A long-distance continuous grouting device and grouting control method for underground coal mine

Abstract

The present invention relates to the field of underground shotcrete technology, and in particular to a long-distance continuous shotcrete device and a shotcrete control method for underground coal mines, comprising a shotcrete machine chassis, a traveling wheel is arranged at the bottom of the shotcrete machine chassis, an electric control box is arranged on one side of the shotcrete machine chassis, and the characteristics are: a slurry storage mechanism is installed on the top of the shotcrete machine chassis, the slurry storage mechanism is used to realize the spraying of the spraying slurry, a high-pressure shotcrete pipe assembly is connected at the outlet of the slurry storage mechanism, the outlet end of the high-pressure shotcrete pipe assembly is connected to a shotcrete actuator, and the shotcrete actuator can realize the control of the spraying slurry at different angles. The shotcrete device of the present invention can effectively realize long-distance shotcrete, and at the same time can ensure the regulation of the shotcrete speed and flow rate at the end of the shotcrete at different distances, prevent the occurrence of the phenomenon of shotcrete fatigue, and effectively ensure the shotcrete effect.

Description

Technical Field

[0001] The present invention relates to the technical field of underground grouting, and in particular to a structure capable of realizing continuous high-pressure grouting in underground coal mines and a matching grouting control method, in particular to a long-distance continuous grouting device and a grouting control method in underground coal mines. Background Art

[0002] In the tunnels, stone gates, and fault zones of coal mines, grouting treatment is usually required. When grouting underground, in order to ensure that the cement mortar and the concrete base surface are effectively and firmly attached, the holes on the base surface should be repaired with the same cement mortar as the blasting mortar, and the concrete base surface should be fully wetted by spraying water. At the same time, it is generally necessary to control the intensity and continuity of the mortar spraying to ensure the firmness and stability of the grouting.

[0003] Traditional shotcrete machines can generally meet the requirements of shotcrete effects when shotcrete is sprayed over a short distance, but existing shotcrete equipment and shotcrete methods are usually unable to perform long-distance shotcrete treatment in coal mines. Generally, when the distance exceeds 50 meters, the existing shotcrete equipment cannot achieve effective shotcrete operation. In this case, the shotcrete machine needs to be moved back and forth, but the terrain in the coal mine is relatively complex, and the overall volume and weight of the shotcrete machine are relatively large, and the movement is very difficult. When moving, the shotcrete machine is usually difficult to push to the standard position due to the local space.

[0004] How to effectively extend the underground grouting distance and reduce the number of times the grouting machine is moved and shifted is of great significance for large-scale grouting construction underground. To this end, the present application hereby proposes a structure that can realize continuous high-pressure grouting in coal mines and a matching grouting control method, so as to better solve the problems existing in the prior art. Summary of the invention

[0005] The present invention solves one of the above-mentioned technical problems, and the technical solution adopted is: a long-distance continuous grouting device in a coal mine, comprising a grouting machine chassis, a walking wheel is arranged at the bottom of the grouting machine chassis, an electric control box is arranged on one side of the grouting machine chassis, and a slurry storage mechanism is installed on the top of the grouting machine chassis, the slurry storage mechanism is used to realize the spraying of spraying slurry, a high-pressure grouting pipe assembly is connected to the outlet of the slurry storage mechanism, the outlet end of the high-pressure grouting pipe assembly is connected to a grouting actuator, the grouting actuator can realize the control of spraying slurry at different angles, and the slurry storage mechanism is used to store slurry and keep the slurry in a homogeneous vibration state.

[0006] In any of the above schemes, it is preferred that the slurry storage mechanism includes a slurry bin arranged above the chassis of the shotcrete machine, a vibration motor is arranged on the outer wall of the slurry bin, and a plurality of pulse generators are arranged at the bottom of the slurry bin, each of the pulse generators is respectively connected to the pulse air holes at the bottom of the slurry bin, and each of the pulse generators is used to achieve high-pressure repeated impacts on the slurry inside the slurry bin through pulse airflow.

[0007] In any of the above solutions, preferably, a slag discharge pipe with a valve is connected to the bottom of the slurry bin.

