Intelligent spraying equipment for shield segment and spraying method of intelligent spraying equipment

Abstract

The invention discloses intelligent spraying equipment for a shield segment and a spraying method of the intelligent spraying equipment, and relates to the technical field of shield segment spraying. The intelligent spraying equipment comprises a base, and the upper side of the base is fixedly connected with a first arc-shaped guide sliding plate, a second arc-shaped guide sliding plate and a third arc-shaped guide sliding plate in sequence; arc-shaped sliding grooves are formed in the first arc-shaped guide sliding plate, the second arc-shaped guide sliding plate and the third arc-shaped guide sliding plate correspondingly, and a spraying mechanism used for spraying the upper portion and the lower portion of the shield segment is arranged in the first arc-shaped guide sliding plate. A pressure sensor is combined to detect the shield segment angle in real time and feed back and adjust the steering direction of a first motor, dynamic adaptation of the swing angle of a spray gun and the segment angle is achieved, it is guaranteed that the upper side and the lower side are evenly covered with spraying, and the problem of manual angle adjustment deviation or spraying missing during spraying is avoided; the device is particularly suitable for full-automatic spraying of shield segments at different angles, coating waste is remarkably reduced, and operation safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of shield segment spraying, and in particular to intelligent spraying equipment for shield segments and a spraying method thereof. Background Art

[0002] Shield segments are precast concrete components used for shield tunnel lining. They are usually arc-shaped and assembled into rings to form the tunnel's supporting structure.

[0003] Shield segments are usually divided into one capping block, two adjacent blocks and three standard blocks. The angle of the capping block is usually 20 degrees, the angle of the adjacent block is usually 50 degrees, and the angle of the standard block is usually 80 degrees. The six blocks together make up a total of 360 degrees.

[0004] Existing shield segment spraying is usually done manually. Workers lift the shield segment with a sling, spray above the shield segment through a vertical lift, and stand below the shield segment to spray below it. Since the angles of the capping block, adjacent blocks and standard blocks of the shield segment are different, the workers cannot accurately maintain the spraying distance according to the angle of the shield segment during spraying, resulting in the spraying range being large and small, thereby making the coating thickness sprayed on the upper and lower sides of the shield segment uneven. In addition, the safety hazard is too great when workers spray below the shield segment. The sling may tear, causing the shield segment to fall and hit the workers, thereby causing serious safety accidents.

[0005] Therefore, it is necessary to design an intelligent spraying equipment and a spraying method for shield segments that can spray evenly and clamp shield segments at different angles. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent spraying device for shield segments and a spraying method thereof to solve the problems raised in the above background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent spraying equipment for shield segments, comprising a base, the upper side of the base is fixedly connected with a first arc guide slide, a second arc guide slide and a third arc guide slide in sequence, the first arc guide slide, the second arc guide slide and the third arc guide slide are each provided with an arc slide groove inside, the first arc guide slide is provided with a spraying mechanism for spraying the upper and lower sides of the shield segment inside, one side of the base is provided with a clamping mechanism for clamping shield segments of different angles, the other side of the base is fixedly connected with a support plate, the upper side of the clamping mechanism is respectively provided with two transmission mechanisms for conveying the shield segments, and the lower side of the first arc guide slide is fixedly connected with a camera for photographing the upper side of the shield segment.

[0008] According to the above technical solution, the spraying mechanism includes a first motor fixedly connected to the upper side of the support plate, the output end of the first motor is fixedly connected to a rotating plate, one side of the rotating plate is fixedly connected to a second fixed column and a first fixed column in sequence from top to bottom, the second fixed column is slidingly connected to the inside of the first arc guide slide plate and the first fixed column is slidingly connected to the inside of the third arc guide slide plate, the other end of the second fixed column is fixedly connected to a second spray gun, the upper side of the second spray gun is fixedly connected to a second paint bucket and the input end is connected to the output end pipe of the second paint bucket, the other end of the first fixed column is fixedly connected to the first spray gun, the lower side of the first spray gun is fixedly connected to the first paint bucket and the input end is connected to the output end pipe of the first paint bucket.

[0009] According to the above technical solution, the clamping mechanism includes a double-headed hydraulic cylinder and a second motor fixedly connected to one side of the base, a transmission box is provided on the upper side of the second motor and the transmission box is fixedly connected to the base, the interior of the transmission box is respectively connected to the second bevel gear, the third bevel gear and the first bevel gear with bearings, the second bevel gear and the third bevel gear are both meshed with the first bevel gear, one side of the third bevel gear is fixedly connected to the second rotating shaft, one side of the second bevel gear is fixedly connected to the first rotating shaft, the first rotating shaft passes through the interior of the second rotating shaft and is slidably connected to the second rotating shaft.

[0010] According to the above technical solution, the output end of the second motor is fixedly connected to one side of the first bevel gear, the other end of the second rotating shaft is fixedly connected to the second connecting rod, the other end of the first rotating shaft is fixedly connected to the first connecting rod, the other ends of the first connecting rod and the second connecting rod are both fixedly connected to the guide slide column, the double-headed hydraulic cylinder is arranged on the outside of the guide slide column, the two output ends of the double-headed hydraulic cylinder are fixedly connected to the clamping column, the other end of each of the guide slide columns is fixedly connected to a pressure sensor, and the other end of the pressure sensor is provided with two connecting rods, the two connecting rods are hinged to each other, one end of the two connecting rods is hinged to the pressure sensor and the other end is hinged to the base.

