CN113482528A - Construction method based on tunnel rail-mounted omnidirectional inner wall drilling robot - Google Patents
Construction method based on tunnel rail-mounted omnidirectional inner wall drilling robot Download PDFInfo
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- CN113482528A CN113482528A CN202110949116.XA CN202110949116A CN113482528A CN 113482528 A CN113482528 A CN 113482528A CN 202110949116 A CN202110949116 A CN 202110949116A CN 113482528 A CN113482528 A CN 113482528A
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- 238000010276 construction Methods 0.000 title claims abstract description 64
- 238000005553 drilling Methods 0.000 title claims abstract description 61
- 238000004080 punching Methods 0.000 claims abstract description 38
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 30
- 239000010959 steel Substances 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 230000010365 information processing Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims 2
- 239000012636 effector Substances 0.000 abstract description 4
- 230000007547 defect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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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
- E21B7/04—Directional drilling
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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
- E21B12/00—Accessories for drilling tools
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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
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
- E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
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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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- 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
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot, which relates to the technical field of tunnel laying, in particular to S1, equipment in place; s2, initializing and calibrating; and S3, performing punching operation and S4 and recalibrating hole positions. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot comprises the steps of measuring the distance and the direction between a laser beam spot parallel to a drill rod and a target, guiding a servo control system to control an end effector to be accurately positioned, adding a hydraulic stress monitoring system to judge whether a steel bar is drilled, arranging two groups of laser ranging sensors and a stay wire sensor to monitor the deviation value of the top surface of a steel rail, and compensating the angle and the height of a lifting oil cylinder of a punching execution assembly through a worm of a folding arm assembly.
Description
Technical Field
The invention relates to the technical field of tunnel laying, in particular to a construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot.
Background
Along with the rapid development of subway tunnel traffic construction in China, a large number of mounting holes need to be drilled on the tunnel wall in the electromechanical installation of a traction power supply contact net, a side wall cable, a pipeline, an emergency evacuation platform and the like in a tunnel, the manual scribing and operation platform auxiliary manual hand-held drilling operation mode is still mainly adopted at present, and the following defects exist:
(1) due to the fact that the number of the drilled holes is large, a large number of technicians have to be hired to meet the requirement of the construction period, and cost is high;
(2) the manual operation quality, such as the position of the drilled hole, the accuracy and the consistency of the drilling direction, is difficult to ensure;
(3) the positions of part of the mounting holes are higher, a temporary support or a movable lifting platform needs to be built, the auxiliary operation time is long, the operation efficiency is reduced, and potential safety hazards exist during high-altitude operation;
adopt punching robot to replace artifical punching to above-mentioned condition and along with science and technology development now to a certain extent to avoid above-mentioned defect.
At present, the problem of manual operation exposure is improved to a certain extent in the occurrence of the punching robot, but the robot operation does not form a set of comprehensive and scientific construction method, so that each unit can do its way during construction, the construction operation is not uniform, and the construction effect is not ideal.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot, which solves the problems that manual operation exposure is improved to a certain extent when the drilling robot is provided in the background technology, but a set of comprehensive and scientific construction method is not formed in robot operation, so that each unit can work independently, construction operation is not uniform, and construction effect is not ideal.
