CN205743689U - A kind of tunnel support drilling robot - Google Patents

Abstract

This utility model provides a kind of tunnel support drilling robot, including: the power resources of drill bit, brshless DC motor；Gear reduction unit；The feeding of drilling equipment uses miniature leading screw slide unit；The power of leading screw slide unit is motor；Also include: the universal buphthalmos that the supporting construction of whole tunnel support robot is improved is taken turns；The leading screw slide unit of axial Locating driver along tunnel；The electric rotating machine circumferentially positioned along tunnel；Shaft coupling；For realizing pinpoint photoelectric coded disk feedback system；The electric cabinet of whole robot afterbody；For realizing automatically inserting anchor pole, and the custom-designed automatic ejection mechanism of wedge anchor pole.The composition that closely cooperates between each part mentioned above tunnel support robot.This utility model utilizes modified model universal buphthalmos wheel to arrange, along tunnel 120 ° of triangles of circumference, the tunnel support hole structure making to support, and uses position-force control, utilizes the charged self-locking of step actuator, and positioning precision is high, simple in construction, and boring is flexibly.

Description

A kind of tunnel support drilling robot

Technical field

This utility model relates to a kind of drilling robot, particularly relates to a kind of tunnel support drilling robot.

Background technology

Generally tunnel robot mostly is measuring robots, state's inner tunnel rock-boring, uses air pressure gun more, and its bore diameter is bigger, heating is big, and power consumption is high, or manual site's Non-follow control, and labor intensity is bigger.Abroad starting to walk in this respect relatively early, achievement is more.Develop First practicality hydraulic rock drilling machine from France, develop the tunnel drill wagon for jack hammer automatically controlled to Norwegian company, the most progressive with in automaticity in rock drilling precision.But the research by tunnel support drilling robot research Mechanism of Rockburst Occurred is also few, need to go textual criticism and research still further accord with practical situation.Central South University has carried out early-stage Study to Rock-drilling Robot for many years." Rock-drilling Robot " that it is developed is double arm robot, its two huge jib is respectively arranged with 6 meters of long drill bits, although can get required borehole on any hard rock.But its energy expenditure is huge, control system is complicated, involve great expense.In terms of patent application, number of patent application CN95120602.8, entitled " shield tunnel boring machine ", it uses parallel linkage mode tunneling, is not used to supporting boring；Number of patent application CN201410814477.3 entitled " a kind of subway tunnel the wall of a borehole post-grouting method ", its main uses is for administering subway tunnel section of jurisdiction percolating water；Involved once boring, secondary drilling, hollow metal pipe and the design differ widely；Number of patent application is CN201220313535.0 entitled " tunnel boring machine "；Number of patent application CN201520221508.4 entitled " a kind of subway tunnel multi-faceted high-precision borehole equipment ", being welded with the rectangular hollow section of row's uniform distances on its boring machine mounting platform, four or multiple boring machine can realize XY position step-less adjustment on the platform.Tunnel top or sidewall disposably can be bored multiple hole.But this structure drilling axis is difficult to ensure that the center of circle of passing through tunnel, and platform regulates with multiple electric cylinders, and control accuracy is the highest.Number of patent application CN201120173378.3 entitled " tunnel top boring machine ", anticreep rail track flat car, man-like shelf, drilling bracket platform and electromotor is had to constitute, its precision is higher, but defect is that it can only punch at tunnel top, it is impossible to enough realize the punching of optional position.These patent documents can realize boring, simply version and Locating driver mode are different, said apparatus location on otherwise design the most complicated, or boring underaction.In lookup data, modified model universal buphthalmos wheel is not utilized to arrange the tunnel support hole structure making to support, additionally along tunnel 120 ° of triangles of circumference, this structure uses position-force control, utilizes the charged self-locking of step actuator, and positioning precision is high, simple in construction, boring is flexibly.

