CN217421190U - Drilling arm of drilling robot - Google Patents
Drilling arm of drilling robot Download PDFInfo
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- CN217421190U CN217421190U CN202221194329.2U CN202221194329U CN217421190U CN 217421190 U CN217421190 U CN 217421190U CN 202221194329 U CN202221194329 U CN 202221194329U CN 217421190 U CN217421190 U CN 217421190U
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Abstract
The utility model belongs to the technical field of the subway construction, a drilling arm of drilling robot is provided, including flexible arm, the top of flexible arm is equipped with drill bit assembly, and the afterbody of drilling arm is equipped with drive mechanism, and drive mechanism installs on drilling arm base to the relative drilling arm base of drive drilling arm rotates. The utility model discloses can satisfy the drilling demand of different positions in tunnel and co-altitude not, can promote the efficiency of the operation of punching in tunnel. The utility model discloses can regard as a subway tunnel high efficiency professional equipment that punches, and the human cost of the operation of punching that can significantly reduce.
Description
Technical Field
The utility model belongs to the technical field of the subway construction, concretely relates to drilling robot's drilling arm.
Background
In the construction of subway interval sections, a punching operation construction procedure is often involved; particularly, the construction is more common in four-electricity professional construction, particularly, when cable laying and rigid contact net erection are carried out in the fields of communication, signals, electric power and electrification, punching operation needs to be carried out on a side wall and a ceiling, an electric power supporting and hanging frame is installed on the side wall, and a chemical anchor bolt is implanted into the ceiling.
At present, subway construction is punched often and is adopted the manual work mode of punching to go on, utilizes electric tool to punch promptly. The special structure to subway tunnel wholly is circular cross-section, no matter there is certain difficulty in manual measurement or punching, especially because of highly higher and more consume physical power when punching in ceiling and lateral wall eminence, the manual work efficiency of punching is lower.
However, in the whole construction process of the subway section, the punching operation is not only heavy in workload but also short in process interval time, and in such a case, the labor input needs to be increased or the punching efficiency needs to be improved.
Aiming at the construction current situation, mature subway tunnel efficient punching special equipment is not available in the prior art, and the bottleneck problem of low punching construction efficiency cannot be solved.
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 utility model aims at providing a drilling robot's drilling arm can promote the interval efficiency of construction of the operation of punching of subway.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides a drilling robot's drilling arm, includes flexible arm, the top of flexible arm is equipped with drill bit assembly, the afterbody of drilling arm is equipped with drive mechanism, drive mechanism install in on the drilling arm base, in order to drive the drilling arm is relative the drilling arm base rotates.
Preferably, the drilling arm is in communication connection with a control center of the drilling robot, and the drilling arm is provided with a control terminal correspondingly connected with the control center so as to control the drilling operation of the drilling arm.
Preferably, the transmission mechanism comprises a main control motor, and a main shaft of the main control motor is in transmission connection with the telescopic arm.
Preferably, a main shaft of the main control motor is in transmission connection with a telescopic arm through a rotating mechanism, and the telescopic arm is fixedly connected with the rotating mechanism;
and the main shaft of the main control motor is in transmission connection with the rotating mechanism through a speed reducer.
Preferably, the telescopic arm is connected with the drill bit assembly through a verticality adjusting mechanism, the verticality adjusting mechanism comprises a plurality of first telescopic rods, and the first telescopic rods are uniformly distributed in the circumferential direction of the drill bit assembly and are movably connected with the drill bit assembly;
the telescopic state of each first telescopic rod can be independently controlled, so that a drill bit of the drill bit assembly is perpendicular to the inner wall of the tunnel.
Preferably, the verticality adjusting mechanism further comprises a verticality adjusting cylinder body connected with the telescopic arm;
the telescopic arm comprises two telescopic cylinders which are arranged back to back, the cylinder bodies of the telescopic cylinders are fixedly connected, one telescopic rod of each telescopic cylinder is fixedly connected with the transmission mechanism, and the other telescopic rod of each telescopic cylinder is fixedly connected with the cylinder body of the perpendicularity adjusting cylinder.
Preferably, the periphery of drilling arm is equipped with the multiunit regulating arm, and every group regulating arm includes two regulating arm sections, two both ends swing joint that two regulating arm sections are close to each other, two both ends that two regulating arm sections kept away from each other respectively with straightness adjusting cylinder body and drive mechanism swing joint hang down.
