CN112777534A - Multifunctional intelligent moving platform for tunnel operation - Google Patents
Multifunctional intelligent moving platform for tunnel operation Download PDFInfo
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- CN112777534A CN112777534A CN202110110998.0A CN202110110998A CN112777534A CN 112777534 A CN112777534 A CN 112777534A CN 202110110998 A CN202110110998 A CN 202110110998A CN 112777534 A CN112777534 A CN 112777534A
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- 238000005553 drilling Methods 0.000 claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000001174 ascending effect Effects 0.000 claims abstract description 18
- 230000009194 climbing Effects 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000002457 bidirectional effect Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 5
- 210000000707 wrist Anatomy 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000005641 tunneling Effects 0.000 claims 1
- 239000000725 suspension Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a multifunctional intelligent moving platform for tunnel operation, which comprises an engineering truck body, a telescopic boom, an alignment correction mechanism and a climbing boom, wherein the telescopic boom comprises a front supporting leg, a rear supporting leg, a boom rotation body, a boom main body and a mounting platform, the engineering truck body is provided with the front supporting leg and the rear supporting leg, the front supporting leg is provided with the boom main body, the boom main body is provided with the mounting platform, the mounting platform is provided with the alignment correction mechanism, and the alignment correction mechanism comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, the telescopic boom, a fourth rotating shaft, a horizontal translation shaft and a vertical translation shaft. According to the invention, firstly, a double-mechanical-arm operation structure is arranged to protect personnel safety to the maximum extent during ascending operation, secondly, a synchronous double-drilling structure is arranged to improve drilling operation efficiency in a multiplied manner, and finally, an eight-axis alignment structure is arranged, so that a vehicle body can stop at any position in a tunnel to perform operation.
Description
Technical Field
The invention relates to the technical field of tunnel operation equipment, in particular to a multifunctional intelligent mobile platform for tunnel operation.
Background
At present, anchor bolt holes in tunnels are mainly drilled manually. And after the tunnel is built, measuring and calculating the projection coordinates of each group of anchor bolt holes on the ground by using a measuring and positioning instrument according to the position of the track, and marking in the tunnel. In the tunnel operation process, mainly use moving platform, the workman utilizes equipment such as ladder car, scaffold frame or the car of ascending a height to ascend a height and carry out high altitude construction, however current moving platform still has the weak point: firstly, in the process of tunnel operation, workers need to work high above the ground for a long time, the workers need to move at a high speed with a working main mechanical arm during the climbing operation, the man-machine and the arm are prone to potential safety hazards, secondly, only one hole can be drilled in one time through manual drilling, the physical consumption of top surface drilling is large, the number of anchor bolt holes is large, the labor intensity is high, the physical strength and the endurance of the workers are limited, continuous high-efficiency operation is difficult, the overall propelling speed is low, the working efficiency is low, and finally, the existing mobile platform basically has the climbing assistance effect and is not provided with an alignment correction mechanism, so that the degree of freedom of equipment operation is low, and the working efficiency of the equipment is influenced.
Disclosure of Invention
The invention aims to: the multifunctional intelligent mobile platform for tunnel operation is provided for solving the problems that workers need to work high above the ground for a long time in the tunnel operation process, and need to move at a high speed with a large amplitude along with a working main mechanical arm during the climbing operation, and potential safety hazards are easily caused by the fact that a man-machine and an arm are the same.
In order to achieve the purpose, the invention adopts the following technical scheme:
the multifunctional intelligent moving platform for tunnel operation comprises an engineering truck body, a telescopic boom, an alignment correction mechanism and a climbing arm, wherein the telescopic boom comprises a front supporting leg, a rear supporting leg, boom revolution, a boom main body and a mounting platform, the engineering truck body is provided with the front supporting leg and the rear supporting leg, the front supporting leg is provided with the boom main body, the mounting platform is arranged on the boom main body, the mounting platform is provided with the alignment correction mechanism, the alignment correction mechanism comprises a first revolving shaft, a second revolving shaft, a third revolving shaft, a telescopic arm, a fourth revolving shaft, a horizontal translation shaft and a vertical translation shaft, the telescopic arm comprises an outer arm, an inner wall, a telescopic trapezoidal screw nut, a first telescopic trapezoidal screw, a first coupler, a first speed reducer and a first servo motor, the outer arm is sleeved with the inner wall, and the first servo motor is in transmission connection with the first speed reducer, first speed reducer is connected with first flexible trapezoidal lead screw through first shaft coupling transmission, install first flexible trapezoidal lead screw on the outer arm, install flexible trapezoidal screw nut on the inner wall, it installs the arm of ascending a height to lie in back landing leg department on the machineshop car body, lie in flexible davit and ascend a height and install cantilever sectional fixture module between the arm on the machineshop car body, the diplopore drilling module is installed to the rear end that lies in the arm of ascending a height on the machineshop car body, counterpoint correction mechanism includes davit sectional fixture module, cantilever sectional fixture module and diplopore drilling module.
