CN115807621A - Tunnel punching robot - Google Patents

Abstract

The invention discloses a tunnel punching robot which comprises a supporting platform, a drilling mechanism, a reinforcing steel bar detecting mechanism, a dust blowing and sucking mechanism, a mechanical arm, a lifting mechanism, a horizontal telescopic mechanism, a traveling mechanism and a control mechanism. The tunnel punching robot can perform intelligent punching, and improves the construction efficiency and safety.

Description

Tunnel punching robot

Technical Field

The invention relates to the technical field of tunnel construction, in particular to a tunnel punching robot.

Background

When a railway and a subway are constructed, the leaky cable punching operation is usually required to be carried out in a tunnel, so that the hanging of a special network leaky cable or the hanging of a public network leaky cable is realized. Usually, the hanging height of the private network leakage cable is 4.5m to 4.8m from the rail surface, the height of the public network leakage cable is 2m to 2.6m, and the distance between the eye holes is kept 1m when the hole is punched.

The traditional construction method is that a two-layer scaffold is firstly built, construction workers climb up and then perform line drawing, positioning and punching operation, 4-6 workers are needed below the scaffold when the scaffold is moved, only 80m holes can be punched in 1 hour, the construction efficiency is low, and the danger of high-altitude operation is high.

Disclosure of Invention

Aiming at the defects of the prior art, the invention innovatively provides a tunnel punching robot which can perform intelligent punching, can walk in a tunnel, avoid manual instrument handling, can horizontally stretch and retract, ensure that the hole can be punched on the wall surface of the tunnel, control the vertical height of the punched hole, ensure that the hole is punched at a position without reinforcing steel bars, reduce the damage of a drilling mechanism, clean dust in the hole in time after punching, improve the subsequent net leaking hanging efficiency, realize the continuity and the intellectualization of operation and improve the construction efficiency and the safety.

In order to realize the technical purpose, the invention discloses a tunnel punching robot, which comprises a supporting platform, a drilling mechanism, a steel bar detecting mechanism, a dust blowing and sucking mechanism, a mechanical arm, a lifting mechanism, a horizontal telescopic mechanism, a traveling mechanism and a control mechanism,

the drilling mechanism, the reinforcing steel bar detection mechanism and the dust blowing and sucking mechanism are fixed at the tail end of the mechanical arm, the reinforcing steel bar detection mechanism is used for detecting whether reinforcing steel bars exist in the tunnel wall or not, the drilling mechanism is used for punching at the position without the reinforcing steel bars on the tunnel wall, the dust blowing and sucking mechanism is used for blowing out dust in holes and sucking away, the bottom of the mechanical arm is fixed on the lifting mechanism,

the lifting mechanism is fixed on the horizontal telescopic mechanism and is used for carrying the mechanical arm to lift,

the horizontal telescopic mechanism is fixed on the supporting platform and used for horizontally stretching along the direction vertical to the track,

the travelling mechanism is fixed below the supporting platform and used for driving the tunnel punching robot to move to a specified position along the inner track of the tunnel,

the control mechanism is respectively and electrically connected with the drilling mechanism, the steel bar detection mechanism, the dust blowing and sucking mechanism, the mechanical arm, the lifting mechanism, the horizontal telescopic mechanism and the travelling mechanism and is used for controlling each mechanism to execute corresponding actions.

Further, drilling mechanism reinforcing bar detection mechanism with blow dust absorption mechanism and fix through the mount the end of arm, the arm end with mount fixed connection, drilling mechanism fixes on the mount, drilling mechanism's drill bit extends the outside of mount, reinforcing bar detection mechanism with blow dust absorption mechanism all with mount sliding connection, reinforcing bar detection mechanism with blow dust absorption mechanism all is in the outside of mount, reinforcing bar detection mechanism drilling mechanism's drill bit and blow dust absorption mechanism are in the mount is kept away from one side of arm, reinforcing bar detection mechanism with the slip direction that blows dust absorption mechanism is on a parallel with drilling mechanism's drill bit length direction.

Furthermore, the dust blowing and absorbing mechanism comprises a dust blowing pipe, a first dust suction pipe, a first dust cover, a dust blowing device and a first dust suction device, the first dust suction pipe is a three-way pipe, the dust blowing pipe is a three-way pipe with one closed end, the first dust cover is connected with one pipe orifice of the first dust suction pipe, the first dust cover and the first dust suction pipe are sleeved outside the dust blowing pipe, the pipe orifice of the first dust suction pipe, which is far away from the first dust cover, is connected with the dust blowing pipe in a sealing mode, one pipe orifice of the dust blowing pipe is close to the first dust cover, the other pipe orifice of the dust blowing pipe extends out of the first dust cover or the first dust suction pipe and is connected with the dust blowing device, the closed pipe orifice of the dust blowing pipe, which is far away from the first dust cover and is close to the fixing frame, and the third pipe orifice of the first dust suction pipe is connected with the first dust suction device.

Furthermore, a second dust cover and a second dust collection pipe which are communicated with each other are sleeved outside a drill bit of the drilling mechanism, the second dust collection pipe is a three-way pipe with one closed end, one pipe orifice of the second dust collection pipe is connected with the second dust cover, the closed pipe orifice of the second dust collection pipe is fixedly connected with the fixing frame, and a third pipe orifice of the second dust collection pipe is connected with a second dust collection device.

Furtherly, still include dust absorption mechanism, dust absorption mechanism fixes on the arm, dust absorption mechanism includes negative pressure device, four-way pipe and dust absorption reversing mechanism, negative pressure device is equipped with the dust absorption mouth and goes out the dirt mouth, wherein two mouths of pipe of four-way pipe set up relatively, two other mouths of pipe of four-way pipe are as the induction port, two be between the induction port and predetermine the contained angle, one of them in the relative mouth of pipe of four-way pipe with negative pressure device's dust absorption mouth is connected, dust absorption reversing mechanism sealing connection is in another mouth of pipe of four-way pipe relative orificial another mouth of pipe department just switches two induction ports and external intercommunication states, at least one induction port and external intercommunication.

