Mechanical drill folding device and method for controlling overbreak of holes around a tunnel

Abstract

This invention discloses a mechanical drilling device and method for controlling over-excavation of boreholes around tunnels. The device includes a head limiting mechanism, a drill rod, a middle limiting adjustment mechanism, a U-shaped track beam, a middle support mechanism, a propulsion mechanism, a multi-axis robotic arm, a rotating base, a tracked chassis, and a rotation adjustment mechanism. The rotating base, multi-axis robotic arm, rotation adjustment mechanism, and U-shaped track beam are sequentially fixed to the top of the tracked chassis. A head limiting mechanism is fixed to the front end of the U-shaped track beam, and the middle limiting adjustment mechanism, middle support mechanism, and propulsion mechanism are slidably connected to it. One end of the drill rod is located at the front end of the propulsion mechanism, and the other end passes sequentially through the middle support mechanism, middle limiting adjustment mechanism, and head limiting mechanism. The vertical height of the drill rod is precisely adjusted by the middle limiting adjustment mechanism, and combined with the fixed limiting of the middle support mechanism, the drill rod undergoes precise and controllable elastic bending deformation, thereby changing the ejection angle of the drill rod end and allowing it to penetrate the rock wall at a preset angle.

Description

Technical Field

[0001] This invention belongs to the field of geotechnical engineering technology, and more specifically, relates to a mechanical drilling device and method for controlling over-excavation of holes around tunnels. Background Technology

[0002] In the drill-and-blast method for underground tunnel construction, precise control of the drilling angle of the peripheral holes is a core technical aspect, directly determining the quality of tunnel formation and being crucial for controlling over- and under-excavation and reducing subsequent support costs. Currently, the industry mainstream uses hydraulic telescopic drilling arms for drilling operations, but this type of equipment has significant technical shortcomings and cannot meet the needs of refined construction. The operating space is severely limited. When drilling in inclined rock walls or narrow tunnel areas, the telescopic structure of the hydraulic drill arm is prone to rigid interference with the top and side rock walls. This not only prevents it from getting close to the target drilling position but also significantly reduces the range of drilling angle adjustment, resulting in a substantial reduction in the workable area. The drilling angle accuracy is insufficient. Existing equipment lacks an active control mechanism for the drill rod's posture and relies solely on the mechanical positioning of the drill arm. The actual drilling angle error generally reaches ±5°, making it difficult to achieve angle adjustment and control. This directly leads to deviations in the formation of surrounding holes and causes over-excavation problems. The drilling stability is poor. The drill rod lacks a multi-segment coordinated limiting and guiding structure during advancement, making it prone to radial runout, swaying, and shaking, which aggravates drill rod wear and cannot guarantee the straightness of the borehole. The adaptability is weak. The equipment cannot flexibly adjust the height and position of the drill rod support according to the rock wall inclination angle and drilling depth. It has poor adaptability to drilling requirements of different orientations and inclination angles and lacks a rapid adjustment mechanism, resulting in low construction efficiency. This makes it difficult to effectively control the over-excavation of holes around the tunnel, increases the consumption of support materials, and raises construction costs. At the same time, the unstable drilling quality also restricts the construction efficiency of the drill-and-blast method and the overall safety of the tunnel project. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a mechanical drilling device and method for controlling over-excavation of boreholes around tunnels. By precisely adjusting the vertical height of the drill rod through a central limiting adjustment mechanism, combined with the fixed limiting of the intermediate support mechanism, the drill rod undergoes precise and controllable elastic bending deformation, achieving accurate control of the drilling angle. When operating near the rock wall, the device eliminates the need for extensive over-excavation space, fundamentally solving the problem of significant over-excavation in traditional drilling operations, reducing support material consumption, and significantly improving construction economic efficiency. Secondly, the device uses a multi-point coordinated limiting and guiding mechanism—the head limiting mechanism, the central limiting adjustment mechanism, and the intermediate support mechanism—to form all-around constraints on the drill rod, effectively reducing radial runout, sway, and shaking during drilling operations, reducing surface wear, and ensuring the straightness and angular accuracy of the borehole. Furthermore, each limiting mechanism employs a flexible rubber sleeve contact design to avoid rigid interference between the drill rod and the mechanism, while also preventing drill rod jamming, further improving the stability of the drilling process and the service life of the drill rod.

[0004] To achieve the above objectives, according to one aspect of the present invention, a mechanical drilling device for controlling over-excavation of boreholes around a tunnel is provided, comprising a head limiting mechanism, a drill rod, a middle limiting adjustment mechanism, a U-shaped track beam, a middle drill support mechanism, a propulsion mechanism, a multi-axis robotic arm, a rotating base, a tracked chassis, and a rotation adjustment mechanism; wherein... The tracked chassis serves as the mobile carrier and power supply base for the device. The rotating base is fixed to the top of the tracked chassis. The multi-axis robotic arm is fixed to the top of the rotating base. The free end of the multi-axis robotic arm is equipped with a rotation adjustment mechanism. The top of the rotation adjustment mechanism is fixed with a U-shaped track beam, which is used to drive the U-shaped track beam to achieve multi-angle rotation fine adjustment. The front end of the U-shaped track beam is fixedly equipped with a head limiting mechanism. The U-shaped track beam is slidably connected from front to back along its length direction to a middle limiting adjustment mechanism, a middle support mechanism, and a propulsion mechanism. The front end of the propulsion mechanism is detachably equipped with a drill rod. The drill rod passes through the middle support mechanism, the middle limiting adjustment mechanism, and the head limiting mechanism in sequence. The vertical height of the drill rod is adjusted by the middle limiting adjustment mechanism. Combined with the fixed limiting of the drill rod by the middle support mechanism, the posture of the drill rod is adjusted so that the drill rod produces precise and controllable bending deformation, thereby realizing the angle adjustment of the drill rod. A hydraulic rod is fixedly mounted at the rear end of the U-shaped track beam. The output end of the hydraulic rod is fixedly connected to the intermediate support mechanism. A steel rope is fixedly connected to the front end of the propulsion mechanism. The other end of the steel rope passes around the intermediate support mechanism and is fixedly connected to the rear end of the U-shaped track beam. Through the extension and retraction of the hydraulic rod, the intermediate support mechanism is pushed forward along the length of the U-shaped track beam. Simultaneously, through the traction of the steel rope, the propulsion mechanism moves forward synchronously with the intermediate support mechanism. The propulsion mechanism then provides axial rotational power to push the drill rod forward, completing the drilling operation of the surrounding holes of the tunnel.

