CN115142395A - Little topography of abandonment mine reforms transform and equips - Google Patents
Little topography of abandonment mine reforms transform and equips Download PDFInfo
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- CN115142395A CN115142395A CN202210725848.5A CN202210725848A CN115142395A CN 115142395 A CN115142395 A CN 115142395A CN 202210725848 A CN202210725848 A CN 202210725848A CN 115142395 A CN115142395 A CN 115142395A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
- B33Y40/10—Pre-treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
- B33Y40/20—Post-treatment, e.g. curing, coating or polishing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y70/00—Materials specially adapted for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y70/00—Materials specially adapted for additive manufacturing
- B33Y70/10—Composites of different types of material, e.g. mixtures of ceramics and polymers or mixtures of metals and biomaterials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
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- E—FIXED CONSTRUCTIONS
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- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/02—Handling of bulk concrete specially for foundation or hydraulic engineering purposes
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- E—FIXED CONSTRUCTIONS
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- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
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- E—FIXED CONSTRUCTIONS
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- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/815—Blades; Levelling or scarifying tools
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Agronomy & Crop Science (AREA)
- Ceramic Engineering (AREA)
- Composite Materials (AREA)
- Coating Apparatus (AREA)
Abstract
The invention relates to the field of landform improvement, in particular to a micro-landform improvement device for abandoned mines.
Description
Technical Field
The invention relates to the field of terrain reconstruction, in particular to a micro-terrain reconstruction device for a abandoned mine.
Background
China is rich in mineral resources, large-scale and high-strength mineral resource development is carried out while a mine ecosystem is damaged, a sectional treatment form of landform remodeling, soil reconstruction, vegetation reconstruction, landscape reproduction and biodiversity recombination and protection is required, and the landform remodeling is the basis of restoration and reconstruction of the mine ecosystem.
For the 'ecological restoration machinery' for mine treatment, the function of remodeling the landform is designed in a key way: the waste tailings are recycled to prepare the slag concrete, the slag concrete is made into a more square and integral original ecological building material by applying a material adding technology similar to 3D printing, and the purpose of micro-terrain reconstruction is achieved by paving the material, so that the landform coordinated with the surrounding landscape is shaped, the geological disasters are prevented and controlled to a great extent, the water and soil loss is inhibited, and the disastrous restrictive factors influencing the vegetation recovery and the improvement of the land productivity are eliminated and relieved, so that the land utilization rate is improved.
Chinese patent publication No.: CN111236033A. The invention discloses a 3D (three-dimensional) printer for repairing curbstones, which comprises a main body, a crawler belt, a connecting column and a support frame, wherein the main body is provided with the crawler belt, the connecting column is spliced and connected, the connecting column is integrally formed and connected on the support frame, the crawler belt is integrally formed and equidistantly connected with support blocks, and grooves are formed in the support blocks; the checking plate, the first gear, the second gear and the fixing device can adjust the angle of the printing equipment support frame according to the road edge stones with different levelness, thereby ensuring the normal running and the working quality of the printing and repairing and further ensuring the working economic benefit,
therefore, the 3D repairing curbstone printing vehicle has the function of 3D printing of outdoor mobile concrete, but does not have the prospect of application under mine terrain, and the prior art has less technical support on related equipment for reshaping mine landforms, and the quality of concrete printing in the landform repairing process is lack of real-time monitoring, and the final repairing effect is poor because the operation parameters of the equipment are not adjusted, so that the invention provides the engineering equipment applied to the reconstruction of mine micro-terrain landforms.
Disclosure of Invention
In order to partially solve the problems, the invention provides a micro-terrain reconstruction device for abandoned mines, which comprises:
the travelling mechanism comprises a chassis and travelling units arranged on the left side and the right side of the chassis, so that the travelling units drive the chassis to move;
the leveling mechanism is arranged at the front end of the advancing mechanism and comprises a push plate, and the push plate is connected with the advancing mechanism through a connecting frame so as to enable the advancing mechanism to push the push plate to move;
the feeding mechanism is arranged on the upper side of the advancing mechanism and comprises a diversion bin, a plurality of feeding holes and a plurality of discharging holes, the feeding holes are connected with the diversion bin, and a cement pump is arranged in the diversion bin so that materials flow in from the feeding holes and are conveyed to the discharging holes to flow out after passing through the diversion bin;
the supporting mechanism is arranged on the upper side of the chassis and comprises a main supporting frame with a hollow structure, a first supporting frame and a second supporting frame, wherein the first supporting frame and the second supporting frame are arranged on the left side and the right side of the main supporting frame, and a plurality of discharging nozzles are arranged on the first supporting frame and the second supporting frame;
the movable printing unit is arranged on the main supporting frame and comprises a discharging spray head;
the controller is internally provided with a temperature sensor and a humidity sensor, and the controller, the advancing mechanism, the photographing device, the cement pump and the mobile printing unit are used for controlling the movement of the advancing mechanism, receiving the information acquired by the photographing device, controlling the power of the cement pump, controlling the printing action of the mobile printing unit, controlling the rotation rate of a packing auger in the discharging nozzle and controlling the up-and-down movement of the discharging nozzle;
the controller determines the power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharging nozzles arranged on the first support frame and the second support frame according to the ambient temperature and the ambient humidity;
the controller judges the printing effect according to the image information acquired by the photographic device, and adjusts the running power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharge nozzles in real time according to the printing effect.