Preferably, the drill bit assembly comprises a drill bit and a drilling motor, wherein the drilling motor is used for driving the drill bit to rotate so as to complete a drilling action; the drilling motor is characterized in that a drilling motor base is arranged at the bottom of the drilling motor, and the first telescopic rod is movably connected with the drilling motor base.
Preferably, a distance sensor is installed on the drilling motor base to detect the distance from the drill bit to the inner wall of the tunnel and check whether the drill bit is perpendicular to the inner wall of the tunnel.
Preferably, the drilling arm further comprises a vertical pushing cylinder arranged between the drill bit assembly and the verticality adjusting mechanism.
Has the advantages that: because the utility model discloses in, through changing the position of drilling arm base in the tunnel extending direction, can make the drilling arm move along the tunnel extending direction; the drilling arm can rotate around the drilling arm base through the transmission mechanism; through setting up flexible arm, can make the drilling arm carry out concertina movement along the axial. Therefore, the utility model discloses can satisfy the drilling demand of the different positions in tunnel and co-altitude not, can promote the efficiency of tunnel operation of punching. It is visible, the utility model discloses can regard as a subway tunnel high efficiency professional equipment that punches, and the human cost of the operation of just can significantly reduce punching.
Drawings
The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. Wherein:
fig. 1 is a first usage state diagram of the drilling arm of the present invention;
FIG. 2 is a second view of the state of the drilling arm of the present invention;
FIG. 3 is a third view illustrating the operation state of the drilling arm according to the present invention;
fig. 4 is a schematic structural view of the overall drilling arm of the present invention;
FIG. 5 is a schematic structural view of the middle side drilling arm of the present invention;
FIG. 6 is a schematic view of a connection structure between a drilling arm and a plate trailer according to the present invention;
fig. 7 is a partial enlarged view of a portion a in fig. 6.
In the figure: 1. a locomotive; 2. a steel rail; 3. lathing; 4. a wheel set; 5. a side drilling arm; 6. drilling an arm on the whole; 6-1, drilling a bit; 6-2, a drilling motor, 6-3 and a distance sensor; 6-4, drilling a motor base; 6-5, a first fixing member; 6-6, a first telescopic rod; 6-7, adjusting the cylinder body of the cylinder by verticality; 6-8, a fifth bolt; 6-9, adjusting a cylinder base in a perpendicularity manner; 6-10, arranging a top plate of the telescopic cylinder; 6-11, a fourth bolt; 6-12, mounting a telescopic rod of a telescopic cylinder; 6-13, mounting a telescopic cylinder body; 6-14, mounting a telescopic cylinder base; 6-15, an upper adjusting arm section; 6-16, knuckle bolt; 6-17, a lower adjusting arm section; 6-18, a first bolt; 6-19, a lower telescopic cylinder base; 6-20, lower telescopic cylinder body; 6-21, a second bolt; 6-22, a second fixation member; 6-23, stretching rods of a lower stretching cylinder; 6-24, a lower telescopic cylinder top plate; 6-25, a rotating mechanism; 6-26, a master control motor; 6-27, drilling arm base; 6-27-1, positioning the cylinder body of the cylinder; 6-27-2, positioning cylinder telescopic rod; 6-27-3, friction plate; 6-27-4, a slide block; 6-28, a vertical pushing cylinder; 7. a slideway; 7-1, a limiting groove; 7-2, guide rails; 7-3, an insulating layer; 8. and (6) tunnel ground.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.
In the description of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "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 invention and do not require that the present invention must be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense, and may be, for example, either fixed or detachable; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
As shown in fig. 1 to 7, the drilling arm of the drilling robot comprises a telescopic arm, a drill bit assembly is arranged at the top of the telescopic arm, and a transmission mechanism is arranged at the tail of the drilling arm and is installed on a drilling arm base 6 to 27 so as to drive the drilling arm to rotate relative to the drilling arm base. Specifically, the drilling arm is driven to rotate around a rotation axis of the transmission mechanism, the rotation axis of the transmission mechanism is parallel to the axial direction of the slideway (namely the rotation axis of the transmission mechanism is parallel to the extending direction of the tunnel), and therefore the drilling arm is driven to rotate along the cross section of the tunnel. The drilling arm foot 6-27 is movable in the direction of the tunnel extension. The punching range of the punching arm is-30 to 210 degrees.
