Manipulator device integrating boring machine and rock splitting machine and tunnel excavation method using same

Abstract

The present invention relates to a manipulator device integrating a boring machine and a rock splitting machine, and a tunnel excavation method using same, wherein the manipulator device is manufactured by integrating a rock splitting machine and a boring machine into a single manipulator, and is manufactured to be usable when attached to existing equipment by adopting an attachment method, thereby increasing compatibility and maximizing the usability in various work sites.

Description

Integrated manipulator device for drilling and rock splitting and tunnel excavation method using the same

[0001] The present invention relates to a manipulator device integrating a drilling machine and a rock splitter, and a tunnel excavation method using the same. More specifically, the invention relates to a manipulator device integrating a rock splitter and a drilling machine into a single manipulator and adopting an attachment method so that it can be attached to existing equipment for use, thereby increasing compatibility and maximizing usability in various work sites, and to a manipulator device integrating a rock splitter and a drilling machine and a tunnel excavation method using the same, which minimizes work loss time occurring during the process of inserting the rock splitter after drilling is completed, thereby maximizing process efficiency and significantly improving the speed of work progress.

[0002] Recently, as tunnel construction in urban areas has increased, damage caused by blasting and vibration has emerged as a major issue; in particular, damage continues to occur in deep tunnels, where blasting operations are unavoidable due to the installation of vertical shafts.

[0003] To address this, the TBM method is currently being gradually introduced, but its high construction cost compared to the conventional NATM method is pointed out as a disadvantage.

[0004] In the NATM method, the Ultra Rock Splitter (URS) is primarily used as a vibration-free rock crushing technology; however, this method has limitations as it crushes rock using expansion force attached to an excavator.

[0005] To address this, new technologies such as the Cost-Efficient Rock Crushing (CRC) method have recently been developed. While their functional potential has been proven, they lack safety and face limitations in use due to structural issues requiring workers to operate directly on the excavation surface.

[0006] Therefore, there is a need to develop low-cost, high-safety, vibration-free rock crushing technology that minimizes blasting and vibration damage in urban tunnel construction, satisfies construction speed and economic efficiency, and guarantees safety.

[0007] (Patent Document 1) Korean Registered Patent No. 10-2009896 (Registered Aug. 06, 2019)

[0008] The present invention aims to solve the aforementioned problems by integrating a rock splitter and a drilling machine into a single manipulator and adopting an attachment method so that it can be attached to existing equipment, thereby increasing compatibility and maximizing usability in various work sites, and by minimizing work loss time during the process of inserting the rock splitter after drilling is completed, thereby maximizing process efficiency and significantly improving the speed of work progress. It also provides a tunnel excavation method using the same.

[0009] A drilling machine and rock splitter integrated manipulator device (100) according to one embodiment of the present invention comprises: an excavator connection part (110) formed to be attached to an excavator in an attachment manner; a slew driver (120) installed on the excavator connection part (110) and rotating through hydraulic rotational force; a rotating body (130) installed on the slew driver (120) and rotating; a two-axis joint (140) formed to allow rotation and angle adjustment on the rotating body (130); a rail frame device (150) installed on the two-axis joint (140); a drifter (160) moving in the forward and backward direction along the rail frame device (150); a hydraulic motor (170) installed on one side of the rail frame device (150) and moving the drifter (160) in the forward and backward direction through hydraulics; and a crawler drill bit (181) installed on one side of the rail frame device (150). It may include a bit switching arm (180) positioned towards the center of the rail frame device (150) and a rock splitter switching arm (190) installed on the rail frame device (150) and positioning a rock splitter (191) installed on one side towards the center of the rail frame device (150).

[0010] A manipulator device (100) with an integrated drilling and rock splitting machine according to one embodiment of the present invention is installed at the end of the rail frame device (150) and may further include a dust collection device for collecting dust generated during drilling operations through the crawler drill bit (181).

[0011] In one embodiment of the present invention, a position fixing pin (150a) may be formed at the end of the rail frame device (150) to support the rock and form the space of the dust collection duct (200) of the dust collection device during the process of positioning the end of the rail frame device (150) on the rock.

[0012] According to one embodiment of the present invention, the position fixing pin (150a) is connected to a hydraulic cylinder so that its length is automatically adjusted according to the shape and condition of the rock, and may include a multi-stage adjustment module to optimize the fixing force.

[0013] The dust collector according to one embodiment of the present invention may include a multi-stage filter system that analyzes dust sucked in through the dust collection duct (200) and sequentially separates and collects the sucked dust through a filter according to the analysis results.

[0014] The slew driver (120) according to one embodiment of the present invention may include a hydraulic motor (121) for rotating the two-axis joint module (130) with hydraulic rotational force.

