Seven-degree-of-freedom drilling device, tunneling and supporting device and construction method

Abstract

The present invention relates to a seven-degree-of-freedom drilling rig, tunneling support equipment, and construction method. The drilling rig includes at least a base, a first rotating mechanism, a telescopic mechanism, a second rotating mechanism, and a drilling device. The base includes a first mounting seat and a first swing cylinder; the first rotating mechanism includes a fixed plate, a rotating plate, a first drive mechanism, and a second swing cylinder, with the first drive mechanism driving the rotating plate to rotate relative to the fixed plate; the telescopic mechanism includes a telescopic arm and a second drive mechanism, with the second drive mechanism driving the end of the telescopic arm to extend and retract; the drilling device includes a propulsion beam, a rock drill, and a third drive mechanism, with the third drive mechanism driving the rock drill to slide relative to the propulsion beam. The present invention offers advantages such as easy and precise hole alignment on complex curved surfaces or special spatial structures, flexible radial rotation, a large axial free drilling range, no need for a gear ring rotation mechanism and a gear ring translation mechanism, multi-dimensional spatial drilling in radial and axial directions, flexible installation, and small space occupation.

Description

Technical Field

[0001] This invention relates to the field of drilling construction machinery technology, specifically to a seven-degree-of-freedom drilling device, tunneling support equipment, and construction method. Background Technology

[0002] Drilling is a crucial process in mining, tunnel excavation and support, and various construction projects, and its efficiency and quality directly affect the overall progress and outcome of the project. With increasingly complex and diverse engineering needs, higher requirements are being placed on the performance and functionality of drilling equipment.

[0003] Most drilling equipment commonly found on the market, especially robotic arm drilling rigs, only have six degrees of freedom. This six-DOF robotic arm often falls short when facing complex and varied drilling scenarios. For example, on work surfaces with complex curves or special spatial structures, it is difficult to achieve precise hole alignment, leading to deviations in the drilling position and affecting subsequent work. Furthermore, when free extension and retraction are required to adapt to drilling operations at different depths, its insufficient flexibility cannot meet diverse drilling needs, and it is difficult to achieve more complex motion trajectories, limiting its application in some high-precision, special-requirement projects.

[0004] Regarding the radial rotation of robotic arms, existing equipment has a limited range of rotation angles, and it is usually impossible to achieve flexible rotation within ±30° or even a wider range. This limits the choice of drilling direction to some extent, making drilling operations difficult and inefficient in some special angles.

[0005] In terms of axial drilling range, the existing equipment has a small axial free drilling range, and it is generally difficult to achieve free drilling within 2 meters. In projects with certain requirements for drilling depth, it may be necessary to adjust the equipment position or replace the equipment multiple times, which increases the complexity of the operation and time cost.

[0006] Traditional drilling equipment has numerous drawbacks in its installation structure. When drilling in multiple dimensions, such as radial and axial, is required, a gear ring rotation mechanism and a gear ring translation mechanism are often necessary. These mechanisms significantly increase the length of the tunnel boring machine's main beam, making the overall structure large and cumbersome. This not only results in inflexible installation methods and occupies a large amount of space on the tunnel boring machine's mounting base, but also makes installation extremely difficult or even impossible in some confined working environments. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a seven-degree-of-freedom drilling device, tunneling support device and construction method that can easily achieve precise hole alignment, flexible radial rotation, and a large range of free axial drilling on a working surface with complex curved surfaces or special spatial structures, without the need for a gear ring rotation mechanism and a gear ring translation mechanism, and can achieve multi-dimensional spatial drilling in radial and axial directions, with flexible installation and small space occupation.

[0008] To solve the above-mentioned technical problems, the present invention provides a seven-degree-of-freedom drilling device, comprising at least:

[0009] The base includes a first mounting base for connecting to an external device, and a first swing cylinder mounted on the first mounting base;

[0010] A first rotating mechanism, comprising a fixed plate fixedly connected to the output end of the first swing cylinder, a rotating plate rotatably connected to the fixed plate, a first driving mechanism, and a second swing cylinder mounted on the rotating plate, wherein the first driving mechanism is used to drive the rotating plate to rotate relative to the fixed plate.

[0011] The telescopic mechanism includes at least a telescopic arm with one end fixedly connected to the output end of the second swing cylinder, and a second drive mechanism. The second drive mechanism is used to drive the end of the telescopic arm to move in a direction away from the second swing cylinder to extend the telescopic arm, and to drive the end of the telescopic arm to move in a direction close to the second swing cylinder to retract the telescopic arm.

[0012] The second rotating mechanism includes a third swing cylinder installed at the end of the telescopic arm, and a fourth swing cylinder fixedly connected to the output end of the third swing cylinder.

