LU500317B1

LU500317B1 - Hole-drilling mechanical arm

Info

Publication number: LU500317B1
Application number: LU500317A
Authority: LU
Inventors: Gang Zhao; Shibin Xu; Xiaojie Qiu; Mengxing Qi; Xiong Wu; Shuang Cheng; Wei Wu; Dawei Wang; Xiaoying Ji
Original assignee: China Railway No 9 Group Electrical Eng Co Ltd
Priority date: 2020-06-28
Filing date: 2020-09-18
Publication date: 2022-01-04
Also published as: WO2021103768A1; CN111648720B; CN111648720A

Abstract

The center of a rotating base (9) serves as a circle center, the mechanical arm serves as a radius, and height determination is performed in a circle-drawing mode, ensuring the perpendicularity of the hole-drilling arm (21) to the position where a working point is located. By means of controlling the rotation angle between a height adjustment arm and an angle adjustment arm (17), the straightness of the mechanical arm is ensured. The folding mechanical arm is convenient to transport, and is suitable for regions of different working radii. The height and angle of the mechanical arm are adjustable, solving the problem of difficulty in drilling holes for suspended support frames at different heights in the inner wall of the arc of a subway tunnel. Using a mechanical arm hole-drilling structure, labor investment is reduced, costs are saved, and working efficiency is improved.

Description

BL-5257 Hole-Drilling Mechanical Arm

BACKGROUND Field of Invention The present invention belongs to the technical field of subway construction, and specifically relates to a drilling (hole-drilling) mechanical arm. Background of the Invention In the construction of subway sections, the installation process of cable supports and hangers is often involved. At present, the installation of supports and hangers is carried out by manual drilling. There is no special intelligent equipment suitable for positioning and drilling of subway tunnel walls. Because the tunnel walls are curved, there are great difficulties in the construction and measurement stage. Due to the high installation height, it takes time and effort to drill the support and hanger. Especially for the operating conditions of the long interval section, the work repeatability is high, the distances between support-hangers must be fixed and the installation height must be the same, and the distance between the two sides of the tunnel and the center of the rail must be fixed. The existing drilling equipment cannot meet the requirements.

Therefore, it is necessary to provide an improved technical solution for the above- mentioned shortcomings of the prior art.

SUMMARY The purpose of the present invention is to overcome the above-mentioned technical shortcomings that manual drilling is used for the installation and construction of cable supports and hangers during the construction of subway sections, and technical issues that there is a lack of special intelligent equipment suitable for positioning and drilling of subway tunnel walls in the prior art.

In order to achieve the above purpose, the present invention provides the following technical solutions.

A drilling mechanical arm, including a base, a rotating base, a main mechanical arm, a height adjustment arm, an angle adjustment arm and a drilling arm; the rotating base being rotatably connected to the base, one end of the main mechanical arm being rotatably connected to the rotating base, the other end of the main mechanical arm being rotatably connected to one end of the height adjustment arm, and the other end of the height adjustment arm being rotatably connected to one end of the angle adjustment arm, and the other end of the angle 1

BL-5257 adjustment arm being rotatably connected to the drilling arm; the rotating base being provided with the main mechanical arm motor to drive the main mechanical arm to rotate around an axis rotatably connecting the main mechanical arm to the rotating base; one end of the main mechanical arm to which the height adjustment arm is rotatably connected being provided with the height adjustment arm motor, to drive the height adjustment arm to rotate around an axis rotatably connecting the height adjustment arm to the main mechanical arm; one end of the height adjustment arm to which the angle adjustment arm is rotatably connected being provided with the angle adjustment arm motor, to drive the angle adjustment arm to rotate around an axis rotatably connecting the angle adjustment arm to the height adjustment arm; wherein the axis rotatably connecting the height adjustment arm to the main mechanical arm, the axis rotatably connecting the angle adjustment arm to the height adjustment arm, and an axis rotatably connecting the angle adjustment arm to the drilling arm, are parallel to each other and all perpendicular to an axis rotatably connecting the rotating base to the base.

As a preference, the height adjustment arms includes a first height adjustment arm and a second height adjustment arm, one end of the first height adjustment arm is rotatably connected to the main mechanical arm, the other end of the first height adjustment arm is rotatably connected to one end of the second height adjustment arm, and the other end of the second height adjustment arm is rotatably connected to the angle adjustment arm; correspondingly, the height adjustment arm motors include a first height adjustment arm motor and a second height adjustment arm motor, the first height adjustment arm motor is located on one end of the main mechanical arm to which the first height adjustment arm is rotatably connected, to drive the first height adjustment arm to rotate around an axis rotatably connecting the first height adjustment arm to the main mechanical arm; the second height adjustment arm motor is located on one end of the first height adjustment arm to which the second height adjustment arm is rotatably connected, to drive the second height adjustment arm to rotate around an axis rotatably connecting the second height adjustment arm to the first height adjustment arm; and the angle adjustment arm motor is installed on one end of the second height adjustment arm to which the angle adjustment arm is rotatably connected.

