A combined boom for tunnel construction

Abstract

The present invention relates to the technical field of tunnel construction equipment, and more specifically, to a combined boom for tunnel construction. The boom includes a rotary rock drilling device. A first rotary mechanism is mounted on a mechanical arm, enabling the device to rotate horizontally. The mechanical arm is connected to a drilling gripper mechanism via a third rotary mechanism. The drilling gripper mechanism is located at the end of the mechanical arm. A connecting base is connected below the third rotary mechanism. The connecting base and the drilling gripper mechanism are connected to a first pitch cylinder. The purpose of the combined boom is to simultaneously facilitate tunnel arch installation and rock drilling during tunnel construction, thereby enhancing the mechanization of the engineering trolley and improving construction efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction equipment, and in particular relates to a combined boom for tunnel construction. Background Art

[0002] Tunnel construction often requires multiple operations. A common approach involves placing different construction devices within the tunnel to facilitate these operations, or moving different devices in and out of the tunnel for each operation. This repetitive back-and-forth process not only prolongs construction time, but also creates interference between devices, hindering ongoing operations.

[0003] At present, there are also multiple booms set on a construction trolley to carry out different construction operations. However, the arch frame trolley can usually only perform arch frame operations during the construction process. After the arch frame is actually erected, the arch frame needs to be fixed with retracted anchor rods. At present, the retracted anchor rod operations in construction are all manually drilled and then installed with anchor rods, which makes the entire operation unable to be truly mechanized and the operation efficiency is low. Summary of the Invention

[0004] In order to solve the problem that multiple construction operations cannot be carried out simultaneously during tunnel construction, the present invention provides a combined boom, which combines a rock drilling device and a drilling gripper mechanism. After the arch frame is installed, the rock drilling device can be used to drill holes and fix the retracted anchor rods, thereby improving the mechanization capability of the entire boom and improving the operation efficiency. In order to ensure the independent operation of the drilling gripper mechanism, the rock drilling device is set to a rotary type so that the rock drilling device can rotate in the horizontal direction. When the rock drilling device is not in use, the rock drilling device can be rotated to the rear side without affecting the use of the drilling gripper mechanism, thereby improving the flexibility and operability of the entire combined boom.

[0005] The technical solution adopted in the present invention is:

[0006] A rotary rock drilling device includes a propulsion beam, a propulsion mechanism is provided in the propulsion beam, a drill rod is provided on the propulsion beam, the end of the drill rod is connected to the drill bit, and the other end of the drill rod is connected to the rock drilling head; the propulsion mechanism is connected to the drill rod, and the drill rod and the propulsion beam move relative to each other; a first rotary mechanism is provided under the propulsion beam, and the propulsion beam rotates circumferentially in the horizontal direction through the first rotary mechanism.

[0007] Due to the above technical solution, the propulsion beam can rotate circumferentially in the horizontal direction through the first rotating mechanism. When the rock drilling device is not in use, the propulsion beam can be rotated to the rear side without affecting the use of other mechanisms. At the same time, it can also improve the flexibility of the rock drilling device, and rock drilling construction can be carried out in different positions.

[0008] Preferably, the side surface of the propulsion beam is connected to a second rotating mechanism, and the second rotating mechanism is connected to the first rotating mechanism through a bent pipe; the second rotating mechanism drives the propulsion beam to rotate in the vertical direction.

[0009] Due to the above technical solution, the propulsion beam can be rotated up and down in the vertical direction, which increases the working range of the propulsion beam and meets the possibility of construction in different directions and angles during tunnel construction.

[0010] Preferably, the propulsion mechanism includes a chain, which is arranged in the propulsion beam and rotates relative to the propulsion beam; a movable seat is connected below the rock drill head, the movable seat is adapted to the chain, and the chain drives the movable seat to move forward and backward.

