Intelligent spraying robot for tunnel lining surface layer

Abstract

The invention relates to the technical field of tunnel construction, and discloses a tunnel lining surface intelligent spraying robot which comprises a vehicle body, the top of the vehicle body is connected with a lifting assembly, the output end of the lifting assembly is connected with an adjusting assembly, and the output end of the adjusting assembly is connected with a spraying assembly. The continuous spraying operation on the tunnel lining surface layer can be achieved in the advancing process of the vehicle body, the spraying height and the spraying inclination angle can be adjusted according to the position of the tunnel lining surface layer, the spraying operation difficulty is lowered, and the spraying efficiency and quality are improved; according to the spraying device, redundant spraying materials which are not adhered to the surface layer of the tunnel lining can be adsorbed and recycled in the spraying process, the situation that the coating pollutes air during spraying is avoided, the working environment of the tunnel is protected, the redundant coating can be recycled, follow-up continuous utilization is facilitated, and the cost is saved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to an intelligent spraying robot for tunnel lining surface. Background Technology

[0002] In recent years, the scale of tunnel construction and the mileage of operation in my country have continued to grow, and the operating environment of tunnels is quite complex, posing a great challenge to the long-term safety performance of their structures. In tunnel engineering, after tunnel excavation, tunnel lining construction is required to prevent weathering of the surrounding rock and groundwater infiltration. During the tunnel lining construction process, a coating for waterproofing, fireproofing, and corrosion resistance needs to be sprayed on the surface of the tunnel lining. Currently, most of these methods involve manual spraying by standing on a lifting platform. However, the spraying quality is difficult to quantify, the spraying efficiency is low, and a large amount of coating that does not adhere to the tunnel lining surface floats in the tunnel, causing air pollution. Therefore, an intelligent spraying robot for the surface of tunnel lining is proposed. Summary of the Invention

[0003] To address the technical problems existing in the prior art, this invention provides an intelligent spraying robot for tunnel lining surface.

[0004] The present invention is achieved by the following technical solution: a smart spraying robot for the surface of tunnel lining, including a vehicle body, a lifting component connected to the top of the vehicle body, an adjustment component connected to the output end of the lifting component, and a spraying component connected to the output end of the adjustment component.

[0005] The spraying assembly includes a flange connected to the output end of the adjustment assembly. The flange is connected to a collection box with an opening at the top. A horizontal plate is fixed to the inner wall of the collection box. A spray pipe is fixed to the horizontal plate. A collection mechanism is installed below one side of the horizontal plate and is fixed to the collection box. An air inlet pipe is fixed to the top of the collection mechanism. A cover is fixed to the top of the air inlet pipe and is fixed to the horizontal plate and the inner wall of the collection box. An air extraction pipe connected to the collection mechanism is provided on one side of the air inlet pipe.

[0006] As a further improvement to the above solution, the collection mechanism includes a storage plate fixed inside the collection box. The storage plate has a cylindrical storage groove at one end away from the horizontal plate. A storage cylinder with its opening facing the horizontal plate is rotatably sleeved in the storage groove. The outer ring of the storage cylinder has two arc-shaped transfer grooves, one connected to the air inlet pipe and the other connected to the air extraction pipe. The top of the transfer groove one has a channel one that communicates with the inside of the storage cylinder. One end of the channel one that extends into the inside of the storage cylinder is fitted with a dispersion pipe fixed to the storage cylinder. The top of the transfer groove two has a channel two that communicates with the inside of the storage cylinder. The storage cylinder is also equipped with an attitude adjustment unit for adjusting the attitude of the storage cylinder.

[0007] As a further improvement to the above solution, the lifting assembly includes a rotating mechanism fixed to the car body, a support frame fixed to the top of the rotating mechanism, a bracket 1 rotatably connected to the top of the support frame, a pushing unit 1 hinged between the bracket 1 and the support frame, and a bracket 2 rotatably connected to the other end of the bracket 1 and connected to the adjustment assembly, and a pushing unit 2 hinged between the bracket 2 and the bracket 1.

[0008] As a further improvement to the above solution, the rotating mechanism includes a fixed plate fixed to the carriage of the vehicle body, a turntable fixed to a support frame is rotatably connected to the outer ring of the fixed plate, a protective cover of an annular structure connected to the carriage of the vehicle body is sleeved on the outer ring of the turntable, a gear ring is fixedly sleeved on the inside of the protective cover and is meshed with a gear, a rotating shaft is fixedly sleeved on the inner ring of the gear, and a motor connected to the carriage of the vehicle body is connected to the bottom of the rotating shaft.

