Guniting control method and guniting system

Abstract

The invention relates to the technical field of spraying, in particular to a guniting control method and a guniting system. The control method comprises the following steps: acquiring a first position parameter of a nozzle in a spraying area; controlling the position of the supporting and leveling device according to the first position parameter, and controlling a spray head to spray concrete in the spraying area; and the supporting and leveling device is controlled to level the spraying area in the preset area range of the first position parameter. According to the guniting control method and the guniting system, the first position parameter is obtained by detecting the position of the spray head in the guniting process, the position of the supporting and leveling device is adjusted through the first position parameter, it is guaranteed that the supporting and leveling device moves along with the spray head, and therefore scraping and splashing prevention of a spraying area are achieved; and the spraying effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying, and particularly to a shotcrete control method and a shotcrete system. Background Art

[0002] In tunnel construction, the initial support is a key process of tunnel construction and also the focus of quality and safety control, playing a crucial role in the construction quality and safety of the tunnel. The initial support concrete often adopts the wet shotcrete process, and an automated shotcrete operation is carried out using a wet shotcrete manipulator. The wet shotcrete manipulator is provided with a robotic arm that can automatically move left and right, up and down. A nozzle base is provided at the end of the robotic arm, and a shotcrete nozzle is sleeved and connected. After connecting the concrete slurry conveying system, the accelerator system, and the pumping system, the spraying operation is carried out. For the initial support surface of high-speed railways, the quality requirement for flatness is high. According to the specification requirements, the flatness length-depth ratio of the initial support surface should meet the requirement of 1 / 20. During the construction process, due to the use of the wet shotcrete process for the initial support concrete, the sprayed surface is uneven, and it is difficult to ensure the flatness requirement of the specification. During spraying, a large amount of the concrete slurry will drop, which is called "rebound" in professional terms. The rebound of the initial sprayed concrete is large, which will cause a large amount of waste and increase the cost.

[0003] Therefore, in the related technology, how to avoid the splash and rebound of concrete during shotcrete and simultaneously carry out a scraping treatment on the concrete is the key to further improving the shotcrete effect. Summary of the Invention

[0004] The present invention provides a shotcrete control method and a shotcrete system to solve the problem in the related technology of how to avoid the splash and rebound of concrete and simultaneously carry out a scraping treatment on the concrete, thereby further improving the shotcrete effect.

[0005] The present invention provides a shotcrete control method, including: Obtaining first position parameters of a nozzle in a spraying area; Controlling the position of a support leveling device according to the first position parameters, and controlling the nozzle to spray in the spraying area; Controlling the support leveling device to level the spraying area within a preset area range of the first position parameters.

[0006] According to the shotcrete control method provided by the present invention, the step of obtaining the first position parameters of the nozzle in the spraying area specifically includes: Scanning the spraying area to form a three-dimensional model of the spraying area; Presetting a plurality of working positions in the three-dimensional model of the spraying area, and determining second position parameters of each working position in the three-dimensional model.

[0007] According to the shotcrete control method provided by the present invention, the step of controlling the position of the support leveling device according to the first position parameters specifically includes: Scan the truss and determine the position parameters of the truss in the three-dimensional model of the spraying area; Determine the third position parameters of the projections of each work station on the truss according to the second position parameters of each work station and the truss position parameters; Control the position where the support leveling device moves on the truss according to the third position parameters.

[0008] According to the shotcreting control method provided by the present invention, the step of controlling the support leveling device to level the spraying area within the preset area range of the first position parameter specifically includes: Preset a leveling movement area of the support leveling device with the third position parameter as the center, denoted as the leveling position parameter; Control the movement of the support leveling device on the truss according to the leveling position parameter.

[0009] According to the shotcreting control method provided by the present invention, after the step of controlling the position of the support leveling device according to the first position parameter and controlling the nozzle to spray shotcrete in the spraying area, it further includes: Monitor the shotcreting flow rate and / or the shotcrete rebound density on the support leveling device; Adjust the pumping parameters according to the shotcreting flow rate and / or the shotcrete rebound density on the support leveling device.

[0010] According to the shotcreting control method provided by the present invention, before the step of obtaining the first position parameter of the nozzle in the spraying area, it further includes: Determine the mixing ratio parameter and the pumping parameter of the shotcrete.

