A polyformaldehyde fiber concrete intelligent mixing and spraying device for complex rock stratum of mine tunnel

Abstract

The application discloses a polyformaldehyde fiber concrete intelligent mixing and spraying device for mine roadway complex rock stratum, and belongs to the technical field of mining engineering and tunnel construction. The device comprises an all-terrain power device, a balancing system device and the like. The balancing system device is arranged above the all-terrain power device. A high-uniformity mixing device, an intelligent sensing spraying device and an intelligent control system are all arranged in the upper region of the balancing system device. The high-uniformity mixing device and the intelligent sensing spraying device are connected. The intelligent sensing spraying device penetrates through the outer frame of the intelligent control system. The all-terrain power device, the balancing system device, the high-uniformity mixing device and the intelligent sensing spraying device are electrically connected with the intelligent control system. The intelligent control system cooperatively schedules the mixing, conveying and spraying links, realizes the automatic operation process and the stable control of the spraying uniformity. The device is suitable for the fiber concrete spraying operation in the roadway support and underground engineering construction.

Description

Technical Field

[0001] This invention relates to an intelligent mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways, belonging to the field of mining engineering and tunnel construction technology. Background Technology

[0002] In the fields of mine roadway excavation, tunnel construction, and underground engineering support, shotcrete support technology is a key process to ensure the stability of surrounding rock and construction safety. However, the traditional construction methods commonly used in current engineering practice have many technical bottlenecks, severely restricting the improvement of construction efficiency and project quality. The surrounding rock in mine roadways and underground engineering projects often has characteristics such as unstable structure, complex morphology, and high support requirements. As a primary support method, shotcrete places strict requirements on the homogeneity of the shotcrete material, the degree of fiber dispersion, and the quality of the shotcrete application. Traditional mixing shotcrete equipment generally suffers from the following problems:

[0003] (1) Fiber-reinforced concrete has poor uniformity and is prone to fiber agglomeration. In particular, polyoxymethylene fibers have low density and are easy to float, making it difficult to achieve effective dispersion in traditional mixing structures, which leads to a reduction in the mechanical properties of concrete.

[0004] (2) The mixing device lacks online detection capability. Existing shotcrete equipment cannot detect key indicators such as fiber content and mixing uniformity in real time, making it difficult to perform automated adjustment.

[0005] (3) Shotcrete operations rely heavily on manual operation. Conventional shotcrete requires manual handling of the gun, the working environment is dusty and dangerous, the spray thickness is uneven, the labor intensity of workers is high and the quality stability is poor.

[0006] (4) The equipment is usually not suitable for the complex terrain of the tunnel.

[0007] Rugged tunnel floors and localized collapses can cause equipment to tilt, affecting spraying accuracy and travel stability.

[0008] (5) Lack of whole-process collaborative control. The existing sensors, scanners and mixing / spraying equipment have not formed an overall control architecture, and the level of intelligence is insufficient.

[0009] Therefore, there is a need to provide a comprehensive equipment with all-terrain mobility, online dispersion detection of fiber concrete, high-uniformity intelligent mixing, and unmanned shotcrete operation capabilities to solve the above-mentioned technical problems and improve the efficiency, quality, and safety of roadway shotcrete operations. Summary of the Invention

[0010] The main objective of this invention is to provide an intelligent mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways. This device addresses problems in existing technologies such as uneven fiber dispersion, invisible mixing status, unstable spraying quality, high risks associated with manual spraying, and inability of the equipment to adapt to complex terrain. This invention achieves intelligent, homogenized, and unmanned operation of the entire process of fiber concrete, from mixing and conveying to spraying, by constructing an all-terrain power system, a real-time leveling system, a highly uniform mixing system with online fiber detection, an intelligent sensing spraying system, and a fully intelligent collaborative control system. This significantly improves spraying quality, construction safety, and the level of equipment intelligence.

[0011] The technical solution adopted in this invention is: a polyoxymethylene fiber concrete intelligent mixing and spraying device for complex rock strata in mine roadways, comprising an all-terrain power device, a balancing system device, a high uniformity mixing device, an intelligent sensing spraying device, and an intelligent control system; the balancing system device is set above the all-terrain power device, the high uniformity mixing device, the intelligent sensing spraying device, and the intelligent control system are all installed in the upper area of ​​the balancing system device, the high uniformity mixing device and the intelligent sensing spraying device are connected, the intelligent sensing spraying device passes through the outer frame of the intelligent control system, and the all-terrain power device, the balancing system device, the high uniformity mixing device, and the intelligent sensing spraying device are all electrically connected to the intelligent control system.

[0012] Specifically, the all-terrain power unit includes tracks 17, drive wheel set 18, transmission gear 19, bearing 26, front protective plate 34, side protective plate 35, rear protective plate 41, power assembly 45, energy system 46, power transmission shaft 47, energy system bracket 48, heat insulation plate 49, rigid frame 50, bottom plate 51, gear pressure sensor 64, and wheel pressure sensor 65.

