JP7506897B2 - Multi-arm cooperative drilling robot - Google Patents

Description

The present invention belongs to the field of subway construction technology, and specifically relates to a multi-arm cooperative drilling robot.

Currently, punching holes in subway construction is always done using the artificial punching method, that is, puncturing is done using power tools. Due to the special structure of subway tunnels, which have a circular cross section, there are certain difficulties whether using artificial measurement or punching. In particular, when puncturing high up in the ceiling and side walls, the height is high and physical effort is consumed, so the efficiency of artificial punching is low.

However, during the entire subway section construction process, not only is the amount of punching work large, but the time between processes is also short, so in such cases it is necessary to increase manpower input or improve punching efficiency.

In light of the current construction situation described above, there is no mature, highly efficient punching equipment dedicated to subway tunnels in conventional technology, and it is not possible to solve the bottleneck problem of low drilling construction efficiency.

The objective of the present invention is to provide a multi-arm cooperative drilling robot that can improve the construction efficiency of subway section punching work.

To achieve the above objective, the present invention provides the following technical solutions:

A multi-arm cooperative drilling robot including a carriage and a drilling arm,
The cart is movable in the direction of extension of the tunnel, and the cart is provided with a horizontally distributed deck, and the deck is provided with a plurality of slides extending in the longitudinal direction of the cart, and the plurality of slides are distributed on the deck at parallel intervals, and at least one drilling arm is attached to each slide, and the drilling arm is slidably attached to the slide by a drilling arm base, and the drilling arm includes a telescopic arm, and a drill assembly is provided on the top of the telescopic arm, and a transmission mechanism is provided on the tail of the telescopic arm, and the transmission mechanism is attached to the drilling arm base and drives the telescopic arm to rotate along the cross section of the tunnel,
The carriage is driven by a power unit, and the power unit and the drilling arm are electrically connected to a control center, and the control center can send coordinated drilling operation commands to the multiple drilling arms, so that the drilling arms in the multiple slides can simultaneously perform drilling operations in the same cross section of the tunnel;
A rail is provided within the slide, and a slider is provided at the bottom of the drilling arm base that fits the rail, the slider is in electrical contact with the rail and is slidably mounted along the rail, the rail is correspondingly connected to a power source, and the slider is electrically connected to the drilling arm, thereby supplying power to the drilling arm;
Two rails are provided in the same slide, and the two rails are provided on both sides of the slide;
A positioning cylinder is provided on at least one of the portions where the drilling arm base is inserted into the slide, and the positioning cylinder tightens the inner wall of the slide to position the drilling arm base, and an insulating layer is provided on the surface of the carriage, thereby electrically isolating the rail and the carriage and any rails from each other;
A perpendicularity adjustment mechanism is connected between the telescopic arm and the drill assembly, and the perpendicularity adjustment mechanism includes a plurality of first telescopic rods, the plurality of first telescopic rods are evenly distributed in a circumferential direction of the drill assembly and movably connected to the drill assembly;
The extension and retraction states of the first telescopic rods can be individually controlled so that the drill of the drill assembly is perpendicular to the inner wall of the tunnel;
The perpendicularity adjustment mechanism further includes a perpendicularity adjustment cylinder block connected to the telescopic arm;
The transmission mechanism includes a main control motor and a rotating mechanism, the spindle of the main control motor is transmission-connected to the rotating mechanism by a reducer, and the rotating mechanism is fixedly connected to the telescopic arm;
The telescopic arm includes two telescopic cylinders arranged at opposite positions, and the blocks of the two telescopic cylinders are fixedly connected, the telescopic rod of one of the telescopic cylinders is fixedly connected to the transmission mechanism, and the telescopic rod of the other telescopic cylinder is fixedly connected to the perpendicularity adjustment cylinder block;
A plurality of sets of adjustment arms are provided on the outer periphery of the drilling arm, each set of adjustment arms includes two adjustment arm segments, both ends of the two adjustment arm segments close to each other are movably connected, and both ends of the two adjustment arm segments remote from each other are movably connected to the perpendicularity adjustment cylinder block and the transmission mechanism, respectively;
A multi-arm drilling robot that works in a coordinated manner.

Beneficial effects

Meanwhile, the cart is movable in the direction of extension of the tunnel, and the drilling arm is slidable in the direction of movement of the cart. As can be seen from this, the position of the drilling arm in the direction of extension of the tunnel is adjustable. Meanwhile, the cart has drilling arms arranged at multiple intervals, and each drilling arm is rotatable along the cross section of the tunnel. Therefore, the present invention can meet the drilling needs of different positions of the tunnel by moving the cart, sliding the drilling arms, and rotating the drilling arms, and improve the efficiency of tunnel drilling work. Therefore, the present invention can be a dedicated equipment for high-efficiency drilling of subway tunnels, and can greatly reduce human costs.