[0011] The present invention also provides a shotcreting system, including: a wet shotcreting machine, a support leveling device and a controller; The support leveling device includes: A leveling mechanism for leveling the spraying area, including a leveling side facing the spraying area. The leveling mechanism is provided with spraying holes, and the nozzle of the wet shotcreting machine penetrates through the spraying holes to spray the spraying area; A moving component installed on the leveling side for guiding the movement of the leveling mechanism; The controller is electrically connected to the wet shotcreting machine, the leveling mechanism and the moving component respectively, and is used to execute the shotcreting control method of the present invention.

[0012] According to the shotcreting system provided by the present invention, the moving component includes: guide wheels installed on the leveling side, and the guide wheels are in guiding cooperation with the truss to guide the movement of the leveling mechanism.

[0013] According to the shotcreting system provided by the present invention, the guide wheels include a first wheel body and a second wheel body, and the first wheel body and the second wheel body are respectively placed in the guide grooves of the same truss; Or, the first wheel body and the second wheel body are respectively placed in the guide grooves of multiple trusses.

[0014] According to the shotcreting system provided by the present invention, it further includes: a mounting seat, and the leveling mechanism, the nozzle of the wet shotcreting machine, and the moving assembly are all mounted on the mounting seat, and an integral structure is formed through the mounting seat, and the moving assembly is used to guide the movement of the leveling mechanism on the mounting seat.

[0015] According to the shotcreting system provided by the present invention, the leveling mechanism further includes a shielding assembly, and the shielding assembly is arranged on the leveling side and is used for leveling the spraying area and receiving the dropped spraying substances.

[0016] According to the shotcreting system provided by the present invention, the shielding assembly is strip-shaped, and the shielding assembly includes a first shielding strip and a second shielding strip. The first shielding strip and the second shielding strip are placed between two adjacent trusses, and the first shielding strip and the second shielding strip are arranged oppositely.

[0017] A shotcreting control method provided by the present invention includes the following steps: obtaining the first position parameter of the nozzle in the spraying area; controlling the position of the support leveling device according to the first position parameter, and controlling the nozzle to spray in the spraying area; controlling the support leveling device to level the spraying area within the preset area range of the first position parameter. The present invention detects the position during the spraying process of the nozzle, obtains the first position parameter, and adjusts the position of the support leveling device through the first position parameter to ensure that the support leveling device moves following the nozzle, so as to realize the leveling and anti-spraying of the spraying area and improve the spraying effect.

[0018] Furthermore, for the shotcreting system provided by the present invention, the leveling mechanism is used to level the spraying area and prevent spraying, thereby improving the spraying effect; the moving assembly is adopted to guide the leveling mechanism to move along the truss, making the movement of the leveling mechanism more stable and the thickness consistency of the leveling of the spraying area better; and the follow-up of the leveling mechanism and the nozzle is realized through the controller. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is one of the schematic flowcharts of the shotcrete control method provided in one embodiment of the present invention.

[0021] Figure 2 It is one of the schematic flowcharts of the shotcrete control method provided in one embodiment of the present invention.

[0022] Figure 3 It is one of the schematic flowcharts of the shotcrete control method provided in one embodiment of the present invention.

[0023] Figure 4 It is one of the schematic flowcharts of the shotcrete control method provided in one embodiment of the present invention.

[0024] Figure 5 It is one of the schematic flowcharts of the shotcrete control method provided in one embodiment of the present invention.

[0025] Figure 6 It is a schematic diagram of the construction state of the support leveling device provided by the present invention.

[0026] Figure 7 It is a schematic diagram of the overall structure of the support leveling device provided by the present invention.

[0027] Figure 8 is Figure 6 The partial enlarged view of part A in

[0028] Figure 9 It is one of the schematic diagrams of the installation state of the guide wheel provided by the present invention.

[0029] Figure 10 It is the second schematic diagram of the installation state of the guide wheel provided by the present invention.

[0030] Figure 11 It is the third schematic diagram of the installation state of the guide wheel provided by the present invention.

[0031] Reference numerals: 100: Support leveling device; 200: Truss; 300: Wet shotcreting machine; 101: Leveling mechanism; 102: Guide wheel; 110: First shielding strip; 120: Second shielding strip; 130: Third shielding strip; 140: Fourth shielding strip; 111: First wheel body; 112: Second wheel body; 201: Guide groove; 103: Spraying hole; 104: Shielding assembly. Detailed implementation manners

[0032] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the scope of protection of the present invention.

[0033] In the description of the present embodiment, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present embodiment and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present embodiment.