[0008] In any of the above schemes, it is preferred that the high-pressure spraying pipe assembly includes a proximal spraying pipe, the feed end of the proximal spraying pipe is connected to the interior of the slurry bin, and a high-pressure spraying pump is installed on the proximal spraying pipe, and the high-pressure spraying pump is used to extract the slurry in the slurry bin outward; a plurality of interconnected extension pipe group structural members are detachably sealed and connected to the outlet end of the proximal spraying pipe, each of the extension pipe group structural members has a pressurizing function, and the outlet end of the frontmost extension pipe group structural member is connected to a spraying pipe assembly, and the spraying pipe assembly is installed on the spraying actuator and moves with the spraying actuator.

[0009] In any of the above schemes, it is preferred that the shotcrete actuator includes a push frame, guide wheels are installed at both ends of the push frame, a telescopic cylinder is installed at the bottom of the push frame, a reversing ball wheel is hinged to the bottom ball pair of the piston rod of the telescopic cylinder, and the reversing ball wheel is used to drive the push frame to rotate and reverse; a swing seat is hingedly installed on the top of the push frame, the front end bottom of the swing seat is hinged to the upper part of the piston rod of a lifting cylinder, and the bottom of the cylinder body of the lifting cylinder is movably hinged to the push frame. On the hinge seat at the top of the middle section, an extension cylinder is installed on the swing seat, the cylinder body of the extension cylinder is fixedly installed on the swing seat, a Z-shaped seat is fixedly installed on the end of the piston rod of the extension cylinder, the rear end of the Z-shaped seat extends backward, a fine-tuning cylinder is movably hinged at the rear end of the Z-shaped seat, a V-shaped rod is movably hinged at the front end of the Z-shaped seat, the lower end of the V-shaped rod is movably hinged to the front end of the piston rod of the fine-tuning cylinder, and a clamping seat is installed at the front end of the V-shaped rod, and the clamping seat is used to fix the front end of the spraying pipe assembly.

[0010] A material spraying pusher is installed on the pushing frame.

[0011] In any of the above schemes, it is preferred that the extension pipe group structure includes an extension shotcrete pipe, a support seat is provided in the middle section of the extension shotcrete pipe, the top of the support seat is fixed to the extension shotcrete pipe by a clamp, and a universal wheel is installed at the bottom of the support seat.

[0012] In any of the above solutions, it is preferred that adjacent extended spraying pipes are connected by a quick-release connection.

[0013] In any of the above schemes, it is preferred that a bypass booster pipe is installed on the extended shotcrete pipe, both ends of the bypass booster pipe are respectively connected to the corresponding extended shotcrete pipes, a remote-controlled booster pump is installed on the middle section of the bypass booster pipe, a remote-controlled solenoid valve is installed on the extended shotcrete pipe between the two ends of the bypass booster pipe, and the remote-controlled booster pump is fixed to the support seat at the corresponding position through a bracket.

[0014] In any of the above schemes, preferably, residue filters are installed at both ends of at least one extended spraying pipe, and a detachable quick-release connection is adopted between the residue filter and the extended spraying pipe.

[0015] In any of the above solutions, preferably, the inner diameter of the proximal shotcrete pipe is twice the inner diameter of the extended shotcrete pipe.

[0016] In any of the above schemes, it is preferred that the spray pipe assembly includes a slurry outlet pipe connected to the frontmost extended spray pipe, the middle section of the slurry outlet pipe is fixedly installed above the cylinder body of the extension cylinder, the front end of the slurry outlet pipe is clamped and positioned by the clamping seat, and a spray head is installed at the end of the slurry outlet pipe.

[0017] The present invention also provides a method for controlling long-distance continuous grouting in underground coal mines, comprising the following steps:

[0018] S1: Grouting:

[0019] Open the upper cover on the top of the slurry bin and pour an appropriate amount of slurry to be sprayed into it as required. After the grouting is completed, the vibration motor and each pulse generator need to be turned on to control the slurry inside the slurry bin to achieve continuous high-frequency vibration and high-pressure pulse airflow impact, so that the slurry inside the slurry bin is in a state of homogeneous vibration, effectively ensuring the performance of the slurry, preventing the slurry from settling and sedimentation, and ensuring the slurry performance during the spraying process;

[0020] S2: Start the whole equipment and run it to a wider place under the mine, and manually control the shotcrete actuator to move into place;

[0021] By starting the power structure on the equipment, the equipment can be driven to select a suitable open area according to the spraying needs, which is convenient for the placement of the entire equipment. After the equipment is in place, the compact spraying actuator is controlled to move to the location to be sprayed;

