Construction equipment and method for spraying heat preservation material in cold region railway tunnel

Abstract

The present application relates to railway tunnel heat preservation construction technical field, specifically for a kind of construction equipment and method for spraying heat preservation material in cold region railway tunnel.The equipment includes carrying vehicle, is equipped with operation cabin with front radar on it, operation system containing lifting platform and mechanical arm, spraying gun component with ranging component, paint supply system, tail is equipped with liftable tail plate component with raw material bucket and rear radar, support plate can be fixed to ground.The method is first scanned tunnel profile by front radar and segmented, then spraying gun component is automatically sprayed by mechanical arm, ranging component real-time calibration spraying position, spraying is simultaneously synchronized quality inspection by rear radar to the region that has been sprayed, as needed accurate U-turn is completed secondary repair spraying.Spraying-inspection-repair construction closed loop is realized, spraying precision and construction efficiency are improved, operation intensity is greatly reduced, and it is adapted to the construction demand of high-altitude tunnel in cold region.

Description

Technical Field

[0001] This invention relates to the field of railway tunnel insulation material construction technology, specifically to a construction equipment and method for spraying insulation materials in railway tunnels in cold regions. Background Technology

[0002] In existing technologies, the construction process of spray-applied insulation materials in tunnels mostly adopts on-site manual spraying. Black and white materials are pumped to the spray gun through high-pressure equipment, mixed, foamed on the surface of the tunnel waterproofing membrane, and cured to form an integral insulation structure. The construction process is simple and convenient, avoiding the gaps and seams caused by on-site installation of traditional panels, and significantly improving construction efficiency and insulation effect. However, manual construction has problems such as uneven coating thickness, failure to promptly detect and repair under-sprayed areas, and high work intensity in high-altitude areas. Therefore, how to achieve automated and intelligent construction of spray-applied insulation materials in cold-region tunnels has become an urgent technical challenge to be solved. Summary of the Invention

[0003] The present invention aims to provide a construction equipment and method for spraying thermal insulation materials in railway tunnels in cold regions, so as to overcome the problems of uneven thickness during manual construction, failure to promptly detect and repair under-sprayed areas, and high work intensity in high-altitude areas.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: A construction equipment for spraying thermal insulation materials in railway tunnels in cold regions, comprising: The work compartment is installed on the transport vehicle. The work compartment includes a compartment body and a sliding cover that is slidably installed on the compartment body. The sliding cover slides toward the front of the vehicle to open the compartment body. A front radar assembly is installed on the sliding cover. The operating system includes a lifting platform disposed within the operating cabin and a robotic arm disposed on the lifting platform; The spray gun assembly includes a support beam mounted on the robotic arm and a plurality of spray guns spaced apart on the support beam, wherein both ends of the support beam are provided with a ranging component. A paint supply system, located inside the work chamber, is used to supply paint and pressurized gas to the nozzle; The tailgate assembly includes a support plate that can be lifted and lowered at the rear of the vehicle, on which a raw material barrel and a rear radar assembly are mounted.

[0005] As one embodiment of the present invention, the tailgate assembly further includes a connecting beam disposed on the rear of the vehicle and two sets of adjusting rod components disposed opposite to each other on the connecting beam. The adjusting rod assembly includes a hinged connecting rod, a second telescopic rod, and a first telescopic rod. The two ends of the hinged connecting rod are hinged to the sides of the connecting beam and the support plate, respectively. The two ends of the second telescopic rod are hinged to the middle of the connecting beam and the hinged connecting rod, and the extension and retraction of the second telescopic rod drives the side of the support plate to move up and down. The two ends of the first telescopic rod are hinged to the lower end faces of the connecting beam and the support plate, and the extension and retraction of the first telescopic rod changes the angle between the support plate and the horizontal plane.

[0006] In one embodiment of the present invention, the bottom of the support plate is provided with two bottom support rods, the thickness of the bottom support rod near the connecting beam is greater than the thickness of the end away from the connecting beam, and the end near the connecting beam is hinged to the first telescopic rod. A rubber pad is provided on the lower end surface of the bottom support rod, which is used to increase the friction between the bottom support rod and the ground when the support plate is lowered and comes into contact with the ground.

