Monorail crane type guniting device

Abstract

The invention discloses a monorail crane type guniting device which comprises a monorail crane beam, an electric control unit and a hydraulic unit are integrally installed in a control cabinet, two driving connecting rods located on the same straight line are installed on one side of the control cabinet, a driving unit is arranged between the two driving connecting rods, and the tail ends of the driving connecting rods are connected with a roadway supporting unit. The roadway supporting unit is provided with two sets of telescopic supporting legs, the rotation unit is installed at the bottom of the roadway supporting unit, the rotation unit is hinged to the first-stage variable-amplitude mechanical arm and the second-stage variable-amplitude mechanical arm, and the gun head unit is installed at the tail end of the second-stage variable-amplitude mechanical arm. According to the scheme, through automatic spraying track planning, precise distance regulation and control and dust suppression technologies, the core problems of high manual operation intensity, large material loss, prominent occupational health risk and the like are effectively solved, and intelligent upgrading of a guniting process and comprehensive improvement of operation efficiency are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel spraying, and in particular to a monorail hanging type spraying device. Background Art

[0002] Shotcrete support is the mainstream support technology in the field of modern engineering construction, and is widely used in railway and highway tunnels, mine tunnels, water conservancy and hydropower tunnels, urban subways, building foundation pits, road slopes and underground projects. Traditional small shotcrete equipment relies on manual operation, and has systemic defects such as high operation intensity, excessive mortar rebound rate resulting in significant loss of raw materials, and excessive dust concentration during the spraying process that endangers the occupational health of operators.

[0003] The current manual spraying process is specifically as follows: the operator needs to hold the spray gun and perform spiral horizontal movement, forming a 150-400mm wide spray belt starting from the bottom of the tunnel side wall, using a circle-pressed half-circle progressive method, and the spray angle needs to keep the verticality of the sprayed surface not less than 75°, and the distance between the end of the spray gun and the sprayed surface is controlled in the range of 900-1100mm; after completing the set length of straight line spraying, the spray gun needs to be raised 250-300mm and reverse spiral translation, and the spraying operation covering an area of ​​about 230° is completed in this cycle. This process mode not only has strict physical requirements on the operator, but also easily leads to problems such as spray angle deviation and spacing fluctuation due to human factors, which aggravate material waste and dust pollution.

[0004] In view of the technical shortcomings of the above-mentioned traditional processes, the present invention implements systematic optimization based on the manual spraying operation process and proposes a monorail hanging spraying device. Summary of the invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a monorail suspended shotcrete device, which, through automated spray trajectory planning, precise distance control and dust suppression technology, effectively solves core problems such as high manual operation intensity, large material loss, and prominent occupational health risks, thereby realizing the intelligent upgrade of the shotcrete process and the comprehensive improvement of operational efficiency.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts a monorail hanging type spraying device, including a monorail hanging beam centrally arranged in parallel to the tunnel, and the monorail hanging beam is sequentially arranged with a control cabinet, a drive unit, a tunnel support unit, a rotation unit, a primary variable-length mechanical arm, a secondary variable-length mechanical arm and a gun head unit along a straight line direction, the control cabinet is integrated with an electric control unit and a hydraulic unit, and one side of the control cabinet is equipped with two driving connecting rods located in the same straight line, the driving unit is arranged between the two driving connecting rods, and the end of the driving connecting rod is connected to the tunnel support unit, the tunnel support unit is equipped with two sets of retractable legs, and the retractable legs are anchored to the tunnel roof during spraying operation, a rotation unit is installed at the bottom of the tunnel support unit, the rotation unit is respectively hinged to the primary variable-length mechanical arm and the secondary variable-length mechanical arm, two synchronously retractable first telescopic cylinders are arranged between the primary variable-length mechanical arm and the rotation unit, two synchronously retractable second telescopic cylinders are arranged between the primary variable-length mechanical arm and the secondary variable-length mechanical arm, and a gun head unit is installed at the end of the secondary variable-length mechanical arm.