[0013] The front protective plate 34, rear protective plate 41, side protective plate 35, and bottom plate 51 are located at the front, rear, side, and bottom of the rigid frame 50, respectively. The powertrain 45 and energy system 46 are located in the middle of the enclosed area formed by twelve hydraulic independent suspension components 43 on the bottom plate 51. The energy system bracket 48 on the powertrain 45 suspends the energy system 46. The heat shield 49 is located between the powertrain 45 and the energy system 46. The powertrain 45 is connected to the power transmission shaft 47. The power transmission shaft 47 is connected to each bearing 26. The bearing 26 is connected to the drive wheel set 18 and the transmission gear 19. The transmission gear 19 is connected to the track 17. The gear pressure sensor 64 is located on the transmission gear 19. The wheel pressure sensor 65 is located on the drive wheel set 18. Both the gear pressure sensor 64 and the wheel pressure sensor 65 are connected to the intelligent control system.

[0014] Specifically, the balancing system device includes a balancing platform 14, a fixed suction cup base 44, an inclination sensor 61, a hydraulic independent suspension assembly 43, and an upper support balance block 42.

[0015] The upper support balance block 42 is located below the balance adjustment platform 14. It is flexibly connected to the fixed suction cup base 44 through the hydraulic independent suspension assembly 43. The fixed suction cup base 44 is fixed above the all-terrain power device. The tilt sensor 61 is located between the hydraulic independent suspension assembly 43 and the upper support balance block 42 and is connected to the intelligent control system.

[0016] Specifically, the high uniformity mixing device includes a mixing tank 5, a reagent tank 6, a water storage system 7, a water pump 8, a water pipe I 9, an admixture injection port 10, a material inlet 11, a fixing ring 12, a locking device 15, a reagent tank support 16, a discharge baffle 20, a discharge port 21, a storage platform 22, a conveying pipe 23, a control valve 24, a hinge 25, a storage container 32, a structural frame 33, double-helix mixing blades 36, a coupling 37, a locking buckle 38, a mixing motor 39, a mixing tank support frame 40, a spray nozzle 52, a fiber disperser 57, a water outlet 59, a suction device 60, a fluid uniformity sensor 63, a fiber concentration sensor 68, a valve sensor 69, and a switch sensor 70.

[0017] The upper part of the structural frame 33 is equipped with a mixing tank 5 via a fixing ring 12. A mixing tank support frame 40 is used to support the mixing tank 5 and is further fixed by a locking device 15. A water storage system 7 is set on the front side of the structural frame 33, and a medicine tank 6 is installed above it via a medicine tank bracket 16. An admixture filling port 10 is set on the top. The front end of the medicine tank 6 is connected to a spray nozzle 52, and precise control is achieved by a control valve 24 controlled by a built-in valve sensor 69. The water storage system 7 is connected to a water pipe I9, the end of which is connected to a drain outlet 59, and a water pump 8 is installed on the water pipe I9. A stirring motor 39 is installed below the water storage system 7 and is stably fixed by a suction device 60. The stirring motor 39 drives the double helical stirring blades 36 to work through a coupling 37. A fluid uniformity sensor 63 is installed on the double helical stirring blades 36 to measure the fluid uniformity. A fiber concentration sensor 68 is installed at the end of the double-helix mixing blade 36 and on the mixing shaft; the double-helix mixing blade 36 and the fiber concentration sensor 68 form a closed-loop dispersion control unit; a discharge port 21 is provided on the left side of the mixing tank 5, and concrete flows into the storage platform 22 through the discharge port, and a discharge baffle 20 is set on the storage platform 22; the storage platform 22 is connected to the storage device 32 through the conveying pipe 23, and the fiber disperser 57 is installed on the conveying pipe 23; the water storage system 7 supplies water to the material port 11 through the water pump 8 and the water pipe I 9; the material port 11 is connected by a hinge 25, and the built-in switch sensor 70 realizes intelligent opening and closing; the structural frame 33 is fixed to the balance system device by the locking buckle 38, and the control valve 24, the mixing motor 39, the fluid uniformity sensor 63, the fiber concentration sensor 68, the valve sensor 69, and the switch sensor 70 are all connected to the intelligent control system.

[0018] Specifically, the intelligent sensing shotcrete device includes a multi-degree-of-freedom robotic arm 3, a zoom nozzle 4, a shotcrete pipe 27, a press 28, a controller 29, an intelligent scanner 30, a support 31, a laser scanner 53, a spray gun head 55, a high-pressure pipe 56, a quick-setting agent addition device 58, a shotcrete thickness detector 62, and a quick-setting agent device sensor 71.