[0022] S3: Control the shotcrete actuator to achieve preliminary discharge, and debug the shotcrete effect according to the preliminary discharge situation;

[0023] Start the corresponding components on the equipment to realize the outward delivery of slurry, so that the slurry is sprayed out, and observe the spraying speed and flow rate of the slurry to select the number of additional functions to be started on each extension pipe group structure;

[0024] S4: After the slurry discharge speed and flow rate are debugged, the spraying actuator is controlled to adjust the spraying inclination and direction of the spraying head to achieve fixed-point precision spraying;

[0025] When manipulating the spraying actuator, the spraying pusher is used to control the forward or backward movement of the entire spraying actuator, and then to achieve preliminary positioning. It is necessary to control the piston rod of the telescopic cylinder to extend downward to achieve the contact of the reversing ball wheel and lift the entire spraying actuator off the ground. At this time, the reversing ball wheel is supported at a single point, and the spraying pusher is operated to realize the rotation adjustment of the entire push frame and its upper parts. After the adjustment, the telescopic cylinder is controlled to reset, and the secondary azimuth positioning is realized at this time; the lifting cylinder is controlled to lift to achieve rough positioning of the tilt angle; and then the extension cylinder is controlled to extend to achieve close positioning; finally, precise positioning is achieved by adjusting the fine-tuning cylinder;

[0026] The present invention utilizes preliminary positioning, secondary azimuth positioning, rough inclination angle positioning, close positioning, and precise positioning to achieve the coordination of five degrees of freedom to achieve precise positioning of the spraying point, and can efficiently complete precise spraying.

[0027] S5: Remotely control the gear position and opening and closing status of each remote control booster pump according to the changes in spraying requirements to achieve quantitative and accurate spraying;

[0028] S6: After the current shotcrete location is shotcrete-fired, the shotcrete-fired process is transferred to the next shotcrete location according to the above operation.

[0029] In any of the above schemes, it is preferred that the present grouting method can realize both fixed-point precise grouting and quantitative precise grouting during long-distance grouting in the mine, which can effectively solve the problem of difficulty and control in long-distance grouting in the mine.

[0030] Among any of the above schemes, it is preferred that the present shotcreting method can well realize long-distance shotcreting, and there is no need to frequently move large-volume slurry bins underground, which effectively reduces the difficulty, time-consuming and labor-intensive equipment transfer encountered during long-distance and large-scale shotcreting underground, and effectively improves the effect and efficiency of the entire shotcreting operation.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The spraying device of the present invention can effectively realize long-distance spraying, and at the same time can ensure the regulation of the spraying speed and flow rate at the end of the spraying at different distances, prevent the occurrence of spraying fatigue, and effectively ensure the spraying effect.

[0033] 2. The spraying device can effectively realize fixed-point and quantitative spraying in combination with the spraying method; in addition, the number of extension pipe group structural parts to be installed or removed can be selected according to the spraying distance to ensure that the spraying is in the best state.

[0034] 3. The spraying actuator of the present invention utilizes preliminary positioning, secondary azimuth positioning, rough inclination angle positioning, close positioning, and precise positioning to achieve five degrees of freedom coordination during spraying adjustment to achieve precise positioning of the spraying point, and can efficiently complete precise spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or components are generally identified by similar reference numerals. In the drawings, the elements or components are not necessarily drawn according to the actual scale.

[0036] Figure 1 It is a structural schematic diagram of the present invention.

[0037] Figure 2 It is a partially enlarged structural schematic diagram of the slurry storage mechanism and its upper components of the present invention.

[0038] Figure 3 It is an enlarged structural schematic diagram of the extension tube group structural member of the present invention.

[0039] Figure 4 It is an enlarged structural schematic diagram of the spraying actuator of the present invention.

