Self-moving concrete pump set for gob-side entry retaining

Abstract

The invention relates to the technical field of gob-side entry retaining construction, in particular to a self-moving concrete pump set for gob-side entry retaining, which is characterized in that a concrete pumping mechanism is arranged on a self-walking chassis, and a pumping control module is connected with the concrete pumping mechanism; the self-walking control module is connected with the self-walking driving mechanism, the PLC is respectively connected with the pumping control module and the self-walking control module, the wireless communication device is connected with the PLC, and the far-end control unit is wirelessly connected with the wireless communication device so as to send a control instruction. The self-walking chassis is driven by the self-walking driving mechanism to move automatically, traction carrying through a tractor is not needed any more, intelligent mechanical control over the concrete pumping mechanism and the self-walking driving mechanism is achieved through cooperation of the pumping control module and the self-walking control module and the PLC, investment of operators is reduced, and meanwhile the working efficiency is improved. The wireless communication device is matched with the far-end control unit to realize man-machine separation control, so that the operation safety is improved.

Description

Technical Field

[0001] The invention relates to the technical field of gob-side tunnel retaining construction, and in particular to a self-moving concrete pump group for gob-side tunnel retaining. Background Art

[0002] The concrete pump unit consists of a pump body and a delivery pipe. It is a machine that uses pressure to continuously deliver concrete along the pipeline. In the implementation of the gob-side tunneling project in coal mines, the concrete pump unit is used frequently and is an indispensable machine for completing the gob-side tunneling construction.

[0003] During the implementation of the underground gob retention project in coal mines, the concrete pump generally needs to be moved every 10 to 15 days. However, most of the concrete pumps used in the mine are drag-type structures with large equipment size. They need to be towed by a support transporter when moving, which is very inconvenient in the narrow working environment of the gob retention in coal mines. Whether it is equipment movement, pipeline installation, water and electricity connection, or concrete pump start and stop, mixing and pumping, workers need to be deployed to perform manual control operations, which is time-consuming and labor-intensive, and has a low degree of intelligence. Summary of the invention

[0004] The invention provides a self-moving concrete pump group for gob-side tunnel retention, which is used to solve the defects of inconvenient movement and low intelligence level of underground concrete pumps in the prior art.

[0005] The present invention provides a self-propelled concrete pump group for retaining lanes along gobs, comprising a self-propelled chassis, a concrete pumping mechanism, a pumping control module, a self-propelled driving mechanism, a self-propelled control module, a PLC controller, a wireless communication device and a remote control unit. The concrete pumping mechanism is arranged on the self-propelled chassis, and the pumping control module is electrically connected to the concrete pumping mechanism for controlling the operation of the concrete pumping mechanism; the self-propelled driving mechanism is arranged on the self-propelled chassis for driving the self-propelled chassis to move; the self-propelled control module is electrically connected to the self-propelled driving mechanism for controlling the operation of the self-propelled driving mechanism; the PLC controller is electrically connected to the pumping control module and the self-propelled control module respectively; the wireless communication device is electrically connected to the PLC controller for receiving and sending control commands and feeding back working information; the remote control unit is wirelessly connected to the wireless communication device to send control instructions.

[0006] According to a self-propelled concrete pump group for retaining tunnels along the goaf provided by the present invention, the self-propelled driving mechanism includes a receiver, a drive motor, a hydraulic pump, an electric proportional valve and a travel motor, the receiver is connected to the self-propelled control module to receive the control instructions of the self-propelled control module; the drive motor is connected to the receiver to execute the control instructions received by the receiver; the hydraulic pump is connected to the drive motor and is suitable for being driven by the drive motor; the electric proportional valve is connected to the hydraulic pump and is used to distribute the power pumped by the hydraulic pump; the travel motor is connected to the electric proportional valve and is suitable for receiving the power distributed by the electric proportional valve to work so as to drive the self-propelled chassis to move, and the travel motor is equipped with a reducer to adjust the rotation speed of the travel motor.

[0007] According to a self-propelled concrete pump group for gob-side tunnel retention provided by the present invention, the self-propelled chassis is provided with a steering mechanism for controlling the self-propelled chassis to turn, and the steering mechanism is connected to the PLC controller.

[0008] Infrared sensors and / or ultrasonic sensors are distributed on the self-propelled chassis. The infrared sensors and / or ultrasonic sensors are used to monitor the moving direction of the self-propelled chassis. The infrared sensors and / or ultrasonic sensors are connected to the PLC controller.

[0009] The self-propelled chassis is provided with a rotation speed sensor, which is used to monitor the moving distance of the self-propelled chassis, and the rotation speed sensor is connected to the PLC controller.

