High-precision self-stabilizing tunnel construction positioning dotting robot

Abstract

The application discloses a high-precision self-stabilizing tunnel construction positioning dotting robot, and relates to the technical field of tunnel construction, which comprises a crawling robot, fixing mechanisms, a third motor, a conversion mechanism and a lifting mechanism. The fixing mechanisms are rotationally connected to the periphery of the bottom of the crawling robot. The third motor is fixedly connected to the top of the front-side boss of the crawling robot, and the bottom output shaft of the third motor penetrates through the front-side boss of the crawling robot and is rotationally connected to the inside of the front-side boss. The bottom output shaft of the third motor is fixedly connected with the conversion mechanism. The lifting mechanism is fixedly connected to the top of the right front end of the platform of the crawling robot. The fixing mechanisms are arranged to drill holes in the tunnel wall and insert the first drill bit into the holes, thereby fixing the crawling position of the crawling robot, reducing the accumulation of slight deviations and preventing the overall line from deviating from the designed track.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, specifically a high-precision self-stabilizing tunnel construction positioning and marking robot. Background Technology

[0002] During tunnel construction, it is necessary to drill holes in the inner wall of the tunnel to insert anchor bolts to fix the suspension device. Before drilling, it is necessary to measure and mark the drilling position. The traditional method is to use a laser measuring instrument to locate the drilling position, and then manually mark the laser-designated point with colored paint. Since the marking point is at a high position, it is necessary to manually mark it at high altitude using a ladder truck, which is time-consuming and risky.

[0003] Because tunnel construction is carried out in segments, if the moving parts are not fixed, the small deviations during each drilling will accumulate as construction progresses, eventually causing the overall line to deviate from the design trajectory. In tunnel construction, marker points are important references for subsequent construction. Current technology makes it difficult to fix the marker points to the tunnel wall, which may cause the marker points to disappear due to external factors during construction, reducing the accuracy and reliability of the measurement results. In addition, the properties and hardness of the surrounding rock may change during tunnel construction. Different types and specifications of drill bits are required for drilling different surrounding rocks. Current technology makes it difficult to replace drill bits, reducing the quality and efficiency of drilling. Finally, during tunnel construction, the height of the target to be measured may vary. Existing technologies make it difficult to adjust the position of the laser rangefinder, thus making it difficult to meet the measurement needs of different areas and reducing measurement accuracy. During use, existing technologies also make it difficult to adjust the angle of the laser rangefinder, making it difficult to align the laser beam with the target at different locations, further reducing measurement accuracy. In addition, some devices are difficult to simultaneously reduce external light interference with the laser rangefinder and detect the adjustment angle during use, resulting in limited practicality. Summary of the Invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides a high-precision self-stabilizing tunnel construction positioning and marking robot.

[0005] This invention is achieved by constructing a high-precision self-stabilizing tunnel construction positioning and marking robot. The device includes a crawling robot, with fixed mechanisms rotatably connected to all four sides of the bottom of the crawling robot. A third motor is fixedly connected to the top of the front protrusion of the crawling robot, and the bottom output shaft of the third motor passes through the front protrusion of the crawling robot and is rotatably connected to its interior. A conversion mechanism is fixedly connected to the bottom output shaft of the third motor, and a lifting mechanism is fixedly connected to the top right front end of the crawling robot platform. The fixing mechanism includes a first mounting box, which is rotatably connected to all four sides of the bottom of the crawling robot. A mounting plate is fixedly connected to the lower part of the first mounting box. Mounting seats are fixedly connected to the front and rear sides of the top left end of the mounting plate. A first motor is fixedly connected to the left end of the mounting seat on the front side of the top of the mounting plate. A first cam is fixedly connected to the right output shaft of the first motor. The bottom of the first cam contacts a first swing rod. A second motor is fixedly connected to the bottom front end of the first swing rod. A first drill bit is fixedly connected to the bottom output shaft of the second motor.