[0011] According to the above technical solution, the transmission mechanism includes a first hydraulic cylinder fixedly connected to the outside of the guide slide, and the output end of the first hydraulic cylinder is fixedly connected to a slider. The slider is slidingly connected to the inside of the guide slide and the other end is fixedly connected to the double-head hydraulic cylinder.

[0012] According to the above technical solution, a negative pressure liquid suction component is provided on the outside of the double-headed hydraulic cylinder, and the negative pressure liquid suction component includes a liquid storage box fixedly connected to the outside of the double-headed hydraulic cylinder, and the first cylinder and the second cylinder are respectively connected through the two upper sides of the liquid storage box, and the middle of the first cylinder and the second cylinder is fixedly connected with a guide slide cylinder, and the outside of the guide slide cylinder is fixedly connected with an air pump and the input end of the air pump is connected to the output end pipeline of the guide slide cylinder, and one side of the liquid storage box is provided with a first liquid suction plate and a second liquid suction plate, and the first liquid suction plate and the second liquid suction plate are both connected through the guide slide cylinder, and one side of the first cylinder is fixedly connected with a second hydraulic cylinder, and the output end of the second hydraulic cylinder passes through the first cylinder.

[0013] According to the above technical solution, a liquid storage tank is provided inside the liquid storage box, and the liquid storage tank is V-shaped. The second sealing plate is slidably connected to the inside of the second cylinder, and a second spring is fixedly connected to one side of the second sealing plate, and the other end of the second spring is fixedly connected to the second cylinder. The first sealing plate is slidably connected to the inside of the first cylinder, and a first spring is fixedly connected to one side of the first sealing plate, and the other end of the first spring is fixedly connected to the first cylinder. The guide cylinder is slidably connected to a stop column, and the two ends of the stop column are respectively fixedly connected to the first top column and the second top column. The output end of the second hydraulic cylinder passes through the first sealing plate and is fixedly connected to the second top column.

[0014] According to the above technical solution, the output end of the second hydraulic cylinder is three-quarter cylindrical, and the top column, first top column, second top column, first sealing plate and second sealing plate are also three-quarter cylindrical, and the output end of the second hydraulic cylinder is in contact with the first sealing plate and the first cylinder.

[0015] A spraying method of an intelligent spraying device for shield segments, according to the intelligent spraying device for shield segments described above, comprises the following steps:

[0016] S1: The shield segment is hoisted above the clamping mechanism, and the clamping mechanism clamps and fixes both sides of the shield segment.

[0017] S2: The spraying mechanism automatically adjusts the swing angle of the nozzle according to the fixed angle of the clamping mechanism.

[0018] S3: While the spraying mechanism is spraying, the transmission mechanism drives the shield segment to move, so that the spraying mechanism sprays the upper and lower sides of the shield segment.

[0019] S4: When the spraying mechanism is spraying, the camera takes real-time photos of the upper surface of the shield segment to determine the location of the flowing paint liquid, and then controls the negative pressure liquid suction component to collect the paint liquid flowing in the designated area.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. Through the synergistic effect of the bevel gear and the double-head hydraulic cylinder, combined with the pressure sensor to detect the shield segment angle in real time and feedback to adjust the steering direction of the first motor, dynamic adaptation of the spray gun swing angle and the segment angle is achieved, ensuring uniform spray coverage on both sides, avoiding manual adjustment of angle deviation or spray leakage during spraying. It is particularly suitable for fully automated spraying of shield segments at different angles, significantly reducing paint waste and improving operation safety.

[0022] 2. Use a camera to shoot the upper side of the shield segment, accurately locate the flow distribution of the paint liquid on the shield segment, and predict the final flow position of the paint liquid. Based on this prediction information, accurately control the telescopic action of the output end of the second hydraulic cylinder to achieve precise opening of the first and second liquid suction plate input ports. This process ensures that the paint liquid that is about to flow at different positions on the shield segment is efficiently and accurately absorbed into the guide slide, significantly improving the accuracy of paint liquid collection and achieving energy-saving effects. It is designed with dual input ports. When one of the suction ports is closed, the suction force of the other suction port will automatically increase, thereby more effectively absorbing the flowing paint liquid into the guide slide.

[0023] 3. Through the extension and retraction of the piston rod of the second hydraulic cylinder, not only can the opening of the input ports of the first and second liquid absorption plates be accurately controlled, but the blocking column can also be driven to move left and right while the input ports of the liquid absorption plates are opened, thereby pushing the paint liquid absorbed by the first and second liquid absorption plates into the interior of the first and second cylinders in turn. Finally, the paint liquid falls into the interior of the liquid storage tank under the action of gravity, realizing the orderly collection and treatment of the paint liquid and achieving energy-saving effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the overall structure of an intelligent spraying device for shield segments according to the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure of an intelligent spraying device for shield segments according to the present invention from another perspective;

[0027] Figure 3 Schematic diagram of the position of the camera in the present invention;

[0028] Figure 4 Schematic diagram of the structure of the spraying mechanism, the clamping mechanism and the transmission mechanism in the present invention;

[0029] Figure 5Schematic diagram of the internal structure of the transmission box in the present invention;

[0030] Figure 6 Schematic diagram of different angles of the capping block, adjacent block and standard block in the present invention;

[0031] Figure 7 Schematic diagram of the structure of the negative pressure liquid suction component of the present invention;

[0032] Figure 8 Schematic diagram of the internal structure of the guide slide in the present invention.