In order to achieve the purpose, the invention is realized by the following technical scheme: a construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot comprises the following operation steps:
s1, positioning the equipment:
according to the field working condition, considering that the allowable load of a station roof is generally padded with a 20mm thick steel plate at the support leg position of a truck crane, selecting a truck crane with proper tonnage according to the weight of equipment, pausing after the equipment leaves 100mm from the ground, checking the structural strength and braking condition of the truck crane and the horizontal condition of the mechanical arm part of the punching equipment, hoisting the punching equipment to a grounding point, namely above a positive track by the truck crane without abnormality, and hoisting a hoisting piece to a specified position through slow actions such as hoisting, turning, amplitude variation and the like;
s2, initializing and calibrating:
making a mark on the initial point through manual punching, and moving a punching execution device to a mark point through an operation screen after starting the equipment to finish initialization calibration of the equipment;
s3, executing punching operation:
the rail holding mechanism holds the rail → the hydraulic top head supports the wall → the system hydraulic lock is locked → drilling → the execution component lift cylinder moves → drilling → the hydraulic lock is loosened → the hydraulic top head is loosened → the rail holding mechanism is loosened → the rail car platform moves → the rail holding mechanism holds the rail → the laser sensor measures, the center control system calculates → the worm gear lead screw hoister compensates the angle deviation → the execution component lift cylinder compensates the position deviation → the hydraulic top head supports the wall → the system hydraulic lock is locked → the second station begins to process and circulates in sequence.
Optionally, in the step S1, when the structural strength and braking condition of the truck crane and the horizontal condition of the mechanical arm of the punching device are checked, if the truck crane cannot meet the requirement of the landing position and orientation during the single operation, the traction rope needs to be used, and the traction rope should be fixed in both the traction direction and the reverse direction.
Optionally, in the step S1, the drilling equipment still needs to be lifted up slowly by the automobile crane, and slowly lowered down along the parallel middle direction of the wellhead, and special persons are arranged on the ground above the wellhead and the ground of the bottom rail, and when the rail car is lifted down, the deviation degree of the rail car is adjusted by the special persons through the stabilizing ropes in the front and rear directions of the drilling equipment, so that the equipment is prevented from colliding with walls and key components all around, and the equipment is slowly lowered down to the rail, and the whole lifting operation is completed.
Optionally, in the step S3, the rail clasping mechanism clasping the rail includes a hydraulic drive rail car and an integrated rail clasping device, where the hydraulic drive rail car is mainly used for carrying and driving the whole set of equipment to move in the direction of the steel rail, and the device is a customized rail flatbed driven by a hydraulic motor and the integrated rail clasping device is used to ensure the stability of the system in the construction process.
Optionally, in the step S3, the principles of the laser sensor measurement and the central control system calculation are as follows:
the method comprises the steps of marking an initial position and feeding information manually, initializing a detection sensor and a visual tracking system, feeding back the initial position and the feeding information to a comprehensive information processing system together with the information, feeding back a comprehensive target value to a servo system by the comprehensive information processing system, controlling a manipulator to be constructed by the servo system, controlling the manipulator by software on the basis of a built BIM database, resetting the manipulator after construction, updating respective information by the detection sensor, the visual tracking system and the servo control system, feeding back the information to the comprehensive information processing system in a centralized manner again, feeding back the comprehensive target value to the servo system by the comprehensive information processing system, controlling the manipulator to construct by the servo system, circulating the construction in sequence, and recording processing information of each hole to the database by the comprehensive information processing system according to marks for reference.
Optionally, in the step S3, when drilling, the whole set of device has two electric drills for performing drilling, and drilling of two holes can be completed simultaneously; the drill bit is provided with a transition clamp, so that the drill bits with different specifications can be replaced quickly, and the lifting oil cylinder can be used for adjusting the center distance between two electric drills to correspond to the required drilling center distance and can also be used for integrally moving and compensating the reference deviation of the top surface of the track; the guide rod provides the direction for the lift cylinder to move up and down.
Optionally, the two electric drills for performing drilling are connected with the hydraulic motor through the mounting plate respectively, the direction of the electric drill can be adjusted, and the drilling is perpendicular to the wall surface.
Optionally, in the step S3, when the drill bit is judged to hit the steel bar through the hydraulic stress monitoring system during drilling, the whole equipment is shut down when encountering the steel bar, the operator confirms to open the offset operation according to the prompt, the drilling operation is started again after the small-amplitude offset of the rail car, the hydraulic stress monitoring system is based on that the maximum pressure value generated when the drill bit is in contact with the wall surface is the threshold value, and based on that the hardness of the steel bar is greater than that of the wall body, when the drill bit is in contact with the steel bar, the pressure value can exceed the threshold value, and then the drill bit can be judged to be in contact with the steel bar.
