Heavy-load synchronous punching mechanical arm for high-speed rail tunnel wall

Abstract

The utility model relates to a heavy-load synchronous punching mechanical arm for a high-speed rail tunnel wall, and belongs to the technical field of tunnel punching. Comprising a stand column, a cross arm is rotationally arranged at the upper end of the stand column, the middle of the cross arm is rotationally connected with the upper end of the stand column through a cross arm rotating mechanism, telescopic large arms are rotationally arranged at the two ends of the cross arm respectively, the large arms are perpendicular to the cross arm, and one ends of the two large arms are rotationally connected with the two ends of the cross arm through large arm rotating mechanisms respectively. A perforating machine platform is rotationally arranged between the ends, away from the cross arm, of the two large arms, the two ends of the perforating machine platform are rotationally connected with the ends, away from the cross arm, of the two large arms through platform rotating mechanisms respectively, and a perforating machine is arranged on the perforating machine platform; the problem that an existing tunnel punching robot cannot meet the requirement for synchronous, efficient and stable punching in the heavy-load tunnel wall is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of tunnel drilling, and particularly relates to a heavy-duty synchronous drilling robotic arm for high-speed rail tunnel walls. Background Art

[0002] At present, the high-speed rail coverage rate in cities with a population of over 500,000 in China has reached over 98%. Due to communication, lighting and other requirements inside high-speed rail tunnels, different power and signal cables need to be installed. Various cables need to be drilled and positioned in high-speed rail tunnels. The currently widely used manual drilling method not only has low efficiency, but also requires manual measurement for distance control and angle adjustment between each positioning hole, which takes a long time and cannot meet the requirements of changing processing conditions at the construction site. Moreover, the depth and diameter of manually drilled holes cannot be guaranteed, the working conditions are harsh, and it cannot adapt to the rapid development of high-speed rail technology.

[0003] Chinese invention patent CN 116733441 B discloses a tunnel drilling robot and its intelligent target recognition and automatic drilling method, which effectively solves the problems existing in the traditional manual drilling method, such as the inability to control the drilling distance, adjust the angle, and adapt to the complex and changeable construction requirements on site. By combining an intelligent vision camera and a laser sensor, the three-dimensional positioning of the drilling target and the calculation of the relative angle between the drill bit and the target plane are realized. Furthermore, the target point can be recognized faster and more accurately, and the movement of the robotic arm can be controlled to perform a complete drilling operation. The tunnel drilling robot includes a walking platform rail vehicle, a teaching pendant, a generator, a hydraulic system, a drilling robotic arm, and an actuator. Due to the use of a hydraulic system, the space utilization rate is low in the narrow space inside the tunnel, and the response speed of the servo control system is relatively slow. In addition, the drilling robot has weak rigidity. The end actuator needs to install load mechanisms such as drill bits, and according to different work tasks, the drill bits need to be frequently replaced, and the stability during the movement is poor. At present, for the requirement of installing a tool once and drilling multiple holes during the drilling process, this drilling method cannot meet the demand for synchronous, efficient and stable drilling in heavy-duty tunnel walls. Summary of the Utility Model

[0004] The utility model overcomes the deficiencies of the prior art and provides a heavy-duty synchronous drilling robotic arm for high-speed rail tunnel walls, solving the problem that the current tunnel drilling robot cannot meet the demand for synchronous, efficient and stable drilling in heavy-duty tunnel walls.

[0005] To achieve the above object, the utility model is realized by the following technical solutions.

[0006] A heavy-duty synchronous drilling robotic arm for high-speed railway tunnel walls, comprising a column. A cross arm is rotatably arranged at the upper end of the column. The middle of the cross arm is rotatably connected to the upper end of the column through a cross arm slewing mechanism. At both ends of the cross arm, a telescopic boom is rotatably arranged respectively. The boom is perpendicular to the cross arm. One ends of the two booms are respectively rotatably connected to both ends of the cross arm through boom slewing mechanisms. A drilling machine platform is rotatably arranged between the ends of the two booms far away from the cross arm. Both ends of the drilling machine platform are respectively rotatably connected to the ends of the two booms far away from the cross arm through platform slewing mechanisms. A drilling machine is arranged on the drilling machine platform.