[0005] Furthermore, the head limiting mechanism includes a tailstock plate, a T-shaped pressure plate, a first rubber sleeve, wing plates, and a rubber block. The tailstock plate is fixed to the front end of the U-shaped track beam by bolts. Wing plates are fixed on both sides of the upper end of the tailstock plate. The rubber block is fixedly connected to the wing plates by bolts and fixedly installed at the front end of the tailstock plate. The top of the rubber block has an arc-shaped groove that matches the outer diameter of the drill rod. The top of the tailstock plate has a U-shaped groove. The first rubber sleeve is movably arranged in the U-shaped groove. The vertical dimension of the first rubber sleeve is smaller than the vertical height of the U-shaped groove. The top of the tailstock plate is fixedly fitted with a T-shaped pressure plate. The middle of the first rubber sleeve has a through hole along the axial direction for the drill rod to pass through.

[0006] Furthermore, the central limiting adjustment mechanism includes a U-shaped base, a limiting groove, a second rubber sleeve, a screw, a nut, a first sliding base, a first clamping block, and a second bolt. The first sliding base is mounted on the top of the U-shaped track beam. The bottom ends of both ends of the first sliding base are fastened to the first clamping block by the second bolt, so that the first clamping block and the first sliding base form a trapezoidal clamping groove. The trapezoidal clamping groove and the trapezoidal slide rails set on both sides of the top of the U-shaped track beam achieve precise engagement, thereby realizing the slidable assembly of the first sliding base on the U-shaped track beam. By adjusting the tightness of the second bolt, the first clamping block and the first sliding base can cooperate with each other to clamp and position the trapezoidal slide rails on the U-shaped track beam, thereby firmly fixing the central limiting adjustment mechanism in the preset position of the U-shaped track beam. A nut is fixedly installed in the middle of the first sliding base. A screw is connected to the nut by an internal thread. The upper end of the screw is rotatably connected to the U-shaped base. A second rubber sleeve is installed inside the U-shaped base. Limiting grooves are opened at the upper ends of the vertical plates on both sides of the U-shaped base. The second rubber sleeve is fixed inside the U-shaped base by wrapping iron wire in the limiting grooves in a T-shape. A through hole that matches the outer diameter of the drill rod is opened in the middle of the second rubber sleeve along the axial direction.

[0007] Furthermore, the central limiting adjustment mechanism also includes a limiting plate and a first bolt. An annular groove is formed on the outer periphery of the upper end of the screw, and a circular groove is formed on the bottom of the U-shaped base. The inner diameter of the circular groove is larger than the outer diameter of the upper end of the screw. The upper end of the screw is adapted to abut against the circular groove at the bottom of the U-shaped base. The limiting plate is engaged in the annular groove of the screw and fixed to the bottom of the U-shaped base by the first bolt.

[0008] Furthermore, the intermediate support mechanism includes a support device, a second sliding base, a second clamping block, a third bolt, a supporting side plate, a supporting baffle, a rotating shaft, and a movable pulley. The second sliding base is mounted on the top of the U-shaped track beam. The support device is bolted to the top of the second sliding base. The bottom ends of both ends of the second sliding base are fastened to the second clamping block by the third bolt, so that the second clamping block and the second sliding base form a trapezoidal clamping groove. The trapezoidal clamping groove and the trapezoidal slide rails set on both sides of the top of the U-shaped track beam achieve precise engagement, thereby realizing the slidable assembly of the second sliding base on the U-shaped track beam.

[0009] The bottom of the second sliding base is fixedly equipped with symmetrically arranged support side plates. The symmetrically arranged support side plates are rotatably connected to the movable pulley via a rotating shaft. A support baffle is fixedly installed between the rear ends of the symmetrically arranged support side plates. The outer wall of the support baffle is fixedly connected to the output end of the hydraulic rod.

[0010] Furthermore, the propulsion mechanism includes a propeller, a third sliding base, a third clamping block, and a fourth bolt. The third sliding base is mounted on the top of the U-shaped track beam, and its front end is fixedly connected to one end of the steel rope. The propeller is fixedly mounted on the top of the third sliding base by bolts. The bottom ends of both ends of the third sliding base are fastened to the third clamping block by the fourth bolts, so that the third clamping block and the third sliding base form a trapezoidal clamping groove that fits the trapezoidal slide rail of the U-shaped track beam. The trapezoidal clamping groove and the trapezoidal slide rails preset on both sides of the top of the U-shaped track beam are precisely engaged.

[0011] Furthermore, the rotation adjustment mechanism includes a rotary motor, a connecting shaft, a bearing housing, and a connecting seat. The rotary motor is fixedly mounted on the free end of the multi-axis robotic arm. The output shaft of the rotary motor is vertically fixed to the connecting shaft. The other end of the connecting shaft is rotatably connected to the bearing housing. The bearing housing is fixedly mounted on the bottom of the connecting seat, and the top of the connecting seat is fixedly mounted on the bottom of the U-shaped track beam.

