CN218132781U

CN218132781U - Automatic spraying equipment for hole wall brightening material

Info

Publication number: CN218132781U
Application number: CN202222210582.9U
Authority: CN
Inventors: 刘林石水; 曾庆有; 叶晨峰; 翁森毅; 缪小兵; 刘同�; 刘小靖
Original assignee: Fujian Jiaofa High Tech Co ltd
Current assignee: Fujian Jiaofa High Tech Co ltd
Priority date: 2022-08-22
Filing date: 2022-08-22
Publication date: 2022-12-27
Anticipated expiration: 2032-08-22

Abstract

The utility model discloses an automatic spraying device for hole wall brightening materials, wherein a plurality of groups of omnidirectional wheels which can be driven independently are arranged on the lower end surface of a mobile platform, and supporting leg components are arranged at the four corners of the mobile platform; one end of the telescopic boom is pivoted on the movable platform, the telescopic boom can be telescopic along the length direction of the telescopic boom, and the movable platform is pivoted with a luffing mechanism for driving the telescopic boom to swing; a spray gun arranged on the spraying component is rotatably connected to the other end of the telescopic arm, and a driving motor for driving the spray gun to rotate is arranged at the other end of the telescopic arm; according to the scheme, the telescopic arm is matched with the driving motor, so that the spray gun sprays the inner wall of the tunnel along the circumferential direction of the inner wall of the tunnel, the angle of the spray head and the distance between the spray head and the inner wall of the tunnel are adjusted through the millimeter wave radar, and the spraying is carried out at a proper interval, so that the uniformity of a coating can be improved; this scheme can carry out quick, effectual material spraying work to the tunnel inner wall, reduces staff intensity of labour, improves the spraying quality.

Description

Automatic spraying equipment for hole wall brightening material

Technical Field

The utility model relates to a and tunnel construction technical field specifically is an automatic spraying equipment for hole wall brightening material.

Background

The tunnel is used as a special driving environment, once a traffic accident occurs, the loss is far greater than that of a common road, and the illumination condition of the tunnel is more and more emphasized; because the light-reflecting material can well improve the illumination quality of the tunnel, more and more application cases are applied to the side wall of the tunnel; tunnel side wall materials (such as reflective materials) have high requirements on spraying quality and large spraying area, but the existing manual spraying mode has the defects of high labor intensity of workers, low spraying efficiency and unstable spraying quality, so that how to quickly and effectively spray the tunnel side wall materials is an urgent and imperative task.

Disclosure of Invention

In the prior art, the utility model aims to provide a simple to operate, rational in infrastructure spraying equipment.

In order to achieve the above object, the utility model provides a following technical scheme:

an automatic spraying device for a hole wall brightening material comprises a telescopic supporting leg assembly, a spraying assembly, a telescopic arm and a moving platform for bearing the assemblies;

a plurality of groups of omnidirectional wheels which can be driven independently are arranged on the lower end surface of the mobile platform; one end of the telescopic boom is pivoted on the movable platform, the telescopic boom can be telescopic along the length direction of the telescopic boom, and the movable platform is pivoted with an amplitude variation mechanism for driving the telescopic boom to swing; a spray gun arranged on the spraying component is rotatably connected to the other end of the telescopic arm, and a driving motor for driving the spray gun to rotate is arranged at the other end of the telescopic arm; telescopic supporting leg components are arranged at four corners of the moving platform;

the multi-line laser radar device is characterized in that the mobile platform is provided with a multi-line laser radar, the multi-line laser radar is located on one side of the advancing direction of the mobile platform, and the multi-line laser radar is used for scanning the inner wall of the tunnel where the mobile platform is located and measuring the distance from the inner wall of the tunnel to the multi-line laser radar.

Further, the telescopic arm includes a base arm and at least one inserting arm telescopically inserted into the base arm; the basic arm is pivoted on a fixed frame arranged on the mobile platform and rotates around the length direction of the mobile platform; one end of the amplitude variation mechanism is pivoted on the fixed frame, the other end of the amplitude variation mechanism is connected to the basic arm, and the amplitude variation mechanism is arranged on each of two sides of the basic arm.

Furthermore, a plurality of limiting devices are arranged on the side surfaces of each inserting arm and the basic arm, the limiting devices are arranged along the length direction of the telescopic arm in a straight line, and the limiting devices are used for always restraining a material conveying pipe connected with the spray gun on the telescopic arm.

Furthermore, a millimeter wave radar is arranged at the tail end of the last section of the inserting arm and used for measuring the distance between the tail end of the last section of the inserting arm and the inner wall of the tunnel.