[0006] Preferably, the conversion mechanism includes a second mounting box, the bottom output shaft of the third motor is fixedly connected to the second mounting box, a fixing plate is fixedly connected to the bottom rear end of the second mounting box, a fourth motor is fixedly connected to the upper back of the fixing plate, a contact wheel is fixedly connected to the front output shaft of the fourth motor, the contact wheel and the grooved wheel are intermittently engaged, a sliding rotating block is fixedly connected to the front end of the grooved wheel through a wheel rod, a moving rod is slidably connected to the left and right sides of the front end of the sliding rotating block, the moving rod is fixedly connected to the first connecting block, a fifth motor is fixedly connected to the top of the first connecting block, a second drill bit is fixedly connected to the bottom output shaft of the fifth motor, a first connecting rod is fixedly connected to the left and right sides of the front end of the fixing plate, and a first laser rangefinder is fixedly connected to the front end of the first connecting rod.

[0007] Preferably, the lifting mechanism includes a third mounting box. The third mounting box is fixedly connected to the top right front end of the crawling robot platform. A sixth motor is fixedly connected to the right front end of the third mounting box. A second cam is fixedly connected to the output shaft at the back of the sixth motor. The top of the second cam contacts a contact block. The upper part of the outer wall of the contact block is fixedly connected to the inner right end of the second swing rod. The bottom left end of the second swing rod is fixedly connected to the top of a spring. The bottom of the spring is fixedly connected to the top rear end of the mounting block. A first fixing rod is fixedly connected to the center of the front end of the second swing rod. A first electromagnetic block is fixedly connected to the center of the back of the second swing rod. The back of the first electromagnetic block is magnetically attracted to the gear inside the gear plate. A second electromagnetic block is fixedly connected to the back of the gear plate. A second connecting block is fixedly connected to the top of the gear plate. A fixing mounting rod is fixedly connected to the top of the second connecting block. An angle adjustment mechanism is fixedly connected to the top of the fixing mounting rod.

[0008] Preferably, the angle adjustment mechanism includes a fourth mounting box, the top of the fixed mounting rod is fixedly connected to the fourth mounting box, the bottom of the fourth mounting box is fixedly connected to a stepper motor, the top output shaft of the stepper motor is fixedly connected to a second connecting rod, and the second connecting rod is segmented, specifically composed of two sets of rods that are sleeved together. The upper and lower rods of the second connecting rod are respectively inserted and fixed to the upper and lower slots of the electromagnetic clutch. An angle sensor is provided on the outer wall of the upper rod of the second connecting rod, the top of the upper rod of the second connecting rod is fixedly connected to a mounting shell, a second laser rangefinder is fixedly connected inside the mounting shell, and two sets of second fixed rods are fixedly connected to the right rear end of the mounting shell. A narrow band filter is fixedly connected to the right end of the second fixed rod.

[0009] Preferably, the left end of the first cam is rotatably connected to the right end of the mounting seat on the front side of the top of the mounting plate, and the left rear end of the first swing rod is rotatably connected to the right end of the mounting seat on the rear end of the top of the mounting plate through the mounting rod. The front end of the top of the mounting plate and the front end of the bottom of the first mounting box are both provided with empty slots, and the empty slots are slidably connected to the first swing rod.

[0010] Preferably, the back of both the contact wheel and the grooved wheel are rotatably connected to the upper front end of the fixed plate, and the back of the first connecting block is slidably connected to the lower front end of the fixed plate.

[0011] Preferably, the second drill bit passes through the top of the first connecting block and the bottom of the second mounting box and is rotatably connected to its interior, and the first laser rangefinder is electrically connected to the external display screen.

[0012] Preferably, the back of the second cam is rotatably connected to the right rear end of the third mounting box, the front end of the mounting block is fixedly connected to the front end of the third mounting box, and the front end of the first fixing rod is rotatably connected to the front end of the third mounting box.

[0013] Preferably, the first electromagnetic block and the second electromagnetic block are both electrically connected to an external current output device, the second electromagnetic block is magnetically attracted to the rear end of the third mounting box, and the fixed mounting rod passes through the top of the third mounting box and is slidably connected to its interior.

[0014] Preferably, the second laser rangefinder is electrically connected to an external display screen, and the narrowband filter is located on the right side of the second laser rangefinder.

