Self-propelled underground pipe gallery inner wall spraying, repairing and reinforcing integrated construction equipment and method

Abstract

The invention relates to the technical field of underground pipe gallery construction, and discloses self-propelled underground pipe gallery inner wall spraying, repairing and reinforcing integrated construction equipment and method.The self-propelled underground pipe gallery inner wall spraying, repairing and reinforcing integrated construction equipment comprises a self-propelled vehicle body, a connecting box is fixedly connected to the top of the self-propelled vehicle body, a first motor is fixedly connected to one side of the connecting box, and a worm is fixedly arranged at the output end of the first motor; the surface of the worm is in meshed connection with a worm wheel, one end of the worm wheel is fixedly connected with a first gear, the surface of the first gear is in meshed connection with a rack, the top of the rack is fixedly connected with a lifting plate, and the top of the self-propelled vehicle body is fixedly connected with a storage barrel. The first motor drives the worm to rotate, drives the worm gear and the gear to rotate, and drives the rack and the lifting plate to move, so that the top spray head moves synchronously, the spray head is quickly moved to a designated position to carry out spraying operation, and the construction efficiency and the operation flexibility are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipe gallery construction, and in particular to self-propelled underground pipe gallery inner wall spraying repair and reinforcement integrated construction equipment and method. Background Art

[0002] As the scale of urban underground pipeline corridor construction continues to expand, the inner walls of underground pipeline corridors are prone to corrosion and cracks due to long-term influence of environmental erosion, mechanical stress and other factors. They need to be repaired and reinforced in time to ensure the safety of the pipeline corridor structure and service life. The self-propelled underground pipeline corridor inner wall spray repair and reinforcement integrated construction equipment performs one-stop automated construction of underground pipeline corridor inner wall surface cleaning, repair material spraying, local reinforcement and quality inspection processes. It is mainly used to efficiently and accurately complete the repair and reinforcement of the inner wall of the underground pipeline corridor, improve construction efficiency and project quality, and assist in the maintenance and renewal of urban underground infrastructure.

[0003] Existing spray repair equipment, when used in pipe corridors with varying diameters or in complex working conditions, suffers from cumbersome and time-consuming adjustments, hindering the continuity and efficiency of construction. Furthermore, the nozzles are fixed at a certain height or have a limited adjustment range, requiring multiple adjustments or passes to repair defects at varying heights within the pipe corridor. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment and methods to solve the problem that the existing technology cannot quickly adapt to the spraying requirements of different heights.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment, including a self-propelled vehicle body, the top of the self-propelled vehicle body is fixedly connected to a connecting box, one side of the connecting box is fixedly connected to a first motor, an output end of the first motor is fixedly provided with a worm, the surface of the worm is meshed with a worm wheel, one end of the worm wheel is fixedly connected to a first gear, the surface of the first gear is meshed with a rack, the top of the rack is fixedly connected to a lifting plate, the top of the self-propelled vehicle body is fixedly connected to a storage barrel, the top of the self-propelled vehicle body is fixedly connected to a water pump, the water pump input end is fixedly arranged between the storage barrel, the water pump output end is fixedly provided with a bellows, the top of the bellows is fixedly connected to a nozzle, a plurality of support assemblies are provided on the front and rear sides of the self-propelled vehicle body, the top of the lifting plate is fixedly connected to a reciprocating assembly, and a stirring assembly is provided inside the storage barrel.

[0006] By adopting the above technical solution, it is possible to drive the worm, worm wheel and first gear transmission through the first motor, driving the rack and lifting plate to move up and down, so as to quickly adjust the nozzle to different heights to adapt to the spraying requirements of different heights of the inner wall of the underground pipeline corridor, solve the problem of being unable to quickly adapt to different working conditions, and significantly improve construction efficiency and operational flexibility.

[0007] Preferably, the support assembly includes a plurality of connecting plates, one side of each of the connecting plates is rotatably connected to the self-propelled vehicle body, and the other sides of the connecting plates are rotatably connected to support legs, and the support legs are internally slidably connected to limit members.