FIG. 2 is a schematic side view of a multi-arm cooperative work drilling robot according to the present invention. FIG. 2 is a diagram showing a state in which the multi-arm cooperative work drilling robot of the present invention is used. FIG. 1 is a schematic diagram showing the configuration of a multi-arm cooperative work drilling robot according to the present invention. FIG. 2 is a schematic diagram of the configuration of a full surface drilling arm in the present invention. FIG. 2 is a schematic diagram of the configuration of a side hole-punching arm in the present invention. FIG. 2 is a schematic diagram of the connection configuration between the drilling arm and the carriage in the present invention. FIG. 7 is a partially enlarged view of A in FIG. 6. FIG. 2 is a schematic diagram of the calculated size of the movement position of the drilling arm in the present invention.

The present invention will be described in detail below by combining examples with reference to the drawings. Note that the embodiments of the present invention and the features of the embodiments may be combined with each other if there is no conflict.

As shown in Figures 1 to 8, this is a multi-arm cooperative drilling robot that includes a cart 3 and a drilling arm.

The cart 3 is movable in the direction in which the tunnel extends, and is provided with a plurality of drilling arms.
The drilling arms are distributed at intervals on the carriage 3, and each drilling arm is rotatably connected to the carriage 3 so as to rotate along the cross section of the tunnel,
Each drilling arm is slidably mounted on the carriage 3 so as to slide along the direction of movement of the carriage.

In the present invention, the position of the drilling arm in the extension direction of the tunnel can be changed by moving the carriage in the extension direction of the tunnel and/or sliding the drilling arm on the carriage, so that the drilling demand at different positions in the tunnel axial direction can be met. The position of the drilling arm in the cross section of the tunnel can be changed by rotating the drilling arm, so that the drilling demand at different heights in the cross section of the tunnel can be met.

Specifically, the carriage 3 is provided with a horizontally distributed deck, the deck is provided with a plurality of slides 7 (guide rails 7) extending in the longitudinal direction of the carriage, the drilling arms are slidably attached to the slides 7 by drilling arm bases 6-27, and a plurality of slides 7 are distributed (arranged) at parallel intervals on the deck, with at least one drilling arm attached to each slide.

The drilling arm includes a telescopic arm, the top of which is provided with a drill assembly, and the tail of the telescopic arm is provided with a transmission mechanism, which is attached to the drilling arm base 6-27 and drives the telescopic arm to rotate along the cross section of the tunnel (drives the drilling arm to rotate about the rotation axis of the transmission mechanism, which is parallel to the extension direction of the slide 7), and the punch range of the drilling arm is -30° to 210°.

The movement of the drilling arm therefore includes: 1. sliding along the slide 7; 2. extension and contraction along the axial direction of the drilling arm; and 3. swinging about the axis of rotation of the transmission mechanism.

The trolley 3 is driven by a power unit, and the power unit and the drilling arm are electrically connected to a control center, allowing coordinated drilling operation commands to be sent to the multiple drilling arms. The drilling arms on multiple slides can simultaneously perform drilling operations within the same cross section of the tunnel. When the drilling arms on multiple slides simultaneously perform drilling operations within the same cross section of the tunnel, the drilling interval is not limited and can be arbitrarily adjusted within the range of -30° to 210° on the cross section of the tunnel.

When there are multiple drilling arms on the same slide, the multiple drilling arms on the same slide can be drilled at different positions in the tunnel axial direction, and the spacing between adjacent drilling arms on the same slide can be adjusted.

The power unit supplies power to the drilling arm via rail 7-2 on the carriage 3.

In one optional embodiment of the present invention, there are three slides 7, one of which is a center slide corresponding to the subway tunnel center axis, and the other two slides 7 are side slides located on both sides of the center slide. The drilling arms in the center slide are full-face drilling arms 6, and the drilling arms in the side slides are side drilling arms 5. The punching range of the full-face drilling arms 6 is -20° to 210°. The punching range of the side drilling arms 5 is -30° to 90°. The number of drilling arms in each slide 7 is selectable according to the actual need for drilling and the length of the slide 7, and may be one, two, three, four, five, or six.