[0015] The present invention has the following advantages: This invention provides a high-precision, self-stabilizing tunnel construction positioning and marking robot, which, compared with similar equipment, has the following improvements: This invention discloses a high-precision self-stabilizing tunnel construction positioning and marking robot. It includes a fixing mechanism that fixes the robot's crawling position by drilling holes in the tunnel wall and inserting a first drill bit into the hole, reducing the accumulation of small deviations and preventing the overall trajectory from deviating from the design path. A conversion mechanism fixes the marking points to the tunnel wall by rotating and moving a second drill bit, and inserts anchor bolts, improving the accuracy and reliability of the measurement results. Simultaneously, by switching to a suitable second drill bit, it adapts to different surrounding rock types, improving drilling quality and efficiency. A lifting mechanism adjusts the height of a second laser rangefinder to meet the measurement needs of different areas, improving measurement accuracy. An angle adjustment mechanism adjusts the angle of the second laser rangefinder to align the laser beam with targets at different locations, improving measurement accuracy. A narrow-band filter reduces light interference. Finally, trigonometric functions are used to detect the distance between the curved and flat surfaces of the tunnel wall, thereby achieving precise point location. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the crawling robot of the present invention; Figure 2 This is a three-dimensional exploded view of the fixing mechanism of the present invention; Figure 3 This is a three-dimensional exploded view of the conversion mechanism of the present invention; Figure 4 This is the present invention. Figure 3 Enlarged structural diagram at point A; Figure 5 This is a three-dimensional exploded view of the lifting mechanism of the present invention; Figure 6 This is the present invention. Figure 5 Enlarged structural diagram at point B; Figure 7 This is a three-dimensional exploded view of the angle adjustment mechanism of the present invention.

[0017] The components include: crawling robot-1, fixing mechanism-2, first mounting box-21, mounting plate-22, mounting base-23, first motor-24, first cam-25, first swing rod-26, second motor-27, first drill bit-28, third motor-3, conversion mechanism-4, second mounting box-41, fixing plate-42, fourth motor-43, contact wheel-44, grooved wheel-45, sliding rotating block-46, moving rod-47, first connecting block-48, fifth motor-49, second drill bit-410, first connecting rod-411, first laser rangefinder-412, lifting mechanism-5, and third mounting box-51. 52. Sixth motor; 53. Second cam; 54. Contact block; 55. Second swing rod; 56. Spring; 57. Mounting block; 58. First fixing rod; 59. First electromagnetic block; 510. Gear plate; 511. Second electromagnetic block; 512. Second connecting block; 513. Fixed mounting rod; 514. Angle adjustment mechanism; 514. Fourth mounting box; 5141. Stepper motor; 5142. Second connecting rod; 5143. Electromagnetic clutch; 5144. Angle sensor; 5145. Mounting housing; 5146. Second laser rangefinder; 5147. Second fixing rod; 5148. Narrow band filter; 5149. Detailed Implementation

[0018] The following is in conjunction with the appendix Figures 1-7 The principles and features of the present invention are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" 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; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0021] Example 1: Please refer to Figures 1-2 The present invention discloses a high-precision self-stabilizing tunnel construction positioning and marking robot, comprising a crawling robot 1, with fixed mechanisms 2 rotatably connected to all four sides of the bottom of the crawling robot 1, a third motor 3 fixedly connected to the top of the front boss of the crawling robot 1, and the bottom output shaft of the third motor 3 passing through the front boss of the crawling robot 1 and rotatably connected to its interior, a conversion mechanism 4 fixedly connected to the bottom output shaft of the third motor 3, and a lifting mechanism 5 fixedly connected to the top right front end of the platform of the crawling robot 1.

[0022] The fixing mechanism 2 includes a first mounting box 21. The first mounting box 21 is rotatably connected to all four sides of the bottom of the crawling robot 1. A servo motor for adjusting its angle is installed at the connection between the crawling robot 1 and the first mounting box 21.

[0023] An installation plate 22 is fixedly connected to the lower part of the first installation box 21. An installation seat 23 is fixedly connected to the front and rear sides of the top left end of the installation plate 22. The installation plate 22 facilitates the installation and fixing of the installation seat 23.

[0024] The first motor 24 is fixedly connected to the left end of the mounting base 23 on the top front side of the mounting plate 22, and the first cam 25 is fixedly connected to the right end output shaft of the first motor 24. The first motor 24 and the first cam 25 are eccentrically set.

