An automated anchor drilling mechanical arm device mounted on a tunnel boring machine

Abstract

An automated anchor drilling mechanical arm device mounted on a tunnel boring machine comprises: a mounting base, a multi-section mechanical arm arranged on the mounting base; a rotating mechanism is arranged on the end arm of the multi-section mechanical arm, the end arm is fixedly connected to a mounting barrel, a rotating shaft is rotatably connected inside the mounting barrel, and the rotating mechanism drives the rotating shaft to rotate; an anchor box is connected above the mounting barrel, anchors that can enter the mounting barrel in sequence are arranged inside the anchor box, a slot for engaging the anchors is provided along the length direction of the rotating shaft, and an anchor drilling device is slidably mounted inside the mounting barrel; when the rotating shaft rotates to a specified position, the anchor drilling device connects the anchor in the slot to drill into the soil. It can be seen from the above description that, through the cooperation of the multi-section mechanical arm, the anchor positioning direction can be adjusted in multiple sections, and can flexibly cope with positioning points in different positions; and the method of rotating the anchor is adopted, which is simple to operate and not easy to be damaged.

Description

Technical field:

[0001] The present invention relates to the technical field of tunnel construction, and in particular to an automated anchor drilling mechanical arm device mounted on a tunnel boring machine. Background technology:

[0002] Among the tunnel construction methods, the New Austrian Tunneling Method (NATM) uses the bearing capacity of the surrounding rock itself to conduct full-section excavation construction, and forms a composite inner and outer two-layer lining to build the tunnel body, that is, sprayed concrete, anchor support, steel mesh, steel support, etc. as the outer layer support form, called initial support, which is the support work that must be carried out immediately after the tunnel body is excavated. Because the ground stress hidden in the mountain is redistributed due to the excavation of the tunnel, the tunnel space is kept stable by the cavity effect, that is, the surrounding rock body itself is the main bearer of the ground stress, and the role of the initial sprayed anchor flexible support is to maximize the bearing capacity of the surrounding rock body itself, and the second lining mainly plays a role in safety reserve and decoration.

[0003] The characteristic of the New Austrian Tunneling Method is to promptly apply a thin layer of flexible shotcrete and anchor support that is closely attached to the surrounding rock near the excavation face in order to control the deformation and stress release of the surrounding rock. In the process of joint deformation of the support and the surrounding rock, the stress redistribution of the surrounding rock is adjusted to achieve a new balance, so as to maximize the inherent strength of the surrounding rock and utilize its self-bearing capacity.

[0004] The self-propelled hollow grouting anchor rod itself serves as both a drill rod and a grouting pipe. Before grouting, a dust blowing pipe can be used to remove dust formed by rock drilling. During grouting, the slurry is sprayed out from the drill bit through the hollow anchor rod to fill the drill hole and stratum cracks around the anchor rod, so that the anchor rod and the surrounding soil solidify into one, forming a steel pipe cement column, which plays a role in reinforcement.

[0005] The tunnel excavation is mainly carried out by the tunnel boring machine. After a certain distance, the excavation is stopped and the initial support work is carried out on the newly excavated section. The initial support mainly includes the following steps: the first is the initial spraying of concrete, which uses the concrete spraying equipment to spray the tunnel arch surface; the second is the construction of anchor rods. After the concrete solidifies, the anchor rod drilling position is determined by measuring and setting out, and then the anchor rod drilling machine is used manually to drill holes; the third is the hanging of the steel mesh, and the fourth is the installation of the steel frame; steps three and four should be operated on the truss trolley.

[0006] In the process of step 2, due to the high added value of large shield technology, complex manufacturing process and high cost, open-type tunnel boring machines are still used in many occasions. The existing open-type tunnel boring machines only have functions such as cross-section monitoring, and have not yet truly realized automatic cutting footage and support, which will seriously affect the speed of tunneling footage. Among them, slow support has always been the main factor affecting the tunneling footage, which almost occupies 2 / 3 of the tunnel footage time. At present, the support operation of the tunnel boring machine mainly relies on manual support. If the support can be mechanized and cooperated with the tunnel boring machine construction, the support speed can be accelerated.

