An automatic spraying robot and spraying method for a gradually expanding diameter downspout well wall

Abstract

The application belongs to the technical field of underground pipe network well wall repairing equipment, and discloses an automatic spraying robot for the well wall of a gradually expanding diameter sewer well and a spraying method. The robot comprises a two-dimensional moving mechanism arranged at the front part of a load trolley, an X-axis moving platform connected base arranged on an X-axis moving platform, a Y-axis moving platform, and a telescopic arm. The proximal end of the telescopic arm is hinged to the base. The two ends of a hydraulic cylinder are hinged to the base and the telescopic arm respectively, so as to drive the telescopic arm to flip between a horizontal transportation state and a vertical working state. A terminal spraying device is arranged at the distal end of the telescopic arm and is lowered into the sewer well. The spraying direction and spraying distance are adjusted to spray the well wall. The application can stably support outside the well and complete continuous circumferential spraying inside the well, is suitable for the well wall with a diameter changing along the depth, and reduces personnel operation in the well.

Description

Technical Field

[0001] This invention belongs to the technical field of underground pipeline well wall repair equipment, and particularly relates to an automatic spraying robot and spraying method for the well wall of gradually expanding diameter sewer wells. Background Technology

[0002] Underground water supply and drainage inspection wells are constantly exposed to damp, corrosive, and sewage-flushing environments, making their walls prone to leaks, erosion, and cracks. These conditions necessitate the application of anti-corrosion, waterproofing, or structural repair materials. Traditional construction methods often involve workers carrying spray guns into the wells, which is not only labor-intensive and inefficient but also poses safety risks such as oxygen deficiency, exposure to toxic gases, falls, electric shocks, and well wall detachment. Therefore, there is an urgent need for unmanned, automated spraying systems.

[0003] A typical sewer well has an opening diameter of approximately 600 mm and a bottom diameter of approximately 2000 mm, with the well wall diameter gradually increasing along the depth. This type of well has a narrow opening, and the well wall radius, circumference, and inclination angle vary at different depths. It may also experience uneven ground, well body eccentricity, axis tilt, and localized unevenness in the well wall, placing high demands on the stable support of the equipment, axis alignment, and end-capability adaptability.

[0004] Existing manhole repair equipment includes solutions such as lowering rotating nozzles using tripods, telescopic rods, or cables, and employing rotary joints to reduce pipeline entanglement. However, most of these solutions focus on nozzle rotation, material delivery, or curing, making it difficult to simultaneously address the precise alignment, attitude adjustment, and spray distance variations of the expanding manhole wall. Furthermore, existing multi-degree-of-freedom motion, ranging, scanning, and parameter adjustment technologies are primarily designed for pipes of equal diameter or regular workpieces. When directly applied to expanding manhole walls, they easily lead to problems such as spray direction deviation from the wall normal, unstable spray distance, localized missed sprays, and uneven coating thickness.

[0005] Therefore, there is a need for an automated spraying robot and spraying method suitable for gradually expanding wells. This robot can complete transportation, support, and two-dimensional alignment outside the well, and achieve axial movement, continuous circumferential rotation, pitch adjustment, and radial extension inside the well. At the same time, it can coordinate and adjust the spraying posture, spraying distance, rotation speed, lifting speed, and material output according to the geometric changes of the well wall to improve spraying uniformity, continuous operation capability, and construction safety. Summary of the Invention

[0006] To overcome the problems existing in related technologies, the present invention discloses an automated spraying robot and spraying method for the well wall of a gradually expanding well. This addresses the issues that existing equipment struggles to achieve precise centering under narrow wellhead conditions and is difficult to adapt to changes in well diameter and well wall inclination angle with depth.

[0007] The technical solution is as follows: An automatic spraying robot for the well wall of a gradually expanding well includes a load-bearing trolley, a two-dimensional moving mechanism, a connecting base, a telescopic arm, a flipping drive mechanism, and an end spraying device.

[0008] The two-dimensional moving mechanism is mounted on the load-bearing trolley and includes a Y-axis moving platform and an X-axis moving platform stacked on top of each other. The Y-axis moving platform and the X-axis moving platform move along two intersecting directions in the horizontal plane, respectively. The connecting base is mounted on the moving end of the two-dimensional moving mechanism to drive the telescopic arm to move in the horizontal plane, so that the telescopic axis of the telescopic arm in the vertical working state is aligned with the center line of the sewer well.

[0009] The proximal end of the telescopic arm is hinged to the connecting base. The telescopic arm includes a plurality of telescopic joints that are sleeved together in sequence. The plurality of telescopic joints can extend and retract along the telescopic axis to drive the end spraying device to move along the depth direction of the sewer well.

[0010] The tilting drive mechanism includes a hydraulic cylinder, the two ends of which are respectively hinged to the connecting base and the telescopic arm to drive the telescopic arm to tilt between a horizontal transport state and a vertical working state.

[0011] The end spraying device is located at the far end of the telescopic arm and includes a hollow rotating platform, a hydraulic slip ring, a pitch mechanism, a pitch motor, a small telescopic mechanism, and a spray head.

