Tunnel concrete spraying and recycling equipment and method

Abstract

The invention relates to the technical field of tunnel engineering construction, in particular to tunnel concrete spraying and recycling equipment and method.The tunnel concrete spraying and recycling equipment comprises a composite function spraying and mixing trolley, and the two sides of the composite function spraying and mixing trolley are each provided with a collecting walking trolley used for bearing sprayed springback concrete; the composite function spraying and mixing trolley comprises a walking part, a box body is arranged on the walking part, a pumping system is arranged in the box body, the pumping system communicates with a regeneration stirring bin, the end, away from the pumping system, of the regeneration stirring bin communicates with the discharging end of a vibration screening machine through a spiral conveyor, and a conveying part is arranged at the feeding end of the vibration screening machine. And double-jet mechanical arms are symmetrically arranged on the top surface of the box body and are communicated with the pumping system. According to the device, sprayed springback concrete passes through the conveying part, the vibrating screen classifier, the spiral conveyor and the regeneration stirring bin to form regenerated concrete, and efficient regeneration and synchronous recycling of the springback concrete are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering construction, and in particular to tunnel concrete spraying recovery equipment and method. Background Art

[0002] In tunnel shotcrete support construction, traditional processes separate the recovery and spraying processes of rebound concrete, resulting in low material utilization and difficulty improving construction efficiency. While existing recycling equipment can initially collect rebound material, its regeneration process suffers from fundamental flaws: mechanical screening alone to separate aggregates fails to effectively remove the aged cement paste adhering to the aggregate surface, resulting in reduced bonding properties and a high secondary rebound rate for the recycled concrete. Furthermore, the independent operation of the recycling and spraying systems requires frequent construction interruptions, and the lack of real-time monitoring and proportioning of recycled material properties further exacerbates fluctuations in construction quality.

[0003] Therefore, there is an urgent need for a tunnel concrete spraying recovery equipment and method that integrates high-pressure slurry stripping, online grading optimization and a closed-loop feeding system to achieve efficient regeneration and synchronous reuse of rebound concrete, and completely solve the technical bottlenecks of insufficient performance of recycled materials and poor construction continuity in traditional processes. Summary of the Invention

[0004] The purpose of the present invention is to provide a tunnel concrete spraying recovery device and method to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: a tunnel concrete spraying and recovery equipment, including a composite function spraying and mixing trolley, and collection walking vehicles for receiving sprayed rebound concrete are respectively provided on both sides of the composite function spraying and mixing trolley; the composite function spraying and mixing trolley includes a walking part, a box body is provided on the walking part, a pumping system is provided in the box body, the pumping system is connected to a regeneration mixing bin, and the end of the regeneration mixing bin away from the pumping system is connected to the discharge end of a vibrating screening machine through a screw conveyor, and a conveying part is provided at the feed end of the vibrating screening machine; a double-spraying mechanical arm is symmetrically provided on the top surface of the box body, the double-spraying mechanical arm is connected to the pumping system, a detection mechanical arm is provided below the double-spraying mechanical arm, and the detection mechanical arm is installed on the side wall of the box body.

[0006] Preferably, the collection walking vehicle includes a bucket-type collection bucket, and each corner of the bottom of the bucket-type collection bucket is equipped with a hydraulic telescopic support leg, and a walking chassis is installed at one end of the hydraulic telescopic support leg away from the bucket-type collection bucket, and a closable discharge port is installed at the bottom center of the bucket-type collection bucket.

[0007] Preferably, the walking portion includes a trolley body, a plurality of walking wheels are installed on the bottom of the trolley body, and the box is installed on the top surface of the trolley body.

[0008] Preferably, the pumping system includes a feed box installed at one end of the top surface of the trolley body, a feed port is installed on the top surface of the feed box, the discharge port of the feed box is connected to a first pumping box, the first pumping box is connected to a delivery pipe and a second pumping box through a three-way electromagnetic switching valve, the second pumping box is arranged on a side of the first pumping box away from the feed box, and the delivery pipe is connected to the dual-injection robotic arm.

