CN215520771U - Tunnel intelligent punching device - Google Patents

Tunnel intelligent punching device Download PDF

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Publication number
CN215520771U
CN215520771U CN202122079990.0U CN202122079990U CN215520771U CN 215520771 U CN215520771 U CN 215520771U CN 202122079990 U CN202122079990 U CN 202122079990U CN 215520771 U CN215520771 U CN 215520771U
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China
Prior art keywords
plate
drilling machine
hole
end plate
limiting
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Active
Application number
CN202122079990.0U
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Chinese (zh)
Inventor
冀晓莹
徐士彬
邱晓杰
王长龙
吴雄
吴伟
王大伟
王明宇
佟刚
杨睿
鞠航
陈会君
郭闯
邹建伟
张志超
蒋伟
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China Railway No9 Group Electrical Engineering Co ltd
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China Railway No9 Group Electrical Engineering Co ltd
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Priority to CN202122079990.0U priority Critical patent/CN215520771U/en
Priority to PCT/CN2021/122370 priority patent/WO2022262149A1/en
Priority to JP2023513251A priority patent/JP7421253B2/en
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Publication of CN215520771U publication Critical patent/CN215520771U/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B11/00—Other drilling tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B12/00—Accessories for drilling tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/02—Couplings; joints
    • E21B17/04—Couplings; joints between rod or the like and bit or between rod and rod or the like
    • E21B17/07—Telescoping joints for varying drill string lengths; Shock absorbers
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E21B44/02—Automatic control of the tool feed
    • E21B44/04—Automatic control of the tool feed in response to the torque of the drive ; Measuring drilling torque
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/007—Measuring stresses in a pipe string or casing
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/04—Lining with building materials
    • E21D11/08—Lining with building materials with preformed concrete slabs

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Geophysics (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Earth Drilling (AREA)
  • Lining And Supports For Tunnels (AREA)
  • Drilling And Boring (AREA)
  • Processing Of Stones Or Stones Resemblance Materials (AREA)

Abstract

The application provides tunnel intelligence perforating device includes: the six-shaft mechanical arm is provided with a guide rod on the front end plate; the drilling machine mounting base can move along the axial direction of the guide rod; the drilling machine is fixed on the drilling machine mounting foundation; the limiting structure is used for limiting the installation foundation of the drilling machine; the pressure sensor is used for monitoring the drilling pressure of the drilling machine; the intelligent analysis host is provided with a data processing module and a control module; the data processing module is in data communication with the pressure sensor, the data processing module compares whether the drilling pressure is greater than a threshold value, and the control module cuts off the power supply of the drilling machine when responding to the pressure data that is greater than the threshold value. According to the intelligent tunnel punching device, when the drilling pressure is greater than the threshold value, the power supply of the drilling machine is cut off, the shield plate is prevented from being damaged and the drilling machine is prevented from being damaged due to the fact that the drilling machine punches holes at the fixing bolts and the structural steel bars, the reliable operation of the drilling process is guaranteed as far as possible, and the service life of the drilling machine is prolonged.

Description

Tunnel intelligent punching device
Technical Field
The application relates to the technical field of punching by utilizing tunnels, in particular to an intelligent tunnel punching device.
Background
The existing automatic tunnel punching device generally plans and presets punching points according to information such as preset height, hole distance and the like in the automatic tunnel punching device, and a drilling machine of the automatic tunnel punching device performs automatic punching operation according to the preset punching points. Compared with a manual punching mode of an operator, the labor intensity of the operator is reduced, and the safety of the operator is better guaranteed.
The tunnel wall of the subway tunnel is composed of shield plates, and the shield plates are not completely and strictly distributed according to rules due to manufacturing errors, construction errors and the like. The fixing bolt arranged on the shield plate and the structural steel bar arranged in the shield plate belong to positions which can not be punched. Because the shield plates are not completely and strictly distributed according to the rule, the positions of the fixing bolts and the structural steel bars are irregular.
