CN112324503B

CN112324503B - Scribing robot suitable for tunnel excavation section

Info

Publication number: CN112324503B
Application number: CN202011195626.4A
Authority: CN
Inventors: 郭玉红
Original assignee: Heilongjiang Map Information Technology Engineering Co ltd
Current assignee: Heilongjiang Map Information Technology Engineering Co ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2022-12-20
Anticipated expiration: 2040-10-30
Also published as: CN112324503A

Abstract

The invention discloses a scribing robot suitable for a tunnel excavation section, which effectively controls the precision of an excavation end face required by scribing treatment by using an intelligent control mode, prevents operators from climbing to a scribing position of the inner wall of a tunnel, and then manually designs a remarkable pigment on the section to be excavated, thereby greatly ensuring the safety of the operators.

Description

Scribing robot suitable for tunnel excavation section

Technical Field

The invention relates to the field of underground engineering construction, in particular to a marking robot suitable for a tunnel excavation section.

Background

In the construction process of a highway tunnel engineering, in order to ensure the smooth implementation of the construction, the construction process needs to be measured, monitored and rechecked in real time, construction errors need to be corrected in time to meet the requirements of clearance, elevation, center line, reserved settlement and the like of a tunnel, information needs to be fed back in time, once the situation that basic requirements of clearance, elevation, center line, reserved settlement and the like are not met in the construction measurement process or exist, the operation team needs to be corrected in time by written intersection, it can be seen that the measurement of the tunnel section occupies a certain proportion in the construction and operation management stages of the tunnel, particularly, the excavation section needs to be scribed in the excavation stage, the situation that the construction personnel has excessive excavation amount in the construction process is prevented, various parameters of the tunnel are accurately measured by using a distance measuring instrument, the construction personnel climbs to various scribing positions on the inner wall of the tunnel, then the construction personnel paint is painted on the contour line of the section needing to be excavated to form a complete contour curve, the safety line is laid out by using a large scale, the labor intensity of the circular scribing is influenced by adopting a high-drawing line drawing mode, and the circular scribing operation of drawing is not stable.

Disclosure of Invention

The invention aims to provide a scribing robot suitable for a tunnel excavation section, and solves the problems.

The purpose of the invention is mainly realized by the following technical scheme:

a scribing robot suitable for a tunnel excavation section comprises a bearing plate, wherein a bearing column is arranged on the upper surface of the bearing plate, a driving assembly is arranged on the lower surface of the bearing plate, a disc is arranged on the bearing column, a worktable surface is arranged on the upper surface of the disc, a spraying assembly is arranged on the worktable surface and comprises a fixing block, the fixing block is arranged on the upper surface of the worktable surface, a cavity III is formed in the fixing block, a partition plate for dividing the cavity III into two spaces is arranged in the cavity III, a first space is arranged above the partition plate, a second space is arranged below the partition plate, a through hole III is formed in the partition plate, a ball I matched with the inner diameter of the through hole III is movably arranged in the through hole III, the outer surfaces of two sides of the ball I are respectively arranged in the first space and the second space, the adjustable type infrared ray lamp comprises a first space, a sleeve is arranged in the first space in a sliding mode, two ends of the sleeve are respectively provided with a round ball II matched with the inner diameter of the sleeve in a rotating mode, the round ball II close to the lower end of the sleeve is connected with the round ball I through a connecting rod I, the upper surface of a fixing block is provided with a through hole IV communicated with a cavity III, the inner portion of the through hole IV is movably provided with a round ball III matched with the inner diameter of the through hole IV, the outer surfaces of two sides of the round ball III protrude out of the through hole IV, the round ball III is connected with the round ball II close to the upper end of the sleeve through the connecting rod II, the adjustable type infrared ray lamp further comprises a spray head, the spray head is connected with the outer surface of the round ball III, an adjusting component used for adjusting the movement of the round ball I is arranged in the second space, the adjustable type infrared ray lamp further comprises two vertical rods, an infrared emitter is arranged in the middle of one vertical rod, an infrared receiver is arranged in the middle of the other vertical rod, and a hydraulic cylinder is arranged on a working table board, the output end of the hydraulic cylinder is provided with a baffle plate, the lower end of the baffle plate is provided with a light hole, and in an initial state, a laser beam emitted by the emitting end II penetrates through the light hole and is received by the receiving end II; the upper surface of the bearing plate is provided with a balance assembly for balancing a working table surface, and the bearing plate is internally provided with a control terminal which is electrically connected with the adjusting assembly and the balance assembly.

The invention aims to solve the problem that in the construction process of highway tunnel engineering, the excavation section needs to be scribed at the excavation stage, and the condition that the construction personnel has an over-short excavation amount in the construction process is prevented;

this device is equipped with on the upper surface of loading board and bears the post be equipped with drive assembly on the lower surface of loading board be equipped with the disc on bearing the post be equipped with table surface on the upper surface of disc be equipped with spraying assembly on table surface, still be equipped with three-dimensional laser scanner on table surface, when the spraying assembly that will set up on the loading board through the drive assembly who sets up on the loading board consigns to the marking off position that the terminal surface was seted up to the tunnel, through the high-speed laser that three-dimensional laser scanner launches to tunnel excavation terminal surface scan the measurement back, acquire the three-dimensional coordinate data on measurand surface fast in large tracts of land high resolution ground. The three-dimensional image model of an object can be rapidly and massively acquired, the three-dimensional image model is rapidly established and is processed by a control terminal, the control terminal controls the movement of an adjusting component to adjust the movement of a spray head relative to a working table, a cavity III is formed in the fixed block, a partition board for dividing the cavity III into two spaces is arranged in the cavity III, a first space is arranged above the partition board, a second space is arranged below the partition board, a through hole III is formed in the partition board, a ball I matched with the inner diameter of the through hole III is movably arranged in the through hole III, the outer surfaces of two sides of the ball I are respectively arranged in the first space and the second space, a sleeve is arranged in the first space in a sliding manner, a ball II matched with the inner diameter of the sleeve is rotatably arranged at two ends of the sleeve, and the ball II close to the lower end of the sleeve is connected with the ball I through a connecting rod I, the upper surface of the fixed block is provided with a through hole IV communicated with a cavity III, the inside of the through hole IV is movably provided with a ball III matched with the inner diameter of the through hole IV, the outer surfaces of two sides of the ball III are respectively positioned in a first space and the outside, the ball III is connected with a ball II close to the upper end of the sleeve through a connecting rod I, the spray head is connected with the outer surface of the ball III positioned in the outside, the movement of the spray head is adjusted through an adjusting component arranged in a second space, the spray head further comprises a measuring module and a positioning module, the measuring module and the positioning module can assist the three-dimensional scanner to measure the advancing track, the spray head of the ball III positioned on the outer surface of the outside is forced to move at any angle relative to the working table surface, and after the control terminal calculates the scanning result of the tunnel excavation section through the three-dimensional laser scanner, the control terminal calculates the required profile curve, thereby realize the shower nozzle and rule the sectional profile of excavation through control terminal, still control the orbit of advancing of this device through main control terminal, thereby the precision of profile curve has been guaranteed, prevent that constructor from taking place the emergence of the condition of the volume of digging excessively under in the work progress, thereby improve the required sectional profile curve's of excavation precision of spraying, prevent that constructor from taking place the emergence of the condition of the volume of digging excessively under in the work progress, control the precision of carrying out the required excavation terminal surface of lineation processing with intelligent mode and obtain effectual control, the marking off position of needs operating personnel to the tunnel inner wall has been prevented, then by the artifical potential safety hazard that brings with the pigment flower of eye on the section of required excavation, very big guarantee constructor's safety, when balanced subassembly keeps the horizontality, the pneumatic cylinder is also in the field state, after rising or descending certain height again, because the loading board probably meets depression and arch, the state of pneumatic cylinder at this moment is decided according to the circumstances, infrared emitter can both be received the normal operating condition of this moment by infrared receiver through the main control hole that sets up on the shielding plate, the photosensitive module is all received with the photosensitive element along the light-sensitive signal receiver, the photosensitive module, all receive the photosensitive module with the infrared receiver, the photosensitive module.