Optionally, the construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot further includes step S4 of recalibrating the hole site:
and after the construction of the holes with the same vertical height in the interval is finished, manually replacing the drill bit, and re-calibrating the holes at other positions based on the starting point mark in the step S2.
The invention provides a construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot, which has the following beneficial effects:
the construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot comprises the steps of measuring the distance and the direction between a laser beam spot parallel to a drill rod and a target, guiding a servo control system to control an end effector to be accurately positioned, customizing a mechanical arm, establishing a BIM (building information modeling) database, adopting software control, increasing a hydraulic stress monitoring system to judge whether a steel bar is drilled, arranging two groups of laser ranging sensors and stay wire sensors to monitor the deviation value of the top surface of a steel rail, compensating the angle and the height of a lifting oil cylinder of a punching execution assembly through a worm of a folding arm assembly, systematically and scientifically summarizing the punching operation of the tunnel punching robot, effectively solving the problems, and achieving the purposes of saving cost, accelerating construction progress, improving construction quality and ensuring construction safety.
Drawings
FIG. 1 is a schematic view of the process of the present invention.
Detailed Description
Referring to fig. 1, the present invention provides a technical solution: a construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot comprises the following operation steps:
s1, positioning the equipment:
according to the field working condition, considering that the allowable load of a station roof is generally padded with a 20mm thick steel plate at the support leg position of a truck crane, selecting a truck crane with proper tonnage according to the weight of equipment, pausing after the equipment leaves 100mm from the ground, checking the structural strength and braking condition of the truck crane and the horizontal condition of the mechanical arm part of the punching equipment, hoisting the punching equipment to a grounding point, namely above a positive track by the truck crane without abnormality, and hoisting a hoisting piece to a specified position through slow actions such as hoisting, turning, amplitude variation and the like;
s2, initializing and calibrating:
making a mark on the initial point through manual punching, and moving a punching execution device to a mark point through an operation screen after starting the equipment to finish initialization calibration of the equipment;
s3, executing punching operation:
the rail holding mechanism holds the rail → the hydraulic top head supports the wall → the system hydraulic lock is locked → drilling → the execution component lift cylinder moves → drilling → the hydraulic lock is loosened → the hydraulic top head is loosened → the rail holding mechanism is loosened → the rail car platform moves → the rail holding mechanism holds the rail → the laser sensor measures, the center control system calculates → the worm gear lead screw hoister compensates the angle deviation → the execution component lift cylinder compensates the position deviation → the hydraulic top head supports the wall → the system hydraulic lock is locked → the second station begins to process and circulates in sequence.
In step S1, if the truck crane alone cannot meet the requirement of the landing position and orientation during checking the structural strength and braking condition of the truck crane and the horizontal condition of the mechanical arm of the drilling equipment, the traction rope should be fixed in both the traction direction and the reverse direction.
In the step S1, the drilling equipment needs to be lifted up slowly by an automobile crane and slowly lowered down along the middle direction parallel to the well mouth, special persons are arranged on the ground above the well mouth and the ground of the bottom rail way, when the rail car is lifted down, the deviation degree of the rail car is adjusted by the special persons through stabilizing ropes tied in the front direction and the rear direction of the drilling equipment, collision between the equipment and the surrounding walls and key components is avoided, and the drilling equipment is slowly lowered down to the rail to complete the whole lifting operation.
And S3, the rail clasping mechanism clasping the rail comprises a hydraulic drive rail trolley and an integrated rail clasping device, wherein the hydraulic drive rail trolley is mainly used for bearing and driving the whole set of equipment to move in the direction of the steel rail, the device is a customized rail flat car driven by a hydraulic motor, and the integrated rail clasping device is used for ensuring the stability of the system in the construction process.