[0007] As a further optimization of the above scheme, the above-mentioned two-stage variable amplitude mechanical arm controls the gun head unit to perform variable amplitude movement within a range of 25° above and below the parallel line formed by the intersection of the center line of the belt conveyor in the lane and the center line of the lane.

[0008] As a further optimization of the above solution, the primary luffing robotic arm controls the secondary luffing robotic arm to rotate within a range of 50°.

[0009] As a further optimization of the above solution, laser ranging sensors are provided on both sides of the left and right sides of the secondary variable-length robotic arm.

[0010] As a further optimization of the above solution, a fuselage inclination sensor is provided inside the hydraulic unit.

[0011] As a further optimization of the above solution, a left-right rotation angle sensor is provided on the top of the rotary unit.

[0012] As a further optimization of the above solution, a telescopic displacement sensor is provided on one side of the first telescopic oil cylinder and the second telescopic oil cylinder.

[0013] As a further optimization of the above scheme, the gun head unit includes a first rotating motor connected to the secondary variable amplitude mechanical arm, the output end of the first rotating motor is connected to a connecting frame, a first swing motor is installed on the connecting frame, a nozzle bracket is installed on the base of the first swing motor, the spray head is swivel-fitted on the nozzle bracket and a second swing motor is connected to the input end of the nozzle.

[0014] As a further optimization of the above scheme, the nozzle bracket includes a fixed ring, which is arranged around the outer circumference of the spray head. An annular connecting groove is provided on the fixed ring. Several sliding blocks are slidably fitted in the connecting groove. An arc spring is arranged between adjacent sliding blocks. The sliding block is hinged to the second swing motor through a telescopic rod. The sliding block fixes a scraper blade toward one side of the spray head, and the rotation path of the scraper blade covers the outer wall of the spray head.

[0015] As a further optimization of the above solution, the sliding block extends toward the spray head and forms a first connecting portion, a second connecting portion extending and formed along a straight line direction of the spray head is fixed on the first connecting portion, and the scrapers are arranged in a rectangular array along the second connecting portion.

[0016] A monorail hanging type spraying method, the spraying method uses a monorail hanging type spraying device as described in any of the above schemes.

[0017] The monorail hanging type spraying device of the present invention has the following beneficial effects:

[0018] 1. The monorail hanging spraying device of the present invention realizes high-precision positioning and automatic control of the spraying operation by integrating the electronic control unit and the hydraulic unit, and combining a multi-modal sensing system such as a laser ranging sensor, a body inclination sensor, a rotation angle sensor, and a telescopic displacement sensor. The laser ranging sensor detects the distance and posture between the spraying gun head and the tunnel wall in real time, the inclination sensor monitors the horizontal inclination angle of the body, the rotation angle sensor feeds back the rotation angle of the mechanical arm, and the telescopic displacement sensor controls the cylinder stroke to ensure that the spraying head maintains a constant distance and angle with the working surface. The present invention realizes precise positioning of the hydraulic actuator through a pressure-sensitive proportional control valve, and realizes multi-joint linkage automatic tracking spraying in combination with a software algorithm, which significantly improves the efficiency and quality of the spraying operation.

[0019] 2. A monorail suspended spraying device of the present invention, through the coordinated work of the first-level variable-length mechanical arm and the second-level variable-length mechanical arm, realizes the variable-length movement of the spraying head within a range of 25° above and below the parallel line formed by the intersection of the center line of the belt conveyor and the center line of the lane in the lane, and the rotation of the second-level variable-length mechanical arm within a range of 50°, which can meet the spraying needs of different lane sections.

[0020] 3. A monorail hanging type spraying device of the present invention, the gun head unit adopts a modular integrated architecture, equipped with a first rotary motor to drive axial rotation, a first swing motor to control the pitch angle and a second swing motor to adjust the yaw attitude, forming a three-dimensional space multi-degree-of-freedom motion trajectory of the spray head. The spray head bracket is equipped with an annular sliding assembly, and the scraper blade dynamically removes the surface rebound slurry along the outer circumferential path when the spray head rotates.

