A tunnel lining surface intelligent marking robot

Abstract

The utility model relates to the field of tunnel construction especially a kind of tunnel lining surface intelligent line marking robot, to the problem that technical line marking robot is inconvenient and cannot purify air in time, present and propose the following scheme, it includes vehicle body, store box being installed in the top surface of vehicle body, air compressor and the electric cabinet being connected with air compressor, the top surface of vehicle body is equipped with line marking mechanism, the line marking mechanism includes mechanical arm, spray gun being installed on mechanical arm, rotationally connected in the top surface of vehicle body deviation rectification turntable and drive assembly for driving mechanical arm along the length direction of deviation rectification turntable and being installed in the top surface of deviation rectification turntable, it further includes the purification mechanism for sucking paint spray in air in upper arm top portion installation.The utility model can conveniently adjust the height and position of spray gun, to complete accurate line marking operation, also can be purified and absorbed to the paint escaping in air by purification mechanism while painting, to eliminate the excessive paint smell in tunnel.

Description

Technical Field

[0001] This utility model relates to the field of tunnel construction, and in particular to an intelligent marking robot for tunnel lining surfaces. Background Technology

[0002] In tunnel lining construction, marking is a crucial step in ensuring tunnel clearance, clearance, and structural stability. Traditional marking methods rely on manual climbing to the tunnel wall for marking, which is labor-intensive, inefficient, and unsafe. While some automated marking robots have emerged in recent years, certain technical challenges remain.

[0003] On the one hand, in existing technologies, the spraying angle and path adjustment of marking robots largely rely on direct manual measurement and adjustment, which can easily lead to significant errors in accuracy. On the other hand, when spraying paint for marking, the paint spray will disperse into the air, resulting in excessive paint odor inside the tunnel and affecting the construction environment. Therefore, this solution proposes an intelligent marking robot for tunnel lining surfaces. Summary of the Invention

[0004] This invention proposes an intelligent marking robot for tunnel lining surfaces, which solves the problems of inconvenient adjustment and inability to purify air in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A smart marking robot for tunnel lining surfaces includes a vehicle body, a storage box mounted on the top surface of the vehicle body, an air compressor, and an electrical control box connected to the air compressor. A marking mechanism is mounted on the top surface of the vehicle body. The marking mechanism includes a robotic arm, a spray gun mounted on the robotic arm, a correction turntable rotatably connected to the top surface of the vehicle body, and a drive assembly mounted on the top surface of the correction turntable for driving the robotic arm to move along the length direction of the correction turntable. The spray gun is connected to the air compressor through an air supply pipe, and a hose for conveying paint is connected between the spray gun and the storage box. The robotic arm includes a telescopic arm and an upper arm rotatably connected to one end of the telescopic arm, with a spray gun mounted on the top of the upper arm. It also includes a purification mechanism installed on the top of the upper arm for drawing in paint spray from the air. The purification mechanism includes a purification box, a filter assembly installed inside the purification box, and an air suction hood installed on the outer periphery of the spray gun. The air suction hood is connected to the inside of the purification box through a pipe to deliver the oil spray from the air to the inside of the purification box for filtration.

[0006] The above technical solution not only allows for easy adjustment of the height and position of the spray gun to achieve precise line marking, but also enables the purification mechanism to absorb and purify the paint escaping from the air during spraying, thereby eliminating the excessive paint odor in the tunnel.

[0007] As a further improvement to the above solution, the telescopic arm includes a fixed sleeve, a movable arm movably sleeved inside the fixed sleeve, and a transmission component mounted on the fixed sleeve for driving the movable arm to move along its length direction. The upper arm is rotatably connected to the top of one side of the movable arm, and an upper arm rotary motor for driving the movable arm to rotate is installed on one side of the upper arm. Limiting grooves are fixed on the inner walls of the opposite sides of the fixed sleeve along its length direction. Limiting blocks are fixed on the outer walls of the long sides of the movable arm. One end of each of the two limiting blocks extends into the two limiting grooves and slides with them.