[0013] The drilling device includes at least a propulsion beam fixedly connected to the output end of the fourth swing cylinder, a rock drill slidably connected to the propulsion beam, and a third drive mechanism, the output end of which is connected to the rock drill and is used to drive the rock drill to slide relative to the propulsion beam.

[0014] In a preferred embodiment, the rotation center axis of the rotating plate, the rotation center axis of the first swing cylinder, and the rotation center axis of the second swing cylinder are respectively arranged perpendicularly to each other.

[0015] In a preferred embodiment, the telescopic arm's telescopic direction, the rotation center axis of the second swing cylinder, and the rotation center axis of the third swing cylinder are respectively arranged perpendicularly to each other.

[0016] In a preferred embodiment, the rotation center axis of the third swing cylinder is perpendicular to the rotation center axis of the fourth swing cylinder.

[0017] In a preferred embodiment, the drilling device further includes a first manipulator and a second manipulator spaced apart along the sliding direction of the rock drill, the first manipulator and the second manipulator being mounted on the feed beam for supplying drill rods to the rock drill.

[0018] In a preferred embodiment, the telescopic arm includes a first robotic arm, a second robotic arm, and a third robotic arm;

[0019] The first robotic arm has a first cavity inside that is adapted to the outer surface of the second robotic arm, and a plurality of liner plates are provided at intervals around the sliding direction of the second robotic arm on the outer surface. One end of each liner plate extends into the first cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the first cavity through the liner plates.

[0020] The second robotic arm has a second cavity inside that is adapted to the outer surface of the third robotic arm, and a plurality of liner plates are provided at intervals around the sliding direction of the third robotic arm on the outer surface. One end of each liner plate extends into the second cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the second cavity through the liner plates.

[0021] In a preferred embodiment, the second drive mechanism includes a hydraulic cylinder installed in the first cavity, and the output end of the hydraulic cylinder passes through the second cavity and is fixedly connected to the third robotic arm.

[0022] The present invention also provides a tunneling support device, which is equipped with a seven-degree-of-freedom drilling device as described above.

[0023] In a preferred embodiment, the tunneling support equipment is provided with a trolley frame beam, and the seven-degree-of-freedom drilling equipment is fixedly connected to the trolley frame beam via the base.

[0024] The present invention also provides a construction method applicable to any of the seven-degree-of-freedom drilling equipment described above, comprising the following steps:

[0025] Step S1: Connect the base to the external equipment to ensure that the mounting surface is horizontal and stable. Adjust the tilt angle of the fixed plate by the first swing cylinder until the spatial position requirements of the working surface are met.

[0026] Step S2: Drive the rotating plate to rotate relative to the fixed plate through the first driving mechanism, thereby driving the telescopic mechanism to rotate around the rotation center axis of the rotating plate to the target drilling area;

[0027] Step S3: The telescopic arm is driven to rotate around the rotation center axis of the second swing cylinder by the second swing cylinder until the extension and retraction direction of the telescopic arm intersects with the axis of the preset hole.

[0028] Step S4: Drive the telescopic arm to extend or retract via the second drive mechanism until the drilling device matches the preset hole position;

[0029] Step S5: The third swing cylinder drives the fourth swing cylinder, thereby causing the drilling device to rotate around the rotation center axis of the third swing cylinder until the rotation center axis of the rock drill rod intersects with the preset empty axis.

[0030] Step S6: Drive the propulsion beam to rotate around the rotation center axis of the fourth swing cylinder through the fourth swing cylinder until the rock drill axis is completely aligned with the preset empty position axis;

[0031] Step S7: Drive the rock drill along the propulsion beam through the third drive mechanism to achieve axial feed, and start the rock drill to drill;

[0032] Step S8: Real-time monitoring of borehole position deviation; dynamic correction of drill bit trajectory through seven degrees of freedom linkage to adapt to complex curved surfaces or changes in rock strata.

[0033] Step S9: After drilling is completed, each swing cylinder returns to the neutral position, and the telescopic arm retracts.

[0034] The seven-degree-of-freedom drilling equipment, tunneling support equipment, and construction method of the present invention have the following advantages compared with the prior art:

[0035] (1) The seven-degree-of-freedom drilling device of the present invention includes at least a base, a first rotating mechanism, a telescopic mechanism, a second rotating mechanism, and a drilling device. The base includes a first mounting seat for connecting with external equipment, and a first swing cylinder mounted on the first mounting seat. On the one hand, the first mounting seat can ensure that the device is firmly connected to the external equipment, effectively avoiding drilling deviation caused by equipment shaking or displacement during construction, and ensuring the stability and accuracy of drilling operations. On the other hand, the first swing cylinder provides the device with initial swing freedom. When facing complex and ever-changing drilling scenarios, it can make the device swing at a certain angle to initially adjust the orientation of the device, providing convenience for subsequent more precise drilling operations. Especially on working surfaces with complex curved surfaces, the swing of the first swing cylinder can make the device roughly aligned with the drilling area, reducing the workload of subsequent adjustments and improving construction efficiency.