[0019] One end of the high-pressure pipe 56 is connected to the storage container 32, and the other end is connected to the multi-degree-of-freedom robotic arm 3. The multi-degree-of-freedom robotic arm 3 is connected to the spray pipe 27, and the spray pipe 27 is connected to the spray nozzle 55. The outermost end of the spray nozzle 55 is connected to the zoom nozzle 4. The intelligent scanner 30 is located at the outer edge of the gap between the spray nozzle 55 and the zoom nozzle 4. The controller 29 is installed on the high-pressure pipe 56 and is electrically connected to the press 28, the multi-degree-of-freedom robotic arm 3, and the zoom nozzle 4. The accelerator device sensor 71 and the accelerator addition device 58 are installed on the press 28. Controlled by the signal from the accelerator device sensor 71, the internal accelerator is pumped into the high-pressure pipe 56 via the press 28. The press 28 is mounted on the balancing system device via the support 31. The spray thickness detector 62 is located on the outer edge of the spray pipe 27. The laser scanner 53 is fixed to the tail of the balancing system device via the connecting column 54. The status indicator light 13 is located in a prominent position above the laser scanner 53. The laser scanner 53, the status indicator light 13, the intelligent scanner 30, the spray thickness detector 62, and the accelerator device sensor 71 are all connected to the intelligent control system.

[0020] Specifically, the intelligent control system includes an intelligent control center 1, a protective cover 2, a terrain laser scanner 66, and a scanner integrated bracket 67;

[0021] The intelligent control center 1 is equipped with a protective cover 2, which is fixed on the balancing system device. Two terrain laser scanners 66 are connected and fixed to the bottom sides of the intelligent control center 1 through a scanner integrated bracket 67 and connected to the intelligent control center 1. The intelligent control center 1 is electrically connected to the all-terrain power device, the balancing system device, the high uniformity mixing device, and the intelligent sensing spraying device.

[0022] The beneficial effects of this invention are:

[0023] (1) Realize online dispersion detection and precise mixing control of polyoxymethylene fiber concrete, fundamentally solve the problem of fiber agglomeration, and improve the mechanical properties of concrete.

[0024] (2) Form an intelligent collaborative control system integrating mixing, conveying and spraying to realize closed-loop adjustment of parameters throughout the process and improve stability and intelligence.

[0025] (3) Construct an unmanned high-precision shotcrete operation system to automatically plan the shotcrete path and shotcrete thickness, which greatly reduces the risk of manual operation.

[0026] (4) The all-terrain suspension and attitude leveling system improves the equipment’s adaptability in complex tunnels and ensures shotcrete accuracy and driving safety.

[0027] (5) Multi-source sensing fusion enhances the visualization and controllability of construction quality, enabling real-time monitoring of key parameters such as shotcrete thickness, tunnel morphology, and fiber distribution.

[0028] (6) The overall device is suitable for promotion in various underground engineering fields such as mines and tunnels, and has significant engineering application value and industrialization prospects. Attached Figure Description

[0029] Figure 1 This is a front view schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a rear view of the overall structure of the present invention;

[0031] Figure 3 for Figure 2 A structural diagram from another angle;

[0032] Figure 4 for Figure 1 A schematic diagram of the structure after removing the mixing tank;

[0033] Figure 5 for Figure 1 A schematic diagram of the structure after removing the mixing tank and protective cover;

[0034] Figure 6 for Figure 5 A structural diagram from another angle;

[0035] Figure 7 for Figure 6 A schematic diagram of the structure after removing part of the high-uniformity stirring device;

[0036] Figure 8 for Figure 1 A schematic diagram of the connection structure of the all-terrain power unit and the balance system.

[0037] The following components are labeled in the diagram: 1. Intelligent Control Center; 2. Protective Cover; 3. Multi-DOF Robotic Arm; 4. Zooming Nozzle; 5. Mixing Tank; 6. Chemical Tank; 7. Water Storage System; 8. Water Pump; 9. Water Pipe I; 10. Admixture Inlet; 11. Material Inlet; 12. Fixing Ring; 13. Status Indicator Light; 14. Balancing Platform; 15. Locking Device; 16. Chemical Tank Support; 17. Track; 18. Drive Wheel Set; 19. Transmission Gear; 20. Discharge Baffle; 21. Discharge Port; 22. Storage Platform; 23. Conveying Pipe; 24. Control Valve; 25. Hinge; 26. Bearing; 27. Spraying Pipe; 28. Press; 29. ​​Controller; 30. Intelligent Scanner; 31. Support; 32. Storage Container; 33. Structural Frame; 34. Front Protective Plate; 35. Side Protective Plate; 36. Double Helix Mixing Blade; 37. Coupling; 38. Locking Buckle; 39. Mixing Motor; 30. Agitator. 40. Mixing tank support frame, 41. Rear protective plate, 42. Upper support balance block, 43. Hydraulic independent suspension assembly, 44. Fixed suction cup base, 45. Powertrain, 46. Energy system, 47. Power transmission shaft, 48. Energy system bracket, 49. Heat insulation plate, 50. Rigid frame, 51. Base plate, 52. Spray nozzle, 53. Laser scanner, 54. Connecting column, 55. Spray gun head, 56. High pressure pipe, 57. Fiber disperser, 58. Accelerator additive device, 59. Drain outlet, 60. Suction device, 61. Tilt sensor, 62. Spray thickness detector, 63. Fluid uniformity sensor, 64. Gear pressure sensor, 65. Wheel pressure sensor, 66. Terrain laser scanner, 67. Scanner integrated bracket, 68. Fiber concentration sensor, 69. Valve sensor, 70. Switch sensor, 71. Accelerator device sensor. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0039] Example 1, such as Figure 1-8 As shown, a polyoxymethylene fiber concrete intelligent mixing and shotcreting device for complex rock strata in mine roadways includes an all-terrain power unit, a balancing system unit, a high uniformity mixing unit, an intelligent sensing shotcreting device, and an intelligent control system. In the overall structure, the all-terrain power unit is located at the bottom layer, the balancing system unit is located above the all-terrain power unit, the high uniformity mixing unit, the intelligent sensing shotcreting device, and the intelligent control system are installed side by side in the upper area of ​​the balancing system unit, the high uniformity mixing unit and the intelligent sensing shotcreting device are connected, and the intelligent sensing shotcreting device passes through the outer frame (i.e., protective cover 2) of the intelligent control system. The all-terrain power unit, the balancing system unit, the high uniformity mixing unit, and the intelligent sensing shotcreting device are all electrically connected to the intelligent control system.

