Tunnel drilling device with self-recognition system and using method of device

Abstract

The invention relates to a tunnel drilling device with a self-recognition system and a using method of the device. The tunnel drilling device comprises a supporting base; the mechanical arm is installed on the supporting base, the end, away from the supporting base, of the mechanical arm is connected with a drill bit supporting piece, and a pressure sensor is clamped between the drill bit supporting piece and the mechanical arm; the drilling motor is detachably installed on the drill bit supporting piece, and a drill bit of the drilling motor is located at the end, away from the mechanical arm, of the drilling motor; and the controller is in signal connection with the pressure sensor. The drilling motor is lifted to the position needing to be drilled through the mechanical arm, when the drilling motor drives the drill bit to conduct drilling work, the counter-acting force of a rock stratum to the drill bit can be sequentially transmitted to the drill bit supporting piece and finally acts on the pressure sensor, and the pressure sensor can transmit the pressure value collected in real time to the controller; and the controller judges the hardness of the current rock stratum according to the obtained pressure value, selects a drilling motor with proper hardness according to the hardness of the rock stratum and adjusts the drilling speed.

Description

Technical Field

[0001] This application relates to the field of tunnel construction technology, specifically to a tunnel drilling device with a self-identification system and a method for using the device. Background Technology

[0002] With the continued growth in global demand for energy and mineral resources, the number of deep resource extraction and deep tunnel construction projects is increasing, and the scale and difficulty of hard rock tunnel excavation operations are constantly rising. As one of the core procedures in hard rock tunnel excavation, drilling operations directly affect the construction cycle, construction costs, and personal safety of the entire project in terms of their efficiency, construction accuracy, and safety performance.

[0003] In related technologies, when drilling operations are carried out using drilling rigs, it is usually impossible to perceive changes in the hardness and strength of the rock strata in the drilling area in real time. When the equipment excavates into hard, high-strength rock strata, it is prone to jamming and drill blockage, which not only affects drilling efficiency but may also lead to equipment failures such as drill bit breakage and drill rod bending, significantly increasing construction costs and downtime for maintenance. Summary of the Invention

[0004] This application provides a tunnel drilling device with a self-identification system and a method for using the device, which can solve the problem in related technologies that when the equipment is excavating into hard, high-strength rock layers, the drill is easily stuck or blocked, which not only affects the drilling efficiency, but may also cause equipment failures such as drill bit breakage and drill rod bending, which greatly increases construction costs and downtime maintenance time.

[0005] In a first aspect, embodiments of this application provide a tunnel drilling device with a self-identification system, comprising: a support base; a robotic arm mounted on the support base, with a drill bit support member connected to the end of the robotic arm away from the support base, and a pressure sensor sandwiched between the drill bit support member and the robotic arm; a drilling motor detachably mounted on the drill bit support member, with the drill bit of the drilling motor located at the end of the drilling motor away from the robotic arm; and a controller signal-connected to the pressure sensor.

[0006] In conjunction with the first aspect, in one embodiment, the drill bit support includes a support frame, within which multiple staggered support ribs are installed, the multiple staggered support ribs forming multiple mounting slots, and adjacent mounting slots being spaced apart by the support ribs; a drilling motor is detachably installed in each mounting slot.

[0007] In conjunction with the first aspect, in one embodiment, the support frame is equipped with a thermal imager, which is used to acquire the temperature of the drilling motor and is electrically connected to the controller; the drilling motor is connected to a coolant injector, which is electrically connected to the controller, and the controller can control the coolant injector to spray according to the signal from the thermal imager.

[0008] In conjunction with the first aspect, in one embodiment, the tunnel drilling device further includes a movable support device connected to the support base on the side away from the robotic arm.

[0009] In conjunction with the first aspect, in one embodiment, the mobile support device includes: a mobile housing, the top surface of which is supported by the support base; the mobile housing is connected to multiple sets of mobile components, each set of mobile components including two hubs and a connecting shaft connecting the two hubs; the two hubs are located on opposite sides of the mobile housing; the connecting shaft extends along a length direction perpendicular to the mobile housing; and the two hubs located on one side of the mobile housing are connected by a track; and a height-adjustable support assembly installed on the side of the mobile housing away from the support base.