[0036] The first rotating mechanism includes a fixed plate fixedly connected to the output end of a first swing cylinder, a rotating plate rotatably connected to the fixed plate, a first drive mechanism, and a second swing cylinder mounted on the rotating plate. The first drive mechanism drives the rotating plate to rotate relative to the fixed plate. The fixed plate, fixedly connected to the output end of the first swing cylinder, provides a stable support foundation for the rotating plate. This rotatable connection allows the rotating plate to rotate relative to the fixed plate under the action of the first drive mechanism. In drilling operations, this rotation function can further adjust the angle and orientation of the equipment to meet drilling requirements in different directions. Especially in tunnel excavation and support, the angle of the rotating plate can be flexibly adjusted according to different positions and angles of the tunnel wall to achieve precise drilling. The second swing cylinder mounted on the rotating plate adds a new degree of freedom to the equipment. The swing of the second swing cylinder can further refine the orientation adjustment of the equipment. Combined with the rotation function of the first swing cylinder and the rotating plate, it allows the equipment to operate radially flexibly within a wider spatial range. Especially on working surfaces with special spatial structures, fine-tuning through the second swing cylinder can better achieve precise hole alignment and improve drilling quality.

[0037] The telescopic mechanism includes at least a telescopic arm with one end fixedly connected to the output end of the second swing cylinder, and a second drive mechanism. The second drive mechanism is used to drive the end of the telescopic arm to move away from the second swing cylinder, thereby extending the telescopic arm, and to drive the end of the telescopic arm to move towards the second swing cylinder, thereby retracting the telescopic arm. With this telescopic arm design, the telescopic arm can achieve extension and retraction movements under the action of the second drive mechanism. This telescopic function allows the drilling rig to move freely axially within a large range, overcoming the limitation of the movement range of existing equipment. It can be completed directly through the extension and retraction of the telescopic arm without the need for other auxiliary equipment or complex construction schemes, greatly improving the working capacity and efficiency of the drilling rig. Furthermore, the retraction function of the telescopic arm makes the drilling rig occupy less space and allows for flexible installation.

[0038] The second rotating mechanism includes a third swing cylinder mounted at the end of the telescopic boom, and a fourth swing cylinder fixedly connected to the output end of the third swing cylinder. During drilling operations, the swing of the third swing cylinder allows for radial angle adjustments to the feed beam and rock drill, further expanding the range of drilling direction options. Especially in drilling operations at specific angles, the flexible rotation of the third swing cylinder enables the drilling device to accurately align with the target position, improving drilling accuracy and efficiency. The fourth swing cylinder, fixedly connected to the output end of the third swing cylinder, adds a new degree of freedom to the drilling equipment. The swing of the fourth swing cylinder can work in conjunction with other rotation and swing functions to achieve more complex motion trajectories, meeting the needs of various complex drilling scenarios. Particularly on working surfaces with complex curved surfaces or special spatial structures, the fine-tuning of the fourth swing cylinder allows the drilling device to better adapt to the shape of the working surface, achieving precise drilling.

[0039] The drilling device includes at least a propulsion beam fixedly connected to the output end of the fourth swing cylinder, a rock drill slidably connected to the propulsion beam, and a third drive mechanism. The output end of the third drive mechanism is connected to the rock drill and is used to drive the rock drill to slide relative to the propulsion beam. The propulsion beam is fixedly connected to the output end of the fourth swing cylinder, enabling it to accurately reach the drilling position through the coordinated action of various rotation and swing mechanisms. This ensures the stability of the rock drill during the sliding process, reduces shaking during drilling, and improves the verticality and accuracy of the drilling. The third drive mechanism drives the rock drill to slide relative to the propulsion beam, providing the drilling equipment with new degrees of freedom, ensuring smooth drilling and accurate reaching of the predetermined length, thereby guaranteeing the depth accuracy of the drilling.