That is, the carriage may be provided with multiple sets of drilling arms, each set of drilling arms including three drilling arms provided on different slides. The same set of drilling arms can work simultaneously in the same cross section of the tunnel. The multiple sets of drilling arms are distributed correspondingly at different positions in the tunnel axial direction, and can perform drilling work simultaneously at multiple positions in the tunnel axial direction. Therefore, during drilling work, multiple sets of independent drilling data with different heights and different intervals can be set and drilled, and the multiple sets of drilling arms work simultaneously and do not interfere with each other, and can complete drilling work with multiple hole position specifications at one time, and the drilling efficiency is high. In one optional embodiment of the present invention, a rail 7-2 is provided in the slide 7. A slider 6-27-4 that fits the rail 7-2 is provided at the bottom of the drilling arm base 6-27, and the slider 6-27-4 is in electrical contact with the rail 7-2 and is mounted slidably along the rail 7-2. The rail 7-2 is correspondingly connected to a power source, and the slider is electrically connected to the drilling arm to supply power to the drilling arm. Preferably, two of the rails are provided in the same slide, and the two rails 7-2 are symmetrically distributed on both sides of the center axis of the slide 7. Specifically, the slider 6-27-4 is in frictional contact with the rail 7-2, connecting the power source on the rail 7-2 to the power supply box inside the drilling arm base 6-27 through a bus bar. A chute that fits the rail 7-2 is opened on the slider 6-27-4, the rail 7-2 is fitted into the chute, and the groove wall of the chute is in frictional contact with the outer surface of the rail 7-2.

An infrared distance sensor is attached to the slide 7 to determine the position of the drilling arm base 6-27 on the slide.

In one alternative embodiment of the present invention, at least one of the portions where the drilling arm base 6-27 is inserted into the slide is provided with a positioning cylinder, which tightens the inner wall of the slide to position the drilling arm base. Preferably, positioning cylinders are provided on both sides of the portion where the drilling arm base 6-27 is inserted into the slide. Specifically, the slide 7 includes a position limiting groove 7-1, and the rail 7-2 is provided at the bottom of the position limiting groove 7-1. The position limiting groove 7-1 limits the travel path of the drilling arm and prevents the drilling arm from tipping over, improving the stability of the entire drilling arm.

The positioning cylinder includes a positioning cylinder block 6-27-1 and a positioning cylinder telescopic rod 6-27-2 inserted into the positioning cylinder block 6-27-1. Preferably, the end of the positioning cylinder telescopic rod 6-27-2 is provided with a friction plate 6-27-3. Specifically, after the drilling arm receives a command and completes positioning, the two positioning cylinders protrude synchronously, propelling the positioning cylinder telescopic rod 6-27-2 to press the friction plate at the tip and the position limiting groove 7-1, playing a fixing role and enhancing the stability of the drilling arm base 6-27, preventing poor contact between the slider 6-27-4 and the rail 7-2 caused by the shaking of the drilling arm base 6-27 during the drilling process, which is favorable to the overall stability of the drilling arm and ensures the quality of drilling.

An insulating layer 7-3 is provided on the surface of the carriage 3, providing electrical isolation between the rails 7-2 and the carriage 3, between any of the rails 7-2, and between the rails 7-2 and the position limiting grooves 7-1.

In one alternative embodiment of the present invention, the drilling arms are communicatively connected to a control center, and the drilling arms are provided with control terminals correspondingly connected to the control center.

Specifically, the box body of the drilling arm base 6-27 is provided with a control terminal, a power supply box, a communications module, and an air pump to control the operation of the entire drilling arm. Data and commands are transferred between the control terminal and the drilling arm by the communications module. The communications module transfers data to the control terminal and commands from the control terminal to the drilling arm.

In one alternative embodiment of the present invention, the trolley is provided with a distance collection module that is communicatively connected to the control center. Specifically, the distance collection module includes a wheel set 4 that is provided at the bottom of the trolley 3, and the wheel set 4 is provided with an encoder and a communication device. The travel distance of the trolley 3 can be accurately determined by the rotation speed and angle of the wheel set 4. The role of the encoder is to convert the angular displacement of the wheel set 4 into an electric signal to obtain the encoder data. Each time the trolley 3 starts and stops, the encoder data is transmitted to the control center by the communication device. The trolley 3 does not affect the interval positioning of the drilling arm due to the distance error during each stop of the running, and the control center adds and subtracts the encoder data (distance data), and further accurately controls the precise positioning of the drilling arm. Specifically, it is as follows.

The actual travel distance of the carriage 3 is defined as S ₁ , the default travel distance as S ₀ , and the travel error of the carriage 3 as S, where S = S ₁ - _{S 0.} If S > 0, the punching arm position moves away from S when a punch command is initiated. If S < 0, the punching arm position approaches -S when a punch command is initiated. If S = 0, the punching arm position is not adjusted.

A certain reserved distance is left at both ends of the slide 7 for drilling interval correction, and the absolute value of the running error S of the carriage 3 is smaller than the reserved distance. The reserved distance can be adjusted as needed, and is 1 to 2 m (e.g., 1 m, 1.2 m, 1.4 m, 1.5 m, 1.6 m, 1.7 m, 1.8 m, 1.9 m, or 2 m).

In one alternative embodiment of the present invention, the power unit is a locomotive 1. Specifically, the locomotive 1 and the bogie 3 move together, and the travel distance of the bogie 3 is controlled by stopping and starting the locomotive 1. The locomotive 1 provides power to the entire robot, 220V or 380V power to the drilling arm, power to the motor and air pump, and also supplies 24V DC power to the control center after rectification.