[0007] However, with the continuous updating and innovation of the tunnel construction industry, mechanical equipment is gradually applied to tunnel boring machines. The mechanical connecting rod structure is frequently reciprocating during its application, and the connecting rod structure has many moving axis points. If any connecting rod structure axis connection part is loose and misaligned, it will cause damage to the entire connecting rod structure, which is very easy to cause damage and has a high maintenance efficiency. In addition, the existing mechanical arm is not flexible in rotating movement for the anchor point after positioning, and it needs to move frequently to determine the direction of the anchor point, which is inconvenient to use and operate. Summary of the invention:

[0008] In view of this, it is necessary to design an automated drilling and anchoring robot arm device mounted on a tunnel boring machine. The multi-section robot arm cooperates to rotate, the anchor point is positioned quickly and accurately, and a rotating anchoring method is adopted, which is simple to operate and not easy to damage.

[0009] An automated anchor drilling mechanical arm device mounted on a tunneling machine comprises: a mounting base, and a multi-section mechanical arm arranged on the mounting base; wherein:

[0010] A rotating mechanism is provided on the end arm of the multi-section mechanical arm, the end arm is fixedly connected to a mounting cylinder, a rotating shaft which can be locked in a first set position and a second set position is rotatably connected inside the mounting cylinder, and the rotating mechanism drives the rotating shaft to rotate circumferentially;

[0011] An anchor box is connected above the installation tube, and anchors are arranged inside the anchor box and can enter the installation tube in sequence. A slot for engaging the anchors is provided along the length direction of the rotating shaft, and an anchor drilling device is slidably mounted inside the installation tube.

[0012] When the rotating shaft is rotated and locked at the second set position, the anchor drilling device is connected to the anchor rod inside the slot to perform drilling into the soil.

[0013] Preferably, the multi-section mechanical arm comprises: a first arm connected to the mounting base, a second arm connected to the first arm, and a slewing mechanism connected to the second arm;

[0014] One end of the swivel mechanism away from the second arm is connected to the terminal arm.

[0015] Preferably, the anchor box is located directly above the installation tube, the installation tube is provided with a long waist hole for a single anchor rod to enter along the length direction, and the bottom end of the anchor box is provided with a rod outlet opposite to the long waist hole.

[0016] Preferably, the anchor box is internally slidably equipped with a pressure plate for pressing the arranged anchors out from the rod outlet in sequence, and a compression spring connected to the pressure plate is arranged at the top of the anchor box.

[0017] Preferably, when the rotating shaft is rotated and locked in the first set position, the slot coincides with the position of the long waist hole.

[0018] Preferably, the rotating shaft is eccentrically located inside the mounting tube, and the gap between the rotating shaft and the top of the mounting tube is only enough for a single anchor rod to enter the slot.

[0019] Preferably, two slide grooves are longitudinally opened at the bottom of the inner wall of the installation tube, and the anchor drilling device is slidably assembled inside the two slide grooves.

[0020] Preferably, the anchor drilling rig device comprises: a drill rod trolley slidably mounted inside the two slide grooves, and an anchor drilling rig fixedly mounted on the drill rod trolley.

[0021] Preferably, the rotating shaft is provided with annular grooves spaced apart along the length direction, and a locking mechanism for fixing the anchor rod inside the locking groove is installed inside the annular groove.

[0022] Preferably, the locking mechanism includes: a pressing mechanism arranged in a relatively mirror image; each pressing mechanism includes an arc plate hinged on the inner wall of the slot, the outer arc surface of the arc plate presses against a clamping telescopic rod, and the clamping telescopic rod is hinged inside the corresponding annular groove.

[0023] In the present invention, the positioning direction of the anchor rod is adjusted in multiple sections through the cooperation of the multi-section mechanical arm, so as to flexibly cope with the positioning points at different positions; and the method of rotating the anchor rod is adopted, which is simple to operate and not easy to be damaged. Description of the drawings:

[0024] Figure 1 A schematic structural diagram of an automated anchor drilling mechanical arm device provided by the present invention and mounted on a tunneling machine;

[0025] Figure 2 A cross-sectional view of the installation tube and the anchor box provided by the present invention;

[0026] Figure 3 A schematic diagram of the structure of the installation tube provided by the present invention;

[0027] Figure 4 A schematic diagram of the structure of the rotating shaft provided by the present invention;

[0028] Figure 5 This is a structural schematic diagram of the locking mechanism provided by the present invention.