[0012] The fixed end of the hollow rotating platform is connected to the telescopic arm, and its rotation axis is coaxial with the telescopic axis of the telescopic arm. The rotating end of the hollow rotating platform is used to drive the rotating part of the hydraulic slip ring, the pitching mechanism, the small telescopic mechanism and the nozzle to rotate circumferentially around the telescopic axis.

[0013] The electrohydraulic slip ring is coaxially arranged with the hollow rotating platform. The paint pipeline and cable are connected to the rotating side through the central through hole of the hollow rotating platform and the electrohydraulic slip ring to maintain the transmission of paint, power and control signals during the circumferential rotation of the end spraying device.

[0014] The small telescopic mechanism is rotatably connected to the pitch mechanism via a pitch axis. The pitch motor drives the small telescopic mechanism to rotate around the pitch axis to adjust the angle of the nozzle's spray centerline relative to the well wall. The nozzle is located at the extended end of the small telescopic mechanism, and the small telescopic mechanism extends and retracts in a direction coinciding with the spray centerline to adjust the spraying distance between the nozzle and the well wall.

[0015] Furthermore, the load-bearing trolley includes a frame, two drive wheels, four omnidirectional wheels, and hydraulic outriggers that can extend to the ground at each of the four corners;

[0016] The two drive wheels are respectively located on the left and right sides of the middle part of the vehicle frame;

[0017] The casters are arranged in groups at the front and rear of the frame, and the two drive wheels control the forward, backward and turning movements of the trolley through differential drive.

[0018] Furthermore, the vehicle frame is equipped with a battery, a hydraulic system, a power distribution box, a telescopic boom support, a paint sprayer, and a generator;

[0019] The power distribution box is located at the rear of the trolley, the telescopic arm support is located above the power distribution box and is used to support the telescopic arm in a horizontal transport state, the sprayer and the generator are located in the middle of the trolley, and baffles are provided on the outer periphery of the sprayer and the generator.

[0020] Furthermore, the Y-axis moving platform is used to drive the X-axis moving platform, the connecting base, and the telescopic arm to move in the left and right directions of the load-bearing trolley, and the X-axis moving platform is used to drive the connecting base and the telescopic arm to move in the front and rear directions of the load-bearing trolley, so as to perform two-dimensional alignment of the telescopic arm in the horizontal plane after the hydraulic outrigger is extended.

[0021] Furthermore, the connecting base is provided with two mutually separated pipeline channels, through which the paint pipeline and cable enter the telescopic arm and extend along the telescopic arm to the end spraying device.

[0022] Furthermore, the end spraying device includes a hollow rotating platform, a hydraulic slip ring, a U-shaped fork pitch mechanism, a pitch motor, a small telescopic mechanism, and a spray head;

[0023] The fixed end of the hollow rotating platform is connected to the telescopic arm. The rotating end of the hollow rotating platform is used to drive the rotating part of the electrohydraulic slip ring and the U-shaped fork pitch mechanism to rotate circumferentially around the telescopic axis of the telescopic arm. The small telescopic mechanism is installed on the U-shaped fork pitch mechanism through the pitch axis. The pitch motor is used to drive the small telescopic mechanism to swing around the pitch axis. The nozzle is set at the extended end of the small telescopic mechanism.

[0024] Furthermore, the central through hole of the hollow rotating platform is connected to the internal channel of the telescopic arm, the electrohydraulic slip ring is coaxially arranged with the hollow rotating platform, and the paint pipeline and the cable pass through the central through hole and the electrohydraulic slip ring in sequence to maintain paint delivery and power or control signal transmission respectively when the end spraying device rotates continuously in the circumferential direction.

[0025] Furthermore, the U-shaped fork pitch mechanism includes two fork arms arranged opposite each other, the small telescopic mechanism is located between the two fork arms and is rotatably connected to the two fork arms through the pitch shaft, and the pitch motor is located on the outside of one of the fork arms and is drively connected to the pitch shaft;

[0026] The extension direction of the small telescopic mechanism is parallel to or coincides with the spray center line of the nozzle; when the telescopic arm is in a vertical operating state, the pitch motor is used to make the spray center line face the well wall of the sewer, and the small telescopic mechanism is used to adjust the spraying distance between the nozzle and the well wall along the spray center line.

[0027] Furthermore, the telescopic arm includes multiple telescopic joints that are sequentially connected, and the multiple telescopic joints can extend vertically into the well; the rotation axis of the hollow rotating platform is coaxial with the telescopic axis of the multiple telescopic joints, so that the nozzle can complete 360° circumferential spraying with the hollow rotating platform.

[0028] Another object of the present invention is to provide a method for spraying the wall of a gradually expanding diameter manhole using an automated spraying robot. This method utilizes an automated spraying robot for spraying the wall of a gradually expanding diameter manhole. The method specifically includes:

[0029] S1, the trolley travels to the vicinity of the wellhead, completes rough alignment by moving and turning the vehicle, and then extends the four hydraulic outriggers and levels the frame.