Furthermore, the disc is spherically hinged with the end face of the upper end of the bearing column, four balancing rods are arranged on the outer wall of the disc along the circumferential direction of the disc, the reverse extension lines of any two adjacent balancing rods are vertical to each other, a cavity I is formed in each balancing rod, a cavity II is formed in the disc, a through hole I communicated with the cavity I is formed in the joint of any balancing rod and the side wall of the disc, the through hole I is communicated with the cavity II, a through hole II is formed in one end, away from the disc, of each balancing rod and communicated with the corresponding cavity I, a rotating shaft is rotatably arranged in each through hole II, the axis of each through hole II is vertical to that of the rotating shaft, a gear I is sleeved on each rotating shaft, and four correcting rods corresponding to the balancing rods are spherically hinged on the upper surface of the bearing plate, every leveling rod is all movably run through II rear portions of the through holes corresponding to the leveling rods and extends upwards, a spur rack meshed with a gear I is arranged on the outer wall of the leveling rod along the axial direction of the leveling rod, a gear II is arranged on the inner wall, close to the axis of a disc, of each cavity I in a rotating mode, a toothed belt III matched with a rotating shaft is arranged in each cavity I, a complete annular toothed belt is formed after the toothed belts III are connected end to end, a micro motor I is arranged in each cavity I, the output end of the micro motor I is connected with the rotating shaft of the gear II, a balancing weight matched with the balancing rod is sleeved on each balancing rod, communicating holes communicated with the cavities I are formed in the outer wall of each balancing rod, a connecting rod is movably arranged in each communicating hole, one end of the connecting rod is connected with the balancing weight, the other end of the connecting rod is connected with the outer wall of the toothed belt III, and a locking assembly for fixing the straightening rod is arranged in the cavity II.

The end surface of the upper end of the bearing column is spherically hinged with a disc, four balance rods are arranged on the outer wall of the disc along the circumferential direction of the disc, the reverse extension lines of any two adjacent balance rods are mutually vertical, when the bearing plate does not move in an initial state, the disc which is ball-jointed on the upper end of the bearing column can keep balance by the four balance rods, so that the disc does not shake, a cavity I is also arranged in each balance rod, a cavity II is arranged in the disc, a through hole I communicated with the cavity I is arranged at the joint of any balance rod and the side wall of the disc, the through hole I is communicated with the cavity II, a through hole II is arranged at one end of each balance rod, which is far away from the disc, and is communicated with the corresponding cavity I, a rotating shaft is arranged in each through hole in a rotating manner, and a gear I is sleeved on each rotating shaft, four correcting rods corresponding to the balancing rods are hinged on the upper surface of the bearing plate in a spherical mode, each correcting rod penetrates through the corresponding through hole II in a movable mode and extends upwards, a straight rack meshed with the gear I is arranged on the outer wall of each correcting rod in the axial direction of the corresponding correcting rod, the balancing rods on the bearing columns are always balanced with the bearing plate under the action of the locking assemblies in an initial state, when the bearing plate moves and works on the ground of a tunnel, the bearing plate can tilt forwards or backwards at any time, when the bearing plate swings, the locking assemblies timely open a limiting function, and at the moment, the motion states of the correcting rods are different under different states of the bearing plate, namely when the bearing plate moves on the ground of the tunnel along a line where the tunnel excavation end face and the ground of a foundation are intersected, when the bearing plate tilts forwards and backwards on the ground of the foundation plate, the two balancing rods parallel to the line of the tunnel excavation end face and the foundation ground play a role in main adjustment, and the two balancing rods perpendicular to the line of the tunnel excavation end face and the foundation ground play a role in auxiliary adjustment; when the bearing plate moves along a line intersecting the tunnel excavation end face and the foundation ground and inclines left and right, two balance rods parallel to the line intersecting the tunnel excavation end face and the foundation ground play a role in auxiliary adjustment, and two balance rods perpendicular to the line intersecting the tunnel excavation end face and the foundation ground play a role in main adjustment; when the bearing plate moves along the line intersecting the tunnel excavation end face and the basic ground, the two conditions are all generated, the four balance rods all play a role in adjustment, when the conditions are generated, the motion of the correcting rods is similar, namely when the bearing plate moves along the line intersecting the tunnel excavation end face and the basic ground, when the bearing plate tilts forwards and backwards on the basic ground, the two balance rods parallel to the line intersecting the tunnel excavation end face and the basic ground play a role in main adjustment, when the bearing plate tilts forwards and backwards on the basic ground, the tilt angles at the two ends of the bearing plate are different, so that the heights of the correcting rods at the two ends of the bearing plate are inconsistent, when the balance rods on the bearing plate do not tend to be balanced, the spraying device stops spraying at the moment, the balance rods deflect under the balance of the balancing weights, so that the working table face tends to be balanced, namely the spraying device is parallel to a horizontal line, and the accuracy of the spraying device in marking operation is guaranteed.

Further, the locking subassembly includes the rotary disk, the rotary disk rotates to set up in cavity II, is in along the circumference of rotary disk be equipped with four top plates that correspond with the levelling rod on the outer wall of rotary disk, along the direction of rotation of rotary disk, the one end tip of top plate is L apart from the interval of rotary disk outer wall, the tip of the other end of top plate is 0 apart from the interval of rotary disk outer wall, is equipped with the gag lever post in I equal activity of every cavity, all overlaps on every gag lever post and is equipped with the spring, the one end of spring and the interior wall connection of cavity I, the other end of spring and the wall connection of gag lever post are in along the axial of levelling rod be equipped with a plurality of spacing holes that match with the gag lever post on the outer wall of levelling rod, all be equipped with micro motor II in cavity II, the output and the rotary disk pivot of micro motor II are connected, under initial condition, and cavity I is all arranged in to every gag lever post.