[0010] In conjunction with the first aspect, in one embodiment, a guide rail protrusion is installed on the side of the movable housing near the support base, the guide rail protrusion extends along the extension direction of the connecting shaft, and the support base is provided with a guide rail groove that mates with the guide rail protrusion on the side near the movable housing.

[0011] In conjunction with the first aspect, in one embodiment, the tunnel drilling device further includes: a dust collection cylinder, which is installed on the support base and spaced apart from the robotic arm; and a suction pipe, one end of which is connected to the dust collection cylinder and the other end of which is installed on the drilling motor.

[0012] In conjunction with the first aspect, in one embodiment, the vacuum tube is equipped with a plurality of high-frequency vibrators, which are spaced apart along the length of the vacuum tube.

[0013] In conjunction with the first aspect, in one embodiment, the support base has a circular groove on the side near the robotic arm, and a turntable is rotatably mounted in the circular groove, the turntable being connected to the robotic arm.

[0014] Secondly, this application provides a method for using a tunnel drilling device, characterized in that it employs the aforementioned tunnel drilling device, and the method includes: placing a support base at a preset drilling position; using a robotic arm to lift a drilling motor to a preset drilling point and start the drilling motor; acquiring the pressure signal of the drilling motor during operation through a pressure sensor and transmitting the pressure signal to a controller; determining the rock hardness based on the pressure value; if the pressure value is greater than a threshold, driving the drilling motor to stop working; if the pressure value is less than or equal to the threshold, driving the drilling motor to continue working.

[0015] The beneficial effects of the technical solutions provided in this application include: By using a robotic arm to lift the drilling motor to the desired drilling position, when the drilling motor drives the drill bit to drill, the reaction force of the rock formation on the drill bit is transmitted sequentially to the drill bit support and finally acts on the pressure sensor. The pressure sensor can transmit the real-time collected pressure values ​​to the controller. The controller can determine the hardness of the current rock formation based on the obtained pressure value, and select a drilling motor of appropriate hardness and adjust the drilling speed accordingly. This solves the problem in related technologies where the equipment is prone to stuck drills and drill blockage when excavating hard, high-strength rock formations. This not only affects drilling efficiency but may also lead to equipment failures such as drill bit breakage and drill rod bending, significantly increasing construction costs and downtime maintenance time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of the tunnel drilling device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the front view of the height adjustment support component provided in an embodiment of this application; Figure 3 This is a schematic diagram of the front view structure of a laser level provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the wheel hub connecting the track provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the fixing plate connecting fixing bolt provided in the embodiments of this application; Figure 6 A three-dimensional structural diagram of the guide rail groove and guide rail protrusion provided in the embodiments of this application; Figure 7A three-dimensional structural diagram of a metal rod passing through a drilling motor, as provided in an embodiment of this application; Figure 8 This is a three-dimensional structural diagram of a metal rod inserted into a drill bit support member, as provided in an embodiment of this application.

[0018] In the picture: 1. Support base; 11. Fixing plate; 2. Robotic arm; 21. Turntable; 3. Drill bit support; 31. Support frame; 32. Support rib; 33. Mounting slot; 34. Perforation; 35. Metal rod; 4. Drilling motor; 41. Drill bit; 5. Thermal imager; 6. Coolant injector; 7. Height adjustment support assembly; 71. Moving housing; 711. Guide rail protrusion; 712. Guide rail groove; 713. Laser level; 7131. Adjustment knob; 7132. Vertical laser emission port; 7133. Horizontal laser emission port; 7134. Buckle; 7135. Dial; 72. Wheel hub; 73. Track; 741. Metal rod; 742. Spherical locking protective sleeve; 743. Support steel foot; 75. Connecting shaft; 8. Dust collection bin; 81. Suction pipe; 811. High-frequency vibrator; 821. Small cylindrical metal rod; 822. Large cylindrical metal rod; 823. Semi-circular metal ring; 91. Humidity sensor; 92. Dehumidification device. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0020] This application provides a tunnel drilling device with a self-identification system, which can solve the problem in related technologies where the equipment is prone to jamming and stagnation when it is excavating into hard, high-strength rock layers. This not only affects drilling efficiency but may also lead to equipment failures such as drill bit breakage and drill rod bending, significantly increasing construction costs and downtime for maintenance.