[0007] Furthermore, the cross arm is a horizontally arranged box structure. A upper side docking column is fixedly arranged in the middle of the lower end face of the cross arm. The upper side docking column is rotatably arranged at the upper end of the column.

[0008] Furthermore, the cross arm slewing mechanism includes a fixed frame, a first motor, a connecting seat, a first reducer, a first gear, and a second gear. A fixed frame is fixedly arranged on the outer side surface of the upper end of the column. A first reducer is fixedly arranged on the fixed frame. The output shaft of the first reducer is vertically upward, and the input shaft of the first reducer is vertically downward. A first motor is fixedly arranged at the lower end of the first reducer through a connecting seat. The output shaft of the first motor is fixedly connected to the input shaft of the first reducer through a coupling. A first gear is fixedly arranged on the output shaft of the first reducer. A second gear is fixedly arranged on the outer side of the upper side docking column at the lower end of the cross arm. The first gear meshes with the second gear.

[0009] Furthermore, the boom includes a front telescopic arm and a rear fixed arm that are inserted into each other. Both the front telescopic arm and the rear fixed arm are square tube structures with openings at both ends. The rear end of the front telescopic arm is slidably inserted into the front opening inside the rear fixed arm. An electric cylinder is fixedly arranged inside each rear fixed arm. One end of the cylinder bottom of the electric cylinder is fixedly connected to the inner wall of the rear fixed arm, and one end of the piston rod of the electric cylinder is fixedly connected to the inner wall of the front telescopic arm.

[0010] Further, one end of the rear fixed arm away from the front telescopic arm is rotatably connected to the end of the cross arm through a boom slewing mechanism; the boom slewing mechanism includes a fixed shaft, a second motor, a second reducer, a connecting seat, a third gear, and a fourth gear; a fixed shaft is fixedly arranged at each end of the cross arm, and the fixed shaft is rotatably inserted into the inner part of the rear end of the rear fixed arm of the boom on the same side. On the outer side surface of the rear end of the rear fixed arm of the boom away from the cross arm, a second reducer is fixedly arranged. The output shaft of the second reducer extends into the inner part of the rear end of the rear fixed arm, and the output shaft of the second reducer is parallel to the fixed shaft; a second motor is fixedly arranged at one end of the input shaft of the second reducer through a connecting seat, and the output shaft of the second motor is fixedly connected to the input shaft of the second reducer through a coupling; a third gear is fixedly arranged on the output shaft of the second reducer, and a fourth gear is fixedly arranged on the fixed shaft extending into the inner part of the rear end of the rear fixed arm, and the third gear meshes with the fourth gear.

[0011] Further, the drilling machine platform is a cuboid box structure, and both ends of the drilling machine platform are respectively rotatably connected to the front ends of the front telescopic arms of the booms on both sides through a platform slewing mechanism.

[0012] Further, the platform slewing mechanism includes a third motor, a third reducer, a fixed seat, a rotating seat, a rotating shaft, and a sliding shaft; a U-shaped fixed seat is fixedly arranged at the front end of the front telescopic arm. The fixed seat includes a transverse section and two longitudinal sections. Both longitudinal sections are perpendicular to the transverse section, and one end of each of the two longitudinal sections is fixedly connected to both ends of the transverse section. The transverse section is fixedly arranged on the front end surface of the front telescopic arm, and the direction of the line connecting the two longitudinal sections is perpendicular to the length direction of the cross arm; a rotating seat is rotatably arranged inside the fixed seat, and the rotating seats of the two platform slewing mechanisms are respectively located at both ends of the drilling machine platform; the rotating seat is a square box structure, and a rotating shaft is fixedly arranged at each end of the rotating seat. The two rotating shafts are respectively rotatably connected to the inner side surfaces of the two longitudinal sections of the fixed seat, and the two rotating shafts are perpendicular to the inner side surfaces of the two longitudinal sections of the fixed seat.

