A robot and method for spraying concrete for foundation pit support and slope protection

Abstract

This invention discloses a concrete spraying robot and method for foundation pit support and slope protection, comprising: a feeding system, including a base plate mounted on a tracked chassis, a concrete spraying machine located on the base plate, and a feeding mechanism; the feeding mechanism consists of four main pillars and five layers of support discs fixedly spaced on them, with a rotary input pipe rotatably connected to the center of each support disc, and the rotary input pipe connected to the discharge port of the concrete spraying machine through a fixed input pipe; and a spraying system, including a spraying base plate mounted on the tracked chassis and a rotating base rotatably mounted on the spraying base plate, with two longitudinal construction plates at the top left and right ends of the rotating base, the inner surfaces of both longitudinal construction plates having a U-shaped spraying inner track, and the outer surfaces having a U-shaped detection outer track. This invention facilitates control of the sprayed concrete thickness, improving the efficiency and construction quality of large-area concrete spraying coverage.

Description

Technical Field

[0001] This invention relates to the technical field of construction engineering, specifically to a concrete spraying robot for foundation pit support and slope protection, and also to a concrete spraying method for foundation pit support and slope protection. Background Technology

[0002] Shotcrete is a common method in foundation pit support. Shotcrete uses a concrete spraying machine to spray concrete, composed of cement, aggregates, water, and other admixtures, onto the surface to be sprayed using compressed air. This allows the concrete to quickly harden and form a support structure with a certain strength. Compared to traditional cast-in-place concrete, it offers advantages such as timeliness, early strength, flexibility, and close adherence to the surrounding rock.

[0003] In existing technologies, concrete spraying for foundation pit slope protection typically involves two workers: one adjusts the concrete supply mechanism, while the other carries the concrete spraying pipe and sprays it onto the slope. This method is inefficient, physically demanding, and heavily reliant on the worker's spraying skills, making it difficult to ensure the quality of the sprayed concrete, such as thickness and uniformity. It is also time-consuming and labor-intensive. Another method involves simply assembling the concrete spraying head with equipment such as cranes or excavators equipped with robotic arms, binding the spraying head to the end of the robotic arm to replace manual spraying. While this method represents some progress, it has lower stability and, being a temporary assembly, lacks standardization, resulting in poor construction quality assurance.

[0004] Therefore, a robot and method specifically designed for shotcreting of sloped concrete in foundation pit support are needed. Summary of the Invention

[0005] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a concrete spraying robot for foundation pit support and slope protection, which facilitates the control of the thickness of the sprayed concrete, makes the spraying coverage more uniform, controls the quality of concrete spraying, greatly saves manpower and material resources, and improves the efficiency and construction quality of large-scale concrete spraying coverage construction.

[0006] Another objective of this invention is to provide a method for spraying concrete for foundation pit support slope protection, which can be directly applied to existing foundation pit support slope protection or tunnel concrete spraying construction, effectively improving the efficiency of foundation pit support slope protection concrete spraying, reducing energy consumption, and having good adaptability.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The present invention relates to a concrete spraying robot for foundation pit support and slope protection, comprising: a feeding system, including a base plate mounted on a tracked chassis, a concrete spraying machine located at the right end of the base plate, and a feeding mechanism located at the left end of the base plate; the feeding mechanism consists of four main pillars and five layers of support discs fixedly spaced on them, with a pipe storage space formed between each two layers of support discs; a rotary input pipe is rotatably connected to the middle of each layer of support discs, and an electric valve is provided between each two layers of support discs in the rotary input pipe, with each electric valve connected to a spraying pipe in its respective pipe storage space; the rotary input pipe is connected to the outlet of the concrete spraying machine through a fixed input pipe located on the base plate; and a spraying system, including a... The system includes a spraying base plate mounted on a tracked chassis, a rotating base rotatably mounted on the spraying base plate, and two longitudinal construction plates at the top left and right ends of the rotating base. The inner surfaces of both longitudinal construction plates are provided with U-shaped spraying inner tracks, and their outer surfaces are provided with U-shaped detection outer tracks. Several spraying clamping mechanisms are installed on the spraying inner tracks to clamp the spraying pipes for wide-range, wide-angle spraying. The two detection outer tracks are respectively equipped with a slope sprayed concrete thickness detection unit and a slope sprayed concrete uniformity temperature detection unit. A pipe clamping part is installed on a body extension plate extending from the side of the machine body base plate, used to clamp and remove the spraying pipes from the multi-layer pipe storage space and hand them over to the spraying clamping mechanism.

[0009] Preferably, the supporting disc has a circular opening in the middle, and a bearing is provided around the circular opening. The circular openings in the middle of the five supporting discs from top to bottom form a channel. The rotary input pipe passes through this channel and is installed on the rotary valve at the bottom end of the bottom supporting disc. The outer periphery of the rotary input pipe is connected to the inner ring of the bearing, so that the rotary input pipe can rotate relative to the supporting disc. The top of the rotary input pipe has a closed top cover. Below the closed top cover and above the top supporting disc, there is an annular rack and pinion track on the outer periphery of the rotary input pipe. A feeding stepper motor is provided on the top supporting disc nearby. The output end of the feeding stepper motor is connected to a gear, which meshes with the rack and pinion track, so that the feeding stepper motor controls the rotation of the rotary input pipe. The rotary valve is fixedly installed on the base plate of the machine body. One of its rotatable ends is vertically upward and connected to the rotary input pipe, and the other end is horizontal and connected to the fixed input pipe.

[0010] Furthermore, the inner ring of the support disk houses a pipe rotating disk and the outer ring of a pipe outlet disk. Both the pipe rotating disk and the pipe outlet disk have several bullseye balls at their bottoms, with their rotating ends mounted on the support disk. Simultaneously, both disks have annular rack and pinion tracks at their outer bottom edges, and a pipe rotating stepper motor is mounted on the nearby support disk. The output end of the pipe rotating stepper motor is connected to a gear that meshes with the rack and pinion tracks, allowing the two pipe rotating stepper motors to control the rotation of the two disks.

[0011] Furthermore, one end of the injection pipe is connected to an electric valve, and the other end passes through a clamping seat baffle at the end of the pipe and is confined to the outer ring of the pipe outlet disc; the pipe rotating disc has a circular opening in the middle, the radius of which is slightly larger than the radius of the circular opening in the middle of the supporting disc; two support rods are provided at the two ends of the circular opening of the pipe rotating disc near the electric valve, and the top of the support rods is provided with a bullseye ball, the moving end of which faces upward and contacts the bottom end of the upper supporting disc; the radius of the pipe outlet disc is slightly larger than the radius of the pipe rotating disc. The rotating disc has a radius and is equipped with several support rods identical to those on the rotating disc of the pipe. These rods also contact the bottom of the supporting disc above via bullseye balls. The pipe outlet disc is also equipped with a clamping seat baffle for limiting the end of the pipe. Its periphery is a rectangular strip seat, and a ring is fixed in the middle of the rectangular strip seat. The radius of the ring is slightly larger than the radius of the spray pipe and slightly smaller than the protruding part of the clamping seat at the spray end of the spray pipe. The rear end of the spray pipe is equipped with three layers of annular protrusions, and the end of the spray pipe is also connected to a circular nozzle.