[0011] Due to the above technical solution, the movable seat is driven to move by the chain, and teeth meshing with the chain are provided under the movable seat, so that the forward propulsion force is provided for the drill bit during rock drilling.

[0012] Preferably, the end of the propulsion beam close to the drill bit is connected to a positioning pin, the positioning pin is connected to the propulsion beam through a spring, and the positioning pin and the propulsion beam move relative to each other; the positioning pins are symmetrically arranged in two.

[0013] Due to the above technical solution, preliminary positioning can be performed in advance when drilling holes by setting the positioning pins, and the positioning pins are connected to the propulsion beam through a spring, which can avoid damage to the positioning pins when the operation is careless.

[0014] A combined arm for tunnel construction, wherein the first slewing mechanism is arranged on a mechanical arm, the mechanical arm is connected to a gripping mechanism via a third slewing mechanism, the third slewing mechanism drives the gripping mechanism to rotate in the horizontal direction, the gripping mechanism is located at the end of the mechanical arm; the gripping mechanism rotates in the vertical plane via a first pitch cylinder.

[0015] Due to the above technical solution, the rotary rock drilling device and the gripping mechanism are combined on the robotic arm, which can improve the functionality of the robotic arm and can meet various construction needs when an engineering trolley enters the tunnel, thereby improving construction efficiency.

[0016] Preferably, the gripping mechanism is arranged on a workbench, the workbench is connected to the leveling seat, the other end of the leveling seat is hinged to the connecting seat, the connecting seat is arranged below the third rotating mechanism, and the two ends of the first pitch cylinder are respectively connected to the connecting seat and the leveling seat.

[0017] Due to the above technical solution, the setting of the workbench can ensure that the construction workers can stand on the workbench and operate the gripping mechanism. When the gripping mechanism grabs the arch frame, the workers can also stand on the workbench to perform the connection operation.

[0018] Preferably, the gripping mechanism is hinged on a telescopic rod, the other end of the telescopic rod is connected to the workbench, and the telescopic rod is telescoped in the vertical direction by a telescopic oil cylinder.

[0019] Due to the above technical solution, the gripping mechanism can be extended and retracted in the vertical direction, thereby increasing the working range of the gripping mechanism.

[0020] Preferably, the gripping mechanism includes a manipulator, a breaker hammer is provided at the manipulator, the manipulators are symmetrically arranged in two, and a guide plate is provided between the two manipulators.

[0021] Due to the above technical solution, when the manipulator grabs the arch frame, the guide plate can improve the accuracy of the manipulator's grabbing, thereby improving construction efficiency.

[0022] Preferably, a second pitch cylinder is connected between the drilling gripper mechanism and the telescopic rod, and the second pitch cylinder drives the drilling gripper mechanism to rotate up and down in a vertical plane.

[0023] Due to the above technical solution, the second pitch cylinder can drive the drilling gripper mechanism to pitch, which can meet the multi-angle operation of the drilling gripper mechanism.

[0024] Preferably, the robotic arm is a telescopic arm, and the robotic arm rotates up and down in a vertical plane through a third pitch cylinder.

[0025] Due to the above technical solution, the robotic arm is a telescopic arm that can be extended or shortened according to different work requirements, and the working range of the robotic arm is increased by the third pitch cylinder, thereby improving the overall flexibility of the robotic arm.

[0026] The benefits of the present invention lie in that: by combining a rotary rock drilling device and a drilling gripper mechanism on a robotic arm, and the rotary rock drilling device and the drilling gripper mechanism can both rotate relative to the robotic arm, there is no interference between the rotary rock drilling device and the drilling gripper mechanism, and it is possible to complete a variety of construction operations when an engineering trolley enters a tunnel, that is, the arch frame can be grabbed by the robotic arm, and the rock drilling device can be used to drill holes and then install anchor rods, which provides convenience for construction, saves construction time, and also provides safety protection for construction personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention;

[0028] Figure 2 This is a partial enlarged view of the drill bit;

[0029] Figure 3 This is a partial enlarged view of the drilling gripper mechanism;

[0030] Figure 4 It is a side view of the present invention.