[0034] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present embodiment, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0035] In the present embodiment, unless otherwise clearly specified and limited, the terms "arranged", "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present embodiment can be understood according to specific circumstances.

[0036] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0037] The following Figures 1 - 5 describes a shotcreting control method of the present invention. The shotcreting control method includes the following steps: S1. Determine the mixing ratio parameters and pumping parameters of the shotcrete; S2. Obtain the first position parameters of the nozzle in the spraying area; S3. Control the position of the support leveling device according to the first position parameters, and control the nozzle to spray the shotcrete in the spraying area; S4. Control the support leveling device to level the spraying area within the preset area range of the first position parameters.

[0038] Specifically, in step S1, determining the mixing ratio parameters and pumping parameters of the shotcrete specifically includes: the concrete discharge volume V1, the accelerator dosage V2, and the compressed air volume V3. The determination of the above mixing ratio parameters can be achieved through the following method: S11. Obtain one of the concrete discharge volume V1, the accelerator dosage V2, and the compressed air volume V3; S12. Calculate the other two according to one of the concrete discharge volume V1, the accelerator dosage V2, and the compressed air volume V3; S13. Automatically control the wet shotcreting of the concrete according to the obtained concrete discharge volume V1, the accelerator dosage V2, and the compressed air volume V3 through the control valve at the end of the nozzle, that is, after the control valve of the nozzle is opened, then the concrete is sprayed, otherwise the concrete is stored in the flow channel where the nozzle is located.

[0039] Through the above steps S11 to S13, the automatic adjustment of the concrete discharge volume V1, the accelerator dosage V2, and the compressed air volume V3 is realized, and the concrete spraying can be accurately controlled. When factors such as the rock quality situation and the feeding speed during the construction process affect the shotcreting speed, only need to adjust the magnitude of one of the concrete discharge volume V1, the accelerator dosage V2, and the compressed air volume V3, then the magnitudes of the other two are automatically controlled, realizing the automatic adaptation of the concrete, the accelerator, and the compressed air volume, so as to ensure that the shotcreting effect remains unchanged and complete the wet shotcreting of the concrete.

[0040] In step S2, the spraying area is scanned by a sensor or a scanner. Driven by a moving mechanism, the spray head moves to a specified position in the spraying area, and the position of the spray head in the spraying area is obtained by using the sensor or the scanner, which is recorded as the first position parameter. Of course, each time the spray head moves, its position in the spraying area is recorded. Therefore, when the spray head moves, the first position parameter changes accordingly.

[0041] In step S3, according to the first position parameter recorded above, the position of the support leveling device is adjusted so that the support leveling device corresponds to the position of the spray head. After the support leveling device moves into place, the valve body at the end of the spray head is controlled to open, and the spray head is used to perform shotcreting operations on the specified position.

[0042] In step S4, after the spray head finishes shotcreting, the support leveling device is controlled to move within a certain range of the first position parameter, so as to scrape the shotcrete in the spraying area.

[0043] The function of the support leveling device is to scrape and prevent splashing in the spraying area, improving the spraying effect. In order to achieve the function of preventing splashing, before the spray head performs shotcreting, it is necessary to ensure that the support leveling device is opposite to the position of the spray head, that is, in step S3, the support leveling device is controlled to move to the same position according to the first position parameter. In order to achieve the scraping function, after the spray head finishes shotcreting, the support leveling device needs to move to scrape the shotcrete, that is, in step S4, the support leveling device is controlled to scrape within a certain range of the first position parameter.

[0044] The support leveling device includes: a leveling mechanism and a moving component; the leveling mechanism is used to level the spraying area; the moving component is used to guide the leveling mechanism to move along the truss, making the movement of the leveling mechanism more stable and the thickness consistency of the scraping in the spraying area better.

[0045] A shotcreting control method provided by the present invention includes the following steps: obtaining the first position parameter of the spray head in the spraying area; controlling the position of the support leveling device according to the first position parameter, and controlling the spray head to perform shotcreting in the spraying area; controlling the support leveling device to scrape the spraying area within a preset area range of the first position parameter. The present invention detects the position during the shotcreting process of the spray head, obtains the first position parameter, and adjusts the position of the support leveling device through the first position parameter to ensure that the support leveling device follows the movement of the spray head, thereby achieving scraping and preventing splashing in the spraying area and improving the spraying effect.

