An automatic spraying maintenance system for prefabricated box beams

Abstract

The invention discloses an automatic spraying maintenance system for prefabricated box girders, and relates to the technical field of prefabricated box girders, comprising a maintenance trolley; a maintenance system is fixedly arranged on the top rear side of the maintenance trolley; an accumulator is fixedly installed on the top rear side of the maintenance trolley by bolts; by arranging a spatial combination layout of two groups of maintenance systems, each small sprinkler head is sprayed onto the beam surface and expanded to achieve full wetting coverage; by arranging a front collection system and a rear collection component, a temperature and humidity sensor is used to measure the surface humidity of the concrete, and based on the two collection methods of traditional monitoring cameras and cameras, the relationship between factors such as environmental temperature and humidity, wind speed and the surface humidity of the prefabricated beam is determined, the temperature difference between the beam surface and the environment and the spraying interval time are calculated, and accurate spraying maintenance that changes with the environment and the beam type is achieved; the water resource recycling system realizes the recycling of maintenance water, saving a large amount of water resources.

Description

Technical Field

[0001] The invention relates to the technical field of prefabricated box girders, in particular to an automatic spraying and curing system for prefabricated box girders. Background Art

[0002] Prefabricated box girders are a common construction method used in modern bridge construction. It involves manufacturing box girders in a factory or prefabrication yard and then transporting them to the construction site for installation; this method can improve construction efficiency, ensure quality, and shorten construction period.

[0003] Most of the existing automatic sprinkler maintenance systems set up sprinkler pipes in a fixed manner, and cooperate with time relays to perform intermittent and timed spraying on prefabricated beams. Although they can achieve automation and improve the spraying maintenance effect, they do not detect the real-time environment in the beam yard, which can easily lead to excessive spraying. At the same time, most of the existing maintenance systems find it difficult to monitor the temperature and humidity data in real time during the spraying process, resulting in unsatisfactory maintenance effects. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides an automatic spraying maintenance system for prefabricated box beams.

[0005] The present invention is implemented in this way: an automatic spraying maintenance system for prefabricated box girders is constructed, and the device includes a maintenance trolley; a maintenance system is fixedly arranged on the rear side of the top of the maintenance trolley; an accumulator is fixedly installed on the rear side of the top of the maintenance trolley by bolts; a front collection system is fixedly installed on the front side of the maintenance trolley frame by bolts; a water tank is arranged on the middle side of the top of the maintenance trolley, and a control system with a control function is fixedly installed inside the water tank by bolts.

[0006] The maintenance system includes a pressure cylinder with an adjusting function fixedly installed by bolts; the top of the pressure cylinder piston rod is inserted into the bottom groove of the fixed straight rod; a tooth groove is provided on the side of the fixed straight rod body, and a sliding sleeve is slidably provided on the fixed straight rod; a first angle adjustment component is fixedly installed on the side of the sliding sleeve by bolts; the first angle adjustment component is specifically composed of a motor and a gear set, and the gear set of the first angle adjustment component is meshed with the tooth groove on the side of the fixed straight rod body; a first multi-axis mechanical arm with an adjusting function is fixedly installed on the rear side of the sliding sleeve by bolts; a rear-mounted acquisition component with a data acquisition function is fixedly installed at the end of the first multi-axis mechanical arm by bolts; a spray component is inserted and fixedly provided on the top of the fixed straight rod.

[0007] Preferably, the post-collection assembly includes a fixing plate fixedly installed at the end of the first multi-axis robot arm by bolts; a driving motor with driving function is fixedly installed on the side of the fixing plate by bolts; a screw assembly is plugged and fixed on the transmission shaft on the left side of the driving motor; the screw assembly is specifically composed of a bidirectional screw and a screw sleeve transmission-arranged on the bidirectional screw and a connecting rod rotatably arranged on the screw sleeve; a rotor is fixedly connected to the end of the connecting rod of the screw assembly; a detection clamp is fixedly installed on the top of the fixing plate by bolts.

[0008] Preferably, two groups of through holes are arranged inside the detection clamp, and electromagnetic clamp rings are fixedly arranged inside the through holes; a temperature detector and a humidity detector with data collection function are clamped and fixed inside the electromagnetic clamp rings respectively.

