Fully automatic trolley for tunnel spray maintenance based on single-side centralized drive and differential speed obstacle avoidance

Abstract

The present invention discloses a fully automatic tunnel spray maintenance trolley based on single-sided collective drive differential obstacle avoidance, comprising a tunnel spray maintenance gantry, a spray device built on the tunnel spray maintenance gantry, a differential walking device located at the bottom of the tunnel spray maintenance gantry, and a control console and a water temperature regulating device respectively located on the left and right sides of the tunnel spray maintenance gantry; the differential walking device comprises a bottom longitudinal beam installed on the left and right sides of the bottom of the tunnel spray maintenance gantry, a wheel assembly located at the front and rear ends of the bottom longitudinal beam, and a drive motor assembly connecting the wheel assembly; the spray device comprises a spray mounting frame welded to the center of the edge of each side workbench and having an arc-shaped structure, a water supply pipeline laid along the spray mounting frame, a plurality of atomizing nozzles with nozzles facing outward and spaced apart in the water supply pipeline, and a temperature and humidity measuring assembly installed on the top side workbench; it has the advantages of automated driving differential obstacle avoidance, automatic spray heating, a wide spray range, and high practicality.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel lining maintenance, and in particular relates to a fully automatic trolley for tunnel spray maintenance based on single-side concentrated drive and differential speed obstacle avoidance. Background Art

[0002] Tunnel construction currently accounts for a significant portion of large-scale highway and high-speed railway construction projects, often requiring long construction cycles and tight deadlines. However, due to technical limitations, there are no mature and widely used automated spray curing products for tunnel spray curing. Typically, construction workers temporarily install water pipes and manually water the concrete using simple operations, requiring a dedicated person to operate. Alternatively, temporary water pipes are installed on concrete lining trolleys, and the concrete surface is randomly watered by manually opening the valves and holding the pipes. This manual curing method is inefficient, wastes significant water resources, and is difficult to fully spray the tunnel. Furthermore, the temperature of the spray water cannot be adjusted, resulting in poor curing results.

[0003] The existing tunnel spray maintenance trolley needs to be driven by a loader to move forward, but the loader is large in size. Since the main equipment in the tunnel takes up space, the loader is inconvenient to use. The four wheels of the existing tunnel spray maintenance trolley are driven by the loader in the same direction, and the left and right wheels have the same speed, which limits the direction of travel of the trolley and makes it impossible to turn flexibly and timely to avoid obstacles. The working platform of the tunnel spray maintenance trolley is currently limited to the top platform, which means that the working range of the staff is limited to the top range of the tunnel. There are certain limitations on the work operability space. There is currently no device for automatically regulating the temperature and humidity of concrete with the help of spray maintenance. Summary of the Invention

[0004] The present invention aims to provide a fully automatic trolley for tunnel spraying and curing based on single-sided collective drive differential obstacle avoidance. The single-vehicle collective drive differential obstacle avoidance can flexibly avoid obstacles and automatically adjust the temperature and humidity of concrete. The spraying and curing trolley has an all-round operating space without dead angles. It solves the problem that the existing tunnel spraying and curing gantry needs to be driven forward by a loader, resulting in the trolley's travel direction being limited and unable to flexibly avoid obstacles, and the current lack of an automatic control device for the temperature and humidity of concrete with the help of spraying curing.

[0005] To this end, the technical solution adopted by the present invention is: a fully automatic tunnel spray maintenance trolley based on single-side centralized drive differential obstacle avoidance, including a tunnel spray maintenance gantry, a spraying device built on the tunnel spray maintenance gantry, a differential travel device located at the bottom of the tunnel spray maintenance gantry, and a control console and a water temperature regulating device respectively located on the left and right sides of the tunnel spray maintenance gantry; the differential travel device includes a bottom longitudinal beam installed on the left and right sides of the bottom of the tunnel spray maintenance gantry, a wheel assembly located at the front and rear ends of the bottom longitudinal beam, and a drive motor assembly connecting the wheel assembly; the spraying device includes a wheel assembly welded on the side of each layer A spray mounting frame with an arc-shaped structure is located at the center of the workbench edge, a water supply pipeline is laid along the spray mounting frame, a number of atomizing nozzles with nozzles facing outward and spaced apart in the water supply pipeline, and a temperature and humidity measuring component is installed on the top side workbench; the temperature and humidity measuring component can detect the temperature and humidity of the tunnel lining concrete, and heat the spraying water and / or spray the humidified concrete through the water temperature regulating device; when the tunnel spray maintenance fully automatic trolley encounters an obstacle, the tunnel spray maintenance gantry uses the differential travel device controlled by the console to form a speed difference between the left and right sides, thereby realizing automatic driving to avoid obstacles and turn.

