CN113374409A - Tunnel inner wall punching robot and punching method - Google Patents
Tunnel inner wall punching robot and punching method Download PDFInfo
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- CN113374409A CN113374409A CN202110707137.0A CN202110707137A CN113374409A CN 113374409 A CN113374409 A CN 113374409A CN 202110707137 A CN202110707137 A CN 202110707137A CN 113374409 A CN113374409 A CN 113374409A
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- 238000004080 punching Methods 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims description 16
- 238000005553 drilling Methods 0.000 claims abstract description 66
- 230000003028 elevating effect Effects 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000003973 paint Substances 0.000 description 7
- 238000005507 spraying Methods 0.000 description 7
- 241000282326 Felis catus Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06C—LADDERS
- E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
- E06C5/02—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members
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- 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
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- 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
- E21B47/00—Survey of boreholes or wells
- E21B47/04—Measuring depth or liquid level
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- Life Sciences & Earth Sciences (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
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- Drilling And Boring (AREA)
Abstract
A tunnel inner wall punching robot is used for manufacturing mounting holes on the inner wall of a tunnel and belongs to the technical field of punching equipment manufacturing of the inner wall of the tunnel and comprises a chassis, wherein a lifting mechanism is vertically arranged on the chassis, a rotating mechanism is arranged on the lifting mechanism, a feeding mechanism is arranged on the rotating mechanism, a drilling device is arranged at the top end of the feeding mechanism, a control box is arranged on the chassis far away from the lifting mechanism, a first moving wheel, a second moving wheel and a jack are arranged at the bottom of the chassis, the first moving wheel is arranged at the four corners of the lower surface of the chassis, the moving directions of the second moving wheel and the first moving wheel are mutually vertical, the control box is electrically connected with the lifting mechanism, the feeding mechanism, a first driving mechanism for driving the first moving wheel, a second driving mechanism for driving the second moving wheel and the rotating mechanism, and the problems that when the current robot punches holes in a mounting bracket on the inner wall of the tunnel, the depth of punching depth can be adjusted, Complex punching position, complex punching angle operation and inconvenience.
Description
Technical Field
A tunnel inner wall punching robot is used for manufacturing mounting holes of mounting supports on tunnel inner walls and belongs to the technical field of manufacturing of punching equipment of tunnel inner walls.
Background
Various facilities such as an illumination device, an image pickup device, a cable, and the like need to be installed on the inner wall of the tunnel, so that a hole is drilled on the inner wall of the tunnel and then installed on the fixed illumination device, the image pickup device, and the like through the hole, however, the conventional machine has a single action or a method of adjusting a drill by a machine when drilling the inner wall of the tunnel, but has no design of a part for precisely controlling the drilling direction, so that the direction of adjusting the drill is manually or semi-automatically.
For example:
patent No. CN207660541U, entitled: the utility model provides a universal drilling equipment's in tunnel scheme that its adopted is:
a universal tunnel drilling device comprises a plate trailer and a drilling assembly, wherein the plate trailer moves on a track laid in a tunnel, the drilling assembly is used for drilling holes in the inner wall of the tunnel, hook heads used for being connected with a tractor are arranged at two ends of the plate trailer, the drilling assembly is positioned on the plate trailer, two positioning slide rails and two groove tracks are laid on the plate trailer, the positioning slide rails and the groove tracks are perpendicular to two sides of the plate trailer, convex sliding grooves are formed in the positioning slide rails, and the two groove tracks are positioned between the two positioning slide rails; a seat plate positioned above the positioning slide rail and the groove rail is arranged above the plate trailer, positioning bolts with the lower ends clamped in the convex sliding grooves are arranged at four corners of the seat plate, rollers capable of rolling in the groove rail are arranged below the seat plate, positioning nuts positioned above the seat plate are connected to the positioning bolts in a threaded mode, and the drilling assembly is positioned above the seat plate; the drilling component comprises a support frame and a drill, a bottom plate attached to the upper surface of the seat plate is arranged below the support frame, a turntable capable of rotating randomly is arranged on the front side of the support frame, the turntable is connected with the support frame through a brake wheel disc, the drill is fixed to the front side of the turntable, inner screw holes overlapped with each other are formed in the seat plate and the bottom plate, and a plurality of fixing screw rods connected with the inner screw holes are formed in the seat plate.
According to the scheme, the direction of punching can be adjusted, but after one hole is punched, the next punching position is inconvenient to change, and the limiting device for moving the punching assembly needs to be manually released to adjust the punching assembly; even if the tractor needs to be reused to drive the whole tunnel universal drilling device to move, the practicability of the whole tunnel universal drilling device is poor.