[0008] Preferably, a plurality of second sliding rods are fixedly connected between the front and rear sides of the inner wall of the self-propelled vehicle body, a plurality of movable plates are slidably connected to the surfaces of the plurality of second sliding rods, a plurality of movable plates have sliding grooves on their surfaces, a plurality of connecting rods are fixedly connected to the opposite sides of the plurality of movable plates, and a plurality of connecting rods are fixedly connected to adjacent limiting parts.

[0009] Preferably, the reciprocating assembly includes multiple side plates, and the multiple side plates are fixedly connected to the lifting plates. A second motor is fixedly connected to one side of the front side side plate, and a rotating rod is fixedly provided at the output end of the second motor. A reciprocating screw rod is rotatably connected between the two side plates, and the reciprocating screw rod and the rear end of the rotating rod are fixedly connected to a second gear, and the two second gears are meshed with each other. A moving part is threadedly connected to the surface of the reciprocating screw rod, and the moving part is fixedly connected to the nozzle.

[0010] Preferably, a cylinder is fixedly connected to the top of the lifting plate, a movable frame is fixedly provided at the output end of the cylinder, the movable frame is slidably connected to the plurality of side plates, and the movable frame is slidably connected to the movable member.

[0011] Preferably, the stirring assembly includes a rotating cylinder, which is rotatably connected to the storage barrel, a plurality of stirring rods are fixedly connected to the surface of the rotating cylinder, a rotating rod is slidably connected to the inner diameter of the rotating cylinder, the rotating rod is rotatably connected to the lifting plate, a second bevel gear is fixedly connected to the top end of the rotating rod, and the second bevel gear is meshed with the first bevel gear.

[0012] Preferably, a plurality of first sliding bars are fixedly connected to the top of the self-propelled vehicle body, and the plurality of first sliding bars are all slidably connected to the lifting plate.

[0013] Preferably, the worm gear and the opposite ends of the first gear are both rotationally connected to the connection box, and the rack is slidingly connected to the connection box.

[0014] Preferably, a fixing column is fixedly connected to the right side of the rack, and the fixing column slides in a plurality of sliding grooves.

[0015] Preferably, the integrated construction method for spraying, repairing and reinforcing the inner wall of a self-propelled underground pipe gallery comprises the following steps:

[0016] S1. The self-propelled vehicle is controlled to move to the underground pipe corridor to be repaired. The first motor drives the rack and the lifting plate to rise and fall through the worm, worm gear, and first gear to adjust the nozzle to the appropriate height.

[0017] S2. When the rack is raised, the fixed column slides in the sliding groove of the movable plate, pushing the movable plate to move along the second sliding rod. The connecting rod drives the limiter to slide in the support leg, so that the support leg extends outward through the connecting plate and moves downward, supporting and fixing the self-propelled vehicle body;

[0018] S3. The water pump transports the paint in the storage barrel to the spray head through the bellows. The second motor drives the reciprocating screw to rotate through the rotating rod and the second gear, so that the moving part and the spray head perform reciprocating linear motion along the axis of the reciprocating screw, spraying a large area of the inner wall of the pipe gallery;

[0019] During the spraying process, the cylinder pushes the mobile frame to adjust the nozzle angle according to the curvature and shape of the inner wall of the pipe gallery;

[0020] S5. When the second motor is running, the first bevel gear and the second bevel gear drive the rotating rod to rotate, driving the rotating cylinder and the stirring rod to rotate in the storage barrel to stir the paint to prevent sedimentation and stratification.

[0021] The present invention provides integrated construction equipment and methods for spraying and reinforcing the inner wall of a self-propelled underground pipe gallery. It has the following beneficial effects:

[0022] 1. The present invention drives the worm to rotate through the first motor, drives the worm wheel and the gear to rotate, drives the rack and the lifting plate to move, so that the top nozzle moves synchronously, thereby quickly moving the nozzle to the designated position to carry out spraying operations, significantly improving construction efficiency and operational flexibility.