[0009] As a further improvement to the above solution, the adjustment assembly includes a fixed base connected to the output end of the lifting assembly, a shock absorber fixedly connected to the top of the fixed base, a bearing plate one connected to the top of the shock absorber, a rotating mechanism one fixedly connected to the top of the bearing plate one, a bearing plate two fixedly connected to the top of the rotating mechanism one, a rotating mechanism two connected to the top of the bearing plate two, and a telescopic mechanism connected to the spraying assembly at the output end of the rotating mechanism two.

[0010] As a further improvement to the above scheme, the rotating mechanism one includes a turntable rotatably connected to the top of the support plate one. A gear ring two is fixedly sleeved on the outer ring of the turntable. A rack one meshes with one side of the gear ring two. A pushing unit three connected to the top of the support plate one is fixedly connected to one end of the rack. The rotating mechanism two includes a rotating rod set on the top of the support plate two. One end of the rotating rod is fixedly connected to the telescopic mechanism. The rotating rod one is connected to the support plate two through a bearing seat. A gear two is fixedly sleeved on the end of the rotating rod. The gear two meshes with a rack two. A pushing unit four fixedly connected to the support plate two is fixedly connected to one end of the rack two.

[0011] As a further improvement to the above solution, an inlet pipe communicating with the storage cylinder is installed on the upper side of the storage plate near the horizontal plate, and a drain pipe communicating with the storage cylinder is installed on the lower side of the storage plate near the horizontal plate. A nozzle is installed on the top of the spray pipe.

[0012] As a further improvement to the above solution, the arc of both the first and second transition slots is greater than 180 degrees, and an array of distance sensors is fixedly attached to the top of the horizontal plate.

[0013] As a further improvement to the above solution, the attitude adjustment unit includes a drive shaft fixed to the end of the storage cylinder and rotatably connected to the collection box, and a motor is installed at one end of the drive shaft that extends out of the collection box.

[0014] As a further improvement to the above solution, the attitude adjustment unit includes a long strip-shaped configuration plate fixed to the inner sidewall of the bottom of the storage cylinder 452.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. This invention enables continuous spraying of the tunnel lining surface as the vehicle moves forward. It can adjust the spraying height and spraying tilt angle according to the position of the tunnel lining surface, reducing the difficulty of spraying operations and improving spraying efficiency and quality.

[0017] 2. It can absorb and recover excess spray material that does not adhere to the surface of the tunnel lining during the spraying process, avoiding air pollution during spraying, protecting the working environment of the tunnel, and recovering excess paint for subsequent reuse, thus saving costs. Attached Figure Description

[0018] Figure 1 A schematic diagram of the intelligent spraying robot for tunnel lining surface provided by the present invention;

[0019] Figure 2 A schematic diagram of the structure of the adjustment component provided by the present invention;

[0020] Figure 3 A side view of the adjustment component provided by the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the spraying assembly provided by the present invention;

[0022] Figure 5 A side view of the spraying assembly provided by the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the storage cylinder provided by the present invention.

[0024] Explanation of key symbols:

[0025] 1. Vehicle body; 2. Lifting assembly; 3. Adjustment assembly; 21. Support frame; 22. Bracket 1; 23. Pushing unit 1; 24. Bracket 2; 25. Pushing unit 2; 31. Fixed seat; 32. Shock absorber; 33. Rotating mechanism 1; 34. Rotating mechanism 2; 35. Telescopic mechanism; 41. Flange; 42. Collection box; 43. Horizontal plate; 44. Nozzle; 45. Collection mechanism; 46. Air inlet pipe; 47. Cover; 48. Extraction pipe; 451. Storage plate; 452. Storage cylinder; 453. Adapter slot 1; 454. Channel 1; 456. Adapter slot 2; 457. Channel 2; 458. Dispersion pipe. Detailed Implementation

[0026] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0027] Example 1:

[0028] Please combine Figures 1-6 The intelligent spraying robot for the surface of tunnel lining in this embodiment includes a vehicle body 1. A lifting component 2 is connected to the top of the vehicle body 1. An adjustment component 3 is connected to the output end of the lifting component 2. A spraying component is connected to the output end of the adjustment component 3. When spraying a protective coating on the surface of the tunnel lining, the height of the spraying component is adjusted by the lifting component 2, and the tilt position of the spraying component is adjusted by the adjustment component 3 and the spraying distance is finely adjusted. Then, the coating is sprayed on the surface of the tunnel lining using the spraying component.

