A multi-degree-of-freedom rock and soil tunneling robot
By using a multi-degree-of-freedom geotechnical tunneling robot, adopting cutting tools and multi-angle adjustment mechanisms, combined with pneumatic supports, cameras and lasers for position correction, the problems of low efficiency and unstable quality of traditional manual excavation have been solved, and efficient and safe underground tunnel excavation has been achieved.
Patent Information
- Application Number
- CN202411158767.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-22
- Publication Date
- 2025-10-03
- Estimated Expiration
- 2044-08-22
AI Technical Summary
Traditional manual excavation methods for laying underground water pipes, gas pipelines and communication cables are inefficient, have unstable quality, and pose safety risks.
A multi-degree-of-freedom geotechnical tunneling robot is designed. It adopts a tool, a linear screw module, a rotation mechanism, a two-stage linear motion module and a pitch adjustment mechanism to achieve multi-angle rotation and position adjustment of the tool. It is combined with pneumatic support legs, cameras and lasers for position correction to ensure safe exit.
It achieves efficient and precise tunnel excavation in small and complex spaces, reduces safety hazards, improves excavation quality and efficiency, and enables safe exit.
Smart Images
Figure CN118933801B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a tunneling robot, relates to the field of rock and soil excavation, and in particular to a multi-degree-of-freedom rock and soil tunneling robot. Background Art
[0002] In urban construction, especially for the underground laying of water pipes, gas pipes, communication cables, sewer pipes, etc., it is necessary to dig tunnels with complex directions and small sizes. The traditional manual excavation method is time-consuming and labor-intensive, with low efficiency and unstable quality. For example, the tunnel direction deviation is large, the hole size is inaccurate, etc. In addition, due to the influence of the working environment, there are certain safety hazards. Summary of the Invention
[0003] To address the problems in the prior art, the present invention provides a multi-degree-of-freedom geotechnical excavation robot. This invention can be used for geotechnical excavation, operating in narrow and complex underground spaces and digging tunnels at various angles. It boasts high efficiency and high excavation quality, while also reducing casualties and accidents.
[0004] The technical solution adopted in the present invention is:
[0005] 1. A multi-degree-of-freedom geotechnical tunneling robot, comprising:
[0006] Cutting tools for rock and soil excavation in underground tunnels.
[0007] The linear screw module is used to install the tool and realize the linear movement and rotary excavation of the tool.
[0008] The rotating mechanism is used to install the linear screw module and realize the multi-angle rotation excavation of the tool.
[0009] The two-stage linear motion module is used to install the rotary mechanism and realize the two-stage linear movement of the tool to increase the tool's travel range.
[0010] The pitch adjustment mechanism is used for the installation of the two-stage linear motion module and to adjust the pitch angle of the tool. The pitch adjustment mechanism includes a pneumatic valve island and several pneumatic support feet. The pneumatic valve island and each pneumatic support foot are used to realize the overall support of the tunneling robot during tunneling and the adjustment of the tunneling position. The pneumatic valve island and the two-stage linear motion module are both ventilated and run, and return to the initial state after the ventilation is disconnected, so as to avoid the tunneling robot from getting stuck and realize the safe exit of the tunneling robot.
[0011] The two-stage linear motion module includes a first-stage rodless cylinder module and a second-stage rodless cylinder module. A first-stage slide is slidably installed on the first linear axis of the first-stage rodless cylinder module, and a second-stage slide is slidably installed on the second linear axis of the second-stage rodless cylinder module. The first linear axis is parallel to the second linear axis. The center of the second-stage rodless cylinder module's own side away from the second linear axis is installed on the first-stage slide. A connecting block is provided at the center of the first-stage rodless cylinder module's own side away from the first linear axis. The connecting block is provided with a mounting through hole in the horizontal direction. The first-stage rodless cylinder module is installed on the pitch adjustment mechanism through the mounting through hole of the connecting block; the rotating mechanism is installed on the second-stage slide of the second-stage rodless cylinder module through a connecting mounting plate.
