Gasification Process
Product coal seam burned out area underground cavity；In addition, natural geological movement can also generate a series of underground cavities under earth's surface.
Although underground cavity can be used 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, traditional Deep underground space exploitation is normally based on BIM technology and deep excavation dress
On the basis of standby and technology, usually 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 component carries out lifting concatenation construction process, then carry out pressure grouting and cast-in-place node handle etc. it is subsequent
Working procedure.On the one hand, the biggish 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 material resources, 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 is only 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.
Summary of the invention
In view of the above-mentioned problems, the present invention, which provides a kind of building of underground sequestration space, seals system up for safekeeping, high degree of automation can be with
Realize that the deeper subsurface based on underground cavity seals space up for safekeeping under the premise of carrying out effective support to underground cavity inside realizing
The intelligent automatic structure that underground sequestration space can be realized while reducing development cost, reduce construction safety hidden danger is realized in building
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, building 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 I, detection mechanical arm and controlled vehicle-mounted electrical device；Quan Di
The bottom of sniffing robot unit is arranged in shape walking chassis I, and full landform walking chassis I includes automatically controlled driving mechanism I and turns to
Control mechanism I；The bottom end of detection mechanical arm is mounted in full landform walking chassis I, and the top for detecting mechanical arm is equipped with detection dress
It sets, detection device includes detecting head, and detecting head includes range sensor, scanner, gyroscope, the drive of detecting head angle&orientation control
Dynamic, the driving of detecting head angle&orientation control is included at least to rotate along left and right horizontal direction for the A coordinate of central axes moving in rotation and be driven
Motivation structure and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanism；The fixed peace of controlled vehicle-mounted electrical device
In full landform walking chassis I, controlled vehicle-mounted electrical device include industrial control computer, sniffing robot travelling control circuit,
Detecting head detection angle control loop, industrial control computer respectively with the automatically controlled driving mechanism I of full landform walking chassis I and turn
It is electrically connected to control mechanism I, industrial control computer is 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 II, print machinery arm, printed material input dress
Set and print electric control gear；The bottom of 3D printing robot cell, full landform walking chassis is arranged in full landform walking chassis II
II includes automatically controlled driving mechanism II and course changing control mechanism II；Print machinery arm is mounted in full landform walking chassis II, printing
Mechanical arm includes the driving of print machinery arm, and it is mobile that the driving of print machinery arm includes at least control print machinery arm left and right horizontal direction
X-coordinate driving mechanism, the mobile Y-coordinate driving mechanism in control print machinery arm anterior-posterior horizontal direction, control print machinery arm
The minor details of the mobile Z coordinate driving mechanism of vertical direction, print machinery arm are equipped with 3D printing device, and 3D printing device includes 3D
Printing head；Printed material input unit includes that printed material is pumped into mechanism, and printed material is pumped into input terminal and the printing of mechanism
Material supplies subelement connection, and printed material supplies subelement and supplies printed material, printed material be pumped into the output end of mechanism with
3D printing spray head is connected by printed material output pipe；Printing electric control gear is fixedly mounted in full landform walking chassis II,
Printing electric control gear includes that industrial control computer, 3D printing robot travelling control circuit, 3D printing nozzle position control back
Road, printed material are pumped into mechanism controls circuit, the industrial control computer automatically controlled driving machine with full landform walking chassis II respectively
Structure II and course changing control mechanism II are electrically connected, and industrial control computer is pumped into machine with the driving of print machinery arm, printed material respectively
Structure electrical connection；
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
Transport the mobile X-coordinate driving mechanism in mechanical arm left and right horizontal direction, the Y of control transhipment mechanical arm anterior-posterior horizontal direction movement is sat
The mobile Z coordinate driving mechanism of driving mechanism, control transhipment mechanical arm vertical direction is 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, holds account property and transports control loop at 3D printing 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
It controls computer, the industrial control computer for printing electric control gear, the transport robot that holds account property unit and transports electric control gear
Industrial control computer electrical connection.