[0046] In one embodiment of the present invention, as Figure 2 shown, the step of obtaining the first position parameter of the spray head in the spraying area specifically includes the following steps: S21. Scan the spraying area to form a three-dimensional model of the spraying area; S22. Preset multiple workstations in the three-dimensional model of the spraying area, and determine the second position parameters of each workstation in the three-dimensional model.

[0047] For example: During tunnel construction, the spraying area can be scanned as a whole by means of laser scanning, photogrammetric scanning, total station scanning or mobile scanning system, etc. After the scanning is completed, a three-dimensional model of the spraying area is obtained. Multiple workstations are preset on the three-dimensional model. These workstations are the positions where the spray head and the support leveling device are expected to move, and the positions of each workstation in the three-dimensional model are recorded, denoted as the second position parameters. Multi-station construction can be achieved after one scan. During the construction process, the spray head and the support leveling device only need to move and construct according to the instructions, without the need for repeated scanning, improving the construction efficiency.

[0048] In one embodiment of the present invention, as Figure 3 shown, the step of controlling the position of the support leveling device according to the first position parameter specifically includes the following steps: S31. Scan the truss and determine the position parameters of the truss in the three-dimensional model of the spraying area; S32. According to the second position parameters of each workstation and the truss position parameters, determine the third position parameters of the projection of each workstation on the truss; S33. Control the position where the support leveling device moves on the truss according to the third position parameter.

[0049] In this embodiment, the support leveling device is arranged on the truss in the tunnel and moves on the truss. For example: After scanning the spraying area to obtain a three-dimensional model, scan the truss and fit the position parameters of the truss into the three-dimensional model. Project the second position parameters of each workstation obtained in step S22 on the truss, denoted as the third position parameter. This parameter is the corresponding position where the support leveling device needs to move on the truss when the spray head is at the second position parameter. According to the functions of scraping and anti-splashing, when the spray head sprays slurry, the moving component controls the leveling mechanism to move to the inner side of the tunnel of the spray head, which has an obstructive effect, thus realizing anti-splashing; after the spray head sprays slurry, the moving component controls the leveling mechanism to move to scrape the spraying area.

[0050] It can be understood that after step S33, it further includes: S34. Control the spray head to spray slurry in the spraying area.

[0051] In one embodiment of the present invention, as Figure 4 shown, the step of controlling the support leveling device to scrape the spraying area within the preset area range of the first position parameter specifically includes the following steps: S41. Preset a scraping and moving area of the support leveling device centered on the third position parameter, denoted as the scraping position parameter. S42. Control the movement of the support leveling device on the truss according to the scraping position parameter.

[0052] Specifically, only when the nozzle has finished spraying mortar and the support leveling device is moving in the spraying area can it play its scraping role. Therefore, a moving range is set at the current position of the support leveling device, that is, centered on the third position parameter, a scraping and moving area is specified. This area can be a scraping and moving area with positive and negative lengths set along the extension direction of the truss centered on the third position parameter. This "positive and negative length" is the scraping position parameter, and the movement of the support leveling device on the truss is controlled according to this scraping position parameter. It can be understood that in order to ensure the scraping effect, the support leveling device can be controlled to perform multiple reciprocating scraping movements on the truss.

[0053] In one embodiment of the present invention, as Figure 5 shown, after the step of controlling the position of the support leveling device according to the first position parameter and controlling the nozzle to spray mortar in the spraying area, the following steps are further included: S35. Monitor the spraying mortar flow rate and / or the spraying mortar rebound density on the support leveling device; S36. Adjust the pumping parameters according to the spraying mortar flow rate and / or the spraying mortar rebound density on the support leveling device.

[0054] Specifically, in this embodiment, the pumping parameters can be adjusted by the spraying mortar flow rate and / or the spraying mortar rebound density on the support leveling device. The pumping parameters are preferably the air volume and flow rate of compressed air, etc. Preferably, a spraying mortar flow rate threshold is preset, the current spraying flow rate is monitored by a flow sensor and compared with the spraying mortar flow rate threshold. When the monitored spraying mortar flow rate is greater than the spraying mortar flow rate threshold, the air volume and flow rate of compressed air are reduced, thereby reducing the spraying mortar rebound amount and the probability of concrete shedding. The support leveling device can be made of a transparent material, and the spraying mortar rebound density on the support leveling device is observed manually to adjust the air volume and flow rate of compressed air, or sensors can be installed on the support leveling device to monitor the spraying mortar rebound density. If sensors are set to detect the spraying mortar rebound density, a spraying mortar rebound density threshold is preset, the current spraying mortar rebound density is monitored by the sensors and compared with the spraying mortar rebound density threshold. When the monitored spraying mortar rebound density is greater than the spraying mortar rebound density threshold, the air volume and flow rate of compressed air are reduced, thereby reducing the spraying mortar rebound amount and the probability of concrete shedding. The following combines Figures 6 - 11 to describe a spraying mortar system of the present invention. The spraying mortar system includes: a wet spraying machine 300, a support leveling device 100, and a controller.