[0010] According to a self-propelled concrete pump group for gob-side tunnel retention provided by the present invention, the remote control unit includes a remote controller, which is wirelessly connected to the wireless communication device and is suitable for sending control instructions to the wireless communication device within the line of sight of the self-propelled chassis.

[0011] According to a self-propelled concrete pump group for gob-side tunnel retention provided by the present invention, the remote control unit includes a remote control center operating console, and the remote control center operating console is equipped with a display, an operating handle and buttons. The remote control center operating console is suitable for wireless connection with the wireless communication device through a base station to send control instructions to the wireless communication device remotely.

[0012] According to a self-propelled concrete pump group for gob-side tunnel retention provided by the present invention, the self-propelled chassis is provided with a display controller, which is used to display the working parameters of the concrete pumping mechanism, the pumping control module, the self-propelled driving mechanism and the self-propelled control module in real time.

[0013] According to a self-propelled concrete pump group for gob-side tunnel retention provided by the present invention, the display controller is connected to a safety protection module, and the safety protection module is electrically connected to the PLC controller, and is suitable for controlling the execution of a shutdown operation through the PLC controller when the working parameters of the concrete pumping mechanism or the self-propelled drive mechanism are abnormal.

[0014] According to a self-propelled concrete pump group for gob-side tunnel retention provided by the present invention, a pumping pipe moving device is hung on the rear end of the self-propelled chassis, and the pumping pipe moving device is used to carry the pumping pipe of the concrete pumping mechanism.

[0015] According to a self-moving concrete pump group for retaining tunnels along the goaf provided by the present invention, the pumping pipe moving device includes a plurality of pump pipe bearing device units that are sequentially clamped, each of the pump pipe bearing device units includes a frame, an inner concave skeleton portion is arranged on the upper part of the frame for bearing the pumping pipe, support guide rails are formed on both sides of the inner concave skeleton portion, walking wheels are arranged on the lower part of the frame, and support wheels are symmetrically arranged at the lower part of the frame.

[0016] According to a self-propelled concrete pump group for retaining tunnels along gobs provided by the present invention, the PLC controller controls the pumping control module and the self-propelled control module to implement an interlocking procedure, and when one of the pumping control module and the self-propelled control module is working, the other is in a locked state.

[0017] The self-propelled concrete pump unit for gob-side tunnel retention provided by the present invention is intended to provide a self-propelled concrete pump unit suitable for use in narrow space working environments such as gob-side tunnel retention. The operating efficiency and safety of the equipment are improved by integrating the self-propelled function, remote control capability and automated pumping process. The self-propelled chassis is driven by the self-propelled driving mechanism to move by itself, and there is no need for towing and transporting by a tractor. The intelligent mechanical control of the concrete pumping mechanism and the self-propelled driving mechanism is realized by the pumping control module and the self-propelled control module in cooperation with the PLC controller, thereby reducing the input of operators. At the same time, the wireless communication device is used in cooperation with the remote control unit to realize the separation of man and machine control, thereby improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 The present invention is a block diagram of the principle of a self-moving concrete pump unit for gob-side tunnel retention.

[0020] Figure 2 It is a schematic diagram of the external structure of a self-moving concrete pump unit for gob-side tunnel retention provided by the present invention.

[0021] Figure 3 It is a schematic diagram of the principle structure of the self-propelled driving mechanism provided by the present invention.

[0022] Figure 4 It is a structural schematic diagram of the pumping pipeline shifting device provided by the present invention.

[0023] Figure 5 It is a structural schematic diagram of the pump tube bearing device unit provided by the present invention.

[0024] Figure 6 It is a schematic diagram of the stacking structure of the pump tube carrying device unit provided by the present invention.

[0025] Figure 7 yes Figure 6 End view of .

[0026] Figure numerals: 1. Self-propelled chassis; 2. Concrete pumping mechanism; 3. Pumping control module; 4. Self-propelled driving mechanism; 41. Receiver; 42. Driving motor; 43. Hydraulic pump; 44. Electric proportional valve; 45. Travel motor; 5. Self-propelled control module; 6. PLC controller; 7. Wireless communication device; 8. Remote control unit; 81. Remote control; 82. Remote control center operating console; 83. Base station; 9. Pump pipe bearing device unit; 91. Frame; 92. Support rail; 93. Travel wheel; 94. Support wheel; 10. Pumping pipeline. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0030] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0032] Combine the following Figures 1 to 7 The specific structure and working process of the self-moving concrete pump group for gob-side tunnel retention of the present invention are described.

