An underground tunnel crack repair intelligent drilling device, a mechanical arm and a method

Abstract

The application provides an underground tunnel crack repairing intelligent drilling device, a mechanical arm and a method, relates to the field of underground intelligent repairing equipment, and aims to solve the problems of low intelligence degree and easy damage of a detection assembly caused by drilling impact during drilling of a crack in an underground project. A matched detection assembly is arranged on a drilling assembly, crack state parameters can be collected during drilling, and auxiliary positioning can be performed. The detection assembly is installed on a support plate through a sliding pair with a resilient piece. When vibration occurs during construction, part of the vibration can be absorbed by the resilient piece. The direction of action of the resilient piece is consistent with the drilling direction, so that the impact effect generated during drilling is improved, and the detection equipment is protected.

Description

Technical Field

[0001] This invention relates to the field of underground intelligent repair equipment, specifically to an intelligent drilling device, robotic arm, and method for repairing cracks in underground tunnels. Background Technology

[0002] Most existing tunnels suffer from cracks caused by spalling, damage, and water leakage. If these defects are not repaired promptly, they can affect the overall structural stability and, in severe cases, lead to tunnel collapse. Currently, the common practice in tunnel maintenance is for workers to erect scaffolding, drill multiple grouting holes around the cracks, and then inject repair fluid to fill them. However, tunnel cracks are typically long and narrow, requiring numerous drilling points and significant distances between grouting holes. Therefore, manual drilling is inefficient, severely hindering crack repair progress and disrupting normal traffic flow.

[0003] Currently, there are some automatic drilling devices used in underground engineering projects such as pipe galleries, roadways, and tunnels. Most of these devices use a support frame combined with a telescopic drill bit. While this reduces the difficulty of drilling to some extent, their level of intelligence is low. They cannot perform functions such as distance measurement and positioning before drilling, or collecting crack status data. As a result, they cannot meet the current requirements for drilling accuracy and crack analysis in the process of repairing cracks in underground tunnels. In addition, due to the harsh working environment inside tunnels, a large amount of debris and dust are generated during drilling. When distributed at the drilling site, this affects the detection accuracy of some sensors. At the same time, the vibration during drilling can easily impact and damage precision detection equipment, making it difficult to meet the requirements of drilling in underground engineering projects. Summary of the Invention

[0004] The purpose of this invention is to address the deficiencies of existing technologies by providing an intelligent drilling device, robotic arm, and method for repairing cracks in underground tunnels. A matching detection component is installed on the drilling assembly to collect crack status parameters and assist in positioning during the drilling process. The detection component is mounted on a support plate via a sliding pair with a rebound element. When vibration occurs during construction, the rebound element absorbs part of the vibration. The rebound element's direction of action is consistent with the drilling direction, thereby improving the absorption of the impact generated during drilling and protecting the detection equipment.

[0005] The first objective of this invention is to provide an intelligent drilling device for repairing cracks in underground tunnels, employing the following solution:

[0006] It includes a drilling assembly and a detection assembly mounted on a support plate. The detection assembly is connected to the support plate via a sliding pair with a linear trajectory. At the end of the stroke of the sliding pair, there is a positioning seat for the detection assembly. The support plate is provided with a reciprocating push rod that abuts against the detection assembly. The detection assembly is equipped with a spring-loaded component that applies elastic force along the trajectory of the sliding pair to buffer and dampen the movement of the detection assembly. The drilling path of the drilling assembly and the working path of the reciprocating push rod are parallel to the trajectory of the sliding pair.

[0007] Furthermore, the detection assembly includes a detection box and a purging assembly. One side of the detection box is open and sealed with a transparent plate, and the air curtain formed by the purging assembly covers the side of the transparent plate away from the detection box.

[0008] Furthermore, the detection box is equipped with a ranging element and an imaging element, with the working ends of both the ranging element and the imaging element facing the transparent plate.