[0008] As a further improvement to the above solution, the transmission component includes a transmission screw rotatably connected to the bottom of the fixed sleeve, a rotating shaft rotatably connected to the inner wall of one side of the fixed sleeve, and a lifting motor installed on the outer wall of the fixed sleeve for driving the rotating shaft to rotate. The lifting motor is connected to the electrical control box. The bottom of the movable arm is provided with a threaded hole arranged along its length direction. One end of the transmission screw is threadedly connected to the threaded hole, and the other end of the rotating shaft is connected to the transmission screw.

[0009] As a further improvement to the above solution, a first distance sensor for measuring the distance between the spray gun and the tunnel top surface is installed on the upper arm, and a second distance sensor for measuring the distance between the spray gun and the tunnel side surface is installed on one side of the top surface of the correction turntable, and both the first distance sensor and the second distance sensor are connected to the electrical control box.

[0010] As a further improvement to the above solution, the drive assembly includes a mounting plate fixed to its top surface along the length of the correction turntable and an adjusting screw rotatably connected to the bottom surface of the mounting plate. The top surface of the mounting plate has a sliding groove arranged along its length. A moving block is threaded onto the outer circumference of the adjusting screw. The top of the moving block passes through the sliding groove and is fixed to the bottom surface of the fixed sleeve. The outer walls of the two long sides of the sliding groove abut against the outer walls of the two sides of the moving block, respectively. A drive motor for driving the adjusting screw to rotate is installed on the correction turntable.

[0011] As a further improvement to the above solution, the purification box includes two semi-cylindrical hollow shells and an air extractor mounted on one of the shells for extracting air from the inside of the purification box. The two shells are detachably connected by a connector.

[0012] As a further improvement to the above solution, the connector includes two fixing blocks respectively fixed to the outer periphery of the two outer shells and fixing bolts for screwing the two fixing blocks together. The fixing blocks are provided with bolt holes for connecting the fixing bolts.

[0013] The above technical solution involves aligning the fixing blocks at corresponding positions on the two shells when closing them together, and then tightening the aligned fixing blocks together with fixing bolts to complete the fixing of the two shells.

[0014] As a further improvement to the above solution, the filter assembly includes two fixed rods and multiple filter screens sleeved around the outer periphery of the two fixed rods. The outer ring of the filter screens fits into the inner ring of the outer shell. Both ends of the fixed rods are provided with buffer holes, and elastic columns for pressing the fixed rods against the inner wall of the end of the outer shell are connected to the buffer holes by springs.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. By coordinating the robotic arm, spray gun, correction turntable, first distance sensor, second distance sensor and drive assembly, the height and position of the spray gun can be easily adjusted, thereby facilitating the marking of lines on the tunnel lining surface.

[0016] 2. By setting up a purification mechanism, the exhaust fan is activated while the spray gun is spraying paint to draw the paint spray from the air into the purification box. The paint spray is then filtered by the purification components before being discharged, thereby purifying the air and preventing excessive paint odor in the tunnel.

[0017] 3. The two outer shells are combined to form a purification box, which facilitates the disassembly and replacement of purification components. The setting of the fixing rod and elastic column can easily fix the purification components to the inside of the outer shell. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a structural diagram of the bottom surface of the base plate; Figure 3 This is a disassembly diagram of the telescopic boom; Figure 4 This is a schematic diagram of the purification mechanism; Figure 5 This is a schematic diagram of the structure of the outer casing and the filter assembly; Figure 6 This is a schematic diagram of the filter assembly. Figure 7 This is a sectional view of the fixed rod.

[0019] Explanation of key symbols: 1. Vehicle body; 2. Correction turntable; 3. Mounting plate; 4. Storage box; 5. Fixing sleeve; 6. Movable arm; 7. Upper arm rotary motor; 8. Upper arm; 9. Purification mechanism; 901. Outer shell; 902. Filter screen; 903. Fixing rod; 904. Elastic column; 905. Fixing block; 906. Air extractor; 907. Buffer hole; 10. Suction hood; 11. Spray gun; 12. First distance sensor; 13. Second distance sensor; 14. Air compressor; 15. Electrical control box; 16. Battery box; 17. Correction motor; 18. Limit block; 19. Transmission screw; 20. Rotary shaft; 21. Limit groove; 22. Slide groove; 23. Adjusting screw; 24. Drive motor. Detailed Implementation

[0020] The present invention will be further described below with reference to 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.