[0033] One embodiment of the present invention provides a self-propelled concrete pump group for gob-side tunnel retention, Figure 1 and Figure 2 As shown, the self-propelled concrete pump group of this embodiment includes a self-propelled chassis 1, a concrete pumping mechanism 2, a pumping control module 3, a self-propelled driving mechanism 4, a self-propelled control module 5, a PLC controller 6, a wireless communication device 7 and a remote control unit 8. The concrete pumping mechanism 2 is arranged on the self-propelled chassis 1, and the pumping control module 3 is electrically connected to the concrete pumping mechanism 2 for controlling the operation of the concrete pumping mechanism 2; the self-propelled driving mechanism 4 is arranged on the self-propelled chassis 1 for driving the self-propelled chassis 1 to move; the self-propelled control module 5 is electrically connected to the self-propelled driving mechanism 4 for controlling the operation of the self-propelled driving mechanism 4; the PLC controller 6 is electrically connected to the pumping control module 3 and the self-propelled control module 5 respectively; the wireless communication device 7 is electrically connected to the PLC controller 6 for sending and receiving control commands and feeding back working information; the remote control unit 8 is wirelessly connected to the wireless communication device 7 to send control instructions.

[0034] The self-propelled chassis 1 serves as the mobile platform of the entire system, carrying the concrete pumping mechanism 2 and all other key components. The concrete pumping mechanism 2 is installed on the self-propelled chassis and is responsible for transporting concrete to the target location through the pipeline. The concrete pumping mechanism 2 is electronically controlled by the pumping control module 3. The pumping control module 3 is directly connected to the concrete pumping mechanism 2 and is used to start, stop and adjust various parameters during the pumping process. The pumping control module 3 receives instructions from the PLC controller 6 to perform specific control tasks. The self-propelled drive mechanism 4 is located inside or below the self-propelled chassis 1, and includes components such as a travel motor, which is used to provide power to enable the chassis to move autonomously. The self-propelled drive mechanism 4 is controlled by the self-propelled control module 5, which is responsible for commanding the self-propelled drive mechanism 4 to regulate the actions of the self-propelled chassis 1, such as moving forward, backward, turning, etc. The self-propelled control module 5 also receives commands from the PLC controller 6 and feeds back current status information. The PLC controller 6 is the "brain" of the entire system, integrating the management of the pumping control module 3 and the self-propelled control module 5. It processes the external input signals from the wireless communication device 7 and issues corresponding action instructions to each subsystem. The wireless communication device 7 provides a wireless interface for the remote control unit 8, allowing the operator to send control instructions to the PLC controller 6 through the remote control or the remote control center console, and also receive the system's work feedback information. The remote control unit 8 includes a remote control 81 and a remote control center console 82, allowing the operator to control the self-propelled concrete pump unit within a certain range or away from the site.

[0035] The operator selects and sets the working mode (e.g., pumping or moving) through the remote control unit 8, and then activates the system. Once the start signal is received, the PLC controller 6 checks the initial status of all systems and ensures that the safety conditions are met. After that, it will start the operation according to the predetermined program, such as moving the self-propelled chassis 1 to a designated location or starting the concrete pumping mechanism 2 to pump concrete. In the pumping mode of the concrete pumping mechanism 2, the pumping control module 3 adjusts the pumping speed and other parameters as needed; while in the moving mode of the self-propelled chassis 1, the self-propelled control module 5 guides the chassis to reach the next working point smoothly. During the entire operation, the wireless communication device 7 continuously transmits the working status information to the remote control unit 8, so that the operator can understand the operation of the equipment at any time and make necessary adjustments. After completing a pumping or moving, the system enters a standby state to wait for new instructions, or automatically shuts down according to a preset schedule.

[0036] It can be understood that the self-propelled concrete pump group for gob-side tunnel retention in this embodiment is intended to provide a self-propelled concrete pump group suitable for use in narrow space working environments such as gob-side tunnel retention. By integrating self-propelled functions, remote control capabilities, and automated pumping processes, the operating efficiency and safety of the equipment are improved. Specifically, the self-propelled chassis 1 is driven by the self-propelled driving mechanism 4 to move by itself, and there is no need to use a tractor for towing and transportation. The intelligent mechanical control of the concrete pumping mechanism 2 and the self-propelled driving mechanism 4 is realized by the pumping control module 3 and the self-propelled control module 5 in cooperation with the PLC controller 6, thereby reducing the input of operators. At the same time, the wireless communication device 7 is used in cooperation with the remote control unit 8 to realize human-machine separation control, thereby improving the safety of the operation.