As a further improvement of the present invention, printed material includes 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.
As a further improvement of the present invention, the transport robot that holds account property unit is 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.
As a further improvement of the present invention, the transhipment mechanical arm of the transport robot unit that holds account property drives
The A coordinate rotary drive mechanism of dynamic to further include along left and right horizontal direction be central axes moving in rotation along anterior-posterior horizontal direction is
The B coordinate rotary drive mechanism of axis moving in rotation and along the vertical direction be central axes moving in rotation C coordinate rotary driving machine
Structure.
As a further improvement of the present invention, in the minor details of the transhipment mechanical arm of the transport robot that holds account property unit
Be additionally provided with pattern-recognition sensor, concentrating electronic control unit further includes that corrective loop is piled up in transhipment crawl, 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.
As a further improvement of the present invention, it includes visiting that the detection mechanical arm of system is sealed in the building of underground sequestration space, which up for safekeeping,
Mechanical arm driving is surveyed, detection mechanical arm driving includes at least the mobile X-coordinate driving in control detection mechanical arm left and right horizontal direction
The mobile Y-coordinate driving mechanism of mechanism or control detection mechanical arm anterior-posterior horizontal direction controls detection mechanical arm vertical direction
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；Concentrating electronic control unit further includes that sweep span controls back
Road.
As a further improvement of the present invention, the building of underground sequestration space seals the print machinery arm driving of system up for safekeeping also
It is central axes along left and right horizontal direction including being the A coordinate rotary drive mechanism of central axes moving in rotation or along anterior-posterior horizontal direction
The B coordinate rotary drive mechanism of moving in rotation, or further include being revolved along left and right horizontal direction for the A coordinate of central axes moving in rotation
Turn driving mechanism and the B coordinate rotary drive mechanism along anterior-posterior horizontal direction for central axes moving in rotation.
As a further improvement of the present invention, the building of underground sequestration space is sealed up for safekeeping is additionally provided on the printing head of system
Pattern-recognition sensor, concentrating electronic control unit further includes 3D printing entity corrective loop, central control computer and printing head
On pattern-recognition sensor electrical connection.
As a further improvement of 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.
As a further improvement of the present invention, the printed material includes 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, the building of this underground sequestration space seals system up for safekeeping due to beating including sniffing robot unit, 3D
It prints robot cell, the transport robot that holds account property unit and concentrates electronic control unit, complete in sniffing robot unit to underground
Underground cavity three-dimensional space model is constructed 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 building surface supporting layer model, then on the basis of the supporting layer model of surface further according to Stress calculation analyze
As a result successively quasi- in the stress concentration point position of corresponding underground cavity three-dimensional space model interior surface with the safety coefficient of input
Building cylindricality model for anchor is closed, building 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
By article to be sealed up for safekeeping, successively coordinate movement is transported to the setting coordinate position inside underground sequestration spatial entities to transport reference coordinate
, result is analyzed according to underground cavity Stress calculation and inputs the underground sequestration sky of safety coefficient and the direct printing shaping 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 material resources, not need the biggish conveying equipment of space hold, support apparatus and lifting equipment, drop
The cost of low Deep underground space exploitation, and construction efficiency with higher；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 concentrated according to stress 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 the building of underground sequestration space may be implemented, seal article transhipment up for safekeeping, it is particularly suitable
In the carbon sequestration operation based on underground cavity.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is that the underground cavity structural schematic diagram before the building of underground sequestration space is carried out using the present invention；
Fig. 3 is the structural schematic diagram after the building 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 spray head,
3, the transport robot that holds account property unit, 4, concentration electronic control unit.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
As shown in Figure 1, the underground sequestration space building 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 I, detection mechanical arm 11 and controlled vehicle-mounted electrical device
12；The bottom of sniffing robot unit 1 is arranged in full landform walking chassis I, and full landform walking chassis I includes automatically controlled driving mechanism
I and course changing control mechanism I；The bottom end of detection mechanical arm 11 is mounted in full landform walking chassis I, detects the top of mechanical arm 11
Equipped with detection device, detection device includes detecting head 13, and detecting head 13 includes range sensor, scanner, gyroscope, detecting head
Angle&orientation control driving, it is central axes moving in rotation that the driving of detecting head angle&orientation control, which is included at least along left and right horizontal direction,
A coordinate rotary drive mechanism and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotary drive mechanism；Vehicle mounted electric
Control device 12 is fixedly mounted in full landform walking chassis I, and controlled vehicle-mounted electrical device 12 includes industrial control computer, detection machine
People's travelling control circuit, detecting head detection angle control loop, the industrial control computer electricity with full landform walking chassis I respectively
It controls driving mechanism I and course changing control mechanism I is electrically connected, the detecting head angle&orientation control of industrial control computer and detecting head 13
Driving electrical connection.