When in use, the drilling arm of the utility model can be fixedly arranged on the plate trailer 3 of the drilling robot, and the plate trailer 3 can move along the extending direction of the tunnel; the drilling arm can also be assembled on the plate trailer 3 in a sliding way; the drilling arm may also be directly slidably mounted on the tunnel floor.
In an alternative embodiment of the invention, in use, the drilling arm base is slidably mounted in a slide for movement in the direction of extension of the tunnel.
The slideway is positioned on the table top of the plate trailer 3, the table top is distributed horizontally, a plurality of slideways 7 which are correspondingly distributed with drilling arms are arranged on the table top, the drilling arms are assembled on the slideways 7 in a sliding way through drilling arm bases 6-27, and the slideways 7 are distributed on the table top in parallel.
For example, three slideways 7 are arranged on the plate trailer 3, namely a central slideway corresponding to the central axis of the subway tunnel and side slideways positioned on two sides of the central slideway; the drilling arms on the central slideway and the side slideway are respectively a comprehensive drilling arm 6 and a side drilling arm 5; the punching range of the overall punching arm 6 is-20 degrees to 210 degrees; the punching range of the side surface punching arm 5 is-30 to 90 degrees. The number of the drilling arms on each slide 7 can be selected according to the actual drilling requirement and the length of the slide 7, and can be 1, or 2, 3, 4, 5 or 6.
A guide rail 7-2 is arranged in the slide way, a sliding block matched with the guide rail is arranged at the bottom of the base of the drilling arm, and the sliding block is electrically contacted with the guide rail and assembled in a sliding manner along the guide rail; the guide rail is correspondingly connected with a power supply, and the sliding block is electrically connected with the drilling arm to supply power to the drilling arm; two guide rails are arranged in the same slide way and are distributed on two sides of the slide way. Specifically, the sliding block 6-27-4 is in frictional contact with the guide rail 7-2 so as to lead the power supply on the guide rail 7-2 to the power supply box inside the drilling arm base 6-27 through the bus. The two guide rails 7-2 are symmetrically distributed on two sides of the central axis of the slideway 7; the sliding block 6-27-4 is provided with a sliding groove matched with the guide rail 7-2, the guide rail 7-2 is sleeved in the sliding groove, and the groove wall of the sliding groove is in frictional contact with the outer surface of the guide rail 7-2.
In an alternative embodiment of the invention, at least one side of the part of the drilling arm base 6-27 that extends into the slide is provided with a positioning cylinder that abuts against the inner wall of the slide to limit the position of the drilling arm base. Preferably, the two sides of the part of the drilling arm base 6-27 extending into the slideway are provided with positioning cylinders.
Specifically, the slideway 7 comprises a limiting groove 7-1, and the guide rail 7-2 is arranged at the bottom of the limiting groove 7-1; the limiting groove 7-1 can limit the walking path of the drilling arm, prevent the drilling arm from tipping, and improve the overall stability of the drilling arm.
The positioning cylinder comprises a positioning cylinder body 6-27-1 and a positioning cylinder telescopic rod 6-27-2 inserted in the positioning cylinder body 6-27-1; preferably, the end part of the telescopic rod 6-27-2 of the positioning cylinder is provided with a friction plate 6-27-3. Specifically, after the drilling arm is positioned by a command, the two positioning cylinders are ejected synchronously, the telescopic rods 6-27-2 of the positioning cylinders are pushed to enable the front end friction plates to be tightly pressed with the limiting grooves 7-1, so that the fixing effect is achieved, the stability of the base 6-27 of the drilling arm can be enhanced, the situation that the contact between the first sliding block 6-27-4 and the guide rail 7-2 is poor due to the shaking of the base 6-27 of the drilling arm in the drilling process is prevented, the integral stability of the drilling arm is facilitated, and the drilling quality is ensured.
The surface of the plate trailer 3 is provided with an insulating layer 7-3, so that the guide rail 7-2 is electrically isolated from the plate trailer 3, any guide rail 7-2 and the limiting groove 7-1.
When the plate trailer is used, the plate trailer 3 is driven by the power device, and the power device and the drilling arms are electrically connected to the control center so as to send cooperative drilling operation instructions to the drilling arms. The power plant provides power to the drilling arm via the guide rails 7-2 in the pallet car 3.