[0009] Preferably, a plurality of additive feeding devices are installed on the top surface of the regeneration stirring bin, a planetary stirring mechanism is installed in the regeneration stirring bin, the feed end of the regeneration stirring bin is connected to the discharge end of the screw conveyor, and the side of the second pumping box away from the first pumping box is connected to the discharge end of the regeneration stirring bin.

[0010] Preferably, the discharge end of the vibrating screening machine is connected to the feed end of the screw conveyor, and a high-pressure flushing device is provided above the vibrating screening machine.

[0011] Preferably, the screw conveyor is arranged at an angle, and the feed end of the screw conveyor is arranged at the lower end.

[0012] Preferably, the conveying part includes a track-type conveying bucket, the bottom of which is symmetrically provided with bottom slide rails, two of which are mounted on the trolley body, and a bidirectional spiral agitator is installed in the track-type conveying bucket.

[0013] Preferably, the two bottom slide rails are arranged on both sides of the vibration screening machine, and the end of the bottom slide rail away from the vibration screening machine is arranged close to the end of the trolley body.

[0014] A tunnel concrete spraying recovery method comprises the following steps:

[0015] S1. The collection vehicle and the composite function spray mixing trolley are moved below the spraying surface;

[0016] S2. Fresh concrete from an external pump truck is delivered to the pumping system, which delivers fresh concrete to the dual-jet robot for spraying concrete on the spraying surface;

[0017] S3. After the collection vehicle collects the rebound concrete, it moves to the conveying portion for unloading. After unloading is completed, the collection vehicle repeats step S1 to continue to receive the rebound concrete;

[0018] S4. The conveying unit transports the rebound concrete to the vibrating screening machine;

[0019] S5. The vibrating screening machine transports the rebound concrete to the regeneration mixing bin through the screw conveyor. The regeneration mixing bin dynamically adds regeneration excitation material according to the aggregate grading data to generate recycled concrete that meets the standards;

[0020] S6. Repeat steps S1-S5, and the pumping system can deliver fresh concrete or recycled concrete to the dual-jet robotic arm respectively.

[0021] The present invention discloses the following technical effects:

[0022] The present invention uses a dual-spraying mechanical arm to spray concrete, and uses a collection vehicle to receive the sprayed rebound concrete, so that the sprayed rebound concrete passes through a conveying part, a vibrating screening machine, a screw conveyor and a regeneration mixing bin to form recycled concrete, so that the fresh concrete or recycled concrete can be conveyed to the dual-spraying mechanical arm through a pumping system for spraying concrete, effectively improving the efficient regeneration and synchronous reuse of the rebound concrete. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a side structural diagram of the composite function spray mixing trolley of the present invention;

[0025] Figure 2 This is a schematic diagram of the main structure of the composite function spray mixing trolley of the present invention;

[0026] Figure 3 Collect the schematic diagram of the traveling vehicle structure for the present invention;

[0027] Figure 4 This is a structural diagram of the screw conveyor of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of the spraying robot arm of the present invention;

[0029] Figure 6 This is a structural diagram of the vibrating screening machine of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the detection robot arm of the present invention;

[0031] Figure 8This is a schematic diagram of the bottom slide rail structure of the present invention;

[0032] Among them, 100, collection vehicle; 110, walking chassis; 120, hydraulic telescopic legs; 130, bucket-type collection bucket; 131, openable and closable discharge port; 132, position sensor; 200, multi-function spray mixing trolley; 210, track-type transport bucket; 211, bottom slide rail; 212, telescopic legs; 213, bidirectional spiral agitator; 220, vibration screening machine; 221, high-pressure flushing device; 230, regeneration mixing chamber; 231, additive feeding device; 232, planetary mixing mechanism; 2 40. Double-jet robot arm; 241. Retractable arm section; 242. Rotary joint; 243. Bending drive unit; 244. Pressure sensor; 250. Detection robot arm; 251. LiDAR; 252. Infrared thickness gauge; 260. Feed inlet; 270. Pumping system; 271. First pumping box; 272. Second pumping box; 273. Three-way solenoid switching valve; 280. Function control room; 281. Control computer; 282. Touch screen; 290. Screw conveyor; 300. Spraying working surface. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Reference Figures 1-8 The present invention provides a tunnel concrete spraying recovery device, including a composite function spraying and mixing trolley 200, and a collection traveling vehicle 100 for receiving the sprayed rebound concrete is respectively provided on both sides of the composite function spraying and mixing trolley 200.