And patent number CN204236478U, named: the utility model provides a tunnel operation car that punches, the technical scheme who adopts does:
the utility model provides a tunnel operation car that punches, includes cat ladder and load-bearing platform, is equipped with tunnel contact gyro wheel on the side that load-bearing platform is close to the tunnel lateral wall, and cat ladder upper end and load-bearing platform pass through the axis of rotation and connect, and the cat ladder lower extreme is equipped with track contact pulley, the length direction motion of rail can be followed with the rail contact to track contact pulley, track contact pulley is equipped with two sets ofly, and two sets of track contact pulleys correspond two rail settings, and two sets of track contact pulleys all are connected with the cat ladder lower extreme.
This scheme can be with the workman carrying along the tunnel inner wall removal, but does not possess the function of punching, and workman's intensity of labour is still very big, consequently, need design one kind when the mounting hole of getting tunnel support bores, can be according to the depth, angle, the position that complicated work scene intelligence accurate adjustment punched to the robot of automatic punching.
Disclosure of Invention
Aiming at the defects of the prior art, the invention designs a method for intelligently and accurately adjusting the punching depth, angle and position according to a complex working scene and automatically punching when drilling the mounting hole of the tunnel support by adopting a way of mutually matching a track, a lifting mechanism, a rotating mechanism and a feeding mechanism, and solves the problems that the punching depth and the punching position are complex to adjust when the hole of the mounting support is punched on the inner wall of the tunnel at present, and the operation is complex and inconvenient due to the fact that the connecting angle between a drilling device and a mechanical arm needs to be changed when the punching angle is adjusted.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a tunnel inner wall punching robot, includes the chassis, the vertical elevating system that is equipped with on the chassis, elevating system is last to be equipped with slewing mechanism, the last feeding mechanism that is equipped with of slewing mechanism, feeding mechanism's top is equipped with drilling equipment, keep away from on the chassis elevating system department installation control box, the bottom on chassis is equipped with first removal wheel, second removal wheel, jack, the four corners department of the lower surface on chassis is located to first removal wheel, the second removes wheel and first removal direction mutually perpendicular who removes the wheel, the minimum point of the periphery that the second removed the wheel is higher than the minimum of the periphery that the first removed the wheel, control box and elevating system, feeding mechanism, the first actuating mechanism who drives first removal wheel, the second actuating mechanism, the slewing mechanism electric connection that drive the second removed the wheel.
When the automatic punching machine is used, the control box controls the first moving wheel on the chassis to move and rotate, the punching device is moved to the X-axis coordinate of the preset punching position in a space coordinate system, the jack is started to jack the punching device, then a track for the second moving wheel to roll is arranged below the second moving wheel, the control box controls the second moving wheel on the chassis to move and rotate to the Y-axis coordinate of the preset punching position in the space coordinate system, the control box controls the lifting mechanism to determine the Z-axis coordinate of the preset punching position in the space coordinate system, finally the control box controls the rotating mechanism, the punching angle is adjusted according to the preset parameters, then the drilling device is started, punching can be performed, the adjustment is performed in the control box, and a worker only needs to input corresponding parameter values into the control box in the using process, thereby solved at present when the hole of installing support is beaten to the tunnel inner wall, the adjustment depth of punching and the position of punching are complicated to need lead to the operation complicacy, not simple and convenient problem through the angle of being connected that changes drilling equipment and arm when the angle is punched in the adjustment.
Preferably, the tunnel further comprises a track operatively mounted in the tunnel for rolling movement of the first movable wheel, the track being parallel to the axis of the tunnel.
As a preferred mode, the lifting mechanism comprises a lifting motor, a first lead screw, a first guide rod and a lifting seat, the lifting motor is arranged in the chassis, an output shaft of the lifting motor is connected with the first lead screw which vertically penetrates through the upper surface of the chassis through a speed reducer, the first guide rod is vertically arranged on the chassis and far away from the first lead screw, a slide hole and a screw hole are formed in the lifting seat, the inner wall of the slide hole in the lifting seat is in sliding connection with the outer circumferential surface of the first guide rod, and the screw hole in the lifting seat is meshed with the outer circumferential surface of the first lead screw.
As a preferable mode, two first guide rods are provided, one first lead screw is provided, and the first lead screw is located between the two first guide rods.
As a preferable mode, the jack is a scissor jack, the top end of the jack is fixedly connected with the lower surface of the chassis, and the lower end of the jack is provided with a claw groove matched with the rail.
