Tunneling punch robot

Abstract

The application discloses a tunnel drilling robot, which comprises a supporting platform, a drilling mechanism, a steel bar detection mechanism, a dust blowing and sucking mechanism, a mechanical arm, a lifting mechanism, a horizontal telescopic mechanism, a walking 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 there is a steel bar in the tunnel wall, the drilling mechanism is used for drilling on the tunnel wall without a steel bar, the dust blowing and sucking mechanism is used for blowing out dust in the hole and sucking away, 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 walking mechanism is fixed below the supporting platform, and the control mechanism is electrically connected with the drilling mechanism, the steel bar detection mechanism, the dust blowing and sucking mechanism, the mechanical arm, the lifting mechanism, the horizontal telescopic mechanism and the walking mechanism respectively. The tunnel drilling robot can intelligently drill, and the construction efficiency and safety are improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and more specifically, to a tunnel drilling robot. Background Technology

[0002] During railway and subway construction, it is usually necessary to drill holes for leaky cables inside tunnels to install either dedicated or public network leaky cables. Typically, dedicated network leaky cables are installed at a height of 4.5m to 4.8m above the rail surface, while public network leaky cables are installed at a height of 2m to 2.6m. When drilling, the holes are spaced 1m apart.

[0003] The traditional construction method involves first erecting a two-story scaffold, then having construction workers climb up to mark the lines and drill holes. When moving the scaffold, 4 to 6 people are needed below, and only 80 meters of holes can be drilled per hour. This method is not only inefficient but also poses a significant risk of working at height. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention innovatively provides a tunnel drilling robot capable of intelligent drilling, moving within tunnels to avoid manual instrument handling, horizontally extending to ensure drilling on tunnel walls, controlling the vertical drilling height, ensuring drilling in areas without reinforcing steel to reduce damage to the drilling mechanism, and promptly cleaning dust from the holes after drilling to improve the efficiency of subsequent mesh installation, achieving continuous and intelligent operation, and improving construction efficiency and safety.

[0005] To achieve the aforementioned technical objectives, this invention discloses a tunnel drilling robot, comprising a support platform, a drilling mechanism, a rebar detection mechanism, a dust blowing and suction mechanism, a robotic arm, a lifting mechanism, a horizontal telescopic mechanism, a walking mechanism, and a control mechanism.

[0006] The drilling mechanism, the rebar detection mechanism, and the dust blowing and suction mechanism are fixed to the end of the robotic arm. The rebar detection mechanism is used to detect whether there are rebars inside the tunnel wall. The drilling mechanism is used to drill holes in the tunnel wall where there are no rebars. The dust blowing and suction mechanism is used to blow out the dust from the holes and suck it away. The bottom of the robotic arm is fixed to the lifting mechanism.

[0007] The lifting mechanism is fixed to the horizontal telescopic mechanism, and the lifting mechanism is used to lift the robotic arm.

[0008] The horizontal telescopic mechanism is fixed to the support platform and is used to extend and retract horizontally in a direction perpendicular to the track.

[0009] The walking mechanism is fixed below the support platform and is used to drive the tunnel drilling robot to move along the track inside the tunnel to a designated position.

[0010] The control mechanism is electrically connected to the drilling mechanism, rebar detection mechanism, dust blowing and suction mechanism, robotic arm, lifting mechanism, horizontal telescopic mechanism and walking mechanism respectively, and is used to control each mechanism to perform corresponding actions.

[0011] Furthermore, the drilling mechanism, the rebar detection mechanism, and the dust blowing and suction mechanism are fixed to the end of the robotic arm via a fixing frame. The end of the robotic arm is fixedly connected to the fixing frame. The drilling mechanism is fixed on the fixing frame, and the drill bit of the drilling mechanism extends outside the fixing frame. The rebar detection mechanism and the dust blowing and suction mechanism are both slidably connected to the fixing frame. The rebar detection mechanism and the dust blowing and suction mechanism are both located outside the fixing frame. The drill bit of the rebar detection mechanism and the drilling mechanism, as well as the dust blowing and suction mechanism, are located on the side of the fixing frame away from the robotic arm. The sliding direction of the rebar detection mechanism and the dust blowing and suction mechanism is parallel to the length direction of the drill bit of the drilling mechanism.

[0012] Furthermore, the dust blowing and suction mechanism includes a dust blowing pipe, a first suction pipe, a first dust cover, a dust blowing device, and a first suction device. The first suction pipe is a three-way pipe, and the dust blowing pipe is a three-way pipe with one end closed. The first dust cover is connected to one of the openings of the first suction pipe. The first dust cover and the first suction pipe are sleeved on the outside of the dust blowing pipe. The opening of the first suction pipe away from the first dust cover is sealed to the dust blowing pipe. One of the openings of the dust blowing pipe is close to the first dust cover. The other opening of the dust blowing pipe extends out of the first dust cover or the first suction pipe and is connected to the dust blowing device. The closed opening of the dust blowing pipe is away from the first dust cover and close to the fixed frame. The third opening of the first suction pipe is connected to the first suction device.

[0013] Furthermore, the drill bit of the drilling mechanism is fitted with a connected second dust cover and a second suction pipe. The second suction pipe is a three-way pipe with one end closed. One of the pipe openings of the second suction pipe is connected to the second dust cover, the closed pipe opening is fixedly connected to the fixing frame, and the third pipe opening of the second suction pipe is connected to a second suction device.

[0014] Furthermore, it also includes a dust collection mechanism, which is fixed on the robotic arm. The dust collection mechanism includes a negative pressure device, a four-way pipe, and a dust collection reversing mechanism. The negative pressure device has a dust inlet and a dust outlet. Two of the four-way pipe openings are arranged opposite each other, and the other two openings of the four-way pipe serve as air intakes. The two air intakes are at a preset angle. One of the opposite openings of the four-way pipe is connected to the dust inlet of the negative pressure device. The dust collection reversing mechanism is sealed and connected to the other opening of the opposite opening of the four-way pipe and switches the connection between the two air intakes and the outside world. At least one air intake is connected to the outside world.