[0030] S2, the hydraulic cylinder drives the telescopic boom to flip from the horizontal transport state to the vertical working state; drive the Y-axis moving platform and the X-axis moving platform respectively to fine-tune the position of the telescopic boom in the horizontal plane so that the telescopic boom's telescopic axis coincides with the well center line;

[0031] S3, extend the telescopic arm section by section, and lower the end spraying device to the set depth; start the spraying machine and drive the hollow rotating platform to rotate, so that the nozzle can perform 360° circumferential spraying around the center line of the well; the hydraulic slip ring is used to prevent the paint pipeline and cable from twisting during rotation;

[0032] S4. Adjust the pitch motor and small telescopic mechanism according to the radius and inclination of the well wall at the current depth to ensure that the spraying direction and spraying distance meet the process requirements. The telescopic arm is continuously lowered or lowered in layers at a set speed, and is coordinated with the rotation speed of the hollow rotating platform to form a spiral or layer-by-layer circular spraying trajectory until the target well wall area is completed.

[0033] S5. After the spraying is completed, stop the spraying machine, retract the small telescopic mechanism and return the pitch mechanism to the storage angle, control the telescopic arm to retract above the wellhead, and then drive the telescopic arm back to the horizontal transport state by the hydraulic cylinder; finally, retract the hydraulic outriggers and the load trolley leaves the wellhead.

[0034] Combining all the above technical solutions, the beneficial effects of this invention are as follows: This invention can stably support the surface outside the well and complete continuous circumferential spraying inside the well, adapting to well walls with diameters varying along depth, and reducing personnel downhole operations. The load-bearing trolley, hydraulic outriggers, and telescopic boom in horizontal transport form a movable and stably supported external well operation platform, facilitating equipment relocation and eliminating the need for personnel to enter the well during operation. First, the load-bearing trolley completes rough centering, then the X-axis and Y-axis moving platforms complete precise centering in the horizontal plane, allowing the telescopic boom's axis to coincide with the well centerline without repeated vehicle movement. The hollow rotating platform and hydraulic slip rings ensure compatibility between the paint pipelines and cables and the circumferential rotational movement, enabling continuous 360° circumferential spraying from the nozzle, reducing downtime and pipeline entanglement. The pitch mechanism is used to bring the spray direction close to the normal direction of the well wall, and the small telescopic mechanism is used to adjust the distance between the nozzle and the well wall. Both, in conjunction with the axial movement of the telescopic boom, can adapt to changes in well diameter and well wall inclination along the depth direction. The spraying machine, generator, hydraulic system, battery and distribution box are integrated on the load-bearing trolley, reducing the number of scattered equipment and external pipelines around the wellhead and facilitating the organization of underground pipeline repair work.

[0035] This invention can replace manual well spraying, reducing safety risks such as poisoning, oxygen deficiency, and falls. Through precise centering, spray distance and attitude adjustment, and coordinated motion parameters, it improves coating uniformity, material utilization, and construction efficiency. The equipment can serve municipal manhole maintenance, trenchless repair, and corrosion protection of underground structures, possessing value for mass production and engineering services. Existing searches have not yet revealed a complete solution for "small well openings and gradually expanding diameter well walls" that simultaneously integrates external stable support, two-dimensional precise centering, continuous rotary material supply, pitch normal adjustment, radial spray distance compensation, and coordinated control of spraying parameters. This invention promises to resolve the long-standing contradictions between narrow well openings and large gradually expanding wall surfaces, between remote lowering and high-precision spraying, and between continuous rotation and pipeline anti-entanglement, enabling robots to enter wells through narrow openings and adapt to changes in well wall radius and inclination at different depths, achieving unmanned, full-coverage spraying. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the disclosure of this invention and, together with the description, serve to explain the principles of this disclosure;

[0037] Figure 1 This is a schematic diagram of the overall structure of the automatic painting robot of the present invention when it is in a horizontal transport state;

[0038] Figure 2 This is a schematic diagram of the automatic spraying robot of the present invention in a vertical working state at the wellhead;

[0039] Figure 3This is a schematic diagram of the structure of the two-dimensional moving mechanism and the telescopic arm flipping mechanism of the present invention;

[0040] Figure 4 This is a schematic diagram of the end-spraying device of the present invention;

[0041] Figure 5 This is a schematic diagram showing the layout of the heavy-duty trolley chassis and on-board equipment of the present invention.

[0042] Figure 6 This is a flowchart of the method for using an automatic spraying robot to spray the wall of a gradually expanding diameter manhole according to the present invention;

[0043] In the diagram: 1. Load-bearing trolley; 11. Frame; 12. Battery; 13. Hydraulic system; 14. Casters; 15. Drive wheels; 16. Hydraulic outriggers; 17. Distribution box; 18. Telescopic arm support; 19. Sprayer; 20. Generator; 21. Baffle; 2. Y-axis moving platform; 3. X-axis moving platform; 4. Connecting base; 41. Pipeline channel; 5. Telescopic arm; 51. Hydraulic cylinder; 6. End spraying device; 61. Hollow rotating platform; 62. Hydraulic-electro-slip ring; 63. U-shaped fork pitch mechanism; 64. Pitch motor; 65. Small telescopic mechanism; 66. Sprayer head; 7. Manhole; 71. Manhole wall. Detailed Implementation

[0044] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0045] The innovation of this invention lies in the following: For small-mouth, large-diameter gradually expanding downhole wells, the stable support of the load-bearing trolley 1, the flipping and lowering of the telescopic arm 5, the two-dimensional precise centering, and the continuous rotary spraying at the end are integrated into one unit. The hollow rotary transmission structure avoids the entanglement of hydraulic and electrical pipelines. The end pitching mechanism and the radial telescopic mechanism are coordinated to adjust the radius and tilt angle of the well wall 71 at different depths, so that the spraying direction is close to the normal of the well wall and the nozzle 66 maintains an appropriate distance from the well wall 71. At the same time, the circumferential rotation speed, axial speed, and material output are linked to form a spiral or layered spraying trajectory that adapts to the gradually expanding curved surface, thereby achieving full circumferential coverage, uniform film formation, and continuous automatic spraying without the need for operators to enter the well.