As a further description of the above technical solution:
the davit erection fixture module comprises a rack, a fixture cantilever, a rotary turntable, an upper gripper, a rotary connecting plate and a lower gripper.
As a further description of the above technical solution:
the cantilever mounting fixture module comprises a first frame, an inclined cantilever beam, an inclined cantilever fixture, a flat cantilever fixture, a fixture hinge and a rotating block.
As a further description of the above technical solution:
the clamp comprises a rack, and is characterized in that a clamp cantilever is mounted on the rack, a rotary turntable is mounted on the clamp cantilever through a pin shaft block, a rotary connecting plate is rotatably mounted on the rotary turntable through a plurality of groups of rollers, and an upper gripper and a lower gripper are arranged on the rotary connecting plate.
As a further description of the above technical solution:
the double-hole drilling module comprises a double-hole drilling mechanism frame, an X-axis linear guide rail, a Y-axis translation cross beam, an X-axis servo motor speed reducer, an X-axis trapezoidal lead screw, an X-axis gear rack, an X-axis upper and lower guide rail synchronous connecting rod, a Y-axis linear guide rail, a Y-axis servo motor speed reducer, a first bidirectional trapezoidal lead screw, a Z-axis servo motor speed reducer, a second bidirectional trapezoidal lead screw, a Z-axis linear guide rail, an electric drill, a limit travel switch, a laser calibration mechanism, a Z-axis translation cross beam and a Y-axis synchronous cross beam, wherein the X-axis servo motor speed reducer is in transmission connection with the X-axis trapezoidal lead screw, two groups of X-axis gear racks are installed on the double-hole drilling mechanism frame, the Y-axis servo motor speed reducer is in transmission connection with the first bidirectional trapezoidal lead screw, the Z-axis servo motor speed reducer is in transmission connection, and the X-axis linear guide rail is provided with a laser calibration mechanism.
As a further description of the above technical solution:
and a shed protective cover is arranged on the engineering truck body.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, a double-mechanical-arm operation structure is provided, two groups of mechanical arms are arranged on equipment, one main arm for heavy-load work and the other arm for low-load personnel ascending, so that a full-automatic mechanical operation mechanism and a personnel high-altitude operation platform are thoroughly separated, the two mechanical arms can be independently controlled under set conditions, double-arm cooperation is convenient to realize, the comprehensive flexibility of the mechanical arms is improved, a constructor can perform ascending operation at any time by using an ascending auxiliary arm under the condition that the main arm maintains the original work posture when ascending, the ascending arm is provided with a triple safety protection mechanism of program active collision avoidance, mechanical hard limit locking and light curtain passive collision avoidance, and the safety of the constructor is protected to the maximum extent during ascending operation.
2. In the invention, a synchronous double-drilling structure is arranged, a group of anchor bolt holes in a tunnel comprises six holes, after visual guide alignment is finished, a double-drilling machine drilling module is used for drilling holes, two holes are drilled at one time, drilling operation of a group of anchor bolt holes is finished three times, the drilling operation efficiency can be improved exponentially, two drilling machines can move and translate relatively in the drilling module to meet the requirements of different hole distances, after two holes in a first row are drilled, the drilling machine can translate according to a specified distance under the condition that the drilling module is not moved integrally, drilling operation of a second row and a third row of holes is continuously finished under the condition that an alignment reference is not moved, the perpendicularity and the perpendicularity consistency of the group of six anchor bolt holes are ensured, the feeding of the drilling machine is driven by a servo motor, the drilling depth can be accurately controlled, the drilling quality of the whole hole system is improved, and each drilling machine is provided with a totally enclosed dust hood and a dust absorption, dust removal is carried out synchronously during drilling, so that the drilling operation is dustless, and the harm of construction dust to the health of site constructors is avoided.