[0015] Furthermore, the vacuum reversing mechanism includes a reversing block for closing the air intake, a sealing piston for sealing the port of the four-way pipe away from the negative pressure device, and a rotary drive mechanism. The reversing block and the sealing piston are sleeved inside the pipes where the two opposite ports of the four-way pipe are located. The end of the reversing block away from the negative pressure device is fixedly connected to the sealing piston. The rotary drive mechanism is fixedly connected to the sealing piston. The rotary drive mechanism drives the reversing block and the sealing piston to rotate relative to the four-way pipe, so that the air intake is closed or opened by the reversing block, and at least one of the air intakes is connected to the outside.

[0016] Furthermore, the vacuum reversing mechanism includes a reversing block for closing the air intake, a sealing piston for sealing the port of the four-way pipe away from the negative pressure device, and a rotary drive mechanism. The reversing block and the sealing piston are sleeved inside the pipes where the two opposite ports of the four-way pipe are located. The sealing piston is located on the side of the reversing block away from the negative pressure device and is fixedly connected to the four-way pipe. The rotary drive mechanism passes through the sealing piston and is fixedly connected to the reversing block. The rotary drive mechanism drives the reversing block to rotate relative to the four-way pipe, so that the air intake is closed or opened by the reversing block, and at least one of the air intakes is connected to the outside.

[0017] Furthermore, it also includes a stop-rail clamping mechanism, which is fixed below the support platform. The stop-rail clamping mechanism includes a first drive motor, a bidirectional lead screw, a first lead screw nut block, a second lead screw nut block, a first clamp, and a second clamp. The first clamp and the second clamp are arranged opposite to each other. The first clamp is fixedly connected to the first lead screw nut block, and the second clamp is fixedly connected to the second lead screw nut block. The bidirectional lead screw is provided with a positive thread and a negative thread. The first lead screw nut block is threadedly connected to the positive thread of the bidirectional lead screw, and the second lead screw nut block is threadedly connected to the negative thread of the bidirectional lead screw. The bottom surface of the support platform is provided with a sliding groove that is slidably connected to the first lead screw nut block and the second lead screw nut block. The sliding groove is parallel to the bidirectional lead screw. The first drive motor drives the bidirectional lead screw to rotate.

[0018] Furthermore, the walking unit includes a front walking wheel, a rear walking wheel, a second drive motor, and a sprocket and chain transmission mechanism. The two front walking wheels are connected by a connecting shaft, and the two rear walking wheels are connected by a connecting shaft. Both connecting shafts are rotatably connected to the support platform. The second drive motor drives the connecting shafts to rotate through the sprocket and chain transmission mechanism, thereby causing the front and rear walking wheels to roll along the track inside the tunnel.

[0019] The beneficial effects of this invention are as follows:

[0020] The tunnel drilling robot of this invention can perform intelligent drilling, can move inside the tunnel to avoid manual handling of instruments, can extend horizontally to ensure drilling on the tunnel wall, can control the vertical height of the drilling and ensure drilling in places without rebar, reducing damage to the drilling mechanism, and can clean the dust in the hole in time after drilling, improving the efficiency of subsequent mesh installation, realizing the continuity and intelligence of the operation, and improving construction efficiency and safety. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the tunnel drilling robot according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of a tunnel drilling robot walking along a tunnel according to an embodiment of the present invention;

[0023] Figure 3 This is a state diagram of the tunnel drilling robot during drilling according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the horizontal telescopic mechanism in an embodiment of the invention when it is extended;

[0025] Figure 5 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention when it is deployed;

[0026] Figure 6 This is a schematic diagram of the drilling mechanism, rebar detection mechanism, and dust blowing and suction mechanism according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the rebar detection mechanism and the dust blowing and suction mechanism of this invention sliding away from the fixed frame;

[0028] Figure 8 This is a schematic diagram of the dust collection mechanism according to an embodiment of the present invention;

[0029] Figure 9 This is a longitudinal sectional view of the dust collection mechanism according to an embodiment of the present invention;

[0030] Figure 10This is a longitudinal sectional view of a dust collection mechanism according to another embodiment of the present invention;

[0031] Figure 11 This is a bottom schematic diagram of the tunnel drilling robot according to an embodiment of the present invention.

[0032] In the picture,

[0033] 1. Support platform; 2. Drilling mechanism; 3. Rebar detection mechanism; 4. Dust blowing and suction mechanism; 41. Dust blowing pipe; 42. First dust suction pipe; 43. First dust cover; 5. Robotic arm; 6. Lifting mechanism; 7. Horizontal telescopic mechanism; 71. Telescopic platform; 72. Fixed platform; 73. Slider groove assembly; 74. Telescopic drive mechanism; 8. Walking mechanism; 81. Front walking wheel; 82. Rear walking wheel; 83. Second drive motor; 84. Sprocket and chain transmission mechanism; 85. Connecting shaft; 9. Control cabinet; 10. 101. Fixed frame; 102. First sliding drive device; 103. Second sliding drive device; 104. Second dust cover; 105. Second suction pipe; 11. Suction mechanism; 116. Negative pressure device; 117. Four-way pipe; 118. Air inlet; 119. Suction reversing mechanism; 1100. Reversing block; 1112. Sealing piston; 1123. Rotary drive mechanism; 12. Stop rail clamping mechanism; 121. First gripper; 122. Second gripper; 13. Rail; 14. Housing; 15. Support frame. Detailed Implementation

[0034] The tunnel drilling robot provided by this invention will be explained and described in detail below with reference to the accompanying drawings.