[0012] Preferably, the pipe clamping part consists of a secondary support column installed at one end of the machine body expansion plate, and a clamping first electric push rod is installed at its right end from top to bottom at a distance of two layers of support discs, perpendicular to the direction of the electric valve outlet; the output end of the clamping first electric push rod is connected to a clamping rotary motor with the same orientation as it, the output end of the clamping rotary motor is connected to a clamping second electric push rod with the same orientation as it, and the output end of the clamping second electric push rod is connected to a clamping electric gripper with the same orientation as it.

[0013] Furthermore, the spray clamping mechanism includes an electric trolley mounted on the inner spray track and a spray electric push rod mounting plate mounted on the electric trolley. The top of the spray electric push rod mounting plate extends into the outer space of the longitudinal construction plate. A transverse spray electric push rod is provided on the top back of the spray electric push rod mounting plate. The output end of the spray electric push rod passes through the mounting plate and is connected to a spray rotary motor in the same direction. The output end of the spray rotary motor is connected to a spray electric gripper.

[0014] Preferably, the slope shotcrete thickness detection unit includes an electric trolley installed on the outer detection track, and a first detection rotary motor, a detection electric push rod, a second detection rotary motor, and a detector mounting plate installed sequentially on the electric trolley, wherein the orientation of the second detection rotary motor is the same as that of the longitudinal construction plate; the detector mounting plate of the slope shotcrete thickness detection unit is equipped with a laser rangefinder matrix, and the slope shotcrete uniformity temperature detection unit is equipped with an infrared thermometer matrix.

[0015] Accordingly, the present invention also provides a method for spraying concrete for foundation pit support slope, the steps of which are as follows:

[0016] S1. Pre-connection preparation: First, perform the pre-connection process between the material supply system, the spraying system, and the concrete pump truck. Move the material supply system to a suitable position and move the concrete pump truck to its vicinity, aligning the pump truck's discharge port with the concrete spraying machine's inlet to prepare for material loading. Determine whether to perform small-scale concentrated concrete spraying or large-scale dispersed concrete spraying based on actual needs. If it is the first type, only one spraying system needs to be equipped; if it is the second type, multiple spraying systems need to be equipped and connected according to actual needs. Move the spraying system to the vicinity of the material supply system, ensuring that its two longitudinal construction plates cover the pipe clamping part.

[0017] S2. Pipe Clamping Connection: Before connection, the turning pipe section is reset according to the required connection direction. Specifically, two pipe rotation stepper motors drive gears to rotate on the pipe rotating disk and the pipe outlet disk, causing both disks to rotate. Simultaneously, the feeding stepper motor is controlled to rotate its gear on the rack track on the rotary input pipe, thereby causing the rotary input pipe to rotate synchronously with the two disks. This ensures that the clamping seat baffle at the pipe end of the turning pipe section of the connection layer faces the spraying system to be connected. At this time, the first clamping electric push rod is pushed out, bringing its output clamping rotary motor closer to the clamping seat baffle at the pipe end. The second clamping electric push rod is then pushed out, bringing its end clamping electric gripper further closer to the clamping seat baffle. Finally, the electric gripper is activated to synchronously extend and clamp. The first electric push rod causes the electric gripper to clamp the rear clamping seat, and the mechanisms retract in the opposite way. At the same time, it controls the spray clamping mechanism on the inner spray track to approach the clamping electric gripper, and pushes out the spray electric gripper through the spray electric push rod on it and starts the electric gripper to clamp the front clamping seat. If there are height or angle problems, the clamping rotary motor and the spray rotary motor are started for adjustment. After the spray electric gripper clamps the spray pipe, it releases the clamping electric gripper. At the same time, the spray clamping mechanism on the other longitudinal construction plate is started to replace the released clamping seat. At this time, the spray system is moved to the construction area. At the same time, the rotary input pipe and the pipe rotary disk are controlled to rotate synchronously in the same way as above, and the pipe outlet disk is kept stationary, so that the pipe that is coiled in the internal space can be stretched out, so that the spray system can be moved to a farther place.

[0018] S3. Material Supply and Spraying: Concrete is fed into the inlet of the concrete spraying machine by a concrete pump. The electric valve connected to the spraying system is opened, and concrete is pumped from the concrete spraying machine into the fixed input pipe. Then, it passes through a rotary valve, a rotary input pipe, an electric valve, and a spraying pipe, and finally exits from the circular nozzle. During concrete spraying, the electric trolley on the spraying clamping mechanism works with the electric push rod and the spraying rotary motor to spray concrete onto the slope. The left and right sets of spraying clamping mechanisms achieve the lateral spraying path by pushing and pulling the electric push rod back and forth. The spraying rotary motors of the two sets of mechanisms can control the inclination angle of the spraying pipe, thereby spraying concrete at different angles and even on the top surface of the tunnel.

[0019] S4. Real-time monitoring: During concrete spraying, the slope sprayed concrete thickness detection unit and the slope sprayed concrete uniformity temperature detection unit are simultaneously controlled to move on the detection outer track. At the same time, the detection first rotary motor, detection electric push rod, and detection second rotary motor on them are controlled to cooperate with each other so that the detector mounting plate can face the concrete spraying surface. The laser rangefinder matrix and infrared thermometer matrix on it are activated. By comparing the thickness and temperature of the slope in real time, the thickness and uniformity of the sprayed concrete on the slope can be determined. Then, the mechanisms in step S3 are controlled to spray in a targeted manner to improve the quality of concrete spraying. After all spraying is completed and the test is qualified, the spraying pipe is retracted in the reverse manner of step S2 and the connection between the material supply system and the spraying system is disconnected. At this point, the entire foundation pit support slope concrete spraying is completed.

[0020] Based on the above, the beneficial effects of the foundation pit support slope spraying concrete robot and method of the present invention are as follows:

[0021] 1. Compared to existing technologies where concrete is sprayed manually using handheld sprayers, which have poor mobility and are extremely physically demanding on workers, this invention addresses the issue of the robot's combination of mobility and efficiency. For example, when efficient and concentrated concrete spraying is required in a small area, multiple layers of spraying pipes on a single supply system can be connected to multiple spraying clamping mechanisms on the same system. The system can then be moved to the construction area for efficient and concentrated spraying. Conversely, for large-scale concrete spraying, a single supply system can be fixed as a main system, with multiple spraying systems connected to the various layers of spraying pipes on the same system. These systems can then be moved to different areas to be sprayed, thus improving the efficiency of large-scale concrete spraying.