[0009] Preferably, the spray assembly includes a second angle adjustment assembly that is plugged and fixedly installed on the top of the fixed straight rod; the second angle adjustment assembly is specifically composed of an outer shell, a clamping member rotatably arranged inside the outer shell, a gear set meshingly arranged on the outside of the clamping member, and a motor that drives the gear set to rotate; a visual camera is fixedly provided at the rear end of the outer shell of the second angle adjustment assembly by bolts; a spray pipe is clamped and fixed inside the clamping member of the second angle adjustment assembly; a booster pipe head is plugged and fixedly connected to the opening on the bottom side of the spray pipe; and rubber tubes are sleeved and fixedly connected to the left and right sides of the spray pipe.

[0010] Preferably, five groups of spray pipes and rubber tubes are respectively arranged on the left and right sides of the second angle adjustment component, and the spray pipes and rubber tubes on the sides of the second angle adjustment component are arranged alternately; a micro hydraulic cylinder is fixedly arranged at the bottom of the spray pipe, and a rotating shaft is provided at the end of the piston rod of the micro hydraulic cylinder, which is rotatably connected to the rotating seat at the bottom of the adjacent spray pipe.

[0011] Preferably, the front acquisition system includes an ultrasonic probe fixedly arranged on the front side of the maintenance trolley frame by bolts; and a second multi-axis robotic arm with an adjustment function is fixedly arranged on the front side of the maintenance trolley frame by bolts.

[0012] Preferably, a wind speed sensor and a detection terminal are fixedly provided at the ends of the second multi-axis robotic arm; the detection terminal is specifically composed of a transmission device with temperature detection and humidity detection.

[0013] Preferably, two groups of maintenance systems are fixedly arranged on the rear side of the top of the maintenance trolley; the tops of the spray pipes in the two groups of maintenance systems are respectively provided with centripetal integrated nozzles and eccentric integrated nozzles, and the nozzles are staggered at a certain angle to provide tiny nozzles with an outlet aperture of 1.0 mm.

[0014] Preferably, the adjustment distance of the pressure cylinders in the maintenance system on the front and rear sides of the top of the maintenance trolley is set in a 2:1 ratio; the control system is specifically composed of a surface humidity detection model unit and an intelligent decision-making unit.

[0015] A method for using an automatic spraying curing system for prefabricated box beams comprises the following steps:

[0016] Step 1: Control the posture of the maintenance trolley. Use the ultrasonic probe to detect the shortest distance from the maintenance trolley to the side of the beam, and use this to solve the position deviation between the maintenance trolley and the center line of the beam. Adjust the movement direction and speed of the robot accordingly to return it to the middle of the bottom surface of the beam.

[0017] Step 2: Environmental data collection: The second multi-axis robotic arm drives the wind speed sensor and the detection terminal to collect temperature, humidity and wind speed data at different positions on the side of the maintenance trolley;

[0018] Step 3: Collect surface data of the prefabricated box beam and calculate the data difference; then use the pressure cylinder on the top of the maintenance trolley to drive the fixed straight rod to adjust the height, and then adjust the appropriate height of the sliding sleeve and the first multi-axis mechanical arm through the first angle adjustment component, and then use the first multi-axis mechanical arm to drive the temperature detector and the humidity detector to fit the inner wall of the prefabricated box beam to detect its surface temperature and humidity, and calculate the difference between the measured surface temperature and humidity data and the environmental data measured by the front collection system;

[0019] Step 4: spraying maintenance; the second angle adjustment component drives the spray pipe to adjust the angle, and then the micro hydraulic cylinder pulls the two adjacent groups of spray pipes to adjust to form different curve states, so that the spraying can be more closely matched to the internal shape of the prefabricated box beam; through the spatial staggered combination layout, each nozzle of the spray pipe sprays to the beam surface and expands to achieve full wetting coverage;

[0020] Step 5: Spraying online detection: The high-speed rotation of the rotor can reduce the water droplets on the surface of the prefabricated box beam, and can also blow away the water mist formed by the spraying, thereby reducing the impact of the spraying water mist on the detection of the temperature detector and the humidity detector. It can detect the temperature and humidity changes on the inner wall surface of the prefabricated box beam during the spraying process, and determine the water and heat demand of the spraying supply based on the measured data changes;

[0021] Step 6: Control the maintenance time; record the maintenance data and time through the control system, and end the maintenance process after reaching the standard.