[0035] This embodiment specifically discloses a tunnel drilling robot, such as Figure 1 As shown, the system includes a support platform 1, a drilling mechanism 2, a rebar detection mechanism 3, a dust blowing and suction mechanism 4, a robotic arm 5, a lifting mechanism 6, a horizontal telescopic mechanism 7, a walking mechanism 8, and a control mechanism. The drilling mechanism 2, the rebar detection mechanism 3, and the dust blowing and suction mechanism 4 are fixed to the end of the robotic arm 5. The rebar detection mechanism 3 is used to detect whether there is rebar in the tunnel wall. The drilling mechanism 2 is used to drill holes in the tunnel wall where there is no rebar. The dust blowing and suction mechanism 4 is used to blow out the dust in the holes and suck it away. The bottom of the robotic arm 5 is fixed to the lifting mechanism 6, which is fixed to the horizontal telescopic mechanism 7. The lifting mechanism 6 is used to lift and lower the robotic arm 5. The horizontal telescopic mechanism 7 is fixed to the support platform 1 and is used to extend and retract horizontally in a direction perpendicular to the track 13. The walking mechanism 8 is fixed below the support platform 1 and is used to drive the tunnel drilling robot to move along the tunnel track 13 to a designated position. The control mechanism is electrically connected to the drilling mechanism 2, the rebar detection mechanism 3, the dust blowing and suction mechanism 4, the robotic arm 5, the lifting mechanism 6, the horizontal telescopic mechanism 7, and the walking mechanism 8, and is used to control each mechanism to perform corresponding actions.

[0036] In this embodiment, the support platform 1 can also be covered with a housing 14 to protect the horizontal telescopic mechanism 7 and the lifting mechanism 6. When in use, the housing 14 can be opened, and a searchlight can be installed on the top of the housing 14 for lighting. A cooling fan can be installed inside the housing 14 to reduce the temperature generated by the operation of each mechanism.

[0037] When the tunnel drilling robot in this embodiment performs drilling operations, the control mechanism first controls the walking mechanism 8 to drive the entire tunnel drilling robot along the tunnel track 13 to the designated position (e.g., Figure 2 (As shown), then the control mechanism controls the horizontal telescopic mechanism 7 and the lifting mechanism 6 to move, adjusting the distance between the robotic arm 5 and the drilling mechanism 2, rebar detection mechanism 3, and dust blowing and suction mechanism 4 on the robotic arm 5 and the working surface of the tunnel wall according to the actual working environment. The horizontal telescopic mechanism 7 extends and retracts in a direction perpendicular to the track 13 (as shown). Figure 3 As shown, the upper fixed mechanisms move towards or away from the tunnel working face. The lifting mechanism 6 controls the height of the upper fixed mechanisms to meet the drilling height requirements. The robotic arm 5 supports and carries the drilling mechanism 2, the rebar detection mechanism 3, and the dust blowing and suction mechanism 4 to perform corresponding actions. The rebar detection mechanism 3 first detects whether there is rebar on the tunnel wall. Then, the robotic arm 5 supports the drilling mechanism 2 to drill in areas without rebar. After drilling, the robotic arm 5 supports the dust blowing and suction mechanism 4 to blow and vacuum the inside of the hole, completing the continuous drilling operation. The drilling mechanism 2 can adjust the drilling height and spacing according to actual needs. During the operation, the walking mechanism 8 is controlled to move and stop, the horizontal telescopic mechanism 7 is controlled to extend and retract, the lifting mechanism 6 is controlled to raise and lower, the robotic arm 5 is controlled to perform the detection operation of the rebar detection mechanism 3, the drilling operation of the drilling mechanism 2, and the dust blowing and suction operation of the dust blowing and suction mechanism 4, achieving continuous and intelligent operation. Manual climbing and adjustment of drilling height and spacing are no longer required, improving work efficiency and safety.

[0038] In this embodiment, the robotic arm 5 is a six-axis robotic arm with high degrees of freedom. The lifting mechanism 6 is a scissor lift, and the control mechanism adopts a commonly used PLC control mechanism, which is integrated into the control cabinet 9, which is fixed to the support platform. Figure 4As shown, the horizontal telescopic mechanism 7 includes a top telescopic platform 71, a bottom fixed platform 72, a slider-slide groove assembly 73, and a telescopic drive mechanism 74. The fixed platform 72 is fixed to and connected to the support platform 1. The telescopic platform 71 is fixed to the lifting mechanism 6. The telescopic platform 71 is slidably connected to the fixed platform 72 via the slider-slide groove assembly 73 and is driven to slide by the telescopic drive mechanism 74. The sliding direction is perpendicular to the track 13 in the tunnel, moving towards or away from the working face of the tunnel. The telescopic drive mechanism 74 is an electric telescopic rod, electrically connected to the control mechanism, with one end fixed to the fixed platform 72 and the other end fixed to the telescopic platform 71. One of the slider and slide groove is provided on the top surface of the fixed platform 72, and the other of the slider and slide groove is provided on the bottom surface of the telescopic platform 71. The bottom platform of the lifting mechanism 6 is fixed to and connected to the telescopic platform 71 of the horizontal telescopic mechanism 7. The top platform of the lifting mechanism 6 is fixed to the robotic arm 5. The lifting mechanism 6 achieves the lifting and lowering of its upper mechanism through its own telescopic movement. The unfolded schematic diagram of the lifting mechanism 6 is shown below. Figure 5 As shown.