The 3D printing robot cell 2 includes full landform walking chassis II, print machinery arm 21, printed material input
Device 22 and printing electric control gear 23；The bottom of 3D printing robot cell 2, full landform row is arranged in full landform walking chassis II
Walking chassis II includes automatically controlled driving mechanism II and course changing control mechanism II；Print machinery arm 21 is mounted on full landform walking chassis II
On, print machinery arm 21 drives including print machinery arm, and the driving of print machinery arm includes at least control print machinery arm or so water
Square to the mobile Y-coordinate driving mechanism in mobile X-coordinate driving mechanism, control print machinery arm anterior-posterior horizontal direction, control
The minor details of the mobile Z coordinate driving mechanism of print machinery arm vertical direction, print machinery arm 21 are equipped with 3D printing device, and 3D is beaten
Printing equipment is set including 3D printing spray head 24；Printed material input unit 22 includes that printed material is pumped into mechanism, and printed material is pumped into machine
The input terminal of structure is connect with printed material supply subelement, and printed material is pumped into the output end of mechanism and 3D printing spray head 24 passes through
The connection of printed material output pipe；Printing electric control gear 23 is fixedly mounted in full landform walking chassis II, prints electric control gear
23 include industrial control computer, 3D printing robot travelling control circuit, 3D printing nozzle position control loop, printed material
It is pumped into mechanism controls circuit, industrial control computer is controlled with the automatically controlled driving mechanism II of full landform walking chassis II and steering respectively
Mechanism II processed is electrically connected, and industrial control computer is pumped into mechanism and is electrically connected with the driving of print machinery arm, printed material respectively；Printing
Material supplies subelement and supplies printed material, and printed material includes to polymerize using carbon dioxide gas as the foam of filling gas
Object, using carbon dioxide gas as the foam geopolymer of filling gas include slag micropowder, solid slag micro mist, alkali-activator,
Carbon dioxide foaming filling gas, foaming agent, accelerator.Using carbon dioxide gas as the foam geopolymer of filling gas not only
It can use carburizing reagent absorbing carbon dioxide, greatly improve foam geopolymer intensity, and the hole knot of foam geopolymer
Structure is closed sphere, carbon dioxide gas can effectively be sealed up, even if extension at any time is not carbonized in time
The carbon dioxide gas of absorption can slowly be overflowed from foam geopolymer, but the carbon dioxide gas overflowed also can be by the earth's crust
Neutral and alkali substance fully absorbs, thus realize to carbon dioxide gas it is of short duration seal up for safekeeping with it is permanent cured, to reach titanium dioxide
Effective unification with mineralising is sealed in the utilization of carbon up for safekeeping.
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；Transhipment mechanical arm is mounted on workbench, and transhipment mechanical arm includes transhipment mechanical arm driving, transhipment mechanical arm driving
Including at least the mobile X-coordinate driving mechanism in control transhipment mechanical arm left and right horizontal direction, control transhipment mechanical arm anterior-posterior horizontal
The mobile Z coordinate driving mechanism of the mobile Y-coordinate driving mechanism in direction, control transhipment mechanical arm vertical direction, transports 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
The 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 and transport 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.