[0012] Furthermore, the rotary adjustment mechanism also includes a connecting rod and a slide rail swing cylinder. The connecting rod is fixed to the outer wall of the connecting shaft. The other end of the connecting shaft away from the rotary motor is hinged to the output end of the slide rail swing cylinder. The fixed end of the slide rail swing cylinder is hinged to the connecting seat.

[0013] According to a second aspect of the present invention, a mechanical drilling method for controlling over-excavation of boreholes around a tunnel is provided, which is implemented using the aforementioned mechanical drilling device for controlling over-excavation of boreholes around a tunnel, and includes the following steps: S100: According to the drilling angle, adjust the middle limit adjustment structure to slide along the trapezoidal slide rail of the U-shaped track beam. After adjusting the distance between it and the head limit adjustment mechanism, tighten the second bolt to fix it. By turning the screw, adjust the vertical height of the U-shaped base, and then adjust the support height of the drill rod so that the drill rod forms a smooth and continuous curved arc, and change the ejection angle of the drill rod end to match the drilling angle. S200: Drive the tracked chassis to move the device to the preset working area at the tunnel face and lock it, adjust the rotating base so that the multi-axis robotic arm is initially aligned with the hole on the rock wall of the tunnel face; S300: The rotary motor that drives the rotary adjustment mechanism drives the connecting shaft and connecting seat to rotate the U-shaped track beam horizontally. The adjusting slide rail swing cylinder extends and retracts to drive the connecting rod and connecting shaft to rotate, thereby causing the U-shaped track beam to tilt vertically so that the horizontal and vertical angles of the U-shaped track beam are adapted to the design tilt angle of the peripheral holes. S400: Start the thruster to provide stable rotational power for the drill rod, start the hydraulic rod at the rear end of the U-shaped track beam, and its output end pushes the intermediate support mechanism to move forward along the U-shaped track beam. Through the pulley, the steel rope is pulled, which drives the propulsion mechanism to move forward synchronously, so that the drill rod can achieve controllable drilling under two-point guidance constraints.

[0014] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The present invention provides a mechanical drilling device for controlling over-excavation of boreholes around tunnels. The vertical height of the drill rod is precisely adjusted by a central limiting adjustment mechanism, and the fixed limiting of the intermediate support mechanism enables the drill rod to produce precise and controllable elastic bending deformation, thereby achieving precise control of the drilling angle. When the device operates near the rock wall, there is no need to reserve a large amount of over-excavation space, which fundamentally solves the problem of prominent over-excavation in traditional drilling operations, reduces the consumption of support materials, and significantly improves the economic benefits of construction.

[0015] 2. The present invention provides a mechanical drilling device for controlling over-excavation of boreholes around tunnels. The device uses a multi-point coordinated limiting and guiding mechanism consisting of a head limiting mechanism, a middle limiting and adjusting mechanism, and a middle support mechanism to form an all-round constraint on the drill rod. This effectively reduces radial runout, sway, and wobbling of the drill rod during operation, reduces wear on the drill rod surface, and ensures the straightness and angular accuracy of the borehole. Each limiting mechanism adopts a flexible contact design with rubber sleeves to avoid rigid interference between the drill rod and the mechanism, while also preventing the drill rod from jamming, further improving the stability of the drilling process and the service life of the drill rod.

[0016] 3. The present invention provides a mechanical drilling device for controlling over-excavation of holes around tunnels. The device has multi-dimensional adjustment functions. The rotating base enables horizontal rotation of the upper structure, the multi-axis robotic arm enables flexible adjustment of the working posture, the rotation adjustment mechanism can drive the U-shaped track beam to achieve multi-angle fine adjustment in the horizontal and vertical directions, and the central limit adjustment mechanism can flexibly adjust the horizontal position and vertical height. It can adapt to the drilling requirements of holes around tunnels in different orientations and inclinations. It can pre-store the adjustment parameters corresponding to commonly used drilling angles to achieve rapid setting and improve work efficiency.

[0017] 4. The present invention provides a mechanical drilling device for controlling over-excavation of holes around a tunnel. Each sliding base and the U-shaped track beam are connected by trapezoidal slide rails and fixed with clamping blocks and bolts, which can achieve both smooth sliding and rapid positioning, preventing deviation and loosening during operation. The screw of the central limit adjustment mechanism and the U-shaped base adopt an axial limit and circumferential rotation connection structure to ensure the stability and accuracy of height adjustment. The assembly method is simple and easy to disassemble and replace parts. The propulsion mechanism and the intermediate support mechanism are linked by hydraulic rods and steel cables to achieve synchronous and smooth movement, continuous power transmission, and ensure operational reliability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structural installation on the U-shaped track beam of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 3 This is an elevation view of the head limiting mechanism of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 4 This is a cross-sectional view of the head limiting mechanism of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 5 This is an elevation view of the central limit adjustment structure of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 6 This is a cross-sectional view of the central limit adjustment structure of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 7 This is an elevation view of the intermediate support mechanism of a mechanical drill bit device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 8 This is a cross-sectional view of an elevation view of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 9 This is an elevation view of the propulsion mechanism of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 10 This is a cross-sectional view of the propulsion mechanism of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 11 This is an elevation view of the rotary adjustment mechanism of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention. Figure 12 This is a top view of the rotary adjustment mechanism of a mechanical folding drill device for controlling over-excavation of holes around a tunnel, according to an embodiment of the present invention.