[0015] The slew driver (120) according to one embodiment of the present invention may further include an electronic control module that adjusts the rotational speed and rotational direction of the hydraulic motor (121) according to the working conditions.

[0016] According to one embodiment of the present invention, the two-axis joint (140) may include a two-axis tilt (141) axially connected to the rotating body (130) so as to be rotatable from the rotating body (130), and a two-axis rotor (142) having one side axially connected to the rail frame device (150) so as to allow the rail frame device (150) to rotate.

[0017] According to one embodiment of the present invention, the rail frame device (150) may include a rotating body (151) connected to the two-axis rotor (142) and rotating, a rotating body (152) connected to the rotating body (151) by an axis and rotating, a rail frame (153) having a certain length connected to the rotating body (152), a chain sprocket device (154) that is engaged with a chain provided along the longitudinal direction inside the rail frame (153) and rotates the chain by rotating through the hydraulic rotational force of the hydraulic motor (170), and a tilt actuator (155) that connects the rotating body (151) and the rail frame (153) and allows the angle of the rail frame (153) to be adjusted by extending or contracting its length through hydraulic pressure.

[0018] The rail frame device (150) according to one embodiment of the present invention may further include a bit position fixing device that maintains the current drilling position of the crawler drill bit (181) according to the rotational force of the crawler drill bit (181) generated during the drilling operation.

[0019] According to one embodiment of the present invention, the drifter (160) is provided at one end so that the crawler drill bit (181) or the rock splitter (191) can be attached or detached, and while seated on the rail frame (153), it slides in the forward and backward directions of the rail frame (153) according to the rotation of the chain, thereby being able to push or pull the crawler drill bit (181) or the rock splitter (191).

[0020] According to one embodiment of the present invention, the bit switching arm (180) is provided to be rotatable on one side of the rail frame (153), and after being rotated toward the center of the rail frame (153) while coupled with the crawler drill bit (181), when the crawler drill bit (181) and the drifter (160) are connected, the coupling is released from the crawler drill bit (181) and the arm is rotated back to its original direction. The rock splitter switching arm (190) is provided to be rotatable on the side opposite to the bit switching arm (180) on one side of the rail frame (153), and after being rotated toward the center of the rail frame (153) while coupled with the rock splitter (191), when the rock splitter (191) and the drifter (160) are connected, the coupling is released from the rock splitter (191) and the arm is rotated back to its original direction.

[0021] A manipulator device for an integrated drilling machine and rock splitter according to another embodiment of the present invention comprises: an excavator connection part formed to be attached to an excavator in an attachment manner; a slew driver installed in the excavator connection part, which rotates via hydraulic rotational force and automatically adjusts the rotational speed according to the working environment; a rotating body installed in the slew driver and which rotates; a two-axis joint connected to the rotating body and formed to enable two-axis rotation and angle adjustment; a rail frame device connected to the two-axis joint, in which two different H-beams are fixed by welding; and a drifter installed in the rail frame device and which moves in the forward and backward directions along the rail frame of the rail frame device based on hydraulic pressure from a hydraulic motor installed on one side of the rail frame, wherein a crawler drill bit for performing rock drilling operations and a rock splitter for rock crushing can be interchangeably coupled to the drifter.

[0022] A manipulator device (100) integrated with a drilling machine and a rock splitter according to another embodiment of the present invention comprises: an excavator connection part formed to be attached to an excavator in an attachment manner; a slew driver installed in the excavator connection part and rotating through hydraulic rotational force, with the rotational speed automatically adjusted according to the working environment; a rotating body installed in the slew driver and rotating; a two-axis joint connected to the rotating body and formed to allow two-axis rotation and angle adjustment; a rail frame device connected to the two-axis joint, with two different H-beams fixed by welding; a drifter installed in the rail frame device and moving in the forward and backward directions along the rail frame of the rail frame device based on hydraulic pressure from a hydraulic motor installed on one side of the rail frame; and a dust collector installed at the end of the rail frame device and collecting dust generated during drilling work using the crawler drill bit. A crawler drill bit for performing drilling work on rocks and a rock splitter for crushing rocks can be interchangeably coupled to the drifter.

[0023] A tunnel excavation method using a manipulator device integrated with a drilling machine and a rock splitter according to another embodiment of the present invention comprises the steps of: positioning the manipulator device integrated with a drilling machine and a rock splitter, comprising an excavator connection part, a slew driver, a rotating body, a two-axis joint, a rail frame device, a drifter, a hydraulic motor, a bit switching arm, a rock splitter switching arm, and a dust collection device on a rock to be crushed; adjusting the angle of the rail frame device using the slew driver, the rotating body, and the two-axis joint; positioning a crawler drill bit using the bit switching arm and connecting it to the drifter, and pushing the crawler drill bit toward the rock through the drifter to proceed with drilling; after drilling is completed, pulling the crawler drill bit through the drifter and separating it from the drifter, positioning a rock splitter using the rock splitter switching arm and connecting it to the drifter, pushing the rock splitter toward the rock through the drifter and proceeding with crushing; and after crushing is completed, using the drifter to [remove] the rock splitter It may include a step of separating from the above drifter after pulling.