[0013] Further, a sliding shaft is fixedly arranged at each end of the drilling machine platform, and the axis direction of the sliding shaft coincides with the length direction of the drilling machine platform; a rotating shaft is rotatably arranged inside the rotating seat, and the rotating shaft is perpendicular to both rotating shafts; a third reducer is fixedly arranged at one end of the rotating seat away from the drilling machine platform, and the output shaft of the third reducer is fixedly connected to one end of the rotating shaft; a third motor is fixedly arranged at one end of the input shaft of the third reducer through a connecting seat, and the output shaft of the third motor is fixedly connected to the input shaft of the third reducer through a coupling.

[0014] Further, the outer side of the end of the sliding shaft away from the punching machine platform is a polygonal columnar structure, and a polygonal hole is provided at the end of the rotating shaft close to the punching machine platform. The end of the sliding shaft away from the punching machine platform is slidably inserted into the polygonal hole of the rotating shaft.

[0015] Furthermore, a backing plate is provided on the tabletop of the engineering vehicle, and the backing plate is located below the punching machine platform.

[0016] The beneficial effects of the present utility model compared with the prior art are as follows:

[0017] A heavy-duty synchronous punching robotic arm for the high-speed rail tunnel wall provided by the present utility model can achieve a nearly 180° internal rotation degree of freedom in the high-speed rail tunnel through the boom slewing mechanism, and can realize the full inner wall punching function in the high-speed rail tunnel; through the cross-arm slewing mechanism, the cross-arm can be rotated by ±10°, and the parallelism between the punching machine platform and the tunnel can be adjusted; through the telescopic adjustment of the front telescopic arm and the rear fixed arm, the change in the horizontal dimensions at both ends of the punching machine platform can be automatically compensated. During the punching process, the two booms lift the punching operation platform, and a drilling machine platform with a length of about 4m and a weight of 500kg can be sent to the punching operation station to complete the synchronous punching task. This equipment can achieve batch heavy-duty synchronous punching operations, with high reliability, strong stability, and high efficiency during the punching process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following further describes the present utility model in detail with reference to the drawings:

[0019] Figure 1 is the three-dimensional schematic of the whole of the present utility model Figure 1 ;

[0020] Figure 2 is Figure 1 the partial enlarged schematic diagram of A in

[0021] Figure 3 is the three-dimensional schematic of the whole of the present utility model Figure 2 ;

[0022] Figure 4 is the side view of the whole of the present utility model;

[0023] Figure 5 is the rear view of the whole of the present utility model;

[0024] Figure 6 is the three-dimensional schematic of the whole of the present utility model Figure 3 ;

[0025] Figure 7 is Figure 6 the partial enlarged schematic diagram of B in

[0026] Among them, 1 is the vertical column, 2 is the cross arm, 3 is the cross arm slewing mechanism, 4 is the boom, 5 is the boom slewing mechanism, 6 is the drilling machine platform, 7 is the platform slewing mechanism, 8 is the base, 9 is the upper side docking column, 10 is the fixing frame, 11 is the first motor, 12 is the connecting seat, 13 is the first reducer, 14 is the first gear, 15 is the second gear, 16 is the front telescopic arm, 17 is the rear fixed arm, 18 is the second motor, 19 is the second reducer, 20 is the fixed seat, 21 is the rotating seat, 22 is the rotating shaft, 23 is the sliding shaft, 24 is the third motor, and 25 is the third reducer. Specific implementation mode

[0027] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer and more understandable, the present utility model will be further described in detail in combination with embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. The technical solutions of the present utility model will be described in detail below in combination with embodiments and drawings, but the protection scope is not limited by this.