[0040] In the figure, 1. chassis of the spraying machine; 2. walking wheels; 3. electric control box; 4. slurry bin; 5. vibration motor; 6. pulse generator; 7. slag discharge pipe; 8. proximal spraying pipe; 9. high-pressure spraying pump; 10. extension pipe group structure; 11. spraying pipe assembly; 12. spraying actuator; 13. push frame; 14. guide wheel; 15. telescopic cylinder; 16. reversing ball wheel; 17. swing seat; 18. lifting cylinder; 19. extension cylinder; 20. Z-type seat; 21. fine-tuning cylinder; 22. V-shaped rod; 23. clamping seat; 24. extension spraying pipe; 25. support seat; 26. universal wheel; 27. bypass booster pipe; 28. remote control booster pump; 29. ​​remote control solenoid valve; 30. slurry outlet pipe; 31. spraying head. DETAILED DESCRIPTION

[0041] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0042] like Figure 1-4As shown in the figure, a long-distance continuous grouting device is used in an underground coal mine, including a grouting machine chassis 1, a walking wheel 2 is arranged at the bottom of the grouting machine chassis 1, an electric control box 3 is arranged on one side of the grouting machine chassis 1, and a slurry storage mechanism is installed on the top of the grouting machine chassis 1, and the slurry storage mechanism is used to spray the spraying slurry. A high-pressure grouting pipe assembly 11 is connected to the outlet of the slurry storage mechanism, and the outlet end of the high-pressure grouting pipe assembly 11 is connected to a grouting actuator 12, and the grouting actuator 12 can realize the control of spraying slurry at different angles, and the slurry storage mechanism is used to store slurry and keep the slurry in a homogeneous vibration state.

[0043] The overall volume of the shotcrete chassis 1 of the device and the slurry storage mechanism thereon is relatively large. Therefore, in the actual underground shotcrete process, the general principle is to minimize the frequency of movement of the whole machine, mainly because it is difficult to shift the whole machine underground, the turnover consumes a lot of manpower and material resources, and it is easy to collide with the surrounding equipment underground. Therefore, the fewer times the whole machine is moved, the better. However, from the actual situation, it can be seen that the number of times the whole machine is moved can be reduced for short-distance shotcrete, and the shotcrete can be completed without moving the whole machine; however, for long-distance shotcrete operations underground, the whole machine must be moved frequently and intermittently, which brings a large amount of additional workload for long-distance shotcrete underground. The high-pressure shotcrete pipe assembly 11 designed by the present invention cooperates with the shotcrete actuator 12 to better ensure that the long-distance shotcrete process can be completed after the whole machine is initially positioned without subsequent displacement, effectively ensuring the rapid operation of long-distance shotcrete work underground.

[0044] In any of the above schemes, it is preferred that the slurry storage mechanism includes a slurry bin 4 arranged above the chassis 1 of the shotcrete machine, a vibration motor 5 is arranged on the outer wall of the slurry bin 4, and a plurality of pulse generators 6 are arranged at the bottom of the slurry bin 4, each of the pulse generators 6 is respectively connected to the pulse air holes at the bottom of the slurry bin 4, and each of the pulse generators 6 is used to achieve high-pressure repeated impacts on the slurry inside the slurry bin 4 through pulse airflow.

[0045] During the spraying process, the slurry inside the slurry bin 4 can effectively ensure the continuous vibration of the slurry and the stirring impact of the high-pressure pulse airflow under the action of the vibration motor 5 and the pulse generator 6, effectively ensuring that the internal slurry is in a suitable flow state. In addition, during the vibration and pneumatic stirring process, the overall stirring and vibration effects can be controlled as needed by controlling the frequency of each component.

[0046] In any of the above solutions, preferably, a slag discharge pipe 7 with a valve is connected to the bottom of the slurry bin 4.

[0047] The slag discharge pipe 7 can promptly and effectively clean the slurry remaining for a long time after spraying, and ensure the cleanliness of the inside of the slurry bin 4 after the construction is completed, so as to facilitate cleaning when it is used later.

[0048] In any of the above schemes, it is preferred that the high-pressure spraying pipe assembly 11 includes a proximal spraying pipe 8, the feed end of the proximal spraying pipe 8 is connected to the interior of the slurry bin 4, and a high-pressure spraying pump 9 is installed on the proximal spraying pipe 8, and the high-pressure spraying pump 9 is used to extract the slurry in the slurry bin 4 outward; a plurality of interconnected extension pipe group structural members 10 are detachably sealed and connected to the outlet end of the proximal spraying pipe 8, and each of the extension pipe group structural members 10 has a pressurizing function, and the outlet end of the frontmost extension pipe group structural member 10 is connected to a spraying pipe assembly 11, and the spraying pipe assembly 11 is installed on the spraying actuator 12 and moves with the spraying actuator 12.