[0055] The support leveling device 100 includes: a leveling mechanism 101 and a moving component.

[0056] The leveling mechanism 101 is used to level the spraying area, including a leveling side facing the spraying area. The leveling mechanism 101 is provided with a spraying hole 103, and the nozzle of the wet shotcreting machine 300 penetrates through the spraying hole 103 to spray the spraying area; the moving component is installed on the leveling side and guides the movement of the leveling mechanism 101; the controller is electrically connected to the wet shotcreting machine 300, the leveling mechanism 101, and the moving component respectively, and is used to execute the shotcreting control method in the above-mentioned embodiments of the present invention.

[0057] Specifically, the nozzle of the wet shotcreting machine 300 and the leveling mechanism 101 can be an integral structure formed through a mounting seat, or a split structure.

[0058] When the two adopt a split structure, the moving component includes: guide wheels 102. The guide wheels 102 are installed on the leveling side and are in guiding cooperation with the truss 200 to guide the movement of the leveling mechanism 101. That is to say, the leveling mechanism 101 moves on the truss 200 through the guide wheels 102. Of course, the moving component can also be a slider, and the slider uses the truss 200 as a slide rail and moves along the truss 200. In addition, the moving component can also be other structures to realize the movement of the leveling mechanism 101 along the truss 200, improve the leveling effect of the leveling device, make the reference benchmark of the leveling process of the entire spraying area consistent, and the flatness is higher.

[0059] When the two adopt an integral structure, the shotcreting system further includes: a mounting seat. The leveling mechanism 101, the nozzle of the wet shotcreting machine 300, and the moving component are all installed on the mounting seat and form an integral structure through the mounting seat. The moving component is used to guide the movement of the leveling mechanism 101 on the mounting seat. In this embodiment, the leveling mechanism 101, the nozzle of the wet shotcreting machine 300, and the moving component form an integral structure through the mounting seat, but the nozzle can still move and rotate on the mounting seat, etc., or can remain stationary, and the leveling mechanism 101 is realized to move along with the nozzle through the moving component.

[0060] The leveling mechanism 101 is used to block the splashing and rebounding spraying substances, and at the same time level the spraying area, reduce the rebound amount of spraying, and improve the flatness of the spraying operation. Among them, the truss 200 is the structure of the spraying area itself, such as the truss 200 support of a tunnel.

[0061] For the tunnel truss 200 of the present invention, the tunnel truss is a bridge structure mainly used to support the weight and stability of the tunnel. It can effectively reduce the deformation and settlement of the tunnel and improve the service life of the tunnel. At the same time, the tunnel truss can also resist the influence of natural disasters such as earthquakes and winds to ensure the safety of the tunnel. The truss 200 is generally arched and is evenly distributed in the tunnel.

[0062] For example, the flat side has a protruding flat surface for leveling the spraying area. Of course, other structures can also be provided on the flat side to level the spraying area.

[0063] In addition, the leveling mechanism 101 is provided with spraying holes 103 through which the nozzles of the wet shotcreting machine 300 pass through. On the one hand, it ensures the normal spraying of the nozzles on the spraying area. On the other hand, it ensures the shielding of the spraying area by the solid structure of the leveling mechanism 101, realizing the anti-spraying function. On the third hand, the spraying holes 103 are preferably strip-shaped holes. After the nozzles finish spraying the slurry, the movement of the leveling mechanism 101 for scraping will not interfere with the position of the nozzles.

[0064] The controller is used to execute the shotcreting control method in the above embodiments of the present invention, that is, at least including the following steps: S1. Determine the mixing ratio parameters and pumping parameters of the shotcreting; S2. Control the nozzle to move in the spraying area and obtain the first position parameters of the nozzle in the spraying area; S3. Control the position of the support leveling device according to the first position parameters and control the nozzle to spray slurry in the spraying area; S4. Control the support leveling device to level the spraying area within the preset area range of the first position parameters.