As a preference, the drilling mechanical arm also includes a mounting arm, which is fixedly connected to the drilling arm, linked with the drilling arm, and rotates around the axis rotatably connecting the drilling arm to the angle adjustment arm; corresponding, one end of the drilling arm to which the angle adjustment arm is rotatably connected is provided with an operating mode switching motor, which can drive the drilling arm and the mounting arm to rotate together to switch among different operating modes, wherein the operating modes 2

BL-5257 include: bolt installation mode executed by the mounting arm, and drilling operating mode executed by the drilling arm.

As a preference, the angle between the mounting arm and the drilling arm is 90°.

The bottom of the base is installed on wheels.

The rotating base is rotatably connected to the base via a hydraulic work head andjack, wherein one side of the hydraulic work head is rotatably connected to the rotating base, and the opposite side is connected to the one end of the jack, and the other end of the jack is located on the base.

The angle adjustment arm motor is provided with a transmitter of a photoelectric sensor, and the first height adjustment arm motor is provided with a receiver of the photoelectric sensor.

The main mechanical arm motor is provided with a distance sensor.

As a preference, the distance sensors include a first distance sensor, a second distance sensor, and a third distance sensor; the angles between the first distance sensor, the second distance sensor, the third distance sensor, and the ground are respectively 45°, 90°, 135°; and an extension line of the first distance sensor in central axis direction, an extension line of the second distance sensor in central axis direction, and an extension line of the third distance sensor in central axis direction intersect at a rotation center of the main mechanical arm.

As a preference, a distance between the axis rotatably connecting the first height adjustment arm to the main mechanical arm and a axis rotatably connecting the first height adjustment arm to the second height adjustment arm, is equal to a distance between the axis rotatably connecting the second height adjustment arm to the first height adjustment arm and an axis rotatably connecting the second height adjustment arm to the angle adjustment arm.

Compared with the closest existing technology, the technical solutions provided by the present invention have the following excellent effects.

The folding type mechanical arm of the present invention is not only convenient for transportation, but also suitable for areas with different operating radiuses.

The height and angle of the mechanical arm are adjustable, which solves the problem that it is difficult to drill holes for supports and hangers of different heights on the curved inner wall of the subway tunnel.

The present invention uses the mechanical arm drilling structure, which reduces manpower input, saves costs and improves work efficiency.

The present invention takes a center of the rotating base as a center of the circle, and the mechanical arm as a radius, and determines a height by drawing circles to ensure the 3

BL-5257 perpendicularity between the drilling arm and the operating point (working point). The straightness of the mechanical arm is guaranteed by controlling rotation angles of height adjustment arms and angle adjustment arms.

BRIEF DESCRIPTION OF THE DRAWINGS Fig.1 and Fig.2 are schematic structural diagrams of example of the present invention; Fig.3 is a schematic structural diagram of the drilling arm of example of the present invention; Fig.4 is a schematic structural diagram of a bolt mounting arm of example of the present invention; Fig. 5 and Fig.6 are schematic structural diagrams of a bolt box of example of the present invention; Fig. 7 and Fig.8 are schematic structural diagrams of an installation sleeve of example of the present invention; Fig. 9 is a control flowchart of example of the present invention; Fig.10 is a schematic diagram of calculation parameters of example of the present invention; In the figures, wheel 1; base2; power box 3; jack 4; hydraulic lifting table 5; control panel 6; fixed flange 7; rotating-base-driving motor 8; rotating base 9; distance sensor 10; main mechanical arm motor 11; main mechanical arm 12; first height adjustment arm 13; first height adjustment arm motor 14; second height adjustment arm 15; second height adjustment arm motor 16; angle adjustment arm 17; angle adjustment arm motor 18; photoelectric sensor(including transmitter and receiver) 19; operating mode switching motor 20; drilling arm 21 (protective cover 21-1; first slide 21-2; rotating shaft 21-3; first stroke chassis 21-4; first stroke chassis slider 21-5; first stroke column 21-6; first stroke top plate 21-7; first motor base 21-8; drilling motor 21-9; drill clamp 21-10; drill 21-11; drilling motor rotor shaft 21-12; first pressure sensor 21-13; sealed cap 21-14; first stroke motor 21-15; sprinkler 21-16 ); bolt mounting arm 22 [bolt box 22-1(bolt b ox main body 22-1-1; bolt box base 22-1-2; bolt box connecting bore 22-1-3; bolt box base threaded bore 22-1-4; bolt slide 22-1-5; bolt outlet hole 22-1-6; advancing spring 22-1-7; advancing roof plate 22-1-8); installation sleeve 22-2 (sleeve rear 22-2-1; buffer spring 22-2-2; top plug 22-2-3; sleeve22-2-4); bolt box protective cover 22- 3; second pressure sensor 22-4; second stroke top plate 22-5; internal protective cover 22-6; bolt fixing hole22-7; water pump 23; water tank 24.

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BL-5257

DETAILED DESCRIPTION OF THE EMBODYMENTS The technical solutions in the examples of the present invention will be described clearly and completely below.