The locking subassembly can make when the regional balance of table surface at the balancing pole still be equipped with in the cavity II and drive rotary disk pivoted micro motor II, micro motor II is by its function of control terminal control, and the gag lever post is under the effect of rotary disk, and local salient is in the spacing downthehole that is located the levelling rod outer wall of local back local entering behind cavity I to play fixed effect to the balancing pole, prevent that spraying device from doing the spraying also, do the mesa and take place to rock when the recoil that spraying device produced, thereby when leading to spraying device to rule the operation, the precision of the ruling that causes is inaccurate, causes the excavation profile line inaccuracy, leads to constructor to take place the emergence of the condition of the volume of digging of oweing in the work progress.

And furthermore, a guide groove is formed in the outer wall of each balancing rod along the axial direction of the balancing rod, a sliding block II is arranged in each guide groove in a sliding mode, and each sliding block II is connected with a balancing weight. When the balancing weight played the effect of adjusting the balance to flat horizontal pole, the guide way of setting can slide more accurately when making the balancing weight slide on the balancing pole, thereby prevent that a little deviation from appearing when the balancing weight slides on the balancing pole and lead to the balancing weight to play the effect of unbalance.

Further, the adjusting part includes arc I, arc I is fixed in the second space, the middle part of arc I is crooked to the direction of keeping away from the baffle be equipped with cingulum I on the inner wall of arc I, be in along the circumference of arc I all be equipped with arc I on two lateral walls of arc I, every it is equipped with slider I all to slide in the arc I, all is equipped with branch I on the upper surface of every slider I be equipped with on the branch I with I vertically arc II of arc, the middle part of arc II is crooked to the direction of keeping away from the baffle, rotates between two branches I and is equipped with the gear III with I meshing of cingulum, fixed being equipped with driving motor I between two branches I, driving motor I is connected with III's rotation on the inner wall of arc II be equipped with cingulum II on two lateral walls of arc II, be equipped with the arc II on two lateral walls of arc II, every all slide in the arc and be equipped with the slider in the arc, be equipped with on II upper surface of every slider II the pendulum rod II, be equipped with II on two branches II and be equipped with the pendulum rod II, be equipped with the pendulum rod II and rotate the pendulum rod II between two fixed balls of driving motor II, be equipped with the pendulum rod II and be connected the pendulum rod II the pendulum rod. An arc-shaped plate I is fixedly arranged in a second space, a toothed belt I is arranged on the inner wall of the arc-shaped plate I, arc-shaped grooves I are respectively arranged on the two side walls of the arc-shaped plate I along the circumferential direction of the arc-shaped plate I, a sliding block I is arranged in each arc-shaped groove I in a sliding manner, a support rod I is arranged on the upper surface of each sliding block I, an arc-shaped plate II perpendicular to the arc-shaped plate I is arranged on each support rod I, a gear III meshed with the toothed belt I is rotatably arranged between the two support rods I, a toothed belt II is arranged on the inner wall of the arc-shaped plate II, arc-shaped grooves II are respectively arranged on the two side walls of the arc-shaped plate II along the circumferential direction of the arc-shaped plate II, a sliding block II is arranged in each arc-shaped groove II in a sliding manner, and a support rod II is arranged on the upper surface of each sliding block II, two be equipped with the pendulum rod on the branch II, rotate between two branches II and be equipped with II meshing gears IV of cingulum, the swing rod is connected with the outer wall of ball I, can adjust the angle of shower nozzle and table surface perpendicular bisector when I motions of the cingulum that driving motor drive gear III set up on arc I, can guarantee the angle between shower nozzle and the tunnel excavation terminal surface through this kind of design to the realization is rule to the sectional profile of excavation, can adjust shower nozzle and table surface horizontal line's angle when II motions of the cingulum that driving motor drive gear IV set up on arc II, can realize that the shower nozzle is rule along the sectional profile of excavation, thereby realize this robot and guarantee the curved precision of profile when digging sectional profile and ruling.

Further, drive assembly includes two annular tracks, and two annular tracks along the horizontal direction are all established on the loading board, and the carrier bar is located between two annular tracks a plurality of through-holes have all been seted up to the both sides of loading board, all rotate in every through-hole and are equipped with the carrier wheel, and the carrier wheel that is located the carrier bar homonymy cooperates with annular track, all rotates at the both ends of loading board and is equipped with two leading wheels, and the leading wheel that is located the carrier bar homonymy cooperates with annular track. Through the cover is equipped with two annular track on the loading board, drives two annular track and bears the weight of the wheel on the loading board, and when the annular track moved on the basis bottom surface in tunnel under the drive of bearing the weight of the wheel, can provide good supporting role, improved the trafficability characteristic of loading board, be favorable to the shower nozzle to carry out the marking off operation to tunnel excavation sectional profile.

Furthermore, a paint storage device and a pump are arranged on the upper surface of the bearing plate, and the spray head is communicated with the pump and the paint storage device through pipelines. The coating device comprises a transverse plate, a coating storage device and a pumping device, wherein the transverse plate is arranged on the transverse plate, the coating storage device is communicated with the pumping device and the coating storage device through pipelines, and the coating storage device and the pumping device arranged on the bottom plate can provide basic materials to enable the device to be implemented in a working state.

Further, the control terminal comprises a main control module, the main control module is arranged on the bearing plate, two ends of the upper surface of the bearing plate are respectively provided with a height sensor, the spray head is provided with an electromagnetic valve, and the height sensors, the electromagnetic valve, the driving motor I and the driving motor II are all electrically connected with the main control module; the main control module is used for sending information by the height sensor and sending a control signal to the electromagnetic valve; height sensor for sensing the height of the work surface); the electromagnetic valve is used for controlling the closing state of the spray head, an alarm is further arranged on the bearing plate, and the alarm is electrically connected with the main control module.

The position far away from the tunnel excavation end face is controlled and monitored in real time by the staff through other terminals, and when the angle sensor measures the deviation of the working table relative to the horizontal plane, the adjusting assembly can be adjusted in time, so that the working table is kept in a balanced state. The advancing track of the device and the angle of the spraying device are controlled by the main control module, so that the precision of a profile curve of a section to be excavated by spraying is improved, the condition that the excavating amount of a constructor is over insufficient in the construction process is prevented, the precision of an end face to be excavated is effectively controlled by controlling in an intelligent mode to perform lineation treatment, the condition that the constructor climbs to a lineation position of the inner wall of a tunnel is prevented, potential safety hazards caused by manually spraying obvious pigment on the section to be excavated are greatly guaranteed, the safety of the constructor is greatly guaranteed, the main control module controls the spraying device arranged on a round bar to reach the optimal position for spraying, a complete profile curve is drawn on the profile curve of the section to be excavated, and the motion path of the advancing device and the height of a spraying assembly of the device are controlled by the main control module, thereby improving the precision of the contour curve of the section to be excavated by spraying, preventing constructors from generating the condition of over-short excavation in the construction process, sensing the inclination angle of a worktable surface by an arranged angle sensor, sending information to a main control module, guiding the main control module to make timely adjustment, adjusting the working state of a spray head, ensuring that the electromagnetic valve can be timely turned off when a bearing column is inclined when the spray head works through the main control module, preventing the situation that the line cannot be drawn along a set line when the line is drawn, possibly causing discontinuous line drawing even when the spray head is started again to work after being turned off again, not influencing the constructors to construct the tunnel excavation section at the moment, detecting the movement of the bearing plate in the tunnel excavation end surface by two height sensors arranged on the bearing plate, leading the front end of the bearing plate to enter the tunnel firstly, the height sensors are arranged at two ends of the upper surface of the bearing plate respectively and can detect position changes of the front end and the rear end of the bearing plate, so that the guide wheels are controlled by the control terminal to move, the closing of the electromagnetic valve is controlled in time, and the scribing on the tunnel excavation end face is stopped.

