Automatic surveying, mapping, positioning, drilling and marking device for gas pumping and drainage of tunnel face

Abstract

The utility model discloses an automatic surveying, mapping, positioning, drilling and marking device for gas pumping and drainage of a tunnel face, which comprises a base, a manipulator is arranged on the base, an adjusting component used for adjusting the mounting angle of the manipulator is arranged on the manipulator, a lifting component is arranged at the upper part of the base, and a transmission block is arranged on the lifting component. The transmission block is connected with the marking nozzle through the transmission assembly, and the manipulator is electrically connected with the lifting assembly and the transmission assembly. According to the utility model, the servo motor drives the corresponding rotating rod and the rotating arm to rotate so as to drive the marking nozzle to rotate, so that the marking nozzle can be adjusted at multiple angles, and when the tunnel face has a curved surface or an inclined surface, the marking nozzle can quickly adjust the posture to complete marking; the problems that the angle of a spray head is limited and marking is inaccurate when a complex tunnel face is marked are solved, and the adaptability and marking accuracy of the device to different tunnel faces are remarkably improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction, in particular to an automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face. Background Art

[0002] In the field of tunnel engineering construction, especially in the construction of tunnels through gassy coal seams, the precise positioning of gas extraction boreholes is crucial. As the core means to ensure construction safety, the through-layer grid pre-extraction of coal seam gas technology requires the precise arrangement of boreholes on the tunnel face.

[0003] Existing tunnel face gas extraction drilling and marking devices often employ complex mechanical structures and cumbersome operations for adjusting the angles of the manipulator and nozzle. Some devices rely on the tightening and loosening of multiple bolts or nuts to adjust the manipulator angle, requiring operators to use tools such as wrenches to adjust each bolt and nut individually. This not only requires numerous steps but is also time-consuming. Furthermore, some devices employ a rigid nozzle fixing method, making it difficult to adapt to the varying angles of complex tunnel faces. Manual adjustment is typically limited to a limited range, making it difficult to meet the diverse marking requirements. Furthermore, the manual tightening and loosening of multiple components using tools is extremely inconvenient. After adjustment, the bolts and nuts can easily loosen due to factors such as construction vibration, causing the manipulator angle to shift and become unstable. This not only affects the marking device's efficiency but also leads to deviations in the drill mark position, compromising the layout and effectiveness of gas extraction drilling, and increasing construction safety risks. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a tunnel face gas extraction automatic mapping positioning drilling marking device with simple structure and stable and reliable operation.

[0005] The utility model provides a technical solution for solving the above technical problems: a tunnel face gas extraction automatic mapping, positioning, drilling and marking device, comprising a base, a manipulator is provided on the base, an adjustment component for adjusting the installation angle of the manipulator is provided on the manipulator, a lifting component is provided on the upper part of the base, a transmission block is provided on the lifting component, the transmission block is connected to the marking nozzle through the transmission component, and the manipulator is electrically connected to the lifting component and the transmission component.

[0006] The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device, the adjustment component includes a roller and a fixed column, a bracket is fixedly arranged on the base, both ends of the fixed column are fixedly arranged on the bracket, the roller is sleeved in the middle position of the fixed column, the outer wall of the roller is fixedly connected to the outer wall of the manipulator, two movable rings and two springs are symmetrically arranged on both sides of the fixed column, one end of the spring is fixedly connected to the bracket, and the other end of the spring is fixedly connected to the corresponding movable ring, and the movable ring and the roller are connected through a fixed component.

[0007] The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device, the fixed component includes fixed teeth and latching teeth, a plurality of fixed teeth are distributed circumferentially at both ends of the drum, and a plurality of latching teeth are provided circumferentially on one end surface of the two movable rings facing the drum, and the latching teeth are engaged with the fixed teeth.

[0008] The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device, the adjustment component also includes a limit column, a plurality of limit columns are distributed in a ring shape on the outside of the two sides of the fixed column, the limit column is arranged parallel to the fixed column, one end of the limit column is fixed on the bracket, and a limiting disc is provided on the other end of the limit column, and the movable ring is passed through the limit column.