[0006] As a preferred embodiment of the above scheme, the front wall of the wheel assembly at the front end and the rear wall of the wheel assembly at the rear end are both provided with obstacle avoidance warning devices, which are used to alert on-site personnel when the trolley encounters an obstacle; the obstacle avoidance warning device includes a warning mounting column installed on the wheel mounting cover, a radar ranging sensor and a warning light located on the warning mounting column, which can avoid personnel safety accidents by lighting a red light to alert on-site personnel when it detects that there is an obstacle blocking the operation of the trolley in the direction of travel.

[0007] Further preferably, the wheel assembly includes a wheel mounting cover bolted to the bottom plate of the bottom longitudinal beam and a wheel mounted in the wheel mounting cover. The wheel mounting cover is bolted to the bottom plate of the bottom longitudinal beam, is easy to assemble and disassemble, and is firmly mounted. The wheel mounted in the wheel mounting cover can effectively prevent concrete slag or dust from falling on the wheel and affecting the wheel's movement, thereby ensuring travel safety.

[0008] The drive motor assembly includes a reducer installed on the same side of the wheel mounting cover and at the same height, a motor reducer mounting seat centrally installed at the bottom of the bottom longitudinal beam, and a double-output shaft motor reducer installed on the motor reducer mounting seat. The shaft ends on both sides of the double-output shaft motor reducer are connected to the corresponding reducer through a horizontal connecting rod. The double-output shaft motor reducer is installed on the motor reducer mounting seat and is on the same side and at the same height as the reducer through the horizontal connecting rod, ensuring that the double-output shaft motor reducer can synchronously affect the wheel speeds on the front and rear sides. The design is reasonable and the safety factor is high.

[0009] The motor of the double-output shaft motor reducer provides the driving force and torque for the tunnel spray maintenance gantry to move longitudinally along the tunnel. The different motor speeds of the double-output shaft motor reducers on the left and right sides cause the different wheel speeds on the left and right sides to produce a speed difference, thereby realizing single-sided concentrated drive differential obstacle avoidance, which can effectively prevent the trolley from colliding with the tunnel wall, with flexible operation and ingenious design.

[0010] It is further preferred that the horizontal connecting rod adopts a floating shaft, which can float up and down and is flexible; the reducer adopts a wheel-side reducer, which is a reasonable choice; the horizontal connecting rod and the double-shaft motor reducer and the corresponding end shaft of the reducer are connected through a coupling to ensure a stable connection; the motor reducer mounting seat corresponds to the double-shaft motor reducer and a motor protection cover is installed directly above the motor reducer to prevent falling concrete slag from hitting the double-shaft motor reducer, causing damage to components and malfunctions.

[0011] Further preferably, the tunnel spray maintenance gantry includes a gantry body, multiple side workbenches located on the left and right sides of the gantry body, and a top workbench located on the top of the gantry body. The multiple side workbenches are located on the left and right sides of the gantry body, and the top workbench is located on the top of the gantry body, forming an all-round working platform to ensure that workers have an all-round operating space without blind spots in the tunnel, and the gantry structure is reasonably designed;

[0012] The gantry body is equipped with a side wall distance measuring component that can detect the distance to the inner wall of the tunnel in real time. The side wall distance measuring component can detect the distance to the inner wall of the tunnel in real time with high sensitivity, and can provide timely data support for the automatic obstacle avoidance of the differential travel device;