[0037] In some embodiments of the self-propelled concrete pump group for gob-side tunnel retaining of the present invention, see Figure 3 As shown, the self-propelled driving mechanism 4 includes a receiver 41, a driving motor 42, a hydraulic pump 43, an electric proportional valve 44 and a travel motor 45. The receiver 41 is connected to the self-propelled control module 5 to receive the control instructions of the self-propelled control module 5; the driving motor 42 is connected to the receiver 41 to execute the control instructions received by the receiver 41; the hydraulic pump 43 is connected to the driving motor 42 and is suitable for being driven by the driving motor 42; the electric proportional valve 44 is connected to the hydraulic pump 43 and is used to distribute the power pumped by the hydraulic pump 43; the travel motor 45 is connected to the electric proportional valve 44 and is suitable for receiving the power distributed by the electric proportional valve 44 to work so as to drive the self-propelled chassis 1 to move, and the travel motor 45 is equipped with a reducer to adjust the speed of the travel motor 45.

[0038] It is understandable that the receiver 41 is responsible for communicating with the self-propelled control module 5, receiving the movement instructions sent by it, and passing these instructions to subsequent components. The drive motor 42 is connected to the receiver 41, and starts or stops according to the received instructions, providing a power source for the entire self-propelled drive mechanism. The hydraulic pump 43 is driven by the drive motor 42 to generate hydraulic energy, which is used to push the fluid in the system to achieve mechanical movement. The hydraulic pump 43 is one of the core power sources for the movement of the self-propelled chassis 1. The electric proportional valve 44 is installed between the hydraulic pump 43 and the travel motor 45 to accurately control and distribute the power from the hydraulic pump. By adjusting the valve opening, the pressure and flow supplied to each travel motor 45 can be adjusted, thereby affecting the speed and direction of the chassis. The travel motor 45 is the final actuator, which receives the power distributed by the electric proportional valve 44 to rotate and directly drive the movement of the self-propelled chassis 1. The travel motor 45 is equipped with a reducer to adapt to different speed requirements and ensure the smooth operation of the chassis.

[0039] The self-propelled control module 5 issues a movement command, which is transmitted to the drive motor 42 through the receiver 41; the drive motor 42 starts to operate after receiving the command, driving the hydraulic pump 43 to operate and generate the necessary hydraulic energy; the hydraulic energy generated by the hydraulic pump 43 is adjusted by the electric proportional valve 44 and accurately distributed to each travel motor 45 according to the required pressure and flow; after obtaining appropriate power support, the travel motor 45 uses the reducer to adjust the speed and drive the self-propelled chassis 1 to move along the predetermined path. In the whole process, there are also sensors and other monitoring equipment to monitor the status of each component and feedback information to the PLC controller 6 so as to adjust the operating parameters in real time to ensure the stability and safety of the system.

[0040] In some embodiments of the self-propelled concrete pump group for gob-side tunnel retention of the present invention, the self-propelled chassis 1 is provided with a steering mechanism for controlling the self-propelled chassis 1 to turn, and the steering mechanism is connected to the PLC controller 6. The self-propelled chassis 1 is equipped with a steering mechanism, which is directly connected to the PLC controller 6. Through the instructions issued by the PLC controller 6, the steering mechanism can accurately adjust the direction of the self-propelled chassis to ensure that it moves along a predetermined path, so as to facilitate the flexible operation of the equipment in a narrow or complex underground environment.

[0041] Infrared sensors and ultrasonic sensors are distributed on the self-propelled chassis 1. The infrared sensors and ultrasonic sensors are used to monitor the moving direction of the self-propelled chassis 1. The infrared sensors and ultrasonic sensors are connected to the PLC controller 6. The infrared sensors and ultrasonic sensors are installed on the self-propelled chassis 1 to monitor the surrounding environment and moving direction in real time. They can detect the distance of obstacles in front and feed back data to the PLC controller 6, which helps to avoid collisions and ensure the safe operation of the equipment. Infrared sensors are suitable for temperature and object presence detection within a short distance, while ultrasonic sensors are better at measuring the position of objects within a medium and long distance range. The combination of the two can provide a more comprehensive environmental perception capability, which is convenient for correcting and adjusting the self-propelled chassis 1 during movement.

[0042] The self-propelled chassis 1 is provided with a speed sensor, which is used to monitor the moving distance of the self-propelled chassis 1, and the speed sensor is connected to the PLC controller 6. The speed sensor provided on the self-propelled chassis 1 is used to monitor the rotation speed of the travel motor 45, and then calculate the moving distance of the self-propelled chassis. The data of the speed sensor is also transmitted to the PLC controller 6 to calculate the moving trajectory, estimate the arrival time and perform speed control, which is very important for achieving accurate positioning and path planning.

