CN109458133A - A kind of tunnel automatic drilling machine and method - Google Patents
A kind of tunnel automatic drilling machine and method Download PDFInfo
- Publication number
- CN109458133A CN109458133A CN201811574367.9A CN201811574367A CN109458133A CN 109458133 A CN109458133 A CN 109458133A CN 201811574367 A CN201811574367 A CN 201811574367A CN 109458133 A CN109458133 A CN 109458133A
- Authority
- CN
- China
- Prior art keywords
- tunnel
- electric drill
- drilling
- hole location
- master cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
- E21B21/01—Arrangements for handling drilling fluids or cuttings outside the borehole, e.g. mud boxes
- E21B21/015—Means engaging the bore entrance, e.g. hoods for collecting dust
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/002—Survey of boreholes or wells by visual inspection
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
Abstract
The invention discloses a kind of tunnel automatic drilling machine and methods, the drilling machine includes crawler belt chassis, control support case, hydraulic control box, central support shaft, horizontal axis, electric drill, coordinate detection mechanism and electric drill micro actuator, is provided with limit sensors and velocity sensor on the drill bit of electric drill；The method comprising the steps of: one, arrangement hole position marks；Two, drilling machine carries out the automatic drilling of tunnel section；Three, drilling machine carries out tunnel automatic drilling；Four, malfunction elimination.The present invention realizes drilling machine moving along length of tunnel direction by crawler belt chassis, it realizes that bearing capacity is big to the coarse alignment of drilling, the thin alignment to drilling is realized by planar movement mechanism, control is simple, by the cooperation of Inclination maneuver oil hydraulic cylinder and master cylinder, the microcosmic fine alignment to drilling is realized, it is laborsaving accurate, save labour, security risk and difficulty of construction are reduced, manual work is avoided to suck a large amount of dusts, reduces damage and unnecessary personal injury to construction personnel's health.
Description
Technical field
The invention belongs to tunnel automatic drilling technical fields, and in particular to a kind of tunnel automatic drilling machine and method.
Background technique
When tunnel inner wall auxiliary equipment is mounted on tunnel inner wall, it is required to first beat mounting hole on tunnel inner wall, and tunnel
Auxiliary equipment is many kinds of on road inner wall, and quantity is larger, and tunnel inner wall mounting hole demand is big, and tunnel inner wall mounting hole is generally adopted
With impact drill manual work, construction has very big risk, and difficulty of construction is big, and working efficiency is low, large labor intensity, when construction
A large amount of dusts are generated, environmental condition is poor, damages greatly to the health of construction personnel, in order to improve working efficiency, reduces safety
Risk is badly in need of a kind of tunnel automatic drilling machine and method now to replace manual operation, and indirect labor carries out tunnel punching.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is automatic to provide a kind of tunnel
Drilling machine, it is novel in design reasonable, drilling machine moving along length of tunnel direction is realized by crawler belt chassis, is realized to drilling
Coarse alignment, bearing capacity is big, realizes thin alignment to drilling by planar movement mechanism, and control is simple, passes through Inclination maneuver oil
The microcosmic fine alignment to drilling is realized in the cooperation of cylinder pressure and master cylinder, laborsaving accurate, is saved labour, is reduced security risk
And difficulty of construction, it avoids manual work from sucking a large amount of dusts, reduces the damage to construction personnel's health and unnecessary people
Member's injury, convenient for promoting the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of tunnel automatic drilling machine, feature exist
In: including crawler belt chassis, control support case, hydraulic control box and the central support shaft successively installed from the bottom to top, center branch
The top of support axis is equipped with horizontal axis, and the fixing end of master cylinder is mounted on the both ends of horizontal axis, and the plunger end of master cylinder, which is hinged with, to be used for
The mounting rack of coordinate detection mechanism and electric drill micro actuator is installed, electric drill is fixedly mounted on electric drill micro actuator, the plunger of master cylinder
Fixing sleeve is equipped with mounting base on end, and the Inclination maneuver oil hydraulic cylinder for adjusting mounting rack angle, mounting base are provided in mounting base
Connects hinge is installed between the pedestal of mounting rack, is provided with limit sensors and velocity sensor on the drill bit of electric drill；
Coordinate detection mechanism include the L shape coordinate detection mounting base being mounted on mounting rack bottom plate and with L shape coordinate detection
The electrically operated gate of mounting base cooperation, is equipped with the hole location being mounted on tunnel inner sidewall for identification in L shape coordinate detection mounting base
The high-definition camera of label and for the laser positioning module with the hole location label cooperation being mounted on tunnel inner sidewall, laser is fixed
On the extension line for the center line that position module is mounted on master cylinder length direction, high-definition camera is close to laser positioning module and is located at
The side of laser positioning module, electric drill micro actuator include being mounted on the screw rod guide rail of mounting rack top plate bottom and for driving screw rod
The servo motor module of guide rail rotation, straight line and the detected ray of laser positioning module intersect vertically where screw rod guide rail；
Hydraulic control box is mounted on control support case by planar movement mechanism, and central support shaft is installed by rotating disk
On hydraulic control box, it is provided with electronic circuit board and power supply in the control support case, is collected on the electronic circuit board
At having master controller, power conversion module and the memory connecting with master controller, it is provided in the hydraulic control box hydraulic
It stands, master cylinder and Inclination maneuver oil hydraulic cylinder are connect with the hydraulic station, and crawler belt chassis, electric drill, limit sensors, speed pass
Sensor, electrically operated gate, high-definition camera, laser positioning module, hydraulic station and servo motor module are connect with master controller.
Above-mentioned a kind of tunnel automatic drilling machine, it is characterised in that: further include dedusting mechanism, the dedusting mechanism includes setting
The disposal box on ground and the air draught type dust arrester being mounted in disposal box are set, one end of sweep-up pipe is mounted on the top plate of mounting rack
Above and towards electric drill, the other end of sweep-up pipe stretches to disposal box and is connected to air draught type dust arrester, installs on the bottom plate of disposal box
There is pressure sensor, prompting device is installed on the cabinet of disposal box, pressure sensor and prompting device are connect with master controller.
Above-mentioned a kind of tunnel automatic drilling machine, it is characterised in that: be additionally provided in the hydraulic control box for driving
The first motor module that central support shaft is rotated with rotating disk and the second motor module for driving horizontal axis to rotate, described first
Motor module and the second motor module are connect with master controller.
Above-mentioned a kind of tunnel automatic drilling machine, it is characterised in that: the planar movement mechanism includes hydraulic for pushing
First movement mechanism that control cabinet is moved along length of tunnel direction and for pushing hydraulic control box to move along tunnel width direction
The second mobile mechanism, the first movement mechanism and second mobile mechanism are hydraulic cylinder or are feed screw nut's machine
Structure.
A kind of above-mentioned tunnel automatic drilling machine, it is characterised in that: the master cylinder is 240 ° around the angle that horizontal axis turns over,
Central support shaft is 360 ° around the angle that rotating disk turns over.
Above-mentioned a kind of tunnel automatic drilling machine, it is characterised in that: the electric drill is that the hole Bosch B8 tetra- 3 is electric hammer drill.