As shown in Figs. 1-10, the present invention provides a drilling mechanical arm. The present invention includes a base 2, on which a rotating base 9 is installed, and a main mechanical arm motor 11 is installed on the rotating base 9. The shaft of the main mechanical arm motor 11 is connected to the lower end of the main mechanical arm 12. The upper end of the main mechanical arm 12 is provided with the height adjustment arm motor, the shaft of which is connected to the lower end of the height adjustment arm, and the upper end of the height adjustment arm is provided with the angle adjustment arm motor 18, the angle adjustment arm motor 18 is connected to the lower end of the angle adjustment arm 17, and the upper end of the angle adjustment arm 17 is provided with the drilling arm 21.

The rotating shaft of the main mechanical arm 12 is the rotor rotating shaft of the main mechanical arm motor 11. The rotating shaft is located on the center of the tunnel section circle after height adjustment. The total length of the mechanical arm is the radius and intersects the center of the circle, the tangent of the circle is perpendicular to the radius passing through the tangent point, the mechanical arm is perpendicular to the operating point, the angle adjustment arm 17, the main mechanical arm 12, and the drilling arm 21 are on the same straight line to ensure that the drilling arm is perpendicular to the operating surface.

The height adjustment arms include the first height adjustment arm 13 and the second height adjustment arm 15. The upper end of the main mechanical arm 12 is provided with the first height adjustment arm motor 14, the shaft of which is connected to the lower end of the first height adjustment arm 13. The upper end of the first height adjustment arm 13 is provided with the second height adjustment arm motor 16, the shaft of which is connected to the lower end of the second height adjustment arm 15. The upper end of the second height adjustment arm 15 is provided with the angle adjustment arm motor 18.

The rotating-base-driving motor 8 can connect to the rotating base 9 through a planetary gear reducer, and the rotating-base-driving motor 8 drives the rotating base 9 to rotate.

The main mechanical arm can be set to be adjusted within the range of -45° to 225° to meet the operating requirements. When operating at different heights, it is achieved by adjusting the angle 64 between the main mechanical arm 12 and the horizontal line.

The upper end of the angle adjustment arm 17 is provided with the operating mode switching motor 20 for switching between the bolt installation mode and the drilling operating mode. The shaft of the operating mode switching motor 20 is connected to the bolt mounting

BL-5257 arm 22 and the drilling arm 21 respectively. Switching between the drilling operating mode and the bolt installation mode facilitates continuous installation.

The angle between the mounting arm 22 and the drilling arm 21 is 90°.

The lower end of the base 2 is provided with wheel 1. The wheel motor can use Yuyang 10-inch 40-magnet steel 1200 W torque version brushless motor, model is DX40H8RV.

The rotating base 9 is installed on the hydraulic lifting table 5, the lower end of which is installed on the base 2 through jacks 4.

The rotating base 9 is installed on the hydraulic lifting table 5 through fixed flange 7.

The hydraulic lifting table 5 is installed on the power box 3, which is installed on the base

2. The jacks 4 below the hydraulic lifting table 5 can pass through the power box 3 and is installed on the base 2.

The hydraulic lifting table 5 is provided with the control panel 6.

The angle adjustment arm motor 18 is provided with the transmitter of the photoelectric sensor 19.

The first height adjustment arm motor 14 is provided with the receiver of the photoelectric sensor 19.

The main mechanical arm motor 11 is provided with the distance sensor 10.

The distance sensors 10 includes the first distance sensor, the second distance sensor and the third distance sensor; the angles between the first distance sensor, the second distance sensor, the third distance sensor and the ground corresponds to 45°, 90°, and 135°, respectively. The axis extension lines of the three distance sensors intersect at the rotation center of the main mechanical arm 12. The height of the operating surface of the equipment before drilling can be performed centralized positioning according to the distance values of the inner wall of the tunnel measured by the three distance sensors on the central opertating axis.

When the measured values of the first distance sensor and the third distance sensor are smaller than the measured value of the second distance sensor, the lifting table is raised, and otherwise the lifting table is lowered, and adjusting is stopped until they are the same.

When the height adjustment is completed, i.e., the rotating shaft of the main mechanical arm 12 is located on the center of the tunnel section circle, and the first distance sensor, the second distance sensor and the third distance sensor are located on the concentric circle of the center of the tunnel section circle, thus the distances between the tunnel walls measured by the first distance sensor, the second distance sensor and the third distance sensor are equal, the value at this time is regarded as the final value. On the basis of the final value, the distance between the distance sensor 10 and the rotating shaft of the main mechanical arm 12 (that is, 6

BL-5257 the distance from the measurement point of the distance sensor 10 to the center of rotor shaft of the main mechanical arm motor 11) is added as the overall operating radius length of the mechanical arm, which is used to extend the mechanical arm. The length of the mechanical arm can be extended and set according to the calculated operating radius.

The first height adjustment arm 13 and the second height adjustment arm 15 have the same lengths.