[0031] In the figure: 1-drill rod, 2-drill bit, 3-rock drill head, 4-moving seat, 5-propelling beam, 6-chain, 7-locating pin, 8-spring, 9-second rotary mechanism, 10-bend pipe, 11-first rotary mechanism, 12-mechanical arm, 13-third pitching cylinder, 14-workbench, 15-drilling gripper mechanism, 16-third rotary mechanism; 17-connecting seat; 18-leveling seat; 19-first pitching cylinder; 20-mechanical arm; 21-drilling machine; 22-guide plate; 23-second pitching cylinder; 24-telescopic rod. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] A rotary rock drilling device includes a propulsion beam 5, a propulsion mechanism disposed within the propulsion beam 5, a drill rod 1 disposed on the propulsion beam 5, and a drill bit 2 connected to the end of the drill rod 1. The drill bit 2 can be used to drill a hole in a tunnel and then install an anchor bolt to fix it. The other end of the drill rod 1 is connected to a rock drill head 3, which can provide power for the drill rod 1. The propulsion mechanism is connected to the drill rod 1 and provides forward power to the drill rod 1, allowing the drill rod to continuously move forward to facilitate drilling. The drill rod 1 and the propulsion beam 5 move relative to each other. The propulsion beam 5 is connected to a mechanical arm 12 via a first rotary mechanism 11. The propulsion beam 5 rotates horizontally relative to the mechanical arm 12. In the present invention, the propulsion beam 5 is preferably mounted on the mechanical arm 12, but can also be mounted on other mechanisms according to actual use requirements. The rotation of the propulsion beam 5 can enable the propulsion beam 5 to work in different directions and ensure that when the propulsion beam 5 is not in use, it can be rotated to the rear of the mechanical arm 12 without affecting the use of other mechanisms on the front.

[0034] The side of the propulsion beam 5 is connected to a second rotary mechanism 9, which is connected to the first rotary mechanism 11 via a curved tube 10 with a 90° bend. The second rotary mechanism 9 drives the propulsion beam 5 to rotate vertically. The propulsion beam 5 can rotate horizontally relative to the robotic arm 12 and can also rotate vertically, enhancing its flexibility and meeting work requirements in different directions.

[0035] The propulsion mechanism includes a chain 6 disposed within a propulsion beam 5 and rotating relative to the propulsion beam 5. A movable base 4 is connected below the rock drill head 3 and is adapted to engage with the chain 6, which drives the movable base 4 to move forward and backward. It is understood that the chain 6 continuously rotates to drive the movable base 4 forward and backward. The movable base 4 is provided with teeth that mesh with the chain 6, thereby ensuring the forward and backward movement of the drill rod 1 to complete the drilling operation.

[0036] A positioning pin 7 is connected to the end of the propulsion beam 5 near the drill bit 2. The positioning pin 7 is used for positioning before drilling. The positioning pin 7 is connected to the propulsion beam 5 through a spring 8. The positioning pin 7 and the propulsion beam 5 move relative to each other. The spring 8 can provide a pre-tightening force for the positioning pin 7, and also avoids the damage of the propulsion beam 5 caused by excessive thrust when the positioning pin 7 and the propulsion beam 5 are rigidly connected. In order to ensure the accuracy of positioning, the positioning pin 7 is symmetrically set to two.