Summary of the invention

The purpose of this utility model is to provide a kind of tunnel support drilling robot.

nullThe purpose of this utility model is achieved in that and includes big slide unit，The end of big slide unit is provided with axial feed motor，The outfan of axial feed motor is connected with the axial feed leading screw being arranged on big slide unit，Big slide plate is installed on axial feed leading screw，On big slide plate, electric rotating machine connecting plate is installed，On electric rotating machine connecting plate, electric rotating machine is installed，The output shaft of electric rotating machine is connected by one end of shaft coupling with flange，The other end of flange is fixed with hexagonal shaft，The outer surface of hexagonal shaft is provided with the buphthalmos wheel of improvement，The end of hexagonal shaft is fixed with radial feed connecting plate for electric motor，Feeding motor is installed on radial feed connecting plate for electric motor，Feeding little gear is installed on the output shaft of feeding motor，The end of described radial feed connecting plate for electric motor is also associated with little slide unit，By pair of bearing and axle bed, drill bit feed screw is installed on little slide unit，The end of drill bit feed screw is provided with feeding gear wheel，The little gear of feeding engages with feeding gear wheel，It is also equipped with small slide plate on described drill bit feed screw，The upper end of small slide plate is provided with connecting plate，The side of upper end axle bed is provided with determines block，Determine to be connected with motion block by anchor pole push rod elastic force trimming bolt on block，The side of lower end axle bed is provided with anchor pole fixed plate，Anchor pole storehouse is installed in anchor pole fixed plate，Two pieces of anchor pole pressing plates it are provided with in anchor pole storehouse，It is provided with rag iron spring between every piece of anchor pole pressing plate and anchor pole storehouse，It is provided with anchor pole between two pieces of anchor pole pressing plates，Upper end, anchor pole storehouse is provided with anchor pole push rod slideway，Wedge mating holes it is provided with on described connecting plate，The initial position of the lower surface with the wedge of horizontal circle styletable is stuck on connecting plate，Wedge fixed plate is installed on wedge，It is provided with anchor pole push rod in anchor pole push rod slideway，And it is provided with spring between anchor pole push rod slideway upper end and anchor pole push rod，Countersunk head through hole it is provided with on anchor pole push rod，Anchor pole push rod is connected by guide cylinder rod and screw with wedge fixed plate，Guide cylinder rod is positioned at countersunk head through hole，Wedge spring it is provided with between anchor pole push rod and wedge fixed plate，The cylindrical end of the wedge with horizontal circle styletable is inserted on anchor pole push rod in the hole arranged，The end of described connecting plate is also equipped with drill bit motor，Boring drive pinion is installed on the output shaft of drill bit motor，Cylinder is installed on connecting plate，Axle is installed in cylinder，The upper end of axle is provided with boring transmission gear wheel through connecting plate and its upper end，Boring drive pinion engages with boring transmission gear wheel，The lower end of axle is fixed with drill bit.

This utility model also includes so some architectural features:

The buphthalmos wheel of the most described improvement includes the slide block casing slideway being arranged in hexagonal shaft, the slide block installed in slide block casing slideway and is fixed on the common buphthalmos wheel of upper end of slide block and is additionally provided with buphthalmos wheel regulation spring between slide block and slide block casing slideway.

Compared with prior art, the beneficial effects of the utility model are: this utility model utilizes modified model universal buphthalmos wheel to arrange, along tunnel 120 ° of triangles of circumference, the tunnel support hole structure making to support, use position-force control, utilize the charged self-locking of step actuator, positioning precision is high, simple in construction, boring is flexibly.Supporting construction of the present utility model use simple in construction take up room little modified model universal buphthalmos wheel, this buphthalmos take turns, devise a spring assembly that can change below, the spring of different-stiffness can be changed at any time according to the difference of load；Drill bit feed mechanism of the present utility model, uses miniature leading screw；The axle connecting plate at DC brushless motor and drill bit place supports, and there are two symmetrical reinforcements to make boring procedure more steady, the motion in tunnel of the whole supporting robot is axial motion and mutually countershaft rotary motion, and both motions have photoelectric encoder feedback system.By four motors, realize rotating along tunnel axis of whole robot respectively, axially-movable, drill bit feed motion and the rotation of drill bit, cooperate, thus realize optional position boring in tunnel wall, the automatic ejection mechanism of wedge anchor pole of the present utility model, after being utilization boring every time, drill bit exits process, complete the elastic force savings of anchor pole push rod, this process is to block the wedge device equipped with spring by connecting plate to realize, launch is to promote wedge to realize by the motion block above feed screw, motion block compresses its spring, anchor pole push rod is made to launch, promote anchor pole, complete anchor pole to insert.

Accompanying drawing explanation

Fig. 1 is main apparent direction structural representation of the present utility model；

Fig. 2 is the structural representation of the A-A directional profile of Fig. 1；

Fig. 3 is the enlarged diagram of C portion in Fig. 2；

Fig. 4 is the structural representation of mentioned common buphthalmos wheel of the present utility model；

Fig. 5 is the structural representation of the universal buphthalmos wheel of improvement of the present utility model；

Schematic diagram when Fig. 6 is operation of the present utility model.