[0009] Furthermore, the sliding pair includes a slider mounted on the detection component and an optical axis mounted on the support plate via a bearing seat. The slider is slidably sleeved outside the optical axis to form a slider slide rail mechanism. The spring-loaded component is sleeved outside the optical axis and distributed on both sides of the slider. One end of the spring-loaded component abuts against the slider and the other end abuts against the bearing seat.

[0010] Furthermore, one end of the reciprocating push rod is fixed to the support plate, and the other end is the output end. The output end can extend to push the detection component to contact the positioning seat and lock the position, and the output end can shorten to avoid the range of motion of the detection component.

[0011] Furthermore, the drilling assembly includes a guide mechanism and a drive cylinder. The drilling element is mounted on the guide mechanism via a bracket, and the output end of the drive cylinder is connected to the bracket. The drilling element reciprocates under the constraint of the guide mechanism, and the movement trajectory of the drilling element is parallel to the trajectory of the sliding pair.

[0012] Furthermore, a collision warning component, an illumination component, and a vision component are installed on the support plate. Multiple illumination components are arranged circumferentially around the detection component, and the illumination components face the detection position of the detection component. The collision warning component is located at the end of the support plate near the crack. The vision component is connected to the support plate through a dual rocker mechanism.

[0013] Furthermore, the frame rod of the dual rocker mechanism is fixed to the support plate, the connecting rod is fixed to the vision component, and the connecting rod is connected to the support frame through a buffer. One end of the buffer is hinged to the connecting rod, and the other end is hinged to the support plate, so as to maintain the relative position of the vision component and the support plate through the buffering effect.

[0014] A second objective of the present invention is to provide a robotic arm that utilizes an intelligent drilling device for repairing cracks in underground tunnels as described in the first objective.

[0015] A third objective of the present invention is to provide a method of operating an intelligent borehole device for repairing underground tunnel cracks as described in the first objective, comprising:

[0016] Adjust the position of the support plate, the reciprocating push rod abuts against and drives the detection component to move, overcomes the resistance of the spring element, moves to the positioning seat and holds, and the detection component works;

[0017] After the test is completed, the reciprocating push rod returns to its original position to avoid the test component, and the return spring drives the test component to return to its original position;

[0018] The drilling assembly performs drilling operations, and the vibrations generated during the operation are transmitted to the detection assembly. The spring-loaded component changes its axial length under the action of the detection assembly to absorb the vibration.

[0019] Compared with the prior art, the advantages and positive effects of this invention are:

[0020] (1) In view of the current problems of low intelligence level and easy damage to detection components by drilling impact during underground engineering crack repair drilling, a matching detection component is set on the drilling component. It can collect crack state parameters and assist in positioning during the drilling process. The detection component is installed on the support plate through a sliding pair with a rebound component. When vibration occurs during construction, the rebound component can absorb part of the vibration. The direction of the rebound component is consistent with the drilling direction, thereby improving the absorption of the impact generated during drilling and protecting the detection equipment.

[0021] (2) The drilling assembly and the detection assembly are the end effectors of the robot. Automated drilling uses a mechanized structure to replace the manual drilling process, which solves the problem of repetitive and labor-intensive operation of drilling tunnel walls with traditional hand drills, and reduces the labor intensity and working time of workers.

[0022] (3) The detection element is arranged inside the detection box. The side opening of the detection box is blocked by a transparent plate, which can protect the internal detection element while allowing light to pass through. The surface of the transparent plate is blown by the blowing assembly to reduce the problem of dust adhering to the surface of the transparent plate affecting the detection data. In addition, the blowing assembly can form an air curtain to form a soft isolation for the transparent plate, preventing small and sharp sand and gravel from colliding with the transparent plate and causing scratches that reduce the transparency, thus improving the protection effect on the internal detection element.

[0023] (4) The spring-loaded parts are located on both sides of the slider connected to the detection component, which can achieve good buffering effect in two different axial directions. At the same time, the trajectory of the sliding pair is consistent with the drilling trajectory, which facilitates the absorption of the main vibration from the impact during drilling and improves the vibration reduction effect. The reciprocating push rod that abuts against the detection component can push the detection component to move and can break away from the contact with the detection component to avoid the movement range of the detection component, thus avoiding interference with the reciprocating push rod when the detection component vibrates along the sliding pair in the non-working state.