[0013] The gantry body is composed of front and rear symmetrical gantry frames and horizontal and vertical connecting rods, and the structure is stable; the edges of the side workbench, top workbench and steps are all provided with safety fences to ensure the personal safety of the staff; the side workbench is provided with a ladder installation channel, and is equipped with a ladder so that the staff can move between the side workbench on adjacent layers. The ladder is convenient to set up and the staff can move quickly. A step ladder is set up between the top workbench and the left and right adjacent side workbench to form a channel to the top workbench. The design structure is reasonable and the staff can move conveniently.

[0014] It is further preferred that the side wall ranging assembly is installed on the portal frame column in a mirror-symmetrical manner on the left and right sides. The side wall ranging assembly includes an "L"-shaped support bracket, a ranging mounting frame, and an ultrasonic radar device and an infrared ranging device both located at the farthest end of the ranging mounting frame. One end of the "L"-shaped support bracket is bolted to the portal frame column, and the other end is connected to the nearest end of the ranging mounting frame to ensure the sensitivity of ranging with the tunnel side walls on both sides, and the structural design is reasonable.

[0015] Further preferably, the console includes an operating mounting frame with inner bolts installed on the bottom longitudinal beam, a PLC electrical control cabinet installed on the side of the operating mounting frame, and steps are set up in front and behind the operating mounting frame, and a safety fence is provided on the unobstructed edge.

[0016] It is further preferred that the temperature and humidity measuring assembly includes a sensor mounting bracket and a humidity sensor and an infrared temperature sensor respectively installed on the left and right sides above the sensor mounting bracket, the sensor mounting bracket includes a vertical slot and an "L"-shaped mounting seat symmetrically installed on the left and right side panels of the vertical slot, the left and right side panels of the vertical slot and the side panels of the "L"-shaped mounting seat are threadedly connected, and the connection is convenient; the humidity sensor and the infrared temperature sensor are installed on the corresponding side "L"-shaped mounting seats, and the temperature and humidity of the concrete cast in the tunnel lining are accurately detected by the humidity sensor and the infrared temperature sensor, thereby performing automatic regulation, and the sensor installation is reasonable.

[0017] It is further preferred that the water temperature regulating device includes a water tank installed on the bottom longitudinal beam away from the console and a water heating mounting base and a water filter tank, a water storage tank, a water tank pipeline pump, and a water temperature heater whose inlets and outlets are connected in sequence through pipes. The connecting pipe between the water outlet of the water filter tank and the water inlet of the water storage tank is provided with a water tank gate valve, which can manually control the water volume. The water outlet of the water tank pipeline pump is connected to the water inlet of the water temperature heater through a hose. Combined with the actual water heater, the design is reasonable.

[0018] Beneficial effects of the present invention:

[0019] (1) Compared with the existing tunnel spray maintenance trolley that needs to be driven by a loader to move forward, the speed difference between the left and right sides of the tunnel spray maintenance trolley is achieved by connecting the drive motor assembly of the wheel assembly with the differential travel device, so that the trolley can automatically avoid obstacles and turn, and avoid obstacles flexibly. The operation is obviously more intelligent and simpler. The automated driving differential obstacle avoidance provides strong support for the automated tunnel spray maintenance.

[0020] (2) Compared with the existing tunnel spray curing operation in which construction workers temporarily install water pipes and manually perform simple operations to spray water on the concrete, this solution detects the temperature and humidity of the tunnel concrete, automatically sprays and humidifies the concrete, and / or heats the spray water to increase the temperature of the spray water, thereby achieving spray curing of the tunnel secondary lining with water higher than the ambient temperature. The operation is fully automated, effectively saving labor costs and improving spray efficiency. In addition, the heated spray water can regulate the temperature of the tunnel concrete, resulting in better curing effect.