[0033] In the figure: 1, base; 2, first arc-shaped guide slide; 3, third arc-shaped guide slide;

[0034] 4. Spraying mechanism; 41. First motor; 42. First fixed column; 43. Rotating plate; 44. First spray gun; 45. Second fixed column; 46. Second spray gun; 47. First paint bucket; 48. Second paint bucket;

[0035] 5. Transmission mechanism; 51. First hydraulic cylinder; 52. Negative pressure liquid suction assembly; 521. Guide cylinder; 522. First cylinder; 5211. Stop column; 5212. First spring; 5213. First sealing plate; 5214. Liquid reservoir; 5215. Second sealing plate; 5216. Second spring; 523. Second hydraulic cylinder; 524. Liquid reservoir; 525. First liquid suction plate; 526. Second liquid suction plate; 527. Second cylinder; 528. Air pump; 53. Slider;

[0036] 6. Second arc-shaped guide slide; 7. Support plate; 8. Camera;

[0037] 9. Clamping mechanism; 91. Second motor; 92. Transmission box; 921. First rotating shaft; 922. First bevel gear; 923. Second bevel gear; 924. Third bevel gear; 925. Second rotating shaft; 93. Guide column; 94. First connecting rod; 95. Second connecting rod; 96. Double-headed hydraulic cylinder; 97. Connecting rod; 98. Clamping column; 99. Pressure sensor. DETAILED DESCRIPTION

[0038] 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.

[0039] For example 1, please refer to Figure 1-8The present invention provides a technical solution: an intelligent spraying equipment for shield segments, comprising a base 1, a first curved guide slide 2, a second curved guide slide 6 and a third curved guide slide 3 are fixedly connected to the upper side of the base 1 in sequence, the first curved guide slide 2, the second curved guide slide 6 and the third curved guide slide 3 are all provided with curved slide grooves, the first curved guide slide 2 is provided with a spraying mechanism 4 for spraying the upper and lower sides of the shield segment, one side of the base 1 is provided with a clamping mechanism 9 for clamping shield segments of different angles, the other side of the base 1 is fixedly connected with a support plate 7, the upper side of the clamping mechanism 9 is respectively provided with two transmission mechanisms 5 for conveying the shield segments, and the lower side of the first curved guide slide 2 is fixedly connected with a camera 8 for photographing the upper side of the shield segment.

[0040] See also Figure 4 The spraying mechanism 4 includes a first motor 41 fixedly connected to the upper side of the support plate 7, and the output end of the first motor 41 is fixedly connected to a rotating plate 43. One side of the rotating plate 43 is fixedly connected to a second fixed column 45 and a first fixed column 42 from top to bottom. The second fixed column 45 is slidably connected to the inside of the first arc-shaped guide slide 2 and the first fixed column 42 is slidably connected to the inside of the third arc-shaped guide slide 3. The other end of the second fixed column 45 is fixedly connected to a second spray gun 46, and the upper side of the second spray gun 46 is fixedly connected to a second paint bucket 48 and the input end is connected to the output end pipe of the second paint bucket 48. The other end of the first fixed column 42 is fixedly connected to a first spray gun 44, and the lower side of the first spray gun 44 is fixedly connected to a first paint bucket 47 and the input end is connected to the output end pipe of the first paint bucket 47.

[0041] Specifically, the rotation of the output end of the first motor 41 is used to control the rotation of the turn plate 43, thereby driving the second fixed column 45 and the first fixed column 42 to rotate, and then driving the first spray gun 44 and the second spray gun 46 to swing along the arc-shaped slide groove inside the first arc-shaped guide slide plate 2 and the third arc-shaped guide slide plate 3. The first spray gun 44 and the second spray gun 46 are used to extract the paint liquid inside the first paint bucket 47 and the second paint bucket 48 respectively, and spray the upper and lower sides of the shield segment.

[0042] See also Figure 4 and Figure 5The clamping mechanism 9 includes a double-headed hydraulic cylinder 96 and a second motor 91 fixedly connected to one side of the base 1. A transmission box 92 is provided on the upper side of the second motor 91 and the transmission box 92 is fixedly connected to the base 1. The interior of the transmission box 92 is respectively connected to the second bevel gear 923, the third bevel gear 924 and the first bevel gear 922 by bearings. The second bevel gear 923 and the third bevel gear 924 are both meshed with the first bevel gear 922. One side of the third bevel gear 924 is fixedly connected to the second rotating shaft 925, and one side of the second bevel gear 923 is fixedly connected to the first rotating shaft 921. The first rotating shaft 921 passes through the interior of the second rotating shaft 925 and is slidably connected to the second rotating shaft 925.

[0043] Specifically, the output end of the second motor 91 drives the first bevel gear 922 to rotate through the transmission mechanism, and with the help of the meshing transmission between the bevel gears, power transmission is realized and the rotation direction is changed, so that the second bevel gear 923 and the third bevel gear 924 rotate in opposite directions respectively. This process further transmits the rotational motion to the first connecting rod 94 and the second connecting rod 95 through the first rotating shaft 921 and the second rotating shaft 925, so that they rotate synchronously and in opposite directions.

[0044] The output end of the second motor 91 is fixedly connected to one side of the first bevel gear 922, the other end of the second rotating shaft 925 is fixedly connected to the second connecting rod 95, the other end of the first rotating shaft 921 is fixedly connected to the first connecting rod 94, the other ends of the first connecting rod 94 and the second connecting rod 95 are fixedly connected to the guide slide 93, the double-headed hydraulic cylinder 96 is arranged on the outside of the guide slide 93, the two output ends of the double-headed hydraulic cylinder 96 are fixedly connected to the clamping column 98, the other end of each guide slide 93 is fixedly connected to the pressure sensor 99, the other end of the pressure sensor 99 is provided with two connecting rods 97, the two connecting rods 97 are hinged to each other, one end of the two connecting rods 97 is hinged to the pressure sensor 99 and the other end is hinged to the base 1.