[0021] Example 1

[0022] Please combine Figures 1-3 This embodiment of an intelligent marking robot for tunnel lining surfaces includes a vehicle body 1, a storage box 4 mounted on the top surface of the vehicle body 1, an air compressor 14, and an electrical control box 15 connected to the air compressor 14. The electrical control box 15 is equipped with a display screen. The storage box 4 is used to store paint. A marking mechanism is mounted on the top surface of the vehicle body 1. The marking mechanism includes a robotic arm, a spray gun 11 mounted on the robotic arm, a correction turntable 2 rotatably connected to the top surface of the vehicle body 1, and a drive assembly mounted on the top surface of the correction turntable 2 for driving the robotic arm to move along the length direction of the correction turntable 2. A battery box 16 and a correction motor 17 for driving the correction turntable 2 to rotate are mounted on the bottom surface of the vehicle body 1. The battery box 16 contains... Equipped with a lithium battery for power supply, the output shaft of the correction motor 17 is fixedly connected to the center of the bottom surface of the correction turntable 2 to drive its rotation. The correction motor 17 is connected to the electrical control box 15, which has a button for controlling the operation of the correction motor 17. The spray gun 11 is connected to the air compressor 14 through an air supply pipe, and a hose for conveying paint is connected between the spray gun 11 and the storage tank 4. The spray gun 11 is equipped with an electrically controlled valve connected to the electrical control box 15. After the electrically controlled valve is opened, under the input of high-pressure air from the air compressor 14, the paint in the storage tank 4 is drawn into the spray gun 11, and then sprayed out after atomization, thereby performing a marking operation on the tunnel lining surface.

[0023] The robotic arm includes a telescopic arm and an upper arm 8 rotatably connected to one end of the telescopic arm. A spray gun 11 is mounted on the top of the upper arm 8. The telescopic arm includes a fixed sleeve 5, a movable arm 6 movably fitted inside the fixed sleeve 5, and a transmission component mounted on the fixed sleeve 5 for driving the movable arm 6 to move along its length. The upper arm 8 is rotatably connected to the top of one side of the movable arm 6, and an upper arm rotary motor 7 for driving the movable arm 6 to rotate is mounted on one side of the upper arm 8. Limiting grooves 21 are fixed on the inner walls of opposite sides of the fixed sleeve 5 along its length. Limiting blocks 18 are fixed on the outer walls of the long sides of the movable arm 6. One end of each of the two limiting blocks 18 extends into and slides into the two limiting grooves 21. The transmission component includes a transmission screw 19 rotatably connected to the bottom of the fixed sleeve 5, a rotating shaft 20 rotatably connected to the inner wall of one side of the fixed sleeve 5, and a lifting motor mounted on the outer wall of the fixed sleeve 5 for driving the rotating shaft 20 to rotate. One end of the rotating shaft 20 is connected to the output shaft of the lifting motor. The lifting motor is connected to the electrical control box 15. The bottom of the boom 6 has a threaded hole along its length. One end of the transmission screw 19 is threaded into the threaded hole, and the other end of the rotating shaft 20 is fixed with a driving bevel gear. A driven bevel gear meshing with the driving bevel gear is sleeved on the outer circumference of the transmission screw 19. The upper arm rotary motor 7 and the lifting motor are both connected to the electrical control box 15. The rotation of the upper arm rotary motor 7 can drive the upper arm 8 to rotate on the movable arm 6, thereby adjusting the angle of the spray gun 11. When adjusting the height of the spray gun 11, the telescopic arm can be adjusted. The length is adjusted. After the lifting motor starts, it drives the rotating shaft 20 to rotate. The rotating shaft 20 then drives the transmission screw 19 to rotate. When the transmission screw 19 rotates forward, the movable arm 6 moves upward, the telescopic arm lengthens, and the spray gun 11 rises in height. When the transmission screw 19 rotates in reverse, it drives the movable arm 6 to move downward, the telescopic arm length shortens, and the spray gun 11 falls in height. The setting of the lower limit block 18 and the limit groove 21 ensures that the movable arm 6 can only move along the length direction of the limit groove 21 under the drive of the transmission screw 19.