Meanwhile a kind of the invention also discloses method and steps simple, the reasonable tunnel automatic drilling method of design, feature
Be method includes the following steps:
Step 1: arrangement hole position marks: carrying out the hole according to design requirement on tunnel inner wall along length of tunnel direction
The arrangement of position label；
Step 2: drilling machine carries out the automatic drilling of tunnel section: drilling machine is using crawler belt chassis along length of tunnel side
To movement, subsection hole-drilling is carried out to the tunnel that need to be drilled；During subsection hole-drilling, to the boring method for the tunnel section that need to be drilled
It is all the same；
Crawler belt chassis tunnel that motionless in the case where electric drill can relate to of the tunnel section that need to be drilled by drilling machine
Inner wall area；
When drilling to the tunnel section that need to be drilled, process is as follows:
Step 201, crawler belt chassis are to the coarse alignment of drilling: drilling machine is run along length of tunnel direction, central support shaft
It is rotated with rotating disk, is located at the central axes of master cylinder in tunnel cross-section, drilling machine is moved to using crawler belt chassis and needs to drill
Tunnel section, realize tunnel boring coarse alignment；
The thin alignment of step 202, planar movement mechanism to drilling: hydraulic control box is adjusted using planar movement mechanism and is being controlled
The position of system support case, and then adjust master cylinder and electric drill is driven to be directed toward one section of tunnel inner wall, realize that tunnel boring is carefully aligned；；
The planar movement mechanism includes the first movement machine for pushing hydraulic control box to move along length of tunnel direction
Structure and the second mobile mechanism for pushing hydraulic control box to move along tunnel width direction, the first movement mechanism and described
Second mobile mechanism is hydraulic cylinder or is leading screw and nut mechanism；
The identification that hole location marks in step 203, one section of tunnel inner wall: hydraulic station adjustable inclination adjusts oil hydraulic cylinder, makes to incline
Angle adjustment oil hydraulic cylinder length is consistent with connects hinge length, realizes that electric drill is parallel with master cylinder, and hydraulic station controls master cylinder and extends,
Master cylinder is set to drive electric drill close to tunnel inner wall, when the distance between the front end of electric drill and tunnel inner wall reach first distance threshold value
When α, master cylinder stops extending, and reduces the angular field of view of high-definition camera acquisition image, main controller controls servo motor module
Electric drill moving along screw rod guide rail is realized in work, so that electric drill is deviateed straight line where master cylinder central axes, then main controller controls
Electrically operated gate is opened, and high-definition camera is made to work, and is rotated using master cylinder around horizontal axis, high-definition camera acquires one section of tunnel inner wall
Upper hole location tag image simultaneously carries out hole location tag image identification, wherein the unit of α is cm；
The fine alignment that hole location marks in step 204, one section of tunnel inner wall: when high-definition camera acquisition tunnel inner wall one is disconnected
On face when a hole location tag image, main controller controls laser positioning module work, when laser positioning module adjusting to a line should
When the distance that hole location label and laser positioning module detect is within the scope of second distance threshold value beta, realize on one section of tunnel inner wall
The fine alignment of hole location label；When the distance of laser positioning module adjusting to a line hole location label and the detection of laser positioning module does not exist
When within the scope of second distance threshold value beta, hydraulic station controls Inclination maneuver oil hydraulic cylinder and adjusts laser positioning die angle until laser is fixed
The distance that position module adjusting to a line hole location label and laser positioning module detect realizes tunnel within the scope of second distance threshold value beta
The fine alignment that hole location marks on one section of road inner wall；
When high-definition camera acquires multiple hole location tag images on one section of tunnel inner wall simultaneously, image pixel number is selected
Maximum hole location tag image is measured as target hole location and marks corresponding hole location tag image, utilizes laser positioning module straight line pair
Quasi- target hole location label, hydraulic station control Inclination maneuver oil hydraulic cylinder and adjust laser positioning die angle until laser positioning module is straight
The distance that line is directed at hole location label and laser positioning module detects realizes tunnel inner wall one within the scope of second distance threshold value beta
The fine alignment that hole location marks on section；
The probing of hole location label in step 205, one section of tunnel inner wall after fine alignment: main controller controls electrically operated gate is closed
It closes, high-definition camera is made to stop working, the work of main controller controls servo motor module realizes electric drill along the shifting of screw rod guide rail
It is dynamic, restore electric drill to straight line where master cylinder central axes, be then turned on electric drill, hydraulic station controls master cylinder and extends, and makes main oil
Cylinder drives hole location label of the electric drill after fine alignment, and electric drill drills the hole location label position after fine alignment, together
The dust that Shi Liyong dedusting mechanism generates electric drill probing carries out dust suction；
The dedusting mechanism includes the disposal box that ground is arranged in and the air draught type dust arrester being mounted in disposal box, dust suction
One end of pipe is mounted on the top plate of mounting rack and towards electric drill, and the other end of sweep-up pipe stretches to disposal box and air draught type dust
Device connection, is equipped with pressure sensor on the bottom plate of disposal box, is equipped with prompting device on the cabinet of disposal box, pressure sensor and
Prompting device is connect with master controller；
In place whether step 206 judge drilling depth: drill in drilling process using limit sensors acquisition electric drill
Depth, when drilling depth in place when, master cylinder retraction, and then electric drill is driven to exit drilling, execution step 208；When drilling is deep
When spending not in place, step 207 is executed；
Step 207 judges whether penetration rate is abnormal: storing penetration rate threshold interval in memory, utilizes speed
Sensor current collection creeps into penetration rate in row drilling process, and when penetration rate is in threshold speed section, penetration rate is normal,
Execute step 205；When penetration rate is not in threshold speed section, penetration rate is abnormal, executes step 4；
The monitoring of dust weight in step 208, disposal box: dust weight in disposal box is acquired in real time using pressure sensor
Amount replaces disposal box when dust weight is more than dust weight threshold value in the disposal box of pressure sensor acquisition, guarantees drilling machine
Continue working；
Step 209, control master cylinder are rotated around horizontal axis, change the angle of high-definition camera to another on one section of tunnel inner wall
The hole location tag image identification of one hole location label, circulation step 203 realize the knowledge of whole hole location labels on one section of tunnel inner wall
The probing of other and corresponding hole location；
Step 3: drilling machine carries out tunnel automatic drilling: drilling machine is moved using crawler belt chassis along length of tunnel direction
To the next tunnel section that need to be drilled, circulation step two realizes that drilling machine carries out tunnel automatic drilling；
Step 4: malfunction elimination: when penetration rate is less than penetration rate bottom threshold value, illustrating that the drill bit of electric drill has been ground
Damage, master cylinder retraction, and then electric drill is driven to exit drilling, repair and replacement are carried out to the drill bit of electric drill；It is bored when penetration rate is greater than
When the threshold speed upper limit value of hole, it is empty to illustrate that electric drill bores, master cylinder retraction, and then electric drill is driven to exit drilling, construction personnel is to this
The tunnel inner wall of bore position carries out leak repairing maintenance.
Above-mentioned method, it is characterised in that: the electric drill is that the hole Bosch B8 tetra- 3 is electric hammer drill；It is bored described in step 207
Hole threshold speed section is [8mm/s, 12mm/s].
Above-mentioned method, it is characterised in that: the master controller is PLC module.
Compared with the prior art, the present invention has the following advantages:
1, the drilling machine that the present invention uses realizes drilling machine along the shifting in length of tunnel direction by setting crawler belt chassis
It is dynamic, it realizes that bearing capacity is big to the coarse alignment of drilling, reduces the mobile drilling machine of human assistance, to realize that tunnel Full-automatic drilling mentions
For basis, convenient for promoting the use of.
2, the drilling machine that the present invention uses realizes the thin alignment to drilling by planar movement mechanism, true in crawler belt chassis
On the basis of positioning is set, guarantees that the mobile control object of drilling machine is few, quickly realize that drilling is further aligned, control is simple, can
By stabilization, using effect is good.
3, the drilling machine that the present invention uses passes through the cooperation of Inclination maneuver oil hydraulic cylinder and master cylinder, realizes to the microcosmic of drilling
Fine alignment, it is laborsaving accurate, labour is saved, security risk and difficulty of construction are reduced, manual work is avoided to suck a large amount of dusts,
Reduce the damage and unnecessary personal injury to construction personnel's health.