The angle adjustment arm 17 and the main mechanical arm 12 always keep in the same straight line. The adjustment length AX of the mechanical arm is determined on basis of the measured operating radius R, the drilling arm 21 length d, the angle adjustment arm 17 length c, the calculated length a of the main mechanical arm (the calculated length of the main mechanical arm 12 is the length between the up shaft and the down shaft of the main mechanical arm 12), and the reserved length Y, where X is determined by the length b of the first height adjustment arm 13 and the second height adjustment arm 15 and the angle 6 between the first height adjustment arm 13 and the second height adjustment arm 15 ; The calculation is as follows: X=R-d-c-a-Y is deduced from R=X+d+c+a+Y; Length adjustment value AX=X-Xo, namely X=AX+Xo.

0=2 arcsin(X/2b) is deduced from X=2bsin(0/2), 0€30°~ 180°, the limit value of angle 0 is 30°, the initial value of X, Xo is 2bsin15°; Angle adjustment amount A6=6-00, namely A6=6-30°; On the initial state of the mechanical arm, the angle 6 between the first height adjustment arm 13 and the second height adjustment arm 15 is 30°; the angle 01 between the first height adjustment arm 13 and the operating radius axis is equal to the angle 02 between the second height adjustment arm 15 and the operating radius axis, which is equal to 75°, the angle between the angle adjustment arm 17 and the operating radius axis is 63; when the 6 value is determined, the second height adjustment arm motor 16 starts counterclockwise rotation of angle A0=6-30°, and then the first height adjustment arm motor 14 starts clockwise rotation of A0/2, and then the angle adjustment arm motor 18 starts clockwise rotation of A0/2, so that the main mechanical arm 12 and the angle adjustment arm 17 are in the same straight line, and meanwhile verified by the photoelectric sensor 19. The verification method is that the installation axes of the receiver and transmitter of the photoelectric sensor 19 coincide with the central axes of the main mechanical arm 12 and the angle adjustment arm17 respectively. When the signals of the receiver and transmitter are interrupted, i.e., the main mechanical arm 12 and 7

BL-5257 the angle adjustment arm 17 are not in the same straight line, screen warning prompts. When the receiver receives normally the transmitter signals, it means that the main mechanical arm 12 and the angle adjustment arm 17 are in the same straight line, and the screen display is normal.

The control panel 6 adopts ZhongdaYoukong MM-60MR-12MT-S1001 A-FX-B touch screen PLC integrated machine. The control panel is connected to each sensor respectively through different I/O ports, receives input signals from the sensors, and outputs control signals to control the actions of each motor.

The distance sensor 10 uses infrared photoelectric sensor E3K100-DS100M1, and the adjustment value is set to 4 meters.

The photoelectric sensor 19 adopts the laser beam photoelectric switch sensor E3F- 20L/20C1 infrared sensor switch.

The control panel 6 can perform human-computer interaction. The drilling distance and drilling height, the direction of the operating surface, and the value of the drilling depth can be manually inputted, and then the corresponding motor is controlled to drill according to the set values. The operating sequence can be distance positioning, height positioning, drilling advancement, respectively.

The height is controlled by the rotation angle of the main mechanical arm motor 11. In the initial state, the main mechanical arm 12 is in a position perpendicular to the ground.

The height of the axis (axle center) of the main mechanical arm motor 11 from the plane where the rail is located is H, the initial angle of operating arm (refers to the entire mechanical arm, which is the generic name of the main mechanical arm 12 and the first height adjustment arm 13, the second height adjustment arm 15, the angle adjustment arm 17 and the drilling arm) axis is 90°, the operating height is h, the adjustment angle A0; is the angle between the mechanical arm radius and the vertical plane, 0<A6:<135°; when the operating height is greater than H, A0;=90°-arcsin((h-H)/R), when the operating height is less than H, A01=90°®+arcsin((h- H)/R), R is the operating radius; The bottom of the drilling arm 21 is a first stroke motor 21-15.The rotating shaft 21-3 of the upper end of the first stroke motor 21-15 has an external thread and is screwed through the threaded bore of the first stroke chassis 21-4.And both sides of the first stroke chassis 21-4 are provided with the first stroke chassis sliders 21-5, which are placed in the first slides 21-2. The upper end of the first stroke chassis 21-4 is provided with the first stroke columns 21-6, and the upper end of the first stroke column 21-6 is connected to the first stroke top plate 21-7. The upper end of first stroke top plate 21-7 is provided with the first motor base 21-8, and the upper 8

BL-5257 end of the first motor base 21-8 is provided with the drilling motor 21-9.The rotating shaft of the drilling motor 21-9 is provided with the drill clamp 21-10, which is provided with the drill 21-11, the drilling motor 21-9 is provided with a sprinkler 21-16, which is connected with the outlet of water pump 23 , and the inlet of water pump 23 is connected with the water tank 24.

The water pump 23 and the water tank 24 are disposed on the upper part of the second height adjustment arm 5.

The first pressure sensor 21-13 is disposed between the first motor base 21-8 and the stroke top plate 21-7. The first stroke top plate 21-7 can be provided with the thread groove. The bolt passes through the through hole on the first motor base 21-8 and is screwed into the thread groove. The bolt is longer than the depth of the thread groove. When the front end of the bolt reaches the bottom end of the thread groove, the bolt head has not been pressed onto the first motor base 21-8, so that the first motor base 21-8 and the first stroke top plate 21-7 can slide relatively slightly. When the drill of drilling motor 21-9 is under force, the first pressure sensor 21-13 detects the pressure change.