[0024] (5) Set the positioning seat as the stop point at one end of the travel of the detection component. When the reciprocating push rod drives the detection component to the position of the positioning seat, the positioning seat and the reciprocating push rod together limit the detection component. Combined with the limiting effect of the sliding pair on the detection component, the position of the detection component and the support plate are kept fixed, which makes it easier to calibrate its coordinate position in the future, ensuring that the position of the detection component is determined every time it works, reducing positioning error and improving data accuracy.

[0025] (6) Configure lighting components and collision detection components for the detection components to reduce the interference of the external environment on the operation of the detection components, and further reduce the interference and collision problems in the underground tunnel environment.

[0026] (7) To meet the needs of collecting tunnel environmental information, a vision component is configured and a corresponding double rocker mechanism is set as a vibration damping support. The double rocker mechanism maintains the translational property of the connecting rod, so that the vision component can maintain its orientation. In the process of using the buffer to achieve the vibration damping effect, it can also reduce the uncontrollable shaking of the vision component during the acquisition process. The tangential direction of the swing direction of the connecting rod is consistent with the drilling impact direction, thereby improving its buffering effect, effectively protecting the vision component, and promoting the implementation of intelligent construction. Attached Figure Description

[0027] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0028] Figure 1 This is an isometric view of the intelligent drilling device for repairing cracks in underground tunnels in Embodiment 1, 2, or 3 of the present invention.

[0029] Figure 2 This is a top view of the intelligent drilling device for repairing cracks in underground tunnels in Embodiment 1, 2, or 3 of the present invention.

[0030] Figure 3 This is a right view of the intelligent drilling device for repairing cracks in underground tunnels in Embodiment 1, 2, or 3 of the present invention.

[0031] Figure 4 This is a bottom view of the intelligent drilling device for repairing cracks in underground tunnels in Embodiment 1, 2, or 3 of the present invention.

[0032] Figure 5 This is a schematic diagram of the detection component structure in embodiment 1, 2, or 3 of the present invention.

[0033] Figure 6 This is a schematic diagram of the guide mechanism and the bracket in embodiment 1, 2 or 3 of the present invention.

[0034] In the diagram, 1 is the detection component, 2 is the collision warning component, 3 is the drilling component, 4 is the drive cylinder, 5 is the vision component, 6 is the support plate, 7 is the connecting flange, 8 is the lighting component, 9 is the purging component, 10 is the buffer component, 11 is the imaging element, 12 is the shaft seat, 13 is the positioning seat, 14 is the optical axis, 15 is the spring, 16 is the linear bearing, 17 is the ranging element, 18 is the sliding pair, 19 is the reciprocating push rod, 20 is the detection box, 21 is the guide mechanism, 22 is the bracket, and 23 is the dual rocker mechanism. Detailed Implementation

[0035] Example 1

[0036] In a typical embodiment of the present invention, such as Figures 1-6 As shown, an intelligent drilling device for repairing cracks in underground tunnels is presented.

[0037] like Figure 1 The intelligent drilling device for repairing cracks in underground tunnels, tunnels, and other underground engineering projects, as shown, utilizes a detection component 1 and a drilling component 3 to drill holes for subsequent grouting. The detection component 1 and drilling component 3 move together with the robotic arm. The detection component 1 can acquire information about the crack and its surrounding structure, such as measuring the distance between the detection component 1 and the crack, and obtaining images of the crack and its surrounding structure, meeting subsequent analysis needs. The drilling component 3 can reciprocate to complete the drilling action and simultaneously apply impact, improving drilling capabilities for hard rock masses, tunnel segments, and other structures. The intelligent drilling achieved through the cooperation of the detection component 1 and the drilling component 3 significantly improves drilling efficiency.