[0022] 2. Compared to existing single-feed technologies, which are only suitable for small-scale individual concrete spraying, the feeding mechanism designed in this invention has multiple layers of pipe storage space. A closed rotary input pipe runs through the center of each pipe storage space. Each layer has an electric valve to control the feeding of the spraying pipes at that layer. This allows a single main feeding mechanism to distribute material to multiple layers of pipes, adapting to large-scale dispersed concrete spraying. Since each layer is fed individually, the spraying pipes in each layer can be designed with different shapes, such as circular, fan-shaped, or conical, thereby controlling the spraying speed, range, and volume, significantly improving spraying controllability and adaptability. Simultaneous spraying of a concentrated area from multiple layers is also possible. The range and efficiency of simultaneous spraying from multiple nozzles are significantly improved compared to traditional single-nozzle spraying. Furthermore, the reduced spray volume makes it easier to control the thickness of the sprayed concrete, resulting in more uniform coverage.

[0023] 3. Compared to existing pipe storage methods, which also involve individual pipe storage, this invention uses a tape measure-like structure to simultaneously connect multiple layers and groups of pipes into a single feeding mechanism. This allows the feeding mechanism to simultaneously supply material to multiple spraying systems from multiple angles. Furthermore, this storage method can significantly extend the distance the spraying system can move away from the feeding system, further improving the range of concrete spraying and the robot's endurance. After spraying is complete, the pipe can be automatically retracted and rolled up using mechanisms such as a pipe rotating disc, a pipe outlet disc, a pipe rotating stepper motor, and support rods. This greatly improves the ease of use and efficiency of the equipment, while saving the space required for pipe storage.

[0024] 4. The spray pipe clamping and handover mechanism designed in this invention can handle the clamping and removal of multi-layer pipes and handover with the spraying system. At the same time, it can also stabilize the moving track of the pipe. After construction is completed, the pipe can also be retrieved and stored back in the feeding mechanism through this mechanism. It has a high degree of mechanization and effectively reduces the manpower and material resources consumed.

[0025] 5. This invention, through the design of the inner spraying track and the outer detection track, enables the spraying system to simultaneously control and monitor spraying quality. Its spraying clamping mechanism, via two sets of inward-facing electric spraying claws, can simultaneously grip the grooves of two clamping seats at the end of the spraying pipe. This improves spraying stability and allows for a certain degree of spraying angle through the misalignment of the two clamping seats. Combined with the electric spraying push rod, the spraying rotary motor, and the rotary motor on the spraying base plate, it achieves large-area, large-angle spraying, even capable of spraying the tunnel ceiling. Furthermore, by increasing the number of spraying clamping mechanisms on the track, a single spraying mechanism can simultaneously grip multiple layers of spraying pipes for construction, effectively improving construction efficiency. The slope sprayed concrete thickness detection unit and the slope sprayed concrete uniformity temperature detection unit can obtain the thickness difference before and after slope spraying and the temperature difference in the sprayed area through a laser rangefinder matrix and an infrared thermometer matrix, thus determining the concrete thickness and coverage area, and enabling real-time monitoring of the spraying construction quality. Attached Figure Description

[0026] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0027] Figure 1 This is a schematic diagram of the overall structure of the foundation pit support and slope protection concrete spraying robot of the present invention.

[0028] Figure 2 This is a schematic diagram of the overall structure of the feeding system of the present invention;

[0029] Figure 3 This is a schematic diagram of the overall structure of the main body of the present invention;

[0030] Figure 4 This is a schematic diagram of the overall structure of the steering pipe section of the present invention;

[0031] Figure 5 This is a schematic diagram of the overall structure of the pipe clamping part of the present invention;

[0032] Figure 6 This is a schematic diagram of the overall structure of the injection system of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1000-Feeding System:

[0035] 1100 - Main body; 1101 - Tracked chassis; 1102 - Bottom plate; 1102a - Extended plate; 1103 - Concrete spraying machine; 1104a - Fixed input pipe; 1104b - Rotary input pipe; 1104c - Electric valve; 1104d - Enclosed top cover; 1105 - Rotary valve; 1106 - Feeding stepper motor; 1107 - Main support column; 1108 - Support disc;

[0036] 1200 - Diverting pipe section; 1201 - Pipe rotating disc; 1202 - Support rod; 1203 - Bullseye ball bearing; 1204 - Pipe rotating stepper motor; 1205 - Pipe outlet disc; 1206 - Jet pipe; 1206a - Clamping seat; 1206b - Circular nozzle;

[0037] 1300 - Pipe clamping part; 1301 - Secondary support column; 1302 - Clamping first electric push rod; 1303 - Clamping rotary motor; 1304 - Clamping second electric push rod; 1305 - Clamping electric gripper;

[0038] 2000-Injection System:

[0039] 2001 - Spraying base plate; 2002 - Rotating base; 2003 - Longitudinal construction plate; 2004 - Inner spraying track; 2005 - Outer detection track; 2006a - Spraying electric push rod mounting plate; 2006b - Spraying electric push rod; 2006c - Spraying rotary motor; 2006d - Spraying electric gripper; 2007a - First detection rotary motor; 2007b - Detection electric push rod; 2007c - Second detection rotary motor; 2007d - Detector mounting plate; 2008 - Laser rangefinder matrix; 2009 - Infrared thermometer matrix. Detailed Implementation

[0040] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] Below, in conjunction with Figures 1 to 6 This invention provides a detailed description of a concrete spraying robot and method for foundation pit support and slope protection.

[0042] Depend on Figure 1 As shown, the foundation pit support slope spraying concrete robot of the present invention includes a material supply system 1000 and a spraying system 2000 as the main body. The two systems can be connected through a spraying pipe 1206. A material supply system 1000 can be connected to a spraying system 2000 simultaneously through multiple spraying pipes, or it can be connected to multiple spraying systems 2000 separately through multiple spraying pipes to meet different scenario needs. Compared to existing technologies that use manual hand-held sprayers for concrete spraying, which have poor mobility and are extremely physically demanding on workers, this invention addresses the challenge of large-scale concrete spraying. The robot designed in this invention combines mobility and efficiency. For small-area, high-efficiency concentrated concrete spraying, multiple layers of spraying pipes on a single supply system 1000 can be connected to multiple spraying clamping mechanisms on the same spraying system 2000. The spraying system 2000 can then be moved to the construction area for concentrated, high-efficiency spraying. For large-area, concentrated concrete spraying, a single supply system 1000 can be fixed as a main system, with multiple spraying systems 2000 connected to the various layers of spraying pipes on the supply system 1000. These systems can then be moved to different areas to be sprayed, thus improving the efficiency of large-area concrete spraying.