[0036] The composite function spray mixing trolley 200 includes a walking part, a box body is provided on the walking part, a pumping system 270 is provided in the box body, the pumping system 270 is connected to the regeneration mixing chamber 230, and the end of the regeneration mixing chamber 230 away from the pumping system 270 is connected to the discharge end of the vibrating screening machine 220 through a screw conveyor 290, and a conveying part is provided at the feed end of the vibrating screening machine 220.

[0037] A double-injection robotic arm 240 is symmetrically arranged on the top surface of the box body. The double-injection robotic arm 240 is connected to the pumping system 270. A detection robotic arm 250 is arranged below the double-injection robotic arm 240 and is installed on the side wall of the box body.

[0038] The double-jet robot arm 240 includes three sections of telescopic arm segments 241, two rotary joints 242, and a bending drive unit 243. A pressure sensor 244 is installed at the end of the double-jet robot arm 240 for monitoring the concrete spraying state.

[0039] The end of the detection robot arm 250 is integrated with a laser radar 251 and an infrared thickness gauge 252. The laser radar 251 is used to scan the tunnel wall surface, and the infrared thickness gauge 252 is used to measure the thickness distribution of the shotcrete.

[0040] A function control room 280 is provided between the dual-injection robotic arms 240. The function control room 280 is installed on the top surface of the box. The function control room 280 is used to control the actions of the collection walking vehicle 100, the walking part, the pumping system 270, the regeneration mixing bin 230, the screw conveyor 290, the vibrating screening machine 220, the conveying part, the dual-injection robotic arm 240, and the detection robotic arm 250.

[0041] The present invention uses a dual-jetting robot 240 to spray concrete, and uses a collection vehicle 100 to receive the sprayed rebound concrete, so that the sprayed rebound concrete is converted into recycled concrete through a conveying portion, a vibrating screening machine 220, a screw conveyor 290 and a regeneration mixing bin 230, so that fresh concrete or recycled concrete can be conveyed to the dual-jetting robot 240 through a pumping system 270 for spraying concrete, effectively improving the efficient regeneration and synchronous reuse of the rebound concrete.

[0042] To further optimize the solution, the collection walking vehicle 100 includes a bucket-type collecting bucket 130, and hydraulic telescopic legs 120 are installed at each corner of the bottom of the bucket-type collecting bucket 130. A walking chassis 110 is installed at the end of the hydraulic telescopic legs 120 away from the bucket-type collecting bucket 130, and a hydraulically controlled fan-shaped openable and closable discharge port 131 is installed at the bottom center of the bucket-type collecting bucket 130.

[0043] One end of the hydraulic telescopic support leg 120 is hinged to the bottom of the bucket-type collecting bucket 130. The height of the bucket-type collecting bucket 130 is adjusted by the hydraulic cylinder of the hydraulic telescopic support leg 120 to ensure that the collecting bucket fits tightly against the tunnel wall.

[0044] The bucket type collecting bucket 130 is designed as a U-shaped structure, and the inner wall is lined with wear-resistant steel plates.

[0045] The rollers of the walking chassis 110 adopt an independent drive structure. Each roller is equipped with a hydraulic drive motor and has omnidirectional movement capability to adapt to the complex ground environment of the tunnel.

[0046] The optimized solution consists of a trolley body with multiple running wheels mounted on the bottom, and a box mounted on the top. Each running wheel is equipped with a hydraulic drive motor, enabling omnidirectional movement to adapt to the complex ground environment of the tunnel.

