阅读说明：本技术 明挖隧道衬砌表层智能喷涂机器人及其实现方法 (Intelligent spraying robot for open-cut tunnel lining surface layer and implementation method thereof ) 是由 赵立财 于 2021-07-05 设计创作，主要内容包括：本发明公开了明挖隧道衬砌表层智能喷涂机器人,包括初砌本体,所述初砌本体的上端设有走行轨道,所述走行轨道的内侧安装有导向减震轮,所述走行轨道的上端固定连接有弧型齿轮,所述弧型齿轮的两端均设有喷涂小车直线模组,所述走行轨道的两端均设有与喷涂小车直线模组对应的折臂,所述走行轨道上连接有工作平台,所述工作平台的下端四个边角处均安装有驱动轮,所述工作平台的上端设有驾驶室、主控柜与料仓。本发明采用喷涂机器人自动往复喷涂方式加匀速行走来控制涂膜均匀性,有效保证衬砌外侧整体防水效果,只需一人操作即可作业,避免了多人在高空喷涂防水,极大的降低安全风险。(The invention discloses an intelligent spraying robot for an open cut tunnel lining surface layer, which comprises a primary building body, wherein a walking track is arranged at the upper end of the primary building body, guide shock absorption wheels are installed on the inner side of the walking track, an arc-shaped gear is fixedly connected to the upper end of the walking track, spraying trolley linear modules are arranged at two ends of the arc-shaped gear, folding arms corresponding to the spraying trolley linear modules are arranged at two ends of the walking track, a working platform is connected to the walking track, driving wheels are installed at four corners of the lower end of the working platform, and a cab, a main control cabinet and a storage bin are arranged at the upper end of the working platform. The invention adopts the automatic reciprocating spraying mode of the spraying robot and the uniform walking to control the uniformity of the coating, effectively ensures the integral waterproof effect of the outer side of the lining, can operate only by one person, avoids the waterproof spraying of a plurality of people at high altitude, and greatly reduces the safety risk.)

1. Open cut tunnel lining top layer intelligence spraying robot, including building body (8) just, its characterized in that: the upper end of building body (8) just is equipped with and walks capable track (13), direction shock attenuation wheel (1) is installed to the inboard of walking capable track (13), walk upper end fixedly connected with arc type gear (10) of capable track (13), the both ends of arc type gear (10) all are equipped with spraying dolly sharp module (11), the both ends of walking capable track (13) all are equipped with folding arm (9) that correspond with spraying dolly sharp module (11), walk to be connected with work platform (5) on capable track (13), drive wheel (6) are all installed to four edges of lower extreme of work platform (5), the upper end of work platform (5) is equipped with driver's cabin (3), main control cabinet (2) and feed bin (4).

2. The open-cut tunnel lining surface layer intelligent spraying robot of claim 1, characterized in that: be equipped with the conveying pipeline between spraying dolly straight line module (11) and feed bin (4), through the conveying pipeline intercommunication between spraying dolly straight line module (11) and feed bin (4), spraying dolly straight line module (11) includes flush coater and spraying dolly, be equipped with spray gun (14) on the flush coater, the spout department of spray gun (14) is equipped with first nozzle (15) and second nozzle (16) respectively, be equipped with rubber membrane (12) between first nozzle (15) and second nozzle (16) and just building body (8), rubber membrane (12) coating is on just building body (8).

3. The open-cut tunnel lining surface layer intelligent spraying robot of claim 1, characterized in that: the guide damping wheels (1) are abutted to the upper end face of the primary building body (8), the guide damping wheels (1) are one-way wheels, and the guide damping wheels (1) are perpendicular to the walking track (13).

4. The open-cut tunnel lining surface layer intelligent spraying robot of claim 1, characterized in that: the walking track (13) is provided with a ladder stand and a guardrail (7).