[0038] In addition, since the drilling assembly 3 will exert a reverse impact on the detection assembly 1 when it is working, the detection assembly 1 is equipped with a buffer function, which is achieved by the slide pair 18 and the spring return member. The detection assembly 1 can move under the constraint of the slide pair 18. When the detection assembly 1 moves, it abuts against the spring return member. The spring return member applies a restoring force to the detection assembly 1, so that the detection assembly 1 approaches its original position, achieving the effect of buffering and vibration reduction, and meeting the protection requirements of the detection assembly 1 during drilling impact.

[0039] Combination Figures 1-6 The intelligent drilling device for repairing cracks in underground tunnels mainly includes a support plate 6, a drilling component 3, a detection component 1, a lighting component 8, and a vision component 5. The support plate 6 serves as the main support structure. The drilling component 3, the detection component 1, the lighting component 8, and the vision component 5 are respectively installed on the support plate 6 and move together with the support plate 6. After the support plate 6 is installed at the end of the robotic arm, the robotic arm drives the support plate 6 to move the components installed on the support plate 6.

[0040] Specifically, such as Figure 1The drilling assembly 3 and the detection assembly 1 shown are installed on both sides of the support plate 6. The detection assembly 1 is connected to the support plate 6 through the linear track pair 18, so that the detection assembly 1 can slide back and forth relative to the support plate 6. Its sliding trajectory is linear, which constrains the other degrees of freedom of the detection assembly 1, making it easier to fix the position of the detection assembly 1 in order to meet the subsequent measurement requirements.

[0041] The slide plate 18 has a positioning seat 13 at the end of its stroke corresponding to the detection component 1. The support plate 6 has a reciprocating push rod 19 that abuts against the detection component 1. The reciprocating push rod 19 can push the detection component 1, but is not directly connected to the detection component 1. By abutting and applying a pushing force, the detection component 1 is driven to move toward a position close to the positioning seat 13. After the detection component 1 moves to contact the positioning seat 13, the position of the detection component 1 is calibrated. Maintaining the posture of the reciprocating push rod 19 can keep the detection component 1 in the calibrated position of the positioning seat 13. During multiple measurements, the detection component 1 only needs to be pushed to this position to achieve rapid positioning of the detection component 1.

[0042] The detection component 1 is equipped with a spring-loaded component that applies elastic force along the trajectory of the slide pair 18 to buffer and dampen the movement of the detection component 1. When the reciprocating push rod 19 is applied, the detection component 1 moves to overcome the resistance of the spring-loaded component. After the detection component 1 has finished working, the reciprocating push rod 19 is withdrawn to avoid the position of the detection component 1. The spring-loaded component drives the detection component 1 to return to its original position and applies an elastic force to keep the detection component 1 in its original position.

[0043] Meanwhile, when an impact occurs, the detection component 1 slides along the slide pair 18. At this time, the rebound component can dampen and constrain its sliding. The drilling path of the drilling component 3 and the working path of the reciprocating push rod 19 are parallel to the trajectory of the slide pair 18, so that the impact direction is consistent with the damping direction of the slide pair 18 and the rebound component, thereby improving the damping effect.

[0044] like Figure 6 As shown, the detection component 1 includes a detection box 20 and a purging component 9. The detection box 20 has an opening on one side, which is sealed with a transparent plate. The air curtain formed by the purging component 9 covers the side of the transparent plate away from the detection box 20. In this embodiment, the purging component 9 can be an air knife.

[0045] The transparent plate can be made of transparent acrylic sheet, transparent plexiglass, transparent glass, etc. Since the detection box 20 is equipped with a ranging element 17 and an imaging element 11, and the working ends of the ranging element 17 and the imaging element 11 are facing the transparent plate, the transparent plate needs to meet the requirement of not affecting the operation of the ranging element 17 and the imaging element 11.

[0046] Meanwhile, the detection element is arranged inside the detection box 20, and the side opening of the detection box 20 is blocked by a transparent plate, which can protect the internal detection element while allowing light to pass through.