[0043] It is understandable that when the direction of travel needs to be changed, the PLC controller 6 will adjust the angle of the self-propelled chassis through the steering mechanism according to the preset path or the instruction sent by the remote control unit 8. The steering angle and speed can be dynamically adjusted according to the actual situation to adapt to different work requirements. The infrared sensor and the ultrasonic sensor continuously scan the surrounding environment and collect information about obstacles and other potential dangers. This information is quickly transmitted to the PLC controller 6 for immediate decision-making, such as slowing down, stopping or re-planning the route. The speed sensor continuously records the speed changes of the travel motor 45 and converts this data into moving distance information. The PLC controller uses this data to monitor the entire journey to ensure that the equipment arrives at the destination accurately according to the predetermined plan. The data of all sensors are concentrated in the PLC controller 6 for processing. The PLC controller is not only responsible for parsing this data, but also coordinates with other control systems (such as the pumping control module 3 and the self-propelled control module 5) to ensure the efficient and safe operation of the entire self-propelled concrete pump group.

[0044] In some embodiments of the self-propelled concrete pump group for gob-side tunnel retaining of the present invention, see again Figure 1As shown, the remote control unit 8 includes a remote controller 81, which is wirelessly connected to the wireless communication device 7 and is suitable for sending control instructions to the wireless communication device 7 within the sight range of the self-propelled chassis 1. It can be understood that the remote controller 81 of this embodiment allows the operator to directly send control instructions within the sight range of the self-propelled chassis 1. This design is particularly suitable for application scenarios that require rapid response or precise control in complex environments. The remote controller 81 communicates with the wireless communication device 7 installed on the self-propelled chassis through a wireless connection, so that the operator can move freely within a certain distance without being restricted by physical connections.

[0045] The operator turns on the remote controller 81 and selects the desired operation mode (such as forward, backward, steering, pumping, etc.). The remote controller 81 generates corresponding control instructions based on the operator's selection. These instructions may include speed settings, direction instructions, and other specific operation commands. The generated instructions are sent to the wireless communication device 7 via radio waves or other wireless communication protocols. In order to ensure signal stability and anti-interference capabilities, industrial-grade wireless transmission technologies such as Wi-Fi, ZigBee, or dedicated radio frequencies are usually used. After receiving the instructions sent by the remote controller 81, the wireless communication device 7 transmits the information to the PLC controller 6. The PLC controller 6 is responsible for parsing these instructions and converting them into specific execution actions, such as driving the self-propelled chassis 1 to move or controlling the operation of the concrete pumping mechanism 2.

[0046] In order to improve the safety and accuracy of operation, in some specific examples, the system sets a feedback loop, that is, the wireless communication device 7 can not only receive instructions from the remote control 81, but also send working status information to the remote control, such as the current speed, position or other key parameters, which helps the operator to understand the operation of the equipment in real time and make appropriate adjustments. Since the remote control 81 works within the line of sight, the operator can directly observe the movement of the self-propelled chassis 1, thereby achieving instant control and reducing delays. Line-of-sight operation reduces the risks caused by obstruction of vision or misoperation, and improves work safety. The operator can flexibly adjust the position according to the actual situation and find the best viewing angle to operate, which is especially suitable for narrow spaces or environments with obstacles.

[0047] Based on the setting of the remote control unit 8 of this embodiment, the remote control 81, as a key component of the remote control unit 8, provides a convenient and efficient remote control means, enhances the operational flexibility and safety of the self-propelled concrete pump group for gob-side tunnel retention, and ensures accurate transmission and immediate response of commands through seamless cooperation with the wireless communication device 7, greatly improving the performance of the equipment in practical applications.

[0048] In other embodiments of the self-propelled concrete pump group for gob-side tunnel retention of the present invention, the remote control unit 8 includes a remote control center console 82, which is equipped with a display, an operating handle and buttons. The remote control center console 82 is suitable for wireless connection with the wireless communication device 7 through the base station 83 to send control instructions to the wireless communication device 7 at the remote end. It can be understood that the display of the remote control center console 82 is used to display the working status, position information, sensor data, etc. of the self-propelled chassis 1 and its components in real time, and the operator can monitor the operation of the equipment through the display to ensure that everything is normal. The operating handle provides an intuitive manual control method, allowing the operator to accurately adjust the direction and speed of the self-propelled chassis 1, and control the working parameters of the concrete pumping mechanism 2. The button is used to start or stop specific functions, such as starting / stopping pumping, switching working modes (moving / pumping), emergency shutdown, etc.

