A three-degree-of-freedom tunnel excavating robot

Abstract

The application discloses a three-degree-of-freedom tunnel excavating robot. The front lead screw linear module and the rear lead screw linear module of the excavating robot control two-section linear excavation of a main shaft cutter in a vertical plane, and a rotating module controls the main shaft cutter to perform rotary excavation; a propulsion device performs overall propulsion in the tunnel to realize linear excavation of the main shaft cutter in a horizontal plane, so that the tunnel structure with a specific cross-sectional shape is excavated. The robot can be used for rock and soil excavation and pipeline dredging of various irregular shapes in a wide range, and can work in a certain length of narrow and complex underground space, and can excavate the tunnel structure with a specific cross-sectional shape. The robot has the advantages of high work efficiency and low risk coefficient, can realize long-time unattended autonomous operation, improves the efficiency of tunnel excavation, can adapt to excavation work in various harsh working conditions, and greatly relieves the dependence on human resources in traditional excavation work.

Description

Technical Field

[0001] The invention relates to an excavation robot, in particular to a three-degree-of-freedom tunnel excavation robot. Background Art

[0002] Urban special operations often require the excavation of narrow tunnel structures of certain lengths and specific cross-sectional shapes. For example, in areas like power equipment maintenance and communication cable burial, traditional manual excavation methods are inefficient, often difficult to maintain due to limited working environments, and pose potential safety risks. Summary of the Invention

[0003] In order to solve the problems existing in the background technology, the present invention provides a three-degree-of-freedom tunnel boring robot.

[0004] The technical solution adopted in the present invention is:

[0005] The three-degree-of-freedom tunnel boring robot of the present invention comprises:

[0006] The front lead screw linear module includes a spindle tool for tunnel excavation. The front lead screw linear module is used for the first linear excavation of the spindle tool on the vertical surface.

[0007] The rotating module is connected to the front screw linear module and is used for rotating excavation of the spindle tool of the front screw linear module.

[0008] The rear screw linear module is used to install the rotating module and is used for the second linear excavation of the spindle tool of the front screw linear module on the vertical surface.

[0009] The propulsion device is used to install the rear screw linear module and is used for the overall propulsion of the front screw linear module, the rotating module and the rear screw linear module in the tunnel to realize the linear excavation of the spindle tool of the front screw linear module on the horizontal plane. Finally, the spindle tool is controlled by the front screw linear module, the rotating module and the rear screw linear module to excavate a tunnel structure with a specific cross-sectional shape.

[0010] The front lead screw linear module is installed on the rotating module, driving the spindle tool to move up and down along the front lead screw; the rotating module controls and drives the front lead screw linear module and the spindle tool to rotate; the rear lead screw module drives the spindle tool, the front lead screw linear module and the rotating module to move up and down along the rear lead screw; the propulsion device is responsible for pushing the three-freedom tool holder forward.

[0011] The three-degree-of-freedom tunnel excavation robot of the present invention can realize three-degree-of-freedom movement. When the spindle tool rotates, the electric cylinder is enabled, so that the three-degree-of-freedom spindle tool feeds forward; when reaching the working surface, the electric cylinder is braked, and the three-degree-of-freedom spindle tool excavates according to a fixed trajectory; when mining a narrow space, when the three-degree-of-freedom spindle tool completely enters the tunnel, because the robot has three degrees of freedom, the tool holder can avoid interference and continue to excavate; if an emergency occurs, such as the robot is stuck, the robot can be returned to a non-interference position and exit the tunnel for maintenance by adjusting the degrees of freedom.

[0012] The rotating module includes a rotating motor module, a gear set module, a dust baffle and a wiring flange. The dust baffle is arranged vertically and perpendicular to the propulsion direction of the propulsion device. A gear set module is installed on one side of the dust baffle. The gear set module includes a rotating driving wheel, a rotating driven wheel and a cross roller bearing. The rotating driven wheel is installed on one side of the dust baffle through the cross roller bearing. The rotating driving wheel is installed on one side of the dust baffle and meshes with the rotating driven wheel. The central axes of the rotating driving wheel and the rotating driven wheel are perpendicular to the dust baffle. The rotating motor module is installed on one side of the dust baffle. One side is synchronously connected to the gear set module. The rotary motor module includes a rotary motor and a rotary motor reducer. The rotary motor reducer body is mounted on one side of one side of the dust shield. The output shaft of the rotary motor reducer passes through the dust shield and is synchronously connected to the central axis of the rotary drive wheel. The rotary motor body is mounted on the body of the rotary motor reducer, and the output shaft of the rotary motor is synchronously connected to the input shaft of the rotary motor reducer. The other side of the dust shield is mounted on the rear lead screw linear module via a wiring flange. The side of the driven wheel away from the dust shield is connected to the front lead screw linear module. When the rotary motor is enabled, the gear set module drives the outer ring of the cross roller bearing to rotate, driving the connected front lead screw linear module to rotate.

[0013] The front screw linear module includes a drive motor module, a front gear module, a front screw module, a spindle tool, a front screw slide mounting plate, a front frame and two screw dust-proof side baffles. The drive motor module is installed on one side of the front frame, the front gear module is installed at the bottom of the front screw module, the front screw module is installed in the front frame and is located on the side of the drive motor module. The drive motor module and the front screw module are synchronously connected through the front gear module; the front screw slide mounting plate is vertically slidably mounted on the front screw module and is located near the excavation direction On one side, the spindle tool is mounted on the front screw slide mounting plate through the front screw slide right-angle flange and is located on the other side of the front frame. The two screw dust-proof side baffles are respectively mounted on the front frame and are located on the side of the front frame close to and away from the excavation direction. The front screw module is located between the two screw dust-proof side baffles, one screw dust-proof side baffle close to the excavation direction is located between the front screw module and the front screw slide mounting plate, and the middle part of the one screw dust-proof side baffle away from the excavation direction is connected to the side of the rotating driven wheel away from the dust-proof baffle.