As a preferable mode, the rotating mechanism comprises a connecting seat rotatably connected with the side wall of the lifting seat, an inner gear ring is arranged on one surface, close to the connecting seat, of the lifting seat, a rotating motor is fixedly arranged on the connecting seat, a gear meshed with the inner gear ring is arranged on an output shaft of the rotating motor, the connecting seat is also provided with the sliding hole and the screw hole, and the feeding mechanism is connected with the connecting seat through the screw hole and the sliding hole on the connecting seat.
As a preferred mode, the feeding mechanism comprises a second lead screw and a second guide rod which are parallel to each other, the second lead screw is meshed with a screw hole in the connecting seat, the second guide rod is connected with a slide hole in the connecting seat in a sliding manner, one end of the second guide rod is fixedly connected with a seat plate, a feeding motor is arranged on the seat plate, an output shaft of the feeding motor penetrates through the seat plate and is connected with the second lead screw in an axial transmission manner, the two ends of the second lead screw are meshed with the screw hole in the connecting seat, one end, far away from the seat plate, of the second guide rod is provided with the drilling device, and the drilling device is electrically connected with the control box.
Preferably, the lifting device further comprises a ladder, wherein the top end of the ladder is connected with the top end of the lifting mechanism, and the other end of the ladder is connected to the upper surface of the chassis far away from the lifting mechanism.
A punching method using an upper punching device comprises the following steps:
firstly, mounting the track in a tunnel in parallel to the axis of the tunnel;
secondly, adjusting the control box to enable the first moving wheel driving mechanism to be started to drive a first moving wheel, so that the punching equipment moves to the track;
thirdly, the punching equipment is controlled by the control box to move to a preset punching position on an X axis in a space coordinate system through the first moving wheel, then the lifting device is adjusted by the control box, so that the drilling device at the top end of the feeding mechanism is located at a position of the preset punching position on a Z axis in the space coordinate system, the punching equipment is jacked up through a jack, then a guide rail perpendicular to the track is installed on the upper surface of the track, then the jack is contracted, so that the upper surface of the guide rail is in contact with the circumferential surface of the second moving wheel, and then the second moving wheel is controlled by the control box to move to a position of the preset punching position on a Y axis in the space coordinate system;
fourthly, controlling a rotating motor through a control box to enable a feeding mechanism to rotate on the lifting device, so that the punching angle is adjusted;
and fifthly, adjusting the rotation time of the feeding motor through the control box according to the preset punching depth.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, by adopting a mode that the track, the lifting mechanism, the rotating mechanism and the feeding mechanism are mutually matched, the intelligent and accurate punching depth, angle and position can be intelligently and accurately adjusted according to a complex working scene and automatic punching is designed when the mounting hole of the tunnel support is drilled, and the problems that the punching depth and the punching position are complex to adjust when the hole of the mounting support is punched on the inner wall of the tunnel at present, and the operation is complex and not simple due to the fact that the connection angle of the drilling device and the mechanical arm needs to be changed when the punching angle is adjusted are solved.
(2) According to the invention, the track is arranged during working, so that when the first moving wheel moves, the punching equipment only moves on the X axis in the space coordinate system and does not deviate.
(3) The lifting motor drives the first screw rod to rotate, so that the lifting seat ascends and descends, and the first guide rod is arranged, so that the lifting seat is stable in the ascending and descending processes.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a structural relationship diagram of the first and second lead screws, the first and second guide rods, the lifting seat and the connecting seat in the present invention
FIG. 3 is a diagram showing a connection relationship between the lifting seat and the connecting seat after the housing is removed;
FIG. 4 is a schematic view of the left side of FIG. 3;
FIG. 5 is a diagram of the relationship between the jack and the rail according to the present invention;
FIG. 6 is a schematic bottom view of the present invention;
FIG. 7 is a diagram showing a link relationship between the lift motor and the first lead screw according to the present invention;
FIG. 8 is a schematic view of the construction of the drilling apparatus of the present invention;
FIG. 9 is a view showing the connection between the slide holder and the mounting plate.
Wherein, 1, a chassis; 2. a drilling device; 2-1, a shell; 2-2, mounting a plate; 2-3, a slide bar; 2-4, drilling a hole seat; 2-5, a spring; 2-6, electrically drilling; 2-7, an electronic ruler; 3. a control box; 4. a first moving wheel; 5. a second moving wheel; 6. a jack; 7. a track; 8. a lifting motor; 9. a first lead screw; 10. a first guide bar; 11. a lifting seat; 12. a slide hole; 13. a silk hole; 14. a claw groove; 15. a connecting seat; 16. an inner gear ring; 17. rotating the motor; 18. a gear; 19. a second lead screw; 20. a second guide bar; 21. a seat plate; 22. a feed motor; 23. a ladder; 24. a slide plate seat; 25. a chute; 26. provided is an electric paint spraying device.
