A tunnel supporting concrete form spraying device

Abstract

The tunnel supporting concrete mould spraying device comprises a frame, a panel arranged on the frame and abutting against an arch frame on an inner wall of a tunnel to form a cavity on the inner wall of the tunnel, the cavity comprising an upper port and a lower port opposite to each other, an adjusting assembly arranged on the frame and having multiple degrees of freedom, and a spray head arranged on the adjusting assembly, an inlet end of the spray head being provided with a mixture of compressed air and concrete, and an outlet end of the spray head facing the upper port of the cavity. In the tunnel supporting concrete mould spraying device, not only the material waste of concrete is effectively reduced and the cost of tunnel supporting is lowered, but also the generation of dust is inhibited, the construction environment in the tunnel is improved, the formed surface of the solidified concrete is smoother, the quality of the formed surface of the concrete is improved, and the quality of the tunnel supporting is improved.

Description

Technical Field

[0001] This disclosure relates to the field of tunnel support technology, and in particular to a concrete spraying device for tunnel support. Background Technology

[0002] In the initial support of tunnels, wet spraying is used to spray concrete onto the tunnel walls. Once the concrete has hardened, it supports the tunnel. However, traditional wet spraying methods suffer from problems such as high concrete rebound rate, low surface quality, and dust generation. Current improvements often focus on the concrete materials themselves, such as optimizing the concrete formula, but the results are not significant. Therefore, improvements need to be made to the equipment. Summary of the Invention

[0003] This disclosure aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the purpose of this disclosure is to provide a concrete spraying device for tunnel support.

[0005] To achieve the above objectives, this disclosure provides a tunnel support concrete spraying device, comprising: a frame; a panel disposed on the frame, the panel abutting against an arch on the inner wall of the tunnel to form a cavity on the inner wall of the tunnel, the cavity including: an upper port and a lower port in opposite positions; an adjustment assembly disposed on the frame, the adjustment assembly having multiple degrees of freedom; and a nozzle disposed on the adjustment assembly, the nozzle having an inlet end through which a mixture of compressed air and concrete is introduced, and an outlet end of the nozzle facing the upper port of the cavity.

[0006] Optionally, the adjustment assembly includes: an adjustment seat disposed at the upper end of the frame; a first bracket rotatably mounted on the adjustment seat, the rotation center axis of the first bracket being perpendicular to the thickness direction of the cavity; a first rotary drive member disposed on the adjustment seat, the power output end of the first rotary drive member being drive-connected to the first bracket; a second bracket, the nozzle disposed on the second bracket, the second bracket rotatably mounted on the first bracket, the rotation center axis of the second bracket being perpendicular to the rotation center axis of the first bracket; and a second rotary drive member disposed on the first bracket, the power output end of the second rotary drive member being drive-connected to the second bracket.

[0007] Optionally, the adjusting seat is slidably disposed on the upper end of the frame; the adjusting assembly further includes: a plurality of first positioning holes, a plurality of second positioning holes, a plurality of third positioning holes, and a plurality of first bolts, wherein the first positioning holes are disposed on the adjusting seat, the second positioning holes are disposed on the end of the frame near the cavity, the third positioning holes are disposed on the end of the frame away from the cavity, and the threaded rod of the first bolt passes through the first positioning hole and connects to the second positioning hole or the third positioning hole, so that the adjusting seat is disposed on the frame.

[0008] Optionally, the molding spraying device further includes a vibration assembly, which includes a vibrating rod. A groove is provided on the side of the panel near the cavity, and the vibrating rod is disposed in the groove.

[0009] Optionally, the vibration assembly further includes: a plurality of pneumatic vibrators, the pneumatic vibrators being mounted on the frame, and the vibration output end of the pneumatic vibrators being connected to the side of the panel away from the cavity.

[0010] Optionally, the molding and spraying device further includes: a correction assembly, which includes: a support, a carriage, a first telescopic drive member, and a second telescopic drive member; wherein, the carriage is slidably disposed on the support along the thickness direction of the cavity, and the frame is hinged to the carriage; the first telescopic drive member is disposed on the support, and the power output end of the first telescopic drive member is connected to the carriage; the second telescopic drive member is disposed on the support, and the power output end of the second telescopic drive member is hinged to the frame, and the second telescopic drive member is located between the first telescopic drive member and the lower end of the frame.

[0011] Optionally, the spraying device further includes: at least one distance measuring component, the distance measuring component including: a detection seat, a detection plate, an elastic element, and a distance measuring element; wherein, the detection seat is disposed at the upper end of the frame, the detection plate is slidably disposed on the detection seat, the elastic element is disposed between the detection plate and the detection seat, and the elastic element causes the detection plate to abut against the arch frame; the distance measuring element is disposed on the detection seat, the detection input end of the distance measuring element is connected to the detection plate, and the distance measuring element is used to detect the distance between the detection plate and the detection seat.