[0022] The present invention has the following advantages: The present invention provides an automatic spraying curing system for prefabricated box beams through improvement, which has the following improvements compared with similar equipment:

[0023] The automatic spraying and curing system for prefabricated box girders described in the present invention achieves full wetting coverage by setting up a spatial combination layout of two groups of curing systems, so that each small nozzle can spray on the beam surface and expand it; a front collection system and a rear collection component are set up, and a temperature and humidity sensor is used to measure the surface humidity of the concrete, and based on the two collection methods of traditional monitoring cameras and cameras, the relationship between factors such as ambient temperature and humidity, wind speed, and the surface humidity of the prefabricated beam is determined, and the temperature difference between the beam surface and the environment and the spraying interval time are calculated, thereby realizing precise spraying curing that changes with the environment and beam type; the water resource recycling system realizes the recycling of curing water, saving a large amount of water resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0025] Figure 2 It is a schematic diagram of the axial structure of the maintenance system of the present invention;

[0026] Figure 3 It is a schematic diagram of the axial structure of the rear collection component of the present invention;

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the electromagnetic clamp ring, the temperature detector and the humidity detector of the present invention;

[0028] Figure 5 The present invention Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0029] Figure 6 The present invention Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0030] Figure 7 It is a schematic diagram of the process of the present invention.

[0031] Among them: maintenance trolley-1, maintenance system-2, accumulator-3, front collection system-4, control system-5, pressure cylinder-21, fixed straight rod-22, sliding sleeve-23, first angle adjustment component-24, first multi-axis robotic arm-25, rear collection component-26, spray component-27, fixed plate-261, drive motor-262, screw assembly-263, rotor-264, detection clamp-265, electromagnetic clamp ring-266, temperature detector-267, humidity detector-268, second angle adjustment component-271, visual camera-272, spray pipe-273, booster pipe head-274, rubber tube-275, micro hydraulic cylinder-276, ultrasonic probe-41, second multi-axis robotic arm-42, wind speed sensor-43, detection terminal-44. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1 to Figure 7 The principles and features of the present invention are described, and the examples given are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention is described in more detail by way of example with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0033] Embodiment 1:

[0034] See also Figure 1 to Figure 7 An automatic spraying curing system for prefabricated box girders of the present invention comprises a curing trolley 1; a curing system 2 is fixedly arranged on the top rear side of the curing trolley 1; an accumulator 3 is fixedly installed on the top rear side of the curing trolley 1 by bolts; a front collection system 4 is fixedly installed on the front side of the frame of the curing trolley 1 by bolts; a water storage tank is arranged on the middle side of the top of the curing trolley 1, and a control system 5 with a control function is fixedly installed inside the water storage tank by bolts.

[0035] Two groups of maintenance systems 2 are fixedly arranged on the rear side of the top of the maintenance trolley 1; the tops of the spray pipes 273 in the two groups of maintenance systems 2 are respectively provided with centripetal integrated nozzles and eccentric integrated nozzles, and the nozzles are staggered at a certain angle to distribute tiny nozzles with a water outlet aperture of 1.0 mm; the adjustment distance of the pressure cylinders 21 in the maintenance system 2 on the front and rear sides of the top of the maintenance trolley 1 is set in a 2:1 ratio; the control system 5 is specifically composed of a surface humidity detection model unit and an intelligent decision-making unit.

[0036] The maintenance system 2 includes a pressure cylinder 21 with an adjusting function fixedly installed by bolts; the top of the piston rod of the pressure cylinder 21 is inserted into the bottom groove of the fixed straight rod 22; a tooth groove is provided on the side of the rod body of the fixed straight rod 22, and a sliding sleeve 23 is slidably provided on the fixed straight rod 22; a first angle adjustment component 24 is fixedly installed on the side of the sliding sleeve 23 by bolts; the first angle adjustment component 24 is specifically composed of a motor and a gear set, and the gear set of the first angle adjustment component 24 is meshed with the tooth groove on the side of the rod body of the fixed straight rod 22; a first multi-axis mechanical arm 25 with an adjusting function is fixedly installed on the rear side of the sliding sleeve 23 by bolts; a rear-mounted acquisition component 26 with a data acquisition function is fixedly installed at the end of the first multi-axis mechanical arm 25 by bolts; a spray component 27 is inserted and fixedly provided on the top of the fixed straight rod 22.