Preferably, locomotive 1 is a fuel-fired locomotive. In alternative embodiments, locomotive 1 may be a steam locomotive, a gas turbine locomotive, or an electric locomotive.

Preferably, a steel rail 2 is provided under the locomotive 1 and bogie 3. When in use, the steel rail 2 is laid inside the tunnel along its axial direction, and the locomotive 1 and bogie 3 can move linearly along the steel rail 2.

The tunnel ground 8 is laid underneath the steel rails 2, and the upper surface of the tunnel ground 8 is flat. Two steel rails 2 are provided at a distance from each other 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 bogie 3 can be aligned with the central axis of the tunnel.

In one alternative embodiment of the present invention, the transmission mechanism includes a main control motor 6-26, and the rotational axis of the transmission mechanism is the center axis of the spindle of the main control motor 6-26.

Preferably, the transmission mechanism further includes a rotation mechanism 6-25, the rotation mechanism 6-25 is fixedly connected to the telescopic arm, and the main control motor 6-26 is transmissively connected to the telescopic arm by the rotation mechanism 6-25. More preferably, the main control motor 6-26 is transmissively connected to the rotation mechanism 6-25 by a reducer.

In one alternative embodiment of the present invention, the reducer is a planetary gearbox.

The specific connection relationship between the rotation mechanism 6-25, the main control motor, and the planetary gearbox is as follows:

The rotating mechanism 6-25 includes a shell and a fixed ring gear, the fixed ring gear is provided on the shell, and the two are fixedly connected. The spindle of the main control motor 6-26 is transmission-connected to the input shaft of the planetary gearbox by the spindle gear, and the output shaft of the planetary gearbox is meshed and connected to the fixed ring gear by the output gear. After being decelerated by the planetary gearbox, the spindle of the main control motor 6-26 can rotate the fixed ring gear, and thus rotate the entire rotating mechanism 6-25. By providing a planetary gearbox, the output torque can be increased and the rotation angle can be accurately controlled at the same time, and the power of the main control motor 6-26 can be relatively reduced, the weight of the drilling arm can be reduced, and electrical energy can also be saved.

In alternative embodiments, the reducer may be a gear reducer or a worm reducer.

In one alternative embodiment of the present invention, a perpendicularity adjustment mechanism is provided between the telescopic arm and the drill assembly, the perpendicularity adjustment mechanism includes a perpendicularity adjustment cylinder block 6-7 and a plurality of first telescopic rods 6-6 (for example, 2, 3, 4, 5, 6, 7 or 8), the perpendicularity adjustment cylinder block 6-7 is connected to the telescopic arm, the plurality of first telescopic rods are evenly arranged in the circumferential direction of the drill assembly, the telescopic state of each first telescopic rod 6-6 can be controlled independently, each first telescopic rod 6-6 is movably connected to the drill assembly, and the drill 6-1 of the drill assembly is perpendicular to the inner wall of the tunnel. Preferably, four first telescopic rods 6-6 are evenly distributed in the perpendicularity adjustment cylinder block 6-7.

The specific structure of the drill assembly is as follows. The drill assembly includes a drill 6-1 and a drilling motor 6-2, and the drilling motor 6-2 is used to drive the rotation of the drill 6-1 to complete the drilling operation. A drilling motor base 6-4 is provided at the bottom of the drilling motor 6-2, and the first telescopic rod 6-6 is movably connected to the drilling motor base 6-4, specifically adopting a ball head movable structure. The thrust length of the perpendicularity adjustment mechanism is determined by the drilling depth setting value.

The perpendicularity adjustment mechanism allows the drilling motor 6-2 to be adjusted in the range of 0° to 45° along the center axis direction of the drilling arm, meeting the requirements for the drilling perpendicularity range of the side drilling arm 5.

Preferably, a distance sensor 6-3 is attached to the drilling motor base 6-4. Preferably, a plurality of distance sensors 6-3 (e.g., 2, 3, 4, 5, 6, 7 or 8) are attached to the drilling motor base 6-4, and the number and mounting positions of the distance sensors 6-3 correspond to the number and mounting positions of the first telescopic rods 6-6 of the perpendicularity adjustment mechanism.

The role of the distance sensor 6-3 is as follows: 1. Detects the distance from the drill 6-1 of the drilling arm to the inner wall of the tunnel, and if the distance is 1 cm, starts the drilling motor 6-2. 2. Checks whether the drill 6-1 and the inner wall of the tunnel are perpendicular, and if the distances detected by each distance sensor 6-3 match, the drilling motor 6-2 can be started. If the distances detected by each distance sensor 6-3 do not match and the error is less than 10 mm, it can be automatically adjusted according to the inserted length of each independent first telescopic rod 6-6 to achieve distance matching. If the error is greater than 10 mm, the cause of the failure must be checked.