[0045] Specifically, the rotation of the first connecting rod 94 and the second connecting rod 95 is used to drive the guide slide column 93 to slide along the arc-shaped slide groove inside the second arc-shaped guide slide plate 6, thereby controlling the double-headed hydraulic cylinder 96 to approach the two sides of the shield segment. The extension and contraction of the two output ends of the double-headed hydraulic cylinder 96 are used to control the movement of the clamping column 98, thereby clamping or loosening the two sides of the shield segment. While the guide slide column 93 slides, it drives the pressure sensor 99 to move synchronously. The pressure sensor 99 is used to monitor the dynamic pressure changes applied to the sensor detection end by the turn plate 43 during the rotation process. When the turn plate 43 rotates and hits the detection end of the pressure sensor 99, a transient pressure signal is generated. The sensor can capture and convert these pressure signals in real time to achieve accurate monitoring of the movement state of the turn plate 43.

[0046] The transmission mechanism 5 includes a first hydraulic cylinder 51 fixedly connected to the outside of the guide slide 93, and the output end of the first hydraulic cylinder 51 is fixedly connected to the slider 53. The slider 53 is slidably connected to the inside of the guide slide 93 and the other end is fixedly connected to the double-headed hydraulic cylinder 96.

[0047] Specifically, the extension and retraction of the output end of the first hydraulic cylinder 51 is used to control the sliding of the slider 53, thereby driving the double-headed hydraulic cylinder 96 to slide, and further driving the clamped shield segment to move.

[0048] See also Figure 6 , a is the capping block with a smaller angle, b is the adjacent block with a moderate angle, and c is the standard block with a larger angle.

[0049] When it is necessary to spray the upper and lower sides of the shield segment, the suspended shield segment is moved between the first spray gun 44 and the second spray gun 46, and the output end of the second motor 91 drives the first bevel gear 922 to rotate through the transmission mechanism. With the help of the meshing transmission between the bevel gears, power transmission is realized and the rotation direction is changed, so that the second bevel gear 923 and the third bevel gear 924 rotate in opposite directions respectively. This process further transmits the rotational motion to the first connecting rod 94 and the second connecting rod 95 through the first rotating shaft 921 and the second rotating shaft 925, driving the two double-headed hydraulic cylinders 96 to stick to the two sides of the shield segment respectively and drive the pressure sensor 99 to move synchronously. The retraction control clamping columns 98 at the two output ends of the double-headed hydraulic cylinder 96 are close to each other, thereby clamping the two sides of the shield segment.

[0050] When the shield segment is clamped, the angle formed by the two pressure sensors 99 and the axis of the output end of the first motor 41 is the angle of the shield segment at this time. The output end of the first motor 41 rotates the control plate 43 to rotate, thereby driving the second fixed column 45 and the first fixed column 42 to rotate, and then driving the first spray gun 44 and the second spray gun 46 to swing along the arc chute inside the first arc guide slide 2 and the third arc guide slide 3. When the output end of the first motor 41 rotates counterclockwise and presses one of the pressure sensors 99, the pressure sensor 99 detects the pressure value and controls the output end of the first motor 41 to rotate counterclockwise. When the When the output end of a motor 41 rotates clockwise and presses against another pressure sensor 99, the pressure sensor 99 detects the pressure value and controls the output end of the first motor 41 to rotate clockwise, thereby adjusting the swing angle of the first spray gun 44 and the second spray gun 46 according to the angle of the clamped shield segment. At the same time as the first spray gun 44 and the second spray gun 46 begin to swing, the output end of the first hydraulic cylinder 51 extends the control slider 53 to slide, thereby driving the double-headed hydraulic cylinder 96 to slide, and then driving the clamped shield segment to move. The first spray gun 44 and the second spray gun 46 swing back and forth to evenly spray the upper and lower sides of the shield segment.

[0051] Through the coordinated action of the bevel gear and the double-head hydraulic cylinder 96, combined with the pressure sensor 99 to detect the shield segment angle in real time and feedback to adjust the steering of the first motor 41, dynamic adaptation of the spray gun swing angle and the segment angle is achieved, ensuring uniform spray coverage on the upper and lower sides, avoiding manual adjustment of angle deviation or spray leakage during spraying, and is particularly suitable for fully automated spraying of shield segments at different angles, significantly reducing paint waste and improving operation safety.

[0052] In the second embodiment, when solvent-based paint is sprayed on the upper and lower sides of the shield segment, the paint has low viscosity and strong fluidity when the solvent content is high, and the angle of the shield segment is too large. After spraying, it is easy to flow downward due to gravity and flow onto the surface of the transmission equipment. The staff needs additional cleaning and repair work, which increases the maintenance cost. After the paint liquid solidifies on the surface of the transmission equipment, it will affect the normal operation of the equipment, such as increasing friction resistance, etc., thereby reducing the spraying speed of the shield segment. Therefore, the following structure is designed to solve the above technical problems.