Detailed Description
Example 1
As shown in fig. 1 to 7, a tunnel inner wall punching robot includes a chassis 1, a lifting mechanism is vertically disposed on the chassis 1, a rotating mechanism is disposed on the lifting mechanism, a feeding mechanism is disposed on the rotating mechanism, a drilling device 2 is disposed at a top end of the feeding mechanism, a control box 3 is disposed on the chassis 1 and far away from the lifting mechanism, a first movable wheel 4, a second movable wheel 5 and a jack 6 are disposed at a bottom of the chassis 1, the first movable wheel 4 is disposed at four corners of a lower surface of the chassis 1, moving directions of the second movable wheel 5 and the first movable wheel 4 are perpendicular to each other, a lowest point of a circumferential surface of the second movable wheel 5 is higher than a lowest point of a circumferential surface of the first movable wheel 4, and the control box 3, the lifting mechanism, the feeding mechanism, a first driving mechanism for driving the first movable wheel 4, and a second driving mechanism for driving the second movable wheel 5, The rotating mechanism is electrically connected.
In the invention, when in use, the control box 3 controls the first moving wheel 4 on the chassis 1 to move and rotate, so that the punching equipment moves to the X-axis coordinate of the preset punching position in a space coordinate system, the jack 6 is started to jack the punching equipment, then a track for the second moving wheel 5 to roll is arranged below the second moving wheel 5, the control box 3 controls the second moving wheel 5 on the chassis 1 to move and rotate to the Y-axis coordinate of the preset punching position in the space coordinate system, the control box 3 controls the lifting mechanism to determine the Z-axis coordinate of the preset punching position in the space coordinate system, finally the control box 3 controls the rotating mechanism to adjust the punching angle according to the preset parameters, then the drilling device 2 is started to punch holes, and as the adjustments are operated in the control box 3, a worker only needs to input corresponding parameter values into the control box 3 in the use process, thereby solved at present when the hole of installing support is beaten to the tunnel inner wall, the adjustment depth of punching and the position of punching are complicated to need lead to the operation complicacy, not simple and convenient problem through the angle of being connected that changes drilling equipment 2 and arm when the angle is punched in the adjustment.
Example 2
As shown in fig. 1 to 7, a tunnel inner wall punching robot includes a chassis 1, a lifting mechanism is vertically disposed on the chassis 1, a rotating mechanism is disposed on the lifting mechanism, a feeding mechanism is disposed on the rotating mechanism, a drilling device 2 is disposed at a top end of the feeding mechanism, a control box 3 is mounted on the chassis 1 at a position far from the lifting mechanism, a first moving wheel 4, a second moving wheel 5 and a jack 6 are disposed at a bottom of the chassis 1, the first moving wheel 4 is disposed at four corners of a lower surface of the chassis 1, moving directions of the second moving wheel 5 and the first moving wheel 4 are perpendicular to each other, a lowest point of a circumferential surface of the second moving wheel 5 is higher than a lowest point of a circumferential surface of the first moving wheel 4, that is, only a circumferential surface of the first moving wheel 4 contacts the ground when the punching device moves, and a circumferential surface of the second moving wheel 5 does not contact the ground, the control box 3 is electrically connected with the lifting mechanism, the feeding mechanism, the first driving mechanism for driving the first movable wheel 4, the second driving mechanism for driving the second movable wheel 5 and the rotating mechanism.
Preferably, the device further comprises a track 7 which is operatively mounted in the tunnel for rolling movement of the first movable wheel 4, the track 7 being parallel to the axis of the tunnel, the track 7 being operatively arranged such that the punching device is only movable in the X-axis of the spatial coordinate system without deviation when the first movable wheel 4 is moved.
Preferably, the lifting mechanism includes a lifting motor 8, a first lead screw 9, a first guide rod 10 and a lifting seat 11, the lifting motor 8 is arranged in the chassis 1, an output shaft of the lifting motor 8 is connected with the first lead screw 9 vertically penetrating through the upper surface of the chassis 1 through a speed reducer, the first guide rod 10 is vertically arranged on the chassis 1 far away from the first lead screw 9, a sliding hole 12 and a screw hole 13 are arranged on the lifting seat 11, the inner wall of the sliding hole 12 on the lifting seat 11 is in sliding connection with the outer circumferential surface of the first guide rod 10, the screw hole 13 on the lifting seat 11 is meshed with the outer circumferential surface of the first lead screw 9, in the using process, the lifting motor 8 drives the first lead screw 9 to rotate, so that the lifting seat 11 ascends and descends, and the arrangement of the first guide rod 10 makes the lifting seat 11 stable in the ascending and descending processes.