[0019] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-head limiting mechanism, 101-tailstock plate, 102-U-shaped groove, 103-T-shaped pressure plate, 104-first rubber sleeve, 105-wing plate, 106-rubber block, 2-drill rod, 3-middle limiting adjustment structure, 301-U-shaped base, 302-limiting groove, 303-second rubber sleeve, 304-limiting plate, 305-first bolt, 306-screw, 307-nut, 308-first sliding base, 309-first clamping block, 310-second bolt, 4-U-shaped track beam, 5-intermediate support mechanism, 501-support Fiber, 502-Second sliding base, 503-Second clamping block, 504-Third bolt, 505-Support side plate, 506-Support baffle, 507-Rotating shaft, 6-Propulsion mechanism, 601-Propeller, 602-Third sliding base, 603-Third clamping block, 604-Fourth bolt, 7-Multi-axis robotic arm, 8-Rotating base, 9-Crawler chassis, 10-Moving pulley, 11-Steel rope, 12-Hydraulic rod, 13-Rotation adjustment mechanism, 131-Rotary motor, 132-Connecting shaft, 133-Bearing seat, 134-Connecting rod, 135-Slide rail swing cylinder, 136-Connecting seat, 14-Rock wall. Detailed Implementation

[0020] 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. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] In this patent, the terms "comprising," "including," or any other variations thereof are intended to cover a 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 limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0024] Example 1 like Figure 1-12As shown, this embodiment of the invention provides a mechanical drilling device for controlling over-excavation of holes around a tunnel, including a head limiting mechanism 1, a drill rod 2, a middle limiting adjustment mechanism 3, a U-shaped track beam 4, a middle drill bit support mechanism 5, a propulsion mechanism 6, a multi-axis robotic arm 7, a rotating base 8, a tracked chassis 9, and a rotation adjustment mechanism 13; wherein, the tracked chassis 9 serves as the mobile carrier and power supply foundation of the device, providing stable mobile support and power output for the entire device; the rotating base 8 is fixedly mounted on the top of the tracked chassis 9. The multi-axis robotic arm 7 is used to achieve horizontal rotation adjustment of the upper structure of the device; it is fixed to the top of the rotating base 8 and can flexibly adjust the working posture of the device through multi-degree-of-freedom motion; the free end of the multi-axis robotic arm 7 is equipped with a rotation adjustment mechanism 13, and the top of the rotation adjustment mechanism 13 is fixed with a U-shaped track beam 4, which is used to drive the U-shaped track beam 4 to achieve multi-angle rotation fine adjustment to adapt to the drilling requirements of different orientations of the tunnel perimeter holes; the front end of the U-shaped track beam 4 is fixedly equipped with a head limiting mechanism 1, and the upper edge of the U-shaped track beam 4 is along its length The U-shaped track beam 4 is equipped with a central limiting adjustment mechanism 3, a central support mechanism 5, and a propulsion mechanism 6, which slide and connect sequentially from front to back in the angular direction. A drill rod 2 is detachably mounted at the front end of the propulsion mechanism 6. The drill rod 2 passes through the central support mechanism 5, the central limiting adjustment mechanism 3, and the head limiting mechanism 1, achieving multi-point limiting and guiding of the drill rod 2 and ensuring stability during drilling. A hydraulic rod 12 is fixedly mounted at the rear end of the U-shaped track beam 4. The output end of the hydraulic rod 12 is fixedly connected to the central support mechanism 5, forming the power source for the central support mechanism 5. The drive structure includes a steel rope 11 fixedly connected to the front end of the propulsion mechanism 6. The other end of the steel rope 11 passes around the intermediate support mechanism 5 and is fixedly connected to the rear end of the U-shaped track beam 4. During operation, the hydraulic rod 12 extends and retracts, pushing the intermediate support mechanism 5 forward smoothly along the length of the U-shaped track beam 4. Simultaneously, the steel rope 11 pulls the propulsion mechanism 6 forward, providing axial rotational power to drive the drill rod 2 forward, completing the drilling operation around the tunnel. This device adjusts the vertical height of the drill rod 2 through the central limit adjustment mechanism 3, and, combined with the fixed limit of the drill rod 2 by the intermediate support mechanism 5, adjusts the posture of the drill rod 2, allowing for precise and controllable bending deformation and angle adjustment. This eliminates the need for extensive over-excavation space when operating near the rock face, fundamentally reducing technical over-excavation and thus lowering the consumption of support materials, significantly improving the economic benefits of the device.

[0025] Furthermore, the head limiting mechanism 1 includes a tail plate 101, a T-shaped pressure plate 103, a first rubber sleeve 104, a wing plate 105, and a rubber block 106. The tail plate 101 is fixed to the front end of the U-shaped track beam 4 by bolts, serving as the overall installation reference for the head limiting mechanism 1, effectively improving the overall assembly strength and installation stability of the mechanism. The tailstock plate 101 has wing plates 105 fixed on both sides of its upper end. The rubber block 106 is fixedly connected to the wing plates 105 by bolts and is fixedly installed at the front end of the tailstock plate 101. The top of the rubber block 106 has an arc-shaped groove that matches the outer diameter of the drill rod 2, which is used to support and initially limit the drill rod 2, reducing the shaking and displacement of the drill rod 2 during placement and feeding. The top of the tailstock plate 101 has a U-shaped groove 102. A first rubber sleeve 104 is movably disposed in the U-shaped groove 102. The vertical dimension of the first rubber sleeve 104 is smaller than the vertical height of the U-shaped groove 102, so that the first rubber sleeve 104... It can adaptively move vertically within the U-shaped groove 102, thereby matching the height adjustment of the drill rod 2 by the central limiting adjustment mechanism 3. This facilitates the normal passage of the drill rod 2 after bending, and avoids jamming or rigid interference caused by height adjustment. The top of the tailstock plate 101 is fixedly equipped with a T-shaped pressure plate 103, which is used to vertically limit and constrain the first rubber sleeve 104 to prevent the first rubber sleeve 104 from coming off during operation. The first rubber sleeve 104 has a through hole in the middle along the axial direction for the drill rod 2 to pass through. While guiding the drill rod 2, it also reduces surface wear of the drill rod 2 through flexible contact, thereby improving the guiding accuracy and service life of the drill rod.