When current automatic perforating device in tunnel punches according to predetermineeing the point of punching, can produce the planning point of punching and predetermine in the position that can not punch (the position of fixing bolt, constructional reinforcement), need artifical the intervention, reset automatic perforating device in tunnel, efficiency is lower. If the manual intervention is not timely, it can lead to failure of the drilling to break the shield plate and/or damage the drilling rig by contact with the structural steel. Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
The present application aims to provide a solution or a solution to the above-mentioned problems of the prior art. In order to achieve the above purpose, the present application provides the following technical solutions: tunnel intelligence perforating device includes:
the six-shaft mechanical arm is provided with a guide rod on the front end plate;
the drilling machine mounting base is sleeved on the guide rod and can move along the axial direction of the guide rod;
the drilling machine is fixed on the drilling machine mounting base, and the drilling direction of the drilling machine is parallel to the axis of the guide rod;
the limiting structure is fixedly connected with the front end part of the guide rod and used for limiting the drill mounting foundation and preventing the drill mounting foundation from falling off from the guide rod;
the pressure sensor is arranged between a drilling machine mounting base and a front end plate of the six-axis mechanical arm and used for monitoring the drilling pressure of the drilling machine;
the intelligent analysis host is provided with a data processing module and a control module;
the data processing module is in data communication with the pressure sensor, the data processing module compares whether drilling pressure is greater than a threshold value, and the control module cuts off power to the drilling machine in response to the pressure data being greater than the threshold value.
Furthermore, the intelligent tunnel punching device further comprises a shock absorber, wherein the shock absorber comprises a first end plate, a second end plate and an elastic buffer piece, and the first end plate and the second end plate are oppositely arranged in parallel;
the elastic buffer piece is arranged between the first end plate and the second end plate and used for absorbing energy and damping shock;
the shock absorber is sleeved on the guide rod, the first end plate forms the drill mounting foundation, and the second end plate is used for being matched with the front end plate of the six-axis mechanical arm to jointly extrude the detection end of the pressure sensor.
Furthermore, the intelligent tunnel punching device further comprises a limiting bolt, the pressure sensor is provided with an axis through hole, the first end plate is provided with a first through hole corresponding to the axis through hole, and the second end plate is provided with a second through hole corresponding to the axis through hole;
the limiting bolt penetrates through the axis through hole, the first through hole and the second through hole and is fixed on the front end plate, and the head of the limiting bolt is in limiting fit with the hole edge of the second through hole.
Furthermore, four guide rods are arranged along the circumferential direction;
the limiting structures are limiting plates, the number of the limiting plates is two, and two ends of each limiting plate are fixedly connected with the front end parts of the two guide rods respectively.
Furthermore, the tunnel intelligent punching device also comprises a reinforcing plate, wherein a third through hole is formed in the reinforcing plate, and the third through hole is used for the limiting bolt to pass through;
the reinforcing plate is fixed on the plate surface of the second end plate close to the pressure sensor, and the cross-sectional area of the reinforcing plate is larger than that of the head of the limiting bolt.
Furthermore, the reinforcing plate is divided into a force bearing part in the middle and an annular mounting part at the edge, and the cross sectional area of the force bearing part is equal to and coaxial with that of the head of the limiting bolt;
the annular mounting part is evenly distributed with bolt through holes along the circumferential direction, and the reinforcing plate is fixed on the second end plate through fixing bolts penetrating through the bolt through holes.
Furthermore, the tunnel intelligent punching device also comprises a mounting bolt,
the front end of the limiting bolt is coaxially provided with an axial threaded hole, the front end of the mounting bolt penetrates through the front end plate and is in threaded connection with the axial threaded hole, and the limiting bolt is fixed on the front end plate through the mounting bolt.
Further, tunnel intelligence perforating device still includes mounting structure, mounting structure includes the backing plate, the rear end of rig is fixed through set screw on the backing plate, the backing plate passes through the mounting screw to be fixed on the face of first end plate.
Further, the mounting structure further comprises a clamping plate, a connecting plate and a base plate, wherein the clamping plate is clamped in the middle or the front of the body of the drilling machine;
the upper part and the lower part of the rear end of the body of the drilling machine are respectively fixed on the two backing plates, an installation space is arranged between the two backing plates, and the foundation plate is arranged in the installation space and is fixedly connected with the first end plate;
one end of the connecting plate is fixedly connected with the clamping plate, and the other end of the connecting plate is fixedly connected with the foundation plate.