[0012] The pitch adjustment mechanism also includes an upper connecting plate, a lower connecting plate, a connecting shaft, a mechanism housing and two cylinders. The mechanism housing is an arch-shaped aluminum shell. The top surface of the mechanism housing is arc-shaped. The sides of the mechanism housing facing and away from the excavation direction are the front side and the rear side respectively. A first through groove is provided at the center of the front side. The connecting shaft is horizontally installed inside the mechanism housing and faces the first through groove. The connecting block of the first-stage rodless cylinder module is mounted on the connecting shaft through its own mounting through hole. A second through groove is provided in the middle of the top surface of the mechanism housing and in the middle of the upper side of the front side. The mechanism housing A third through slot is provided in the middle of the bottom surface and the middle of the lower side of the front side. The bottom edge of the slot of the second through slot and the top edge of the slot of the third through slot are respectively located on the upper and lower sides of the first through slot and are parallel to the horizontal direction. The bottom edge of the upper connecting plate and the top edge of the lower connecting plate are hinged to the bottom edge of the slot of the second through slot and the top edge of the slot of the third through slot respectively. The cylinder bodies of the two cylinders are installed on the upper and lower sides of the rear side of the interior of the mechanism shell and close to the center position. The ends of the piston rods of the two cylinders are respectively hinged to the side of the upper connecting plate and the lower connecting plate close to the interior of the mechanism shell, and the piston rods of the two cylinders are parallel to the horizontal plane.
[0013] The pneumatic valve island and each pneumatic support foot are installed inside the mechanism shell. Fourth through grooves are respectively opened on both symmetrical sides of the top surface of the mechanism shell. The two pneumatic support feet are close to the two fourth through grooves. Fifth through grooves are symmetrically opened on the bottom of the two side surfaces between the front side surface and the rear side surface of the mechanism shell. A pneumatic support foot is respectively installed at each fourth through groove and the fifth through groove. After each pneumatic support foot is ventilated through the pneumatic valve island, the two pneumatic support feet at the top pass through the fourth through groove along the oblique upper direction to the outside of the mechanism shell and support the channel wall. The two pneumatic support feet at the bottom pass through the fifth through groove along the horizontal direction perpendicular to the excavation direction to the outside of the mechanism shell and support the channel wall.
[0014] The first-stage rodless cylinder module can rotate around the connecting shaft to adjust the pitch; the piston rods of the two cylinders can push the upper connecting plate and the lower connecting plate to rotate around their own hinged edges in the second through slots and the third through slots to adjust the pitch angle. The width of the upper connecting plate and the lower connecting plate is slightly smaller than the width of the second through slots and the third through slots; a motor can also be arranged inside the mechanism housing of the pitch adjustment mechanism. The motor drives the connecting shaft to rotate around its own center axis and thereby drives the two-stage linear motion module to rotate, thereby adjusting the pitch angle of excavation.
[0015] The pitch adjustment mechanism also includes several pairs of fill lights and cameras for lighting and position confirmation. The pairs of fill lights and cameras are evenly spaced on the front side of the mechanism shell and located on both sides of the upper connecting plate and the lower connecting plate. Each fill light and camera is facing the excavation direction.
[0016] The rotating mechanism includes a rotating table, a second rotating platform, a rotating shaft, a first rotating platform, a first motor, a second motor and a supporting frame. The supporting frame is installed on a connecting mounting plate. The body of the first motor is installed on the supporting frame through a first motor protective cover. The output shaft of the first motor is horizontally and synchronously connected to the center of one end face of the vertically arranged first rotating platform. The center of the other end face of the first rotating platform is connected to one end of the horizontally arranged rotating shaft. The other end of the rotating shaft is hinged to the supporting frame. A protective cover is provided outside the rotating shaft, and the protective cover is installed on the other end face of the first rotating platform. The body of the second motor is installed on the bottom face of the protective cover through the second motor protective cover. The output shaft of the second motor is synchronously connected to the center position of the bottom end face of the second rotating platform upward in a direction perpendicular to the rotating shaft. The center of the bottom end face of the rotating table is installed at the center position of the top face of the second rotating platform, and the linear screw module is installed on the top face of the rotating table.
[0017] The drive shaft is connected to the drive gear of the driving wheel by the guide rail, and the guide rail is connected to the drive gear of the driving wheel by the guide rail.