[0009] The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device, the lifting assembly includes a lifting plate, a hydraulic rod and an adjusting arm, a linear guide rail is provided on the upper part of the base, the lifting plate can be slidably set on the linear guide rail, two hydraulic rods are symmetrically arranged on both sides of the lifting plate, one end of the hydraulic rod is hinged to the base, and the other end of the hydraulic rod is installed on the lifting plate, one end of the adjusting arm is rotatably connected to the lifting plate, and the other end of the adjusting arm is fixedly connected to the transmission block; the adjusting arm, the hydraulic rod and the manipulator are electrically connected.

[0010] The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device, the transmission assembly includes a first fixed frame, a second fixed frame, a rotating rod, a transmission rod and a rotating arm, the first fixed frame is fixed to the bottom of the transmission block, the first fixed frame is fixedly provided with a first motor, the output shaft of the first motor is fixedly connected to the rear end of the rotating arm, the front end of the rotating arm is two left and right extension arms, the front ends of the two extension arms are hinged to the left and right sides of the marking nozzle; the second fixed frame is fixed to the bottom of the transmission block, the second fixed frame is fixedly provided with a second motor, the output shaft of the second motor is fixedly connected to one end of the rotating rod, the other end of the rotating rod is connected to one end of the transmission rod by a ball joint, and the other end of the transmission rod is hinged to the front side of the marking nozzle.

[0011] The above-mentioned tunnel face gas extraction automatic mapping positioning drilling marking device has a connecting pipe fixedly connected to the top of the marking nozzle, and an ink circulation channel is provided inside the connecting pipe, through which ink is transported to the inside of the marking nozzle.

[0012] The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device has a laser ranging device on the top of the base. The laser ranging device includes a laser transmitter and a laser receiver. The laser ranging device is used to scan the tunnel face 360 ​​degrees to obtain three-dimensional terrain data of the tunnel face.

[0013] In the above-mentioned automatic mapping, positioning, drilling and marking device for gas extraction at the tunnel face, both the first motor and the second motor are servo motors.

[0014] The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device has anti-slip grooves on the bottom of the base and is equipped with support feet.

[0015] The beneficial effects of the present invention are:

[0016] 1. The utility model pulls the movable ring to disengage the latching teeth and the fixed teeth, so that the angle of the manipulator can be adjusted. After the adjustment is completed, the spring rebounds to stabilize the engagement state of the latching teeth and the fixed teeth, thereby fixing the angle of the manipulator. No complicated tools and operations are required, and the operation is simple. It solves the problems of inconvenient angle adjustment and unstable fixation of traditional manipulators, and significantly improves the convenience of manipulator angle adjustment and the stability of the adjusted angle.

[0017] 2. In the present invention, the servo motor drives the corresponding rotating rod and rotating arm to rotate, thereby driving the marking nozzle to rotate, so that the marking nozzle can be adjusted at multiple angles. When there is a curved or inclined surface on the tunnel face, the marking nozzle can quickly adjust its posture to complete the marking, solving the problems of limited nozzle angle and inaccurate marking when marking complex tunnel faces, and significantly improving the adaptability of the device to different tunnel faces and the marking accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0019] Figure 2 This is a schematic diagram of the installation position of the controller of the utility model.

[0020] Figure 3 This is a schematic structural diagram of the adjustment component of the utility model.

[0021] Figure 4 It is a structural diagram of the transmission component of the utility model.

[0022] Figure 5 for Figure 4 side view.