5. The method for realizing intelligent spraying of the open-cut tunnel lining surface layer according to the claims 1 to 4, is characterized in that: the method comprises the following steps:

firstly, controlling the uniformity of a coating film by adopting a reciprocating spraying mode and uniform-speed walking;

secondly, calculating the relation between the spraying thickness and the walking speed;

thirdly, calculating a traveling motor and a speed reducer;

and (IV) selecting a proper spraying mode, receiving a signal by the electromagnetic valve to start spraying, and reciprocating the reciprocating machine.

6. The method for realizing intelligent spraying of the open-cut tunnel lining surface layer according to claim 5, characterized by comprising the following steps of: in the step (I), the thickness of the coating film is related to the spraying flow Q of a spraying machine, the walking speed V of a trolley, the dry film density rho of a reciprocating width M and the solid content X, wherein the flow, the dry film density and the solid content can be regarded as quantitative input, the width is designed to be 1500mm wide at most, so the thickness of the coating film is only related to the walking speed, the maximum reciprocating spraying speed is 1M/s, the reciprocating stroke is set to be 1500mm, the coating film thickness at two ends is increased due to acceleration and deceleration at two ends, and a swinging gun angle alpha with a certain angle is given at two ends;

the gun swinging angle, the walking speed and the acceleration of acceleration and deceleration are related, the walking speed is V, the acceleration is a, and the distance of the acceleration and deceleration section is s ═ V²A 2a, e.g. V1 m/s, a 5m/s²(this requires the acceleration of the reciprocating table to be 5m/s²The larger the acceleration and deceleration distance, the shorter the acceleration and deceleration distance, the better the coating uniformity is ensured), s is 100mm, the swing angle and the acceleration and deceleration distance have a certain relationship (arctan (0.1/0.7) ═ arctan0.1429 ═ 8.13 degrees,and the width of the coating film formed after spraying was 1700 mm.

7. The method for realizing intelligent spraying of the open-cut tunnel lining surface layer according to claim 5, characterized by comprising the following steps of: in the second step, it is assumed that the acceleration distance in the first step is 100mm, the final spray width calculation result is 1700mm, and the deceleration time V/a is 1/5 is 0.2s, according to which the yaw mechanism rotational acceleration is calculated as: 2.258 pi/s²；

The swing distance of the spray gun is related to uniformity, the coating thickness is related to the traveling speed of the trolley, the swing width is 1500mm, the film forming width is 1700mm according to the above calculation, and the input variables are as follows: the coating thickness h, the solid content x, the dry film density rho and the spray gun flow Q, and the spraying process meets the following formula:

q (15kg/min) t (x ═ v (m/min) t (min) · 1700(mm) · h (mm) · dry film density ρ

The speed v of the carriage is Q (15kg/min) solid content x/(1.7 h ρ)

For example, Q is 15kg/min, solid content x is 0.55, thickness is 1.5mm, and dry film density is 1g/cm³The velocity v can be calculated as 15 × 0.55/(1.7 × 1.5 × 1) ═ 3.24 m/min;

the trolley travelling speed can be automatically calculated according to the requirement of spraying coating films with different thicknesses, namely inputting different thickness parameters, the flow rate, the solid content and the dry film density are changed according to different materials and equipment and are variable, but the thickness is also the variable, so that the required travelling speed of the trolley can be automatically calculated by inputting Q, x, h and rho when the machine is operated.

8. The method for realizing intelligent spraying of the open-cut tunnel lining surface layer according to claim 5, characterized by comprising the following steps of: in the step (III):

(1) the calculated resistance is:

A. rolling resistance Ff

F_f＝Mgf cosα ①

M is 350kg of total weight of the trolley, f is 0.02 of friction coefficient, a is 15 degrees of road gradient,

B. slope resistance Fp

F_p＝Mg sinα ②

C. Total resistance Ft

The total resistance is the sum of rolling resistance and gradient resistance

F_t＝F_f+F_p＝Mgf cosα+Mg sinα＝1000N ③

(2) Operating power calculation

V_maxIs the maximum running speed of 0.45km/h, eta_maxThe running efficiency of the speed reducer is 75 percent, and the transmission efficiency of the eta motor is 85 percent;

four-wheel drive operation is selected, 0.2kwX4 motors are selected, the maximum speed of the walking is 7.5m/min, the diameter of the walking wheel is 0.3m, the output rotating speed of the speed reducer is 8r/min, the rotating speed of the motor is 1400r/min, the transmission ratio of the speed reducer is 1:50, and the speed regulating motor is selected to meet the speed regulating requirement.

