CN107060726A - The system that a kind of use travel engineering robot carries out tunnel boring - Google Patents
The system that a kind of use travel engineering robot carries out tunnel boring Download PDFInfo
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- CN107060726A CN107060726A CN201710463045.6A CN201710463045A CN107060726A CN 107060726 A CN107060726 A CN 107060726A CN 201710463045 A CN201710463045 A CN 201710463045A CN 107060726 A CN107060726 A CN 107060726A
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- 238000005553 drilling Methods 0.000 claims abstract description 35
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 21
- 238000009958 sewing Methods 0.000 claims description 10
- 239000000428 dust Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000010437 gem Substances 0.000 claims description 3
- 229910001751 gemstone Inorganic materials 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 239000013256 coordination polymer Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/005—Below-ground automatic control systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
The system that a kind of use travel engineering robot carries out tunnel boring, including BIM tunnel borings model, CPIII rail control networks and Engineering Robot, wherein, the CPIII rail control networks include control point locating dowel；The Engineering Robot includes being provided with dynamic power system, industrial computer, six axis robot, PLC control system, alignment system, camera system, reinforcing bar survey meter, real time laser perforated depth detecting meter, electric hammer and dust-precipitating system on track mobile platform, the track mobile platform.It is an object of the invention to provide the system that a kind of use travel engineering robot carries out tunnel boring, its drilling quality is high and uniformity is good, high efficient and reliable, safely and fast, human cost is saved again, and under the identical operation time, tunnel boring operation distance can reach the several times manually drilled.
Description
Technical field
The present invention relates to railway tunnel drilling field, particularly a kind of use travel engineering robot carries out tunnel boring
System.
Background technology
With the high speed development of China's economic, Development of China's Urbanization is constantly accelerated, and living standards of the people are improved constantly, and people go out
Line mode also there occurs one of great change, the important selection that track traffic is gone on a journey into people, quick and economical due to it,
Country continues to increase input to meet this demand of people, and increasing track, which is waited, to be built.In order to faster and better
Construction is completed, the practitioners of track traffic constantly improve operating efficiency, construction task, but conduct are completed on schedule by every means
Drill construction technique or relatively backward manual work mode in a part for track construction, constructing tunnel.
And there are many shortcomings in manual work：The big operating personnel of labor intensity is easily tired, it is impossible to hold after with same
Speed drills, and causes efficiency low；People's operation is differed due to angle, fltting speed, the drilling depth of the hand held electric hammer that drills every time
Cause, drilling quality is not guaranteed, poor repeatability.The many costs of manual work employment are high；Manual work due to people inadvertent or
Multiple person cooperational is inconsistent, easily goes out security incident safety, and operation is dangerous；Air circulation is not enough in flint road, light illumination is not enough,
Dust is produced during drilling causes operating environment poor.
The content of the invention
In order to overcome the disadvantages mentioned above of prior art, entered it is an object of the invention to provide one kind using travel engineering robot
The system of row tunnel boring, its drilling quality is high and uniformity is good, high efficient and reliable, safely and fast, and human cost is saved again, identical
Under activity duration, tunnel boring operation distance can reach the several times manually drilled.
The technical solution adopted for the present invention to solve the technical problems is：One kind carries out tunnel using travel engineering robot
The system of drilling, including BIM tunnel borings model, CPIII rail control networks and Engineering Robot；
Wherein, BIM English full name is Building Information Modeling, domestic more consistent translator of Chinese
For BIM, BIM is based on every relevant information data of construction-engineering project, it is established that
Three-dimensional BUILDINGS MODELS, the real information having by digital information analogue simulation building.It has information completeness, letter
Cease relevance, consistency on messaging, visualization, harmony, simulation, optimization property and the big feature of figure eight can be gone out.