Furthermore, the dust collection reversing mechanism comprises a reversing stop block used for sealing the air suction port, a sealing piston used for sealing the four-way pipe away from the pipe orifice of the negative pressure device and a rotary driving mechanism, the reversing stop block and the sealing piston are sleeved in a pipeline where two opposite pipe orifices of the four-way pipe are located, one end of the reversing stop block away from the negative pressure device is fixedly connected with the sealing piston, the rotary driving mechanism drives the reversing stop block and the sealing piston to rotate relative to the four-way pipe so that the air suction port is closed or opened by the reversing stop block, and at least one of the air suction ports is communicated with the outside.

Further, dust absorption reversing mechanism is including the switching-over dog that is used for sealing the induction port, be used for sealing the four-way pipe is kept away from negative pressure device's orificial sealing piston and rotary driving mechanism, the switching-over dog with the sealing piston cover is established in the pipeline at two relative mouth of pipe places of four-way pipe, sealing piston is in the switching-over dog is kept away from negative pressure device's one side and with four-way pipe fixed connection, rotary driving mechanism passes sealing piston with switching-over dog fixed connection, rotary driving mechanism drives the switching-over dog is relative the four-way pipe rotates and makes the induction port quilt the switching-over dog seals or opens, at least one of them induction port and external intercommunication.

Further, still including ending and pressing from both sides rail mechanism, ending presss from both sides rail mechanism and fixes supporting platform's below, ending presss from both sides rail mechanism and includes first driving motor, two-way lead screw, first lead screw nut piece, second lead screw nut piece, first clamping jaw and second clamping jaw, first clamping jaw with the second clamping jaw sets up relatively, first clamping jaw with first lead screw nut piece fixed connection, the second clamping jaw with second lead screw nut piece fixed connection, be equipped with positive screw thread and anti-screw thread on the two-way lead screw, first lead screw nut piece threaded connection is in the positive screw thread department of two-way lead screw, second lead screw nut piece threaded connection is in the anti-screw thread department of two-way lead screw, the supporting platform bottom surface be equipped with first lead screw nut piece and second lead screw nut piece sliding connection's spout, the spout is on a parallel with two-way lead screw, first driving motor drive two-way lead screw rotates.

Further, the walking unit includes preceding travelling wheel, back walking wheel, second driving motor and sprocket chain drive, connects through the connecting axle between two preceding travelling wheels, connects through the connecting axle between two back walking wheels, two the connecting axle all with supporting platform rotates to be connected, second driving motor passes through sprocket chain drive thereby the connecting axle rotates and drives preceding travelling wheel and back walking wheel and rolls along the track in the tunnel.

The invention has the beneficial effects that:

the tunnel punching robot can intelligently punch holes, can walk in a tunnel, avoids manual instrument carrying, can horizontally stretch and ensure that the holes can be punched on the wall surface of the tunnel, can control the vertical height of the punched holes, ensures that the holes are punched at positions without reinforcing steel bars, reduces the damage of a drilling mechanism, can timely clean dust in the holes after the holes are punched, improves the subsequent net leaking and hanging efficiency, realizes the continuity and intellectualization of operation, and improves the construction efficiency and the safety.

Drawings

FIG. 1 is a schematic structural diagram of a tunnel boring robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a tunnel boring robot of an embodiment of the present invention walking along a tunnel;

FIG. 3 is a diagram illustrating a tunnel boring robot according to an embodiment of the present invention;

FIG. 4 is a schematic view of the horizontal telescoping mechanism of the embodiment of the invention in an extended configuration;

FIG. 5 is a schematic view of the embodiment of the present invention showing the lift mechanism deployed;

FIG. 6 is a schematic structural diagram of a drilling mechanism, a reinforcing bar detecting mechanism and a dust blowing and sucking mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of the reinforcement bar detecting mechanism and the dust blowing and sucking mechanism sliding to a side away from the fixing frame according to the embodiment of the present invention;

FIG. 8 is a schematic structural view of a dust suction mechanism according to an embodiment of the present invention;

FIG. 9 is a longitudinal sectional view of a dust suction mechanism of the embodiment of the present invention;

FIG. 10 is a longitudinal sectional view of a dust suction mechanism according to another embodiment of the present invention;

FIG. 11 is a bottom schematic view of a tunnel boring robot of an embodiment of the present invention.

In the figure, the position of the upper end of the main shaft,

1. a support platform; 2. a drilling mechanism; 3. a reinforcing steel bar detection mechanism; 4. a dust blowing and absorbing mechanism; 41. a dust blowing pipe; 42. a first dust suction pipe; 43. a first dust cover; 5. a mechanical arm; 6. a lifting mechanism; 7. a horizontal telescoping mechanism; 71. a telescopic platform; 72. fixing the platform; 73. a slider-chute assembly; 74. a telescopic driving mechanism; 8. a traveling mechanism; 81. a front travel wheel; 82. a rear traveling wheel; 83. a second drive motor; 84. a chain wheel and chain transmission mechanism; 85. a connecting shaft; 9. a control cabinet; 10. a fixed mount; 101. a first slide driving device; 102. a second slide driving device; 103. a second dust cover; 104. a second dust suction pipe; 11. a dust suction mechanism; 111. a negative pressure device; 112. a four-way pipe; 1121. an air suction port; 113. a dust-collecting reversing mechanism; 1131. a reversing stop block; 1132. a sealing piston; 1133. a rotation driving mechanism; 12. a track-stopping and clamping mechanism; 121. a first jaw; 122. a second jaw; 13. a track; 14. a housing; 15. a support frame.

Detailed Description

The tunnel boring robot provided by the invention is explained and explained in detail below with reference to the drawings of the specification.