Furthermore, a plurality of distance sensors are arranged on two sides of the moving platform along the length direction of the moving platform, and the distance sensors are used for measuring the distance between the side surface of the moving platform and the inner wall of the tunnel.

Furthermore, the spraying assembly comprises a spraying gun, a feeding device, an electric pipe coiling device and a conveying pipe, the spraying gun is hinged to the tail end of the tail section inserting arm, the feeding device is arranged on the moving platform, the electric pipe coiling device is arranged on the fixing frame, and a water inlet and a water outlet of the electric pipe coiling device are respectively connected with the spraying gun and the feeding device through the conveying pipe.

Furthermore, the supporting foot component comprises a connecting piece, a hydraulic cylinder, a main supporting rod, a telescopic rod and a supporting plate; the connecting piece is rotationally connected to the moving platform and rotates around the direction vertical to the end face of the moving platform; one end of the main supporting rod is pivoted on the connecting piece, and the telescopic rod is embedded in the other end of the main supporting rod; the supporting plate is rotatably connected to one end, far away from the main supporting rod, of the telescopic rod; one end of the hydraulic cylinder is pivoted on the connecting piece, and the other end of the hydraulic cylinder is pivoted on the main support rod.

Furthermore, a rotating motor is arranged on the connecting piece and used for driving the connecting piece to rotate around the direction perpendicular to the end face of the moving platform.

Furthermore, the multi-line laser radar is arranged on a cushion block arranged on the mobile platform.

Furthermore, the system also comprises a main control device; the main control device is connected with the feeding device, the omnidirectional wheel, the hydraulic cylinder, the electric pipe winder, the multi-line laser radar, the millimeter wave radar, the driving motor, the rotating motor and the amplitude variation mechanism.

Adopt foretell technical scheme, compared with the prior art, the utility model, its beneficial effect who has is:

according to the scheme, the spray gun is driven to rotate through the expansion of the telescopic arm and the driving motor, so that the spray gun sprays the inner wall of the tunnel along the circumferential direction of the inner wall of the tunnel, the angle of the spray head and the distance between the spray head and the inner wall of the tunnel can be adjusted through the millimeter wave radar, and the uniformity of a coating can be improved by spraying at a proper interval; consequently, this scheme can carry out quick, effectual material spraying work to the tunnel inner wall, reduces staff intensity of labour, improves the spraying quality.

In addition, the mobile platform is provided with a multi-line laser radar which is used for scanning the inner wall of the tunnel at the position of the mobile platform and measuring the distance from the inner wall of the tunnel to the multi-line laser radar; along with the moving of moving platform's the removal that gos forward for main control unit gathers the data of tunnel inner wall through multi-thread laser radar, and thereby main control unit can form the data model in tunnel, utilizes the data model in tunnel to make spraying equipment can realize automatic spraying.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of the whole structure of the spraying equipment of the present invention.

Fig. 2 is a schematic structural view of the supporting leg assembly of the present invention.

Fig. 3 is a schematic structural view of the telescopic boom of the present invention.

Fig. 4 is a schematic view of the application effect of the spraying device of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

As shown in one of fig. 1 to 3, the present solution provides an automatic spraying device for a hole wall brightening material, which comprises a telescopic supporting leg assembly 2, a spraying assembly, a telescopic arm 5 and a moving platform 1 for bearing the above-mentioned components;

referring to fig. 1, a plurality of sets of omni wheels 11 capable of being driven independently are arranged on the lower end surface of the mobile platform 1, and the omni wheels 11 drive the mobile platform 1 to move in the tunnel; a plurality of distance sensors 62 are arranged on two sides of the mobile platform 1 along the length direction, and the distance sensors 62 are used for measuring the distance between the side surface of the mobile platform 1 and the inner wall of the tunnel; the moving platform 1 moves forwards through the omnidirectional wheel 11, and the distance detected by the distance sensor 62 is utilized to enable the moving platform 1 to keep a certain distance with the side wall of the tunnel all the time;

one end of the telescopic boom 5 is pivoted on the mobile platform 1, the telescopic boom 5 can be telescopic along the length direction, and the mobile platform 1 is pivoted with a luffing mechanism 61 for driving the telescopic boom 5 to swing; a spray gun 31 arranged on the spraying component is rotatably connected to the other end of the telescopic arm 5, and a driving motor 32 for driving the spray gun 31 to rotate is arranged at the other end of the telescopic arm 5;