[0018] 2. A tunneling method for a multi-degree-of-freedom geotechnical tunneling robot, comprising:
[0019] When the tunneling robot is in the initial state, the upper connecting plate and the lower connecting plate of the pitch adjustment mechanism are arranged vertically, the various pneumatic supports are located inside the mechanism housing, the first-stage rodless cylinder module and the second-stage rodless cylinder module of the two-stage linear motion module are arranged vertically, the first-stage slide and the second-stage slide are located at the center positions of the first linear axis and the second linear axis respectively, and the output shaft of the second motor of the rotating mechanism and the center axis of the tool are arranged vertically; when the tunneling robot is tunneling, the upper connecting plate or the lower connecting plate is adjusted to a preset pitch angle by the cylinder in the pitch adjustment mechanism , rotate the two-stage linear motion module around the connecting shaft until it is close to the upper connecting plate or the lower connecting plate and lock it, place the excavation robot in the tunnel, and ventilate each pneumatic support foot through the pneumatic valve island and the air pipe, so that each pneumatic support foot supports the tunnel wall, and drive the first-stage rodless cylinder module and the second-stage rodless cylinder module to drive the rotating mechanism, the linear screw module and the tool to move in the length direction of the two-stage linear motion module, drive the first motor, the second motor and the third motor to drive the tool to move until it moves to the position of the tunnel wall to be excavated, and drive the tool motor to drive the tool to rotate and excavate.
[0020] During the excavation process of the tunneling robot, several lasers parallel to the excavation direction are emitted outside the tunnel and irradiated from the gap between the tunneling robot and the tunnel wall to the tunnel wall in front of the tunneling robot. Each fill light illuminates the tunnel wall in front of the tunneling robot, and each camera captures the laser position on the tunnel wall in front. When the camera captures that the tunneling robot is not at the center position of each laser, it is judged that the tunneling robot has deviated from the excavation direction. The position of the tunneling robot is adjusted by adjusting the extension of each pneumatic support leg, so that the tunneling robot returns to the excavation direction.
[0021] When the excavation is completed, the ventilation is disconnected and the excavation robot returns to its initial state. Then, the excavation robot is pulled out of the tunnel through the air pipe used for ventilation, thereby achieving the safe exit of the excavation robot.
[0022] The beneficial effects of the present invention are:
[0023] 1. The tunneling robot of the present invention can adjust the pitch angle of the entire excavation component to realize the excavation of tunnels at different angles in narrow and complex underground spaces. By increasing the tool movement stroke through a two-stage linear motion module, it can realize tunnel excavation in vertical and other directions.
[0024] 2. The excavation component of the tunneling robot of the present invention can realize the pitch adjustment of the tool and the position adjustment in a wide range, and at the same time realize the movement of the tool in the polar coordinate plane. Through the five-degree-of-freedom design, it can realize the excavation of tunnels with different angles and different hole shapes, and has the characteristics of high efficiency and high excavation quality.
[0025] 3. The tunneling robot of the present invention uses pneumatic support legs to achieve overall support for the tunneling robot, and combines cameras and lasers to adjust the position of the tunneling robot. Through the overall pneumatic arrangement, the robot can be restored to its initial state by disconnecting the ventilation at the end of tunneling, thereby avoiding jamming and achieving safe exit of the robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 This is a schematic diagram of the overall appearance structure of the present invention;
[0027] Figure 2 Schematic diagram of the pitch adjustment mechanism of the present invention;
[0028] Figure 3 Schematic diagram of the two-stage linear motion module of the present invention;
[0029] Figure 4 It is a schematic diagram of the rotating mechanism of the present invention;
[0030] Figure 5 This is a schematic diagram of the linear screw module of the present invention;
[0031] In the figure: 1. Pitch adjustment mechanism, 11. Upper connecting plate, 12. Lower connecting plate, 13. Connecting shaft, 14. Pneumatic valve island, 15. Fill light, 16. Camera, 17. Pneumatic support foot, 2. Two-stage linear motion module, 21. First-stage rodless cylinder module, 211. First linear axis, 212. Connecting block, 213. First-stage slide, 22. Second-stage rodless cylinder module, 221. Second-stage slide, 222. Second linear axis, 223. Connecting mounting plate, 3. Rotating mechanism, 31. Rotating table, 32. Second rotating platform, 33. Rotating shaft, 34. First rotating platform, 35. First motor, 36. Second motor, 37. Support frame, 4. Linear screw module, 41. Hard rail slide, 411. Third motor, 412. Motor mounting plate, 413. Driving wheel, 414. Synchronous belt, 415. Driven wheel, 416. Screw, 42. Slider, 421. Tool motor, 422. Tool mounting plate, 5. Tool. DETAILED DESCRIPTION
[0032] 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.