3. The invention is provided with an eight-axis alignment structure, a first rotating shaft, a second rotating shaft and a third rotating shaft form spatial XYZ-axis rotation, a telescopic arm horizontally moves a vertical moving shaft and a horizontal translation shaft to form spatial XYZ-axis translation, the rotating shafts are auxiliary rotating shafts, the center of a first rotating shaft of an eight-axis mechanism is used as the origin of a spatial coordinate system, a coordinate system is established by taking a projection laser cursor as the reference, the relative position association of a workpiece coordinate system and a vehicle body is realized, the system is a single coordinate system, the precision is only influenced by the mechanical precision of equipment, and the coordinate parameters of the system cannot be influenced by the posture change and the position change of the vehicle body, so that the vehicle body can be parked at any position in a tunnel.
Drawings
FIG. 1 illustrates a front view provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a telescopic boom structure provided according to an embodiment of the present invention;
FIG. 3 illustrates a schematic view of an alignment correction mechanism provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a telescopic arm structure provided according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram illustrating a davit installation jig module provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a wrist mounting clip module provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a dual-hole drilling module provided according to an embodiment of the invention;
fig. 8 is a schematic view illustrating an adjustment structure of the ascending arm according to the embodiment of the present invention;
illustration of the drawings:
1. a body of the engineering truck; 101. a carport shield; 2. a telescopic suspension arm; 201. a front leg; 202. a rear leg; 203. rotating the suspension arm; 204. a boom main body; 205. mounting a platform; 3. an alignment correction mechanism; 301. a first rotating shaft; 302. a second rotating shaft; 303. a third rotating shaft; 304. a telescopic arm; 305. a fourth rotating shaft; 306. a horizontal translation axis; 307. a vertical translation axis; 3041. an outer arm; 3042. an inner wall; 3043. a telescopic trapezoidal screw nut; 3044. a first telescopic trapezoidal screw rod; 3045. a first coupling; 3046. a first speed reducer; 3047. a first servo motor; 4. installing a clamp module on the suspension post; 401. a frame; 402. a clamp cantilever; 403. a rotary turntable; 404. a hand grip is arranged; 405. a rotating connecting plate; 406. a hand grip is taken down; 5. a clamp module is installed on the wrist arm; 501. a first frame; 502. a cantilever beam; 503. a wrist clamp; 504. a flat cantilever clamp; 505. a clamp hinge; 506. rotating the block; 6. a dual-hole drilling module; 601. a dual hole drilling mechanism frame; 602. an X-axis linear guide rail; 603. a Y-axis translation beam; 604. an X-axis servo motor reducer; 605. An X-axis trapezoidal lead screw; 606. an X-axis rack and pinion; 607. the upper and lower guide rails of the X-axis are synchronously connected with a connecting rod; 608. a Y-axis linear guide rail; 609. a Y-axis servo motor reducer; 610. a first bidirectional trapezoidal lead screw; 611. a Z-axis servo motor reducer; 612. a second bidirectional trapezoidal screw rod; 613. a Z-axis linear guide rail; 614. an electric drill; 615. a limit travel switch; 616. a laser calibration mechanism; 617. a Z-axis translation beam; 618. a Y-axis synchronous beam; 7. And (5) ascending a height arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: the multifunctional intelligent moving platform for tunnel operation comprises an engineering vehicle body 1, a telescopic boom 2, an alignment correction mechanism 3 and a climbing arm 7, wherein the telescopic boom 2 comprises a front supporting leg 201, a rear supporting leg 202, a boom revolving 203, a boom main body 204 and a mounting platform 205, the engineering vehicle body 1 is provided with the front supporting leg 201 and the rear supporting leg 202, the front supporting leg 201 is provided with the boom main body 204, the boom main body 204 is provided with the mounting platform 205, the mounting platform 205 is provided with the alignment correction mechanism 3, the alignment correction mechanism 3 comprises a first revolving shaft 301, a second revolving shaft 302, a third revolving shaft 303, a telescopic arm 304, a fourth revolving shaft 305, a horizontal translation shaft 306 and a vertical translation shaft 307, the telescopic arm 304 consists of an outer arm 3041, an inner wall 3042, a telescopic trapezoidal screw nut 3043, a first telescopic trapezoidal screw 3044, a first coupler 3045, a first speed reducer 3046 and a first servo motor 3047, an inner wall 3042 is sleeved on the outer arm 3041, a first speed reducer 3046 is connected to the first servo motor 3047 in a transmission manner, the first speed reducer 3046 is connected to a first telescopic ladder-shaped screw 3044 in a transmission manner through a first coupler 3045, a first telescopic ladder-shaped screw 3044 is mounted on the outer arm 3041, a telescopic ladder-shaped screw nut 3043 is mounted on the inner wall 3042, a