after the moving platform 1 is driven to reach a preset position by the omnidirectional wheel 11, the supporting leg assembly 2 of the moving platform 1 is put down, and the stability of the moving platform 1 is improved; extending the telescopic arm 5 to keep a certain distance with the inner wall of the tunnel; the feeding device 35 sends the coating in the storage box to the spray gun 31, the coating is sprayed out in a fog shape from the spray head after passing through the isobaric shunting of the isobaric shunting chamber, the spray gun 31 is driven to rotate by the telescopic arm 5 and the driving motor 32 in the process of spraying the coating, so that the spray gun 31 sprays the inner wall of the tunnel along the circumferential direction of the inner wall of the tunnel, the angle of the spray head 31 and the distance between the spray head and the inner wall of the tunnel can be adjusted by the millimeter wave radar 7, and the uniformity of the coating can be improved by spraying at a proper distance; therefore, this scheme can carry out quick, effectual material spraying work to the tunnel inner wall, reduces staff intensity of labour, improves the spraying quality.

In addition, the mobile platform 1 is provided with a multi-line laser radar 12, the multi-line laser radar 12 is located on one side of the advancing direction of the mobile platform 1, and the multi-line laser radar 12 is used for scanning the inner wall of the tunnel where the mobile platform 1 is located and measuring the distance from the inner wall of the tunnel to the multi-line laser radar 12; along with the moving of moving platform 1, make main control unit 4 gather the data of tunnel inner wall through multi-thread laser radar 12, thereby main control unit 4 can form the data model of tunnel, utilize the data model of tunnel to make spraying equipment can realize automatic spraying.

Wherein, multi-line laser radar 12 establishes on the cushion that moving platform 1 set up, steps up multi-line laser radar 12, has avoided multi-line laser radar 12's measuring range to be sheltered from by moving platform 1 effectively.

Referring to fig. 3, in order to realize efficient and precise painting of the inner wall of the tunnel, the telescopic arm 5 includes a base arm 51 and at least one

inserting arm

52, 53 or 54 telescopically inserted into the base arm 51; the basic arm 51 is pivoted on the fixed frame 13 arranged on the mobile platform 1, and the basic arm 51 rotates around the length direction of the mobile platform 1; one end of the luffing mechanism 61 is pivoted to the fixed frame 13, and the other end thereof is connected to the basic arm 51, and both sides of the basic arm 51 are provided with the luffing mechanism 61.

The distance between the multi-line laser radar 12 and the inner wall of the tunnel at the position of the mobile platform 1 is detected through the multi-line laser radar 12, so that the telescopic length of the telescopic arm 5 at the spraying position of each inner wall of the tunnel is calculated; thereby through the cooperation of luffing mechanism 61 with the built-in telescopic machanism of telescopic boom 5, control telescopic boom 5 stretches out and draws back, can make spray gun 31 remove along the tunnel inner wall, and spray gun 31 carries out the spraying operation simultaneously, has improved the security of work progress to drive spray gun 31 through driving motor 32, can spray gun 31's spraying direction, improved the spraying homogeneity, solved the spraying inefficiency that leads to the fact through artifical spraying, the inhomogeneous problem of spraying thickness.

Wherein, the luffing mechanism 61 can be a linear telescopic mechanism such as a cylinder, a hydraulic cylinder, etc., and has a swinging effect on the basic arm 51; and both sides of the basic arm 51 are provided with the amplitude changing mechanisms 61, so that the basic arm 51 can be more stable and smooth in the swinging process.

In addition, the tail end of the stub inserting arm 54 is provided with a millimeter wave radar 7 and a driving motor 32 for driving the spray gun 31 to rotate, and the millimeter wave radar 7 is used for measuring the distance between the tail end of the stub inserting arm 54 and the inner wall of the tunnel; the distance and the inclination angle between the inner wall of the tunnel right in front of the tail end of the tail inserting arm 54 and the inner wall of the tunnel are detected by the millimeter wave radar 7, so that the telescopic length of the telescopic arm 5 can always keep a certain distance with the inner wall of the tunnel, and the spraying direction of the spray gun 31 can always keep vertical to the inner wall of the tunnel; therefore, the spraying operation with high quality and high efficiency on the inner wall of the tunnel can be realized, the requirement of curve spraying on the side wall of the tunnel is met, the spraying uniformity of the material on the side wall of the tunnel is ensured, and the performance of the coating is fully exerted;

referring to fig. 3, the spray assembly includes a spray gun 31, a feeding device 35, an electric pipe rolling device 34 and a material conveying pipe 33, the spray gun 31 is hinged to the end of the stub inserting arm 54, the feeding device 35 is arranged on the moving platform 1, the electric pipe rolling device 34 is arranged on the fixed frame 13, and the water inlet and outlet of the electric pipe rolling device 34 are respectively connected with the spray gun 31 and the feeding device 35 through the material conveying pipe 33.