9. The method for realizing intelligent spraying of the open-cut tunnel lining surface layer according to claim 5, characterized by comprising the following steps of: in the step (IV):

(1) spray pattern selection

When the spraying mode is selected, the electromagnetic valve receives a signal to start spraying, the reciprocating machine reciprocates, a gun opening coordinate and a gun closing coordinate can be set randomly (0-2m) according to the spraying distance, oil can be switched off or on through buffering of a reciprocating point, the reciprocating mode is suitable for workpieces which are continuously conveyed, the reciprocating times can be set, a spraying starting signal can be manually controlled, the spraying starting signal can be stopped after the set times are sprayed, the spraying starting signal waits for the next signal, and the intermittent production type workpieces are suitable;

(2) the position of the switch gun of each mode can be independently controlled;

(3) the reciprocating speed is set to be 1m/s at most.

Technical Field

The invention relates to the technical field of spraying of tunnel waterproof paint, in particular to an intelligent spraying robot for an open-cut tunnel lining surface layer and an implementation method thereof.

Background

According to statistics, the water-damaged tunnel of the railway tunnel in China is about 70%, the service life of the lining is directly shortened due to water leakage of the tunnel, the corrosion of a steel rail and a fastener is accelerated, a ballast bed and a foundation are damaged, the stability of a line is influenced, and the safe operation of a train is influenced by water leakage and icing in a severe cold area. Therefore, the waterproof effect of the tunnel lining is significant. The open cut tunnel construction is widely applied to tunnels under different conditions due to the advantages of low cost, strong applicability, easy quality control and the like.

With the rapid development of high-speed railways in China, tunnel construction technology is greatly improved, and novel waterproof materials and novel tooling equipment are continuously researched, developed and put into use. The spray-coating quick-setting rubber asphalt waterproof coating is a novel solvent-free pollution-free green waterproof coating which is developed to meet the requirements of open cut tunnel construction and environmental protection, and has the characteristics of ageing resistance, convenient construction, excellent bonding property and the like. At present, the novel equipment which is applied to the construction of novel spraying waterproof paint is applied to the field of building construction, particularly building construction and municipal engineering, is applied to railway tunnels at the starting stage, and is researched for the first time in China.

The existing open cut tunnel lining surface layer is not uniformly sprayed when the waterproof material is sprayed, so that the waterproof effect is poor after the spraying is finished, the coating is wasted due to the nonuniform spraying of the waterproof material, the capital loss is caused, and when the waterproof material is sprayed, a plurality of people are required to spray water at high altitude, so that the safety is reduced.

Disclosure of Invention

1. Technical problem to be solved

The invention aims to solve the problems that in the prior art, when a waterproof material is sprayed on an open cut tunnel lining surface layer, the spraying is not uniform, the waterproof effect is poor after the spraying is finished, the coating is wasted and the capital loss is caused due to the fact that the waterproof material is sprayed unevenly, and when the waterproof material is sprayed, a plurality of people are required to spray water at high altitude, so that the safety is reduced, and provides an intelligent spraying robot for the open cut tunnel lining surface layer and an implementation method thereof.