In conclusion, compared with the prior art, the invention has the following beneficial effects:

1. the invention effectively controls the precision of the excavation end face required by scribing treatment by using an intelligent control mode, prevents operators from climbing to the scribing position of the inner wall of the tunnel, and then brings potential safety hazards due to the fact that obvious pigment is artificially painted on the section to be excavated, greatly guarantees the safety of the operators.

2. The spraying device can ensure the angle between the spray head and the tunnel excavation end face, so that the outline of the excavated section can be scribed, the angle between the spray head and the horizontal line of the working table surface can be adjusted when the driving motor drives the toothed belt II arranged on the arc-shaped plate II to move by the gear IV, and the spray head can be scribed along the outline of the excavated section, so that the robot can scribe the outline of the excavated section, and the accuracy of the outline curve is ensured.

3. According to the invention, the balancing rod is arranged to deflect under the balance of the balancing weight, so that the working table surface is ensured to be balanced, namely, the spraying device is parallel to a horizontal line, the accuracy of marking is ensured when the spraying device carries out marking operation, the situation that the designed excavation contour line cannot be accurately and quickly measured by adopting manual marking to influence later construction is prevented, and the situation that the over-short excavation amount occurs in the construction process of constructors is also prevented.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a schematic view of the working structure of the technical scheme.

Fig. 2 is a schematic structural diagram of the present technical solution.

Fig. 3 is a top view of the present invention.

Fig. 4 is a schematic bottom view of the balance bar assembly according to the present invention.

Fig. 5 is a cross-sectional schematic view of the balance bar of the present technical solution.

Fig. 6 is a schematic cross-sectional view of the spraying device of the present technical solution.

Fig. 7 is a partial cross-sectional view of fig. 6 at a.

Fig. 8 is a schematic structural diagram of a guide assembly according to the present disclosure.

The names corresponding to the reference numbers in the drawings are as follows:

1-carrying plate, 2-endless track, 3-paint reservoir, 4-pumping device, 5-pipe, 6-ball III, 7-fixed block, 8-counterweight, 9-spray head, 10-balance bar, 11-gear I, 12-correcting bar, 13-through hole II, 14-rotating shaft, 15-toothed belt III, 16-working table, 17-guide wheel, 18-bearing wheel, 19-disc, 20-guide groove, 21-straight rack, 22-communicating hole, 23-bearing column, 24-cavity I, 25-cavity II, 26-through hole I, 27-top plate, 28-rotating disc, 29-limiting bar, 30-spring, 31-through hole IV, 32-connecting rod II, 33-first space, 34-second space, 35-ball II, 36-connecting rod I, 37-partition plate, 38-through hole III, 39-swing rod I, 40-swing rod I, 41-gear, 42-arc plate, 43-arc plate II, 44-sleeve, 45-arc plate I, 45-connecting rod I, 37-partition plate I, 38-through hole III, 39-swing rod I, 40-slide bar, 41-gear II, 53-arc plate II, 6-slide bar, 50-slide bar, 52-slide bar, 50-slide bar, 52-slide bar, and 4-slide bar.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

Example 1:

as shown in fig. 1~8, a scribing robot suitable for a tunnel excavation section comprises a bearing plate 1, a bearing column 23 is arranged on the upper surface of the bearing plate 1, a driving assembly is arranged on the lower surface of the bearing plate 1, a disc 19 is arranged on the bearing column 23, a working table 16 is arranged on the upper surface of the disc 19, a spraying assembly is arranged on the working table 16, the spraying assembly comprises a fixing block 7, the fixing block 7 is arranged on the upper surface of the working table 16, a cavity iii is arranged in the fixing block 7, a partition plate 37 for dividing the cavity iii into two spaces is arranged in the cavity iii, a first space 33 is arranged above the partition plate 37, a second space 34 is arranged below the partition plate 37, a through hole iii 38 is arranged on the partition plate 37, and a ball i 39 matched with the inner diameter of the through hole iii 38 is movably arranged in the through hole iii 38, the outer surfaces of two sides of the round ball I39 are respectively positioned in a first space 33 and a second space 34, a sleeve 44 is arranged in the first space 33 in a sliding manner, round balls II 35 matched with the inner diameter of the sleeve 44 are arranged at two ends of the sleeve 44 in a rotating manner, the round ball II 35 close to the lower end of the sleeve 44 is connected with the round ball I39 through a connecting rod I36, a through hole IV 31 communicated with the cavity III is formed in the upper surface of the fixed block 7, a round ball III 6 matched with the inner diameter of the through hole IV 31 is movably arranged in the through hole IV 31, the outer surfaces of two sides of the round ball III 6 are protruded out of the through hole IV 31, the round ball III 6 is connected with the round ball II 35 close to the upper end of the sleeve 44 through a connecting rod II 32, the spray head 9 is further included, the spray head 9 is connected with the outer surface of the round ball III 6, and an adjusting component used for adjusting the movement of the round ball I39 is arranged in the second space 34, the infrared receiving device is characterized by further comprising two vertical rods 55, wherein an infrared transmitter is arranged in the middle of one vertical rod 55, an infrared receiver is arranged in the middle of the other vertical rod 55, a hydraulic cylinder 53 is arranged on the working table 16, a baffle plate 52 is arranged at the output end of the hydraulic cylinder 53, a light hole 54 is formed in the lower end of the baffle plate 52, and in an initial state, a laser beam emitted by a transmitting end II penetrates through the light hole 54 to be received by a receiving end II; a control terminal for controlling the device to work is arranged in the bearing plate 1, and a balancing component for balancing a worktable surface 16 is arranged on the upper surface of the bearing plate 1.