[0025] The bottom of the first cam 25 contacts the first swing rod 26. The front end of the bottom of the first swing rod 26 is fixedly connected to the second motor 27. The first motor 24 facilitates the rotation of the first cam 25.

[0026] The first drill bit 28 is fixedly connected to the bottom output shaft of the second motor 27. The left end of the first cam 25 is rotatably connected to the right end of the mounting seat 23 on the front side of the top of the mounting plate 22. The left rear end of the first swing rod 26 is rotatably connected to the right end of the mounting seat 23 on the rear end of the top of the mounting plate 22 through the mounting rod. The second motor 27 can easily drive the first drill bit 28 to rotate.

[0027] Both the top front end of the mounting plate 22 and the bottom front end of the first mounting box 21 are provided with empty slots, and the empty slots are slidably connected to the first swing rod 26.

[0028] The working principle of a high-precision self-stabilizing tunnel construction positioning and marking robot based on Embodiment 1 is as follows: First, when using this device, place it in the work area, and then connect it to an external power source to provide the power required for its operation. Second, when tunnel measurement and marking are required, the crawling robot 1 crawls on the tunnel wall and measures the location to be marked through the lifting mechanism 5. When the required location is detected, the crawling position of the crawling robot 1 is fixed through the fixing mechanism 2, and then the anchor bolt is inserted into the location through the conversion mechanism 4 to complete the tunnel measurement and marking. Third, when it is necessary to fix the crawling position of the crawling robot 1, the angle of the first mounting box 21 is adjusted by the servo motor at the connection between the crawling robot 1 and the first mounting box 21 to make it suitable for the curvature of the tunnel wall. Then, the second motor 27 is started. The second motor 27 drives the first cam 25 to rotate. The first cam 25 drives the first swing rod 26 to swing downward in the mounting base 23 through the eccentric setting with the second motor 27. The first swing rod 26 drives the second motor 27 to move downward. The second motor 27 drives the first drill bit 28 to move downward. When the first drill bit 28 contacts the tunnel wall, the second motor 27 is started. The second motor 27 drives the first drill bit 28 to rotate. Through the rotation and movement of the first drill bit 28, a hole is drilled in the tunnel wall. By drilling a hole in the tunnel wall and inserting the first drill bit 28 into the hole, the crawling position of the crawling robot 1 is fixed, reducing the accumulation of small deviations and preventing the overall line from deviating from the design trajectory.

[0029] Example 2: Please refer to Figures 3-4 The present invention provides a high-precision self-stabilizing tunnel construction positioning and marking robot. Compared with the first embodiment, this embodiment further includes a conversion mechanism 4. The conversion mechanism 4 includes a second mounting box 41. The bottom output shaft of the third motor 3 is fixedly connected to the second mounting box 41. A fixing plate 42 is fixedly connected to the bottom rear end of the second mounting box 41. The second mounting box 41 facilitates the installation and fixing of the fixing plate 42.

[0030] A fourth motor 43 is fixedly connected to the upper back of the fixed plate 42. A contact wheel 44 is fixedly connected to the output shaft of the front end of the fourth motor 43. The contact wheel 44 and the grooved wheel 45 are intermittently engaged. A sliding groove rotating block 46 is fixedly connected to the front end of the grooved wheel 45 through a wheel rod. The contact wheel 44 facilitates the rotation of the grooved wheel 45.

[0031] The sliding rods 47 are slidably connected to the left and right sides of the front end of the sliding block 46. The sliding rods 47 are fixedly connected to the first connecting block 48. The fifth motor 49 is fixedly connected to the top of the first connecting block 48. The second drill bit 410 is fixedly connected to the bottom output shaft of the fifth motor 49. The fifth motor 49 can easily drive the second drill bit 410 to rotate.

[0032] The first connecting rod 411 is fixedly connected to both the left and right sides of the front end of the fixed plate 42. The first laser rangefinder 412 is fixedly connected to the front end of the first connecting rod 411. The back of the contact wheel 44 and the grooved wheel 45 are rotatably connected to the upper front end of the fixed plate 42. The first laser rangefinder 412 facilitates the detection of the movement position of the first connecting block 48.