climbing arm 7 is mounted on the rear leg 202 of the engineering truck body 1, a cantilever mounting clamp module 5 is mounted between the telescopic boom 2 and the climbing arm 7 on the engineering truck body 1, a double-hole drilling module 6 is mounted at the rear end of the climbing arm 7 on the engineering truck body 1, an alignment correction mechanism 3 comprises a boom mounting clamp module 4, a cantilever mounting clamp module 5 and a double-hole drilling module 6, the telescopic boom 2 is a foldable crane, the telescopic boom 2 is mounted on the engineering truck body 1 and bears the alignment correction mechanism 3, the alignment correction mechanism 3 is lifted and moved to be close to tunnel drilling construction, the alignment correction mechanism 3 carries three functional modules, including a davit mounting clamp module 4, a cantilever mounting clamp module 5 and a double-hole drilling module 6, when in use, only one of the three modules can be carried at the same time, the davit mounting clamp module 4 has the function of mechanically grabbing a railway contact net davit placed on the ground, the cantilever mounting clamp module 5 has the function of grabbing a railway contact net cantilever on the ground, the double-hole drilling module 6 has the function of drilling holes in the inner wall of a tunnel to adapt to hole sites of various specifications so as to mount other equipment of the tunnel, the two-position correction mechanism 3 has the function of adjusting the posture of the functional module, and because the holes are required to be drilled at different positions in the cross section of the tunnel, the parameters of the height, the horizontal projection position, the drilling angle and the like of the hole sites are different, a multi-degree, the mechanism similar to a robot arm rotationally translates a functional module mounted on the alignment correction mechanism 3 to a proper position, and then the next process is carried out, when the mechanism works, the front supporting leg 201 and the rear supporting leg 202 are firstly unfolded, then the suspension arm main body 204 is stretched, when the horizontal direction needs to be adjusted, the suspension arm is rotated to rotate 203, when the suspension arm works, the horizontal state of the alignment correction mechanism mounting platform is always ensured 205, the horizontal state can be adjusted through the tail end of the suspension arm and an oil cylinder of the mounting platform 205, the horizontal state is fed back by a gyroscope on the mounting platform 205 and automatically adjusted, thus the bottom of a first rotating shaft 301 of the alignment correction mechanism 3 can be always kept in the horizontal state, the attitude control of the alignment correction mechanism 3 is greatly simplified, the angle inclination compensation of the alignment correction mechanism 3 is eliminated, all rotating shafts are driven by worm gears to rotate, and a speed reducer and a servo motor are arranged, when the first servo motor 3047 drives the first speed reducer 3046 to rotate and the first telescopic trapezoidal screw 3044 is driven to rotate by the first coupler 3045, the telescopic trapezoidal screw nut 3043 on the first telescopic trapezoidal screw 3044 linearly moves along the axial direction of the first telescopic trapezoidal screw 3044, so as to drive the inner arm 3042 to linearly extend and retract, the ascending arm 7 can move in a translation manner on the engineering truck body 1 by a guide wheel, so that the ascending arm 7 can operate on both sides of the telescopic boom 2, the base of the boom main body 204 can rotate, the motor speed reducer is used for driving in a rotation manner, the rotating shaft of the ascending arm 7 is also provided with a limit bolt, the working platform of the ascending arm 7 is provided with a light curtain protection, the triple collision avoidance mechanism of the ascending arm 7 is realized by three modes of electric control active collision avoidance, mechanical active limitation and passive collision avoidance of the light curtain protection, personnel safety is protected, and two sets of three-dimensional visual systems are installed on the double-hole drilling module 6, the system comprises a three-dimensional laser contour scanning sensor and a binocular three-dimensional vision system, wherein the binocular three-dimensional vision system guides a working main mechanical arm to be close to a target operation point after catching a laser cursor, the three-dimensional laser contour scanning sensor scans the top of the tunnel to obtain the appearance parameters of the top curved surface of the tunnel, and the binocular vision system measures and calculates the coordinates of the laser cursor and the drilling angle of an anchor bolt hole by taking the parameters of the top curved surface of the tunnel as the reference. According to the vision measurement and calculation result, the system controls the working main mechanical arm and the eight-axis alignment module to move, and the double-hole drilling module 6 is pushed to the target position.
Specifically, as shown in fig. 5, the davit installation jig module 4 includes a frame 401, a jig boom 402, a swing turntable 403, an upper gripper 404, a swing connection plate 405, and a lower gripper 406.