this device is equipped with bearing post 23 on the upper surface of loading board 1 be equipped with drive assembly on the lower surface of loading board 1 be equipped with disc 19 on bearing post 23 be equipped with table surface 16 on the upper surface of disc 19 be equipped with spraying component on table surface 16, still be equipped with three-dimensional laser scanner on table surface 16, when the spraying component that will set up on loading board 1 through the drive assembly that sets up on loading board 1 asks the transport to the lineation position that the terminal surface was seted up in the tunnel, through the high-speed laser that three-dimensional laser scanner launches to tunnel excavation terminal surface scan measurement back, acquire the three-dimensional coordinate data on measured object surface fast with large tracts of land high resolution. The device can quickly and massively acquire space point location information and quickly establish a three-dimensional image model of an object, after the three-dimensional image model is processed by a control terminal, the control terminal controls the movement of an adjusting component to adjust the movement of a spray head 9 relative to a working table surface 16, a cavity III is arranged in the fixed block 7, a partition 37 which divides the cavity III into two spaces is arranged in the cavity III, a first space 33 is arranged above the partition 37, a second space 34 is arranged below the partition 37, a through hole III 38 is arranged on the partition 37, a round ball I39 which is matched with the inner diameter of the through hole III 38 is movably arranged in the through hole III 38, the outer surfaces of two sides of the round ball I39 are respectively arranged in the first space 33 and the second space 34, a sleeve 44 is arranged in the first space 33 in a sliding manner, a round ball II 35 which is matched with the inner diameter of the sleeve 44 is rotatably arranged at two ends of the sleeve 44, the ball II 35 close to the lower end of the sleeve 44 is connected with the ball I39 through a connecting rod I36, a through hole IV 31 communicated with the cavity III is formed in the upper surface of the fixed block 7, a ball III 6 matched with the inner diameter of the through hole IV 31 is movably arranged in the through hole IV 31, the outer surfaces of two sides of the ball III 6 are respectively positioned in the first space 33 and the outside, the ball III 6 is connected with the ball II 35 close to the upper end of the sleeve 44 through the connecting rod I36, the spray head 9 is connected with the outer surface of the ball III 6 positioned in the outside, the movement of the spray head 9 is adjusted through an adjusting assembly arranged in the second space 34, the spray head 9 of the ball III 6 positioned on the outer surface of the outside is forced to move at any angle relative to the working table surface 16, and after a control terminal calculates the scanning result of the tunnel excavation section by the three-dimensional laser scanner, calculate the profile curve that needs to draw through control terminal, thereby realize that shower nozzle 9 rules out the sectional profile of excavation through control terminal, still control the orbit of advancing of this device through main control terminal, thereby the precision of profile curve has been guaranteed, prevent that constructor from taking place the emergence of the condition of the volume of digging excessively in the work progress, thereby improve the precision of the sectional profile curve of the required excavation of spraying, prevent constructor from taking place the emergence of the condition of the volume of digging excessively in the work progress, control with intelligent mode and carry out the precision of the required excavation terminal surface of line processing and obtain effectual control, the marking position that needs the operation personnel to climb to the tunnel inner wall has been prevented, then by the artifical potential safety hazard that brings with the pigment flower that shows the eye on the section of required excavation, very big guarantee constructor's safety, when balanced subassembly keeps the horizontal state, the pneumatic cylinder is also in the normal field state, after the rethread rises or descends certain height, because the loading board probably meets depression and arch, the state of the pneumatic cylinder at this moment is decided according to the circumstances, infrared transmitter passes the light-sensitive receiver that the light-sensitive receiver of the light hole that is received by II receiving receiver, the normal photosensitive module that the work of infrared receiver is all connected, the photosensitive module is received with the infrared receiver, the photosensitive module can all receive along the photosensitive module.

Example 2:

as shown in fig. 1~8, the present embodiment is further defined on the basis of embodiment 1 as follows: in this embodiment, a disc 19 is spherically hinged with an upper end face of a bearing column 23, four balance bars 10 are arranged on an outer wall of the disc 19 along the circumferential direction of the disc 19, reverse extension lines of any two adjacent balance bars 10 are perpendicular to each other, a cavity i 23 is formed in each balance bar 10, a cavity ii 25 is formed in the disc 19, a through hole i 26 communicated with the cavity i 23 is formed at a joint of any one balance bar 10 and a side wall of the disc 19, the through hole i 26 is communicated with the cavity ii 25, a through hole ii 13 is formed at one end of each balance bar 10 away from the disc 19, the through hole ii 13 is communicated with the corresponding cavity i 23, a rotating shaft 14 is rotatably arranged in each through hole ii 13, an axis of the through hole ii 13 is perpendicular to an axis of the rotating shaft 14, a gear i 11 is sleeved on the rotating shaft 14, four corrective rods 12 corresponding to the balance bars 10 are spherically hinged on an upper surface of the bearing plate 1, every straightening rod 12 is all movably run through II 13 backward of through-hole that corresponds with it and extends, is in along the axial of straightening rod 12 be equipped with on the outer wall of straightening rod 12 with the spur rack 21 of I11 meshing of gear, all rotate on the inner wall that every cavity I23 is close to disc 19 axis and be equipped with gear II, every all be equipped with in the cavity I23 with rotation axis 14 complex cingulum III 15, form a complete annular cingulum after the end to end of cingulum III 15, all be equipped with micro motor I in every cavity I23, the output of micro motor I is connected with the pivot of gear II, all overlaps on every balancing rod 10 and is equipped with balancing weight 8 that matches with balancing rod 10, all sets up the intercommunicating pore 22 with cavity I23 on the outer wall of every balancing rod 10, every the homoenergetic is equipped with the connecting rod in intercommunicating pore 22, one end of the connecting rod is connected with the balancing weight 8, the other end of the connecting rod is connected with the outer wall of the toothed belt III 15, and a locking assembly used for fixing the straightening rod 12 is arranged in the cavity II 25.