[0014] The driving motor module includes a driving servo motor and a driving reducer. The driving servo motor, the driving reducer and the front gear module are arranged in sequence from top to bottom. The front gear module includes a first driving active wheel, a first idler wheel and a first driving driven wheel. The front screw module includes a front screw slide, two front screw guide rails, two front screw guide rail sliders, a front screw, a front screw nut, a front screw nut bracket and two screw dust-proof brackets. The body of the driving servo motor and the driving reducer is installed on one side of the front frame. In the initial state, the output shaft of the driving servo motor is vertically downward and synchronously connected to the input shaft of the driving reducer, and the output shaft of the driving reducer is vertically downward and connected to the center of the first driving active wheel; the two screw dust-proof brackets of the front screw module are respectively installed at the top and bottom of the front frame, the front screw is arranged vertically and the two ends are movably connected to the two screw dust-proof brackets through end covers, bearing seats, double-row angular contact bearings and bushings. The first idler wheel and the first driving driven wheel are both installed on the screw dust-proof bracket at the bottom. On the top surface, the first driving active wheel and the first driving driven wheel are respectively engaged with the first idler wheel, and the first driving driven wheel is synchronously sleeved on the bottom of the front lead screw; the front lead screw nut is threadedly sleeved on the front lead screw, one side of the front lead screw nut bracket is installed on the outer ring of the front lead screw nut, and the other side of the front lead screw nut bracket is connected to one side of the front lead screw slide, the front lead screw slide is arranged vertically and is located in the lead screw dustproof side baffle, and one side of the front lead screw slide mounting plate is sleeved on a nearby lead screw dustproof side baffle and does not touch. The front screw slide mounting plate is located on one side inside the screw dust-proof side baffle and is connected to the other side of the front screw slide. The two front screw guide rails are vertically spaced apart on the side of the front frame close to the excavation direction. The symmetrical sides of the front screw slide mounting plate connected to one side of the front screw slide are respectively slidably installed on the two front screw guide rails through two front screw guide rail sliders. A screw dust-proof side baffle close to the excavation direction is covered on the front frame between the two front screw guide rails and is located between the front screw nut and the front screw slide.

[0015] The drive servo motor, drive reducer, and first drive pulley are also equipped with a drive motor dust shield, which is mounted on the front frame. The front screw linear module also includes a first bracket, a drag chain, and a second bracket. The ends of the drag chain are mounted on the front screw slide mounting plate through the first and second brackets and contain transmission cables for each motor.

[0016] The bearing seat in the front screw module of the front screw linear module is connected to the front frame; the double-row angular contact bearing is installed in the bearing seat, and double-row angular contact bearings are installed at the front and rear ends of the front screw. This type of bearing can ensure that the rotating pair always maintains appropriate load-bearing capacity when driving the front screw to rotate; the end cover supports the bearing seat and is connected to the front frame; when the servo motor is driven, the front screw slide mounting plate moves up and down, driving the spindle tool to move.

[0017] The front screw linear module also includes two first proximity switches for zero point determination. These are mounted on the upper and lower portions of the front frame, respectively, at predetermined positions facing the upper and lower portions of the front screw. When the front screw nut moves to a position facing the upper or lower first proximity switches, the front screw nut stops moving upward or downward, and upon restarting, can only move downward or upward.

[0018] The spindle tool includes a cutter disc, a cutter disc frame, a spindle reducer and a spindle servo motor. The bodies of the spindle reducer and the spindle servo motor are installed on the front screw slide mounting plate. The output shaft of the spindle servo motor is vertically and synchronously connected to the input shaft of the spindle reducer. The output shaft of the spindle reducer is horizontally and synchronously connected to the center axis of the cutter disc frame. The cutter disc is synchronously mounted on the cutter disc frame. The center axis of the cutter disc is horizontally arranged and the cutter disc faces the excavation direction.

[0019] The rear screw linear module includes a rear screw motor module, a rear frame, a rear gear module, a rear screw module, and a rear screw module slide. The rear screw motor module is installed on one side of the rear frame, the rear gear module is installed on the top of the rear screw module, the rear screw module is installed in the rear frame and is located on the side of the rear screw motor module. The rear screw motor module and the rear screw module are synchronously connected through the rear gear module; the rear screw module slide is vertically slidably installed on the rear screw module and is located on the side of the rear frame close to the excavation direction; the rear screw motor module includes a rear screw drive The rear screw drive reducer and the rear screw drive motor, the rear gear module, the rear screw drive reducer and the rear screw drive motor are arranged in sequence from top to bottom, the rear gear module includes a second drive active wheel, a second idler wheel and a second drive driven wheel, the rear screw module includes a rear screw, a rear screw nut, two dust baffles, two rear screw guide rails, two rear screw sliders and a rear screw slide, the body of the rear screw drive reducer and the rear screw drive motor are installed on one side of the rear frame, and in the initial state, the output shaft of the rear screw drive motor is vertically upward and synchronously connected to the rear screw drive The input shaft of the reducer and the output shaft of the rear screw drive reducer are vertically upward and synchronously connected to the center of the second driving active wheel; the two dust shields 2 of the rear screw module are respectively installed on the top and bottom of the rear frame, the rear screw is arranged vertically and the two ends are movably connected to the two dust shields 2 through deep groove ball bearings, end covers, first sleeves, second sleeves, double row angular contact bearings and bearing frames, the second idler wheel and the second driven drive wheel are both installed on the bottom surface of the dust shield 2 located at the top, and the second driving active wheel and the second driven drive wheel are respectively engaged with the second idler wheel The second driving driven wheel is synchronously mounted on the top of the rear screw; the rear screw nut is threadedly mounted on the rear screw, and one side of the rear screw slide is connected to the rear screw nut through a connecting bracket. The rear screw slide is vertically arranged and located on the side of the rear frame close to the excavation direction. The other side of the rear screw slide is connected to the rear screw module slide. The two rear screw guide rails are vertically spaced apart on the side of the rear frame close to the excavation direction. The symmetrical sides of the rear screw module slide connected to one side of the rear screw slide are slidably installed on the two rear screw guide rails through two rear screw sliders.