[0039] like Figure 1 and 6 As shown, the drilling mechanism 2, the rebar detection mechanism 3, and the dust-blowing and suction mechanism 4 are fixed to the end of the robotic arm 5 via a fixing frame 10. The end of the robotic arm 5 is fixedly connected to the fixing frame 10. The drilling mechanism 2 is fixed on the fixing frame 10, which has a hollow internal structure. The drill bit of the drilling mechanism 2 extends out of the fixing frame 10, while the rest of the drilling mechanism 2 is fixed inside the fixing frame 10. The rebar detection mechanism 3 and the dust-blowing and suction mechanism 4 are both slidably connected to the fixing frame 10. Both the rebar detection mechanism 3 and the dust-blowing and suction mechanism 4 are located outside the fixing frame 10. The drill bit of the rebar detection mechanism 3 and the drill bit of the drilling mechanism 2, as well as the dust-blowing and suction mechanism 4, are located on the side of the fixing frame 10 away from the robotic arm 5. The sliding direction of the rebar detection mechanism 3 and the dust-blowing and suction mechanism 4 is parallel to the length direction of the drill bit of the drilling mechanism 2. The rebar detection mechanism 3 is used to detect the presence of rebar in the tunnel. During rebar detection, the rebar detection mechanism 3 slides away from the fixed frame 101. After detection, it slides towards the fixed frame 101, without affecting the drilling mechanism 2. If rebar is detected, detection continues until a working surface without rebar is detected, allowing the drilling mechanism 2 to avoid drilling through rebar and reducing damage to the drilling mechanism 2. The dust blowing and suction mechanism 4 is used to clean the dust inside the drilled hole. During dust blowing and suction, the dust blowing and suction mechanism 4 slides away from the fixed frame 10, i.e., towards the hole on the tunnel surface. After completing the dust blowing and suction operation, the dust blowing and suction mechanism 4 slides towards the fixed frame 10. The dust blowing and suction mechanism 4 first blows out the dust inside the hole and then suctions it, resulting in high dust cleaning efficiency. Dust blowing and suction are almost simultaneous, preventing dust accumulation inside the hole and improving the efficiency of the mesh installation operation.

[0040] like Figure 6 As shown, the dust blowing and suction mechanism 4 includes a dust blowing pipe 41, a first suction pipe 42, a first dust cover 43, a dust blowing device, and a first suction device. The first suction pipe 42 is a three-way pipe, and the dust blowing pipe 41 is a three-way pipe with one end closed. The first dust cover 43 is connected to one of the openings of the first suction pipe 42. The first dust cover 43 and the first suction pipe 42 are sleeved on the outside of the dust blowing pipe 41. The opening of the first suction pipe 42 away from the first dust cover 43 is sealed to the dust blowing pipe 41. One of the openings of the blowing pipe 41 is close to the first dust cover 43 and is used to extend into the hole to suck up dust. The opening of the blowing pipe 41 can extend outside the first dust cover 43, allowing it to penetrate deeper into the hole and achieve a better dust blowing effect. The other opening of the blowing pipe 41 extends out of the first dust cover 43 or the first suction pipe 42 and is connected to the dust blowing device. The closed opening of the blowing pipe 41 is away from the first dust cover 43 and close to the fixing frame 10. The third opening of the first suction pipe 42 is connected to the first suction device.

[0041] The blowing force generated by the dust blowing device is sent into the hole through the dust blowing pipe 41, blowing up the dust in the hole. The first dust cover 43 is placed over the hole and the dust blowing pipe 41 to collect and gather the dust blown out of the hole. The dust collected by the first dust cover 43 is sucked out through the first dust suction pipe 42 under the negative pressure suction action generated by the first dust suction device.

[0042] In this embodiment, the first dust cover 43 is funnel-shaped, which improves the dust collection effect. The diameter of the larger end of the first dust cover 43 is larger than the diameter of the hole drilled by the drilling mechanism 2. The larger end of the first dust cover 43 can cover the outside of the hole, while the smaller end is connected to the first suction pipe 42.

[0043] The drill bit of the drilling mechanism 2 is externally fitted with a connected second dust cover 103 and a second suction pipe 104. The front end of the drill bit extends beyond the second dust cover 103, and the installation of the second dust cover 103 does not affect the drilling operation. The second suction pipe 104 is a three-way pipe closed at one end. One end of the second suction pipe 104 is connected to the second dust cover 103, the closed end of the second suction pipe 104 is fixedly connected to the fixing frame 10, and the third end of the second suction pipe 104 is connected to a second suction device. Dust can be suctioned simultaneously with drilling by the drilling mechanism 22, reducing the impact on the working environment and the harm to the health of workers, and improving work efficiency.

[0044] In this embodiment, the second dust cover 103 is funnel-shaped, which improves the dust collection effect. The diameter of the larger port of the second dust cover 103 is larger than the diameter of the hole drilled by the drilling mechanism 2. The larger end of the first dust cover 43 can cover the hole, and the smaller end is connected to the second suction pipe 104.

[0045] The blowing device can be a blower gun, and the first and second vacuuming devices can be industrial vacuum cleaners.

[0046] like Figure 6 As shown, a first sliding drive device 101 for driving the rebar detection mechanism 3 to slide and a second sliding drive device 102 for driving the dust blowing and suction mechanism 4 to slide are fixed on the fixed frame 10. Both the first sliding drive device 101 and the second sliding drive device 102 are electrically connected to the control mechanism. The first sliding drive device 101 and the second sliding drive device 102 are electric telescopic rods, hydraulic cylinders, or pneumatic cylinders. The fixed ends of the first sliding drive device 101 and the second sliding drive device 102 are fixed inside the fixed frame 10, and the telescopic ends of the first sliding drive device 101 and the second sliding drive device 102 extend out of the fixed frame 10. The telescopic end of the first sliding drive device 101 is fixedly connected to the rebar detection mechanism 3, and the telescopic end of the second sliding drive device 102 is fixedly connected to the end of the first dust suction pipe 42 or the dust blowing pipe 41 away from the first dust cover 43. The fixed end is fixed inside the fixed frame 10, and the telescopic end extends out of the fixed frame 10 to drive the rebar detection mechanism 3 and the dust blowing and suction mechanism 4 to slide relative to the fixed frame 10.

[0047] Drilling mechanism 2 is a water drill. When drilling, water is passed through the drill bit, which can reduce the temperature of the drill bit, extend the drilling time, and improve work efficiency.