[0037] The rear acquisition component 26 includes a fixing plate 261 fixedly installed at the end of the first multi-axis robot arm 25 by bolts; a driving motor 262 with a driving function is fixedly installed on the side of the fixing plate 261 by bolts; a screw assembly 263 is plugged and fixed at the transmission shaft on the left side of the driving motor 262; the screw assembly 263 is specifically composed of a bidirectional screw and a screw sleeve that is transmitted and arranged on the bidirectional screw, and a connecting rod that is rotatably arranged on the screw sleeve; a rotor 264 is fixedly connected to the end of the connecting rod of the screw assembly 263; a detection clamp 265 is fixedly installed on the top of the fixing plate 261 by bolts, and a circuit for supplying energy to an electromagnetic clamp ring 266 is arranged inside the detection clamp 265; two groups of through holes are arranged on the inner side of the detection clamp 265, and an electromagnetic clamp ring 266 is fixedly arranged inside the through holes; a temperature detector 267 and a humidity detector 268 with a data acquisition function are clamped and fixed inside the electromagnetic clamp ring 266.

[0038] The spray assembly 27 includes a second angle adjustment assembly 271 which is plugged and fixedly installed on the top of the fixed straight rod 22; the second angle adjustment assembly 271 is specifically composed of a shell, a clamping member rotatably arranged inside the shell, a gear set meshingly arranged outside the clamping member, and a motor driving the gear set to rotate; a visual camera 272 is fixedly arranged at the rear end of the shell of the second angle adjustment assembly 271 by bolts; a spray pipe 273 is clamped and fixed inside the clamping member of the second angle adjustment assembly 271; the bottom opening of the spray pipe 273 is inserted into the A booster pipe head 274 is fixed to it; rubber tubes 275 are sleeved and fixed on the left and right sides of the spray pipe 273; five groups of spray pipes 273 and rubber tubes 275 are respectively arranged on the left and right sides of the second angle adjustment component 271, and the spray pipes 273 and rubber tubes 275 on the sides of the second angle adjustment component 271 are arranged in a staggered manner, a micro hydraulic cylinder 276 is fixedly arranged at the bottom of the spray pipe 273, and a rotating shaft is provided at the end of the piston rod of the micro hydraulic cylinder 276, which is rotatably connected to the rotating seat at the bottom of the adjacent spray pipe 273.

[0039] Embodiment 2:

[0040] See also Figure 1 to Figure 7 Compared with the first embodiment, the present invention provides an automatic spraying maintenance system for prefabricated box girders, and the present embodiment further includes: a front acquisition system 4 includes an ultrasonic probe 41 fixedly arranged on the front side of a maintenance trolley 1 frame by bolts; a second multi-axis mechanical arm 42 with an adjustment function is fixedly arranged on the front side of the maintenance trolley 1 frame by bolts; a wind speed sensor 43 and a detection terminal 44 are fixedly arranged at the ends of the second multi-axis mechanical arm 42; the detection terminal 44 is specifically composed of a transmission device with temperature detection and humidity detection.

[0041] The working principle of the above-mentioned automatic spraying maintenance system for prefabricated box beams is:

[0042] First, when using the device, first place the device in the working area, and then connect the device to an external power source to provide the device with the power required for operation. The staff uses external instruments to calibrate the data of the sensors used for collection in the front collection system 4 and the rear collection component 26. At the same time, the internal power supply circuit of the detection clamp 265 can be used to provide electric energy for the electromagnetic clamp ring 266, so that it can provide fast clamping for the temperature detector 267 and the humidity detector 268, so as to facilitate quick disassembly and assembly to improve the efficiency of data correction and equipment maintenance;