[0049] The initial discharge end of the high-pressure spraying pipe assembly 11 adopts a high-pressure spraying pump 9 to guide the slurry to the inside of the proximal spraying pipe 8 at a relatively fast state, and then continuously transports it over long distances through a number of interconnected extension pipe group structural parts 10, thereby realizing long-distance transportation of the slurry, and finally spraying the slurry to the target location through the spraying pipe assembly 11. Taking into account the situation that the slurry is insufficiently powered due to long-distance transportation of the slurry, each extension pipe group structural part 10 provided here has a pressurization function, which can be used separately or simultaneously, thereby ensuring that the slurry on the entire conveying pipeline can always be at the required conveying flow and speed, thereby ensuring the quality and effect of the output slurry.

[0050] In any of the above schemes, it is preferred that the shotcrete actuator 12 includes a push frame 13, guide wheels 14 are installed at both ends of the push frame 13, a telescopic cylinder 15 is installed at the bottom of the push frame 13, and a reversing ball wheel 16 is hinged to the bottom ball pair of the piston rod of the telescopic cylinder 15, and the reversing ball wheel 16 is used to drive the push frame 13 to rotate and reverse; a swing seat 17 is hingedly installed on the top of the push frame 13, and the front end bottom of the swing seat 17 is hinged to the upper part of the piston rod of a lifting cylinder 18, and the bottom of the cylinder body of the lifting cylinder 18 is movably hinged in the push frame 13. On the hinge seat at the top of the segment, an extension cylinder 19 is installed on the swing seat 17, the cylinder body of the extension cylinder 19 is fixedly installed on the swing seat 17, and a Z-shaped seat 20 is fixedly installed on the end of the piston rod of the extension cylinder 19, the rear end of the Z-shaped seat 20 extends backward, and a fine-tuning cylinder 21 is movably hinged at the rear end of the Z-shaped seat 20, and a V-shaped rod 22 is movably hinged at the front end of the Z-shaped seat 20, the lower end of the V-shaped rod 22 is movably hinged to the front end of the piston rod of the fine-tuning cylinder 21, and a clamping seat 23 is installed at the front end of the V-shaped rod 22, and the clamping seat 23 is used to fix the front end of the spraying pipe assembly 11.

[0051] The main function of the spraying actuator 12 is to support and adjust the spraying part of the spraying pipe assembly 11. When the spraying actuator 12 is operated, the forward or backward control of the entire spraying actuator 12 is realized through the spraying pusher, and then the preliminary positioning is realized. It is necessary to control the piston rod of the telescopic cylinder 15 to extend downward to realize the landing of the reversing ball wheel 16 and lift the entire spraying actuator 12 off the ground. At this time, it is supported by the reversing ball wheel 16 at a single point, and the spraying pusher is operated to realize the rotation adjustment of the entire push frame 13 and its upper components. After the adjustment, the telescopic cylinder 15 is controlled to reset, and the secondary azimuth positioning is realized at this time; the lifting cylinder 18 is controlled to lift to realize the rough positioning of the inclination angle; and then the extension cylinder 19 is controlled to extend to realize the close positioning; finally, the precise positioning is realized by adjusting the fine-tuning cylinder 21.

[0052] A material spraying handle is installed on the pushing frame 13 to facilitate the exertion of force when the pusher is adjusted.

[0053] In any of the above schemes, it is preferred that the extension pipe group structure 10 includes an extension shotcrete pipe 24, a support seat 25 is provided in the middle section of the extension shotcrete pipe 24, the top of the support seat 25 is fixed to the extension shotcrete pipe 24 by a clamp, and a universal wheel 26 is installed at the bottom of the support seat 25.

[0054] Since the extended shotcrete pipe 24 needs to be pulled and moved according to different conveying distances, a support seat 25 with a universal wheel 26 is provided to facilitate guiding and shifting when being pulled, thereby effectively reducing the frequent wear caused by the contact between the extended shotcrete pipe 24 and the underground ground. Firstly, the service life of the extended shotcrete pipe 24 can be extended, and secondly, the difficulty of pulling and moving the extended shotcrete pipe 24 can be effectively reduced, making the operation more labor-saving.

[0055] In any of the above schemes, it is preferred that adjacent extended spraying pipes 24 are connected by a quick-release connection. The use of a sealed quick-release connection can effectively ensure the sealing during use, while allowing for rapid disassembly and assembly as needed.