[0020] The double-row angular contact bearings of the rear screw module are installed on the upper bearing frame. Because the linear module is fixed and the lower end is not subject to force, the deep groove ball bearings are installed in the lower bearing frame; the driven wheel is installed on the rear screw. When the rear screw drive motor is enabled, the rear screw drives the rear screw module slide up and down.

[0021] The rear screw linear module also includes two second proximity switches and a metal sheet for zero point determination. The two second proximity switches are located on the upper and lower sides of the same side of the rear frame. The metal sheet is mounted on the side of the rear screw module slide and is spaced directly opposite the two second proximity switches when the rear screw module slide moves to the position of the two second proximity switches. When the metal sheet moves to face the upper or lower second proximity switch, the rear screw module slide stops moving upward or downward.

[0022] The propulsion device includes an electric cylinder motor, an L-shaped electric cylinder, an electric cylinder H-shaped bracket, two electric cylinder brackets, a propulsion bracket, several support wheels and a support plate. The electric cylinder motor and the body of the electric cylinder are installed on the top of an electric cylinder bracket. The output shaft of the electric cylinder motor and the electric cylinder are connected through a bearing. The push rod of the electric cylinder is horizontally connected to one end of the horizontally arranged electric cylinder H-shaped bracket. The other end of the electric cylinder H-shaped bracket is installed on the top of another electric cylinder bracket through a connecting bracket. The other end of the electric cylinder H-shaped bracket is connected to one side of the propulsion bracket. The rear frame of the rear screw linear module is installed on the other side of the propulsion bracket and faces the excavation direction. The bottom end of the propulsion bracket is installed on a support plate with several support wheels.

[0023] The electric cylinder motor and electric cylinder push the electric cylinder H-shaped bracket to move horizontally in the excavation direction, and then push the propulsion bracket to drive the front screw linear module, the rotating module and the rear screw linear module to move in the excavation direction, thereby performing excavation of different shapes in complex and narrow tunnels.

[0024] The bottom of the propulsion bracket of the propulsion device is also provided with a negative pressure dust suction port for sucking dust during excavation, and the negative pressure dust suction port faces the excavation direction.

[0025] The beneficial effects of the present invention are:

[0026] The robot of the present invention can be used for a wide range of rock and soil excavation and pipeline dredging operations in various irregular shapes. The robot can operate in a certain length, narrow, and complex underground space, and excavate tunnel structures with specific cross-sectional shapes. It has the advantages of high work efficiency and low risk factor, can realize long-term unmanned autonomous operation, improve the efficiency of tunnel excavation, and can adapt to excavation work under various harsh working conditions, greatly alleviating the dependence on human resources in traditional excavation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 2 is a schematic diagram of the overall structure of a three-degree-of-freedom tunnel boring robot according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of a front lead screw linear module without dust protection in an embodiment of the present invention;

[0029] Figure 3This is a schematic diagram of the structure of a dustproof front lead screw linear module in an embodiment of the present invention;

[0030] Figure 4 is a schematic cross-sectional view of the front lead screw in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the product without dustproof rotating module in an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the lead screw linear module without dust protection in an embodiment of the present invention;

[0033] Figure 7 is a schematic cross-sectional view of the rear lead screw in an embodiment of the present invention;

[0034] Figure 8 is a cross-sectional view of a guide rail surface in an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the propulsion module structure in an embodiment of the present invention;

[0036] In the figure: 1, front screw linear module, 111, drive servo motor, 112, drive reducer, 113, first drive driving wheel, 114, first idler wheel, 115, first drive driven wheel, 121, cutter head, 122, cutter head frame, 123, spindle reducer, 124, spindle servo motor, 13, front screw slide, 131, front screw slide mounting plate, 132, front screw slide right angle flange, 141, front screw guide rail, 142, front screw guide rail slider, 15, first proximity switch, 16 1. End cover, 162. Bearing seat, 163. Double row angular contact bearing, 164. Bushing, 165. Front screw, 166. Front screw nut, 167. Front screw nut bracket, 17. Front frame, 181. Drive motor dust baffle, 182. Screw dust side baffle, 183. Screw dust bracket, 191. First bracket, 192. Drag chain, 193. Second bracket, 2. Rotation module, 21. Rotation motor module, 22. Gear group module, 23. Dust baffle, 24. Routing flange, 21 1. Rotating motor, 212. Rotating motor reducer, 221. Rotating driving wheel, 222. Rotating driven wheel, 223. Cross roller bearing, 3. Rear screw linear module, 31. Rear screw motor module, 311. Second driving driving wheel, 312. Rear screw drive reducer, 313. Rear screw drive motor, 32. Rear frame, 331. Second proximity switch, 332. Metal sheet, 34. Rear screw module, 341. Rear screw, 342. Deep groove ball bearing, 343. End cover, 344. First Bushing, 345, rear screw nut, 346, second drive driven wheel, 347, second bushing, 348, double-row angular contact bearing, 349, bearing frame, 35, rear screw module slide, 36, dust baffle 2, 371, rear screw guide rail, 372, rear screw slider, 373, rear screw slide, 4, propulsion device, 411, electric cylinder motor, 412, electric cylinder, 413, electric cylinder H-shaped bracket, 414, electric cylinder bracket, 421, propulsion bracket, 422, negative pressure suction port, 423, support wheel. DETAILED DESCRIPTION

[0037] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process. However, the protection scope of the present invention is not limited to the following embodiment.