The building of this underground sequestration space 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, guarantee driving breakthrough point near pristine formation supporting intensity compared with
Suitable driving breakthrough point is selected under the premise of greatly, 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 with underground cavity perforation
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 issues 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 to central control computer, the gyroscope of detecting head 13 simultaneously is by the scanner coordinate position data of reference coordinates origin position
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 issues instruction, opens the sniffing robot travelling control circuit of controlled vehicle-mounted electrical device 12
Beginning work, the electricity of the full landform walking chassis I of the industrial control computer control sniffing robot unit 1 of controlled vehicle-mounted electrical device 12
Control driving mechanism I and the movement of course changing control mechanism I keep sniffing robot unit 1 whole with initial position reference coordinates origin to
Intrinsic coordinates mobile one setting step pitch of stepping in coal mine gob simultaneously stops, and then the gyroscope of detecting head 13 is first by the stepping
The scanner coordinate position data of position is sent to central control computer, while then central control computer is stored
The scanner coordinate position data that the gyroscope of the stepping position is fed back is by the scanner coordinate with reference coordinates origin position
Position data is compared, calculates the scanner coordinate position of the stepping position and the scanner coordinate of reference coordinates origin position
Grid deviation and storage between position, then central control computer, which issues instruction according to the grid deviation, fills controlled vehicle-mounted electrical
12 detecting head detection angle control loop task again is set, the industrial control computer of controlled vehicle-mounted electrical device 12 controls detecting head
13 detecting head angle&orientation control drive actions make the detecting head 13 of the stepping position rotate and position to the stepping position
The plane of scanning motion of scanner 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 processed make scanner in the revised plane of scanning motion within the scope of 360 °
Rotation carries out first step anomaly Surface scan, and first step anomaly Surface scan data are sent to central control by the scanner of detecting head 13
Computer, central control computer is according to the grid deviation of storage by first step anomaly Surface scan data and basic point flat scanning number
According to being stored after the fitting and three-dimensional modeling for carrying out same benchmark；
Then central control computer, which issues 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 is walked to coal mine gob intrinsic coordinates is mobile again
Into a setting step pitch and stop, and so on, the every step of sniffing robot unit 1 is 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
The gyroscope for setting scanner coordinate position data that the gyroscope of the stepping position is fed back and previous step carry while storage is anti-
The scanner coordinate position data of feedback is compared, calculates the scanner coordinate position of the stepping position and previous step carry is set
Grid deviation and storage between scanner coordinate position, then central control computer issues instruction according to the grid deviation and makes
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
The step pitch flat scanning for being set the step pitch flat scanning data of the stepping position and previous step carry according to the grid deviation of storage
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 issues 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-dimensional space mould
In the interior surface fitting building surface supporting layer model of goaf three-dimensional space model based on type, then in surface branch sheath
It is successively being corresponded to inside the three-dimensional space model of goaf on the basis of model further according to Calculation results and the safety coefficient of input
The stress concentration point position on surface and stability it is not high position fitting building cylindricality model for anchor, then in cylindricality model for anchor
On the basis of be connected to according to the fitting building of the space layout of underground cavity 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, the sequence rule according to 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 issues instruction, makes the 3D printing for 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 II He of automatically controlled driving mechanism of the full landform walking chassis II of reference coordinate control 3D printing robot cell 2
The movement of course changing control mechanism II makes 2 coordinate of 3D printing robot cell be moved to corresponding underground sequestration space inside coal mine gob
The setting position of threedimensional model coordinate position, then 3D printing nozzle position control loop is started to work, and prints electric control gear 23
Industrial control computer according to printing path control print machinery arm 21 print machinery arm drive actions make 3D printing spray head
24 coordinates are moved to printing reference coordinate location, and printed material is pumped into mechanism controls loop starts, print electric control gear 23
Industrial control computer control printed material input unit 22 printed material be pumped into the printed material that mechanism action makes to pump out
It is exported through 3D printing spray head 24, then prints the printer of the industrial control computer control print machinery arm 21 of electric control gear 23
Tool arm drive actions make 3D printing spray head 24 carry out 3D printing according to printing path coordinate is mobile, and stress concentrates from large to small suitable
Sequence may be implemented 3D printing stress first and biggish position concentrated to carry out supporting first, to be further ensured that the peace of subsequent 3D printing
Quan Xing, as shown in figure 3, completing the physical print of underground sequestration space three-dimensional model, 3D printing machine when to printing path terminal
People's unit 2 retracts to initial position.