[0023] 2. In the present invention, when the first rack and the lifting plate are raised for spraying, the fixed column will slide in multiple slide grooves, thereby pushing the movable plate and the connecting rod to move. When the connecting rod moves, the limiter will push the support legs. Since the support legs are connected to the self-propelled vehicle body through multiple connecting plates, the support legs will move downward while moving outward to support the whole body, thereby achieving overall support for the whole body when the nozzle is raised, effectively avoiding uneven coating thickness and spraying position deviation problems caused by equipment shaking during the spraying process.

[0024] 3. The present invention drives the rotating rod to rotate through the second motor, and synchronously drives the reciprocating screw to rotate through the second gear, thereby driving the moving part and the nozzle to move back and forth horizontally, and the movable frame can be pushed by the cylinder to adjust the angle of the moving part and the nozzle. Through the reciprocating motion of the nozzle, large-area spraying operations can be completed efficiently and continuously, avoiding the problems of inconsistent coating thickness and spray leakage caused by the limited range of a single spraying.

[0025] 4. The present invention drives the rotating rod and the first bevel gear to rotate through the second motor, thereby driving the second bevel gear and the rotating rod to rotate. The rotating rod slides in the rotating cylinder, so that when the lifting plate drives the rotating rod to rise, the rotating cylinder and the stirring rod can always be driven to rotate by the rotating rod, thereby automatically stirring the paint inside the storage barrel during spraying, avoiding precipitation and stratification of the paint due to standing, ensuring the uniformity and consistency of the spraying material, thereby improving the coating quality and reducing the problem of poor repair effect caused by uneven materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A three-dimensional diagram of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0027] Figure 2 This is a schematic cross-sectional view of the connection box of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0028] Figure 3 Schematic diagram of the connecting rod of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0029] Figure 4 A schematic diagram of a chute of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0030] Figure 5 A schematic cross-sectional view of a material storage barrel of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0031] Figure 6 Schematic diagram of the reciprocating screw rod of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0032] Figure 7 Schematic diagram of the first bevel gear of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0033] Figure 8 Schematic diagram of the rotating rod of the self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment of the present invention;

[0034] Figure 9The present invention is a flow chart of the integrated construction method for spraying, repairing and reinforcing the inner wall of a self-propelled underground pipe gallery.

[0035] Among them, 1. Self-propelled vehicle body; 2. Support legs; 3. Connecting box; 4. First motor; 5. Lifting plate; 6. Side plate; 7. First slide bar; 8. Storage barrel; 9. Water pump; 10. Bellows; 11. Nozzle; 12. Second motor; 13. Worm; 14. Worm wheel; 15. First gear; 16. Rack; 17. Moving plate; 18. Slide; 19. Fixed column; 20. Connecting plate; 21. Limiting member; 22. Connecting rod; 23. Second slide bar; 24. First bevel gear; 25. Second bevel gear; 26. Rotating rod; 27. Stirring rod; 28. Reciprocating screw; 29. Moving part; 30. Moving frame; 31. Cylinder; 32. Second gear; 33. Rotating cylinder; 34. Rotating rod. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] Please see the attached Figure 1 -Attached Figure 4 The embodiment of the present invention provides a self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment, including a self-propelled vehicle body 1, a connecting box 3 is fixedly connected to the top of the self-propelled vehicle body 1, a first motor 4 is fixedly connected to one side of the connecting box 3, a worm 13 is fixedly provided at the output end of the first motor 4, a worm gear 14 is meshingly connected to the surface of the worm 13, a first gear 15 is fixedly connected to one end of the worm gear 14, a rack 16 is meshingly connected to the surface of the first gear 15, a lifting plate 5 is fixedly connected to the top of the rack 16, a material storage barrel 8 is fixedly connected to the top of the self-propelled vehicle body 1, a water pump 9 is fixedly connected to the top of the self-propelled vehicle body 1, the water pump 9 is fixedly arranged between the input end and the material storage barrel 8, a bellows 10 is fixedly provided at the output end of the water pump 9, a nozzle 11 is fixedly connected to the top of the bellows 10, a plurality of support components are provided on the front and rear sides of the self-propelled vehicle body 1, a reciprocating component is fixedly connected to the top of the lifting plate 5, and a stirring component is provided inside the material storage barrel 8.