[0065] The shotcreting system provided by the present invention realizes the scraping and anti-spraying of the spraying area through the leveling mechanism, improving the spraying effect; uses the moving component to guide the leveling mechanism to move along the truss, making the movement of the leveling mechanism more stable and the thickness consistency of the scraping of the spraying area better; and realizes the follow-up of the leveling mechanism and the nozzle through the controller.

[0066] Among them, the support leveling device 100 can move along with the wet shotcreting machine 300 to block the rebounded and splashed slurry when the wet shotcreting machine 300 sprays slurry. After the shotcreting is completed, the support leveling device 100 levels; or the two can move separately, and there is a relative movement of the support leveling device 100 relative to the wet shotcreting machine 300 during scraping.

[0067] Such as Figure 7As shown, in one embodiment of the present invention, the flattening mechanism 101 is provided with a spray hole 103, and the spray hole 103 penetrates the flattening side and the surface opposite to the flattening side. The spray hole 103 is used to penetrate the spray head of the wet spraying machine 300.

[0068] In other words, the spray hole 103 penetrates the leveling mechanism 101, so that the nozzle sprays toward the spraying area through the spray hole 103. For example, the spray hole 103 is a long hole, and the long hole is arranged along the running direction of the support leveling device 100, so that the nozzle can move in the spray hole 103 easily.

[0069] Continue to refer Figure 7 and Figure 8 In another embodiment of the present invention, the leveling mechanism 101 further includes a shielding component 104, which is disposed on the leveling side and is used to scrape the spraying area and receive the dropped spraying material.

[0070] That is, during the movement of the leveling mechanism 101 on the truss 200, the shielding assembly 104 is used to scrape the spraying area, and after the shielding assembly 104 below the nozzle receives the fallen spraying material, it further scrapes it on the spraying area during the movement to ensure the spraying thickness and spraying amount. For example, in some embodiments of the present invention, the shielding assembly 104 has a height adjustment function, and according to the requirements of the spraying thickness, the distance between the shielding assembly 104 and the spraying area is adjusted to adjust the scraping thickness.

[0071] Further, in a specific embodiment of the present invention, the shielding assembly 104 is in a strip shape, and the shielding assembly 104 includes a first shielding bar 110 and a second shielding bar 120, and the first shielding bar 110 and the second shielding bar 120 are disposed between two adjacent trusses 200, and the first shielding bar 110 and the second shielding bar 120 are disposed opposite to each other. In other words, the first shielding bar 110 and the second shielding bar 120 are arranged up and down, for example, the first shielding bar 110 is disposed above the spray hole 103, and the second shielding bar 120 is disposed below the spray hole 103.

[0072] For example, the first shielding strip 110 and the second shielding strip 120 can be connected to the flat side by bolts, and the distance between the first shielding strip 110 and the second shielding strip 120 and the spraying area can be adjusted by adjusting the screwing amount of the bolts.

[0073] Of course, the first shielding strip 110 and the second shielding strip 120 can also increase their own height by superimposing other shielding strips or reducing other shielding strips, thereby adjusting the distance between the first shielding strip 110 and the second shielding strip 120 and the spraying area.

[0074] In some other embodiments of the present invention, the shielding assembly 104 further includes a third shielding strip 130 and a fourth shielding strip 140. The third shielding strip 130 and the fourth shielding strip 140 are oppositely arranged, and the third shielding strip 130 and the fourth shielding strip 140 are arranged between the first shielding strip 110 and the second shielding strip 120. For example, the third shielding strip 130 and the fourth shielding strip 140 are arranged between two guide wheels 102, that is, between adjacent trusses 200. The third shielding strip 130 and the fourth shielding strip 140 can block the spraying substance from multiple angles and level it through the first shielding strip 110 and the second shielding strip 120.

[0075] In one embodiment of the present invention, as Figures 9 - 11 shown, the guide wheel 102 includes a first wheel body 111 and a second wheel body 112, and the first wheel body 111 and the second wheel body 112 are respectively placed in the guide grooves 201 of the same truss 200.

[0076] For example, as Figure 9 shown, guide grooves 201 are provided on both sides of the truss 200, and the first wheel body 111 and the second wheel body 112 can be respectively placed in the guide grooves 201 on both sides of a truss 200.