Further, the controller calculates a control parameter K according to the following formula,
the temperature sensor acquires real-time temperature, the T0 indicates a preset temperature standard value, the C indicates real-time humidity acquired by the humidity sensor, and the C0 indicates a preset humidity standard value; the controller compares the control parameter K with preset control parameter contrast coefficients K01 and K02 according to the control parameter K, wherein:
when K is more than or equal to K02, the controller determines the operating power of the cement pump
Rotation rate of auger
The distance between the upper part and the lower part of the discharge nozzles is
When K02 is larger than or equal to K01, the controller determines that the operating power of the cement pump is P1= P01, the rotation rate of the auger is P2= P02, and the vertical spacing distance between the discharging nozzles is L = L0;
when K is less than K01, the controller determines the operation power of the cement pump to be
Rotation rate of auger
The distance between the upper part and the lower part of the discharge nozzles is
Wherein P01 represents the standard operation power of a preset cement pump, P02 represents the standard operation power of a preset discharge nozzle motor, L0 represents the preset standard distance between discharge nozzles, and L1 represents the preset distance adjusting parameter;
the controller adjusts the running power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharging nozzles to determined values.
Further, a central control processor is arranged in the controller and used for data analysis, the central control processor acquires image information shot by a camera at intervals t, a coordinate system is established by taking an image as a center, outline coordinates of a printed finished product in the image information are identified, an area value S of an outline coordinate curve is calculated, the controller calculates an area difference value delta S of the outline coordinate curve corresponding to the image information twice within the intervals t, and whether the running power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharging nozzles need to be adjusted or not is judged according to the area difference value delta S and a preset standard area difference value S0, wherein:
when the delta S is larger than or equal to S0, the central control processor judges that the running power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharging nozzles need to be adjusted;
and when the delta S is less than S0, the central control processor judges that the current printing is normal and does not need to adjust the operation parameters.
Further, when the central control processor judges that the running power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharge nozzles need to be adjusted, the area difference value delta S of the outline coordinate curve is compared with preset judgment difference values S01 and S02, wherein,
when the delta S is larger than or equal to S02, the central control processor judges the printing fault and gives an alarm;
when S01 is not more than or equal to and delta S is less than S02, the central control processor reduces the operating power of the cement pump by p1 x 1.3, increases the rotation rate of the auger by p2 x 1.3, and increases the vertical spacing distance between the discharging nozzles by l1 x 1.3;
when the delta S is smaller than S01, the central control processor reduces the operating power of the cement pump by p1, increases the rotation speed of the auger by p2, and increases the vertical spacing distance between the discharging nozzles by l1;
wherein p1 represents the preset cement pump adjusting power, p2 represents the preset auger adjusting speed, and p3 represents the preset discharging nozzle adjusting distance.
Furthermore, the advancing unit comprises a crawler, a crawler support frame, and driving wheels and guide wheels which are arranged on the front side and the rear side of the crawler support frame, wherein a plurality of thrust wheels are arranged on the lower side of the crawler support frame, a plurality of thrust wheels are arranged on the upper side of the crawler support frame to support the crawler, and the driving wheels are connected with a motor so that the motor drives the driving wheels and drives the crawler to rotate.
Furthermore, the guide wheel is connected with the track supporting frame through a tensioning device, and a spring is arranged on the tensioning device so that the guide wheel is attached to the belt.
Further, the link includes first link and second link, first link with push pedal swing joint, so that the push pedal is around the activity about the junction, first link with second link swing joint, so that the second link is around the junction activity from top to bottom drive the push pedal is upright.
Furthermore, movable rod groups are transversely arranged on the first support frame and the second support frame and comprise a lead screw and a polished rod which are arranged in parallel, a motor is arranged at one end of each movable rod group to drive the lead screw to rotate, a plurality of fixing plates are vertically arranged on each movable rod group, and threads are arranged in connecting holes of the fixing plates and the lead screw so that the lead screw rotates to drive the fixing plates to move left and right along the movable rod groups.
Further, the vertical inferior movable rod group that is provided with on the fixed plate, inferior movable rod group one end is provided with the motor so that motor drive the lead screw rotates, be provided with first movable block on the inferior movable rod group, be provided with a plurality of connecting holes on the first movable block, first movable block passes and is provided with the screw thread in the connecting hole of lead screw, be provided with on the first movable block ejection of compact shower nozzle to make the lead screw rotate the drive first movable block and ejection of compact shower nozzle along inferior movable rod group reciprocates.
Furthermore, the activity printing unit comprises a pair of first movable rod groups arranged in parallel on two sides of the main support frame, a second movable rod group is vertically arranged between the first movable rod groups, two ends of the second movable rod group are connected with the first movable rod group through a second movable block, and a motor is arranged on one side of the first movable rod group to drive a lead screw of the first movable rod group to rotate and drive the second movable rod group on the second movable block to move along the first movable rod group.