[0021] (3) The spray mounting frame is welded to the center of the edge of each side workbench and has an arc-shaped structure. The welding is firm. The water supply pipeline is laid along the spray mounting frame. Several atomizing nozzles are arranged on the water supply pipeline at intervals facing outward. The water supply pipeline also has an arc-shaped structure. Therefore, the atomizing nozzles can be fully aligned with the tunnel lining, thereby achieving comprehensive spraying and a wide spray range.

[0022] (4) Automatic driving obstacle avoidance, automatic spray humidification, and automatic heating of spray water realize fully automatic tunnel spray maintenance. When it is detected that the concrete humidity is lower than the set threshold range, the spraying is automatically started; when it is detected that the real-time temperature of the concrete is lower than the set range, the water temperature regulating device is automatically started to heat it to the predetermined temperature, which is beneficial to the initial setting and solidification of the concrete. Within this range, the mechanical properties of the concrete after solidification can be better guaranteed, so that the concrete maintenance effect is good. It has great application prospects and application value, and is highly practical.

[0023] In summary, it has the advantages of automated driving differential obstacle avoidance, automatic spray heating, wide spray range and high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a structural diagram of the walking device.

[0026] Figure 3 This is an exploded diagram of the drive motor assembly of the walking device.

[0027] Figure 4 This is a structural diagram of an obstacle avoidance warning device.

[0028] Figure 5 This is a structural diagram of the tunnel spray maintenance gantry.

[0029] Figure 6 This is a schematic diagram of the console structure.

[0030] Figure 7 Schematic diagram of the structure of the spray device.

[0031] Figure 8 This is a structural diagram of the temperature and humidity measurement component.

[0032] Figure 9 It is a structural diagram of the water temperature regulating device.

[0033] Figure 10 This is a structural diagram of the side wall ranging component. DETAILED DESCRIPTION

[0034] The present invention will be further described below by way of examples and in conjunction with the accompanying drawings:

[0035] Combine Figure 1 — Figure 10As shown, a fully automatic trolley for tunnel spray maintenance based on single-sided collective drive differential obstacle avoidance is composed of a tunnel spray maintenance gantry 2, a spray device 4 built on the tunnel spray maintenance gantry 2, a differential walking device 1 located at the bottom of the tunnel spray maintenance gantry 2, and a control console 3 and a water temperature regulating device 5 respectively located on the left and right sides of the tunnel spray maintenance gantry 2.

[0036] The differential travel device 1 consists of a bottom longitudinal beam 11 installed on the left and right sides of the bottom of the tunnel spray maintenance portal 2, a wheel assembly 12 located at the front and rear ends of the bottom longitudinal beam 11, and a drive motor assembly 13 connected to the wheel assembly 12.

[0037] Obstacle avoidance warning devices 14 are provided on the front wall of the wheel assembly 12 at the front end and the rear wall of the wheel assembly 12 at the rear end.

[0038] The obstacle avoidance warning device 14 is used to warn on-site staff when the trolley encounters an obstacle.

[0039] The obstacle avoidance warning device 14 is composed of a warning mounting post 141 mounted on the wheel mounting cover 121 , a radar ranging sensor 142 located on the warning mounting post 141 , and a warning light 143 .

[0040] The wheel assembly 12 is composed of a wheel mounting cover 121 bolted to the bottom plate of the bottom longitudinal beam 11 and a wheel 122 mounted in the wheel mounting cover 121 .

[0041] The drive motor assembly 13 consists of a reducer 131 installed on the same side of the wheel mounting cover 121 and at the same height, a motor reducer mounting seat 132 centrally installed at the bottom of the bottom longitudinal beam 11, and a double-output shaft motor reducer 133 installed on the motor reducer mounting seat 132.

[0042] The output shaft ends on both sides of the double-output shaft motor reducer 133 are connected to the corresponding reducers 131 through horizontal connecting rods 134.

[0043] The motor of the double-output shaft motor reducer 133 provides the tunnel spray maintenance portal 2 with driving force and torque for moving along the longitudinal direction of the tunnel.

[0044] By making the left and right dual-output shaft motor reducers 133 have different motor speeds, the left and right wheels 122 have different speeds, resulting in a speed difference, thereby achieving unilateral collective drive differential obstacle avoidance.