[0021] With reference to the following description and drawings, a specific embodiment of the present invention is disclosed in detail, indicating the manner in which the principle of the present invention can be adopted. It should be understood that the scope of the embodiment of the present invention is not limited thereby, and the embodiment of the present invention includes many changes, modifications and equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of a monorail hanging type shotcrete device;

[0023] Figure 2 It is a side view structural schematic diagram of a monorail hanging type shotcrete device;

[0024] Figure 3 This is a schematic diagram of the main structure of the gun head unit in the present invention;

[0025] Figure 4 It is a schematic diagram of the top view of the gun head unit in the present invention;

[0026] Figure 5 It is a side view structural schematic diagram of the gun head unit in the present invention;

[0027] Figure 6 It is a rear view structural schematic diagram of the nozzle support in the present invention;

[0028] Figure 7 It is a schematic diagram of the side structure of the scraper blade in the present invention.

[0029] In the figure: 1. monorail hanging beam; 2. control cabinet; 21. electronic control unit; 22. hydraulic unit; 3. drive unit; 31. drive connecting rod; 4. tunnel support unit; 41. telescopic support leg; 5. slewing unit; 6. primary luffing mechanical arm; 61. first telescopic oil cylinder; 7. secondary luffing mechanical arm; 71. second telescopic oil cylinder; 8. gun head unit; 81. first rotating motor; 82. connecting frame; 83. first swing motor; 84. nozzle bracket; 841. fixing ring; 842. connecting groove; 843. sliding block; 844. arc spring; 845. telescopic rod; 85. spraying head; 86. second swing motor; 87. scraper; 871. first connecting part; 872. second connecting part. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0031] It should be noted that when an element is referred to as being "disposed on, provided with" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected, connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. "Fixed connection" means a fixed connection. There are many ways of fixed connection, which are not within the scope of protection of this article. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only and do not represent the only implementation method.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0033] Please refer to the instruction manual Figure 1-7 The present invention provides a first embodiment of a monorail hanging type shotcrete device, in which the shotcrete device includes a monorail hanging beam 1 arranged parallel to the center of the tunnel. The monorail hanging beam 1 is sequentially arranged with a control cabinet 2, a drive unit 3, a tunnel support unit 4, a slewing unit 5 and a gun head unit 8 along a straight line. An electric control unit 21 and a hydraulic unit 22 are integrated and installed in the control cabinet 2. Two coaxially arranged drive connecting rods 31 are installed on one side of the control cabinet 2, and the drive unit 3 is arranged between the two drive connecting rods 31. The end of the drive connecting rod 31 is connected to the tunnel support unit 4, and the tunnel support unit 4 is equipped with two sets of retractable legs 41. During the shotcrete operation, the retractable legs 41 are anchored to the tunnel roof. A slewing unit 5 is installed at the bottom of the tunnel support unit 4, and the slewing unit 5 is respectively hinged to the primary variable-length mechanical arm 6 and the secondary variable-length mechanical arm 7. Two synchronously telescopic first telescopic oil cylinders 61 are arranged between the primary luffing mechanical arm 6 and the rotary unit 5, and two synchronously telescopic second telescopic oil cylinders 71 are arranged between the primary luffing mechanical arm 6 and the secondary luffing mechanical arm 7. A gun head unit 8 is installed at the end of the secondary luffing mechanical arm 7.

[0034] Furthermore, the secondary variable-length mechanical arm 7 controls the gun head unit 8 to perform variable-length movement within a range of 25° above and below the parallel line formed by the intersection of the center line of the belt conveyor and the center line of the lane. The primary variable-length mechanical arm 6 controls the secondary variable-length mechanical arm 7 to rotate within a range of 50°. Laser ranging sensors are set on both sides of the secondary variable-length mechanical arm 7, a body inclination sensor is set inside the hydraulic unit 22, a left and right rotation angle sensor is set on the top of the rotary unit 5, and a telescopic displacement sensor is set on one side of the first telescopic oil cylinder 61 and the second telescopic oil cylinder 71.