2. Technical scheme

In order to achieve the purpose, the invention adopts the following technical scheme:

open cut tunnel lining top layer intelligence spraying robot, including just building the body, the upper end of just building the body is equipped with walks capable track, walk the inboard of walking the track and install direction shock attenuation wheel, walk orbital upper end fixedly connected with camber gear, camber gear's both ends all are equipped with spraying dolly sharp module, walk orbital both ends and all be equipped with the book arm that corresponds with spraying dolly sharp module, walk to be connected with work platform on the track, the drive wheel is all installed to four edges of work platform's lower extreme, work platform's upper end is equipped with driver's cabin, master control cabinet and feed bin.

Preferably, be equipped with the conveying pipeline between spraying dolly sharp module and the feed bin, communicate through the conveying pipeline between spraying dolly sharp module and the feed bin, spraying dolly sharp module includes flush coater and spraying dolly, be equipped with the spray gun on the flush coater, the spout department of spray gun is equipped with first nozzle and second nozzle respectively, first nozzle and second nozzle and just build and be equipped with the rubberizing membrane between the body, the rubberizing membrane coating is on just building the body.

Preferably, the guide damping wheels are abutted to the upper end face of the preliminary building body and are one-way wheels, and the guide damping wheels are perpendicular to the running rail.

Preferably, a ladder stand and a guardrail are mounted on the walking track.

An open trench tunnel lining surface layer intelligent spraying realization method comprises the following steps:

firstly, controlling the uniformity of a coating film by adopting a reciprocating spraying mode and uniform-speed walking;

secondly, calculating the relation between the spraying thickness and the walking speed;

thirdly, calculating a traveling motor and a speed reducer;

and (IV) selecting a proper spraying mode, receiving a signal by the electromagnetic valve to start spraying, and reciprocating the reciprocating machine.

Preferably, in the step (one), the thickness of the coating film is related to the spraying flow Q of the spraying machine, the travelling speed V of the trolley, the reciprocating width M, the dry film density ρ and the solid content X, wherein the flow, the dry film density and the solid content can be regarded as quantitative input, the width is designed to be 1500mm wide at most, so the thickness of the coating film is only related to the travelling speed, the reciprocating spraying speed is 1M/s at most, the reciprocating stroke is 1500mm, the thickness of the coating film at two ends is increased due to acceleration and deceleration at two ends, and the swinging gun angle α with a certain angle is given at two ends;

the gun swinging angle and the traveling speed are related to the acceleration of acceleration and deceleration, the traveling speed is V, the acceleration is a, the distance of the acceleration and deceleration section is s is V2/2a, for example, V is 1m/s, a is 5m/s2 (this requires that the acceleration of the reciprocating slide table is 5m/s2, the acceleration and deceleration distance is shorter as the acceleration is larger, which is advantageous to ensure the uniformity of the coating film), s is 100mm, the swinging angle and the acceleration and deceleration distance are related to each other (arctan (0.1/0.7) is 0.1429 which is 8.13 degrees, and the width of the coating film formed after spraying is 1700 mm.

Preferably, in the step (two), it is assumed that the acceleration distance is 100mm in the step (one), the calculation result of the final spraying width is 1700mm, and the deceleration time V/a is 1/5 is 0.2s, according to the calculation, the rotation acceleration of the yaw mechanism is: 2.258 π/s 2;

the swing distance of the spray gun is related to uniformity, the coating thickness is related to the traveling speed of the trolley, the swing width is 1500mm, the film forming width is 1700mm according to the above calculation, and the input variables are as follows: the coating thickness h, the solid content x, the dry film density rho and the spray gun flow Q, and the spraying process meets the following formula:

q (15kg/min) t (x ═ v (m/min) t (min) · 1700(mm) · h (mm) · dry film density ρ

The speed v of the carriage is Q (15kg/min) solid content x/(1.7 h ρ)

For example, Q is 15kg/min, solid content x is 0.55, thickness is 1.5mm, and dry film density is 1g/cm³The velocity v can be calculated as 15 × 0.55/(1.7 × 1.5 × 1) ═ 3.24 m/min;

the trolley travelling speed can be automatically calculated according to the requirement of spraying coating films with different thicknesses, namely inputting different thickness parameters, the flow rate, the solid content and the dry film density are changed according to different materials and equipment and are variable, but the thickness is also the variable, so that the required travelling speed of the trolley can be automatically calculated by inputting Q, x, h and rho when the machine is operated.

