CN110306929A - Track and highway communication tunnel intelligent drilling system - Google Patents
Track and highway communication tunnel intelligent drilling system Download PDFInfo
- Publication number
- CN110306929A CN110306929A CN201910715695.4A CN201910715695A CN110306929A CN 110306929 A CN110306929 A CN 110306929A CN 201910715695 A CN201910715695 A CN 201910715695A CN 110306929 A CN110306929 A CN 110306929A
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- Prior art keywords
- robot arm
- car body
- drilling tool
- tunnel
- unit
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- 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.)
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- 238000005553 drilling Methods 0.000 title claims abstract description 65
- 238000004891 communication Methods 0.000 title claims abstract description 18
- 238000010276 construction Methods 0.000 claims abstract description 32
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 29
- 238000004080 punching Methods 0.000 claims abstract description 28
- 238000012545 processing Methods 0.000 claims abstract description 10
- 238000013461 design Methods 0.000 claims abstract description 9
- 230000009466 transformation Effects 0.000 claims abstract description 9
- 238000003745 diagnosis Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 20
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000007493 shaping process Methods 0.000 claims description 5
- 230000001419 dependent effect Effects 0.000 claims description 4
- 230000008014 freezing Effects 0.000 claims description 3
- 238000007710 freezing Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000004033 diameter control Methods 0.000 claims 1
- 238000004886 process control Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 3
- 229910001294 Reinforcing steel Inorganic materials 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 7
- 230000006378 damage Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000000126 substance Substances 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
-
- 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
-
- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
-
- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised 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
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (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)
- Mechanical Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Earth Drilling (AREA)
Abstract
Track and highway communication tunnel intelligent drilling system, including robot arm carrying car body, robot arm and drilling tool, there are also main control module, tunnel survey module and reinforcing bar detecting modules；Robot arm and drilling tool are mounted in the construction equipment on robot arm carrying car body, robot arm truck physical efficiency drives robot arm and drilling tool to realize that the displacement in any orientation reaches construction area, and robot arm and drilling tool are able to achieve multi-angle displacement construction；Tunnel survey module realizes tunnel cross, longitudinal data measurement, the delivery car body longitudinal direction traveling of control robot arm and positioning；Reinforcing bar detecting module realizes the detection of punch position tunnel lining reinforcing steel bar situation, adjusts punch position in design tolerance band；Main control module includes mechanical arm control and coordinate transformation unit, fault diagnosis and job management unit, car body traveling path clustering unit, man-machine interface, punching Positioning Control Unit, data acquisition and processing unit and punching flow control unit.
Description
Technical field
The present invention relates to technical field of construction equipment, especially a kind of track and highway communication tunnel intelligent drilling system.
Background technique
With the rapid development of transportation business, the tunnel for passing through high and steep mountains is emerged in multitude, for traffic system
Field, the protection requirement of required safe and reliable property, and meet and navigate in tunnel that personnel in the vehicles are comfortable, communication, net
The demands such as network connection need to punch on tunnel inner wall in practical situations to install a large amount of required guarantee equipment.Existing skill
In art tunnel in construction, generally punched using man-hour manually hand-held impact drill mode, there are heavy workload, labor for this hole knockout
Fatigue resistance is high, the low disadvantage of labor efficiency, the health of operator can be also seriously affected because of the micronic dust that punching generates, together
When due to being manual work, construction precision not can guarantee, and bring security risk, and construction personnel for post facility normal operation
It often requires to use ascending tool (ladder) etc. to construct, there are ascending tools to slip, and causes construction personnel's personal safety thing
Therefore odds.
Based on above-mentioned, provide it is a kind of can replace people's working, and can guarantee construction efficiency, construction precision, eliminate construction
Injury of the process to construction personnel, the punch device for reducing the labor intensity of construction personnel seem particularly necessary.
Summary of the invention
In order to overcome in existing tunnel punching construction, because of various drawbacks existing for manual operation, the present invention provides adopt
With by main control module, tunnel survey module, reinforcing bar detecting module, robot arm carrying car body, robot arm and drilling tool etc.
Six parts form the carrier of work, and main control module can join according to the adjustment of tunnel survey module and reinforcing bar detecting module in construction
Number is arbitrarily transported to control each orientation and angle of robot arm carrying car body motion mode and robot arm and drilling tool
Flowing mode, whole process does not need that drilling tool is manually used to construct, to reach the probability for reducing construction personnel and coming to harm, reduce
Labor intensity, the track for improving labor efficiency and construction precision and highway communication tunnel intelligent drilling system.