[0056] In any of the above schemes, it is preferred that a bypass booster pipe 27 is installed on the extended shotcrete pipe 24, both ends of the bypass booster pipe 27 are respectively connected to the corresponding extended shotcrete pipes 24, a remote-controlled booster pump 28 is installed on the middle section of the bypass booster pipe 27, a remote-controlled solenoid valve 29 is installed on the extended shotcrete pipe 24 between the two ends of the bypass booster pipe 27, and the remote-controlled booster pump 28 is fixed to the support seat 25 at the corresponding position through a bracket.

[0057] When long-distance spraying requires increased pipeline transportation power, it is necessary to remotely control the remote control solenoid valve 29 on the current bypass booster pipe 27 to close and the remote control booster pump 28 to start at the same time, so that the slurry can be increased in speed through the bypass booster pipe 27 and then enter the extended spraying pipe 24 for continued transportation, thereby achieving increased transportation during long-distance transportation and ensuring that the transported material can meet the spraying requirements.

[0058] In any of the above schemes, preferably, residue filters are installed at both ends of at least one extended spraying pipe 24, and a detachable quick-release connection is adopted between the residue filter and the extended spraying pipe 24.

[0059] In any of the above schemes, it is preferred that the inner diameter of the proximal shotcrete pipe 8 is twice the inner diameter of the extended shotcrete pipe 24, and the extended shotcrete pipe 24 located at the rear side is reduced in diameter to achieve the effect of increasing pressure and speed.

[0060] In any of the above schemes, it is preferred that the spray pipe assembly 11 includes a slurry outlet pipe 30 connected to the front end extension spray pipe 24, the middle section of the slurry outlet pipe 30 is fixedly installed above the cylinder body of the extension cylinder 19, the front end of the slurry outlet pipe 30 is clamped and positioned by the clamping seat 23, and a spray head 31 is installed at the end of the slurry outlet pipe 30.

[0061] The high-speed slurry is sprayed out from the slurry outlet pipe 30 and the spray head 31 to realize the spraying operation.

[0062] The present invention also provides a method for controlling long-distance continuous grouting in underground coal mines, comprising the following steps:

[0063] S1: Grouting:

[0064] Open the upper cover on the top of the slurry bin 4 and pour an appropriate amount of slurry to be sprayed into it as required. After the grouting is completed, the vibration motor 5 and each pulse generator 6 need to be turned on to control the slurry inside the slurry bin 4 to achieve continuous high-frequency vibration and high-pressure pulse airflow impact, so that the slurry inside the slurry bin 4 is in a state of homogeneous vibration, effectively ensuring the performance of the slurry, preventing the slurry from settling and depositing, and ensuring the slurry performance during the spraying process;

[0065] S2: Start the whole equipment and move it to a wider place under the mine, and manually control the shotcrete actuator 12 to move into place;

[0066] By starting the power structure on the equipment, the equipment can be driven to select a suitable open area according to the spraying needs, so as to facilitate the convenient placement of the entire equipment. After the equipment is in place, the small-sized spraying actuator 12 is controlled to move to the location to be sprayed;

[0067] S3: Control the spraying actuator 12 to achieve preliminary discharge, and debug the spraying effect according to the preliminary discharge situation;

[0068] Start the corresponding elements on the equipment to realize the outward delivery of slurry, so that the slurry is sprayed out and observe the spraying speed and flow rate of the slurry to select the number of the increased functions on each extension pipe group structure 10 to be started;

[0069] S4: After the slurry discharge speed and flow rate are debugged, the spraying actuator 12 is controlled to adjust the spraying inclination and orientation of the spraying head 31 to achieve fixed-point precision spraying;

[0070] When the spraying actuator 12 is controlled, the spraying pusher is used to control the forward or backward movement of the entire spraying actuator 12, and then the initial positioning is achieved. The piston rod of the telescopic cylinder 15 needs to be controlled to extend downward to achieve the contact of the reversing ball wheel 16 and lift the entire spraying actuator 12 off the ground. At this time, the reversing ball wheel 16 is used for single-point support, and the spraying pusher is operated to realize the rotation adjustment of the entire push frame 13 and its upper components. After the adjustment, the telescopic cylinder 15 is controlled to reset, and the secondary azimuth positioning is achieved at this time; the lifting cylinder 18 is controlled to lift to achieve rough positioning of the tilt angle; and then the extension cylinder 19 is controlled to extend to achieve close positioning; and finally, precise positioning is achieved by adjusting the fine-tuning cylinder 21;

[0071] The present invention utilizes preliminary positioning, secondary azimuth positioning, rough inclination angle positioning, close positioning, and precise positioning to achieve the coordination of five degrees of freedom to achieve precise positioning of the spraying point, and can efficiently complete precise spraying.