It holds account property and transports control loop start-up operation, central control computer, which issues to instruct to make to hold account property, transports machine
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 walking chassis of transport robot unit 3, transhipment mechanical arm movement make to hold account property transport robot unit 3 will article be sealed up for safekeeping
The successively mobile setting coordinate position being transported to inside underground sequestration spatial entities of coordinate, as shown in figure 4, to transportation route is sealed up for safekeeping
The transhipment for all sealing article up for safekeeping is completed when terminal, 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 print is sealed up for safekeeping in the form of foam geopolymer
Between internal injection comprising being sealed up for safekeeping by the foam geopolymer of filling gas of carbon dioxide gas to carbon dioxide, that is, make
For further improvement of the present invention scheme, the transport robot that holds account property unit 3 and 3D printing robot cell 2 are the same machine
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 successively planned around connection in the path in cartridge type space according to wallboard；After the 3D printing for completing wall model, envelope
Storage provides transport robot unit 3 for article to be sealed up for safekeeping the successively mobile setting being transported to inside underground sequestration spatial entities of coordinate
The mode of coordinate position is 3D printing spray head 24 directly to the injection of cartridge type space interior comprising being filling gas with carbon dioxide gas
The mode of the printed material of the foam geopolymer of body.Comprising straight as the foam geopolymer of filling gas using carbon dioxide gas
It connects and carbon dioxide is sealed up for safekeeping in the solidification realization of cartridge type space interior.
The closed article sealed up for safekeeping is needed for the nuke rubbish etc. with radiation pollution, underground sequestration space three-dimensional model can be
Cartridge type space compartment structure as described above, will need the closed article sealed up for safekeeping by holding account property 3 turns of transport robot unit
It, can be by 3D printing spray head 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 to the closed article sealed up for safekeeping of need carries out that insulation package is completely covered to realize.
The plane of scanning motion for the scanner that system detecting head 13 is sealed in the building of this underground sequestration space up for safekeeping can be according to specific operating condition
Using horizontal scan plane or use vertical sweep plane, scanning mode can using based on Radar Technology radar scanning,
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, as a further improvement of the present invention, the scanning mode of the scanner of detecting head 13 is used
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 by the cement of the smashed slag micropowder preparation such as gangue, barren rock.
A kind of implementation for the underground cavity that natural geological movement generates, as printed material of the present invention supply subelement
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 conveyance conduit that connection is connected to the input terminal that printed material is pumped into mechanism.
For the underground cavity that artificial ground activity is formed, the another kind as printed material of the present invention supply subelement 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, further change as of the invention
Into scheme, the driving of the transhipment mechanical arm of the transport robot unit 3 that holds account property, which further includes along left and right horizontal direction, is
The A coordinate rotary drive mechanism of axis moving in rotation rotates drive along anterior-posterior horizontal direction for the B coordinate of central axes moving in rotation
Motivation structure and along the vertical direction be central axes moving in rotation C coordinate rotary drive mechanism.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 grabbed or piled up to article be sealed up for safekeeping.