[0026] Furthermore, the central limiting adjustment mechanism 3 includes a U-shaped base 301, a limiting groove 302, a second rubber sleeve 303, a screw 306, a nut 307, a first sliding base 308, a first clamping block 309, and a second bolt 310. The first sliding base 308 is mounted on the top of the U-shaped track beam 4. Both ends of the first sliding base 308 are fastened to the first clamping block 309 by the second bolt 310, so that the first clamping block 309 and the first sliding base 308 form a trapezoidal clamping groove. This trapezoidal clamping groove and the trapezoidal slide rails provided on both sides of the top of the U-shaped track beam 4 achieve precise engagement, thereby realizing the slidable assembly of the first sliding base 308 on the U-shaped track beam 4, while ensuring the sliding... The structure maintains stability during operation, preventing displacement and loosening. Furthermore, by adjusting the tightness of the second bolt 310, the first clamping block 309 and the first sliding base 308 can cooperate to clamp and position the trapezoidal slide rail on the U-shaped track beam 4, thereby firmly fixing the central limiting adjustment mechanism 3 to the preset position of the U-shaped track beam 4, meeting the limiting and fixing requirements under different operating scenarios. A nut 307 is fixedly installed in the middle of the first sliding base 308, and a screw 306 is internally threaded onto the nut 307. The upper end of the screw 306 is rotatably connected to the U-shaped base 301. By turning the screw 306, the U-shaped base 301 can be driven to achieve vertical height adjustment, thus adapting to the guiding and support requirements of drill rods in different postures. The U-shaped base 301 is internally fitted with a second rubber sleeve 303. Limiting grooves 302 are formed at the upper ends of the vertical plates on both sides of the U-shaped base 301. A wire is wound in a figure-eight shape within the limiting grooves 302 to fix the second rubber sleeve 303 inside the U-shaped base 301. This assembly method is simple, secure, and easy to disassemble and replace. The second rubber sleeve 303 has a through hole along its axial direction in the middle that matches the outer diameter of the drill rod 2, allowing the drill rod 2 to pass through and providing guidance and radial limiting, effectively constraining the working posture of the drill rod 2. The radial runout and sway of the drill rod 2 during operation are reduced, improving the stability of the drill rod operation. By turning the screw 306, the vertical height of the U-shaped base 301 can be adjusted, thereby adaptively adjusting the support height of the drill rod 2. Utilizing the elastic characteristics of the drill rod itself, under the cooperative constraint of the intermediate support mechanism 5, the drill rod 2 forms a smooth and continuous curved arc, thereby changing the ejection angle of the drill rod end. Finally, the drill rod end extends into the rock wall 14 at a preset angle, achieving precise control of the drilling angle and stable operation.

[0027] Furthermore, the central limiting adjustment mechanism 3 also includes a limiting plate 304 and a first bolt 305. An annular groove is formed on the outer periphery of the upper end of the screw 306, and a circular groove is formed on the bottom of the U-shaped base 301. The inner diameter of the circular groove is larger than the outer diameter of the upper end of the screw 306. The upper end of the screw 306 is adapted to abut against the circular groove at the bottom of the U-shaped base 301. The limiting plate 304 is engaged in the annular groove of the screw 306 and fixed to the bottom of the U-shaped base 301 by the first bolt 305. This forms a rotating fit structure between the screw 306 and the U-shaped base 301, which allows relative rotation in the circumference and axial limiting constraint. By adopting the above-mentioned rotating connection structure, it can be ensured that the screw 306 stably drives the U-shaped base 301 to rise and fall vertically during the rotation adjustment process, effectively preventing axial movement, radial offset and axial separation between the screw 306 and the U-shaped base 301. This significantly improves the coaxiality, stability and adjustment accuracy of the height adjustment, and ensures the reliability of the drill pipe guide support.

[0028] Further, the intermediate drill bit support mechanism 5 includes a drill bit support 501, a second sliding base 502, a second clamping block 503, a third bolt 504, a supporting side plate 505, a supporting baffle 506, a rotating shaft 507, and a movable pulley 10; wherein, the second sliding base 502 is mounted on the top of the U-shaped track beam 4, and the drill bit support 501 is bolted to the top of the second sliding base 502. The drill bit support 501 is used to radially clamp and guide the drill rod 2, ensuring the stability of the drill rod 2 during operation; both ends of the bottom of the second sliding base 502 are fastened to the second clamping block 503 by the third bolt 504, so that the second clamping block 503 and the second sliding base 502 form a trapezoidal clamping groove, which is connected to the top of the U-shaped track beam 4. The trapezoidal slide rails on the side enable precise engagement, allowing the second sliding base 502 to slide on the U-shaped track beam 4. This also effectively limits the radial displacement of the second sliding base 502, preventing it from shifting or loosening during sliding. Symmetrically arranged support side plates 505 are fixedly mounted at the bottom of the second sliding base 502. These symmetrically arranged support side plates 505 are rotatably connected to the movable pulley 10 via a pivot 507, ensuring the movable pulley 10 can rotate flexibly around the pivot 507. Support baffles 506 are fixedly mounted between the rear ends of the symmetrically arranged support side plates 505. The outer wall of the support baffle 506 is fixedly connected to the output end of the hydraulic rod 12. Through the extension and retraction of the hydraulic rod 12, the intermediate support mechanism 5 can be driven to move along the length of the U-shaped track beam 4.