[0033] like Figure 1As shown, the multi-degree-of-freedom geotechnical excavation robot of the present invention includes a pitch adjustment mechanism 1, a two-stage linear motion module 2, a rotation mechanism 3, a linear screw module 4 and a tool 5. The tool 5 is used for geotechnical excavation of underground tunnels; the tool 5 is installed on the linear screw module 4 to realize linear movement and rotation excavation of the tool 5; the linear screw module 4 is installed on the rotation mechanism 3 to realize multi-angle rotation excavation of the tool 5; the two-stage linear motion module 2 is installed with the rotation mechanism 3 to realize two-stage linear movement of the tool 5 to increase the tool 5 The moving stroke is as follows: a two-stage linear motion module 2 is installed on the pitch adjustment mechanism 1 to realize the adjustment of the pitch angle of the tool 5. The pitch adjustment mechanism 1 includes a pneumatic valve island 14 and a plurality of pneumatic support legs 17. The pneumatic valve island 14 and the pneumatic support legs 17 realize the overall support of the tunneling robot during tunneling and the adjustment of the tunneling position; the pneumatic valve island 14 and the two-stage linear motion module 2 are both ventilated and run, and return to the initial state after the ventilation is disconnected, so as to avoid the tunneling robot from getting stuck and realize the safe exit of the tunneling robot.
[0034] like Figure 3 As shown, the two-stage linear motion module 2 includes a first-stage rodless cylinder module 21 and a second-stage rodless cylinder module 22. A first-stage slide 213 is slidably installed on the first linear axis 211 of the first-stage rodless cylinder module 21, and a second-stage slide 221 is slidably installed on the second linear axis 222 of the second-stage rodless cylinder module 22. The first linear axis 211 is parallel to the second linear axis 222. The second-stage rodless cylinder module 22 is installed on the first-stage slide 213 at the center of one side of itself away from the second linear axis 222. The first-stage rodless cylinder module 21 is provided with a connecting block 212 at the center of one side of itself away from the first linear axis 211. The connecting block 212 is provided with a mounting through hole in the horizontal direction. The first-stage rodless cylinder module 21 is installed on the pitch adjustment mechanism 1 through the mounting through hole of the connecting block 212; the rotating mechanism 3 is installed on the second-stage slide 221 of the second-stage rodless cylinder module 22 through the connecting mounting plate 223.
[0035] like Figure 2As shown, the pitch adjustment mechanism 1 also includes an upper connecting plate 11, a lower connecting plate 12, a connecting shaft 13, a mechanism housing and two cylinders. The mechanism housing is an arch-shaped aluminum shell. The top surface of the mechanism housing is arc-shaped. The sides of the mechanism housing facing and away from the excavation direction are respectively the front side and the rear side. A first through groove is provided at the center of the front side. The connecting shaft 13 is horizontally installed inside the mechanism housing and faces the first through groove. The connecting block 212 of the first-stage rodless cylinder module 21 is mounted on the connecting shaft 13 through its own mounting through hole. A second through groove is provided in the middle of the top surface of the mechanism housing and in the middle of the upper side of the front side. A third through slot is provided in the middle of the bottom surface of the mechanism housing and the middle of the lower side of the front side. The bottom edge of the slot of the second through slot and the top edge of the slot of the third through slot are respectively located on the upper and lower sides of the first through slot and are parallel to the horizontal direction. The bottom edge of the upper connecting plate 11 and the top edge of the lower connecting plate 12 are respectively hinged to the bottom edge of the slot of the second through slot and the top edge of the slot of the third through slot. The cylinder bodies of the two cylinders are installed on the upper and lower sides of the rear side of the interior of the mechanism housing and close to the center position. The ends of the piston rods of the two cylinders are respectively hinged to the side of the upper connecting plate 11 and the lower connecting plate 12 close to the interior of the mechanism housing, and the piston rods of the two cylinders are parallel to the horizontal plane.
[0036] The pneumatic valve island 14 and each pneumatic support foot 17 are installed inside the mechanism shell. Fourth through grooves are respectively opened on the symmetrical sides of the top surface of the mechanism shell. The two pneumatic support feet 17 are close to the two fourth through grooves. Fifth through grooves are symmetrically opened at the bottom of the two side surfaces between the front side surface and the rear side surface of the mechanism shell. A pneumatic support foot 17 is respectively installed at each fourth through groove and the fifth through groove. After each pneumatic support foot 17 is ventilated through the pneumatic valve island 14, the two pneumatic support feet 17 at the top pass through the fourth through groove along the oblique upper direction to the outside of the mechanism shell and support the channel wall. The two pneumatic support feet 17 at the bottom pass through the fifth through groove along the horizontal direction perpendicular to the excavation direction to the outside of the mechanism shell and support the channel wall.