[0028] As Figure 1 —7 shows, the present utility model provides a heavy-duty synchronous drilling robotic arm for a high-speed rail tunnel wall, including a vertical column 1. A cross arm 2 is rotatably arranged at the upper end of the vertical column 1. The middle part of the cross arm 2 is rotatably connected to the upper end of the vertical column 1 through a cross arm slewing mechanism 3. One telescopic boom 4 is rotatably arranged at each end of the cross arm 2. The boom 4 is perpendicular to the cross arm 2. One end of each of the two booms 4 is rotatably connected to each end of the cross arm 2 through a boom slewing mechanism 5. A drilling machine platform 6 is rotatably arranged between the ends of the two booms 4 away from the cross arm 2. The two ends of the drilling machine platform 6 are respectively rotatably connected to the ends of the two booms 4 away from the cross arm 2 through a platform slewing mechanism 7. A drilling machine is arranged on the drilling machine platform 6.

[0029] The vertical column 1 is a vertically arranged cylindrical structure. The lower end of the vertical column 1 is fixedly connected to the platform of the engineering vehicle through a base 8.

[0030] The cross arm 2 is a horizontally arranged box structure. An upper side docking column 9 is fixedly arranged in the middle of the lower end surface of the cross arm 2. The upper side docking column 9 is rotatably arranged at the upper end of the vertical column 1.

[0031] The cross-arm slewing mechanism 3 includes a fixed frame 10, a first motor 11, a connecting seat 12, a first speed reducer 13, a first gear 14, and a second gear 15. A fixed frame 10 is fixedly arranged at the upper end of the outer side surface of the column 1. A first speed reducer 13 is fixedly arranged on the fixed frame 10. The output shaft of the first speed reducer 13 is vertically upward, and the input shaft of the first speed reducer 13 is vertically downward. A first motor 11 is fixedly arranged at the lower end of the first speed reducer 13 through the connecting seat 12. The output shaft of the first motor 11 is fixedly connected to the input shaft of the first speed reducer 13 through a coupling. A first gear 14 is fixedly arranged on the output shaft of the first speed reducer 13. A second gear 15 is fixedly arranged on the outer side of the docking column 9 on the upper side of the lower end of the cross-arm 2. The first gear 14 meshes with the second gear 15.

[0032] The first motor 11 drives the first gear 14 to rotate through the first speed reducer 13. Since the first gear 14 meshes with the second gear 15, the upper docking column 9 is driven to rotate, and then the cross-arm 2 is driven to perform horizontal slewing, so that the length direction of the cross-arm 2 is parallel to the advancing direction of the engineering vehicle.

[0033] The boom 4 includes a front telescopic arm 16 and a rear fixed arm 17 that are inserted into each other. Both the front telescopic arm 16 and the rear fixed arm 17 are square tube structures with openings at both ends. The rear end of the front telescopic arm 16 is slidably inserted into the front opening of the rear fixed arm 17. The telescoping of the boom 4 itself is realized by the sliding of the front telescopic arm 16 inside the rear fixed arm 17. An electric cylinder is fixedly arranged inside each rear fixed arm 17. The length direction of the electric cylinder is parallel to the length direction of the boom 4. One end of the cylinder bottom of the electric cylinder is fixedly connected to the inner wall of the rear fixed arm 17, and one end of the piston rod of the electric cylinder is fixedly connected to the inner wall of the front telescopic arm 16. The sliding of the front telescopic arm 16 inside the rear fixed arm 17 is realized by the telescoping of the electric cylinder.