BIM tunnel boring models：The position in each hole is designed, and passes through bis- hair program leadout hole parameters of Revit, institute
Stating hole parameter includes coordinate, orifice angle, aperture, hole depth, CPIII hole positions coordinate, CPIII hole positions numbering；
High Speed Rail Projects measurement plane control net point three-level is laid：Horizontal control network based on CPI, main exploration, construction, fortune
Battalion, which safeguards, provides coordinate basis；CPII is that track plan controls net, and main exploration and construction provide control benchmark；CPIII is rail
Road controls net, and control point direction along ng a path provides control every 40-60 meters of layings in pairs, predominantly track laying and operation maintenance
Benchmark.Wherein, CP is control points abbreviation.
CPIII rail control networks：In BIM tunnel boring models, include the location parameter at CPIII control points, including
CPIII hole positions coordinate, CPIII hole positions numbering；The CPIII rail control networks include control point locating dowel；
The Engineering Robot includes being provided with dynamic power system, industry on track mobile platform, the track mobile platform
Computer, six axis robot, PLC control system, alignment system, camera system, reinforcing bar survey meter, the detection of real time laser hole depth
Instrument, electric hammer and dust-precipitating system；The track mobile platform is driven by servomotor, and the track mobile platform is moved in orbit
It is dynamic, mobile prestissimo 30KM/H；
The electrical source of power provides power and power supply for whole Engineering Robot, and the dynamic power system connection industry is calculated
Machine；The industrial computer connects six axis robot, PLC control system, alignment system and camera system respectively；The industry meter
Calculation machine is responsible for processing location data and borehole data, to sending instructions under PLC control system and six axis robot, monitors their fortune
Row state；The end of the six axis robot is connected with electric hammer, and the electric hammer can match somebody with somebody different drilling tools, can bore different pore size
Hole；
Wherein, PLC is programmable logic controller (PLC), and English full name is Programmable Logic Controller, be may be programmed
Logic controller is kind of the digital operation electronic system designed exclusively for application in industrial settings, and it can using one kind
The memory of programming, in the finger of the operations such as its computing of storage inside execution logic, sequential control, timing, counting and arithmetical operation
Order, various types of plant equipment or production process are controlled by digital or analog input and output.
The PLC control system connects reinforcing bar survey meter, real time laser perforated depth detecting meter, electric hammer and dust-precipitating system respectively,
The movement of PLC control system control track mobile platform, reinforcing bar survey meter, real time laser hole depth detection device, electric hammer
Start and stop, dust-precipitating system.
As a further improvement on the present invention：The alignment system includes laser radar, RFID, CPIII rail control network
Control point locating dowel, for give the track mobile platform positioning.
Wherein, RFID English full name is Radio Frequency Identification, also known as radio frequency identification,
It is a kind of communication technology, specific objective can be recognized by radio signals and related data is read and write, without identifying system and spy
Mechanical or optical contact is set up between setting the goal；Radio frequency is usually 1-100GHz microwave, it is adaptable to short distance identification communication.
As a further improvement on the present invention：The camera system includes camera；The dust-precipitating system includes vacuum cleaner,
Dust for preventing from producing during drilling flies away everywhere, pollutes environment.
The boring method step of the system is as follows：
1）By the drilling parameter of BIM tunnel boring models and the dot data of CPIII rail control networks, industrial computer is imported
Basic database；
2）Engineering Robot drilling special-purpose software in industrial computer is handled drilling parameter, and device to hole is carried out on request
Classification, packet, sectional, determine the target job point of Engineering Robot；
3）Star up engineering robot, Engineering Robot is orbited after starting, and alignment system is determined Engineering Robot
Position, makes Engineering Robot be accurate to up to target job point, starts six axis robot after coming to a complete stop, be moved to bore position；
4）Detection of obstacles is carried out to all hole positions of same setting by reinforcing bar survey meter and camera system, there is barrier
When, then reselect bore position；During clear, start electric hammer and start drilling；The barrier includes reinforcing bar, tunnel and stretched
Seam, the interval section of jurisdiction connecting sewing of tunnel connecting sewing, shield and the leak area that substantially seeps water；
Wherein, whether reinforcing bar survey meter detection bore position has reinforcing bar, needs to reselect bore position when having reinforcing bar；Shooting system
System obtains bore position image, judges whether no there is tunnel expansion joint, tunnel connecting sewing, the interval section of jurisdiction connecting sewing of shield and substantially
Seep water leak area etc., it is sometimes desirable to reselects bore position.