[0029] The spraying assembly includes a flange 41 connected to the output end of the adjustment assembly 3. The flange 41 is connected to a collection box 42 with an opening at the top. A horizontal plate 43 is fixed to the inner wall of the collection box 42. A spray pipe 44 is fixed to the horizontal plate 43. A collection mechanism 45, which is fixed to the collection box 42, is installed on one side of the horizontal plate 43. An air inlet pipe 46 is fixed to the top of the collection mechanism 45. A cover 47, which is fixed to the horizontal plate 43 and the inner wall of the collection box 42, is fixed to the top of the air inlet pipe 46. An exhaust pipe 48, which is connected to the collection mechanism 45, is provided on one side of the air inlet pipe 46.

[0030] The collection mechanism 45 includes a storage plate 451 fixed inside the collection box 42. The storage plate 451 has a cylindrical storage groove at one end away from the horizontal plate 43. The storage groove is rotatably fitted with a storage cylinder 452 with its opening facing the horizontal plate 43. The outer ring of the storage cylinder 452 has an arc-shaped transition groove 1 453 and a transition groove 2 456. The transition groove 1 453 is connected to the air inlet pipe 46, and the transition groove 2 456 is connected to the air extraction pipe 48. The top of the transition groove 1 452 has a channel 1 454 that communicates with the inside of the storage cylinder 452. One end of the channel 1 454 that extends into the inside of the storage cylinder 452 is fitted with a dispersion pipe 458 that is fixed to the storage cylinder 452. The top of the transition groove 2 456 has a channel 2 457 that communicates with the inside of the storage cylinder 452. The storage cylinder 452 is also provided with an attitude adjustment unit for adjusting the attitude of the storage cylinder 452.

[0031] An inlet pipe connected to the storage cylinder 452 is installed on the upper side of the storage plate 451 near the horizontal plate 43, and a drain pipe connected to the storage cylinder 452 is installed on the lower side of the storage plate 451 near the horizontal plate 43. A nozzle is installed on the top of the spray pipe 44.

[0032] The attitude adjustment unit includes an active shaft fixed to the end of the storage cylinder 452 and rotatably connected to the collection box 42. A motor is installed at one end of the active shaft that extends out of the collection box 42. The attitude adjustment unit includes a long strip-shaped configuration plate fixed to the inner side wall of the bottom of the storage cylinder 452. The arc of the first adapter groove 453 and the second adapter groove 456 is greater than 180 degrees. An array of distance sensors is fixed to the top of the horizontal plate 43.

[0033] During spraying, a distance sensor mounted on the horizontal plate 43 detects the distance to the tunnel lining surface, facilitating the adjustment of the spraying assembly's position. During spraying, the paint is sprayed out along the nozzle 44. At this time, part of the atomized paint adheres to the tunnel lining surface, while a small amount floats in the air. When the gas is drawn away by the suction pump, the atomized paint, while being drawn away, enters the air inlet pipe 46 along the cover 47 on the collection box 42, then enters the transfer groove 453, then enters the dispersion pipe 458 along the channel 454, and finally enters the adsorbent stored inside the storage cylinder 452. The paint is absorbed by the adsorbent, and then the clean gas enters the exhaust pipe 48 through channel 2 457 and transfer groove 2 456 and is discharged, thereby recovering and adsorbing the excess paint that is not adhering to the surface of the tunnel lining, avoiding pollution from dispersed paint, and realizing the paint recycling operation; when the spraying assembly is spraying at an angle, the state of the storage cylinder 452 is automatically adjusted by the configuration plate, or the state of the storage cylinder 452 is adjusted by motor 2, so that channel 1 454 is always at the top of the storage cylinder 452, thereby preventing the adsorbent inside the storage cylinder 452 from escaping from channel 1 454 and channel 2 456.