The technical solution adopted by the present invention to solve the technical problems is:
Track and highway communication tunnel intelligent drilling system, including robot arm carrying car body, robot arm and drilling tool,
It is characterized in that also there is main control module, tunnel survey module and reinforcing bar detecting module；The robot arm and drilling tool are installations
Construction equipment on robot arm carrying car body, before wherein drilling tool is mounted on robot arm, robot arm is mounted on
On robot arm carrying car body, robot arm truck physical efficiency drives robot arm and drilling tool to realize the position in any orientation
It moves on to up to construction area, robot arm and drilling tool are able to achieve multi-angle displacement construction；The tunnel survey module uses laser
Measurement method, measure field tunnel cross, vertical section real data, is transferred on carrying car body in PC machine, shaping conversion and tunnel
Design data or scene CP3 Data Matching, in conjunction with operation point data with the specific downhole parameter of determination, downhole parameter is transferred to master control
Module；The reinforcing bar detecting module uses reinforcing bar detector, detects punch position reinforcing bar distribution situation, detects in conjunction with downhole parameter
Punch position reinforcing bar distribution situation, output hole location adjusting parameter to main control module；The main control module is mounted in robot
Control software on arm carrying car body in PC machine, main control module include mechanical arm control and coordinate transformation unit, fault diagnosis
And job management unit, car body traveling path clustering unit, man-machine interface, punching Positioning Control Unit, data acquisition and processing
Unit and punching flow control unit.Further, the main control module can be detected according to tunnel survey module data and reinforcing bar
The adjusting parameter of module controls and manages the work of other all units.
Further, the car body traveling path clustering unit can longitudinally be measured according to CP3 data and tunnel survey module
Data and longitudinal default punching spacing, the direction of travel of control carrying car body to arrival setting.
Recipient processor device human arm carrying car body when further, the fault diagnosis and job management unit work,
The various fault-signals such as robot arm and drilling tool, interpretation of records handling situations.
Further, the mechanical arm control and coordinate transformation unit, major function are that tunnel survey and reinforcing bar are visited
The data of module are surveyed for controlling mechanical arm movement, and record the data in each joint when mechanical arm positioning, and had
Close coordinate conversion.
Further, CP3 data and design data can be imported in the man-machine interface application, convenient for operator to punching
Process is controlled and is supervised, meanwhile, it can as the case may be, by whole equipment in computer-aided and full-automatic two kinds of Working moulds
Switch between formula, is recorded in addition, dependent event in drill process can be inquired by man-machine interface.
Further, it is responsible for acquisition and handling machine human arm truck when the data acquisition and processing unit work
The signal of each sensor on body, robot arm and drilling tool.
Further, the punching Positioning Control Unit can control entire drill process, packet according to the instruction of main control module
Include the work such as normal drill, drilling depth, bit freezing processing and borehole cleaning.
Further, in punching flow control unit application, when main control module is by the current location of drill boom and next
After position, orientation and the movement routine of a hole location are transmitted to the unit, which instructs according to main control module, make drill bit position and
Posture meets the requirement correctly to drill.
The medicine have the advantages that tunnel survey module uses laser measurement mode, measure field tunnel before present invention punching
Road cross, vertical section real data input on carrying car body in PC machine, shaping conversion and Tunnel Design data or scene CP3 data
Matching, in conjunction with operation point data with the specific downhole parameter of determination, after downhole parameter determines, reinforcing bar detecting module combination downhole parameter
Detect punch position reinforcing bar distribution situation, output hole location adjusting parameter to punching main control module, main control module according to adjusting parameter,
Robot arm carrying car body is controlled to advance；When robot arm carrying car body advances to predeterminated position, robot arm carrying
Car body parking, robot arm start to give rise to suitable position, drilling tool are given rise to punch position, in turn, drilling tool starts to punch
Operational sequence.After the completion of punching, robot arm controls drilling tool decline, and starts borehole cleaning process, after the completion of borehole cleaning process, machine
Device human arm controls drilling tool, and in robot arm carrying car body current position, other hole locations are punched, when robot arm carries
After the hole of fortune car body current position has been beaten, main control module just can control robot arm carrying car body to advance at the next position
Start punch operation.Present invention control module in construction can control as needed robot arm carrying car body motion mode,
And each orientation and angle arbitrary motion mode of robot arm and drilling tool, whole process do not need that drilling tool is manually used to construct,
To reach the probability for reducing construction personnel and coming to harm, reduce labor intensity, improve labor efficiency and construction precision.
Based on the above, the application prospect that the present invention has had.
Detailed description of the invention
The present invention is described further below in conjunction with drawings and examples.
Fig. 1 is the structural block diagram signal of track of the present invention and highway communication tunnel intelligent drilling system.
Fig. 2 is main control module block architecture diagram signal of the present invention.