[0035] The gun head unit 8 includes a first rotating motor 81 connected to the secondary variable amplitude mechanical arm 7, the output end of the first rotating motor 81 is fixedly connected to a connecting frame 82, a first swinging motor 83 is installed on the connecting frame 82, and a nozzle bracket 84 is fixed to the base of the first swinging motor 83. The spray head 85 is rotatably mounted on the nozzle bracket 84, and the input end of the spray head 85 is connected to the second swinging motor 86. The nozzle bracket 84 includes a fixed ring 841, which is arranged around the outer circumference of the spray head 85, and an annular connecting groove 842 is provided on the fixed ring 841. A plurality of sliding blocks 843 are slidably matched in the connecting groove 842, and an arc spring 844 is arranged between adjacent sliding blocks 843. The sliding block 843 and the second swinging motor 86 are hinged through a telescopic rod 845. The sliding block 843 is fixed with a scraper 87 toward one side of the spray head 85, and the rotating path of the scraper 87 covers the outer wall of the spray head 85.

[0036] The sliding block 843 extends toward the spray head 85 and forms a first connecting portion 871 , on which a second connecting portion 872 extending in a straight line along the spray head 85 is fixed, and the scrapers 87 are arranged in a rectangular array along the second connecting portion 872 .

[0037] This embodiment provides a monorail hanging type spraying method, and the working process of the spraying method is as follows:

[0038] S1, equipment startup and positioning:

[0039] The monorail hanging type spraying device is started, and the integrated electric control unit 21 and the hydraulic unit 22 begin to operate.

[0040] The driving device drives the tunnel support unit 4 to move to the target position through two driving connecting rods 31, and the retractable legs 41 are anchored to the tunnel roof to ensure the stability of the device.

[0041] The laser distance sensor detects the distance and posture between the shotcrete gun head and the tunnel wall in real time, the fuselage inclination sensor monitors the horizontal inclination angle of the device, the rotation angle sensor feeds back the rotation angle of the mechanical arm, and the telescopic displacement sensor controls the cylinder stroke to ensure that the shotcrete head 85 maintains a constant distance and angle with the working surface.

[0042] S2, Robotic arm adjustment and shotcrete preparation:

[0043] The rotary unit 5 drives the primary luffing mechanical arm 6 and the secondary luffing mechanical arm 7 to adjust their positions. The primary luffing mechanical arm 6 controls the secondary luffing mechanical arm 7 to rotate within a range of 50° through the first telescopic oil cylinder 61, and the secondary luffing mechanical arm 7 controls the gun head unit 8 to perform luffing movement within a range of 25° above and below the parallel line formed by the intersection of the center line of the belt conveyor in the lane and the center line of the lane.

[0044] The first rotating motor 81 of the gun head unit 8 drives the spray head 85 to rotate axially, the first swinging motor 83 controls the pitch angle of the spray head 85, and the second swinging motor 86 adjusts the yaw attitude of the spray head 85 to form a three-dimensional multi-degree-of-freedom motion trajectory of the spray head 85.

[0045] S3, Shotcrete operation:

[0046] The spray head 85 starts to spray the slurry, and the scraper 87 on the spray head bracket 84 rotates with the spray head 85 to dynamically remove the surface rebound slurry along the outer circumferential path.

[0047] S4, operation completed and equipment reset:

[0048] After the grouting operation is completed, the mechanical arm is reset, the retractable legs 41 are released from anchoring, and the drive device drives the device to return to the initial position.