[0024] According to one embodiment of the present invention, a rock splitter and a drilling machine are manufactured by integrating them into a single manipulator and adopting an attachment method so that they can be attached to existing equipment for use, thereby increasing compatibility and providing the advantage of maximizing usability in various work sites.

[0025] In addition, according to the present invention, the efficiency of the process can be maximized by minimizing the work loss time that occurs during the process of inserting the rock splitter after the drilling is completed, and the speed of work progress can be significantly improved.

[0026] In addition, according to the present invention, compared to existing methods, construction costs can be reduced, economic efficiency can be secured by increasing ease of construction, construction time can be shortened, and the efficiency of the crushing process can be increased by recognizing and considering discontinuous surfaces and multiple discontinuous surfaces to improve the crushing mechanism.

[0027] FIG. 1 is a schematic diagram showing the configuration of a manipulator device (100) with an integrated drilling machine and rock splitting machine according to one embodiment of the present invention.

[0028] FIG. 2 is a drawing showing the state in which the drilling machine and rock splitter integrated manipulator device (100) shown in FIG. 1 is attached to an excavator in an attachment manner.

[0029] FIG. 3 is a drawing showing the slew driver (120) in more detail.

[0030] FIG. 4 is a drawing showing a hydraulic motor (121) that provides hydraulic rotational force to a slew driver (121) in more detail.

[0031] FIG. 5 is a drawing showing the state in which the rail frame device (150) rotates freely according to the rotational movement of the slew driver (121) and the rotating body (130).

[0032] FIG. 6 is a drawing showing the state in which the angle and direction of the rail frame device (150) are optimized and adjusted to match the angle of the excavation surface according to the rotational and rotational movements of the two-axis joint (140).

[0033] FIG. 7 is a drawing showing the rail frame device (150) and drifter (160) in more detail.

[0034] FIG. 8 is a drawing showing the state in which the drifter (160) moves in the forward and backward directions on the rail frame (153) via the hydraulic motor (170).

[0035] FIG. 9 is a drawing showing the state in which a crawler drill bit (181) and a splitter (191) are replaced through a bit switching arm (180) and a splitter switching arm (190).

[0036] FIG. 10 is a drawing showing the rock splitter (191) in more detail.

[0037] FIG. 11 is a schematic diagram showing the overall process of drilling and crushing a rock to be crushed using a manipulator device (100) that is an integrated drilling and rock-breaking device according to one embodiment of the present invention.

[0038] FIG. 12 is a schematic diagram showing the process of performing continuous excavation work using a manipulator device (100) that integrates a drill and a rock splitter according to one embodiment of the present invention.

[0039] *Explanation of major symbols in the drawings*

[0040] 100: Integrated manipulator device for drilling and rock splitting machines

[0041] 110: Excavator connection part

[0042] 120: Slue Driver

[0043] 121: Hydraulic motor

[0044] 130: Rotating body

[0045] 140: 2-axis joint

[0046] 141: 2-axis tilt

[0047] 142: 2-axis rotor

[0048] 150: Rail frame device

[0049] 150a: Position fixing pin

[0050] 151: Rotating body

[0051] 152: Meeting Mother

[0052] 153: Rail Frame

[0053] 154: Chain sprocket device

[0054] 155: Tilt actuator

[0055] 160: Drifter

[0056] 170: Hydraulic motor

[0057] 180: Bit switching arm

[0058] 181: Crawler drill bit

[0059] 190: Arm for splitting lock conversion

[0060] 191: Memorization

[0061] 200: Dust collector

[0062] 210: Dust collection duct

[0063] Hereinafter, specific details for implementing the present invention will be described in detail with reference to the attached drawings. However, in the following description, specific descriptions regarding widely known functions or configurations will be omitted if there is a risk that the gist of the present invention may be unnecessarily obscured.

[0064] In the attached drawings, identical or corresponding components are given the same reference numerals. Additionally, in the description of the following embodiments, the description of identical or corresponding components may be omitted. However, even if a description of a component is omitted, it is not intended that such component is not included in any embodiment.

[0065] The advantages and features of the invented embodiments and the methods for achieving them will become clear by referring to the embodiments described below together with the accompanying drawings. However, the present invention is not limited to the embodiments described below but can be implemented in various different forms, and these embodiments are provided merely to make the present invention complete and to fully inform a person skilled in the art of the scope of the invention.