The embodiment specifically discloses a tunnel punching robot, as shown in fig. 1, including supporting platform 1, drilling mechanism 2, reinforcing bar detection mechanism 3, dust blowing and sucking mechanism 4, mechanical arm 5, elevating mechanism 6, horizontal telescopic mechanism 7, running mechanism 8 and control mechanism, drilling mechanism 2, reinforcing bar detection mechanism 3 and dust blowing and sucking mechanism 4 are fixed at the end of mechanical arm 5, reinforcing bar detection mechanism 3 is used for detecting whether reinforcing bars exist in the tunnel wall, drilling mechanism 2 is used for punching at the position without reinforcing bars on the tunnel wall, dust blowing and sucking mechanism 4 is used for blowing dust in the holes and sucking away, the bottom of mechanical arm 5 is fixed on elevating mechanism 6, elevating mechanism 6 is fixed on horizontal telescopic mechanism 7, elevating mechanism 6 is used for carrying mechanical arm 5 to go up and down, horizontal telescopic mechanism 7 is fixed on supporting platform 1, horizontal telescopic mechanism 7 is used for horizontally extending and retracting along the direction perpendicular to track 13, running mechanism 8 is fixed below supporting platform 1, running mechanism 8 is used for driving tunnel punching robot to move to the assigned position along track 13 in the tunnel, control mechanism respectively with drilling mechanism 2, detection mechanism 3, reinforcing bar 4, dust blowing and sucking mechanism 8 are used for controlling running mechanism and horizontal telescopic mechanism 7.

The supporting platform 1 of the embodiment can be covered with a shell 14 for protecting the horizontal telescopic mechanism 7 and the lifting mechanism 6, when the supporting platform is used, the shell 14 can be opened, the exterior top of the shell 14 can be provided with a searchlight for illumination, and the interior of the shell 14 can be provided with a cooling fan for reducing the temperature generated by the operation of each mechanism.

When the tunnel punching robot of the embodiment performs punching operation, firstly, the control mechanism controls the traveling mechanism 8 to drive the whole tunnel punching robot to travel to a specified position along the track 13 in the tunnel (as shown in fig. 2), then the control mechanism controls the horizontal telescopic mechanism 7 and the lifting mechanism 6 to act, the distances between the mechanical arm 5 and the drilling mechanism 2, the steel bar detecting mechanism 3 and the dust blowing and sucking mechanism 4 on the mechanical arm 5 and the tunnel wall operation surface are adjusted according to actual operation environments, the horizontal telescopic mechanism 7 extends and retracts in the direction perpendicular to the track 13 (as shown in fig. 3), so that each mechanism fixed on the upper portion of the horizontal telescopic mechanism moves towards the direction close to or away from the tunnel operation surface, and the lifting mechanism 6 is used for controlling the height of each mechanism fixed on the upper portion of the lifting mechanism, thereby meeting the punching height requirement. The mechanical arm 5 is used for lifting the carrying drilling mechanism 2, the reinforcing steel bar detecting mechanism 3 and the blowing and dust-absorbing mechanism 4 to perform corresponding actions. Whether the steel bar exists in the tunnel wall surface is surveyed earlier to steel bar detection mechanism 3, then arm 5 lifts drilling mechanism 2 and punches in no steel bar department, and the back of accomplishing that punches, arm 5 lifts and blows dust absorption mechanism 4 and blow dirt and dust absorption operation in the hole, accomplishes the operation of punching that links up. The drilling mechanism 2 can adjust the height and the spacing of the drilling according to actual needs. In the operation process, the walking and stopping of the walking mechanism 8, the stretching of the horizontal stretching mechanism 7, the lifting of the lifting mechanism 6, the movement of the mechanical arm 5, the detection operation of the steel bar detection mechanism 3, the punching operation of the drilling mechanism 2 and the dust blowing and sucking operation of the dust blowing and sucking mechanism 4 are controlled by the control mechanism, so that the continuous intelligent operation is realized. Manual climbing operation and adjustment of punching height and spacing are not needed, and working efficiency and safety are improved.

In the present embodiment, the robot arm 5 is a six-axis robot arm, and has a high degree of freedom. The lifting mechanism 6 is a scissor type lifter, a common PLC control mechanism is adopted as a control mechanism, the control mechanism is integrated in a control cabinet 9, and the control cabinet 9 is fixed on the supporting platform. As shown in fig. 4, the horizontal telescopic mechanism 7 includes a top telescopic platform 71, a bottom fixed platform 72, a slider chute assembly 73 and a telescopic driving mechanism 74, the fixed platform 72 is fixed on the supporting platform 1 and is fixedly connected with the supporting platform 1, the telescopic platform 71 is fixedly connected with the lifting mechanism 6, the telescopic platform 71 is slidably connected with the fixed platform 72 through the slider chute assembly 73 and is driven to slide through the telescopic driving mechanism 74, the sliding direction is perpendicular to the direction of the track 13 in the tunnel and is close to or far away from the working face of the tunnel, the telescopic driving mechanism 74 is an electric telescopic rod and is electrically connected with the control mechanism, one end is fixed on the fixed platform 72, and the other end is fixedly connected with the telescopic platform 71. One of the slide block and the slide groove is provided on the top surface of the fixed platform 72, and the other of the slide block and the slide groove is provided on the bottom surface of the telescopic platform 71. The bottom platform of the lifting mechanism 6 is fixed on the telescopic platform 71 of the horizontal telescopic mechanism 7 and is fixedly connected with the telescopic platform 71 of the horizontal telescopic mechanism 7, the top platform of the lifting mechanism 6 is fixedly connected with the mechanical arm 5, the lifting mechanism 6 realizes the lifting of the mechanism thereon through self-extension, and the expansion schematic diagram of the lifting mechanism 6 is shown in fig. 5.