Furthermore, the clamping plate is provided with an adjusting bolt and an adjusting nut, the clamping plate is provided with a clamping hole, the hole wall of the clamping hole is used for clamping the middle part or the front part of the body of the drilling machine,
the hole wall of the clamping hole is provided with an adjusting gap, and the adjusting gap penetrates through the two plate surfaces of the clamping plate and is communicated with the outside;
through holes are symmetrically formed in the two sides, located in the adjusting clearance, of the clamping plate, the adjusting bolt penetrates through one through hole and is in threaded connection with the adjusting nut in the other through hole, and the position of the adjusting nut on the adjusting bolt is adjusted to enable the clamping hole to clamp the body of the drilling machine in the circumferential direction.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
1) according to the intelligent tunnel punching device, the pressure sensor and the intelligent analysis host are arranged, when the drilling pressure is larger than the threshold value, the power supply of the drilling machine is cut off, the shield plate is prevented from being damaged and the drilling machine is prevented from being damaged due to the fact that the drilling machine punches holes at the fixing bolt and the structural steel bar, the reliable operation of the drilling process is guaranteed as far as possible, and the service life of the drilling machine is prolonged.
2) Through setting up the bumper shock absorber, firstly reduce the vibrations that six arms received, further guarantee to punch accurately, secondly guarantee that pressure sensor's testing result's accuracy is reliable.
3) The limiting bolt and the limiting structure form double limiting, the shock absorber is prevented from falling off from the guide rod as far as possible, and the reliable drilling process is guaranteed.
4) By using the limiting plate, the contact area between the limiting plate and the first end plate is large, stress concentration is reduced, the limiting plate is prevented from being deformed and damaged due to the stress concentration, and the reliable limiting of the shock absorber is further ensured.
5) The reinforcing plate can avoid limiting bolt to lead to the second end plate to warp as far as possible.
6) The reinforcing plate is fixed on the second end plate through the fixing bolt of the annular mounting part, the fixing is simple and reliable, and the interference to the limiting bolt is avoided.
7) The limiting bolt is fixed on the front end plate through the mounting bolt, the position of the head of the limiting bolt can be accurately guaranteed, and the limiting effect of the limiting bolt is guaranteed.
8) The drilling machine is fixed on the front end plate through the backing plate, and the backing plate forms a stress buffering piece, so that the plastic deformation of the front end plate after long-time work can be well avoided.
9) The clamping plate, the connecting plate and the base plate are matched with the base plate to form two-point positioning of the body of the drilling machine, so that the drilling accuracy and stability of the drilling machine are effectively guaranteed.
10) The length of the adjusting gap is adjusted through the adjusting bolt and the adjusting nut, the structure is simple, and clamping of the drilling machine by the clamping plate can be well guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
FIG. 1 is a three-dimensional view of an embodiment of the intelligent tunnel boring device of the present application;
FIG. 2 is a first cross-sectional view of FIG. 1;
fig. 3 is a second cross-sectional view of fig. 1.
Description of reference numerals:
1-front end plate; 2-a pressure sensor; 3-a guide rod; 4-a second end plate; 5-an elastic buffer member; 6-a first end plate; 7-a limiting plate; 8-a base plate; 9-a foundation plate; 10-a connecting plate; 11-a splint; 12-adjusting the gap; 13-a drilling machine; 14-a limit bolt; 15-reinforcing plate.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the specific meaning of the above terms can be understood by those of ordinary skill in the art as appropriate.
The utility model provides a specific embodiment of an intelligent tunnel punching device, which comprises the following components in parts by weight as shown in fig. 1, 2 and 3: six arms, guide arm 3, rig 13, limit structure, pressure sensor 2, intelligent analysis host computer, bumper shock absorber, spacing bolt 14, reinforcing plate 15, mounting structure, intelligent analysis host computer has data processor and control module.
The six-axis mechanical arm is provided with a front end plate 1, the front end plate 1 forms an installation base of a functional assembly, guide rods 3 are arranged on the front end plate 1, the number of the guide rods 3 is four, and connecting lines between adjacent guide rods 3 form a regular quadrangle.
The shock absorber comprises a first end plate 6, a second end plate 4 and an elastic buffer piece 5, wherein the first end plate 6 and the second end plate 4 are oppositely arranged in parallel; an elastomeric damper 5 is disposed between the first end plate 6 and the second end plate 4 for absorbing energy and shock. The bumper shock absorber cover is established on guide arm 3, can follow guide arm 3's axial displacement, and is concrete, all be equipped with the through-hole that supplies guide arm 3 to pass on first end plate 6 and the second end plate 4, is equipped with the uide bushing in the above-mentioned through-hole, uide bushing and guide arm 3 sliding friction, the uide bushing adopts low coefficient of friction's engineering plastics to make to have the self-lubricating function, can open and work under dust impurity's environment, have and do not need lubricating grease, be fit for working in dry friction environment for a long time, absorb advantages such as vibrations.
