Automatic rod changing robot system and method and tunnel drilling and injecting system

Abstract

The invention relates to an automatic rod changing robot system and method and a tunnel grouting system.The automatic rod changing robot system comprises a walking mechanism, a chassis is arranged at the top of the walking mechanism, a mechanical arm is installed on a bottom plate, a clamping mechanism is arranged at the tail end of the mechanical arm, and a drill rod bin fixed to the chassis is arranged on one side of the mechanical arm; a drill rod stock bin is arranged on one side of the mechanical arm, a plurality of drill rods corresponding to different types of stratums are placed in the drill rod stock bin, a grouting rod stock bin fixed to the bottom plate is arranged on the other side of the mechanical arm, a plurality of grouting rods for different types of stratums are placed in the grouting rod stock bin, and an image collecting element is further arranged at the tail end of the mechanical arm and connected with a control system. And the image acquisition element adopts the image at the position to be grouted and transmits the image to the control system to identify the size of the stratum fracture, and by adopting the robot system, the labor intensity of constructors is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of grouting, and in particular to an automatic rod-changing robot system and method. Background Art

[0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Grouting is the main means of treating water-rich broken fault disasters in tunnel engineering. Tunnels, as connecting channels of underground space structures, usually need to pass through various unfavorable geological bodies and stratum structural surfaces. If they are not handled properly, they will cause engineering disasters. Patent application CN118110419A discloses a full-space drilling and grouting integrated device, which can realize full-space, multi-angle, and multi-functional grouting reinforcement, and can realize automatic replacement and extension of drilling tools, thereby reducing the labor intensity of construction personnel and improving work efficiency. However, when using the above-mentioned full-space drilling and grouting integrated device, it is still necessary to manually judge the formation type, and then manually select the corresponding drilling tools and grouting tools, and then use the rod-changing mechanical arm to install them on the above-mentioned drilling and grouting integrated device. The labor intensity of construction personnel is high, and there are certain errors in manual identification of formation types. It is possible that dangerous cracks and weak formations in the tunnel cannot be identified, affecting the grouting reinforcement effect. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an automatic rod-changing robot system, method and drilling and injection system, which can identify the size of cracks and take out corresponding drill rods and grouting pipes for different strata, and be used in conjunction with the current full-space integrated drilling and injection device to further improve construction efficiency and reduce the labor intensity of staff.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In the first aspect, an embodiment of the present invention provides an automatic rod-changing robot system, including a walking mechanism, a chassis is provided on the top of the walking mechanism, a robotic arm is installed on the bottom plate, a clamping mechanism is provided at the end of the robotic arm, a drill rod silo fixed to the chassis is provided on one side of the robotic arm, a plurality of drill rods corresponding to different types of formations are placed in the drill rod silo, a grouting rod silo fixed to the bottom plate is provided on the other side of the robotic arm, a plurality of grouting rods for different types of formations are placed in the grouting rod silo, an image acquisition element is also provided at the end of the robotic arm, the image acquisition element is connected to the control system, the image acquisition element uses the image of the position to be grouting and transmits it to the control system to identify the size of the formation cracks.

[0007] Optionally, the drill rod silo and grouting rod silo both include a silo body, which is fixed on a chassis, a rod taking-out opening is provided on the top of the silo body, a conveying roller mechanism is provided in the silo body, the conveying roller mechanism is connected to a plurality of supporting members to drive different supporting members to move to correspond to the rod taking-out opening, the supporting members in the drill rod silo support drill rods, and the supporting members in the grouting rod silo support grouting rods.

[0008] Optionally, the clamping mechanism includes at least two fixed claws, one end of the fixed claw is rotatably connected to one end of the rotating claw, the rotating claw is hinged to one end of the telescopic driving member, and the other end of the telescopic driving member is hinged to the end of the mechanical arm.

[0009] Optionally, the telescopic drive member adopts a telescopic hydraulic cylinder, and the telescopic hydraulic cylinder is connected to an oil supply system provided on the chassis.

[0010] Optionally, the walking mechanism adopts a crawler-type walking mechanism.

[0011] In a second aspect, an embodiment of the present invention provides a working method of the automatic rod-changing robot system according to the first aspect, comprising the following steps:

[0012] The image acquisition component acquires an image of the position to be grouting;

[0013] Acquire the size of formation fractures according to the acquired images;

[0014] Obtaining the type of the formation to be grouted according to the size of the obtained formation fractures;

[0015] The robotic arm grabs the corresponding drill rod in the drill rod silo according to the acquired stratum type and sends it to the drilling and injection integrated device for drilling. After the drilling is completed, the robotic arm grabs the grouting rod in the grouting rod silo according to the acquired stratum type and sends it to the drilling and injection integrated device for grouting.