As shown in fig. 1 and 6, the drilling mechanism 2, the reinforcing steel bar detecting mechanism 3 and the dust blowing and sucking mechanism 4 are fixed at the tail end of the mechanical arm 5 through a fixing frame 10, the tail end of the mechanical arm 5 is fixedly connected with the fixing frame 10, the drilling mechanism 2 is fixed on the fixing frame 10, the fixing frame 10 is of an internal hollow structure, a drill bit of the drilling mechanism 2 extends out of the fixing frame 10, and the rest parts of the drilling mechanism 2 are fixed inside the fixing frame 10. Reinforcing bar detection mechanism 3 and blow dust absorption mechanism 4 all with mount 10 sliding connection, reinforcing bar detection mechanism 3 and blow dust absorption mechanism 4 all are in the outside of mount 10, and reinforcing bar detection mechanism 3, drilling mechanism 2's drill bit and blow dust absorption mechanism 4 are in one side that arm 5 was kept away from to mount 10, and reinforcing bar detection mechanism 3 and the slip direction of blowing dust absorption mechanism 4 are on a parallel with drilling mechanism 2's drill bit length direction. The steel bar detection mechanism 3 is used for detecting whether steel bars exist in the tunnel or not, when the steel bars are detected, the steel bar detection mechanism 3 slides towards the direction far away from the fixed frame 101, and slides towards the direction close to the fixed frame 101 after the detection is finished, so that the drilling of the drilling mechanism 2 is not influenced; if detect out there is the reinforcing bar, then continue to survey until detecting the working face of no reinforcing bar, realize that drilling mechanism 2 avoids the reinforcing bar to punch, reduced drilling mechanism 2's damage. The dust blowing and sucking mechanism 4 is used for cleaning dust in the punched holes, when dust blowing and sucking are carried out, the dust blowing and sucking mechanism 4 slides towards the direction far away from the fixed frame 10, namely towards the hole on the tunnel face, and the dust blowing and sucking mechanism 4 slides towards the direction close to the fixed frame 10 after dust blowing and sucking operation is finished; blow dust absorption mechanism 4 and blow off downthehole dust earlier, then carry out the dust absorption, it is efficient to clear up the dust, blows dirt and dust absorption and goes on almost simultaneously, avoids downthehole deposition, improves the hourglass net and hangs and establish the operating efficiency.

As shown in fig. 6, the dust blowing and sucking mechanism 4 includes a dust blowing pipe 41, a first dust suction pipe 42, a first dust cover 43, a dust blowing device and a first dust suction device, the first dust suction pipe 42 is a three-way pipe, the dust blowing pipe 41 is a three-way pipe with a closed end, the first dust cover 43 is connected with one of the pipe orifices of the first dust suction pipe 42, the first dust cover 43 and the first dust suction pipe 42 are sleeved outside the dust blowing pipe 41, and the pipe orifice of the first dust suction pipe 42 far away from the first dust cover 43 is connected with the dust blowing pipe 41 in a sealing manner. One of the pipe orifices of the dust blowing pipe 41 is close to the first dust cover 43 and is used for extending into the hole to absorb dust, and the pipe orifice of the dust blowing pipe 41 can extend out of the first dust cover 43 and can extend into the hole, so that the dust blowing effect is better; the other nozzle of the dust blowing pipe 41 extends out of the first dust cover 43 or the first dust suction pipe 42 and is connected with the dust blowing device, the closed nozzle of the dust blowing pipe 41 is far away from the first dust cover 43 and close to the fixed frame 10, and the third nozzle of the first dust suction pipe 42 is connected with the first dust suction device.

Blowing force generated by the dust blowing device is sent into the hole through the dust blowing pipe 41, dust in the hole is blown up, the first dust cover 43 covers the hole and the dust blowing pipe 41 and is used for collecting the dust blown out of the hole, and the first dust cover 43 collects the collected dust and is sucked out through the first dust suction pipe 42 under the action of negative pressure dust suction generated by the first dust suction device.

In this embodiment, the first dust cover 43 is trumpet-shaped, so that the dust collecting effect is better. The diameter of the larger port of the first dust cap 43 is greater than the diameter of the hole made by the drilling mechanism 2. The larger port end of the first dust cover 43 may be covered outside the hole and the smaller port end is connected to the first dust suction pipe 42.

The outer part of the drill bit of the drilling mechanism 2 is sleeved with a second dust cover 103 and a second dust suction pipe 104 which are communicated, the front end of the drill bit extends out of the second dust cover 103, and the arrangement of the second dust cover 103 does not influence the drilling operation of the drill bit. The second dust suction pipe 104 is a three-way pipe with a closed end, one pipe orifice of the second dust suction pipe 104 is connected with the second dust cover 103, the closed pipe orifice of the second dust suction pipe 104 is fixedly connected with the fixed frame 10, and the third pipe orifice of the second dust suction pipe 104 is connected with a second dust suction device. Dust can be sucked while the drilling mechanism 22 drills, the influence on the working environment and the harm to the health of workers are reduced, and the working efficiency is improved.

In this embodiment, the second dust cover 103 is trumpet-shaped, so that the effect of collecting the collected dust is better. The diameter of the larger port of the second dust cap 103 is greater than the diameter of the hole made by the drilling mechanism 2. The larger port end of the first dust cover 43 can be covered outside the hole, and the smaller port end is connected to the second dust suction pipe 104.

The dust blowing device can be a dust blowing gun, and the first dust suction device and the second dust suction device can be industrial dust collectors.

As shown in fig. 6, a first slide driving device 101 for driving the reinforcement bar detection mechanism 3 to slide and a second slide driving device 102 for driving the blowing and cleaning mechanism 4 to slide are fixed on the fixing frame 10. The first slide driving device 101 and the second slide driving device 102 are electrically connected to the control mechanism. The first sliding driving device 101 and the second sliding driving device 102 are electric telescopic rods, hydraulic cylinders or pneumatic cylinders. The fixed ends of the first sliding driving device 101 and the second sliding driving device 102 are fixed in the fixing frame 10, and the telescopic ends of the first sliding driving device 101 and the second sliding driving device 102 extend out of the fixing frame 10. The telescopic end of the first sliding driving device 101 is fixedly connected with the reinforcing steel bar detecting mechanism 3, and the telescopic end of the second sliding driving device 102 is fixedly connected with one end of the first dust suction pipe 42 or the dust blowing pipe 41 far away from the first dust cover 43. The fixed end is fixed in the fixed frame 10, and the telescopic end extends out of the fixed frame 10 and is used for driving the steel bar detection mechanism 3 and the dust blowing and sucking mechanism 4 to slide relative to the fixed frame 10.

The drilling mechanism 2 is a water drilling machine, water passes through the drill bit when drilling, the temperature of the drill bit can be reduced, the drilling time is prolonged, and the operation efficiency is improved.