[0043] Depend on Figure 2-5As shown, the feeding system 1000 consists of a main body 1100, with a steering pipe section 1200 in the middle and a pipe clamping section 1300 around it. The main body 1100 is supported by a base plate 1102 mounted on a tracked chassis 1101. A concrete spraying machine 1103 is mounted on the base plate 1102 near its right end, and a feeding mechanism is mounted on its left end. Except for one side of the concrete spraying machine 1103, the feeding mechanism has extension plates 1102a extending from the sides of the base plate 1102 on its three sides. The concrete spraying machine 1103 is a general-purpose component. Its specific function is to receive concrete material from a concrete pump truck, process it into concrete suitable for spraying, and output it through an internal pump to the pipeline. Specific models include the PZ-5 dry spraying machine or the HSP-5 wet spraying machine from Changge Xinshengtai Machinery Manufacturing Co., Ltd. The feeding mechanism consists of four main support columns 1107 and five layers of support discs 1108 fixedly spaced on them, forming a pipe storage space between every two layers of support discs 1108. It should be noted that the above-mentioned five layers of support discs 1108 form four sets of pipe storage spaces, which is only one embodiment. It can be designed as three layers, six layers, etc., according to actual needs.

[0044] A circular opening is provided in the center of the support disc 1108, and a bearing is provided around the periphery of the circular opening. The circular openings in the center of the five layers of support discs 1108 from top to bottom form a channel. A rotary input pipe 1104b passes through this channel and is installed on the rotary valve 1105 at the bottom end of the lowest support disc 1108. The outer periphery of the rotary input pipe 1104b is connected to the inner ring of the bearing, allowing the rotary input pipe 1104b to rotate relative to the support disc 1108. The top of 104b is equipped with a closed top cover 1104d. Below the closed top cover 1104d and above the top support disc 1108, an annular rack and pinion track is provided on the periphery of the rotary input pipe 1104b. Nearby, the top support disc 1108 is equipped with a feeding stepper motor 1106. The output end of the feeding stepper motor 1106 is connected to a gear, which meshes with the rack and pinion track, thereby enabling the feeding stepper motor 1106 to control the rotation of the rotary input pipe 1104b. A rotary valve 1105 is fixedly installed on the machine body base plate 1102. One end of the valve is vertically upward and connected to the rotary input pipe 1104b, and this end can rotate. The other end is horizontally connected to the discharge port of the concrete spraying machine 1103 through a fixed input pipe 1104a located on the machine body base plate 1102. The rotary input pipe 1104b is equipped with an electric valve 1104c between every two layers of support discs 1108. Each electric valve 1104c is connected to the injection pipe 1206 in its storage space. By controlling the opening and closing of the electric valve 1104c of each layer, the material supply of the injection pipe of each layer can be controlled.

[0045] Compared to existing single-feed technologies, which are only suitable for small-scale individual concrete spraying, the feeding mechanism designed in this invention has a multi-layer pipe storage space. A closed rotary input pipe 1104b runs through the center of this space. Each storage space has an electric valve 1104c that controls the feeding of the spraying pipe at that layer. This allows a single main feeding mechanism to feed and distribute materials to multiple layers of pipes, adapting to large-scale dispersed concrete spraying. Since each layer is fed individually, the spraying pipes in each layer can be designed with different shapes, such as circular, fan-shaped, or conical, thereby controlling the spraying speed, spraying range, and spraying volume, significantly improving spraying controllability and adaptability. Simultaneous spraying of a concentrated area from multiple layers is also possible. The range and efficiency of simultaneous spraying from multiple nozzles are significantly improved compared to traditional single-nozzle spraying. Furthermore, the reduced spraying volume makes it easier to control the thickness of the sprayed concrete, resulting in more uniform spray coverage.

[0046] The steering pipe section 1200 consists of a pipe rotating disc 1201 located in the inner ring and a pipe outlet disc 1205 located in the outer ring. Both discs are located inside the support disc 1108 and have a smaller area than the support disc 1108. The purpose of this is to ensure that the injection pipe 1206 does not hit the main support 1107 when it rotates internally. The pipe shown in the figure is straight, but this is for the sake of convenience. In reality, the internal pipe should be a spiral type like a measuring tape. Both the pipe rotating disc 1201 and the pipe outlet disc 1205 have several bullseye balls at their bottoms, with their rotating ends mounted on the support disc 1108. Both discs also have annular rack and pinion tracks at their outer bottom edges. A pipe rotating stepper motor 1204 is mounted on the nearby support disc 1108, with a gear connected to its output end. The gear meshes with the rack and pinion tracks, allowing the two pipe rotating stepper motors 1204 to control the rotation of the two discs. It should be noted that a deflecting pipe section 1200 can be installed between every two support discs 1108. One end of the injection pipe 1206 is connected to the electric valve 1104c, and the other end passes through the clamping seat baffle at the pipe end and is confined to the outer ring of the pipe outlet disc 1205. However, when fully retracted, it will not collide with the main support column 1107. The pipe rotating disk 1201 has a circular opening in the middle, the radius of which is slightly larger than the radius of the circular opening in the middle of the supporting disk 1108. Two support rods 1202 are provided at both ends of the circular opening of the pipe rotating disk 1201 near the electric valve 1104c. The top of the support rod 1202 is provided with a bullseye ball 1203. The moving end of the bullseye ball 1203 faces upward and contacts the bottom end of the supporting disk 1108 above. The radius of the pipe outlet disc 1205 is slightly larger than that of the pipe rotating disc 1201. It is equipped with several support rods identical to those on the pipe rotating disc 1201, and these rods also contact the bottom of the upper support disc 1108 via bullseye balls 1203. The purpose of setting these support rods and bullseye balls 1203 is to provide force support to both the upper and lower ends of the pipe rotating disc 1201 and the pipe outlet disc 1205, thereby making them more stable. At the same time, the support rods 1202 at both ends of the electric valve 1104c also have the function of ensuring that the initial end of the injection pipe connected to the electric valve 1104c remains straight during the circular rotation, so that the discharge will not be difficult due to the rotation of the later section. The pipe outlet disc 1205 is also provided with a clamping seat baffle for limiting the end of the pipe. Its periphery is a rectangular strip seat, and a ring is fixed in the middle of the rectangular strip seat. The radius of the ring is slightly larger than the radius of the injection pipe 1206, and slightly smaller than the protrusion of the clamping seat 1206a at the injection end of the injection pipe 1206.The rear end of the spraying pipe 1206 has three layers of annular protrusions. The concave area between each two layers is the clamping groove of the clamping seat 1206a. The end of the spraying pipe 1206 is also connected to a circular nozzle 1206b, which can be replaced with a fan-shaped or conical nozzle as needed. Compared with the existing pipe storage method, which is also stored separately, this invention uses a tape measure-like structure to connect multiple layers and groups of pipes to a feeding mechanism at the same time. This allows the feeding mechanism to simultaneously feed multiple spraying systems from multiple angles. This storage method can greatly extend the distance that the spraying system 2000 can move away from the feeding system 1000, further improving the range of concrete spraying and the robot's endurance. After spraying, the pipe can be automatically retracted and rolled up by the pipe rotating disc 1201, the pipe outlet disc 1205, the pipe rotating stepper motor 1204, the support rod 1202, and other mechanisms, which greatly improves the convenience and efficiency of the equipment and saves the space required for storing the pipes.