[0007] In one embodiment of the present invention, the spray gun is installed on one side of the support beam, and two opposing second mounting plates are provided on the support beam on the same side as the spray gun, and two opposing first mounting plates are provided on the other side of the support beam. The first mounting plate and the second mounting plate are both located at the ends of the support beam, and the ranging assembly includes two ranging sensors respectively disposed on the first mounting plate and the second mounting plate.

[0008] In one embodiment of the present invention, a spray hood is provided on the second mounting plate. The spray hood is a groove with an upward opening. A through hole is provided at the bottom of the spray hood corresponding to the spray gun. The spray gun passes through the through hole and is located inside the spray hood.

[0009] In addition, a construction method based on the above-mentioned construction equipment is proposed, the steps of which are as follows: S1. The tunnel is divided into several spraying sections according to the spraying range of the spray gun assembly. Each spraying section has a pre-set parking position for the transport vehicle. The transport vehicle travels along the tunnel and stops at each pre-set position in sequence, turns on the front radar assembly, and detects and records the tunnel outline information. S2. The transport vehicle returns to the initial preset position, controls the support plate to descend until it contacts the ground, opens the sliding cover, controls the lifting platform to drive the robotic arm to rise and extend out of the cabin, and then the robotic arm unfolds, so that the spray gun assembly reaches the preset spraying position, and starts the paint supply system to supply paint to the spray gun. S3. Based on the distance information fed back by the ranging component, fine-tune the spatial position of the spray gun component to bring the spray gun component into the spraying state. S4. The robotic arm drives the spray gun assembly to perform spraying operations along the contour trajectory of the tunnel inner wall. S5. Control the support plate to lift off the ground, and the transport vehicle will travel to the next preset position; S6. Control the support plate to descend until it contacts the ground, activate the rear radar component to scan and inspect the area that has been sprayed, and simultaneously execute the spraying operations in steps S3 to S4.

[0010] In one embodiment of the present invention, in step S6, after the rear radar component detects data of an area with insufficient coating, it controls the support plate to lift off the ground, the transport vehicle reverses back to the previous parking position, and the robotic arm drives the spray gun component to move to the area with insufficient coating to complete the repair coating operation.

[0011] In one embodiment of the present invention, in step S6, after the rear radar component detects that there is no need for under-painting in the spraying area, it controls the support plate to be lifted off the ground, and the transport vehicle directly drives to the next preset position to continue the operation of step S6.

[0012] The beneficial effects of adopting the above technical solution are as follows: This invention enables fully automated spraying of insulation materials for railway tunnels in cold regions. A robotic arm replaces manual labor in spraying along the tunnel contour, effectively solving the problem of high manual labor intensity in high-altitude, low-oxygen environments. Simultaneously, a ranging component calibrates the spraying position in real time, ensuring uniform spray thickness and precise trajectory, significantly improving the quality and efficiency of basic spraying construction. Combined with a rear-mounted radar component, it enables immediate and synchronous quality inspection after spraying, and can precisely control the equipment to return to under-sprayed areas for secondary repair spraying based on the inspection data. This forms a closed-loop construction process of "automated spraying - real-time quality inspection - precise secondary repair," eliminating the need for manual re-measurement and positioning. This improves the accuracy of secondary spraying, simplifies the repair process, and further ensures the overall construction quality of the insulation layer in railway tunnels in cold regions, perfectly adapting to the special working environment of high-altitude cold regions. Attached Figure Description

[0013] Figure 1 This is a front view of the robotic arm after it has been deployed, according to an embodiment.

[0014] Figure 2 This is a three-dimensional structural diagram of the vehicle from the rear view after the robotic arm of the embodiment has been deployed.

[0015] Figure 3 This is a structural schematic diagram of the front view from the perspective of the embodiment with the cabin hidden.

[0016] Figure 4 This is a structural schematic diagram from the rear view of the embodiment with the cabin hidden.

[0017] Figure 5 This is a frontal view structural diagram of the air compressor, heating tank, working system, and spray gun assembly of the embodiment.

[0018] Figure 6 This is a structural schematic diagram of the air compressor, heating tank, working system, and spray gun assembly from the rear view of the embodiment.

[0019] Figure 7 This is a structural schematic diagram of the spray gun assembly from above in an embodiment.

[0020] Figure 8 This is a structural schematic diagram of the spray gun assembly from a lower view in an embodiment.

