Underground tunneling and line laying robot

Abstract

The invention discloses an underground tunneling and cable laying robot which is composed of a rotary ground breaking device, a two-way supporting device, a three-way supporting device, a conveying device and a cable laying device. The rotary ground breaking device is fixed at the foremost end of the robot and is driven to move forwards through three electric cylinders fixed on the rotary ground breaking device; the supporting device is divided into a two-way support and a three-way support, the two-way support is fixed in the rotary ground breaking device and is driven by an air cylinder, the three-way support is fixed on a trunk of the robot and is driven by an electric cylinder, and the supporting device is used for fixing and moving the robot; the conveying device is fixed to the inner side of the trunk and used for conveying rock fragments generated during ground breaking in the front and completing cable burying at the same time. The cable laying device is located between the trunk and the rear pipe wall. The robot not only can go deep into the ground or a cavity for continuous tunneling, but also can efficiently complete cable laying work, and has the advantages of being high in precision, high in adaptability and good in safety.

Description

Technical Field

[0001] The invention relates to the technical field of robots for digging and laying cables underground or in a cavity, in particular to an underground digging and cable-laying robot. Background Art

[0002] With the acceleration of urbanization, construction and infrastructure projects are increasingly dependent on underground space. Traditional underground construction methods, such as manual excavation and cable laying, have problems such as long construction period, low efficiency, high labor intensity and potential safety hazards. Especially in densely populated urban areas, these traditional methods not only affect the lives of residents, but also easily cause environmental pollution. Therefore, it is imperative to develop an efficient, intelligent and automated excavation and cable laying robot to solve the problem of underground excavation and cable laying. Summary of the invention

[0003] In view of the defects of existing underground cable laying technology and the limitations of different sites, the present invention provides an underground excavation and cable laying robot, which aims to improve the automation level of excavation and cable laying operations, enhance obstacle detection and response capabilities, and improve excavation efficiency and stability.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an underground excavation and cable-laying robot, comprising a rotary earth-breaking device, the rotary earth-breaking device is supported by an earth-breaking tool as a frame, 14 rotary earth-breaking tools that can rotate freely around an axis are evenly distributed on the earth-breaking tool support, two symmetrically distributed excavation guide plates are provided on the side of the earth-breaking tool support, two guide columns are symmetrically installed on the excavation guide plates, a two-way support device is installed inside the earth-breaking tool support, the two-way support device is connected and driven by a cylinder, a slip ring is installed at the bottom of the earth-breaking tool support, one side of the slip ring is connected to three evenly distributed electric cylinders, the electric cylinders are fixed to the inner surface of the rear pipe wall, and the rear pipe wall is connected to the trunk through the rear pipe wall inner support, A conveying device is installed inside the trunk, a winding reel is installed outside the trunk, a fixed wheel and a guide wheel are installed on the rear tube wall, a wire groove is opened on the rear tube wall, three pads for fixing are symmetrically distributed on the trunk, a supporting base is installed on the trunk, the supporting base is connected to the torso by a first pad located at the front end and a second pad located at the rear end, a three-way supporting device is installed on the supporting base and driven by an electric cylinder, a support rod is connected to the supporting base, the other end of the support rod is fixed on the three-way support plate, a connecting rod arm is fixed on the three-way support plate, the other end of the connecting rod arm is fixed on the slider, the slider is installed on the supporting base, an electric cylinder is fixed on the second pad, and the piston rod of the electric cylinder is connected to the slider.

[0005] Furthermore, the cutting tool is designed as a modular structure to facilitate replacement and maintenance.

[0006] Furthermore, the three-way support plate is made up of one-third of a circular arc plate, so that there is no gap when it is retracted, thus preventing mud from collapsing into key parts of the robot and affecting performance.

[0007] Furthermore, spring adaptive devices are installed on both sides of the guide wheel axle to protect the guide wheel from damage when the robot is excavating in a hard geological environment.

[0008] Furthermore, the support plate of the support device is processed with a knurled pattern to increase the friction between the support plate and the pipe hole, thereby preventing the robot from slipping during underground excavation.

[0009] Furthermore, a spring adaptive device is provided on the connecting rod arm, and when the three supports are opened, the opening and closing range of the three-way support plate can be adjusted according to the hardness of the soil.

[0010] The beneficial effects of the present invention are as follows: the underground excavation cable laying robot significantly improves the automation level and construction efficiency of excavation operations through the shield machine-type excavation principle, and through the clever application of the spatial layout of the support device, it can provide support for the robot while effectively avoiding the impact of collapse caused during the excavation process on the robot, thereby enhancing the safety and stability of the excavation process and reducing labor costs and risks. The robot has the function of autonomous cable laying, and completes the underground laying and burying of cables while excavating. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the rotary earth-breaking cutter head of the present invention; Figure 3 It is a schematic diagram of the structure of the three-way support part of the present invention; Figure 4 It is a schematic diagram of the device composition of the present invention; Figure 5 It is a schematic diagram of the mechanical whole of the present invention.

Claims

1. An underground excavation and cable laying robot, Features: The robot comprises a trunk (1), a rotary earth-breaking device (24), a three-way support device (26), a two-way support device (25), a conveying device (8) and a cable laying device (27), wherein the rotary earth-breaking device (24) is fixed at the front end of the robot, the two-way support device (25) is fixed inside the rotary earth-breaking device (24), the three-way support device (26) is fixed on the trunk (1) of the robot, the conveying device (8) is fixed on the inner side of the trunk (1), and the cable laying device (27) is located between the trunk (1) and the rear pipe wall (3).

2. An underground excavation and cable laying robot according to claim 1, Features: The rotary earth-breaking device (24) comprises an earth-breaking tool support (2), a slip ring (6), a rotary earth-breaking tool (11), an excavation guide plate (10) and a guide column (12). The bottom of the earth-breaking tool support (2) is provided with a slip ring (6), the other side of the slip ring (6) is connected to three evenly distributed electric cylinders (7), the electric cylinders (7) are fixed to the inner surface of the rear pipe wall (3), the rotary earth-breaking tools (11) are evenly distributed on the earth-breaking tool support (2), a total of 14, and can rotate freely around an axis, the excavation guide plates (10) are symmetrically distributed on both sides of the earth-breaking tool support (2), and the guide columns (12) are symmetrically installed on the excavation guide plates (10).

3. The underground excavation and cable laying robot according to claim 1, Features: The support device comprises a bidirectional support device (25) and a tridirectional support device (26); the bidirectional support device (25) is located inside the rotary earth-breaking device (24); and the tridirectional support device (26) is fixed on the trunk (1).

4. The underground excavation and cable laying robot according to claim 3, Features: The bidirectional support device (25) comprises a bidirectional support plate (5) and a cylinder (7); the bidirectional support plate (5) is symmetrically mounted on the side of the earth-breaking tool support (2) and is driven by the cylinder (7).

5. The underground excavation and cable laying robot according to claim 3, Features: The three-way support device (26) has a three-way support plate (4), the lower side of the three-way support plate (4) is connected to four support rods (20) by bolts, the support rods (20) are fixed to the support base (17) by bolts, the middle part of the three-way support plate (4) is connected to two connecting arm rods (22) by bolts, the connecting arm rods (22) are fixed to the slider (21) by bolts, the lower side of the slider (21) is fixed to the support base (17), the slider (21) and the support base (17) are notched, the middle part of the slider (21) is connected to the electric cylinder (7), the electric cylinder (7) is fixed to the second cushion block (19), the two ends of the support base (17) are respectively fixed to the first cushion block (18) and the second cushion block (19), the first cushion block (18) and the second cushion block (19) are fixed to the trunk (1).

6. The underground excavation and cable laying robot according to claim 1, Features: The cable laying device (27) comprises a cable winding drum (13), a fixed wheel (14), a guide wheel (15) and a cable groove (23). The cable winding drum (13) is fixed on the trunk (1), the fixed wheel (14) and the guide wheel (15) are fixed on the inner side of the rear tube wall (3), and the rear tube wall (3) is fixed on the trunk (1) via a rear tube wall inner support (9).

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