[0047] The pipe clamping part 1300 is mainly composed of a secondary support column 1301 installed at one end of the body extension plate 1102a. At its right end, a clamping first electric push rod 1302 is installed from top to bottom at a distance of one two-layer support disc 1108, which is perpendicular to the outlet direction of the electric valve 1104c. It should be noted that "perpendicular to the outlet direction of the electric valve 1104c" means that it faces the clamping seat 1206a of the injection pipe 1206. The purpose is to make the clamping electric gripper 1305 at the end of the structure perpendicular to the clamping seat 1206a, so as to clamp the injection pipe 1206. The output end of the first electric push rod 1302 is connected to a clamping rotary motor 1303 facing the same direction. The output end of the clamping rotary motor 1303 is connected to a second electric push rod 1304 facing perpendicular to the horizontal. The output end of the second electric push rod 1304 is connected to a clamping electric gripper 1305 facing perpendicular to the horizontal. The purpose of this structure is to minimize the impact of the clamping mechanism on the pipe turning range of the turning pipe section 1200, while being able to clamp and remove the injection pipe 1206 from the inside of the multi-layer pipe storage space and move it out of the internal space of the feeding mechanism so that it can be connected to the injection system 2000. Each of the three machine body expansion plates 1102a is provided with a set of pipe clamping parts 1300, located at the edge.

[0048] Compared with the prior art, the clamping and handover mechanism of the spray pipe designed in this invention can handle the clamping and removal of multi-layer pipes and handover with the spray system 2000. At the same time, it can also stabilize the moving track of the pipe. After the construction is completed, the pipe can also be retrieved and stored back in the feeding mechanism through this mechanism. It has a high degree of mechanization and effectively reduces the manpower and material resources consumed.

[0049] Depend on Figure 6 As shown, the spraying system 2000 includes a spraying base plate 2001 mounted as a bottom structure on a tracked chassis. A large rotary motor is mounted on the spraying base plate 2001, and the output end of the rotary motor is connected to a rotating base 2002. Two longitudinal construction plates 2003 are respectively provided at the left and right ends of the top of the rotating base 2002. Each of the two longitudinal construction plates 2003 has a U-shaped inner spraying track 2004 located near the outermost edge of the construction plate. Each of the two longitudinal construction plates 2003 also has a U-shaped outer detection track 2005 located near the center of the construction plate. The inner spray track 2004 is equipped with several spray clamping mechanisms. Each spray clamping mechanism includes an electric trolley mounted on the inner spray track 2004 and a spray electric push rod mounting plate 2006a mounted on the electric trolley. The top of the spray electric push rod mounting plate 2006a extends into the outer space of the longitudinal construction plate 2003. A transverse spray electric push rod 2006b is provided on the top back of the spray electric push rod mounting plate 2006a. The output end of the spray electric push rod 2006b passes through the mounting plate and is connected to a spray rotary motor 2006c that is in the same direction as it. The output end of the spray rotary motor 2006c is connected to a spray electric gripper 2006d.

[0050] Two different detection units are installed on the left and right outer detection tracks 2005: a slope shotcrete thickness detection unit and a slope shotcrete uniformity temperature detection unit. The slope shotcrete thickness detection unit includes an electric trolley mounted on the outer detection track 2005, and sequentially mounted on the trolley a first detection rotary motor 2007a, a detection electric push rod 2007b, a second detection rotary motor 2007c, and a detector mounting plate 2007d. The second detection rotary motor 2007c faces the same direction as the longitudinal construction plate 2003. The detector mounting plate 2007d of the slope shotcrete thickness detection unit is equipped with a laser rangefinder matrix 2008, while the slope shotcrete uniformity temperature detection unit is equipped with an infrared thermometer matrix 2009. The laser rangefinder is a general-purpose component; here, it measures the distance between the concrete and the slope before and after shotcreting to determine the shotcrete thickness, thus enabling monitoring of the shotcreting quality during the process. Infrared thermometers are a general-purpose component. Here, by measuring the slope temperature within its range, and since the slope concrete has different temperatures before and after spraying, it is possible to determine whether there is uneven concrete spraying by measuring different temperature zones, thereby controlling the quality of concrete spraying.

[0051] Compared to existing technologies, this invention, through the design of the inner spray track 2004 and the outer detection track 2005, enables the spray system 2000 to simultaneously control and monitor spray quality. Its spray clamping mechanism, via two sets of inward-facing electric spray grippers 2006d, can simultaneously clamp the grooves of the two clamping seats 1206a at the end of the spray pipe 1206, improving spray stability and allowing for a certain degree of spray tilt angle through the misalignment of the two clamping seats 1206a. This, combined with the electric spray push rod 2006b, the spray rotary motor 2006c, and the spray base... The rotary motor on plate 2001 enables large-area, wide-angle spraying, even spraying the top surface inside the tunnel. Furthermore, by increasing the number of spraying clamping mechanisms on the track, a single spraying mechanism can simultaneously clamp multiple layers of spraying pipes for construction, effectively improving construction efficiency. Meanwhile, the slope sprayed concrete thickness detection unit and the slope sprayed concrete uniformity temperature detection unit can use the laser rangefinder matrix 2008 and the infrared thermometer matrix 2009 to obtain the thickness difference before and after slope spraying, and the temperature difference in the sprayed area, thus determining the thickness and coverage of the concrete and enabling real-time monitoring of the spraying construction quality.