5）In boring procedure, dust exhaust apparatus collects the dust that drilling is produced, and real time laser perforated depth detecting meter detects brill in real time
The depth in hole, when reaching target hole depth, six axis robot is moved to next hole position with electric hammer and drilled, and records drilling parameter；
6）This setting institute hole jewel is complete, and six axis robot returns to original position, and Engineering Robot is moved to next setting and continues to bore
Hole.
Compared with prior art, the beneficial effects of the invention are as follows：One kind carries out tunnel boring using travel engineering robot
System, wherein, robot can work continuously, and drilling efficiency is high；Repeatability is acted during robot manipulating task highly consistent, drill matter
Amount is high and uniformity is good；Personnel needed for operation are reduced, and both save human cost, human factor influence are reduced again, reliability is more
Height, operation is safer quick.
Brief description of the drawings
Fig. 1 is system block diagram of the invention.
Fig. 2 is drilling flow chart of the invention.
Fig. 3 is the equipment drawing of Engineering Robot.
Embodiment
In conjunction with brief description of the drawings, the present invention is further described with case study on implementation：
Case study on implementation one：The system for carrying out tunnel boring referring to figs. 1 to Fig. 3, a kind of use travel engineering robot, including BIM
Tunnel boring model, CPIII rail control networks and Engineering Robot 1；
Wherein, BIM English full name is Building Information Modeling, domestic more consistent translator of Chinese
For BIM, BIM is based on every relevant information data of construction-engineering project, it is established that
Three-dimensional BUILDINGS MODELS, the real information having by digital information analogue simulation building.It has information completeness, letter
Cease relevance, consistency on messaging, visualization, harmony, simulation, optimization property and the big feature of figure eight can be gone out.
BIM tunnel boring models：The position in each hole is designed, and passes through bis- hair program leadout hole parameters of Revit, institute
Stating hole parameter includes coordinate, orifice angle, aperture, hole depth, CPIII hole positions coordinate, CPIII hole positions numbering；
High Speed Rail Projects measurement plane control net point three-level is laid：Horizontal control network based on CPI, main exploration, construction, fortune
Battalion, which safeguards, provides coordinate basis；CPII is that track plan controls net, and main exploration and construction provide control benchmark；CPIII is rail
Road controls net, and control point direction along ng a path provides control every 40-60 meters of layings in pairs, predominantly track laying and operation maintenance
Benchmark.Wherein, CP is control points abbreviation.
CPIII rail control networks：In BIM tunnel boring models, include the location parameter at CPIII control points, including
CPIII hole positions coordinate, CPIII hole positions numbering；The CPIII rail control networks include control point locating dowel；
The Engineering Robot 1 includes track mobile platform 11, be provided with the track mobile platform 11 dynamic power system,
Industrial computer, six axis robot 12, PLC control system, alignment system, camera system, reinforcing bar survey meter, real time laser hole depth
Detector, electric hammer and dust-precipitating system 13；The track mobile platform is driven by servomotor, and the track mobile platform is in track
Upper movement, mobile prestissimo 30KM/H；
The electrical source of power provides power and power supply for whole Engineering Robot, and the dynamic power system connection industry is calculated
Machine；The industrial computer connects six axis robot, PLC control system, alignment system and camera system respectively；The industry meter
Calculation machine is provided with Engineering Robot drilling special-purpose software, and industrial computer is responsible for processing location data and borehole data, gives PLC controls
Send instructions under system processed and six axis robot, monitor their running status；The end of the six axis robot is connected with electric hammer,
The electric hammer can match somebody with somebody different drilling tools, can bore the hole of different pore size；
Wherein, PLC is programmable logic controller (PLC), and English full name is Programmable Logic Controller, be may be programmed
Logic controller is kind of the digital operation electronic system designed exclusively for application in industrial settings, and it can using one kind
The memory of programming, in the finger of the operations such as its computing of storage inside execution logic, sequential control, timing, counting and arithmetical operation
Order, various types of plant equipment or production process are controlled by digital or analog input and output.