In one preferred embodiment of the present invention, four distance sensors 6-3 are attached to the four corners of the drilling motor base 6-4. In one alternative embodiment of the present invention, the telescopic arm includes one telescopic cylinder.

In one preferred embodiment of the present invention, the telescopic arm includes two telescopic cylinders arranged at opposite positions, the blocks of the two telescopic cylinders are fixedly connected, the telescopic rod of one of the telescopic cylinders is fixedly connected to the transmission mechanism, and the telescopic rod of the other telescopic cylinder is fixedly connected to the perpendicularity adjustment cylinder block.

Specifically, the two telescopic cylinders are an upper telescopic cylinder and a lower telescopic cylinder, respectively. The upper telescopic cylinder/lower telescopic cylinder adjust the height of the entire drilling arm, making it convenient to transport and adjust the height of the drilling arm.

The upper telescopic cylinder includes an upper telescopic cylinder block 6-13, and the lower telescopic cylinder includes a lower telescopic cylinder block 6-20. The upper telescopic cylinder block 6-13 and the lower telescopic cylinder block 6-20 are fixed to their respective ends close to each other with an upper telescopic cylinder base 6-14 and a lower telescopic cylinder base 6-19 fixed thereto, and the upper telescopic cylinder base 6-14 and the lower telescopic cylinder base 6-19 are connected by a first bolt 6-18.

The free end of each telescopic cylinder is provided with a top plate, which improves the overall strength of the multiple telescopic rods in the telescopic cylinder and facilitates the synchronous movement of the multiple telescopic rods in the same telescopic cylinder. However, the lower telescopic cylinder top plate 6-24 and the upper surface of the shell of the rotating mechanism 6-25 are connected by the second bolt 6-21, and the lower telescopic cylinder telescopic rod 6-23 and the lower telescopic cylinder top plate 6-24 are connected by the third bolt, and the positions of the second bolt 6-21 and the third bolt are not coincident and are evenly distributed on the lower telescopic cylinder top plate 6-24. This bolt connection structure has the advantages of being firm and easy to remove. The perpendicularity adjustment cylinder base 6-9 is fixed to the bottom of the perpendicularity adjustment cylinder block 6-7. The upper telescopic cylinder telescopic rod 6-12 and the upper telescopic cylinder top plate 6-10 are connected by a fourth bolt 6-11, and the upper telescopic cylinder top plate 6-10 and the perpendicularity adjustment cylinder base 6-9 are connected by a fifth bolt 6-8.

The length of the block of the upper telescopic cylinder and the length of the block of the lower telescopic cylinder are both 400 mm, and the upper telescopic cylinder and the lower telescopic cylinder operate synchronously, that is, the insertion length of the upper telescopic cylinder telescopic rod 6-12 and the lower telescopic cylinder telescopic rod 6-23 is always guaranteed to be the same, and also the overall length of the drilling arm is controlled.

In other alternative embodiments, the lower telescopic cylinder telescopic rod 6-23 can be welded directly to the shell of the rotation mechanism 6-25, the two telescopic cylinders can be welded together, and the upper telescopic cylinder telescopic rod 6-12 can be welded to the perpendicularity adjustment cylinder base 6-9.

Preferably, the outer circumference of the drilling arm is provided with multiple sets of adjustment arms (e.g., 2, 3, 4, 5, 6, 7 or 8 sets), and more preferably, the outer circumference of the drilling arm is provided with 4 sets of adjustment arms. By providing the adjustment arms, the overall mechanical strength of the drilling arm is enhanced, and the upper telescopic cylinder telescopic rod 6-12 and the lower telescopic cylinder telescopic rod 6-23 are prevented from being deformed due to excessive force, which affects the measurement accuracy.

Each set of adjustment arms includes two adjustment arm segments, the ends of which are close to each other are movably connected, and the ends of which are far from each other are movably connected to the perpendicularity adjustment cylinder block 6-7 and the transmission mechanism, respectively.

Specifically, the two adjustment arm segments are the upper adjustment arm segment 6-15 and the lower adjustment arm segment 6-17, respectively. A first fixing member 6-5 is fixedly installed outside the perpendicularity adjustment cylinder block 6-7, and the upper end of the upper adjustment arm segment 6-15 is hinged to the first fixing member 6-5. The lower adjustment arm segment 6-17 includes two spaced hinge plates hinged to both sides of the upper adjustment arm segment 6-15, respectively, to avoid interference between the upper adjustment arm segment 6-15 and the lower adjustment arm segment 6-17. A second fixing member 6-22 is fixedly installed on the outer periphery of the shell of the rotation mechanism 6-25, and the lower end of the lower adjustment arm segment 6-17 is hinged to the second fixing member 6-22. The upper adjustment arm segment 6-15 and the lower adjustment arm segment 6-17 are connected by a joint bolt 6-16.