[0038] like Figure 1As shown, the three-degree-of-freedom tunnel excavation robot of the present invention includes a front screw linear module 1, a rotating module 2, a rear screw linear module 3 and a propulsion device 4, the front screw linear module 1 includes a spindle tool for tunnel excavation, the front screw linear module 1 is used for the first section of linear excavation of the spindle tool on the vertical plane; the rotating module 2 is connected to the front screw linear module 1 and is used for the rotational excavation of the spindle tool of the front screw linear module 1; the rotating module 2 is installed on the rear screw linear module 3 and is used for the second section of linear excavation of the spindle tool of the front screw linear module 1 on the vertical plane; the propulsion device 4 is installed on the rear screw linear module 3 and is used for the overall propulsion of the front screw linear module 1, the rotating module 2 and the rear screw linear module 3 in the tunnel to realize the linear excavation of the spindle tool of the front screw linear module 1 on the horizontal plane, and finally the spindle tool is controlled by the front screw linear module 1, the rotating module 2 and the rear screw linear module 3 to perform excavation of a tunnel structure with a specific cross-sectional shape. The bottom of the propulsion bracket 421 of the propulsion device 4 is further provided with a negative pressure dust suction port 422 for suctioning dust during excavation, and the negative pressure dust suction port 422 faces the excavation direction.

[0039] The front lead screw linear module 1 is installed on the rotating module 2, driving the spindle tool to move up and down along the front lead screw 168; the rotating module 2 controls and drives the front lead screw linear module 1 and the spindle tool to rotate; the rear lead screw module drives the spindle tool, the front lead screw linear module 1 and the rotating module 2 to move up and down along the rear lead screw 341; the propulsion device 4 is responsible for pushing the three-freedom tool holder forward.

[0040] like Figure 5As shown, the rotating module 2 includes a rotating motor module 21, a gear set module 22, a dust baffle 23 and a wiring flange 24. The dust baffle 23 is arranged vertically and perpendicular to the propulsion direction of the propulsion device 4. The gear set module 22 is installed on one side of the dust baffle 23. The gear set module 22 includes a rotating driving wheel 221, a rotating driven wheel 222 and a cross roller bearing 223. The rotating driven wheel 222 is installed on one side of the dust baffle 23 through the cross roller bearing 223. The rotating driving wheel 221 is installed on one side of the dust baffle 23 and meshes with the rotating driven wheel 222. The central axes of the rotating driving wheel 221 and the rotating driven wheel 222 are perpendicular to the dust baffle 23; the rotating motor module 21 is installed on the dust baffle 23 The rotating motor module 21 includes a rotating motor 211 and a rotating motor reducer 212. The body of the rotating motor reducer 212 is mounted on one side of the dust shield 23. The output shaft of the rotating motor reducer 212 passes through the dust shield 23 and is synchronously connected to the central axis of the rotating driving wheel 221. The body of the rotating motor 211 is mounted on the body of the rotating motor reducer 212, and the output shaft of the rotating motor 211 is synchronously connected to the input shaft of the rotating motor reducer 212. The other side of the side of the dust shield 23 is mounted on the rear lead screw linear module 3 through the routing flange 24. The side of the rotating driven wheel 222 away from the dust shield 23 is connected to the front lead screw linear module 1. When the rotating motor 211 is enabled, the gear set module 22 drives the outer ring of the cross roller bearing 223 to rotate, driving the connected front lead screw linear module 1 to rotate.

[0041] like Figure 2 、 Figure 3 and Figure 4 As shown, the front screw linear module 1 includes a drive motor module, a front gear module, a front screw module, a spindle tool, a front screw slide mounting plate 131, a front frame 17 and two screw dust-proof side baffles 182. The drive motor module is mounted on one side of the front frame 17, the front gear module is mounted on the bottom of the front screw module, the front screw module is mounted in the front frame 17 and is located on the side of the drive motor module, and the drive motor module and the front screw module are synchronously connected through the front gear module; the front screw slide mounting plate 131 is vertically slidably mounted on the front screw module and is located on the side close to the excavation direction, the spindle tool It is installed on the front screw slide mounting plate 131 through the front screw slide right-angle flange 132 and is located on the other side of the front frame 17. The two screw dust-proof side baffles 182 are respectively installed on the front frame 17 and are located on the side of the front frame 17 close to and away from the excavation direction. The front screw module is located between the two screw dust-proof side baffles 182. The screw dust-proof side baffle 182 close to the excavation direction is located between the front screw module and the front screw slide mounting plate 131. The middle part of the screw dust-proof side baffle 182 away from the excavation direction is connected to the side of the rotating driven wheel 222 away from the dust baffle 23.