[0049] The operator starts the wireless connection with the base station 83 on the remote control center console 82. The base station 83, as an intermediate node, is responsible for establishing and maintaining the communication link between the remote control center console 82 and the wireless communication device 7 on the self-propelled chassis 1. The operator inputs control instructions through the operating handle and buttons. These instructions are converted into digital signals and sent to the wireless communication device 7 through the base station 83. After receiving the signal, the wireless communication device 7 passes it to the PLC controller 6 for analysis and execution. The data collected by the sensors on the self-propelled chassis 1 (such as the distance information of the infrared / ultrasonic sensor and the speed information of the speed sensor) will be transmitted back to the remote control center console 82 through the wireless communication device 7. The display updates these data in real time, allowing the operator to keep abreast of the status of the equipment and the surrounding environment at any time.

[0050] The remote control center console 82 can also integrate more management functions, such as centralized control of multiple devices, job scheduling, fault diagnosis and maintenance reminders. The remote control center console 82 can serve as a comprehensive management platform to support team collaboration and improve overall work efficiency. Compared with the remote control 81 within the line of sight in the previous embodiment, the remote control center console 82 is not limited by distance and can control the self-propelled chassis 1 in a wider area, which is suitable for large mining areas or complex working conditions. The equipped operating handles and buttons provide fine control capabilities, which are particularly suitable for tasks that require high-precision operations. Through the real-time information provided by the display, the operator can obtain a more comprehensive equipment operating status, which helps to make more accurate operational decisions. Remote control reduces the time the operator is exposed to dangerous environments and improves the safety of work. The remote control center console 82 can manage multiple devices at the same time, optimize resource allocation, and improve construction efficiency.

[0051] In some embodiments of the self-propelled concrete pump group for gob-side tunnel retention of the present invention, the self-propelled chassis 1 is provided with a display controller, which is used to display the working parameters of the concrete pumping mechanism 2, the pumping control module 3, the self-propelled driving mechanism 4 and the self-propelled control module 5 in real time.

[0052] It is understandable that for the concrete pumping mechanism 2, the display controller can display the working status of the pumping mechanism in real time, including but not limited to key parameters such as pumping speed, pressure, flow, etc., which helps the operator understand the specific situation during the pumping process and ensure the pumping efficiency and quality. For the pumping control module 3, the display controller displays the status information of the pumping control module, such as the currently executed operation instructions (such as start / stop), fault diagnosis results and intelligent control parameters, etc., which help the operator to adjust the pumping settings in time. For the self-propelled drive mechanism 4, the display controller displays the working parameters of the drive mechanism, such as the speed of the travel motor, the pressure and temperature of the hydraulic system, etc., which is crucial for monitoring the mobile performance and preventing mechanical failures. For the self-propelled control module 5, the display controller provides the working status of the self-propelled control module, such as steering angle, speed adjustment command, etc., so that the operator can grasp the movement of the chassis and make necessary interventions.

[0053] Furthermore, the display controller is connected to the safety protection module, and the safety protection module is electrically connected to the PLC controller 6, which is suitable for controlling the execution of a shutdown operation through the PLC controller 6 when the working parameters of the concrete pumping mechanism 2 or the self-propelled driving mechanism 4 are abnormal.

[0054] The display controller is directly connected to the safety protection module, which is responsible for monitoring the operating parameters of all key components and feeding them back to the PLC controller 6. If any abnormal situation is detected (such as overpressure, overtemperature, speed loss, etc.), the safety protection module will immediately trigger an alarm and send an emergency signal to the PLC controller. When the concrete pumping mechanism 2 or the self-propelled drive mechanism 4 has abnormal operating parameters, the safety protection module will respond quickly through the PLC controller 6. After receiving the abnormal signal, the PLC controller 6 will immediately perform a shutdown operation, cut off the power supply, and stop the operation of all moving parts to prevent possible accidents or further damage. At the same time, the display controller will update the display, clearly indicating which module has a problem and the specific abnormal parameters, so as to quickly find the cause of the fault.

[0055] In this example, by integrating the display controller and the safety protection module, the system can identify potential risks and take protective measures at the first time, significantly improving the safety of equipment operation. Timely fault detection and automatic shutdown mechanisms reduce unexpected losses caused by human negligence or equipment failure, and enhance the stability and reliability of the entire system. The detailed operating parameters and fault information provided by the display controller simplify the daily maintenance process, allowing technicians to locate problems and implement repairs more quickly, thereby shortening downtime.