4, the coordinate detection mechanism that the present invention uses searches hole location using high-definition camera and marks, using laser positioning module
It determines that target hole location marks along the principle of straightline propagation using laser, guarantees the verticality of electric drill and tunnel inner wall, meet electric drill
The demand of work.
5, the present invention timely sucks the dust that electric drill drilling generates using dedusting mechanism, guarantees the visibility in tunnel,
Ensure that high-definition camera working environment is high-visible, is that construction personnel builds a good working environment in tunnel.
6, the method that the present invention uses, step is simple, by arranging on tunnel inner wall and the cooperation of laser positioning module
Hole location label, tunnel is segmented, realizes every section of tunnel by arriving fine mode again from thick to thin to every section of transit tunnel
The image recognition and drill precise holes of all hole location labels in section, the work shape of drilling machine is identified by drilling depth and penetration rate
State avoids drilling machine from working or drill out improper hole under abnormal condition, and functional reliability is high, and by dedusting mechanism and
When the dust absorption for generating electric drill drilling, guarantee that high-definition camera obtains image clearly, while reducing dust to constructor
The damage of member's health, convenient for promoting the use of.
In conclusion the present invention is novel in design rationally, realize drilling machine along length of tunnel direction by crawler belt chassis
It is mobile, it realizes that bearing capacity is big to the coarse alignment of drilling, the thin alignment to drilling is realized by planar movement mechanism, control is simple,
By the cooperation of Inclination maneuver oil hydraulic cylinder and master cylinder, the microcosmic fine alignment to drilling is realized, it is laborsaving accurate, save labour
Power reduces security risk and difficulty of construction, and manual work is avoided to suck a large amount of dusts, reduces the damage to construction personnel's health
Harmful and unnecessary personal injury, convenient for promoting the use of.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the drilling machine of the invention used in the operating condition.
Fig. 2 is the structural schematic diagram of the drilling machine of the invention used in a non-operative state.
Fig. 3 is the structural schematic diagram of coordinate detection mechanism of the present invention and electric drill micro actuator in the operating condition.
Fig. 4 is the structural schematic diagram of Tu3Zhong coordinate detection mechanism in a non-operative state.
Fig. 5 is schematic block circuit diagram of the invention.
Fig. 6 is the method flow block diagram of the method for the present invention.
Description of symbols:
1-tunnel；2-disposal boxes；3-crawler belt chassis；
4-control support casees；5-hydraulic control boxs；6-planar movement mechanisms；
7-central support shafts；8-rotating disks；9-horizontal axis；
10-master cylinders；11-mounting bases；12-mounting racks；
13-Inclination maneuver oil hydraulic cylinders；14-connects hinges；15-coordinate detection mechanisms；
15-1-L shape coordinate detection mounting base；15-2-electrically operated gate；
15-3-high-definition camera；15-4-laser positioning module；
16-electric drills；17-electric drill micro actuators；17-1-screw rod guide rail；
17-2-servo motor module；18-sweep-up pipes；19-power supplies；
20-power conversion modules；21-limit sensors；22-velocity sensors；
23-pressure sensors；24-prompting devices；25-memories；
26-air draught type dust arresters；27-first motor modules；28-the second motor module；
29-hydraulic stations；29-master controllers.
Specific embodiment
As shown in Figures 1 to 5, a kind of tunnel automatic drilling machine of the present invention, including what is successively installed from the bottom to top
Crawler belt chassis 3, control support case 4, hydraulic control box 5 and central support shaft 7, the top of central support shaft 7 are equipped with horizontal axis
9, the fixing end of master cylinder 10 is mounted on the both ends of horizontal axis 9, and the plunger end of master cylinder 10 is hinged with for installing coordinate detection machine
The mounting rack 12 of structure 15 and electric drill micro actuator 17, electric drill 16 are fixedly mounted on electric drill micro actuator 17, the plunger end of master cylinder 10
Upper fixing sleeve is equipped with mounting base 11, and the Inclination maneuver oil hydraulic cylinder 13 for adjusting 12 angle of mounting rack is provided in mounting base 11,
Connects hinge 14 is installed between mounting base 11 and the pedestal of mounting rack 12, limit sensors 21 are provided on the drill bit of electric drill 16
With velocity sensor 22；
Coordinate detection mechanism 15 include the L shape coordinate detection mounting base 15-1 that is mounted on 12 bottom plate of mounting rack and with L shape
It is equipped on electrically operated gate 15-2, the L shape coordinate detection mounting base 15-1 of coordinate detection mounting base 15-1 cooperation and installs for identification
In the high-definition camera 15-3 of the hole location label on tunnel inner sidewall and for being marked with the hole location being mounted on tunnel inner sidewall
The laser positioning module 15-4 of cooperation, laser positioning module 15-4 are mounted on the extension line of the center line of 10 length direction of master cylinder
On, high-definition camera 15-3 is close to laser positioning module 15-4 and positioned at the side of laser positioning module 15-4, electric drill micro actuator
17 include the screw rod guide rail 17-1 for being mounted on 12 top plate bottom of mounting rack and the servo electricity for driving screw rod guide rail 17-1 to rotate
Machine module 17-2, the detected ray of straight line and laser positioning module 15-4 intersects vertically where screw rod guide rail 17-1；
Hydraulic control box 5 is mounted on control support case 4 by planar movement mechanism 6, and central support shaft 7 passes through rotating disk
8 are mounted on hydraulic control box 5, are provided with electronic circuit board and power supply 19, the electric wire in the control support case 4
Master controller 30, power conversion module 20 and the memory 25 connecting with master controller 30, the hydraulic control are integrated on the plate of road
Hydraulic station 29 is provided in case 5 processed, master cylinder 10 and Inclination maneuver oil hydraulic cylinder 13 are connect with the hydraulic station 29, creeper truck bottom
Disk 3, electric drill 16, limit sensors 21, velocity sensor 22, electrically operated gate 15-2, high-definition camera 15-3, laser positioning module
15-4, hydraulic station 29 and servo motor module 17-2 are connect with master controller 30.
It should be noted that realizing drilling machine moving along length of tunnel direction, realization pair by setting crawler belt chassis 3
The coarse alignment of drilling, bearing capacity is big, reduces the mobile drilling machine of human assistance, to realize that tunnel Full-automatic drilling provides basis, just
In popularization and use, the thin alignment to drilling is realized by planar movement mechanism 6, on the basis of crawler belt chassis 3 determines position,
Guarantee that the mobile control object of drilling machine is few, quickly realizes that drilling is further aligned, control is simple, reliable and stable, using effect
It is good, by the cooperation of Inclination maneuver oil hydraulic cylinder 13 and master cylinder 10, realize the microcosmic fine alignment to drilling, laborsaving accurate, section
About labour reduces security risk and difficulty of construction, and manual work is avoided to suck a large amount of dusts, reduces strong to construction personnel's body
The damage of health and unnecessary personal injury, the purpose that the top of central support shaft 7 is equipped with horizontal axis 9 is to realize master cylinder 10
Master cylinder 10 can be adjusted to control support case 4 and hydraulic control box 5 along tunnel when master cylinder 10 does not work by position adjustment
Mobile front end or rear end avoids damage of the tunnel-side to electric drill 16, when master cylinder 10 works, can adjust master cylinder 10
The left or right moved to control support case 4 and hydraulic control box 5 along tunnel, as shown in Figure 2.Mounting base 11 is fixedly set in
The plunger end of master cylinder 10 provides support force for the rotation of mounting rack 12, and the plunger end that mounting rack 12 is hinged on master cylinder 10 is same
When mounting base 11 and the pedestal of mounting rack 12 between connects hinge 14 is installed, convenient for Inclination maneuver oil hydraulic cylinder 13 stretch mounting rack
When 12, mounting rack 12 is freely rotated, flexibly ingenious, and coordinate detection mechanism 15 searches hole location using high-definition camera and marks, and is adopted
It determines that target hole location marks along the principle of straightline propagation using laser with laser positioning module, guarantees hanging down for electric drill and tunnel inner wall
Straight degree meets the needs of electric drill work, the purpose of limit sensors 21 and velocity sensor 22 is provided on the drill bit of electric drill 16
That drilling quality is determined by drilling depth and penetration rate, avoid drilling machine work or drill out under abnormal condition it is improper
Hole, functional reliability is high.