[0048] The control mechanism controls the robotic arm 5 to lift the fixed frame 10 for operation. First, the first sliding drive device 101 drives the rebar detection mechanism 3 to slide away from the fixed frame 10. Figure 7 As shown, the front end of the rebar detection mechanism 3 protrudes beyond the drill bit of the drilling mechanism 2 for convenient operation. The rebar detection mechanism 3 detects whether there is rebar on the working surface. If so, it continues to detect until a working surface without rebar is detected within the working range. After detection, the telescopic end of the first sliding drive device 101 retracts, driving the rebar detection mechanism 3 to slide back to its initial position. Then, the control mechanism controls the robotic arm 5 to lift the drilling mechanism 2 to drill a hole on the working surface after detection. Simultaneously, the second dust suction device performs dust suction. After drilling, the control mechanism controls the robotic arm 5 to lift the dust suction mechanism 4 to the hole, and the second sliding drive device 102 drives the dust suction mechanism 4 to slide away from the fixed frame 10. Figure 7 As shown, the front end of the second dust cover 103 protrudes beyond the first dust cover 43, and the front end of the blowing pipe 41 protrudes beyond the drill bit of the drilling mechanism 2. The second dust cover 103 covers the hole, and the front end of the blowing pipe 41 extends into the hole to blow dust. The first dust suction device then suctions the dust, cleaning the hole. After the operation is completed, the second sliding drive device 102 drives the blowing and suction mechanism 4 to slide towards the fixed frame 10, finally returning to its original position. Figure 6 The initial state is shown.

[0049] This embodiment integrates the rebar detection mechanism 3, drilling mechanism 2, and dust blowing and suction mechanism 4 into one unit, making it convenient for the robotic arm 5 to carry and operate. It achieves integrated rebar detection, drilling, dust blowing, and dust suction. Rebar detection is performed before drilling to successfully avoid drilling at rebar locations, improving work efficiency and reducing damage to the drilling mechanism 2. Furthermore, dust blowing and suction are performed after drilling to promptly clean dust from the hole, improving the efficiency of mesh installation. It enables continuous operation of rebar detection, drilling, and dust blowing and suction, improving work efficiency and saving time.

[0050] like Figure 1 As shown, the tunnel drilling robot in this embodiment also includes a dust collection mechanism 11, which is fixed to the robotic arm 5, as shown in the figure. Figure 8 As shown, the vacuuming mechanism 11 includes a negative pressure device 111, a four-way pipe 112, and a vacuum reversing mechanism 113. The negative pressure device 111 has a suction port and a dust outlet. Two of the ports of the four-way pipe 112 are arranged opposite each other, and the other two ports of the four-way pipe 112 serve as air intakes 1121. The two air intakes 1121 are at a preset angle; in this embodiment, the angle between the two air intakes 1121 is 180°. One of the opposite ports of the four-way pipe 112 is connected to the suction port of the negative pressure device 111, and the dust outlet of the negative pressure device 111 can be connected to a dust bag. In this embodiment, the negative pressure device 111 is a vacuum generator. The vacuum reversing mechanism 113 is sealed to the other port of the opposite port of the four-way pipe 112 and switches the connection between the two air intakes 1121 and the outside, with at least one air intake 1121 connected to the outside.

[0051] By switching the suction direction mechanism 113, at least one of the two suction ports can be connected to the outside for suction. That is, either one suction port can be connected to the outside, or both suction ports can be connected to the outside for suction. The switching of the suction port connected to the outside is determined based on the concentration and direction of dust accumulation. If the dust concentration is high and relatively dispersed, both suction ports will be opened simultaneously to suction from two directions, improving suction efficiency and reducing dust in the tunnel.

[0052] The vacuuming mechanism 11 in this embodiment is also provided with a support frame 15. The negative pressure device 111, the four-way pipe 112 and the vacuuming reversing mechanism 113 are fixed on the support frame 15 to support the negative pressure device 111, the four-way pipe 112 and the vacuuming reversing mechanism 113. The fixed frame 10 is fixedly connected to the robotic arm 5.

[0053] like Figure 9As shown, the vacuum reversing mechanism 113 includes a reversing block 1131 for closing the air intake 1121, a sealing piston 1132 for sealing the port of the four-way pipe 112 away from the negative pressure device 111, and a rotary drive mechanism 1133. The reversing block 1131 and the sealing piston 1132 are sleeved in the pipes where the two opposite ports of the four-way pipe 112 are located. The end of the reversing block 1131 away from the negative pressure device 111 is fixedly connected to the sealing piston 1132. The rotary drive mechanism 1133 is fixedly connected to the sealing piston 1132. The rotary drive mechanism 1133 drives the reversing block 1131 and the sealing piston 1132 to rotate relative to the four-way pipe 112, so that the air intake 1121 is closed or opened by the reversing block 1131, and at least one of the air intake ports 1121 is connected to the outside.

[0054] The shape and curvature of the reversing block 1131 are the same as those of the two opposite openings in the four-way pipe 112. For example, if the inside of the pipe is cylindrical, the reversing block 1131 is an arc-shaped plate with the same curvature as the inner wall of the pipe. The area of ​​the reversing block 1131 is larger than the area of ​​the suction port 1121, which can completely seal the suction port 1121. The width of the reversing block 1131 is smaller than the width between the two suction ports 1121. That is, when the reversing block 1131 is between the two suction ports 1121, both suction ports 1121 can be in the open state, realizing bidirectional dust collection. The reversing block 1131 is driven to rotate inside the pipe by the rotary drive mechanism 1133, so that the reversing block 1131 switches between closing one of the suction ports 1121 or being between the two suction ports 1121 so that both suction ports 1121 are open, thereby realizing the reversal of dust collection.

[0055] The rotary drive mechanism 1133 can be a motor, with its output shaft fixedly connected to the sealing piston 1132. The rotation of the motor's output shaft drives the reversing stop 1131 and the sealing piston 1132 to rotate within the four-way pipe 112, thereby switching the two suction ports between closed and open states. Figure 9 As shown, the motor body is fixed on the support frame 15 and is fixedly connected to the support frame 15. The outer wall of the four-way pipe 112 is fixedly connected to the support frame 15. The outer wall of the negative pressure device 111 is also fixedly connected to the support frame 15. The support frame 15 provides support force to ensure the stability of the device during the dust collection process.