[0012] Optionally, the ranging assembly further includes: an outer cylinder and an inner shaft, the outer cylinder being disposed on the detection seat, the elastic element being disposed inside the outer cylinder, one end of the inner shaft being connected to the detection plate, and the end of the inner shaft away from the detection plate being slidably disposed inside the outer cylinder and abutting against the elastic element; the distance detection element includes: a magnetostrictive displacement sensor, the magnetostrictive displacement sensor being disposed on the detection seat, and the detection shaft of the distance detection element being connected to the detection plate.

[0013] Optionally, the detection seat is slidably disposed on the frame along the width direction of the cavity; the ranging assembly further includes: a second bolt, the second bolt being threaded on the detection seat, and the threaded shank of the second bolt abutting against the frame.

[0014] Optionally, the molding and spraying device further includes a pressure measuring component, which includes a plurality of pressure sensors disposed on the side of the panel near the cavity, and the pressure sensors are used to detect the pressure inside the cavity.

[0015] The technical solution provided in this disclosure may include the following beneficial effects:

[0016] By abutting the panel against the arch frame, a cavity is formed on the tunnel wall. When concrete is sprayed onto the tunnel wall, the panel can block the rebounding concrete, effectively reducing material waste and lowering tunnel support costs. It also suppresses dust generation, improving the construction environment inside the tunnel. Furthermore, because the panel acts as a barrier after the concrete is sprayed onto the tunnel wall, the solidified surface is smoother and more even, improving the quality of the concrete surface and thus the quality of the tunnel support. The adjustable components allow for easy adjustment of the nozzle angle, providing greater flexibility in the concrete spraying direction to adapt to different tunnel wall conditions. This also ensures uniform spraying of concrete onto the tunnel wall, reducing voids and effectively improving the quality of tunnel support.

[0017] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0019] Figure 1 This is a schematic diagram of the structure of a tunnel support concrete spraying device according to an embodiment of the present disclosure;

[0020] Figure 2This is a schematic diagram of the structure of a tunnel support concrete spraying device according to an embodiment of the present disclosure;

[0021] Figure 3 This is a schematic diagram of the tunnel support concrete spraying device according to an embodiment of the present disclosure during tunnel construction;

[0022] Figure 4 This is a schematic diagram of the structure of the adjusting component in the tunnel support concrete spraying device according to an embodiment of the present disclosure;

[0023] Figure 5 This is a schematic diagram of the structure of the correction component in the tunnel support concrete spraying device according to an embodiment of the present disclosure;

[0024] Figure 6 This is a schematic diagram of the distance measuring component in a tunnel support concrete spraying device according to an embodiment of this disclosure;

[0025] Figure 7 This is a cross-sectional schematic diagram of the outer cylinder in a tunnel support concrete spraying device according to an embodiment of this disclosure;

[0026] Figure 8 This is a schematic diagram of the tunnel support concrete spraying device according to an embodiment of the present disclosure during tunnel construction;

[0027] As shown in the figure: 1. Frame, 2. Panel, 3. Cavity, 4. Nozzle;

[0028] 5. Adjustment assembly; 501. Adjustment seat; 502. First bracket; 503. First rotary drive component; 504. Second bracket; 505. Second rotary drive component; 506. First bolt;

[0029] 6. Vibration assembly, 601. Vibrator, 602. Groove, 603. Pneumatic vibrator;

[0030] 7. Correction assembly; 701. Support; 702. Carriage; 703. First telescopic drive component; 704. Second telescopic drive component;

[0031] 8. Distance measuring component; 801. Detection seat; 802. Detection plate; 803. Elastic element; 804. Distance detection component; 805. Outer cylinder; 806. Inner shaft; 807. Second bolt.

[0032] 9. Pressure measurement components, 901. Pressure sensor;

[0033] 10. Arch frame, 11. First initial position, 12. First route, 13. Reversal position, 14. Second initial position, 15. Second route. Detailed Implementation

[0034] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0035] In the initial support of a tunnel, wet spraying is used to spray concrete onto the inner wall of the tunnel. Once the concrete has hardened, it supports the tunnel.

[0036] The traditional wet spraying process uses the nozzle 4 of a wet spraying machine to spray concrete with compressed air onto the inner wall of the tunnel. However, because concrete has a certain pressure, it is easy for it to bounce when it is sprayed onto the inner wall of the tunnel. This not only causes a lot of waste of concrete materials and increases the cost of tunnel support, but also generates a lot of dust, resulting in a poor construction environment inside the tunnel. At the same time, because the concrete is sprayed directly onto the inner wall of the tunnel, the surface of the concrete after solidification is uneven, resulting in low quality of the concrete surface and reducing the quality of tunnel support.

[0037] Because traditional wet spraying processes have problems such as high concrete rebound rate, low surface quality, and easy dust generation, and the improvement effect on concrete materials is not obvious, it is necessary to improve the equipment.