Preferably, in the step (iii):

(1) the calculated resistance is:

A. rolling resistance Ff

F_f＝Mgfcosα ①

M is 350kg of total weight of the trolley, f is 0.02 of friction coefficient, a is 15 degrees of road gradient,

B. slope resistance Fp

F_p＝Mgsinα ②

C. Total resistance Ft

The total resistance is the sum of rolling resistance and gradient resistance

F_t＝F_f+F_p＝Mgfcosα+Mgsinα＝1000N ③

(2) Operating power calculation

V_maxIs the maximum running speed of 0.45km/h, eta_maxThe running efficiency of the speed reducer is 75 percent, and the transmission efficiency of the eta motor is 85 percent;

four-wheel drive operation is selected, 0.2kwX4 motors are selected, the maximum speed of the walking is 7.5m/min, the diameter of the walking wheel is 0.3m, the output rotating speed of the speed reducer is 8r/min, the rotating speed of the motor is 1400r/min, the transmission ratio of the speed reducer is 1:50, and the speed regulating motor is selected to meet the speed regulating requirement.

Preferably, in the step (iv): (1) the spraying mode is selected, when the spraying mode is selected, the electromagnetic valve receives a signal to start spraying, the reciprocating machine reciprocates, a gun opening coordinate and a gun closing coordinate can be set randomly (0-2m) according to the spraying distance, oil can be switched off or on through reciprocating point buffering, the reciprocating machine is suitable for workpieces which are conveyed continuously, the reciprocating times can be set, a spraying starting signal can be manually controlled, the reciprocating machine can stop after the set times are sprayed, the reciprocating machine waits for the next signal, and the reciprocating machine is suitable for workpieces of an intermittent production type; (2) the position of the switch gun of each mode can be independently controlled; (3) the reciprocating speed is set to be 1m/s at most.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) according to the invention, after the spraying robot is installed and debugged, uniform spraying operation is carried out on the walking track, the spraying uniformity of the waterproof material is effectively ensured, the overall thickness of the waterproof coating is basically consistent, the overall waterproof effect of the outer side of the lining is ensured, after the spraying robot sets basic parameters, the spraying robot is started by one key, the spraying manipulator carries out automatic spraying, the cart walking electric control is carried out, the effect is improved by 3-5 times compared with manual operation, the construction period is effectively saved, the spraying manipulator carries out uniform spraying, the influence of the uniform spraying operation of the manual spraying is avoided, the dripping of the coating is reduced, the material loss is reduced by about 10%, the construction cost is saved, the spraying robot is simple to operate, only one person is needed to operate after the basic parameters are set, the waterproof effect of spraying by multiple persons at high altitude is avoided, and the safety risk is greatly reduced.

(2) The spraying construction of the waterproof coating on the outer side of the open tunnel lining by adopting a spraying robot promotes the mechanized process of the open tunnel waterproof construction, solves the problems of difficult construction and uneven spraying of the outer waterproof layer of the deep tunnel in the high altitude and the side facing operation, ensures the construction quality, improves the construction efficiency, saves the construction cost, accumulates valuable practical experience, has good social benefits, is worthy of further popularization and application, and along with the development of high-speed railways in China, the number of shallow-buried stratum open tunnels and comprehensive pipe galleries is more and more, and the technology provides an effective solution for similar underground engineering and provides technical support for intelligent construction technology in China.

(3) The spraying of the waterproof coating adopts the automatic construction of a spraying robot, which not only reduces the material consumption and saves resources, but also reduces the construction waste generated in the construction process, really realizes the material and energy saving and has good environmental protection and energy saving benefits.