The detection signal output port of the first pressure sensor 21-13 is connected to the input end of the control panel, and the output end of the control panel is connected to the control signal input port of the drilling motor 21-9.

The pressure sensor 21-13/22-4 adopts Jiabao Lila pressure sensor, the model is SBT674- 200N.

The set value of the pressure value is 14.5N.

When starting the drilling motor 21-9, the water pump 23 is started. The water pump 23, connected to the water tank 24, performs spray water injection for the drill 21-11 through the sprinkler 21-16.

The drilling pressure and water injection volume can be controlled by the pressure sensor.

The outer side of the rotating shaft 21-3 can be provided with the protective cover 21-1, the lower end of which is fixed with the first stroke motor 21-15, the upper end of which is provided with the sealed cap 21-14.The outer wall of the upper end of the protective cover 21- 1 is provided with the external thread. The periphery of the sealed cap 21-14 protrudes down to form an annular flange, inside which the internal thread is provided corresponding to the external thread on the outer wall of the upper end of the protective cover 21-1. The center of the sealed cap 21-14 is provided with a hole through which the drilling motor 21-9 passes.

The bottom of the bolt mounting arm 22 is a second stroke motor. The rotating shaft of the upper end of the second stroke motor has an external thread and is screwed through the central threaded bore of the second stroke chassis. And both sides of the second stroke chassis 9

BL-5257 are provided with the second stroke chassis sliders, which are placed in the second slides. The upper end of the second stroke chassis is provided with the second stroke columns, and the upper end of the second stroke column is connected to the second stroke top plate. The upper end of second stroke top plate is provided with the second motor base, and the upper end of the second motor base is provided with the sleeve motor. The rotating shaft of the sleeve motor is provided with the installation sleeve 22-2. The position of the installation sleeve 22-2 corresponds to the position of the bolt outlet hole 22-1-6 of the bolt box 22-1.

The second stroke motor is provided with the bolt box protective cover 22-3 (the internal protective cover 22-6 can be disposed on the second stroke motor, the lower end of the bolt box protective cover 22-3 can be provided with the internal thread, and the bottom of the internal protective cover 22-6 can be correspondingly provided with the external thread), the bolt box protective cover 22-3 is provided with the protective cover through hole, the bolt outlet hole 22-1-6 and the installation sleeve 22-2 are installed in the protective cover through hole, and the protective cover through hole and the bolt box installation notch are connected. Bolt box 22-1 is installed through the bolt box installation notch. The bolt box 22-1 and the bolt box protective cover 22-3 are correspondingly provided with the bolt fixing hole 22-7. After the bolt box is fully installed, the fixing bolt is tightened and connected through the bolt fixing hole 22-7.

The second pressure sensor 22-4 is disposed between the second motor base and the second stroke top plate 22-5.

The second stroke top plate can be provided with the thread groove. The bolt passes through the through hole on the second motor base 21-8 and is screwed into the thread groove. The bolt is longer than the depth of the thread groove. When the front end of the bolt reaches the bottom end of the thread groove, the bolt head has not yet been pressed onto the second motor base, so that the second motor base and the second stroke top plate can slide relatively slightly. When the installation sleeve 22-2 is under force, the second pressure sensor 22-4 detects the pressure change.

The bolt box 22-1 includes the bolt box main body 22-1-1 and the bolt box base 22-1-2; the end face of the bolt box main body 22-1-1 is provided with the bolt box connecting bore 22-1-3, the end face of the bolt box base 22-1-2 is provided with the bolt box base threaded bore 22-1-4, the bolt outlet hole 22-1-6 is disposed on the bolt box main body 22-1-1, the bolt outlet hole 22-1-6 is connected with the bolt slide 22-1-5, which is extended to the end face of the bolt box main body 22-1-1, the bolt box base 22-1-2, corresponding to the bolt slide 22-1- 5, is provided with the advancing roof plate 22-1-8, which is connected to the bolt box base

BL-5257 22-1-2 through the advancing spring 22-1-7 .

The installation sleeve 22-2 includes the sleeve 22-2-4, in which the top plug 22-2-3 is installed, and the back end of top plug 22-2-3 is connected to the bottom of the sleeve 22-2-4 through the buffer spring 22-2-2. The sleeve 22-2-4 and the sleeve rear 22-2-1 are integrated structures, the top plug 22-2-3 and the buffer spring 22-2-2 are integrated structures, the buffer spring 22-2-2 and the bottom of the sleeve can be fixed through the perforated plug 22-2- 5.

The present invention can be applied to position and drill holes for supports and hangers of the section of the subway.

The working process of the present invention is described below in conjunction with the figures.

Firstly, the drilling mechanical arm of the he present invention is transported to the track line so that it is located on the working position.

