Method and system for reserving roadway in filling body based on robot 3D printing

Abstract

The invention discloses a system for reserving a roadway in a filling body based on robot 3D printing, the system comprises a robot 3D printing unit, a material supply unit, a moving unit and a remote control and monitoring unit, the robot 3D printing unit is connected with the material supply unit through a pipeline, and the robot 3D printing unit is mounted on the moving unit; the robot 3D printing unit is electrically connected with the remote control and monitoring unit, an operator can complete all construction work of a roadway without entering a goaf, and the operator is physically isolated from a dangerous environment by operating the mobile platform, the mechanical arm and the auxiliary leveling equipment through remote control, so that the risk of the operator is eradicated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine filling and intelligent construction, in particular to a method and system for reserving a roadway in a filling body based on robot 3D printing. BACKGROUND

[0002] A large number of local residual ore pillars are generally formed in early mining activities. As the mining conditions change, especially when extending to deep ore bodies, in order to ensure the safety of the overall operation, the upper goaf must be treated and the residual ore must be safely mined. However, there are numerous goafs with irregular spatial forms and mutual connections, and the historical legacy of the complex roadway system makes it impossible for personnel and equipment to safely reach the residual ore area. Therefore, it is necessary to construct a reserved roadway during the filling process of the goaf.

[0003] In the prior art, prefabricated concrete components are usually spliced or traditional formwork is built on site to pour concrete to form such a roadway. However, these methods have obvious deficiencies: 1. Workers need to enter the goaf, which is high-risk; 2. The airtightness is difficult to guarantee, and gaps are easily formed at the junction of the roadway and the surrounding rock and in the roadway body, which allows filling slurry to easily seep into the roadway, causing the roadway to be blocked and lose functionality; 3. The process is complicated, with complex procedures such as formwork, pouring, curing, and formwork removal, which takes a long time and seriously affects mining efficiency. 4. The structural stability is insufficient, and the traditional roadway bottom is not firmly combined with the filling body foundation, which is easily displaced, floats, or cracks under the action of the buoyancy and lateral pressure of the filling slurry. Therefore, there is an urgent need for a new underground roadway airtightness and filling technology that can achieve unmanned, automation, and high reliability.

[0004] In view of the above problems faced by residual ore mining in mines, the present application uses robot 3D concrete printing to construct a reserved roadway in the filling body, according to the principle of "layering and superposition", and through the printing equipment, the specific ratio of concrete material is extruded and accumulated layer by layer, and the construction of the roadway is completed simultaneously during the filling process, which saves the process and direct and indirect costs of the subsequent tunneling link, significantly improves the work efficiency, and is more economical. At the same time, the present application solves the risk of workers needing to enter the goaf for work when constructing a reserved roadway, which is of great significance to ensuring the safety level of mines, improving the economic benefits of mines, and realizing the sustainable development of mines. Therefore, we improve the above prior art according to the actual use. SUMMARY

[0005] This section is intended to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, the abstract, and the title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0006] In view of the above and / or problems existing in the prior art, the present application is proposed.

[0007] To achieve the above object, the present application provides the following technical scheme. A filling body internal reserved roadway system based on robot 3D printing, comprising a robot 3D printing unit, a material supply unit, a moving unit and a remote control and monitoring unit, the robot 3D printing unit is connected with the material supply unit through a pipeline, and the robot 3D printing unit is installed on the moving unit, and the robot 3D printing unit is electrically connected with the remote control and monitoring unit.

[0008] Further, the robot 3D printing unit comprises a mechanical arm base, a mechanical arm is installed on the top of the mechanical arm base, and a printing nozzle is connected with the mechanical arm through a screw.

[0009] Further, the moving unit comprises a track laid on the floor of the goaf, a moving platform is arranged on the track, the moving platform is engaged with the track through a gear at the bottom, and the top of the moving platform is connected with the mechanical arm base through a flange plate.

[0010] Further, the material supply unit comprises a concrete mixing device located in a safe area, the concrete mixing device is connected with a material control unit through a hose system and a concrete delivery pump respectively, and the material control unit is connected with the printing nozzle through a pipeline.