[0040] (1) The all-terrain power unit constructs an adaptive ground pressure regulation mechanism through a tracked drive system, hydraulic independent suspension assembly 43, pressure sensor group and power assembly 45, so that the equipment can maintain stable driving in the rugged road environment. (2) The balance system obtains the attitude information of the whole machine through tilt sensor 61 and terrain laser scanner 66, and uses hydraulic suspension to achieve real-time leveling, so as to ensure that the upper high uniformity mixing device and intelligent sensing spraying device are always in a horizontal working state. (3) The high uniformity mixing device integrates fluid uniformity sensor 63 and fiber concentration sensor 68 in the double helix mixing blade 36, and forms a closed-loop dispersion control unit with fiber disperser 57 to realize online dispersion detection of polyoxymethylene fiber, dynamic adjustment of mixing speed, automatic addition of admixtures, and water-cement ratio control, which significantly improves the uniformity of concrete. (4) The intelligent sensing spraying device realizes automatic path planning, range control, thickness detection and unmanned spraying operation in the spraying process through multi-degree-of-freedom robotic arm 3, laser scanner 66 and spraying thickness detector 62. (5) The intelligent control system uses the intelligent control center 1 to fuse and process multi-source data from various sensors, and constructs an adaptive collaborative control model for the entire process of mixing, conveying and spraying, so as to realize the optimization of parameters, status monitoring and automated construction throughout the process.

[0041] Furthermore, the all-terrain power unit includes tracks 17, drive wheel sets 18, transmission gears 19, bearings 26, front protective plates 34, side protective plates 35, rear protective plates 41, powertrain 45, energy system 46, power transmission shaft 47, energy system bracket 48, heat shield 49, rigid frame 50, floor plate 51, gear pressure sensor 64, and wheel pressure sensor 65;

[0042] The front protective plate 34, rear protective plate 41, side protective plate 35, and bottom plate 51 are located at the front, rear, side, and bottom of the rigid frame 50, respectively. The powertrain 45 and energy system 46 are located in the middle of the enclosed area formed by twelve hydraulic independent suspension components 43 on the bottom plate 51. The energy system bracket 48 on the powertrain 45 suspends the energy system 46. The heat insulation plate 49 is located between the powertrain 45 and the energy system 46 for heat insulation and stable operation. The powertrain 45 is connected to the power transmission shaft 47, which is connected to each bearing 26. The bearing 26 is connected to the drive wheel set 18 and the transmission gear 19. The transmission gear 19 is connected to the track 17 to achieve all-terrain driving. The gear pressure sensor 64 is located on the transmission gear 19, and the wheel pressure sensor 65 is located on the drive wheel set 18 for detecting the force on the track. Both the gear pressure sensor 64 and the wheel pressure sensor 65 are connected to the intelligent control center 1.

[0043] Furthermore, the balancing system device includes a balancing platform 14, a fixed suction cup base 44, an tilt sensor 61, a hydraulic independent suspension assembly 43, and an upper support balance block 42;

[0044] The upper support balance block 42 is located below the balance platform 14. It is flexibly connected to the fixed suction cup base 44 through the hydraulic independent suspension assembly 43. The fixed suction cup base 44 is fixed above the base plate 51. The tilt sensor 61 is located between the hydraulic independent suspension assembly 43 and the upper support balance block 42 and is connected to the intelligent control center 1 to detect the levelness of the equipment in real time.

[0045] Furthermore, the high uniformity mixing device includes a mixing tank 5, a reagent tank 6, a water storage system 7, a water pump 8, a water pipe I 9, an admixture injection port 10, a material inlet 11, a fixing ring 12, a locking device 15, a reagent tank support 16, a discharge baffle 20, a discharge port 21, a storage platform 22, a conveying pipe 23, a control valve 24, a hinge 25, a storage container 32, a structural frame 33, double-helix mixing blades 36, a coupling 37, a locking buckle 38, a mixing motor 39, a mixing tank support frame 40, a spray nozzle 52, a fiber disperser 57, a water outlet 59, a suction device 60, a fluid uniformity sensor 63, a fiber concentration sensor 68, a valve sensor 69, and a switch sensor 70.