[0023] In the figure, 1 is the base, 2 is the manipulator, 3 is the lifting plate, 4 is the laser ranging device, 5 is the marking nozzle, 6 is the bracket, 7 is the roller, 8 is the limit column, 9 is the fixed tooth, 10 is the movable ring, 11 is the fixed column, 12 is the spring, 13 is the latch tooth, 14 is the limiting disk, 15 is the first fixed frame, 16 is the first motor, 17 is the connecting pipe, 18 is the second fixed frame, 19 is the rotating rod, 20 is the transmission rod, 21 is the rotating arm, 22 is the second motor, 23 is the hydraulic rod, 24 is the adjusting arm, 25 is the transmission block, and 26 is the extension arm. DETAILED DESCRIPTION

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] like Figure 1 As shown, a tunnel face gas extraction automatic mapping, positioning, drilling and marking device includes a base 1. The above-mentioned tunnel face gas extraction automatic mapping, positioning, drilling and marking device has anti-slip textures on the bottom of the base 1 and is equipped with support feet, which can adapt to the complex and changeable ground conditions of the tunnel face and provide stable support for the entire device.

[0026] like Figure 2 As shown, the base 1 is equipped with a controller 2. This controller 2 is an industrial-grade touch panel with an integrated high-performance microprocessor, used to input drilling parameters, control device operation, and adjust the working status of various components. The controller 2 is equipped with an adjustment assembly for adjusting the mounting angle of the controller 2. The base 1 is equipped with a lifting assembly, which is equipped with a transmission block 25. The transmission block 25 is connected to the marking nozzle 5 through the transmission assembly. The controller 2 is electrically connected to the lifting assembly and the transmission assembly.

[0027] The marking nozzle 5 is made of wear-resistant ceramic material and is equipped with a precision atomizing nozzle inside, which can evenly spray the marking material on the tunnel face to form a clear and lasting mark.

[0028] A laser ranging device 4 is provided on the top of the base 1. The laser ranging device 4 includes a laser transmitter and a laser receiver. The laser ranging device 4 is used to perform a 360-degree scan of the tunnel face to obtain three-dimensional terrain data of the tunnel face, providing an accurate basis for drilling positioning.

[0029] like Figure 3As shown, the adjustment component includes a roller 7 and a fixed column 11. The bracket 6 is fixedly arranged on the base 1, and both ends of the fixed column 11 are fixedly arranged on the bracket 6. The roller 7 is sleeved in the middle position of the fixed column 11, and the outer wall of the roller 7 is fixedly connected to the outer wall of the manipulator 2. Two movable rings 10 and two springs 12 are symmetrically arranged on both sides of the fixed column 11. One end of the spring 12 is fixedly connected to the bracket 6, and the other end of the spring 12 is fixedly connected to the corresponding movable ring 10. The movable ring 10 and the roller 7 are connected through a fixed component.

[0030] The fixing assembly includes fixed teeth 9 and latch teeth 13. Several fixed teeth 9 are circumferentially distributed at both ends of the roller 7. Several latch teeth 13 are circumferentially provided on one end surface of the two movable rings 10 facing the roller 7. The latch teeth 13 are engaged with the fixed teeth 9 to form a stable locking structure.

[0031] The adjustment component also includes a limit column 8. Several limit columns 8 are distributed in a ring shape on the outside of the two sides of the fixed column 11. The limit columns 8 are arranged parallel to the fixed column 11. One end of the limit column 8 is fixed on the bracket 6. The other end of the limit column 8 is provided with a limiting disc 14. The movable ring 10 is passed through the limit column 8. During the sliding process, the limit column 8 plays a role of precise guidance and limitation.

[0032] The lifting assembly includes a lifting plate 3, a hydraulic rod 23 and an adjusting arm 24. A linear guide rail is provided on the upper part of the base 1, and the lifting plate 3 can be slidably set on the linear guide rail. Two hydraulic rods 23 are symmetrically arranged on both sides of the lifting plate 3. One end of the hydraulic rod 23 is hinged to the base 1, and the other end of the hydraulic rod 23 is installed on the lifting plate 3. One end of the adjusting arm 24 is rotatably connected to the lifting plate 3, and the other end of the adjusting arm 24 is fixedly connected to the transmission block 25; the adjusting arm 24 and the hydraulic rod 23 are electrically connected to the manipulator 2.