[0038] Therefore, in order to solve the above-mentioned technical problems, such as Figure 1 , Figure 2 and Figure 3 As shown in the present disclosure, an embodiment of a tunnel support concrete spraying device is proposed, including a frame 1, a panel 2, an adjustment component 5, and a nozzle 4. The panel 2 is disposed on the frame 1 and abuts against an arch 10 on the inner wall of the tunnel to form a cavity 3 on the inner wall of the tunnel. The cavity 3 includes an upper port and a lower port in opposite positions. The adjustment component 5 is disposed on the frame 1 and has multiple degrees of freedom. The nozzle 4 is disposed on the adjustment component 5. A mixture of compressed air and concrete is introduced into the inlet end of the nozzle 4, and the outlet end of the nozzle 4 faces the upper port of the cavity 3.

[0039] Understandably, the contact between panel 2 and arch frame 10 creates a cavity 3 on the tunnel inner wall. This allows panel 2 to block the rebounding concrete when it is sprayed onto the tunnel inner wall, effectively reducing material waste and lowering tunnel support costs. It also suppresses dust generation and improves the construction environment inside the tunnel. Furthermore, because panel 2 acts as a barrier after the concrete is sprayed onto the tunnel inner wall, the solidified surface of the concrete is smoother and more even, thus improving the quality of the concrete surface and consequently the quality of the tunnel support.

[0040] By adjusting the settings of component 5, the angle of nozzle 4 can be easily adjusted, which not only makes the direction of concrete spraying more flexible, thus adapting to different working conditions of the tunnel wall, but also facilitates the uniform spraying of concrete on the tunnel wall, reduces the formation of voids, and effectively improves the quality of tunnel support.

[0041] It should be noted that the arch frame 10 is used for the initial support of the tunnel. The arch frame 10 is set on the inner wall of the tunnel along the circumference of the tunnel. Concrete is sprayed between two arch frames 10. After the concrete has solidified, the concrete and the arch frame 10 work together to support the tunnel. The arch frame 10 can be made of steel or other materials, and there are no restrictions on this.

[0042] Frame 1 is used to support components such as panel 2 and adjustment component 5. The specific type of frame 1 can be set according to actual needs and there are no restrictions. For example, frame 1 can be assembled from aluminum alloy profiles.

[0043] The frame 1 can be mounted on the robotic arm of the wet shotcrete machine. The robotic arm has multiple degrees of freedom. Through the movement of the robotic arm, the panel 2 and the arch frame 10 are brought into contact. The grout inlet end of the nozzle 4 can be connected to the grout outlet end of the concrete pump of the wet shotcrete machine through a hose, so as to realize the spraying of the mixture of compressed air and concrete using the wet shotcrete machine.

[0044] A wet shotcrete machine, also known as a wet-type shotcrete machine, is a type of anchor spraying support equipment. The specific type of wet shotcrete machine can be set according to actual needs, and there are no restrictions on it.

[0045] Panel 2 is used to abut against arch frame 10 to form cavity 3 on tunnel inner wall. The specific type of panel 2 can be set according to actual needs and is not limited thereto. For example, panel 2 includes a first part and a second part. The first part is connected to the second part. The first part is perpendicular to the thickness direction of cavity 3, and the second part extends obliquely away from cavity 3. Thus, the setting of the first part ensures the realization of cavity 3, and the setting of the second part facilitates the rebound of some concrete and the concrete sprayed from nozzle 4 to slide from the second part into cavity 3, thereby reducing concrete waste and reducing tunnel support costs.

[0046] The cavity 3 is a structure formed by the panel 2, the two arch frames 10, and the inner wall of the tunnel. The cavity 3 includes an upper port and a lower port. During the upward movement of the spraying device, the nozzle 4 continuously sprays concrete into the upper port of the cavity 3, and the concrete at the lower port of the cavity 3 gradually solidifies, thereby achieving tunnel support.

[0047] To ensure that the concrete at the lower end of cavity 3 can solidify quickly during the movement of the spraying device, an accelerator can be added to the concrete to improve the concrete's solidification efficiency, thereby improving the construction efficiency of tunnel support.

[0048] The number of degrees of freedom of the adjustment component 5 is determined by the type of the adjustment component 5. The specific type of the adjustment component 5 can be set according to actual needs, and there are no restrictions on it.

[0049] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the adjustment assembly 5 includes an adjustment seat 501, a first bracket 502, a first rotary drive 503, a second bracket 504, and a second rotary drive 505. The adjustment seat 501 is disposed on the upper end of the frame 1. The first bracket 502 is rotatably disposed on the adjustment seat 501, and the rotation center axis of the first bracket 502 is perpendicular to the thickness direction of the cavity 3. The first rotary drive 503 is disposed on the adjustment seat 501, and the power output end of the first rotary drive 503 is connected to the first bracket 502. The nozzle 4 is disposed on the second bracket 504, and the second bracket 504 is rotatably disposed on the first bracket 502. The rotation center axis of the second bracket 504 is perpendicular to the rotation center axis of the first bracket 502. The second rotary drive 505 is disposed on the first bracket 502, and the power output end of the second rotary drive 505 is connected to the second bracket 504.