[0029] Furthermore, the propulsion mechanism 6 includes a propeller 601, a third sliding base 602, a third clamping block 603, and a fourth bolt 604; wherein, the third sliding base 602 is mounted on the top of the U-shaped track beam 4, and its front end is fixedly connected to one end of the steel cable 11 to bear the traction force of the steel cable 11, thereby realizing the synchronous movement of the propulsion mechanism 6 and the intermediate support mechanism 5; the propeller 601 is fixedly mounted on the top of the third sliding base 602 by bolts, and the propeller 601 is used to provide stable and uniform rotational power to the drill rod 2, driving the drill rod 2 to rotate at high speed; the bottom of both ends of the third sliding base 602 All are fastened to the third clamping block 603 by the fourth bolt 604, so that the third clamping block 603 and the third sliding base 602 form a trapezoidal clamping groove that fits the trapezoidal slide rail of the U-shaped track beam 4. The trapezoidal clamping groove and the trapezoidal slide rails on both sides of the top of the U-shaped track beam 4 are precisely engaged, thereby realizing the sliding assembly of the third sliding base 602 on the U-shaped track beam 4. At the same time, it can effectively limit the radial displacement of the third sliding base 602, prevent it from shifting laterally or loosening during sliding, ensure the stability of the overall sliding posture of the propulsion mechanism 6, and ensure the continuity of the rotational power transmission.

[0030] Furthermore, the rotation adjustment mechanism 13 includes a rotary motor 131, a connecting shaft 132, a bearing seat 133, and a connecting base 136. The rotary motor 131 is fixedly mounted on the free end of the multi-axis robotic arm 7. The output shaft of the rotary motor 131 is vertically fixed to the connecting shaft 132. The other end of the connecting shaft 132 is rotatably connected to the bearing seat 133. The bearing seat 133 is fixedly mounted on the bottom of the connecting base 136. The top of the connecting base 136 is fixedly mounted on the bottom of the U-shaped track beam 4. During operation, the rotary motor 131 drives the output shaft to rotate, which synchronously drives the connecting shaft 132 to rotate. Then, the bearing seat 133 and the connecting base 136 are linked to the U-shaped track beam 4, so that the U-shaped track beam 4 can be rotated controllably around the output shaft of the rotary motor 131, thereby adjusting the working angle of the U-shaped track beam 4 and the components assembled on it.

[0031] Furthermore, the rotation adjustment mechanism 13 also includes a connecting rod 134 and a slide rail swing cylinder 135. The connecting rod 134 is fixed to the outer wall of the connecting shaft 132. The other end of the connecting shaft 132 away from the rotary motor 131 is hinged to the output end of the slide rail swing cylinder 135. The fixed end of the slide rail swing cylinder 135 is hinged to the connecting seat 136. During operation, the extension and retraction of the slide rail swing cylinder 135 can drive the connecting seat 136 to rotate around the connecting shaft 132. Then, through the linkage of the bearing seat 133 and the connecting seat 136, the U-shaped track beam 4 can be controlled to rotate around the connecting shaft 132. Finally, the vertical tilt angle of the U-shaped track beam 4 can be precisely adjusted so that the U-shaped track beam 4 can adapt to the drilling requirements of different vertical tilt angles of the holes around the tunnel. This works in conjunction with the horizontal rotation driven by the rotary motor 131 to improve the angle adjustment function of the rotation adjustment mechanism.

[0032] Example 2 Combination Figure 1-12 This invention provides a mechanical drilling method for controlling over-excavation of holes around a tunnel, which is implemented using a mechanical drilling device for controlling over-excavation of holes around a tunnel. The specific steps are as follows: S100: According to the drilling angle, adjust the middle limiting adjustment structure 3 to slide along the trapezoidal slide rail of the U-shaped track beam 4, adjust the distance between it and the head limiting adjustment mechanism 1, tighten the second bolt 310 to fix it, adjust the vertical height of the U-shaped base 301 by turning the screw 306, and then adjust the support height of the drill rod 2 so that the drill rod 2 forms a smooth and continuous curved arc, and change the ejection angle of the drill rod end to match the drilling angle. S200: Drive the tracked chassis 9 to move the device to the preset working area at the tunnel face and lock it, and adjust the rotating base 8 so that the multi-axis robotic arm 7 is initially aligned with the hole on the rock wall 14 at the tunnel face. S300: The rotary motor 131 that drives the rotary adjustment mechanism 13 drives the connecting shaft 132 and the connecting seat 136 to rotate the U-shaped track beam 4 horizontally. The adjusting slide rail swing cylinder 135 extends and retracts to drive the connecting rod 134 and the connecting shaft 132 to rotate, thereby driving the U-shaped track beam 4 to tilt vertically so that the horizontal and vertical angles of the U-shaped track beam 4 are adapted to the tilt angle of the peripheral hole design. S400: Start the thruster 601 to provide stable rotational power for the drill rod 2, start the hydraulic rod 12 at the rear end of the U-shaped track beam 4, and its output end pushes the intermediate support mechanism 5 to move forward along the U-shaped track beam 4. Through the pulley 10, the steel rope 11 is pulled, which drives the propulsion mechanism 6 to move forward synchronously, so that the drill rod 6 can achieve controllable bending drill under two-point guidance constraints.

[0033] Those skilled in the art will readily understand that the above description is merely 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 scope of protection of the present invention.