[0033] The back of the first connecting block 48 is slidably connected to the lower front end of the fixing plate 42. The second drill bit 410 penetrates the top of the first connecting block 48 and the bottom of the second mounting box 41 and is rotatably connected to its interior. The first laser rangefinder 412 is electrically connected to the external display screen.

[0034] In this embodiment: When drilling is required to locate the point on the tunnel wall, the third motor 3 is started. The third motor 3 drives the second mounting box 41 to rotate 180 degrees. The second mounting box 41 drives the two sets of second drill bits 410 to rotate in a circular motion, so that the appropriate second drill bit 410 contacts the point on the tunnel wall. Then, the fourth motor 43 is started. The fourth motor 43 drives the contact wheel 44 to rotate slowly. The contact wheel 44 drives the grooved wheel 45 to rotate slowly. The grooved wheel 45 drives the sliding rotating block 46 to rotate slowly. The sliding rotating block 46, through its sliding connection with the moving rod 47, drives the moving rod 47, which is connected to the appropriate second drill bit 410, to move downwards. The moving rod 47 drives the first The connecting block 48 moves downward, driving the fifth motor 49 and the second drill bit 410 to move downward. The fifth motor 49 is then activated, causing the second drill bit 410 to rotate. The rotation and movement of the second drill bit 410 fixes the marker point to the tunnel wall and inserts anchor bolts, improving the accuracy and reliability of the measurement results. At the same time, by switching to a suitable second drill bit 410, different surrounding rock types can be adapted, improving the quality and efficiency of drilling. During drilling, the first laser rangefinder 412 detects the movement position of the first connecting block 48, thereby detecting the drilling depth of the second drill bit 410 and improving drilling accuracy.

[0035] Example 3: Please refer to Figures 5-6The present invention provides a high-precision self-stabilizing tunnel construction positioning and marking robot. Compared with the first embodiment, this embodiment further includes a lifting mechanism 5. The lifting mechanism 5 includes a third mounting box 51. The third mounting box 51 is fixedly connected to the right front end of the top of the crawling robot 1 platform. A sixth motor 52 is fixedly connected to the right front end of the third mounting box 51. The third mounting box 51 facilitates the installation and fixing of the sixth motor 52.

[0036] The output shaft of the sixth motor 52 is fixedly connected to the second cam 53. The top of the second cam 53 contacts the contact block 54. The upper part of the outer wall of the contact block 54 is fixedly connected to the inner right end of the second swing rod 55. The bottom left end of the second swing rod 55 is fixedly connected to the top of the spring 56. The contact block 54 facilitates the swinging of the second swing rod 55.

[0037] The bottom of the spring 56 is fixedly connected to the top rear end of the mounting block 57. The center of the front end of the second swing rod 55 is fixedly connected to the first fixing rod 58. The center of the back of the second swing rod 55 is fixedly connected to the first electromagnetic block 59. The back of the first electromagnetic block 59 is magnetically attracted to the gear inside the gear plate 510. The first fixing rod 58 facilitates the limited movement of the second swing rod 55.

[0038] A second electromagnetic block 511 is fixedly connected to the back of the inner gear plate of the gear plate component 510. A second connecting block 512 is fixedly connected to the top of the inner gear plate of the gear plate component 510. A fixed mounting rod 513 is fixedly connected to the top of the second connecting block 512. An angle adjustment mechanism 514 is fixedly connected to the top of the fixed mounting rod 513. The fixed mounting rod 513 facilitates the movement of the angle adjustment mechanism 514.

[0039] The back of the second cam 53 is rotatably connected to the right side of the rear end of the third mounting box 51. The front end of the mounting block 57 is fixedly connected to the front end of the third mounting box 51. The front end of the first fixing rod 58 is rotatably connected to the front end of the third mounting box 51. The first electromagnetic block 59 and the second electromagnetic block 511 are both electrically connected to the external current output device. The second electromagnetic block 511 is magnetically attracted to the rear end of the third mounting box 51. The fixing mounting rod 513 passes through the top of the third mounting box 51 and is slidably connected to its interior.