[0016] Optionally, cracks are identified using a two-pass algorithm based on the collected images, and the sizes of the cracks are calculated based on the identified cracks;

[0017] Furthermore, the area of ​​the crack region is obtained by the number of pixels in the identified crack region.

[0018] Optionally, the stratum types include sandy soil layers, clay layers, rock layers, gravel layers, and groundwater-rich layers.

[0019] Optionally, the rock layer types include high permeability fractured rock layers, low permeability fractured rock layers, fragmented rock layers, aquifer rock layers and weathered rock layers.

[0020] In a third aspect, an embodiment of the present invention provides a tunnel drilling and grouting system, comprising a full-space drilling and grouting integrated device and the automatic rod-changing robot system described in the first aspect.

[0021] The beneficial effects of the present invention are as follows:

[0022] The automatic rod-changing robot system of the present invention has an image acquisition element at the end of the mechanical arm, which can acquire images of the stratum to be grouting-reinforced, thereby identifying the size of the cracks, and identifying the type of stratum according to the size of the cracks, so as to use the mechanical arm to grab the corresponding drill rod and grouting rod. At the same time, the mechanical arm can cooperate with the full-space drilling and grouting integrated device to install the drill rod and grouting rod on the full-space drilling and grouting integrated device, thereby realizing automatic selection and installation of the drill rod and grouting rod, further reducing the labor intensity of the staff and improving the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0024] Figure 1 It is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0025] Figure 2 is a schematic diagram of the structure of the mechanical arm of Embodiment 1 of the present invention;

[0026] Figure 3 This is a schematic diagram of the degrees of freedom of the robot arm in Example 1 of the present invention;

[0027] Figure 4 It is a schematic diagram of the conveying roller mechanism of the present invention;

[0028] Among them, 1. chassis, 2. drill pipe silo, 3. active conveying roller, 4. driven conveying roller, 5. walking mechanism, 6. clamping mechanism, 7. mechanical arm, 8. oil supply mechanism, 9. sixth motor, 10. wrist arm, 11. small arm, 12. middle arm, 13. fourth motor, 14. third motor, 15. big arm, 16. second motor, 17. first motor, 18. swivel seat, 19. mounting seat, 20. conveyor belt, 21. supporting member, 22. rotating drive motor;

[0029] 6-1. Fixed clamping jaw, 6-2. Clamping seat, 6-3. Rotating clamping jaw, 6-4. Telescopic hydraulic cylinder. DETAILED DESCRIPTION

[0030] Example 1

[0031] This embodiment provides an automatic rod-changing robot system, such as Figure 1-Figure 4As shown, it includes a walking mechanism 5, the top of the walking mechanism 5 is connected to the chassis 1, and a mechanical arm 7 is arranged on the chassis. The end of the mechanical arm 7 is connected to a clamping mechanism 6, and the clamping mechanism 6 is used to clamp and fix a drill rod or a grouting rod. A drill rod silo 2 fixed to the chassis 1 is provided on one side of the mechanical arm 7, and a plurality of drill rods corresponding to different formation types are placed in the drill rod silo 2. A grouting rod silo fixed to the chassis 1 is provided on the other side of the mechanical arm 7. A plurality of grouting rods corresponding to different formation types are placed in the grouting rod silo. An image acquisition element is also provided at the end of the mechanical arm 7. The image acquisition element is used to acquire an image of a formation to be grouting reinforced. The image acquisition element is connected to the control system and can transmit the acquired image to the control system. The control system can analyze the image according to the embedded algorithm to obtain the size of the formation crack, thereby judging the formation type according to the size of the formation crack, and then the mechanical arm 7 grabs the corresponding drill rod and grouting pipe according to the acquired formation type to perform drilling and grouting reinforcement operations.

[0032] The walking mechanism 5 adopts a crawler-type walking mechanism, which meets the walking requirements in complex environments and improves the adaptability of the entire automatic rod-changing robot system to the environment.

[0033] The mechanical arm 7 is a six-degree-of-freedom mechanical arm, and the head end of the mechanical arm 7 is mounted on a mounting seat 19, and the mounting seat 19 is fixed on the chassis.