[0050] Understandably, the first support 502 rotates under the drive of the first rotary drive 503, and the second support 504 rotates under the drive of the second rotary drive 505. Since the rotation axis of the first support 502 is perpendicular to the thickness direction of the cavity 3, and the rotation axis of the second support 504 is perpendicular to the rotation axis of the first support 502, the nozzle 4 can adjust its angle in two degrees of freedom. This gives the nozzle 4 high flexibility to adapt to different tunnel wall conditions, and allows it to evenly spray concrete onto the tunnel wall, thereby reducing voids and effectively improving the quality of tunnel support.

[0051] It should be noted that the specific types of the first rotary drive component 503 and the second rotary drive component 505 can be set according to actual needs and are not limited thereto. For example, the first rotary drive component 503 includes a first spiral swing cylinder, which is mounted on the adjusting seat 501. A first bracket 502 is mounted on the output shaft of the first spiral swing cylinder. Under the drive of the first spiral swing cylinder, the first bracket 502 rotates. The second rotary drive component 505 includes a second spiral swing cylinder, which is mounted on the first bracket 502. A second bracket 504 is mounted on the output shaft of the second spiral swing cylinder. Under the drive of the second spiral swing cylinder, the second bracket 504 rotates. Thus, with the cooperation of the first and second spiral swing cylinders, the angle of the nozzle 4 can be flexibly adjusted.

[0052] like Figure 4 As shown, in some embodiments, the adjusting seat 501 is slidably disposed on the upper end of the frame 1. The adjusting assembly 5 also includes a plurality of first positioning holes, a plurality of second positioning holes, a plurality of third positioning holes, and a plurality of first bolts 506. The first positioning holes are disposed on the adjusting seat 501, the second positioning holes are disposed at the end of the frame 1 near the cavity 3, and the third positioning holes are disposed at the end of the frame 1 away from the cavity 3. The threaded rod of the first bolt 506 passes through the first positioning hole and is connected to the second or third positioning hole so that the adjusting seat 501 is disposed on the frame 1.

[0053] It is understandable that when the threaded rod of the first bolt 506 passes through the first positioning hole and connects to the second positioning hole, the position of the adjusting seat 501 and the nozzle 4 on it is closer to the cavity 3. When the threaded rod of the first bolt 506 passes through the first positioning hole and connects to the third positioning hole, the position of the adjusting seat 501 and the nozzle 4 on it is further away from the cavity 3. Thus, through the change in the fixing method of the first bolt 506 and the cooperation with the first rotary drive 503 and the second rotary drive 505, the nozzle 4 has high flexibility, thereby adapting to the tunnel inner wall under different working conditions.

[0054] It should be noted that the first positioning hole is used for the threaded rod of the first bolt 506 to pass through. Therefore, when setting the hole diameter, the diameter of the first positioning hole should be larger than the outer diameter of the threaded rod of the first bolt 506, and smaller than the outer diameter of the head of the first bolt 506. The second and third positioning holes are used to connect with the threaded rod of the first bolt 506; therefore, both the second and third positioning holes are threaded holes adapted to the threaded rod of the first bolt 506. The number of the first, second, and third positioning holes is the same as the number of the first bolt 506. The specific number of the first, second, and third positioning holes and the first bolt 506 can be set according to actual needs and is not limited thereto.

[0055] The adjustment seat 501 has two adjustment positions due to the setting of the second and third positioning holes. In addition, to make the adjustment of the adjustment seat 501 more flexible, a fourth positioning hole, a fifth positioning hole, etc. can also be added to the upper end of the frame 1. There are no restrictions on this.

[0056] Among them, a steel mesh needs to be installed between the two arch frames 10 to improve the strength of the tunnel support. The position of the steel mesh in the cavity 3 can be set according to actual needs. The angle of the nozzle 4 can be adjusted according to the position of the steel mesh by the first rotating drive component 503. The position of the nozzle 4 can be adjusted according to the fixing method of the first bolt 506.

[0057] For example, when the reinforcing mesh is located on the side of the cavity 3 near the tunnel wall, the threaded rod of the first bolt 506 passes through the first positioning hole and connects to the second positioning hole, so that the position of the adjusting seat 501 and the nozzle 4 on it is closer to the cavity 3. The first rotary drive 503 drives the first bracket 502 to rotate, so that the spraying direction of the nozzle 4 is parallel to the length direction of the arch frame 10. When the reinforcing mesh is located on the side of the cavity 3 away from the tunnel wall, the threaded rod of the first bolt 506 passes through the first positioning hole and connects to the third positioning hole, so that the position of the adjusting seat 501 and the nozzle 4 on it is further away from the cavity 3. The first rotary drive 503 drives the first bracket 502 to rotate, so that the spraying direction of the nozzle 4 is tilted along the direction closer to the tunnel wall.

[0058] Thus, through the cooperation of the adjusting seat 501 and the first rotating drive component 503, while ensuring that the nozzle 4 can stably spray concrete into the cavity 3, the position and angle of the nozzle 4 can adapt to the tunnel wall under different working conditions, thus avoiding collision between the nozzle 4 and the steel mesh on the tunnel wall.