[0047] The blowing assembly 9 is used to blow the surface of the transparent plate, reducing the problem of dust adhering to the surface of the transparent plate affecting the detection data. In addition, the blowing assembly 9 can form an air curtain, forming a soft isolation for the transparent plate, preventing small and sharp sand and gravel from colliding with the transparent plate and causing scratches that reduce transparency, thus improving the protection effect on the internal detection components.

[0048] like Figure 6 As shown, the slide rail structure 18 adopts a slider-rail structure. The slide rail is selected from optical shafts 14, and the slider can be selected from linear bearings 16. The slider is installed on the detection component 1 and moves together with the detection component 1. The optical shaft 14 is installed on the support plate 6 through bearing seats 12. Bearing seats 12 are respectively fitted at both ends of the optical shaft 14 to fix the position of the optical shaft 14. The slider is slidably sleeved on the outside of the optical shaft 14 to form a slider-rail mechanism. The spring members are sleeved on the outside of the optical shaft 14 and distributed on both sides of the slider. One end of the spring member abuts against the slider and the other end abuts against the bearing seat 12.

[0049] In other embodiments, the specific form of the slide rail slider mechanism can be configured according to requirements, as long as it can provide a linear motion trajectory and constrain the movement path of the detection component 1.

[0050] It is understood that the optical axis 14 in this embodiment can be configured as two parallel axes arranged on the support plate 6. The optical axis 14 is respectively matched with the corresponding slider to constrain the rotational degree of freedom of the detection component 1, so that the detection component 1 can slide freely along the axial direction of the optical axis 14.

[0051] In addition, the spring-loaded components can be compression springs, tension springs, rubber springs 15, etc., to provide the detection assembly 1 with spring-loaded force and resistance along the trajectory of the slide pair 18. The spring-loaded components are located on both sides of the slider connected to the detection assembly 1, which can achieve good buffering in two opposite axial directions. At the same time, the trajectory of the slide pair 18 is configured to be consistent with the drilling trajectory, which facilitates the absorption of the main vibrations from the impact during drilling and improves the vibration reduction effect.

[0052] Meanwhile, one end of the reciprocating push rod 19 is fixed to the support plate 6, and the other end is the output end. The output end can extend to push the detection component 1 to contact the positioning seat 13 and lock it in place, and the output end can shorten to avoid the range of motion of the detection component 1. The reciprocating push rod 19, which abuts against the detection component 1, can push the detection component 1 to move, and can also disengage from the detection component 1 to avoid the range of motion of the detection component 1, so as to avoid interference with the reciprocating push rod 19 when the detection component 1 vibrates along the slide pair 18 in the non-working state.

[0053] The reciprocating push rod 19 can be selected as follows: Figure 1The cylinder shown can also be configured with electric cylinders, hydraulic cylinders or other structures as needed, which can abut against and push the detection component 1 to move. It is understood that the position where the reciprocating push rod 19 abuts against the detection component 1 can be made of rubber block to reduce the damage caused by rigid collision.

[0054] The positioning block can be adjusted according to the requirements. After the position is adjusted, it is fixed to the support plate 6. The positioning seat 13 is set as the stop point at one end of the travel of the detection component 1. When the reciprocating push rod 19 drives the detection component 1 to the position of the positioning seat 13, the positioning seat 13 and the reciprocating push rod 19 together limit the detection component 1. Combined with the limiting effect of the slide pair 18 on the detection component 1, the position of the detection component 1 and the support plate 6 is kept fixed, which is convenient for subsequent calibration of its coordinate position, ensuring that the position of the detection component 1 is determined in each operation, reducing positioning error and improving data accuracy.

[0055] like Figure 3 , Figure 4 As shown, the drilling assembly 3 includes a guide mechanism 21 and a drive cylinder 4. The drilling element is mounted on the guide mechanism 21 via a bracket 22. The output end of the drive cylinder 4 is connected to the bracket 22. The drilling element reciprocates under the constraint of the guide mechanism 21. The movement trajectory of the drilling element is parallel to the trajectory of the slide pair 18.