Furthermore, a third support frame is vertically arranged on the second movable rod group, the third support frame is connected with the second movable rod group through a third movable block, and a motor is arranged at one end of the second movable rod group to drive a lead screw of the second movable rod group to rotate so as to drive the third support frame arranged on the third movable block to move along the second movable rod group.
Furthermore, a third movable rod group is arranged on the third support frame, a motor is arranged on one side of the third movable rod group to drive a lead screw of the third movable rod group to rotate, a first movable block is arranged on the third movable rod group, and the first movable block penetrates through the third movable rod group to be connected with a discharge nozzle, so that the lead screw of the third movable rod group rotates to drive the movable block to move and drive the discharge nozzle to move.
Further, ejection of compact shower nozzle is in including carrying the storehouse and setting carry the shower nozzle feed inlet and the shower nozzle discharge gate of storehouse both sides, the shower nozzle feed inlet pass through transfer pipe with discharge gate on the water conservancy diversion storehouse is connected, carry the inside auger that is provided with in storehouse, auger one end is connected with the motor, with the drive the auger is rotatory, drives carry the interior material of storehouse to the extrusion of shower nozzle discharge gate.
Compared with the prior art, the invention adopts the advancing mechanism, the leveling mechanism, the feeding mechanism and the supporting mechanism, takes the forward movement of the crawler as the advancing mode to adapt to the complex landform of a mine, simultaneously adopts the leveling mechanism to level the ground to be reshaped and reduce the influence of the landform on concrete printing, and arranges a plurality of movable discharging nozzles at two sides of the supporting mechanism, and prints the edges of a concrete grid through the discharging nozzles with height difference to ensure that the printing height avoids the condition that the traditional layer-by-layer printing is easy to generate errors.
Particularly, the controller is provided with a central control processor to obtain the temperature and the humidity of the surrounding environment, in actual conditions, the temperature and the humidity can affect the solidification characteristics of a printing material, the fixed printing speed can cause various problems of collapse, edge accumulation and the like of the outline of a printed finished product, the running power of a cement pump and the running speed of a packing auger during the running of equipment are determined by taking the problems as references, the proper discharge amount of spray heads and the proper height difference among the spray heads are maintained, the influence of environmental factors on the printed finished product is avoided, and the quality of the final printed finished product is improved.
Particularly, the controller is provided with a central control processor to analyze the image information of the printed finished product, the corresponding operation parameters of the printing quality adjustment are determined according to the change of the outline area of the printed finished product, the discharging nozzles with different heights discharge simultaneously for the grid edges in actual conditions, superposition can be generated at the intersection of the printing materials, the accumulation surface is increased when the height difference is improper due to the action of fluid force dispersed and accumulated towards the two sides, and the influence of the surrounding environment on the printing materials can also influence the phenomenon, so that the outline area of the printed finished product is influenced, the quality of the finished product is influenced, the discharging amount and the discharging speed of the nozzles and the height difference of all the nozzles are adjusted in the printing process according to the change of the outline area of the finished product, the problems are reduced, and the quality of the printed finished product is finally improved.
Particularly, the leveling mechanism is arranged, in actual conditions, the mine landform is complex, the appearance and the size of a finished product can be changed due to the influence of the landform when concrete is printed on the complex landform, and the effect is poor.
Particularly, the support mechanism is arranged, the movable discharging nozzles are arranged on the left side and the right side of the support mechanism, in actual situations, the traditional concrete printing adopts layer-by-layer printing, the printing time is long, errors are prone to occur in layer-by-layer printing due to the particularity of concrete materials, the printing surface can be accumulated, the area after forming is increased, the problems can be better solved, and the printing speed and the printing effect can be improved by arranging the nozzles with different height differences for simultaneous printing.
Particularly, the invention is provided with the supporting mechanism, the free printing unit is arranged in the middle of the supporting mechanism, the printing of the grid center patterns is realized through the free printing unit, and the water and soil loss can be inhibited by the center patterns with different landform requirements in practical situations.
Drawings
Fig. 1 is a schematic structural diagram of a abandoned mine micro-terrain reconstruction device provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a travel mechanism of the abandoned mine micro-terrain reconstruction equipment provided by the embodiment of the invention;
fig. 3 is a schematic structural diagram of a travel unit of the abandoned mine micro-terrain reconstruction equipment according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a leveling mechanism of the abandoned mine micro-terrain reconstruction equipment provided by the embodiment of the invention;
fig. 5 is a schematic structural view of a support mechanism of the micro-terrain reconstruction equipment for the abandoned mine according to the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a movable printing unit of the abandoned mine micro-terrain reconstruction equipment according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a movable rod group of the micro-terrain reconstruction equipment for the abandoned mine according to the embodiment of the invention;
fig. 8 is a schematic structural diagram of a feeding mechanism of the micro-terrain reconstruction equipment for the abandoned mine, provided by the embodiment of the invention;
fig. 9 is a partial structural schematic diagram of a discharge nozzle of the abandoned mine micro-terrain reconstruction equipment according to an embodiment of the present invention.