In one alternative embodiment of the present invention, the drilling arm further includes a vertical thrust cylinder 6-28 disposed between the drill assembly and the perpendicularity adjustment mechanism to increase thrust formation. A vertical thrust base is disposed at the bottom of the block of the vertical thrust cylinder, and the vertical thrust base is movably connected to the first telescopic rod 6-6 of the perpendicularity adjustment mechanism, and the vertical thrust cylinder telescopic rod is fixedly connected to the bottom of the drilling motor 6-2. Preferably, the side drilling arm 5 includes a vertical thrust cylinder 6-28.

The operating and design principles of this invention are as follows:

The main control motor 6-26 controls the overall tilt angle of the drilling arm, and positioning at different heights is achieved by adjusting the tilt angle.

The position of the spindle center axis of the main control motor 6-26, which corresponds to the full surface drilling arm 6 in the center slide, is at the center of the tunnel cross section, so that the entire full surface drilling arm 6 can always be perpendicular to the tunnel inner wall drilling position when adjusting the angle of the main control motor 6-26, ensuring drilling quality.

When the drilling arm punctures the upper half of the tunnel cross section as shown in Figure 8, the method for calculating the position of the drilling arm is as follows:

The punch height is H ₁ , the height difference between the drill 6-1 and the spindle center position of the main control motor 6-26 is H. The height of the spindle center position of the main control motor of the full surface drilling arm 6 from the ground is H ₀ , the tunnel radius is R, the center distance between the full surface drilling arm 6 and the main control motor 6-26 corresponding to the side drilling arm 5 is L, the length from the vertical thrust-up base to the drill 6-1 is r (a fixed value, the length is a contracted state value, and the forward distance is determined by the stroke of the vertical thrust-up cylinder), the length from the vertical thrust-up base to the main control motor after the drilling arm is extended is R', the rotation angle of the vertical thrust-up base is θ ₁ , the rotation angle of the rotation mechanism 6-25 of the side drilling arm is θ', the horizontal plane projection length of r is a, the vertical projection length of R' is H', the horizontal plane projection length of R' is d, and the angle between the axis of the full surface drilling arm and the horizontal plane is θ ₂ . In FIG. 8, the drilling arm is located in the upper half of the tunnel cross section, so H ₁ >H ₀ and H ₁ =H+H ₀ .

The principle of calculating the position of the full-surface drilling arm 6 is as follows:

The punch height value is _H1 , where H= _H1 - _H0 , and the rotation angle θ of the full surface punching arm is θ=90°-arcsinH/R. Taking FIG. 8 as an example, when the right surface is selected, the angle θ is rotated clockwise, and when the left surface is selected, the angle θ is rotated counterclockwise.

The principle for calculating the position of the side drilling arm 5 is as follows:

The punch height value is _H1 , H= _H1 - _H0 , and the calculation methods for _θ1 and θ' are as follows:

ただし、Ｈ’は上記式で得ることができる。 (1) θ ₁ calculation method: By the sine theorem, we obtain that R'/sinθ ₂ =L/sinθ ₁ .
It is estimated that θ ₁ =arcsin(L*sinθ ₂ /R′),

Here, H' can be obtained by the above formula.

Ｌは既知であり、a＝ｒ*ｃｏｓθ_２であり、θ_２＝ａｒｃｓｉｎＨ/Ｒ（既知）である。

L is known, a=r*cos θ ₂ , and θ ₂ =arcsinH/R(known).

Therefore, the rotation angle of the vertical thrust base is θ ₁ , which is the desired angle.

ただし、Ｈ’は上記式で得ることができ、

Ｌは既知のものであり、a＝ｒｃｏｓθ_２である。 (2) θ' Calculation Method The rotation angle θ' of the side drilling arm rotation mechanism 6-25 is
θ′=90°−arcsinH′/R′,
H'=H- _rsinθ2 , _θ2 =arcsinH/R (known),

where H' can be obtained by the above formula,

L is known and a=r cos θ ₂ .

Therefore, the rotation angle of the side drilling arm rotation mechanism 6-25 is θ', which is the desired angle.

Further explanation follows.

As shown in FIG. 8, the side drilling arm 5 located on the right side rotates clockwise, and the side drilling arm 5 located on the left side rotates counterclockwise.

In addition, when the present invention is used, when the punch height value _H1 of the drilling arm is input to the control center, the control center compares _H1 with _H0 . If _H1 - _H0 >0 (as shown in FIG. 8), the above method is used to position the upper half of the tunnel cross section. If _H1 - _H0 <0, the rotation angle is rotated based on the horizontal plane, and the method is the same as the above method, so it is omitted.