[0046] Example 1

[0047] like Figures 1-5The automatic spraying robot for the well wall of a gradually expanding well includes a load-bearing trolley 1, a telescopic arm 5, a two-dimensional moving mechanism, a connecting base 4, a flipping drive mechanism, and an end spraying device 6.

[0048] The four corners of the load-bearing trolley 1 are respectively equipped with hydraulic outriggers 16 that can extend to the ground;

[0049] The two-dimensional moving mechanism is located at the front of the load-bearing trolley 1, including a Y-axis moving platform 2 and an X-axis moving platform 3 mounted on the Y-axis moving platform 2, and the connecting base 4 is mounted on the X-axis moving platform 3; thereby enabling the connecting base 4 to move in two mutually orthogonal directions in the horizontal plane.

[0050] The proximal end of the telescopic arm 5 is hinged to the connecting base 4. The tilting drive mechanism includes a hydraulic cylinder 51, the two ends of which are respectively hinged to the connecting base 4 and the telescopic arm 5 to drive the telescopic arm 5 to tilt between a horizontal transport state and a vertical operation state. The telescopic arm 5 includes multiple telescopic sections that are sequentially sleeved together, which can extend or retract along the well depth direction.

[0051] The end spraying device 6 is located at the far end of the telescopic arm 5 and is lowered into the sewer well 7. By adjusting the spraying direction and spraying distance, it sprays the well wall 71. It includes a hollow rotating platform 61, a hydraulic slip ring 62, a U-shaped fork pitching mechanism 63, a pitching motor 64, a small telescopic mechanism 65, and a nozzle 66.

[0052] The fixed end of the hollow rotating platform 61 is connected to the telescopic arm 5. The rotating end of the hollow rotating platform 61 is used to drive the rotating part of the hydraulic slip ring 62 and the U-shaped fork pitch mechanism 63 to rotate circumferentially around the telescopic axis of the telescopic arm 5. The small telescopic mechanism 65 is mounted on the U-shaped fork pitch mechanism 63 through the pitch axis. The pitch motor 64 is used to drive the small telescopic mechanism 65 to swing around the pitch axis. The nozzle 66 is set at the extended end of the small telescopic mechanism 65.

[0053] For example, the load-bearing trolley 1 includes a frame 11, two drive wheels 15 and four casters 14, with the two drive wheels 15 respectively located on the left and right sides of the middle of the frame 11;

[0054] The omnidirectional wheels 14 are respectively arranged in groups at the front and rear of the frame 11, and the two drive wheels 15 control the forward, backward and turning of the load-bearing trolley 1 through differential drive.

[0055] For example, the vehicle frame 11 is equipped with a battery 12, a hydraulic system 13, a power distribution box 17, a telescopic arm support 18, a paint sprayer 19, and a generator 20;

[0056] The power distribution box 17 is located at the rear of the trolley 1. The telescopic arm support 18 is located above the power distribution box 17 and is used to support the telescopic arm 5 in a horizontal transport state. The sprayer 19 and the generator 20 are located in the middle of the trolley 1. The sprayer 19 and the generator 20 are provided with baffles 21 on their outer periphery.

[0057] For example, the Y-axis moving platform 2 is used to drive the X-axis moving platform 3, the connecting base 4 and the telescopic arm 5 to move in the left and right directions of the load trolley 1, and the X-axis moving platform 3 is used to drive the connecting base 4 and the telescopic arm 5 to move in the front and back directions of the load trolley 1, so as to perform two-dimensional alignment of the vertical telescopic arm 5 in the horizontal plane after the hydraulic outrigger 16 is extended.

[0058] For example, the connecting base 4 is provided with two mutually separated pipeline channels 41, through which the paint pipeline and cable enter the telescopic arm 5 and extend along the telescopic arm 5 to the end spraying device 6.

[0059] The central through hole of the hollow rotating platform 61 is connected to the internal channel of the telescopic arm 5. The electrohydraulic slip ring 62 is arranged coaxially with the hollow rotating platform 61. The paint pipeline and the cable pass through the central through hole and the electrohydraulic slip ring 62 in sequence to maintain paint delivery and power or control signal transmission respectively when the end spraying device 6 rotates continuously in the circumferential direction.

[0060] For example, the U-shaped fork pitch mechanism 63 includes two fork arms arranged opposite each other, the small telescopic mechanism 65 is located between the two fork arms and is rotatably connected to the two fork arms through the pitch shaft, and the pitch motor 64 is located on the outside of one of the fork arms and is drively connected to the pitch shaft.