[0037] like Figure 1-4 As shown, a tunnel construction combined boom includes the above-mentioned rotary rock drilling device, the mechanical arm 12 is connected to the gripping mechanism 15 through the third rotary mechanism 16, and the third rotary mechanism 16 can drive the gripping mechanism 15 to rotate in the horizontal direction, so that the gripping mechanism 15 can be turned to different directions for work, and when the gripping mechanism 15 is working, the rotary rock drilling device can be rotated to the rear side without affecting the work of the gripping mechanism 15; the gripping mechanism 15 includes a mechanical arm 20, and a breaker hammer 21 is provided at the mechanical arm 20. 20 can grab the arch frame when installing the arch frame, and the breaker hammer 21 on the gripping mechanism 15 can perform the crushing operation at the position where crushing is required; when crushing is not required, the manipulator 20 can be used alone to grab the arch frame, which is convenient for positioning and installation of the arch frame. The gripping mechanism 15 and the rotary rock drilling device are combined and installed on the same manipulator arm 12, which can reduce the size of the construction trolley and avoid too many engineering vehicles entering at the same time during tunnel construction. When one engineering vehicle enters, multiple construction operations can be completed, thereby improving construction efficiency.

[0038] The gripping mechanism 15 is arranged on the workbench 14, and the workbench 14 is connected to the leveling seat 18. The other end of the leveling seat 18 is hinged to the connecting seat 17. In one embodiment, the connecting seat 17 is arranged below the third rotating mechanism 16, and the two ends of the first pitching oil cylinder 19 are respectively connected to the connecting seat 17 and the leveling seat 18, thereby ensuring the rotation of the gripping mechanism 15 in the vertical direction; in another embodiment, the connecting seat 17 is arranged above the third rotating mechanism 16 and connected to the robot arm 12, and the two ends of the first pitching oil cylinder 19 are connected to the robot arm 12 and the connecting seat 17, thereby driving the pitch of the gripping mechanism 15. The gripping mechanism 15 is located at the end of the robot arm 12, as shown in FIG. Figure 1As shown, the gripping mechanism 15 can be pitched in the vertical direction by the first pitching cylinder 19 to meet working requirements at various angles.

[0039] The workbench 14 is convenient for construction workers to stand on. Construction workers can stand on the workbench 14 and operate the breaker 21 on the gripping mechanism 15. The angle of the workbench 14 can be adjusted through the leveling seat 18, which provides convenience for construction.

[0040] The gripping mechanism 15 is hinged on a telescopic rod 24, the other end of which is connected to the workbench 14. The telescopic rod 24 can be used to extend or shorten the gripping mechanism 15, thereby extending the working range of the gripping mechanism 15. The telescopic rod 24 is extended and retracted in the vertical direction by a telescopic cylinder.

[0041] The gripping mechanism 15 includes two manipulators 20 symmetrically arranged, with a guide plate 22 disposed between the two manipulators 20. The guide plate 22 is provided with a guide surface inclined inward, so that when the manipulator 20 grasps the arch frame, a guiding force is provided for the arch frame, thereby facilitating the accuracy of the grasping of the manipulator 20, enabling the arch frame to be grasped quickly, and avoiding improper operation and multiple grasping, which would delay construction time.

[0042] A second pitch cylinder 23 is connected between the gripper mechanism 15 and the telescopic rod 24. This second pitch cylinder 23 drives the gripper mechanism 15 to rotate vertically. The robotic arm 12 is a telescopic boom, and its vertical rotation is controlled by a third pitch cylinder 13. The second and third pitch cylinders 23 and 13 enhance the flexibility of the robotic arm 12.

[0043] Specific working method: The combined arm is installed on the engineering trolley. During construction, the engineering trolley is directly driven into the tunnel. The construction workers can stand on the workbench 14 and maintain stability through the leveling seat 18 to facilitate the construction workers to stand. The manipulator 20 can place the grabbed arch frame on the avoidance surface in the tunnel so that the construction workers can install it. Before installation, the drill bit 2 on the drill rod 1 can be used to drill holes in the tunnel wall to facilitate the installation of anchor rods by the construction workers. After use, the rock drilling device can be rotated to the rear side and retracted, thereby reducing the size of the entire trolley without affecting the next grabbing action of the manipulator 20.