In actual use, L shape coordinate detection mounting base 15-1 and electrically operated gate 15-2 cooperates, and realizes to high-definition camera 15-3
With the protection of laser positioning module 15-4, avoid tunnel rugged environment to high-definition camera 15-3 and laser positioning module 15-4
Damage, extend the service life of high-definition camera 15-3 and laser positioning module 15-4, laser positioning module 15-4 is mounted on
Purpose on the extension line of the center line of 10 length direction of master cylinder is to aid in electric drill 16 and determines bore position, when laser positioning mould
When block 15-4 detects bore position, electric drill micro actuator 17 removes electric drill 16, avoids blocking laser positioning module 15-4 work；When
When laser positioning module 15-4 determines bore position, before electric drill 16 is retracted into laser positioning module 15-4 by electric drill micro actuator 17
The working efficiency of master cylinder 10 and electric drill 16 is improved at end.
It further include dedusting mechanism in the present embodiment, the dedusting mechanism includes that the disposal box 2 on ground is arranged in and is mounted on
Air draught type dust arrester 26 in disposal box 2, one end of sweep-up pipe 18 are mounted on the top plate of mounting rack 12 and towards electric drills 16, inhale
The other end of dirt pipe 18 stretches to disposal box 2 and is connected to air draught type dust arrester 26, is equipped with pressure sensing on the bottom plate of disposal box 2
Device 23 is equipped with prompting device 24 on the cabinet of disposal box 2, and pressure sensor 23 and prompting device 24 are connect with master controller 30.
It should be noted that dedusting mechanism timely sucks the dust that the drilling of electric drill 16 generates, guarantee can see in tunnel
Degree, it is ensured that high-definition camera 15-3 working environment is high-visible, is that construction personnel builds a good working environment in tunnel,
The purpose that pressure sensor 23 is arranged on the bottom plate of disposal box 2 is to utilize dust in pressure sensor 23 in real time acquisition disposal box 2
Weight replaces disposal box 2 when dust weight is more than dust weight threshold value in the disposal box 2 that pressure sensor 23 acquires, and guarantees
Drilling machine continues working, and the purpose that prompting device 24 is equipped on the cabinet of disposal box 2 is the collection working as pressure sensor 23 and acquiring
When dust weight is more than dust weight threshold value in dirt case 2, using 24 automatic prompt construction personnel of prompting device, high degree of automation,
Reduce the workload of construction personnel.
In the present embodiment, it is additionally provided in the hydraulic control box 5 for driving central support shaft 7 to rotate with rotating disk 8
First motor module 27 and for drive horizontal axis 9 rotate the second motor module 28, the first motor module 27 and second
Motor module 28 is connect with master controller 30.
In the present embodiment, the planar movement mechanism 6 includes for pushing hydraulic control box 5 to move along 1 length direction of tunnel
Dynamic first movement mechanism and the second mobile mechanism for pushing hydraulic control box 5 to move along 1 width direction of tunnel, described
One mobile mechanism and second mobile mechanism are hydraulic cylinder or are leading screw and nut mechanism.
In the present embodiment, the master cylinder 10 is 240 ° around the angle that horizontal axis 9 turns over, and central support shaft 7 is around 8 turns of rotating disk
The angle crossed is 360 °.
It should be noted that master cylinder 10 is 240 ° around the angle that horizontal axis 9 turns over, coverage area is big, covers manpower not
It is easy the height region of drilling.
In the present embodiment, the electric drill 16 is that the hole Bosch B8 tetra- 3 is electric hammer drill.
It should be noted that electric drill 16 is steel in the disconnected tunnel of direct brill using the purpose that the hole Bosch B8 tetra- 3 is electric hammer drill
Muscle reduces the obstacle of drilling without detecting the presence of reinforcing bar in tunnel.
A kind of method of tunnel automatic drilling as shown in FIG. 6, comprising the following steps:
Step 1: arrangement hole position marks: described in being carried out on 1 inner wall of tunnel according to design requirement along 1 length direction of tunnel
The arrangement of hole location label；
Step 2: drilling machine carries out the automatic drilling of tunnel section: drilling machine is using crawler belt chassis 3 along 1 length of tunnel
Direction is mobile, carries out subsection hole-drilling to the tunnel 1 that need to be drilled；Drilling during subsection hole-drilling, to the tunnel section that need to be drilled
Method is all the same；
Crawler belt chassis 3 tunnel that motionless in the case where electric drill 16 can relate to of the tunnel section that need to be drilled by drilling machine
Road inner wall area；
When drilling to the tunnel section that need to be drilled, process is as follows:
Step 201, crawler belt chassis are to the coarse alignment of drilling: drilling machine is run along 1 length direction of tunnel, central support shaft
7 rotate with rotating disk 8, are located at the central axes of master cylinder 10 in 1 section of tunnel, drilling machine is moved to using crawler belt chassis 3
The tunnel section that need to be drilled realizes tunnel boring coarse alignment；
The thin alignment of step 202, planar movement mechanism to drilling: hydraulic control box 5 is adjusted using planar movement mechanism 6 and is existed
The position of control support case 4, and then adjust master cylinder 10 and electric drill 16 is driven to be directed toward 1 inner wall of tunnel, one section, realize tunnel boring
Thin alignment；；
The planar movement mechanism 6 includes the first movement for pushing hydraulic control box 5 to move along 1 length direction of tunnel
Mechanism and the second mobile mechanism for pushing hydraulic control box 5 to move along 1 width direction of tunnel, the first movement mechanism and
Second mobile mechanism is hydraulic cylinder or is leading screw and nut mechanism；
The identification that hole location marks in step 203, one section of tunnel inner wall: 29 adjustable inclination of hydraulic station adjusts oil hydraulic cylinder 13,
Keep 13 length of Inclination maneuver oil hydraulic cylinder consistent with 14 length of connects hinge, realizes that electric drill 16 is parallel with master cylinder 10, hydraulic station 29
Control master cylinder 10 to extend, master cylinder 10 made to drive electric drill 16 close to tunnel inner wall, when the front end of electric drill 16 and tunnel inner wall it
Between distance when reaching first distance threshold alpha, master cylinder 10 stops extending, and reduces the visual angle of high-definition camera 15-3 acquisition image
Range, master controller 30 control servo motor module 17-2 work, realize the moving along screw rod guide rail 17-1 of electric drill 16, make electric drill
16 deviate straight line where 10 central axes of master cylinder, and then master controller 30 controls electrically operated gate 15-2 and opens, and make high-definition camera 15-
3 work are rotated using master cylinder 10 around horizontal axis 9, and high-definition camera 15-3 acquires hole location tag image on one section of tunnel inner wall
And carry out hole location tag image identification, wherein the unit of α is cm；
In the present embodiment, the master controller 30 is PLC module.