[0047] To further optimize the solution, the pumping system 270 includes a feed box installed at one end of the top surface of the trolley body, a feed port 260 is installed on the top surface of the feed box, and the discharge port of the feed box is connected to the first pumping box 271. The first pumping box 271 is connected to the feed pipe and the second pumping box 272 through the three-way electromagnetic switching valve 273. The second pumping box 272 is arranged on the side of the first pumping box 271 away from the feed box, and the feed pipe is connected to the dual-injection robotic arm 240.

[0048] The first pumping tank 271 is used to store fresh concrete, and the second pumping tank 272 is used to store recycled concrete. The three-way electromagnetic switching valve 273 is remotely controlled by the function control room 280.

[0049] To further optimize the solution, a plurality of additive feeding devices 231 connected to the regeneration stirring chamber 230 are installed on the top surface of the regeneration stirring chamber 230, a planetary stirring mechanism 232 is installed in the regeneration stirring chamber 230, the feed end of the regeneration stirring chamber 230 is connected to the discharge end of the screw conveyor 290, and the side of the second pumping box 272 away from the first pumping box 271 is connected to the discharge end of the regeneration stirring chamber 230.

[0050] The additive feeding device 231 automatically adjusts the feeding amount of the regeneration excitation material according to the aggregate detection data.

[0051] To further optimize the solution, the discharge end of the vibration screening machine 220 is connected to the feed end of the screw conveyor 290 , and a high-pressure flushing device 221 is provided above the vibration screening machine 220 .

[0052] As a further optimization solution, the screw conveyor 290 is arranged at an angle, and the feed end of the screw conveyor 290 is arranged at a lower end.

[0053] In a further optimized solution, the conveying section includes a track-type conveying bucket 210, with bottom rails 211 symmetrically arranged at the bottom of the track-type conveying bucket 210. The two bottom rails 211 are mounted on the trolley body, and a bidirectional spiral agitator 213 is installed in the track-type conveying bucket 210. Guide grooves are provided on both sides of the two bottom rails 211.

[0054] The bidirectional spiral agitator 213 can prevent the material in the track-type conveying bucket 210 from becoming compacted.

[0055] The bottom of the track-type transport bucket 210 is equipped with an electric telescopic support leg 212 for adjusting the unloading height of the track-type transport bucket 210. The movable end of the bottom slide rail 211 is fixedly connected to the electric telescopic support leg 212.

[0056] In a further optimized solution, two bottom rails 211 are provided on both sides of the vibrating screening machine 220 , and the end of the bottom rail 211 away from the vibrating screening machine 220 is provided close to the end of the trolley body, so that the rail-type transport bucket 210 can be effectively moved to the top of the vibrating screening machine 220 .

[0057] A position sensor 132 is provided on one side of the openable and closable discharge port 131 and is mounted on the bottom of the bucket-type collecting bucket 130. The position sensor 132 is used to monitor the relative position of the openable and closable discharge port 131 and the track-type transport bucket 210 in real time.

[0058] The functional control room 280 is equipped with an industrial control computer 281 and a touch screen 282. The control computer 281 communicates with each actuator through the bus system to realize centralized control of the equipment, monitor the unloading position of the collection vehicle 100 in real time, and ensure that the openable and closable unloading port 131 is accurately aligned with the rail-type transport bucket 210; based on the scanning data of the detection robot arm 250, the optimal spraying path of the robot arm is generated; when an area with insufficient spraying thickness is detected, the system automatically starts the supplementary spraying program; the grading and cleanliness of the rebound aggregate are dynamically analyzed, and the addition ratio of the regenerated excitation material is automatically calculated.

[0059] A tunnel concrete spraying recovery method comprises the following steps:

[0060] S1. Move the collection vehicle 100 and the multi-function spray-mixing trolley 200 to the bottom of the spraying operation surface 300; after the collection vehicle 100 moves to the bottom of the spraying operation surface 300, adjust the hydraulic telescopic support legs 120 so that the bucket-type collection bucket 130 fits the tunnel wall; when the dual-spraying robotic arm 240 is in operation, the rebound concrete falls into the bucket-type collection bucket 130.