[0034] The robotic arm includes a swivel seat 18, which is rotatably connected to a mounting seat 19. A first motor 17 is provided on the mounting seat 19. The output shaft of the first motor 17 is connected to a gear, which meshes with a gear ring provided on the swivel seat 18. The first motor 17 can drive the swivel seat 18 to rotate around an axis perpendicular to the chassis.

[0035] A second motor 16 is disposed on the rotating seat 18 , and an output shaft of the second motor 16 is connected to one end of the upper arm 15 to drive the upper arm 15 to rotate, thereby achieving a pitching motion of the upper arm 15 .

[0036] The other end of the upper arm 15 is provided with a third motor 14 , and the output shaft of the third motor 14 is connected to the middle arm 12 , so as to drive the middle arm 12 to do pitching motion.

[0037] The end of the middle arm 12 is rotatably connected to one end of the small arm 11, and a fourth motor 13 is provided at the end of the middle arm 12. The fourth motor 13 is connected to the small arm 11 through a gear and a ring gear transmission, and can drive the small arm 11 to rotate around its own axis.

[0038] A fifth motor is provided at the end of the forearm 11, and the output shaft of the fifth motor is connected to one end of the arm 10, which can drive the arm 10 to do pitching motion. A sixth motor 9 is provided at the end of the arm 10, and the axis of the sixth motor 9 is perpendicular to the fifth motor and parallel to the forearm 11. The sixth motor 9 is connected to the clamping seat, and can drive the clamping seat to rotate around the axis of the sixth motor. The clamping seat is equipped with a clamping mechanism.

[0039] The robot arm 7 adopts a six-degree-of-freedom robot arm, so that the robot arm 7 can flexibly adapt to different working scenes and task requirements, thereby improving the adaptability of the entire rod-changing robot system.

[0040] A clamping mechanism 6 is provided at both ends of the clamping seat, and the clamping mechanism includes a fixed clamping jaw 6-1, one end of the fixed clamping jaw 6-1 is fixedly connected to the clamping seat 6-2, and is rotatably connected to the same side end of the rotating clamping jaw 6-3. The fixed clamping jaw and the rotating clamping jaw can open and close, thereby realizing the switching of the clamping and loosening states of the drill rod and the grouting rod.

[0041] The rotating clamping claw 6-3 is hinged to one end of the telescopic driving member, and the other end of the telescopic driving member is hinged to the clamping seat 6-2.

[0042] In this embodiment, the telescopic driving member adopts a telescopic hydraulic cylinder 6-4, the cylinder body of the telescopic hydraulic cylinder 6-4 is hinged to the clamping seat, and the piston rod thereof is hinged to the rotating clamping claw.

[0043] The telescopic hydraulic cylinder is connected to an oil supply mechanism 8 installed on the chassis through an oil pipe. The oil supply mechanism 8 adopts a hydraulic station, which is arranged on one side of the mechanical arm 7 and installed on the front part of the chassis.

[0044] Each motor of the six-degree-of-freedom mechanical arm is connected to a control system, and the control system is installed in a control box on the chassis. The control box is located between the oil supply mechanism and the mechanical arm, and also between the drill rod silo and the grouting rod silo.

[0045] The crawler-type walking mechanism is also connected to a control system, and its operation is controlled by the control system.

[0046] An image acquisition element is installed on the wrist of the mechanical arm. The image acquisition element adopts an industrial camera. The industrial camera is connected to the control system and can transmit the acquired image to the control system.

[0047] The structures of the drill rod silo and the grouting rod silo are the same, the only difference is that the drill rod silo stores multiple different types of drill rods, and the grouting rod silo stores multiple different types of grouting rods. The drill rod silo is used as an example for explanation:

[0048] The drill rod silo includes a silo body, which is fixed on the upper surface of the chassis. The top of the silo body is provided with a rod taking port, the movement of which matches the shape of the drill rod. The silo body is provided with a conveying roller mechanism, including an active conveying roller 3 and a driven conveying roller 4 arranged up and down, wherein the active conveying roller 3 is located above the driven conveying roller 4, and a conveyor belt 20 is wound between the active conveying roller 3 and the driven conveying roller 4. A plurality of supporting members 21 are arranged at equal intervals on the conveyor belt 20, and the supporting member is used to support the drill rod. The supporting member 21 adopts a tubular structure with a notch in the tube wall and matches the drill rod, and is made of a flexible material, such as a rubber material. When the drill rod is taken and placed, it can be deformed to facilitate the drill rod to enter or leave the internal space of the drill rod supporting member. In other states, it can provide a certain supporting force to the drill rod to achieve support for the drill rod. A clamping port is provided on the supporting member 21, and the drill rod supporting member does not contact the drill rod at the clamping port to leave space for the clamping mechanism to clamp the drill rod.