Claims

1. A mechanical drilling device for controlling over-excavation of holes around a tunnel, characterized in that, It includes a head limiting mechanism (1), a drill rod (2), a middle limiting adjustment mechanism (3), a U-shaped track beam (4), a middle drill bit support mechanism (5), a propulsion mechanism (6), a multi-axis robotic arm (7), a rotating base (8), a tracked chassis (9), and a rotation adjustment mechanism (13); among which, The tracked chassis (9) serves as the mobile carrier and power supply base of the device. The rotating base (8) is fixed on the top of the tracked chassis (9). The multi-axis robotic arm (7) is fixed on the top of the rotating base (8). The free end of the multi-axis robotic arm (7) is equipped with a rotation adjustment mechanism (13). The top of the rotation adjustment mechanism (13) is fixed with a U-shaped track beam (4), which is used to drive the U-shaped track beam (4) to achieve multi-angle rotation fine adjustment. The front end of the U-shaped track beam (4) is fixedly equipped with a head limiting mechanism (1). The U-shaped track beam (4) is slidably connected from front to back along its length direction with a middle limiting adjustment mechanism (3), a middle support mechanism (5) and a propulsion mechanism (6). The front end of the propulsion mechanism (6) is detachably equipped with a drill rod (2). The drill rod (2) passes through the middle support mechanism (5), the middle limiting adjustment mechanism (3) and the head limiting mechanism (1) in sequence. The vertical height of the drill rod (2) is adjusted by the middle limiting adjustment mechanism (3). Combined with the fixed limiting of the drill rod (2) by the middle support mechanism (5), the posture of the drill rod (2) is adjusted so that the drill rod (2) produces a precise and controllable bending deformation, thereby realizing the angle adjustment of the drill rod (2). A hydraulic rod (12) is fixedly mounted on the rear end of the U-shaped track beam (4). The output end of the hydraulic rod (12) is fixedly connected to the intermediate support rod mechanism (5). A steel rope (11) is fixedly connected to the front end of the propulsion mechanism (6). The other end of the steel rope (11) passes around the intermediate support rod mechanism (5) and is fixedly connected to the rear end of the U-shaped track beam (4). Through the extension and retraction of the hydraulic rod (12), the intermediate support rod mechanism (5) is pushed forward along the length direction of the U-shaped track beam (4). Simultaneously, through the traction of the steel rope (11), the propulsion mechanism (6) is driven to move forward synchronously with the intermediate support rod mechanism (5). Then, the propulsion mechanism (6) provides axial rotation power to push the drill rod (2) forward and complete the drilling operation of the tunnel perimeter hole.

2. The mechanical drilling device for controlling over-excavation of holes around a tunnel according to claim 1, characterized in that, The head limiting mechanism (1) includes a tail plate (101), a T-shaped pressure plate (103), a first rubber sleeve (104), a wing plate (105), and a rubber block (106). The tail plate (101) is fixed to the front end of the U-shaped track beam (4) by bolts. Wing plates (105) are fixed on both sides of the upper end of the tail plate (101). The rubber block (106) is fixedly connected to the wing plate (105) by bolts and is fixedly installed at the front end of the tail plate (101). 106) An arc-shaped groove adapted to the outer diameter of the drill rod (2) is provided at the top. A U-shaped groove (102) is provided at the top of the tailstock plate (101). A first rubber sleeve (104) is movably arranged in the U-shaped groove (102). The vertical dimension of the first rubber sleeve (104) is smaller than the vertical height of the U-shaped groove (102). A T-shaped pressure plate (103) is fixedly installed at the top of the tailstock plate (101). A through hole for the drill rod (2) to pass through is provided in the middle of the first rubber sleeve (104) along the axial direction.

3. The mechanical drilling device for controlling over-excavation of holes around a tunnel according to claim 1, characterized in that, The central limiting adjustment mechanism (3) includes a U-shaped base (301), a limiting groove (302), a second rubber sleeve (303), a screw (306), a nut (307), a first sliding base (308), a first clamping block (309), and a second bolt (310). The first sliding base (308) is mounted on the top of the U-shaped track beam (4). The bottom ends of both ends of the first sliding base (308) are fastened to the first clamping block (309) by the second bolt (310), so that the first clamping block (309) and the first sliding base (308) are fastened together. The trapezoidal clamping groove is formed between the two sides of the top of the U-shaped track beam (4). The trapezoidal clamping groove and the trapezoidal slide rails set on both sides of the top of the U-shaped track beam (4) are precisely engaged, thereby realizing the sliding assembly of the first sliding base (308) on the U-shaped track beam (4). By adjusting the tightness of the second bolt (310), the first clamping block (309) and the first sliding base (308) can cooperate with each other to clamp and position the trapezoidal slide rails on the U-shaped track beam (4), thereby fixing the middle limit adjustment mechanism (3) firmly in the preset position of the U-shaped track beam (4). A nut (307) is fixedly installed in the middle of the first sliding base (308). A screw (306) is connected to the nut (307) by an internal thread. The upper end of the screw (306) is rotatably connected to the U-shaped base (301). A second rubber sleeve (303) is installed inside the U-shaped base (301). A limiting groove (302) is opened at the upper end of the vertical plates on both sides of the U-shaped base (301). The second rubber sleeve (303) is fixed inside the U-shaped base (301) by wrapping iron wire in the limiting groove (302) in a figure-eight shape. A through hole that matches the outer diameter of the drill rod (2) is opened in the middle of the second rubber sleeve (303) along the axial direction.