[0037] The first-stage rodless cylinder module 21 can rotate around the connecting shaft 13 to perform pitch adjustment; the piston rods of the two cylinders can push the upper connecting plate 11 and the lower connecting plate 12 to rotate around their own hinged edges in the second through slots and the third through slots to adjust the pitch angle. The width of the upper connecting plate 11 and the lower connecting plate 12 is slightly smaller than the width of the second through slots and the third through slots; a motor can also be arranged inside the mechanism housing of the pitch adjustment mechanism 1. The motor drives the connecting shaft 13 to rotate around its own center axis and thereby drives the two-stage linear motion module 2 to rotate, thereby adjusting the pitch angle of excavation.
[0038] The pitch adjustment mechanism 1 also includes several pairs of fill lights 15 and cameras 16 for lighting and position confirmation. Several pairs of fill lights 15 and cameras 16 are evenly spaced on the front side of the mechanism shell and are located on both sides of the upper connecting plate 11 and the lower connecting plate 12. Each fill light 15 and camera 16 is facing the excavation direction.
[0039] like Figure 4 As shown, the rotating mechanism 3 includes a rotating table 31, a second rotating platform 32, a rotating shaft 33, a first rotating platform 34, a first motor 35, a second motor 36 and a supporting frame 37. The supporting frame 37 is mounted on the connecting mounting plate 223. The body of the first motor 35 is mounted on the supporting frame 37 through a first motor protective shell. The output shaft of the first motor 35 is horizontally and synchronously connected to the center of one end face of the vertically arranged first rotating platform 34. The center of the other end face of the first rotating platform 34 is connected to one end of the horizontally arranged rotating shaft 33. The other end of the rotating shaft 33 is hinged to the supporting frame 37. A protective shell is provided on the outside of the rotating shaft 33, which is mounted on the other end face of the first rotating platform 34. The body of the second motor 36 is mounted on the bottom face of the protective shell through the second motor protective shell. The output shaft of the second motor 36 is synchronously connected upward to the center position of the bottom end face of the second rotating platform 32 in a direction perpendicular to the rotating shaft 33. The center of the bottom end face of the rotating table 31 is mounted at the center position of the top face of the second rotating platform 32. The linear screw module 4 is mounted on the top face of the rotating table 31.
[0040] like Figure 5 As shown, the linear screw module 4 includes a hard rail slide 41, a third motor 411, a driving wheel 413, a synchronous belt 414, a driven wheel 415, a screw 416, a slider 42 and a tool motor 421. The bottom surface of the hard rail slide 41 is installed on the top surface of the rotating table 31. The top surface of the hard rail slide 41 is provided with a horizontal slide groove. The driven wheel 415 is installed at one end in the slide groove and the central axis is parallel to the length direction of the slide groove. One end of the central axis of the driven wheel 415 is hinged to one end of the slide groove, and the other end of the central axis of the driven wheel 415 is synchronously connected to one end of the screw 416. The other end of the screw 416 is hinged to the other end of the slide groove. The lead screw 416 is parallel to the length direction of the slide groove, and the bottom surface of the slider 42 is installed on the slide groove and is threadedly mounted on the lead screw 416; the body of the third motor 411 is installed on the hard rail slide 41 through the motor mounting plate 412 and is located on one side of the slide groove, and the output shaft of the third motor 411 is synchronously connected to the center axis of the driving wheel 413, and the driving wheel 413 and the driven wheel 415 are connected by a synchronous belt 414; the body of the tool motor 421 is installed in the slider 42, and the tool 5 is installed on the top surface of the slider 42 through the tool mounting plate 422, and the output shaft of the tool motor 421 is synchronously connected to the center axis of the tool 5 upward.