The power plant is a locomotive 1. Specifically, the locomotive 1 and the plate trailer 3 move in a connected manner, and the walking distance of the plate trailer 3 is controlled by the walking and stopping of the locomotive 1; the locomotive 1 provides power for the whole robot, provides 220V or 380V power for the drilling arm, provides power for the motor and the air pump, and supplies 24V direct current power for the control center after rectification.
The lower parts of the locomotive 1 and the plate trailer 3 are provided with steel rails 2. When in use, the steel rail 2 is laid in the tunnel along the axial direction, and the locomotive 1 and the plate trailer 3 can do linear motion along the steel rail 2.
The tunnel ground 8 is laid on the lower portion of the steel rail 2, the upper surface of the tunnel ground 8 is a plane, the two steel rails 2 arranged at intervals are arranged on the upper surface of the tunnel ground 8, the two steel rails 2 are symmetrically distributed along the central axis of the tunnel ground 8, and the centers of the locomotive 1 and the plate trailer 3 can correspond to the central axis of the tunnel.
The utility model discloses an optional embodiment, drilling arm communication connection is in drilling robot's control center, is equipped with the control terminal who corresponds connection control center on the drilling arm to the drilling operation of control drilling arm.
Specifically, a control terminal, a power box, a communication module and an air pump are arranged in the box body of the drilling arm bases 6-27 so as to control the action of the whole drilling arm. And the control terminal and the drilling arm are used for data and command transmission through the communication module. The communication module transmits data to the control terminal and transmits commands of the control terminal to the drilling arm.
The distance acquisition module is arranged on the plate trailer and is in communication connection with the control center. Specifically, the distance acquisition module comprises a wheel set 4, the wheel set 4 is arranged at the bottom of the plate trailer 3, and an encoder and a communication device are arranged in the wheel set 4. The walking distance of the plate trailer 3 can be accurately determined through the rotation turns and the angle of the wheel pair 4; the encoder is used for converting the angular displacement of the wheel set 4 into an electric signal to obtain encoder data; and transmitting the encoder data to the control center through the communication device every time the plate trailer 3 is started and stopped. The distance error of 3 walking stop walking in-process of wooden handcart does not influence the interval location of drilling arm, and control center can add and subtract encoder data (distance data), and then the accurate location of accurate control drilling arm. The method comprises the following specific steps:
the actual travel distance of the pallet truck 3 is defined as S 1 Default running distance is S 0 The walking error of the pallet truck 3 is defined as S, S ═ S 1 -S 0 . And when S is larger than 0, starting the drilling arm position long-range S when the drilling command is started. And when S is less than 0, starting the drilling arm to move close to S when the drilling command is started. And S is 0, and the position of the drilling arm is not adjusted.
And a certain reserved distance is reserved at two ends of the slide way 7 and used for correcting the drilling distance, and the absolute value of the walking error S of the plate trailer 3 is smaller than the reserved distance. The reserved distance can be adjusted according to needs, and is 1-2 m (for example: 1m, 1.2m, 1.4m, 1.5m, 1.6m, 1.7m, 1.8m, 1.9m or 2 m).
In an optional embodiment of the present invention, the transmission mechanism comprises the main control motors 6 to 26, and the main shafts of the main control motors 6 to 26 are in transmission connection with the telescopic arm. The rotation axis of the transmission mechanism is the central axis of the main shaft of the main control motor 6-26.
Preferably, the transmission mechanism further comprises a rotating mechanism 6-25, the rotating mechanism 6-25 is fixedly connected with the telescopic arm, and a main shaft of the main control motor 6-26 is in transmission connection with the telescopic arm through the rotating mechanism 6-25; further preferably, the main shaft of the main control motor 6-26 is in transmission connection with the rotating mechanism 6-25 through a speed reducer.
In an optional embodiment of the present invention, the speed reducer is a planetary gear box.