A disc 19 is spherically hinged on the end face of the upper end of the bearing column 23, four balancing rods 10 are arranged on the outer wall of the disc 19 along the circumferential direction of the disc 19, the reverse extension lines of any two adjacent balancing rods 10 are perpendicular to each other, when the bearing plate 1 does not move in an initial state, the disc 19 which is connected with the upper end of the bearing column 23 through a ball can be kept balanced by the four balancing rods 10, so that the disc 19 does not shake, a cavity I23 is also arranged in each balancing rod 10, a cavity II 25 is arranged in the disc 19, a through hole I26 communicated with the cavity I23 is arranged at the joint of any balancing rod 10 and the side wall of the disc 19, the through hole I26 is communicated with the cavity II 25, a through hole II 13 is arranged at one end of each balancing rod 10 far away from the disc 19, and the through hole II 13 is communicated with the corresponding cavity I23, the rotary shaft 14 is rotatably arranged in each through hole, a gear I11 is sleeved on each rotary shaft 14, four correcting rods 12 corresponding to the balancing rods 10 are spherically hinged on the upper surface of the bearing plate 1, each correcting rod 12 movably penetrates through a through hole II 13 corresponding to the correcting rod 12 and extends upwards, a straight rack 21 meshed with the gear I11 is arranged on the outer wall of each correcting rod 12 along the axial direction of the corresponding correcting rod 12, the balancing rods 10 on the bearing columns 23 are always balanced with the bearing plate 1 under the action of a locking assembly in an initial state, when the bearing plate 1 moves and works on the ground of a tunnel, the bearing plate 1 can tilt forwards and backwards at any time or swing under action, when the situation occurs, the limiting function is timely opened by the locking assembly, and at the moment, the movement states of the correcting rods 12 are different under different states of the bearing plate 1, namely, when the bearing plate 1 moves on the tunnel ground, the bearing plate 1 moves along a line intersecting the tunnel excavation end face and the foundation ground, and when the bearing plate 1 tilts back and forth on the foundation ground, two balance rods 10 parallel to the line intersecting the tunnel excavation end face and the foundation ground play a main role in adjustment, and two balance rods 10 perpendicular to the line intersecting the tunnel excavation end face and the foundation ground play an auxiliary role in adjustment; when the bearing plate 1 moves along a line intersecting the tunnel excavation end face and the foundation ground and inclines left and right, the two balance rods 10 parallel to the line intersecting the tunnel excavation end face and the foundation ground are subjected to auxiliary adjustment, and the two balance rods 10 perpendicular to the line intersecting the tunnel excavation end face and the foundation ground are subjected to main adjustment; when the bearing plate 1 moves along the line intersecting the tunnel excavation end face and the basic ground, the two conditions are all generated, the four balance rods 10 all play a role in adjustment, when the conditions are generated, the movement of the correcting rods 12 is similar, namely when the bearing plate 1 moves along the line intersecting the tunnel excavation end face and the basic ground, when the bearing plate 1 tilts forwards and backwards on the basic ground, the two balance rods 10 parallel to the line intersecting the tunnel excavation end face and the basic ground play a role in main adjustment, when the bearing plate 1 tilts forwards and backwards on the basic ground, the tilt angles of the two ends of the bearing plate 1 are different, so that the horizontal heights of the correcting rods 12 at the two ends of the bearing plate 1 are inconsistent, when the balance rods 10 on the bearing plate 1 do not tend to be balanced, the spraying device stops spraying, the balance rods 10 deflect under the balance of the balancing weights 8, so as to ensure that the working table top 16 tends to be balanced, namely, the spraying device is parallel to a horizontal line, and thus ensuring the accuracy of the spraying device in marking operation.

Example 3:

as shown in fig. 1~8, the present embodiment is further defined on the basis of embodiment 2 as follows: the locking assembly comprises a rotating disc 28, the rotating disc 28 is rotatably arranged in a cavity II 25, four top plates 27 corresponding to the correcting rod 12 are arranged on the outer wall of the rotating disc 28 along the circumferential direction of the rotating disc 28, the distance between one end of each top plate 27 and the outer wall of the rotating disc 28 is L, the distance between the other end of each top plate 27 and the outer wall of the rotating disc 28 is 0, a limiting rod 29 is movably arranged in each cavity I23, a spring 30 is sleeved on each limiting rod 29, one end of each spring 30 is connected with the inner wall of each cavity I23, the other end of each spring 30 is connected with the outer wall of each limiting rod 29, a plurality of limiting holes matched with the limiting rods 29 are formed in the outer wall of the correcting rod 12 along the axial direction of the correcting rod 12, and each limiting rod 29 is arranged in the cavity I23 in the initial state.

When 16 regional balances of table surface that the locking subassembly can set up on balancing pole 10, still be equipped with in cavity II 25 and drive rotary disk 28 pivoted micro motor II, micro motor II has its function of control terminal control, and gag lever post 29 is under the effect of rotary disk 28, and local salient locally gets into in the spacing hole that is located the leveling rod 12 outer wall behind cavity I23 in to play fixed effect to balancing pole 10, prevent that spraying device from doing the spraying also, the mesa takes place to rock when the recoil that spraying device produced, thereby when leading to spraying device to carry out the marking off operation, the precision of the marking off that causes is inaccurate, causes the excavation profile line inaccuracy, leads to constructor to take place the emergence of the condition of surpassing the owe volume of digging in the work progress.

Preferably, a guide groove 20 is formed in the outer wall of each balancing rod 10 along the axial direction of the balancing rod 10, a sliding block II is arranged in each guide groove 20 in a sliding manner, and each sliding block II is connected with a balancing weight 8. When balancing weight 8 plays the effect of adjusting the balance to the flat horizontal pole, the guide way 20 that sets up enables balancing weight 8 and can slide more accurately when sliding on balancing pole 10, thereby prevent that balancing weight 8 from appearing a little deviation when sliding on balancing pole 10 and leading to balancing weight 8 to play not balanced effect.

Example 4:

as shown in fig. 1~8, the present embodiment is further defined on the basis of embodiment 1 as follows: the adjusting assembly comprises an arc plate I45, the arc plate I45 is fixed in a second space 34, the middle of the arc plate I45 is bent towards a direction far away from a partition plate 37, a toothed belt I47 is arranged on the inner wall of the arc plate I45, arc grooves I48 are arranged on two side walls of the arc plate I45 along the circumferential direction of the arc plate I45, a sliding block I50 is arranged in each arc groove I48 in a sliding mode, a support rod I49 is arranged on the upper surface of each sliding block I50, an arc plate II 42 perpendicular to the arc plate I45 is arranged on each support rod I49, the middle of the arc plate II 42 is bent towards a direction far away from the partition plate 37, and a gear III 46 meshed with the toothed belt I47 is arranged between the two support rods I49 in a rotating mode, fixed driving motor I that is equipped with between two branch I49, driving motor I is connected with gear III 46's rotation be equipped with tooth area II on the inner wall of arc II 42, be in along the circumference of arc II 42 all be equipped with arc II 43 on two lateral walls of arc II 42, every all slide in the arc II 43 and be equipped with slider II, all be equipped with branch II 51 on the upper surface of every slider II, two be equipped with pendulum rod 40 on the branch II 51, rotate between two branch II 51 be equipped with the gear IV 41 of II meshing of tooth area, the fixed driving motor II that is equipped with between two branch II 51, driving motor II is connected with the rotation of gear IV 41, pendulum rod 40 and ball I39's outer wall connection. An arc-shaped plate I45 is fixedly arranged in the second space 34, a toothed belt I47 is arranged on the inner wall of the arc-shaped plate I45, arc-shaped grooves I48 are respectively arranged on the two side walls of the arc-shaped plate I45 along the circumferential direction of the arc-shaped plate I45, a sliding block I50 is arranged in each arc-shaped groove I48 in a sliding manner, a support rod I49 is arranged on the upper surface of each sliding block I50, an arc-shaped plate II 42 perpendicular to the arc-shaped plate I45 is arranged on each support rod I49, a gear III 46 meshed with the toothed belt I47 is arranged between the two support rods I49 in a rotating manner, a toothed belt II is arranged on the inner wall of each arc-shaped plate II 42, arc-shaped grooves II 43 are respectively arranged on the two side walls of each arc-shaped plate II 42 along the circumferential direction of each arc-shaped plate II 42, a sliding block II is arranged in each arc-shaped groove II 43 in a sliding manner, and a support rod II 51 is arranged on the upper surface of each sliding block II, the two swing rods 40 are arranged on the two support rods II 51, a gear IV 41 meshed with the toothed belt II is arranged between the two support rods II 51 in a rotating mode, the swing rods 40 are connected with the outer wall of the ball I39, the angle between the spray head 9 and the perpendicular bisector of the working table face 16 can be adjusted when the toothed belt I47 arranged on the arc-shaped plate I45 through the driving motor driving gear III 46 moves, the angle between the spray head 9 and the tunnel excavation end face can be guaranteed through the design, scribing of the outline of the excavated section is achieved, the angle between the spray head 9 and the horizontal line of the working table face 16 can be adjusted when the toothed belt II arranged on the arc-shaped plate II 42 through the driving motor driving gear IV 41 moves, the spray head 9 can be achieved to scribe along the outline of the excavated section, and therefore the accuracy of the outline curve is guaranteed when the robot scribes the outline of the excavated section.