Preferably, there are two first guide rods 10, there is one first lead screw 9, and the first lead screw 9 is located between the two first guide rods 10, so that the moments received by the portions located at the two sides of the first lead screw 9 during the ascending and descending processes of the lifting seat 11 are equal, thereby preventing the problem of short service life caused by local deformation of the lifting seat 11.
Preferably, the jack 6 is a scissor jack, the top end of the jack 6 is fixedly connected with the lower surface of the chassis 1, the lower end of the jack 6 is provided with a claw groove 14 matched with the rail 7, and the rail 7 is grasped by the claw groove 14, so that the lower end of the jack 6 is prevented from slipping in the process of extending.
Preferably, the rotating mechanism includes a connecting seat 15 rotatably connected to a side wall of the lifting seat 11, an inner gear ring 16 is disposed on a surface of the lifting seat 11 close to the connecting seat 15, a rotating motor 17 is fixedly disposed on the connecting seat 15, a gear 18 engaged with the inner gear ring 16 is disposed on an output shaft of the rotating motor 17, the connecting seat 15 is also provided with the sliding hole 12 and the thread hole 13, the feeding mechanism is connected to the connecting seat 15 through the thread hole 13 and the sliding hole 12 on the connecting seat 15, and the rotating motor 17 is controlled to drive the gear 18 to rotate, so as to drive the connecting seat 15 to rotate on the lifting seat 11 to adjust a punching angle.
Preferably, the feeding mechanism comprises a second screw rod 19 and a second guide rod 20 which are parallel to each other, the second screw rod 19 is engaged with a screw hole 13 on the connecting seat 15, the second guide rod 20 is slidably connected with a slide hole 12 on the connecting seat 15, one end of the second guide rod 20 is fixedly connected with a seat plate 21, a feeding motor 22 is arranged on the seat plate 21, an output shaft of the feeding motor 22 penetrates through the seat plate 21 and is axially connected with the second screw rod 19 in a transmission manner, the two ends of the second screw rod 19 are engaged with the screw hole 13 on the connecting seat 15, one end, far away from the seat plate 21, of the second guide rod 20 is provided with the drilling device 2, and the drilling device 2 is electrically connected with the control box 3.
Preferably, the lifting device further comprises a ladder 23, wherein the top end of the ladder 23 is connected with the top end of the lifting mechanism, the other end of the ladder 23 is connected to the upper surface of the chassis 1 far away from the lifting mechanism, and by arranging the ladder 23, on one hand, a worker can climb to the top end of the lifting mechanism through the ladder 23 for maintenance; on the other hand, the ladder 23, the lifting mechanism and the chassis 1 form a triangle together, so that the lifting mechanism can be assisted, the top end of the lifting mechanism is prevented from shaking, and the function of reinforcing ribs is achieved.
Preferably, one end of the second guide rod 20, which is far away from the seat plate 21, is provided with a slide plate seat 24, one end of the slide plate seat 24, which faces away from the seat plate 21, is provided with a slide groove 25, an axis of the slide groove 25 is parallel to a connecting line between the second lead screw 19 and the second guide rod 20, a slide block is slidably connected in the slide groove 25, a bolt extending out of the notch 25 is arranged on the slide block, the slide plate seat 24 is connected with the drilling device 2 through the bolt, a length and a width of a contact surface between the drilling device 2 and the slide plate seat 24 are both greater than a width of the slide groove 25, so that a plurality of drilling devices 2 can be mounted on the slide plate seat 24 through cooperation of the plurality of slide blocks and the slide groove 25, a plurality of holes can be drilled simultaneously, the slide block slides in the slide groove 25 to adjust a distance between adjacent drilling devices 2, wherein a length and a width of a contact surface between the drilling device 2 and the slide plate seat 24 are both greater than a width of the slide groove 25, so that the slide and bolt can secure the drilling device 2 to the slide shoe 24.
Preferably, the drilling device 2 comprises a shell 2-1 with an opening at one end, a mounting plate 2-2 arranged at the opening of the shell 2-1, a sliding rod 2-3, a drilling seat 2-4, a spring 2-5, an electric drilling drill 2-6 and an electronic ruler 2-7 which are positioned in the shell 2-1, wherein a drill bit of the electric drilling drill 2-6 extends out of the shell 2-1 at one end of the shell 2-1 back to the mounting plate 2-2, the bolt is connected with the mounting plate 2-2, the length and width of the contact surface of the mounting plate 2-2 and the sliding plate seat 24 are both larger than the width of the sliding groove 25, two sliding rods 2-3 parallel to the second screw rod 19 are arranged on the mounting plate 2-2, the drilling seats 2-4 are jointly connected between the two ends of the two sliding rods 2-3 in a sliding manner, the electric punching drill is characterized in that a spring 2-5 is sleeved between the drilling seat 2-4 and the mounting plate 2-2 on the sliding rod 2-3, one surface of the drilling seat 2-4, which faces away from the mounting plate 2-2, is provided with the electric punching drill 2-6, an electronic ruler 2-7 is arranged between the drilling seat 2-4 and the mounting plate 2-2, the electronic ruler 2-7 is in signal connection with the control box 3, and the electronic ruler 2-7 is arranged to measure the distance between the mounting plate 2-2 and the drilling seat 2-4 or the deformation of the spring 2-5 and transmit the measured value to the control box 3 so as to measure the punching depth.