[0029] In the figure: mounting base-1, first arm-2, second arm-3, slewing mechanism-4, end arm-5, anchor box-6, pressure plate-61, compression spring-62, anchor-63, anchor drilling rig device-7, mounting tube-8, slide groove-81, long waist hole-82, rotating shaft-9, card slot-91, annular groove-92, arc plate-93, clamping telescopic rod-94. Specific implementation method:

[0030] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of this specification should be understood by people with ordinary skills in the field to which this disclosure belongs. The "first", "second" and similar words used in one or more embodiments of this specification do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] As attached Figure 1 As shown in the figure, an automated anchor drilling robot arm device mounted on a tunnel boring machine includes: a mounting base 1; the mounting base 1 serves as a supporting body in the embodiment of the present application, and is used for adapting and installing with the tunnel boring machine. A multi-section rotating robot arm is arranged on the mounting base 1, and the robot arm rotates along the X-axis, the Y-axis, and the Z-axis, thereby realizing mechanized driving of the anchor drilling rig device 7 toward positioning points at different positions, reducing the drilling operation performed by manually holding the anchor 63 drilling rig.

[0033] Specifically, when a multi-section robot arm is assembled on the mounting base 1, the multi-section robot arm includes a first arm 2 connected to the mounting base 1, a second arm 3 connected to the first arm 2, and a slewing mechanism 4 connected to the second arm 3; an end of the slewing mechanism 4 away from the second arm 3 is connected to the end arm 5. Figure 1 It can be seen that the first arm 2 is vertically assembled on the mounting base 1 and can perform 360° circumferential rotation along the mounting base 1.

[0034] The second arm 3 is horizontally mounted on the first arm 2 and can rotate 360° around the first arm 2; the slewing mechanism 4 is mounted on the second arm 3, so that it can be adjusted in multiple angles and directions. The operation terminal of the multi-section mechanical arm is the last arm, which is used to realize automatic loading and drive the anchor drilling device 7 to drill into the anchor 63.

[0035] It should be specifically explained that the first arm 2 and the second arm 3, the second arm 3 and the slewing mechanism 4, and the slewing mechanism 4 and the last arm are all driven by motors and have reduction mechanisms. The multi-section robotic arm moves the anchor drilling device 7 to the corresponding position according to the positioning point information. These are all commonly used technical methods in the existing robot control field and will not be elaborated on here.

[0036] refer to Figure 2 In order to realize automatic loading and automated drill pipe operation, a rotating mechanism is provided on the end arm. The end arm 5 is fixedly connected with a mounting tube 8. The mounting tube 8 is internally rotatably connected with a rotating shaft 9, and the rotating shaft 9 is driven to rotate by the rotating mechanism.

[0037] The rotating mechanism can adopt a rotating motor. During the starting process of the rotating mechanism, the rotating shaft 9 rotates circumferentially. In the embodiment of the present application, the rotating mechanism is preferably used to drive the rotating shaft 9 to rotate 180° as a stroke; for ease of understanding, it is described that the rotating shaft 9 can rotate and lock in the first set position and the second set position; the first set position and the second set position are 180° apart.

[0038] When the rotating shaft 9 is rotated and locked at the first setting position and the second setting position, the rotating shaft 9 is used to transport the anchor rod 63 and cooperate with the anchor drilling machine device 7 to drill into the soil.

[0039] The rotary feeding rod operation is adopted to reduce the problem of damage and dislocation of the connecting rod during use. The operation is simple and convenient, thereby increasing the reliability during use by adopting the rotary method.

[0040] When the rod delivery operation is specifically implemented, an anchor rod box 6 is installed just above the installation tube 8, and anchor rods 63 that can enter the installation tube 8 in sequence are arranged inside the anchor rod box 6.

[0041] Combination Figure 3As shown in , the installation tube 8 is provided with a long waist hole 82 for a single anchor rod 63 to enter along the length direction, and the bottom end of the anchor rod box 6 is provided with a rod outlet corresponding to the long waist hole 82. The anchor rod box 6 can be arranged in an array to assemble multiple anchor rods 63, and the vertical rows of anchor rods 63 are used as a column for distinction, and the rod outlets are connected by an inclined channel so that the anchor rods 63 in the column are transported to the rod outlet in sequence. It should be specifically explained that after increasing the capacity of the anchor rod box 6, each column of anchor rods 63 needs to be transported separately, and the inclined channel is provided with a movable shielding, and after the shielding is removed, the anchor rods 63 in the column can enter the rod outlet.