The fine alignment that hole location marks in step 204, one section of tunnel inner wall: when high-definition camera 15-3 acquires tunnel inner wall
On one section when a hole location tag image, master controller 30 controls laser positioning module 15-4 work, when laser positioning module
It is real when the distance that 15-4 adjusting to a line hole location label and laser positioning module 15-4 are detected is within the scope of second distance threshold value beta
The fine alignment of hole location label on existing one section of tunnel inner wall；When laser positioning module 15-4 adjusting to a line hole location label and laser
When the distance of locating module 15-4 detection is not within the scope of second distance threshold value beta, hydraulic station 29 controls Inclination maneuver oil hydraulic cylinder 13
Laser positioning module 15-4 angle is adjusted until the laser positioning module 15-4 adjusting to a line hole location marks and laser positioning module
The distance of 15-4 detection realizes the fine alignment of hole location label on one section of tunnel inner wall within the scope of second distance threshold value beta；
When high-definition camera 15-3 acquires multiple hole location tag images on one section of tunnel inner wall simultaneously, image slices are selected
The maximum hole location tag image of prime number amount marks corresponding hole location tag image as target hole location, utilizes laser positioning module
15-4 adjusting to a line target hole location label, hydraulic station 29 control Inclination maneuver oil hydraulic cylinder 13 and adjust laser positioning module 15-4 angle
Until the distance that laser positioning module 15-4 adjusting to a line hole location label and laser positioning module 15-4 are detected is in second distance
Within the scope of threshold value beta, the fine alignment of hole location label on one section of tunnel inner wall is realized；
The probing of hole location label in step 205, one section of tunnel inner wall after fine alignment: master controller 30 controls electrically operated gate
15-2 is closed, and high-definition camera 15-3 is made to stop working, and master controller 30 controls servo motor module 17-2 work, realizes electric drill
16 moving along screw rod guide rail 17-1 restore electric drill 16 to straight line where 10 central axes of master cylinder, are then turned on electric drill 16, liquid
29 control master cylinder 10 of pressure station extends, the hole location label for making master cylinder 10 drive electric drill 16 after fine alignment, 16 pairs of essences of electric drill
Hole location label position after alignment is drilled, while being inhaled using the dust that dedusting mechanism generates the probing of electric drill 16
Dirt；
The dedusting mechanism include be arranged in ground disposal box 2 and the air draught type dust arrester 26 being mounted in disposal box 2,
One end of sweep-up pipe 18 is mounted on the top plate of mounting rack 12 and towards electric drill 16, and the other end of sweep-up pipe 18 stretches to disposal box
2 are connected to air draught type dust arrester 26, and pressure sensor 23 is equipped on the bottom plate of disposal box 2, is equipped on the cabinet of disposal box 2
Prompting device 24, pressure sensor 23 and prompting device 24 are connect with master controller 30；
In place whether step 206 judge drilling depth: acquiring electric drill 16 using limit sensors 21 and carries out in drilling process
The depth of drilling, when drilling depth in place when, master cylinder 10 bounces back, and then electric drill 16 is driven to exit drilling, execution step 208；
When drilling depth not in place when, execute step 207；
Step 207 judges whether penetration rate is abnormal: storing penetration rate threshold interval in memory 25, utilizes speed
It spends sensor 22 and collects penetration rate in the progress drilling process of electric drill 16, when penetration rate is in threshold speed section, drilling speed
Degree is normal, executes step 205；When penetration rate is not in threshold speed section, penetration rate is abnormal, executes step 4；
In the present embodiment, the electric drill 16 is that the hole Bosch B8 tetra- 3 is electric hammer drill；Penetration rate threshold described in step 207
Being worth section is [8mm/s, 12mm/s].
The monitoring of dust weight in step 208, disposal box: dust in pressure sensor 23 in real time acquisition disposal box 2 is utilized
Weight replaces disposal box 2 when dust weight is more than dust weight threshold value in the disposal box 2 that pressure sensor 23 acquires, and guarantees
Drilling machine continues working；
Step 209, control master cylinder 10 are rotated around horizontal axis 9, change the angle of high-definition camera 15-3 to tunnel inner wall one
The hole location tag image identification of another hole location label, circulation step 203 on section, realize whole hole locations on one section of tunnel inner wall
The identification of label and the probing of corresponding hole location；
Step 3: drilling machine carries out tunnel automatic drilling: drilling machine is moved using crawler belt chassis 3 along 1 length direction of tunnel
It moves to the next tunnel section that need to be drilled, circulation step two, realizes that drilling machine carries out tunnel automatic drilling；
Step 4: malfunction elimination: when penetration rate is less than penetration rate bottom threshold value, having illustrated the drill bit of electric drill 16
Abrasion, master cylinder 10 bounce back, and then electric drill 16 is driven to exit drilling, carry out repair and replacement to the drill bit of electric drill 16；When drilling speed
When degree is greater than penetration rate upper threshold value, illustrate that electric drill 16 bores sky, master cylinder 10 bounces back, and then electric drill 16 is driven to exit brill
Hole, construction personnel carry out leak repairing maintenance to the tunnel inner wall of the bore position.
The present invention is in use, realize drilling machine moving along length of tunnel direction by crawler belt chassis, realization is to drilling
Coarse alignment, bearing capacity is big, realizes thin alignment to drilling by planar movement mechanism, and control is simple, passes through Inclination maneuver oil
The microcosmic fine alignment to drilling is realized in the cooperation of cylinder pressure and master cylinder, laborsaving accurate, is saved labour, is reduced security risk
And difficulty of construction, it avoids manual work from sucking a large amount of dusts, reduces the damage to construction personnel's health and unnecessary people
Member's injury, using effect are good.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (9)
1. a kind of tunnel automatic drilling machine, it is characterised in that: including successively install from the bottom to top crawler belt chassis (3), control
Support case (4), hydraulic control box (5) and central support shaft (7), the top of central support shaft (7) are equipped with horizontal axis (9), main oil
The fixing end of cylinder (10) is mounted on the both ends of horizontal axis (9), and the plunger end of master cylinder (10) is hinged with for installing coordinate detection machine
The mounting rack (12) of structure (15) and electric drill micro actuator (17), electric drill (16) are fixedly mounted on electric drill micro actuator (17), master cylinder
(10) fixing sleeve is equipped with mounting base (11) in plunger end, is provided in mounting base (11) for adjusting mounting rack (12) angle
Inclination maneuver oil hydraulic cylinder (13) is equipped with connects hinge (14), electric drill between mounting base (11) and the pedestal of mounting rack (12)
(16) limit sensors (21) and velocity sensor (22) are provided on drill bit；
Coordinate detection mechanism (15) includes the L shape coordinate detection mounting base (15-1) and and L being mounted on mounting rack (12) bottom plate
The electrically operated gate (15-2) of shape coordinate detection mounting base (15-1) cooperation, is equipped in L shape coordinate detection mounting base (15-1) and is used for
Identify be mounted on tunnel inner sidewall hole location label high-definition camera (15-3) and for be mounted on tunnel inner sidewall
Hole location label cooperation laser positioning module (15-4), laser positioning module (15-4) is mounted on master cylinder (10) length direction
Center line extension line on, high-definition camera (15-3) close to laser positioning module (15-4) and be located at laser positioning module
The side of (15-4), electric drill micro actuator (17) include being mounted on the screw rod guide rail (17-1) of mounting rack (12) top plate bottom and being used for
The servo motor module (17-2) of screw rod guide rail (17-1) rotation is driven, straight line and laser positioning mould where screw rod guide rail (17-1)
The detected ray of block (15-4) intersects vertically；
Hydraulic control box (5) is mounted in control support case (4) by planar movement mechanism (6), and central support shaft (7) passes through rotation
Turntable (8) is mounted on hydraulic control box (5), is provided with electronic circuit board and power supply in control support case (4)
(19), it is integrated with master controller (30), power conversion module (20) on the electronic circuit board and is connect with master controller (30)
Memory (25), is provided with hydraulic station (29) in the hydraulic control box (5), master cylinder (10) and Inclination maneuver oil hydraulic cylinder
(13) it is connect with the hydraulic station (29), crawler belt chassis (3), electric drill (16), limit sensors (21), velocity sensor
(22), electrically operated gate (15-2), high-definition camera (15-3), laser positioning module (15-4), hydraulic station (29) and servo motor mould
Block (17-2) is connect with master controller (30).