Preferably, the surface of casing 2-1 is equipped with electronic paint spraying apparatus 26 in the one side that faces away from mounting panel 2-2, electronic paint spraying apparatus 26 signal connection control box 3, electronic paint spraying apparatus 26's purpose is when the hole of punching, if meet the tunnel inner wall have the reinforcing bar can't punch the hole, to punching hole department mark to facilitate subsequent processing.
Example 3
As shown in fig. 1 to 5, a punching method includes a punching apparatus, the punching apparatus includes a chassis 1, a lifting mechanism is vertically disposed on the chassis 1, a rotating mechanism is disposed on the lifting mechanism, a feeding mechanism is disposed on the rotating mechanism, a drilling device 2 is disposed at a top end of the feeding mechanism, a control box 3 is disposed on the chassis 1 and away from the lifting mechanism, a first moving wheel 4, a second moving wheel 5, and a jack 6 are disposed at a bottom of the chassis 1, the first moving wheel 4 is disposed at four corners of a lower surface of the chassis 1, moving directions of the second moving wheel 5 and the first moving wheel 4 are perpendicular to each other, a lowest point of a circumferential surface of the second moving wheel 5 is higher than a lowest point of a circumferential surface of the first moving wheel 4, and the control box 3, the lifting mechanism, the feeding mechanism, and a first driving mechanism for driving the first moving wheel 4, The second driving mechanism for driving the second moving wheel 5 is electrically connected with the rotating mechanism.
And a track 7 operatively mounted in the tunnel for rolling movement of said first mobile wheel 4, said track 7 being parallel to the axis of the tunnel.
The number of the first guide rods 10 is two, the number of the first screw rods 9 is one, and the first screw rods 9 are located between the two first guide rods 10.
The rotating mechanism comprises a connecting seat 15 which is rotatably connected with the side wall of the lifting seat 11, an inner gear ring 16 is arranged on one surface, close to the connecting seat 15, of the lifting seat 11, a rotating motor 17 is fixedly arranged on the connecting seat 15, a gear 18 meshed with the inner gear ring 16 is arranged on an output shaft of the rotating motor 17, the sliding hole 12 and the screw hole 13 are also arranged on the connecting seat 15, and the feeding mechanism is connected with the connecting seat 15 through the screw hole 13 on the connecting seat 15 and the sliding hole 12.
The feeding mechanism comprises a second lead screw 19 and a second guide rod 20 which are parallel to each other, the second lead screw 19 is meshed with a thread hole 13 in the connecting seat 15, the second guide rod 20 is connected with a sliding hole 12 in the connecting seat 15 in a sliding mode, one end of the second guide rod 20 is fixedly connected with a seat plate 21, a feeding motor 22 is arranged on the seat plate 21, an output shaft of the feeding motor 22 penetrates through the seat plate 21 and is connected with the second lead screw 19 in an axial transmission mode, the two ends of the second lead screw 19 are meshed with the thread hole 13 in the connecting seat 15, the second guide rod 20 is far away from one end of the seat plate 21, the drilling device 2 is arranged, and the drilling device 2 is electrically connected with the control box 3.
The end, far away from the seat plate 21, of the second guide rod is provided with a sliding plate seat 24, one end, back to the seat plate 21, of the sliding plate seat 24 is provided with a sliding groove 25, the axis of the sliding groove 25 is parallel to the connecting line between the second lead screw 19 and the second guide rod 20, a sliding block is connected in the sliding groove 25 in a sliding mode, a bolt extending out of the groove opening 25 is arranged on the sliding block, the sliding plate seat 24 is connected with the drilling device 2 through the bolt, and the length and the width of the contact surface of the drilling device 2 and the sliding plate seat 24 are both larger than the width of the sliding groove 25.