Detailed description of the invention

With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.

nullIn conjunction with Fig. 1 to Fig. 6，Tunnel support drilling robot structure mainly comprises and includes 1、Axially advance motor，2、Big slide unit，3、Fixing slide block，4、Axially advance leading screw，5、Rotate in a circumferential direction motor，6、Electric rotating machine connecting plate，7、Big slide plate，8、Shaft coupling，9、Flange，10、Hexagonal shaft，11、Radial feed connecting plate for electric motor，12、Little slide unit，13、Small slide plate，14、Axle bed，15、Lead screw shaft bearing，16、Anchor pole push rod elastic force trimming bolt，17、Wedge，18、Voussoir fixed plate，19、Spring，20、Wedge spring，21、Guide cylinder rod，22、Boring transmission gear wheel，23、Boring drive pinion，24、Connecting plate，25、Drill bit motor，26、Bearing cap，27、Bearing，28、Axle，29、Cylinder，30、Anchor pole push rod，31、Motion block，32、Drill bit，33、Determine block，34、Anchor pole storehouse fixed plate，35、Drill bit feed screw，36、Feeding gear wheel，37、Feeding motor，38、The little gear of feeding，39、The leading screw feeding axis of guide，40、Anchor pole storehouse，41、Anchor pole，42、Anchor pole pressing plate，43、Follower bolt，44、Rag iron spring，45、Common buphthalmos wheel，46、Slide block，47、Slide block case lid，48、Slide block casing slideway，49、Buphthalmos wheel power regulation spring，50、Tunnel axis，51、Anchor hole.

The whole process that tunnel boring machine is manually made is broadly divided into two big processes: first process is boring, and second process is automatically to insert anchor pole.Axially traveling motor 1 and fixing slide block 3 are all fixed on big slide unit 2, axial traveling leading screw 4 is supported by 1,3 and 2, big slide plate 7 can move on the leading screw rotated, by electric rotating machine connecting plate 6 by electric rotating machine 5 and the fixing connection of big slide plate 7, then electric rotating machine 5 is again by shaft coupling 8 and the fixing connection of flange 9, flange 9 is fixing with hexagonal shaft 10 again to be connected, and all components being so connected with big slide plate 7 can move with slide plate.nullRadial feed connecting plate for electric motor 11 is while being connected by screw is fixing with hexagonal shaft 10，Another side is connected by screw is fixing with little slide unit 12，Small slide plate 13 is supported jointly by the leading screw feeding axis of guide 39 supported by axle bed 14 and the drill bit feed screw 35 supported by lead screw shaft bearing 15，Anchor pole push rod elastic force trimming bolt 16 is arranged on to be determined on block 33，The upper-lower position of motion block 31 can be controlled by screw，Such that it is able to the decrement upper limit of regulation spring 19，Guide cylinder rod 21 is fixedly installed in voussoir fixed plate 18，Wedge spring 20 is through on guide cylinder rod 21，Wedge 17 all becomes parallel being slidably connected with anchor pole push rod 30 row with guide cylinder rod 21，Countersunk head through hole it is provided with on anchor pole push rod，Anchor pole push rod is connected by guide cylinder rod and screw with wedge fixed plate，Wedge and voussoir fixed plate move right，Extrusion spring，Wedge comes off.Guide cylinder rod is positioned at countersunk head through hole, is provided with wedge spring between anchor pole push rod and wedge fixed plate, and the cylindrical end of the wedge with horizontal circle styletable is inserted on anchor pole push rod in the hole arranged, and such setting can effectively prevent wedge from rotating.Connecting plate 24 is by drill bit motor 25, bearing cap 26 and the fixing connection of small slide plate 13, feeding motor 37 is fixed on radial feed connecting plate for electric motor 11 by welded plate, deliver torque to drill bit feed screw 35 and make it rotate by the little gear of feeding 38 and feeding gear wheel 36, so that small slide plate 13 drives drill bit feeding the most again；Drill bit motor 25 delivers torque to axle 28 by little gear 23 and gear wheel 22, axle 28 is positioned by bearing cap 26, bearing 27, cylinder 29, drill bit 32 and axle 28 connect by screw is fixing, thus the moment of torsion of drill bit motor 25 is delivered on drill bit 32, it is achieved bit bore.Anchor pole storehouse 40 is fixedly attached on axle bed by anchor pole storehouse fixed plate 34, there is a circular hole at the two ends in anchor pole storehouse 40, slideway as anchor pole push rod 30, spring 19 is installed on the slideway of the upper end of anchor pole push rod 30, it can be used to put aside elastic force, the hole that anchor pole push rod is rectified anchor pole storehouse 40 for 30 times, equipped with anchor pole 41 inside anchor pole storehouse 40, the compressible structure that anchor pole 41 is formed by anchor pole pressing plate 42, follower bolt 43, rag iron spring 44 extrudes to stop its landing.Additionally, what modified model buphthalmos wheel utilized common buphthalmos wheel 45 can the characteristic of arbitrarily angled rotation, common buphthalmos wheel 45 is threaded connection and fixes with slide block 46, and can slide along slide block casing slideway 48, upper end is spacing by slide block case lid 47, lower end, by buphthalmos wheel power regulation spring 49, can regulate common buphthalmos wheel 45 degrees of tightness when along tunnel axis 50 straight line or rotary motion；When rotating in a circumferential direction motor 5 and axial traveling motor 1 independently works when making position that drill bit 32 arrives the anchor hole 51 required, drill bit 32 feeding drilling is driven by feeding motor 37, when every time boring is complete exit drill bit 32 while, connecting plate 24 blocks wedge 17 bottom and makes to move on it, spring 19 is made to put aside elastic potential energy, when drill bit exits completely, whole robot architecture is driven by motor 1 of axially advancing and is axially moveable, when the hole of lower end, anchor pole storehouse 40 is directed at the hole of drill bit 32, drill bit feeding motor 37 rotational band again is dynamically connected on plate 24 and moves, so that wedge 17 encounters the motion block 31 of top, wedge spring 20 is compressed, wedge 17 is disconnected plate 24, the top hole in directive anchor pole storehouse 40, anchor pole 41 is injected the hole that drill bit 32 is bored.It is more than a cycle, constantly repeats.