[0066] The terms used in this specification will be briefly explained, and the invented embodiments will be described in detail. The terms used in this specification have been selected to be as generally used as possible, taking into account their functions in the present invention; however, these terms may vary depending on the intent of those skilled in the relevant field, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this invention should be defined not merely by their names, but based on the meanings they possess and the content of the invention as a whole.

[0067] In this specification, singular expressions include plural expressions unless the context clearly specifies them as singular. Additionally, plural expressions include singular expressions unless the context clearly specifies them as plural. Throughout the specification, when a part is described as including a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0068] Additionally, the terms 'module' or 'part' as used in the specification refer to software or hardware components, and the 'module' or 'part' performs certain roles. However, the meaning of 'module' or 'part' is not limited to software or hardware. The 'module' or 'part' may be configured to reside in an addressable storage medium or configured to run on one or more processors. Thus, as an example, the 'module' or 'part' may include components such as software components, object-oriented software components, class components, and task components, and at least one of processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, or variables. The components and the functions provided within the 'module' or 'part' may be combined into a smaller number of components and 'modules' or 'parts', or further separated into additional components and 'modules' or 'parts'.

[0069] FIG. 1 is a schematic diagram showing the configuration of a manipulator device (100) with an integrated drilling machine and rock splitting machine according to one embodiment of the present invention.

[0070] Referring to FIG. 1, a drilling machine and rock splitter integrated manipulator device (100) according to one embodiment of the present invention may largely include an excavator connection part (110), a slew driver (120), a rotating body (130), a two-axis joint (140), a rail frame device (150), a drifter (160), a hydraulic motor (170), a bit switching arm (180), a rock splitter switching arm (190), and a dust collection device.

[0071] The excavator connection part (110) can be formed so that it can be attached to the excavator in an attachment manner. This is described as follows.

[0072] FIG. 2 is a drawing showing the state in which the drilling machine and rock splitter integrated manipulator device (100) shown in FIG. 1 is attached to an excavator in an attachment manner.

[0073] Looking at FIG. 2, the excavator connection part (110) according to one embodiment of the present invention is a part designed to allow a manipulator to be mounted on an excavator, and can serve to firmly mount and install the drilling and rock-breaking machine integrated manipulator device (100) according to the present invention on the excavator.

[0074] These excavator connection parts (110) are designed in an attachment manner and formed to be easily compatible with various excavators.

[0075] For example, the excavator connection part (110) may include a connecting link, bolts, and a clamp system for mounting to the excavator body. Through this, the excavator connection part (110) can be easily attached to the arm or bucket handle of the excavator and can be compatible with various excavator models.

[0076] Additionally, the excavator connection part (110) can be made of a rigid material so that the connection with the existing excavator can be safely and firmly maintained, and can be designed to withstand strong vibrations and loads that may occur during operation. This excavator connection part (110) can be made mainly of metal material, such as a high-strength alloy, to have high durability.

[0077] In particular, the excavator connection part (110) is designed as an attachment type so that it can be quickly and easily mounted to a specific part of an existing excavator. At this time, the attachment type can be applied in various forms, such as a clamp or hook type attached to the front or rear of the equipment. Through this, the excavator connection part (110) can be easily mounted to other types of excavators, thereby increasing operational flexibility.

[0078] A slew driver (120) is installed on the excavator connection part (110) described earlier, and can rotate the rotating body (130) through hydraulic rotational force. Additionally, the rotating body (130) is installed on this slew driver (120) and can be freely rotated clockwise or counterclockwise through the hydraulic rotational force of the hydraulic motor (121) of the slew driver (120). This is described in more detail as follows.

[0079] FIG. 3 is a drawing showing the slew driver (120) in more detail, FIG. 4 is a drawing showing the hydraulic motor (121) providing hydraulic rotational force to the slew driver (121) in more detail, and FIG. 5 is a drawing showing the state in which the rail frame device (150) rotates freely according to the rotational movement of the slew driver (121) and the rotating body (130).

[0080] Referring to FIGS. 3 to 5, the slew driver (120) is a component responsible for the rotational movement of the rotating body (130) and can transmit rotational force using a hydraulic motor (121) positioned on one side. This slew driver (120) has a structure in which an internal shaft rotates while one side is fixed to the excavator connection part (110). The slew driver receives rotational movement from the hydraulic motor (121) and can drive the rotating body (130) to rotate in a clockwise or counterclockwise direction.

[0081] The rotational speed of this slew driver (120) is 1 RPM, and it has a holding torque of 44,590 Nm. This torque enables the slew driver (120) to withstand strong external forces that may occur during rotation and to perform work stably. Additionally, the slew driver (120) has a normal torque of 31,212 Nm, a dynamic load rating of 170 kN, a gear ratio of 104:1, and a hydraulic pressure of 140 bar.

