Tunnel full-section spraying vehicle

Abstract

The utility model discloses a tunnel full section spraying vehicle, including vehicle chassis, its upper surface is equipped with raw material jar, pressurizing equipment and spraying mechanical arm, spraying mechanical arm contains rotary support, arm support pipe, telescopic cylinder, horizontal support arm, vertical support arm and spraying mechanism, and horizontal support arm and vertical support arm are hydraulic telescopic arm, and through swing cylinder connection and adjust angle, the mounting plate of spraying mechanism has two rows of strip -shaped through -hole with nozzle, and is equipped with the adjusting mechanism of the nozzle included angle according to the distance adjustment face interval, the spraying vehicle realizes tunnel full section automatic spraying, can adapt to inner wall camber and obstacle, promotes spraying uniformity and efficiency, and simultaneously avoids the construction personnel to contact volatile matter and reduces the operation risk.

Description

Technical Field

[0001] This utility model relates to the field of drone landing and recovery technology, and in particular to a tunnel full-section spraying vehicle. Background Technology

[0002] In tunnel construction, a waterproof layer needs to be sprayed onto the inner wall of the tunnel to ensure the durability of the tunnel structure. Currently, this spraying operation mainly relies on manual hand-held spray guns, and the existing technology has significant shortcomings: Firstly, the degree of automation is low, manual operation is labor-intensive and inefficient, and the spraying quality is directly affected by the skill level of the workers, making it difficult to guarantee the uniformity of the waterproof layer and easily leading to local thickness issues. Secondly, the enclosed space and poor ventilation inside the tunnel prevent the timely dissipation of organic matter volatilized from the asphalt, seriously endangering the health of construction workers and posing significant safety hazards. Third, manual spraying is difficult to control precisely, resulting in serious material waste and high construction costs. Traditional methods are prone to missed spraying or uneven spraying thickness, which seriously affect the waterproofing effect and make it difficult to meet the quality requirements of tunnel engineering. Therefore, it is necessary to propose a spraying equipment to improve production efficiency. Utility Model Content

[0003] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and propose a tunnel full-section spraying vehicle to solve the problems mentioned in the background art.

[0004] To achieve the above technical objectives, the present invention provides a tunnel full-section spraying vehicle, comprising: a vehicle chassis, a raw material tank, a pressurizing device, and a spraying robotic arm mounted on the vehicle chassis; the spraying robotic arm includes a slewing support, a boom tube, a first telescopic cylinder, a second telescopic cylinder, a horizontal support arm, a vertical support arm, and a spraying mechanism; the slewing support is rotatably connected to the vehicle chassis; one end of the horizontal support arm is hinged to the boom tube, and the other end is connected to one end of the vertical support arm via a swing cylinder; the other end of the vertical support arm is connected to the spraying mechanism via a swing cylinder; the cylinder body of the first telescopic cylinder and one end of the boom tube are hinged to the slewing support; the piston rod of the first telescopic cylinder is hinged to the middle of the boom tube; the cylinder body and piston rod of the second telescopic cylinder are respectively hinged to the middle of the boom tube and the middle of the horizontal support arm.

[0005] Furthermore, the spraying mechanism includes a mounting plate and an outer cover connected to the swing cylinder. The mounting plate is provided with two rows of symmetrical strip-shaped through holes, and nozzles are provided in the strip-shaped through holes. The nozzles pass through the strip-shaped through holes and are rotatably connected to the mounting plate. The mounting plate is provided with an adjustment mechanism that adjusts the included angle between the two rows of symmetrical nozzles according to the distance between the nozzles and the spraying working surface.

[0006] Furthermore, both the horizontal and vertical support arms are hydraulically driven telescopic arms, and a rubber anti-fouling cover is provided on the side of the mounting plate adjacent to the spraying working surface, with the nozzle penetrating through the anti-fouling cover.

[0007] Furthermore, the adjustment mechanism includes a distance sensor, a circuit board, a servo motor, and a pull rod. The distance sensor is located on the side of the mounting plate adjacent to the working surface. The circuit board is electrically connected to the distance sensor and the servo motor. Several supports are provided between the two rows of strip-shaped through holes, and the pull rod is slidably mounted on them. A connecting rod is provided between the rocker arm of the servo motor and the pull rod, and the two ends of the connecting rod are rotatably connected to the ends of the rocker arm of the servo motor and the pull rod, respectively.

[0008] Furthermore, a plurality of push rings are fixedly installed on the pull rod, and a push rod is provided between the push rings and the nozzle. Universal joints are provided at both ends of the push rod, which are respectively connected to the push rings and the nozzle.