[0021] See Figure 1The diagram illustrates a tunnel drilling device with a self-identification system provided in this application embodiment. It may include: a support base 1; a robotic arm 2 mounted on the support base 1, with a drill bit support 3 connected to the end of the robotic arm 2 away from the support base 1, and a pressure sensor sandwiched between the drill bit support 3 and the robotic arm 2; a drilling motor 4 detachably mounted on the drill bit support 3, with the drill bit 41 of the drilling motor 4 located at the end of the drilling motor 4 away from the robotic arm 2; and a controller connected to the pressure sensor. It should be understood that in a tunnel drilling device, the pressure sensor is a crucial monitoring device for determining whether the rock type is hard rock. Its core function is to capture the pressure generated by the drill bit 41 during drilling in real time and identify whether hard rock has been encountered through the pressure value. When drilling into ordinary soft rock or soil layers, the pressure detected by the pressure sensor remains in a low range. However, when encountering hard rock (such as granite, gneiss, etc.), the resistance of the drill bit 41 increases sharply, and the pressure sensor will detect a significant increase in pressure value exceeding a preset threshold. At this point, if the ordinary drill bit 41 continues to be used, it is likely to cause damage to the drilling rig, and the operator needs to replace the drill bit 41 in time. In addition, the support base 1 is used to support the robotic arm 2. The height at which the drill bit support 3 is lifted can be adjusted using the robotic arm 2. The drilling motor 4 can be detachably installed on the drill bit support 3, which can facilitate the quick replacement of different drilling motors 4 according to different needs.

[0022] In this embodiment, a robotic arm 2 lifts the drilling motor 4 to the desired drilling position. When the drilling motor 4 drives the drill bit 41 to drill, the reaction force of the rock strata on the drill bit 41 is sequentially transmitted to the drill bit support 3, and finally acts on the pressure sensor. The pressure sensor is connected to the controller signal, transmitting the real-time collected pressure values ​​to the controller. The controller can determine the hardness of the current rock strata based on the acquired pressure values, and select a drilling motor 4 of appropriate hardness and adjust the drilling speed accordingly. Specifically, when the controller detects a sustained pressure value... When the drill bit 41 continues to rise and approaches the preset threshold, it can be determined that the drill bit 41 is about to enter the high resistance area. At this time, without waiting for the drill bit to get stuck or blocked, the intervention logic can be triggered in advance, such as replacing the appropriate drill bit 41 or adjusting the drilling speed, to reduce the possibility of the drill bit 41 breaking or the drill rod bending due to the forceful resistance between it and the hard rock. This solves the problem in related technologies where the drill bit gets stuck or blocked when the equipment is excavating into hard, high-strength rock layers. This not only affects the drilling efficiency, but may also cause equipment failures such as the drill bit 41 breaking or the drill rod bending, which greatly increases the construction cost and downtime maintenance time.