The specific connection relationship among the rotating mechanism 6-25, the main control motor and the planetary gear box is as follows:
the rotating mechanism 6-25 comprises a shell and a fixed gear ring, wherein the fixed gear ring is arranged in the shell and fixedly connected with the shell; the main shafts of the main control motors 6 to 26 are in transmission connection with the input shaft of the planetary gear box through a main shaft gear, and the output shaft of the planetary gear box is in meshing connection with the fixed gear ring through an output gear. The main shaft of the main control motor 6-26 is decelerated by the planetary gear box, and then can drive the fixed gear ring to rotate, and further can drive the integral rotating mechanism 6-25 to rotate. Through setting up planetary gear box, can increase output torque, simultaneously can accurate control rotation angle, still can reduce the power of master control motor 6-26 relatively, alleviate drilling arm weight, practice thrift the electric energy.
In other alternative embodiments, the reducer may also be a gear reducer or a worm reducer.
In an optional embodiment of the present invention, a verticality adjusting mechanism is disposed between the telescopic arm and the drill bit assembly, the verticality adjusting mechanism includes a verticality adjusting cylinder 6-7 and a plurality of first telescopic rods 6-6 (for example, 2, 3, 4, 5, 6, 7 or 8), the plurality of first telescopic rods are uniformly distributed in the circumferential direction of the drill bit assembly, the telescopic state of each first telescopic rod 6-6 can be independently controlled, and each first telescopic rod 6-6 is movably connected with the drill bit assembly, so that the drill bit 6-1 of the drill bit assembly is perpendicular to the inner wall of the tunnel. Preferably, 4 first telescopic rods 6-6 are uniformly distributed in the verticality adjusting cylinder body 6-7.
The specific structure of the drill bit assembly is as follows: the drill bit assembly comprises a drill bit 6-1 and a drilling motor 6-2, and the drilling motor 6-2 is used for driving the drill bit 6-1 to rotate so as to complete a drilling action. The bottom of the drilling motor 6-2 is provided with a drilling motor base 6-4, the first telescopic rod 6-6 is movably connected with the drilling motor base 6-4, and a ball head movable structure is adopted; the propulsion length of the verticality adjusting mechanism is determined by a drilling depth set value.
The verticality adjusting mechanism can enable the drilling motor 6-2 to be adjusted within the range of 0-45 degrees along the central axis direction of the drilling arm, and can meet the requirement of the verticality range of the drilling of the side drilling arm 5.
Preferably, a distance sensor 6-3 is arranged on the drilling motor base 6-4; preferably, a plurality of distance sensors 6-3 (for example, 2, 3, 4, 5, 6, 7 or 8) are arranged on the drilling motor base 6-4, and the number and the installation positions of the distance sensors 6-3 correspond to those of the first telescopic rods 6-6 of the verticality adjusting mechanism.
The distance sensor 6-3 functions as: 1. and detecting the distance from the drill bit 6-1 of the drilling arm to the inner wall of the tunnel, and starting the drilling motor 6-2 when the distance is 1 cm. 2. Checking whether the drill 6-1 is vertical to the inner wall of the tunnel: when the distances detected by the distance sensors 6-3 are consistent, the drilling motor 6-2 can be started; when the distances detected by the distance sensors 6-3 are inconsistent and the error is less than 10mm, the distance is automatically adjusted through the extension lengths of the independent first telescopic rods 6-6 to reach the consistent distance; when the error is more than 10mm, the cause of the failure needs to be checked.
In a preferred embodiment of the present invention, four distance sensors 6-3 are installed at four corners of the drilling motor base 6-4. In an optional embodiment of the present invention, the telescopic arm comprises a telescopic cylinder.
The utility model discloses a preferred embodiment, telescopic boom includes two telescopic cylinder that set up dorsad, two telescopic cylinder's cylinder body fixed connection, and one of them telescopic cylinder's telescopic link links firmly with drive mechanism, and another telescopic cylinder's telescopic link and straightness adjustment cylinder body 6-7 fixed connection that hangs down.
Specifically, the two telescopic cylinders are an upper telescopic cylinder and a lower telescopic cylinder respectively. The overall height of the drilling arm is adjusted through the upper/lower telescopic cylinders, so that the drilling arm is convenient to transport and adjust.
The upper telescopic cylinder comprises an upper telescopic cylinder body 6-13, the lower telescopic cylinder comprises a lower telescopic cylinder body 6-20, the end parts, close to each other, of the upper telescopic cylinder body 6-13 and the lower telescopic cylinder body 6-20 are fixedly provided with an upper telescopic cylinder base 6-14 and a lower telescopic cylinder base 6-19 respectively, and the upper telescopic cylinder base 6-14 and the lower telescopic cylinder base 6-19 are connected through a first bolt 6-18.