[0040] In this embodiment: When the height of the second laser rangefinder 5147 needs to be adjusted, the sixth motor 52 is started. The sixth motor 52 drives the second cam 53 to rotate, the second cam 53 drives the contact block 54 to move, and the contact block 54 drives the second swing rod 55 to swing downward to the left. At this time, the spring 56 retracts, and the second swing rod 55 drives the first electromagnetic block 59 to rotate. The first electromagnetic block 59 drives the internal gear of the gear plate 510 to rotate through magnetic attraction. The internal gear of the gear plate 510 drives the internal gear plate of the gear plate 510 to move upward. The internal gear plate of the gear plate 510 drives the second electromagnetic block 511 to move upward. Then, the second electromagnetic block 511 is driven to work through the external current output device, so that the second electromagnetic block 511 is magnetically attracted to the rear end of the third mounting box 51, thereby fixing the moving position. During the movement, the internal gear plate of the gear plate 510 synchronously drives the second electromagnetic block 511 to move downward. The second connecting block 512 moves upward, causing the fixed mounting rod 513 to move upward. The fixed mounting rod 513 then causes the angle adjustment mechanism 514 to move upward, which in turn causes the second laser rangefinder 5147 to move upward. When the second laser rangefinder 5147 needs to be moved upward again, the second swing rod 55 swings downward to the right due to the continuous rotation of the second cam 53 and the rebound of the spring 56. At this time, the first electromagnetic block 59 and the gear inside the gear plate 510 are in a non-magnetic adsorption state. Then, the sixth motor 52 is started, causing the second cam 53 to rotate. The second cam 53 then causes the contact block 54 to move, which in turn causes the second swing rod 55 to swing downward to the left. The above steps are repeated to achieve height adjustment of the second laser rangefinder 5147, meeting the measurement needs of different areas and improving measurement accuracy.

[0041] Example 4: Please refer to Figure 7 The present invention discloses a high-precision self-stabilizing tunnel construction positioning and marking robot. Compared with Embodiment 1, this embodiment further includes: an angle adjustment mechanism 514. The angle adjustment mechanism 514 includes a fourth mounting box 5141. The top of the fixed mounting rod 513 is fixedly connected to the fourth mounting box 5141. The bottom of the fourth mounting box 5141 is fixedly connected to a stepper motor 5142. The fourth mounting box 5141 facilitates the installation and fixing of the stepper motor 5142.

[0042] The top output shaft of the stepper motor 5142 is fixedly connected to a second connecting rod 5143, and the second connecting rod 5143 is segmented, specifically composed of two sets of rods that are sleeved together. The upper and lower rods of the second connecting rod 5143 are respectively inserted and fixed into the upper and lower slots of the electromagnetic clutch 5144, and the electromagnetic clutch 5144 can easily lock the second connecting rod 5143.

[0043] An angle sensor 5145 is provided on the outer wall of the upper end of the second connecting rod 5143. A mounting shell 5146 is fixedly connected to the top of the upper end of the second connecting rod 5143. A second laser rangefinder 5147 is fixedly connected inside the mounting shell 5146. The mounting shell 5146 facilitates the installation and fixation of the second laser rangefinder 5147.

[0044] Two sets of second fixing rods 5148 are fixedly connected to the right rear end of the mounting housing 5146. A narrow band filter 5149 is fixedly connected to the right end of the second fixing rod 5148. The second laser rangefinder 5147 is electrically connected to the external display screen. The narrow band filter 5149 is located on the right side of the second laser rangefinder 5147.

[0045] In this embodiment: When the angle of the second laser rangefinder 5147 needs to be adjusted, the electromagnetic clutch 5144 and the stepper motor 5142 are activated. The electromagnetic clutch 5144 engages the second connecting rod 5143, and the stepper motor 5142 drives the second connecting rod 5143 to rotate. The second connecting rod 5143 then drives the mounting housing 5146 to rotate, which in turn drives the second laser rangefinder 5147 to rotate. This allows for angle adjustment of the second laser rangefinder 5147, aligning the laser beam with targets at different positions and improving measurement accuracy. Then, the electromagnetic clutch 5144 and the stepper motor 5142 are activated. The second laser rangefinder 5147 reduces light interference through a narrow-band filter 5149 and detects the distance between itself and the previous set of anchor bolts. Then, an external laser rangefinder is moved by an external device, so that the external laser rangefinder detects the distance between the second laser rangefinder 5147 and the tunnel wall. The external laser rangefinder and the second laser rangefinder 5147 form a special angle during the detection. The distance between the curved surface and the flat surface of the tunnel wall is detected by trigonometric functions, thereby achieving accurate point location.