[0053] See also Figure 7 and Figure 8 , a negative pressure liquid suction component 52 is provided on the outside of the double-headed hydraulic cylinder 96, and the negative pressure liquid suction component 52 includes a liquid storage box 524 fixedly connected to the outside of the double-headed hydraulic cylinder 96, and the first cylinder 522 and the second cylinder 527 are respectively connected on both sides of the upper side of the liquid storage box 524, and a guide slide 521 is fixedly connected between the first cylinder 522 and the second cylinder 527, and an air pump 528 is fixedly connected to the outside of the guide slide 521, and the input end of the air pump 528 is connected to the output end pipe of the guide slide 521, and a first liquid suction plate 525 and a second liquid suction plate 526 are provided on one side of the liquid storage box 524. They are all connected with the guide slide cylinder 521. One side of the first cylinder 522 is fixedly connected to the second hydraulic cylinder 523. The output end of the second hydraulic cylinder 523 passes through the first cylinder 522. The interior of the guide slide cylinder 521 is slidably connected with a blocking column 5211. The two ends of the blocking column 5211 are respectively fixedly connected to the first top column and the second top column. The upper side of the third arc-shaped guide slide plate 3 is provided with a guide groove, and the interior of the base 1 is provided with a liquid storage chamber. Since the position of the paint liquid flowing under the shield segment is too low, the paint liquid under the shield segment will not drip onto the surface of the double-headed hydraulic cylinder 96. When the paint liquid flowing under the shield segment flows, it will be diverted through the guide groove and enter the interior of the liquid storage chamber.

[0054] Specifically, the extension and retraction of the output end of the second hydraulic cylinder 523 is used to control the movement of the blocking column 5211 inside the guide slide 521, and the air pump 528 is used to extract the gas inside the guide slide 521 and form a negative pressure, so that the first liquid absorption plate 525 and the second liquid absorption plate 526 absorb the paint liquid at the input end into the guide slide 521.

[0055] When the output end of the second hydraulic cylinder 523 is fully retracted, the output port of the first liquid absorption plate 525 is blocked by the blocking column 5211 and cannot absorb paint liquid, while the second liquid absorption plate 526 can absorb paint liquid. When the output end of the second hydraulic cylinder 523 is extended to half of the stroke, both the first liquid absorption plate 525 and the second liquid absorption plate 526 can absorb paint liquid. When the output end of the second hydraulic cylinder 523 is fully extended, the output port of the first liquid absorption plate 525 can absorb paint liquid, while the second liquid absorption plate 526 is blocked by the blocking column 5211 and cannot absorb paint liquid.

[0056] A database and a judgment module are provided inside the camera 8. The database contains identification photos of the flowing paint liquid at different distribution positions on the upper side of the shield segment. The camera 8 continuously takes images of the upper side of the shield segment, and compares the taken photos with the identification photos of the flowing paint liquid at different distribution positions on the upper side of the shield segment in the internal database, so as to pre-identify the distribution position of the flowing paint liquid, and according to the obtained photos of the upper side of the shield segment, divide the location of the flowing paint liquid into three different flow locations: the left side below the shield segment, the right side below the shield segment, and the left and right sides below the shield segment.

[0057] When the camera 8 captures the paint liquid flowing on the left side above the shield segment, the judgment module determines that the flowing paint liquid will eventually flow to the left side below the shield segment. At this time, the air pump 528 is turned on, the output end of the second hydraulic cylinder 523 is completely retracted, and the output port of the first suction plate 525 is blocked by the blocking column 5211 and cannot absorb the paint liquid. The second suction plate 526 absorbs the paint liquid that is about to flow to the left side below the shield segment into the inside of the guide slide 521.

[0058] When the camera 8 captures the paint liquid flowing on the right side above the shield segment, the judgment module determines that the flowing paint liquid will eventually flow to the right side below the shield segment. At this time, the air pump 528 is turned on, the output end of the second hydraulic cylinder 523 is completely retracted, and the output port of the second suction plate 526 is blocked by the blocking column 5211 and cannot absorb the paint liquid. The first suction plate 525 absorbs the paint liquid that is about to flow to the left side below the shield segment into the inside of the guide slide 521.

[0059] When the camera 8 captures the paint liquid flowing on the left and right sides above the shield segment, the judgment module determines that the flowing paint liquid will eventually flow to the left and right sides below the shield segment. At this time, the air pump 528 is turned on, and when the output end of the second hydraulic cylinder 523 extends to half of the stroke, the first suction plate 525 and the second suction plate 526 absorb the paint liquid that is about to flow to the left side below the shield segment into the inside of the guide slide 521.

[0060] The upper side of the shield segment is photographed by camera 8 to accurately locate the flow distribution of the paint liquid on the shield segment and predict the final flow position of the paint liquid. Based on this prediction information, the telescopic action of the output end of the second hydraulic cylinder 523 is accurately regulated to achieve accurate opening of the input ports of the first liquid suction plate 525 and the second liquid suction plate 526. This process ensures that the paint liquid that is about to flow at different positions on the shield segment is efficiently and accurately absorbed into the guide slide 521, which significantly improves the accuracy of paint liquid collection and achieves energy-saving effects. In addition, it is designed with dual input ports. When one of the suction ports is closed, the suction force of the other suction port will automatically increase, thereby more effectively absorbing the flowing paint liquid into the guide slide 521.

[0061] In the third embodiment, the paint liquid is easily accumulated in the guide slide tube 521 for a long time, and the paint liquid is easily solidified into a solid after accumulating in the guide slide tube 521 for too long, thereby blocking the suction end of the guide slide tube 521, and making it difficult for the subsequent flowing paint liquid to be sucked into the interior of the guide slide tube 521. Therefore, the following structure is designed to solve the above technical problems.

[0062] A liquid storage tank 5214 is provided inside the liquid storage box 524, and the liquid storage tank 5214 is V-shaped. The second sealing plate 5215 is slidably connected to the inside of the second cylinder 527, and a second spring 5216 is fixedly connected to one side of the second sealing plate 5215, and the other end of the second spring 5216 is fixedly connected to the second cylinder 527. The first sealing plate 5213 is slidably connected to the inside of the first cylinder 522, and a first spring 5212 is fixedly connected to one side of the first sealing plate 5213, and the other end of the first spring 5212 is fixedly connected to the first cylinder 522. The output end of the second hydraulic cylinder 523 passes through the first sealing plate 5213 and is fixedly connected to the second top column.