[0056] The rotary drive mechanism 1133 can also be a rotary cylinder, with the piston rod of the rotary cylinder fixedly connected to the sealing piston 1132. The piston rod of the rotary cylinder drives the reversing block 1131 and the sealing piston 1132 to rotate inside the four-way pipe 112. During the rotation, the sealing piston 1132 is always inside the pipe of the four-way pipe 112 to perform a sealing function.

[0057] The inner wall of the sealing piston 1132 and the four-way pipe 112 is coated with sealing lubricating oil, so that when the sealing piston 1132 is driven by the rotary drive mechanism 1133 to rotate, the sealing piston 1132 and the four-way pipe 112 maintain a sealed state while reducing rotational resistance, and dust enters as much as possible from the air intake 1121.

[0058] The sealing piston 1132 can be a rubber stopper.

[0059] In another embodiment, such as Figure 10 As shown, the vacuum reversing mechanism 113 includes a reversing block 1131 for closing the suction port 1121, a sealing piston 1132 for sealing the port of the four-way pipe 112 away from the negative pressure device 111, and a rotary drive mechanism 1133. The reversing block 1131 and the sealing piston 1132 are sleeved in the pipes where the two opposite ports of the four-way pipe 112 are located. The sealing piston 1132 is located on the side of the reversing block 1131 away from the negative pressure device 111 and is fixedly connected to the four-way pipe 112. The rotary drive mechanism 1133 passes through the sealing piston 1132 and is fixedly connected to the reversing block 1131. The rotary drive mechanism 1133 drives the reversing block 1131 to rotate relative to the four-way pipe 112, so that the suction port 1121 is closed or opened by the reversing block 1131, and at least one of the suction ports 1121 is connected to the outside. In this embodiment, the sealing piston 1132 is fixed, and only the reversing block 1131 rotates in the pipe of the four-way pipe 112 by the drive of the rotary drive mechanism 1133, so as to close or open the air intake 1121, thereby realizing the reversal of dust suction.

[0060] The rotary drive mechanism 1133 can be a motor. The output shaft of the motor is rotatably connected to the sealed piston 1132, and the output shaft of the motor passes through the sealed piston 1132 and is fixedly connected to the reversing block 1131. The rotation of the motor output shaft drives the reversing block 1131 to rotate inside the four-way pipe 112, thereby switching the state of the two dust suction ports being closed or open.

[0061] The rotary drive mechanism 1133 can also be a rotary cylinder. The piston rod of the rotary cylinder is rotatably connected to the sealing piston 1132, and the piston rod of the rotary cylinder passes through the sealing piston 1132 and is fixedly connected to the reversing block 1131. The piston rod of the rotary cylinder drives the reversing block 1131 to rotate inside the four-way pipe 112. During the rotation, the sealing piston 1132 is always inside the pipe of the four-way pipe 112 to perform a sealing function.

[0062] A sealing lubricant is applied between the sealing piston 1132 and the rotary drive mechanism 1133. Specifically, a sealing lubricant is applied between the sealing piston 1132 and the output shaft of the motor, or between the sealing piston 1132 and the piston rod of the rotary cylinder. This ensures that the motor output shaft or the piston rod of the rotary cylinder maintains a sealed state with the sealing piston 1132 when rotating, while reducing rotational resistance and allowing dust to enter primarily through the intake port 1121.

[0063] When the tunnel drilling robot of this embodiment performs dust collection, it activates the rotary drive mechanism 1133 according to the degree and concentration of dust accumulation in the environment where the tunnel drilling robot is located. The rotary drive mechanism 1133 drives the reversing block 1131 to rotate in the four-way pipe 112. If dust accumulates on one side, only the air intake 1121 on the side where dust accumulates can be opened, and the other air intake 1121 can be closed by the reversing block 1131. If the dust concentration around the dust collection device is high, the reversing block 1131 rotates between the two air intakes 1121, so that both air intakes 1121 are opened. Then, the negative pressure device 111 is turned on to suck the dust in through the air intake 1121 and discharge it into the dust bag from the dust outlet of the negative pressure device 111.

[0064] like Figure 11 As shown, the walking unit includes a front walking wheel 81, a rear walking wheel 82, a second drive motor 83, and a sprocket and chain transmission mechanism 84. The two front walking wheels 81 are connected by a connecting shaft 85, and the two rear walking wheels 82 are connected by a connecting shaft 85. Both connecting shafts 85 are rotatably connected to the support platform 1. The second drive motor 83 drives the connecting shafts 85 to rotate through the sprocket and chain transmission mechanism 84, thereby causing the front walking wheels 81 and the rear walking wheels 82 to roll along the track 13 inside the tunnel. In this embodiment, there are two sprocket and chain transmission mechanisms 84, which simultaneously drive the front walking wheels 81 and the rear walking wheels 82 to roll. The sprocket and chain drive mechanism 84 includes a driving sprocket, a chain, and a driven sprocket. The driving sprockets of both sprocket and chain drive mechanisms 84 are coaxially connected to the output shaft of the second drive motor 83. The two driving sprockets are connected to the driven sprockets via chains. One driven sprocket is sleeved and fixed on the connecting shaft 85 between the two front traveling wheels 81, and the other driven sprocket is sleeved and fixed on the connecting shaft 85 between the two rear traveling wheels 82, enabling the second drive motor 83 to simultaneously drive both the front traveling wheels 81 and the rear traveling wheels 82. The second drive motor 83 is electrically connected to a control mechanism, which controls the start and stop of the second drive motor 83.