[0082] A hydraulic motor (121) is positioned on one side of a slew driver (120) and is a hydraulic device that controls the rotational movement of the slew driver (20). This hydraulic motor (121) can transmit rotational force to a rotating body (130) using hydraulic rotational force.

[0083] The hydraulic motor (121) rotates by fluid pressure, and when the slew driver (120) is connected to the hydraulic motor (121), the hydraulic motor (121) receives hydraulic rotational force and starts a rotational movement, and the rotation of the hydraulic motor (121) is transmitted to the rotating body (130) through the slew driver (120).

[0084] Additionally, the hydraulic motor (121) has a rotational speed of 324 RPM and can generate a torque of 339 Nm. Although the torque of the hydraulic motor (121) is relatively low, it can be converted into a high torque through the gear ratio of the slew driver (120) to generate high-intensity rotational motion. Additionally, the hydraulic motor (121) can be driven at a pressure of 141 bar.

[0085] The rotating body (130) is a part that actually rotates through the rotational force received from the slew driver (120), and can rotate freely while connected to the slew driver (120). Through this, the rotating body (130) can be rotated at the required angle or direction of rotation.

[0086] Looking at FIG. 5, the rotating body (130) is connected to the slew driver (120) and can freely rotate up to 180 degrees to the left and right with respect to the horizontal direction through the hydraulic rotational force of the hydraulic motor (121) as shown in FIG. 5(a) to FIG. 5(d).

[0087] This rotational movement is based on the driving force of the hydraulic motor (121), which allows the rotating body (130) to rotate accurately in the desired direction. The rotational range of the rotating body (130) allows the angle of the rail frame (150) to be optimally adjusted to match the surface angle or shape of the rock while performing crushing operations.

[0088] FIG. 5(a) shows a state at 0° where the rotating body (130) is fixed in the basic position of the slew driver (120). At this time, the rail frame (150) is positioned horizontally and may be suitable for straight work or drilling and crushing work performed along a horizontal plane. Also, at this time, the hydraulic motor (121) is not operating and is in a standby state in the basic position.

[0089] FIG. 5(b) shows a state in which the rotating body (130) is rotated to +90° by the hydraulic motor (121) in a +90° state. At this time, the rail frame (150) is switched to a position close to vertical, which corresponds to a position suitable for performing work on the vertical or inclined surface of a rock. At this time, the slew driver (120) can control the rotational movement to precisely fix the position at +90°. In addition, the pressure and rotational torque of the hydraulic motor (121) are accurately controlled so that the position can be maintained stably.

[0090] FIG. 5(c) shows a -90° state, in which the rotating body (130) is rotated -90° in the opposite direction. At this time, the rail frame (150) is tilted downward, which may be suitable when the working position is in a low position or when a special angle is required. Additionally, the hydraulic motor (121) operates in the opposite direction to transmit rotational force, and the angle can be controlled with the same stability and precision.

[0091] FIG. 5(d) shows a 180° state, indicating that the rotating body (130) is rotated 180°. At this time, the rail frame (150) is completely flipped in the opposite direction, which can be applied when work is required in a complex terrain at the work location. The slew driver (120) can reduce the high speed of the hydraulic motor through the gear ratio (104:1) and perform precise angle control with strong torque.

[0092] That is, when processing irregularly shaped rocks, the free rotational capability of the rotating body (130) allows the position or angle of the equipment to be easily adjusted to the surface of the rock. This increases work efficiency and allows for the effective processing of various shapes of rocks.

[0093] Meanwhile, a two-axis joint (140) may be connected to one side of the rotating body (130) to allow for rotation and angle adjustment. This is described as follows.

[0094] FIG. 6 is a drawing showing the state in which the angle and direction of the rail frame device (150) are optimized and adjusted to match the angle of the excavation surface according to the rotational and rotational movements of the two-axis joint (140).

[0095] Looking at FIG. 6, the 2-axis joint (140) is a 2-axis rotating joint that rotates around a tilt axis and a slew axis, and serves to precisely adjust the position and angle of the manipulator.

[0096] At this time, the rail frame device (150) can freely slew horizontally within a 360° range by means of the 2-axis joint (140) and tilt adjustment is possible by tilting up to ±55°, thereby providing adaptability to complex terrain of rock, vertical and horizontal work surfaces.

[0097] The rail frame device (150) can be installed on the previously described two-axis joint (140) and serves to support the crawler drill bit (181) and the rock splitter (191) so that they can slide forward and backward through the drifter (160). A more detailed examination of this is as follows.

[0098] FIG. 7 is a drawing showing the rail frame device (150) and the drifter (160) in more detail, and FIG. 8 is a drawing showing the state in which the drifter (160) moves in the forward and backward directions on the rail frame (153) through the hydraulic motor (170).