[0040] (2) In the seven-degree-of-freedom drilling device of the present invention, the rotating plate rotation center axis, the first swing cylinder rotation center axis, and the second swing cylinder rotation center axis are respectively arranged perpendicularly in pairs to form a spatial orthogonal layout, which ensures that the motion of each axis is completely independent at the physical level and avoids the motion coupling problem caused by the included angle between axes in the traditional serial mechanism. The telescopic arm extension direction, the second swing cylinder rotation center axis, and the third swing cylinder rotation center axis are respectively arranged perpendicularly in pairs to further decouple the linear motion from the rotational motion. The extension and retraction of the telescopic arm will not change the attitude angle of the end effector, but only affect its spatial position; while the rotation of each second swing cylinder and the third swing cylinder only adjusts the attitude and does not affect the position. This independence makes the control of each motion dimension simple to a single-input single-output system, without having to consider the multivariable coupling effect. The rotation center axes of the third and fourth swing cylinders adopt the same technical features and are set vertically. Since the motion dimensions are physically decoupled, the controller can directly perform independent PID control or feedforward control on each axis without having to deal with coupling terms, which significantly reduces the computational burden. It also eliminates the need to coordinate the motion of each axis through complex algorithms, reducing the propagation path of external disturbances (such as load changes and vibrations) between axes, significantly reducing control complexity, and improving motion accuracy, dynamic performance, and system robustness.

[0041] (3) The seven-degree-of-freedom drilling device of the present invention includes a telescopic arm comprising a first robotic arm, a second robotic arm, and a third robotic arm. The first robotic arm has a first cavity adapted to the outer surface of the second robotic arm, and a plurality of liner plates are spaced along the sliding direction of the second robotic arm on its outer surface. One end of each liner plate extends into the first cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the first cavity via the liner plates. The second robotic arm has a second cavity adapted to the outer surface of the third robotic arm, and a plurality of liner plates are spaced along the sliding direction of the third robotic arm on its outer surface. One end of each liner plate extends into the second cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the second cavity via the liner plates. The three robotic arms form a "sleeve-like" structure through nested cavities, with loads transferred progressively from the outside to the inside. The first robotic arm, as the main load-bearing structure, has its inner cavity wall directly supporting the inner robotic arms (the second and third robotic arms) via the liner plates, forming a distributed contact surface. This structural design distributes concentrated loads across multiple liner plates, avoiding localized stress concentration caused by single-point contact and significantly improving the overall structure's resistance to deformation under heavy loads. Liner plate one and liner plate two extend into the cavity at one end and abut against the outer surface of the inner robotic arm, forming a "surface-to-surface" contact guide. This design reduces wear, increases the contact area, lowers unit pressure, and extends the service life of the liner plates and robotic arm. Furthermore, it suppresses sway; multiple sets of liner plates are spaced apart along the sliding direction, creating redundant constraints that effectively suppress radial sway or tilting of the inner robotic arm under heavy loads, ensuring the straightness of the telescopic movement. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the seven-degree-of-freedom drilling equipment of the present invention;

[0043] Figure 2 This is a schematic diagram of the overall structure of Embodiment 1 of the seven-degree-of-freedom drilling equipment of the present invention from another angle;

[0044] Figure 3 This is a schematic diagram of the telescopic boom structure of Embodiment 1 of the seven-degree-of-freedom drilling equipment of the present invention;

[0045] Figure 4 for Figure 3 BB-direction cross-section;

[0046] Figure 5 for Figure 3 AA-direction cross section;

[0047] Figure 6 This is a schematic diagram of the liner structure of Embodiment 1 of the seven-degree-of-freedom drilling equipment of the present invention;

[0048] Figure 7 This is a schematic diagram of the liner structure from another angle of Embodiment 1 of the seven-degree-of-freedom drilling equipment of the present invention;

[0049] Figure 8 This is a schematic diagram of the drilling device structure of Embodiment 1 of the seven-degree-of-freedom drilling equipment of the present invention;

[0050] Figure 9 This is a schematic diagram of the drilling process in Embodiment 2 of the seven-degree-of-freedom drilling equipment of the present invention.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1-Base; 11-First mounting seat; 12-First swing cylinder;

[0053] 2-First rotating mechanism; 21-Fixed plate; 22-Rotating plate; 221-Gear set; 23-First drive mechanism; 231-First drive element; 232-Driving wheel; 24-Second swing cylinder;

[0054] 3-Telescopic mechanism; 31-Telescopic arm; 311-First robotic arm; 3111-First cavity; 3112-Liner plate one; 31121-Mounting plate; 31122-Abutting block; 31123-Lubrication groove; 31124-Through hole; 31125-Filling hole; 31126-Adjusting shim; 3113-Centralized lubrication section; 3114-Liquid flow channel; 312-Second robotic arm; 3121-Second cavity; 3122-Liner plate two; 313-Third robotic arm; 32-Second drive mechanism; 321-Hydraulic cylinder; 33-Positioning part; 34-Stop block;

[0055] 4-Second rotating mechanism; 41-Third swing cylinder; 42-Fourth swing cylinder;

[0056] 5-Drilling device; 51-Propeller beam; 52-Rock drill; 53-Third drive mechanism; 54-First robotic arm; 55-Second robotic arm;

[0057] 6-unit frame crossbeams;

[0058] 7-Preset hole positions. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0060] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; they can refer to the internal connection of two components; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0062] Example 1