The driving assembly comprises two annular tracks 2, the two annular tracks 2 in the horizontal direction are all sleeved on the bearing plate 1, the bearing column 23 is located between the two annular tracks 2, a plurality of through holes are formed in the two sides of the bearing plate 1, the bearing wheel 18 is arranged in each through hole in a rotating mode, the bearing wheel 18 located on the same side of the bearing column 23 is matched with the annular tracks 2, the two guide wheels 17 are arranged at the two ends of the bearing plate 1 in a rotating mode, and the guide wheels 17 located on the same side of the bearing column 23 are matched with the annular tracks 2. Through the cover is equipped with two annular track 2 on loading board 1, drives two annular track 2 and bears wheel 18 on loading board 1, and when annular track 2 moved on the basis bottom surface in tunnel under the drive of bearing wheel 18, can provide good supporting role, improved loading board 1's throughput, be favorable to shower nozzle 9 to the sectional profile of tunnel excavation marking off operation.

Example 5:

as shown in fig. 1~8, the present embodiment is further defined on the basis of embodiment 1 as follows: in the embodiment, a paint storage 3 and a pump are arranged on the upper surface of the bearing plate 1, and the spray head 9 is communicated with the pump and the paint storage 3 through a pipeline 5. The coating reservoir 3 and the pumping device 4 are arranged on the upper surface of the transverse plate, the spraying device is communicated with the pumping device 4 and the coating reservoir 3 through a pipeline 5, and the coating reservoir 3 and the pumping device 4 arranged on the bottom plate can provide basic materials when the device is in a working state so that the device can be implemented.

Preferably, the control terminal comprises a main control module, the main control module is arranged on the bearing plate 1, two ends of the upper surface of the bearing plate 1 are respectively provided with a height sensor, the spray head 9 is provided with an electromagnetic valve, and the height sensor, the electromagnetic valve, the driving motor I and the driving motor II are all electrically connected with the main control module; the main control module is used for sending information by the height sensor and sending a control signal to the electromagnetic valve; the height sensor is used for sensing the height of the working table surface 16; the electromagnetic valve is used for controlling the closing state of the spray head 9, an alarm is further arranged on the bearing plate 1, and the alarm is electrically connected with the main control module.

Control and real time monitoring are carried out through other terminals by staff in the position far away from the tunnel excavation end face, and when angle sensor measures the deviation of table surface 16 for the appearance of horizontal plane, can be timely adjust the adjusting part, make table surface 16 keep balanced state. The traveling track of the device and the angle of the spraying device are controlled through the master control module, so that the precision of a profile curve of a section to be excavated by spraying is improved, the condition that the over-underexcavation amount of a constructor occurs in the construction process is prevented, the precision of an end face to be excavated is effectively controlled by controlling the scribing process in an intelligent mode, the condition that the constructor climbs to the inner wall of a tunnel is prevented, potential safety hazards caused by artificially spraying a visible pigment on the section to be excavated, the safety of the constructor is greatly guaranteed, the master control module controls the spraying device arranged on a round bar to reach the optimal position for spraying, so that a complete profile curve is drawn on the profile curve of the section to be excavated, the motion path of the traveling device and the height of a spraying assembly of the device are controlled through the master control module, the precision of the profile curve of the section to be excavated to be improved, the condition that the over-underexcavation amount of the constructor occurs in the construction process is prevented, an angle sensor arranged can sense the inclination angle of a working platform 16, the master control module sends out information to guide, the master control module to timely adjust the angle of a scribing head when the working head to adjust the closed-off-line of the working head, and the working head, the working head can prevent the working head from being capable of carrying out the scribing process when the working head is carried out the scribing process, the working condition that the working head is not to carry out the scribing process, the scribing head is not to carry out the working process, the scribing process, and the scribing head when the working process, the working process is carried out the scribing process.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a marking off robot suitable for tunnel excavation section, its characterized in that includes loading board (1) be equipped with on the upper surface of loading board (1) bear post (23) be equipped with drive assembly on the lower surface of loading board (1) be equipped with disc (19) on bearing post (23) be equipped with table surface (16) on the upper surface of disc (19) be equipped with spraying assembly on table surface (16), spraying assembly includes fixed block (7), fixed block (7) set up on table surface's (16) upper surface cavity III has been seted up to fixed block's (7) inside be equipped with in the cavity III separate for the ball (37) in two spaces of cavity III, be located baffle (37) top for first space (33), be located baffle (37) below for second space (34) through-hole III (38) has been seted up on baffle (37), through-hole III (38) internalization be equipped with ball (39) that match with the internal diameter of through-hole (38), the both sides surface I (39) of through-hole I be located first space (33) respectively with second space (33) internal diameter matching sleeve (44), sleeve (44) is equipped with two internal diameter of sleeve (44) that the internal motion is in sleeve (44), the round ball II (35) close to the lower end of the sleeve (44) is connected with the round ball I (39) through a connecting rod I (36), a through hole IV (31) communicated with the cavity III is formed in the upper surface of the fixed block (7), a round ball III (6) matched with the inner diameter of the through hole IV (31) is movably arranged in the through hole IV (31), the outer surfaces of the two sides of the round ball III (6) protrude out of the through hole IV (31), the round ball III (6) is connected with the round ball II (35) close to the upper end of the sleeve (44) through a connecting rod II (32), a spray head (9) is further included, the spray head (9) is connected with the outer surface of the round ball III (6), an adjusting component used for controlling the turnover of the round ball I (39) is arranged in the second space (34), two vertical rods (55) are further included, an infrared transmitter is arranged in the middle of one vertical rod (55), an infrared receiver is arranged in the middle of the other vertical rod (55), a hydraulic cylinder (53) is arranged on the working table board (16), a light transmitting plate (52) is arranged on the output end of the hydraulic cylinder (53), a light transmitting plate (54), a balance receiving end of the balance plate (16) passes through a light transmitting hole (54), and a balance receiving end of the balance table board (16), and a control terminal electrically connected with the adjusting assembly and the balancing assembly is arranged in the bearing plate (1).