The drilling device 2 comprises a shell 2-1 with an opening at one end, a mounting plate 2-2 arranged at the opening of the shell 2-1, a sliding rod 2-3, a drilling seat 2-4, a spring 2-5, an electric drilling drill 2-6 and an electronic ruler 2-7 which are positioned in the shell 2-1, wherein a drill bit of the electric drilling drill 2-6 extends out of the shell 2-1 at one end of the shell 2-1 back to the mounting plate 2-2, a bolt is connected with the mounting plate 2-2, the length and the width of the contact surface of the mounting plate 2-2 and the sliding plate seat 24 are both larger than the width of the sliding chute 25, two sliding rods 2-3 parallel to the second screw rod 19 are arranged on the mounting plate 2-2, and the drilling seats 2-4 are connected between the two ends of the two sliding rods 2-3 in a sliding manner, the electric punching drill is characterized in that a spring 2-5 is sleeved between the drilling seat 2-4 and the mounting plate 2-2 on the sliding rod 2-3, the electric punching drill 2-6 is mounted on one surface, back to the mounting plate 2-2, of the drilling seat 2-4, an electronic ruler 2-7 is arranged between the drilling seat 2-4 and the mounting plate 2-2 through a telescopic rod 27, the electronic ruler 2-7 is in signal connection with the control box 3, the electronic ruler 2-7 is arranged to measure the distance between the mounting plate 2-2 and the drilling seat 2-4 or the deformation of the spring 2-5, and the measured value is transmitted to the control box 3 to measure the punching depth.
The surface of casing 2-1 is in the dorsad the one side of mounting panel 2-2 is equipped with electronic paint spraying apparatus 26, electronic paint spraying apparatus 26 signal connection control box 3, electronic paint spraying apparatus 26's purpose is when the hole can not be beaten to the reinforcing bar in the process of punching, if meet the tunnel inner wall, to beating the hole department mark to convenient follow-up processing.
The punching method comprises the following steps:
a first step of mounting the rails 7 in the tunnel parallel to the axis of the tunnel;
secondly, adjusting the control box 3 to enable the first moving wheel driving mechanism to be started to drive the first moving wheel 4, so that the punching equipment moves to the track 7;
thirdly, the punching equipment is controlled by the control box 3 to move to a preset punching position on an X axis in a space coordinate system through the first moving wheel 4, then the lifting device is adjusted by the control box 3, so that the drilling device 2 at the top end of the feeding mechanism is in a position of the preset punching position on a Z axis in the space coordinate system, the punching equipment is jacked up through the jack 6, then a guide rail perpendicular to the rail 7 is installed on the upper surface of the rail 7, then the jack 6 is contracted, so that the upper surface of the guide rail is in contact with the circumferential surface of the second moving wheel 5, and then the second moving wheel 5 is controlled by the control box 3 to move to a position of the preset punching position on a Y axis in the space coordinate system;
fourthly, controlling a rotating motor 17 through the control box 3 to enable the feeding mechanism to rotate on the lifting device, so that the punching angle is adjusted;
and fifthly, adjusting the rotation time of the feeding motor 22 according to the preset punching depth through the control box 3.
Claims (9)
1. The utility model provides a tunnel inner wall punching robot, includes chassis (1), its characterized in that, the vertical elevating system that is equipped with on chassis (1), the last slewing mechanism that is equipped with of elevating system, the last feed mechanism that is equipped with of slewing mechanism, feed mechanism's top is equipped with drilling equipment (2), keep away from on chassis (1) elevating system department installation control box (3), the bottom of chassis (1) is equipped with first removal wheel (4), second removal wheel (5), jack (6), four corners department of the lower surface of chassis (1) is located to first removal wheel (4), the direction of movement mutually perpendicular of second removal wheel (5) and first removal wheel (4), the minimum point of the periphery of second removal wheel (5) is higher than the minimum point of the periphery of first removal wheel (4), control box (3) and elevating system, The feeding mechanism, the first driving mechanism for driving the first moving wheel (4), the second driving mechanism for driving the second moving wheel (5) and the rotating mechanism are electrically connected.
2. A tunnel inner wall perforating robot as claimed in claim 1, further comprising a track (7) operatively mounted in the tunnel for rolling of said first movable wheel (4), said track (7) being parallel to the tunnel axis.
3. The tunnel inner wall punching robot according to claim 2, wherein the lifting mechanism comprises a lifting motor (8), a first screw rod (9), a first guide rod (10) and a lifting seat (11), the lifting motor (8) is arranged in the chassis (1), an output shaft of the lifting motor (8) is connected with a first screw rod (9) which vertically penetrates through the upper surface of the chassis (1) through a speed reducer, the first guide rod (10) is vertically arranged on the chassis (1) far away from the first screw rod (9), a sliding hole (12) and a screw hole (13) are arranged on the lifting seat (11), the inner wall of a sliding hole (12) on the lifting seat (11) is connected with the outer circumferential surface of the first guide rod (10) in a sliding way, and a screw hole (13) on the lifting seat (11) is meshed with the outer circumferential surface of the first screw rod (9).