[0043] Second, when performing spray maintenance, the autonomous operation program is started through the control system 5. Here, the maintenance trolley 1 is controlled to drive the maintenance system 2 and the accumulator 3 and other components to move inside the prefabricated box beam. Here, since the ultrasonic probe 41 is installed on the side of the maintenance trolley 1 along a given position, and since the inner walls of the prefabricated box beam are parallel, if the maintenance trolley 1 can move along the center line of the prefabricated box beam, the return value detected by the ultrasonic probe 41 is equal. When the maintenance trolley 1 deviates, the ultrasonic probe 41 measures the shortest distance from the maintenance trolley 1 to the side wing of the beam, thereby solving the position deviation between the maintenance trolley 1 and the center line of the beam body, realizing the local positioning of the robot, and adjusting the movement direction and speed of the robot accordingly to make it return to the middle of the bottom surface of the beam;

[0044] Third, the wind speed sensor 43 and the detection terminal 44 are driven by the second multi-axis mechanical arm 42 to collect data on temperature, humidity and wind speed at different positions on the side of the maintenance trolley 1; then the pressure cylinder 21 on the top of the maintenance trolley 1 drives the fixed straight rod 22 to adjust the height, so that the fixed straight rod 22 drives the sliding sleeve 23 and the spray assembly 27 to adjust the height respectively. Here, due to the visual detection provided by the visual camera 272 arranged at the rear end of the second angle adjustment assembly 271, the pressure cylinder 21 and the fixed straight rod 22 are controlled to drive the spray assembly 27 to approach the inner wall of the prefabricated box beam, and then the motor-driven gear set in the first angle adjustment assembly 24 is engaged with the side tooth groove of the fixed straight rod 22, so as to adjust the appropriate height of the sliding sleeve 23 and the first multi-axis mechanical arm 25 again, and then the temperature detector 267 and the humidity detector 268 are driven by the first multi-axis mechanical arm 25 to fit the inner wall of the prefabricated box beam to detect its surface temperature and humidity, and the measured surface temperature and humidity data are the difference between the environmental data measured by the front collection system 4;

[0045] Fourth, when the difference reaches a certain value, the spraying maintenance process is executed. Here, the motor and gear set in the second angle adjustment component 271 drive the internal clamping parts and the spray pipe 273 to perform angle adjustment, and then the visual detection data measured by the visual camera 272 provide hydraulic values ​​for multiple groups of micro hydraulic cylinders 276. Here, the micro hydraulic cylinders 276 pull the angles between the two adjacent groups of spray pipes 273 to adjust, so that the multiple groups of spray pipes 273 can form different curve states, so that they can be more closely matched and sprayed according to the internal shape of the prefabricated box beam;

[0046] Fifth, the water mist for spraying is then transported to the spray pipe 273 through the connecting pipe and the booster pipe head 274 through the temperature-controlled water tank arranged on the maintenance trolley 1, and is led out through the nozzles arranged on the spray pipe 273 for maintenance. Here, two sets of maintenance systems 2 are arranged in a high and low shape on the top side of the maintenance trolley 1, and each nozzle of the spray pipe 273 is sprayed to the beam surface through a spatial staggered combination layout, so that after expansion, the wetting is fully covered; during the spraying process, the high-speed rotation of the rotor 264 is used to reduce the water droplets on the surface of the prefabricated box beam, and the water mist formed by the spraying can also be blown away, thereby reducing the spray The influence of the water mist on the detection of the temperature detector 267 and the humidity detector 268 can detect the changes in temperature and humidity on the inner wall surface of the precast box beam during the spraying process, and determine the water and heat demand of the spraying supply based on the measured data changes. The visual camera 272 is also used to collect image data after spraying. The monitoring model determines whether the surface humidity of the precast beam in the monitoring screen is >90%RH or <90%RH, and marks the area with surface humidity >90%RH and the area with surface humidity <90%RH; then the control system 5 records the maintenance data and duration, and ends the maintenance process after meeting the standards.