[0034] Example 2:

[0035] Based on Embodiment 1, the further improvement of this embodiment is that: the lifting assembly 2 includes a rotating mechanism 25 fixedly connected to the carriage of the vehicle body 1, a support frame 21 fixedly connected to the top of the rotating mechanism 25, a bracket 22 rotatably connected to the top of the support frame 21, a pushing unit 23 hinged between the bracket 22 and the support frame 21, and a bracket 24 connected to the adjustment assembly 3 rotatably connected to the other end of the bracket 22, a pushing unit 25 hinged between the bracket 24 and the bracket 22;

[0036] The rotating mechanism 25 includes a fixed plate fixed to the carriage of the vehicle body 1. The outer ring of the fixed plate is rotatably connected to a turntable fixed to the support frame 21. The outer ring of the turntable is fitted with a protective cover of an annular structure connected to the carriage of the vehicle body 1. A gear ring is installed inside the protective cover and is fixedly fitted to the turntable. The gear ring meshes with a gear. The inner ring of the gear is fixedly fitted with a rotating shaft. The bottom of the rotating shaft is connected to a motor connected to the carriage of the vehicle body 1.

[0037] The adjustment assembly 3 includes a fixed base 31 connected to the output end of the lifting assembly 2. A shock absorber 32 is fixedly connected to the top of the fixed base 31. A bearing plate 1 is connected to the top of the shock absorber 32. A rotating mechanism 1 33 is fixedly connected to the top of the bearing plate 1. A bearing plate 2 is fixedly connected to the top of the rotating mechanism 1 33. A rotating mechanism 2 34 is connected to the top of the bearing plate 2. A telescopic mechanism 35 connected to the spraying assembly is connected to the output end of the rotating mechanism 2 34.

[0038] Rotating mechanism 1 33 includes a turntable rotatably connected to the top of the support plate 1. A gear ring 2 is fixedly sleeved on the outer ring of the turntable. A rack 1 meshes with one side of the gear ring 2. A pushing unit 3, which is connected to the top of the support plate 1, is fixedly connected to one end of the rack. Rotating mechanism 2 34 includes a rotating rod disposed on the top of the support plate 2. One end of the rotating rod is fixedly connected to the telescopic mechanism 35. The rotating rod 1 is connected to the support plate 2 through a bearing seat. A gear 2 is fixedly sleeved on the end of the rotating rod. A rack 2 meshes with the gear 2. A pushing unit 4, which is fixedly connected to the support plate 2, is fixedly connected to one end of the rack 2.

[0039] The top of the vehicle body 1 is equipped with a liquid storage tank, a control box, a vacuum pump, and an air supply pump. The liquid storage tank is connected to the nozzle 44 via a hose. A delivery pump is installed on the hose. The vacuum pump is connected to the vacuum pipe 48 via an air pipe. The air supply pump is connected to the nozzle 44 via an air pipe. The control box contains a controller. A display screen, a power interface, a data interface, and a switch are installed on one side of the control box. The telescopic mechanism 35, the first push unit 23, the second push unit 23, the third push unit, and the fourth push unit all use push rod motors. The controller is connected to the push rod motors, motor one, motor two, solenoid valves, the vacuum pump, the air supply pump, the delivery pump, the distance sensor, the display screen, the power interface, the data interface, and the switch.

[0040] When it is necessary to adjust the height and direction of the spraying component, the motor on the rotating mechanism 25 is started to make the turntable rotate, thereby adjusting the direction of the spraying component. When the first push unit 23 and the second push unit 25 are started, the first bracket 22 and the second bracket 24 are pushed to move, adjusting the height of the spraying component. The tilt state of the spraying component is adjusted by the first rotating mechanism 33 and the second rotating structure 34. The telescopic mechanism 35 finely adjusts the distance between the spraying component and the surface of the tunnel lining. When the vehicle body 1 moves forward, the surface of the tunnel lining is continuously sprayed.

[0041] This invention enables continuous spraying of the tunnel lining surface as the vehicle moves forward. It can adjust the spraying height and tilt angle according to the position of the tunnel lining surface, reducing the difficulty of spraying operations and improving spraying efficiency and quality. It can also absorb and recover excess spray material that does not adhere to the tunnel lining surface during the spraying process, avoiding air pollution during spraying, protecting the tunnel working environment, and recovering excess paint for subsequent reuse, thus saving costs.

[0042] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An intelligent spraying robot for tunnel lining surface, characterized in that, Includes a vehicle body, with a lifting assembly connected to the top of the vehicle body, an adjustment assembly connected to the output end of the lifting assembly, and a painting assembly connected to the output end of the adjustment assembly. The spraying assembly includes a flange connected to the output end of the adjustment assembly. The flange is connected to a collection box with an opening at the top. A horizontal plate is fixed to the inner wall of the collection box. A spray pipe is fixed to the horizontal plate. A collection mechanism is installed below one side of the horizontal plate and is fixed to the collection box. An air inlet pipe is fixed to the top of the collection mechanism. A cover is fixed to the top of the air inlet pipe and is fixed to the horizontal plate and the inner wall of the collection box. An air extraction pipe connected to the collection mechanism is provided on one side of the air inlet pipe.