[0042] The driving motor module includes a driving servo motor 111 and a driving reducer 112. The driving servo motor 111, the driving reducer 112 and the front gear module are arranged in sequence from top to bottom. The front gear module includes a first driving active wheel 113, a first idler wheel 114 and a first driving driven wheel 115. The front screw module includes a front screw slide 13, two front screw guide rails 141, two front screw guide rail sliders 142, a front screw 165, a front screw nut 166, a front screw nut bracket 167 and two screw dust-proof brackets 183. The body of the driving servo motor 111 and the driving reducer 112 is installed on one side of the front frame 17. On the other hand, in the initial state, the output shaft of the driving servo motor 111 is vertically downwardly connected to the input shaft of the driving reducer 112, and the output shaft of the driving reducer 112 is vertically downwardly connected to the center of the first driving active wheel 113; the two screw dust-proof brackets 183 of the front screw module are respectively installed at the top and bottom of the front frame 17, the front screw 165 is arranged vertically and the two ends are respectively connected to the two screw dust-proof brackets 183 through the end cover 161, the bearing seat 162, the double-row angular contact bearing 163 and the shaft sleeve 164, the first idler wheel 114 and the first driving driven wheel 115 are both installed at the screw dust-proof bracket at the bottom. On the top surface of the frame 183, the first driving active wheel 113 and the first driving driven wheel 115 are respectively engaged with the first idler wheel 114, and the first driving driven wheel 115 is synchronously sleeved on the bottom of the front screw 165; the front screw nut 166 is threadedly sleeved on the front screw 165, one side of the front screw nut bracket 167 is mounted on the outer ring of the front screw nut 166, and the other side of the front screw nut bracket 167 is connected to one side of the front screw slide 13, the front screw slide 13 is arranged vertically and is located in the screw dustproof side baffle 182, and one side of the front screw slide mounting plate 131 is sleeved on a nearby screw dustproof side baffle 182. They do not contact each other. The front screw slide mounting plate 131 is located on one side inside the screw dust-proof side baffle 182 and is connected to the other side of the front screw slide 13. The two front screw guide rails 141 are vertically spaced apart on the side of the front frame 17 close to the excavation direction. The front screw slide mounting plate 131 is connected to the symmetrical sides of one side of the front screw slide 13 and is slidably installed on the two front screw guide rails 141 through two front screw guide rail sliders 142 respectively. A screw dust-proof side baffle 182 close to the excavation direction covers the front frame 17 between the two front screw guide rails 141 and is located between the front screw nut 166 and the front screw slide 13.

[0043] A drive motor dust shield 181 is also installed on the drive servo motor 111, the drive reducer 112, and the first drive driving wheel 113. The drive motor dust shield 181 is mounted on the front frame 17. The front screw linear module 1 also includes a first bracket 191, a drag chain 192, and a second bracket 193. The ends of the drag chain 192 are mounted on the front screw slide mounting plate 131 through the first bracket 191 and the second bracket 193 and have built-in transmission wires for each motor.

[0044] The bearing seat 162 in the front screw module of the front screw linear module 1 is connected to the front frame 17; the double-row angular contact bearing 163 is installed in the bearing seat 162, and the double-row angular contact bearings 163 are installed at the front and rear ends of the front screw 165. This type of bearing can ensure that the rotating pair always maintains appropriate bearing force when driving the front screw 165 to rotate; the end cover 161 supports the bearing seat 162 and is connected to the front frame 17; when the servo motor 111 is driven, the front screw slide mounting plate 131 moves up and down, driving the spindle tool to move.

[0045] The front screw linear module 1 also includes two first proximity switches 15 for zero point determination. These are mounted on the upper and lower portions of the front frame 17, respectively, at predetermined positions facing the upper and lower portions of the front screw 165. When the front screw nut 166 moves to a position facing the upper or lower first proximity switch 15, it stops moving upward or downward and can only move downward or upward upon restart.

[0046] The spindle tool includes a cutter disc 121, a cutter disc frame 122, a spindle reducer 123 and a spindle servo motor 124. The bodies of the spindle reducer 123 and the spindle servo motor 124 are installed on the front screw slide mounting plate 131. The output shaft of the spindle servo motor 124 is vertically and synchronously connected to the input shaft of the spindle reducer 123. The output shaft of the spindle reducer 123 is horizontally and synchronously connected to the center axis of the cutter disc frame 122. The cutter disc 121 is synchronously mounted on the cutter disc frame 122. The center axis of the cutter disc 121 is horizontally arranged and the cutter disc 121 faces the excavation direction.

[0047] like Figure 6 、 Figure 7 and Figure 8As shown, the rear screw linear module 3 includes a rear screw motor module 31, a rear frame 32, a rear gear module, a rear screw module 34, and a rear screw module slide 35. The rear screw motor module 31 is installed on one side of the rear frame 32, the rear gear module is installed on the top of the rear screw module 34, the rear screw module 34 is installed in the rear frame 32 and is located on the side of the rear screw motor module 31, and the rear screw motor module 31 and the rear screw module 34 are synchronously connected through the rear gear module; the rear screw module slide 35 is vertically slidably installed on the rear screw module 34 and is located on the side of the rear frame 32 close to the excavation direction; the rear screw motor module 31 includes a rear screw drive reducer 312 and a rear screw The drive motor 313, the rear gear module, the rear screw drive reducer 312 and the rear screw drive motor 313 are arranged in sequence from top to bottom. The rear gear module includes a second driving active wheel 311, a second idler wheel and a second driven driving wheel 346. The rear screw module 34 includes a rear screw 341, a rear screw nut 345, two dust baffles 36, two rear screw guide rails 371, two rear screw sliders 372 and a rear screw slide 373. The body of the rear screw drive reducer 312 and the rear screw drive motor 313 are installed on one side of the rear frame 32. In the initial state, the output shaft of the rear screw drive motor 313 is vertically upward and synchronously connected to the rear screw drive reducer 312. The input shaft of the rear screw drive reducer 312 is vertically and synchronously connected to the center of the second driving active wheel 311; the two dust shield plates 2 36 of the rear screw module 34 are respectively installed at the top and bottom of the rear frame 32, the rear screw 341 is arranged vertically and its two ends are respectively connected to the two dust shield plates 2 36 through deep groove ball bearings 342, end covers 343, first sleeves 344, second sleeves 347, double row angular contact bearings 348 and bearing frames 349. The second idler wheel and the second driven drive wheel 346 are both installed on the bottom surface of the dust shield plate 2 36 at the top, and the second driving active wheel 311 and the second driven drive wheel 346 are respectively engaged with the second idler wheel The second driving driven wheel 346 is synchronously mounted on the top of the rear screw 341; the rear screw nut 345 is threadedly mounted on the rear screw 341, and one side of the rear screw slide 373 is connected to the rear screw nut 345 through a connecting bracket. The rear screw slide 373 is arranged vertically and is located on the side of the rear frame 32 close to the excavation direction. The other side of the rear screw slide 373 is connected to the rear screw module slide 35, and the two rear screw guide rails 371 are vertically spaced apart on the side of the rear frame 32 close to the excavation direction. The symmetrical sides of the rear screw module slide 35 connected to one side of the rear screw slide 373 are respectively slidably installed on the two rear screw guide rails 371 through two rear screw sliders 372.