Specifically, as shown in fig. 6, the cantilever mounting fixture module 5 includes a first frame 501, an oblique cantilever beam 502, an oblique cantilever fixture 503, a flat cantilever fixture 504, a fixture hinge 505 and a rotation block 506, the cantilever mounting fixture module 5 is used for clamping a railway electric contact net cantilever, the first frame 501 includes a steel frame, two guiding optical axes, a reducer motor and a trapezoidal screw nut, the first frame 501 provides up-and-down motion power for the oblique cantilever beam 502, when the cantilever is lifted near a suspension pillar at the top of a tunnel, the positions of a flange hole of the alignment suspension pillar and a cantilever bolt need to be finely adjusted manually, a hand wheel is manually rotated to drive the screw to rotate, the fixture is driven to lift, i.e. manual and electric integration, the flat cantilever fixture 504 clamps the flat cantilever, the trapezoidal screw nut is driven to move by the motor reducer on the fixture, so that the fixture can be opened and closed to clamp the flat cantilever, the inclined cantilever clamp 503 clamps the flat cantilever, a trapezoidal screw nut is driven to move through a motor reducer on the clamp, the upper and lower rods of the clamp are opened and closed to clamp the inclined cantilever, one section of the inclined cantilever and one section of the flat cantilever are fixedly connected through a hinge, and the other end of the inclined cantilever and the other section of the flat cantilever need to adjust the angle of the flat cantilever, so that the hinge shaft of the inclined cantilever is movably rotary, when the inclined cantilever beam 502 rises and falls, the rotary block 506 is driven to move left and right along the optical axis on the inclined cantilever beam 502, meanwhile, the inclined cantilever clamp 503 is hinged to rotate, and when the inclined cantilever gripper grasps the inclined cantilever, the inclined cantilever can be rotated.
Specifically, as shown in fig. 5, a clamp cantilever 402 is installed on a frame 401, the clamp cantilever 402 is installed with a rotary turntable 403 through a pin block, the rotary turntable 403 is installed with a rotary connecting plate 405 through a plurality of sets of rollers in a rotating manner, the rotary connecting plate 405 is provided with an upper gripper 404 and a lower gripper 406, the flexible davit installation clamp module 4 is a contact net davit installation equipment for railway tunnels, the frame 401 comprises a steel framework, two guiding optical axes, a speed reducer motor and a trapezoidal screw nut, the clamp cantilever 402 provides up-and-down motion power, when the davit is lifted to the top of the tunnel, the positions of a flange hole of the alignment davit and an expansion bolt at the top of the tunnel need to be finely adjusted by manual operation, a hand wheel is manually operated to drive the screw to rotate to drive the clamp to lift, namely, the clamp cantilever 402 is integrated with manual operation, the rotary turntable 403 can rotate around a rotating shaft and move along the axial direction, two sliding blocks can move in the same direction through the sliding blocks at two ends of the clamp cantilever 402 to realize translation in the other direction, eight rollers are arranged on the rotary turntable 403 in a state that a rotary connecting plate 405 rotates on the rotary turntable 403, the rotary connecting plate 405 bears an upper gripper 404 and a lower gripper 406 to enable the upper and lower grippers to rotate simultaneously, the upper gripper 404 realizes clasping in the front and back directions of the suspension post, a motor reducer drives an upper nut of a synchronous belt pulley to rotate so as to drive the trapezoidal lead screws on the two clasps to move linearly, the two clasps are provided with rollers to move along the upper notch of the frame to realize opening and clasping of the clasping, the lower gripper 406 realizes clasping in the directions of two sides of the suspension post, a servo motor reducer is used as power to drive the trapezoidal lead screws to rotate through gear transmission so as to enable the, the flexible suspension post mounting fixture comprises five degrees of freedom of three-dimensional coordinates, can rotate and translate in three axes of an X axis, a Y axis and a Z axis, can adapt to the complex and changeable construction environment on site, can be manually finely adjusted after primary alignment and accurate alignment of eight alignment modules through a suspension arm, and can be used for rapidly aligning the hole site of the suspension post mounting plate with a chemical anchor bolt.