2. The scribing robot suitable for the tunnel excavation cross section as claimed in claim 1, wherein the balancing assembly comprises four balancing rods (10), the bearing column (23) is in spherical hinge connection with the disc (19), the four balancing rods (10) are arranged on the outer wall of the disc (19) along the circumferential direction of the disc (19), reverse extension lines of any two adjacent balancing rods (10) are perpendicular to each other, a cavity I (24) is formed in each balancing rod (10), a cavity II (25) is formed in the disc (19), a through hole I (26) communicated with the cavity I (24) is formed in the connection position of any one balancing rod (10) and the side wall of the disc (19), the through hole I (26) is communicated with the cavity II (25), a through hole II (13) is formed in one end, far away from the disc (19), of each balancing rod (10), the through hole II (13) is communicated with the corresponding cavity I (24), a rotating shaft (14) is rotatably arranged in each through hole II (13), a movable shaft II (14) is arranged on one end, of each balancing rod (13) far away from the disc (19), a corresponding to the axis I (14), a corresponding through hole II (13) is hinged to the corresponding through shaft (12), and a corresponding straightening rod (12) penetrates through shaft (12) on the surface of each balancing rod (11) and penetrates through which corresponds to the corresponding through hole I (12), and the corresponding through shaft (12) of the corresponding to the corresponding through shaft (11), and the corresponding to the corresponding balancing rod (11), and the corresponding through hole I (12) and the corresponding to the corresponding through hole I (11), and the corresponding to the corresponding through hole I (12 of the corresponding balancing rod (11), and the corresponding to the corresponding through hole (11) and the corresponding through hole (10 Extend, be in along the axial of correction bar (12) be equipped with on the outer wall of correction bar (12) with I (11) meshing spur rack (21) of gear, all rotate on the inner wall that is close to disc (19) axis in every cavity I (24) and be equipped with gear II, every all be equipped with in cavity I (24) with gear II and rotation axis (14) complex cingulum III (15), form a complete annular cingulum after the end to end of cingulum III (15), all be equipped with micro motor I in every cavity I (24), the output of micro motor I is connected with the pivot of gear II, all overlaps on every balancing pole (10) and is equipped with balancing weight (8) that match with balancing pole (10), all sets up intercommunicating pore (22) with I (24) intercommunication of cavity on the outer wall of every balancing pole (10), every the equal swing joint pole is equipped with in intercommunicating pore (22), the one end and the balancing weight (8) of connecting rod are connected, the other end and the outer wall connection of cingulum III (15) of connecting rod are equipped with the locking subassembly that is used for fixed cavity II (12).

3. The scribing robot suitable for the tunnel excavation section as claimed in claim 2, wherein the locking assembly comprises a rotating disc (28), the rotating disc (28) is rotatably arranged in a cavity II (25), four top plates (27) corresponding to the correcting rod (12) are arranged on the outer wall of the rotating disc (28) along the circumferential direction of the rotating disc (28), the distance between one end of each top plate (27) and the outer wall of the rotating disc (28) is L, the distance between the end of the other end of each top plate (27) and the outer wall of the rotating disc (28) is 0, a limiting rod (29) is movably arranged in each cavity I (24), a spring (30) is sleeved on each limiting rod (29), one end of each spring (30) is connected with the inner wall of the cavity I (24), the other end of each spring (30) is connected with the outer wall of the limiting rod (29), a plurality of limiting holes matched with the limiting rods (29) are arranged on the outer wall of the correcting rod (12) along the axial direction of the correcting rod (12), a plurality of limiting holes matched with the limiting rods (29) are arranged in the cavity II, a rotating shaft (25) is connected with a micro motor (24), and an output end of the micro motor (29) is arranged in each micro cavity II).

4. The marking robot suitable for the tunnel excavation section of claim 3, wherein a guide groove (20) is formed in the outer wall of each balancing rod (10) along the axial direction of the balancing rod (10), a sliding block II is arranged in each guide groove (20) in a sliding mode, and each sliding block II is connected with a balancing weight (8).

5. The scribing robot suitable for the tunnel excavation section as claimed in claim 4, wherein the adjusting assembly comprises an arc-shaped plate I (45), the arc-shaped plate I (45) is fixed in the second space (34), the middle of the arc-shaped plate I (45) is bent in the direction away from the partition plate (37), a toothed belt I (47) is arranged on the inner wall of the arc-shaped plate I (45), arc-shaped grooves I (48) are arranged on the two side walls of the arc-shaped plate I (45) along the circumferential direction of the arc-shaped plate I (45), a sliding block I (50) is arranged in each arc-shaped groove I (48) in a sliding manner, a support rod I (49) is arranged on the upper surface of each sliding block I (50), an arc-shaped plate II (42) perpendicular to the arc-shaped plate I (45) is arranged on the support rod I (49), the middle of the arc-shaped plate II (42) is bent in the direction away from the partition plate (37), a gear I (46) meshed with the toothed belt (47) is rotatably arranged between the two support rods I (49), a driving motor I (43) is arranged on the inner wall of each slide groove II, and a rotating shaft II is connected with a motor (43) which is arranged on the inner wall of each arc-shaped plate I (43), all be equipped with branch II (51) on the upper surface of every slider II, two be equipped with pendulum rod (40) on branch II (51), rotate between two branch II (51) and be equipped with gear IV (41) of II meshing of cingulums, the fixed driving motor II that is equipped with between two branch II (51), driving motor II's output is connected with the pivot of gear IV (41), the outer wall connection of pendulum rod (40) and ball I (39), pendulum rod (40) are the telescopic link.

6. The scribing robot suitable for the tunnel excavation section as claimed in claim 5, wherein the driving assembly comprises two annular tracks (2), the two annular tracks (2) are sleeved on the bearing plate (1) in the horizontal direction, the bearing column (23) is located between the two annular tracks (2), a plurality of through holes are formed in the two sides of the bearing plate (1), a bearing wheel (18) is rotatably arranged in each through hole, the bearing wheels (18) located on the same sides of the bearing columns (23) are matched with the annular tracks (2), two guide wheels (17) are rotatably arranged at the two ends of the bearing plate (1), and the guide wheels (17) located on the same sides of the bearing columns (23) are matched with the annular tracks (2).

7. The line marking robot for tunnel excavation sections of claim 1~6, wherein a paint reservoir (3) and a pump are provided on the upper surface of the carrying floor (1), and a spray head (9) in the spray assembly is in communication with the pump and the paint reservoir (3) via a conduit (5).

8. The scribing robot suitable for the tunnel excavation section as claimed in claim 5, wherein the control terminal comprises a main control module, the main control module is arranged on the bearing plate (1), two ends of the upper surface of the bearing plate (1) are respectively provided with a height sensor, the spray head (9) is provided with an electromagnetic valve, and the height sensor, the electromagnetic valve, the driving motor I, the driving motor II, the micro motor I and the micro motor II are electrically connected with the main control module; the main control module is used for controlling the height sensor to send out information and sending a control signal to the electromagnetic valve; the height sensor is used for sensing the height of the working table top (16); the electromagnetic valve is used for controlling the spray head (9) to be opened and closed, an alarm is further arranged on the bearing plate (1), and the alarm is electrically connected with the main control module.