[0065] The tunnel drilling robot of this embodiment also includes a stop-and-clamp mechanism 12, which is fixed below the support platform 1. The stop-and-clamp mechanism 12 includes a first drive motor, a bidirectional lead screw, a first lead screw nut block, a second lead screw nut block, a first gripper 121, and a second gripper 122. The first gripper 121 and the second gripper 122 are arranged opposite to each other. The first gripper 121 is fixedly connected to the first lead screw nut block, and the second gripper 122 is fixedly connected to the second lead screw nut block. The bidirectional lead screw is provided with a positive thread and a negative thread. The first lead screw nut block is threaded to the positive thread of the bidirectional lead screw, and the second lead screw nut block is threaded to the negative thread of the bidirectional lead screw. The bottom surface of the support platform 1 is provided with a sliding groove that is slidably connected to the first lead screw nut block and the second lead screw nut block. The sliding groove is parallel to the bidirectional lead screw. The first drive motor drives the bidirectional lead screw to rotate. The body of the first drive motor is fixed to the bottom of the support platform 1 and is fixedly connected to the support platform 1. The first drive motor drives the bidirectional lead screw to rotate, causing the first lead screw nut block and the second lead screw nut block to slide along the sliding groove on the bottom surface of the support platform 1. The first lead screw nut block and the second lead screw nut block move closer to each other or further away from each other, thereby causing the first gripper 121 and the second gripper 122 to move closer to each other or further away from each other. When the first gripper 121 and the second gripper 122 move closer to each other, they clamp onto both sides of the track 13, which serves to stop the movement (e.g., ...). Figure 3 (As shown). When the walking mechanism 8 is started, the first drive motor reverses and the lead screw reverses, causing the first lead screw nut block and the second lead screw nut block to move away from each other, thereby causing the first gripper 121 and the second gripper 122 to move away from each other and release the track 13. The first drive motor is electrically connected to the control mechanism, which controls the start, stop, and forward / reverse rotation of the first drive motor.

[0066] like Figure 11 As shown, four guide rail clamping mechanisms 12 can be provided in this embodiment, arranged in a rectangular pattern, and positioned between the two front traveling wheels 81 and the two rear traveling wheels 82.

[0067] When the tunnel drilling robot in this embodiment performs drilling operations, the control mechanism first controls the walking mechanism 8 to drive the entire tunnel drilling robot along the tunnel track 13 to the designated position (e.g., Figure 2 As shown), the control mechanism then controls the stop clamping mechanism 12 to clamp on both sides of the track 13 (as shown). Figure 3 As shown), this ensures the robot's stability during operation and prevents it from moving. Then, the control mechanism controls the horizontal telescopic mechanism 7 and the lifting mechanism 6 to adjust the distance between the robotic arm 5 and the drilling mechanism 2, rebar detection mechanism 3, and dust blowing / suction mechanism 4 on the robotic arm 5 and the tunnel wall working surface according to the actual working environment. The horizontal telescopic mechanism 7 extends in a direction perpendicular to the track 13, causing the fixed mechanisms on its upper part to move closer to the tunnel working surface (e.g., ...). Figure 3As shown, the lifting mechanism 6 controls the height of the various mechanisms fixed above it to meet the drilling height requirements. The robotic arm 5 is used to lift and carry the drilling mechanism 2, the rebar detection mechanism 3, and the dust blowing and suction mechanism 4 to perform corresponding actions. The rebar detection mechanism 3 first detects whether there is rebar on the tunnel wall. Then, the robotic arm 5 lifts the drilling mechanism 2 to drill a hole where there is no rebar. After drilling, the robotic arm 5 lifts the dust blowing and suction mechanism 4 to blow and suck dust into the hole, completing the continuous drilling operation. At the same time, the dust suction mechanism 11 changes direction for dust suction according to the concentration and direction of dust in the tunnel environment, or simultaneously activates dust suction on both sides. After drilling is completed here, the control structure controls the stop rail clamping mechanism 12 to release the track 13, and the traveling mechanism 8 travels along the track 13 to the next drilling position to repeat the above operation.

[0068] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0069] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0070] In the description of this specification, the references to terms such as "this embodiment," "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any at least one embodiment or example. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and simple improvements made on the substantive content of the present invention should be included within the protection scope of the present invention.

Claims

1. A tunnel drilling robot, characterized in that, It includes a support platform (1), a drilling mechanism (2), a rebar detection mechanism (3), a dust blowing and suction mechanism (4), a robotic arm (5), a lifting mechanism (6), a horizontal telescopic mechanism (7), a walking mechanism (8), and a control mechanism. The drilling mechanism (2), the rebar detection mechanism (3), and the dust blowing and suction mechanism (4) are fixed to the end of the robotic arm (5). The rebar detection mechanism (3) is used to detect whether there are rebars in the tunnel wall. The drilling mechanism (2) is used to drill holes in the tunnel wall where there are no rebars. The dust blowing and suction mechanism (4) is used to blow out the dust in the holes and suck it away. The bottom of the robotic arm (5) is fixed to the lifting mechanism (6). The lifting mechanism (6) is fixed to the horizontal telescopic mechanism (7), and the lifting mechanism (6) is used to lift the robotic arm (5) up and down. The horizontal telescopic mechanism (7) is fixed on the support platform (1), and the horizontal telescopic mechanism (7) is used to extend and retract horizontally in a direction perpendicular to the track (13). The walking mechanism (8) is fixed below the support platform (1). The walking mechanism (8) is used to drive the tunnel drilling robot to move along the tunnel track (13) to the designated position. The control mechanism is electrically connected to the drilling mechanism (2), the rebar detection mechanism (3), the dust blowing and suction mechanism (4), the robotic arm (5), the lifting mechanism (6), the horizontal telescopic mechanism (7), and the walking mechanism (8), respectively, and is used to control each mechanism to perform corresponding actions. It also includes a vacuuming mechanism (11), which is fixed on the robotic arm (5). The vacuuming mechanism (11) includes a negative pressure device (111), a four-way pipe (112), and a vacuum reversing mechanism (113). The negative pressure device (111) is provided with a suction port and a dust outlet. Two of the four-way pipes (112) are arranged opposite to each other, and the other two ports of the four-way pipes (112) serve as air intakes (1121). The two air intakes (1121) are at a preset angle. One of the opposite ports of the four-way pipes (112) is connected to the suction port of the negative pressure device (111). The vacuum reversing mechanism (113) is sealed and connected to the other port of the opposite port of the four-way pipes (112) and switches the connection between the two air intakes (1121) and the outside world. At least one air intake (1121) is connected to the outside world.