[0061] For example, the extension direction of the small telescopic mechanism 65 is parallel to or coincides with the spray center line of the nozzle 66; when the telescopic arm 5 is in a vertical operating state, the pitch motor 64 is used to make the spray center line face the well wall 71 of the drain well 7, and the small telescopic mechanism 65 is used to adjust the spraying distance between the nozzle 66 and the well wall 71 along the spray center line.

[0062] For example, the telescopic arm 5 includes a plurality of telescopic joints that are sequentially connected, and the plurality of telescopic joints can extend into the well in a vertical direction; the rotation axis of the hollow rotating platform 61 is coaxial with the telescopic axis of the plurality of telescopic joints, so that the nozzle 66 completes 360° circumferential spraying with the hollow rotating platform 61.

[0063] like Figure 1As shown, the automated painting robot for the well wall of a gradually expanding well provided in this embodiment of the invention uses a load-bearing trolley 1 as a transportation and carrying platform. The frame 11 of the load-bearing trolley 1 forms a long strip-shaped carrying space. The telescopic arm 5 is arranged horizontally along the length direction of the load-bearing trolley 1 during transportation. One end of the telescopic arm 5 is hinged to the connecting base 4, and the other end is supported by the telescopic arm support seat 18 located above the power distribution box 17. The painting machine 19 and the generator 20 are arranged in the middle of the frame 11, and the baffle 21 is arranged around the outer periphery of the painting machine 19 and the generator 20 to reduce the risk of collision during transfer and operation.

[0064] like Figure 5 As shown, two drive wheels 15 are respectively located on the left and right sides of the middle of the frame 11, and a set of omnidirectional wheels 14 are provided at the front and rear. The two drive wheels 15 can be independently speed-adjusted. Straight-line travel is achieved by the same speed rotation of the two drive wheels 15 in the same direction, and steering is achieved by differential or reverse rotation. The battery 12 supplies power to the walking, control, and some actuators, and the hydraulic system 13 provides pressurized oil to the hydraulic outriggers 16 and hydraulic cylinders 51. The four hydraulic outriggers 16 are located at the four corners of the frame 11 and can extend downwards to unload or partially unload the wheels, thereby forming stable support around the wellhead.

[0065] During operation, the load-bearing trolley 1 is first moved to the vicinity of the wellhead 7. The operator adjusts the load-bearing trolley 1 according to the wellhead position, so that the tilting position of the telescopic boom 5 roughly corresponds to the center of the wellhead. Then, the four hydraulic outriggers 16 are extended. The extension amount of each hydraulic outrigger 16 can be adjusted to adapt to local height differences in the ground around the wellhead.

[0066] like Figure 3 As shown, the Y-axis moving platform 2 is mounted at the front of the load-bearing trolley 1, and the X-axis moving platform 3 is mounted on the Y-axis moving platform 2, with their movement directions orthogonal to each other. The connecting base 4 is mounted on the moving part of the X-axis moving platform 3. After the telescopic arm 5 is flipped to the vertical position, by driving the Y-axis moving platform 2 and the X-axis moving platform 3 respectively, the connecting base 4 can be finely adjusted left and right and forward and backward in the horizontal plane, so that the telescopic axis of the telescopic arm 5 is precisely aligned with the center line of the sewer well 7.

[0067] A hydraulic cylinder 51 is installed between the connecting base 4 and the telescopic arm 5. When the hydraulic cylinder 51 extends or retracts, it drives the telescopic arm 5 to rotate around the hinge axis between the connecting base 4 and the telescopic arm 5. After the telescopic arm 5 flips from the horizontal transport state to the vertical working state, the hydraulic cylinder 51 and the hinge structure together maintain the working posture of the telescopic arm 5. After the operation is completed, the hydraulic cylinder 51 reverses its action, causing the telescopic arm 5 to return to the telescopic arm support 18.

[0068] Two pipeline channels 41 are formed in the middle of the connecting base 4. One pipeline channel 41 is used for the paint pipeline, and the other pipeline channel 41 is used for the cable or hydraulic auxiliary pipeline. The paint pipeline extends from the sprayer 19 to the spray head 66, and the cable extends from the distribution box 17 to the hollow rotating platform 61, the pitch motor 64, and the small telescopic mechanism 65. The pipelines are reserved with a retraction length matching the telescopic stroke between each telescopic section.

[0069] like Figure 4 As shown, the hollow rotary platform 61 is installed at the far end of the telescopic arm 5, with its fixed end fixed relative to the telescopic arm 5 and its rotating end connected to the U-shaped fork pitching mechanism 63. The electrohydraulic slip ring 62 is coaxially arranged with the hollow rotary platform 61. The stator portion of the electrohydraulic slip ring 62 is fixed relative to the telescopic arm 5, while the rotor portion rotates synchronously with the rotating end of the hollow rotary platform 61. Paint lines and cables pass through the central through-hole of the hollow rotary platform 61 and are connected to the rotating side via the electrohydraulic slip ring 62, thereby maintaining continuous transmission of paint, power, and control signals when the end spraying device 6 rotates continuously.