[0063] The seven-degree-of-freedom drilling device of the present invention, such as Figure 1 and Figure 2As shown, the device includes at least a base 1, a first rotating mechanism 2, a telescopic mechanism 3, a second rotating mechanism 4, and a drilling device 5. The base includes a first mounting seat 11 for connecting to external equipment, and a first swing cylinder 12 mounted on the first mounting seat. On the one hand, the first mounting seat ensures a firm connection between the device and the external equipment, effectively avoiding drilling deviations caused by equipment shaking or displacement during construction, thus ensuring the stability and accuracy of the drilling operation. On the other hand, the first swing cylinder provides the device with initial swing freedom. When facing complex and varied drilling scenarios, it can make the device swing at a certain angle to initially adjust the orientation of the device, facilitating more precise drilling operations later. Especially on working surfaces with complex curved surfaces, the swing of the first swing cylinder can make the device roughly aligned with the drilling area, reducing the workload of subsequent adjustments and improving construction efficiency.

[0064] The first rotating mechanism 2 includes a fixed plate 21 fixedly connected to the output end of the first swing cylinder, a rotating plate 22 rotatably connected to the fixed plate, a first driving mechanism 23, and a second swing cylinder 24 mounted on the rotating plate. The first driving mechanism drives the rotating plate to rotate relative to the fixed plate. The fixed plate is fixedly connected to the output end of the first swing cylinder, providing a stable support foundation for the rotating plate. The rotating plate is rotatably connected to the fixed plate. This structural design allows the rotating plate to rotate relative to the fixed plate under the action of the first driving mechanism. In drilling operations, this rotation function can further adjust the angle and orientation of the equipment to meet drilling requirements in different directions. Especially in tunnel excavation and support, the angle of the rotating plate can be flexibly adjusted according to different positions and angles of the tunnel wall to achieve precise drilling. The second swing cylinder mounted on the rotating plate adds a new degree of freedom to the equipment. The swing of the second swing cylinder can further refine the orientation adjustment of the equipment. Combined with the rotation function of the first swing cylinder and the rotating plate, the equipment can perform radially flexible operation in a wider range of spaces. Especially on working surfaces with special spatial structures, the fine adjustment of the second swing cylinder can better achieve precise hole alignment and improve drilling quality.

[0065] In this embodiment, a gear set 221 is mounted on the bottom end face of the rotating plate 22. The first drive mechanism 23 includes a first drive element 231 and a drive wheel 232 mounted on the output end of the first drive element and adapted to the gear set. The first drive element drives the drive wheel to rotate, thereby driving the rotating plate to rotate relative to the fixed plate 21 through the gear set. The gear set has a precise gear ratio, which makes the transmission ratio between the drive wheel and the gear set fixed and stable. When the first drive element drives the drive wheel to rotate, the rotating plate can rotate according to a predetermined speed ratio without speed fluctuations caused by transmission instability.

[0066] like Figure 3 , Figure 4 and Figure 5 As shown, the telescopic mechanism includes at least a telescopic arm 31 with one end fixedly connected to the output end of the second swing cylinder, and a second drive mechanism 32. The second drive mechanism is used to drive the end of the telescopic arm to move away from the second swing cylinder, thereby extending the telescopic arm, and to drive the end of the telescopic arm to move towards the second swing cylinder, thereby retracting the telescopic arm. With this telescopic arm design, the telescopic arm can achieve extension and retraction movements under the action of the second drive mechanism. This telescopic function allows the drilling rig to move freely axially within a large range, overcoming the limitation of the existing equipment's limited range of movement. It can be completed directly through the extension and retraction of the telescopic arm without the need for other auxiliary equipment or complex construction schemes, greatly improving the drilling rig's operational capacity and efficiency. Furthermore, the retraction function of the telescopic arm makes the drilling rig occupy less space and allows for flexible installation.

[0067] In this embodiment, the telescopic arm 31 includes a first robotic arm 311, a second robotic arm 312, and a third robotic arm 313. The first robotic arm 311 has a first cavity 3111 inside that adapts to the outer surface of the second robotic arm, and a plurality of liner plates 3112 are spaced apart on its outer surface around the sliding direction of the second robotic arm. One end of each liner plate extends into the first cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the first cavity via the liner plates.