[0072] S5: remotely control the gear position and opening and closing state of each remote control booster pump 28 according to the change of spraying requirements to achieve quantitative and accurate spraying;

[0073] S6: After the current shotcrete location is shotcrete-fired, the shotcrete-fired process is transferred to the next shotcrete location according to the above operation.

[0074] In any of the above schemes, it is preferred that the present grouting method can realize both fixed-point precise grouting and quantitative precise grouting during long-distance grouting in the mine, which can effectively solve the problem of difficulty and control in long-distance grouting in the mine.

[0075] Among any of the above schemes, it is preferred that the present shotcreting method can well realize long-distance shotcreting, and there is no need to frequently move the large-volume slurry bin 4 underground, which effectively reduces the difficulty, time-consuming and labor-intensive equipment transfer encountered during long-distance and large-scale shotcreting underground, and effectively improves the effect and efficiency of the entire shotcreting operation.

[0076] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention. For those skilled in the art, any replacement, improvement or change made to the implementation mode of the present invention falls within the protection scope of the present invention.

[0077] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A long-distance continuous shotcreting device in a coal mine, comprising a shotcreting machine chassis, a traveling wheel is arranged at the bottom of the shotcreting machine chassis, and an electric control box is arranged on one side of the shotcreting machine chassis, characterized in that: A slurry storage mechanism is installed on the top of the chassis of the spraying machine, and the slurry storage mechanism is used to realize the spraying of the spraying slurry. A high-pressure spraying pipe assembly is connected to the outlet of the slurry storage mechanism, and the outlet end of the high-pressure spraying pipe assembly is connected to a spraying actuator. The spraying actuator can realize the control of spraying slurry at different angles. The slurry storage mechanism is used to store the slurry and keep the slurry in a homogeneous vibration state; The spraying actuator includes a push frame, guide wheels are installed at both ends of the push frame, a telescopic cylinder is installed at the bottom of the push frame, a reversing ball wheel is hinged to the bottom ball pair of the piston rod of the telescopic cylinder, and the reversing ball wheel is used to drive the push frame to rotate and reverse; a swing seat is hingedly installed on the top of the push frame, the front end bottom of the swing seat is hinged to the upper part of the piston rod of a lifting cylinder, and the bottom of the cylinder body of the lifting cylinder is movably hinged to the hinge seat at the top of the middle section of the push frame A stretching cylinder is installed on the swing seat, the cylinder body of the stretching cylinder is fixedly installed on the swing seat, a Z-shaped seat is fixedly installed on the end of the piston rod of the stretching cylinder, the rear end of the Z-shaped seat extends backward, a fine-tuning cylinder is movably hinged at the rear end of the Z-shaped seat, a V-shaped rod is movably hinged at the front end of the Z-shaped seat, the lower end of the V-shaped rod is movably hinged to the front end of the piston rod of the fine-tuning cylinder, a clamping seat is installed at the front end of the V-shaped rod, and the clamping seat is used to fix the front end of the spraying pipe assembly; The spraying actuator uses preliminary positioning, secondary azimuth positioning, rough inclination angle positioning, close positioning, and precise positioning to achieve five degrees of freedom to accurately position the spraying point during spraying adjustment, and can efficiently complete precise spraying. A method for controlling long-distance continuous grouting in underground coal mines, which is realized by using a long-distance continuous grouting device in underground coal mines, comprises the following steps: S1: grouting of slurry: opening the upper cover on the top of the slurry bin and pouring an appropriate amount of slurry to be sprayed into the inside thereof as required, and after the grouting is completed, turning on the vibration motor and each pulse generator control to realize continuous high-frequency vibration and high-pressure pulse airflow impact on the slurry in the slurry bin, so that the slurry in the slurry bin is in a state of homogeneous vibration, effectively ensuring the slurry performance, preventing the slurry from settling and depositing, and ensuring the slurry performance during the spraying process; S2: Start the whole equipment and run it to a wider place under the mine, and manually control the spraying actuator to move to the position; by starting the power structure on the equipment, the equipment can be driven to select a suitable open area according to the spraying needs, which is convenient for the placement of the whole equipment. After the equipment is in place, the spraying actuator is controlled to move to the location to be sprayed; S3: Control the shotcrete actuator to achieve preliminary discharge, and debug the shotcrete effect according to the preliminary discharge situation; S4: After the slurry discharge speed and flow rate are debugged, the spraying actuator is controlled to adjust the spraying inclination and azimuth of the spraying head to achieve fixed-point precise spraying; when the spraying actuator is controlled, the entire spraying actuator is controlled to move forward or backward through the spraying pusher to achieve preliminary positioning, and the piston rod of the telescopic cylinder is controlled to extend downward to achieve the contact of the reversing ball wheel and lift the entire spraying actuator off the ground, supported by the reversing ball wheel at a single point, and the spraying pusher is operated to achieve the rotation adjustment of the entire push frame and its upper components, and the telescopic cylinder is controlled to reset after adjustment to achieve secondary azimuth positioning; the lifting cylinder is controlled to lift up to achieve rough positioning of the inclination angle; and then the extension cylinder is controlled to extend to achieve close positioning; finally, precise positioning is achieved by adjusting the fine-tuning cylinder; S5: Remotely control the gear position and opening and closing status of each remote control booster pump according to the changes in spraying requirements to achieve quantitative and accurate spraying; S6: When the current shotcrete location is shotcrete, the next shotcrete location is moved to the next shotcrete location for the shotcrete process according to the above operation; when the long-distance shotcrete is shotcrete underground, both fixed-point precise shotcrete and quantitative precise shotcrete can be achieved, which can effectively solve the problem of long-distance shotcrete in the mine being difficult and difficult to control; This shotcreting method can achieve long-distance shotcreting without the need to frequently move large-volume slurry bins underground, effectively reducing the difficulty, time and effort of equipment transfer encountered during long-distance and large-scale shotcreting underground, and effectively improving the effect and efficiency of the entire shotcreting operation.