[0070] The U-shaped fork pitch mechanism 63 has two opposing fork arms, and a small telescopic mechanism 65 is mounted between the two fork arms via a pitch shaft. A pitch motor 64 is located on the outside of one fork arm and is connected to the pitch shaft to change the angle between the small telescopic mechanism 65 and the telescopic arm 5. A nozzle 66 is mounted on the extended end of the small telescopic mechanism 65, and the telescopic direction of the small telescopic mechanism 65 is parallel to or coincides with the spray centerline of the nozzle 66.

[0071] When the well wall 71 is tilted relative to the vertical direction, the spray centerline of the nozzle 66 is adjusted by the pitch motor 64 to make the spray centerline as perpendicular as possible to the well wall 71 at the spraying position; the small telescopic mechanism 65 extends or retracts to maintain a spraying distance between the nozzle 66 and the well wall 71 that is suitable for the coating material and nozzle 66 parameters. The pitch angle and telescopic amount can be preset in sections according to the well body geometry parameters, or can be remotely adjusted by the operator during operation.

[0072] like Figure 2 As shown, this embodiment is applicable to a sewer well 7 with a wellhead diameter of approximately 600 mm, a well bottom diameter of approximately 2000 mm, and a well wall diameter 71 that increases uniformly from top to bottom. The above dimensions are only for illustrating a typical application scenario and do not constitute a limitation on the range of well diameters to which this invention is applicable. For wells with other diameters, depths, or non-linearly variable diameters, the stroke of the telescopic arm 5, the stroke of the small telescopic mechanism 65, and the pitch adjustment range can be adjusted accordingly.

[0073] The specific spraying process is as follows:

[0074] Drive the trolley 1 to move near the wellhead and extend the hydraulic outriggers 16 so that the trolley 1 is stably supported on the ground;

[0075] The position of the load trolley 1 is adjusted to initially align the telescopic boom 5 with the center of the well, and the hydraulic cylinder 51 is used to flip the telescopic boom 5 from the horizontal transport state to the vertical operation state.

[0076] Drive the Y-axis moving platform 2 and the X-axis moving platform 3 to precisely align the telescopic axis of the telescopic arm 5 with the center line of the well.

[0077] Extend the telescopic arm 5 and lower the end spraying device 6 into the sewer well 7; drive the hollow rotating platform 61 to rotate the end spraying device 6 in a circumferential direction, drive the pitch motor 64 to adjust the spraying direction of the nozzle 66, and drive the small telescopic mechanism 65 to adjust the distance between the nozzle 66 and the well wall 71 of the sewer well 7. The spraying of the well wall 71 is completed during the movement of the telescopic arm 5 along the depth direction of the well.

[0078] Example 2

[0079] like Figure 6 As shown, the method for an automatic spraying robot to spray the wall of a gradually expanding well includes the following steps: stable support, coarse centering, telescopic arm 5 flipping, two-dimensional precise centering, lowering into the well, circumferential spraying, pitch adjustment and radial distance adjustment.

[0080] Specifically, it includes:

[0081] S1, the trolley 1 travels to the vicinity of the wellhead, completes rough alignment by moving and turning the vehicle, and then extends the four hydraulic outriggers 16 to level the frame 11.

[0082] S2, hydraulic cylinder 51 drives the telescopic boom 5 to flip from the horizontal transport state to the vertical working state. The Y-axis moving platform 2 and X-axis moving platform 3 are driven respectively to fine-tune the position of the telescopic boom 5 in the horizontal plane, so that the telescopic axis of the telescopic boom 5 coincides with the center line of the well.

[0083] S3, extend the telescopic arm 5 section by section, lowering the end spraying device 6 to the set depth. Start the spraying machine 19 and drive the hollow rotating platform 61 to rotate, so that the nozzle 66 performs 360° circumferential spraying around the well centerline. The hydraulic slip ring 62 is used to prevent the paint pipeline and cable from twisting during rotation.

[0084] S4. Based on the radius and inclination angle of the well wall 71 at the current depth, adjust the pitch motor 64 and the small telescopic mechanism 65 to ensure that the spraying direction and spraying distance meet the process requirements. The telescopic arm 5 is continuously lowered or lowered in layers at a set speed, and coordinates with the rotation speed of the hollow rotating platform 61 to form a spiral or layer-by-layer circular spraying trajectory until the target well wall 71 area is completed.

[0085] S5. After the spraying is completed, stop the spraying machine 19, retract the small telescopic mechanism 65, return the pitch mechanism to the storage angle, control the telescopic arm 5 to retract above the wellhead, and then drive the telescopic arm 5 back to the horizontal transport state by the hydraulic cylinder 51; finally, retract the hydraulic outrigger 16, and the load trolley 1 leaves the wellhead.

[0086] Without departing from the concept of the present invention, the vertical installation order of the Y-axis moving platform 2 and the X-axis moving platform 3 can be interchanged; the drive wheel 15, caster wheel 14, telescopic arm 5, hydraulic cylinder 51, hollow rotating platform 61 and small telescopic mechanism 65 can all adopt equivalent structures that can achieve the same function.

[0087] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0088] The results were verified by a comparative test with existing spraying equipment. Three groups were set up: manual spraying, ordinary lifting spraying device and robot of the present invention. Under the same well type, paint, spraying pressure and target film thickness, the centering error, spraying time, coating thickness uniformity, missed spraying rate, spraying distance fluctuation and equipment stability were compared.