4. A mechanical drilling device for controlling over-excavation of holes around a tunnel according to claim 3, characterized in that, The middle limiting adjustment mechanism (3) also includes a limiting plate (304) and a first bolt (305). The upper outer periphery of the screw (306) is provided with an annular groove, and the bottom of the U-shaped base (301) is provided with a circular groove. The inner diameter of the circular groove is larger than the outer diameter of the upper end of the screw (306). The upper end of the screw (306) is adapted to abut against the circular groove at the bottom of the U-shaped base (301). The limiting plate (304) is snapped into the annular groove of the screw (306) and fixed to the bottom of the U-shaped base (301) by the first bolt (305).

5. A mechanical drilling device for controlling over-excavation of holes around a tunnel according to claim 1, characterized in that, The intermediate support mechanism (5) includes a support (501), a second sliding base (502), a second clamping block (503), a third bolt (504), a support side plate (505), a support baffle (506), a rotating shaft (507), and a movable pulley (10). The second sliding base (502) is mounted on the top of the U-shaped track beam (4). The support (501) is bolted to the top of the second sliding base (502). The bottom ends of both ends of the second sliding base (502) are fastened to the second clamping block (503) by the third bolt (504), so that the second clamping block (503) and the second sliding base (502) form a trapezoidal clamping groove. The trapezoidal clamping groove and the trapezoidal slide rails set on both sides of the top of the U-shaped track beam (4) are precisely engaged, thereby realizing the slidable assembly of the second sliding base (502) on the U-shaped track beam (4). The bottom of the second sliding base (502) is fixedly equipped with symmetrically arranged support side plates (505). The symmetrically arranged support side plates (505) are rotatably connected to the movable pulley (10) through a rotating shaft (507). A support baffle (506) is fixedly installed between the rear ends of the symmetrically arranged support side plates (505). The outer wall of the support baffle (506) is fixedly connected to the output end of the hydraulic rod (12).

6. A mechanical drilling device for controlling over-excavation of holes around a tunnel according to claim 1, characterized in that, The propulsion mechanism (6) includes a propeller (601), a third sliding base (602), a third clamping block (603), and a fourth bolt (604). The third sliding base (602) is mounted on the top of the U-shaped track beam (4), and its front end is fixedly connected to one end of the steel rope (11). The propeller (601) is fixedly mounted on the top of the third sliding base (602) by bolts. The bottom ends of both ends of the third sliding base (602) are fastened to the third clamping block (603) by the fourth bolt (604), so that the third clamping block (603) and the third sliding base (602) form a trapezoidal clamping groove that is adapted to the trapezoidal slide rail of the U-shaped track beam (4). The trapezoidal clamping groove and the trapezoidal slide rails preset on both sides of the top of the U-shaped track beam (4) are precisely engaged.

7. A mechanical drilling device for controlling over-excavation of holes around a tunnel according to claim 1, characterized in that, The rotation adjustment mechanism (13) includes a rotary motor (131), a connecting shaft (132), a bearing seat (133), and a connecting base (136). The rotary motor (131) is fixed to the free end of the multi-axis robotic arm (7). The output shaft of the rotary motor (131) is vertically fixed to the connecting shaft (132). The other end of the connecting shaft (132) is rotatably connected to the bearing seat (133). The bearing seat (133) is fixed to the bottom of the connecting base (136). The top of the connecting base (136) is fixed to the bottom of the U-shaped track beam (4).

8. A mechanical drilling device for controlling over-excavation of holes around a tunnel according to claim 7, characterized in that, The rotary adjustment mechanism (13) further includes a connecting rod (134) and a slide rail swing cylinder (135). The connecting rod (134) is fixed to the outer wall of the connecting shaft (132). The other end of the connecting shaft (132) away from the rotary motor (131) is hinged to the output end of the slide rail swing cylinder (135). The fixed end of the slide rail swing cylinder (135) is hinged to the connecting seat (136).

9. A mechanical drilling method for controlling over-excavation of holes around a tunnel, characterized in that, The method employs a mechanical drilling device for controlling over-excavation of tunnel perimeter holes as described in any one of claims 1-8, characterized by comprising the following steps: S100: According to the drilling angle, adjust the middle limiting adjustment structure (3) to slide along the trapezoidal slide rail of the U-shaped track beam (4), adjust the distance between it and the head limiting adjustment mechanism (1), tighten the second bolt (310) to fix it, adjust the vertical height of the U-shaped base (301) by turning the screw (306), and then adjust the support height of the drill rod (2) so that the drill rod (2) forms a smooth and continuous curved arc, and change the ejection angle of the drill rod end to match the drilling angle; S200: Drive the tracked chassis (9), move the device to the preset working area at the tunnel face and lock it, adjust the rotating base (8) so that the multi-axis robotic arm (7) is initially aligned with the hole on the rock wall (14) of the tunnel face; S300: The rotary motor (131) that drives the rotary adjustment mechanism (13) drives the connecting shaft (132) and connecting seat (136) to rotate the U-shaped track beam (4) horizontally. The sliding rail swing cylinder (135) is adjusted to extend and retract, driving the connecting rod (134) and connecting shaft (132) to rotate, thereby driving the U-shaped track beam (4) to tilt vertically so that the horizontal and vertical angles of the U-shaped track beam (4) are adapted to the design tilt angle of the peripheral hole. S400: Start the thruster (601) to provide stable rotational power for the drill rod (2), start the hydraulic rod (12) at the rear end of the U-shaped track beam (4), and its output end pushes the intermediate support rod mechanism (5) to move along the U-shaped track beam (4) to the front end. Through the pulley (10), the steel rope (11) is pulled, which drives the propulsion mechanism (6) to move forward synchronously, so that the drill rod (6) can achieve controllable bending drill under two-point guidance constraints.

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