4. The tunnel inner wall punching robot according to claim 3, characterized in that the number of the first guide rods (10) is two, the number of the first screw rods (9) is one, and the first screw rods (9) are located between the two first guide rods (9).
5. The tunnel inner wall punching robot according to claim 2, characterized in that the jack (6) is a scissor jack, the top end of the jack (6) is fixedly connected with the lower surface of the chassis (1), and the lower end of the jack (6) is provided with a claw groove (14) matched with the rail (7).
6. The tunnel inner wall punching robot according to claim 4, wherein the rotating mechanism comprises a connecting seat (15) rotatably connected with a side wall of the lifting seat (11), an inner gear ring (16) is arranged on the connecting seat (15) on a side close to the connecting seat (15), a rotating motor (17) is fixedly arranged on the lifting seat (11), a gear meshed with the inner gear ring (16) is arranged on an output shaft of the rotating motor (17), the connecting seat (15) is also provided with the sliding hole (12) and the wire hole (13), and the feeding mechanism is connected with the connecting seat (15) through the wire hole (13) on the connecting seat (15) and the sliding hole (12).
7. The tunnel inner wall punching robot according to claim 6, wherein the feeding mechanism comprises a second lead screw (19) and a second guide rod (20) which are parallel to each other, the second lead screw (19) is engaged with a screw hole (13) on the connecting seat (15), the second guide rod (20) is slidably connected with a slide hole (12) on the connecting seat (15), a seat plate (21) is fixedly connected with one end of the second guide rod (20), a feeding motor (22) is arranged on the seat plate (21), an output shaft of the feeding motor (22) penetrates through the seat plate (21) and is axially and drivingly connected with the second lead screw (19), the screw hole (13) on the connecting seat (15) is engaged between two ends of the second lead screw (19), and the drilling device (2) is arranged at one end of the second guide rod (20) far away from the seat plate (21), the drilling device (2) is electrically connected with the control box (3).
8. The tunnel inner wall punching robot according to claim 2, characterized by further comprising a ladder (23), wherein the top end of the ladder (23) is connected with the top end of the lifting mechanism, and the other end of the ladder is connected to the upper surface of the chassis (1) far away from the lifting mechanism.
9. The perforating method of the perforating apparatus as recited in claim 7, characterized by comprising the steps of:
a first step of mounting the rail (7) in the tunnel parallel to the axis of the tunnel;
secondly, adjusting the control box (3) to enable the first moving wheel driving mechanism to be started to drive the first moving wheel (4) so that the punching equipment moves onto the track (7);
thirdly, the punching equipment is controlled to move to a preset punching position on an X axis in a space coordinate system through a first moving wheel (4) through a control box (3), then the lifting device is adjusted through the control box (3), so that a drilling device (2) at the top end of the feeding mechanism is located at a position of the preset punching position on a Z axis in the space coordinate system, the punching equipment is jacked up through a jack (6), then a guide rail perpendicular to the rail (7) is installed on the upper surface of the rail (7), then the jack (6) is contracted, so that the upper surface of the guide rail is in contact with the circumferential surface of the second moving wheel (5), and then the second moving wheel (5) is controlled to move to a position of the preset punching position on a Y axis in the space coordinate system through the control box (3);
fourthly, controlling a rotating motor (17) through a control box (3) to enable a feeding mechanism to rotate on the lifting device, so that the punching angle is adjusted;
and fifthly, adjusting the rotation time of the feeding motor (22) through the control box (3) according to the preset punching depth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707137.0A CN113374409A (en) | 2021-06-24 | 2021-06-24 | Tunnel inner wall punching robot and punching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707137.0A CN113374409A (en) | 2021-06-24 | 2021-06-24 | Tunnel inner wall punching robot and punching method |
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| Publication Number | Publication Date |
|---|---|
| CN113374409A true CN113374409A (en) | 2021-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110707137.0A Pending CN113374409A (en) | 2021-06-24 | 2021-06-24 | Tunnel inner wall punching robot and punching method |
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| Country | Link |
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| CN (1) | CN113374409A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115059392A (en) * | 2022-07-11 | 2022-09-16 | 西南交通大学 | Construction robot and construction method for fixing and positioning internal thread riveting column in tunnel |
-
2021
- 2021-06-24 CN CN202110707137.0A patent/CN113374409A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115059392A (en) * | 2022-07-11 | 2022-09-16 | 西南交通大学 | Construction robot and construction method for fixing and positioning internal thread riveting column in tunnel |
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