[0089] Theoretically, this invention achieves rapid equipment transfer and stable wellhead support through a load-bearing trolley 1 and hydraulic outriggers 16. The orthogonal X and Y axis moving platforms 2 ensure precise alignment of the telescopic arm 5 with the well center. The rotatable telescopic arm 5 enables transportation, erection, and lowering to different depths under narrow wellhead conditions. The axial movement of the telescopic arm 5, combined with the 360° circumferential rotation of the hollow rotating platform 61, forms a continuous spiral or layered annular spraying trajectory. The pitching mechanism and small telescopic mechanism 65 adjust the spraying direction and distance in real time according to the radius and tilt angle changes of the gradually expanding well wall 71. The hydraulic slip ring 62 ensures stable transmission of paint, electricity, and control signals during continuous rotation and prevents pipeline entanglement. Therefore, compared with manual spraying in wells and existing equipment that only has lifting functions, the present invention can effectively reduce centering deviation, missed spraying, repeated spraying and paint waste, improve coating thickness uniformity, operation continuity and construction efficiency, and significantly reduce the time personnel spend in oxygen-deficient, toxic and harmful and fall-prone environments. It has higher safety, adaptability, automation and engineering application value.

[0090] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An automated spraying robot for the wall of a gradually expanding well, comprising a load-bearing trolley (1), characterized in that, It also includes a two-dimensional moving mechanism, a connecting base (4), a telescopic arm (5), a flipping drive mechanism, and an end spraying device (6). The two-dimensional moving mechanism is mounted on the load-bearing trolley (1) and includes a Y-axis moving platform (2) and an X-axis moving platform (3) stacked together. The Y-axis moving platform (2) and the X-axis moving platform (3) move along two intersecting directions in the horizontal plane respectively. The connecting base (4) is mounted on the moving end of the two-dimensional moving mechanism to drive the telescopic arm (5) to move in the horizontal plane, so that the telescopic axis of the telescopic arm (5) in the vertical working state is aligned with the center line of the sewer well (7). The proximal end of the telescopic arm (5) is hinged to the connecting base (4). The telescopic arm (5) includes a plurality of telescopic joints that are sequentially connected. The plurality of telescopic joints can extend and retract along the telescopic axis to drive the end spraying device (6) to move along the depth direction of the sewer well (7). The flipping drive mechanism includes a hydraulic cylinder (51), the two ends of which are hinged to the connecting base (4) and the telescopic arm (5) respectively, so as to drive the telescopic arm (5) to flip between the horizontal transport state and the vertical operation state. The end spraying device (6) is located at the far end of the telescopic arm (5) and includes a hollow rotating platform (61), a hydraulic slip ring (62), a pitch mechanism (63), a pitch motor (64), a small telescopic mechanism (65), and a spray nozzle (66). The fixed end of the hollow rotating platform (61) is connected to the telescopic arm (5), and its rotation axis is coaxial with the telescopic axis of the telescopic arm (5). The rotating end of the hollow rotating platform (61) is used to drive the rotating part of the hydraulic slip ring (62), the pitching mechanism (63), the small telescopic mechanism (65) and the nozzle (66) to rotate circumferentially around the telescopic axis. The electrohydraulic slip ring (62) is coaxially arranged with the hollow rotating platform (61). The paint pipeline and cable are connected to the rotating side through the central through hole of the hollow rotating platform (61) and the electrohydraulic slip ring (62) to maintain the transmission of paint, power and control signals during the circumferential rotation of the end spraying device (6). The small telescopic mechanism (65) is rotatably connected to the pitch mechanism (63) via a pitch axis. The pitch motor (64) is used to drive the small telescopic mechanism (65) to rotate around the pitch axis to adjust the angle of the spray center line of the nozzle (66) relative to the well wall (71). The nozzle (66) is located at the extended end of the small telescopic mechanism (65). The small telescopic mechanism (65) extends and retracts in a direction coinciding with the spray center line to adjust the spraying distance between the nozzle (66) and the well wall (71).

2. The automatic spraying robot for the well wall of a gradually expanding well as described in claim 1, characterized in that, The trolley (1) includes a frame (11), two drive wheels (15), four casters (14), and hydraulic outriggers (16) that can extend to the ground at the four corners. The two drive wheels (15) are respectively located on the left and right sides of the middle part of the frame (11); The casters (14) are arranged in groups at the front and rear of the frame (11), and the two drive wheels (15) control the forward, backward and turning of the trolley (1) through differential drive.

3. The automatic spraying robot for the well wall of a gradually expanding well according to claim 2, characterized in that, The vehicle frame (11) is equipped with a battery (12), a hydraulic system (13), a power distribution box (17), a telescopic arm support (18), a paint sprayer (19), and a generator (20). The power distribution box (17) is located at the rear of the trolley (1). The telescopic arm support (18) is located above the power distribution box (17) and is used to support the telescopic arm (5) in a horizontal transport state. The sprayer (19) and the generator (20) are located in the middle of the trolley (1). The sprayer (19) and the generator (20) are provided with baffles (21) on their outer periphery.