[0041] The tunneling method of the multi-degree-of-freedom rock tunneling robot of the present invention is specifically as follows:
[0042] When the tunneling robot is in the initial state, the upper connecting plate 11 and the lower connecting plate 12 of the pitch adjustment mechanism 1 are arranged vertically, and each pneumatic support leg 17 is located inside the mechanism shell. The first-stage rodless cylinder module 21 and the second-stage rodless cylinder module 22 of the two-stage linear motion module 2 are arranged vertically, and the first-stage slide 213 and the second-stage slide 221 are located at the center positions of the first linear axis 211 and the second linear axis 222 respectively. The output shaft of the second motor 36 of the rotating mechanism 3 and the center axis of the tool 5 are arranged vertically. When the tunneling robot is excavating, the upper connecting plate 11 or the lower connecting plate 12 is adjusted to the preset pitch angle by the cylinder in the pitch adjustment mechanism 1. The two-stage linear motion module 2 rotates around the connecting shaft 13 until it is close to the upper connecting plate 11 or the lower connecting plate 12 and locked, and the excavation robot is placed in the tunnel. The air is ventilated to each pneumatic support foot 17 through the pneumatic valve island 14 and the air pipe, so that each pneumatic support foot 17 is against the tunnel wall. The first-stage rodless cylinder module 21 and the second-stage rodless cylinder module 22 are driven to drive the rotating mechanism 3, the linear screw module 4 and the tool 5 to move in the length direction of the two-stage linear motion module 2, and the first motor 35, the second motor 36 and the third motor 411 are driven to drive the tool 5 to move until it moves to the position of the tunnel wall to be excavated, and the tool motor 421 is driven to drive the tool 5 to rotate and excavate.
[0043] During the excavation process of the tunneling robot, several lasers parallel to the excavation direction are emitted outside the tunnel and irradiated from the gap between the tunneling robot and the tunnel wall to the tunnel wall in front of the tunneling robot. Each fill light 15 illuminates the tunnel wall in front of the tunneling robot, and each camera 16 captures the laser position on the front tunnel wall. When the camera 16 captures that the tunneling robot is not at the center position of each laser, it is judged that the tunneling robot has deviated from the excavation direction. The position of the tunneling robot is adjusted by adjusting the extension of each pneumatic support leg 17, so that the tunneling robot returns to the excavation direction.
[0044] When the excavation is completed, the ventilation is disconnected and the excavation robot returns to its initial state. Then, the excavation robot is pulled out of the tunnel through the air pipe used for ventilation, thereby achieving the safe exit of the excavation robot.
[0045] The pitch adjustment assembly of the present invention has four groups of fill lights 15 and cameras 16, which are arranged at the four corners of the front side of the arched shell; the upper connecting plate 11 and the lower connecting plate 12 are symmetrically arranged on the upper and lower sides of the connecting shaft 13, and the fixed angle is adjustable internally; the connecting hole 212 is connected to the connecting shaft 13, and the excavation assembly is fixed to the upper connecting plate 11 or the lower connecting plate 12 after rotating a certain angle with the connecting shaft 13 as the rotation center, thereby realizing the pitch adjustment of the entire excavation assembly; the pneumatic support legs 17 are symmetrically arranged on both sides of the shell, and are connected to the pneumatic valve island 14 to control its lifting and retraction, thereby realizing the fixation of the entire mechanism in the channel.
[0046] 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 multi-degree-of-freedom geotechnical excavation robot, characterized in that: include: A tool (5) for rock excavation in underground tunnels; A linear screw module (4) is used to install the tool (5) and realize linear movement and rotary excavation of the tool (5); A rotating mechanism (3) is used to install a linear screw module (4) and realize multi-angle rotation excavation of a tool (5); A two-stage linear motion module (2) is used to install a rotating mechanism (3) and realize two-stage linear movement of a tool (5) to increase the movement stroke of the tool (5); The pitch adjustment mechanism (1) is used for installing the two-stage linear motion module (2) and adjusting the pitch angle of the tool (5). The pitch adjustment mechanism (1) includes a pneumatic valve island (14) and a plurality of pneumatic support legs (17). The pneumatic valve island (14) and the pneumatic support legs (17) are used to support the entire excavation robot during excavation and adjust the excavation position. The pneumatic valve island (14) and the two-stage linear motion module (2) are both operated after ventilation and return to the initial state after ventilation is disconnected, so as to prevent the excavation robot from being stuck and thus achieve safe exit of the excavation robot. The two-stage linear motion module (2) comprises a first-stage rodless cylinder module (21) and a second-stage rodless cylinder module (22); The pitch adjustment mechanism (1) further comprises an upper connecting plate (11), a lower connecting plate (12), a connecting shaft (13), a mechanism housing and two cylinders. The mechanism housing is an arch-shaped housing, the top surface of the mechanism housing is arc-shaped, the sides of the mechanism housing facing and away from the excavation direction are respectively the front side and the rear side, a first through slot is provided