[0059] When the nozzle 4 sprays concrete into the cavity 3, since the cavity 3 has a certain width, keeping the spraying direction of the nozzle 4 fixed can easily lead to uneven distribution of concrete within the cavity 3, affecting the quality of tunnel support. Therefore, the second support 504 can be continuously moved by the second rotary drive 505, thereby achieving uniform distribution of concrete within the cavity 3. The way the second support 504 is continuously moved by the second rotary drive 505 can be set according to actual needs and is not limited thereto. For example, the second rotary drive 505 can be used to make the spraying direction of the nozzle 4 swing back and forth along the width direction of the cavity 3.

[0060] Because the concrete is injected into cavity 3 using compressed air, the concrete within cavity 3 contains a large amount of air, leading to numerous voids within the concrete. Furthermore, the unevenness of the tunnel walls also contributes to this void problem. These numerous voids reduce the concrete's support strength, negatively impacting the quality of the tunnel support.

[0061] like Figure 2 As shown, in some embodiments, the spraying device further includes a vibrating assembly 6, which includes a vibrating rod 601. A groove 602 is provided on the side of the panel 2 near the cavity 3, and the vibrating rod 601 is disposed in the groove 602.

[0062] Understandably, the vibration of the vibrator 601 allows the concrete inside the cavity 3 to be continuously vibrated, thereby achieving a dense bond. This not only makes the concrete distribution inside the cavity 3 more uniform but also effectively prevents voids from forming in the concrete, thus effectively improving the supporting strength of the concrete and consequently improving the quality of the tunnel support.

[0063] The groove 602 ensures the installation of the vibrator 601 while preventing the panel 2 from having a protruding part on the side near the cavity 3, thus preventing the vibrator 601 from affecting the quality of the concrete forming surface.

[0064] It should be noted that the vibrator 601 is used to generate vibration waves and transmit them to the concrete inside the cavity 3. The specific type of vibrator 601 can be set according to actual needs and there are no restrictions on it.

[0065] The specific type of groove 602 can be set according to the type of vibrator 601, and there is no limitation thereto. The groove depth of groove 602 should be greater than the outer diameter of vibrator 601 to ensure the flatness of the panel 2 near the cavity 3. At the same time, one end of groove 602 should be provided with a small opening so that the wires of vibrator 601 can pass through panel 2.

[0066] like Figure 1 As shown, in some embodiments, the vibrating assembly 6 further includes a plurality of pneumatic vibrators 603, which are mounted on the frame 1 and whose vibration output ends are connected to the side of the panel 2 away from the cavity 3.

[0067] Understandably, the panel 2 vibrates under the vibration of multiple pneumatic vibrators 603, which in turn causes the concrete in the cavity 3 to vibrate and thus compact and bond together. This not only makes the concrete distribution in the cavity 3 more uniform, but also effectively avoids the formation of voids in the concrete, thereby effectively improving the supporting strength of the concrete and thus improving the quality of tunnel support.

[0068] Among them, the pneumatic vibrator 603 increases the contact area between the vibration source and the concrete by vibrating the concrete through the vibration panel 2, thereby making the concrete vibration more uniform and efficient, and thus enabling the concrete to bond more densely.

[0069] It should be noted that the pneumatic vibrator 603 uses high-pressure air to make the piston rod reciprocate, thereby generating vibration force. The specific type of pneumatic vibrator 603 can be set according to actual needs and is not limited thereto. At the same time, the specific number of pneumatic vibrators 603 can also be set according to actual needs and is not limited thereto. For example, two pneumatic vibrators 603 are set, and the two pneumatic vibrators 603 are located on both sides of the vibrating rod 601.

[0070] Although the frame 1 is moved by a robotic arm with multiple degrees of freedom, the robotic arm on the wet spraying machine has a large range of motion and low precision. Therefore, it is difficult to make the panel 2 accurately fit against the arch frame 10 using only the robotic arm.

[0071] like Figure 1 and Figure 5 As shown, in some embodiments, the molding spraying device further includes a correction component 7, which includes a support 701, a slide 702, a first telescopic drive 703, and a second telescopic drive 704. The slide 702 is slidably disposed on the support 701 along the thickness direction of the cavity 3, and the frame 1 is hinged to the slide 702. The first telescopic drive 703 is disposed on the support 701, and its power output end is connected to the slide 702. The second telescopic drive 704 is disposed on the support 701, and its power output end is hinged to the frame 1. The second telescopic drive 704 is located between the first telescopic drive 703 and the lower end of the frame 1.

[0072] It is understandable that when the first telescopic drive member 703 and the second telescopic drive member 704 extend and retract synchronously, the frame 1 can move as a whole, thereby achieving precise movement of the panel 2 as a whole. When the first telescopic drive member 703 and the second telescopic drive member 704 extend and retract asynchronously, since the frame 1 is hinged to the slide 702 and the power output end of the second telescopic drive member 704 is hinged to the frame 1, the angle of the frame 1 can be precisely adjusted under the drive of the first telescopic drive member 703 and the second telescopic drive member 704, thereby achieving precise adjustment of the angle of the panel 2.