Fig. 10 is a schematic view of an upper and lower spacing distance of discharge nozzles of the micro-terrain reconstruction equipment for abandoned mines, provided by the embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Referring to fig. 1, which is a schematic structural diagram of a mine abandonment micro-terrain reconstruction apparatus provided in this embodiment, the mine abandonment micro-terrain reconstruction apparatus of the present invention includes:
the travelling mechanism 2 comprises a chassis 21 and travelling units arranged on the left side and the right side of the chassis 21, so that the travelling unit 22 drives the chassis 21 to move;
the leveling mechanism 3 is arranged at the front end of the advancing mechanism and comprises a push plate 31, and the push plate 31 is connected with the advancing mechanism 2 through a connecting frame 32;
the feeding mechanism 1 is arranged on the upper side of the advancing mechanism and comprises a diversion bin 12, a plurality of feeding holes 11 and a plurality of discharging holes 13, wherein the plurality of feeding holes 11 and the plurality of discharging holes 13 are connected with the diversion bin 12, and a cement pump is arranged in the diversion bin 12 so that printing materials flow in from the feeding holes and are conveyed to the discharging holes to flow out after passing through the diversion bin;
the supporting mechanism 4 is arranged on the upper side of the chassis 21 and comprises a main supporting frame 42 with a hollow structure, a first supporting frame 41 and a second supporting frame 43 which are arranged on the left side and the right side of the main supporting frame, and a plurality of discharging nozzles 53 are arranged on the first supporting frame 41 and the second supporting frame 43;
and a movable printing unit 5 arranged on the main supporting frame 42, wherein the movable printing unit 5 comprises a discharge nozzle 53;
the controller is internally provided with a temperature sensor and a humidity sensor, is connected with the advancing mechanism 2, the photographing device, the cement pump and the mobile printing unit, controls the motion of the advancing mechanism, receives information acquired by the photographing device, controls the power of the cement pump, controls the printing action of the mobile printing unit and the rotation rate of the auger in the discharging nozzle, and adjusts the operation rate of the auger by adjusting the operation power of a motor connected with the auger for the rotation rate of the auger;
the controller determines the power of the cement pump, the rotation speed of the auger and the vertical spacing distance between the discharging nozzles according to the ambient temperature and the ambient humidity, the discharging nozzles are three discharging nozzles which are arranged on the first support frame and the second support frame side by side, and the spacing distance between the discharging nozzles is vertical spacing;
the controller judges the printing effect according to the image information acquired by the photographic device, and adjusts the running power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharging nozzles in real time according to the printing effect.
Specifically, the controller calculates a control parameter K according to the following formula,
wherein T represents the real-time temperature obtained by the temperature sensor, T0 represents a preset temperature standard value, C represents the real-time humidity obtained by the humidity sensor, and C0 represents a preset humidity standard value; the controller compares the control parameter K with preset control parameter contrast coefficients K01 and K02 according to the control parameter K, wherein:
when K is more than or equal to K02, the controller determines the operating power of the cement pump
Rotation rate of auger
The distance between the upper part and the lower part of the discharge nozzles is
When K02 is larger than or equal to K01, the controller determines that the operating power of the cement pump is P1= P01, the rotation rate of the auger is P2= P02, and the vertical spacing distance between the discharging nozzles is L = L0;
when K is less than K01, the controller determines the operation power of the cement pump to be
Rotation rate of auger
The distance between the upper part and the lower part of the discharge nozzles is
The method comprises the following steps that P01 represents the standard operation power of a preset cement pump, P02 represents the standard operation power of a preset discharging nozzle motor, L0 represents the preset standard distance between discharging nozzles, and L1 represents a preset distance adjusting parameter;
the controller adjusts the running power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharge nozzles to determined values.
Specifically, a central control processor is arranged in the controller and used for data analysis, the central control processor acquires image information shot by a photographic device at intervals of t, a coordinate system is established by taking an image as a center, outline coordinates of a printed finished product in the image information are identified, an area value S of an outline coordinate curve is calculated, the controller calculates an area difference value delta S of the outline coordinate curve corresponding to the image information twice within the intervals of t, and whether the running power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharging nozzles need to be adjusted or not is judged according to the area difference value delta S and a preset standard area difference value S0, wherein:
when the delta S is larger than or equal to S0, the central control processor judges that the running power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharging nozzles need to be adjusted;
and when the delta S is less than S0, the central control processor judges that the current printing is normal without adjusting the operation parameters.
Specifically, when the central control processor determines that the running power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharging nozzles need to be adjusted, the area difference value delta S of the outline coordinate curve is compared with preset determination difference values S01 and S02, wherein,
when the delta S is larger than or equal to S02, the central control processor judges the printing fault and gives an alarm;
when S01 is not more than or equal to and delta S is less than S02, the central control processor reduces the operating power of the cement pump by p1 x 1.3, increases the rotation rate of the auger by p2 x 1.3, and increases the vertical spacing distance between the discharging nozzles by l1 x 1.3;
when the delta S is less than S01, the central control processor reduces the operating power of the cement pump by p1, increases the rotation rate of the packing auger by p2, and increases the vertical spacing distance between the discharging nozzles by l1;
wherein p1 represents the preset cement pump adjusting power, p2 represents the preset auger adjusting speed, and p3 represents the preset discharging nozzle adjusting distance.