[0042] Furthermore, after the anchor rods 63 are divided into a plurality of columns, a pressure plate 61 is provided at the top of the anchor rod box 6 corresponding to each column of anchor rods 63 , and a compression spring 62 connected to the pressure plate 61 is provided at the top of the anchor rod box 6 .

[0043] Continuing to refer to 1-4, in order to ensure that only a single anchor rod 63 enters the interior of the installation tube 8, the rotating shaft 9 is eccentrically located inside the installation tube 8, and the top gap between the rotating shaft 9 and the installation tube 8 is only enough for a single anchor rod 63 to enter the interior of the slot 91.

[0044] It can be seen that a slot 91 for fixing the anchor rod 63 is provided along the length direction of the rotating shaft 9, and due to the eccentric setting of the rotating shaft 9 and the circular feature of the anchor rod 63, after the rotating shaft 9 rotates to the second setting position, the slot 91 coincides with the long waist hole 82, and the anchor rod 63 inside the long waist hole 82 enters the slot 91. At this time, the anchor rod 63 located at the top falls into the long waist hole 82, and when the rotating shaft 9 rotates to the second setting position, the anchor rod 63 rolls in contact with the outer wall of the rotating shaft 9 where the slot 91 is not provided, and is always located inside the long waist hole 82.

[0045] At the same time, in order to ensure that the slot 91 is tightly engaged with the anchor rod 63, an annular groove 92 is spaced apart along the length direction of the rotating shaft 9, and an engaging mechanism for fixing the anchor rod 63 in the slot 91 is assembled inside the annular groove 92. Figure 5 As shown in the figure, the locking mechanism includes: a pressing mechanism arranged in a relatively mirror image; each pressing mechanism includes an arc plate 93 hinged on the inner wall of the card slot 91, and the outer arc surface of the arc plate 93 is pressed with a clamping telescopic rod 94, and the clamping telescopic rod 94 is hinged inside the corresponding annular groove 92.

[0046] In the above description, a pressure sensor can be installed inside the slot 91. After the control system detects the pressure information generated by the anchor rod 63 falling into the slot 91, the clamping telescopic rods 94 on both sides are controlled to embrace each other, so as to clamp and fix the anchor rod 63, so that the rotating shaft 9 drives the anchor rod 63 to be installed to cooperate with the anchor drilling rig device 7 to drill into the soil.

[0047] When the anchor drill device 7 is specifically assembled, two slide grooves 81 are longitudinally opened at the bottom of the inner wall of the installation tube 8, and the anchor drill device 7 is slidably assembled inside the two slide grooves 81. The anchor drill device 7 includes: a drill rod trolley slidably assembled inside the two slide grooves 81, and an anchor drill fixedly mounted on the drill rod trolley. When the drill rod trolley is specifically driven to move along the two slide grooves 81, a linear telescopic mechanism can be assembled on the end arm 5, and the linear telescopic mechanism is connected to the drill rod trolley, so that the drill rod trolley moves along the two slide grooves 81.

[0048] After the rotating shaft 9 rotates from the first setting position to the second setting position, the anchor drill rig is now opposite to the anchor rod 63 in the slot 91. While the drill rod trolley moves linearly, the anchor drill rig engages with the anchor rod 63 to rotate. Because the engaging mechanism engages at the designated position of the outer wall of the anchor rod 63, the engaging mechanism adjacent to the drill rod trolley causes the clamping telescopic rod 94 to retreat and retract while the drill rod trolley moves in sequence. After the anchor drill rig drills the anchor rod 63 into the soil, the linear telescopic mechanism drives the drill rod trolley to return to its position, and the anchor rod 63 continues to be transmitted.

[0049] In addition, it needs to be specifically explained that when applying anchor rods 63 of different lengths, because the rotating shaft 9 is located inside the mounting tube 8 with a hollow cavity, the end of the rotating shaft 9 away from the end arm 5 sags due to the weight of the rotating shaft 9 and the anchor rod 63; for this reason, a sealing plate can be provided on the end of the mounting tube 8 away from the end arm 5, and a bearing is assembled on the sealing plate. The bearing is mounted on the free end of the rotating shaft 9, and a through hole is provided at the lower end of the sealing plate for the anchor rod 63 to be screwed out, so that a longer anchor rod 63 can be adapted.