For the further accurate crawl or stacking guaranteed to article is sealed up for safekeeping, as a further improvement of 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
It further include that corrective loop is piled up in transhipment crawl, the transhipment of central control computer and the transport robot unit 3 that holds account property is mechanical
Pattern-recognition sensor electrical connection in the minor details of arm.During underground sequestration, the pattern-recognition transported in mechanical arm minor details is passed
Sensor feeds back the feature dimension data for sealing article up for safekeeping that need to be grabbed or pile up to central control computer in real time, and transhipment crawl is piled up
Corrective loop work, central control computer seal this up for safekeeping the feature dimension data of article and the positional number for sealing article up for safekeeping of input
It is compared according to feature dimension data, if it exists data deviation, then it is mechanical to issue instruction control transhipment for central control computer
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 grabbed or is piled up close to amendment.
Goaf three-dimensional space mould is generated in order to realize the uniformity between each plane of scanning motion and then more accurately be fitted
Type, as a further improvement of the present invention, the detection mechanical arm 11 include detection mechanical arm driving, detect mechanical arm
Driving includes at least the mobile X-coordinate driving mechanism in control detection 11 left and right horizontal direction of mechanical arm or control detection mechanical arm
The mobile Y-coordinate driving mechanism in 11 anterior-posterior horizontal directions 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
The detection mechanical arm for surveying mechanical arm 11 drives electrical connection；The concentration electronic control unit 4 further includes sweep span control loop.It visits
The survey every step of robot cell 1 is further, and central control computer, which issues instruction according to the grid deviation, makes the spy of the stepping position
Gauge head 13, which is rotated and positioned to the plane of scanning motion of the scanner of the stepping position, is parallel to sweeping for scanner that previous step carry is set
Behind the position for retouching plane, central control computer, which issues instruction according to the grid deviation simultaneously, makes the detection of controlled vehicle-mounted electrical device 12
The work of mechanical arm control loop, the control detection mechanical arm drive actions of controlled vehicle-mounted electrical device 12 make the scanner of the stepping position
Spacing between the plane of scanning motion for the scanner that the plane of scanning motion and previous step carry are set is adjusted to set 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 are correcting scanner
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 of the present invention
Scheme, print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinate rotary drive mechanism or
It is the B coordinate rotary drive mechanism of central axes moving in rotation along anterior-posterior horizontal direction, or further includes being along left and right horizontal direction
The A coordinate rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction be central axes moving in rotation B coordinate rotate
Driving mechanism.
For the effect of further accurate guarantee 3D printing, as a further improvement of the present invention, printing head 24
On be additionally provided with pattern-recognition sensor, concentrating electronic control unit 4 further includes 3D printing entity corrective loop, central control computer with
The electrical connection of pattern-recognition sensor.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 issues instruction control 3D printing spray head 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 spray head 24 is issued again to continue to carry out 3D printing by the printing path of planning.
This underground sequestration space building 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 constructed 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 analysis, in the inside table of underground cavity three-dimensional space model first based on underground cavity three-dimensional space model
Face fitting building surface supporting layer model, then analyzes result and defeated further according to Stress calculation on the basis of the supporting layer model of surface
The safety coefficient entered is successively in the stress concentration point position fitting building column of corresponding underground cavity three-dimensional space model interior surface
Then shape model for anchor is connected to cylindricality branch according to the fitting building of the space layout of underground cavity on the basis of cylindricality model for anchor
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
By article to be sealed up for safekeeping, successively coordinate movement is transported to the setting coordinate position inside underground sequestration spatial entities i.e. to defeated reference coordinate
Can, result is analyzed according to underground cavity Stress calculation and inputs the underground sequestration space of safety coefficient and the direct printing shaping 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 material resources, not need the biggish conveying equipment of space hold, support apparatus and lifting equipment, reduce