Specific methods of using the present invention are as follows:

1. A multi-arm cooperative drilling robot is installed at the start position of the work. Then, each drilling arm is returned to its relative origin position with respect to the cart 3, and each drilling arm maintains its vertically contracted state.

2. The control platform inside the locomotive 1 inputs the punch position correlation values, including punch height, depth, and spacing. Usually, the number of punches and hole size of the same type of hanger are the same.

After judging the data that has been entered, the control center determines the allocation according to the priority of construction speed, specifically as follows: Interval / (Single-hole theoretical drilling time x number) = Speed (V). When setting the drilling data parameters, the entire tunnel is divided into left and right sides, and the punch height and interval are set for each. Drilling arms are allocated according to the magnitude of the calculated speed, the punch position with the fastest punch speed is calculated, and it is allocated to the frontmost drilling arm, and so on.

3. Initiate punch start command and position to punch position along slide 7 sequentially according to logical priority. For punch arms in the same slide 7, the second punch arm etc. will restart after the first punch arm completes one interval mission.

Full surface drilling arm 6:
Step 1: After the full drilling arm 6 reaches the position, the whole arm unfolds, rotates from the center position to a set direction by a certain angle, and points to the set height position, then starts the drilling motor 6-2, and controls the drilling depth by the driving stroke of the perpendicularity adjustment mechanism, the driving stroke value is the sum of the set drilling depth value and the safe distance from the drill 6-1 to the tunnel wall. After the drilling is completed, the drilling motor 6-2 reverses and retracts the perpendicularity adjustment mechanism.

Step 2: Rotate to a different drilling height position and repeat step 1.

Step 3: The drilling arm retracts to its initial position and remains vertical until the last mission in the same cross section is completed, after which the full drilling arm 6 advances one interval along the slide 7 and repeats the above steps.

Side drilling arm 5:
The main difference between the execution program of the side drilling arm 5 and the full drilling arm 6 is that when the side drilling arm 5 reaches the position, the perpendicularity adjustment mechanism first adjusts the inclination angle according to the set drilling height, and then adjusts the drilling arm length, and then the side drilling arm 5 rotates to the set angle and points to the set height position, and then starts the drilling motor 6-2 and the vertical thrust cylinder 6-28, and the thrust stroke value of the vertical thrust cylinder is the sum of the set drilling depth value and the safe distance from the drill 6-1 to the tunnel wall. After the drilling is completed, the drilling motor 6-2 reverses and retracts the perpendicularity adjustment mechanism.

5. After all drilling within the length range of the bogie 3 is completed, start the locomotive 1 to move forward for one parking space. The parking error is less than 1.5 meters. After parking, the control center judges the travel distance based on the encoder data, and then compares it with the reference value of the travel, and the difference is used as the position correction data for the next work of the drilling arm. Furthermore, the accuracy of the drilling interval is guaranteed.

6. The control center will prompt you whether to enable position correction. If you click Confirm, the punch command will be launched and the above punch command will be repeated, with the punch interval continuing from the punch position of the previous stop, achieving completion of the same standard. If you click No, you will be prompted to enable the previous punch command. If you click Yes, the previous command will be used as is, and if you click No, you will be prompted to re-enter the parameter values.

In short, this application can set multiple sets of drilling heights and drilling intervals according to the specific conditions of the construction environment when used. The logical relationship can be automatically edited by the control center, and the number of punches and intervals can be combined to arrange the drilling arm with the first completed mission of the same slide 7 to be the front, and the drilling arm with the largest mission amount and the slowest punching speed to be the rear. The hole positions within the same cross section of the tunnel are arranged to be completed by the same drilling arm, and the full-surface drilling arm 6 is mainly responsible for the hole positions within the range of 45°~135° and the hole positions that are missing, and the side drilling arms 5 on both the left and right sides are responsible for the hole positions within the range of -30°~90° within their respective punching ranges. The present invention can complete the used hole positions within the length range of the carriage 3 at one time, which is significantly more efficient than the artificial and single-arm punches.

The control center's priority control program enables multiple sets of drilling arms to work simultaneously, eliminating intermittent waiting times and improving efficiency.

The drilling arm uses a multi-cylinder structure, which saves energy, is efficient, lightweight, and has high accuracy.

It is understood that the above description is merely illustrative and that the embodiments of the present application are not limited thereto.