Specifically, as shown in fig. 7, the dual-hole drilling module 6 includes a dual-hole drilling mechanism frame 601, an X-axis linear guide 602, a Y-axis translation beam 603, an X-axis servo motor reducer 604, an X-axis trapezoidal screw 605, an X-axis gear rack 606, an X-axis upper and lower guide rail synchronization link 607, a Y-axis linear guide 608, a Y-axis servo motor reducer 609, a first bidirectional trapezoidal screw 610, a Z-axis servo motor reducer 611, a second bidirectional trapezoidal screw 612, a Z-axis linear guide 613, an electric drill 614, a limit travel switch 615, a laser calibration mechanism 616, a Z-axis translation beam 617 and a Y-axis synchronization beam 618, the X-axis servo motor reducer 604 is in transmission connection with the X-axis trapezoidal screw 605, two sets of X-axis gear racks 606 are installed on the dual-hole drilling mechanism frame 601, the Y-axis servo motor reducer 609 is in transmission connection with the first bidirectional trapezoidal screw 610, the Z-axis servo motor reducer 611 is in transmission connection, an electric drill 614 is arranged on a Z-axis translation cross beam 617 through a Z-axis linear guide rail 613, a laser calibration mechanism 616 is arranged on an X-axis linear guide rail 602, a double-hole drilling module 6 comprises two electric drills 614 and an XYZ three-axis translation mechanism, after the electric drill 614 is clamped through a tool clamp, the plane position of the electric drill 614 is adjusted through the XY-axis translation mechanism, the drilling depth is adjusted through the Z-axis translation mechanism, the X-axis linear guide rail 602 comprises five groups of parallel linear guide rails, the bottom of the X-axis translation cross beam is three, the top of the X-axis translation cross beam is two, a guide rail sliding block is arranged at the bottom of the Y-axis translation cross beam 603, the X-axis translation mechanism is enabled to translate on the X-axis linear guide rail 602, an X-axis servo motor reducer 604 drives an X-axis trapezoidal screw rod 605 to rotate through a coupler, so as to drive a nut, the Y-axis translation beam 603 and the Y-axis synchronization beam 618 are synchronized through the X-axis upper and lower guide rail synchronization connecting rod 607, even if the bottom and the top of the electric drill 614 are synchronized, the locking of an X-axis direction mechanism caused by the up-and-down asynchronization is prevented, the strength of the whole structure is enhanced, the structural deformation failure caused by the vibration of the electric drill 614 during working is eliminated, two Y-axis linear guide rails 608 are provided, two Z-axis translation beams 617 are moved on the Y-axis translation beam 603, the Y-axis servo motor reducer 609 drives the first bidirectional trapezoidal screw 610 to rotate through a coupler, the nut is driven to move linearly, the power for translating in the Y-axis direction is provided, the first bidirectional trapezoidal screw 610 and the nut, because the spiral directions of two sides of the first bidirectional trapezoidal screw 610 are opposite, the left nut and the right nut on the first bidirectional trapezoidal screw 610 do opposite or opposite directions relative to, the relative central positions of the two nuts are ensured to be unchanged, the Y-axis has the function of adjusting the central distance of the two holes, and the two electric drills 614 are driven to move by one power, so that the two electric drills cannot move in the same direction. The Z-axis servo motor reducer 611 drives the second bidirectional trapezoidal screw rod 612 to rotate through a coupler, a nut is driven to move linearly, power for Z-axis direction translation is provided, namely power for pushing the electric drill 614 during drilling, the power for the two electric drills 614 in the Z-axis direction are independent and do not interfere with each other, the number of the Z-axis linear guide rails 613 is two, the mounting plate of the electric drill 614 moves on the Z-axis translation cross beam 617, when the drilling depth is in place, the limit travel switch 615 is touched and inducted, the electric drill 614 stops advancing and pushes backwards, a drill bit of the electric drill 614 retreats from inside the hole, and the laser calibration mechanism 616 is used for measuring the tunnel drilling hole position and adjusting the postures of the telescopic boom 2 and the alignment correction mechanism.
Specifically, as shown in fig. 1, a shed cover 101 is provided on a body 1 of the work vehicle, and the shed cover 101 is retractable, so that when the work vehicle is not in use, the shed cover 101 is unfolded to protect the vehicle-mounted equipment.