[0061] S2 . The fresh concrete from the external pump truck is delivered to the pumping system 270 . The pumping system 270 delivers the fresh concrete to the dual-spraying robot arm 240 for spraying concrete on the spraying working surface 300 .

[0062] S3. After collecting the rebound concrete, the collection vehicle 100 moves to the conveying section for unloading. After unloading, the collection vehicle 100 repeats step S1 to continue collecting rebound concrete. When the bucket-type collection hopper 130 reaches the preset load, the collection vehicle 100 moves to the front of the multi-functional spray-mixing trolley 200. The position sensor 132 aligns the openable and closable discharge port 131 with the feed port of the track-type conveyor hopper 210. The hydraulic drive of the openable and closable discharge port 131 opens the openable and closable discharge port 131, unloading the rebound concrete into the track-type conveyor hopper 210.

[0063] S4. The conveying unit transports the rebound concrete into the vibrating screen 220. The track-type conveyor bucket 210 moves along the bottom slide rail 211 to the top of the vibrating screen 220. The telescopic legs 212 are extended to adjust the height, and the rebound concrete is unloaded into the vibrating screen 220. The vibrating screen 220 uses multiple layers of screens to grade the aggregate, and the high-pressure flushing device 221 removes the aged slurry on the aggregate surface.

[0064] S5. The vibrating screening machine 220 conveys the rebound concrete to the regeneration mixing bin 230 via the screw conveyor 290. The regeneration mixing bin 230 dynamically adds regeneration stimulating materials according to the aggregate grading data to generate regenerated concrete that meets the standards. The clean aggregate is fed into the regeneration mixing bin 230 via the screw conveyor 290. The additive feeding device 231 dynamically adds regeneration stimulating materials according to the aggregate grading data to generate regenerated concrete that meets the strength standards in the regeneration mixing bin 230.

[0065] S6. Repeat steps S1-S5. Pumping system 270 can deliver fresh concrete or recycled concrete to dual-jet robotic arm 240. Function control room 280 controls three-way electromagnetic switching valve 273 according to construction requirements, selecting fresh concrete or recycled concrete to supply dual-jet robotic arm 240.

[0066] Through innovative modular design and intelligent control systems, the present invention achieves a full-process closed-loop operation for efficient recovery, immediate regeneration, and precise spraying of rebound aggregate during tunnel shotcrete construction. The collection vehicle uses a bucket-type collection structure driven by hydraulic telescopic legs, which can precisely fit the tunnel working surface and cooperate with the position sensing system to realize the automated collection and transportation of rebound aggregate. The composite function spray-mixing trolley integrates advanced processes such as vibration screening, high-pressure flushing, and dynamic proportioning regeneration to ensure that rebound aggregate is regenerated into concrete that meets engineering standards. The dual-spraying robotic arm system, combined with a detection and feedback mechanism, realizes adaptive spraying and intelligent supplementary spraying of the tunnel wall. The innovative dual-pumping system design supports independent storage and on-demand switching of fresh concrete and recycled concrete, greatly improving construction flexibility. Through intelligent and coordinated control of the entire "recovery-regeneration-spraying" process, the present invention effectively solves key technical problems in traditional construction, such as serious material waste, poor process connection, and low recycling utilization rate. It significantly improves construction efficiency and project quality, and provides an innovative solution for the green and intelligent construction of tunnel projects.

[0067] The dual-jet robot 240 sprays concrete based on a dynamic optimization algorithm with real-time feedback. At the same time, the detection robot 250 obtains the three-dimensional morphological data of the spraying surface through the laser radar 251, combines the thickness distribution detection results of the infrared thickness gauge 252, and uses multi-dimensional data fusion technology to reconstruct the quality of the spraying surface.