In step S3, the principles of laser sensor measurement and central control system calculation are as follows:
the method comprises the steps of marking an initial position and feeding information manually, initializing a detection sensor and a visual tracking system, feeding back the initial position and the feeding information to a comprehensive information processing system together with the information, feeding back a comprehensive target value to a servo system by the comprehensive information processing system, controlling a manipulator to be constructed by the servo system, controlling the manipulator by software on the basis of a built BIM database, resetting the manipulator after construction, updating respective information by the detection sensor, the visual tracking system and the servo control system, feeding back the information to the comprehensive information processing system in a centralized manner again, feeding back the comprehensive target value to the servo system by the comprehensive information processing system, controlling the manipulator to construct by the servo system, circulating the construction in sequence, and recording processing information of each hole to the database by the comprehensive information processing system according to marks for reference.
In the step S3, when drilling, the whole device is provided with two electric drills for drilling, and drilling of two holes can be completed simultaneously; the drill bit is provided with a transition clamp, so that the drill bits with different specifications can be replaced quickly, and the lifting oil cylinder can be used for adjusting the center distance between two electric drills to correspond to the required drilling center distance and can also be used for integrally moving and compensating the reference deviation of the top surface of the track; the guide rod provides the direction for the lift cylinder to move up and down.
Two electric drills for executing punching are respectively connected with the hydraulic motor through the mounting plate, the direction of the electric drills can be adjusted, and the effect that the punched holes are perpendicular to the wall surface is achieved.
And S3, during drilling, judging whether the drill bit hits the steel bar through a hydraulic stress monitoring system, stopping the whole equipment when encountering the steel bar, manually confirming to start the offset operation according to a prompt, and restarting the drilling operation after small-amplitude offset of the rail car, wherein the hydraulic stress monitoring system is based on that the maximum pressure value generated when the drill bit is in contact with the wall surface is a threshold value, and is based on that the hardness of the steel bar is greater than that of the wall body, and when the drill bit is in contact with the steel bar, the pressure value exceeds the threshold value, the contact of the drill bit and the steel bar can be judged.
The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot further comprises the following steps of S4:
and after the construction of the holes with the same vertical height in the interval is finished, manually replacing the drill bit, and re-calibrating the holes at other positions based on the starting point mark in the step S2.
The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot comprises the steps of measuring the distance and the direction between a laser beam spot parallel to a drill rod and a target, guiding a servo control system to control an end effector to be accurately positioned, customizing a mechanical arm, establishing a BIM (building information modeling) database, adopting software control, increasing a hydraulic stress monitoring system to judge whether a steel bar is drilled, arranging two groups of laser ranging sensors and stay wire sensors to monitor the deviation value of the top surface of a steel rail, compensating the angle and the height of a lifting oil cylinder of a punching execution assembly through a worm of a folding arm assembly, systematically and scientifically summarizing the punching operation of the tunnel punching robot, effectively solving the problems, and achieving the purposes of saving cost, accelerating construction progress, improving construction quality and ensuring construction safety.