The control mechanism controls the mechanical arm 5 to lift the fixed frame 10 for operation, firstly, the first sliding driving device 101 drives the steel bar detection mechanism 3 to slide towards the direction far away from the fixed frame 10, as shown in fig. 7, the front end of the steel bar detection mechanism 3 protrudes out of a drill bit of the drilling mechanism 2, so that the operation is convenient, the steel bar detection mechanism 3 detects whether a steel bar exists on an operation surface, if so, the detection is continued until the operation surface without the steel bar exists is detected in an operation range; after the detection is completed, the telescopic end of the first sliding driving device 101 retracts to drive the reinforcing steel bar detecting mechanism 3 to slide back to the initial position. Then, the control mechanism controls the mechanical arm 5 to lift the drilling mechanism 2 to drill on the detected working surface, and the second dust suction device sucks dust while drilling. After punching, the control mechanism controls the mechanical arm 5 to lift and blow the dust absorption mechanism 4 to the hole, the second sliding driving device 102 drives the dust absorption mechanism 4 to slide towards the direction far away from the fixed frame 10, as shown in fig. 7, the front end of the second dust cover 103 protrudes out of the first dust cover 43, the front end of the dust blowing pipe 41 protrudes out of the front end of the drill bit of the drilling mechanism 2, the second dust cover 103 covers outside the hole, the front end of the dust blowing pipe 41 extends into the hole to blow dust, the first dust absorption device absorbs dust, and the dust in the hole is cleaned up. After the operation is finished, the second sliding driving device 102 drives the dust blowing and sucking mechanism 4 to slide towards the direction of the fixed frame 10, and finally, the initial state shown in fig. 6 is recovered.

In the embodiment, the reinforcing steel bar detection mechanism 3, the drilling mechanism 2 and the dust blowing and sucking mechanism 4 are integrated, so that the mechanical arm 5 is convenient to carry, the integration of reinforcing steel bar detection, punching, dust blowing and dust sucking is realized, the reinforcing steel bar detection is carried out before punching, punching is successfully carried out at the position where the reinforcing steel bar is located, the working efficiency is improved, and the damage to the drilling mechanism 2 is reduced; and blow dirt and dust absorption in the hole after punching, in time clear up the dust, improve the operation efficiency that the hourglass net was hung and is established. The steel bar punching machine can carry out continuous operation of steel bar detection, punching and dust blowing and absorption, improves the operation efficiency and saves the operation time.

As shown in fig. 1, the tunnel boring robot of this embodiment further includes a dust suction mechanism 11, the dust suction mechanism 11 is fixed on the robot arm 5, as shown in fig. 8, the dust suction mechanism 11 includes a negative pressure device 111, a four-way pipe 112 and a dust suction reversing mechanism 113, the negative pressure device 111 is provided with a dust suction port and a dust outlet, two pipe orifices of the four-way pipe 112 are disposed opposite to each other, the other two pipe orifices of the four-way pipe 112 are used as air suction ports 1121, a preset included angle is formed between the two air suction ports 1121, and in this embodiment, the included angle between the two air suction ports 1121 is 180 °. One of the opposite pipe orifices of the four-way pipe 112 is connected with the dust suction port of the negative pressure device 111, and the dust outlet of the negative pressure device 111 can be connected with a dust suction bag. In the present embodiment, the negative pressure device 111 is a vacuum generator. The dust suction reversing mechanism 113 is hermetically connected to another pipe orifice of the four-way pipe 112 opposite to the pipe orifice, and switches a communication state between the two air suction ports 1121 and the outside, and at least one air suction port 1121 is communicated with the outside.

By reversing the dust suction reversing mechanism 113, at least one of the two dust suction ports can be communicated with the outside for dust suction, that is, any one of the two dust suction ports is communicated with the outside or the two dust suction ports are communicated with the outside for dust suction. The switching of the dust absorption mouth with external intercommunication is confirmed according to the concentration and the direction of dust gathering, if dust concentration is very big, and relatively dispersed, then two dust absorption mouths open simultaneously, carry out the dust absorption from two directions, improve dust collection efficiency, reduce the dust in the tunnel.

The dust suction mechanism 11 of this embodiment is further provided with a support frame 15, the negative pressure device 111, the four-way pipe 112 and the dust suction reversing mechanism 113 are fixed on the support frame 15 and used for supporting the negative pressure device 111, the four-way pipe 112 and the dust suction reversing mechanism 113, and the fixing frame 10 is fixedly connected with the mechanical arm 5.

As shown in fig. 9, the dust suction reversing mechanism 113 includes a reversing stopper 1131 for closing the suction ports 1121, a sealing piston 1132 for sealing a pipe orifice of the four-way pipe 112 away from the negative pressure device 111, and a rotation driving mechanism 1133, where the reversing stopper 1131 and the sealing piston 1132 are sleeved in a pipe where two opposite pipe orifices of the four-way pipe 112 are located, one end of the reversing stopper 1131 away from the negative pressure device 111 is fixedly connected to the sealing piston 1132, the rotation driving mechanism 1133 drives the reversing stopper 1131 and the sealing piston 1132 to rotate relative to the four-way pipe 112, so that the suction ports 1121 are closed or opened by the reversing stopper 1131, and at least one of the suction ports 1121 is communicated with the outside.

The shape and the radian of the reversing block 1131 are the same as those of a pipe where two opposite pipe orifices in the four-way pipe 112 are located, for example, the inside of the pipe is cylindrical, the reversing block 1131 is an arc-shaped plate, the radian is the same as that of the inner wall of the pipe, and the area of the reversing block 1131 is larger than that of the air suction port 1121, so that the air suction port 1121 can be completely closed. The width of the reversing block 1131 is smaller than the width between the two air suction ports 1121, that is, when the reversing block 1131 is located between the two air suction ports 1121, both the air suction ports 1121 can be in an open state, so as to implement bidirectional dust collection. The reversing block 1131 is driven by the rotary driving mechanism 1133 to rotate in the duct, so that the reversing block 1131 is switched between a state of closing one of the air suction ports 1121 or a state of being located between the two air suction ports 1121 so that the two air suction ports 1121 are both opened, thereby reversing the dust suction.

The rotational drive mechanism 1133 may be a motor, and an output shaft of the motor is fixedly connected to the sealing piston 1132. The reversing block 1131 and the sealing piston 1132 are driven by the rotation of the output shaft of the motor to rotate in the pipe of the four-way pipe 112, so as to switch the state that the two dust suction ports are closed or opened. As shown in fig. 9, the body of the motor is fixed on the support frame 15 and is fixedly connected with the support frame 15, the outer wall of the four-way pipe 112 is fixedly connected with the support frame 15, the outer wall of the negative pressure device 111 is also fixedly connected with the support frame 15, and the support frame 15 provides a supporting force to ensure the stability of the device in the dust collection process.