[0047] The present invention provides an automatic spraying maintenance system for prefabricated box girders through improvement. By setting up a spatial combination layout of two groups of maintenance systems 2, each small nozzle can spray on the beam surface and expand it to achieve full wetting coverage; by setting up a front collection system 4 and a rear collection component 26, a temperature and humidity sensor is used to measure the surface humidity of the concrete, and based on the two collection methods of traditional monitoring cameras and cameras, the relationship between factors such as environmental temperature and humidity, wind speed and the surface humidity of the prefabricated beam is determined, and the temperature difference between the beam surface and the environment and the spraying interval time are calculated, thereby realizing precise spraying maintenance that changes with the environment and the beam type; the water resource recycling system realizes the recycling of maintenance water, saving a large amount of water resources.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0049] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic spraying curing system for prefabricated box girders, comprising a curing trolley (1); a curing system (2) is fixedly arranged on the rear side of the top of the curing trolley (1); an accumulator (3) is fixedly installed on the rear side of the top of the curing trolley (1) by bolts; a front collection system (4) is fixedly installed on the front side of the frame of the curing trolley (1) by bolts; a water storage tank is arranged on the middle side of the top of the curing trolley (1), and a control system (5) having a control function is fixedly installed inside the water storage tank by bolts; Features: The maintenance system (2) comprises a pressure cylinder (21) having an adjusting function and fixedly installed by bolts; the top of the piston rod of the pressure cylinder (21) is inserted and arranged at the bottom groove of the fixed straight rod (22); a tooth groove is arranged on the side of the rod body of the fixed straight rod (22), and a sliding sleeve (23) is slidably arranged on the fixed straight rod (22); a first angle adjustment component (24) is fixedly installed on the side of the sliding sleeve (23) by bolts; the first angle adjustment component (24) is specifically composed of a motor and a gear set, and the gear set of the first angle adjustment component (24) is meshed with the tooth groove on the side of the rod body of the fixed straight rod (22); a first multi-axis mechanical arm (25) having an adjusting function is fixedly installed on the rear side of the sliding sleeve (23) by bolts; a rear-mounted collection component (26) having a data collection function is fixedly installed at the end of the first multi-axis mechanical arm (25) by bolts; a spray component (27) is inserted and fixedly arranged on the top of the fixed straight rod (22); The post-collection assembly (26) comprises a fixing plate (261) fixedly mounted at the end of the first multi-axis mechanical arm (25) by means of bolts; a driving motor (262) having a driving function is fixedly mounted on the side of the fixing plate (261) by means of bolts; a screw assembly (263) is plugged and fixedly mounted on the transmission shaft on the left side of the driving motor (262); the screw assembly (263) specifically comprises a bidirectional screw, a screw sleeve which is transmission-mounted on the bidirectional screw, and a connecting rod which is rotationally mounted on the screw sleeve; a rotor (264) is fixedly connected to the end of the connecting rod of the screw assembly (263); and a detection clamp (265) is fixedly mounted on the top of the fixing plate (261) by means of bolts; The spray assembly (27) comprises a second angle adjustment assembly (271) plugged and fixedly installed on the top of the fixed straight rod (22); the second angle adjustment assembly (271) specifically comprises a shell, a clamping member rotatably arranged inside the shell, a gear set meshingly arranged outside the clamping member, and a motor driving the gear set to rotate; a visual camera (272) is fixedly arranged at the rear end of the shell of the second angle adjustment assembly (271) by bolts; a spray pipe (273) is clamped and fixed inside the clamping member of the second angle adjustment assembly (271); a booster pipe head (274) is plugged and fixedly connected to the bottom opening of the spray pipe (273); and rubber tubes (275) are sleeved and fixedly connected to the left and right sides of the spray pipe (273); Five groups of spray pipes (273) and rubber tubes (275) are respectively arranged on the left and right sides of the second angle adjustment component (271), and the spray pipes (273) and rubber tubes (275) on the side of the second angle adjustment component (271) are arranged in a staggered manner; a micro hydraulic cylinder (276) is fixedly arranged at the bottom of the spray pipe (273), and a rotating shaft is provided at the end of the piston rod of the micro hydraulic cylinder (276), and the rotating shaft is rotatably connected to the rotating seat at the bottom of the adjacent spray pipe (273).