Limiting structure and guide arm 3's preceding tip fixed connection for spacing the bumper shock absorber, prevent that the bumper shock absorber from droing from guide arm 3, it is concrete, limiting structure is limiting plate 7, and the quantity of limiting plate 7 is two, the both ends of each limiting plate 7 respectively with two guide arm 3's preceding tip fixed connection.
Pressure sensor 2 sets up between the front end plate 1 of second end plate 4 and six arms, and second end plate 4 is used for cooperating with the front end plate 1 of six arms, and the sense terminal of pressure sensor 2 is extrudeed jointly, through the transmission of pressure, makes pressure sensor 2 can monitor the pressure of creeping into of rig 13, has data intercommunication between data processing module and the pressure sensor 2.
The guide rod 3 has two main functions: firstly, the radial rigidity of bumper shock absorber is weak for radial skew is great when the rig operation, has reduced the drilling precision, and guide arm 3 can improve the radial skew of restriction bumper shock absorber greatly, thereby has guaranteed accurate drilling. Secondly, the pressure sensor 2 needs to collect axial pressure, the guide rod 3 can bear loads in other directions, and only the axial load is transmitted to the pressure sensor 2, so that the accuracy of the measurement result of the pressure sensor 2 is ensured. In addition, the guide rod 3 integrates the centralizing function required by the shock absorber and the orientation detection function required by the pressure sensor 2, and the structure is simplified.
The pressure sensor 2 is provided with an axis through hole, the first end plate 6 is provided with a first through hole corresponding to the axis through hole, and the second end plate 4 is provided with a second through hole corresponding to the axis through hole. The limiting bolt 14 penetrates through the axis through hole, the first through hole and the second through hole and is fixed on the front end plate 1, and the head of the limiting bolt 14 is in limiting fit with the hole edge of the second through hole. The limiting bolt 14 is provided with a mounting bolt, the front end of the limiting bolt 14 is coaxially provided with an axial threaded hole, the front end of the mounting bolt penetrates through the front end plate 1 and is in threaded connection with the axial threaded hole, and the limiting bolt 14 is fixed on the front end plate 1 through the mounting bolt. Spacing bolt 14 and limiting plate 7 carry on spacingly to the bumper shock absorber respectively, prevent that the bumper shock absorber from droing from guide arm 3, the construction safety when guaranteeing to punch.
A third through hole is formed in the reinforcing plate 15 and is used for the limiting bolt 14 to pass through; the reinforcing plate 15 is fixed on the plate surface of the second end plate 4 close to the pressure sensor 2, and the cross-sectional area of the reinforcing plate 15 is larger than that of the head part of the limiting bolt 14. The reinforcing plate 15 is divided into a force bearing part at the middle part and an annular mounting part at the edge, and the cross sectional area of the force bearing part is equal to and coaxial with the cross sectional area of the head part of the limit bolt 14; bolt through holes are uniformly distributed in the circumferential direction of the annular mounting portion, and the reinforcing plate 15 is fixed on the second end plate 4 through fixing bolts penetrating through the bolt through holes.
The mounting structure comprises a backing plate 8, a clamping plate 11, a connecting plate 10 and a base plate 9, the first end plate 6 forms a drilling machine mounting base, the rear end of a drilling machine 13 is fixed on the first end plate 6 through the backing plate 8, and the drilling direction of the drilling machine 13 is parallel to the axis of the guide rod 3. The rear end of rig 13 passes through set screw to be fixed on backing plate 8, and backing plate 8 passes through mounting screw to be fixed on the face of first end plate 6, and is specific, backing plate 8 has two from top to bottom, and the upper and lower part of the fuselage rear end of rig 13 is fixed respectively on two backing plates 8, has installation space between two backing plates 8, and foundatin plate 9 sets up in installation space and with first end plate 6 fixed connection.
The clamping plate 11 is clamped in the middle or the front of the body of the drilling machine 13, specifically, the clamping plate 11 is provided with an adjusting bolt and an adjusting nut, a clamping hole is arranged on the clamping plate 11, the hole wall of the clamping hole is used for clamping the middle or the front of the body of the drilling machine 13, an adjusting gap 12 is arranged on the hole wall of the clamping hole, and the adjusting gap 12 penetrates through two plate surfaces of the clamping plate 11 and is communicated with the outside; the clamping plate 11 is symmetrically provided with through holes at two sides of the adjusting gap 12, an adjusting bolt penetrates through one through hole and is in threaded connection with an adjusting nut in the other through hole, and the length of the adjusting gap 12 can be adjusted by adjusting the position of the adjusting nut on the adjusting bolt, so that the drilling machine 13 can be clamped or released. One end of the connecting plate 10 is fixedly connected with the clamping plate 11, and the other end is fixedly connected with the foundation plate 9.