[0045] The horizontal connecting rod 134 is preferably a floating shaft, and the reducer 131 is preferably a wheel-side reducer. The horizontal connecting rod 134 is connected to the corresponding end shafts of the double-output shaft motor reducer 133 and the reducer 131 through a coupling 136.

[0046] A motor protection cover 135 is installed just above the motor reducer mounting base 132 corresponding to the double-output shaft motor reducer 133 .

[0047] The tunnel spray maintenance gantry 2 consists of a gantry body 21 , multiple side workbenches 22 located on the left and right sides of the gantry body 21 , and a top workbench 23 located on the top of the gantry body 21 .

[0048] The gantry body 21 is equipped with a side wall distance measuring assembly 24 which can detect the distance to the inner wall of the tunnel in real time.

[0049] The door frame body 21 is constructed by front and rear symmetrical door frames and horizontal and vertical connecting rods.

[0050] The edges of the side work platforms 22, the top work platforms 23 and the steps are all provided with safety fences.

[0051] The side work platforms 22 are provided with ladder installation channels 221 and are equipped with ladders so that workers can move between the side work platforms 22 on adjacent layers.

[0052] A staircase is provided between the top workbench 23 and the left and right adjacent side workbench 22 .

[0053] The side wall ranging assembly 24 is installed on the door frame column in a mirror-symmetrical manner. The side wall ranging assembly 24 consists of an "L"-shaped support bracket 241, a ranging mounting frame 242, and an ultrasonic radar device 243 and an infrared ranging device 244 both located at the farthest end of the ranging mounting frame 242.

[0054] One end of the “L”-shaped support bracket 241 is connected to the door frame column bolt, and the other end is connected to the nearest end of the distance measuring mounting frame 242.

[0055] The spray device 4 consists of a spray mounting frame 41 welded to the center of the edge of each side workbench 22 and having an arc-shaped structure, a water supply pipe 42 laid along the spray mounting frame 41, a plurality of atomizing nozzles 43 with nozzles facing outward and arranged at intervals in the water supply pipe 42, and a temperature and humidity measuring component 44 installed on the top side workbench 23.

[0056] The control console 3 is composed of an operation mounting frame 31 which is mounted on the bottom longitudinal beam 11 with inner bolts, and a PLC electric control cabinet 32 ​​which is mounted on the side of the operation mounting frame 31 .

[0057] Step ladders are set up in front and behind the operation installation frame 31, and safety fences are set on the unobstructed edges.

[0058] The temperature and humidity measurement assembly 44 is composed of a sensor mounting frame and a humidity sensor 441 and an infrared temperature sensor 442 respectively mounted on the left and right sides above the sensor mounting frame.

[0059] The sensor mounting frame consists of a vertical slot 443 and an "L"-shaped mounting seat 444 symmetrically mounted on the left and right side panels of the vertical slot.

[0060] The left and right side plates of the vertical slot 443 and the side plates of the "L"-shaped mounting seat 444 are threadedly connected, and the humidity sensor 441 and the infrared temperature sensor 442 are installed on the corresponding side "L"-shaped mounting seat 444.

[0061] The water temperature regulating device 5 consists of a water tank mounted on the bottom longitudinal beam 11 away from the console 3, a water heating mounting base, a water filter tank 51, a water storage tank 52, a water tank pipeline pump 53, and a water heater 54, the inlets and outlets of which are connected in sequence through pipes.

[0062] The connecting pipe between the water outlet of the water filter tank 51 and the water inlet of the water storage tank 52 is provided with a water tank gate valve 55 , and the water outlet of the water tank pipeline pump 53 is connected to the water inlet of the water temperature heater 54 through a hose 56 .

[0063] The temperature and humidity measuring component 44 can detect the temperature and humidity of the tunnel lining concrete, and heat the spraying water through the water temperature regulating device 5 and / or the spraying device 4 to spray and humidify the concrete.