[0073] This not only ensures that the panel 2 and the arch frame 10 can fit tightly together, avoiding problems such as concrete rebound and low quality of the forming surface, effectively reducing the cost of tunnel support and improving the quality of tunnel support, but also avoids damage to the panel 2 and the arch frame 10 due to excessive bonding force, ensuring the service life of the molding spraying device and the arch frame 10.

[0074] It should be noted that the sliding arrangement of the carriage 702 on the support 701 can be set according to actual needs and is not limited thereto. For example, the carriage 702 is provided with a first guide rail and a second guide rail, and the support 701 is provided with a first track and a second track. The first guide rail is slidably arranged in the first track along the thickness direction of the cavity 3, and the second guide rail is slidably arranged in the second track along the thickness direction of the cavity 3. Thus, the sliding arrangement of the carriage 702 on the support 701 is realized.

[0075] The specific types of the first telescopic drive component 703 and the second telescopic drive component 704 can be set according to actual needs and are not limited thereto. For example, the first telescopic drive component 703 includes a first telescopic cylinder, the cylinder end of the first telescopic cylinder is hinged to the support 701, and the piston rod end of the first telescopic cylinder is hinged to the slide 702. The second telescopic drive component 704 includes a second telescopic cylinder, the cylinder end of the second telescopic cylinder is hinged to the support 701, and the piston rod end of the second telescopic cylinder is hinged to the frame 1. Thus, the overall movement and angle adjustment of the frame 1 can be realized under the drive of the first telescopic cylinder and the second telescopic cylinder.

[0076] When the frame 1 is placed on the robotic arm of the wet spraying machine, since the frame 1 is hinged to the slide 702 and the slide 702 is slidably placed on the support 701, the support 701 can be placed on the robotic arm to realize the placement of the frame 1 on the robotic arm.

[0077] When the spraying device is used for tunnel support, it can move along a predetermined trajectory to achieve automated tunnel support. However, due to the differences between various working conditions in actual construction, the spraying device is prone to collision with the arch frame 10 when it moves along the fixed predetermined trajectory, resulting in damage to components such as the spraying device and the arch frame 10.

[0078] like Figure 1 , Figure 2 and Figure 6 As shown, in some embodiments, the spraying device further includes at least one distance measuring component 8. The distance measuring component 8 includes a detection seat 801, a detection plate 802, an elastic element 803, and a distance measuring element 804. The detection seat 801 is disposed at the upper end of the frame 1. The detection plate 802 is slidably disposed on the detection seat 801. The elastic element 803 is disposed between the detection plate 802 and the detection seat 801, and the elastic element 803 causes the detection plate 802 to abut against the arch frame 10. The distance measuring element 804 is disposed on the detection seat 801. The detection input end of the distance measuring element 804 is connected to the detection plate 802. The distance measuring element 804 is used to detect the distance between the detection plate 802 and the detection seat 801.

[0079] Understandably, the elastic element 803 ensures that the detection plate 802 is always in contact with the arch frame 10, and the distance detection element 804 can always detect the actual distance between the detection plate 802 and the detection seat 801. Therefore, during the movement of the spraying device, if the direction of the arch frame 10 differs from the predetermined trajectory, the actual distance between the detection plate 802 and the detection seat 801 will change, thereby enabling the whole device to adjust the predetermined trajectory of the spraying device in real time, thus avoiding collisions between the spraying device and the arch frame 10, and effectively ensuring the service life of components such as the spraying device and the arch frame 10.

[0080] It should be noted that the elastic element 803 is used to apply a thrust to the detection plate 802 so that the detection plate 802 can always abut against the arch frame 10. The specific type of the elastic element 803 can be set according to actual needs and there is no limitation thereto. For example, the elastic element 803 can be a spring.

[0081] The specific type of the detection plate 802 can be set according to actual needs, and there is no restriction on it. For example, the detection plate 802 is an arc-shaped plate, and the convex surface of the detection plate 802 faces the arch frame 10.

[0082] The specific number of distance measuring components 8 can be set according to actual needs and there is no limit to it. For example, there can be one or two distance measuring components 8. If there are two distance measuring components 8 and the actual distances detected by the two distance measuring components 8 are different, the predetermined trajectory of the molding spraying device shall be adjusted based on the distance measuring component 8 that detects the smaller actual distance.

[0083] A set distance should be configured in the controller. During grouting by the molding and spraying device, the controller compares the actual distance with the set distance and adjusts the predetermined trajectory of the molding and spraying device based on the comparison result. The value of the set distance can be set according to actual needs and is not restricted.

[0084] like Figure 6 and Figure 7 As shown, in some embodiments, the ranging component 8 further includes an outer cylinder 805 and an inner shaft 806. The outer cylinder 805 is disposed on the detection seat 801, and the elastic element 803 is disposed inside the outer cylinder 805. One end of the inner shaft 806 is connected to the detection plate 802, and the other end of the inner shaft 806 away from the detection plate 802 is slidably disposed inside the outer cylinder 805 and abuts against the elastic element 803.

[0085] The distance detection element 804 includes a magnetostrictive displacement sensor, which is mounted on the detection base 801. The detection axis of the distance detection element 804 is connected to the detection plate 802.