The working principle is as follows: when the system is used, a user projects a cross cursor onto the top surface of a tunnel through a laser projector, the cross cursor is captured through a binocular vision camera to guide a telescopic boom 2 of a main working mechanical arm to be close to a target working point, after scanning is completed through a three-dimensional laser profile scanning sensor, the binocular three-dimensional vision system takes a guide curved surface as reference, the coordinate position of a laser projection point is measured, the anchor bolt hole drilling angle is calculated, and position information is transmitted to a motion controller, so that the corresponding mechanism is guided to carry out drilling operation, during drilling, laser points guide manual operation mechanical arms to move, so that laser projection enters the visual field range of the binocular camera, the system starts to enter an automatic alignment process, the three-dimensional vision system guides a horizontal XY position, the system is lifted to carry out primary alignment, the three-dimensional vision system scans the circular arc on the top surface of the tunnel, and the system calculates the spatial positions of a reference, two points of line and the contained angle of horizontal plane are calculated through the coordinate of two drilling points, and drilling module rotates to drilling angle, and the accurate counterpoint of mechanism, the laser line is checked after the counterpoint is accomplished, and the mechanism stretches out perpendicularly, makes drilling module buffering post top to tunnel wall and compression target in place, produces the pretightning force, avoids the mechanism vibrations too big, and the completion is counterpointed this moment, later begins full-automatic drilling process: the X-axis mechanism in the drilling module moves to the position of a drilling point, the Y-axis mechanism in the drilling module moves to adjust the distance between two drill bits, the Z-axis mechanism in the drilling module rises to enable the percussion drilling unit to start drilling, after the first group of drilling is completed, the Z-axis mechanism is retracted, and the X-axis mechanism in the drilling module moves to the position of the next group of drilling point to repeat the drilling process.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. Multifunctional intelligent moving platform for tunnel operation comprises an engineering truck body (1), a telescopic boom (2), an alignment correction mechanism (3) and a climbing arm (7), and is characterized in that the telescopic boom (2) comprises a front supporting leg (201), a rear supporting leg (202), a boom rotation (203), a boom main body (204) and a mounting platform (205), the front supporting leg (201) and the rear supporting leg (202) are mounted on the engineering truck body (1), the boom main body (204) is mounted on the front supporting leg (201), the mounting platform (205) is mounted on the boom main body (204), the alignment correction mechanism (3) is mounted on the mounting platform (205), the alignment correction mechanism (3) comprises a first rotating shaft (301), a second rotating shaft (302), a third rotating shaft (303), a telescopic boom (304), a fourth rotating shaft (305), a horizontal translation shaft (306) and a vertical translation shaft (307), the telescopic boom (304) consists of an outer boom (3041), an inner wall (3042), a telescopic trapezoidal screw nut (3043), a first telescopic trapezoidal screw (3044), a first coupler (3045), a first speed reducer (3046) and a first servo motor (3047), wherein the inner wall (3042) is sleeved on the outer boom (3041), the first speed reducer (3046) is connected on the first servo motor (3047) in a transmission manner, the first speed reducer (3046) is connected with the first telescopic trapezoidal screw (3044) in a transmission manner through the first coupler (3045), the first telescopic trapezoidal screw (3044) is installed on the outer boom (3041), the telescopic trapezoidal screw nut (3043) is installed on the inner wall (3042), a climbing boom (7) is installed on the engineering truck body (1) at the position of the rear supporting leg (202), and a boom installing clamp module (5) is installed on the engineering truck body (1) between the telescopic boom (2) and the climbing boom (7), the rear end that lies in ascending a height arm (7) on machineshop car automobile body (1) is installed double-hole drilling module (6), counterpoint aligning correction mechanism (3) include davit mounting fixture module (4), wrist arm mounting fixture module (5) and double-hole drilling module (6).
2. The multifunctional intelligent mobile platform for tunnel operations according to claim 1, characterized in that the davit installation clamp module (4) comprises a frame (401), a clamp boom (402), a swivel turntable (403), an upper gripper (404), a swivel connection plate (405) and a lower gripper (406).
3. The multifunctional intelligent mobile tunneling work platform according to claim 1, wherein the wrist-arm-mounted clamp module (5) comprises a first frame (501), an oblique wrist-arm cross beam (502), an oblique wrist-arm clamp (503), a flat wrist-arm clamp (504), a clamp hinge (505), and a rotation block (506).
4. The multifunctional intelligent mobile platform for tunnel operation according to claim 2, wherein a clamp cantilever (402) is mounted on the machine frame (401), a rotary turntable (403) is mounted on the clamp cantilever (402) through a pin block, a rotary connecting plate (405) is rotatably mounted on the rotary turntable (403) through a plurality of groups of rollers, and an upper gripper (404) and a lower gripper (406) are arranged on the rotary connecting plate (405).