[0044] The above embodiments are preferred embodiments. It should be noted that the above preferred embodiments should not be construed as limiting the invention. The scope of protection of the present invention should be determined by the scope defined in the claims. Persons skilled in the art will appreciate that improvements and modifications may be made without departing from the spirit and scope of the present invention. Such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A combined boom for tunnel construction, characterized by: The rotary rock drilling device comprises a propulsion beam (5), a propulsion mechanism is arranged in the propulsion beam (5), a drill rod (1) is arranged on the propulsion beam (5), the end of the drill rod (1) is connected to the drill bit (2), and the other end of the drill rod (1) is connected to the rock drill head (3); the propulsion mechanism is connected to the drill rod (1), and the drill rod (1) and the propulsion beam (5) move relative to each other; a first rotary mechanism (11) is arranged under the propulsion beam (5), and the propulsion beam (5) rotates circumferentially in the horizontal direction through the first rotary mechanism (11); the first rotary mechanism (11) is arranged on a mechanical arm (12), and the mechanical arm (12) is connected to the gripper mechanism (15) through a third rotary mechanism (16), and the third rotary mechanism (16) is connected to the gripper mechanism (15). The mechanism (16) drives the gripping mechanism (15) to rotate in the horizontal direction, and the gripping mechanism (15) is located at the end of the mechanical arm (12); the gripping mechanism (15) rotates in the vertical plane through the first pitching oil cylinder (19); the gripping mechanism (15) is arranged on the workbench (14), and the workbench (14) is connected to the leveling seat (18), and the other end of the leveling seat (18) is hinged to the connecting seat (17), and the connecting seat (17) is arranged below the third rotating mechanism (16), and the two ends of the first pitching oil cylinder (19) are respectively connected to the connecting seat (17) and the leveling seat (18); the side of the propulsion beam (5) is connected to the second rotating mechanism (9), and the second rotating mechanism (9) drives the propulsion beam (5) to rotate in the vertical direction.

2. The tunnel construction combined boom according to claim 1, characterized in that: The second rotating mechanism (9) is connected to the first rotating mechanism (11) via a curved pipe (10).

3. The tunnel construction combined boom according to claim 1 or 2, characterized in that: The propulsion mechanism comprises a chain (6), the chain (6) being arranged in the propulsion beam (5), and the chain (6) rotating relative to the propulsion beam (5); a movable seat (4) is connected below the rock drill head (3), the movable seat (4) is adapted to the chain (6), and the chain (6) drives the movable seat (4) to move forward and backward.

4. The tunnel construction combined boom according to claim 3, characterized in that: The end of the propulsion beam (5) close to the drill bit (2) is connected to a positioning pin (7), and the positioning pin (7) is connected to the propulsion beam (5) via a spring (8). The positioning pin (7) and the propulsion beam (5) move relative to each other; two positioning pins (7) are symmetrically arranged.

5. The tunnel construction combined boom according to claim 1, characterized in that: The gripping mechanism (15) is hinged on a telescopic rod (24), the other end of the telescopic rod (24) is connected to the workbench (14), and the telescopic rod (24) is telescopic in the vertical direction via a telescopic oil cylinder.

6. The tunnel construction combined boom according to claim 5, characterized in that: The gripping mechanism (15) includes a manipulator (20), a breaker hammer (21) is provided at the manipulator (20), two manipulators (20) are symmetrically arranged, and a guide plate (22) is provided between the two manipulators (20).

7. The tunnel construction combined boom according to claim 6, characterized in that: A second pitching oil cylinder (23) is connected between the gripping mechanism (15) and the telescopic rod (24), and the second pitching oil cylinder (23) drives the gripping mechanism (15) to rotate up and down in a vertical plane.

8. The tunnel construction combined boom according to any one of claims 4 to 7, characterized in that: The mechanical arm (12) is a telescopic arm, and the mechanical arm (12) rotates up and down in a vertical plane via a third pitch cylinder (13).

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