1 Locomotive 2 Steel rail 3 Bogie 4 Wheel set 5 Side drilling arm 6 Full drilling arm 6-1 Drill 6-2 Drilling motor
6-3 Distance sensor 6-4 Drilling motor base 6-5 First fixed member 6-6 First telescopic rod 6-7 Perpendicularity adjustment cylinder block 6-8 Fifth bolt 6-9 Perpendicularity adjustment cylinder base 6-10 Upper telescopic cylinder top plate 6-11 Fourth bolt 6-12 Upper telescopic cylinder telescopic rod 6-13 Upper telescopic cylinder block 6-14 Upper telescopic cylinder base 6-15 Upper adjustment arm segment 6-16 Joint bolt 6-17 Lower adjustment arm segment 6-18 First bolt 6-19 Lower telescopic cylinder base 6-20 Lower telescopic cylinder block 6-21 Second bolt 6-22 Second fixed member 6-23 Lower telescopic cylinder telescopic rod 6-24 Lower telescopic cylinder top plate 6-25 Rotation mechanism 6-26 Main control motor 6-27 Drilling arm base 6-27-1 Positioning cylinder block 6-27-2 Positioning cylinder telescopic rod 6-27-3 Friction plate 6-27-4 Slider 6-28 Vertical thrust cylinder 7 Slide 7-1 Position limit groove 7-2 Rail 7-3 Insulation layer 8 Tunnel ground

Claims (3)

A multi-arm cooperative drilling robot including a carriage and a drilling arm,
A deck disposed horizontally on the carriage;
A plurality of guide rails having a C-shaped cross section and spaced apart from one another on the upper surface of the deck, the guide rails extending in the longitudinal direction of the carriage;
A rail provided inside the guide rail;
A power unit that drives the carriage;
a power supply connected to said rail;
An insulating layer provided on a surface of the carriage;
a control center electrically connected to the power unit and the drilling arm;
Equipped with
The piercing arm includes:
a drilling arm base of the drilling arm slidably mounted on the guide rail;
a transmission mechanism having a rotation mechanism that rotates on a rotation axis parallel to the extension direction of the guide rail and fixed to an upper part of the drilling arm base;
an extendable arm having one end (tail portion) fixed to the rotation mechanism of the transmission mechanism;
a drill assembly provided at the other end (top) of the telescopic arm;
a perpendicularity adjustment mechanism provided between the other end of the telescopic arm and the drill assembly;
A plurality of adjustment arms provided on the outer periphery of the punching arm;
Equipped with
the drilling arm base has a slider provided at a bottom of the drilling arm base, adapted to fit (fit) the rail, in electrical contact with the rail, and slidably mounted along the rail;
The perpendicularity adjustment mechanism includes:
A plurality of first telescopic rods that extend and retract in the same direction as the telescopic arm and whose extension states are individually adjustable;
a perpendicularity adjusting cylinder block capable of accommodating the first telescopic rod and connected to the other end of the telescopic arm;
Equipped with
The telescopic arm is
The telescopic cylinder has two telescopic cylinders, an upper telescopic cylinder arranged on the upper side of the telescopic arm in the extension direction and a lower telescopic cylinder arranged on the lower side,
Among the two telescopic cylinders, a telescopic rod of one of the telescopic cylinders is fixedly connected to the transmission mechanism, and a telescopic rod of the other telescopic cylinder is fixedly connected to the perpendicularity adjusting cylinder block;
the adjustment arm has two adjustment arm segments, the ends of the two adjustment arm segments close to each other are movably connected, and the ends of the two adjustment arm segments remote from each other are movably connected to the perpendicularity adjustment cylinder block and the transmission mechanism, respectively;
the insulating layer electrically insulates between the rail and the carriage and between any of the rails;
The cart is movable in the extending direction of the tunnel,
At least one of the drilling arms is attached to each of the guide rails ;
the slider electrically connects to the piercing arm to provide power to the piercing arm;
the control center controls the rotation angle of the rotation mechanism, the telescopic states of the two telescopic cylinders, and the individual telescopic states of the first telescopic rods to drive the telescopic arm to rotate along the cross section of the tunnel, and individually controls the telescopic states of the first telescopic rods so that the drill of the drill assembly is perpendicular to the inner wall of the tunnel, and transmits a coordinated drilling operation command to the drilling arms on the multiple guide rails to simultaneously perform drilling operation within the same cross section of the tunnel.
A multi-arm drilling robot characterized by its cooperative operation. The drilling arms are provided with control terminals communicatively connected to the control center,
the vehicle is provided with a distance collection module communicatively connected to the control center for determining a distance traveled by the vehicle ;
2. The multi-arm cooperative work drilling robot according to claim 1 . Three guide rails are provided on the deck, one of which is a center guide rail corresponding to a center axis in an extension direction of the tunnel, and the other two guide rails are side guide rails located on both sides of the center guide rail ,
The drilling arm in the center guide rail is a full-surface drilling arm having a punching range of -20° to 210° based on the horizontal plane in the cross section of the tunnel , and the drilling arm in the side guide rail is a side drilling arm having a punching range of -30° to 90° based on the horizontal plane .
2. The multi-arm cooperative work drilling robot according to claim 1 .

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