The free end of every telescopic cylinder all is equipped with the roof, promotes the bulk strength of a plurality of telescopic links in the telescopic cylinder through setting up the roof, is convenient for guarantee the simultaneous movement of a plurality of telescopic links in same telescopic cylinder. The lower telescopic cylinder top plate 6-24 is connected with the upper surface of the shell of the rotating mechanism 6-25 through a second bolt 6-21, the lower telescopic cylinder telescopic rod 6-23 is connected with the lower telescopic cylinder top plate 6-24 through a third bolt, the positions of the second bolt 6-21 and the third bolt are not overlapped and are uniformly distributed on the lower telescopic cylinder top plate 6-24, and the bolt connecting structure has the advantages of firm connection and convenience in disassembly. The lower part of the verticality adjusting cylinder body 6-7 is fixedly provided with a verticality adjusting cylinder base 6-9. The telescopic rods 6-12 of the upper telescopic cylinder are connected with the top plate 6-10 of the upper telescopic cylinder through fourth bolts 6-11, and the top plate 6-10 of the upper telescopic cylinder is connected with the base 6-9 of the verticality adjusting cylinder through fifth bolts 6-8.
The lengths of the upper telescopic cylinder and the lower telescopic cylinder are both 400mm, the upper telescopic cylinder and the lower telescopic cylinder act synchronously, namely the extension lengths of the telescopic rods 6-12 of the upper telescopic cylinder and the telescopic rods 6-23 of the lower telescopic cylinder are always kept consistent, and the length of the whole drilling arm is further controlled.
In other alternative embodiments, the telescopic rods 6-23 of the lower telescopic cylinder can be directly welded with the shell of the rotating mechanism 6-25, the two telescopic cylinders can be welded together, and the telescopic rods 6-12 of the upper telescopic cylinder and the base 6-9 of the verticality adjusting cylinder can be welded together.
Preferably, the periphery of the drilling arm is provided with a plurality of groups of adjusting arms (for example, 2 groups, 3 groups, 4 groups, 5 groups, 6 groups, 7 groups or 8 groups); further preferably, the drilling arm is provided with 4 sets of adjusting arms on the periphery. By arranging the adjusting arm, the overall mechanical strength of the drilling arm is enhanced, and the influence on the measurement precision caused by the excessive deformation of the telescopic rods 6-12 of the upper telescopic cylinder and the telescopic rods 6-23 of the lower telescopic cylinder due to stress is avoided.
Each group of adjusting arms comprises two adjusting arm sections, the two end parts of the two adjusting arm sections, which are close to each other, are movably connected, and the two end parts, which are far away from each other, of the two adjusting arm sections are respectively movably connected with the verticality adjusting cylinder bodies 6-7 and the transmission mechanism.
Specifically, the two adjusting arm sections are an upper adjusting arm section 6-15 and a lower adjusting arm section 6-17 respectively; a first fixing component 6-5 is fixedly arranged outside the verticality adjusting cylinder body 6-7, and the upper end part of the upper adjusting arm section 6-15 is hinged with the first fixing component 6-5; the lower adjusting arm sections 6-17 comprise two hinged plates arranged at intervals, and the two hinged plates are respectively hinged to two sides of the upper adjusting arm sections 6-15 so as to avoid interference between the upper adjusting arm sections 6-15 and the lower adjusting arm sections 6-17; the periphery of the shell of the rotating mechanism 6-25 is fixedly provided with a second fixing component 6-22, and the lower end part of the lower adjusting arm section 6-17 is hinged with the second fixing component 6-22. The upper adjusting arm sections 6-15 and the lower adjusting arm sections 6-17 are connected through joint bolts 6-16.
In an alternative embodiment of the invention, the drilling arm further comprises a vertical jacking cylinder 6-28 arranged between the drill bit assembly and the squareness adjustment mechanism to increase the thrust formation. The bottom of the cylinder body of the vertical pushing cylinder is provided with a vertical pushing base which is movably connected with a first telescopic rod 6-6 of the verticality adjusting mechanism, and the telescopic rod of the vertical pushing cylinder is fixedly connected with the bottom of a drilling motor 6-2. Preferably, the vertical jacking cylinders 6-28 are arranged on the lateral drilling arm 5.