2. The long-distance continuous grouting device for underground coal mines according to claim 1, characterized in that: The slurry storage mechanism includes a slurry bin arranged above the chassis of the shotcrete machine, a vibration motor is arranged on the outer wall of the slurry bin, and a plurality of pulse generators are arranged at the bottom of the slurry bin, each of the pulse generators is respectively connected to the pulse air holes at the bottom of the slurry bin, and each of the pulse generators is used to achieve high-pressure repeated impacts on the slurry inside the slurry bin through pulse airflow.

3. The long-distance continuous grouting device for underground coal mines according to claim 2, characterized in that: A slag discharge pipeline with a valve is connected to the bottom of the slurry bin.

4. The long-distance continuous grouting device for underground coal mines according to claim 3, characterized in that: The high-pressure spraying pipe assembly includes a proximal spraying pipe, the feed end of the proximal spraying pipe is connected to the interior of the slurry bin, a high-pressure spraying pump is installed on the proximal spraying pipe, and the high-pressure spraying pump is used to extract the slurry in the slurry bin to the outside; a plurality of mutually connected extension pipe group structural parts are detachably sealed and connected to the outlet end of the proximal spraying pipe, each of the extension pipe group structural parts has a pressurizing function, and a spraying pipe assembly is connected to the outlet end of the frontmost extension pipe group structural part, and the spraying pipe assembly is installed on the spraying actuator and moves with the spraying actuator.

5. The long-distance continuous grouting device for underground coal mines according to claim 4, characterized in that: The extension pipe group structure includes an extension shotcrete pipe, a support seat is arranged in the middle section of the extension shotcrete pipe, the top of the support seat is fixed with the extension shotcrete pipe by a clamp, and a universal wheel is installed at the bottom of the support seat.

6. The long-distance continuous grouting device for underground coal mines according to claim 5, characterized in that: The inner diameter of the proximal shotcrete pipe is twice the inner diameter of the extended shotcrete pipe.

7. The long-distance continuous grouting device for underground coal mines according to claim 6, characterized in that: The spray pipe assembly includes a slurry outlet pipe connected to the frontmost extended spray pipe, the middle section of the slurry outlet pipe is fixedly installed above the cylinder body of the extension cylinder, the front end of the slurry outlet pipe is clamped and positioned by the clamping seat, and a spray head is installed at the end of the slurry outlet pipe.

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