The rotational driving mechanism 1133 may also be a rotary cylinder, and a piston rod of the rotary cylinder is fixedly connected to the sealing piston 1132. The piston rod of the revolving cylinder drives the reversing stopper 1131 and the sealing piston 1132 to rotate in the four-way pipe 112, and in the rotating process, the sealing piston 1132 is always positioned in the pipeline of the four-way pipe 112 to play a role in sealing.

Sealing lubricating oil is coated between the sealing piston 1132 and the inner wall of the four-way pipe 112, so that when the sealing piston 1132 rotates under the driving of the rotary driving mechanism 1133, the rotation resistance is reduced while a sealing state is maintained between the sealing piston 1132 and the four-way pipe 112, and dust enters from the air suction port 1121 as much as possible.

The sealing piston 1132 may be a rubber stopper.

In another embodiment, as shown in fig. 10, the dust suction reversing mechanism 113 includes a reversing stopper 1131 for closing the air suction ports 1121, a sealing piston 1132 for sealing a nozzle of the four-way pipe 112 away from the negative pressure device 111, and a rotation driving mechanism 1133, where the reversing stopper 1131 and the sealing piston 1132 are sleeved in a pipe where two opposite nozzles of the four-way pipe 112 are located, the sealing piston 1132 is located on a side of the reversing stopper 1131 away from the negative pressure device 111 and is fixedly connected to the four-way pipe 112, the rotation driving mechanism 1133 penetrates through the sealing piston 1132 and is fixedly connected to the reversing stopper 1131, the rotation driving mechanism 1133 drives the reversing stopper 1131 to rotate relative to the four-way pipe 112, so that the air suction ports 1121 are closed or opened by the reversing stopper 1131, and at least one of the air suction ports 1121 is communicated with the outside. In this embodiment, the sealing piston 1132 is fixed, and only the reversing stopper 1131 rotates in the duct of the four-way pipe 112 by the driving of the rotary driving mechanism 1133, so as to close or open the suction port 1121, thereby reversing the dust collection.

The rotation driving mechanism 1133 may be a motor, an output shaft of the motor is rotatably connected to the sealing piston 1132, and the output shaft of the motor penetrates through the sealing piston 1132 and is fixedly connected to the reversing stopper 1131. The rotation of the output shaft of the motor drives the reversing block 1131 to rotate in the duct of the four-way pipe 112, thereby switching the state of the two dust suction ports being closed or opened.

The rotary driving mechanism 1133 may also be a rotary cylinder, a piston rod of the rotary cylinder is rotatably connected to the sealing piston 1132, and the piston rod of the rotary cylinder passes through the sealing piston 1132 and is fixedly connected to the reversing stopper 1131. The piston rod of the revolving cylinder drives the reversing stopper 1131 to rotate in the four-way pipe 112, and in the rotating process, the sealing piston 1132 is always located in the pipe of the four-way pipe 112 to play a role in sealing.

Sealing lubricating oil is coated between the sealing piston 1132 and the rotary drive mechanism 1133, that is, between the sealing piston 1132 and the output shaft of the motor or between the sealing piston 1132 and the piston rod of the revolving cylinder. When the output shaft of the motor or the piston rod of the rotary cylinder rotates, the sealing piston 1132 maintains a sealed state and reduces the rotation resistance, so that dust enters from the air inlet 1121 as much as possible.

When the tunnel boring robot of the embodiment performs dust collection, the rotary driving mechanism 1133 is started according to the dust collection degree and the concentration of the environment where the tunnel boring robot is located, the rotary driving mechanism 1133 drives the reversing block 1131 to rotate in the four-way pipe 112, if dust is collected on one side, only the air suction port 1121 on the side where the dust is collected can be opened, and the other air suction port 1121 is closed by the reversing block 1131; if the dust concentration around the dust device is large, the reversing stop 1131 rotates to a position between the two suction ports 1121, so that the two suction ports 1121 are both opened; then, the negative pressure device 111 is turned on to suck the dust through the air inlet 1121, and the dust is discharged into the dust collection bag from the dust outlet of the negative pressure device 111.

As shown in fig. 11, the traveling unit includes front traveling wheels 81, rear traveling wheels 82, a second driving motor 83, and a sprocket chain transmission mechanism 84, the two front traveling wheels 81 are connected by a connecting shaft 85, the two rear traveling wheels 82 are connected by a connecting shaft 85, both the two connecting shafts 85 are rotatably connected to the support platform 1, and the second driving motor 83 drives the connecting shaft 85 to rotate by the sprocket chain transmission mechanism 84, so as to drive the front traveling wheels 81 and the rear traveling wheels 82 to roll along the track 13 in the tunnel. In the present embodiment, the number of the sprocket chain drive mechanisms 84 is two, and the front road wheels 81 and the rear road wheels 82 are driven to roll simultaneously. The sprocket chain drive mechanism 84 includes drive sprocket, chain and driven sprocket, two sprocket chain drive mechanism 84's drive sprocket all with second driving motor 83's output shaft coaxial coupling, two drive sprocket connect driven sprocket through the chain respectively, a driven sprocket cover is established and is fixed on the connecting axle 85 between two front traveling wheels 81, another driven sprocket cover is established and is fixed on the connecting axle 85 between two rear traveling wheels 82, realize that second driving motor 83 drives front traveling wheels 81 and rear traveling wheels 82 simultaneously and roll. The second driving motor 83 is electrically connected with the control mechanism, and the control mechanism controls the start and stop of the second driving motor 83.