[0077] Of course, two sets of guide wheels 102 can be provided on the leveling mechanism 101. The first set of guide wheels 102 includes a first wheel body 111 and a second wheel body 112, and the second set of guide wheels 102 includes a third wheel body and a fourth wheel body. The first wheel body 111 and the second wheel body 112 are respectively placed in the guide grooves 201 on both sides of a truss 200, and the third wheel body and the fourth wheel body are respectively placed in the guide grooves 201 on both sides of another truss 200. Among them, the two trusses 200 can be adjacent to each other or spaced apart from each other.

[0078] In one embodiment, the first wheel body 111 and the second wheel body 112 are respectively placed in the guide grooves 201 of multiple trusses 200. As Figure 10 and Figure 11 provide two alternative embodiments.

[0079] As Figure 10 shown, in another alternative embodiment of the present invention, the first wheel body 111 and the second wheel body 112 are respectively placed in the guide grooves 201 of two trusses 200.

[0080] That is to say, the first wheel body 111 of a set of guide wheels 102 is placed in a guide groove 201 of a truss 200, and the second wheel body 112 is placed in a guide groove 201 of another truss 200. Among them, the two trusses 200 can be adjacent or spaced apart. And, the openings of the guide grooves 201 of the truss 200 where the first wheel body 111 is located and the guide grooves 201 of the truss 200 where the second wheel body 112 is located are arranged in opposite directions. In other words, the two trusses 200 are placed between the first wheel body 111 and the second wheel body 112.

[0081] Of course, in other embodiments of the present invention, the openings of the guide grooves 201 of the truss 200 where the first wheel body 111 is located and the guide grooves 201 of the truss 200 where the second wheel body 112 is located are arranged opposite to each other, that is, the first wheel body 111 and the second wheel body 112 are placed between the two trusses 200. It should be noted that other trusses 200 can be provided between the two trusses 200.

[0082] As Figure 11 shown, in some other embodiments of the present invention, there are at least three trusses 200 between the first wheel body 111 and the second wheel body 112. That is to say, the length of the leveling mechanism 101 can span multiple trusses 200.

[0083] Correspondingly, a plurality of spraying holes 103 can be provided on the leveling mechanism 101. For example, one spraying hole 103 corresponds to the leveling mechanism 101 between every two adjacent trusses 200, so that the wet spraying machine 300 can spray slurry at multiple positions without changing the position of the leveling mechanism 101.

[0084] Specifically, the first wheel body 111 is placed in a guide groove 201 of a truss 200, the second wheel body 112 is placed in a guide groove 201 of a truss 200, and the openings of the two guide grooves 201 corresponding to the two trusses 200 are arranged in opposite directions. At least one truss 200 is provided between the truss 200 where the first wheel body 111 is located and the truss 200 where the second wheel body 112 is located. For example, two, three or other numbers can be provided.

[0085] In addition, in an embodiment of the present invention, a plurality of sliding grooves are provided on the leveling side of the leveling mechanism 101. The guide wheels 102 are placed in the sliding grooves and can move along the sliding grooves and be locked after moving to a suitable position. In other words, multiple groups of guide wheels 102 can be provided in the sliding grooves on the leveling side, and the distance between each first wheel body 111 and the second wheel body 112 can be adjusted to adapt to different distances between the trusses 200.

[0086] Among them, multiple sliding grooves can be provided along the length and height directions of the leveling mechanism 101 to improve the installation freedom of the guide wheels 102.

[0087] Specifically, in an embodiment of the present invention, the support leveling device 100 further includes a driving device, which is connected to the guide wheel 102 and is used to drive the guide wheel 102 to move along the truss 200. For example, the driving device can be a motor.

[0088] For example, the driving device is installed on the leveling mechanism 101 and is connected to the guide wheel 102 to drive the guide wheel 102 to move along the guide groove 201 of the truss 200, so that the support leveling device 100 moves synchronously with the nozzle of the wet shotcreting machine 300. After spraying in one working station is completed, the support leveling device 100 moves to the next working station, and the nozzle of the wet shotcreting machine 300 also moves to the next working station and sprays concrete according to actual requirements.

[0089] Furthermore, in another embodiment of the present invention, the leveling mechanism 101 is made of a transparent material, and the spraying operator can observe the spraying amount of the concrete through the leveling mechanism 101, and then control the pumping speed of the concrete.