[0046] The upper part of the structural frame 33 is equipped with a mixing tank 5 via a fixing ring 12. A mixing tank support frame 40 is used to support the mixing tank 5 and is further fixed by a locking device 15. A water storage system 7 is set on the front side of the structural frame 33, and a medicine tank 6 is installed above it via a medicine tank bracket 16. An admixture filling port 10 is set on the top. The front end of the medicine tank 6 is connected to a spray nozzle 52, and precise control is achieved by a control valve 24 controlled by a built-in valve sensor 69. The water storage system 7 is connected to a water pipe I9, the end of which is connected to a drain outlet 59. A water pump 8 is installed on the water pipe I9 to regulate the water flow of the system. A stirring motor 39 is installed below the water storage system 7 and is connected by a suction device. 60 achieves stable fixation; the stirring motor 39 drives the double helical stirring blades 36 through the coupling 37. The double helical stirring blades 36 are equipped with a fluid uniformity sensor 63 for measuring fluid uniformity. The fluid uniformity sensor 63 measures the fluid uniformity. Fiber concentration sensors 68 are installed at the end of the double helical stirring blades 36 and on the stirring shaft. The double helical stirring blades 36 and the fiber concentration sensor 68 form a closed-loop dispersion control unit. The intelligent control center 1 automatically adjusts the stirring speed, additive injection amount, and water-cement ratio according to the detection signal to achieve uniform fiber dispersion and detect the fiber distribution status in real time. The signal is transmitted back to the intelligent control center 1 in real time. A discharge port 21 is provided on the left side of the mixing tank 5. Concrete flows into the storage platform 22 through the discharge port. A discharge baffle 20 is set on the storage platform 22 to prevent splashing. The storage platform 22 is connected to the storage device 32 through the conveying pipe 23. The fiber disperser 57 is installed on the conveying pipe 23. During the conveying process, the fiber disperser 57 achieves uniform dispersion of fibers. The water storage system 7 supplies water to the material outlet 11 through the water pump 8 and water pipe I 9. The material outlet 11 is connected by a hinge 25. The built-in switch sensor 70 realizes intelligent opening and closing. The structural frame 33 is fixed to the balance platform 14 by the locking buckle 38. The control valve 24, the mixing motor 39, the fluid uniformity sensor 63, the fiber concentration sensor 68, the valve sensor 69, and the switch sensor 70 are all connected to the intelligent control center 1.

[0047] Furthermore, the intelligent sensing shotcrete device includes a multi-degree-of-freedom robotic arm 3, a zoom nozzle 4, a shotcrete pipe 27, a press 28, a controller 29, an intelligent scanner 30, a support 31, a laser scanner 53, a spray gun head 55, a high-pressure pipe 56, a quick-setting agent addition device 58, a shotcrete thickness detector 62, and a quick-setting agent device sensor 71.

[0048] One end of the high-pressure pipe 56 is connected to the storage container 32, and the other end is connected to the multi-degree-of-freedom robotic arm 3. The multi-degree-of-freedom robotic arm 3 is connected to the spray pipe 27, and the spray pipe 27 is connected to the spray gun head 55. The outermost end of the spray gun head 55 is connected to the zoom nozzle 4. The intelligent scanner 30 is located at the outer edge of the gap between the spray gun head 55 and the zoom nozzle 4. The controller 29 is installed on the high-pressure pipe 56 and is electrically connected to the press 28, the multi-degree-of-freedom robotic arm 3, and the zoom nozzle 4. The accelerator device sensor 71 and the accelerator addition device 58 are installed on the press 28. The accelerator addition device 58 is controlled by the signal from the accelerator device sensor 71. The accelerator inside is pumped into the high-pressure pipe 56 through the press 28 and fully mixed with the fiber concrete. The press 28 is supported by the support 31. Mounted on the leveling platform 14, the spray thickness detector 62 is located on the outer edge of the spray pipe 27. The laser scanner 53 is fixed to the tail of the leveling platform 14 via a connecting column 54. The status indicator light 13 is positioned prominently above the laser scanner 53. The laser scanner 53, status indicator light 13, intelligent scanner 30, spray thickness detector 62, and accelerator sensor 71 are all connected to the intelligent control center 1. The intelligent control center 1 sends processed instructions to the controller 29. The controller 29 executes the spray path and spray parameter adjustment instructions issued by the intelligent control center 1. The controller 29 further controls the press 28, multi-degree-of-freedom robotic arm 3, and zoom nozzle 4 to perform corresponding actions, achieving high-precision automatic spraying operations. The intelligent scanner 30 works in conjunction with the laser scanner 53 to scan the surrounding rock of the tunnel and generate a three-dimensional model. The controller 29 plans the spray path based on this model to ensure that the spray layer thickness and structural shape meet the design requirements.

