CN-115807621-B - Tunnel punching robot

CN115807621BCN 115807621 BCN115807621 BCN 115807621BCN-115807621-B

Abstract

The invention discloses a tunnel punching robot which comprises a supporting platform, a drilling mechanism, a steel bar detection mechanism, a blowing and dust collection mechanism, a mechanical arm, a lifting mechanism, a horizontal telescopic mechanism, a traveling mechanism and a control mechanism, wherein the drilling mechanism, the steel bar detection mechanism and the blowing and dust collection mechanism are fixed at the tail end of the mechanical arm, the steel bar detection mechanism is used for detecting whether steel bars exist in a tunnel wall, the drilling mechanism is used for punching a position without the steel bars on the tunnel wall, the blowing and dust collection mechanism is used for blowing dust in a hole and sucking away the dust, the bottom of the mechanical arm is fixed on the lifting mechanism, the lifting mechanism is fixed on the horizontal telescopic mechanism, the horizontal telescopic mechanism is fixed on the supporting platform, the traveling mechanism is fixed below the supporting platform, and the control mechanism is electrically connected with the drilling mechanism, the steel bar detection mechanism, the blowing and dust collection mechanism, the mechanical arm, the lifting mechanism, the horizontal telescopic mechanism and the traveling mechanism. The tunnel punching robot can perform intelligent punching, and improves the construction efficiency and the safety.

Inventors

WU YUANHUI
CUI CHONG
GE SHUYUN
ZHANG JUN
YUAN YUCHAO
WU XIANGYANG
Xiong Xintao
WANG PENG
CHEN ZHENHUA

Assignees

中铁电气化局集团有限公司
中铁电气化局集团第一工程有限公司

Dates

Publication Date: 20260508
Application Date: 20221219

Claims (8)

1. The tunnel punching robot is characterized by comprising a supporting platform (1), a drilling mechanism (2), a steel bar detection mechanism (3), a blowing and dust collection mechanism (4), a mechanical arm (5), a lifting mechanism (6), a horizontal telescopic mechanism (7), a travelling mechanism (8) and a control mechanism, The drilling mechanism (2), the steel bar detection mechanism (3) and the blowing and dust collection mechanism (4) are fixed at the tail end of the mechanical arm (5), the steel bar detection mechanism (3) is used for detecting whether steel bars exist in a tunnel wall, the drilling mechanism (2) is used for punching a position without the steel bars on the tunnel wall, the blowing and dust collection mechanism (4) is used for blowing dust in the hole and sucking away, the bottom of the mechanical arm (5) is fixed on the lifting mechanism (6), The lifting mechanism (6) is fixed on the horizontal telescopic mechanism (7), the lifting mechanism (6) is used for carrying the mechanical arm (5) to lift, The horizontal telescopic mechanism (7) is fixed on the supporting platform (1), the horizontal telescopic mechanism (7) is used for horizontally telescoping along the direction vertical to the track (13), The travelling mechanism (8) is fixed below the supporting platform (1), the travelling mechanism (8) is used for driving the tunnel punching robot to move to a designated position along a track (13) in the tunnel, The control mechanism is respectively and electrically connected with the drilling mechanism (2), the steel bar detection mechanism (3), the blowing and dust collection mechanism (4), the mechanical arm (5), the lifting mechanism (6), the horizontal telescopic mechanism (7) and the traveling mechanism (8) and is used for controlling the mechanisms to execute corresponding actions, Still include dust absorption mechanism (11), dust absorption mechanism (11) are fixed on arm (5), dust absorption mechanism (11) are including negative pressure device (111), four-way pipe (112) and dust absorption reversing mechanism (113), negative pressure device (111) are equipped with dust absorption mouth and play dirt mouth, two of them mouth of pipe of four-way pipe (112) set up relatively, two other mouths of pipe of four-way pipe (112) are as induction port (1121), two be preset contained angle between induction port (1121), one of them mouth of pipe of the opposite mouth of pipe of four-way pipe (112) with the dust absorption mouth of negative pressure device (111) is connected, dust absorption reversing mechanism (113) sealing connection is in another mouth of pipe department of the opposite mouth of pipe of four-way pipe (112) just switches the intercommunication state of two induction ports (1121) and external world, and at least one induction port (1121) communicates with external world.
2. The tunnel boring robot according to claim 1, characterized in that the boring mechanism (2), the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are fixed at the tail end of the mechanical arm (5) through a fixing frame (10), the tail end of the mechanical arm (5) is fixedly connected with the fixing frame (10), the boring mechanism (2) is fixed on the fixing frame (10), a drill bit of the boring mechanism (2) extends out of the fixing frame (10), the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are both in sliding connection with the fixing frame (10), the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are both located outside the fixing frame (10), the drill bit of the boring mechanism (3), the drill bit of the boring mechanism (2) and the blowing and sucking mechanism (4) are located at one side of the fixing frame (10) away from the mechanical arm (5), and the sliding directions of the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are parallel to the length direction of the drill bit (2).
3. The tunnel boring robot according to claim 2, wherein the dust blowing and sucking mechanism (4) comprises a dust blowing pipe (41), a first dust sucking pipe (42), a first dust cover (43), a dust blowing device and a first dust sucking device, the first dust sucking pipe (42) is a three-way pipe, the dust blowing pipe (41) is a three-way pipe with one closed end, the first dust cover (43) is connected with one pipe opening of the first dust sucking pipe (42), the first dust cover (43) and the first dust sucking pipe (42) are sleeved outside the dust blowing pipe (41), the pipe opening of the first dust sucking pipe (42) is far away from the first dust cover (43) and is in sealing connection with the dust blowing pipe (41), one pipe opening of the dust blowing pipe (41) is close to the first dust cover (43), the other pipe opening of the dust blowing pipe (41) extends out of the first dust cover (43) or the first dust sucking pipe (42) and is connected with one pipe opening of the first dust sucking pipe (42), and the other pipe opening of the dust blowing pipe (41) is far away from the first dust blowing device (41) and is close to the first dust sucking device (42).
4. A tunnel boring robot according to claim 2 or 3, wherein a second dust cover (103) and a second dust suction pipe (104) are sleeved outside the drill bit of the boring mechanism (2), the second dust suction pipe (104) is a three-way pipe with one closed end, one pipe orifice of the second dust suction pipe (104) is connected with the second dust cover (103), the closed pipe orifice of the second dust suction pipe (104) is fixedly connected with the fixing frame (10), and a third pipe orifice of the second dust suction pipe (104) is connected with a second dust suction device.
5. The tunnel boring robot according to claim 1, wherein the dust collection reversing mechanism (113) comprises a reversing stop block (1131) for closing an air suction port (1121), a sealing piston (1132) for sealing the pipe opening of the four-way pipe (112) away from the negative pressure device (111), and a rotary driving mechanism (1133), the reversing stop block (1131) and the sealing piston (1132) are sleeved in a pipeline where two opposite pipe openings of the four-way pipe (112) are located, one end of the reversing stop block (1131) away from the negative pressure device (111) is fixedly connected with the sealing piston (1132), the rotary driving mechanism (1133) is fixedly connected with the sealing piston (1132), and the rotary driving mechanism (1133) drives the reversing stop block (1131) and the sealing piston (1132) to rotate relative to the four-way pipe (112) so that the air suction port (1121) is closed or opened by the reversing stop block (1131), and at least one of the air suction ports (1121) is communicated with the outside.
6. The tunnel boring robot according to claim 1, wherein the dust collection reversing mechanism (113) comprises a reversing stop (1131) for closing an air suction port (1121), a sealing piston (1132) for sealing the four-way pipe (112) away from the pipe orifice of the negative pressure device (111), and a rotary driving mechanism (1133), the reversing stop (1131) and the sealing piston (1132) are sleeved in the pipe where two opposite pipe orifices of the four-way pipe (112) are located, the sealing piston (1132) is positioned on one side of the reversing stop (1131) away from the negative pressure device (111) and is fixedly connected with the four-way pipe (112), the rotary driving mechanism (1133) penetrates through the sealing piston (1132) and is fixedly connected with the reversing stop (1131), and the rotary driving mechanism (1133) drives the reversing stop (1131) to rotate relative to the four-way pipe (112) so that the air suction port (1121) is closed or opened by the reversing stop (1131), and at least one of the air suction ports (1121) is communicated with the outside.
7. The tunnel boring robot according to claim 1, further comprising a travel stopping clamping rail mechanism (12), wherein the travel stopping clamping rail mechanism (12) is fixed below the supporting platform (1), the travel stopping clamping rail mechanism (12) comprises a first driving motor, a bidirectional screw, a first screw nut block, a second screw nut block, a first clamping jaw (121) and a second clamping jaw (122), the first clamping jaw (121) and the second clamping jaw (122) are oppositely arranged, the first clamping jaw (121) is fixedly connected with the first screw nut block, the second clamping jaw (122) is fixedly connected with the second screw nut block, a positive screw thread and a negative screw thread are arranged on the bidirectional screw, the first screw nut block is in threaded connection with the positive screw thread of the bidirectional screw, the second screw nut block is in threaded connection with the negative screw thread of the bidirectional screw, a sliding chute which is in sliding connection with the first screw nut block and the second screw nut block is arranged on the bottom surface of the supporting platform (1), and the second clamping jaw is parallel to the driving of the bidirectional screw.
8. The tunnel boring robot according to claim 1, wherein the traveling mechanism comprises a front traveling wheel (81), a rear traveling wheel (82), a second driving motor (83) and a sprocket chain transmission mechanism (84), the two front traveling wheels (81) are connected through a connecting shaft (85), the two rear traveling wheels (82) are connected through the connecting shaft (85), the two connecting shafts are both rotationally connected with the supporting platform (1), and the second driving motor (83) drives the connecting shaft (85) to rotate through the sprocket chain transmission mechanism (84) so as to drive the front traveling wheels (81) and the rear traveling wheels (82) to roll along a track (13) in the tunnel.

Description

Tunnel punching robot Technical Field The invention relates to the technical field of tunnel construction, in particular to a tunnel punching robot. Background When railway and subway construction are carried out, the operation of punching the leaky cable in the tunnel is usually needed, so that the suspension of the leaky cable of the private network or the suspension of the leaky cable of the public network is realized. Usually, the private network drain cable is hung with a height of 4.5 to 4.8m from the rail surface, the public network drain cable is 2 to 2.6m, and the distance between the holes is kept at 1m during punching. The traditional construction method is that a two-layer scaffold is firstly erected, constructors climb up and then carry out line drawing positioning and punching operation, 4 to 6 persons are needed when moving the scaffold, 80m eyes can be punched only in 1 hour, the construction efficiency is low, and the risk of high-altitude operation is high. Disclosure of Invention Aiming at the defects of the prior art, the invention innovatively provides the tunnel punching robot which can perform intelligent punching, can walk in a tunnel, avoids manual handling instruments, can horizontally stretch and retract to ensure that punching can be performed on the wall surface of the tunnel, can control the vertical height of punching, and ensure that punching is performed at a position without a reinforcing steel bar, so that the damage of a drilling mechanism is reduced, dust in the hole can be cleaned in time after punching, the subsequent screen leakage hanging efficiency is improved, the continuity and the intellectualization of operation are realized, and the construction efficiency and the safety are improved. In order to achieve the technical aim, the invention discloses a tunnel punching robot which comprises a supporting platform, a drilling mechanism, a steel bar detection mechanism, a blowing and dust collection mechanism, a mechanical arm, a lifting mechanism, a horizontal telescopic mechanism, a travelling mechanism and a control mechanism, The drilling mechanism, the steel bar detection mechanism and the dust blowing and sucking mechanism are fixed at the tail end of the mechanical arm, the steel bar detection mechanism is used for detecting whether steel bars exist in a tunnel wall, the drilling mechanism is used for punching a position without the steel bars on the tunnel wall, the dust blowing and sucking mechanism is used for blowing out dust in a hole and sucking away the dust, the bottom of the mechanical arm is fixed on the lifting mechanism, The lifting mechanism is fixed on the horizontal telescopic mechanism and is used for carrying the mechanical arm to lift, The horizontal telescopic mechanism is fixed on the supporting platform and is used for horizontally telescoping along the direction vertical to the track, The travelling mechanism is fixed below the supporting platform and is used for driving the tunnel punching robot to move to a designated position along the track in the tunnel, The control mechanism is respectively and electrically connected with the drilling mechanism, the steel bar detection mechanism, the blowing and dust collection mechanism, the mechanical arm, the lifting mechanism, the horizontal telescopic mechanism and the travelling mechanism and is used for controlling the mechanisms to execute corresponding actions. Further, the drilling mechanism, the steel bar detection mechanism and the blowing dust collection mechanism are fixed at the tail end of the mechanical arm through a fixing frame, the tail end of the mechanical arm is fixedly connected with the fixing frame, the drilling mechanism is fixed on the fixing frame, a drill bit of the drilling mechanism extends out of the fixing frame, the steel bar detection mechanism and the blowing dust collection mechanism are both in sliding connection with the fixing frame, the steel bar detection mechanism and the blowing dust collection mechanism are both in the outside of the fixing frame, the steel bar detection mechanism, the drill bit of the drilling mechanism and the blowing dust collection mechanism are located at one side, away from the mechanical arm, of the fixing frame, and the sliding direction of the steel bar detection mechanism and the blowing dust collection mechanism is parallel to the length direction of the drill bit of the drilling mechanism. Further, the dust blowing and sucking mechanism comprises a dust blowing pipe, a first dust sucking pipe, a first dust cover, a dust blowing device and a first dust sucking device, wherein the first dust sucking pipe is a three-way pipe, the dust blowing pipe is a three-way pipe with one closed end, the first dust cover is connected with one pipe opening of the first dust sucking pipe, the first dust cover and the first dust sucking pipe are sleeved outside the dust blowing pipe, the first dust sucking pipe is far away from the pipe opening o