Tunnel groove punching robot

Abstract

The utility model discloses a tunnel groove punching robot, which relates to the technical field of tunnel engineering mechanical and electrical installation, and comprises a walking positioning mechanism, a punching mechanism and a tachometer wheel, the walking positioning mechanism is placed on the top surfaces of two side walls of a tunnel groove and is driven by a speed regulating motor to walk; the position of the vehicle body can be determined by detecting the moving distance of the frame body on the groove through the coded disc carried by the tachometer wheel, and the punching mechanism conducts drilling operation on the groove wall of the tunnel groove. According to the punching robot, automatic positioning and automatic punching can be achieved, the punching depth is controllable, the drilling quality of expansion bolt holes of electromechanical equipment is guaranteed, accurate installation of the equipment is guaranteed, labor input is reduced, safety accidents are reduced, and manual drilling errors are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of electromechanical installation of tunnel engineering, and more specifically to a tunnel groove drilling robot. Background Art

[0002] Tunnel electromechanical engineering is a comprehensive large-scale electromechanical engineering with complex systems, high technical integration, and high requirements for operational safety and reliability. It consists of ventilation facilities, lighting facilities, fire detection and alarm, traffic detection, control and induction facilities, central management and control facilities, power distribution facilities, fire protection facilities, and pre-buried pipelines.

[0003] Tunnel electromechanical engineering is a systematic project. The level of electromechanical engineering installation directly affects the safety and reliability of the tunnel electromechanical system. The installation of expansion bolts is involved in the construction process, and drilling of holes in the tunnel is required.

[0004] At present, the drilling device for expansion screws in the groove on the side of the tunnel is mainly realized manually: the drilling position is manually marked, and the workers drill holes according to the marked position. The depth is based on the workers' experience, and the drilling position is moved manually when encountering steel bars (which can easily cause injuries). The drilling accuracy is not high and often fails to achieve the expected effect. The drilling process is completely manual operation, with high labor intensity, harsh environment, inaccurate drilling positions, and frequent injuries.

[0005] Therefore, how to provide a robot for tunnel trench drilling to improve the accuracy of drilling positions, reduce labor input, adapt to drilling on three sides of tunnel trenches, and ensure the installation accuracy and installation effect of electromechanical engineering is a technical problem that technical personnel in this field urgently need to solve. Utility Model Content

[0006] In view of this, the utility model provides a tunnel trench drilling robot, aiming to solve the above technical problems.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A tunnel trench drilling robot, comprising:

[0009] A walking positioning mechanism, the walking positioning mechanism comprising a frame, a drive shaft, a speed regulating motor, a support frame and a guide wheel set;

[0010] A mounting plate is fixed at one end of the top surface of the frame, and the frame is rotatably connected to a driven wheel on the bottom surface corresponding to the mounting plate; the driving shaft is rotatably connected to the bottom surface of the frame away from the mounting plate, and driving wheels are fixed at both ends of the driving shaft; the speed regulating motor is sleeved on the middle part of the driving shaft and its rotor is transmission-connected to the driving shaft; the support frame is fixed on a side wall of the frame perpendicular to its forward direction, and a guide wheel is rotatably connected to the support frame, and the guide wheel group is two and respectively fixed at the front and rear ends corresponding to the frame, and the guide wheel group and the guide wheel are arranged at intervals to guide the walking trajectory of the frame along both sides of the tunnel groove wall;

[0011] A punching mechanism, the bottom of which is fixed on the surface of the mounting plate to perform drilling operations on the groove wall of the tunnel groove;

[0012] A speed measuring wheel is rotatably connected to the front end of the frame.

[0013] The beneficial effect of the above technical solution is that the walking positioning mechanism is placed on the top surface of the two side walls of the tunnel groove and is driven to move by a speed regulating motor. The guide wheel and the guide wheel group are clamped on both sides of a groove wall of the tunnel groove to guide the movement trajectory of the frame, so that the walking mechanism can adapt to the arc change in the length direction of the tunnel groove. The position of the vehicle body can be determined by detecting the distance moved by the frame on the groove using the code disk carried by the speed measuring wheel, and the drilling mechanism performs drilling operations on the groove wall of the tunnel groove.