[0068] The second robotic arm 312 has a second cavity 3121 that fits the outer surface of the third robotic arm, and several liner plates 3122 are spaced apart on the outer surface around the sliding direction of the third robotic arm. One end of the liner plate 3122 extends into the second cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the second cavity through the liner plate 312. The three robotic arms form a "sleeve-like" structure through nested cavities, and the load is transferred step by step from the outside to the inside. The first robotic arm, as the main load-bearing structure, has its inner cavity wall directly supporting the inner robotic arms (the second and third robotic arms) through the liner plate 312, forming a distributed contact surface. This structural design disperses the concentrated load to multiple liners, avoiding local stress concentration caused by single-point contact, and significantly improving the overall structure's resistance to deformation under heavy loads. One end of liner plate one and liner plate two extend into the cavity and abut against the outer surface of the inner robotic arm, forming a "surface-to-surface" contact guide. This structural design reduces wear, increases the contact area, lowers the unit pressure, and extends the service life of the liner plate and the robotic arm. On the other hand, it suppresses sway. Multiple sets of liner plates are distributed at intervals along the sliding direction, forming redundant constraints, which effectively suppresses the radial sway or tilt of the inner robotic arm under heavy load, ensuring the straightness of the telescopic movement.

[0069] Preferably, the second drive mechanism 32 includes a hydraulic cylinder 321 installed in the first cavity, and the output end of the hydraulic cylinder passes through the second cavity 3121 and is fixedly connected to the third robotic arm.

[0070] like Figure 4 As shown, in this embodiment, the second robotic arm has a positioning part 33 on its end face, and the third robotic arm has a stop 34 that matches the positioning part 33 on the end face of the second robotic arm. The drive mechanism drives the third robotic arm to slide relative to the second robotic arm until the stop 34 of the third robotic arm abuts against the positioning part 33 on the end face of the second robotic arm. Under the action of the positioning part 33 and the stop 34, the second robotic arm slides relative to the first robotic arm. With this structural design, the concentrated point of application of the driving force allows the innermost robotic arm to move first, and the power is transmitted step by step through the stop, making it more suitable for bearing uneven loads.

[0071] like Figure 6 and Figure 7 As shown, the liner 3112 includes a mounting plate 31121 and an abutment block 31122 fixedly connected to the mounting plate. The liner 3112 is fixedly connected to the outer surface of the first robotic arm via the mounting plate and abuts against the outer surface of the second robotic arm via the abutment block. A lubrication groove 31123 is provided on the end face of the abutment block 31122 that abuts against the outer surface of the second robotic arm.

[0072] The abutment block is provided with at least one through hole 31124 that communicates with the lubrication groove 31123, and the mounting plate 31121 is provided with filling holes 31125 that correspond one-to-one with the through holes. The filling holes penetrate the mounting plate and communicate with the through holes.

[0073] Preferably, the abutment block 31122 is fitted with at least one adjusting pad 31126 that is fixedly connected to the mounting plate. By providing the adjusting pad, when the abutment block just begins to wear, it is not necessary to replace the entire abutment block immediately. Instead, the wear can be compensated by removing the adjusting pad, allowing the abutment block to still tightly abut against the outer surface of the second robotic arm. This fully utilizes the performance of the abutment block material, extends its actual service life, and avoids material waste due to premature replacement.

[0074] Preferably, the second liner 3122 and the first liner 3112 adopt the same structural design.

[0075] In some of the illustrated embodiments, the contact portion of liner 2 3122 and liner 1 3112 is made of high-density brass as the substrate, and graphite is embedded in the brass substrate as a solid lubricant or a surface coating.

[0076] The second rotating mechanism includes a third swing cylinder 41 mounted at the end of the telescopic boom 31, and a fourth swing cylinder 42 fixedly connected to the output end of the third swing cylinder. During drilling operations, the swing of the third swing cylinder allows for radial angle adjustments to the propulsion beam and the rock drill, further expanding the range of drilling direction options. Especially in drilling operations at specific angles, the flexible rotation of the third swing cylinder enables the drilling device to accurately align with the target position, improving drilling accuracy and efficiency. The fourth swing cylinder, fixedly connected to the output end of the third swing cylinder, adds a new degree of freedom to the drilling equipment. The swing of the fourth swing cylinder can work in conjunction with other rotation and swing functions to achieve more complex motion trajectories, meeting the needs of various complex drilling scenarios. Especially on working surfaces with complex curved surfaces or special spatial structures, the fine-tuning of the fourth swing cylinder allows the drilling device to better adapt to the shape of the working surface, achieving precise drilling.