[0021] Figure 9 This is a structural schematic diagram of the tailplate assembly, raw material barrel, and radar assembly from an overhead view in an embodiment.

[0022] The components include: 100 transport vehicles; 200 work compartments; 201 side panels; and 202 sliding covers. 300 Tailgate assembly; 301 Connecting beam; 302 Support plate; 303 First telescopic rod; 304 Hinge link; 305 Second telescopic rod; 306 Bottom support rod; 400 raw material drums; 500 Radar assembly; 501 Base; 502 Radar accessory unit; 503 LiDAR unit; 600 Operating System; 601 Lifting Platform; 602 Robotic Arm; 700 Spray gun assembly; 701 Support beam; 702 Connecting pipe; 703 First mounting plate; 704 Second mounting plate; 705 Spray hood; 706 Spray gun; 707 Distance sensor; 800 Heating tank; 900 Electromagnetic control valve assembly; 1000 Air storage tank; 1100 Air compressor. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the invention will be described clearly and completely below in conjunction with specific embodiments.

[0024] like Figures 1 to 9 The equipment shown is a construction tool for spraying insulation materials in railway tunnels in cold regions. It is suitable for the automated spraying of polyurethane two-component insulation materials in railway tunnels at high altitudes (up to 5500m) in cold regions. The spraying thickness can be controlled at 5-10mm, the single spraying width is 1-3m, and the spraying speed is 0.1-0.2m / s. All components are treated for low-temperature vibration resistance and anti-condensation in cold regions, making it suitable for the low-oxygen, dusty, and uneven working environment in tunnels.

[0025] See details Figure 2In this embodiment, the spraying device is a vehicle-mounted integrated structure, using a transport vehicle 100 as the basic carrier and integrating a work compartment 200. The work compartment 200 houses a work system 600, a spray gun assembly 700, and a paint supply system. A tailgate assembly 300 is located at the rear of the transport vehicle 100, and a rear-mounted radar assembly is mounted on the tailgate assembly 300. The work compartment 200 includes a floor plate, two side panels 201 symmetrically arranged on the floor plate, an operating compartment located at the rear of the floor plate, and sliding covers 202 slidably arranged on the outer sides of the side panels 201. In this embodiment, two slide rails are provided on both sides of the floor plate, and the sliding covers 202 are slidably mounted on the slide rails.

[0026] The top of the slider 202 is equipped with a front radar assembly, see [link / reference]. Figure 9 In this embodiment, both the front and rear radar components adopt the structure of radar component 500, which includes a base 501, a radar supporting unit 502 mounted on the base 501, and a lidar unit 503. The lidar unit 503 uses a 32-line lidar with a ranging accuracy of ±2cm and a scanning field of view of 360° horizontally and 40° vertically. The radar supporting unit 502 integrates a DC24V automotive-grade power supply and a CAN bus controller, enabling the transmission of radar point cloud data to the central control system of the transport vehicle 100. The front radar is used for tunnel contour scanning and vehicle positioning, while the rear radar is used for post-painting thickness inspection, with a scanning accuracy meeting the requirements for 5-10mm paint thickness detection.

[0027] In this embodiment, a central control system is installed in the operating cabin for operators to operate from one side of the rear of the cabin. An interactive screen is installed in the driver's cab at the front of the vehicle and connected to the central control system for the driver to operate and receive information.

[0028] In this example, the transport vehicle 100 uses a heavy-duty truck chassis with a body length of 6m, a width of 2.43m, a wheelbase of 3.36m, a curb weight of 11t, and an equipment load capacity of 7.2t. The chassis is treated with rust and corrosion prevention, and the hydraulic pipeline is compatible with low-pour-point hydraulic oil at -40℃ to meet the power and load-bearing requirements of high-altitude operations in cold regions.

[0029] See Figures 2 to 6 The operating system 600 is located inside the operating cabin 200 and includes a guide rail type hydraulic lifting platform 601 and a 6-axis industrial robotic arm 602. The lifting platform 601 is a guide rail type lifting platform with a maximum lifting height of 2.3m and a lifting speed of 10cm / s. The base of the robotic arm 602 is fixed to its working platform. The robotic arm 602 is a 6-axis industrial robot with a maximum working range of 3m and a joint motion accuracy of ±0.05mm. It can drive the spray gun assembly 700 to move along the arched contour of the tunnel in a precise trajectory.