[0056] In some embodiments of the self-propelled concrete pump group for gob-side tunnel retention of the present invention, a pumping pipe moving device is mounted at the rear end of the self-propelled chassis 1, and the pumping pipe moving device is used to carry the pumping pipe 10 of the concrete pumping mechanism 2. The pumping pipe 10 is used to cooperate with the concrete pumping mechanism 2 to pump concrete to a designated location. When the concrete pump group moves, the pumping pipe 10 must also be moved. In this embodiment, the pumping pipe moving device is mounted at the rear end of the self-propelled chassis 1, and moves with the chassis to ensure that the pumping pipe 10 can move synchronously with the equipment, reducing the need for manual adjustment of the pipeline and improving construction efficiency.

[0057] Combination Figure 4 and Figure 5 As shown, the pumping pipe moving device includes a plurality of pump pipe carrying device units 9 which are sequentially connected, and each pump pipe carrying device unit 9 includes a frame 91. An inner concave frame portion is arranged on the upper part of the frame 91 for carrying the pumping pipe 10. Support guide rails 92 are formed on both sides of the inner concave frame portion. Walking wheels 93 are arranged at the lower part of the frame, and support wheels 94 are symmetrically arranged at the lower part of the frame 91.

[0058] It can be understood that each pump pipe bearing device unit 9 can carry a concrete pumping pipe 10. The concrete pumping pipe 10 is fixed in the device unit by using the inner concave frame and the bosses at both ends of the pump pipe. The pump pipe bearing device unit 9 is equipped with 4 tires (travel wheels 93), and the tires are equipped with a safety structure to prevent the device from slipping. The pump pipe bearing device units 9 are connected by quick card connection, which can realize rapid disassembly and assembly. Multiple pump pipe bearing device units 9 are connected in series to form a train shape. The movement of the entire pump pipe is realized by the traction of the self-propelled chassis 1, thereby avoiding the disassembly and assembly of the buckles between each pumping pipe 10 during the movement of the pump pipe. Compared with the traditional pump pipe movement method (disassembling the pump pipe buckle, moving the pump pipe, and then installing the pump pipe buckle), the process of moving the concrete pump pipe is greatly simplified, the workload is reduced, and the labor intensity of workers is reduced.

[0059] The frame 91 of the pump tube carrying device unit 9 is equipped with four running wheels 93 and two supporting rails 92, and can be stacked and rolled with another pump tube carrying device unit 9. The stacking diagram is shown in FIG. Figure 6 and Figure 7As shown, the support wheel 94 of one pump pipe supporting device unit 9 is mounted on the support guide rail 92 of another pump pipe supporting device unit 9, so that the synchronous transportation of multiple pipelines or the synchronous pumping of concrete can be met, and the pumping speed and construction efficiency can be improved under the condition of limited tunnel space. At the same time, this structure can also be used to reserve redundant pipelines to adapt to narrow tunnel scenarios and avoid wasting tunnel space resources.

[0060] In some embodiments of the self-propelled concrete pump group for gob-side tunnel retention of the present invention, the PLC controller 6 controls the pumping control module 3 and the self-propelled control module 5 to implement an interlocking procedure. When one of the pumping control module 3 and the self-propelled control module 5 is working, the other is in a locked state.

[0061] It is understandable that in this embodiment, at any given time, the PLC controller 6 only allows one of the pumping control module 3 or the self-propelled control module 5 to work. When one of the modules starts working, the other module will be automatically locked and cannot be started. The PLC internal preset logic algorithm is used to achieve precise control of the operation of the two modules. Once the pumping control module 3 is detected to be started (for example, starting to pump concrete), the PLC controller 6 will immediately send a signal to lock the self-propelled control module 5 to prevent the chassis from moving; vice versa.

[0062] The interlocking mechanism of this embodiment effectively prevents safety hazards caused by simultaneous pumping and moving operations, such as pipeline distortion, equipment overturning and other accidents, and avoids the increase in mechanical stress or electrical system overload problems that may be caused by the simultaneous operation of two high-intensity working modules, thereby extending the service life of the equipment. By centrally managing the coordination between the two key modules, the PLC controller can better optimize resource allocation and simplify the control logic of the entire system.

[0063] Finally, it should be noted that 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-propelled concrete pump unit for gob-side tunnel retention, characterized in that: include: A self-propelled chassis (1), wherein a concrete pumping mechanism (2) is provided on the self-propelled chassis (1); A pumping control module (3), electrically connected to the concrete pumping mechanism (2), and used to control the operation of the concrete pumping mechanism (2); A self-propelled driving mechanism (4) is arranged on the self-propelled chassis (1) and is used to drive the self-propelled chassis (1) to move; A self-propelled control module (5), electrically connected to the self-propelled driving mechanism (4), and used to control the operation of the self-propelled driving mechanism (4); A PLC controller (6) electrically connected to the pumping control module (3) and the self-propelled control module (5); A wireless communication device (7), electrically connected to the PLC controller (6), for sending and receiving control commands and feeding back working information; The remote control unit (8) is wirelessly connected to the wireless communication device (7) to send control instructions.

