CN210264517U

CN210264517U - Intelligent tunnel drilling equipment

Info

Publication number: CN210264517U
Application number: CN201921304008.1U
Authority: CN
Inventors: 饶道龚; 王维锐; 葛正
Original assignee: Research Institute of Zhejiang University Taizhou
Current assignee: Research Institute of Zhejiang University Taizhou
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2020-04-07
Anticipated expiration: 2029-08-13

Abstract

The utility model provides a tunnel intelligence drilling equipment, including the tracked vehicle, the terminal surface is connected with the track under the tracked vehicle, terminal surface four corners position fixedly connected with vehicle servo lift heel brace under the tracked vehicle, and vehicle servo lift heel brace is located the track around, tracked vehicle up end fixedly connected with moving platform, moving platform up end fixedly connected with hydraulic cylinder, hydraulic cylinder up end is connected with six arms, six arm other ends and drilling subassembly fixed connection, the utility model discloses a mechanized design has realized carrying out the purpose of automatic drilling to the tunnel, and easy operation, application scope is wide, and has improved work efficiency, has saved the manpower, has reduced use cost.

Description

Intelligent tunnel drilling equipment

Technical Field

The utility model discloses a tunnel intelligence drilling equipment belongs to tunnel drilling equipment field.

Background

With the continuous development of the technology and the requirement of operation, the trend of the railway tunnel is that the longer the repair is, the wider the repair is, the more difficult and complex the technology is. At present, the railway tunnel building technology in China has great development, and a surrounding rock dynamic measurement feedback analysis technology, a combined ventilation technology, an operation traffic simple monitoring technology, a novel waterproof, drainage and water plugging technology, a surrounding rock stabilizing technology, a supporting and lining structure technology and the like have many successful examples, wherein most achievements are in the domestic leading level, and some achievements reach the international advanced level. In the large-scale construction process, the domestic tunnel construction also exposes some shortages.

Wherein, tunnel crab-bolt punches and has lagged behind developed country, and tunnel crab-bolt hole is used for fixed contact net installing support, and the support mounting is respectively by 4 holes and 6 holes, installs higher required precision because of the contact net, also has certain required precision during the installation of solid support, and present tunnel punches to divide into following three kinds of forms: the linear suspension posts and the additional line shoulder frame are punched, the curve outer suspension posts and the additional line tunnel are punched, and the curve inner positioning suspension posts and the tunnel are punched.

At present, the procedures in China are all completed manually, and the method has the following defects:

the labor intensity of workers is large: at present, a scaffold form is mostly adopted, and the scaffold is manually built on a position needing to be punched by manually holding a drill bit to punch holes;

the work efficiency is low: 6 people can only punch 11-12 anchor bolt holes each day;

the working danger is high: the height of the tunnel is about 8 meters, and a certain danger exists when people work on the scaffold;

the punching precision is low: the relative position of the anchor bolt hole before punching is drawn manually, the punching is performed by aligning a manual handheld electric drill to the drawing position, and the precision of the relative position of the punching is difficult to control;

the working environment is poor: because punch at the tunnel top, the dust can be unrestrained downwards when punching.

Disclosure of Invention

Not enough to prior art exists, the utility model aims at providing tunnel intelligence drilling equipment to solve the problem that proposes in the above-mentioned background art, the utility model discloses a mechanized design has realized the automatic purpose of drilling in tunnel, easy operation, and working strength is low, and application scope is wide.

In order to achieve the above purpose, the present invention is realized by the following technical solution: tunnel intelligence drilling equipment, including the tracked vehicle, the terminal surface is connected with the track under the tracked vehicle, terminal surface four corners position fixedly connected with vehicle servo lift heel brace under the tracked vehicle, and vehicle servo lift heel brace is located around the track, tracked vehicle up end fixedly connected with moving platform, moving platform up end fixedly connected with hydraulic cylinder, hydraulic cylinder up end is connected with six arms, the six arm other ends and drilling subassembly fixed connection.

In an embodiment, moving platform includes transverse guide, first guide rail board, second guide rail board and longitudinal rail, transverse guide fixed connection is on the tracked vehicle up end, first guide rail board sliding connection is on transverse guide, longitudinal rail fixed connection is on first guide rail board up end, second guide rail board sliding connection is on longitudinal rail, second guide rail board up end fixedly connected with hydraulic cylinder.

In one embodiment, the two sets of the transverse guide rails and the two sets of the longitudinal guide rails are arranged, the two sets of the transverse guide rails are symmetrically fixed on the upper end surface of the crawler, and the two sets of the longitudinal guide rails are symmetrically fixed on the upper end surface of the first guide rail plate.