[0090] Alternatively, in other embodiments of the present invention, a sensor is installed on the leveling side of the leveling mechanism 101, and the spraying amount of the concrete in the spraying area is obtained through the sensor, and then the pumping speed of the concrete is automatically controlled. For example, the sensor can be a position sensor.

[0091] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spraying control method, characterized in that: include: Obtaining the first position parameter of the nozzle in the spraying area; Controlling the position of the support and leveling device according to the first position parameter, and controlling the nozzle to spray grout in the spraying area; The support and leveling device is controlled to scrape and level the spraying area within the preset area range of the first position parameter.

2. The spraying control method according to claim 1, characterized in that: The step of obtaining the first position parameter of the nozzle in the spraying area specifically includes: Scan the spraying area to form a three-dimensional model of the spraying area; A plurality of workstations are preset in the three-dimensional model of the spraying area, and a second position parameter of each workstation is determined in the three-dimensional model.

3. The spraying control method according to claim 2, characterized in that: The step of controlling the position of the support and leveling device according to the first position parameter specifically includes: Scanning the truss and determining position parameters of the truss in the three-dimensional model of the spraying area; Determine the third position parameter of each workstation projected on the truss according to the second position parameter of each workstation and the position parameter of the truss; The position of the supporting and leveling device moving on the truss is controlled according to the third position parameter.

4. The spraying control method according to claim 3, characterized in that: The step of controlling the support and leveling device to level the spraying area within the preset area range of the first position parameter specifically includes: The scraping and leveling moving area of ​​the support and leveling device is preset with the third position parameter as the center, which is recorded as the scraping and leveling position parameter; According to the scraping position parameters, the movement of the support and leveling device on the truss is controlled.

5. The spraying control method according to any one of claims 1 to 4, characterized in that: After the step of controlling the position of the support and leveling device according to the first position parameter and controlling the nozzle to spray grout in the spraying area, the method further includes: Monitor shotcrete flow rate and / or shotcrete rebound density on support leveling devices; Adjust pumping parameters according to the shotcrete flow rate and / or the shotcrete rebound density on the support leveling device.

6. The spraying control method according to any one of claims 1 to 4, characterized in that: Before the step of obtaining the first position parameter of the nozzle in the spraying area, the method further includes: Determine the mixing ratio parameters and pumping parameters of shotcrete.

7. A spraying system, characterized in that: include: A wet shotcrete machine (300), a support and leveling device (100), and a controller; The support and leveling device (100) comprises: A leveling mechanism (101), the leveling mechanism (101) being used to level the spraying area, comprising a leveling side facing the spraying area, the leveling mechanism (101) being provided with a spraying hole (103), and a spray head of the wet spraying machine (300) passing through the spraying hole (103) to spray the spraying area; A moving component, the moving component being mounted on the leveling side, and the moving component guiding the movement of the leveling mechanism (101); The controller is electrically connected to the wet spraying machine (300), the leveling mechanism (101) and the moving component respectively, and is used to execute the spraying control method according to any one of claims 1 to 5.

8. The spraying system according to claim 7, characterized in that: The moving assembly comprises: a guide wheel (102), the guide wheel (102) being mounted on the leveling side, the guide wheel (102) being in guiding cooperation with the truss (200) to guide the movement of the leveling mechanism (101).

9. The spraying system according to claim 8, characterized in that: The guide wheel (102) comprises a first wheel body (111) and a second wheel body (112), wherein the first wheel body (111) and the second wheel body (112) are respectively placed in a guide groove (201) of the same truss (200); Alternatively, the first wheel body (111) and the second wheel body (112) are respectively placed in the guide grooves (201) of the plurality of trusses (200).

10. The spraying system according to claim 7, characterized in that: Also includes: A mounting seat, the leveling mechanism (101), the spray head of the wet spraying machine (300) and the moving assembly are all mounted on the mounting seat and form an integrated structure through the mounting seat, and the moving assembly is used to guide the movement of the leveling mechanism (101) on the mounting seat.

11. The spraying system according to any one of claims 7 to 10, characterized in that: The leveling mechanism (101) further comprises a shielding component (104), which is arranged on the leveling side and is used to scrape the spraying area and receive dropped spraying material.

12. The shotcrete system according to claim 11, characterized in that: The shielding assembly (104) is in a strip shape, and comprises a first shielding strip (110) and a second shielding strip (120), wherein the first shielding strip (110) and the second shielding strip (120) are disposed between two adjacent trusses (200), and the first shielding strip (110) and the second shielding strip (120) are arranged opposite to each other.

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