[0023] In some optional embodiments, the drill bit support 3 includes a support frame 31, within which multiple staggered support ribs 32 are installed. These staggered support ribs 32 form multiple mounting slots 33, with adjacent mounting slots 33 spaced apart by the support ribs 32. A drilling motor 4 is detachably installed in each mounting slot 33. That is, the drill bit support 3 is connected to the robotic arm 2 via the support frame 31, with the pressure sensor sandwiched between the support frame 31 and the robotic arm 2. See also... Figure 7 and Figure 8 As shown in the embodiment of this application, the support rib 32 may include multiple support ribs 32 in numerical direction and multiple support ribs 32 in horizontal direction. The multiple vertical support ribs 32 and the horizontal support ribs 32 cooperate to form multiple square mounting grooves 33. Here, square can refer to a square or a rectangle. Preferably, both the support frame 31 and the support rib 32 have a certain thickness. The drilling motor 4 can be detachably installed in the mounting slot 33 by: setting the mounting slot 33 in a multi-row layout, with each row of mounting slots 33 having a corresponding support frame 31 and support rib 32, and each of their sides having coaxially aligned through holes 34; during assembly, a metal rod 35 is inserted from one side of the support frame 31, passing through the corresponding through holes 34 of the support frame 31 and support rib 32 in sequence and extending to the other side of the support frame 31. Correspondingly, a through hole is also provided on the drilling motor 4, which allows the metal rod 35 to pass through. During the process of the metal rod 35 passing through the corresponding through holes 34 of the support frame 31 and support rib 32 in sequence and extending to the other side of the support frame 31, the metal rod 35 also passes through the drilling motor 4 installed in the mounting slot 33 to achieve the installation and fixation of the drilling motor 4. Preferably, the outer diameter of the metal rod 35 is approximately equal to the inner diameter of the through hole 34 on the drilling motor 4.

[0024] It should be understood that in related technologies, all drilling equipment is designed as an integrated drilling rig and mobile device. However, such a design is unsuitable for the current vigorous development of deep hard rock tunnel construction. Unlike soft rock tunnels, the rock in deep hard rock tunnels is extremely hard, making it difficult to drill through with a single drilling machine. Multiple drilling machines are required to operate simultaneously. However, the internal space of the tunnel is limited, making it difficult to accommodate multiple drilling machines, and each machine needs to be operated by different workers. In this embodiment, by setting a drill bit support 3 with multiple mounting slots 33, multiple drilling motors 4 can be installed on the drill bit support 3. The number of drilling motors 4 on the drill bit support 3 can be changed at will according to the specific conditions of the deep tunnel to be drilled. At this time, a single device can realize the synchronous operation of multiple drill bits 41, avoiding the crowding and collision of multiple independent drilling machines in the narrow tunnel, greatly improving the space utilization rate, and perfectly adapting to the limited working space of deep hard rock tunnels.

[0025] In some optional embodiments, a thermal imager 5 is installed on the support frame 31. The thermal imager 5 is used to acquire the temperature of the drilling motor 4 and is electrically connected to the controller. The drilling motor 4 is connected to a coolant injector 6, which is also electrically connected to the controller. The controller can control the coolant injector 6 to spray according to the signal from the thermal imager 5. It should be understood that in hard rock drilling, the high temperature generated by the high-speed rotation of the drill bit 41 and its friction with the hard rock can soften the drill bit 41, reduce its hardness, accelerate wear, and even cause cracks, thus reducing the service life of the drill bit 41. Therefore, installing a thermal imager 5 at the support frame 31 can monitor the temperature change of the drill bit 41 surface in real time. The thermal imager 5 transmits the temperature signal to the controller. When the temperature reaches a certain threshold, the controller controls the coolant injector 6 to turn on to cool the surface of the drill bit 41. Preferably, the thermal imager 5 is directly welded to the top of the support frame 31, which can monitor the drill bit 41 and the temperature changes inside the hole from all directions. In this embodiment, the thermal imager 5 and the coolant injector 6 work together to achieve real-time monitoring and automatic cooling of the drill bit 41 temperature, ensuring the performance of the drill bit 41, extending its service life, and reducing construction failures and costs.

[0026] In some optional embodiments, the tunnel drilling device further includes a movable support device connected to the side of the support base 1 away from the robotic arm 2. It should be understood that the movable support device can move the support base 1 as a whole and raise its height, thus enabling flexible movement and stable support of the tunnel drilling device, adapting to the needs of multi-area operations within the tunnel and improving construction convenience.