[0011] Further, the remote control and monitoring unit comprises a remote control unit located outside the goaf, the remote control unit is electrically connected with a communication unit and an image acquisition device respectively, and the remote control unit is electrically connected with the printing unit in the roadway.

[0012] Further, a filling body internal reserved roadway method based on robot 3D printing, characterized by comprising the following steps: S1, remote control leveling: the operator controls the scraper to enter the goaf and levels the floor of the planned roadway construction area to form a leveled working surface.

[0013] S2, equipment layout: the track is laid on the leveled working surface, and the robot 3D printing unit is installed at the starting position of the roadway printing.

[0014] S3, printing start: after the remote operator confirms that the equipment is ready, the concrete delivery pump and the printing program of the mechanical arm are started.

[0015] S4, printing bottom anti-floating skirt: The mechanical arm controls the printing nozzle to first print a layer or multiple layers of horizontally outwardly extending base at the bottom of the lane design contour line as an anti-floating skirt to increase the contact area and adhesion of the printed structure with the base, and the core function is to resist the subsequent filling slurry to the lane structure The upward force, while sealing the possible leakage path at the bottom.

[0016] S5, printing the main body of the lane and sealing: Above the anti-floating skirt, the mechanical arm continues to print layer by layer upwards to form the sidewall and roof of the lane, and finally forms a complete arch structure. The printing body at the near end of the lane must be printed closely with the surrounding rock of the goaf or the stable filling body to ensure a seamless connection. The far end of the lane is directly constructed into a complete sealed wall body through printing work.

[0017] S6, first stage filling, bottom anchoring: Fill the slurry into the goaf of the printed lane structure, and the slurry submerges the bottom anti-floating skirt of the lane, and the liquid level is slightly higher than the upper surface but does not exceed 1 / 3 of the height of the lane sidewall. After that, stop filling and enter the curing stage, wait for the layer of slurry to naturally solidify and cure to form a solid bottom consolidation body.

[0018] S7, second stage filling: After the first stage filling slurry solidifies, continuously fill the slurry into the goaf until the slurry liquid level reaches the designed height, completely fills the goaf and submerges the top of the lane, and after the filling and curing are completed, the reserved lane is completed.

[0019] Compared with the prior art, the beneficial effects of the present application are: The operating personnel do not need to enter the goaf to complete the entire construction of the lane, and through remote control operation of the mobile platform, the mechanical arm and the auxiliary leveling equipment, the personnel and the dangerous environment are physically isolated, thereby eliminating personnel risks.

[0020] The constructed lane structure is complete and seamless, which can isolate the filling slurry outside the lane design space and ensure the smoothness of the lane. The one-piece printing technology avoids the inevitable gaps in traditional template splicing, ensures the continuity from the structure itself, tightly prints the near end with the surrounding rock to solve the traditional problem of poor connection between the lane entrance and the surrounding rock, and the far end of the closed printing forms a complete sealed shell, eliminating the channel for slurry to flow in.

[0021] The stability of the roadway during the filling process is enhanced, the upward force and lateral pressure are effectively resisted, the roadway structure remains stable under the dynamic filling environment, and there is no upward floating, displacement or cracking phenomenon, the outwardly extending anti-floating skirt at the bottom is designed: by increasing the contact area of the structure and the floor, using the friction of the floor and the weight of the upper consolidated slurry, a strong anti-floating anchoring force is provided, by the time sequence control of first bottom consolidation and then continuous filling, the anti-floating skirt is first anchored by the initially consolidated bottom slurry, providing a stable foundation for the entire structure, so as to resist the upward force and lateral pressure generated by subsequent continuous filling.

[0022] 4. The construction efficiency is improved, the process flow is simplified, the roadway construction period is shortened, the comprehensive cost is reduced, the robot 3D printing technology saves the complicated processes such as formwork, formwork removal and masonry in the traditional method, realizes automatic and continuous construction, directly improves the operation efficiency, and the formwork construction not only saves the purchase, transportation and loss cost of formwork materials, but also avoids the labor and time cost caused by formwork installation and removal.

[0023] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and the accompanying drawings.