[0024] In this embodiment, a first distance sensor 12 for measuring the distance between the spray gun 11 and the tunnel top surface is installed on the upper arm 8, and a second distance sensor 13 for measuring the distance between the spray gun 11 and the tunnel side surface is installed on one side of the top surface of the correction turntable 2. Both the first distance sensor 12 and the second distance sensor 13 are connected to the electrical control box 15. The first distance sensor 12 and the second distance sensor 13 transmit the measured data to the electrical control box 15 and display it on the display screen, so that the height and position of the spray gun 11 can be known, and thus a line mark can be accurately made at a specific height on the tunnel lining surface.

[0025] In this embodiment, the drive assembly includes a mounting plate 3 fixed to the top surface of the correction turntable 2 along its length direction and an adjusting screw 23 rotatably connected to the bottom surface of the mounting plate 3. The top surface of the mounting plate 3 has a sliding groove 22 arranged along its length direction. A moving block is threaded onto the outer periphery of the adjusting screw 23. The top of the moving block passes through the sliding groove 22 and is fixed to the bottom surface of the fixed sleeve 5. The outer walls of the two long sides of the sliding groove 22 abut against the outer walls of the two sides of the moving block, respectively. A drive motor 24 for driving the adjusting screw 23 to rotate is installed on the correction turntable 2. After the drive motor 24 is started, it drives the adjusting screw 23 to rotate, which in turn drives the moving block to move along the length direction of the sliding groove 22, thereby achieving the purpose of driving the robotic arm to move along the length direction of the correction turntable 2. The orientation of the correction turntable 2 can be adjusted by rotating the correction motor 17. After the correction motor 17 rotates, it drives the correction turntable 2 to rotate, thereby adjusting the distance between the spray gun 11 and the side surface of the tunnel lining.

[0026] Example 2

[0027] Combination Figures 1-2 and Figures 4-7 This embodiment, based on Embodiment 1, further improves upon the following: it also includes a purification mechanism 9 installed on the top of the upper arm 8 for extracting paint spray from the air. The purification mechanism 9 includes a purification box, a filter assembly installed inside the purification box, and an air suction hood 10 installed on the outer periphery of the spray gun 11. The air suction hood 10 is connected to the interior of the purification box via a pipe to transport the paint spray from the air to the inside of the purification box for filtration. The purification box includes two semi-cylindrical hollow shells 901 and an air extractor 906 installed on one of the shells 901 for extracting air from the inside of the purification box. The two shells 901 are detachably connected by a connector. The air extractor 906 is connected to an electric... The control box 15 is connected, and the connecting parts include two fixing blocks 905 that are respectively fixed to the outer periphery of the two outer shells 901 and fixing bolts for screwing the two fixing blocks 905. When painting is performed, the exhaust fan 906 is started. When the spray gun 11 sprays paint to mark, the paint will be dispersed into the air. At this time, the exhaust fan 906 draws the air near the spray gun 11 into the purification box through the air suction hood 10, and then discharges it after being filtered by the purification components, thereby completing the purification and filtration of the air, which greatly reduces the paint smell in the air in the tunnel. The purification box is formed by the two outer shells 901, which can be easily opened to facilitate the replacement of the filter components.

[0028] The filter assembly includes two fixing rods 903 and multiple filter screens 902 sleeved around the outer periphery of the two fixing rods 903. There is a gap between adjacent filter screens 902. The outer ring of the filter screen 902 fits against the inner ring of the outer shell 901. Both ends of the fixing rods 903 are provided with buffer holes 907. The buffer holes 907 are connected by springs to elastic posts 904 for pressing the fixing rods 903 against the inner wall of the end of the outer shell 901. The multiple filter screens 902 are fixed by the fixing rods 903, which makes it easy to disassemble and replace the entire filter assembly. By using the spring force, after the filter assembly is placed inside the outer shell 901, the elastic posts 904 abut against the inner wall of the end of the outer shell 901, thereby snapping the filter assembly into place inside the outer shell 901, thus achieving the purpose of conveniently fixing the filter assembly.