[0077] In this embodiment, the rotation center axes of the rotating plate, the first swing cylinder, and the second swing cylinder are arranged perpendicularly in pairs, forming a spatial orthogonal layout. This ensures that the motion of each axis is completely independent at the physical level, avoiding the motion coupling problem caused by the included angle between axes in traditional serial mechanisms. The extension and retraction direction of the telescopic arm, the rotation center axes of the second and third swing cylinders are arranged perpendicularly in pairs, further decoupling linear motion from rotational motion. The extension and retraction of the telescopic arm does not change the attitude angle of the end effector, only affecting its spatial position; while the rotation of each second and third swing cylinder only adjusts the attitude, not the position. This independence simplifies the control of each motion dimension to a single-input single-output system, eliminating the need to consider multivariable coupling effects. The rotation center axes of the third and fourth swing cylinders adopt the same technical features and are set vertically. Since the motion dimensions are physically decoupled, the controller can directly perform independent PID control or feedforward control on each axis without having to deal with coupling terms, which significantly reduces the computational burden. It also eliminates the need to coordinate the motion of each axis through complex algorithms, reducing the propagation path of external disturbances (such as load changes and vibrations) between axes, significantly reducing control complexity, and improving motion accuracy, dynamic performance, and system robustness.

[0078] like Figure 8As shown, the drilling device 5 includes at least a propulsion beam 51 fixedly connected to the output end of the fourth swing cylinder, a rock drill 52 slidably connected to the propulsion beam, and a third drive mechanism 53. The output end of the third drive mechanism is connected to the rock drill and is used to drive the rock drill to slide relative to the propulsion beam. The propulsion beam is fixedly connected to the output end of the fourth swing cylinder, which, under the coordinated action of various rotation and swing mechanisms, can accurately reach the drilling position, ensuring the stability of the rock drill during the sliding process, reducing shaking during drilling, and improving the verticality and accuracy of the drilling. The third drive mechanism is used to drive the rock drill to slide relative to the propulsion beam, providing new degrees of freedom for the drilling equipment, ensuring smooth drilling and accurately reaching the predetermined length, thereby guaranteeing the depth accuracy of the drilling.

[0079] The drilling device 5 also includes a first manipulator 54 and a second manipulator 55 spaced apart along the sliding direction of the rock drill 52. The first manipulator and the second manipulator are mounted on the push beam for supplying drill rods to the rock drill 52.

[0080] Example 2

[0081] The present invention provides a tunneling support device, which is equipped with a seven-degree-of-freedom drilling device as described above.

[0082] like Figure 9 As shown, the tunneling support equipment in this embodiment is equipped with a trolley frame beam 6, and the seven-degree-of-freedom drilling equipment is fixedly connected to the trolley frame beam through the base 1.

[0083] The present invention also provides a construction method applicable to the seven-degree-of-freedom drilling equipment described above, comprising the following steps:

[0084] Step S1: Connect the base 1 to the external equipment to ensure that the mounting surface is horizontal and stable. Adjust the tilt angle of the fixed plate by the first swing cylinder 12 until the spatial position requirements of the working surface are met.

[0085] Step S2: Drive the rotating plate 22 to rotate relative to the fixed plate 21 through the first driving mechanism 23, thereby driving the telescopic mechanism 3 to rotate around the rotation center axis of the rotating plate 22 to the target drilling area.

[0086] Step S3: The telescopic arm 31 is driven to rotate around the rotation center axis of the second swing cylinder by the second swing cylinder until the extension and retraction direction of the telescopic arm 31 intersects with the axis of the preset hole 7.

[0087] Step S4: The telescopic arm 31 is extended or retracted by the second drive mechanism 32 until the drilling device 5 matches the preset hole position 7.

[0088] Step S5: The third swing cylinder 41 drives the fourth swing cylinder 42, thereby causing the drilling device to rotate around the rotation center axis of the third swing cylinder until the rotation center axis of the rock drill 52 drill rod intersects with the preset empty axis.

[0089] Step S6: Drive the propulsion beam to rotate around the rotation center axis of the fourth swing cylinder 42 until the axis of the rock drill 52 is completely aligned with the preset empty position axis.

[0090] Step S7: Drive the rock drill 52 to slide along the push beam 51 through the third drive mechanism to achieve axial feed, and start the rock drill to drill holes at the same time.

[0091] Step S8: Real-time monitoring of borehole position deviation; dynamic correction of drill bit trajectory through seven degrees of freedom linkage to adapt to complex curved surfaces or changes in rock strata.

[0092] Step S9: After drilling is completed, each swing cylinder returns to the neutral position, and the telescopic arm retracts.