Specifically, please refer to fig. 2 and fig. 3, which are schematic diagrams of a traveling mechanism and a traveling unit provided in this embodiment, the traveling unit 22 includes a track 221, a track support 228, and a driving wheel 222 and a guide wheel 223 at front and rear sides of the track support, the lower side of the track support 228 is provided with a plurality of support wheels 227 for supporting the gravity borne by the track 221 support, the upper side of the track support 228 is provided with a plurality of 223 support wheels for supporting the track 221 and preventing the track 221 from collapsing, the driving wheel 222 is connected to a motor (not shown in the figures) so that the motor drives the driving wheel 222 and drives the track 221 to rotate, the guide wheel is connected to the track support 228 through a tensioning device 224, and the tensioning device is provided with a spring 225 for attaching the guide wheel to the belt to generate a supporting force and preventing the track 221 from slipping.
The crawler in this embodiment adopts the rubber crawler, and its bearing capacity is strong, traction force is big, has low noise and good travelling performance, can support the big weight of device main part, adapts to the complicated road surface topography in abandonment mining site.
Specifically, a plurality of transmission gears and transmission belts are arranged in a chassis 21 of the traveling mechanism, so that the torque of the motor to the driving wheel is transmitted to the guide wheel to ensure the torque of the traveling of the track, and similar technical schemes are mature for driving the transmission connection of a similar track structure.
Specifically, as shown in fig. 4, the connecting frame 32 includes a first connecting frame 321 and a second connecting frame 322, the first connecting frame 321 is movably connected to the push plate 31 to enable the push plate 31 to move left and right around the connecting position, and the first connecting frame 321 is movably connected to the second connecting frame 322 to enable the second connecting frame 322 to move up and down around the connecting position, so that the push plate 31 is accommodated upright, and the floor area is reduced.
Specifically, please refer to fig. 5 and 8, wherein the first support frame 41 and the second support frame 43 are transversely provided with a movable rod group 45, the movable rod group 45 includes a lead screw 501 and a polished rod 502 which are arranged in parallel, the polished rod 502 is used for guiding, one end of the movable rod group is provided with a motor 48 for driving the lead screw to rotate, the movable rod group 45 is provided with a plurality of fixing plates 44, and a connecting hole between the fixing plate 44 and the lead screw is provided with a thread, so that the lead screw 501 rotates to drive the fixing plate 44 to move left and right along the movable rod group; the fixed plate 44 is provided with a secondary movable rod group 53 vertically, one end of the secondary movable rod group 53 is provided with a motor so as to drive the motor to rotate the screw rod 501, the screw rod 501 is provided with a first movable block 46, the first movable block 46 is provided with a connecting hole, the connecting hole penetrates the secondary movable rod group 53, and a thread is arranged in the connecting hole connected with the screw rod 501 so that the screw rod 501 rotates to drive the first movable block 46 along the screw rod to move up and down.
Specifically, as shown in fig. 5 and fig. 6, the movable printing unit 5 includes a pair of first movable rod groups 49 disposed in parallel on two sides of the main support frame 42, a second movable rod group 51 is vertically disposed between the first movable rod groups 49, two ends of the second movable rod group 51 are connected to the first movable rod group through a second movable block 50, a motor is disposed on one side of the first movable rod group 49 to drive a lead screw 501 of the first movable rod group 49 to rotate, the second movable rod group 51 is driven to move along the first movable rod group 49 by driving the second movable block 50, the third support frame 52 is vertically disposed on the second movable rod group 51, the third support frame 52 is fixedly connected to the second movable rod group 51 through a third movable block 55, two ends of the second movable rod group 51 are disposed with motors 48 to drive the lead screw 501 of the second movable rod group 51 to rotate, and the third movable block 55 on the second movable rod group 51 is driven to further drive the third movable rod group 52 to move along the second movable rod group 51;
a third movable rod group 54 is arranged on the third support frame 52, a motor 48 is arranged on one side of the third movable rod group 54 to drive a lead screw 501 of the third movable rod group 54 to rotate, a first movable block 46 is arranged on the third movable rod group 54, and the first movable block 46 passes through the third movable rod group 54 and is fixedly connected with a discharge nozzle 53, so that the lead screw 501 of the third movable rod group 54 rotates to drive the movable block to move, and further the discharge nozzle 53 is driven to move;
specifically, please refer to fig. 7, wherein any movable rod group is composed of a plurality of polished rods and a plurality of screws parallel to the polished rods, the specific number is not limited in this embodiment, and the movable rod group only needs to guide the polished rods and drive the screws
Particularly, it is provided with a plurality of installation through-holes to arbitrary movable block to pass lead screw and the feed rod of arbitrary movable rod group, the movable block passes through be provided with the screw in the mounting hole of lead screw, so that the lead screw drives when rotating the movable block along the lead screw removes.
Specifically, as shown in fig. 9, the discharging nozzle 53 is fixedly connected to the movable block 46, so that the discharging nozzle 53 moves along with the movable block, the discharging nozzle 53 includes a conveying bin 532, a nozzle feeding port 531 and a nozzle discharging port 533 which are disposed at two sides of the conveying bin, the feeding port can be connected to a discharging port on the diversion bin through a conveying pipeline, an auger 534 is disposed inside the conveying bin, and one end of the auger 534 is connected to a motor, so that the motor drives the auger 534 to rotate, and the material in the conveying bin is driven to be extruded to the nozzle discharging port 533.