[0038] Specifically, after the self-propelled vehicle body 1 moves to the area of the pipeline corridor to be repaired, the first motor 4 is started to drive the worm 13 to rotate. When the worm 13 rotates, it drives the worm wheel 14 and the first gear 15 to rotate, and drives the rack 16 and the lifting plate 5 to move up and down, so as to adjust the nozzle 11 to a suitable height. The water pump 9 extracts the paint in the storage barrel 8 and transports it to the nozzle 11 through the bellows 10 to spray the repair material. The support component is used to extend and support when the rack 16 and the lifting plate 5 are raised to prevent shaking from affecting the spraying effect. The reciprocating component is used to drive the nozzle 11 to move during spraying, so that the spraying is more uniform. The stirring component is used to stir the paint during spraying to prevent the paint from settling and affecting the spraying effect.

[0039] See attached Figure 3 and attached Figure 4 The support assembly includes multiple connecting plates 20, one side of each of the multiple connecting plates 20 is rotatably connected to the self-propelled vehicle body 1, and the other sides of the multiple connecting plates 20 are rotatably connected to the support legs 2, and the support legs 2 are internally slidably connected to the limiting members 21.

[0040] Specifically, since one side of the connecting plate 20 is rotatably connected to the self-propelled vehicle body 1 and the other side is rotatably connected to the support leg 2, the limit member 21 will push the support leg 2 to move when it moves, so that it uses the rotation connection point between the connecting plate 20 and the self-propelled vehicle body 1 as a fulcrum, and moves downward while expanding outward, eventually propping up the self-propelled vehicle body 1 as a whole, so that the support leg 2 is automatically deployed for support when the nozzle 11 is raised, preventing uneven coating and spraying position deviation caused by equipment shaking during the spraying process.

[0041] See attached Figure 3 and attached Figure 4 A plurality of second sliding rods 23 are fixedly connected between the front and rear sides of the inner wall of the self-propelled vehicle body 1, and a plurality of movable plates 17 are slidably connected to the surfaces of the plurality of second sliding rods 23. A sliding groove 18 is provided on the surfaces of the plurality of movable plates 17. A connecting rod 22 is fixedly connected to the opposite side of the plurality of movable plates 17, and the plurality of connecting rods 22 are fixedly connected to the adjacent limiting members 21.

[0042] Specifically, when the movable plate 17 moves to both sides, it drives the connecting rod 22 and the limiting member 21 to slide on the surface of the second slide rod 23, and the limiting member 21 slides inside the support leg 2, thereby pushing the support leg 2 to expand outward through the connecting plate 20 and move downward to support the self-propelled vehicle body 1, ensuring the stability of the equipment during the spraying operation and avoiding uneven spraying of the repair material due to equipment shaking.

[0043] See attached Figure 5 and attached Figure 6The reciprocating assembly includes multiple side plates 6, which are fixedly connected to the lifting plate 5. A second motor 12 is fixedly connected to one side of the front side plate 6, and a rotating rod 34 is fixedly provided at the output end of the second motor 12. A reciprocating screw rod 28 is rotatably connected between the two side plates 6. The reciprocating screw rod 28 and the rear end of the rotating rod 34 are fixedly connected to the second gear 32. The two second gears 32 are meshed with each other. A moving part 29 is threadedly connected to the surface of the reciprocating screw rod 28, and the moving part 29 is fixedly connected to the nozzle 11.

[0044] Specifically, after the user adjusts the nozzle 11 to an appropriate height, the second motor 12 is turned on to drive the rotating rod 34 to rotate, and the reciprocating screw 28 is driven to rotate through the engagement of the two second gears 32. As the reciprocating screw 28 rotates, the moving part 29 and the nozzle 11 will perform reciprocating linear motion along the axial direction of the reciprocating screw 28, thereby achieving large-area uniform spraying of the inner wall of the underground tunnel, realizing horizontal movement of the nozzle 11, avoiding problems such as inconsistent coating thickness and spray leakage, and effectively improving spraying efficiency and repair quality.