[0027] In some optional embodiments, the mobile support device may include: a mobile housing 71, the top surface of which supports the support base 1; the mobile housing 71 is connected to multiple sets of mobile components, each set of mobile components including two hubs 72 and a connecting shaft 75 connecting the two hubs 72; the two hubs 72 are located on opposite sides of the mobile housing 71; the connecting shaft 75 extends along a direction perpendicular to the length of the mobile housing 71; and the two hubs 72 located on one side of the mobile housing 71 are connected by a track 73; and a height-adjustable support assembly 7, which is installed on the side of the mobile housing 71 away from the support base 1. In other words, the movable housing 71 can serve as a support component for the wheel hubs 72 and the connecting shaft 75. The movable housing 71, wheel hubs 72, and connecting shaft 75 form a structure similar to that of a vehicle tire. The two wheel hubs 72 located on the same side of the movable housing 71 are connected as a whole by the tracks 73. Due to the excavation of deep hard rock, many small fragments of hard rock are generated. These fragments are difficult to clean completely, and some of the debris accumulated in the tunnel makes the ground extremely uneven, making it difficult for traditional machines to work in such geological environments. The track 73 design can increase the contact area with the tunnel surface and ensure movement stability. In addition, the height adjustment support component 7 can be configured to raise or lower the height of the movable housing 71 through its own extension and retraction. During the movement of the movable housing 71, the height adjustment support component 7 does not contact the ground to reduce the damage to the height adjustment support component 7.

[0028] Preferred, see Figure 2As shown, the height adjustment support assembly 7 can include multiple sets of telescopic components. Each set of telescopic components includes two metal rods 741. The two metal rods 741 can be designed similarly to a jack. One metal rod 741 has a slightly larger diameter and is called the large metal rod 741, while the other metal rod 741 has a slightly smaller diameter and is called the small metal rod 741. The large metal rod 741 is located at the end of the small metal rod 741 away from the moving housing 71, and the end of the small metal rod 741 away from the large metal rod 741 is fixed to the moving housing 71 by a fixing bolt. A spherical locking protective sleeve 742 can be connected at the connection between the large metal rod 741 and the small metal rod 741. The telescopic movement of the large and small metal rods 741 can be achieved by a servo motor drive. The drive rod of the servo motor is installed between the large and small metal rods 741. At this time, the spherical locking protective sleeve 742 is installed at the end of the large metal rod 741 near the small metal rod 741 to reduce the interference of the external environment during the telescopic movement of the large metal rod 741 driven by the servo motor. Preferably, the end of the large metal rod 741 furthest from the small metal rod 741 is also fixed with a supporting steel foot 743, and the servo motors in each telescopic component are respectively connected to the controller. Further, a laser level 713 can be connected to the end of the moving housing 71 via a buckle 7134. The laser level 713 is connected to the controller via a signal connection. Due to the complex geology inside the tunnel, the ground is often uneven during excavation due to falling rocks from the tunnel ceiling or ground protrusions. Although the tunnel drilling device moves via tracks 73, the moving housing 71 may become tilted after moving to the preset area. In this case, the laser level 713 can be used to first detect whether the moving housing is level. If not, the controller controls the servo motor at the corresponding position to drive the telescopic components to extend and retract, so that the moving housing 71 remains level, improving drilling accuracy. See also Figure 3 As shown, preferably, the laser level 713 includes an adjustment knob 7131, a vertical laser emission port 7132, a horizontal laser emission port 7133, a latch 7134, and a dial 7135.

[0029] See Figure 4 and Figure 6As shown, in some optional embodiments, a guide rail protrusion 711 is installed on the side of the movable housing 71 near the support base 1. The guide rail protrusion 711 extends along the extension direction of the connecting shaft 75, and the support base 1 is provided with a guide rail groove 712 that mates with the guide rail protrusion 711 on the side near the movable housing 71. It should be understood that the direction in which the tunnel drilling device moves via the track 73 can be considered as the front-to-back direction. In this case, the guide rail protrusion 711 is considered to extend in the left-to-right direction. That is, while the tunnel drilling device moves in the front-to-back direction via the track 73 and the hub 72, it can also move in the left-to-right direction, which is beneficial for drilling and positioning the tunnel sidewall. In this embodiment, the cooperation between the guide rail protrusion 711 and the guide rail groove 712 provides the support base 1 with a degree of sliding freedom in the left-to-right direction, widens the drilling positioning range, and also improves the accuracy and convenience of drilling the tunnel sidewall. Preferably, a rigid limiting block is fixedly installed on the outer side wall of the left and right ends of the guide rail protrusion 711, corresponding to the sliding limit position of the guide rail groove 712. When the support seat 1 drives the guide rail groove 712 to slide left and right along the guide rail protrusion 711 to the limiting block, the inner wall of the groove end abuts against the limiting block to limit excessive displacement.