[0014] Preferably, the guide wheel group includes a sliding frame, a first slider, a second slider, an L-shaped plate and a guide wheel, one end of the sliding frame is fixed perpendicular to the bottom surface of the frame body, one side wall of the first slider is slidably connected to the sliding frame, the second slider is slidably connected to the other side wall of the first slider, and the sliding direction of the second slider is perpendicular to the sliding direction of the first slider; the horizontal plate of the L-shaped plate is fixed to a side wall of the second slider relative to the first slider, the guide wheel is rotatably connected to the vertical plate of the L-shaped plate, and the guide wheel is arranged at intervals from the guide wheel. By adjusting the relative position of the first slider and the sliding frame, the height of the guide wheel can be adjusted, and by adjusting the relative position of the second slider and the first slider, the spacing between the guide wheel and the guide wheel can be adjusted, so that it can be used to adapt to tunnel groove walls of different heights and thicknesses, and the positioning is accurate and effective.

[0015] Preferably, a screw rod is rotatably connected to the first slider, and the length direction of the screw rod is parallel to the length direction of the first slider; the second slider is threadedly connected to the screw rod; one end of the screw rod extends out of the end of the first slider and is fixedly connected to a hand wheel. When the screw rod rotates, it drives the second slider to slide along the first slider, and by shaking the hand wheel, the position of the guide wheel can be easily adjusted to ensure that the guide wheel and the guide wheel can always be clamped on both sides of the groove wall.

[0016] Preferably, the guide wheel assembly further includes a support rod and a wheel seat, one end of the support rod is fixed perpendicularly to the plate surface of the vertical plate of the L-shaped plate, the wheel seat is hinged to the other end of the support rod, and the guide wheel is rotatably connected to the wheel seat. Due to construction errors, the thickness of the groove wall cannot be guaranteed to be 100% accurate. During the walking stage, the walking positioning mechanism will give the guide wheel a reaction force due to the change in the thickness of the groove wall. The force on the guide wheel can drive the wheel seat to rotate along the support rod for fine adjustment to ensure that the guide wheel always walks along the groove wall.

[0017] Preferably, the punching mechanism includes a base, a first rotating mechanism, a second rotating mechanism and a drill chuck; the bottom surface of the base is fixed to the mounting plate, a rotating wheel is rotatably connected to the base, the bottom end of the first rotating mechanism is fixedly sleeved on the rotating wheel, so that when the rotating wheel rotates, the first rotating mechanism can rotate; one end of the second rotating mechanism is hinged to the top of the first rotating mechanism, and the drill chuck is movably sleeved on the other end of the second rotating mechanism. According to the installation requirements of the expansion bolt, a suitable drill bit is selected to be clamped on the drill chuck, and the position of the drill chuck can be adjusted through the rotating mechanism to achieve precise drilling at a predetermined position.

[0018] Preferably, the first rotating mechanism includes a first rotating seat, a first rotating shaft and a first rotating arm; the first rotating seat is fixedly sleeved on the rotating wheel, the first rotating shaft passes through the first rotating seat and is fixed on the top thereof, and one end of the first rotating arm is hinged to the first rotating shaft. The rotating wheel can drive the first rotating seat to rotate, and the first rotating arm can be driven by the first driving motor to rotate around the first rotating shaft, thereby driving the second rotating mechanism to adjust its position along the trajectory of the first rotating arm.

[0019] Preferably, the second rotating mechanism includes a second rotating shaft, a second rotating seat, a fixing part and a second rotating arm; the second rotating shaft is arranged perpendicular to the first rotating arm, and one end thereof passes through and is fixedly connected to the end of the first rotating arm away from the first rotating seat, and a side wall of the second rotating seat is hinged to the other end of the second rotating shaft; the fixing part is fixed to the top surface of the second rotating seat, one end of the second rotating arm is fixed in the fixing part, and the other end of the second rotating arm is hinged to the drill chuck. The second rotating seat can rotate around the second rotating shaft, and the second rotating arm can rotate 360 ​​degrees through the fixing part. When the second rotating arm is adjusted into position, the drill chuck can be driven by the cylinder to perform drilling operations, thereby ensuring the accuracy of drilling, ensuring the effective installation of electromechanical equipment in the tunnel, reducing errors and labor input, and realizing automatic positioning and automatic drilling.

[0020] Preferably, the drill chuck is fixed on a fixing frame, and the fixing frame is hinged to an end of the second rotating arm away from the fixing member.

[0021] Preferably, two support frames are provided and are spaced apart and arranged on the same side of the frame body.

[0022] Preferably, four hanging rings are fixed at the four corners of the top surface of the frame.