The self-centering clamping plate 11 is adopted to assist in fixing the drilling machine 13, and two-point positioning of the drilling machine 13 is achieved (one point is fixed on the backing plate 8 through a fixing bolt, the other point is fixed on the foundation plate 9 through the clamping plate 11 and the connecting plate 10, and the backing plate 8 and the foundation plate 9 are both fixed on the front end plate 1). The clamping plate 11 adopts a form that the drilling machine 13 is tightly held in the clamping holes, the clamping plate 11 is self-centering, and the clamping device has the advantages of good concentricity, firm connection and simple installation, and ensures the drilling accuracy and stability of the drilling machine 13.
In the punching process of the intelligent tunnel punching device, the data processing module compares whether the pressure data is greater than a threshold value or not, and the control module cuts off the power supply of the drilling machine 13 when responding to the pressure data greater than the threshold value, so that the situation that the drilling machine 13 is damaged due to the fact that the drilling is carried out at the positions of the fixing bolts and the structural steel bars and/or the situation that the drilling machine 13 is damaged due to the fact that the drilling machine is contacted with the structural steel bars is avoided.
Compared with the closest prior art, the technical scheme provided by the utility model has the following beneficial effects:
1) according to the intelligent tunnel punching device, the pressure sensor and the intelligent analysis host are arranged, when the drilling pressure is larger than the threshold value, the power supply of the drilling machine is cut off, the shield plate is prevented from being damaged and the drilling machine is prevented from being damaged due to the fact that the drilling machine punches holes at the fixing bolt and the structural steel bar, the reliable operation of the drilling process is guaranteed as far as possible, and the service life of the drilling machine is prolonged.
2) Through setting up the bumper shock absorber, firstly reduce the vibrations that six arms received, further guarantee to punch accurately, secondly guarantee that pressure sensor's testing result's accuracy is reliable.
3) The limiting bolt and the limiting structure form double limiting, the shock absorber is prevented from falling off from the guide rod as far as possible, and the reliable drilling process is guaranteed.
4) By using the limiting plate, the contact area between the limiting plate and the first end plate is large, stress concentration is reduced, the limiting plate is prevented from being deformed and damaged due to the stress concentration, and the reliable limiting of the shock absorber is further ensured.
5) The reinforcing plate can avoid limiting bolt to lead to the second end plate to warp as far as possible.
6) The reinforcing plate is fixed on the second end plate through the fixing bolt of the annular mounting part, the fixing is simple and reliable, and the interference to the limiting bolt is avoided.
7) The limiting bolt is fixed on the front end plate through the mounting bolt, the position of the head of the limiting bolt can be accurately guaranteed, and the limiting effect of the limiting bolt is guaranteed.
8) The drilling machine is fixed on the front end plate through the backing plate, and the backing plate forms a stress buffering piece, so that the plastic deformation of the front end plate after long-time work can be well avoided.
9) The clamping plate, the connecting plate and the base plate are matched with the base plate to form two-point positioning of the body of the drilling machine, so that the drilling accuracy and stability of the drilling machine are effectively guaranteed.
10) The length of the adjusting gap is adjusted through the adjusting bolt and the adjusting nut, the structure is simple, and clamping of the drilling machine by the clamping plate can be well guaranteed.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. Tunnel intelligence perforating device, its characterized in that: the method comprises the following steps:
the six-shaft mechanical arm is provided with a guide rod on the front end plate;
the drilling machine mounting base is sleeved on the guide rod and can move along the axial direction of the guide rod;
the drilling machine is fixed on the drilling machine mounting base, and the drilling direction of the drilling machine is parallel to the axis of the guide rod;
the limiting structure is fixedly connected with the front end part of the guide rod and used for limiting the drill mounting foundation and preventing the drill mounting foundation from falling off from the guide rod;
the pressure sensor is arranged between a drilling machine mounting base and a front end plate of the six-axis mechanical arm and used for monitoring the drilling pressure of the drilling machine;
the intelligent analysis host is provided with a data processing module and a control module;
the data processing module is in data communication with the pressure sensor, the data processing module compares whether drilling pressure is greater than a threshold value, and the control module cuts off power to the drilling machine in response to the pressure data being greater than the threshold value.