Specific embodiment
Fig. 1, shown in 2, track and highway communication tunnel intelligent drilling system, including robot arm carrying car body, machine
Device human arm and drilling tool also have main control module, tunnel survey module and reinforcing bar detecting module；The robot arm and drilling tool
The construction equipment being mounted on robot arm carrying car body, before wherein drilling tool is mounted on robot arm, robot arm
It is mounted on robot arm carrying car body, robot arm truck physical efficiency drives robot arm and drilling tool to realize any side
The displacement of position reaches construction area, and robot arm and drilling tool are able to achieve multi-angle displacement construction；The tunnel survey module is adopted
With laser measurement mode, measure field tunnel cross, vertical section real data are transferred on carrying car body in PC machine, shaping conversion
With Tunnel Design data or scene CP3 Data Matching, in conjunction with operation point data with the specific downhole parameter of determination, downhole parameter is transmitted
To main control module；The reinforcing bar detecting module uses reinforcing bar detector, detects punch position reinforcing bar distribution situation, joins in conjunction with punching
Number detection punch position reinforcing bar distribution situation, output hole location adjusting parameter to main control module；The main control module is mounted in machine
Control software on device human arm carrying car body in PC machine, main control module include mechanical arm control and coordinate transformation unit, event
Barrier diagnosis and job management unit, car body traveling path clustering unit, man-machine interface, punching Positioning Control Unit, data acquisition
And processing unit and punching flow control unit.
Fig. 1, shown in 2, main control module can be controlled according to the adjusting parameter of tunnel survey module data and reinforcing bar detecting module
Make and manage the work of other all units.Car body traveling path clustering unit can be vertical according to CP3 data and tunnel survey module
To measurement data and longitudinal default punching spacing, the direction of travel of control carrying car body to arrival setting.Fault diagnosis and work
The various fault-signals such as recipient processor device human arm carrying car body, robot arm and drilling tool when industry administrative unit works, note
Record readjusting operations situation.Mechanical arm control and coordinate transformation unit, major function are tunnel survey and reinforcing bar detecting module
Data for controlling mechanical arm movement, and when recording mechanical arm positioning each joint data, and carry out related coordinate
Conversion.CP3 data and design data can be imported in man-machine interface application, drill process is controlled and supervised convenient for operator
It superintends and directs, meanwhile, whole equipment can be switched between computer-aided and full-automatic two kinds of operating modes as the case may be, in addition, logical
Dependent event record in drill process can be inquired by crossing man-machine interface.Data acquisition and processing unit are responsible for acquiring and be handled when working
The signal of each sensor on robot arm carrying car body, robot arm and drilling tool.Punch Positioning Control Unit energy according to
The instruction of main control module controls entire drill process, including the work such as the processing of normal drill, drilling depth, bit freezing and borehole cleaning.It beats
In the application of hole flow control unit, when main control module is by the current location of drill boom and the position of next hole location, orientation and movement
After path is transmitted to the unit, which instructs according to main control module, and the position of drill bit and posture is made to meet the requirement correctly to drill.
Fig. 1, shown in 2, before the present invention is using punching, tunnel survey module uses laser measurement mode, measure field tunnel
Road cross, vertical section real data, are transferred on carrying car body in PC machine, shaping conversion and Tunnel Design data or scene CP3 number
According to matching, in conjunction with operation point data with the specific downhole parameter of determination, after downhole parameter determines, reinforcing bar detecting module combines punching ginseng
Number detection punch position reinforcing bar distribution situation, output hole location adjusting parameter are joined to main control module, main control module is punched according to adjustment
Number, control robot arm carrying car body advance to preset job position.When robot arm carrying car body advance to it is default
Behind position, car body traveling path clustering unit controls robot arm carrying car body parking area in working condition, then mechanical
Arm control and coordinate transformation unit control robot arm start to give rise to suitable position, while in punching Positioning Control Unit
Under co-location effect, drilling tool is given rise to the position front end of punching, then, punching flow control unit control drilling tool starts to beat
Hole operation process.After the completion of punching, mechanical arm control and coordinate transformation unit control robot arm and drilling tool decline, and
Start borehole cleaning process (residual substance in the drill bit reversion cleaning hole of drilling tool), after the completion of borehole cleaning process, mechanical arm control and seat
Before mark converting unit control robot arm moves to other hole locations of robot arm carrying car body current position, while beating
Under hole Positioning Control Unit co-location effect, drilling tool is given rise to the position front end of other hole locations, punches flow control unit
Control drilling tool starts to be punched.After the hole of robot arm carrying car body current position has been beaten, the control of car body traveling path
Unit processed just can control robot arm carrying car body to advance to the next position and start punch operation.In the process, data acquisition and
Processing unit can acquire the input signal with each sensor on handling machine human arm carrying car body, robot arm, drilling tool,
It ensure that robot arm carrying car body, robot arm and drilling tool work normally, simultaneous faults diagnosis and job management unit
The various fault-signals such as energy recipient processor device human arm carrying car body, robot arm and drilling tool, interpretation of records are made when work
Industry situation is given operator's prompt in time when breaking down and is disposed.It, will be of the invention by man-machine interface in the present invention
It is set between computer-aided and full-automatic two kinds of operating modes and switches, application is more flexible, moreover it is possible to can by man-machine interface
Inquire dependent event record in drill process.Present invention control module in construction can control robot arm carrying as needed
The each orientation and angle arbitrary motion mode, whole process of body movement mode and robot arm and drilling tool do not need manually
It is constructed using drilling tool, to reach the probability for reducing construction personnel and coming to harm, reduce labor intensity, improve labour effect
Rate and construction precision.