5. The multifunctional intelligent mobile platform for tunnel operation according to claim 1, wherein the double-hole drilling module (6) comprises a double-hole drilling mechanism frame (601), an X-axis linear guide rail (602), a Y-axis translation beam (603), an X-axis servo motor reducer (604), an X-axis trapezoidal screw (605), an X-axis gear rack (606), an X-axis upper and lower guide rail synchronous connecting rod (607), a Y-axis linear guide rail (608), a Y-axis servo motor reducer (609), a first bidirectional trapezoidal screw (610), a Z-axis servo motor reducer (611), a second bidirectional trapezoidal screw (612), a Z-axis linear guide rail (613), an electric drill (614), a limit travel switch (615), a laser calibration mechanism (616), a Z-axis translation beam (617) and a Y-axis synchronous beam (618), wherein the X-axis servo motor reducer (604) is in transmission connection with the X-axis trapezoidal screw (605), install two sets of X axle rack and pinion (606) on diplopore drilling mechanism frame (601), Y axle servo motor speed reducer (609) transmission is connected with first two-way trapezoidal lead screw (610), Z axle servo motor speed reducer (611) transmission is connected with second two-way trapezoidal lead screw (612), electric drill (614) are installed on Z axle translation crossbeam (617) through Z axle linear guide (613), install laser calibration mechanism (616) on X axle linear guide (602).
6. The multifunctional intelligent moving platform for tunnel operation according to claim 1, wherein a shed protective cover (101) is arranged on the engineering truck body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110998.0A CN112777534A (en) | 2021-01-27 | 2021-01-27 | Multifunctional intelligent moving platform for tunnel operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110998.0A CN112777534A (en) | 2021-01-27 | 2021-01-27 | Multifunctional intelligent moving platform for tunnel operation |
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| CN112777534A true CN112777534A (en) | 2021-05-11 |
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| CN202110110998.0A Withdrawn CN112777534A (en) | 2021-01-27 | 2021-01-27 | Multifunctional intelligent moving platform for tunnel operation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113085671A (en) * | 2021-05-25 | 2021-07-09 | 中国铁建电气化局集团有限公司 | Multi-joint robot for mounting tunnel contact net hanging post |
| CN113276896A (en) * | 2021-06-08 | 2021-08-20 | 中国铁建电气化局集团有限公司 | Intelligent installation equipment for overhead contact system upper structure |
| CN113414589A (en) * | 2021-05-31 | 2021-09-21 | 中铁工程服务有限公司 | Anchoring robot |
| CN113738407A (en) * | 2021-09-28 | 2021-12-03 | 中交第二航务工程局有限公司 | Assembling equipment and assembling method suitable for three-step arch center of tunnel |
| CN113752934A (en) * | 2021-09-08 | 2021-12-07 | 哈尔滨工业大学 | Layer-shifting type large-stroke six-freedom-degree heavy-load installation vehicle |
| CN115847366A (en) * | 2022-01-13 | 2023-03-28 | 克诺尔车辆设备(苏州)有限公司 | Assistance device for assisting the mounting or dismounting of a brake on a bogie of a rail vehicle |
-
2021
- 2021-01-27 CN CN202110110998.0A patent/CN112777534A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113085671A (en) * | 2021-05-25 | 2021-07-09 | 中国铁建电气化局集团有限公司 | Multi-joint robot for mounting tunnel contact net hanging post |
| CN113414589A (en) * | 2021-05-31 | 2021-09-21 | 中铁工程服务有限公司 | Anchoring robot |
| CN113276896A (en) * | 2021-06-08 | 2021-08-20 | 中国铁建电气化局集团有限公司 | Intelligent installation equipment for overhead contact system upper structure |
| CN113276896B (en) * | 2021-06-08 | 2023-01-06 | 中国铁建电气化局集团有限公司 | Intelligent installation equipment for overhead contact system upper structure |
| CN113752934A (en) * | 2021-09-08 | 2021-12-07 | 哈尔滨工业大学 | Layer-shifting type large-stroke six-freedom-degree heavy-load installation vehicle |
| CN113752934B (en) * | 2021-09-08 | 2024-06-11 | 哈尔滨工业大学 | Layer-moving type large-stroke six-degree-of-freedom heavy-load installation vehicle |
| CN113738407A (en) * | 2021-09-28 | 2021-12-03 | 中交第二航务工程局有限公司 | Assembling equipment and assembling method suitable for three-step arch center of tunnel |
| CN115847366A (en) * | 2022-01-13 | 2023-03-28 | 克诺尔车辆设备(苏州)有限公司 | Assistance device for assisting the mounting or dismounting of a brake on a bogie of a rail vehicle |
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Application publication date: 20210511 |