[0050] In the present invention, the positioning direction of the anchor rod 63 is adjusted in multiple sections through the cooperation of multiple sections of the mechanical arm, so as to flexibly cope with positioning points at different positions; and the anchor rod 63 is transmitted in a rotating manner, which is simple to operate and not prone to damage.

[0051] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present specification as above, which are not provided in detail for the sake of simplicity.

[0052] In addition, to simplify the description and discussion, and in order not to obscure one or more embodiments of the present specification, the device may be shown in the form of a block diagram so as to avoid obscuring one or more embodiments of the present specification, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of the present specification are to be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., sensors) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that one or more embodiments of the present specification may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0053] While the disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description.

[0054] One or more embodiments of this specification are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of this disclosure.

Claims

1. An automated anchor drilling mechanical arm device mounted on a tunnel boring machine, characterized in that: include: A mounting base, and a multi-section mechanical arm arranged on the mounting base; wherein, A rotating mechanism is provided on the end arm of the multi-section mechanical arm, the end arm is fixedly connected to a mounting cylinder, a rotating shaft which can be locked in a first set position and a second set position is rotatably connected inside the mounting cylinder, and the rotating mechanism drives the rotating shaft to rotate circumferentially; An anchor box is connected above the installation tube, and anchors are arranged inside the anchor box and can enter the installation tube in sequence. A slot for engaging the anchors is provided along the length direction of the rotating shaft, and an anchor drilling device is slidably mounted inside the installation tube. The rotating shaft is provided with annular grooves spaced apart along the length direction, and a clamping mechanism for fixing the anchor rod inside the clamping groove is installed inside the annular groove; The clamping mechanism comprises: a pressing mechanism arranged in a mirror image relative to each other; each pressing mechanism comprises an arc-shaped plate hinged on the inner wall of the clamping slot, the outer arc surface of the arc-shaped plate presses against a clamping telescopic rod, and the clamping telescopic rod is hinged inside the corresponding annular groove; When the rotating shaft is rotated and locked at the second set position, the anchor drilling device is connected to the anchor rod inside the slot to perform drilling into the soil.

2. The automated anchor drilling mechanical arm device mounted on a tunnel boring machine as claimed in claim 1, characterized in that: The multi-section mechanical arm comprises: a first arm connected to the mounting base, a second arm connected to the first arm, and a slewing mechanism connected to the second arm; One end of the swivel mechanism away from the second arm is connected to the terminal arm.

3. The automated anchor drilling mechanical arm device mounted on a tunnel boring machine as claimed in claim 2, characterized in that: The anchor box is located directly above the installation tube. The installation tube is provided with a long waist hole for a single anchor rod to enter along the length direction. The bottom end of the anchor box is provided with a rod outlet corresponding to the long waist hole.

4. The automated anchor drilling mechanical arm device mounted on a tunnel boring machine as claimed in claim 3, characterized in that: The anchor box is internally slidably equipped with a pressure plate for pressing the arranged anchors out from the rod outlets in sequence, and a compression spring connected to the pressure plate is arranged on the top of the anchor box.

5. The automated anchor drilling mechanical arm device mounted on a tunnel boring machine as claimed in claim 4, characterized in that: When the rotating shaft is rotated and locked at the first set position, the clamping slot and the long waist hole are overlapped.

6. The automated anchor drilling mechanical arm device mounted on a tunnel boring machine as claimed in claim 3, characterized in that: The rotating shaft is eccentrically located inside the installation tube, and the top gap between the rotating shaft and the installation tube is only enough for a single anchor rod to enter the slot.

7. The automated anchor drilling mechanical arm device mounted on a tunnel boring machine as claimed in claim 6, characterized in that: Two slide grooves are longitudinally opened at the bottom of the inner wall of the installation tube, and the anchor drilling machine device is slidably assembled inside the two slide grooves.

8. The automated anchor drilling mechanical arm device mounted on a tunnel boring machine as claimed in claim 7, characterized in that: The anchor drilling rig device comprises: a drill rod trolley slidably assembled inside the two slide grooves, and an anchor drilling rig fixedly mounted on the drill rod trolley.

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