[0045] See attached Figure 6 and attached Figure 7 The top of the lifting plate 5 is fixedly connected to a cylinder 31, and the output end of the cylinder 31 is fixedly provided with a moving frame 30. The moving frame 30 is slidably connected to the multiple side plates 6, and the moving frame 30 is slidably connected to the moving member 29.

[0046] Specifically, when it is necessary to adjust the spraying angle of the nozzle 11, the cylinder 31 is started to push the movable frame 30. The movable frame 30 drives the movable part 29 and the nozzle 11 to change the angle to adapt to the spraying requirements of different curvatures and shapes of the inner wall of the underground pipeline corridor. In the process of the nozzle 11 following the movable part 29 to move horizontally back and forth, the cylinder 31 can adjust the position of the movable frame 30 in real time according to the actual working conditions to ensure that the nozzle 11 always sprays at a suitable angle, thereby realizing flexible adjustment of the angle of the nozzle 11 and avoiding blind spots in spraying or waste of materials due to improper angles.

[0047] See attached Figure 5 and attached Figure 8 The stirring assembly includes a rotating cylinder 33, which is rotatably connected to the storage barrel 8. A plurality of stirring rods 27 are fixedly connected to the surface of the rotating cylinder 33. A rotating rod 26 is slidably connected to the inner diameter of the rotating cylinder 33. The rotating rod 26 is rotatably connected to the lifting plate 5. The top of the rotating rod 26 is fixedly connected to the second bevel gear 25, and the second bevel gear 25 is meshed with the first bevel gear 24.

[0048] Specifically, the second motor 12 drives the rotating rod 34 and the first bevel gear 24 to rotate, and the first bevel gear 24 drives the rotating rod 26 to rotate by meshing with the second bevel gear 25. Since the rotating rod 26 is rotatably connected to the lifting plate 5 and can slide in the inner diameter of the rotating cylinder 33, when the lifting plate 5 is lifted and lowered under the drive of the rack 16, the rotating rod 26 can still keep rotating. The rotation of the rotating rod 26 will drive the rotating cylinder 33 and multiple stirring rods 27 to rotate in the storage barrel 8, ensuring that the paint always remains uniform during the spraying process, avoiding precipitation and stratification, and realizing the synchronization of spraying operation and paint stirring, ensuring the uniformity of the spraying material, improving the coating quality, and reducing the problem of poor repair effect caused by uneven materials.

[0049] See attached Figure 1 and attached Figure 2 A plurality of first slide bars 7 are fixedly connected to the top of the self-propelled vehicle body 1 , and the plurality of first slide bars 7 are all slidably connected to the lifting plate 5 .

[0050] Specifically, multiple first slide bars 7 are slidably connected to the lifting plate 5, providing a stable guide track for the movement of the lifting plate 5, so that the lifting plate 5 can slide smoothly along the direction of the first slide bar 7 during the rising or falling process, thereby preventing the lifting plate 5 from offsetting or shaking during movement, thereby ensuring that the structures such as the nozzle 11 and reciprocating components fixed on the lifting plate 5 are accurately lifted and lowered to the specified position.

[0051] See attached Figure 2 and attached Figure 4 The worm gear 14 and the opposite ends of the first gear 15 are both rotationally connected to the connection box 3, and the rack 16 is slidingly connected to the connection box 3.

[0052] Specifically, the worm wheel 14 and the first gear 15 are rotatably connected to the connecting box 3 to provide a rotation support point, ensuring that the meshing transmission between the worm 13 and the worm wheel 14 and the meshing transmission between the first gear 15 and the rack 16 are smooth and avoid deviation or shaking during the transmission process.

[0053] See attached Figure 3 and attached Figure 4 A fixed column 19 is fixedly connected to the right side of the rack 16, and the fixed column 19 slides in multiple sliding grooves 18.