4. The automatic spraying robot for the well wall of a gradually expanding well as described in claim 1, characterized in that, The Y-axis moving platform (2) is used to drive the X-axis moving platform (3), the connecting base (4) and the telescopic arm (5) to move in the left and right directions of the load trolley (1). The X-axis moving platform (3) is used to drive the connecting base (4) and the telescopic arm (5) to move in the front and rear directions of the load trolley (1) so as to perform two-dimensional alignment of the telescopic arm (5) in the horizontal plane after the hydraulic outrigger (16) is extended.

5. The automatic spraying robot for the well wall of a gradually expanding well according to claim 1, characterized in that, The connecting base (4) is provided with two separate pipeline channels (41). The paint pipeline and the cable enter the telescopic arm (5) through the corresponding pipeline channels (41) and extend along the telescopic arm (5) to the end spraying device (6).

6. The automated spraying robot for the well wall of a gradually expanding well according to claim 5, characterized in that, The end spraying device (6) includes a hollow rotating platform (61), a hydraulic slip ring (62), a U-shaped fork pitch mechanism (63), a pitch motor (64), a small telescopic mechanism (65), and a spray nozzle (66). The fixed end of the hollow rotating platform (61) is connected to the telescopic arm (5). The rotating end of the hollow rotating platform (61) is used to drive the rotating part of the hydraulic slip ring (62) and the U-shaped fork pitch mechanism (63) to rotate circumferentially around the telescopic axis of the telescopic arm (5). The small telescopic mechanism (65) is installed on the U-shaped fork pitch mechanism (63) through the pitch axis. The pitch motor (64) is used to drive the small telescopic mechanism (65) to swing around the pitch axis. The nozzle (66) is set at the extended end of the small telescopic mechanism (65).

7. The automatic spraying robot for the well wall of a gradually expanding well according to claim 6, characterized in that, The central through hole of the hollow rotating platform (61) is connected to the internal channel of the telescopic arm (5). The electrohydraulic slip ring (62) is arranged coaxially with the hollow rotating platform (61). The paint pipeline and the cable pass through the central through hole and the electrohydraulic slip ring (62) in sequence to maintain paint delivery and power or control signal transmission respectively when the end spraying device (6) rotates continuously in the circumferential direction.

8. The automatic spraying robot for the well wall of a gradually expanding well according to claim 7, characterized in that, The U-shaped fork pitch mechanism (63) includes two fork arms arranged opposite to each other. The small telescopic mechanism (65) is located between the two fork arms and is rotatably connected to the two fork arms through the pitch shaft. The pitch motor (64) is located on the outside of one of the fork arms and is connected to the pitch shaft for transmission. The extension direction of the small telescopic mechanism (65) is parallel or coincident with the spray center line of the nozzle (66); when the telescopic arm (5) is in a vertical working state, the pitch motor (64) is used to make the spray center line face the well wall (71) of the sewer well (7), and the small telescopic mechanism (65) is used to adjust the spraying distance between the nozzle (66) and the well wall (71) along the spray center line.

9. The automatic spraying robot for the well wall of a gradually expanding well according to claim 6, characterized in that, The telescopic arm (5) includes multiple telescopic joints that are connected in sequence, and the multiple telescopic joints can extend into the well in a vertical direction; the rotation axis of the hollow rotating platform (61) is coaxial with the telescopic axis of the multiple telescopic joints, so that the nozzle (66) completes 360° circumferential spraying with the hollow rotating platform (61).

10. A method for using an automated spraying robot to spray the wall of a gradually expanding diameter manhole, characterized in that, This method utilizes an automated spraying robot, as described in any one of claims 1-9, for spraying the walls of gradually expanding manholes; the method specifically includes: S1, the trolley (1) travels to the vicinity of the wellhead, completes the rough alignment by vehicle movement and steering, and then extends the four hydraulic outriggers (16) and levels the frame (11). S2, the hydraulic cylinder (51) drives the telescopic arm (5) to flip from the horizontal transport state to the vertical operation state; respectively drive the Y-axis moving platform (2) and the X-axis moving platform (3) to finely adjust the position of the telescopic arm (5) in the horizontal plane so that the telescopic axis of the telescopic arm (5) coincides with the center line of the well. S3, extend the telescopic arm (5) section by section, and lower the end spraying device (6) to the set depth; start the spraying machine (19) and drive the hollow rotating platform (61) to rotate, so that the nozzle (66) performs 360° circumferential spraying around the center line of the well; the hydraulic slip ring (62) is used to prevent the paint pipeline and cable from twisting during rotation; S4, adjust the pitch motor (64) and small telescopic mechanism (65) according to the radius and inclination of the well wall (71) at the current depth so that the spraying direction and spraying distance meet the process requirements; the telescopic arm (5) is continuously lowered or lowered in layers at a set speed, and forms a spiral or layer-by-layer ring spraying trajectory in coordination with the rotation speed of the hollow rotating platform (61) until the target well wall (71) area is completed; S5. After the spraying is completed, stop the spraying machine (19), retract the small telescopic mechanism (65), return the pitch mechanism to the storage angle, control the telescopic arm (5) to retract above the wellhead, and then drive the telescopic arm (5) back to the horizontal transport state by the hydraulic cylinder (51); finally, retract the hydraulic outrigger (16) and the load trolley (1) leaves the wellhead.

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