The switch of power box 3 and the switch of control panel 6 are turned on (to supply power to each part). The control panel 6 firstly processes the data of the distance sensor 10. The distance sensors have three in total, which are in the direction of angles 45°, 90°, 135° from the ground. The second distance sensor is perpendicular to the ground at 90°, the angle between the first and third distance sensor is 90°, the angles between the first, third the distance sensor and the second distance sensor are both 45°, and the extension lines of the axes of the three sensors intersect the rotation center of the main mechanical arm 12. And because the track is located on the interior center of the tunnel, and the rotating shaft of the main mechanical arm 12 is located on the vertical line between the center of track and the ground, thus the measuring distances of the first and third distance sensors are always the same. According to the compared results with the measured values of the second distance sensor, the hydraulic device is controlled to adjust the height of the lifting platform (table). When the measured values of the first and third the distance sensor are less than the measured values of the second distance sensor, the lifting platform is raised, and otherwise the lifting platform is lowered. The adjustment stops until they are the same.

The first height adjustment arm 13 and the second height adjustment arm 15 are equal in length, and the angle adjustment arm17 and the main mechanical arm 12 are always on the same straight line, The length adjustment of the mechanical arm is converted to the transformation of the isosceles triangles with the height adjustment arm length b as the waist- length. The adjustment length value AX can be determined according to the measured operating radius R and the drilling arm length d, the angle adjustment arm length c, the main mechanical 11

BL-5257 arm calculation length a, and the reserved length Y, wherein X is determined by the length b of the first height adjustment arm 13 and the second height adjustment arm 15 and the angle 0 between the first height adjustment arm 13 and the second height adjustment arm 15.

The calculation is as follows: X=R-d-c-a-Y is deduced from R=X+d+c+a+Y; Length adjustment value AX=X-Xo, namely X=AX+Xo.

0=2 arcsin (X/2b) is deduced from X=2bsin(0/2)(6€30°~180°, due to mechanical thickness limitation, the limit value of angle 0 is 30°, that is, the initial value of X, Xo is 2bsin15°); Angle adjustment amount A6=6-00, namely A6=6-30°.

The radius R is determined according to the measured value of the distance sensor10, the adjustment amount AX can be determined, and thus the adjustment angle 6 can be determined. Due to the angle between the first height adjustment arm 13 and the second height adjustment arm 15 being 0=30° in the initial state of the mechanical arm, the angle 61 between the first height adjustment arm 13 and the operating radius axis is equal to the angle 02 between the second height adjustment arm 15 and the operating radius axis and is equal to 75°, and the angle between the angle adjustment arm 17 and the operating radius axis is 63. When the value of 6 is determined, the second height adjustment arm motor 16 starts the counterclockwise rotation of angle A6=0-30°, then the first height adjustment arm motor14 starts the clockwise rotation of angle A0/2, and then the angle adjustment arm motor 18 starts the clockwise rotation A6/2 , to ensure that the main mechanical arm 12 and the angle adjustment arm 17 are on the same straight line, and meanwhile the photoelectric sensor 19 also performs verification, which further ensures the straightness of the operating radius.

Wheel motor can adopt Yuyang 10 inch 40 magnet steel 1200W torque version brushless motor, model DX40H8RY, equipped with Hall element and brake system. The outside of the wheel can be made of rubber material, which increases the friction between the wheel and the steel rail and improves the accuracy of the distance parameter. The number of shaft revolutions is measured by the Hall element to determine the running distance. When reaching the set value, it stops moving forward and starts the brake system to complete the distance measurement work.

The height is controlled by the rotation angle of the main mechanical arm motor11. In the initial state, the main mechanical arm 12 is in a vertical position of the ground to facilitate the adjustment of operations on both sides. According to the determined operating radius R, 12

BL-5257 operating radius center, the height from main mechanical arm motor11 axis (axle center) to the steel rail plane is H, the initial angle of the operating arm is 90°, the operating height is h, the adjustment angle is A61, which is the angle between the mechanical arm radius and the vertical plane, and is affected by the mechanical arm structure 0<A81=<135°. When the operating height is greater than H, A01=90°-arcsin((h-H)/R), and when the operating height is less than H, A01=90°+arcsin((h-H)/R), Note: in program control, the angle converts to the radian.

The drilling depth is controlled through the drilling arm 21. The bottom of the drilling arm 21 is the first stroke motor 21-15 that powers the rotating shaft 21-3. The number of rotations of the motor controls the advancing distance of the first stroke chassis 21-4, the first stroke chassis slider 21-5, the first stroke column 21-6, and the first stroke top plate 21-7, that is the drilling depth. The set drilling depth parameters are realized by controlling the number of rotations of the stroke motor. There is a threaded structure in the center of the first stroke chassis 21-4, which moves up and down in cooperation with the external thread of the shaft21-3. When the shaft is turned forward, the first stroke chassis 21-4 rises, and when the shaft reverses, the first stroke chassis 21-4 falls. The first stroke chassis 21-4 and the first stroke chassis slider 21- 5, the first stroke column 21-6, the first stroke top plate 21-7 are integrated structures. The drilling motor 21-9 is bolted on the first stroke top plate 21-7 through the first motor base 21-

8. In order to ensure the stability of the stroke, the first slides 21-2 are welded on the inner wall of the protective cover 21-1, so that the stroke chassis sliders travel along the slides, while enhancing the stability. The lengths of the first stroke column 21-6 and the external threads of the shaft 21-3 determine the adjustment range of the drilling depth.