[0099] Referring to FIGS. 7 and 8, the rail frame device (150) includes a rotating body (151) that rotates in conjunction with a two-axis rotor (142), a rotating body (152) that rotates in conjunction with the rotating body (151) via an axis, a rail frame (153) that has a certain length and is connected to the rotating body (152), a chain sprocket device (154) that is engaged with a chain provided along the longitudinal direction inside the rail frame (153) and rotates the chain by rotating through the hydraulic rotational force of a hydraulic motor (170), and a tilt actuator (155) that connects the rotating body (151) and the rail frame (153) and allows the length to be extended or shortened through hydraulics so that the angle of the rail frame (153) is adjusted.

[0100] More specifically, the rail frame device (150) is a core component of the manipulator and can perform various operations by combining with the previously described two-axis joint (140), and can support drilling and crushing operations by mounting a crawler drill bit (181) and a rock splitter (191).

[0101] The rotating body (151) is connected to the previously described two-axis joint (140) and is configured to rotate only in the horizontal direction. This rotating body (151) rotates to a desired angle in the horizontal direction through the two-axis rotor (142) of the two-axis joint (140).

[0102] The pivot body (152) is connected to the center and axis of the rotating body (151) to enable angle adjustment, and the angle can be adjusted by a tilt actuator (155). The pivot body (152) is formed integrally with the rail frame (153). This pivot body (152) plays a key role in adjusting the angle of the rail frame (153). In particular, it serves to connect the rail frame (153) so that it maintains an angle suitable for work in inclined rock or complex working environments.

[0103] The rail frame (153) is designed to be integral with the rotating body (152) and can support the crawler drill bit (181) and the rock splitter (191) and provide a forward and backward movement path for the drifter (160). Additionally, the rail frame (153) can be angle-adjustable together with the rotating body (152) and can be tilted at various angles depending on the operation of the tilt actuator (155).

[0104] In one embodiment, the rail frame (153) may include a beam-based structure and a chain sprocket device (154) to provide high rigidity and operational flexibility. To this end, the rail frame (153) is composed of a structure in which two beams are welded together. The beams serve as the basic framework of the rail frame (153) and provide rigidity and durability. Additionally, the rail frame (153) is manufactured by welding so that it can effectively withstand vibrations or loads that occur during operation, and a chain sprocket device (154) is positioned between the two beams, thereby allowing the drifter (160) to move back and forth.

[0105] The chain sprocket device (154) is positioned inside the rail frame (153) to enable smooth sliding movement of the drifter (154). In particular, the chain sprocket device (154) drives the chain through the rotational force of the hydraulic motor (170), and as the chain moves, the drifter (160) moves in the forward and backward directions along the rail frame (153), thereby enabling drilling and rock splitting operations to be performed.

[0106] In one embodiment, the rail frame device (150) may be equipped with a bit position fixing device that maintains the current drilling position of the crawler drill bit (181) according to the rotational force of the crawler drill bit (181) generated during the drilling operation.

[0107] The drifter (160) moves in the forward and backward directions along the rail frame device (150), and a crawler drill bit (181) or a rock splitter (191) is provided at one end so that it can be attached or detached. In this state, the drifter (160) slides in the forward and backward directions along the rail frame (153) according to the rotation of the chain, so that it can push or pull the crawler drill bit (181) or the rock splitter (191).

[0108] Referring to FIG. 8, the drifter (160) can slide a crawler drill bit (181) or a rock splitter (191) back and forth on a rail frame (153). At this time, the crawler drill bit (181) can be used to drill through rocks, and the rock splitter (191) can be used to crush rocks. The drifter (160) pushes or pulls them toward the rocks to perform the work.

[0109] The drifter (160) can be connected to a crawler drill bit (181) or a rock splitter (191) at its end via a bolt connection or other fastening method. Additionally, the drifter (160) can attach or detach the crawler drill bit (181) or the rock splitter (191) as needed, allowing the crawler drill bit (181) or the rock splitter (191) to be used alternately depending on the work situation.

[0110] These drifters (160) are connected to a chain sprocket device (154) installed inside a rail frame (153), and when the chain moves by the driving force of a hydraulic motor (170), the drifters also move together.

[0111]

[0112] The hydraulic motor (170) can drive the chain to move the drifter (160) precisely in the forward and backward directions.

[0113] The hydraulic motor (170) is the core power source that drives the chain sprocket device (154) in the rail frame device (150) to move the drifter (160) back and forth. At this time, the hydraulic motor (170) converts high-pressure fluid supplied from the hydraulic pump into rotational motion, so that the drifter (160) can move the crawler drill bit (181) or rock splitter (191) precisely toward the rock.