2. The intelligent tunnel boring device of claim 1, further comprising a shock absorber, the shock absorber comprising a first end plate, a second end plate and an elastic buffer, the first end plate and the second end plate being disposed in parallel and opposite to each other;
the elastic buffer piece is arranged between the first end plate and the second end plate and used for absorbing energy and damping shock;
the shock absorber is sleeved on the guide rod, the first end plate forms the drill mounting foundation, and the second end plate is used for being matched with the front end plate of the six-axis mechanical arm to jointly extrude the detection end of the pressure sensor.
3. The intelligent tunnel boring device of claim 2, further comprising a limiting bolt, wherein the pressure sensor is provided with an axis through hole, the first end plate is provided with a first through hole corresponding to the axis through hole, and the second end plate is provided with a second through hole corresponding to the axis through hole;
the limiting bolt penetrates through the axis through hole, the first through hole and the second through hole and is fixed on the front end plate, and the head of the limiting bolt is in limiting fit with the hole edge of the second through hole.
4. The intelligent tunnel boring device of claim 1, wherein four guide rods are arranged circumferentially;
the limiting structures are limiting plates, the number of the limiting plates is two, and two ends of each limiting plate are fixedly connected with the front end parts of the two guide rods respectively.
5. The intelligent tunnel punching device according to claim 3, further comprising a reinforcing plate, wherein a third through hole is formed in the reinforcing plate, and the third through hole is used for the limiting bolt to pass through;
the reinforcing plate is fixed on the plate surface of the second end plate close to the pressure sensor, and the cross-sectional area of the reinforcing plate is larger than that of the head of the limiting bolt.
6. The intelligent tunnel perforating device as claimed in claim 5, wherein the reinforcing plate is divided into a force bearing part at the middle part and an annular mounting part at the edge, and the cross-sectional area of the force bearing part is equal to and coaxial with the cross-sectional area of the head part of the limit bolt;
the annular mounting part is evenly distributed with bolt through holes along the circumferential direction, and the reinforcing plate is fixed on the second end plate through fixing bolts penetrating through the bolt through holes.
7. The intelligent tunnel boring device of claim 3, wherein the intelligent tunnel boring device further comprises a mounting bolt,
the front end of the limiting bolt is coaxially provided with an axial threaded hole, the front end of the mounting bolt penetrates through the front end plate and is in threaded connection with the axial threaded hole, and the limiting bolt is fixed on the front end plate through the mounting bolt.
8. The intelligent tunnel punching device according to claim 3, wherein the intelligent tunnel punching device further comprises a mounting structure, the mounting structure comprises a base plate, the rear end of the drilling machine is fixed on the base plate through a fixing screw, and the base plate is fixed on the surface of the first end plate through a mounting screw.
9. The intelligent tunnel boring device of claim 8, wherein the mounting structure further comprises a clamping plate, a connecting plate and a base plate, the clamping plate being clamped in the middle or front of the body of the boring machine;
the upper part and the lower part of the rear end of the body of the drilling machine are respectively fixed on the two backing plates, an installation space is arranged between the two backing plates, and the foundation plate is arranged in the installation space and is fixedly connected with the first end plate;
one end of the connecting plate is fixedly connected with the clamping plate, and the other end of the connecting plate is fixedly connected with the foundation plate.
10. The intelligent tunnel boring device of claim 9, wherein the clamping plate is provided with an adjusting bolt and an adjusting nut, the clamping plate is provided with a clamping hole, the wall of the clamping hole is used for clamping the middle or the front part of the body of the boring machine,
the hole wall of the clamping hole is provided with an adjusting gap, and the adjusting gap penetrates through the two plate surfaces of the clamping plate and is communicated with the outside;
through holes are symmetrically formed in the two sides, located in the adjusting clearance, of the clamping plate, the adjusting bolt penetrates through one through hole and is in threaded connection with the adjusting nut in the other through hole, and the position of the adjusting nut on the adjusting bolt is adjusted to enable the clamping hole to clamp the body of the drilling machine in the circumferential direction.
CN202122079990.0U 2021-08-31 2021-08-31 Tunnel intelligent punching device Active CN215520771U (en)

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CN202122079990.0U CN215520771U (en) 2021-08-31 2021-08-31 Tunnel intelligent punching device
PCT/CN2021/122370 WO2022262149A1 (en) 2021-08-31 2021-09-30 Intelligent tunnel drilling device
JP2023513251A JP7421253B2 (en) 2021-08-31 2021-09-30 Tunnel intelligent drilling equipment

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