[0034] One end of the rear fixed arm 17 away from the front telescopic arm 16 is rotatably connected to the end of the cross arm 2 through the boom slewing mechanism 5. The boom slewing mechanism 5 includes a fixed shaft, a second motor 18, a second reducer 19, a connecting seat 12, a third gear, and a fourth gear. A fixed shaft is fixedly arranged at each end of the cross arm 2, and the axial direction of the fixed shaft coincides with the length direction of the cross arm 2. The fixed shaft is rotatably inserted into the inner part of the rear end of the rear fixed arm 17 of the same-side boom 4. On the outer side surface of the rear end of the rear fixed arm 17 of the boom 4 away from the cross arm 2, a second reducer 19 is fixedly arranged. The output shaft of the second reducer 19 extends into the inner part of the rear end of the rear fixed arm 17, and the output shaft of the second reducer 19 is parallel to the fixed shaft. At one end of the input shaft of the second reducer 19, a second motor 18 is fixedly arranged through the connecting seat 12, and the output shaft of the second motor 18 is fixedly connected to the input shaft of the second reducer 19 through a coupling. A third gear is fixedly arranged on the output shaft of the second reducer 19, and a fourth gear is fixedly arranged on the fixed shaft extending into the inner part of the rear end of the rear fixed arm 17. The third gear meshes with the fourth gear.

[0035] The second motor 18 drives the third gear to rotate through the second reducer 19. Since the third gear meshes with the fourth gear and the fourth gear is fixed to the fixed shaft, the third gear cannot drive the fourth gear to rotate when it rotates. Then the rotating third gear makes a revolution around the fourth gear, and the third gear drives the second reducer 19, the second motor 18, and the rear fixed arm 17 as a whole to rotate around the fixed shaft, thereby realizing the slewing action of the boom 4 around the fixed shaft on the cross arm 2.

[0036] The drilling machine platform 6 is a rectangular box structure. The two ends of the drilling machine platform 6 are respectively rotatably connected to the front ends of the front telescopic arms 16 of the two-side booms 4 through a platform slewing mechanism 7.

[0037] The platform slewing mechanism 7 includes a third motor 24, a third reducer 25, a fixed seat 20, a rotating seat 21, a rotating shaft, and a sliding shaft 23. A U-shaped fixed seat 20 is fixedly arranged at the front end of the front telescopic arm 16. The fixed seat 20 includes a transverse section and two longitudinal sections. The two longitudinal sections are perpendicular to the transverse section, and one end of each of the two longitudinal sections is fixedly connected to both ends of the transverse section. The transverse section is fixedly arranged on the front end face of the front telescopic arm 16. The direction of the line connecting the two longitudinal sections is perpendicular to the length direction of the cross arm 2.

[0038] A rotating seat 21 is rotatably arranged inside the fixed seat 20, and the rotating seats 21 of the two platform slewing mechanisms 7 are respectively located at both ends of the punching machine platform 6. The rotating seat 21 is of a square box structure, and a rotating shaft 22 is fixedly arranged at each end of the rotating seat 21. The two rotating shafts 22 are respectively rotatably connected to the inner side surfaces of the two longitudinal sections of the fixed seat 20, and the two rotating shafts 22 are respectively perpendicular to the inner side surfaces of the two longitudinal sections of the fixed seat 20.

[0039] A sliding shaft 23 is fixedly arranged at each end of the punching machine platform 6, and the axial direction of the sliding shaft 23 coincides with the length direction of the punching machine platform 6.

[0040] A rotating shaft is rotatably arranged inside the rotating seat 21, and the rotating shaft is perpendicular to both rotating shafts 22. A third reducer 25 is fixedly arranged at one end of the rotating seat 21 away from the punching machine platform 6, and the output shaft of the third reducer 25 is fixedly connected to one end of the rotating shaft. A third motor 24 is fixedly arranged at one end of the input shaft of the third reducer 25 through a connecting seat 12, and the output shaft of the third motor 24 is fixedly connected to the input shaft of the third reducer 25 through a coupling.

[0041] The outer side of the end of the sliding shaft 23 away from the punching machine platform 6 is of a polygonal columnar structure, and a polygonal hole is arranged at one end of the rotating shaft close to the punching machine platform 6. The end of the sliding shaft 23 away from the punching machine platform 6 is slidably inserted into the polygonal hole of the rotating shaft.