[0048] The double-row angular contact bearing 348 of the rear screw module 34 is installed on the upper bearing frame 349. Because the linear module is fixed and the lower end is not subject to force, the deep groove ball bearing 342 is installed in the lower bearing frame 349; the second drive driven wheel 346 is installed on the rear screw 341. When the rear screw drive motor 313 is enabled, the rear screw 341 drives the rear screw module slide 35 to move up and down.

[0049] The rear screw linear module 3 also includes two second proximity switches 331 and a metal sheet 332 for zero point determination. The two second proximity switches 331 are located on the upper and lower sides of the same side of the rear frame 32. The metal sheet 332 is mounted on the side of the rear screw module slide 35 and is spaced apart and directly opposite the two second proximity switches 331 when the rear screw module slide 35 moves to the position where the two second proximity switches 331 are located. When the metal sheet 332 moves to face the upper or lower second proximity switch 331, the rear screw module slide 35 stops moving upward or downward.

[0050] like Figure 9 As shown, the propulsion device 4 includes an electric cylinder motor 411, an L-shaped electric cylinder 412, an electric cylinder H-shaped bracket 413, two electric cylinder brackets 414, a propulsion bracket 421, several support wheels 423 and a support plate. The bodies of the electric cylinder motor 411 and the electric cylinder 412 are installed on the top of an electric cylinder bracket 414, the output shaft of the electric cylinder motor 411 and the electric cylinder 412 are connected by bearings, the push rod of the electric cylinder 412 is horizontally connected to one end of the horizontally arranged electric cylinder H-shaped bracket 413, the other end of the electric cylinder H-shaped bracket 413 is installed on the top of another electric cylinder bracket 414 through a connecting frame, the other end of the electric cylinder H-shaped bracket 413 is connected to one side of the propulsion bracket 421, the rear frame 32 of the rear screw linear module 3 is installed on the other side of the propulsion bracket 421 and faces the excavation direction, and the bottom end of the propulsion bracket 421 is installed on a support plate with several support wheels 423.

[0051] The electric cylinder motor 411 and the electric cylinder 412 push the electric cylinder H-shaped bracket 413 to move horizontally toward the excavation direction, and then push the propulsion bracket 421 to drive the front screw linear module 1, the rotating module 2 and the rear screw linear module 3 to move toward the excavation direction, thereby performing excavation of different shapes in complex and narrow tunnels.

[0052] The three-degree-of-freedom tunnel excavation robot of the present invention can realize three-degree-of-freedom movement. When the spindle tool rotates, the electric cylinder 412 is enabled, so that the three-degree-of-freedom spindle tool feeds forward; when reaching the working surface, the electric cylinder 412 is braked, and the three-degree-of-freedom spindle tool excavates according to a fixed trajectory; such as when mining a narrow space, when the three-degree-of-freedom spindle tool completely enters the tunnel, because the robot has three degrees of freedom, the tool holder can avoid interference and continue to excavate; if an emergency occurs, such as the robot is stuck, the robot can be returned to a non-interference position and exit the tunnel for maintenance by adjusting the degrees of freedom.

[0053] The three-degree-of-freedom tunnel excavation robot of the present invention can process tunnel surfaces of various shapes, such as square surfaces, circular surfaces, arched surfaces, etc. due to its three-degree-of-freedom design; and the three-degree-of-freedom design of two moving pairs and one rotating amplitude improves cutting flexibility, while greatly reducing the risk of the equipment failing in the tunnel and being unable to exit: when a single degree of freedom of the equipment fails, the posture can be adjusted to exit through the remaining two degrees of freedom; the robot also uses a maze-type dust baffle to solve the problem that the linear pairs are difficult to prevent dust in a narrow working surface, greatly increasing the service life of the robot.

[0054] In summary, the present invention discloses a three-degree-of-freedom tunnel excavation robot, which can effectively excavate tunnels of different shapes and sizes, improve the efficiency of tunnel excavation, and adapt to excavation work under various harsh working conditions.