[0049] Please refer to the instruction manual Figure 1-7 The present invention provides a second embodiment of a monorail hanging spraying device. In this embodiment, the monorail hanging spraying device integrates an electronic control unit 21 and a hydraulic unit 22, and combines a laser ranging sensor, a body inclination sensor, a rotation angle sensor, a telescopic displacement sensor and other multi-modal sensing systems to achieve high-precision positioning and automatic control of the spraying operation. The laser ranging sensor detects the distance and posture between the spray gun head and the tunnel wall in real time, the inclination sensor monitors the horizontal inclination angle of the body, the rotation angle sensor feeds back the rotation angle of the mechanical arm, and the telescopic displacement sensor controls the cylinder stroke to ensure that the spray head 85 maintains a constant distance and angle with the working surface. The hydraulic actuator is precisely positioned through a pressure-sensitive proportional control valve, and multi-joint linkage automatic tracking spraying is achieved in combination with a software algorithm, which significantly improves the efficiency and quality of the spraying operation.

[0050] In addition, the primary variable-length mechanical arm 6 and the secondary variable-length mechanical arm 7 work together to realize the variable-length movement of the spray head 85 within a range of 25° above and below the parallel line formed by the intersection of the center line of the belt conveyor and the center line of the lane, and the rotation of the secondary variable-length mechanical arm 7 within a range of 50°, to meet the spraying requirements of different lane sections. The gun head unit 8 adopts a modular integrated architecture, equipped with a first rotating motor 81 to drive axial rotation, a first swing motor 83 to control the pitch angle, and a second swing motor 86 to adjust the yaw attitude, forming a three-dimensional multi-degree-of-freedom motion trajectory of the spray head 85. The spray head bracket 84 is equipped with an annular sliding assembly. When the spray head 85 rotates, on the one hand, rotary spraying is realized, and on the other hand, the scraper 87 dynamically removes the surface rebound slurry along the outer circumferential path.

[0051] The present embodiment provides a monorail hanging type spraying device, and the working process is as follows:

[0052] S1, system initialization and positioning:

[0053] The starting device, the electronic control unit 21 and the hydraulic unit 22 work together, and the driving device drives the tunnel support unit 4 to move to the target position through the driving connecting rod 31.

[0054] The retractable legs 41 are anchored to the tunnel roof to ensure the stability of the device. The multi-modal sensing system (laser distance sensor, body tilt sensor, rotation angle sensor and telescopic displacement sensor) monitors the device status in real time to ensure that the spray head 85 maintains an accurate distance and angle with the working surface.

[0055] S2, Robotic arm coordinated adjustment:

[0056] The primary luffing robot 6 adjusts the position of the secondary luffing robot 7 through the first telescopic cylinder 61. The secondary luffing robot 7 controls the gun head unit 8 to perform luffing movement within a range of 25° above and below the parallel line formed by the intersection of the center line of the belt conveyor and the center line of the lane.

[0057] The first rotating motor 81 , the first swinging motor 83 and the second swinging motor 86 of the gun head unit 8 work together to realize a three-dimensional multi-degree-of-freedom motion trajectory of the spray head 85 .

[0058] S3, Shotcrete operation and pipeline maintenance:

[0059] The spray head 85 starts to spray the slurry, and the scraper 87 on the spray head bracket 84 rotates with the spray head 85 to dynamically remove the surface rebound slurry.

[0060] S4, end of operation and equipment reset

[0061] After the grouting operation is completed, the mechanical arm is reset, the retractable legs 41 are released from anchoring, and the drive device drives the device to return to the initial position.