In order to avoid the abrasion and winding of the material conveying pipe 33 caused by the sloshing of the material conveying pipe 33 in the air, a plurality of limiting devices 55 are arranged on the side surfaces of each

inserting arm

52, 53 or 54 and the basic arm 51, the limiting devices 55 are arranged along the length direction of the telescopic arm 5 in a straight line, and the limiting devices 55 are used for always restraining the material conveying pipe 33 connected with the spray gun 31 on the telescopic arm 5; meanwhile, in the retracted state of the telescopic boom 5, the redundant delivery pipes 33 are accommodated through the electric pipe coiling device 34, so that the winding of the delivery pipes 33 can be effectively avoided, the knotting phenomenon of the delivery pipes 33 can not occur, and the delivery of the delivery pipes 33 can be kept smooth all the time.

The limiting device 55 comprises two limiting plates which are arranged oppositely and a groove wheel which is arranged between the two limiting plates in a rotating mode, and the central shafts of the two groove wheels are arranged in parallel; the feed delivery pipe 33 penetrates between the two groove wheels, and the limiting effect of the feed delivery pipe 33 is achieved through the matching of the groove wheels and the limiting plate; in the telescopic process of the telescopic arm 5, the feed delivery pipe 33 is guided and limited by the rotation of the grooved wheels.

Referring to fig. 3, in order to enhance the stability of the mobile platform 1, the telescopic supporting leg assemblies 2 are arranged at four corners of the mobile platform 1; the supporting foot assembly 2 comprises a connecting piece 21, a hydraulic cylinder 25, a main supporting rod 22, a telescopic rod 23 and a supporting plate 24; the connecting piece 21 is rotationally connected to the moving platform 1, and the connecting piece 21 rotates around the direction vertical to the end face of the moving platform 1; one end of the main supporting rod 22 is pivoted on the connecting piece 21, and the telescopic rod 23 is embedded in the other end of the main supporting rod 22; the supporting plate 24 is rotatably connected to one end of the telescopic rod 23 far away from the main supporting rod 22; one end of the hydraulic cylinder 25 is pivoted to the link 21 and the other end of the hydraulic cylinder 25 is pivoted to the main support bar 22.

The supporting foot assemblies 2 at the four corners of the mobile platform 1 are rotated to an outwardly extended state by the rotating motor 26, and the downward inclination angles of the main supporting rods 22 are adjusted by the hydraulic cylinders 25; meanwhile, under the action of a telescopic mechanism arranged in the telescopic rod 23, the telescopic rod 23 extends downwards obliquely, so that the supporting plate 24 is abutted to the ground, the supporting leg assembly 2 supports the moving platform 1, the supporting base of the moving platform 1 is increased, the carrying surface span is increased, the burden of the omni-directional wheel 11 is reduced, and the anti-overturning stability of the whole vehicle is improved.

In addition, a rotating motor 26 is arranged on the connecting piece 21, and the rotating motor 26 is used for driving the connecting piece 21 to rotate around the direction vertical to the end face of the moving platform 1; when the spraying equipment is not in use, the supporting leg assembly 2 can be driven to rotate by the matching of the rotating motor 26 and the hydraulic cylinder 25 to rotate towards the angle, so that the supporting leg assembly 2 is folded beside the side surface of the mobile platform 1 to be stored, the floor area of the spraying equipment is greatly reduced, and the unfolding and folding automation of the supporting leg assembly 2 is realized.

In addition, the spraying equipment also comprises a main control device 4, wherein the main control device 4 is connected with a feeding device 35, an omnidirectional wheel 11, a hydraulic cylinder 25, an electric pipe winder 34, a multi-line laser radar 12, a millimeter wave radar 7, a driving motor 32, a rotating motor 26 and a luffing mechanism 61; through each device of master control unit 4's control for spraying equipment can independently carry out the spraying, reduces staff intensity of labour.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. An automatic spraying equipment for hole wall brightening material is characterized in that: the spraying device comprises a telescopic supporting foot component (2), a spraying component, a telescopic arm (5) and a moving platform (1) for bearing the components;

a plurality of groups of omnidirectional wheels (11) which can be driven independently are arranged on the lower end face of the mobile platform (1); one end of the telescopic boom (5) is pivoted on the movable platform (1), the telescopic boom (5) can be telescopic along the length direction of the telescopic boom, and a luffing mechanism (61) for driving the telescopic boom (5) to swing is pivoted on the movable platform (1); a spray gun (31) arranged on the spraying component is rotatably connected to the other end of the telescopic arm (5), and a driving motor (32) for driving the spray gun (31) to rotate is arranged at the other end of the telescopic arm (5); the four corners of the mobile platform (1) are provided with telescopic supporting leg components (2);

the multi-line laser radar device is characterized in that the mobile platform (1) is provided with a multi-line laser radar (12), the multi-line laser radar (12) is located on one side of the advancing direction of the mobile platform (1), and the multi-line laser radar (12) is used for scanning the inner wall of a tunnel where the mobile platform (1) is located and measuring the distance from the inner wall of the tunnel to the multi-line laser radar (12).