[0049] Furthermore, the intelligent control system includes an intelligent control center 1, a protective cover 2, a terrain laser scanner 66, and a scanner integrated bracket 67;

[0050] The intelligent control center 1 is equipped with a protective cover 2, which is fixed on the leveling platform 14. Two terrain laser scanners 66 are connected and fixed to the bottom sides of the intelligent control center 1 through the scanner integrated bracket 67 and connected to the intelligent control center 1. The intelligent control center 1 is electrically connected to the all-terrain power device, the balancing system device, the high uniformity mixing device and the intelligent sensing spraying device.

[0051] The working method of the intelligent mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways described in this invention is as follows:

[0052] Step 1: Pre-operation preparation and system check

[0053] The operator first conducts a comprehensive pre-operation check of the equipment, including:

[0054] Check the connection status between the powertrain 45 and the energy system 46, and confirm that the energy system 46 has sufficient power. Check the tightness of the tracks 17 and remove any embedded gravel, mud, or other foreign objects to ensure smooth operation of the walking system. Clean the inner wall of the mixing tank 5 and the discharge port 21 to confirm that there is no concrete residue. Check the liquid levels in the agent tank 6 and the water storage system 7 to ensure that the admixture and water volume meet the requirements of this support. Check that the spray gun head 55, high-pressure pipe 56, and material delivery pipe 23 are unobstructed, and confirm that the accelerator additive device 58 is working properly.

[0055] The device can only proceed with the startup process after the above checks are completed.

[0056] Step Two: Preparation of Working Environment and Raw Materials

[0057] Confirm that the working tunnel is well-ventilated and adequately lit, and ensure that the raw materials required for this shotcrete include: aggregate, cement, polyoxymethylene fiber, additives and water. Among them, the aggregate, cement and polyoxymethylene fiber have all been put into the mixing tank 5 or the ready-to-be-added position, and the mix proportion requirements are met.

[0058] Step 3: Start the system and complete the self-test.

[0059] After the system starts up, the intelligent control center 1 first performs a self-check on all connected sensors, including the tilt sensor 61, fluid uniformity sensor 63, fiber concentration sensor 68, spray thickness detector 62, laser scanner 53, intelligent scanner 30, and accelerator device sensor 71. Simultaneously, it checks the operating status of the status indicator light 13. After confirming everything is correct, the intelligent control center sends an initialization command to the controller 29. The controller then performs a self-check on its connected press 28, multi-degree-of-freedom robotic arm 3, and zoom nozzle 4 to ensure the shotcrete system is operational.

[0060] Step 4: Input job parameters and automatic planning and positioning

[0061] In the operation interface of Intelligent Control Center 1, select "Fully Automatic Operation Mode" and enter:

[0062] The target tunnel cross-section model and concrete mix design are provided. The intelligent control system will automatically calculate the optimal working path, enabling the equipment to automatically travel to the planned spraying starting point.

[0063] Step 5: Automatic leveling and 3D scanning of the tunnel

[0064] Once the equipment reaches the work site, the balancing system automatically activates: the tilt sensor 61 and the terrain laser scanner 66 collect real-time data on the vehicle frame's attitude and ground undulations. The hydraulic independent suspension assembly 43 extends and retracts independently according to instructions from the intelligent control center 1, ensuring that the balancing platform 14 reaches and remains level. Subsequently, the intelligent scanner 30 integrated into the spray gun head 55 and the laser scanner 53 located on the device jointly scan the tunnel cross-section, generating a high-precision three-dimensional model.

[0065] Step Six: Core Functions of Automatic Feeding, Mixing, and Online Fiber Dispersion

[0066] The equipment automatically executes the feeding and mixing program according to the preset concrete mix proportions: water pump 8 and admixture injection port 10 precisely add water and admixtures according to the formula. Mixing motor 39 drives the double helix mixing blades 36 to operate, achieving deep mixing of sand, stone, cement and fiber. Fluid uniformity sensor 63 monitors the mixing uniformity in real time; fiber concentration sensor 68 continuously detects the distribution of polyoxymethylene fibers; intelligent control center 1 automatically adjusts the mixing speed, admixture dosage, and water-cement ratio based on the real-time detection results, forming an online dispersion-homogenization mixing closed-loop control system.

[0067] The concrete then enters the storage platform 22 from the discharge port 21 and flows into the storage container 32 through the conveying pipe 23. During the conveying process, the concrete must pass through the fiber disperser 57 to finally break up the fiber agglomerates, ensuring the homogeneity and stability of the shotcrete material.

[0068] Step 7: Intelligent Path Injection and Thickness Closed-Loop Control

[0069] After the concrete enters the storage tank 32, the system automatically generates the spraying path based on the three-dimensional tunnel model.