To sum up, the utility model discloses can be applied to drilling robot and punch the operation, relative manual work and single armed efficiency of punching are showing and are improving. In addition, the drilling arm adopts the structure of many cylinders, and the energy saving is efficient, light in weight, and the precision is high.
It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
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, but rather as the following claims are intended to cover all modifications, equivalents, and improvements falling within the spirit and principles of the present invention.
Claims (10)
1. The drilling arm of the drilling robot is characterized by comprising a telescopic arm, wherein a drill bit assembly is arranged at the top of the telescopic arm, a transmission mechanism is arranged at the tail of the drilling arm, and the transmission mechanism is installed on a drilling arm base to drive the drilling arm to rotate relative to the drilling arm base.
2. The drilling arm of the drilling robot as claimed in claim 1, wherein the drilling arm is communicatively connected to a control center of the drilling robot, and the drilling arm is provided with a control terminal correspondingly connected to the control center to control the drilling operation of the drilling arm.
3. The drilling arm of the drilling robot as claimed in claim 1, wherein the transmission mechanism comprises a master motor, and a main shaft of the master motor is in transmission connection with the telescopic arm.
4. The drilling arm of the drilling robot as claimed in claim 3, wherein the main shaft of the main control motor is in transmission connection with a telescopic arm through a rotating mechanism, and the telescopic arm is fixedly connected with the rotating mechanism;
and the main shaft of the main control motor is in transmission connection with the rotating mechanism through a speed reducer.
5. The drilling arm of the drilling robot as claimed in claim 1, wherein the telescopic arm is connected with the drill bit assembly through a verticality adjusting mechanism, the verticality adjusting mechanism comprises a plurality of first telescopic rods, and the plurality of first telescopic rods are uniformly distributed in the circumferential direction of the drill bit assembly and movably connected with the drill bit assembly;
the telescopic state of each first telescopic rod can be independently controlled, so that a drill bit of the drill bit assembly is perpendicular to the inner wall of the tunnel.
6. The drilling arm of the drilling robot as recited in claim 5, wherein the verticality adjusting mechanism further comprises a verticality adjusting cylinder connected with the telescopic arm;
the telescopic arm comprises two telescopic cylinders which are arranged back to back, the cylinder bodies of the telescopic cylinders are fixedly connected, one telescopic rod of each telescopic cylinder is fixedly connected with the transmission mechanism, and the other telescopic rod of each telescopic cylinder is fixedly connected with the cylinder body of the perpendicularity adjusting cylinder.
7. The drilling arm of the drilling robot as claimed in claim 6, wherein the periphery of the drilling arm is provided with a plurality of groups of adjusting arms, each group of adjusting arms comprises two adjusting arm sections, two end parts of the two adjusting arm sections close to each other are movably connected, and two end parts of the two adjusting arm sections far away from each other are respectively movably connected with the verticality adjusting cylinder body and the transmission mechanism.
8. The drilling arm of the drilling robot as recited in claim 5, wherein the drill head assembly comprises a drill head and a drilling motor for driving the drill head to rotate to perform a drilling action; the bottom of drilling motor is equipped with drilling motor base, first telescopic link with drilling motor base swing joint.
9. The drilling arm of a drilling robot as claimed in claim 8, wherein a distance sensor is installed on the drilling motor base to detect the distance from the drill bit to the inner wall of the tunnel and to check whether the drill bit is perpendicular to the inner wall of the tunnel.
10. The drilling arm of a drilling robot as recited in claim 9, further comprising a vertical jacking cylinder disposed between the drill bit assembly and the perpendicularity adjustment mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221194329.2U CN217421190U (en) | 2022-05-17 | 2022-05-17 | Drilling arm of drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221194329.2U CN217421190U (en) | 2022-05-17 | 2022-05-17 | Drilling arm of drilling robot |
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| CN217421190U true CN217421190U (en) | 2022-09-13 |
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| CN202221194329.2U Active CN217421190U (en) | 2022-05-17 | 2022-05-17 | Drilling arm of drilling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023061026A1 (en) * | 2022-05-17 | 2023-04-20 | 中铁九局集团有限公司 | Drilling robot capable of multi-arm collaborative operation |
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2022
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023061026A1 (en) * | 2022-05-17 | 2023-04-20 | 中铁九局集团有限公司 | Drilling robot capable of multi-arm collaborative operation |
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