The PLC control system connects reinforcing bar survey meter, real time laser perforated depth detecting meter, electric hammer and dust-precipitating system respectively,
The movement of PLC control system control track mobile platform, reinforcing bar survey meter, real time laser hole depth detection device, electric hammer
Start and stop, dust-precipitating system；
The alignment system includes laser radar, the control point locating dowel of RFID, CPIII rail control network, for the rail
Road mobile platform positioning.
Wherein, RFID English full name is Radio Frequency Identification, also known as radio frequency identification,
It is a kind of communication technology, specific objective can be recognized by radio signals and related data is read and write, without identifying system and spy
Mechanical or optical contact is set up between setting the goal；Radio frequency is usually 1-100GHz microwave, it is adaptable to short distance identification communication.
The camera system includes camera；The dust-precipitating system includes vacuum cleaner, for the ash for preventing from producing during drilling
Dirt flies away everywhere, pollutes environment.
The boring method step of the system is as follows：
1）By the drilling parameter of BIM tunnel boring models and the dot data of CPIII rail control networks, industrial computer is imported
Basic database；
2）Engineering Robot drilling special-purpose software in industrial computer is handled drilling parameter, and device to hole is carried out on request
Classification, packet, sectional, determine the target job point of Engineering Robot；
3）Star up engineering robot, Engineering Robot is orbited after starting, and alignment system is determined Engineering Robot
Position, makes Engineering Robot be accurate to up to target job point, starts six axis robot after coming to a complete stop, be moved to bore position；
4）Detection of obstacles is carried out to all hole positions of same setting by reinforcing bar survey meter and camera system, there is barrier
When, then reselect bore position；During clear, start electric hammer and start drilling；The barrier includes reinforcing bar, tunnel and stretched
Seam, the interval section of jurisdiction connecting sewing of tunnel connecting sewing, shield and the leak area that substantially seeps water；
Wherein, whether reinforcing bar survey meter detection bore position has reinforcing bar, needs to reselect bore position when having reinforcing bar；Shooting system
System obtains bore position image, judges whether no there is tunnel expansion joint, tunnel connecting sewing, the interval section of jurisdiction connecting sewing of shield and substantially
Seep water leak area etc., it is sometimes desirable to reselects bore position.
5）In boring procedure, dust exhaust apparatus collects the dust that drilling is produced, and real time laser perforated depth detecting meter detects brill in real time
The depth in hole, when reaching target hole depth, six axis robot is moved to next hole position with electric hammer and drilled, and records drilling parameter,
Feed back to BIM tunnel boring models later；
6）This setting institute hole jewel is complete, and six axis robot returns to original position, and Engineering Robot is moved to next setting and continues to bore
Hole.
The major function of the present invention：The system that a kind of use travel engineering robot carries out tunnel boring is provided, wherein, machine
Device people can work continuously, and drilling efficiency is high；Repeatability is acted during robot manipulating task highly consistent, drilling quality height and uniformity
It is good；Personnel needed for operation are reduced, and both save human cost, and human factor influence is reduced again, and reliability is higher, and operation is safer
Quickly.
In summary, one of ordinary skill in the art is read after file of the present invention, technique according to the invention scheme with
Technical concept makes other various corresponding conversion schemes without creative mental labour, belongs to the model that the present invention is protected
Enclose.
Claims (4)
1. the system that a kind of use travel engineering robot carries out tunnel boring, including BIM tunnel borings model, CPIII tracks
Control net and Engineering Robot, it is characterised in that：The CPIII rail control networks include control point locating dowel；The engineering machine
Device people includes being provided with dynamic power system, industrial computer, six shaft mechanicals on track mobile platform, the track mobile platform
Hand, PLC control system, alignment system, camera system, reinforcing bar survey meter, real time laser perforated depth detecting meter, electric hammer and dust system
System；The dynamic power system connects industrial computer, and the industrial computer connects six axis robot, PLC controls system respectively
System, alignment system and camera system, the end of the six axis robot is connected with electric hammer；The PLC control system is connected respectively
Reinforcing bar survey meter, real time laser perforated depth detecting meter, electric hammer and dust-precipitating system.