2. The intelligent spraying robot for tunnel lining surface as described in claim 1, characterized in that, The collection mechanism includes a storage plate fixed inside the collection box. The end of the storage plate away from the horizontal plate has a cylindrical storage groove. The storage groove is rotatably fitted with a storage cylinder with its opening facing the horizontal plate. The outer ring of the storage cylinder has two arc-shaped transfer grooves, namely, transfer groove one and transfer groove two. Transfer groove one is connected to the air inlet pipe, and transfer groove two is connected to the air extraction pipe. The top of transfer groove one has a channel one that communicates with the inside of the storage cylinder. One end of channel one that extends into the inside of the storage cylinder is fitted with a dispersion pipe that is fixed to the storage cylinder. The top of transfer groove two has a channel two that communicates with the inside of the storage cylinder. The storage cylinder is also equipped with an attitude adjustment unit for adjusting the attitude of the storage cylinder.

3. The intelligent spraying robot for tunnel lining surface as described in claim 1, characterized in that, The lifting assembly includes a rotating mechanism fixed to the vehicle body's cargo compartment. A support frame is fixed to the top of the rotating mechanism. A bracket is rotatably connected to the top of the support frame. A pushing unit is hinged between the bracket and the support frame. A bracket is rotatably connected to the other end of the bracket and connected to the adjustment assembly. A pushing unit is hinged between the bracket and the bracket.

4. The intelligent spraying robot for tunnel lining surface as described in claim 3, characterized in that, The rotating mechanism includes a fixed plate fixed to the carriage of the vehicle body, a turntable fixed to a support frame is rotatably connected to the outer ring of the fixed plate, a protective cover of an annular structure connected to the carriage of the vehicle body is sleeved on the outer ring of the turntable, a gear ring is fixedly sleeved on the inside of the protective cover and is meshed with a gear, a rotating shaft is fixedly sleeved on the inner ring of the gear, and a motor connected to the carriage of the vehicle body is connected to the bottom of the rotating shaft.

5. The intelligent spraying robot for tunnel lining surface as described in claim 1, characterized in that, The adjustment assembly includes a fixed base connected to the output end of the lifting assembly. A shock absorber is fixedly connected to the top of the fixed base. A bearing plate is connected to the top of the shock absorber. A rotating mechanism is fixedly connected to the top of the bearing plate. A bearing plate is fixedly connected to the top of the rotating mechanism. A rotating mechanism is connected to the top of the bearing plate. A telescopic mechanism is connected to the output end of the rotating mechanism.

6. The intelligent spraying robot for tunnel lining surface as described in claim 5, characterized in that, The first rotating mechanism includes a turntable rotatably connected to the top of the first bearing plate. A gear ring two is fixedly sleeved on the outer ring of the turntable. A rack one meshes with one side of the gear ring two. A push unit three connected to the top of the first bearing plate is fixedly connected to one end of the rack. The second rotating mechanism includes a rotating rod set on the top of the second bearing plate. One end of the rotating rod is fixedly connected to the telescopic mechanism. The rotating rod one is connected to the second bearing plate through a bearing seat. A gear two is fixedly sleeved on the end of the rotating rod. A rack two meshes with the gear two. A push unit four fixedly connected to the second bearing plate is fixedly connected to one end of the rack two.

7. The intelligent spraying robot for tunnel lining surface as described in claim 2, characterized in that, An inlet pipe connected to the storage cylinder is installed on the upper side of the storage plate near the horizontal plate, and a drain pipe connected to the storage cylinder is installed on the lower side of the storage plate near the horizontal plate. A nozzle is installed on the top of the spray pipe.

8. The intelligent spraying robot for tunnel lining surface as described in claim 2, characterized in that, The arc of both the first and second adapter slots is greater than 180 degrees, and an array of distance sensors is fixed to the top of the horizontal plate.

9. The intelligent spraying robot for tunnel lining surface as described in claim 2, characterized in that, The attitude adjustment unit includes a drive shaft fixed to the end of the storage cylinder and rotatably connected to the collection box, with a motor installed at one end of the drive shaft extending out of the collection box.

10. The intelligent spraying robot for tunnel lining surface as described in claim 2, characterized in that, The attitude adjustment unit includes a long strip-shaped configuration plate fixed to the inner wall of the bottom of the storage cylinder.

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