[0033] The manipulator 2 plays a key role as the intelligent control center. When faced with the need to operate the tunnel face at different heights, the operator sends instructions through the manipulator 2 to start the built-in hydraulic control system and drive the hydraulic rod 23 to work. As the hydraulic oil flows in and out, the lifting plate 3 slides smoothly along the linear guide rail of the base 1, thereby accurately adjusting the height of the adjustment arm 24 with an adjustment accuracy of up to ±10mm. After the height adjustment is completed, the laser ranging device 4 is started to perform a 360-degree rapid scan of the tunnel face, and the acquired three-dimensional data is transmitted to the manipulator 2 in real time for analysis and processing. Taking into account the usage habits and height differences of different operators, the operators can Push the moving ring 10, and the moving ring 10 can slide on the outer wall of the fixed column 11. During the sliding process, the limit column 8 can prevent the moving ring 10 from deviating or slipping. As the moving ring 10 slides, the latch 13 and the fixed tooth 9 are disengaged. At this time, the roller 7 can be easily rotated to adjust the angle of the manipulator 2. After adjusting to the right position, release the moving ring 10, and the spring 12 rebounds to reset the moving ring 10. The limiting disc 14 acts as a barrier to prevent the moving ring 10 from excessively popping out. The latch 13 and the fixed tooth 9 are re-engaged tightly to firmly lock the angle of the manipulator 2, providing a comfortable operating perspective for the operator and ensuring that the hole marking work is completed efficiently and accurately.

[0034] like Figure 4 、 Figure 5 As shown, the transmission assembly includes a first fixed frame 15, a second fixed frame 18, a rotating rod 19, a transmission rod 20 and a rotating arm 21. The first fixed frame 15 is fixed to the bottom of the transmission block 25. The first motor 16 is fixedly arranged on the first fixed frame 15. The output shaft of the first motor 16 is fixedly connected to the rear end of the rotating arm 21. The front end of the rotating arm 21 is two left and right extension arms 26. The front ends of the two extension arms 26 are hinged to the left and right sides of the marking nozzle 5 to ensure that they can rotate flexibly and reduce friction loss during the transmission process. The function of the second fixing frame 18 is to transmit power to the marking nozzle 5, thereby achieving lateral angle adjustment of the marking nozzle 5. The second fixing frame 18 is fixed to the bottom of the transmission block 25. The second motor 22 is fixedly mounted on the second fixing frame 18. The output shaft of the second motor 22 is fixedly connected to one end of the rotating rod 19. The other end of the rotating rod 19 is connected to one end of the transmission rod 20 by a ball joint. The other end of the transmission rod 20 is hinged to the front side of the marking nozzle 5. The cooperation between the second motor 22, the rotating rod 19, and the transmission rod 20 enables longitudinal angle adjustment of the marking nozzle 5. Both the first motor 16 and the second motor 22 are servo motors.

[0035] A connecting tube 17 is fixedly connected to the top of the marking nozzle 5 . An ink circulation channel is provided inside the connecting tube 17 , and ink is transported to the interior of the marking nozzle 5 through the ink circulation channel.

[0036] When a complex curved surface appears on the tunnel face, the operator starts the first motor 16 through the manipulator 2. The output shaft of the first motor 16 drives the rotating arm 21 to rotate. The rotating arm 21 is made of aluminum alloy, which reduces weight while ensuring structural strength. The rotation of the rotating arm 21 drives the marking nozzle 5 to rotate, thereby achieving lateral angle adjustment of the marking nozzle 5 within a certain range; if the operator starts the second motor 22 through the manipulator 2, the output shaft of the second motor 22 drives the rotating rod 19 to rotate. Since the rotating rod 19 and the transmission rod 20 are The ball joint is connected, and the transmission rod 20 is hinged to the front side of the marking nozzle 5. Therefore, the rotation of the rotating rod 19 will apply a thrust to the transmission rod 20. This thrust is transmitted to the marking nozzle 5 through the hinge point between the transmission rod 20 and the front side of the marking nozzle 5, so that the marking nozzle 5 rotates with the hinge point between the extension arm 26 and the marking nozzle 5 as the axis, thereby realizing the longitudinal angle adjustment of the marking nozzle 5 within a certain range; the first motor 16 and the second motor 22 work together to enable the marking nozzle 5 to be quickly adjusted to multiple angles, accurately fitting the curved surface of the tunnel face to complete the marking operation.