[0114] In one embodiment, the hydraulic motor provides a hydraulic pressure of 141 bar, a rotational speed of 324 RPM, and a torque of 339 Nm, and can precisely adjust the speed and direction according to the working environment.

[0115] The bit switching arm (180) is installed on the rail frame device (150) and can position a crawler drill bit (181) installed on one side toward the center of the rail frame device (150), and the rock splitter switching arm (190) is installed on the rail frame device (150) and can position a rock splitter (191) installed on one side toward the center of the rail frame device (150). This is examined in more detail as follows.

[0116] FIG. 9 is a drawing showing the state in which a crawler drill bit (181) and a rock splitter (191) are exchanged through a bit switching arm (180) and a rock splitter switching arm (190), and FIG. 10 is a drawing showing the rock splitter (191) in more detail.

[0117] Referring to FIGS. 9 and 10, the bit switching arm (180) and the rock splitter switching arm (190) are devices that move the crawler drill bit (181) and the rock splitter (191), respectively, to a working position. At this time, the two switching arms (180, 190) position the drifter (160) and the crawler drill bit (181) or the rock splitter (191) on the same horizontal line so that they can be connected to the drifter (160).

[0118] The bit switching arm (180) performs a rotational motion (rotation) so that the crawler drill bit (181) can move along the centerline of the drifter (160). At this time, as the bit switching arm (180) rotates, the crawler drill bit (181) can be aligned with the working position and, accordingly, can be connected to the drifter (160).

[0119] The arm (190) for converting the splitter also performs the same rotational motion to move the splitter (191) to the centerline of the drifter (160).

[0120] Here, the crawler drill bit (181) can be largely composed of a bit head, a bit body, a central penetration part, and a fastening part.

[0121] The bit head (cutting head) is the part that actually drills into the rock and is primarily made of high-strength alloys (e.g., tungsten carbide). The head is equipped with cutting edges or cutters that crush or grind the rock upon rotation. Additionally, the cutters consist of multiple sharp edges, providing penetrating power into the rock along with powerful rotational force.

[0122] The bit body is an intermediate structure connecting the bit head and the drifter (160) and provides overall rigidity and stability to the bit. The bit body is made of a highly durable metal material and is designed to withstand impacts and loads that occur during operation.

[0123] The central bore is a hole installed inside the bit body through which air or water can pass to remove rock dust and heat generated during drilling operations, thereby increasing the efficiency of drilling operations and preventing damage to the bit due to overheating.

[0124] The connection point is the part that connects to the drifter and is designed to be stably fixed during operation. The connection point is primarily secured using bolts or screws, maintaining safety against vibration or rotation during operation.

[0125] This crawler drill bit (181) is attached to a drifter (160) and receives rotational force through a hydraulic motor (170). At this time, the crawler drill bit (181) drills the surface of the rock by combining the back-and-forth sliding motion of the drifter (160) with the rotation of the bit. As the crawler drill bit (181) rotates, the cutting edge contacts the rock surface, crushing the rock through strong pressure and rotational force, and as the rock is crushed, rock powder and heat are discharged through the central penetration. In addition, water or air may be supplied into the crawler drill bit (181) to cool the heat generated during the drilling operation. At this time, cooling prevents the crawler drill bit (181) from overheating, lubrication increases work efficiency, and effectively removes rock powder.

[0126] These crawler drill bits (181) are made of tungsten carbide or high-strength alloy, which can provide high durability and rock penetration power, and can drill deep holes in rocks in a short time.

[0127] Referring to FIG. 10, the rock splitter (191) is a device for expanding cracks using joints in the rock and effectively crushing the rock mass, and is mounted on one side of the drifter (160) to perform excavation and crushing operations. This rock splitter (191) utilizes a high-pressure hydraulic system to provide powerful output and high efficiency, and is configured with a design optimized for large-scale excavation operations such as tunnel construction.

[0128] This rock splitter (191) can be largely composed of a main body, a plurality of round pistons, an expansion mechanism, and a high-pressure hydraulic system.

[0129] The body is a major component of the rock splitter and is made of high-strength metal to provide high durability. The body is connected to the drifter (160) and operated via a hydraulic motor, and can support large-scale operations such as tunnel construction.

[0130] Round pistons are optimized for expanding cracks within rocks and operate by being inserted into drilled holes. At this time, the diameter of each piston is designed to be ø.

[0131] After the rock splitter (191) is inserted into the rock, the piston expands due to high hydraulic pressure, causing a crack to grow along the rock joint. This separates and removes the rock mass, thereby maximizing work efficiency.

[0132] In addition, in one embodiment, the rock splitter (191) is connected to the hydraulic system of the manipulator and is operated by amplifying to a high pressure of up to 1500 bar through a booster, thereby utilizing the high pressure to expand the piston and perform rock crushing operations.