[0042] The third motor 24 drives the rotating shaft to rotate through the third reducer 25. Since the end of the sliding shaft 23 away from the punching machine platform 6 is slidably inserted into the polygonal hole of the rotating shaft, the rotating shaft drives the sliding shaft 23 to rotate synchronously when rotating. The sliding shafts 23 on both sides drive the punching machine platform 6 to rotate around the axis of the sliding shaft 23, thereby adjusting the angle of the punching machine platform 6.

[0043] The punching machine is fixedly arranged on the upper end surface of the punching machine platform 6.

[0044] A backing plate is arranged on the table surface of the engineering vehicle, and the backing plate is located below the punching machine platform 6.

[0045] The working principle of the present utility model is as follows:

[0046] After the engineering vehicle finishes traveling inside the high-speed rail tunnel, start the first motor 11. The first motor 11 drives the first gear 14 to rotate through the first reducer 13. Since the first gear 14 meshes with the second gear 15, it drives the upper docking column 9 to rotate, and then drives the cross arm 2 to perform a horizontal rotation, so that the length direction of the cross arm 2 is parallel to the advancing direction of the engineering vehicle. Since the advancing direction of the engineering vehicle is parallel to the high-speed rail tunnel wall at this time, that is, the length direction of the cross arm 2 is also parallel to the high-speed rail tunnel wall.

[0047] Then start the second motor 18 of the boom slewing mechanisms 5 on both sides. The second motor 18 drives the third gear to rotate through the second reducer 19. Since the third gear meshes with the fourth gear and the fourth gear is fixed on the fixed shaft, the third gear cannot drive the fourth gear to rotate when it rotates. Then the rotating third gear revolves around the fourth gear, and the third gear drives the second reducer 19, the second motor 18, and the rear fixed arm 17 as a whole to rotate around the fixed shaft, and then realizes the slewing action of the boom 4 around the fixed shaft on the cross arm 2. The booms 4 on both sides are lifted simultaneously, so that the booms 4 reach the specified angle at the same time.

[0048] Then control the piston rods of the electric cylinders inside the rear fixed arms 17 on both sides to extend simultaneously, so that the front telescopic arms 16 of the two booms 4 extend inside the rear fixed arms 17 at the same time, so that the drilling machine platform 6 gradually moves away from the cross arm 2 until the drilling machine platform 6 reaches the specified height, and the electric cylinders stop extending.

[0049] Then start the third motor 24 of the platform slewing mechanisms 7 on both sides. The third motor 24 drives the rotating shaft to rotate through the third reducer 25. Since one end of the sliding shaft 23 far from the drilling machine platform 6 is slidably inserted into the polygonal hole of the rotating shaft, the rotating shaft drives the sliding shaft 23 to rotate synchronously when it rotates. The sliding shafts 23 on both sides drive the drilling machine platform 6 to revolve around the axis of the sliding shaft 23, and then adjust the angle of the drilling machine platform 6. When the hole to be drilled is horizontal, the upper end surface of the drilling machine platform 6 is kept horizontal through the platform slewing mechanisms 7 on both sides, and then the drilling machine can drill a horizontal hole; when the hole to be drilled has a certain inclination angle, the upper end surface of the drilling machine platform 6 is kept at a certain inclination angle through the platform slewing mechanisms 7 on both sides, and then the drilling machine can drill a hole with the required inclination angle.

[0050] If there is still a small angle between the punching machine platform 6 and the high-speed rail tunnel wall, at this time, the piston rods of the electric cylinders on both sides are controlled to extend by different lengths, so that the length direction of the punching machine platform 6 is parallel to the high-speed rail tunnel wall. During the extension of the piston rods of the electric cylinders on both sides, the length direction of the punching machine platform 6 is no longer parallel to the length direction of the cross arm 2, that is, the punching machine platform 6 is no longer perpendicular to the large arms 4 on both sides. In this way, the sliding shafts 23 on both sides slide inside the polygonal holes of the rotating shafts, and at the same time, the rotating shafts on both sides rotate by a certain angle inside the fixed seats 20 through the rotating shafts 22. At this time, the third motor 24 drives the rotating shaft to rotate through the third reducer 25, and the rotating shaft can still drive the sliding shaft 23 to rotate, and finally the angle of the punching machine platform 6 can still be adjusted.