[0063] Specifically, in the initial state, the output end of the second hydraulic cylinder 523 extends to half of the stroke, the first spring 5212 presses against the first sealing plate 5213, and the second spring 5216 presses against the second sealing plate 5215, so that the interior of the guide slide 521 is in a sealed state. Since the friction force between the first sealing plate 5213 and the output end of the second hydraulic cylinder 523 is less than the spring force of the first spring 5212, when the output end of the second hydraulic cylinder 523 passes through the first sealing plate 5213, the first sealing plate 5213 will not be driven to move.

[0064] The output end of the second hydraulic cylinder 523 is three-quarter cylindrical, and the blocking column 5211, the first top column, the second top column, the first sealing plate 5213 and the second sealing plate 5215 are also three-quarter cylindrical. The output end of the second hydraulic cylinder 523 fits with the first sealing plate 5213 and the first cylinder 522, the inside of the second cylinder 527 fits with the outside of the second sealing plate 5215, and the inside of the first cylinder 522 fits with the outside of the first sealing plate 5213.

[0065] Specifically, when the second hydraulic cylinder 523 is fully retracted, the stop column 5211 is driven to move to the right, thereby pushing the paint liquid absorbed by the first liquid absorption plate 525 in the guide slide 521. The first push column first pushes the first sealing plate 5213 to push the first sealing plate 5213. At this time, the first spring 5212 is compressed, and the pushed paint liquid falls into the interior of the liquid storage tank 5214. Since the liquid storage tank 5214 is in an inclined state, the paint liquid will automatically fall to the lowest point for storage. The stop column 5211 is inserted into the interior of the first cylinder 522 to complete the sealing of the interior of the guide slide 521.

[0066] When the second hydraulic cylinder 523 is fully extended, the stop column 5211 is driven to move to the left, thereby pushing the paint liquid in the guide slide 521 by the second liquid absorption plate 526. The second push column first pushes the second sealing plate 5215 to push the second sealing plate 5215. At this time, the second spring 5216 is compressed, and the pushed paint liquid falls into the interior of the liquid storage tank 5214. Since the liquid storage tank 5214 is in an inclined state, the paint liquid will automatically fall to the lowest point for storage. The stop column 5211 is inserted into the interior of the second cylinder 527 to complete the sealing of the interior of the guide slide 521.

[0067] Through the extension and retraction of the piston rod of the second hydraulic cylinder 523, not only can the opening of the input ports of the first liquid absorption plate 525 and the second liquid absorption plate 526 be accurately controlled, but also the blocking column 5211 can be driven to move left and right while the input ports of the liquid absorption plates are opened, thereby pushing the paint liquid absorbed by the first liquid absorption plate 525 and the second liquid absorption plate 526 into the interior of the first cylinder 522 and the second cylinder 527 in turn. Finally, the paint liquid falls into the interior of the liquid storage tank 5214 under the action of gravity, thereby realizing the orderly collection and treatment of the paint liquid and achieving energy-saving effects.

[0068] Example 4, a spraying method of an intelligent spraying device for shield segments, according to the intelligent spraying device for shield segments described above, comprises the following steps:

[0069] S1: The shield segment is hoisted above the clamping mechanism 9, and the clamping mechanism 9 clamps and fixes both sides of the shield segment.

[0070] The more specific steps of S1 are, S11: when it is necessary to spray the upper and lower sides of the shield segment, the suspended shield segment is moved between the first spray gun 44 and the second spray gun 46, and the output end of the second motor 91 drives the first bevel gear 922 to rotate through the transmission mechanism, and the meshing transmission between the bevel gears is used to realize power transmission and change the direction of rotation, so that the second bevel gear 923 and the third bevel gear 924 rotate in opposite directions respectively. This process further transmits the rotational motion to the first connecting rod 94 and the second connecting rod 95 through the first rotating shaft 921 and the second rotating shaft 925, driving the two double-headed hydraulic cylinders 96 to stick to the two sides of the shield segment respectively and drive the pressure sensor 99 to move synchronously, and the retraction control clamping columns 98 at the two output ends of the double-headed hydraulic cylinder 96 are close to each other, thereby clamping the two sides of the shield segment.

[0071] S2: The spraying mechanism 4 automatically adjusts the swing angle of the spray head according to the fixed angle clamped by the clamping mechanism 9.

[0072] The more specific steps of S2 are, S21: when the shield segment is clamped, the angle formed by the two pressure sensors 99 and the axis of the output end of the first motor 41 is the angle of the shield segment at this time, and the output end of the first motor 41 rotates the control plate 43 to rotate, thereby driving the second fixed column 45 and the first fixed column 42 to rotate, and then driving the first spray gun 44 and the second spray gun 46 to swing along the arc-shaped slide groove inside the first arc-shaped guide slide plate 2 and the third arc-shaped guide slide plate 3.

[0073] S22: When the output end of the first motor 41 rotates counterclockwise and presses one of the pressure sensors 99, the pressure sensor 99 detects the pressure value and controls the output end of the first motor 41 to rotate counterclockwise. When the output end of the first motor 41 rotates clockwise and presses the other pressure sensor 99, the pressure sensor 99 detects the pressure value and controls the output end of the first motor 41 to rotate clockwise, thereby adjusting the swing angle of the first spray gun 44 and the second spray gun 46 according to the angle of the clamped shield segment.

[0074] S3: While the spraying mechanism 4 is spraying, the transmission mechanism 5 drives the shield segment to move, so that the spraying mechanism 4 sprays the upper and lower sides of the shield segment.