[0052] The foundation pit support slope protection concrete spraying robot of the present invention can continuously supply concrete to the concrete pump truck by connecting it to the concrete spraying machine 1103 of the feeding system 1000. Then, the main body 1100 synchronously supplies material to each layer of pipes in the turning pipe section 1200. With the help of electric valves, rotary valves, and feeding stepper motors, multi-layer synchronous or separate feeding can be achieved. At the same time, the multi-layer turning pipe section 1200 is connected to the spraying system 2000 through the pipe clamping part 1300. Each layer can be connected to a spraying system individually, or multiple layers can be connected to a spraying system simultaneously, effectively adapting to both small-area concentrated high-efficiency spraying and large-area coverage spraying. Due to the special clamping track design of the spraying system, it can perform large-angle rotation spraying after clamping the spraying pipe. Therefore, this robot can also be used for foundation pit support in tunnels, that is, it can also adapt to closed ring support, effectively improving the robot's adaptability. In addition, the spraying system 2000 is also equipped with a laser rangefinder matrix 2008 and an infrared thermometer matrix 2009 that can rotate and detect at large angles. These are used to detect and control the thickness of concrete before and after spraying, and to detect the slope temperature before and after spraying, respectively. Since the distance and temperature are different before and after spraying, the spraying thickness and coverage area can be determined, thereby controlling the quality of concrete spraying, greatly saving manpower and material resources, and improving efficiency and construction quality.

[0053] Accordingly, the steps of the foundation pit support slope spraying concrete method of the present invention are as follows:

[0054] S1. Pre-connection preparation: First, perform the pre-connection process between the material supply system 1000, the spraying system 2000, and the concrete pump truck. Move the material supply system 1000 to a suitable position and move the concrete pump truck to its vicinity, aligning the pump truck's discharge port with the inlet of the concrete spraying machine 1103 to prepare for material feeding. Depending on the actual needs, determine whether to perform small-scale concentrated concrete spraying or large-scale dispersed concrete spraying. If it is the first type, only one spraying system 2000 needs to be equipped. If it is the second type, multiple spraying systems need to be equipped and connected according to the actual situation. This section only describes the connection situation when there is only one set. The connection principle is the same when there are multiple sets. Move the spraying system 2000 to the vicinity of the material supply system 1000, so that its two longitudinal construction plates 2003 cover the pipe clamping part 1300.

[0055] S2. Pipe Clamping Connection: Before connection, the turning pipe section 1200 should be reset according to the required connection direction. Specifically, two pipe rotation stepper motors 1204 drive gears to rotate on the pipe rotation disk 1201 and the pipe outlet disk 1205, causing the two disks to rotate. Simultaneously, the feeding stepper motor 1106 controls its gear to rotate on the rack track on the rotary input pipe 1104b, thereby causing the rotary input pipe 1104b to rotate synchronously with the two disks. This causes the clamping seat baffle at the pipe end of the turning pipe section 1200 on the pipe outlet disk 1205 of the connecting layer to face the spraying system 2000 to be connected. At this time, the first clamping electric push rod 1302 is pushed out, causing the clamping rotary motor 1303 at its output end to approach the clamping seat baffle at the pipe end. The second clamping electric push rod 1304 is pushed out, causing the clamping electric gripper 1305 at its end to further approach the clamping seat baffle. Finally, the electric gripper is activated to synchronously push out the first electric push rod 1302, causing the electric gripper to... The jaws grip the rearmost clamping seat 1206a, and the mechanisms retract in the opposite manner. Simultaneously, the jet clamping mechanism on the inner jet track 2004 is brought closer to the electric clamping jaw 1305. The electric jet push rod 2006b on the jaw pusher pushes out the electric jet clamping jaw 2006d, and the electric jaw clamps the frontmost clamping seat 1206a. If issues arise with height or angle, the clamping rotary motor 1303 and the jet rotary motor 2006c can be activated for adjustment. The electric jet clamping jaw 2006d clamps the jet pipe. After the electric clamping jaw 1305 is released from the channel 1206, the spraying clamping mechanism on the other side of the longitudinal construction plate 2003 is activated to replace the released clamping seat 1206a. At this time, the spraying system 2000 is moved to the construction area. At the same time, the rotary input pipe 1104b and the pipe rotating disk 1201 are controlled to rotate synchronously in the same way as above, but the pipe outlet disk 1205 is kept stationary, so that the pipe coiled in the internal space can be stretched out, so that the spraying system 2000 can be moved to a farther place.

[0056] S3, Material Feeding and Spraying: Concrete is fed into the inlet of the concrete spraying machine 1103 via a concrete pump. The electric valve 1104c connected to the spraying system 2000 is opened, and concrete is pumped from the concrete spraying machine 1103 into the fixed input pipe 1104a. It then passes through the rotary valve 1105, the rotary input pipe 1104b, the electric valve 1104c, and the spraying pipe 1206, finally exiting from the circular nozzle 1206b. This circular nozzle can also be fan-shaped, conical, etc. During concrete spraying, the spraying clamping machine... The electric trolley on the structure, together with the electric spraying push rod 2006b and the spraying rotary motor 2006c, sprays concrete onto the slope. The left and right sets of spraying clamping mechanisms achieve the lateral spraying path by pushing and pulling the electric push rod back and forth. The spraying rotary motor 2006c of the two sets of mechanisms can control the inclination angle of the spraying pipe, thereby spraying concrete at different angles or even the top of the tunnel. It should be noted that because two electric spraying jaws 2006d are needed to clamp the spraying pipe one in front and one behind, there is actually a slight misalignment between the two inner spraying tracks 2004.

[0057] S4. Real-time monitoring: During concrete spraying, the slope sprayed concrete thickness detection unit and the slope sprayed concrete uniformity temperature detection unit are simultaneously controlled to move on the detection outer track 2005. At the same time, the detection first rotary motor 2007a, detection electric push rod 2007b, and detection second rotary motor 2007c on the track are controlled to cooperate with each other so that the detector mounting plate 2007d can face the concrete spraying surface. The laser rangefinder matrix 2008 and infrared thermometer matrix 2009 on the track are activated. By comparing the thickness and temperature of the slope in real time, the thickness and uniformity of the concrete sprayed on the slope can be determined. This allows for targeted spraying of each mechanism in step S3, improving the quality of concrete spraying. After all spraying is completed and the test results are satisfactory, the spraying pipe is retracted in the reverse manner of step S2, and the connection between the material supply system 1000 and the spraying system 2000 is disconnected. At this point, the entire foundation pit support slope spraying is completed.