2. a kind of tunnel automatic drilling machine described in accordance with the claim 1, it is characterised in that: it further include dedusting mechanism, it is described to remove
Dirt mechanism includes the air draught type dust arrester (26) that the disposal box (2) on ground is arranged in and is mounted in disposal box (2), sweep-up pipe
(18) one end is mounted on the top plate of mounting rack (12) and towards electric drill (16), and the other end of sweep-up pipe (18) stretches to dust
Case (2) is connected to air draught type dust arrester (26), is equipped on the bottom plate of disposal box (2) pressure sensor (23), disposal box (2)
It is equipped on cabinet prompting device (24), pressure sensor (23) and prompting device (24) are connect with master controller (30).
3. a kind of tunnel automatic drilling machine described in accordance with the claim 1, it is characterised in that: in the hydraulic control box (5) also
It is provided with first motor module (27) for driving central support shaft (7) to rotate with rotating disk (8) and for driving horizontal axis (9)
The second motor module (28) of rotation, the first motor module (27) and the second motor module (28) with master controller (30)
Connection.
4. a kind of tunnel automatic drilling machine described in accordance with the claim 1, it is characterised in that: planar movement mechanism (6) packet
It includes for pushing hydraulic control box (5) along the mobile first movement mechanism of tunnel (1) length direction and for pushing hydraulic control
Case (5) second mobile mechanism mobile along tunnel (1) width direction, the first movement mechanism and second mobile mechanism are equal
It for hydraulic cylinder or is leading screw and nut mechanism.
5. a kind of tunnel automatic drilling machine described in accordance with the claim 1, it is characterised in that: the master cylinder (10) is around horizontal axis
(9) angle turned over is 240 °, and central support shaft (7) is 360 ° around the angle that rotating disk (8) turns over.
6. a kind of tunnel automatic drilling machine described in accordance with the claim 1, it is characterised in that: the electric drill (16) is Bosch B8 tetra-
Hole 3 is electric hammer drill.
7. a kind of method for carrying out tunnel automatic drilling using drilling machine as described in claim 1, it is characterised in that: this method packet
Include following steps:
Step 1: arrangement hole position marks: described in being carried out on tunnel (1) inner wall according to design requirement along tunnel (1) length direction
The arrangement of hole location label；
Step 2: drilling machine carries out the automatic drilling of tunnel section: drilling machine is using crawler belt chassis (3) along tunnel (1) length
Direction is mobile, carries out subsection hole-drilling to the tunnel (1) that need to be drilled；During subsection hole-drilling, to the brill for the tunnel section that need to be drilled
Hole method is all the same；
Crawler belt chassis (3) tunnel that motionless in the case where electric drill (16) can relate to of the tunnel section that need to be drilled by drilling machine
Road inner wall area；
When drilling to the tunnel section that need to be drilled, process is as follows:
Step 201, crawler belt chassis are to the coarse alignment of drilling: drilling machine is run along tunnel (1) length direction, central support shaft
(7) it is rotated with rotating disk (8), is located at the central axes of master cylinder (10) in tunnel (1) section, drilling machine utilizes crawler belt chassis
(3) it is moved to the tunnel section that need to be drilled, realizes tunnel boring coarse alignment；
The thin alignment of step 202, planar movement mechanism to drilling: hydraulic control box (5) are adjusted using planar movement mechanism (6) and are existed
The position of control support case (4), and then adjust master cylinder (10) and electric drill (16) is driven to be directed toward one section of tunnel (1) inner wall, it realizes
Tunnel boring is carefully aligned；；
The planar movement mechanism (6) includes the first shifting for pushing hydraulic control box (5) mobile along tunnel (1) length direction
Motivation structure and the second mobile mechanism for pushing hydraulic control box (5) mobile along tunnel (1) width direction, the first movement
Mechanism and second mobile mechanism are hydraulic cylinder or are leading screw and nut mechanism；
The identification that hole location marks in step 203, one section of tunnel inner wall: hydraulic station (29) adjustable inclination adjusts oil hydraulic cylinder (13),
Keep Inclination maneuver oil hydraulic cylinder (13) length consistent with connects hinge (14) length, realize that electric drill (16) are parallel with master cylinder (10),
Hydraulic station (29) controls master cylinder (10) and extends, and makes master cylinder (10) to drive electric drill (16) close to tunnel inner wall, when electric drill (16)
Front end and the distance between tunnel inner wall when reaching first distance threshold alpha, master cylinder (10) stops extending, and reduces high-definition camera
The angular field of view of head (15-3) acquisition image, master controller (30) control servo motor module (17-2) work, realize electric drill
(16) along the movement of screw rod guide rail (17-1), electric drill (16) is made to deviate straight line where master cylinder (10) central axes, then main control
Device (30) controls electrically operated gate (15-2) and opens, and high-definition camera (15-3) is made to work, and is turned using master cylinder (10) around horizontal axis (9)
Dynamic, high-definition camera (15-3) acquires hole location tag image on one section of tunnel inner wall and carries out hole location tag image identification,
In, the unit of α is cm；
The fine alignment that hole location marks in step 204, one section of tunnel inner wall: when high-definition camera (15-3) acquires tunnel inner wall one
On section when a hole location tag image, master controller (30) controls laser positioning module (15-4) work, when laser positioning mould
The distance that block (15-4) adjusting to a line hole location label and laser positioning module (15-4) detect is within the scope of second distance threshold value beta
When, realize the fine alignment of hole location label on one section of tunnel inner wall；When laser positioning module (15-4) adjusting to a line hole location mark
When the distance that note and laser positioning module (15-4) detect is not within the scope of second distance threshold value beta, hydraulic station (29) controls inclination angle
It adjusts oil hydraulic cylinder (13) and adjusts laser positioning module (15-4) angle until laser positioning module (15-4) the adjusting to a line hole location
The distance that label and laser positioning module (15-4) detect is realized on one section of tunnel inner wall within the scope of second distance threshold value beta
The fine alignment of hole location label；
When high-definition camera (15-3) acquires multiple hole location tag images on one section of tunnel inner wall simultaneously, image pixel is selected
The maximum hole location tag image of quantity marks corresponding hole location tag image as target hole location, utilizes laser positioning module (15-
4) adjusting to a line target hole location marks, and hydraulic station (29) controls Inclination maneuver oil hydraulic cylinder (13) and adjusts laser positioning module (15-4)
Angle is until laser positioning module (15-4) the adjusting to a line hole location marks and the distance of laser positioning module (15-4) detection exists
Within the scope of second distance threshold value beta, the fine alignment of hole location label on one section of tunnel inner wall is realized；
The probing of hole location label in step 205, one section of tunnel inner wall after fine alignment: master controller (30) controls electrically operated gate