The tunnel drilling robot of this embodiment is still including only going and pressing from both sides rail mechanism 12, only going and pressing from both sides rail mechanism 12 and fix in supporting platform 1's below, only going and pressing from both sides rail mechanism 12 and include a driving motor, two-way lead screw, first lead screw nut piece, second lead screw nut piece, first clamping jaw 121 and second clamping jaw 122 set up relatively, first clamping jaw 121 and first lead screw nut piece fixed connection, second clamping jaw 122 and second lead screw nut piece fixed connection, be equipped with positive screw thread and anti-screw thread on the two-way lead screw, first lead screw nut piece threaded connection is in the positive screw thread department of two-way lead screw, second lead screw nut piece threaded connection is in the anti-screw thread department of two-way lead screw, supporting platform 1 bottom surface is equipped with the spout with first lead screw nut piece and second lead screw nut piece sliding connection, the spout is on a parallel with two-way lead screw, first driving motor drives two-way lead screw and rotates. The bottom at supporting platform 1 is fixed to first driving motor's fuselage, with supporting platform 1 fixed connection, the two-way lead screw of first driving motor drive rotates, make first lead screw nut piece and second lead screw nut piece slide along the spout of supporting platform 1 bottom surface, first lead screw nut piece and first lead screw nut piece are close to each other or keep away from each other, thereby drive first clamping jaw 121 and second clamping jaw 122 and be close to each other or keep away from each other, press from both sides tight in track 13 when first clamping jaw 121 and second clamping jaw 122 are close to each other, play the effect of only going (as shown in fig. 3). When starting the walking of running gear 8, first driving motor reverses, and the lead screw reverses for first lead screw nut piece and second lead screw nut piece are kept away from each other, thereby make first clamping jaw 121 and second clamping jaw 122 keep away from each other, loosen track 13. The first driving motor is electrically connected with the control mechanism, and the control mechanism controls the start and stop and the forward and reverse rotation of the first driving motor.

As shown in fig. 11, the track clamping mechanism 12 of the present embodiment can be set to 4, and is distributed in a rectangular shape, and is disposed between the two front road wheels 81 and the two rear road wheels 82.

When the tunnel boring robot of this embodiment performs boring operation, the control mechanism controls the traveling mechanism 8 to drive the entire tunnel boring robot to travel to a designated position (as shown in fig. 2) along the inner track 13 of the tunnel, and then the control mechanism controls the rail clamping mechanism 12 to clamp the two sides of the track 13 (as shown in fig. 3), so as to ensure that the robot is stable and does not travel any more during operation. Then the control mechanism controls the horizontal telescopic mechanism 7 and the lifting mechanism 6 to act, the distance between the mechanical arm 5 and the drilling mechanism 2, the steel bar detecting mechanism 3 and the dust blowing and sucking mechanism 4 on the mechanical arm 5 and the working surface of the tunnel wall is adjusted according to the actual working environment, the horizontal telescopic mechanism 7 extends along the direction perpendicular to the track 13, so that the mechanisms fixed on the upper portion of the horizontal telescopic mechanism move towards the direction close to the working surface of the tunnel (as shown in figure 3), and the lifting mechanism 6 is used for controlling the height of the mechanisms fixed on the upper portion of the horizontal telescopic mechanism to meet the requirement of the drilling height. The mechanical arm 5 is used for lifting the carrying drilling mechanism 2, the reinforcing steel bar detecting mechanism 3 and the blowing and dust-absorbing mechanism 4 to perform corresponding actions. Whether the steel bar exists in the tunnel wall surface is surveyed earlier to steel bar detection mechanism 3, then arm 5 lifts drilling mechanism 2 and punches in no steel bar department, and the back of accomplishing that punches, arm 5 lifts and blows dust absorption mechanism 4 and blow dirt and dust absorption operation in the hole, accomplishes the operation of punching that links up. Meanwhile, the dust suction mechanism 11 performs reverse dust suction according to the concentration and the direction of dust in the tunnel environment, or starts to suck dust on two sides simultaneously. After the punching is finished, the control structure controls the travel-stopping rail clamping mechanism 12 to release the rail 13, the traveling mechanism 8 travels to the lower punching position along the rail 13, and the operation is repeated.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present specification, reference to the description of the terms "this embodiment," "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and simplifications made in the spirit of the present invention are intended to be included in the scope of the present invention.

Claims (9)

1. A tunnel punching robot is characterized by comprising a supporting platform (1), a drilling mechanism (2), a steel bar detecting mechanism (3), a dust blowing and sucking mechanism (4), a mechanical arm (5), a lifting mechanism (6), a horizontal telescopic mechanism (7), a walking mechanism (8) and a control mechanism,

the drilling mechanism (2), the reinforcing steel bar detection mechanism (3) and the dust blowing and sucking mechanism (4) are fixed at the tail end of the mechanical arm (5), the reinforcing steel bar detection mechanism (3) is used for detecting whether reinforcing steel bars exist in the tunnel wall, the drilling mechanism (2) is used for punching at the position without reinforcing steel bars on the tunnel wall, the dust blowing and sucking mechanism (4) is used for blowing dust in a hole and sucking away, the bottom of the mechanical arm (5) is fixed on the lifting mechanism (6),

the lifting mechanism (6) is fixed on the horizontal telescopic mechanism (7), the lifting mechanism (6) is used for carrying the mechanical arm (5) to lift,

the horizontal telescopic mechanism (7) is fixed on the supporting platform (1), the horizontal telescopic mechanism (7) is used for horizontally stretching along the direction vertical to the track (13),

the travelling mechanism (8) is fixed below the supporting platform (1), the travelling mechanism (8) is used for driving the tunnel punching robot to move to a designated position along the inner track (13) of the tunnel,

the control mechanism is respectively electrically connected with the drilling mechanism (2), the steel bar detecting mechanism (3), the blowing and dust-absorbing mechanism (4), the mechanical arm (5), the lifting mechanism (6), the horizontal telescopic mechanism (7) and the traveling mechanism (8) and is used for controlling each mechanism to execute corresponding actions.

2. The tunnel boring robot of claim 1, wherein the boring mechanism (2), the reinforcement detection mechanism (3) and the dust blowing and sucking mechanism (4) are fixed at the end of the mechanical arm (5) through a fixing frame (10), the end of the mechanical arm (5) is fixedly connected with the fixing frame (10), the boring mechanism (2) is fixed on the fixing frame (10), a drill bit of the boring mechanism (2) extends out of the outside of the fixing frame (10), the reinforcement detection mechanism (3) and the dust blowing and sucking mechanism (4) are both slidably connected with the fixing frame (10), the reinforcement detection mechanism (3) and the dust blowing and sucking mechanism (4) are both in the outside of the fixing frame (10), the reinforcement detection mechanism (3), the drill bit of the boring mechanism (2) and the dust blowing and sucking mechanism (4) are in a side of the fixing frame (10) far away from the mechanical arm (5), and the sliding direction of the reinforcement detection mechanism (3) and the dust blowing and sucking mechanism (4) is parallel to the length direction of the boring mechanism (2).