[0058] The concrete spraying method for foundation pit support slope protection of the present invention can be directly applied to existing foundation pit support slope protection or tunnel concrete spraying construction. A concrete pump truck feeds concrete into the concrete spraying machine 1103, which then supplies the sprayed material through a fixed input pipe 1104a to a rotating input pipe 1104b. An electric valve 1104c on the rotating input pipe distributes the material to each layer of the pipe. Simultaneously, through an internal tape measure-like structure, a feeding stepper motor 1106 rotates the rotating input pipe 1104b along its central axis, causing the pipe to extend. The pipe is then clamped by the pipe clamping part 1300 via the clamping seat baffle at the pipe outlet disc 1205 and handed over to the spraying system 2000 for clamping. The spraying system 2000, through two sets of longitudinal construction plates 2003, works in conjunction with the spraying inner track 20... The nozzle 04, along with its electric spraying push rod 2006b, spraying rotary motor 2006c, and electric spraying gripper 2006d, clamps the two clamping seats 1206a at the end of the pipe, one in front of the other. Through the staggered cooperation of the two sets of mechanisms, the nozzle can rotate at a large angle to spray concrete. At the same time, it can also move laterally and lift to spray concrete, which is sufficient to cover a concrete area to be sprayed. In addition, each spraying system can be connected to multiple layers of different concrete spraying pipes, which can be connected to different types of nozzles, such as circular, fan-shaped, and conical nozzles, to further expand the spraying control range. During spraying, the laser rangefinder matrix 2008 and the infrared thermometer matrix 2009 are activated simultaneously to monitor the slope thickness and temperature before and after spraying in real time, ensuring the uniformity and thickness of the spraying. This method effectively improves the efficiency of concrete spraying for foundation pit support slope protection, reduces energy consumption, and has good adaptability.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A foundation pit support benching concrete jetting robot, characterized by, The utility model relates to a kind of concrete spraying machine, including: Feeding system (1000), including installation on track chassis (1101) body bottom plate (1102), located at the right end of the body bottom plate (1102) concrete spraying machine (1103), located at the left end of the body bottom plate (1102) feeding mechanism;The feeding mechanism is composed of four main supports (1107) and five layers of support discs (1108) fixed at intervals on it, and pipeline storage space is formed between each two layers of support discs (1108);Rotary input pipeline (1104b) is rotatably connected in the middle of each layer of support disc (1108), and each two layers of support discs (1108) are provided with an electric valve (1104c) between the rotary input pipeline (1104b), and each electric valve (1104c) is connected with the injection pipeline (1206) in the pipeline storage space;The rotary input pipeline (1104b) is connected with the discharge port of concrete spraying machine (1103) by fixed input pipeline (1104a) located on the body bottom plate (1102); Injection system (2000), including installation on track chassis injection bottom plate (2001), rotary base (2002) is rotatably installed on the injection bottom plate (2001), and the top of the rotary base (2002) is respectively provided with two longitudinal construction plates (2003) at left and right ends, and the inner surface of the two longitudinal construction plates (2003) is provided with a door-shaped injection inner track (2004), and the outer surface is provided with a detection outer track (2005) in the shape of a back;The injection inner track (2004) is provided with a plurality of injection clamping mechanisms for clamping injection pipeline (1206) to achieve wide-range and large-angle injection;Two detection outer tracks (2005) are respectively provided with slope surface sprayed concrete thickness detection unit and slope surface sprayed concrete uniformity temperature detection unit; Pipeline clamping part (1300) is installed on the body extension plate (1102a) extending from the side of the body bottom plate (1102), for clamping injection pipeline (1206) from the inside of multilayer pipeline storage space, and handing over to the injection clamping mechanism.

2. The foundation pit support battering concrete jetting robot according to claim 1, characterized in that, The middle part of the support disc (1108) is provided with a circular opening, and the periphery of the circular opening is provided with a bearing, and the circular openings in the middle of the five layers of support discs (1108) from top to bottom form a channel, the rotary input pipeline (1104b) passes through the channel and is installed on the rotary valve (1105) at the bottom end of the bottom layer of support disc (1108), and the periphery of the rotary input pipeline (1104b) is connected with the inner ring of the bearing, so that the rotary input pipeline (1104b) can rotate relative to the support disc (1108). The top end of the rotating input pipe (1104b) is provided with a closed top cover (1104d), and the periphery of the rotating input pipe (1104b) in the space above the top layer support disc (1108) is provided with an annular rack track, and a feeding stepping motor (1106) is arranged on the top layer support disc (1108) near the rack track. The output end of the feeding stepping motor (1106) is connected with a gear which is engaged with the rack track, so that the feeding stepping motor (1106) controls the rotation of the rotating input pipe (1104b). The rotating valve (1105) is fixedly installed on the machine body bottom plate (1102), and one end thereof which can rotate is vertically upward and connected with the rotating input pipe (1104b), and the other end thereof is transversely connected with the fixed input pipe (1104a).

3. The foundation pit support battering concrete jetting robot according to claim 2, characterized in that, The inside of the support disc (1108) is provided with a pipe rotating disc (1201) located at the inner ring and a pipe outlet disc (1205) located at the outer ring. The bottom of the pipe rotating disc (1201) and the pipe outlet disc (1205) are provided with a plurality of bullseye ball bearings, and the rotating end thereof is installed on the support disc (1108). Meanwhile, the bottom end of the periphery of the two discs is provided with an annular rack track, and a pipe rotating stepping motor (1204) is arranged on the support disc (1108) near the rack track. The output end of the pipe rotating stepping motor (1204) is connected with a gear which is engaged with the rack track, so that the two pipe rotating stepping motors (1204) control the rotation of the two discs.

4. The foundation pit support battering concrete jetting robot according to claim 3, characterized in that, One end of the injection pipe (1206) is connected with the electric valve (1104c), and the other end thereof is limited at the outer ring of the pipe outlet disc (1205) by penetrating the clamping seat baffle at the end of the pipe. The middle part of the pipe rotating disc (1201) is provided with a circular opening, and the radius of the circular opening is slightly larger than the radius of the circular opening in the middle part of the support disc (1108). Two support rods (1202) are arranged at the two ends of the circular opening of the pipe rotating disc (1201) near the electric valve (1104c). The top end of the support rod (1202) is provided with a bullseye ball bearing (1203), and the moving end of the bullseye ball bearing (1203) is upward and in contact with the bottom end of the support disc (1108) above. The radius of the pipe outlet disc (1205) is slightly larger than the radius of the pipe rotating disc (1201), and a plurality of support rods which are the same as those on the pipe rotating disc (1201) are arranged thereon. The bottom of the support disc (1108) above is also in contact with the bullseye ball bearings (1203) through the bullseye ball bearings (1203). The pipe outlet disc (1205) is provided with a clamping seat baffle for limiting the end of the pipe, and the periphery of the clamping seat baffle is a rectangular long seat, the middle of the rectangular long seat is fixed with a circular ring, the radius of the circular ring is slightly larger than the radius of the spray pipe (1206) and slightly smaller than the protruding part of the clamping seat (1206a) of the spray end of the spray pipe (1206); the rear end of the spray pipe (1206) is provided with three layers of annular protrusions, and the end of the spray pipe (1206) is further connected with a circular spray head (1206b).