[0056] A matching detection component 1 is set on the drilling assembly 3, which can collect crack state parameters and assist in positioning during the drilling process. The detection component 1 is installed on the support plate 6 through the slide pair 18 with the rebound component. When vibration occurs during construction, the rebound component can absorb part of the vibration. The direction of action of the rebound component is consistent with the drilling direction, thereby improving the absorption of the impact generated during drilling and protecting the detection equipment.

[0057] The extension and retraction direction of the drive cylinder 4 is parallel to the movement direction of the drilling element when it is working. Therefore, the axial impact generated when the drilling element is working is partially absorbed by the drive cylinder 4, thus initially absorbing the impact and achieving the purpose of initial vibration reduction.

[0058] The other components on the support plate 6 include a collision warning component 2, an illumination component 8, and a vision component 5. Multiple illumination components 8 are arranged circumferentially around the detection component 1, facing the detection position of the detection component 1. The collision warning component 2 is located at the end of the support plate 6 near the crack. The vision component 5 is connected to the support plate 6 via a double rocker mechanism 23. Configuring the detection component 1 with the illumination component 8 and the collision detection component 1 reduces interference from the external environment on the operation of the detection component 1, and further reduces interference and collision problems within the underground tunnel environment.

[0059] In addition, the frame rod of the dual rocker mechanism 23 is fixed to the support plate 6, the connecting rod is fixed to the vision component 5, and the connecting rod is connected to the support frame through the buffer 10. One end of the buffer 10 is hinged to the connecting rod, and the other end is hinged to the support plate 6, so as to maintain the relative position of the vision component 5 and the support plate 6 through the buffering effect.

[0060] To meet the needs of collecting tunnel environmental information, a vision component 5 is configured and a corresponding double rocker mechanism 23 is set as a vibration damping support 22. The double rocker mechanism 23 maintains the translational property of the connecting rod, so that the vision component 5 can maintain its orientation. In the process of using the buffer 10 to achieve the vibration damping effect, it can also reduce the uncontrollable shaking of the vision component 5 during the acquisition process. The tangential direction of the swing direction of the connecting rod is consistent with the drilling impact direction, thereby improving its buffering effect, effectively protecting the vision component 5, and promoting the execution of intelligent construction.

[0061] Example 2

[0062] In another typical embodiment of the present invention, such as Figures 1-6 As shown, a robotic arm is presented.

[0063] The robotic arm utilizes the intelligent drilling device for repairing underground tunnel cracks as described in Example 1. The robotic arm is equipped with the intelligent drilling device for repairing underground tunnel cracks. Since the robotic arm uses the intelligent drilling device for repairing underground tunnel cracks provided in Example 1, the beneficial effects of the robotic arm 1 brought by the intelligent drilling device for repairing underground tunnel cracks can be referred to the corresponding part in Example 1, and will not be repeated here.

[0064] Drilling assembly 3 and detection assembly 1 serve as the end effector of the robotic arm. Support plate 6 connects to the external robotic arm via connecting flange 7. Automated drilling uses a mechanized structure to replace the manual drilling process, solving the problem of repetitive and labor-intensive operations of traditional hand drilling of tunnel walls, and reducing the labor intensity and working time of workers.

[0065] For other structures in the robotic arm that are not mentioned, existing structures can be used.

[0066] Example 3

[0067] In another typical embodiment of the present invention, such as Figures 1-6 As shown, a working method of an intelligent drilling device for repairing cracks in underground tunnels is presented.

[0068] In conjunction with Example 1, the working method includes:

[0069] Adjust the position of the support plate 6, and the reciprocating push rod 19 abuts against and drives the detection component 1 to move. After overcoming the resistance of the spring element, it moves to the positioning seat 13 and holds it there. The detection component 1 then works.

[0070] After the test is completed, the reciprocating push rod 19 returns to its original position to avoid the test component 1, and the return spring drives the test component 1 to return to its original position;

[0071] The drilling assembly 3 performs drilling operations. The vibration generated during the operation is transmitted to the detection assembly 1. The spring-loaded component changes its axial length under the action of the detection assembly 1 to absorb the vibration.