[0023] It can be seen from the above technical solution that compared with the prior art, the utility model discloses a tunnel trench drilling robot that realizes automatic positioning and automatic drilling, and the drilling depth is controllable, thereby ensuring the drilling quality of the expansion bolt holes of electromechanical equipment, ensuring the precise installation of equipment, reducing labor input and reducing safety accidents, and reducing human drilling errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0025] Figure 1 This is a schematic diagram of the structure of the punching robot provided by the utility model;

[0026] Figure 2 A schematic diagram of the guide mechanism provided by the utility model;

[0027] Figure 3 A schematic diagram of a punching mechanism provided by the utility model;

[0028] Figure 4 A schematic diagram of the structure of the guide wheel group provided by the utility model;

[0029] Figure 5 This is a schematic diagram of the use of the punching robot provided by the utility model.

[0030] in,

[0031] 1-travel positioning mechanism; 11-frame; 12-mounting plate; 13-speed regulating motor; 14-driving shaft; 15-driving wheel; 16-driven wheel; 17-support frame; 18-guide wheel; 19-guide wheel group; 191-sliding frame; 192-first slider; 193-second slider; 194-screw rod; 195-L-type plate; 196-support rod; 197-wheel seat; 198-guide wheel; 199-handwheel;

[0032] 2-punching mechanism; 21-base; 22-rotating wheel; 23-first rotating seat; 24-first rotating arm; 25-second rotating shaft; 26-second rotating seat; 27-fixing member; 28-second rotating arm; 29-drill chuck;

[0033] 3-Tachometer wheel;

[0034] 4-Lifting rings;

[0035] 5- Tunnel trench. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] Embodiment 1:

[0038] See attached Figures 1 to 4 The utility model discloses a tunnel trench drilling robot capable of automatic positioning, automatic drilling and controllable drilling depth, which ensures the accuracy of tunnel electromechanical equipment installation and reduces the error of manual drilling, including:

[0039] The walking positioning mechanism 1 includes a frame 11, a driving shaft 14, a speed regulating motor 13, a supporting frame 17 and a guide wheel set 19;

[0040] A mounting plate 12 is fixed to one end of the top surface of the frame 11, and a driven wheel 16 is rotatably connected to the bottom surface of the frame 11 corresponding to the mounting plate 12; a driving shaft 14 is rotatably connected to the bottom surface of the frame 11 away from the mounting plate 12, and driving wheels 15 are fixed to both ends of the driving shaft 14; a speed regulating motor 13 is sleeved in the middle of the driving shaft 14 and its rotor is transmission-connected to the driving shaft 14; a support frame 17 is fixed to a side wall of the frame 11 perpendicular to its forward direction, and a guide wheel 18 is rotatably connected to the support frame 17, and there are two guide wheel groups 19 respectively fixed to the front and rear ends of the corresponding frame 11, and the guide wheel group 19 and the guide wheel 18 are arranged at intervals to guide the walking trajectory of the frame 11 along both sides of the tunnel groove wall;

[0041] A punching mechanism 2, the bottom of which is fixed on the surface of the mounting plate 12 to perform drilling operations on the wall of the tunnel groove;

[0042] The speed measuring wheel 3 is rotatably connected to the front end of the frame 11 .

[0043] In this embodiment, the guide wheel assembly 19 includes a sliding frame 191, a first slider 192, a second slider 193, an L-shaped plate 195 and a guide wheel 198;

[0044] One end of the sliding frame 191 is fixed to the bottom surface of the frame body 11, one side wall of the first slider 192 is slidably connected to the sliding frame 191, and the second slider 193 is slidably connected to the other side wall of the first slider 192. The sliding direction of the second slider 193 is perpendicular to the sliding direction of the first slider 192. The horizontal plate of the L-shaped plate 195 is fixed on the side wall of the second slider 193 opposite to the first slider 192, and the guide wheel 198 is rotatably connected to the vertical plate of the L-shaped plate 195, and the guide wheel 198 is arranged at intervals from the guide wheel 18.

[0045] See attached Figure 4 The first slider can slide up and down along the sliding frame to adjust the up and down position of the guide wheel along the groove wall. The second slider can slide left and right along the first slider to adjust the distance between the guide wheels. The distance between the guide wheels is the thickness of the groove wall. By setting the guide wheels to be adjustable, the driving positioning mechanism can adapt to use on tunnel groove walls of different heights and thicknesses.

[0046] In order to further optimize the above technical solution, a screw rod 194 is rotatably connected to the first slider 192, and the length direction of the screw rod 194 is parallel to the length direction of the first slider 192; the second slider 193 is threadedly connected to the screw rod 194; one end of the screw rod 194 extends out of the end of the first slider 192 and is fixedly connected to a handwheel 199.

[0047] Turning the hand wheel can rotate the screw rod, and when the screw rod rotates, it can drive the second slider to slide along the first slider. When the thickness of the groove wall changes greatly, the distance between the guide wheel and the guide wheel can be adjusted by turning the hand wheel.