[0054] Specifically, the fixed column 19 connected to the rack 16 is embedded in the slide groove 18 on the surface of the movable plate 17, so when the rack 16 moves, the fixed column 19 will slide in the slide groove 18, and the sliding of the fixed column 19 will push the movable plate 17 to slide on the second slide rod 23. The movable plate 17 drives the limit member 21 to move in the support leg 2 through the connecting rod 22, so that the support leg 2 can expand outward through the connecting plate 20 and support the self-propelled vehicle body 1 downward.

[0055] See attached Figure 9The integrated construction method for spraying and repairing the inner wall of a self-propelled underground pipe gallery includes the following steps:

[0056] S1. The self-propelled vehicle 1 is controlled to move to the underground pipe corridor to be repaired. The first motor 4 drives the rack 16 and the lifting plate 5 to move up and down through the worm 13, the worm gear 14, and the first gear 15, and adjusts the nozzle 11 to a suitable height.

[0057] S2. When the rack 16 is raised, the fixed column 19 slides in the slide groove 18 of the movable plate 17, pushing the movable plate 17 to move along the second slide rod 23. The connecting rod 22 drives the limiter 21 to slide in the support leg 2, so that the support leg 2 extends outward through the connecting plate 20 and moves downward, thereby supporting and fixing the self-propelled vehicle body 1;

[0058] S3, the water pump 9 transports the paint in the storage barrel 8 to the spray head 11 through the bellows 10, and the second motor 12 drives the reciprocating screw 28 to rotate through the rotating rod 34 and the second gear 32, so that the moving part 29 and the spray head 11 perform reciprocating linear motion along the axis of the reciprocating screw 28, spraying a large area of the inner wall of the pipe gallery;

[0059] S4. During the spraying process, the cylinder 31 pushes the movable frame 30 to adjust the angle of the spray head 11 according to the curvature and shape of the inner wall of the pipe gallery;

[0060] S5. When the second motor 12 is running, the first bevel gear 24 and the second bevel gear 25 drive the rotating rod 26 to rotate, driving the rotating cylinder 33 and the stirring rod 27 to rotate in the storage barrel 8 to stir the paint to prevent sedimentation and stratification.

[0061] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment, comprising a self-propelled vehicle body (1), characterized in that: The top of the self-propelled vehicle body (1) is fixedly connected to a connection box (3), one side of the connection box (3) is fixedly connected to a first motor (4), an output end of the first motor (4) is fixedly provided with a worm (13), a surface of the worm (13) is meshingly connected to a worm wheel (14), one end of the worm wheel (14) is fixedly connected to a first gear (15), a surface of the first gear (15) is meshingly connected to a rack (16), the top of the rack (16) is fixedly connected to a lifting plate (5), the self-propelled vehicle body (1 ) is fixedly connected to a material storage barrel (8) on the top of the self-propelled vehicle body (1), a water pump (9) is fixedly connected to the top of the self-propelled vehicle body (1), an input end of the water pump (9) is fixedly arranged between the material storage barrel (8), a bellows (10) is fixedly arranged at the output end of the water pump (9), and a nozzle (11) is fixedly connected to the top of the bellows (10), a plurality of support components are arranged on both the front and rear sides of the self-propelled vehicle body (1), a reciprocating component is fixedly connected to the top of the lifting plate (5), and a stirring component is arranged inside the material storage barrel (8).

2. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized by: The support assembly comprises a plurality of connecting plates (20), one side of each of the plurality of connecting plates (20) being rotatably connected to the self-propelled vehicle body (1), and the other sides of each of the plurality of connecting plates (20) being rotatably connected to support legs (2), and the support legs (2) being internally slidably connected to limit members (21).

3. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized by: A plurality of second sliding rods (23) are fixedly connected between the front and rear sides of the inner wall of the self-propelled vehicle body (1); a plurality of movable plates (17) are slidably connected to the surfaces of the plurality of second sliding rods (23); a plurality of sliding grooves (18) are provided on the surfaces of the plurality of movable plates (17); a plurality of connecting rods (22) are fixedly connected to the opposite sides of the plurality of movable plates (17); and the plurality of connecting rods (22) are fixedly connected to adjacent limiting members (21).

4. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized by: The reciprocating assembly includes a plurality of side plates (6), and the plurality of side plates (6) are fixedly connected to the lifting plate (5). A second motor (12) is fixedly connected to one side of the front side side plate (6), and a rotating rod (34) is fixedly provided at the output end of the second motor (12). A reciprocating screw rod (28) is rotatably connected between the two side plates (6), and the rear ends of the reciprocating screw rod (28) and the rotating rod (34) are fixedly connected to a second gear (32). The two second gears (32) are meshed with each other, and a moving part (29) is threadedly connected to the surface of the reciprocating screw rod (28), and the moving part (29) is fixedly connected to the nozzle (11).

5. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized in that: The top of the lifting plate (5) is fixedly connected to a cylinder (31), an output end of the cylinder (31) is fixedly provided with a moving frame (30), the moving frame (30) is slidably connected to the plurality of side plates (6), and the moving frame (30) is slidably connected to the moving member (29).

6. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized by: The stirring assembly comprises a rotating cylinder (33), the rotating cylinder (33) is rotatably connected to the material storage barrel (8), a plurality of stirring rods (27) are fixedly connected to the surface of the rotating cylinder (33), a rotating rod (26) is slidably connected to the inner diameter of the rotating cylinder (33), the rotating rod (26) is rotatably connected to the lifting plate (5), a second bevel gear (25) is fixedly connected to the top end of the rotating rod (26), and the second bevel gear (25) is meshedly connected to the first bevel gear (24).

7. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized by: A plurality of first sliding bars (7) are fixedly connected to the top of the self-propelled vehicle body (1), and the plurality of first sliding bars (7) are all slidably connected to the lifting plate (5).

8. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized by: The opposite ends of the worm wheel (14) and the first gear (15) are both rotationally connected to the connection box (3), and the rack (16) is slidingly connected to the connection box (3).

9. The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to claim 1 is characterized by: A fixed column (19) is fixedly connected to the right side of the rack (16), and the fixed column (19) slides in a plurality of sliding grooves (18).

10. An integrated construction method for spraying and repairing the inner wall of a self-propelled underground pipe gallery, characterized in that: The self-propelled underground pipe gallery inner wall spray repair and reinforcement integrated construction equipment according to any one of claims 1 to 9 comprises the following steps: S1, the self-propelled vehicle body (1) is controlled to move to the underground pipe corridor to be repaired area, and the first motor (4) drives the rack (16) and the lifting plate (5) to move up and down through the worm (13), the worm wheel (14), and the first gear (15), and adjusts the nozzle (11) to a suitable height; When the rack (S2) (16) is raised, the fixed column (19) slides in the slide groove (18) of the movable plate (17), pushing the movable plate (17) to move along the second slide rod (23), and driving the limit member (21) to slide in the support leg (2) through the connecting rod (22), so that the support leg (2) expands outward and moves downward through the connecting plate (20), thereby supporting and fixing the self-propelled vehicle body (1); S3, the water pump (9) transports the paint in the storage barrel (8) to the spray head (11) through the bellows (10), and the second motor (12) drives the reciprocating screw (28) to rotate through the rotating rod (34) and the second gear (32), so that the moving part (29) and the spray head (11) perform reciprocating linear motion along the axis direction of the reciprocating screw (28), and spray a large area of the inner wall of the pipe gallery; S4. During the spraying process, the cylinder (31) pushes the movable frame (30) to adjust the angle of the spray head (11) according to the curvature and shape of the inner wall of the pipe gallery; S5, when the second motor (12) is running, the first bevel gear (24) and the second bevel gear (25) drive the rotating rod (26) to rotate, driving the rotating cylinder (33) and the stirring rod (27) to rotate in the storage barrel (8), stirring the paint to prevent sedimentation and stratification.

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