In one embodiment, the six-axis mechanical arm comprises a rotating motor, the rotating motor is fixed on the upper end surface of the lifting hydraulic cylinder, the output end of the upper end surface of the rotating motor is fixedly connected with a support, the other end of the support is rotatably connected with the first mechanical arm through a rotating shaft, and the other end of the first mechanical arm is rotatably connected with one end of the second mechanical arm through a rotating shaft.

In one embodiment, the right end of the first mechanical arm and the right end surface of the support are fixedly connected with motors, and output shafts at the left ends of the two motors are fixedly connected with the rotating shaft.

In one embodiment, the drilling assembly comprises a drilling mounting plate and a servo drilling rod, the servo drilling rod is fixed on the front end face of the drilling mounting plate, and the drilling mounting plate is fixed on the upper end of the second mechanical arm.

In one embodiment, the servo drill rods are provided in three groups, and the three groups of servo drill rods are fixed on the front end face of the drill mounting plate at equal intervals.

In one embodiment, horizontal gyroscopes are fixedly connected to the front upper portions of the four vehicle servo lifting foot supports.

The utility model has the advantages that: the utility model discloses a tunnel intelligence drilling equipment through mechanized design, has realized carrying out the purpose of automatic drilling to the tunnel, easy operation, and application scope is wide, and has improved work efficiency, has saved the manpower, has reduced use cost, has solved current tunnel crab-bolt punching worker intensity of labour big, work efficiency is low, work is dangerous high, the precision of punching is low, operational environment subalternation problem.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural view of the intelligent tunnel drilling equipment of the present invention;

fig. 2 is a schematic view of a mobile platform in the intelligent tunnel drilling equipment of the present invention;

FIG. 3 is a schematic view of a six-axis robot arm in the intelligent tunnel drilling apparatus of the present invention;

fig. 4 is a schematic view of a drilling assembly in the intelligent tunnel drilling device of the present invention;

in the figure: the system comprises a crawler 1, a crawler 2, a vehicle servo lifting foot support, a crawler 3, a moving platform 4, a lifting hydraulic cylinder 5, a six-axis mechanical arm 6, a drilling assembly 7, a horizontal gyroscope 8, a transverse guide rail 41, a first guide rail plate 42, a second guide rail plate 43, a longitudinal guide rail 44, a rotating motor 61, a support 62, a first mechanical arm 63, a second mechanical arm 64, a drilling mounting plate 71 and a servo drilling rod 72.

Detailed Description

Before the embodiments are described in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of components set forth in the following description or illustrated in the drawings. The utility model discloses can be the embodiment that other modes realized. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," "having," and the like, herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. In particular, when "a certain element" is described, the present invention is not limited to the number of the element being one, and may include a plurality of the elements.

Referring to fig. 1-4, the present invention provides a technical solution: intelligent tunnel drilling equipment comprises a crawler 1, wherein a crawler 3 is connected to the lower end face of the crawler 1, vehicle servo lifting foot supports 2 are fixedly connected to four corners of the lower end face of the crawler 1, the vehicle servo lifting foot supports 2 are positioned around the crawler 3, a moving platform 4 is fixedly connected to the upper end face of the crawler 1, a lifting hydraulic cylinder 5 is fixedly connected to the upper end face of the moving platform 4, a six-axis mechanical arm 6 is connected to the upper end face of the lifting hydraulic cylinder 5, the other end of the six-axis mechanical arm 6 is fixedly connected with a drilling assembly 7, the stretching of the vehicle servo lifting foot supports 2 is controlled by observing levelness of four horizontal gyroscopes 8, the horizontal level of the crawler 1 is adjusted, the horizontal movement along a transverse guide rail 41 is facilitated through a first guide rail plate 42, the front and back movement along a longitudinal guide rail 44 is facilitated through a second guide rail plate 43, and horizontal movement of a servo drilling rod 72 is achieved, drive six arms 6 and servo drill rod 72 through hydraulic cylinder 5 afterwards and reciprocate, then drive servo drill rod 72 under the effect of six arms 6 and carry out arbitrary angle rotation, drive this device through tracked vehicle 1 under the effect of track 3 afterwards and remove, and then realize removing this device in the tunnel, then drill to the tunnel top through servo drill rod 72, through mechanized design, realized carrying out automatic drilling to the tunnel, and the operation is thus simple, high working efficiency, and labor cost is saved.

The movable platform 4 comprises a transverse guide rail 41, a first guide rail plate 42, a second guide rail plate 43 and a longitudinal guide rail 44, the transverse guide rail 41 is fixedly connected to the upper end face of the crawler 1, the first guide rail plate 42 is slidably connected to the transverse guide rail 41, the longitudinal guide rail 44 is fixedly connected to the upper end face of the first guide rail plate 42, the second guide rail plate 43 is slidably connected to the longitudinal guide rail 44, and the upper end face of the second guide rail plate 43 is fixedly connected with the lifting hydraulic cylinder 5.