[0009] Compared with the prior art, the beneficial effects of this utility model include: 1. This utility model uses a vehicle chassis to carry an automated spraying system. It utilizes a slewing support, telescopic cylinder, and hydraulic telescopic arm to drive the spraying mechanism to flexibly adjust its position. Combined with a distance sensor and adjustment mechanism, it automatically adapts to the distance between the tunnel walls and adjusts the nozzle angle. No manual operation is required, which effectively solves the problems of low efficiency and quality affected by technical level in manual spraying, and improves the safety of operation and waterproof quality.

[0010] 2. This utility model adjusts the angle of the spraying mechanism by swinging the cylinder, and with the adjustable and rotating nozzle, it effectively avoids missed spraying or uneven spraying; the anti-fouling cover reduces paint splashing and waste, the adjustment mechanism precisely controls the nozzle coverage area, and reduces material loss; the overall structure is adaptable to different tunnel cross-sectional dimensions, and there is no need for manual trajectory adjustment, which effectively improves work efficiency. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a tunnel full-section spraying vehicle provided by this utility model; Figure 2 This is a schematic diagram of the spraying robotic arm of a tunnel full-section spraying vehicle provided by this utility model; Figure 3 This is a schematic diagram of the spraying mechanism of a tunnel full-section spraying vehicle provided by this utility model; Figure 4 This is an enlarged view of point A in the schematic diagram of the spraying mechanism of a tunnel full-section spraying vehicle provided by this utility model; Figure 5 This is an enlarged view of section B of the schematic diagram of the spraying mechanism of a tunnel full-section spraying vehicle provided by this utility model. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0013] Reference Figure 1 This utility model provides a tunnel full-section spraying vehicle, including a vehicle chassis 1, on which a raw material tank 2, a pressurizing device 3 and a spraying robotic arm 4 are fixedly installed; wherein, the raw material tank 2 is used to store paint, and the pressurizing device 3 is connected to the raw material tank 2 through a pipeline to pressurize the paint in the tank and then transport it to the spraying robotic arm 4.

[0014] Reference Figure 2 The painting robot arm 4 includes a slewing support 401, a boom tube 402, a first telescopic cylinder 405, a second telescopic cylinder 406, a horizontal support arm 403, a vertical support arm 404, and a painting mechanism 5. The slewing support 401 is rotatably connected to the vehicle chassis 1, thereby driving the entire painting robot arm 4 to adjust its working direction. One end of the boom tube 402 is hinged to the slewing support 401, and the cylinder body of the first telescopic cylinder 405 is hinged to the slewing support 401. Its piston rod is hinged to the middle of the boom tube 402. The extension and retraction of the first telescopic cylinder 405 can drive the boom tube 402 to pitch and swing around the hinge point to adjust the working height.

[0015] One end of the horizontal support arm 403 is hinged to the end of the boom tube 402 away from the slewing support 401. The cylinder body of the second telescopic cylinder 406 is hinged to the boom tube 402, and the piston rod is hinged to the middle of the horizontal support arm 403. Both the horizontal support arm 403 and the vertical support arm 404 are hydraulically driven telescopic arms, and their length can be controlled by a hydraulic device to adapt to different tunnel cross-sectional dimensions. The other end of the horizontal support arm 403 is connected to one end of the vertical support arm 404 through a swing cylinder, and the other end of the vertical support arm 404 is connected to the spraying mechanism 5 through a swing cylinder. The two swing cylinders control the swing angle of the vertical support arm 404 and the spraying mechanism 5 respectively, ensuring that the spraying mechanism 5 maintains a reasonable distance from the tunnel wall.

[0016] Reference Figure 3-5 The spraying mechanism 5 includes a mounting plate 501 and an outer cover 502. The outer cover 502 is connected to the swing cylinder at the end of the vertical support arm 404. The mounting plate 501 has two rows of symmetrical strip-shaped through holes 503. The nozzle 504 passes through the strip-shaped through holes 503 and is rotatably connected to the mounting plate 501. It can swing along its length within the strip-shaped through holes 503. A rubber anti-fouling cover 512 is provided on the side of the mounting plate 501 adjacent to the spraying working surface. The nozzle 504 passes through the anti-fouling cover 512. The anti-fouling cover 512 can reduce paint splashing into the outer cover 502.

[0017] The mounting plate 501 is equipped with an adjustment mechanism that can adjust the included angle between the two rows of nozzles 504 according to the distance between it and the spraying working surface. The adjustment mechanism includes a distance sensor, a circuit board, a servo motor 505 and a pull rod 506. The distance sensor is installed on the side of the mounting plate 501 close to the working surface. The circuit board is electrically connected to the distance sensor and the servo motor 505 respectively, and controls the servo motor 505 to move according to the feedback signal of the distance sensor.