[0055] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A three-degree-of-freedom tunnel boring robot, characterized in that: include: A front screw linear module (1), the front screw linear module (1) includes a spindle tool for tunnel excavation, and the front screw linear module (1) is used for the first straight line excavation of the spindle tool on the vertical surface; A rotating module (2) is connected to the front screw linear module (1) and is used for rotating the spindle tool of the front screw linear module (1); The rear screw linear module (3) is used to install the rotating module (2) and is used for the spindle tool of the front screw linear module (1) to dig the second straight line on the vertical surface; A propulsion device (4) is used to install the rear screw linear module (3) and to propel the front screw linear module (1), the rotation module (2) and the rear screw linear module (3) in the tunnel as a whole to achieve linear excavation of the spindle tool of the front screw linear module (1) on a horizontal plane, and finally to control the spindle tool to excavate a tunnel structure with a specific cross-sectional shape through the front screw linear module (1), the rotation module (2) and the rear screw linear module (3); The rotating module (2) includes a rotating motor module (21), a gear group module (22), a dust shield (23) and a wiring flange (24). The dust shield (23) is arranged vertically and perpendicular to the propulsion direction of the propulsion device (4). The gear group module (22) is installed on one side of the dust shield (23). The gear group module (22) includes a rotating driving wheel (221), a rotating driven wheel (222) and a cross roller bearing (223). The rotating driven wheel (222) is installed on one side of the dust shield (23) through the cross roller bearing (223). The rotating driving wheel (221) is installed on one side of the dust shield (23) and meshes with the rotating driven wheel (222). The central axes of the rotating driving wheel (221) and the rotating driven wheel (222) are perpendicular to the dust shield (23). The rotating motor module (21) is installed on the dust shield. The plate (23) is connected to one side of one side of the plate and is synchronously connected to the gear group module (22). The rotating motor module (21) includes a rotating motor (211) and a rotating motor reducer (212). The body of the rotating motor reducer (212) is installed on one side of one side of the dustproof baffle (23). The output shaft of the rotating motor reducer (212) passes through the dustproof baffle (23) and is synchronously connected to the central axis of the rotating driving wheel (221). The body of the rotating motor (211) is installed on the body of the rotating motor reducer (212). The output shaft of the rotating motor (211) is synchronously connected to the input shaft of the rotating motor reducer (212); the other side of one side of the dustproof baffle (23) is installed on the rear screw linear module (3) through the wiring flange (24), and the rotating driven wheel (222) is connected to the front screw linear module (1) away from the side of the dustproof baffle (23).

2. The three-degree-of-freedom tunnel boring robot according to claim 1, characterized in that: The front screw linear module (1) includes a drive motor module, a front gear module, a front screw module, a spindle tool, a front screw slide mounting plate (131), a front frame (17) and two screw dust-proof side baffles (182), the drive motor module is mounted on one side of the front frame (17), the front gear module is mounted on the bottom of the front screw module, the front screw module is mounted in the front frame (17) and is located on the side of the drive motor module, and the drive motor module and the front screw module are synchronously connected through the front gear module; the front screw slide mounting plate (131) is vertically slidably mounted on the front screw module and is located on the side close to the excavation direction, the main The shaft tool is mounted on the front screw slide mounting plate (131) and is located on the other side of the front frame (17), two screw dustproof side baffles (182) are respectively mounted on the front frame (17) and are located on the side of the front frame (17) close to and away from the excavation direction, the front screw module is located between the two screw dustproof side baffles (182), a screw dustproof side baffle (182) close to the excavation direction is located between the front screw module and the front screw slide mounting plate (131), and the middle part of a screw dustproof side baffle (182) away from the excavation direction is connected to a side of the rotating driven wheel (222) away from the dustproof baffle (23).

3. The three-degree-of-freedom tunnel boring robot according to claim 2, characterized in that: The driving motor module includes a driving servo motor (111) and a driving reducer (112). The driving servo motor (111), the driving reducer (112) and the front gear module are arranged in sequence from top to bottom. The front gear module includes a first driving active wheel (113), a first idler wheel (114) and a first driving driven wheel (115). The front screw module includes a front screw slide (13), two front screw guide rails (141), two front screw guide rail sliders (142), a front screw (165), a front screw nut (166), a front screw nut bracket (167) and two screw dustproof brackets (183). The driving The servo motor (111) and the driving reducer (112) are mounted on one side of the front frame (17). The output shaft of the driving servo motor (111) is vertically downwardly connected to the input shaft of the driving reducer (112). The output shaft of the driving reducer (112) is vertically downwardly connected to the center of the first driving active wheel (113). Two screw dustproof brackets (183) of the front screw module are respectively mounted on the top and bottom of the front frame (17). The front screw (165) is vertically arranged and its two ends are respectively movably connected to the two screw dustproof brackets (183). The first idler wheel (114) and the first driving driven wheel (115) are connected to the front frame (17). ) are mounted on the top surface of the lead screw dustproof bracket (183) at the bottom, the first driving active wheel (113) and the first driving driven wheel (115) are respectively engaged with the first idler wheel (114), and the first driving driven wheel (115) is synchronously sleeved on the bottom of the front lead screw (165); the front lead screw nut (166) is threadedly sleeved on the front lead screw (165), one side of the front lead screw nut bracket (167) is mounted on the outer ring of the front lead screw nut (166), and the other side of the front lead screw nut bracket (167) is connected to one side of the front lead screw slide (13), and the front lead screw slide (13) is arranged vertically and is located on the lead screw dustproof side baffle (182), one side of the front screw slide mounting plate (131) is mounted on a nearby screw dustproof side baffle (182) without contacting each other, and one side of the front screw slide mounting plate (131) located inside the screw dustproof side baffle (182) is connected to the other side of the front screw slide (13), and two front screw guide rails (141) are vertically spaced apart and arranged on one side of the front frame (17) close to the excavation direction, and the symmetrical sides of the front screw slide mounting plate (131) connected to one side of the front screw slide (13) are respectively slidably mounted on the two front screw guide rails (141) through two front screw guide rail sliders (142).