[0049] The active conveying roller and the driven conveying roller are both rotatably connected to the bin body. The active conveying roller is connected to a rotating drive motor 22 fixed to the bin body. The rotating drive motor can drive the active conveying roller to rotate, thereby moving the conveyor belt to facilitate the transportation of different types of drill rods to the rod retrieval port.

[0050] The structure inside the grouting rod silo is the same as the structure inside the drill rod silo, and will not be repeated here.

[0051] Example 2

[0052] This embodiment provides a working method of the automatic rod-changing robot system described in Embodiment 1, comprising the following steps:

[0053] Step 1: Move the automatic rod-changing robot system to the working position through the crawler walking mechanism.

[0054] Step 2: The six-degree-of-freedom robotic arm works, using an industrial camera to collect stratum images of the area to be grouting reinforced, and transmits the collected images to the control system.

[0055] Step 3: The control system analyzes the collected images and identifies the crack size.

[0056] In this embodiment, the control system uses an existing two-pass algorithm to analyze the image and identify the crack area.

[0057] Specifically: First, create a label array corresponding to the image to store the region label of each pixel.

[0058] The image is then scanned line by line, scanning the pixels of each line of the image.

[0059] When encountering a pixel point corresponding to a crack, mark it. Every time a pixel point corresponding to an unmarked crack is encountered, it is regarded as a new connected area and given a new mark. Continue to detect the pixel points corresponding to adjacent cracks. If the pixel points corresponding to adjacent cracks are found, they are marked as the same area mark, and all pixels belonging to the same connected area are recorded.

[0060] After the scanning is completed, there may be multiple connected areas, and some connected areas may be interconnected. It is necessary to classify the interconnected connected areas to obtain crack areas, thereby realizing the identification of cracks.

[0061] Using the marking information obtained from the first scan, the image is scanned again line by line. Each pixel corresponding to a crack represents a unit area. By counting the number of pixels in the crack area, the area of ​​the crack area can be directly obtained.

[0062] Step 4: Determine the type of the formation to be reinforced based on the size of the cracks obtained.

[0063] In this embodiment, different crack sizes correspond to different formation types, and the formation types include sandy soil layers, clay layers, rock layers, gravel layers, and groundwater-rich layers.

[0064] Furthermore, the rock layer types include high permeability fractured rock layers, low permeability fractured rock layers, fragmented rock layers, aquifer rock layers and weathered rock layers.

[0065] Each formation type corresponds to a range of fracture sizes.

[0066] Different grouting reinforcement processes are used in different stratum types, specifically:

[0067] Sand layer: High-pressure grouting is usually used to ensure that the slurry can fully penetrate and fill the voids.

[0068] Clay layer: Low-pressure grouting method can be used. Due to the poor permeability of clay, the fluidity and residence time of the slurry need to be controlled.

[0069] Rock layer: Grouting method is commonly used, combined with mechanical means to break and inject, to ensure that the slurry can effectively fill the cracks.

[0070] Gravel layer: It is suitable to adopt vibration grouting method, which allows the slurry to penetrate better through vibration.

[0071] Layers rich in groundwater: Pneumatic grouting can be used to transport slurry to the target area using gas to reduce water interference.

[0072] High permeability fractured rock: High pressure grouting method can be used, using slurry with good fluidity to fully fill large fractures.

[0073] Low permeability fractured rock: Suitable for low-pressure grouting method, choose slurry with higher viscosity so that it can be better retained in the fractures.

[0074] Crushed rock: Multi-point grouting is usually used to inject slurry from multiple grouting holes simultaneously to ensure that the slurry is evenly distributed.

[0075] Aquifer rock: Pneumatic grouting can be used to introduce gas to push the slurry and reduce the impact of water on the grouting.

[0076] Weathered rock: Suitable for grouting method, which is to crush it by mechanical means and then inject grout to enhance the consolidation effect.