[0029] 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. A smart marking robot for tunnel lining surfaces, comprising a vehicle body, a storage box mounted on the top surface of the vehicle body, an air compressor, and an electrical control box connected to the air compressor, characterized in that, The vehicle body is equipped with a marking mechanism, which includes a robotic arm, a spray gun mounted on the robotic arm, a correction turntable rotatably connected to the vehicle body, and a drive assembly mounted on the top of the correction turntable for driving the robotic arm to move along the length of the correction turntable. The spray gun is connected to the air compressor via an air supply pipe, and a hose for delivering paint is connected between the spray gun and the storage tank. The robotic arm includes a telescopic arm and an upper arm rotatably connected to one end of the telescopic arm, with a spray gun mounted on the top of the upper arm. It also includes a purification mechanism installed on the top of the upper arm for drawing in paint spray from the air. The purification mechanism includes a purification box, a filter assembly installed inside the purification box, and an air suction hood installed on the outer periphery of the spray gun. The air suction hood is connected to the inside of the purification box through a pipe to deliver the oil spray from the air to the inside of the purification box for filtration.

2. The intelligent marking robot for tunnel lining surface according to claim 1, characterized in that, The telescopic arm includes a fixed sleeve, a movable arm movably sleeved inside the fixed sleeve, and a transmission component mounted on the fixed sleeve for driving the movable arm to move along its length. The upper arm is rotatably connected to the top of one side of the movable arm, and an upper arm rotary motor for driving the movable arm to rotate is mounted on one side of the upper arm. Limiting grooves are fixed on the inner walls of the opposite sides of the fixed sleeve along its length. Limiting blocks are fixed on the outer walls of the long sides of the movable arm. One end of each of the two limiting blocks extends into the two limiting grooves and slides into them.

3. The intelligent marking robot for tunnel lining surface according to claim 2, characterized in that, The transmission component includes a transmission screw rotatably connected to the bottom of the fixed sleeve, a rotating shaft rotatably connected to the inner wall of one side of the fixed sleeve, and a lifting motor installed on the outer wall of the fixed sleeve for driving the rotating shaft to rotate. The lifting motor is connected to the electrical control box. The bottom of the movable arm is provided with a threaded hole arranged along its length direction. One end of the transmission screw is threadedly connected to the threaded hole, and the other end of the rotating shaft is connected to the transmission screw.

4. The intelligent marking robot for tunnel lining surface according to claim 1, characterized in that, The upper arm is equipped with a first distance sensor for measuring the distance between the spray gun and the tunnel top surface, and a second distance sensor for measuring the distance between the spray gun and the tunnel side surface is installed on one side of the top surface of the correction turntable. Both the first and second distance sensors are connected to the electrical control box.

5. The intelligent marking robot for tunnel lining surface according to claim 1, characterized in that, The drive assembly includes a mounting plate fixed to the top surface of the correction turntable along its length and an adjusting screw rotatably connected to the bottom surface of the mounting plate. The top surface of the mounting plate has a sliding groove along its length. A moving block is threaded onto the outer circumference of the adjusting screw. The top of the moving block passes through the sliding groove and is fixed to the bottom surface of the fixed sleeve. The outer walls of the two long sides of the sliding groove abut against the outer walls of the two sides of the moving block, respectively. A drive motor for driving the adjusting screw to rotate is mounted on the correction turntable.

6. The intelligent marking robot for tunnel lining surface according to claim 1, characterized in that, The purification chamber includes two semi-cylindrical hollow shells and an air extractor mounted on one of the shells for extracting air from the inside of the purification chamber. The two shells are detachably connected by a connector.

7. The intelligent marking robot for tunnel lining surface according to claim 6, characterized in that, The connector includes two fixing blocks respectively fixed to the outer periphery of the two outer shells and fixing bolts for screwing the two fixing blocks together.

8. The intelligent marking robot for tunnel lining surface according to claim 6, characterized in that, The filter assembly includes two fixed rods and multiple filter screens sleeved around the outer periphery of the two fixed rods. The outer ring of the filter screens fits into the inner ring of the outer shell. Both ends of the fixed rods are provided with buffer holes, and elastic columns for pressing the fixed rods against the inner wall of the end of the outer shell are connected to the buffer holes by springs.

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