4. The three-degree-of-freedom tunnel boring robot according to claim 3, characterized in that: The front lead screw linear module (1) further comprises two first proximity switches (15) for determining the zero point, the two first proximity switches (15) being respectively mounted at the upper and lower parts of the front frame (17), and the two first proximity switches (15) being located at preset positions facing the upper and lower parts of the front lead screw (165).

5. The three-degree-of-freedom tunnel boring robot according to claim 2, characterized in that: The spindle tool comprises a cutter disc (121), a cutter disc frame (122), a spindle reducer (123) and a spindle servo motor (124); the bodies of the spindle reducer (123) and the spindle servo motor (124) are mounted on a front screw slide mounting plate (131); the output shaft of the spindle servo motor (124) is vertically and synchronously connected to the input shaft of the spindle reducer (123); the output shaft of the spindle reducer (123) is horizontally and synchronously connected to the central axis of the cutter disc frame (122); the cutter disc (121) is synchronously mounted on the cutter disc frame (122); the central axis of the cutter disc (121) is arranged horizontally and the cutter disc (121) faces the excavation direction.

6. The three-degree-of-freedom tunnel boring robot according to claim 1, characterized in that: The rear screw linear module (3) includes a rear screw motor module (31), a rear frame (32), a rear gear module, a rear screw module (34), and a rear screw module slide (35). The rear screw motor module (31) is installed on one side of the rear frame (32), the rear gear module is installed on the top of the rear screw module (34), the rear screw module (34) is installed in the rear frame (32) and is located on the side of the rear screw motor module (31), and the rear screw motor module (31) and the rear screw module (34) are synchronously connected through the rear gear module; the rear screw module slide (35) is vertically slidably installed on the rear screw module (34) and is located on the side of the rear frame (32) close to the excavation direction; the rear screw motor module (3 1) includes a rear screw drive reducer (312) and a rear screw drive motor (313), the rear gear module, the rear screw drive reducer (312) and the rear screw drive motor (313) are arranged in sequence from top to bottom, the rear gear module includes a second driving active wheel (311), a second idler wheel and a second driving driven wheel (346), the rear screw module (34) includes a rear screw (341), a rear screw nut (345), two dust baffles (36), two rear screw guide rails (371), two rear screw sliders (372) and a rear screw slide (373), the body of the rear screw drive reducer (312) and the rear screw drive motor (313) are installed on one side of the rear frame (32), and the rear screw drive motor (313) is installed on the rear frame (32). The output shaft of the machine (313) is vertically upwardly synchronously connected to the input shaft of the rear screw drive reducer (312), and the output shaft of the rear screw drive reducer (312) is vertically upwardly synchronously connected to the center of the second driving active wheel (311); the two dust shields (36) of the rear screw module (34) are respectively installed at the top and bottom of the rear frame (32), the rear screw (341) is vertically arranged and the two ends are respectively movably connected to the two dust shields (36), the second idler wheel and the second driven drive wheel (346) are both installed on the bottom surface of the dust shield (36) located at the top, the second driving active wheel (311) and the second driven drive wheel (346) are respectively engaged with the second idler wheel, and the second driven drive wheel (34 6) Synchronously sleeved on the top of the rear screw (341); the rear screw nut (345) is threadedly sleeved on the rear screw (341), one side of the rear screw slide (373) is connected to the rear screw nut (345), the rear screw slide (373) is vertically arranged and located on the side of the rear frame (32) close to the excavation direction, the other side of the rear screw slide (373) is connected to the rear screw module slide (35), two rear screw guide rails (371) are vertically spaced and arranged on the side of the rear frame (32) close to the excavation direction, and the symmetrical sides of the rear screw module slide (35) connected to one side of the rear screw slide (373) are respectively slidably mounted on the two rear screw guide rails (371) through two rear screw sliders (372).

7. The three-degree-of-freedom tunnel boring robot according to claim 6, characterized in that: The rear screw linear module (3) further comprises two second proximity switches (331) and a metal sheet (332) for determining the zero point. The two second proximity switches (331) are respectively located on the upper and lower sides of the same side of the rear frame (32). The metal sheet (332) is mounted on the side of the rear screw module slide (35) and is spaced apart and directly opposite the two second proximity switches (331) when the rear screw module slide (35) moves to the position of the two second proximity switches (331).

8. The three-degree-of-freedom tunnel boring robot according to claim 6, characterized in that: The propulsion device (4) includes an electric cylinder motor (411), an electric cylinder (412), an electric cylinder H-shaped bracket (413), two electric cylinder brackets (414), a propulsion bracket (421), a plurality of support wheels (423) and a support plate. The electric cylinder motor (411) and the electric cylinder (412) are mounted on the top of an electric cylinder bracket (414). The output shaft of the electric cylinder motor (411) and the electric cylinder (412) are connected via a bearing. The push rod of the electric cylinder (412) is horizontally connected to the horizontal One end of an electric cylinder H-shaped bracket (413) is arranged, and the other end of the electric cylinder H-shaped bracket (413) is installed on the top of another electric cylinder bracket (414) through a connecting frame. The other end of the electric cylinder H-shaped bracket (413) is connected to one side of the propulsion bracket (421). The rear frame (32) of the rear screw linear module (3) is installed on the other side of the propulsion bracket (421) and faces the excavation direction. The bottom end of the propulsion bracket (421) is installed on a support plate with a plurality of support wheels (423).

9. The three-degree-of-freedom tunnel boring robot according to claim 8, characterized in that: The bottom of the propulsion bracket (421) of the propulsion device (4) is further provided with a negative pressure dust suction port (422) for suctioning dust during excavation, and the negative pressure dust suction port (422) faces the excavation direction.

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