[0030] See Figures 5 to 8The spray gun assembly 700 includes a support beam 701 mounted on the robotic arm 602 and a plurality of spray guns 706 spaced apart on the support beam 701. Both ends of the support beam 701 are equipped with ranging components. In this embodiment, a connecting pipe 702 is provided at the lower middle part of the support beam 701, and the connecting pipe 702 is connected to the free end of the robotic arm 602.

[0031] The spray gun 706 is mounted on one side of the support beam 701. Two opposing second mounting plates 704 are disposed on the same side of the support beam 701 as the spray gun 706, and two opposing first mounting plates 703 are disposed on the other side of the support beam 701. Both the first mounting plates 703 and the second mounting plates 704 are located at the ends of the support beam 701. The ranging assembly includes two ranging sensors 707 respectively disposed on the first mounting plates 703 and the second mounting plates 704. The ranging sensors 707 are ultrasonic ranging sensors with a ranging accuracy of ±1mm, providing real-time feedback on the distance between the spray gun 706 and the tunnel wall, thus achieving automatic compensation of the spraying distance. A grooved spray cover 705 is fixed between the two second mounting plates 704. The spray cover 705 is made of a thin stainless steel plate, with its opening facing upwards. A through hole is provided at the bottom corresponding to the spray gun 706. The spray gun 706 passes through the through hole and is placed inside the spray cover 705, effectively preventing polyurethane atomized particles from splashing, ensuring the spray coating adheres to the tunnel wall, and improving the spraying utilization rate.

[0032] See Figures 3 to 6 The paint supply system is integrated inside the work compartment 200, including an air compressor 1100, an air tank 1000, two sets of heating tanks 800, two sets of electromagnetic control valve groups 900, and two sets of material pumps. In this embodiment, a total of 6 sets of spray guns 707 are provided on the spray gun assembly 700, and 6 sets of electromagnetic valve components are provided accordingly. Each set of 3 electromagnetic valve components is set on a support frame to form the electromagnetic control valve group 900. The electromagnetic valve components include two sets of electromagnetic valves, A and B.

[0033] Two raw material barrel slots are provided on the support plate 302. Raw material barrels 400 are embedded in the slots, containing black and white polyurethane coatings respectively. The barrels are connected to a lifting pump via flexible pipes. The lifting pump is connected to the inlet of the heating tank 800, allowing the pump to draw raw materials into the heating tank 800 for storage and heating. This enables the two heating tanks 800 to be used for heating and storing the black and white materials respectively. An air storage tank 1000 is connected to an air compressor 1100, which is connected to the air inlet of the heating tank 800, providing clean, high-pressure gas to the heating tank 800.

[0034] The outlet of the heating tank 800 containing the black component is connected to the inlet of each of the six A-group solenoid valves via six sets of flexible pipes. The outlet of each A-group solenoid valve is connected to the spray gun 706 via a flexible pipe. The outlet of the heating tank 800 containing the white component is connected to the inlet of each of the six B-group solenoid valves via six sets of flexible pipes. The outlet of each B-group solenoid valve is connected to the spray gun 706 via a flexible pipe. When the A-group and B-group solenoid valves open simultaneously, the black and white components mix in the spray gun 706 and are then sprayed out.

[0035] Each set of solenoid valve components can independently control the spraying operation of a spray gun 706, providing a precise positioning basis for the repair of under-sprayed areas and avoiding the waste of paint by covering areas that do not need to be touched up.

[0036] See Figure 3 , Figure 4 and Figure 9 The tailgate assembly 300 includes a support plate 302, a connecting beam 301 disposed on the rear of the transport vehicle 100, and two sets of adjusting rod components disposed opposite to each other on the connecting beam 301. The adjusting rod components include a hinge rod 304, a second telescopic rod 305, and a first telescopic rod 303. The two ends of the hinge rod 304 are hinged to the sides of the connecting beam 301 and the support plate 302, respectively. The two ends of the second telescopic rod 305 are hinged to the middle of the connecting beam 301 and the hinge rod 304, respectively. The extension and retraction of the second telescopic rod 305 drives the side of the support plate 302 to move up and down. In this embodiment, after the transport vehicle 100 completes tunnel scanning and returns to its initial preset position, the base 501 of the rear radar is fixed to the support plate 302 using a through bolt assembly.