The transverse guide rails 41 and the longitudinal guide rails 44 are respectively provided with two groups, the two groups of transverse guide rails 41 are symmetrically fixed on the upper end surface of the crawler 1 in a front-back mode, and the two groups of longitudinal guide rails 44 are symmetrically fixed on the upper end surface of the first guide rail plate 42 in a left-right mode, so that the moving stability is improved.

Six arms 6 include rotating electrical machines 61, rotating electrical machines 61 fixes at hydraulic cylinder 5 up end, and the output and the support 62 fixed connection of rotating electrical machines 61 up end, the support 62 other end is rotated through rotation axis and first arm 63 and is connected, the first arm 63 other end is rotated through rotation axis and second arm 64 one end and is connected, be convenient for drive first arm 63 and second arm 64 through rotating electrical machines 61 and carry out the horizontal rotation, it rotates to drive first arm 63 and second arm 64 through the motor.

The right end of the first mechanical arm 63 and the right end face of the support 62 are both fixedly connected with motors, output shafts at the left ends of the two motors are both fixedly connected with a rotating shaft, and the motors drive the first mechanical arm 63 and the second mechanical arm 64 to rotate.

The drilling assembly 7 comprises a drilling mounting plate 71 and a servo drilling rod 72, wherein the servo drilling rod is fixed on the front end surface of the drilling mounting plate 71, and the drilling mounting plate 71 is fixed on the upper end of the second mechanical arm 64.

Three groups of servo drilling rods 72 are arranged, and the three groups of servo drilling rods 72 are fixed on the front end face of the drilling mounting plate 71 at equal intervals, so that the drilling range is expanded.

The upper front parts of the four vehicle servo lifting foot supports 2 are fixedly connected with horizontal gyroscopes 8, so that the level of the crawler 1 can be adjusted conveniently.

The concepts described herein may be embodied in other forms without departing from the spirit or characteristics thereof. The particular embodiments disclosed should be considered illustrative rather than limiting. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. Any changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims

1. Tunnel intelligence drilling equipment, including the tracked vehicle, its characterized in that: the end surface is connected with the track under the tracked vehicle, end surface four corners position fixedly connected with vehicle servo lift heel brace under the tracked vehicle, and vehicle servo lift heel brace is located the track all around, tracked vehicle up end fixedly connected with moving platform, moving platform up end fixedly connected with hydraulic cylinder, hydraulic cylinder up end is connected with six arms, the six arm other ends and drilling subassembly fixed connection.

2. The intelligent drilling equipment for tunnels according to claim 1, wherein: moving platform includes transverse guide, first guide rail board, second guide rail board and longitudinal rail, transverse guide fixed connection is on the tracked vehicle up end, first guide rail board sliding connection is on transverse guide, longitudinal rail fixed connection is on first guide rail board up end, second guide rail board sliding connection is on longitudinal rail, second guide rail board up end fixedly connected with hydraulic cylinder.

3. The intelligent drilling equipment for tunnels according to claim 2, wherein: the transverse guide rails and the longitudinal guide rails are arranged in two groups, the transverse guide rails are symmetrically fixed on the upper end face of the crawler in a front-back mode, and the longitudinal guide rails are symmetrically fixed on the upper end face of the first guide rail plate in a left-right mode.

4. The intelligent drilling equipment for tunnels according to claim 1, wherein: the six arms include the rotating electrical machines, the rotating electrical machines is fixed at hydraulic cylinder up end, and the output and the support fixed connection of rotating electrical machines up end, the support other end rotates through rotation axis and first arm to be connected, the first arm other end rotates through rotation axis and second arm one end to be connected.

5. The intelligent drilling equipment for tunnels according to claim 4, wherein: the right end of the first mechanical arm and the right end face of the support are fixedly connected with motors, and output shafts at the left ends of the motors are fixedly connected with the rotating shaft.

6. The intelligent drilling equipment for tunnels according to claim 1, wherein: the drilling subassembly includes drilling mounting panel and servo drill rod, the terminal surface before the drilling mounting panel is fixed to servo drill rod, the drilling mounting panel is fixed in second arm upper end.

7. The intelligent drilling equipment for tunnels according to claim 6, wherein: the servo drilling rods are provided with three groups, and the servo drilling rods are fixed on the front end face of the drilling mounting plate at equal distances.

8. The intelligent drilling equipment for tunnels according to claim 1, wherein: and the front upper parts of the four vehicle servo lifting foot supports are fixedly connected with horizontal gyroscopes.