The drilling arm has a pressure sensing function, which is controlled by the first pressure sensor 21-13. The first pressure sensor is located on the middle of the drilling motor and the motor base. After the distance and drilling height are determined, the first stroke motor 21-15 starts, the drilling arm push outwards. When the drill 21-11 touches the wall, the backward thrust of the drilling motor 21-9 squeezes the first pressure sensor. When the pressure value reaches the set value, which is usually is 14.5N, the drilling motor 21-9 starts. The drilling motor is equipped with a planetary reducer to increase the torsion torque. The drilling motor starts, meanwhile the rotary speed of the first stroke motor 21-15 slows down to ensure a constant pressure to drill forward and avoid motor overload and burn away. When the drilling is completed, the first stroke motor reverses and returns to the original position, ready for the next drilling work.

The drilling arm has a water injection function. When the drilling motor 21-9 starts, meanwhile the water pump 23 starts, and the water pump 23 is connected to the water tank 24.

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BL-5257 Before the operation, the water tank is ensured to be sufficient in water volume. The sprinkler 21-16 is used to accurately perform spray water injection to the drill 21-11 to reduce the temperature of the drill and save water at the same time. For the upward drilling construction, the sealed cap 21-14 plays a protective role to prevent dust and sewage from flowing into the inside of mechanical arm and causing component damage.

Working mode switching refers to the switching between the drilling arm 21 and the bolt mounting arm 22, and this function is implemented by the operating mode switching motor 20. When a drilling operation is completed, the drilling arm stops working and the stroke mechanism returns to the original position. At this time, the operating mode switching motor20 starts and rotates 90° clockwise. Because the drilling arm 21 and the bolt mounting arm 22 are perpendicular to each other, equal in length, and similar in structure. The central axes of drilling arm 21 and the angle adjustment arm 17 are on the same straight line. After the operating mode switching motor rotates 90° clockwise, the axes of the bolt mounting arm 22 and the angle adjustment arm 17 are also on the same straight line, so that the bolts of the rotated bolt mounting arm 22 correspond to the completed drilling accurately, which ensures the vertical relationship between the drilling arm 21 (and the bolt mounting arm 22) and the arc-shaped operating surface in the tunnel, so as to ensure the quality of drilling and bolt installation. After the angles are rotated, the second stroke motor of bolt mounting arm 22 starts. Similar to the principle of the drilling arm 21, the whole is pushed forward, the installation sleeve 22-2 pushes the collision bolt to the drilled hole through the outlet hole of the bolt box 22-1. When the collision bolt is pushed to the bottom, the second pressure sensor 22-4 is pressurized, and the advancement stops at this time, the sleeve motor starts, rotates 3 turns to stop, the pre- installation of the bolts is completed, the second stroke motor reverses back to the original position, the mode switching motor starts to rotate 90° counterclockwise, adjusts to drilling mode, and waits for the next drilling command.

The bolt capacity can be adjusted according to the length of the bolt slide 22-1-5. The bolt is pushed forward through the advancing spring 22-1-7 and the advancing roof plate 22-1-8. After the bolt is ejected from the bolt outlet hole, and when the installation sleeve withdraws, under the pressure of the advancing spring, the bolt outlet hole will be filled automatically with the bolts. This bolt box can be quickly replaced, and multiple bolt boxes can be prepared for bolt pre-installation to improve work efficiency and ensure continuity when the workload is large.

The installation sleeves can reduce the damage to the bolts. The bolts are slowly pressed until they are pushed to the bottom of the drill hole, which is mainly achieved by the top plug 14

BL-5257 22-2-3 and the buffer spring 22-2-2. When the pressure sleeve just touches the bolt, the top plug pushes the bolt to travel. When the bolt is pushed into the drilling hole, the bottom of the bolt is stressed, and the bolt squeezes the buffer spring to compress, and the sleeve is matched with the nut on the bolt for rotation pre-tightening installation. This structure can prevent the sleeve from pre-squeezing the bolts and nuts to deform and affecting later installation. It can also prevent the situation that when the pre-drilled cavity is loose, the top bolts fall downward due to gravity, the installation is not in place. This structure realizes the high-quality installation of the bolts.

The present invention does not describe the rotation principle of the main mechanical arm 12 and the height arm and angle arm in detail. Because the gear structure and the reduction gear are within the conventional scope, they will not be repeated.

In general, the present invention has realized the automatic drilling holes and bolt pre- installation functions of supports and hangers of the inner wall of the subway tunnel. The overall structure is simple, practical, small and flexible, and has a wide range of applications. At the same time, it has a high degree of automation and can be centrally aligned and extend arm length, and guarantee to be perpendicular to the operating surface. The drilling distance, drilling position and depth can be set according to specific requirements, and drilling holes according to the set value and bolt installation can be continuously operated. It overcomes the difficulty of high-altitude drilling operations, reduces the amount of high-altitude operations, improves safety and stability, which can greatly reduce the manpower invested in drilling, and greatly save construction costs.