[0086] It is understandable that the inner shaft 806 and the outer cylinder 805 cooperate to achieve the sliding setting of the detection plate 802 on the detection seat 801, and at the same time achieve the setting of the elastic element 803 between the detection plate 802 and the detection seat 801. Through the setting of the magnetostrictive displacement sensor, not only can the actual distance between the detection plate 802 and the detection seat 801 be stably detected, but it can also cooperate with the inner shaft 806 and the outer cylinder 805 to achieve the sliding setting of the detection plate 802 on the detection seat 801 while preventing the detection plate 802 from rotating, thereby ensuring the stable sliding setting of the detection plate 802 on the detection seat 801.

[0087] It should be noted that the matching method of the inner shaft 806 and the outer cylinder 805 can be set according to actual needs, and there is no restriction on it. The central axes of the inner shaft 806 and the outer cylinder 805 should coincide, and the axial direction of the inner shaft 806 and the outer cylinder 805 should extend upward towards the frame 1 and at the same time tilt towards the arch frame 10.

[0088] The magnetostrictive displacement sensor measures the actual displacement value of the detection board 802 by accurately detecting the absolute position of the moving magnetic ring through internal non-contact measurement and control technology. The specific type of magnetostrictive displacement sensor can be set according to actual needs and there are no restrictions on it.

[0089] Since the detection plate 802 needs to abut against the arch frame 10, and since the spacing between adjacent arch frames 10 is different under different working conditions, fixing the detection seat 801 on the frame 1 can easily limit the use of the ranging component 8.

[0090] like Figure 6 As shown, in some embodiments, the detection seat 801 is slidably disposed on the frame 1 along the width direction of the cavity 3, and the ranging component 8 further includes a second bolt 807, which is threaded onto the detection seat 801, and the threaded rod of the second bolt 807 abuts against the frame 1.

[0091] Understandably, by setting the second bolt 807, not only can the detection seat 801 be stably fixed on the frame 1, but the detection seat 801 can also be moved after the second bolt 807 is loosened, thereby realizing the adjustment of the position of the detection seat 801, and thus enabling the ranging component 8 to be applicable to different arch frame 10 spacings, making the use of the mold spraying device more convenient.

[0092] It should be noted that the automated grouting of the mold spraying device can be achieved through a controller. Before automated grouting, the controller needs to determine the predetermined trajectory, moving speed and spraying volume of the mold spraying device.

[0093] The moving speed and the amount of grout sprayed can be determined by the width and thickness of the cavity 3. The faster the moving speed, the less grout sprayed, and the less concrete in the cavity 3. Conversely, the slower the moving speed, the more grout sprayed, and the more concrete in the cavity 3. Since the spacing of the arch frame 10 and the thickness of the concrete are fixed in the same support section in the tunnel, the cross-sectional size of the cavity 3 can be obtained by obtaining the width and thickness of the cavity 3. Based on the cross-sectional size of the cavity 3, the moving speed and the amount of grout sprayed required by the mold spraying device can be determined.

[0094] The specific methods for determining the moving speed and spraying volume can be set according to actual needs and are not limited. For example, a mapping model between the width and thickness of cavity 3 and the moving speed and spraying volume of the mold spraying device can be established. During construction, the moving speed and spraying volume of the mold spraying device can be quickly determined based on the model.

[0095] The width and thickness of cavity 3 can be obtained by the controller through manual input. The moving speed of the mold spraying device can be achieved by controlling the robotic arm of the wet spraying machine. The spraying volume of the mold spraying device can be achieved by controlling the concrete pump of the wet spraying machine.

[0096] like Figure 2 As shown, in some embodiments, the molding spraying device further includes a pressure measuring component 9, which includes a plurality of pressure sensors 901. The pressure sensors 901 are disposed on the side of the panel 2 near the cavity 3 and are used to detect the pressure inside the cavity 3.

[0097] Understandably, by setting up the pressure sensor 901, the actual pressure inside the cavity 3 can be detected in real time, thereby enabling the whole system to monitor the concrete filling and void conditions inside the cavity 3 in real time. Then, based on the actual pressure inside the cavity 3, the moving speed and spraying volume of the molding spraying device can be adjusted in real time to prevent the panel 2 from becoming void and the concrete from overflowing.

[0098] It should be noted that the specific type of pressure sensor 901 can be set according to actual needs and there is no limitation thereto. Similarly, the specific number of pressure sensors 901 can be set according to actual needs and there is no limitation thereto. For example, pressure sensors 901 can be two, three, etc.

[0099] A set pressure should be set in the controller. During grouting by the molding spraying device, the controller compares the actual pressure with the set pressure and adjusts the moving speed and spraying volume of the molding spraying device based on the comparison result. The set pressure value can be set according to actual needs and is not restricted.