[0064] The values ​​detected by the temperature and humidity measurement component 44 are transmitted back to the PLC control system in real time and compared with the temperature and humidity parameters set in the system. The set concrete humidity parameter range is 80% to 90%, and the set concrete temperature parameter range is 15°C to 25°C. The mechanical properties of concrete in this range are best after initial setting or solidification.

[0065] When the temperature and humidity of the concrete do not meet the above ranges, the water temperature regulating device 5 will be automatically started to heat the spraying water and then spray the humidified concrete with the help of the spraying device 4 until the parameter requirements are met.

[0066] When the tunnel spray maintenance fully automatic trolley encounters an obstacle, the tunnel spray maintenance gantry 2 uses the differential travel device 1 controlled by the control console 3 to form a speed difference between the left and right sides, thereby realizing automatic driving to avoid obstacles and turn.

Claims

1. A fully automatic trolley for tunnel spray maintenance based on single-side centralized drive and differential speed obstacle avoidance, characterized by: The invention comprises a tunnel spray maintenance gantry (2), a spray device (4) built on the tunnel spray maintenance gantry (2), a differential travel device (1) located at the bottom of the tunnel spray maintenance gantry (2), a control console (3) located on the left and right sides of the tunnel spray maintenance gantry (2), and a water temperature regulating device (5); the differential travel device (1) comprises a bottom longitudinal beam (11) installed on the left and right sides of the bottom of the tunnel spray maintenance gantry (2), a wheel assembly (12) located at the front and rear ends of the bottom longitudinal beam (11), and a drive motor assembly (13) connected to the wheel assembly (12); the spray device (4) comprises a spray mounting frame (41) welded to the center of the edge of each side workbench (22) and having an arc-shaped structure ), a water supply pipe (42) laid along the spray mounting frame (41), a plurality of atomizing nozzles (43) with nozzles facing outward and spaced apart on the water supply pipe (42), and a temperature and humidity measuring assembly (44) mounted on the top side workbench (23); the temperature and humidity measuring assembly (44) can detect the temperature and humidity of the tunnel lining concrete, and heat the spray water and / or spray the humidified concrete by the water temperature regulating device (5) and the spraying device (4); when the tunnel spray curing automatic trolley encounters an obstacle, the tunnel spray curing gantry (2) forms a speed difference between the left and right sides with the help of the differential travel device (1) controlled by the control console (3), thereby realizing automatic driving to avoid obstacles and turn; the wheel assembly (1) at the front end 2) The front wall and the rear wall of the wheel assembly (12) at the rear end are both provided with an obstacle avoidance warning device (14), the obstacle avoidance warning device (14) is used to warn on-site workers when the trolley encounters an obstacle, the obstacle avoidance warning device (14) includes a warning mounting post (141) mounted on the wheel mounting cover (121), a radar ranging sensor (142) and a warning light (143) located on the warning mounting post (141); the wheel assembly (12) includes a wheel mounting cover (121) bolted to the bottom plate of the bottom longitudinal beam (11) and a wheel (122) mounted in the wheel mounting cover (121); the drive motor assembly (13) includes a wheel mounting cover (121) mounted on the wheel mounting cover (121) A reducer (131) on the same side and with the same height, a motor reducer mounting seat (132) centrally mounted at the bottom of the bottom longitudinal beam (11), and a double-shaft motor reducer (133) mounted on the motor reducer mounting seat (132), wherein the shaft ends on both sides of the double-shaft motor reducer (133) are connected to the corresponding reducer (131) via a horizontal connecting rod (134), and the motor of the double-shaft motor reducer (133) provides a driving force and torque for the tunnel spray maintenance portal (2) to move along the longitudinal direction of the tunnel, and the motor speeds of the left and right double-shaft motor reducers (133) are different, so that the speeds of the left and right wheels (122) are different to generate a speed difference, thereby realizing single-sided collective drive differential obstacle avoidance;The water temperature regulating device (5) comprises a water tank and a water heating mounting base mounted on a bottom longitudinal beam (11) away from the control console (3), and a water filter tank (51), a water storage tank (52), a water tank pipeline pump (53), and a water temperature heater (54) whose inlets and outlets are sequentially connected through pipes. The connecting pipe between the water outlet of the water filter tank (51) and the water inlet of the water storage tank (52) is provided with a water tank gate valve (55), and the water outlet of the water tank pipeline pump (53) is connected to the water inlet of the water temperature heater (54) through a hose (56).