Specifically, please refer to fig. 8, in the feeding mechanism 1, the feeding port 11 includes a material feeding port and a water feeding port for respectively inputting the material and the water, and the discharging port 13 includes a material discharging port and a water discharging port for respectively outputting the material and the water, in an actual situation, because the concrete material is easy to solidify and block the nozzle and the pipeline, the feeding mechanism is provided with the water feeding port, when the nozzle stops discharging, the water is timely input to the water feeding port, and the pipeline and the nozzle are cleaned with the water, so as to avoid blocking and affecting reuse.
Specifically, in this embodiment, adopt the form of preparation in advance to the printing material, transport to the job site after accomplishing the printing material preparation, through connecting tube with feed inlet on the feed mechanism is connected, realizes that the printing material supplies with.
Specifically, in practical application, the edges of the concrete grid are printed by the discharge nozzles 53 arranged on the first support frame 41 and the second support frame 43, and for special shapes to be printed, the edges can be printed by the nozzles arranged on the third support frame; because the special installation mode of the third support frame enables the third support frame to move randomly in a plane coordinate system of a certain area, the printing requirement is met.
Specifically, the discharging nozzles arranged on the first support frame 41 and the second support frame 43 can move up and down along the screw rod, so that the edges of the concrete grids of 5-10 cm can be continuously printed at one time through the height difference distribution of the nozzles, the process of layer-by-layer printing of the single nozzles in the traditional 3D printing is simplified, the angle sensor is arranged on the chassis 21, the angle of the current travelling mechanism during operation is detected through the angle sensor, the height difference of the nozzles is finely adjusted, and the large influence on the printed finished product due to the height of the landform is avoided.
Specifically, a controller is disposed inside the chassis 21, and the controller includes: the controller comprises a central control processor, a motor driver, a relay module, a switch power supply, a switch and a wiring terminal, wherein the central control processor receives a command from control software and transmits the command to the motor driver to control the motor to move and make data judgment on data sent by various sensors in the operation process, the relay module is used for receiving a command of a main controller to control the movement of a traveling mechanism, the switch power supply is divided into a 24V power supply and a 5V power supply, the 24V power supply is used for supplying power to the motor driver, and the 5V power supply is used for supplying power to the main controller.
The motor of the invention adopts a stepping motor, because the stepping motor can not be directly connected to a direct current or alternating current power supply to work, a special stepping motor driver is needed to be used, and the controller controls the angular displacement by controlling the number of pulses, thereby achieving the purpose of accurate positioning; meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the purpose of speed regulation is achieved, and the controller cooperatively controls different stepping motors to enable the spray head to move to a specified position.
Specifically, referring to fig. 10, in the present invention, as for the discharging nozzles mounted on the first support frame and the second support frame, a plurality of discharging nozzles are arranged in parallel, and the discharging nozzles are disposed on the mounting plate and can move up and down, a vertical distance between a lowest point of one discharging nozzle and a lowest point of another discharging nozzle adjacent to the lowest point of the one discharging nozzle is defined as an up-down interval, and in this embodiment, the motors on two sides of the secondary movable rod group 53 are controlled by the controller to control the up-down movement of the discharging nozzles.
Example 2
The embodiment provides a printing material applied to micro-terrain reconstruction equipment of a waste mine,
specifically, first, 3 samples of each of FC0-FC10 were tested according to the density test method, and the test results showed an average of 2.08g/cm3 for all samples and an average of 2.12g/cm3 for the dry density of the FC7 samples of test 3. Because the FC7 group samples used a relatively large amount of iron tailings, their densities were slightly greater than the average but substantially close. The dry density of the gelled composite material test block prepared from the copper tailings and the iron tailings is lower than that of ordinary concrete, because the ordinary concrete material contains a certain proportion of stones and sand as aggregates, while the copper tailings and the iron tailings are used as aggregates in experiments, but the overall density difference is not very large, and the gelled composite material test block is feasible as a wall material. The dry density of the gelled composite material test block prepared from the copper/iron tailings meets the density requirement of the building material, so the copper/iron tailings are suitable for being used as the 3D printing building material.
The optimal distribution ratio of the two tailings is defined:
table 1: mixing ratio (weight percent) of steel/iron tailing gelled composite material
Table 2: physical and mechanical Properties of the samples
In particular, by a gel composite material comprising 40% iron tailings, 10% copper tailings, 19% fly ash, 30% belite cement and 1% FDN water reducer, an optimal mixing ratio of 3D printed building materials consisting of copper tailings and iron tailings can be achieved. The FC7 group sample had a flow of 197.5mm and an initial setting time and a final setting time of 50 minutes and 82 minutes, respectively. These physical properties are well suited for the operability of 3D printed building materials. The copper tailings and the iron tailings are compounded to be suitable for being used as a 3D printing building material, when the mass ratio of the iron tailings to the copper tailings is 4:1, the mixing effect of the copper tailings and the iron tailings is optimal, and after 28 days under laboratory conditions, the flexural strength of the copper/iron tailings cementing composite material is the highest and is 8.2MPa, and the compressive strength of the copper/iron tailings cementing composite material is the highest and is 45.2MPa. Thus, when the ratio of the copper tailings to the iron tailings is 1: 4, it has excellent physical and mechanical properties.