[0048] In order to further optimize the above technical solution, the guide wheel group 19 also includes a support rod 196 and a wheel seat 197. One end of the support rod 196 is fixed perpendicular to the plate surface of the vertical plate of the L-shaped plate 195, and the wheel seat 197 is hinged at the other end of the support rod 196. The wheel seat 197 is rotatably connected to a guide wheel 198.

[0049] Due to some errors in the construction process, the thickness of the trench wall along the length of the tunnel trench will generally have an error of about 5mm. In order to prevent the guide wheel from always contacting the trench wall, the wheel group and the support tube are hinged by a spring. When the thickness of the trench wall changes, the wheel seat can be rotated slightly through the action of the spring, thereby fine-tuning the position of the guide wheel to meet the use requirements when there is an error in the thickness of the trench wall.

[0050] In this embodiment, the punching mechanism 2 includes a base 21, a first rotating mechanism, a second rotating mechanism and a drill chuck 29; the bottom surface of the base 21 is fixed on the mounting plate 12, and a rotating wheel 22 is rotatably connected to the base 21, and the bottom end of the first rotating mechanism is fixedly sleeved on the rotating wheel 22 so that when the rotating wheel 22 rotates, the first rotating mechanism can rotate; one end of the second rotating mechanism is hinged to the top end of the first rotating mechanism, and the drill chuck 29 is movably sleeved on the other end of the second rotating mechanism.

[0051] The first rotating mechanism includes a first rotating seat 23, a first rotating shaft and a first rotating arm 24; the first rotating seat 23 is fixedly sleeved on the rotating wheel 22, the first rotating shaft passes through the first rotating seat 23 and is fixed on the top end thereof, and one end of the first rotating arm 24 is hinged to the first rotating shaft.

[0052] The second rotating mechanism includes a second rotating shaft 25, a second rotating seat 26, a fixing member 27 and a second rotating arm 28; the second rotating shaft 25 is arranged perpendicular to the first rotating arm 24, and one end thereof passes through and is fixedly connected to an end of the first rotating arm 24 away from the first rotating seat 23, and a side wall of the second rotating seat 26 is hinged to the other end of the second rotating shaft 25; the fixing member 27 is fixed to the top surface of the second rotating seat 26, one end of the second rotating arm 28 is fixed in the fixing member 27, and the other end of the second rotating arm 28 is hinged with a drill chuck 29.

[0053] See attached Figure 3A motor is provided on the first rotating seat, which can drive the rotating wheel to rotate; a second driving motor is provided on the first rotating arm, which can drive the first rotating arm to rotate around the first rotating axis; a second driving motor is provided on the second rotating seat, which can drive the second rotating seat to rotate along the second rotating axis. By utilizing the rotation of multiple joints, the second rotating arm can be adjusted to a preset drilling position for drilling, and the drilling is more precise. At the same time, a cylinder is used to drive a drill chuck to clamp the drill bit for drilling operations, and the drilling depth is controllable.

[0054] In order to further optimize the above technical solution, the drill chuck 29 is fixed on the fixing frame, and the fixing frame is hinged on the end of the second rotating arm 28 away from the fixing member 27. The fixing frame can rotate along the Hill rotating arm to achieve three-sided drilling of the tunnel groove. The walking positioning mechanism can complete the drilling of multiple expansion bolt holes by walking positioning at one time, which greatly improves the drilling efficiency.

[0055] In order to further optimize the above technical solution, two support frames 17 are provided and are arranged at intervals on the same side of the frame body 11. The two guide wheels cooperate with the two guide wheels to enable the walking positioning mechanism to move along the linear shape of the tunnel groove, facilitating the drilling operation.

[0056] In order to further optimize the above technical solution, four lifting rings 4 are fixed at the four corners of the top surface of the frame 11 to facilitate the movement, transfer and transportation of the punching robot.