Drawings

Fig. 1 is a schematic structural diagram of an open-cut tunnel lining surface layer intelligent spraying robot and an implementation method thereof, which are provided by the invention;

FIG. 2 is a schematic structural diagram of an elevation view of an intelligent spraying robot structure for an open-cut tunnel lining surface layer according to the invention;

FIG. 3 is a schematic side view of an intelligent spraying robot structure for an open trench tunnel lining surface layer according to the present invention;

fig. 4 is a schematic top-view structural diagram of the structure of the intelligent spraying robot for the surface layer of the open-cut tunnel lining provided by the invention;

FIG. 5 is a construction flow chart of the intelligent spraying robot for the surface layer of the open-cut tunnel lining and the implementation method thereof;

FIG. 6 is a schematic structural diagram of a spraying film forming principle of the intelligent spraying robot for an open-cut tunnel lining surface layer, which is provided by the invention;

fig. 7 is a schematic diagram of the spraying deflection displacement and deflection angle of the intelligent spraying robot for the surface layer of the open-cut tunnel lining provided by the invention.

In the figure: the guide damping wheel 1, the main control cabinet 2, 3 cabs, 4 feed bins, 5 work platforms, 6 drive wheels, 7 guardrails, 8 lining bodies, 9 folding arms, 10 arc gears, 11 spraying trolley linear modules, 12 rubber films, 13 running tracks, 14 spray guns, 15 first nozzles and 16 second nozzles.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example 1:

referring to fig. 1-7, the method for realizing intelligent spraying of the surface layer of the open-cut tunnel lining comprises the following steps:

firstly, controlling the uniformity of a coating film by adopting a reciprocating spraying mode and uniform-speed walking;

secondly, calculating the relation between the spraying thickness and the walking speed;

thirdly, calculating a traveling motor and a speed reducer;

and (IV) selecting a proper spraying mode, receiving a signal by the electromagnetic valve to start spraying, and reciprocating the reciprocating machine.

In the invention, in the step (I), the thickness of the coating film is related to the spraying flow Q of a spraying machine, the travelling speed V of a trolley, the dry film density rho of a reciprocating width M and the solid content X, wherein the flow, the dry film density and the solid content can be regarded as quantitative input, the width is designed to be at most 1500mm wide, so the thickness of the coating film is only related to the travelling speed, the reciprocating spraying speed is at most 1M/s, the reciprocating stroke is set to be 1500mm, the coating film thickness at two ends is increased due to acceleration and deceleration at two ends, and a gun swinging angle alpha with a certain angle is given at two ends;

the gun swinging angle and the traveling speed are related to the acceleration of acceleration and deceleration, the traveling speed is V, the acceleration is a, the distance of an acceleration and deceleration section is s-V2/2 a, for example, V-1 m/s, a-5 m/s2 (the acceleration of a reciprocating sliding table is required to reach 5m/s2, the acceleration and deceleration distance is shorter as the acceleration is larger, the uniformity of a coating film is favorably ensured), s-100 mm, the swinging angle and the acceleration and deceleration distance are related to each other (arctan (0.1/0.7) arctan0.1429 is 8.13 degrees, and the width of the coating film formed after spraying is 1700 mm;

in the second step, it is assumed that the acceleration distance is 100mm in the first step, the final spray width calculation result is 1700mm, and the deceleration time V/a is 1/5 is 0.2s, and the yaw mechanism rotational acceleration is calculated as follows: 2.258 π/s 2;

the swing distance of the spray gun is related to uniformity, the coating thickness is related to the traveling speed of the trolley, the swing width is 1500mm, the film forming width is 1700mm according to the above calculation, and the input variables are as follows: the coating thickness h, the solid content x, the dry film density rho and the spray gun flow Q, and the spraying process meets the following formula:

q (15kg/min) t (x ═ v (m/min) t (min) · 1700(mm) · h (mm) · dry film density ρ

The speed v of the carriage is Q (15kg/min) solid content x/(1.7 h ρ)