[0068] Functional Control Room 280 compares the scanned data with the design model, identifying areas of insufficient thickness or voids. The control module automatically generates a re-spraying path and instructs the spraying robot to switch to recycled concrete supply mode, precisely re-spraying the defective areas until the design thickness is achieved.

[0069] In the vibrating screening machine 220, the high-pressure array water gun adopts a fan-shaped nozzle, and the water pressure can be automatically adjusted according to the cleanliness of the aggregate. It is also equipped with a water recycling system to achieve zero wastewater discharge.

[0070] The laser radar 251 carried by the detection robot 250 collects the original three-dimensional point cloud data set of the tunnel surface in real time Data preprocessing is also performed, including statistical filtering, radius filtering, and voxel grid downsampling methods to improve data quality and computational efficiency. The calculation formula for voxel grid downsampling is as follows: Among them, P vg represents the average value of the points in the voxel grid, and n is the number of points that fall within the voxel grid.

[0071] Based on the improved iterative closest point (ICP) registration algorithm, high-precision matching between the point cloud data collected in real time and the previously scanned data is ensured. The ICP optimization objective function is: Among them, P i is the current point cloud, Qi is the reference point cloud, R and t represent the rotation and translation matrices respectively, R l represents the rotation matrix of the previous frame point cloud registration, α is the smooth constraint factor, ‖·‖ F Represents the Frobenius norm of the matrix, which is used to constrain the amplitude of motion changes between consecutive frames and improve the smoothness and stability of the point cloud model.

[0072] The registered point cloud is reconstructed using Poisson surface to obtain a continuous surface model of the tunnel construction surface. The Poisson surface reconstruction process can be expressed as solving the following optimization problem: min S (‖▽SV‖ 2 +λ‖S‖ 2 ), where S represents the tunnel spraying surface model to be determined, ▽S is the gradient of the surface, V represents the point cloud normal vector field, and λ represents the smoothness constraint weight factor, which is used to adjust the balance between surface smoothness and fitting accuracy.

[0073] The real-time spraying thickness of each point is calculated based on the spatial distance between the reconstructed tunnel surface model and the design standard model. The calculation formula is expressed as: Among them, T i is the thickness value of the i-th point on the scanned surface model, X i is the point of the scan model, X j To design the points on the model, the KD-tree nearest neighbor search method is used to achieve efficient calculation.

[0074] The intelligent defect area automatic identification method is used to locate the insufficient thickness or void area through thickness gradient analysis. The defect area identification formula is: D = {X i |T i <T min / ▽ 2 T i >Th}, where T min is the lower limit of design thickness, ▽ 2 T i It represents the second-order gradient of the spatial distribution of thickness, which is used to reflect the local dramatic change of thickness.

[0075] According to the spatial location of the defect area, the improved Dijkstra shortest path algorithm is used to plan the repair spraying path. The path optimization goal is: Among them, PL is the length of the spraying path, X i For the i-th spraying position point on the spraying path, the spraying path length and the robot arm movement cost are optimized to make the spraying construction more efficient and economical.

[0076] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, 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 therefore cannot be understood as a limitation on the present invention.

[0077] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A tunnel concrete spraying recovery device, characterized by: It comprises a composite function spray-mixing trolley (200), wherein both sides of the composite function spray-mixing trolley (200) are respectively provided with a collection traveling vehicle (100) for receiving sprayed rebound concrete; The composite function spray mixing trolley (200) comprises a walking portion, a box body is provided on the walking portion, a pumping system (270) is provided in the box body, the pumping system (270) is connected to a regeneration mixing chamber (230), an end of the regeneration mixing chamber (230) away from the pumping system (270) is connected to the discharge end of a vibrating screening machine (220) via a screw conveyor (290), and a conveying portion is provided at the feed end of the vibrating screening machine (220); A double-jet mechanical arm (240) is symmetrically arranged on the top surface of the box body, and the double-jet mechanical arm (240) is connected to the pumping system (270). A detection mechanical arm (250) is arranged below the double-jet mechanical arm (240), and the detection mechanical arm (250) is installed on the side wall of the box body.