[0070] During the spraying process, the intelligent control center 1 receives point cloud data of the tunnel cross-section acquired by the laser scanner 53 and the intelligent scanner 30 in real time. The spray thickness is monitored in real time by the spray thickness detector 62, and data from the fiber concentration sensor 68 and the fluid uniformity sensor 63 are fused and analyzed. Based on the analysis results, the intelligent control center 1 generates the spraying path and spraying parameters, and sends control commands to the controller 29. The controller 29 synchronously adjusts the output pressure of the press 28, controls the multi-degree-of-freedom robotic arm 3 to follow the path trajectory, and adjusts the spraying angle and nozzle opening of the zoom nozzle 4 to achieve uniform, controllable, and high-precision automatic spraying.

[0071] The entire spraying operation is fully automated and requires no manual intervention.

[0072] Step 8: Section completion and automatic switching of work area

[0073] Once the current spray section is completed, the intelligent control center 1 automatically stops the mixing and spraying equipment and displays "This cycle is complete".

[0074] After operator confirmation:

[0075] The device automatically travels to the next construction section and repeats steps five through eight to achieve continuous operation across cross sections.

[0076] Step Nine: Automatic Cleaning and Shutdown After Operation

[0077] Once all operations are complete, the system automatically enters the cleaning procedure: the water storage system 7 injects clean water into the mixing tank 5 and the high-pressure pipe 56. The mixing motor 39 and the press 28 operate until clean water flows out of the outlet. This cleans the concrete channel, preventing fibers and mortar from hardening and clogging it. The multi-degree-of-freedom robotic arm 3 automatically retracts to a safe position. The device automatically returns to its parking point and shuts off the main power.

[0078] This invention relates to a device primarily used for concrete shotcreting in tunnels; specifically, it is a comprehensive piece of equipment suitable for complex rock strata conditions, enabling intelligent mixing, conveying, and unmanned shotcreting operations of polyoxymethylene fiber concrete. In particular, this invention addresses the problems of poor mobility, uneven mixing of fiber concrete, low spraying accuracy, and insufficient automation inherent in traditional tunnel support equipment. By integrating advanced technologies such as all-terrain mobility, dynamic balance control, fiber anti-agglomeration, and intelligent sensing shotcreting, it provides an intelligent construction equipment capable of efficient, precise, and continuous operation on muddy, loose, and uneven tunnel floors. This invention is mainly applied to scenarios such as mine tunnel support, tunnel lining, and underground engineering construction, aiming to improve construction quality, efficiency, and safety.

[0079] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A smart mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways, characterized in that: It includes all-terrain power units, balancing systems, highly uniform mixing devices, intelligent sensing spraying devices, and intelligent control systems; The balancing system is located above the all-terrain power unit. The high uniformity mixing device, the intelligent sensing spraying device, and the intelligent control system are all installed in the upper area of ​​the balancing system. The high uniformity mixing device and the intelligent sensing spraying device are connected. The intelligent sensing spraying device passes through the outer frame of the intelligent control system. The all-terrain power unit, the balancing system, the high uniformity mixing device, and the intelligent sensing spraying device are all electrically connected to the intelligent control system. The all-terrain power unit includes tracks (17), drive wheel set (18), transmission gear (19), bearing (26), front protective plate (34), side protective plate (35), rear protective plate (41), power assembly (45), energy system (46), power transmission shaft (47), energy system bracket (48), heat shield (49), rigid frame (50), bottom plate (51), gear pressure sensor (64), and wheel pressure sensor (65). The balancing system device includes a balancing platform (14), a fixed suction cup base (44), an inclination sensor (61), a hydraulic independent suspension assembly (43), and an upper support balance block (42). The high uniformity mixing device includes a mixing tank (5), a reagent tank (6), a water storage system (7), a water pump (8), a water pipe I (9), an admixture filling port (10), a material port (11), a fixing ring (12), a locking device (15), a reagent tank bracket (16), a discharge baffle (20), a discharge port (21), a storage platform (22), a conveying pipe (23), a control valve (24), a hinge (25), a storage container (32), a structural frame (33), double spiral mixing blades (36), a coupling (37), a locking buckle (38), a mixing motor (39), a mixing tank support frame (40), a spray nozzle (52), a fiber disperser (57), a water outlet (59), a suction device (60), a fluid uniformity sensor (63), a fiber concentration sensor (68), a valve sensor (69), and a switch sensor (70). The upper part of the structural frame (33) is equipped with a mixing tank (5) by a fixing ring (12). The mixing tank support frame (40) is used to support the mixing tank (5) and is fixed by a locking device (15). A water storage system (7) is set on the front side of the structural frame (33), and a medicine tank (6) is installed on the upper part of it by a medicine tank bracket (16). An admixture filling port (10) is set on the top. The front end of the medicine tank (6) is connected to the spray nozzle (52), and precise control is achieved by the control valve (24) of the built-in valve sensor (69). The water storage system (7) is connected to water pipe I (9), the end of which is connected to the outlet (59), and a water pump (8) is installed on water pipe I (9); a stirring motor (39) is installed below the water storage system (7), and is stably fixed by a suction device (60); the stirring motor (39) drives the double helix stirring blade (36) to work through a coupling (37), and a fluid uniformity sensor (63) is installed on the double helix stirring blade (36), which measures the fluid uniformity. A fiber concentration sensor (68) is installed at the end of the double helix mixing blade (36) and on the mixing shaft; the double helix mixing blade (36) and the fiber concentration sensor (68) constitute a closed-loop dispersion control unit; a discharge port (21) is provided on the left side of the mixing tank (5), and concrete flows into the storage platform (22) through the discharge port. A discharge baffle (20) is installed on the storage platform (22); the storage platform (22) is connected to the storage device (32) through the conveying pipe (23), and the fiber disperser (57) is installed on the conveying pipe (23); The water storage system (7) supplies water to the material inlet (11) through the water pump (8) and water pipe I (9); the material inlet (11) is connected by a hinge (25), and the built-in switch sensor (70) realizes intelligent opening and closing; the structural frame (33) is fixed to the balance system device by locking buckle (38), and the control valve (24), stirring motor (39), fluid uniformity sensor (63), fiber concentration sensor (68), valve sensor (69), and switch sensor (70) are all connected to the intelligent control system; The intelligent sensing shotcrete device includes a multi-degree-of-freedom robotic arm (3), a zoom nozzle (4), a shotcrete pipe (27), a press (28), a controller (29), an intelligent scanner (30), a support (31), a laser scanner (53), a spray gun head (55), a high-pressure pipe (56), a quick-setting agent addition device (58), a shotcrete thickness detector (62), and a quick-setting agent device sensor (71).