For example, Q is 15kg/min,Solid content x is 0.55, thickness is 1.5mm, and dry film density is 1g/cm³The velocity v can be calculated as 15 × 0.55/(1.7 × 1.5 × 1) ═ 3.24 m/min;

the travelling speed of the trolley can be automatically calculated by spraying coating films with different thicknesses, namely inputting different thickness parameters, the flow, the solid content and the dry film density are changed according to different materials and equipment and are variable, but the thickness is also variable, so that the travelling speed of the trolley can be automatically controlled by inputting Q, x, h and rho when a machine is operated;

in the step (III):

(1) the calculated resistance is:

A. rolling resistance Ff

F_f＝Mgfcosα ①

M is 350kg of total weight of the trolley, f is 0.02 of friction coefficient, a is 15 degrees of road gradient,

B. slope resistance Fp

F_p＝Mgsinα ②

C. Total resistance Ft

The total resistance is the sum of rolling resistance and gradient resistance

F_t＝F_f+F_p＝Mgfcosα+Mgsinα＝1000N ③

(2) Operating power calculation

V_maxIs the maximum running speed of 0.45km/h, eta_maxThe running efficiency of the speed reducer is 75 percent, and the transmission efficiency of the eta motor is 85 percent;

four-wheel drive operation is selected, 0.2kwX4 motors are selected, the maximum speed of the walking is 7.5m/min, the diameter of a walking wheel is 0.3m, the output rotating speed of a speed reducer is 8r/min, the rotating speed of the motor is 1400r/min, the transmission ratio of the speed reducer is 1:50, and the speed regulating motor is selected to meet the speed regulating requirement;

in the step (IV):

(1) spray pattern selection

When the spraying mode is selected, the electromagnetic valve receives a signal to start spraying, the reciprocating machine reciprocates, a gun opening coordinate and a gun closing coordinate can be set randomly (0-2m) according to the spraying distance, oil can be switched off or on through buffering of a reciprocating point, the reciprocating mode is suitable for workpieces which are continuously conveyed, the reciprocating times can be set, a spraying starting signal can be manually controlled, the spraying starting signal can be stopped after the set times are sprayed, the spraying starting signal waits for the next signal, and the intermittent production type workpieces are suitable;

(2) the position of the switch gun of each mode can be independently controlled;

(3) the reciprocating speed is set to be 1m/s at most.

According to the invention, a walking track is required to be installed on the outer side of a lining, a guide damping wheel is installed on the inner side of the track in a factory in advance, after the walking track is assembled into a ring, a guardrail, a ladder stand and a spraying trolley linear module are installed, a working platform is hoisted to a proper position by a crane and is reliably connected with a main structure, a cab, a control cabinet, a bin and the like are hoisted to the working platform, and installation and debugging are carried out after the installation steps are completed; after installation, basic operation debugging of equipment is carried out, a spraying robot is controlled by a PLC (programmable logic controller), two controls of a touch screen and a button are adopted, the touch screen can input numerical values in real time to carry out basic parameter setting of the equipment, a one-key starting function is realized, spraying, climbing and returning are carried out automatically, electric control is carried out when a cart walks, a self-contained deviation rectifying function is realized, the spraying robot is introduced into the surface layer of the open cut tunnel lining for spraying waterproof paint, the spraying robot is installed on a walking track and is sprayed at a constant speed, the spraying uniformity of waterproof materials can be effectively ensured, the overall thickness of the waterproof paint is basically consistent, the overall waterproof effect of the outer side of the lining is ensured, the spraying robot is installed in place, the operation condition of the equipment is debugged, the normal operation of the equipment is ensured, and the thickness of the sprayed waterproof layer is measured by field real-time monitoring, various test data collection, arrangement and statistics according to the spraying waterproof design requirement, after the walking speed of the spraying robot on the track and the speed parameters of the spraying trolley for spraying the paint are determined, basic parameters of the equipment are set, and manual spraying operation is replaced by the operation of the spraying robot.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.