[0062] In summary, the present invention realizes high-precision positioning and automated control of the shotcrete operation by integrating the electronic control unit 21 and the hydraulic unit 22, and combining the multi-modal sensing system and the robot arm to work together, thereby significantly improving the efficiency and quality of the shotcrete operation.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A monorail hanging type spraying device, characterized in that: The invention comprises a monorail hanging beam (1) arranged centrally in parallel with a lane, wherein the monorail hanging beam (1) is sequentially arranged with a control cabinet (2), a drive unit (3), a lane support unit (4), a slewing unit (5), a primary luffing mechanical arm (6), a secondary luffing mechanical arm (7) and a gun head unit (8) in a straight line direction, wherein an electric control unit (21) and a hydraulic unit (22) are integrated and installed in the control cabinet (2), and two driving connecting rods (31) located in the same straight line are installed on one side of the control cabinet (2), wherein the drive unit (3) is arranged between the two driving connecting rods (31), and the end of the driving connecting rod (31) is connected to the lane support unit ( 4), the tunnel support unit (4) is equipped with two sets of retractable legs (41), and the retractable legs (41) are anchored to the tunnel roof during the grouting operation, a slewing unit (5) is installed at the bottom of the tunnel support unit (4), the slewing unit (5) is respectively hinged to the primary luffing mechanical arm (6) and the secondary luffing mechanical arm (7), two synchronously retractable first telescopic oil cylinders (61) are arranged between the primary luffing mechanical arm (6) and the slewing unit (5), two synchronously retractable second telescopic oil cylinders (71) are arranged between the primary luffing mechanical arm (6) and the secondary luffing mechanical arm (7), and a gun head unit (8) is installed at the end of the secondary luffing mechanical arm (7).

2. A monorail hanging type spraying device according to claim 1, characterized in that: The above-mentioned two-stage variable amplitude mechanical arm (7) controls the gun head unit (8) to perform variable amplitude movement within a range of 25° above and below the intersection of the center line of the belt conveyor and the center line of the lane in the lane.

3. A monorail hanging type spraying device according to claim 2, characterized in that: The primary luffing mechanical arm (6) controls the secondary luffing mechanical arm (7) to rotate within a range of 50°.

4. A monorail hanging type spraying device according to claim 3, characterized in that: Laser distance measuring sensors are arranged on both the left and right sides of the secondary luffing mechanical arm (7), and a fuselage inclination sensor is arranged inside the hydraulic unit (22).

5. A monorail hanging type spraying device according to claim 4, characterized in that: A left-right rotation angle sensor is provided on the top of the rotary unit (5).

6. The monorail hanging type spraying device according to claim 5, characterized in that: A telescopic displacement sensor is provided on one side of the first telescopic oil cylinder (61) and the second telescopic oil cylinder (71).

7. The monorail hanging type spraying device according to claim 6, characterized in that: The gun head unit (8) comprises a first rotating motor (81) connected to the secondary variable amplitude mechanical arm (7); the output end of the first rotating motor (81) is connected to a connecting frame (82); a first swinging motor (83) is mounted on the connecting frame (82); a nozzle bracket (84) is mounted on the base of the first swinging motor (83); a spray head (85) is rotatably engaged with the nozzle bracket (84) and a second swinging motor (86) is connected to the input end of the nozzle.

8. The monorail hanging type spraying device according to claim 7, characterized in that: The spray head bracket (84) comprises a fixing ring (841), the fixing ring (841) is arranged around the outer circumference of the spray head (85), an annular connecting groove (842) is provided on the fixing ring (841), a plurality of sliding blocks (843) are slidably fitted in the connecting groove (842), an arc spring (844) is arranged between adjacent sliding blocks (843), the sliding block (843) is hinged to the second swing motor (86) through a telescopic rod (845), a scraper (87) is fixedly provided on the side of the sliding block (843) facing the spray head (85), and the rotation path of the scraper (87) covers the outer wall of the spray head (85).

9. The monorail hanging type spraying device according to claim 8, characterized in that: The sliding block (843) extends in the direction of the spray head (85) to form a first connecting portion (871), a second connecting portion (872) extending and formed along a straight line direction of the spray head (85) is fixed on the first connecting portion (871), and the scrapers (87) are arranged in a rectangular array along the second connecting portion (872).

10. A monorail hanging type spraying method, characterized in that: The spraying method uses a monorail hanging spraying device as described in any one of claims 1 to 9.

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