[0030] In some optional embodiments, the tunnel drilling device may further include: a dust collection cylinder 8, which is installed on the support base 1 and spaced apart from the robotic arm 2; and a suction pipe 81, one end of which is connected to the dust collection cylinder 8 and the other end of which is installed on the drilling motor 4. It should be understood that adding the dust collection cylinder 8 during hard rock drilling can promptly remove rock cuttings and dust generated during drilling. Hard rock will form a large number of fine particles during the crushing process. If these particles are not removed in time, they will accumulate at the bottom of the hole, causing the drill bit 41 of the drilling motor 4 to repeatedly cut, increase temperature, and increase wear, thus reducing drilling efficiency and the lifespan of the drill bit 41. The dust collection cylinder 8 can directly suck away rock cuttings through negative pressure, keeping the bottom of the hole clean and reducing friction and heat accumulation; at the same time, it can effectively reduce dust concentration, improve the working environment, and protect the respiratory health of operators; in addition, timely removal of rock cuttings can reduce the risk of accidents such as stuck drill bits and buried drill bits, improving drilling quality and construction safety. In this embodiment, the dust collection tube 8 and the drilling motor 4 are synchronously controlled to open or close via a controller. Preferably, the connection between the dust collection pipe 81 and the drilling motor 4 can be detachable. A clamping part can be installed at the bottom of the drilling motor 4, and the end of the dust collection pipe 81 near the drilling motor 4 is detachably connected to the clamping part to achieve the connection with the drilling motor 4.

[0031] In some alternative embodiments, the dust collection cylinder 8 can be mounted on the support base 1 by welding a fixing plate 11 to the top surface of the support base 1. The surface of the fixing plate 11 can be at a 45° angle to the top surface of the support base 1. The dust collection cylinder 8 is detachably mounted to the fixing plate 11 by a fixing bolt. One end of the fixing bolt is hinged to the fixing plate 11, and the other end has a design similar to a push-button lock. When it is pressed firmly against the fixing plate 11, it automatically locks; when the button is pressed, the lock can be opened and the fixing bolt can be pulled out. See also Figure 5 As shown, the fixing bolt consists of two small cylindrical metal rods 821, a large cylindrical metal rod 822, and a semi-circular metal ring 823. It should be understood that the inner diameter of the semi-circular metal ring 823 is slightly larger than the outer diameter of the dust collection cylinder 8. It is used to surround the outer circumference of the dust collection cylinder 8 and fix the dust collection cylinder 8 between the fixing plate 11 and the semi-circular metal ring. In addition, two small cylindrical metal rods 821 are welded to the fixing plate 11, and each of the two small cylindrical metal rods 821 has an inner groove at one end close to the other. The two ends of the large cylindrical metal rod 822 are respectively inserted into different inner grooves to clamp between the two small cylindrical metal rods 821, so that the large cylindrical metal rod 822 can rotate relative to the two small cylindrical metal rods 821 around the circumference of the small cylindrical metal rods 821. The semi-circular metal ring 823 is fixed relative to the large cylindrical metal rod 822. The end of the semi-circular metal ring 823 away from the large cylindrical metal rod 35 is detachably connected to the fixing plate 11. When in the unlocked state, the large cylindrical metal rod 822 rotates, and the semi-circular metal ring 823 also rotates synchronously.

[0032] Preferably, the suction pipe 81 is equipped with multiple high-frequency vibrators 811, which are spaced apart along the length of the suction pipe 81. It should be understood that during drilling, when the suction pipe 81 sucks in rock cuttings, sometimes rock cuttings may clump or accumulate in the suction pipe 81, requiring disassembly for processing, which is cumbersome and seriously affects the work progress. By setting a high-frequency vibrator 811 at short intervals on the suction pipe 81, when the high-frequency vibrator 811 is working, it can break up the accumulated rock cuttings, making the suction pipe 81 unobstructed.