2. the system that a kind of use travel engineering robot according to claim 1 carries out tunnel boring, it is characterised in that：
The alignment system includes laser radar, the control point locating dowel of RFID, CPIII rail control network.
3. the system that a kind of use travel engineering robot according to claim 1 carries out tunnel boring, it is characterised in that：
The camera system includes camera；The dust-precipitating system includes vacuum cleaner.
4. the system that a kind of use travel engineering robot according to claim 1 carries out tunnel boring, it is characterised in that：
The boring method step of the system is as follows：
1）By the drilling parameter of BIM tunnel boring models and the dot data of CPIII rail control networks, industrial computer is imported
Basic database；
2）Engineering Robot drilling special-purpose software in industrial computer is handled drilling parameter, and device to hole is divided on request
Class, packet, sectional, determine the target job point of Engineering Robot；
3）Star up engineering robot, Engineering Robot is orbited after starting, and alignment system is determined Engineering Robot
Position, makes Engineering Robot be accurate to up to target job point, starts six axis robot after coming to a complete stop, be moved to bore position；
4）Detection of obstacles is carried out to all hole positions of same setting by reinforcing bar survey meter and camera system, there is barrier
When, then reselect bore position；During clear, start electric hammer and start drilling；The barrier includes reinforcing bar, tunnel and stretched
Seam, the interval section of jurisdiction connecting sewing of tunnel connecting sewing, shield and the leak area that substantially seeps water；
5）In boring procedure, dust exhaust apparatus collects the dust that drilling is produced, and real time laser perforated depth detecting meter detects drilling in real time
Depth, when reaching target hole depth, six axis robot is moved to next hole position with electric hammer and drilled, and records drilling parameter；
6）This setting institute hole jewel is complete, and six axis robot returns to original position, and Engineering Robot is moved to next setting and continues to bore
Hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463045.6A CN107060726A (en) | 2017-06-19 | 2017-06-19 | The system that a kind of use travel engineering robot carries out tunnel boring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463045.6A CN107060726A (en) | 2017-06-19 | 2017-06-19 | The system that a kind of use travel engineering robot carries out tunnel boring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107060726A true CN107060726A (en) | 2017-08-18 |
Family
ID=59595620
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| CN201710463045.6A Pending CN107060726A (en) | 2017-06-19 | 2017-06-19 | The system that a kind of use travel engineering robot carries out tunnel boring |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109458133A (en) * | 2018-12-21 | 2019-03-12 | 吕永宏 | A kind of tunnel automatic drilling machine and method |
| CN109519123A (en) * | 2019-01-09 | 2019-03-26 | 西安增材制造国家研究院有限公司 | A kind of tunnel boring machine people and its construction drill method |
| CN112161332A (en) * | 2020-09-24 | 2021-01-01 | 河南天中消防制冷工程有限公司 | Installation and construction process of central air conditioner |
| CN112212842A (en) * | 2020-10-16 | 2021-01-12 | 中铁上海设计院集团有限公司 | High-speed railway straightway multimode AI precision measurement robot |
| EP3982307A1 (en) * | 2020-10-09 | 2022-04-13 | Hilti Aktiengesellschaft | Construction robot, construction robot system, and method of controlling a construction robot system |
| EP4101602A1 (en) * | 2021-06-11 | 2022-12-14 | Hilti Aktiengesellschaft | Method for analyzing a tool and mobile machine tool |
| WO2022258635A1 (en) * | 2021-06-11 | 2022-12-15 | Hilti Aktiengesellschaft | Method for analyzing a tool, and mobile machine tool |
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| WO2022258635A1 (en) * | 2021-06-11 | 2022-12-15 | Hilti Aktiengesellschaft | Method for analyzing a tool, and mobile machine tool |
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Application publication date: 20170818 |