at the center of the front side, the connecting shaft (13) is horizontally mounted inside the mechanism housing and facing the first through slot, the connecting block (212) of the first-stage rodless cylinder module (21) is fitted on the connecting shaft (13) through its own mounting through hole; a second through slot is provided in the middle of the top surface of the mechanism housing and the middle of the upper side of the front side. A through slot is provided in the middle of the bottom surface of the mechanism housing and the middle of the lower side of the front side. The bottom edge of the slot of the second through slot and the top edge of the slot of the third through slot are respectively located on the upper and lower sides of the first through slot and are parallel to the horizontal direction. The bottom edge of the upper connecting plate (11) and the top edge of the lower connecting plate (12) are respectively hinged to the bottom edge of the slot of the second through slot and the top edge of the slot of the third through slot. The cylinder bodies of the two cylinders are installed on the upper and lower sides of the rear side of the mechanism housing and close to the center position. The ends of the piston rods of the two cylinders are respectively hinged to the side of the upper connecting plate (11) and the lower connecting plate (12) close to the inside of the mechanism housing. The piston rods of the two cylinders are parallel to the horizontal plane. The pneumatic valve island (14) and each pneumatic support foot (17) are installed inside the mechanism housing. Fourth through slots are respectively opened on symmetrical sides of the top surface of the mechanism housing. Two pneumatic support feet (17) are close to the two fourth through slots. Fifth through slots are symmetrically opened on the bottom of the two side surfaces between the front side surface and the rear side surface of the mechanism housing. A pneumatic support foot (17) is respectively installed at each fourth through slot and the fifth through slot. After each pneumatic support foot (17) is ventilated through the pneumatic valve island (14), the two pneumatic support feet (17) at the top pass through the fourth through slot along the oblique upper direction to the outside of the mechanism housing and support the channel wall. The two pneumatic support feet (17) at the bottom pass through the fifth through slot along the horizontal direction perpendicular to the excavation direction to the outside of the mechanism housing and support the channel wall.
2. The multi-degree-of-freedom geotechnical tunneling robot according to claim 1, characterized in that: A first-stage slide (213) is slidably mounted on the first linear axis (211) of the first-stage rodless cylinder module (21), and a second-stage slide (221) is slidably mounted on the second linear axis (222) of the second-stage rodless cylinder module (22). The first linear axis (211) is parallel to the second linear axis (222). The center of one side of the second-stage rodless cylinder module (22) away from the second linear axis (222) is mounted on the first-stage slide (213). The center of one side of the first-stage rodless cylinder module (21) away from the first linear axis (211) is provided with a connecting block (212). The connecting block (212) is provided with a mounting through hole in the horizontal direction. The first-stage rodless cylinder module (21) is mounted on the pitch adjustment mechanism (1) through the mounting through hole of the connecting block (212); and the rotating mechanism (3) is mounted on the second-stage slide (221) of the second-stage rodless cylinder module (22) through the connecting mounting plate (223).
3. The multi-degree-of-freedom geotechnical tunneling robot according to claim 1, characterized in that: The pitch adjustment mechanism (1) further comprises a plurality of pairs of fill lights (15) and cameras (16) for illumination and position confirmation. The plurality of pairs of fill lights (15) and cameras (16) are evenly spaced and distributed on the front side of the mechanism housing and are located on symmetrical sides of the upper connecting plate (11) and the lower connecting plate (12). Each fill light (15) and camera (16) faces the excavation direction.
4. The multi-degree-of-freedom geotechnical tunneling robot according to claim 2, characterized in that: The rotating mechanism (3) includes a rotating table (31), a second rotating platform (32), a rotating shaft (33), a first rotating platform (34), a first motor (35), a second motor (36) and a supporting frame (37), wherein the supporting frame (37) is mounted on the connecting mounting plate (223), the body of the first motor (35) is mounted on the supporting frame (37), the output shaft of the first motor (35) is horizontally and synchronously connected to the center of one end face of the vertically arranged first rotating platform (34), and the center of the other end face of the first rotating platform (34) is connected to one end face of the horizontally arranged rotating shaft (33). The first rotating platform (34) is provided with a protective shell on the outside of the rotating shaft (33), and the protective shell is installed on the other end surface of the first rotating platform (34). The body of the second motor (36) is installed on the bottom surface of the protective shell. The output shaft of the second motor (36) is synchronously connected to the center position of the bottom end surface of the second rotating platform (32) in a direction perpendicular to the rotating shaft (33). The center of the bottom end surface of the rotating platform (31) is installed at the center position of the top end surface of the second rotating platform (32). The linear screw module (4) is installed on the top end surface of the rotating platform (31).