[0024] The technical solutions of the present application will be further described in detail below by means of the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiment or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other accompanying drawings can be obtained by those skilled in the art without creating any inventive labor.

[0026] Figure 1 The structure of the present application is shown in the figure; Figure 2 The structure of the material supply unit of the present application is shown in the figure; Figure 3 The structure of the robot 3D printing unit of the present application is shown in the figure; Figure 4 The system principle diagram of the remote control and monitoring unit of the present application is shown in the figure; Figure 5 The structure of the present application is shown in the figure; Figure 6 The connection diagram of the printing unit in the roadway and the material supply unit outside the roadway of the present application is shown in the figure.

[0027] Fig. 1, a robot 3D printing unit; 11, a mechanical arm base; 12, a mechanical arm; 13, a printing nozzle; 2, a material supply unit; 21, a material control unit; 22, a hose system; 23, a concrete delivery pump; 24, a concrete mixing device; 3, a moving unit; 31, a moving platform; 32, a track; 4, a remote control and monitoring unit; 41, a remote control unit; 42, a communication unit; 43, an image acquisition device; 44, a roadway printing unit. DETAILED DESCRIPTION

[0028] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0029] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the concept of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

[0030] Secondly, the present application is described in detail in combination with the schematic diagram, when the embodiments of the present application are described in detail, in order to facilitate the description, the cross-sectional view of the device structure will be partially enlarged without the general proportion, and the schematic diagram is only an example, which should not limit the scope of protection of the present application here. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual manufacture.

[0031] Thirdly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is independent of or mutually exclusive with other embodiments.

[0032] Please refer to Figures 1-6 The present application provides a technical solution: A filling body internal reserved roadway system based on robot 3D printing, comprising a robot 3D printing unit 1, a material supply unit 2, a moving unit 3 and a remote control and monitoring unit 4, the robot 3D printing unit 1 is connected with the material supply unit 2 through a pipeline, and the robot 3D printing unit 1 is installed on the moving unit 3, and the robot 3D printing unit 1 is electrically connected with the remote control and monitoring unit 4.

[0033] The robot 3D printing unit 1 comprises a mechanical arm base 11, the top of the mechanical arm base 11 is provided with a mechanical arm 12, and the mechanical arm 12 is connected with a printing nozzle 13 through a screw, the mechanical arm 12 is responsible for accurate positioning in three-dimensional space, drives the printing nozzle 13 to move along the predetermined path, and the printing nozzle 13 is responsible for extruding the delivered concrete mixture with a specific line width and layer thickness, so as to realize layer-by-layer stacking printing.

[0034] The moving unit 3 comprises a track 32 laid on the floor of the goaf, the track 32 is provided with a moving platform 31, and the moving platform 31 is engaged with the track 32 through the gear at the bottom, so that the moving platform can travel longitudinally along the track 32, the track 32 provides a predetermined travel path and a support foundation for the whole printing system, and the moving platform 31 is used for carrying other components, and the top of the moving platform 32 is connected with the mechanical arm base 11 through a flange plate.

[0035] The material supply unit 2 comprises a concrete mixing device 24 located in the safety area, the concrete mixing device 24 is connected with a material control unit 21 through a hose system 22 and a concrete delivery pump 23 respectively, and the material control unit 21 is connected with the printing nozzle 13 through a pipeline, the concrete mixing device 24 delivers the prepared printing concrete to the concrete delivery pump 23, the concrete delivery pump 23 serves as a power source to drive the concrete to be continuously delivered to the printing nozzle 13 through the hose system 22, so as to provide continuous and stable material supply for the printing operation.

[0036] The remote control and monitoring unit 4 comprises a remote control unit 41 located outside the goaf, the remote control unit 41 is electrically inputted and outputted with a communication unit 42 and an image acquisition device 43, and the remote control unit 41 is electrically inputted and outputted with a printing unit 44 in the roadway, wherein the image acquisition device 43 comprises but is not limited to a visual sensing module such as a high-definition camera and an environmental perception sensor such as a laser radar and a distance sensor, which are installed on the moving platform 31 or the mechanical arm 12, the remote control unit 41 is bidirectionally connected with a control cabinet on the moving platform 31, a control cabinet on the mechanical arm 12 and the sensor, an operator sends a control instruction at the control unit 41 to drive the moving platform 31 and the mechanical arm 12 to act, at the same time, the on-site video and environmental data collected by the visual sensing module and the environmental perception sensor are transmitted back to the display interface of the control unit 41 in real time to form a closed loop control, realize remote real-time monitoring, man-machine interaction and accurate control of the whole printing process, and ensure that no one enters the dangerous goaf.