2. The self-propelled concrete pump unit for gob-side tunnel retaining according to claim 1 is characterized in that: The self-propelled driving mechanism (4) comprises: A receiver (41) connected to the self-propelled control module (5) to receive control instructions from the self-propelled control module (5); A driving motor (42) connected to the receiver (41) to execute a control instruction received by the receiver (41); a hydraulic pump (43), connected to the drive motor (42) and suitable for being driven by the drive motor (42); an electric proportional valve (44), connected to the hydraulic pump (43) and used to distribute the power pumped by the hydraulic pump (43); The travel motor (45) is connected to the electric proportional valve (44) and is adapted to receive power distributed by the electric proportional valve (44) to work so as to drive the self-propelled chassis (1) to move. The travel motor (45) is equipped with a speed reducer to adjust the rotation speed of the travel motor (45).

3. The self-propelled concrete pump unit for gob-side tunnel retention according to claim 2 is characterized in that: The self-propelled chassis (1) is provided with a steering mechanism for controlling the self-propelled chassis (1) to steer, the steering mechanism being connected to the PLC controller (6); The self-propelled chassis (1) is provided with infrared sensors and / or ultrasonic sensors, the infrared sensors and / or ultrasonic sensors are used to monitor the moving direction of the self-propelled chassis (1), and the infrared sensors and / or ultrasonic sensors are connected to the PLC controller (6); The self-propelled chassis (1) is provided with a rotation speed sensor, the rotation speed sensor is used to monitor the moving distance of the self-propelled chassis (1), and the rotation speed sensor is connected to the PLC controller (6).

4. The self-propelled concrete pump unit for gob-side tunnel retaining according to claim 1 is characterized in that: The remote control unit (8) comprises a remote controller (81), the remote controller (81) being wirelessly connected to the wireless communication device (7) and being suitable for sending control instructions to the wireless communication device (7) within the visual range of the self-propelled chassis (1).

5. The self-propelled concrete pump unit for gob-side tunnel retaining according to claim 1 is characterized in that: The remote control unit (8) comprises a remote control center operating console (82), wherein the remote control center operating console (82) is equipped with a display, an operating handle and buttons, and the remote control center operating console (82) is suitable for wirelessly connecting to the wireless communication device (7) via a base station (83) so as to send control instructions to the wireless communication device (7) at a remote end.

6. The self-propelled concrete pump unit for gob-side tunnel retaining according to claim 1, characterized in that: The self-propelled chassis (1) is provided with a display controller, which is used to display in real time the working parameters of the concrete pumping mechanism (2), the pumping control module (3), the self-propelled driving mechanism (4) and the self-propelled control module (5).

7. The self-propelled concrete pump unit for gob-side tunnel retaining according to claim 6 is characterized in that: The display controller is connected to a safety protection module, and the safety protection module is electrically connected to the PLC controller (6), and is suitable for controlling the execution of a shutdown operation through the PLC controller (6) when the working parameters of the concrete pumping mechanism (2) or the self-propelled driving mechanism (4) are abnormal.

8. The self-propelled concrete pump unit for gob-side tunnel retaining according to any one of claims 1 to 7, characterized in that: A pumping pipeline moving device is hung on the rear end of the self-propelled chassis (1), and the pumping pipeline moving device is used to carry the pumping pipeline (10) of the concrete pumping mechanism (2).

9. The self-propelled concrete pump unit for gob-side tunnel retaining according to claim 8, characterized in that: The pumping pipe moving device comprises a plurality of pump pipe bearing device units (9) which are sequentially connected, each of the pump pipe bearing device units (9) comprising a frame (91), an inner concave frame portion is arranged on the upper part of the frame (91) for bearing the pumping pipe (10), support guide rails (92) are formed on both sides of the inner concave frame portion, walking wheels (93) are arranged on the lower part of the frame (91), and support wheels (94) are symmetrically arranged at the lower part of the frame (91).

10. The self-propelled concrete pump unit for gob-side tunnel retaining according to any one of claims 1 to 7, characterized in that: The PLC controller (6) controls the pumping control module (3) and the self-propelled control module (5) to implement an interlocking procedure, so that when one of the pumping control module (3) and the self-propelled control module (5) is working, the other is in a locked state.

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