[0093] In summary, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A seven-degree-of-freedom drilling device, characterized in that, At least including: The base (1) includes a first mounting base (11) for connecting to an external device, and a first swing cylinder (12) mounted on the first mounting base. The first rotating mechanism (2) includes a fixed plate (21) fixedly connected to the output end of the first swing cylinder, a rotating plate (22) rotatably connected to the fixed plate, a first driving mechanism (23), and a second swing cylinder (24) mounted on the rotating plate. The first driving mechanism is used to drive the rotating plate to rotate relative to the fixed plate. Telescopic mechanism (3), the telescopic mechanism includes at least one telescopic arm (31) fixedly connected at one end to the output end of the second swing cylinder, and a second drive mechanism (32), the second drive mechanism being used to drive the end of the telescopic arm to move in a direction away from the second swing cylinder so as to extend the telescopic arm, and to drive the end of the telescopic arm to move in a direction close to the second swing cylinder so as to retract the telescopic arm; The second rotating mechanism (4) includes a third swing cylinder (41) installed at the end of the telescopic arm, and a fourth swing cylinder (42) fixedly connected to the output end of the third swing cylinder. The drilling device (5) includes at least a propulsion beam (51) fixedly connected to the output end of the fourth swing cylinder, a rock drill (52) slidably connected to the propulsion beam, and a third drive mechanism (53). The output end of the third drive mechanism is connected to the rock drill and is used to drive the rock drill to slide relative to the propulsion beam. The rotation center axis of the rotating plate (22), the rotation center axis of the first swing cylinder (12), and the rotation center axis of the second swing cylinder (24) are respectively arranged perpendicularly to each other; The telescopic arm (31) telescopic direction, the rotation center axis of the second swing cylinder (24), and the rotation center axis of the third swing cylinder (41) are respectively arranged perpendicularly to each other; The rotation center axis of the third swing cylinder (41) is perpendicular to the rotation center axis of the fourth swing cylinder (42).

2. A seven-degree-of-freedom drilling device according to claim 1, characterized in that: The drilling device (5) further includes a first manipulator (54) and a second manipulator (55) spaced apart along the sliding direction of the rock drill (52), the first manipulator and the second manipulator being mounted on the push beam for supplying drill rods to the rock drill (52).

3. A seven-degree-of-freedom drilling device according to claim 2, characterized in that: The telescopic arm (31) includes a first robotic arm (311), a second robotic arm (312), and a third robotic arm (313). The first robotic arm (311) has a first cavity (3111) that is adapted to the outer surface of the second robotic arm, and a plurality of liner plates (3112) are provided at intervals around the sliding direction of the second robotic arm. One end of the liner plate extends into the first cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the first cavity through the liner plate. The second robotic arm (312) has a second cavity (3121) that is adapted to the outer surface of the third robotic arm, and a plurality of liner plates (3122) are provided at intervals around the sliding direction of the third robotic arm. One end of the liner plate extends into the second cavity and abuts against the outer surface of the second robotic arm. The second robotic arm is slidably connected to the inner wall of the second cavity through the liner plate.

4. A seven-degree-of-freedom drilling device according to claim 3, characterized in that: The second drive mechanism (32) includes a hydraulic cylinder (321) installed in the first cavity, and the output end of the hydraulic cylinder passes through the second cavity (3121) and is fixedly connected to the third robotic arm.

5. A tunneling support device, characterized in that: It is equipped with a seven-degree-of-freedom drilling device as described in any one of claims 1-4.

6. A tunneling support device according to claim 5, characterized in that: The tunneling support equipment is equipped with a trolley frame beam (6), and the seven-degree-of-freedom drilling equipment is fixedly connected to the trolley frame beam through the base (1).

7. A construction method applicable to a seven-degree-of-freedom drilling rig as described in any one of claims 1-4, characterized in that, Includes the following steps: Step S1: Connect the base (1) to the external equipment to ensure that the mounting surface is horizontal and stable. Adjust the tilt angle of the fixed plate by the first swing cylinder (12) until the spatial position requirements of the working surface are met. Step S2: Drive the rotating plate (22) to rotate relative to the fixed plate (21) through the first driving mechanism (23), thereby driving the telescopic mechanism (3) to rotate around the rotation center axis of the rotating plate (22) to the target drilling area; Step S3: The telescopic arm (31) is driven to rotate around the rotation center axis of the second swing cylinder by the second swing cylinder until the extension and retraction direction of the telescopic arm (31) intersects with the axis of the preset hole. Step S4: Drive the telescopic arm (31) to extend or retract via the second drive mechanism (32) until the drilling device (5) matches the preset hole position; Step S5: The third swing cylinder (41) drives the fourth swing cylinder (42), thereby causing the drilling device to rotate around the rotation center axis of the third swing cylinder until the rotation center axis of the rock drill (52) intersects with the preset empty axis. Step S6: Drive the propulsion beam to rotate around the rotation center axis of the fourth swing cylinder (42) until the axis of the rock drill (52) is completely aligned with the axis of the preset hole position. Step S7: Drive the rock drill (52) along the push beam (51) through the third drive mechanism to achieve axial feed, and start the rock drill to drill holes at the same time; Step S8: Real-time monitoring of borehole position deviation; dynamic correction of drill bit trajectory through seven degrees of freedom linkage to adapt to complex curved surfaces or changes in rock strata. Step S9: After drilling is completed, each swing cylinder returns to the neutral position, and the telescopic arm retracts.

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