Specifically, based on the above verification structure, 30% of belite cement is replaced by Portland cement and belite cement at a ratio of 4:1, i.e., 24% of Portland cement and 6% of belite cement, and the optimal ratio of the obtained printing material is: 40% of iron tailings, 10% of copper tailings, 19.8% of fly ash, 24% of ordinary portland cement, 6% of belite cement, 0.15% of polycarboxylic acid water reducing agent and 0.05% of defoaming agent.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is apparent to those skilled in the art that the scope of the present invention is not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. The utility model provides a little topography transformation of abandonment mine is equipped which characterized in that includes:
the travelling mechanism comprises a chassis and travelling units arranged on the left side and the right side of the chassis, so that the travelling units drive the chassis to move;
the leveling mechanism is arranged at the front end of the advancing mechanism and comprises a push plate, and the push plate is connected with the advancing mechanism through a connecting frame so as to enable the advancing mechanism to push the push plate to move;
the feeding mechanism is arranged on the upper side of the advancing mechanism and comprises a diversion bin, a plurality of feeding holes and a plurality of discharging holes, wherein the feeding holes and the discharging holes are connected with the diversion bin, so that materials flow in from the feeding holes and flow out from the discharging holes after passing through the diversion bin;
the supporting mechanism is arranged on the upper side of the chassis and comprises a main supporting frame with a hollow structure, a first supporting frame and a second supporting frame which are arranged on the left side and the right side of the main supporting frame,
the movable printing unit is arranged on the main support frame, a plurality of discharging nozzles are arranged on the first support frame and the second support frame, and the movable printing unit comprises discharging nozzles;
the controller is internally provided with a temperature sensor and a humidity sensor and is connected with the advancing mechanism, the photographing device, the cement pump and the mobile printing unit so as to control the movement of the advancing mechanism, receive information acquired by the photographing device, control the power of the cement pump, control the printing action of the mobile printing unit, control the rotation rate of a packing auger in the discharging nozzle and control the up-down movement of the discharging nozzle;
the controller determines the power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharging nozzles arranged on the first support frame and the second support frame according to the ambient temperature and the ambient humidity;
the controller judges the printing effect according to the image information acquired by the photographic device, and adjusts the running power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharge nozzles in real time according to the printing effect.
2. The abandoned mine microtopography reformation equipment according to claim 1, wherein the controller calculates a control parameter K according to the following formula,
wherein T represents the real-time temperature obtained by the temperature sensor, T0 represents a preset temperature standard value, C represents the real-time humidity obtained by the humidity sensor, and C0 represents a preset humidity standard value; the controller compares the control parameter K with preset control parameter contrast coefficients K01 and K02 according to the control parameter K, wherein:
when K is more than or equal to K02, the controller determines the operating power of the cement pump
Rotation rate of auger
The distance between the upper part and the lower part of the discharge nozzles is
When K02 is larger than K and larger than or equal to K01, the controller determines that the operating power of the cement pump is P1= P01, the rotation rate of the auger is P2= P02, and the vertical spacing distance between the discharging nozzles is L = L0;
when K is less than K01, the controller determines the operation power of the cement pump to be
Rotation rate of auger
The distance between the upper part and the lower part of the discharge nozzles is
Wherein P01 represents the standard operation power of a preset cement pump, P02 represents the standard operation power of a preset discharge nozzle motor, L0 represents the preset standard distance between discharge nozzles, and L1 represents the preset distance adjusting parameter;
the controller adjusts the running power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharging nozzles to determined values.
3. The abandoned mine micro-terrain reconstruction equipment according to claim 1, wherein a central control processor is arranged in the controller for data analysis, the central control processor acquires image information shot by a camera at intervals t, a coordinate system is established by taking an image as a center, outline coordinates of a printed finished product in the image information are identified, an area value S of an outline coordinate curve is calculated, the controller calculates an area difference value Delta S of the outline coordinate curve corresponding to the image information twice within the intervals t, and whether the operation power of the cement pump, the rotation speed of the auger and the vertical spacing distance between the discharge nozzles need to be adjusted or not is judged according to the area difference value Delta S and a preset standard area difference value S0, wherein:
when the delta S is larger than or equal to S0, the central control processor judges that the running power of the cement pump, the rotation rate of the packing auger and the vertical spacing distance between the discharging nozzles need to be adjusted;
and when the delta S is less than S0, the central control processor judges that the current printing is normal without adjusting the operation parameters.
4. The abandoned mine micro-terrain reconstruction equipment according to claim 3, wherein when the central control processor determines that the operating power of the cement pump, the rotation rate of the auger and the vertical spacing distance between the discharging nozzles need to be adjusted, the profile coordinate curve area difference Δ S is compared with preset determination differences S01 and S02,
when the delta S is larger than or equal to S02, the central control processor judges the printing fault and gives an alarm;
when S01 is not more than or equal to and delta S is less than S02, the central control processor reduces the operating power of the cement pump by p1 x 1.3, increases the rotation rate of the auger by p2 x 1.3, and increases the vertical spacing distance between the discharging nozzles by l1 x 1.3;
when the delta S is smaller than S01, the central control processor reduces the operating power of the cement pump by p1, increases the rotation speed of the auger by p2, and increases the vertical spacing distance between the discharging nozzles by l1;
wherein p1 represents the preset cement pump adjusting power, p2 represents the preset auger adjusting speed, and p3 represents the preset discharging nozzle adjusting distance.