Claims

1. A tunnel face gas extraction automatic mapping positioning drilling marking device, including a base, characterized by: The base is provided with a manipulator, the manipulator is provided with an adjustment component for adjusting the installation angle of the manipulator, the upper part of the base is provided with a lifting component, the lifting component is provided with a transmission block, the transmission block is connected to the marking nozzle through the transmission component, and the manipulator is electrically connected to the lifting component and the transmission component.

2. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 1 is characterized by: The adjusting assembly includes a roller and a fixed column. A bracket is fixedly arranged on the base. Both ends of the fixed column are fixedly arranged on the bracket. The roller is sleeved in the middle position of the fixed column. The outer wall of the roller is fixedly connected to the outer wall of the manipulator. Two movable rings and two springs are symmetrically arranged on both sides of the fixed column. One end of the spring is fixedly connected to the bracket, and the other end of the spring is fixedly connected to the corresponding movable ring. The movable ring and the roller are connected through a fixed assembly.

3. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 2 is characterized by: The fixing assembly includes fixed teeth and latching teeth. A plurality of fixed teeth are circumferentially distributed on both ends of the drum. A plurality of latching teeth are circumferentially provided on one end surface of the two movable rings facing the drum, and the latching teeth are engaged with the fixed teeth.

4. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 2 is characterized by: The adjustment component also includes a limit column, and a plurality of limit columns are distributed in a ring shape on the outside of both sides of the fixed column. The limit columns are arranged parallel to the fixed column. One end of the limit column is fixed on the bracket, and a limiting disc is provided on the other end of the limit column. The movable ring is passed through the limit column.

5. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 1 is characterized by: The lifting assembly includes a lifting plate, a hydraulic rod and an adjusting arm. A linear guide rail is provided on the upper part of the base, and the lifting plate can be slidably set on the linear guide rail. Two hydraulic rods are symmetrically arranged on both sides of the lifting plate. One end of the hydraulic rod is hinged on the base, and the other end of the hydraulic rod is installed on the lifting plate. One end of the adjusting arm is rotatably connected to the lifting plate, and the other end of the adjusting arm is fixedly connected to the transmission block; the adjusting arm, the hydraulic rod and the manipulator are electrically connected.

6. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 1 is characterized by: The transmission assembly includes a first fixed frame, a second fixed frame, a rotating rod, a transmission rod and a rotating arm. The first fixed frame is fixed to the bottom of the transmission block, and a first motor is fixedly arranged on the first fixed frame. The output shaft of the first motor is fixedly connected to the rear end of the rotating arm. The front end of the rotating arm is two left and right extension arms. The front ends of the two extension arms are hinged to the left and right sides of the marking nozzle; the second fixed frame is fixed to the bottom of the transmission block, and a second motor is fixedly arranged on the second fixed frame. The output shaft of the second motor is fixedly connected to one end of the rotating rod, the other end of the rotating rod is connected to one end of the transmission rod with a ball joint, and the other end of the transmission rod is hinged to the front side of the marking nozzle.

7. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 1 is characterized by: The top of the marking nozzle is fixedly connected with a connecting pipe, and an ink circulation channel is provided inside the connecting pipe, through which the ink is transported to the inside of the marking nozzle.

8. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 1 is characterized by: A laser ranging device is provided on the top of the base. The laser ranging device includes a laser transmitter and a laser receiver. The laser ranging device is used to scan the tunnel face 360 ​​degrees to obtain three-dimensional terrain data of the tunnel face.

9. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 6 is characterized by: The first motor and the second motor are both servo motors.

10. The automatic mapping, positioning, drilling and marking device for gas extraction at a tunnel face according to claim 1 is characterized in that: The bottom of the base is provided with anti-slip grooves and equipped with supporting feet.

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