3. The tunnel boring robot according to claim 2, wherein the blowing and sucking mechanism (4) comprises a blowing pipe (41), a first dust sucking pipe (42), a first dust cover (43), a blowing device and a first dust sucking device, the first dust sucking pipe (42) is a three-way pipe, the blowing pipe (41) is a three-way pipe with one closed end, the first dust cover (43) is connected with one of the pipe openings of the first dust sucking pipe (42), the first dust cover (43) and the first dust sucking pipe (42) are sleeved outside the blowing pipe (41), the first dust sucking pipe (42) is connected with the blowing pipe (41) in a sealing manner far away from the pipe opening of the first dust cover (43), one of the pipe openings of the blowing pipe (41) is close to the first dust cover (43), the other pipe opening of the blowing pipe (41) extends out of the first dust cover (43) or the first dust sucking pipe (42) and is connected with the first dust sucking pipe (10), and the blowing pipe (41) is connected with the three dust sucking pipe openings of the first dust cover (42) and the first dust sucking pipe (42).

4. The tunnel boring robot according to claim 2 or 3, wherein a second dust cover (103) and a second dust suction pipe (104) are sleeved outside the drill bit of the boring mechanism (2) and are communicated with each other, the second dust suction pipe (104) is a three-way pipe with a closed end, one of the pipe orifices of the second dust suction pipe (104) is connected with the second dust cover (103), the closed pipe orifice of the second dust suction pipe (104) is fixedly connected with the fixing frame (10), and a third pipe orifice of the second dust suction pipe (104) is connected with a second dust suction device.

5. The tunnel boring robot of claim 1, further comprising a dust suction mechanism (11), wherein the dust suction mechanism (11) is fixed on the mechanical arm (5), the dust suction mechanism (11) comprises a negative pressure device (111), a four-way pipe (112) and a dust suction reversing mechanism (113), the negative pressure device (111) is provided with a dust suction opening and a dust outlet, two pipe orifices of the four-way pipe (112) are arranged oppositely, the other two pipe orifices of the four-way pipe (112) are used as air suction openings (1121), a preset included angle is formed between the two air suction openings (1121), one of the opposite pipe orifices of the four-way pipe (112) is connected with the dust suction opening of the negative pressure device (111), the dust suction reversing mechanism (113) is hermetically connected to the other pipe orifice of the opposite pipe orifices of the four-way pipe (112) and switches the communication state of the two air suction openings (1121) with the outside, and at least one air suction opening (1121) is communicated with the outside.

6. The tunnel boring robot of claim 5, wherein the dust suction reversing mechanism (113) comprises a reversing stopper (1131) for closing the suction ports (1121), a sealing piston (1132) for sealing the orifice of the cross pipe (112) away from the negative pressure device (111), and a rotary driving mechanism (1133), the reversing stopper (1131) and the sealing piston (1132) are sleeved in the pipe where two opposite orifices of the cross pipe (112) are located, one end of the reversing stopper (1131) away from the negative pressure device (111) is fixedly connected with the sealing piston (1132), the rotary driving mechanism (1133) is fixedly connected with the sealing piston (1132), and the rotary driving mechanism (1133) drives the reversing stopper (1131) and the sealing piston (1132) to rotate relative to the cross pipe (112) so that the suction ports (1121) are closed or opened by the reversing stopper (1131), and at least one of the suction ports (1121) is communicated with the outside.

7. The tunnel boring robot as claimed in claim 5, wherein the dust suction reversing mechanism (113) comprises a reversing block (1131) for closing the suction ports (1121), a sealing piston (1132) for sealing the orifice of the cross pipe (112) away from the negative pressure device (111), and a rotary driving mechanism (1133), the reversing block (1131) and the sealing piston (1132) are sleeved in the pipe of the cross pipe (112) where two opposite orifices are located, the sealing piston (1132) is located on the side of the reversing block (1131) away from the negative pressure device (111) and is fixedly connected with the cross pipe (112), the rotary driving mechanism (1133) passes through the sealing piston (1132) to be fixedly connected with the reversing block (1131), and the rotary driving mechanism (1133) drives the reversing block (1131) to rotate relative to the cross pipe (112) so that the suction ports (1121) are closed or opened by the reversing block (1131), at least one of the suction ports (1121) being communicated with the outside.

8. The tunnel boring robot of claim 1, further comprising a stop rail mechanism (12), wherein the stop rail mechanism (12) is fixed below the supporting platform (1), the stop rail mechanism (12) comprises a first driving motor, a bidirectional screw, a first screw nut block, a second screw nut block, a first clamping jaw (121) and a second clamping jaw (122), the first clamping jaw (121) and the second clamping jaw (122) are arranged oppositely, the first clamping jaw (121) is fixedly connected with the first screw nut block, the second clamping jaw (122) is fixedly connected with the second screw nut block, the bidirectional screw is provided with a positive screw thread and a negative screw thread, the first screw nut block is in threaded connection with the positive screw thread of the bidirectional screw, the second screw nut block is in threaded connection with the negative screw thread of the bidirectional screw, the bottom surface of the supporting platform (1) is provided with a sliding chute in sliding connection with the first screw nut block and the second screw nut block, and the sliding chute is parallel to the first screw and drives the bidirectional screw to rotate.

9. The tunnel boring robot of claim 1, characterized in that the walking unit includes front walking wheels (81), rear walking wheels (82), a second driving motor (83) and a chain sprocket and chain transmission mechanism (84), two front walking wheels (81) are connected through a connecting shaft (85), two rear walking wheels (82) are connected through a connecting shaft (85), both connecting shafts are rotatably connected with the supporting platform (1), the second driving motor (83) drives the connecting shaft (85) through the chain sprocket and chain transmission mechanism (84) to rotate so as to drive the front walking wheels (81) and the rear walking wheels (82) to roll along the track (13) in the tunnel.

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