[0100] The specific method for determining the predetermined trajectory can be set according to actual needs, and there are no restrictions on it. For example, Figure 8As shown, the path between the first arch foot and the second arch foot of the arch frame 10 is obtained along the length direction of the arch frame 10. The position of the first arch foot is set as the first initial position 11, the position of the top of the arch frame 10 is set as the reversing position 13, and the position of the second arch foot is set as the second initial position 14. The path between the first initial position 11 and the reversing position 13 along the length direction of the arch frame 10 is set as the first route 12, and the path between the second initial position 14 and the reversing position 13 along the length direction of the arch frame 10 is set as the second route 15. The first route 12 and the second route 15 are combined to form a predetermined trajectory.

[0101] Among them, such as Figure 8 As shown, during grouting, the spraying device first moves to the first initial position 11, then moves from the first initial position 11 to the reversing position 13 along the first route 12 according to the moving speed, then moves to the second initial position 14, and finally moves from the second initial position 14 to the reversing position 13 along the second route 15 according to the moving speed, thereby achieving support inside the tunnel.

[0102] It should be noted that in the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0103] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0105] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A concrete spraying device for tunnel support, characterized in that, include: frame; A panel is disposed on the frame and abuts against an arch on the inner wall of the tunnel to form a cavity on the inner wall of the tunnel, the cavity including an upper port and a lower port in opposite positions; An adjustment component, which is disposed on the frame, has multiple degrees of freedom; A nozzle is mounted on the adjusting assembly, wherein a mixture of compressed air and concrete is introduced into the nozzle's inlet end, and the nozzle's outlet end faces the upper port of the cavity. The adjustment assembly includes: an adjustment seat, a first bracket, a first rotary drive, a second bracket, and a second rotary drive. The adjustment seat is disposed at the upper end of the frame. The first bracket is rotatably disposed on the adjustment seat, and the rotation center axis of the first bracket is perpendicular to the thickness direction of the cavity. The first rotary drive is disposed on the adjustment seat, and the power output end of the first rotary drive is throttle-connected to the first bracket. The nozzle is disposed on the second bracket, and the second bracket is rotatably disposed on the first bracket, and the rotation center axis of the second bracket is perpendicular to the rotation center axis of the first bracket. The second rotary drive is disposed on the first bracket, and the power output end of the second rotary drive is throttle-connected to the second bracket. The adjusting seat is slidably disposed on the upper end of the frame. The adjusting assembly further includes: a plurality of first positioning holes, a plurality of second positioning holes, a plurality of third positioning holes, and a plurality of first bolts. The first positioning holes are disposed on the adjusting seat, the second positioning holes are disposed on the end of the frame near the cavity, and the third positioning holes are disposed on the end of the frame away from the cavity. The threaded rod of the first bolt passes through the first positioning hole and connects to the second positioning hole or the third positioning hole, so that the adjusting seat is disposed on the frame. The molding spraying device further includes a vibration assembly, which includes a vibrating rod and multiple pneumatic vibrators. A groove is provided on the side of the panel near the cavity. The vibrating rod is disposed in the groove. The pneumatic vibrators are disposed on the frame. The vibration output end of the pneumatic vibrator is connected to the side of the panel away from the cavity. The molding and spraying device further includes: a correction assembly, which includes: a support, a carriage, a first telescopic drive member, and a second telescopic drive member; wherein, the carriage is slidably disposed on the support along the thickness direction of the cavity, the frame is hinged to the carriage, the first telescopic drive member is disposed on the support, the power output end of the first telescopic drive member is connected to the carriage, the second telescopic drive member is disposed on the support, the power output end of the second telescopic drive member is hinged to the frame, and the second telescopic drive member is located between the first telescopic drive member and the lower end of the frame; The spraying device further includes at least one distance measuring component, which includes a detection seat, a detection plate, an elastic element, and a distance measuring element; wherein the detection seat is disposed at the upper end of the frame, the detection plate is slidably disposed on the detection seat, the elastic element is disposed between the detection plate and the detection seat, the elastic element causes the detection plate to abut against the arch frame, the distance measuring element is disposed on the detection seat, the detection input end of the distance measuring element is connected to the detection plate, and the distance measuring element is used to detect the distance between the detection plate and the detection seat.

2. The tunnel support concrete spraying device according to claim 1, characterized in that, The ranging assembly further includes: an outer cylinder and an inner shaft. The outer cylinder is disposed on the detection seat, the elastic element is disposed inside the outer cylinder, one end of the inner shaft is connected to the detection plate, and the end of the inner shaft away from the detection plate is slidably disposed inside the outer cylinder and abuts against the elastic element. The distance detection component includes a magnetostrictive displacement sensor, which is mounted on the detection base, and the detection axis of the distance detection component is connected to the detection plate.

3. The tunnel support concrete spraying device according to claim 1, characterized in that, The detection seat is slidably mounted on the frame along the width direction of the cavity; The ranging assembly further includes a second bolt, which is threaded onto the detection seat, and the threaded shank of the second bolt abuts against the frame.

4. The tunnel support concrete spraying device according to claim 1, characterized in that, The spraying device also includes: A pressure measuring assembly, comprising: a plurality of pressure sensors disposed on the side of the panel near the cavity, the pressure sensors being used to detect the pressure within the cavity.

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