The cost of Deep underground space exploitation, and construction efficiency with higher；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 sequence from large to small to be concentrated according to stress, therefore realize the molding of specific aim sequential entity, 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 the building of underground sequestration space 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. system is sealed in a kind of underground sequestration space building 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 I, detection mechanical arm (11) and controlled vehicle-mounted electrical device
(12)；Full landform walking chassis I is arranged in the bottom of sniffing robot unit (1), and full landform walking chassis I includes automatically controlled driving
Mechanism I and course changing control mechanism I；The bottom end of detection mechanical arm (11) is mounted in full landform walking chassis I, detects mechanical arm
(11) top is equipped with detection device, and detection device includes detecting head (13), and detecting head (13) includes range sensor, scanning
Instrument, gyroscope, the driving of detecting head angle&orientation control, the driving of detecting head angle&orientation control are included at least along left and right horizontal direction
It is the B coordinate rotation of central axes moving in rotation for the A coordinate rotary drive mechanism of central axes moving in rotation and along anterior-posterior horizontal direction
Turn driving mechanism；Controlled vehicle-mounted electrical device (12) is fixedly mounted in full landform walking chassis I, and controlled vehicle-mounted electrical device (12) includes work
Industry controls computer, sniffing robot travelling control circuit, detecting head detection angle control loop, industrial control computer difference
It is electrically connected with the automatically controlled driving mechanism I of full landform walking chassis I and course changing control mechanism I, industrial control computer and detecting head
(13) detecting head angle&orientation control drives electrical connection；
The 3D printing robot cell (2) includes full landform walking chassis II, print machinery arm (21), printed material input
Device (22) and printing electric control gear (23)；Full landform walking chassis II is arranged in the bottom of 3D printing robot cell (2), entirely
Landform walking chassis II includes automatically controlled driving mechanism II and course changing control mechanism II；Print machinery arm (21) is mounted on full landform row
It walks on chassis II, print machinery arm (21) includes the driving of print machinery arm, and the driving of print machinery arm includes at least control printer
The mobile Y-coordinate driving in the mobile X-coordinate driving mechanism in tool arm left and right horizontal direction, control print machinery arm anterior-posterior horizontal direction
The mobile Z coordinate driving mechanism of mechanism, control print machinery arm vertical direction, the minor details of print machinery arm (21) are beaten equipped with 3D
Printing equipment is set, and 3D printing device includes 3D printing spray head (24)；Printed material input unit (22) includes that printed material is pumped into mechanism,
The input terminal that printed material is pumped into mechanism is connect with printed material supply subelement, and printed material supplies subelement supply printing material
Material, the output end that printed material is pumped into mechanism are connect with 3D printing spray head (24) by printed material output pipe；It prints automatically controlled
Device (23) is fixedly mounted in full landform walking chassis II, and printing electric control gear (23) includes that industrial control computer, 3D are beaten
Print robot ambulation control loop, 3D printing nozzle position control loop, printed material are pumped into mechanism controls circuit, Industry Control
Computer is electrically connected with the automatically controlled driving mechanism II of full landform walking chassis II and course changing control mechanism II respectively, Industry Control meter
Calculation machine is pumped into mechanism and is electrically connected with the driving of print machinery arm, printed material respectively；
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 is mechanical
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 Y-coordinate of the mobile X-coordinate driving mechanism in mechanical arm left and right horizontal direction, control transhipment mechanical arm anterior-posterior horizontal direction movement
The mobile Z coordinate driving mechanism of driving mechanism, control transhipment mechanical arm vertical direction, 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, holds account property and transports control loop at 3D printing 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 electric control gear is transported.
2. system is sealed in underground sequestration space building according to claim 1 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. system is sealed in underground sequestration space building according to claim 2 up for safekeeping, which is characterized in that hold account property and transport machine
People's unit (3) and 3D printing robot cell (2) are the same robot cell, 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. system is sealed in underground sequestration space building according to claim 1 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 revolving along left and right horizontal direction for the A coordinate of central axes moving in rotation
In turning driving mechanism or being the B coordinate rotary drive mechanism of central axes moving in rotation along anterior-posterior horizontal direction and be along the vertical direction
The C coordinate rotary drive mechanism of axis moving in rotation.