[0072] A matching detection component 1 is set on the drilling assembly 3, which can collect crack state parameters and assist in positioning during the drilling process. The detection component 1 is installed on the support plate 6 through the slide pair 18 with the rebound component. When vibration occurs during construction, the rebound component can absorb part of the vibration. The direction of action of the rebound component is consistent with the drilling direction, thereby improving the absorption of the impact generated during drilling and protecting the detection equipment.

[0073] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intelligent drilling device for repairing cracks in underground tunnels, characterized in that, It includes a drilling assembly and a detection assembly mounted on a support plate. The detection assembly is connected to the support plate via a sliding pair with a linear trajectory. At the end of the stroke of the sliding pair, there is a positioning seat for the detection assembly. The support plate is provided with a reciprocating push rod that abuts against the detection assembly. The detection assembly is equipped with a spring-loaded component that applies elastic force along the trajectory of the sliding pair to buffer and dampen the movement of the detection assembly. The drilling path of the drilling assembly and the working path of the reciprocating push rod are parallel to the trajectory of the sliding pair. The sliding pair includes a slider mounted on the detection component and an optical shaft mounted on the support plate via a bearing seat. The slider is slidably sleeved outside the optical shaft to form a slider slide rail mechanism. The spring is sleeved outside the optical shaft and distributed on both sides of the slider. One end of the spring abuts against the slider and the other end abuts against the bearing seat. One end of the reciprocating push rod is fixed to the support plate, and the other end is the output end. The output end can extend to push the detection component to contact the positioning seat and lock the position, and the output end can shorten to avoid the range of motion of the detection component.

2. The intelligent drilling device for repairing cracks in underground tunnels as described in claim 1, characterized in that, The detection assembly includes a detection box and a purging assembly. The detection box has an opening on one side, which is sealed with a transparent plate. The air curtain formed by the purging assembly covers the side of the transparent plate away from the detection box.

3. The intelligent drilling device for repairing cracks in underground tunnels as described in claim 2, characterized in that, The detection box contains a ranging element and an imaging element, with the working ends of both the ranging element and the imaging element facing the transparent plate.

4. The intelligent drilling device for repairing cracks in underground tunnels as described in claim 1, characterized in that, The drilling assembly includes a guide mechanism and a drive cylinder. The drilling element is mounted on the guide mechanism via a bracket. The output end of the drive cylinder is connected to the bracket. The drilling element reciprocates under the constraint of the guide mechanism, and the movement trajectory of the drilling element is parallel to the trajectory of the sliding pair.

5. The intelligent drilling device for repairing cracks in underground tunnels as described in claim 1, characterized in that, The support plate is equipped with a collision warning component, a lighting component, and a vision component. Multiple lighting components are arranged circumferentially around the detection component, and the lighting components face the detection position of the detection component. The collision warning component is located at the end of the support plate near the crack. The vision component is connected to the support plate through a dual rocker mechanism.

6. The intelligent drilling device for repairing cracks in underground tunnels as described in claim 5, characterized in that, The frame rod of the dual rocker mechanism is fixed to the support plate, the connecting rod is fixed to the vision component, and the connecting rod is connected to the support frame through a buffer. One end of the buffer is hinged to the connecting rod, and the other end is hinged to the support plate, so as to maintain the relative position of the vision component and the support plate through the buffering effect.

7. A robotic arm, characterized in that, Including the intelligent drilling device for repairing cracks in underground tunnels as described in any one of claims 1-6.

8. A method for operating the intelligent drilling device for repairing cracks in underground tunnels as described in any one of claims 1-6, characterized in that, include: Adjust the position of the support plate, the reciprocating push rod abuts against and drives the detection component to move, overcomes the resistance of the spring element, moves to the positioning seat and holds, and the detection component works; After the test is completed, the reciprocating push rod returns to its original position to avoid the test component, and the return spring drives the test component to return to its original position; The drilling assembly performs drilling operations, and the vibrations generated during the operation are transmitted to the detection assembly. The spring-loaded component changes its axial length under the action of the detection assembly to absorb the vibration.

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