[0046] This invention provides a high-precision, self-stabilizing tunnel construction positioning and marking robot. It includes a fixing mechanism 2, which fixes the crawling robot 1's position by drilling holes in the tunnel wall and inserting a first drill bit 28 into the holes, reducing the accumulation of small deviations and preventing the overall trajectory from deviating from the design path. A conversion mechanism 4 fixes the marking points to the tunnel wall by rotating and moving a second drill bit 410, and inserts anchor bolts, improving the accuracy and reliability of the measurement results. Simultaneously, by switching to a suitable second drill bit 410, it adapts to different surrounding rock types, improving drilling quality and efficiency. A lifting mechanism 5 adjusts the height of a second laser rangefinder 5147 to meet the measurement needs of different areas, improving measurement accuracy. An angle adjustment mechanism 514 adjusts the angle of the second laser rangefinder 5147 to align the laser beam with targets at different locations, improving measurement accuracy. A narrow-band filter 5149 reduces light interference. Finally, trigonometric functions are used to detect the distance between the tunnel wall's curved and flat surfaces, thus achieving precise point location.

[0047] The above description shows and illustrates the basic principles, main features, and advantages of the present invention. Standard parts used in the present invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0048] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. 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 the invention. Therefore, the invention 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 disclosed herein.

Claims

1. A high-precision self-stabilizing tunnel construction positioning and marking robot, comprising a crawling robot (1), wherein the bottom of the crawling robot (1) is rotatably connected to a fixing mechanism (2) on all four sides, a third motor (3) is fixedly connected to the top of the front boss of the crawling robot (1), and the bottom output shaft of the third motor (3) passes through the front boss of the crawling robot (1) and is rotatably connected to its interior, a conversion mechanism (4) is fixedly connected to the bottom output shaft of the third motor (3), and a lifting mechanism (5) is fixedly connected to the right front end of the top of the platform of the crawling robot (1); Its features are: The fixing mechanism (2) includes a first mounting box (21). The first mounting box (21) is rotatably connected to the bottom of the crawling robot (1). A mounting plate (22) is fixedly connected to the lower part of the first mounting box (21). Mounting seats (23) are fixedly connected to the front and rear sides of the top left end of the mounting plate (22). A first motor (24) is fixedly connected to the left end of the mounting seat (23) on the front side of the top of the mounting plate (22). A first cam (25) is fixedly connected to the right output shaft of the first motor (24). The bottom of the first cam (25) is in contact with the first swing rod (26). A second motor (27) is fixedly connected to the bottom front end of the first swing rod (26). A first drill bit (28) is fixedly connected to the bottom output shaft of the second motor (27). The conversion mechanism (4) includes a second mounting box (41). The bottom output shaft of the third motor (3) is fixedly connected to the second mounting box (41). A fixing plate (42) is fixedly connected to the bottom rear end of the second mounting box (41). A fourth motor (43) is fixedly connected to the upper back of the fixing plate (42). A contact wheel (44) is fixedly connected to the front output shaft of the fourth motor (43). The contact wheel (44) and the grooved wheel (45) are intermittently engaged. A sliding groove rotating block is fixedly connected to the front end of the grooved wheel (45) through a wheel rod. 46) The sliding rods (47) are slidably connected to the left and right sides of the front end of the sliding block (46). The moving rods (47) are fixedly connected to the first connecting block (48). The top of the first connecting block (48) is fixedly connected to the fifth motor (49). The bottom output shaft of the fifth motor (49) is fixedly connected to the second drill bit (410). The left and right sides of the front end of the fixed plate (42) are fixedly connected to the first connecting rod (411). The front end of the first connecting rod (411) is fixedly connected to the first laser rangefinder (412). The lifting mechanism (5) includes a third mounting box (51). The third mounting box (51) is fixedly connected to the top right front end of the crawling robot (1) platform. A sixth motor (52) is fixedly connected to the right side of the front end inside the third mounting box (51). A second cam (53) is fixedly connected to the output shaft on the back of the sixth motor (52). The top of the second cam (53) contacts the contact block (54). The upper part of the outer wall of the contact block (54) is fixedly connected to the right end of the second swing rod (55). The bottom left end of the second swing rod (55) is fixedly connected to the top of the spring (56). The bottom of the spring (56) is fixedly connected to the rear end of the top of the mounting block (57). A first fixed rod (58) is fixedly connected to the center of the front end of the second swing rod (55), and a first electromagnetic block (59) is fixedly connected to the center of the back of the second swing rod (55). The back of the first electromagnetic block (59) is magnetically attracted to the gear inside the gear plate (510). A second electromagnetic block (511) is fixedly connected to the back of the gear plate inside the gear plate (510). A second connecting block (512) is fixedly connected to the top of the gear plate inside the gear plate (510). A fixed mounting rod (513) is fixedly connected to the top of the second connecting block (512). An angle adjustment mechanism (514) is fixedly connected to the top of the fixed mounting rod (513). The angle adjustment mechanism (514) includes a fourth mounting box (5141). The top of the fixed mounting rod (513) is fixedly connected to the fourth mounting box (5141). The bottom of the fourth mounting box (5141) is fixedly connected to a stepper motor (5142). The top output shaft of the stepper motor (5142) is fixedly connected to a second connecting rod (5143). The second connecting rod (5143) is segmented, specifically composed of two sets of rods that are sleeved together. The upper and lower rods of the second connecting rod (5143) are respectively connected to an electromagnetic induction generator. The connector (5144) is fixed by inserting into the upper and lower slots. An angle sensor (5145) is provided on the outer wall of the upper end of the second connecting rod (5143). A mounting shell (5146) is fixedly connected to the top of the upper end of the second connecting rod (5143). A second laser rangefinder (5147) is fixedly connected inside the mounting shell (5146). Two sets of second fixing rods (5148) are fixedly connected to the right rear end of the mounting shell (5146). A narrow band filter (5149) is fixedly connected to the right end of the second fixing rod (5148).