In summary, the construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot comprises the following operation steps:
s1, positioning the equipment: according to the field working condition, considering that the allowable load of a station roof is generally padded with a 20mm thick steel plate at the support leg position of a truck crane, selecting a truck crane with proper tonnage according to the weight of equipment, pausing after the equipment leaves 100mm from the ground, checking the structural strength and braking condition of the truck crane and the horizontal condition of the mechanical arm part of the punching equipment, hoisting the punching equipment to a grounding point, namely above a positive track by the truck crane without abnormality, and hoisting a hoisting piece to a specified position through slow actions such as hoisting, turning, amplitude variation and the like;
s2, initializing and calibrating: making a mark on the initial point through manual punching, and moving a punching execution device to a mark point through an operation screen after starting the equipment to finish initialization calibration of the equipment;
s3, executing punching operation: the process flow sequentially comprises the steps of holding the rail by the rail holding mechanism → propping the wall by the hydraulic ejector head → locking by the system hydraulic lock → drilling → performing the motion of the lifting oil cylinder of the assembly → drilling → loosening by the hydraulic lock → loosening by the hydraulic ejector head → loosening by the rail holding mechanism → moving by the rail car platform → holding the rail by the rail holding mechanism → measuring by the laser sensor, calculating by the central control system → compensating the angle deviation by the worm gear and screw rod lifter → compensating the position deviation by the lifting oil cylinder of the performing assembly → propping the wall by the hydraulic ejector head → locking by the system hydraulic lock → starting and sequentially circulating;
s4, calibrating hole positions again: after the construction of the holes with the same vertical height in the interval is finished, replacing the drill bit manually, and calibrating other position holes again based on the starting point mark in the step S2;
the construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot comprises the steps of measuring the distance and the direction between a laser beam spot parallel to a drill rod and a target, guiding a servo control system to control an end effector to be accurately positioned, customizing a mechanical arm, establishing a BIM (building information modeling) database, adopting software control, increasing a hydraulic stress monitoring system to judge whether a steel bar is drilled, arranging two groups of laser ranging sensors and stay wire sensors to monitor the deviation value of the top surface of a steel rail, compensating the angle and the height of a lifting oil cylinder of a punching execution assembly through a worm of a folding arm assembly, systematically and scientifically summarizing the punching operation of the tunnel punching robot, effectively solving the problems, and achieving the purposes of saving cost, accelerating construction progress, improving construction quality and ensuring construction safety.
Claims (9)
1. A construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot is characterized by comprising the following steps: the method comprises the following operation steps:
s1, positioning the equipment:
according to the field working condition, considering that the allowable load of a station roof is generally padded with a 20mm thick steel plate at the support leg position of a truck crane, selecting a truck crane with proper tonnage according to the weight of equipment, pausing after the equipment leaves 100mm from the ground, checking the structural strength and braking condition of the truck crane and the horizontal condition of the mechanical arm part of the punching equipment, hoisting the punching equipment to a grounding point, namely above a positive track by the truck crane without abnormality, and hoisting a hoisting piece to a specified position through slow actions such as hoisting, turning, amplitude variation and the like;
s2, initializing and calibrating:
making a mark on the initial point through manual punching, and moving a punching execution device to a mark point through an operation screen after starting the equipment to finish initialization calibration of the equipment;
s3, executing punching operation:
the rail holding mechanism holds the rail → the hydraulic top head supports the wall → the system hydraulic lock is locked → drilling → the execution component lift cylinder moves → drilling → the hydraulic lock is loosened → the hydraulic top head is loosened → the rail holding mechanism is loosened → the rail car platform moves → the rail holding mechanism holds the rail → the laser sensor measures, the center control system calculates → the worm gear lead screw hoister compensates the angle deviation → the execution component lift cylinder compensates the position deviation → the hydraulic top head supports the wall → the system hydraulic lock is locked → the second station begins to process and circulates in sequence.
2. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 1, wherein the construction method comprises the following steps: in the step S1, when the structural strength and braking condition of the truck crane and the horizontal condition of the mechanical arm of the punching device are checked, if the single operation of the truck crane cannot meet the requirement of the landing position and orientation, the traction rope needs to be fixed in both the traction direction and the reverse direction.
3. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 1, wherein the construction method comprises the following steps: in the S1 step, still need hang drilling equipment gently slowly through mobile crane, slowly transfer along the parallel middle direction of well head, set up the special messenger on well head top ground and bottom rail way ground, when the railcar hangs down, adjust the railcar skew degree through the stable rope at two directions around drilling equipment by the special messenger, avoid equipment and wall and key subassembly all around to bump, slowly transfer to the track, accomplish whole hoist and mount operation.
4. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 1, wherein the construction method comprises the following steps: in the step S3, the rail-holding mechanism holding rail includes a hydraulic driving rail trolley and an integrated rail-holding device, wherein the hydraulic driving rail trolley is mainly used for carrying and driving the whole set of equipment to move in the direction of the steel rail, the device is a customized rail flatbed driven by a hydraulic motor, and the integrated rail-holding device is used to ensure the stability of the system in the construction process.
5. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 1, wherein the construction method comprises the following steps: in the step S3, the principles of the laser sensor measurement and the central control system calculation are as follows:
the method comprises the steps of marking an initial position and feeding information manually, initializing a detection sensor and a visual tracking system, feeding back the initial position and the feeding information to a comprehensive information processing system together with the information, feeding back a comprehensive target value to a servo system by the comprehensive information processing system, controlling a manipulator to be constructed by the servo system, controlling the manipulator by software on the basis of a built BIM database, resetting the manipulator after construction, updating respective information by the detection sensor, the visual tracking system and the servo control system, feeding back the information to the comprehensive information processing system in a centralized manner again, feeding back the comprehensive target value to the servo system by the comprehensive information processing system, controlling the manipulator to construct by the servo system, circulating the construction in sequence, and recording processing information of each hole to the database by the comprehensive information processing system according to marks for reference.
6. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 1, wherein the construction method comprises the following steps: in the step S3, when drilling, the whole set of device has two electric drills for drilling, and drilling of two holes can be completed simultaneously; the drill bit is provided with a transition clamp, so that the drill bits with different specifications can be replaced quickly, and the lifting oil cylinder can be used for adjusting the center distance between two electric drills to correspond to the required drilling center distance and can also be used for integrally moving and compensating the reference deviation of the top surface of the track; the guide rod provides the direction for the lift cylinder to move up and down.
7. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 6, wherein the construction method comprises the following steps: the two electric drills for punching are connected with the hydraulic motor through the mounting plate respectively, the direction of the electric drills can be adjusted, and the effect that the punched holes are perpendicular to the wall surface is achieved.
8. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 1, wherein the construction method comprises the following steps: in the step S3, when the drill bit is judged to hit the steel bar through the hydraulic stress monitoring system during drilling, the whole equipment is shut down when encountering the steel bar, the manual work confirms to open the offset operation according to the prompt, the drilling operation is started again after the small-amplitude offset of the rail car, the hydraulic stress monitoring system is based on that the maximum pressure value generated when the drill bit is in contact with the wall surface is the threshold value, and the drill bit can be judged to be in contact with the steel bar when the drill bit is in contact with the steel bar and the pressure value exceeds the threshold value based on that the hardness of the steel bar is greater than the hardness of the wall body.
9. The construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot as claimed in claim 1, wherein the construction method comprises the following steps: the construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot further comprises the following steps of S4:
and after the construction of the holes with the same vertical height in the interval is finished, manually replacing the drill bit, and re-calibrating the holes at other positions based on the starting point mark in the step S2.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114293909A (en) * | 2021-12-29 | 2022-04-08 | 中建安装集团有限公司 | Intelligent drilling management system and method based on tunnel rail-mounted drilling robot |
| WO2022111207A1 (en) * | 2020-11-27 | 2022-06-02 | 广东博智林机器人有限公司 | Punching operation control method and apparatus, and collaborative robot |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| WO2023071087A1 (en) * | 2021-10-29 | 2023-05-04 | 广东博智林机器人有限公司 | Hanging rod mounting apparatus and hanging rod mounting method |
| CN116733441A (en) * | 2023-08-15 | 2023-09-12 | 中建安装集团有限公司 | Tunnel punching robot and intelligent target identification and automatic punching method thereof |
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| CN114293909B (en) * | 2021-12-29 | 2024-06-07 | 中建安装集团有限公司 | Intelligent drilling management system and method based on tunnel track type drilling robot |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN114750303B (en) * | 2022-06-15 | 2022-11-04 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN116733441A (en) * | 2023-08-15 | 2023-09-12 | 中建安装集团有限公司 | Tunnel punching robot and intelligent target identification and automatic punching method thereof |
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