Basic principles and main features and advantages of the present invention of the invention have been shown and described above, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (9)
1. track and highway communication tunnel intelligent drilling system, including robot arm carrying car body, robot arm and drilling tool,
It is characterized in that also having main control module, tunnel survey module and reinforcing bar detecting module；The robot arm and drilling tool are peaces
Construction equipment on robot arm carrying car body, before wherein drilling tool is mounted on robot arm, robot arm installation
On robot arm carrying car body, robot arm truck physical efficiency drives robot arm and drilling tool to realize any orientation
Displacement reaches construction area, and robot arm and drilling tool are able to achieve multi-angle displacement construction；The tunnel survey module is using sharp
Light measurement mode, measure field tunnel cross, vertical section real data, is transferred on carrying car body in PC machine, shaping conversion and tunnel
Road design data or scene CP3 Data Matching, in conjunction with operation point data with the specific downhole parameter of determination, downhole parameter is transferred to master
Control module；The reinforcing bar detecting module uses reinforcing bar detector, detects punch position reinforcing bar distribution situation, visits in conjunction with downhole parameter
Survey punch position reinforcing bar distribution situation, output hole location adjusting parameter to main control module；The main control module is mounted in robot
Control software on arm carrying car body in PC machine, main control module include that mechanical arm control and coordinate transformation unit, failure are examined
Disconnected and job management unit, car body traveling path clustering unit, man-machine interface, punching Positioning Control Unit, data acquisition and place
Manage unit and punching flow control unit.
2. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that main control module energy
According to the adjusting parameter of tunnel survey module data and reinforcing bar detecting module, the work of other all units is controlled and managed.
3. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that car body walks walking along the street
Diameter control unit can control carrying according to CP3 data and tunnel survey module longitudinal direction measurement data and longitudinal default punching spacing
The direction of travel of car body to reach setting.
4. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that fault diagnosis and
The various fault-signals such as recipient processor device human arm carrying car body, robot arm and drilling tool when job management unit works,
Interpretation of records handling situations.
5. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that mechanical arm control
System and coordinate transformation unit, major function are that the data of tunnel survey and reinforcing bar detecting module are moved for controlling mechanical arm
Make, and records the data in each joint when mechanical arm positioning, and carry out related coordinate conversion.
6. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that man-machine interface is answered
CP3 data and design data can be imported in, and drill process is controlled and supervised convenient for operator, meanwhile, it can basis
Concrete condition switches whole equipment between computer-aided and full-automatic two kinds of operating modes, in addition, can be looked by man-machine interface
Ask dependent event record in drill process.
7. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that data acquisition and
Processing unit is responsible for each sensor on acquisition and handling machine human arm carrying car body, robot arm and drilling tool when working
Signal.
8. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that punching positioning control
Unit processed can control entire drill process according to the instruction of main control module, including normal drill, drilling depth, bit freezing processing and clear
The work such as hole.
9. track according to claim 1 and highway communication tunnel intelligent drilling system, which is characterized in that punching process control
In unit application processed, when the current location of drill boom and the position of next hole location, orientation and movement routine are transmitted to by main control module
After the unit, which instructs according to main control module, and the position of drill bit and posture is made to meet the requirement correctly to drill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910715695.4A CN110306929A (en) | 2019-08-05 | 2019-08-05 | Track and highway communication tunnel intelligent drilling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910715695.4A CN110306929A (en) | 2019-08-05 | 2019-08-05 | Track and highway communication tunnel intelligent drilling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110306929A true CN110306929A (en) | 2019-10-08 |
Family
ID=68083061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910715695.4A Pending CN110306929A (en) | 2019-08-05 | 2019-08-05 | Track and highway communication tunnel intelligent drilling system |
Country Status (1)
| Country | Link |
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| CN (1) | CN110306929A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112065275A (en) * | 2020-10-12 | 2020-12-11 | 中国铁建重工集团股份有限公司 | Tunnel drilling robot system, control method thereof and tunnel boring machine |
| 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 |
-
2019
- 2019-08-05 CN CN201910715695.4A patent/CN110306929A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112065275A (en) * | 2020-10-12 | 2020-12-11 | 中国铁建重工集团股份有限公司 | Tunnel drilling robot system, control method thereof and tunnel boring machine |
| 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 |
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