Construction method based on tunnel rail-mounted omnidirectional inner wall drilling robot

Abstract

The invention discloses a construction method based on a tunnel rail-mounted omnidirectional inner wall drilling robot, and relates to the technical field of tunnel laying. The construction method specifically comprises the steps that S1, equipment is in place; S2, initialization calibration is carried out; S3, drilling operation is executed; and S4, hole positions are calibrated again. According to the construction method based on the tunnel rail-mounted omnidirectional inner wall drilling robot, the distance and the direction between a laser beam spot parallel to a drill rod and a target are measured, a servo control system is guided to control an end effector to be accurately positioned, a hydraulic stress monitoring system is additionally arranged to judge whether steel bars are drilled or not, two sets of laser distance measuring sensors and stay wire sensors are arranged to monitor the deviation value of the top surface of a steel rail, and the angle and the height are compensated through a worm of a folding arm assembly and a lifting oil cylinder of a drilling execution assembly. According to the method, the drilling operation of the tunnel drilling robot is systematically and scientifically summarized, the problems are effectively solved, and the purposes of saving cost, accelerating the construction progress, improving the construction quality and guaranteeing the construction safety are achieved.

Description

Technical field [0001] The present invention relates to the field of tunnel laying technology, and is specifically a construction method based on tunneling rail-based pendant inner wall drilling robot. Background technique [0002] With the rapid development of my country's subway tunnel transportation, the traction power supply contact network, side wall cable, pipeline, and emergency evacuation platform and other electromechanical installations need to be drilled with a large amount of mounting holes on the tunnel wall, which is still mainly used artificial scribe. The operation platform assists manual handheld drilling operation mode, which exists below: [0003] (1) Due to the large number of drilling, in order to meet the requirements requirements, a large number of mechanics have to be employed, the cost is high; [0004] (2) The quality of manual operations, such as the position of the drilling, and the accuracy and consistency of the drilling direction are difficult to gu...

AI Technical Summary

Problems solved by technology

[0008] Aiming at the deficiencies of the existing technology, the present invention provides a construction method based on a tunnel rail-type omnidirectional inner wall drilling robot, which solves the problem that the emergence of the drilling robot proposed in the above-mentioned background technology has changed the manual work exposed to a certain extent. However, the robot operation has not yet formed a comprehensive scientific construction method, resulting in the problems that each unit goes its own way during construction, the construction operation is not uniform, and the construction effect is not ideal.

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