2. An automatic spraying apparatus for hole wall brightening material according to claim 1, characterized in that: the telescopic arm (5) comprises a basic arm (51) and at least one inserting arm (52, 53, 54) telescopically inserted into the basic arm (51); the basic arm (51) is pivoted on a fixed frame (13) arranged on the moving platform (1), and the basic arm (51) rotates around the length direction of the moving platform (1); one end of the amplitude variation mechanism (61) is pivoted on the fixed frame (13), the other end of the amplitude variation mechanism is connected to the basic arm (51), and the amplitude variation mechanisms (61) are arranged on two sides of the basic arm (51).

3. An automatic spraying apparatus for hole wall brightening material according to claim 2, characterized in that: a plurality of limiting devices (55) are arranged on the side faces of each inserting arm (52, 53, 54) and the basic arm (51), the limiting devices (55) are arranged in a straight line along the length direction of the telescopic arm (5), and the limiting devices (55) are used for restraining a material conveying pipe (33) connected with the spray gun (31) on the telescopic arm (5) all the time.

4. An automatic spraying apparatus for hole wall brightening material as claimed in claim 2, wherein: and the tail end of the inserting arm (54) at the tail section is provided with a millimeter wave radar (7), and the millimeter wave radar (7) is used for measuring the distance between the tail end of the inserting arm (54) at the tail section and the inner wall of the tunnel.

5. An automatic spraying apparatus for hole wall brightening material as claimed in claim 1, wherein: the tunnel wall distance measuring device is characterized in that a plurality of distance sensors (62) are arranged on two sides of the moving platform (1) along the length direction of the moving platform, and the distance sensors (62) are used for measuring the distance between the side face of the moving platform (1) and the tunnel wall.

6. An automatic spraying apparatus for hole wall brightening material as claimed in claim 1, wherein: the spraying subassembly includes spray gun (31), feedway (35), electronic reelpipe ware (34) and conveying pipeline (33), spray gun (31) articulate on the end that the arm (54) was inserted to the stub, feedway (35) are established on moving platform (1), electronic reelpipe ware (34) are established on mount (13), and the inlet outlet of electronic reelpipe ware (34) passes through conveying pipeline (33) and links to each other with spray gun (31), feedway (35) respectively.

7. An automatic spraying apparatus for hole wall brightening material as claimed in claim 1, wherein: the supporting foot component (2) comprises a connecting piece (21), a hydraulic cylinder (25), a main supporting rod (22), a telescopic rod (23) and a supporting plate (24); the connecting piece (21) is rotatably connected to the moving platform (1), and the connecting piece (21) rotates around the direction vertical to the end face of the moving platform (1); one end of the main supporting rod (22) is pivoted on the connecting piece (21), and the telescopic rod (23) is embedded in the other end of the main supporting rod (22); the supporting plate (24) is rotatably connected to one end, far away from the main supporting rod (22), of the telescopic rod (23); one end of the hydraulic cylinder (25) is pivoted on the connecting piece (21), and the other end of the hydraulic cylinder (25) is pivoted on the main supporting rod (22).

8. An automatic spraying apparatus for hole wall brightening material according to claim 7, characterized in that: and a rotating motor (26) is arranged on the connecting piece (21), and the rotating motor (26) is used for driving the connecting piece (21) to rotate around the direction vertical to the end face of the moving platform (1).

9. An automatic spraying apparatus for hole wall brightening material as claimed in claim 1, wherein: the multi-line laser radar (12) is arranged on a cushion block arranged on the mobile platform (1).

10. An automatic spraying apparatus for hole wall brightening material according to claim 1, characterized in that: the system also comprises a main control device (4); the main control device (4) is connected with the feeding device (35), the omnidirectional wheel (11), the hydraulic cylinder (25), the electric pipe winder (34), the multi-line laser radar (12), the millimeter wave radar (7), the driving motor (32), the rotating motor (26) and the amplitude variation mechanism (61).