5. The foundation pit support battering concrete jetting robot according to claim 4, characterized in that, The pipe clamping part (1300) is composed of a main body of a sub-support (1301) installed at one end of the machine body extension plate (1102a), and a clamping first electric push rod (1302) perpendicular to the outlet direction of the electric valve (1104c) is installed at the right end of the main body from top to bottom with an interval of the interval of two layers of support discs (1108); the output end of the clamping first electric push rod (1302) is connected with a clamping rotary motor (1303) in the same direction, the output end of the clamping rotary motor (1303) is connected with a clamping second electric push rod (1304) horizontal to the direction of the clamping rotary motor (1303), and the output end of the clamping second electric push rod (1304) is connected with a clamping electric clamp jaw (1305) horizontal to the direction of the clamping second electric push rod (1304).

6. The foundation pit support battering concrete jetting robot according to claim 5, characterized in that, The spray clamping mechanism comprises an electric trolley installed on the spray inner rail (2004) and a spray electric push rod mounting plate (2006a) installed on the electric trolley, the top end of the spray electric push rod mounting plate (2006a) extends to the outside space of the longitudinal construction plate (2003), the top back of the spray electric push rod mounting plate (2006a) is provided with a transverse spray electric push rod (2006b), the output end of the spray electric push rod (2006b) is connected with a spray rotary motor (2006c) in the same direction through the mounting plate, and the output end of the spray rotary motor (2006c) is connected with a spray electric clamp jaw (2006d).

7. The foundation pit support battering concrete jetting robot according to claim 6, characterized in that, The slope surface sprayed concrete thickness detection unit comprises an electric trolley installed on the detection outer rail (2005) and a detection first rotary motor (2007a), a detection electric push rod (2007b), a detection second rotary motor (2007c) and a detector mounting plate (2007d) installed on the electric trolley in sequence, wherein the direction of the detection second rotary motor (2007c) is the same as that of the longitudinal construction plate (2003); the detector mounting plate (2007d) of the slope surface sprayed concrete thickness detection unit is provided with a laser range finder matrix (2008), and the slope surface sprayed concrete uniformity temperature detection unit is provided with an infrared thermometer matrix (2009).

8. A method for slope concrete spraying of a foundation pit support using the robot according to claim 7, characterized by, The steps are: S1, connection pre-preparation: first, the pre-connection process of the feeding system (1000) and the spraying system (2000), the concrete pump truck, the feeding system (1000) is moved to the appropriate position, and the concrete pump truck is moved to its vicinity, the pump truck discharge port is aligned with the feeding port of the concrete spraying machine (1103) to prepare for feeding; according to the actual situation, it is determined whether to carry out small-range concentrated concrete spraying or large-range dispersed concrete spraying, if it is the first kind, only one set of spraying system (2000) can be equipped, if it is the second kind, according to the actual situation, multiple sets of spraying systems (2000) are equipped for connection; the spraying system (2000) is moved to the vicinity of the feeding system (1000), so that the two longitudinal construction plates (2003) cover the pipe clamping part (1300) thereon; S2, pipe clamping connection: before connection, the turning pipe part (1200) is reset according to the direction of the connection required, and the specific mode is that the two pipe rotation step motors (1204) drive the gears to rotate on the pipe rotation disc (1201), the pipe outlet disc (1205), drive the two discs to rotate, at the same time control the feeding step motor (1106) to make its gear rotate on the rack track on the rotating input pipe (1104b), and then drive the rotating input pipe (1104b) to rotate synchronously with the two discs, so that the clamping seat baffle of the pipe end on the pipe outlet disc (1205) of the turning pipe part (1200) of the connection layer faces the spray system (2000) to be connected, at this time, control the clamping first electric push rod (1302) to push out to make the clamping rotary motor (1303) at the output end of the clamping first electric push rod (1302) close to the clamping seat baffle of the pipe end, control the clamping second electric push rod (1304) to push out, make the clamping electric jaw (1305) at the end of the clamping second electric push rod (1304) further close to the clamping seat baffle, finally start the electric jaw to synchronously push out the clamping first electric push rod (1302) to make the electric jaw clamp the rear clamping seat (1206a), in the opposite way, retract each mechanism, at the same time control the spray clamping mechanism on the spray inner track (2004) to close to the clamping electric jaw (1305), push out the spray electric jaw (2006d) through the spray electric push rod (2006b) on it and start the electric jaw to clamp the front clamping seat (1206a), if the height and angle problem is encountered, start the clamping rotary motor (1303), the spray rotary motor (2006c) to adjust, the spray electric jaw (2006d) clamps the spray pipe (1206), then loosen the clamping electric jaw (1305), at the same time, start the spray clamping mechanism on the other longitudinal construction plate (2003) to replace the loosened clamping seat (1206a) here, at this time, move the spray system (2000) to the construction area, at the same time, control the rotating input pipe (1104b) and the pipe rotation disc (1201) to rotate synchronously in the same way as described above, control the pipe outlet disc (1205) to be stationary, so that the pipe coiled in the internal space can be stretched out, so that the spray system (2000) can move to a farther place; S3, supply injection: feeding through the feed inlet of the concrete pump to the concrete spraying machine (1103), opening the electric valve (1104c) connected with the injection system (2000), and pumping the concrete from the concrete spraying machine (1103) into the fixed input pipeline (1104a), and then through the rotary valve (1105), the rotary input pipeline (1104b), the electric valve (1104c), the injection pipeline (1206) and finally output from the circular nozzle (1206b); when the concrete injection is carried out, the slope is sprayed with concrete by the electric trolley on the injection clamping mechanism, the injection electric push rod (2006b) and the injection rotary motor (2006c), the left and right two groups of injection clamping mechanisms realize the horizontal injection path by pushing and pulling the electric push rod back and forth, and the inclination angle of the injection pipeline can be controlled by the injection rotary motor (2006c) of the two groups of mechanisms, so as to spray concrete on different angles or even the top surface of the tunnel; S4, real-time monitoring: when the concrete injection construction is carried out, the slope injection concrete thickness detection unit and the slope injection concrete uniformity temperature detection unit are controlled to move on the outer track (2005) at the same time, and the first rotary motor (2007a), the detection electric push rod (2007b) and the second rotary motor (2007c) are controlled to cooperate with each other, so that the detector mounting plate (2007d) can face the concrete injection surface, and the laser range finder matrix (2008) and the infrared thermometer matrix (2009) are started, the thickness and temperature of the slope are compared in real time to know the thickness and uniformity of the sprayed concrete on the slope, and then the mechanisms in step S3 are controlled to spray specifically, so as to improve the quality of concrete injection; After all the injection is completed and the detection is completed, the injection pipeline is withdrawn in the reverse way of step S2, and the connection between the feeding system (1000) and the injection system (2000) is disconnected, and thus the whole foundation pit support slope concrete injection is completed.

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