[0075] The more specific steps of S3 are, S31: at the same time as the first spray gun 44 and the second spray gun 46 start to swing, the control slider 53 extends from the output end of the first hydraulic cylinder 51 to slide, thereby driving the double-headed hydraulic cylinder 96 to slide, and then driving the clamped shield pipe segment to move, and the first spray gun 44 and the second spray gun 46 swing back and forth to evenly spray the upper and lower sides of the shield pipe segment.

[0076] S4: When the spraying mechanism 4 is spraying, the camera 8 takes real-time photos of the upper surface of the shield segment to determine the location where the flowing paint liquid falls, and then controls the negative pressure liquid suction component 52 to collect the paint liquid flowing in the designated area.

[0077] The more specific steps of S4 are, S41: a database and a judgment module are provided inside the camera 8, and the database is provided with identification photos of the flowing paint liquid at different distribution positions on the upper side of the shield segment. The camera 8 continuously takes images of the upper side of the shield segment, and compares the taken photos with the identification photos of the flowing paint liquid at different distribution positions on the upper side of the shield segment in the internal database, and pre-identifies the distribution position of the flowing paint liquid. According to the obtained photos of the upper side of the shield segment, the position where the flowing paint liquid falls is divided into three different flow positions: the left side below the shield segment, the right side below the shield segment, and the left and right sides below the shield segment.

[0078] S42: When the camera 8 captures the paint liquid flowing on the left side above the shield segment, the judgment module determines that the flowing paint liquid will eventually flow to the left side below the shield segment. At this time, the air pump 528 is turned on, the output end of the second hydraulic cylinder 523 is completely retracted, and the output port of the first suction plate 525 is blocked by the blocking column 5211 and cannot absorb the paint liquid. The second suction plate 526 absorbs the paint liquid that is about to flow to the left side below the shield segment into the inside of the guide slide 521.

[0079] S43: When the camera 8 captures the paint liquid flowing on the right side above the shield segment, the judgment module determines that the flowing paint liquid will eventually flow to the right side below the shield segment. At this time, the air pump 528 is turned on, the output end of the second hydraulic cylinder 523 is completely retracted, and the output port of the second liquid suction plate 526 is blocked by the blocking column 5211 and cannot absorb the paint liquid. The first liquid suction plate 525 absorbs the paint liquid that is about to flow to the left side below the shield segment into the inside of the guide slide 521.

[0080] S44: When the camera 8 captures the paint liquid flowing on the left and right sides above the shield segment, the judgment module determines that the paint liquid will eventually flow to the left and right sides below the shield segment. At this time, the air pump 528 is turned on, and when the output end of the second hydraulic cylinder 523 extends to half of the stroke, the first suction plate 525 and the second suction plate 526 absorb the paint liquid that is about to flow to the left side below the shield segment into the inside of the guide slide 521.

[0081] S45: When the second hydraulic cylinder 523 is fully retracted, the stop column 5211 is driven to move to the right, thereby pushing the paint liquid absorbed by the first liquid absorption plate 525 in the guide slide 521. The first push column first pushes the first sealing plate 5213 to push the first sealing plate 5213. At this time, the first spring 5212 is compressed, and the pushed paint liquid falls into the interior of the liquid storage tank 5214. Since the liquid storage tank 5214 is in an inclined state, the paint liquid will automatically fall to the lowest point for storage. The stop column 5211 is inserted into the interior of the first cylinder 522 to complete the sealing of the interior of the guide slide 521.

[0082] S46: When the second hydraulic cylinder 523 is fully extended, the stop column 5211 is driven to move to the left, thereby pushing the paint liquid in the guide slide 521 absorbed by the second liquid absorption plate 526. The second push column first pushes the second sealing plate 5215 to push the second sealing plate 5215. At this time, the second spring 5216 is compressed, and the pushed paint liquid falls into the interior of the liquid storage tank 5214. Since the liquid storage tank 5214 is in an inclined state, the paint liquid will automatically fall to the lowest point for storage. The stop column 5211 is inserted into the interior of the second cylinder 527 to complete the sealing of the interior of the guide slide 521.

[0083] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0084] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent spraying device for shield segments, comprising a base (1), characterized in that: The upper side of the base (1) is fixedly connected with a first arc-shaped guide slide (2), a second arc-shaped guide slide (6) and a third arc-shaped guide slide (3) in sequence. The first arc-shaped guide slide (2), the second arc-shaped guide slide (6) and the third arc-shaped guide slide (3) are all provided with arc-shaped slide grooves inside. The first arc-shaped guide slide (2) is provided with a spraying mechanism (4) for spraying the upper and lower sides of the shield segment. One side of the base (1) is provided with a clamping mechanism (9) for clamping shield segments of different angles. The other side of the base (1) is fixedly connected with a support plate (7). The upper side of the clamping mechanism (9) is respectively provided with two transmission mechanisms (5) for conveying the shield segment. The lower side of the first arc-shaped guide slide (2) is fixedly connected with a camera (8) for photographing the upper side of the shield segment. The spraying mechanism (4) includes a first motor (41) fixedly connected to the upper side of the support plate (7), the output end of the first motor (41) is fixedly connected to a rotating plate (43), one side of the rotating plate (43) is fixedly connected to a second fixed column (45) and a first fixed column (42) in sequence from top to bottom, the second fixed column (45) is slidably connected to the inside of the first arc-shaped guide slide (2), and the first fixed column (42) is slidably connected to the inside of the third arc-shaped guide slide (3), the other end of the second fixed column (45) is fixedly connected to a second spray gun (46), the upper side of the second spray gun (46) is fixedly connected to a second paint bucket (48), and the input end is connected to the output end pipeline of the second paint bucket (48), the other end of the first fixed column (42) is fixedly connected to a first spray gun (44), the lower side of the first spray gun (44) is fixedly connected to a first paint bucket (47), and the input end is connected to the output end pipeline of the first paint bucket (47); The clamping mechanism (9) comprises a double-headed hydraulic cylinder (96) and a second motor (91) fixedly connected to one side of the base (1); a negative pressure liquid suction component (52) is provided on the outer side of the double-headed hydraulic cylinder (96).