2. The intelligent mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways according to claim 1, characterized in that: The front protective plate (34), rear protective plate (41), side protective plates (35), and floor plate (51) are located at the front, rear, side, and bottom of the rigid frame (50), respectively. The powertrain (45) and energy system (46) are located in the middle of the enclosed area formed by twelve hydraulic independent suspension components (43) on the floor plate (51). The energy system bracket (48) on the powertrain (45) suspends the energy system (46). The heat shield (49) is located in the middle of the powertrain (45) and energy system (46). Between, the powertrain (45) is connected to the power transmission shaft (47), the power transmission shaft (47) is connected to each bearing (26), the bearing (26) is connected to the drive wheel set (18) and the transmission gear (19), the transmission gear (19) is connected to the track (17), the gear pressure sensor (64) is located on the transmission gear (19), the wheel pressure sensor (65) is located on the drive wheel set (18), and both the gear pressure sensor (64) and the wheel pressure sensor (65) are connected to the intelligent control system.

3. The intelligent mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways according to claim 1, characterized in that: The upper support balance block (42) is located below the balance adjustment platform (14), and is flexibly connected to the fixed suction cup base (44) through the hydraulic independent suspension assembly (43). The fixed suction cup base (44) is fixed above the all-terrain power device. The tilt sensor (61) is located between the hydraulic independent suspension assembly (43) and the upper support balance block (42) and is connected to the intelligent control system.

4. The intelligent mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways according to claim 1, characterized in that: One end of the high-pressure pipe (56) is connected to the storage container (32), and the other end is connected to the multi-degree-of-freedom robotic arm (3). The multi-degree-of-freedom robotic arm (3) is connected to the spray pipe (27), and the spray pipe (27) is connected to the spray gun head (55). The outermost end of the spray gun head (55) is connected to the zoom nozzle (4). The intelligent scanner (30) is located at the outer edge of the gap between the spray gun head (55) and the zoom nozzle (4). The controller (29) is installed on the high-pressure pipe (56) and is electrically connected to the press (28), the multi-degree-of-freedom robotic arm (3), and the zoom nozzle (4) respectively. The accelerator device sensor (71) and the accelerator addition device (58) are installed on the press (28). The device (58) is controlled by the signal from the accelerator device sensor (71). The accelerator inside is pumped into the high-pressure pipe (56) via the press (28). The press (28) is mounted on the balance system device via the support (31). The spray thickness detector (62) is located on the outer edge of the spray pipe (27). The laser scanner (53) is fixed to the tail of the balance system device via the connecting column (54). The status indicator (13) is set in a prominent position above the laser scanner (53). The laser scanner (53), status indicator (13), intelligent scanner (30), spray thickness detector (62), and accelerator device sensor (71) are all connected to the intelligent control system.

5. The intelligent mixing and spraying device for polyoxymethylene fiber concrete in complex rock strata of mine roadways according to claim 1, characterized in that: The intelligent control system includes an intelligent control center (1), a protective cover (2), a terrain laser scanner (66), and a scanner integrated bracket (67). The intelligent control center (1) is equipped with a protective cover (2) on the outside. The protective cover (2) is fixed on the balance system device. Two terrain laser scanners (66) are connected and fixed to the bottom sides of the intelligent control center (1) and connected to the intelligent control center (1) through the scanner integrated bracket (67). The intelligent control center (1) is electrically connected to the all-terrain power device, the balance system device, the high uniformity mixing device and the intelligent sensing spraying device respectively.

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