[0037] The two ends of the first telescopic rod 303 are hinged to the lower end faces of the connecting beam 301 and the support plate 302, respectively. The telescopic rod 303 extends and retracts to change the angle between the support plate 302 and the horizontal plane.

[0038] See Figure 1 and Figure 4The bottom of the support plate 302 is provided with two bottom support rods 306. The thickness of the end of the bottom support rod 306 near the connecting beam 301 is greater than the thickness of the end away from the connecting beam 301, and the end near the connecting beam 301 is hinged to the first telescopic rod 303. A rubber pad is provided on the lower end surface of the bottom support rod 306 to increase the friction between the bottom support rod 306 and the ground when the support plate 302 is lowered and comes into contact with the ground. In this embodiment, the positions where the first telescopic rod 303 and the hinge rod 304 are hinged to the support plate 302 are all clearance fits, that is, the support plate 302 can move horizontally relative to the first telescopic rod 303 and the hinge rod 304, thereby reducing the impact of vehicle body vibration on the support plate 302 after the support plate 302 is lowered to the ground, especially the vibration generated after the paint supply system is started, thereby improving the detection accuracy of the rear radar assembly.

[0039] The construction steps based on the above-mentioned construction equipment are as follows: S1, Tunnel segmentation and contour scanning.

[0040] Based on the spraying range of the spray gun assembly 700, the cold-region railway tunnel to be sprayed is divided into several spraying sections along the axial direction. The preset stopping positions of the transport vehicle 100 are marked in each section. The operator drives the transport vehicle 100 slowly along the tunnel and stops at each preset position in sequence. After each stop, the front radar assembly 500 is turned on and the lidar unit 503 performs a 360° scan of the tunnel cross section, detects and records the three-dimensional point cloud data of the tunnel arch profile. All data is transmitted to the central control system and a tunnel profile model is generated, providing a basis for subsequent spraying trajectory planning.

[0041] S2: Equipment positioning and spraying preparation.

[0042] The transport vehicle 100 returns to the initial preset position of the first spraying section along the tunnel. The operator controls the extension of the second telescopic rod 305 of the tailgate assembly 300 through the central control system, driving the support plate 302 to descend to the tunnel ground. Then, the angle of the support plate 302 is finely adjusted by the first telescopic rod 303, so that the rubber pad of the bottom support rod 306 is in close contact with the ground, realizing the grounding and fixing of the support plate 302. Then, the operator controls the sliding cover 202 to slide towards the front of the vehicle to open the work cabin 200. The operator operates the lifting platform 601 to drive the robotic arm 602 to extend from the cabin to the preset height. According to the tunnel outline model of S1, the central control system controls the robotic arm 602 to unfold and drive the spray gun assembly 700 to move to the preset spraying position. Finally, the paint supply system is started to extract the polyurethane black and white materials from the raw material barrel 400 and transport them to the heating tank 800 to be heated to 40°C and kept at a constant temperature, completing all the preparatory work before spraying.

[0043] S3: Fine-tuning of the spray gun assembly position.

[0044] After the spray gun assembly 700 reaches the preset position, the four distance sensors 707 at both ends detect the distance between the spray gun 706 and the tunnel wall in real time and feed the distance data back to the central control system in real time. If the detected distance deviation is greater than ±1mm, the central control system will automatically control the robotic arm 602 to make a slight movement to fine-tune the spatial position and attitude of the spray gun assembly 700. After the fine-tuning is completed, the spray gun assembly 700 enters the ready-to-spray state.

[0045] S4: Automated spraying of tunnel contours.

[0046] Based on the tunnel outline model, the central control system controls the robotic arm 602 to drive the spray gun assembly 700 to move along the outline of the tunnel arched inner wall at a spraying speed of 0.15 m / s. At the same time, it controls the electromagnetic control valve group 900 to open the channels for black and white materials. After being mixed under high pressure, the polyurethane black and white materials are atomized and sprayed out from the six spray guns 706. The spray cover 705 prevents the liquid from splashing, so that the polyurethane material is evenly adhered to the tunnel wall. During the spraying process, the distance sensor 707 continuously feeds back the spacing data to realize real-time compensation of the spraying spacing and ensure the uniformity of the spraying thickness.