(15-2) is closed, and high-definition camera (15-3) is made to stop working, and master controller (30) controls servo motor module (17-2) work,
Realize that electric drill (16) along the movement of screw rod guide rail (17-1), restore electric drill (16) to straight line where master cylinder (10) central axes,
It is then turned on electric drill (16), hydraulic station (29) controls master cylinder (10) and extends, and master cylinder (10) is made to drive electric drill (16) close to essence
Hole location label after alignment, electric drill (16) drills the hole location label position after fine alignment, while utilizing dust removal machine
The dust that structure generates electric drill (16) probing carries out dust suction；
The dedusting mechanism includes the air draught type dust arrester that the disposal box (2) on ground is arranged in and is mounted in disposal box (2)
(26), one end of sweep-up pipe (18) is mounted on the top plate of mounting rack (12) and towards electric drill (16), sweep-up pipe (18) it is another
End stretches to disposal box (2) and is connected to air draught type dust arrester (26), is equipped with pressure sensor on the bottom plate of disposal box (2)
(23), it is equipped with prompting device (24) on the cabinet of disposal box (2), pressure sensor (23) and prompting device (24) are and master controller
(30) it connects；
In place whether step 206 judge drilling depth: being carried out in drilling process using limit sensors (21) acquisition electric drill (16)
The depth of drilling, when drilling depth in place when, master cylinder (10) retraction, and then electric drill (16) is driven to exit drilling, execution step
208；When drilling depth not in place when, execute step 207；
Step 207 judges whether penetration rate is abnormal: storing penetration rate threshold interval in memory (25), utilizes speed
Sensor (22) collects electric drill (16) and carries out penetration rate in drilling process, when penetration rate is in threshold speed section, drilling
Speed is normal, executes step 205；When penetration rate is not in threshold speed section, penetration rate is abnormal, executes step 4；
The monitoring of dust weight in step 208, disposal box: disposal box (2) interior dust is acquired in real time using pressure sensor (23)
Weight replaces disposal box when disposal box (2) the interior dust weight of pressure sensor (23) acquisition is more than dust weight threshold value
(2), guarantee continuing working for drilling machine；
Step 209, control master cylinder (10) are rotated around horizontal axis (9), change the angle of high-definition camera (15-3) to tunnel inner wall
The hole location tag image identification of another hole location label, circulation step 203 realize all well on one section of tunnel inner wall on one section
The identification of position label and the probing of corresponding hole location；
Step 3: drilling machine carries out tunnel automatic drilling: drilling machine is moved using crawler belt chassis (3) along tunnel (1) length direction
It moves to the next tunnel section that need to be drilled, circulation step two, realizes that drilling machine carries out tunnel automatic drilling；
Step 4: malfunction elimination: when penetration rate is less than penetration rate bottom threshold value, illustrating that the drill bit of electric drill (16) has been ground
Damage, master cylinder (10) retraction, and then electric drill (16) is driven to exit drilling, repair and replacement are carried out to the drill bit of electric drill (16)；Work as brill
When hole speed is greater than penetration rate upper threshold value, illustrate that electric drill (16) bore empty, master cylinder (10) retraction, and then drive electric drill
(16) drilling is exited, construction personnel carries out leak repairing maintenance to the tunnel inner wall of the bore position.
8. according to the method for claim 7, it is characterised in that: the electric drill (16) is that the hole Bosch B8 tetra- 3 is electric hammer drill；
Penetration rate threshold interval described in step 207 is [8mm/s, 12mm/s].
9. according to the method for claim 7, it is characterised in that: the master controller (30) is PLC module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574367.9A CN109458133B (en) | 2018-12-21 | 2018-12-21 | Automatic tunnel drilling machine and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574367.9A CN109458133B (en) | 2018-12-21 | 2018-12-21 | Automatic tunnel drilling machine and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109458133A true CN109458133A (en) | 2019-03-12 |
| CN109458133B CN109458133B (en) | 2023-09-19 |
Family
ID=65614298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811574367.9A Active CN109458133B (en) | 2018-12-21 | 2018-12-21 | Automatic tunnel drilling machine and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109458133B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109838210A (en) * | 2019-04-08 | 2019-06-04 | 中铁一局集团电务工程有限公司 | A kind of application method of rigid contact net suspension fully-automatic intelligent positioning drilling device |
| CN110439460A (en) * | 2019-08-21 | 2019-11-12 | 航天晨光股份有限公司 | A kind of automatic drilling machine based on drawing identification and intelligent positioning |
| CN110834383A (en) * | 2019-11-13 | 2020-02-25 | 安徽凤阳淮河玻璃有限公司 | Formula of making an uproar glass drilling machine falls in giving sound insulation |
| CN111037556A (en) * | 2019-12-19 | 2020-04-21 | 上海新时达机器人有限公司 | Punching control method and punching control equipment |
| CN112343506A (en) * | 2020-11-05 | 2021-02-09 | 宁夏智控能源科技有限公司 | Underground coal mine low-azimuth drilling method and hydraulic drill carriage thereof |
| CN113446009A (en) * | 2021-06-01 | 2021-09-28 | 北京市政建设集团有限责任公司 | Intelligent shallow-buried underground excavation operation method and equipment and storage medium |
| CN113482528A (en) * | 2021-08-18 | 2021-10-08 | 中建安装集团有限公司 | Construction method based on tunnel rail-mounted omnidirectional inner wall drilling robot |
| CN113550691A (en) * | 2020-04-23 | 2021-10-26 | 湖南工业大学 | Robot for drilling subway tunnel segment and construction method |
| CN113700447A (en) * | 2021-09-30 | 2021-11-26 | 太原理工大学 | Intelligent dust removal system and method for underground drilling |
| CN113914880A (en) * | 2021-09-01 | 2022-01-11 | 中铁九局集团电务工程有限公司 | Inclination angle correctable tunnel punching method based on laser ranging and punching robot |
| CN114233182A (en) * | 2021-12-15 | 2022-03-25 | 中铁工程装备集团有限公司 | Frame type drilling device and construction method |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN116163652A (en) * | 2023-04-26 | 2023-05-26 | 中铁八局集团电务工程有限公司 | Tunnel punching equipment and construction method thereof |
| CN114233182B (en) * | 2021-12-15 | 2024-04-19 | 中铁工程装备集团有限公司 | Frame type drilling device and construction method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05222893A (en) * | 1992-02-13 | 1993-08-31 | Sato Kogyo Co Ltd | Adjusting method of bottom of bore hole and device thereof in tunnel boring |
| DE102009041045A1 (en) * | 2009-09-10 | 2011-03-24 | Hermann Paus Maschinenfabrik Gmbh | Movable work machine for use in mining industry for e.g. tunnel construction, has swivelable unit co-acting with battery operated drive- and control component for variable changing of tilting angle of hammer |
| CN203296686U (en) * | 2013-05-08 | 2013-11-20 | 郭靖 | Crawler-type full-hydraulic combination rock drilling machine |
| CN105587265A (en) * | 2015-12-13 | 2016-05-18 | 张伟 | Drilling device for tunnel blasting |
| CN205618176U (en) * | 2016-05-13 | 2016-10-05 | 中国水利水电第十六工程局有限公司 | Brill explodes platform truck |
| KR101676415B1 (en) * | 2016-02-16 | 2016-11-29 | 박재문 | an excavator core drill device |
| CN107060726A (en) * | 2017-06-19 | 2017-08-18 | 广州普华灵动机器人技术有限公司 | The system that a kind of use travel engineering robot carries out tunnel boring |