[0077] According to the grouting process corresponding to different formation types, the conveying roller mechanism in the drill rod silo conveys the corresponding drill rod to the corresponding rod retrieval port, and the conveying roller mechanism in the grouting rod silo conveys the corresponding grouting rod to the corresponding rod retrieval port. The robotic arm grabs the corresponding drill rod in the drill rod silo, and then assembles the drill rod to the full-space drilling and grouting integrated device for drilling construction. After the drilling construction is completed, the robotic arm grabs the drill rod and puts the drill rod back into the drill rod silo through the rod retrieval port. The robotic arm grabs the corresponding grouting rod in the grouting rod silo, and then assembles it to the full-space drilling and grouting integrated device for grouting construction. After the grouting construction is completed, the robotic arm grabs the grouting rod and puts the grouting rod back into the grouting rod silo through the rod retrieval port.

[0078] In this embodiment, the position of each drill rod and grouting rod in the drill rod silo and the grouting rod silo is determined, and the motion trajectory of the robot arm is pre-planned to achieve the grasping of the corresponding drill rod and grouting rod.

[0079] Example 3

[0080] The present embodiment provides a tunnel grouting system, including a full-space integrated drilling and grouting device and the automatic rod-changing robot system described in Example 1, wherein the full-space integrated drilling and grouting device can adopt the integrated drilling and grouting device disclosed in patent application CN118110419A, and the only difference is that the rod-changing robot arm is omitted on the full-space integrated drilling and grouting device.

[0081] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic rod-changing robot system, characterized in that: It includes a walking mechanism, a chassis is provided on the top of the walking mechanism, a mechanical arm is installed on the bottom plate, a clamping mechanism is provided at the end of the mechanical arm, a drill rod silo fixed to the chassis is provided on one side of the mechanical arm, a plurality of drill rods corresponding to different types of formations are placed in the drill rod silo, a grouting rod silo fixed to the bottom plate is provided on the other side of the mechanical arm, a plurality of grouting rods for different types of formations are placed in the grouting rod silo, an image acquisition element is also provided at the end of the mechanical arm, the image acquisition element is connected to the control system, the image acquisition element uses the image at the position to be grouting and transmits it to the control system to identify the size of the formation crack.

2. An automatic rod-changing robot system as claimed in claim 1, characterized in that: The drill rod silo and the grouting rod silo both include a silo body, which is fixed on a chassis, a rod taking-out opening is provided on the top of the silo body, a conveying roller mechanism is provided in the silo body, and the conveying roller mechanism is connected to a plurality of supporting members to drive different supporting members to move to correspond to the rod taking-out opening, the supporting members in the drill rod silo support drill rods, and the supporting members in the grouting rod silo support grouting rods.

3. The automatic rod-changing robot system according to claim 1, characterized in that: The clamping mechanism includes at least two fixed claws, one end of the fixed claw is rotatably connected to one end of the rotating claw, the rotating claw is hinged to one end of the telescopic driving member, and the other end of the telescopic driving member is hinged to the end of the mechanical arm.

4. An automatic rod-changing robot system as claimed in claim 3, characterized in that: The telescopic driving member adopts a telescopic hydraulic cylinder, and the telescopic hydraulic cylinder is connected with an oil supply system arranged on the chassis.

5. The automatic rod-changing robot system according to claim 1, characterized in that: The walking mechanism adopts a crawler-type walking mechanism.

6. A working method of the automatic rod-changing robot system according to any one of claims 1 to 5, characterized in that: The following steps are involved: The image acquisition component acquires an image of the position to be grouting; Acquire the size of formation fractures according to the acquired images; Obtaining the type of the formation to be grouted according to the size of the obtained formation fractures; The robotic arm grabs the corresponding drill rod in the drill rod silo according to the acquired stratum type and sends it to the drilling and injection integrated device for drilling. After the drilling is completed, the robotic arm grabs the grouting rod in the grouting rod silo according to the acquired stratum type and sends it to the drilling and injection integrated device for grouting.

7. The working method of the automatic rod-changing robot system according to claim 6, characterized in that: The cracks are identified using a two-pass algorithm based on the collected images, and the sizes of the cracks are calculated based on the identified cracks; Furthermore, the area of ​​the crack region is obtained by the number of pixels in the identified crack region.

8. The working method of the automatic rod-changing robot system according to claim 6, characterized in that: The stratum types include sandy soil layers, clay layers, rock layers, gravel layers, and groundwater-rich layers.

9. The working method of the automatic rod-changing robot system according to claim 6, characterized in that: The rock layer types include high permeability fractured rock layers, low permeability fractured rock layers, fragmented rock layers, aquifer rock layers and weathered rock layers.

10. A tunnel drilling and injection system, characterized in that: It comprises a full-space drilling and injection integrated device and the automatic rod-changing robot system as described in any one of claims 1-5.

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