5. The abandoned mine micro-terrain reconstruction equipment according to claim 1, wherein the first support frame and the second support frame are transversely provided with movable rod sets, each movable rod set comprises a lead screw and a polished rod which are arranged in parallel, one end of each movable rod set is provided with a motor to drive the lead screw to rotate, a plurality of fixed plates are vertically arranged on each movable rod set, and threads are arranged in connecting holes of the fixed plates and the lead screws, so that the lead screws rotate to drive the fixed plates to move left and right along the movable rod sets.
6. The abandoned mine micro-terrain reconstruction equipment according to claim 5, wherein a secondary movable rod set is vertically arranged on the fixed plate, a motor is arranged at one end of the secondary movable rod set so that the motor drives the screw rod to rotate, a first movable block is arranged on the secondary movable rod set, a plurality of connecting holes are formed in the first movable block, threads are arranged in the connecting holes through which the first movable block penetrates the screw rod, and the discharge nozzle is arranged on the first movable block so that the screw rod rotates to drive the first movable block and the discharge nozzle to move up and down along the secondary movable rod set.
7. The abandoned mine micro-terrain reconstruction equipment according to claim 1, wherein the movable printing unit comprises a pair of first movable rod sets arranged in parallel on two sides of the main supporting frame, a second movable rod set is vertically arranged between the first movable rod sets, two ends of the second movable rod set are connected with the first movable rod sets through second movable blocks, and a motor is arranged on one side of the first movable rod sets to drive a lead screw of the first movable rod sets to rotate and drive the second movable rod sets on the second movable blocks to move along the first movable rod sets.
8. The abandoned mine micro-terrain reconstruction equipment according to claim 7, wherein a third support frame is vertically arranged on the second movable rod group, the third support frame is connected with the second movable rod group through a third movable block, and a motor is arranged at one end of the second movable rod group to drive a lead screw of the second movable rod group to rotate so as to drive a third support frame arranged on the third movable block to move along the second movable rod group.
9. The abandoned mine micro-terrain reconstruction equipment according to claim 8, wherein a third movable rod set is arranged on the third support frame, a motor is arranged on one side of the third movable rod set to drive a lead screw of the third movable rod set to rotate, a first movable block is arranged on the third movable rod set, and the first movable block penetrates through the third movable rod set to be connected with a discharge nozzle, so that the lead screw of the third movable rod set rotates to drive the movable block to move and drive the discharge nozzle to move.
10. A printed material for use in the apparatus of any of claims 1-9, wherein the printed material comprises: 40% of iron tailings, 10% of copper tailings, 19.8% of fly ash, 24% of ordinary portland cement, 6% of belite cement, 0.15% of polycarboxylic acid water reducing agent and 0.05% of defoaming agent.
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| CN103102089A (en) * | 2013-01-30 | 2013-05-15 | 中钢集团马鞍山矿山研究院有限公司 | Binding material for filling fine-grain tailings |
| CN206769402U (en) * | 2017-06-02 | 2017-12-19 | 四川建筑职业技术学院 | A kind of 3D based on building profile construction technology design builds printing head |
| WO2019206319A1 (en) * | 2018-04-28 | 2019-10-31 | 中国矿业大学 | Underground space intelligent construction system and method |
| CN111216215A (en) * | 2020-01-16 | 2020-06-02 | 华创智造(天津)科技有限公司 | Concrete 3D printing robot |
| CN112012231A (en) * | 2020-08-27 | 2020-12-01 | 南昌市国土资源勘测规划院有限公司 | Ecological restoration system for abandoned mine and application method thereof |
| CN113389112A (en) * | 2021-07-13 | 2021-09-14 | 山东大学 | 3D printing equipment for cement concrete pavement and construction method |
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2022
- 2022-06-24 CN CN202210725848.5A patent/CN115142395B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103102089A (en) * | 2013-01-30 | 2013-05-15 | 中钢集团马鞍山矿山研究院有限公司 | Binding material for filling fine-grain tailings |
| CN206769402U (en) * | 2017-06-02 | 2017-12-19 | 四川建筑职业技术学院 | A kind of 3D based on building profile construction technology design builds printing head |
| WO2019206319A1 (en) * | 2018-04-28 | 2019-10-31 | 中国矿业大学 | Underground space intelligent construction system and method |
| CN111216215A (en) * | 2020-01-16 | 2020-06-02 | 华创智造(天津)科技有限公司 | Concrete 3D printing robot |
| CN112012231A (en) * | 2020-08-27 | 2020-12-01 | 南昌市国土资源勘测规划院有限公司 | Ecological restoration system for abandoned mine and application method thereof |
| CN113389112A (en) * | 2021-07-13 | 2021-09-14 | 山东大学 | 3D printing equipment for cement concrete pavement and construction method |
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