2. The intelligent spraying equipment for shield segments according to claim 1 is characterized in that: A transmission box (92) is provided on the upper side of the second motor (91), and the transmission box (92) is fixedly connected to the base (1); a second bevel gear (923), a third bevel gear (924) and a first bevel gear (922) are respectively connected to the transmission box (92) by bearings; one side of the third bevel gear (924) is fixedly connected to the second rotating shaft (925); one side of the second bevel gear (923) is fixedly connected to the first rotating shaft (921); the first rotating shaft (921) passes through the interior of the second rotating shaft (925) and is slidably connected to the second rotating shaft (925).

3. The intelligent spraying equipment for shield segments according to claim 2 is characterized in that: The output end of the second motor (91) is fixedly connected to one side of the first bevel gear (922), the other end of the second rotating shaft (925) is fixedly connected to the second connecting rod (95), the other end of the first rotating shaft (921) is fixedly connected to the first connecting rod (94), the other ends of the first connecting rod (94) and the second connecting rod (95) are fixedly connected to the guide slide (93), the two output ends of the double-headed hydraulic cylinder (96) are fixedly connected to the clamping column (98), the other end of each guide slide (93) is fixedly connected to a pressure sensor (99), and the other end of the pressure sensor (99) is provided with two connecting rods (97).

4. The intelligent spraying equipment for shield segments according to claim 3 is characterized in that: The transmission mechanism (5) comprises a first hydraulic cylinder (51) fixedly connected to the outside of the guide slide column (93); an output end of the first hydraulic cylinder (51) is fixedly connected to a slider (53); the slider (53) is slidably connected to the inside of the guide slide column (93) and the other end is fixedly connected to the double-head hydraulic cylinder (96).

5. The intelligent spraying equipment for shield segments according to claim 1 is characterized in that: The negative pressure liquid suction component (52) includes a liquid storage box (524) fixedly connected to the outside of the double-head hydraulic cylinder (96), and the first cylinder (522) and the second cylinder (527) are respectively connected through the upper two sides of the liquid storage box (524), and a guide slide (521) is fixedly connected between the first cylinder (522) and the second cylinder (527), and an air pump (528) is fixedly connected to the outside of the guide slide (521), and the input end of the air pump (528) is connected to the output end of the guide slide (521) through a pipeline.

6. The intelligent spraying equipment for shield segments according to claim 5, characterized in that: A first liquid absorbing plate (525) and a second liquid absorbing plate (526) are provided on one side of the liquid storage box (524), and the first liquid absorbing plate (525) and the second liquid absorbing plate (526) are both connected to the guide slide cylinder (521). A second hydraulic cylinder (523) is fixedly connected to one side of the first cylinder (522), and the output end of the second hydraulic cylinder (523) passes through the first cylinder (522).

7. The intelligent spraying equipment for shield segments according to claim 6 is characterized in that: The liquid storage box (524) is provided with a liquid storage tank (5214) inside, and the liquid storage tank (5214) is V-shaped. The second cylinder (527) is slidably connected to the inside of the second sealing plate (5215), and one side of the second sealing plate (5215) is fixedly connected to the second spring (5216), and the other end of the second spring (5216) is fixedly connected to the second cylinder (527). The first cylinder (522) is slidably connected to the inside of the first sealing plate (5213), and one side of the first sealing plate (5213) is fixedly connected to the first spring (5212).

8. The intelligent spraying equipment for shield segments according to claim 7 is characterized in that: The other end of the first spring (5212) is fixedly connected to the first cylinder (522), the guide slide cylinder (521) is internally slidably connected to a stop column (5211), and the two ends of the stop column (5211) are respectively fixedly connected to a first top column and a second top column, and the output end of the second hydraulic cylinder (523) passes through the first sealing plate (5213) and is fixedly connected to the second top column.

9. The intelligent spraying equipment for shield segments according to claim 8, characterized in that: The output end of the second hydraulic cylinder (523) is in the shape of a three-quarter cylinder, and the shift column (5211), the first top column, the second top column, the first sealing plate (5213) and the second sealing plate (5215) are also in the shape of a three-quarter cylinder. The output end of the second hydraulic cylinder (523) is in contact with the first sealing plate (5213) and the first cylinder (522).

10. A method for spraying a shield segment using an intelligent spraying device, using the intelligent spraying device for a shield segment according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The shield segment is hoisted above the clamping mechanism (9), and the clamping mechanism (9) clamps and fixes the two sides of the shield segment; S2: The spraying mechanism (4) automatically adjusts the swing angle of the spray head according to the angle fixed by the clamping mechanism (9); S3: While the spraying mechanism (4) is spraying, the transmission mechanism (5) drives the shield segment to move, so that the spraying mechanism (4) sprays the upper and lower sides of the shield segment; S4: When the spraying mechanism (4) is spraying, the camera (8) takes real-time photos of the upper surface of the shield segment, thereby determining the location where the flowing paint liquid falls, and then controlling the negative pressure liquid suction component (52) to collect the paint liquid flowing in the designated area.

Images