2. The high-precision self-stabilizing tunnel construction positioning and marking robot according to claim 1, characterized in that: The left end of the first cam (25) is rotatably connected to the right end of the mounting seat (23) on the front side of the top of the mounting plate (22). The left rear end of the first swing rod (26) is rotatably connected to the right end of the mounting seat (23) on the top rear end of the mounting plate (22) through the mounting rod. The top front end of the mounting plate (22) and the bottom front end of the first mounting box (21) are both provided with empty slots, and the empty slots are slidably connected to the first swing rod (26).

3. The high-precision self-stabilizing tunnel construction positioning and marking robot according to claim 2, characterized in that: The backs of the contact wheel (44) and the grooved wheel (45) are rotatably connected to the upper front end of the fixing plate (42), and the back of the first connecting block (48) is slidably connected to the lower front end of the fixing plate (42).

4. The high-precision self-stabilizing tunnel construction positioning and marking robot according to claim 3, characterized in that: The second drill bit (410) passes through the top of the first connecting block (48) and the bottom of the second mounting box (41) and is rotatably connected to its interior. The first laser rangefinder (412) is electrically connected to the external display screen.

5. The high-precision self-stabilizing tunnel construction positioning and marking robot according to claim 4, characterized in that: The back of the second cam (53) is rotatably connected to the right rear end of the third mounting box (51), the front end of the mounting block (57) is fixedly connected to the front end of the third mounting box (51), and the front end of the first fixing rod (58) is rotatably connected to the front end of the third mounting box (51).

6. The high-precision self-stabilizing tunnel construction positioning and marking robot according to claim 5, characterized in that: The first electromagnetic block (59) and the second electromagnetic block (511) are both electrically connected to the external current output device. The second electromagnetic block (511) is magnetically attracted to the rear end of the third mounting box (51). The fixed mounting rod (513) passes through the top of the third mounting box (51) and is slidably connected to its interior.

7. The high-precision self-stabilizing tunnel construction positioning and marking robot according to claim 6, characterized in that: The second laser rangefinder (5147) is electrically connected to an external display screen, and the narrowband filter (5149) is located on the right side of the second laser rangefinder (5147).

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