[0057] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0058] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be 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 present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tunnel trench drilling robot, characterized in that: include: A walking positioning mechanism (1), the walking positioning mechanism (1) comprising a frame (11), a drive shaft (14), a speed regulating motor (13), a support frame (17) and a guide wheel set (19); A mounting plate (12) is fixed to one end of the top surface of the frame (11), and a driven wheel (16) is rotatably connected to the bottom surface of the frame (11) corresponding to the mounting plate (12); the drive shaft (14) is rotatably connected to the bottom surface of the frame (11) at one end away from the mounting plate (12), and drive wheels (15) are fixed to both ends of the drive shaft (14); the speed regulating motor (13) is sleeved on the middle part of the drive shaft (14) and its rotor is transmission-connected to the drive shaft (14); the support frame (17) is fixed to a side wall of the frame (11) perpendicular to its forward direction, and a guide wheel (18) is rotatably connected to the support frame (17), and the guide wheel group (19) is two and respectively fixed to the front and rear ends corresponding to the frame (11), and the guide wheel group (19) and the guide wheel (18) are arranged at intervals to guide the walking track of the frame (11) along both sides of the tunnel groove wall; A drilling mechanism (2), the bottom of which is fixed on the surface of the mounting plate (12) to perform drilling operations on the wall of the tunnel groove; A speed measuring wheel (3), the speed measuring wheel (3) is rotatably connected to the front end of the frame (11).

2. A tunnel trench drilling robot according to claim 1, characterized in that: The guide wheel group (19) comprises a sliding frame (191), a first slider (192), a second slider (193), an L-shaped plate (195) and a guide wheel (198); one end of the sliding frame (191) is fixed perpendicularly to the bottom surface of the frame body (11); one side wall of the first slider (192) is slidably connected to the sliding frame (191); the second slider (193) is slidably connected to the other side wall of the first slider (192); the sliding direction of the second slider (193) is perpendicular to the sliding direction of the first slider (192); the horizontal plate of the L-shaped plate (195) is fixed to a side wall of the second slider (193) opposite to the first slider (192); the guide wheel (198) is rotatably connected to the vertical plate of the L-shaped plate (195); and the guide wheel (198) is arranged at intervals from the guide wheel (18).

3. A tunnel trench drilling robot according to claim 2, characterized in that: A screw rod (194) is rotatably connected to the first slider (192), and the length direction of the screw rod (194) is parallel to the length direction of the first slider (192); the second slider (193) is threadedly connected to the screw rod (194); one end of the screw rod (194) extends out of the end of the first slider (192) and is fixedly connected to a hand wheel (199).

4. A tunnel trench drilling robot according to claim 3, characterized in that: The guide wheel assembly (19) further comprises a support rod (196) and a wheel seat (197); one end of the support rod (196) is fixed perpendicularly to the plate surface of the vertical plate of the L-shaped plate (195); the wheel seat (197) is hinged to the other end of the support rod (196); and the guide wheel (198) is rotatably connected to the wheel seat (197).

5. The tunnel trench drilling robot according to claim 1, characterized in that: The punching mechanism (2) comprises a base (21), a first rotating mechanism, a second rotating mechanism and a drill chuck (29); the bottom surface of the base (21) is fixed on the mounting plate (12); a rotating wheel (22) is rotatably connected to the base (21); the bottom end of the first rotating mechanism is fixedly sleeved on the rotating wheel (22) so that when the rotating wheel (22) rotates, the first rotating mechanism can rotate; one end of the second rotating mechanism is hinged to the top end of the first rotating mechanism, and the drill chuck (29) is movably sleeved on the other end of the second rotating mechanism.

6. The tunnel trench drilling robot according to claim 5, characterized in that: The first rotating mechanism comprises a first rotating seat (23), a first rotating shaft and a first rotating arm (24); the first rotating seat (23) is fixedly sleeved on the rotating wheel (22), the first rotating shaft passes through the first rotating seat (23) and is fixed at the top end thereof, and one end of the first rotating arm (24) is hinged to the first rotating shaft.

7. The tunnel trench drilling robot according to claim 6, characterized in that: The second rotating mechanism comprises a second rotating shaft (25), a second rotating seat (26), a fixing member (27) and a second rotating arm (28); the second rotating shaft (25) is arranged perpendicular to the first rotating arm (24), and one end of the second rotating shaft (25) passes through and is fixedly connected to an end of the first rotating arm (24) away from the first rotating seat (23), and a side wall of the second rotating seat (26) is hinged to the other end of the second rotating shaft (25); the fixing member (27) is fixed to the top surface of the second rotating seat (26), one end of the second rotating arm (28) is fixed in the fixing member (27), and the other end of the second rotating arm (28) is hinged to the drill chuck (29).

8. The tunnel trench drilling robot according to claim 7, characterized in that: The drill chuck (29) is fixed on a fixing frame, and the fixing frame is hinged to an end of the second rotating arm (28) away from the fixing member (27).

9. The tunnel trench drilling robot according to claim 1, characterized in that: Two support frames (17) are provided and are arranged at intervals on the same side of the frame body (11).

10. A tunnel trench drilling robot according to any one of claims 1 to 9, characterized in that: Four hanging rings (4) are fixed at the four corners of the top surface of the frame (11).

Images