[0037] A method for reserving a roadway in a filling body based on robot 3D printing, characterized by comprising the following steps: S1, remote control leveling: the operator remotely controls a scraper to enter the goaf at the remote control unit 41 to level the floor of the planned roadway area to form a leveled working surface.

[0038] S2, device layout: lay the track 32 on the flattened working surface, and install the robot 3D printing unit 1 to the starting position of the roadway printing. It should be noted that please refer to the reserved roadway structure and staged filling drawing in 5 and Figure 6 the layout drawing of the robot 3D printing unit 1 in the roadway and the material supply unit 2 outside the roadway, Figure 5 which shows that the inside of the reserved roadway is a cavity, and the outside of the roadway is a concrete shell formed by printing. The bottom anti-floating skirt is used to prevent the roadway from floating up during the filling process. After the reserved roadway structure is formed, the first stage filling is carried out, and then the second stage filling is carried out, so as to gradually complete the filling work of the outer space of the roadway, and Figure 6 then the relative positions of the robot 3D printing unit 1 and the material supply unit 2 and the roadway are shown.

[0039] S3, printing start: after the remote operator confirms that the device is ready, the printing program of the concrete delivery pump 23 and the mechanical arm 12 is started.

[0040] S4, printing of the bottom anti-floating skirt: The mechanical arm 12 controls the printing nozzle 13 to first print one or more layers of horizontally outwardly extending bottom plate foundation at the bottom of the roadway design contour line as an anti-floating skirt, which increases the contact area and adhesion of the printed structure with the bottom plate. Its core function is to resist the upward force of the subsequent filling slurry on the roadway structure, and to block the possible leakage path at the bottom.

[0041] S5, printing of the main body of the roadway and sealing: Above the anti-floating skirt, the mechanical arm 12 continues to print layer by layer upwards to form the sidewall and roof of the roadway, and finally forms a complete arch-shaped structure. The printed body near the end of the roadway must be tightly printed with the surrounding rock of the goaf or the already stable filling body to ensure a seamless connection. The far end of the roadway is directly built into a complete airtight wall through the printing work.

[0042] S6, first stage filling, bottom anchoring: Fill the slurry into the goaf of the printed roadway structure, so that the slurry submerges the bottom anti-floating skirt of the roadway, and the liquid level is slightly higher than the upper surface but does not exceed 1 / 3 of the height of the sidewall of the roadway. After that, stop filling and enter the curing stage, wait for the natural solidification and curing of the layer of slurry to form a solid bottom consolidation body.

[0043] S7, second stage filling: After the first stage filling slurry is solidified, the goaf is continuously filled with slurry until the slurry liquid level reaches the designed height, completely fills the goaf and submerges the top of the roadway. After the filling and curing are completed, the reserved roadway is built.

[0044] It is to be understood that the development of the particular implementations described herein was motivated by the desire to solve real-world problems, and as such the claimed implementations can be susceptible to further implementation while still falling under the scope of the claims. No aspect of this description or claims should be interpreted as a limitation on the further implementations that can be provided while still falling within the scope of the claims. Thus, one skilled in the art could start with these implementations, and with knowledge of the teachings of the present disclosure, use the disclosure to best suit a particular application and use different

[0045] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced, without departing from the spirit and scope of the technical solutions of the present application, and all should be included in the scope of the claims of the present application.

Claims

1. A robotically based 3D printing based system for internal reservation of a roadway in a filling body, characterized by, The utility model relates to a kind of 3D printing units of robot, material supply unit, mobile unit and remote control and monitoring unit, the 3D printing unit of robot (1) is connected with material supply unit (2) by pipeline, and the 3D printing unit of robot (1) is installed on mobile unit (3), and 3D printing unit of robot (1) is electrically connected with remote control and monitoring unit (4). The 3D printing unit of robot (1) includes mechanical arm base (11), the top of the mechanical arm base (11) is equipped with mechanical arm (12), and the printing nozzle (13) is connected on mechanical arm (12) by screw.