[0033] In some optional embodiments, a circular groove is formed on the side of the support base 1 near the robotic arm 2, and a turntable 21 is rotatably mounted in the circular groove, the turntable 21 being connected to the robotic arm 2. In this embodiment, the turntable 21 can be a gear turntable 21, which is connected to a drive motor. In related technologies, drilling equipment only allows for forward and backward drilling. If drilling is required at the top or upper middle section, the drilling task becomes extremely inconvenient. Installing a gear turntable 21 allows it to rotate 360° via a drive motor, enabling drilling in multiple directions (front, back, left, right). Specifically, an annular groove is formed on the lower surface of the turntable 21, and the circular groove on the top surface of the support base 1 can be an annular slider, which is rotatably connected to the annular groove. Simultaneously, the side of the gear turntable 21 away from the support base 1 can be connected to the mechanical part by welding a metal frustum. The robotic arm 2 in this embodiment consists of three rotatable "joints" (with drive motors and reducers installed inside) and a rotating arm. Under the action of the built-in drive motor, each connecting rod can rotate freely.

[0034] Furthermore, a humidity sensor 91 is welded to the top surface of the support base 1. The humidity sensor 91 is connected to the controller signal and can monitor changes in air and surrounding rock humidity inside the tunnel in real time, providing data support for the drilling of the head. It should be understood that timely detection of abnormalities such as dampness and water seepage can effectively prevent equipment corrosion, electrical failures, and softening of surrounding rock, ensuring construction safety and operational stability, and extending the service life of machinery and equipment.

[0035] Preferably, a dehumidification device 92 can also be fixed on the top surface of the support base 1. The dehumidification device 92 is electrically connected to the controller. After the humidity sensor 91 transmits a signal to the controller, the controller determines whether the humidity value has reached the required dehumidification humidity. If so, it controls the dehumidification device 92 to turn on. In this embodiment, the real-time data monitored by the humidity sensor 91 determines that if the relative humidity reaches 75%, the dehumidification device 92 is turned on, which can effectively solve the problem of equipment damage caused by high humidity in deep tunnels.

[0036] This application also provides a method of using a tunnel drilling device, which employs the tunnel drilling device as described above. The method of use may include the following steps: S1: Place the support base 1 at the preset drilling position; use the track 73 to move the tunnel drilling device to the preset drilling position.

[0037] S2: Use the robotic arm 2 to lift the drilling motor 4 to the preset drilling point and start the drilling motor 4; while using the robotic arm 2 to lift the drilling motor 4 to the preset drilling point, the guide rail protrusion 711 can be used in conjunction with the guide rail groove 712 and the turntable 21 can be used to achieve more precise position and angle adjustment of the robotic arm 2.

[0038] S3: The pressure sensor acquires the pressure signal when the drilling motor 4 is working and transmits the pressure signal to the controller; during the continuous drilling process of the drilling motor 4, the pressure sensor continuously acquires the pressure signal and transmits the signal to the controller.

[0039] S4: The rock hardness is determined based on the pressure value. If the pressure value is greater than a threshold, the drilling motor 4 stops working; if the pressure value is less than or equal to the threshold, the drilling motor 4 continues to work. It should be understood that when the drilling motor 4 drills, it exerts force on the rock, and the rock also exerts a reaction force on the drilling motor 4. This reaction force is transmitted to the drill bit support 3 through the drilling motor 4. Since a pressure sensor is installed on the back of the drill bit support 3, the pressure is transmitted to the pressure sensor through the drill bit support 3. The pressure sensor then collects the current drilling force. In this embodiment, the classification standard can be set as follows: 0-10KN is considered soft rock, and more than 10KN is considered hard rock. Therefore, after the pressure sensor collects the drilling force information, the operator can manually determine the hardness of the rock formation and replace the drill bit 41 in a timely manner.