[0047] S5: Equipment relocation.

[0048] After the first spraying section is completed, the central control system controls the electromagnetic control valve group 900 to close, the spray gun 706 stops discharging material, and the robotic arm 602 drives the spray gun assembly 700 to retract to the initial position; then the first telescopic rod 303 and the second telescopic rod 305 of the tail plate assembly 300 are controlled to retract, so that the support plate 302 is lifted off the ground and reset. The operator drives the transport vehicle 100 to the preset parking position of the next spraying section to complete the equipment relocation.

[0049] S6: Synchronous quality inspection and continuous spraying.

[0050] After the transport vehicle 100 stops at the preset position of the next spraying section, the grounding and fixing operation of the support plate 302 in step S2 is repeated. The rear radar component 500 is turned on, and the lidar unit 503 performs a comprehensive scan of the area that has been sprayed in the previous spraying section. By comparing the tunnel contour point cloud data before and after spraying, the actual spraying thickness is calculated, realizing real-time quality inspection of the spraying quality. While the rear radar component 500 is performing quality inspection, the operations of steps S3-S4 are executed simultaneously to complete the automated spraying of the current spraying section, realizing the simultaneous performance of quality inspection and spraying, which greatly improves construction efficiency.

[0051] S7: Secondary repair spraying / continuous construction.

[0052] After the quality inspection in step S6 is completed, the central control system automatically determines the coating quality: If the rear radar component 500 detects an under-sprayed area in the previous spraying section where the spray thickness is less than the preset thickness, the central control system will generate the three-dimensional coordinates of the defect area, control the support plate 302 to lift off the ground, and the transport vehicle 100 will reverse back to the preset parking position of the previous spraying section. The robotic arm 602 will drive the spray gun component 700 to move to the under-sprayed area according to the defect coordinates, and complete the local repair spraying at a low speed of 0.1m / s to make up the repair spray thickness to the preset thickness. After the repair is completed, the transport vehicle 100 will drive to the next adjacent spraying section, lower the support plate 302 for a second quality inspection. If there is still an under-sprayed area, and the area of ​​the under-sprayed area is greater than the acceptable threshold, the transport vehicle 100 will return for another repair. After the quality inspection is qualified, the transport vehicle 100 will drive to the next spraying section and continue to perform the synchronous quality inspection and spraying operation in step S6.

[0053] If the rear radar component 500 scans and finds that the coating thickness of the previous coating section meets the design requirements of the preset thickness and there is no need for secondary coating, the central control system directly controls the support plate 302 to lift off the ground, and the transport vehicle 100 moves forward to the preset position of the next coating section and continues to execute the operation of step S6.

[0054] Complete the construction of all sprayed sections of the tunnel in sequence according to the above steps until the polyurethane insulation material spraying operation of the entire tunnel is completed.

[0055] Furthermore, those skilled in the art can make various modifications or equivalent substitutions to this embodiment, such as adjusting the number of spray guns 706 to 4-8 groups, adjusting the length of the spraying section to 3-8m, and replacing the lidar unit 503 with a higher precision lidar, etc. These modifications or substitutions do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A construction equipment for spraying thermal insulation materials in railway tunnels in cold regions, characterized in that, It includes: The work compartment (200) is installed on the transport vehicle (100). The work compartment (200) includes a compartment body and a sliding cover (202) slidably installed on the compartment body. The sliding cover (202) slides toward the front of the vehicle to open the compartment body. A front radar assembly is installed on the sliding cover (202). The operating system (600) includes a lifting platform (601) disposed in the operating cabin (200) and a robotic arm (602) disposed on the lifting platform (601). The spray gun assembly (700) includes a support beam (701) mounted on the robotic arm (602) and a plurality of spray guns (706) spaced apart on the support beam (701). Both ends of the support beam (701) are provided with distance measuring components. A paint supply system, located within the work chamber (200), is used to supply paint to the spray gun (706); The tailgate assembly (300) includes a support plate (302) that can be lifted and lowered at the rear of the carrier (100), on which a raw material barrel (400) and a rear radar assembly are mounted.