2. The fully automatic tunnel spray maintenance trolley based on single-side concentrated drive differential speed obstacle avoidance according to claim 1 is characterized by: The horizontal connecting rod (134) adopts a floating shaft, the reducer (131) adopts a wheel-side reducer, the horizontal connecting rod (134) is connected to the double-output shaft motor reducer (133) and the corresponding end shaft of the reducer (131) through a coupling (136), and a motor protection cover (135) is installed directly above the motor reducer mounting seat (132) corresponding to the double-output shaft motor reducer (133).

3. The fully automatic tunnel spray maintenance trolley according to claim 1, characterized in that: The horizontal plate and the vertical plate of the motor reducer mounting seat (132) are both provided with mounting holes and equipped with bolts to be bolted to the bottom plate of the bottom longitudinal beam (11) and the double-output shaft motor reducer (133), and a triangular reinforcement plate is provided between the horizontal plate and the vertical plate, and the triangular reinforcement plate is provided with weight-reducing and drag-reducing holes.

4. The fully automatic trolley for tunnel spray maintenance based on single-side concentrated drive and differential speed obstacle avoidance according to claim 1 is characterized in that: The tunnel spray maintenance gantry (2) comprises a gantry body (21), multiple side workbenches (22) located on the left and right sides of the gantry body (21), and a top workbench (23) located on the top of the gantry body (21), wherein the gantry body (21) is equipped with a side wall distance measuring component (24) capable of detecting the distance to the inner wall of the tunnel in real time; the gantry body (21) is constructed by front and rear symmetrical gantry frames and horizontal and vertical connecting rods, and safety fences are provided at the edges of the side workbenches (22), the top workbench (23), and the steps, and the side workbenches (22) are provided with a ladder installation channel (221) and equipped with a ladder so that workers can move between the side workbenches (22) of adjacent layers, and a step ladder is provided between the top workbench (23) and the left and right adjacent side workbenches (22).

5. The fully automatic tunnel spray maintenance trolley based on single-side concentrated drive differential speed obstacle avoidance according to claim 4 is characterized by: The side wall ranging assembly (24) is mounted on the portal frame column in a mirror-symmetrical manner. The side wall ranging assembly (24) comprises an "L"-shaped support bracket (241), a ranging mounting frame (242), and an ultrasonic radar device (243) and an infrared ranging device (244) both located at the farthest end of the ranging mounting frame (242). One end of the "L"-shaped support bracket (241) is bolted to the portal frame column, and the other end is connected to the nearest end of the ranging mounting frame (242).

6. The fully automatic tunnel spray maintenance trolley based on single-side concentrated drive differential speed obstacle avoidance according to claim 1 is characterized by: The console (3) comprises an operating mounting frame (31) which is bolted on the bottom longitudinal beam (11) on the inside, and a PLC electric control cabinet (32) which is mounted on the side of the operating mounting frame (31). Steps are provided at the front and rear of the operating mounting frame (31), and safety fences are provided at the unobstructed edges.

7. The fully automatic tunnel spray maintenance trolley based on single-side concentrated drive differential speed obstacle avoidance according to claim 1 is characterized by: The temperature and humidity measurement assembly (44) includes a sensor mounting frame and a humidity sensor (441) and an infrared temperature sensor (442) respectively mounted on the left and right sides above the sensor mounting frame. The sensor mounting frame includes a vertical slot (443) and an "L"-shaped mounting seat (444) symmetrically mounted on the left and right side panels of the vertical slot. The left and right side panels of the vertical slot (443) and the side panels of the "L"-shaped mounting seat (444) are threadedly connected. The humidity sensor (441) and the infrared temperature sensor (442) are mounted on the "L"-shaped mounting seat (444) on the corresponding sides.

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