[0040] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0041] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0042] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A tunnel drilling device with a self-identification system, characterized in that, It includes: Support base (1); A robotic arm (2) is mounted on the support base (1). A drill bit support (3) is connected to one end of the robotic arm (2) away from the support base (1). A pressure sensor is sandwiched between the drill bit support (3) and the robotic arm (2). Drilling motor (4), the drilling motor (4) is detachably mounted on the drill bit support (3), and the drill bit (41) of the drilling motor (4) is located at the end of the drilling motor (4) away from the robotic arm (2); A controller, which is signal-connected to the pressure sensor.

2. The tunnel drilling device with a self-identification system as described in claim 1, characterized in that: The drill bit support (3) includes a support frame (31), and multiple staggered support ribs (32) are installed in the support frame (31). The multiple staggered support ribs (32) form multiple mounting slots (33), and two adjacent mounting slots (33) are spaced apart by the support ribs (32). Each of the mounting slots (33) can be detachably installed with a drilling motor (4).

3. The tunnel drilling device with a self-identification system as described in claim 2, characterized in that: The support frame (31) is equipped with a thermal imager (5), which is used to obtain the temperature of the drilling motor (4). The thermal imager (5) is electrically connected to the controller. The drilling motor (4) is connected to a coolant injector (6), which is electrically connected to the controller. The controller can control the coolant injector (6) to spray according to the signal from the thermal imager (5).

4. The tunnel drilling device with a self-identification system as described in claim 1, characterized in that: The tunnel drilling device also includes a movable support device, which is connected to the support base (1) on the side away from the robotic arm (2).

5. The tunnel drilling device with a self-identification system as described in claim 4, characterized in that, The mobile support device includes: A mobile housing (71) is provided with a support base (1) on its top surface. The mobile housing (71) is connected to multiple sets of mobile components. Each set of mobile components includes two wheel hubs (72) and a connecting shaft (75) connecting the two wheel hubs (72). The two wheel hubs (72) are located on opposite sides of the mobile housing (71). The connecting shaft (75) extends along the length direction perpendicular to the mobile housing (71). The two wheel hubs (72) located on one side of the mobile housing (71) are connected by a track (73). A height-adjustable support assembly (7) is installed on the side of the movable housing (71) away from the support base (1).

6. The tunnel drilling device with a self-identification system as described in claim 5, characterized in that: The movable housing (71) is equipped with a guide rail protrusion (711) on the side near the support base (1). The guide rail protrusion (711) extends along the extension direction of the connecting shaft (75). The support base (1) is provided with a guide rail groove (712) that cooperates with the guide rail protrusion (711) on the side near the movable housing (71).

7. The tunnel drilling device with a self-identification system as described in claim 1, characterized in that, The tunnel drilling device also includes: A dust collection cylinder (8) is installed on the support base (1), and the dust collection cylinder (8) is spaced apart from the robotic arm (2); The suction pipe (81) is connected at one end to the dust collection cylinder (8) and at the other end to the drilling motor (4).

8. The tunnel drilling device with a self-identification system as described in claim 7, characterized in that: The suction pipe (81) is equipped with a plurality of high-frequency vibrators (811), which are spaced apart along the length of the suction pipe (81).

9. The tunnel drilling device with a self-identification system as described in claim 1, characterized in that: The support base (1) has a circular groove on one side near the robotic arm (2), and a turntable (21) is rotatably installed in the circular groove. The turntable (21) is connected to the robotic arm (2).

10. A method of using a tunnel drilling device, characterized in that, It employs the tunnel drilling device as described in any one of claims 1 to 9, and the method of use includes: Place the support base (1) at the preset drilling position; The drilling motor (4) is lifted to the preset drilling point using the robotic arm (2), and the drilling motor (4) is started. The pressure signal of the drilling motor (4) during operation is obtained by the pressure sensor and transmitted to the controller. The rock hardness is determined by the pressure value. If the pressure value is greater than the threshold, the drilling motor (4) is driven to stop working. If the pressure value is less than or equal to the threshold, the drilling motor (4) is driven to continue working.

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