[0051] After the punching is completed, the piston rods of the electric cylinders on both sides are controlled to retract completely, so that the front telescopic arms 16 on both sides return to the rear fixed arms 17, and at this time the large arms 4 are at the shortest length. Then, the punching machine platform 6 is set to the storage angle through the third motors 24 on both sides. Then, the large arm slewing mechanisms 5 on both sides are controlled to make the large arms 4 on both sides drive the punching machine platform 6 to rotate downward until the lower end surface of the punching machine platform 6 contacts the cushion plate on the engineering vehicle table surface. At this time, the punching machine platform 6 enters the storage state.

[0052] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A heavy-load synchronous drilling robot arm for high-speed railway tunnel walls, characterized in that: The utility model comprises a column (1), a horizontal arm (2) is rotatably arranged at the upper end of the column (1), the middle part of the horizontal arm (2) is rotatably connected to the upper end of the column (1) through a horizontal arm rotating mechanism (3), a retractable large arm (4) is rotatably arranged at the two ends of the horizontal arm (2), the large arm (4) is perpendicular to the horizontal arm (2), one end of the two large arms (4) is rotatably connected to the two ends of the horizontal arm (2) through a large arm rotating mechanism (5), a punching machine platform (6) is rotatably arranged between the ends of the two large arms (4) away from the horizontal arm (2), the two ends of the punching machine platform (6) are rotatably connected to the ends of the two large arms (4) away from the horizontal arm (2) through a platform rotating mechanism (7), and a punching machine is arranged on the punching machine platform (6).

2. The heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 1, characterized in that: The cross arm (2) is a box structure arranged horizontally, and an upper docking column (9) is fixedly arranged in the middle of the lower end surface of the cross arm (2), and the upper docking column (9) is rotatably arranged on the upper end of the column (1).

3. The heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 2 is characterized in that: The cross arm rotating mechanism (3) comprises a fixing frame (10), a first motor (11), a connecting seat (12), a first reducer (13), a first gear (14), and a second gear (15); the fixing frame (10) is fixedly arranged at the upper end of the outer surface of the column (1); the first reducer (13) is fixedly arranged on the fixing frame (10); the output shaft of the first reducer (13) is vertically upward; the input shaft of the first reducer (13) is vertically downward; the first motor (11) is fixedly arranged at the lower end of the first reducer (13) through the connecting seat (12); the output shaft of the first motor (11) and the input shaft of the first reducer (13) are fixedly connected through a coupling; the first gear (14) is fixedly arranged on the output shaft of the first reducer (13); the second gear (15) is fixedly arranged on the outer side of the upper docking column (9) at the lower end of the cross arm (2); the first gear (14) and the second gear (15) are meshed.

4. The heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 1, characterized in that: The large arm (4) comprises a front telescopic arm (16) and a rear fixed arm (17) which are plugged into each other. The front telescopic arm (16) and the rear fixed arm (17) are both square cylindrical structures with openings at both ends. The rear end of the front telescopic arm (16) is slidably plugged into the front end opening of the rear fixed arm (17). An electric cylinder is fixedly arranged inside each rear fixed arm (17). One end of the cylinder bottom of the electric cylinder is fixedly connected to the inner wall of the rear fixed arm (17), and one end of the piston rod of the electric cylinder is fixedly connected to the inner wall of the front telescopic arm (16).