This utility model includes: the power resources of drill bit, brshless DC motor；Gear reduction unit；The feeding of drilling equipment uses miniature leading screw slide unit；The power of leading screw slide unit is motor；Also include: the supporting construction of whole tunnel support robot-improved universal buphthalmos is taken turns；The leading screw slide unit of axial Locating driver along tunnel；The electric rotating machine circumferentially positioned along tunnel；Shaft coupling；For realizing pinpoint photoelectric coded disk feedback system；The electric cabinet of whole robot afterbody；For realizing automatically inserting anchor pole, and the custom-designed automatic ejection mechanism of wedge anchor pole.The composition that closely cooperates between each part mentioned above tunnel support robot.

Described supporting construction uses simple in construction to take up room little modified model universal buphthalmos wheel, and this buphthalmos is taken turns, devised a spring assembly that can change below, can change the spring of different-stiffness at any time according to the difference of load；The layout of buphthalmos wheel, uses 120 ° circumferentially.

Described drill bit feed mechanism, is often drilled a secondary aperture, and drill bit blocks wedge by connecting plate when returning initial position and completes the savings of anchor pole push rod elastic force.

For realizing automatically inserting anchor pole, certain deflection yoke is left above feed screw initial position, the transmitting of anchor pole push rod be by leading screw above motion block compress wedge and be passed to compression spring and be disconnected baffle plate, and then utilize elastic force to promote anchor pole indirectly by anchor pole push rod；The position of motion block can be regulated by push rod elastic force trimming bolt, and the size of anchor pole push rod ejection force is controlled in certain limit in the case of not changing spring.