2. The tunnel drilling robot according to claim 1, characterized in that, The drilling mechanism (2), the rebar detection mechanism (3), and the dust blowing and suction mechanism (4) are fixed to the end of the robotic arm (5) by a fixing frame (10). The end of the robotic arm (5) is fixedly connected to the fixing frame (10). The drilling mechanism (2) is fixed on the fixing frame (10). The drill bit of the drilling mechanism (2) extends out of the outside of the fixing frame (10). The rebar detection mechanism (3) and the dust blowing and suction mechanism (4) are both slidably connected to the fixing frame (10). The rebar detection mechanism (3) and the dust blowing and suction mechanism (4) are both located outside the fixing frame (10). The drill bit of the rebar detection mechanism (3), the drilling mechanism (2), and the dust blowing and suction mechanism (4) are located on the side of the fixing frame (10) away from the robotic arm (5). The sliding direction of the rebar detection mechanism (3) and the dust blowing and suction mechanism (4) is parallel to the length direction of the drill bit of the drilling mechanism (2).

3. The tunnel drilling robot according to claim 2, characterized in that, The blowing and suction mechanism (4) includes a blowing pipe (41), a first suction pipe (42), a first dust cover (43), a blowing device, and a first suction device. The first suction pipe (42) is a three-way pipe, and the blowing pipe (41) is a three-way pipe with one end closed. The first dust cover (43) is connected to one of the openings of the first suction pipe (42). The first dust cover (43) and the first suction pipe (42) are sleeved on the outside of the blowing pipe (41). The first suction pipe (42) is away from the first... The port of the dust cover (43) is sealed to the blowing pipe (41). One of the ports of the blowing pipe (41) is close to the first dust cover (43). The other port of the blowing pipe (41) extends out of the first dust cover (43) or the first suction pipe (42) and is connected to the blowing device. The closed port of the blowing pipe (41) is away from the first dust cover (43) and close to the fixing frame (10). The third port of the first suction pipe (42) is connected to the first suction device.

4. The tunnel drilling robot according to claim 2 or 3, characterized in that, The drill bit of the drilling mechanism (2) is fitted with a second dust cover (103) and a second suction pipe (104) that are connected to each other. The second suction pipe (104) is a three-way pipe with one end closed. One of the pipe openings of the second suction pipe (104) is connected to the second dust cover (103). The closed pipe opening of the second suction pipe (104) is fixedly connected to the fixing frame (10). The third pipe opening of the second suction pipe (104) is connected to a second suction device.

5. The tunnel drilling robot according to claim 1, characterized in that, The vacuum reversing mechanism (113) includes a reversing block (1131) for closing the suction port (1121), a sealing piston (1132) for sealing the port of the four-way pipe (112) away from the negative pressure device (111), and a rotary drive mechanism (1133). The reversing block (1131) and the sealing piston (1132) are sleeved inside the pipes containing the two opposite ports of the four-way pipe (112). The reversing block (1131) is away from the negative pressure device (111). One end of the device (111) is fixedly connected to the sealing piston (1132), and the rotary drive mechanism (1133) is fixedly connected to the sealing piston (1132). The rotary drive mechanism (1133) drives the reversing block (1131) and the sealing piston (1132) to rotate relative to the four-way pipe (112), so that the air intake (1121) is closed or opened by the reversing block (1131), and at least one of the air intakes (1121) is connected to the outside.

6. The tunnel drilling robot according to claim 1, characterized in that, The vacuum reversing mechanism (113) includes a reversing block (1131) for closing the suction port (1121), a sealing piston (1132) for sealing the port of the four-way pipe (112) away from the negative pressure device (111), and a rotary drive mechanism (1133). The reversing block (1131) and the sealing piston (1132) are sleeved inside the pipes where the two opposite ports of the four-way pipe (112) are located. The sealing piston (1132) is located at the reversing block (1131). The rotary drive mechanism (1133) is located away from the negative pressure device (111) and is fixedly connected to the four-way pipe (112). The rotary drive mechanism (1133) passes through the sealing piston (1132) and is fixedly connected to the reversing block (1131). The rotary drive mechanism (1133) drives the reversing block (1131) to rotate relative to the four-way pipe (112), so that the air intake (1121) is closed or opened by the reversing block (1131), and at least one of the air intakes (1121) is connected to the outside.

7. The tunnel drilling robot according to claim 1, characterized in that, It also includes a stop rail clamping mechanism (12), which is fixed below the support platform (1). The stop rail clamping mechanism (12) includes a first drive motor, a bidirectional lead screw, a first lead screw nut block, a second lead screw nut block, a first clamp (121), and a second clamp (122). The first clamp (121) and the second clamp (122) are arranged opposite to each other. The first clamp (121) is fixedly connected to the first lead screw nut block, and the second clamp (122) is fixedly connected to the second lead screw nut block. The bidirectional lead screw is provided with a positive thread and a negative thread. The first lead screw nut block is threaded to the positive thread of the bidirectional lead screw, and the second lead screw nut block is threaded to the negative thread of the bidirectional lead screw. The bottom surface of the support platform (1) is provided with a sliding groove that is slidably connected to the first lead screw nut block and the second lead screw nut block. The sliding groove is parallel to the bidirectional lead screw. The first drive motor drives the bidirectional lead screw to rotate.

8. The tunnel drilling robot according to claim 1, characterized in that, The walking mechanism includes a front walking wheel (81), a rear walking wheel (82), a second drive motor (83), and a sprocket and chain transmission mechanism (84). The two front walking wheels (81) are connected by a connecting shaft (85), and the two rear walking wheels (82) are connected by a connecting shaft (85). Both connecting shafts are rotatably connected to the support platform (1). The second drive motor (83) drives the connecting shaft (85) to rotate through the sprocket and chain transmission mechanism (84), thereby causing the front walking wheel (81) and the rear walking wheel (82) to roll along the track (13) in the tunnel.

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