2. According to claim 1, the automatic spraying curing system for prefabricated box beams is characterized in that: Two groups of through holes are arranged inside the detection clamp (265), and electromagnetic clamp rings (266) are fixedly arranged inside the through holes; a temperature detector (267) and a humidity detector (268) having a data collection function are clamped and fixed inside the electromagnetic clamp ring (266).

3. According to claim 2, the automatic spraying curing system for prefabricated box beams is characterized in that: The front acquisition system (4) comprises an ultrasonic probe (41) fixedly arranged on the front side of a frame of the maintenance trolley (1) by means of bolts; a second multi-axis mechanical arm (42) having an adjusting function is fixedly arranged on the front side of the frame of the maintenance trolley (1) by means of bolts.

4. The automatic spraying curing system for prefabricated box beams according to claim 3 is characterized in that: A wind speed sensor (43) and a detection terminal (44) are fixedly arranged at the ends of the second multi-axis mechanical arm (42); the detection terminal (44) is specifically composed of a transmission device capable of temperature detection and humidity detection.

5. The automatic spraying curing system for prefabricated box beams according to claim 4 is characterized in that: Two groups of maintenance systems (2) are fixedly arranged on the rear side of the top of the maintenance trolley (1); the tops of the spray pipes (273) in the two groups of maintenance systems (2) are respectively provided with a centripetal integrated spray head and an eccentric integrated spray head, and the spray heads are staggered at a certain angle and have a water outlet aperture of 1.0 mm.

6. The automatic spraying curing system for prefabricated box beams according to claim 5 is characterized in that: The adjustment distance of the pressure cylinders (21) in the maintenance system (2) at the front and rear sides of the top of the maintenance trolley (1) is set in a ratio of 2:1; the control system (5) is specifically composed of a surface moisture detection model unit and an intelligent decision-making unit.

7. A method for using an automatic spraying curing system for prefabricated box girders, implementing an automatic spraying curing system for prefabricated box girders as claimed in claim 6, characterized in that: The following steps are involved: Step 1: Controlling the posture of the maintenance trolley (1); determining the shortest distance from the maintenance trolley (1) to the side of the beam by detecting the value of the ultrasonic probe (41), thereby solving the position deviation between the maintenance trolley (1) and the center line of the beam, and adjusting the movement direction and speed of the robot accordingly, so that it returns to the middle of the bottom surface of the beam; Step 2: Environmental data collection: using the second multi-axis mechanical arm (42) to drive the wind speed sensor (43) and the detection terminal (44) to collect temperature, humidity and wind speed data at different positions on the side of the maintenance trolley (1); Step 3: Collecting surface data of the prefabricated box beam and calculating the data difference; then, the pressure cylinder (21) on the top of the maintenance trolley (1) drives the fixed straight rod (22) to adjust the height, and then, the first angle adjustment component (24) is used to adjust the appropriate height of the sliding sleeve (23) and the first multi-axis mechanical arm (25); then, the first multi-axis mechanical arm (25) drives the temperature detector (267) and the humidity detector (268) to fit the inner wall of the prefabricated box beam to detect the surface temperature and humidity, and the measured surface temperature and humidity data are compared with the environmental data measured by the front collection system (4); Step 4: spraying maintenance; the spray pipe (273) is driven to perform angle adjustment by the second angle adjustment component (271), and then two adjacent groups of spray pipes (273) are pulled by the micro hydraulic cylinder (276) to adjust and form different curved states, so that spraying can be performed more closely according to the internal shape of the prefabricated box beam; through the spatial staggered combination layout, each nozzle of the spray pipe (273) is sprayed on the beam surface and expanded to achieve full wetting coverage; Step 5, spraying online detection; by the high-speed rotation of the rotor (264), the water droplets on the surface of the prefabricated box beam are reduced, and the water mist formed by the spraying can be blown away, thereby reducing the detection effect of the spraying water mist on the temperature detector (267) and the humidity detector (268), and the temperature and humidity changes on the inner wall surface of the prefabricated box beam during the spraying process can be detected, and the water and heat demand of the spraying supply can be determined according to the measured data changes; Step 6: Control the maintenance time; record the maintenance data and time through the control system (5), and end the maintenance process when the standard is met.

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