5. The heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 4, characterized in that: One end of the rear fixed arm (17) away from the front telescopic arm (16) is rotatably connected to the end of the cross arm (2) through a large arm swivel mechanism (5); the large arm swivel mechanism (5) comprises a fixed shaft, a second motor (18), a second reducer (19), a connecting seat (12), a third gear, and a fourth gear; a fixed shaft is fixedly arranged at each end of the cross arm (2), the fixed shaft is rotatably inserted into the rear end of the rear fixed arm (17) of the large arm (4) on the same side, and a second reducer (19) is fixedly arranged on the outer side of the rear end of the rear fixed arm (17) of the large arm (4) away from the cross arm (2). ), the output shaft of the second reducer (19) extends into the rear end of the rear fixed arm (17), and the output shaft of the second reducer (19) is parallel to the fixed shaft; a second motor (18) is fixedly arranged at one end of the input shaft of the second reducer (19) via a connecting seat (12), and the output shaft of the second motor (18) is fixedly connected to the input shaft of the second reducer (19) via a coupling; a third gear is fixedly arranged on the output shaft of the second reducer (19), and a fourth gear is fixedly arranged on the fixed shaft extending into the rear end of the rear fixed arm (17), and the third gear is meshed with the fourth gear.

6. The heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 4, characterized in that: The punching machine platform (6) is a rectangular box structure, and the two ends of the punching machine platform (6) are rotatably connected to the front ends of the front telescopic arms (16) of the large arms (4) on both sides through a platform rotating mechanism (7).

7. A heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 6, characterized in that: The platform slewing mechanism (7) comprises a third motor (24), a third reducer (25), a fixed seat (20), a rotating seat (21), a rotating shaft, and a sliding shaft (23); a U-shaped fixed seat (20) is fixedly arranged at the front end of the front telescopic arm (16); the fixed seat (20) comprises a transverse section and two longitudinal sections, the two longitudinal sections are perpendicular to the transverse section, and one end of the two longitudinal sections is fixedly connected to the two ends of the transverse section; the transverse section is fixedly arranged on the front end surface of the front telescopic arm (16), and the direction of the connection line between the two longitudinal sections is The fixing seat (20) is provided with a rotating seat (21) which is rotatably mounted inside the fixing seat (20). The rotating seats (21) of the two platform rotating mechanisms (7) are respectively located at two ends of the punching machine platform (6). The rotating seat (21) is a square box structure. A rotating shaft (22) is respectively fixedly mounted at both ends of the rotating seat (21). The two rotating shafts (22) are respectively rotatably connected to the inner side surfaces of the two longitudinal sections of the fixing seat (20). The two rotating shafts (22) are respectively perpendicular to the inner side surfaces of the two longitudinal sections of the fixing seat (20).

8. The heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 7, characterized in that: A sliding shaft (23) is fixedly arranged at both ends of the punching machine platform (6), and the axial direction of the sliding shaft (23) coincides with the length direction of the punching machine platform (6); a rotating shaft is rotatably arranged inside the rotating seat (21), and the rotating shaft is perpendicular to the two rotating shafts (22); a third reducer (25) is fixedly arranged at one end of one of the rotating seats (21) away from the punching machine platform (6), and the output shaft of the third reducer (25) is fixedly connected to one end of the rotating shaft; a third motor (24) is fixedly arranged at one end of the input shaft of the third reducer (25) via a connecting seat (12), and the output shaft of the third motor (24) is fixedly connected to the input shaft of the third reducer (25) via a coupling.

9. A heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 8, characterized in that: The outer side of the end of the sliding shaft (23) away from the punching machine platform (6) is a polygonal columnar structure, and the end of the rotating shaft close to the punching machine platform (6) is provided with a polygonal hole, and the end of the sliding shaft (23) away from the punching machine platform (6) is slidably inserted into the polygonal hole of the rotating shaft.

10. The heavy-load synchronous drilling mechanical arm for high-speed railway tunnel wall according to claim 1, characterized in that: A pad is provided on the table of the engineering vehicle, and the pad is located below the punching machine platform (6).

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