| CN206689487U (en) * | 2017-04-14 | 2017-12-01 | 中铁十一局集团电务工程有限公司 | A kind of tunnel crab-bolt drilling machine arm |
| CN207194822U (en) * | 2017-07-25 | 2018-04-06 | 湖南湘华优路交通科技有限公司 | Vertical paving breaker drill |
| CN108019219A (en) * | 2017-12-29 | 2018-05-11 | 中铁第四勘察设计院集团有限公司 | Tunnel defect comprehensive improvement automatization operation system and method |
| CN208122755U (en) * | 2018-02-22 | 2018-11-20 | 西安沃祥航空科技有限公司 | A kind of tunnel overhead working punch device |
| CN209277808U (en) * | 2018-12-21 | 2019-08-20 | 吕永宏 | A kind of tunnel automatic drilling machine |
-
2018
- 2018-12-21 CN CN201811574367.9A patent/CN109458133B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05222893A (en) * | 1992-02-13 | 1993-08-31 | Sato Kogyo Co Ltd | Adjusting method of bottom of bore hole and device thereof in tunnel boring |
| DE102009041045A1 (en) * | 2009-09-10 | 2011-03-24 | Hermann Paus Maschinenfabrik Gmbh | Movable work machine for use in mining industry for e.g. tunnel construction, has swivelable unit co-acting with battery operated drive- and control component for variable changing of tilting angle of hammer |
| CN203296686U (en) * | 2013-05-08 | 2013-11-20 | 郭靖 | Crawler-type full-hydraulic combination rock drilling machine |
| CN105587265A (en) * | 2015-12-13 | 2016-05-18 | 张伟 | Drilling device for tunnel blasting |
| KR101676415B1 (en) * | 2016-02-16 | 2016-11-29 | 박재문 | an excavator core drill device |
| CN205618176U (en) * | 2016-05-13 | 2016-10-05 | 中国水利水电第十六工程局有限公司 | Brill explodes platform truck |
| CN206689487U (en) * | 2017-04-14 | 2017-12-01 | 中铁十一局集团电务工程有限公司 | A kind of tunnel crab-bolt drilling machine arm |
| CN107060726A (en) * | 2017-06-19 | 2017-08-18 | 广州普华灵动机器人技术有限公司 | The system that a kind of use travel engineering robot carries out tunnel boring |
| CN207194822U (en) * | 2017-07-25 | 2018-04-06 | 湖南湘华优路交通科技有限公司 | Vertical paving breaker drill |
| CN108019219A (en) * | 2017-12-29 | 2018-05-11 | 中铁第四勘察设计院集团有限公司 | Tunnel defect comprehensive improvement automatization operation system and method |
| CN208122755U (en) * | 2018-02-22 | 2018-11-20 | 西安沃祥航空科技有限公司 | A kind of tunnel overhead working punch device |
| CN209277808U (en) * | 2018-12-21 | 2019-08-20 | 吕永宏 | A kind of tunnel automatic drilling machine |
Non-Patent Citations (1)
| Title |
|---|
| 刘桓龙;李茂;于兰英;柯坚;郑涛;: "地铁隧道多方位高精度钻孔设备的方案设计", 城市轨道交通研究, no. 04, pages 39 - 47 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109838210A (en) * | 2019-04-08 | 2019-06-04 | 中铁一局集团电务工程有限公司 | A kind of application method of rigid contact net suspension fully-automatic intelligent positioning drilling device |
| CN110439460A (en) * | 2019-08-21 | 2019-11-12 | 航天晨光股份有限公司 | A kind of automatic drilling machine based on drawing identification and intelligent positioning |
| CN110834383B (en) * | 2019-11-13 | 2021-10-22 | 安徽凤阳淮河玻璃有限公司 | Formula of making an uproar glass drilling machine falls in giving sound insulation |
| CN110834383A (en) * | 2019-11-13 | 2020-02-25 | 安徽凤阳淮河玻璃有限公司 | Formula of making an uproar glass drilling machine falls in giving sound insulation |
| CN111037556A (en) * | 2019-12-19 | 2020-04-21 | 上海新时达机器人有限公司 | Punching control method and punching control equipment |
| CN113550691A (en) * | 2020-04-23 | 2021-10-26 | 湖南工业大学 | Robot for drilling subway tunnel segment and construction method |
| CN112343506A (en) * | 2020-11-05 | 2021-02-09 | 宁夏智控能源科技有限公司 | Underground coal mine low-azimuth drilling method and hydraulic drill carriage thereof |
| CN113446009A (en) * | 2021-06-01 | 2021-09-28 | 北京市政建设集团有限责任公司 | Intelligent shallow-buried underground excavation operation method and equipment and storage medium |
| CN113446009B (en) * | 2021-06-01 | 2023-06-27 | 北京市政建设集团有限责任公司 | Intelligent shallow buried underground excavation operation method, equipment and storage medium |
| CN113482528A (en) * | 2021-08-18 | 2021-10-08 | 中建安装集团有限公司 | Construction method based on tunnel rail-mounted omnidirectional inner wall drilling robot |
| CN113914880A (en) * | 2021-09-01 | 2022-01-11 | 中铁九局集团电务工程有限公司 | Inclination angle correctable tunnel punching method based on laser ranging and punching robot |
| CN113914880B (en) * | 2021-09-01 | 2024-02-23 | 中铁九局集团电务工程有限公司 | Tunnel punching method capable of correcting inclination angle based on laser ranging and punching robot |
| CN113700447A (en) * | 2021-09-30 | 2021-11-26 | 太原理工大学 | Intelligent dust removal system and method for underground drilling |
| CN113700447B (en) * | 2021-09-30 | 2023-09-08 | 太原理工大学 | Intelligent dust removal system and method for underground drilling |
| CN114233182A (en) * | 2021-12-15 | 2022-03-25 | 中铁工程装备集团有限公司 | Frame type drilling device and construction method |
| CN114233182B (en) * | 2021-12-15 | 2024-04-19 | 中铁工程装备集团有限公司 | Frame type drilling device and construction method |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN114750303B (en) * | 2022-06-15 | 2022-11-04 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN116163652A (en) * | 2023-04-26 | 2023-05-26 | 中铁八局集团电务工程有限公司 | Tunnel punching equipment and construction method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109458133B (en) | 2023-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109458133A (en) | A kind of tunnel automatic drilling machine and method | |
| CN209277808U (en) | A kind of tunnel automatic drilling machine | |
| CN110725648A (en) | Double-drill-bit tunnel automatic drilling machine and method | |
| US6523245B2 (en) | Automated drill and rivet machine | |
| CN205927213U (en) | Automatic drilling machine | |
| CN107651205A (en) | Unmanned plane positions power taking cell system | |
| CN109930992A (en) | A kind of intelligent tunnel drilling machine and boring method | |
| CN104145172A (en) | Method and arrangement for determining location and/or speed of a moving object and use of the arrangement | |
| CN114813759B (en) | Hole checking device and method for precisely detecting number of holes in printed circuit board | |
| CN111911153B (en) | Economical gantry type intelligent tunneling robot system and working process thereof | |
| CN111559411A (en) | Movable heavy-load carrying robot device, system and use method | |
| CN107632603A (en) | Can automatic obstacle avoiding tunnel-liner detection means | |
| CN211342762U (en) | Double-drill-bit tunnel automatic drilling machine | |
| CN207795248U (en) | Arm-type intelligence cutting digs anchor parallel integral machine | |
| CN109555477A (en) | With the robot for punching for seeking a function certainly | |
| CN109707309A (en) | A kind of four-arm rock drilling jumbo | |
| CN101695925A (en) | Train coupler uncoupling device | |
| CN116276883B (en) | Inspection robot, inspection method and computer equipment for urban rail transit substation | |
| CN219359865U (en) | Building outer wall surface perforating device | |
| KR101154151B1 (en) | Automatic character marking device on the side of steel plate and marking methods | |
| CN116511660A (en) | Submerged arc welding gantry device for tank body outside side welding seam of tank truck | |
| CN211171617U (en) | Bridge maintenance detection device | |
| CN105004532B (en) | Automatic conveying device and its method for Tail gas measuring | |
| CN211564896U (en) | Strip steel joint detection device | |
| CN107816357A (en) | The automation anticollision buffer system of shield machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230824 Address after: Building A, 2201-1, Zhongji Low Earth Orbit Satellite IoT Industrial Park, Keneng Road, Dongkeng Community, Fenghuang Street, Guangming District, Shenzhen City, Guangdong Province, 518107 Applicant after: China Construction First Bureau Group South China Construction Co.,Ltd. Applicant after: CHINA CONSTRUCTION FIRST BUILDING (Group) Corp.,Ltd. Address before: 710016 family courtyard of communication college, No. 8 Zhangba East Road, Yanta District, Xi'an City, Shaanxi Province Applicant before: Lv Yonghong |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |