Multi-degree-of-freedom reverse hole forming robot

Abstract

The invention discloses a multi-degree-of-freedom reverse hole forming robot, and relates to the technical field of engineering machinery, in particular to the multi-degree-of-freedom reverse hole forming robot. The robot comprises an overhead working truck, a multi-axis mechanical arm and a hole forming device, the top of the overhead working truck is provided with an extension arm, and the top end of the extension arm is movably provided with the multi-axis mechanical arm; and a mechanical arm control cabinet is arranged on the side face of the extension arm, and the hole forming device is installed at one end of the multi-axis mechanical arm. According to the multi-degree-of-freedom reverse hole forming robot, the multi-axis mechanical arm is matched with an overhead working truck arm type, a shear fork type, a mast type and the like to be controlled by an intelligent system, a hole forming tool can automatically reach any position and angle within the reachable range, directional hole forming or batched automatic hole forming work is completed, and the multi-degree-of-freedom reverse hole forming robot can be used for engineering fields such as workshops, tunnels and buildings and is easy to operate; and the efficiency is high, and the labor intensity of personnel can be greatly reduced.

Description

technical field [0001] The invention relates to the technical field of engineering machinery, in particular to a multi-degree-of-freedom reverse hole-making robot. Background technique [0002] Drilling and trenchless machinery is a type of engineering machinery for drilling minerals, rocks and soil layers. It is not only widely used in the production of metallurgy, coal, chemical and other mines, but also in geology, construction, hydropower, transportation and military. The main equipment in engineering construction. [0003] At present, most of the holes on the zenith surface rely on manual drilling. The manual drilling speed is relatively slow, the working environment is harsh, and people with high strength are prone to fatigue. Automated drilling can achieve fast speed and continuous work for a long time, but the reverse drilling of the arc roof cannot be satisfied by simple improvement of the existing equipment. At the same time, due to the variability of the actual t...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the holes on the zenith surface rely on manual drilling, the speed of manual drilling is slow, the working environment is harsh, and people with high strength are prone to fatigue

Automated drilling can achieve fast speed and continuous work for a long time, but the reverse drilling of the arc roof cannot be satisfied by simple improvement of the existing equipment. At the same time, due to the variability of the actual tunnel scene, it may be different The position of the wall and the wall will be different, so it will be difficult for the robot alone to make the drilling operation very accurate every time. Due to the slow speed of manual drilling and high work intensity, the reverse direction of the arc top In terms of drilling, there is an urgent need for an automated device that can replace manual drilling. However, due to the particularity of the arc top reverse drilling, it is impossible to replace manual drilling by simply modifying the existing automation equipment on the market. In addition, the existing drilling When the drilling equipment drills the arc roof of reinforced concrete, there will be steel bars on the drilling point, which will easily cause damage to the drill bit and motor of the drilling tool. Therefore, we propose a multi-degree-of-freedom reverse hole-making robot. solve the problems raised above

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