[0018] Several supports 507 are fixed between two rows of strip-shaped through holes 503, and a pull rod 506 slides through the supports 507. A connecting rod 508 is provided between the rocker arm of the servo motor 505 and the pull rod 506. The two ends of the connecting rod 508 are rotatably connected to the rocker arm of the servo motor 505 and the end of the pull rod 506, respectively. Several push rings 509 are fixed on the pull rod 506. A push rod 510 is provided between the push ring 509 and the nozzle 504. The two ends of the push rod 510 are connected to the push ring 509 and the nozzle 504, respectively, through universal joints 511. When the servo motor 505 is activated, the connecting rod 508 drives the pull rod 506 to slide on the support 507, causing the push ring 509 to push the push rod 510, thereby driving the nozzle 504 to rotate around the rotation axis, realizing the automatic adjustment of the included angle of the two rows of nozzles 504, and ensuring that a uniform spray coverage can be formed at different distances.

[0019] To facilitate understanding of this utility model, the following is combined with... Figure 1 - Figure 5 The working principle of this solution will be explained in detail: During operation, the vehicle chassis 1 travels to the work position, and the direction of the spraying robot arm 4 is adjusted by the slewing support 401. The spraying mechanism 5 is sent to the position to be sprayed on the inner wall of the tunnel by the extension and retraction of the first telescopic cylinder 405, the second telescopic cylinder 406, the horizontal support arm 403, and the vertical support arm 404. The distance sensor detects the distance between the mounting plate 501 and the inner wall of the tunnel. The circuit board controls the servo motor 505 to move according to the detection result, and adjusts the included angle of the two rows of nozzles 504. The pressurizing device 3 pressurizes the paint in the raw material tank 2 and delivers it to the nozzles 504 through the pipeline. The nozzles 504 spray the paint evenly on the inner wall of the tunnel. During the operation, the angle of the spraying mechanism 5 can be adjusted by the swing cylinder to adapt to the curvature of the inner wall of the tunnel and equipment obstacles, so as to avoid missed spraying or uneven spraying.

[0020] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A tunnel full-section spraying vehicle, comprising a vehicle chassis, a raw material tank, a pressurizing device, and a spraying robotic arm mounted on the vehicle chassis, characterized in that: The painting robot arm includes a slewing support, a boom tube, a first telescopic cylinder, a second telescopic cylinder, a horizontal support arm, a vertical support arm, and a painting mechanism. The slewing support is rotatably connected to the vehicle chassis. One end of the horizontal support arm is hinged to the boom tube, and the other end is connected to one end of the vertical support arm via a swing cylinder. The other end of the vertical support arm is connected to the painting mechanism via a swing cylinder. The cylinder body of the first telescopic cylinder and one end of the boom tube are hinged to the slewing support. The piston rod of the first telescopic cylinder is hinged to the middle of the boom tube. The cylinder body and piston rod of the second telescopic cylinder are respectively hinged to the middle of the boom tube and the middle of the horizontal support arm.

2. The tunnel full-section spraying vehicle according to claim 1, characterized in that: The spraying mechanism includes a mounting plate and an outer cover connected to the swing cylinder. The mounting plate is provided with two rows of symmetrical strip-shaped through holes. A nozzle is provided in the strip-shaped through hole. The nozzle passes through the strip-shaped through hole and is rotatably connected to the mounting plate. The mounting plate is provided with an adjustment mechanism that adjusts the included angle between the two rows of symmetrical nozzles according to the distance between the nozzle and the spraying working surface.

3. A tunnel full-section spraying vehicle according to claim 2, characterized in that: Both the horizontal support arm and the vertical support arm are hydraulically driven telescopic arms. A rubber anti-fouling cover is provided on the side of the mounting plate adjacent to the spraying working surface, and the nozzle passes through the anti-fouling cover.

4. A tunnel full-section spraying vehicle according to claim 2 or 3, characterized in that: The adjustment mechanism includes a distance sensor, a circuit board, a servo motor, and a pull rod. The distance sensor is located on the side of the mounting plate adjacent to the working surface. The circuit board is electrically connected to the distance sensor and the servo motor. Several supports are provided between the two rows of strip-shaped through holes, and the pull rod is slidably mounted on them. A connecting rod is provided between the rocker arm of the servo motor and the pull rod, and the two ends of the connecting rod are rotatably connected to the rocker arm of the servo motor and the end of the pull rod, respectively.

5. A tunnel full-section spraying vehicle according to claim 4, characterized in that: A plurality of push rings are fixedly mounted on the pull rod, and a push rod is provided between the push rings and the nozzle. Universal joints are provided at both ends of the push rod, which are respectively connected to the push rings and the nozzle.

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