5. The multi-degree-of-freedom geotechnical tunneling robot according to claim 4, characterized in that: The linear screw module (4) includes a hard rail slide (41), a third motor (411), a driving wheel (413), a synchronous belt (414), a driven wheel (415), a screw (416), a slider (42) and a tool motor (421). The bottom surface of the hard rail slide (41) is mounted on the top surface of the rotating table (31). The top surface of the hard rail slide (41) is provided with a horizontal slide groove. The driven wheel (415) is mounted at one end of the slide groove and the central axis is parallel to the length direction of the slide groove. One end of the central axis of the driven wheel (415) is hinged to one end of the slide groove. The other end of the central axis of the driven wheel (415) is synchronously connected to one end of the screw (416). The other end of the screw (416) is connected to the screw (416). The end is hinged at the other end of the slide, the lead screw (416) is parallel to the length direction of the slide, and the bottom surface of the slider (42) is installed on the slide and is threadedly mounted on the lead screw (416); the body of the third motor (411) is installed on the hard rail slide (41) and is located on one side of the slide, the output shaft of the third motor (411) is synchronously connected to the central axis of the driving wheel (413), and the driving wheel (413) and the driven wheel (415) are connected by a synchronous belt (414); the body of the tool motor (421) is installed in the slider (42), the tool (5) is installed on the top surface of the slider (42), and the output shaft of the tool motor (421) is synchronously connected to the central axis of the tool (5) facing upward.
6. The tunneling method of a multi-degree-of-freedom geotechnical tunneling robot according to any one of claims 1 to 5, characterized in that: include: When the tunneling robot is in an initial state, the upper connecting plate (11) and the lower connecting plate (12) of the pitch adjustment mechanism (1) are both arranged vertically, each pneumatic support foot (17) is located inside the mechanism housing, the first-stage rodless cylinder module (21) and the second-stage rodless cylinder module (22) of the two-stage linear motion module (2) are both arranged vertically, the first-stage slide (213) and the second-stage slide (221) are respectively located at the center of the first linear axis (211) and the second linear axis (222), and the output shaft of the second motor (36) of the rotating mechanism (3) and the center axis of the tool (5) are both arranged vertically; when the tunneling robot is tunneling, the upper connecting plate (11) or the lower connecting plate (12) is adjusted to a preset pitch angle by the cylinder in the pitch adjustment mechanism (1), and the upper connecting plate (11) or the lower connecting plate (12) is adjusted to a preset pitch angle. The two-stage linear motion module (2) rotates around the connecting shaft (13) until it is in close contact with the upper connecting plate (11) or the lower connecting plate (12) and is locked, and the excavation robot is placed in the tunnel. Air is ventilated to each pneumatic support foot (17) through the pneumatic valve island (14) and the air pipe, so that each pneumatic support foot (17) is supported against the tunnel wall. The first-stage rodless cylinder module (21) and the second-stage rodless cylinder module (22) are driven to drive the rotating mechanism (3), the linear screw module (4) and the tool (5) to move in the length direction of the two-stage linear motion module (2). The first motor (35), the second motor (36) and the third motor (411) are driven to drive the tool (5) to move until it moves to the position of the tunnel wall to be excavated. The tool motor (421) is driven to drive the tool (5) to rotate and excavate; During the excavation process of the tunneling robot, several laser beams parallel to the excavation direction are emitted from the outside of the tunnel and irradiated from the gap between the tunneling robot and the tunnel wall to the tunnel wall in front of the tunneling robot. Each fill light (15) illuminates the tunnel wall in front of the tunneling robot, and each camera (16) photographs the laser position on the tunnel wall in front. When the camera (16) photographs that the tunneling robot is not at the center position of each laser beam, it is determined that the tunneling robot has deviated from the excavation direction. The position of the tunneling robot is adjusted by adjusting the extension of each pneumatic support leg (17) so that the tunneling robot returns to the excavation direction. When the excavation is completed, the ventilation is disconnected and the excavation robot returns to its initial state. Then, the excavation robot is pulled out of the tunnel through the air pipe used for ventilation, thereby achieving the safe exit of the excavation robot.
Citation Information
Patent Citations
Tunneling device with drilling angle being adjustable and tunneling machine
CN112196555A
Maintenance system for tunnel boring machine and associated tunnel boring machine
WO2017050839A1