5. system is sealed in underground sequestration space building according to claim 4 up for safekeeping, which is characterized in that hold account property and transport machine
Pattern-recognition sensor is additionally provided in the minor details of the transhipment mechanical arm of people's unit (3), concentrating electronic control unit (3) further includes that transhipment is grabbed
Code fetch puts corrective loop, and central control computer is transported in the minor details of mechanical arm with the transport robot unit (3) that holds account property
Pattern-recognition sensor electrical connection.
6. system is sealed in underground sequestration space building according to claim 1 up for safekeeping, which is characterized in that the building of underground sequestration space
The detection mechanical arm (11) for sealing system up for safekeeping includes detection mechanical arm driving, and it is mechanical that detection mechanical arm driving includes at least control detection
The mobile X-coordinate driving mechanism in arm (11) left and right horizontal direction 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)
It further include detection mechanical arm control loop, the industrial control computer of controlled vehicle-mounted electrical device (12) and the spy of detection mechanical arm (11)
Survey mechanical arm driving electrical connection；Concentrating electronic control unit (4) further includes sweep span control loop.
7. system is sealed in the building of underground sequestration space described according to claim 1 or 4 or 5 or 6 up for safekeeping, which is characterized in that underground envelope
Deposit space building seal up for safekeeping system print machinery arm driving further include along left and right horizontal direction be central axes moving in rotation A coordinate
Rotary drive mechanism is the B coordinate rotary drive mechanism of central axes moving in rotation along anterior-posterior horizontal direction, or further includes edge
Left and right horizontal direction is the A coordinate 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 mechanism.
8. system is sealed in underground sequestration space building according to claim 7 up for safekeeping, which is characterized in that the building of underground sequestration space
It seals up for safekeeping and is additionally provided with pattern-recognition sensor on the printing head (24) of system, concentrating electronic control unit (4) further includes 3D printing entity
Corrective loop, central control computer are electrically connected with the pattern-recognition sensor on printing head (24).
9. sealing system up for safekeeping to the building of underground sequestration space described in 6 any claims according to claim 1, 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. sealing system up for safekeeping to the building of underground sequestration space described in 6 any claims according to claim 1, 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 CN108748983A (en) | 2018-11-06 |
| CN108748983B true CN108748983B (en) | 2019-08-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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| CN104023925A (en) * | 2011-11-01 | 2014-09-03 | 拉夫伯勒大学 | Method and apparatus for delivery of cementitious material |
| CN106639323A (en) * | 2016-10-12 | 2017-05-10 | 上海建工集团股份有限公司 | Building reconstructing system and method based on three-dimensional laser scanning and three-dimensional printing |
| CN106625986A (en) * | 2017-01-06 | 2017-05-10 | 马义军 | Intelligent integrated mobile on-site 3D printing equipment |
| WO2017222599A1 (en) * | 2016-06-21 | 2017-12-28 | Raytheon Company | Additively manufactured attenuation structure |
| CN107605161A (en) * | 2017-10-25 | 2018-01-19 | 马义军 | A kind of full landform Architecture 3D printer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170203468A1 (en) * | 2016-01-15 | 2017-07-20 | Caterpillar Inc. | Structural formation system |
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|---|---|---|---|---|
| CN104023925A (en) * | 2011-11-01 | 2014-09-03 | 拉夫伯勒大学 | Method and apparatus for delivery of cementitious material |
| WO2017222599A1 (en) * | 2016-06-21 | 2017-12-28 | Raytheon Company | Additively manufactured attenuation structure |
| CN106639323A (en) * | 2016-10-12 | 2017-05-10 | 上海建工集团股份有限公司 | Building reconstructing system and method based on three-dimensional laser scanning and three-dimensional printing |
| CN106625986A (en) * | 2017-01-06 | 2017-05-10 | 马义军 | Intelligent integrated mobile on-site 3D printing equipment |
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