2. A robotic 3D printing based internal reserve canal system for filling according to claim 1, characterized in that: The mobile unit (3) includes track (32) laid on goaf floor, the track (32) is arranged with mobile platform (31), and the mobile platform (31) is engaged with track (32) by the gear at bottom, and the top of mobile platform (31) is connected with mechanical arm base (11) by flange.

3. A robotic 3D printing based internal reserve trench system for filling in a filling body according to claim 2, characterized in that: The material supply unit (2) includes concrete mixing device (24) in safety area, the concrete mixing device (24) is connected with material control unit (21) by hose system (22) and concrete delivery pump (23) respectively, and material control unit (21) is connected with printing nozzle (13) by pipeline.

4. A robotic 3D printing based internal reserve canal system for filling according to claim 2, wherein: The remote control and monitoring unit (4) includes remote control unit (41) outside goaf, the remote control unit (41) is electrically inputted and outputted with communication unit (42) and image acquisition device (43), and remote control unit (41) is electrically inputted and outputted with roadway printing unit (44) inside.

5. A robotic 3D printing based internal reserve canal system for filling according to claim 1, wherein: The utility model relates to a kind of 3D printing units of robot, material supply unit, mobile unit and remote control and monitoring unit, the 3D printing unit of robot (1) is connected with material supply unit (2) by pipeline, and the 3D printing unit of robot (1) is installed on mobile unit (3), and 3D printing unit of robot (1) is electrically connected with remote control and monitoring unit (4).

6. A method of robotically 3D printed internal reservation of a canal in a filling body according to any one of claims 1-5, characterized in that: The utility model relates to a kind of 3D printing units of robot, material supply unit, mobile unit and remote control and monitoring unit, the 3D printing unit of robot (1) is connected with material supply unit (2) by pipeline, and the 3D printing unit of robot (1) is installed on mobile unit (3), and 3D printing unit of robot (1) is electrically connected with remote control and monitoring unit (4). S1, remote control leveling: operator in remote control unit (41), remote control operation shovel carrier enters goaf, and the floor of planned construction roadway area is flattened, and forms flat working face; S2, equipment layout: track (32) is laid on the working face after leveling, and the robot 3D printing unit (1) of assembly debugging is installed to the starting position of roadway printing; S3, printing starts: remote operator confirms that equipment is ready, and starts the printing program of concrete delivery pump (23) and mechanical arm (12); S4, printing bottom anti-floating skirt edge: Mechanical arm (12) controls printing nozzle (13) first at the bottom of roadway design contour line, and prints one or more layers of horizontal outward extending floor foundation, as anti-floating skirt edge, increases the contact area and adhesion of printing structure and floor, and its core function is to resist the upward force of subsequent filling slurry on roadway structure, while plugging possible leakage path at bottom; S5, printing roadway main body and closure: Above anti-floating skirt edge, mechanical arm (12) continues to print layer by layer upwards, forms the sidewall and roof of roadway, and finally constitutes a complete arch structure. The printing body of roadway proximal end must be closely printed with surrounding rock or already stable filling body of goaf, to ensure that the connection is seamless. The distal end of roadway is directly constructed into a complete airtight wall body through printing operation; S6, first stage filling, bottom anchoring: The slurry is filled into the mined-out area of the printed roadway structure, the slurry submerges the bottom of the roadway to prevent floating skirt, the liquid level is slightly higher than the upper surface but does not exceed 1 / 3 of the height of the sidewall of the roadway. Then the filling is stopped, and a static curing stage is entered, waiting for the natural solidification and curing of the layer of slurry to form a solid bottom consolidation body; S7, second stage filling: After the first stage filling slurry is solidified, the slurry is continuously filled into the mined-out area until the slurry liquid level reaches the design height, completely fills the mined-out area and submerges the top of the roadway, and after the filling curing is completed, the reserved roadway is built.

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