2. The tunnel concrete spraying recovery equipment according to claim 1, characterized in that: The collection traveling vehicle (100) comprises a bucket-type collection bucket (130), each corner of the bottom of the bucket-type collection bucket (130) is installed with a hydraulic telescopic support leg (120), one end of the hydraulic telescopic support leg (120) away from the bucket-type collection bucket (130) is installed with a traveling chassis (110), and the bottom center of the bucket-type collection bucket (130) is installed with an openable and closable discharge port (131).

3. The tunnel concrete spraying recovery equipment according to claim 1, characterized in that: The walking portion includes a trolley body, a plurality of walking wheels are installed on the bottom of the trolley body, and the box is installed on the top surface of the trolley body.

4. The tunnel concrete spraying recovery equipment according to claim 3, characterized in that: The pumping system (270) includes a feed box installed on one end of the top surface of the trolley body, a feed port (260) is installed on the top surface of the feed box, and the discharge port of the feed box is connected to a first pumping box (271), and the first pumping box (271) is connected to a delivery pipe and a second pumping box (272) through a three-way electromagnetic switching valve (273). The second pumping box (272) is arranged on a side of the first pumping box (271) away from the feed box, and the delivery pipe is connected to the double-injection robotic arm (240).

5. The tunnel concrete spraying recovery equipment according to claim 4, characterized in that: A plurality of additive feeding devices (231) are installed on the top surface of the regeneration stirring chamber (230), a planetary stirring mechanism (232) is installed in the regeneration stirring chamber (230), the feed end of the regeneration stirring chamber (230) is connected to the discharge end of the screw conveyor (290), and the side of the second pumping box (272) away from the first pumping box (271) is connected to the discharge end of the regeneration stirring chamber (230).

6. The tunnel concrete spraying recovery equipment according to claim 5, characterized in that: The discharge end of the vibrating screening machine (220) is connected to the feed end of the screw conveyor (290), and a high-pressure flushing device (221) is provided above the vibrating screening machine (220).

7. The tunnel concrete spraying recovery equipment according to claim 1, characterized in that: The screw conveyor (290) is arranged at an angle, and the feed end of the screw conveyor (290) is arranged at a lower end.

8. The tunnel concrete spraying recovery equipment according to claim 3, characterized in that: The conveying part comprises a track-type conveying bucket (210), the bottom of which is symmetrically provided with bottom slide rails (211), two bottom slide rails (211) being mounted on the trolley body, and a bidirectional spiral stirrer (213) being mounted in the track-type conveying bucket (210).

9. The tunnel concrete spraying recovery equipment according to claim 8, characterized in that: The two bottom slide rails (211) are arranged on both sides of the vibration screening machine (220), and one end of the bottom slide rail (211) away from the vibration screening machine (220) is arranged close to the end of the trolley body.

10. A tunnel concrete spraying recovery method, based on the tunnel concrete spraying recovery device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. The collection vehicle (100) and the composite spray mixing vehicle (200) are moved to below the spraying operation surface (300); S2. Fresh concrete from an external pumping truck is delivered to the pumping system (270), and the pumping system (270) delivers the fresh concrete to the dual-spraying robot arm (240) for spraying concrete on the spraying working surface (300); S3. After the collection vehicle (100) collects the rebound concrete, it moves to the conveying portion for unloading. After unloading, the collection vehicle (100) repeats step S1 to continue to receive the rebound concrete; S4. The conveying unit conveys the rebound concrete to the vibrating screening machine (220); S5. The vibrating screening machine (220) conveys the rebound concrete to the regeneration mixing chamber (230) via the screw conveyor (290), and the regeneration mixing chamber (230) dynamically adds regeneration excitation materials according to the aggregate grading data to generate regenerated concrete that meets the standards; S6. Repeat steps S1-S5, and the pumping system (270) can deliver fresh concrete or recycled concrete to the dual-jet robotic arm (240) respectively.

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