This utility model relates to a kind of tunnel support drilling robot structure design, its objective is to design a kind of tunnel support drilling robot, including: the power resources of drill bit, brshless DC motor；Gear reduction unit；The feeding of drilling equipment uses miniature leading screw slide unit；The power of leading screw slide unit is motor；Also include: the supporting construction of whole tunnel support robot-improved universal buphthalmos is taken turns；The leading screw slide unit of axial Locating driver along tunnel；The electric rotating machine circumferentially positioned along tunnel；Shaft coupling；For realizing pinpoint photoelectric coded disk feedback system；The electric cabinet of whole robot afterbody；For realizing automatically inserting anchor pole, and custom-designed wedge anchor pole ejection mechanism；The composition that closely cooperates between each part mentioned above tunnel support robot.The action of whole robot is divided into four steps: first by powerful motor, drives leading screw, makes whole Robot tunnel axially advance；Then, after arriving the axial location required, whole drilling equipment integral-rotation is driven by shaft coupling again by electric rotating machine, then stop the rotation when drill bit arrives the position required, (completing of above-mentioned two process is independent, does not interfere with each other, and in the case of charged, motor can self-locking, thereby may be ensured that and be accurately positioned)；Finally, DC brushless motor drives bit, meanwhile, the motor skateboarding by another gear reduction unit band actuating miniature feed screw apparatus, it is achieved the feeding of drill bit by gear reduction unit, thus completes once to hole；4th step, after completing once to hole, drill bit is returned to initial position by leading screw, now, puts aside elastic force by the spring on wedge and structure thereof to the push rod of anchor pole, when the hole of bottom, anchor pole storehouse is directed at the hole that previous step is bored, leading screw drives slide unit upwards to move (initial position upwards leaves certain deflection yoke), and now motion block touches wedge compression spring, makes push rod eject and promotes anchor pole, being injected by anchor pole in hole, the process in a cycle completes.The feature of tunnel support drilling robot is miniaturization, intellectuality, EM equipment module, systematization, simple in construction and multipurpose etc..This utility model has important theory and using value to the Forming Mechanism and Evolution that correctly, in depth disclose the similar dynamic disasters such as deep tunnel/tunnel rock burst, for advancing rock mechanics discipline development and great Experiment Platform Construction to have important scientific meaning.It addition, the support action studies conducted in tunnel be can apply to building of subway and seabed tunnel etc., there is great practical value.

Claims (2)

1. a tunnel support drilling robot, it is characterised in that: include that big slide unit, the end of big slide unit are provided with axial feed Motor, the outfan of axial feed motor is connected with the axial feed leading screw being arranged on big slide unit, and axial feed leading screw is installed There is big slide plate, big slide plate is provided with electric rotating machine connecting plate, electric rotating machine connecting plate is provided with electric rotating machine, electric rotating machine Output shaft be connected by one end of shaft coupling and flange, the other end of flange is fixed with hexagonal shaft, the outer surface of hexagonal shaft Being provided with the buphthalmos wheel of improvement, the end of hexagonal shaft is fixed with radial feed connecting plate for electric motor, on radial feed connecting plate for electric motor Feeding motor is installed, the output shaft of feeding motor is provided with the little gear of feeding, the end of described radial feed connecting plate for electric motor It is also associated with little slide unit, little slide unit is provided with drill bit feed screw, the end of drill bit feed screw by pair of bearing and axle bed Portion is provided with feeding gear wheel, and the little gear of feeding engages with feeding gear wheel, and described drill bit feed screw is also equipped with small slide plate, The upper end of small slide plate is provided with connecting plate, and the side of upper end axle bed is provided with determines block, determines to finely tune spiral shell by anchor pole push rod elastic force on block Bolt is connected with motion block, and the side of lower end axle bed is provided with anchor pole fixed plate, anchor pole fixed plate is provided with anchor pole storehouse, in anchor pole storehouse It is provided with two pieces of anchor pole pressing plates, between every piece of anchor pole pressing plate and anchor pole storehouse, is provided with rag iron spring, arrange between two pieces of anchor pole pressing plates Anchor pole, upper end, anchor pole storehouse is had to be provided with anchor pole push rod slideway, described connecting plate is provided with wedge mating holes, has horizontal circle The initial position of the lower surface of the wedge of styletable is stuck on connecting plate, and wedge is provided with wedge fixed plate, anchor pole push rod It is provided with in slideway between anchor pole push rod, and anchor pole push rod slideway upper end and anchor pole push rod and is provided with spring, anchor pole push rod is arranged Having countersunk head through hole, anchor pole push rod to be connected by guide cylinder rod and screw with wedge fixed plate, guide cylinder rod is positioned at countersunk head In through hole, between anchor pole push rod and wedge fixed plate, it is provided with wedge spring, there is the cylinder of the wedge of horizontal circle styletable End is inserted on anchor pole push rod in the hole arranged, and the end of described connecting plate is also equipped with drill bit motor, the output shaft of drill bit motor On boring drive pinion is installed, connecting plate is provided with cylinder, axle is installed in cylinder, the upper end of axle through connecting plate and Its upper end is provided with boring transmission gear wheel, and boring drive pinion engages with boring transmission gear wheel, and the lower end of axle is fixed with brill Head.

A kind of tunnel support drilling robot the most according to claim 1, it is characterised in that: the buphthalmos wheel bag of described improvement The slide block of include the slide block casing slideway being arranged in hexagonal shaft, installing in slide block casing slideway and be fixed on the common of upper end of slide block Buphthalmos wheel is additionally provided with buphthalmos wheel regulation spring between slide block and slide block casing slideway.