The foregoing are only preferred examples of the present invention, and are not used to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the pending claims of the present invention.

Claims

BL-5257 WHAT IS CLAIMED IS:

1.A drilling mechanical arm, characterized by including a base, a rotating base, a main mechanical arm, a height adjustment arm, an angle adjustment arm and a drilling arm; the rotating base being rotatably connected to the base, one end of the main mechanical arm being rotatably connected to the rotating base, the other end of the main mechanical arm being rotatably connected to one end of the height adjustment arm, and the other end of the height adjustment arm being rotatably connected to one end of the angle adjustment arm, and the other end of the angle adjustment arm being rotatably connected to the drilling arm; the rotating base being provided with a main mechanical arm motor to drive the main mechanical arm to rotate around an axis rotatably connecting the main mechanical arm to the rotating base; one end of the main mechanical arm to which the height adjustment arm is rotatably connected being provided with a height adjustment arm motor to drive the height adjustment arm to rotate around an axis rotatably connecting the height adjustment arm to the main mechanical arm; one end of the height adjustment arm to which the angle adjustment arm is rotatably connected being provided with an angle adjustment arm motor to drive the angle adjustment arm to rotate around an axis rotatably connecting the angle adjustment arm to the height adjustment arm; wherein the axis rotatably connecting the height adjustment arm to the main mechanical arm, the axis rotatably connecting the angle adjustment arm to the height adjustment arm, and an axis rotatably connecting the angle adjustment arm to the drilling arm, are parallel to each other and all perpendicular to an axis rotatably connecting the rotating base to the base.

2. The drilling mechanical arm according to claim 1, characterized in that the height adjustment arms includes a first height adjustment arm and a second height adjustment arm, one end of the first height adjustment arm is rotatably connected to the main mechanical arm, the other end of the first height adjustment arm is rotatably connected to one end of the second height adjustment arm, and the other end of the second height adjustment arm is rotatably connected to the angle adjustment arm; correspondingly, the height adjustment arm motors include a first height adjustment arm motor and a second height adjustment arm motor, the first height adjustment arm motor is located on one end of the main mechanical arm to which the first height adjustment arm is rotatably connected, to 16

BL-5257 drive the first height adjustment arm to rotate around an axis rotatably connecting the first height adjustment arm to the main mechanical arm; the second height adjustment arm motor is located on one end of the first height adjustment arm to which the second height adjustment arm is rotatably connected, to drive the second height adjustment arm to rotate around an axis rotatably connecting the second height adjustment arm to the first height adjustment arm; and the angle adjustment arm motor is installed on one end of the second height adjustment arm to which the angle adjustment arm is rotatably connected.

3. The drilling mechanical arm according to claim 1, characterized by also including a mounting arm, which is fixedly connected to the drilling arm, linked with the drilling arm, and rotates around the axis rotatably connecting the drilling arm to the angle adjustment arm; corresponding, one end of the drilling arm to which the angle adjustment arm is rotatably connected is provided with an operating mode switching motor, which can drive the drilling arm and the mounting arm to rotate together to switch among different operating modes, wherein the operating modes include: bolt installation mode executed by the mounting arm, drilling operating mode executed by the drilling arm.

4. The drilling mechanical arm according to claim 3, characterized in that the angle between the mounting arm and the drilling arm is 90°.

5. The drilling mechanical arm according to claim 1, characterized in that the bottom of the base is installed on wheels.

6. The drilling mechanical arm according to claim 1, characterized in that the rotating base is rotatably connected to the base via a hydraulic work head and a jack, wherein one side of the hydraulic work head is rotatably connected to the rotating base, and the opposite side is connected to the one end of the jack, and the other end of the jack is located on the base.

7. The drilling mechanical arm according to claim 2, characterized in that the angle adjustment arm motor is provided with a transmitter of a photoelectric sensor, and the first height adjustment arm motor is provided with a receiver of the photoelectric sensor .

8. The drilling mechanical arm according to any one of claims 1-7, characterized in that the 17

BL-5257 main mechanical arm motor is provided with a distance sensor.

9. The drilling mechanical arm according to claim 8, characterized in that the distance sensors include a first distance sensor, a second distance sensor, and a third distance sensor; the angles between the first distance sensor, the second distance sensor, and the third distance sensor and the ground are respectively 45°, 90°, 135°; and an extension line of the first distance sensor in central axis direction, an extension line of the second distance sensor in central axis direction, and an extension line of the third distance sensor in central axis direction intersect at a rotation center of the main mechanical arm.

10. The drilling mechanical arm according to claim 2, characterized in that a distance between the axis rotatably connecting the first height adjustment arm to the main mechanical arm and an axis rotatably connecting the first height adjustment arm to the second height adjustment arm, is equal to a distance between the axis rotatably connecting the second height adjustment arm to the first height adjustment arm and an axis rotatably connecting the second height adjustment arm to the angle adjustment arm. 18