2. The construction equipment for spraying thermal insulation materials in railway tunnels in cold regions according to claim 1, characterized in that, The tailgate assembly (300) also includes a connecting beam (301) disposed on the rear of the vehicle (100) and two sets of adjusting rod components disposed opposite to each other on the connecting beam (301); The adjusting rod component includes a hinge rod (304), a second telescopic rod (305), and a first telescopic rod (303). The two ends of the hinge rod (304) are respectively hinged to the sides of the connecting beam (301) and the support plate (302). The two ends of the second telescopic rod (305) are respectively hinged to the middle of the connecting beam (301) and the hinge rod (304). The extension and retraction of the second telescopic rod (305) is used to drive the side of the support plate (302) to move up and down. The two ends of the first telescopic rod (303) are respectively hinged to the lower end face of the connecting beam (301) and the support plate (302). The extension and retraction of the first telescopic rod (303) is used to change the angle between the support plate (302) and the horizontal plane.

3. The construction equipment for spraying thermal insulation materials in railway tunnels in cold regions according to claim 2, characterized in that, The bottom of the support plate (302) is provided with two bottom support rods (306). The thickness of the bottom support rod (306) at the end near the connecting beam (301) is greater than the thickness at the end away from the connecting beam (301), and the end near the connecting beam (301) is hinged to the first telescopic rod (303). A rubber pad is provided on the lower end surface of the bottom support rod (306) for contacting the ground after the support plate (302) is lowered, so as to increase the friction between the bottom support rod (306) and the ground.

4. The construction equipment for spraying thermal insulation materials in railway tunnels in cold regions according to claim 1, characterized in that, The spray gun (706) is installed on one side of the support beam (701). Two opposing second mounting plates (704) are provided on the support beam (701) on the same side as the spray gun (706). Two opposing first mounting plates (703) are provided on the other side of the support beam (701). The first mounting plate (703) and the second mounting plate (704) are both located at the ends of the support beam (701), and the ranging assembly includes two ranging sensors (707) respectively disposed on the first mounting plate (703) and the second mounting plate (704).

5. The construction equipment for spraying thermal insulation materials in railway tunnels in cold regions according to claim 4, characterized in that, The second mounting plate (704) is provided with a spray hood (705), which is a groove with an upward opening. The bottom of the spray hood (705) has a through hole corresponding to the spray gun (706). The spray gun (706) passes through the through hole and is located inside the spray hood (705).

6. A construction method based on the equipment described in any one of claims 1-5, characterized in that, The steps are as follows: S1. The tunnel is divided into several spraying sections according to the spraying range of the spray gun assembly (700). Each spraying section has a pre-set parking position for the transport vehicle (100). The transport vehicle (100) travels along the tunnel and stops at each pre-set position in sequence. The front radar assembly is turned on to detect and record the tunnel outline information. S2. The transport vehicle (100) returns to the initial preset position, controls the support plate (302) to descend to contact the ground, opens the sliding cover (202), controls the lifting platform (601) to drive the robotic arm (602) to rise and extend out of the cabin, and then the robotic arm (602) unfolds, so that the spray gun assembly (700) reaches the preset spraying position, and starts the paint supply system to supply paint to the spray gun (706); S3. Based on the distance information fed back by the ranging component, fine-tune the spatial position of the spray gun assembly (700) so that the spray gun assembly (700) enters the spraying state. S4. The robotic arm (602) drives the spray gun assembly (700) to perform spraying operations along the contour trajectory of the tunnel wall; S5. Control the support plate (302) to lift off the ground, and the transport vehicle (100) to the next preset position; S6. Control the support plate (302) to descend to contact the ground, activate the rear radar component to scan and inspect the area that has been sprayed, and simultaneously execute the spraying operations of steps S3 to S4.

7. The construction method according to claim 6, characterized in that, In step S6, after the rear radar component detects the data of the area with under-painting, it controls the support plate (302) to lift off the ground, the transport vehicle (100) reverses back to the previous parking position, and the robotic arm (602) drives the spray gun assembly (700) to move to the area to be under-painted, thus completing the repair spraying operation.

8. The construction method according to claim 6, characterized in that, In step S6, after the rear radar component detects that there is no need for under-painting in the spraying area, it controls the support plate (302) to lift off the ground, and the transport vehicle (100) directly drives to the next preset position to continue the operation of step S6.

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