[0133] The output of the individual pistons of these splitters (191) is as follows.

[0134] - Piston diameter: ø

[0135] - Pressure: 1500 bar (150 MPa)

[0136] - Area: A = π × r 2 = 0.002123m 2

[0137] - Output of individual pistons

[0138] F = A × P = 0.002123 m 2 ×150 MPa = 0.318 MN

[0139] In addition, the total output of the splitter (191) is as follows.

[0140] - Number of pistons: 15

[0141] - Total output

[0142] 0.318 MN×15= 4.77 MN= 486 tons

[0143] This rock splitter (191) provides a total output of 486 tons of power, so it can perform powerfully in large-scale tunnel construction or rock crushing operations.

[0144] In addition, the round piston design of the rock splitter (101) effectively expands the crack along the rock joint, significantly improves the working speed, operates stably even at high pressure of 1500 bar, can handle a larger working load than conventional rock splitters, and has the advantage of having no size or weight constraints as it is mounted on a manipulator and operates, and allows for stable and continuous operation.

[0145] Next, we will examine the overall process of drilling and crushing a rock to be crushed using a manipulator device (100) that integrates a drill and a rock splitter according to one embodiment of the present invention.

[0146] FIG. 11 is a schematic diagram showing the overall process of drilling and crushing a rock to be crushed using a manipulator device (100) that is an integrated drilling and rock-breaking device according to one embodiment of the present invention.

[0147] Referring to FIG. 11, first, as in FIG. 11(a), the actuator of the excavator and the integrated drilling and rock splitting manipulator device (100) connected to the excavator is operated to move the integrated drilling and rock splitting manipulator device (100) to a work position. At this time, the slew driver (120) and the two-axis joint (140) are adjusted to align the rail frame device (150) toward the work target direction and to adjust the rail frame device (150) so that it is stably positioned on the rock surface.

[0148] Next, as shown in FIG. 11(b), the bit switching arm (180) is rotated to align the crawler drill bit (181) with the center axis of the drifter (160), and the crawler drill bit (181) is connected to the drifter (160) through the bit switching arm (180) to complete the preparation for operation. At this time, the connection is made stably using a bolt fastening method.

[0149] Next, as shown in FIG. 11(c), the dust collection duct (200) and the guide are fixed to suck up dust generated during drilling and stably guide the crawler drill bit (181). Additionally, a hydraulic motor (170) drives the drifter (160) to advance the crawler drill bit (181) and drill through the rock. The crawler drill bit (181) penetrates the surface of the rock through rotation and forward motion. During this process, dust generated through the dust collection duct (200) is removed.

[0150] Next, when the drilling operation is completed as shown in Fig. 11(d), the hydraulic motor (170) is reversed to retract the drifter (160). Additionally, the bit switching arm (180) is operated to fix the crawler drill bit (181), then the connection with the drifter (160) is released, and preparations are made to return the crawler drill bit (181) to its initial position.

[0151] Next, as shown in FIG. 11(e), the crawler drill bit (181) is moved to the initial position, and the rock splitter switching arm (190) is operated to position the rock splitter (191) at the drilling position. Additionally, the rock splitter (191) is aligned with the drifter (160) and connected by a bolt connection. Once the rock splitter connection is complete, the preparation for the crushing operation is complete.

[0152] Next, as shown in FIG. 11(f), the hydraulic motor (170) is driven to advance the drifter (160), and the rock splitter (191) is inserted into the drilled hole (drill diameter). At this time, the rock splitter (191) is operated by high-pressure hydraulics and expands the cracks inside the rock to crush the rock. The impact and pressure generated during the operation are distributed by the structure of the manipulator, enabling stable operation.

[0153] Next, when the rock splitting operation is completed as in FIG. 11(g), the hydraulic motor (170) is reversed to retract the drifter (160). Additionally, the rock splitter switching arm (190) is rotated to separate the rock splitter (191) from the drifter (160) and return it to its initial position. Additionally, the manipulator is moved to prepare for the next operation or to withdraw from the work position.

[0154] Next, we will examine the process of performing continuous excavation work using a manipulator device (100) that integrates a drill and a rock splitter according to one embodiment of the present invention.

[0155] FIG. 12 is a schematic diagram showing the process of performing continuous excavation work using a manipulator device (100) that integrates a drill and a rock splitter according to one embodiment of the present invention.

[0156] Referring to FIG. 12, first, as in FIG. 12(a), the manipulator moves to the drilling location calculated through preliminary exploration. Additionally, by controlling the excavator connection part (110) and the excavator arm, the manipulator is accurately positioned at the drilling location. Furthermore, the rail frame device (150) is adjusted to an angle optimized for the work surface using the slew driver (120) and the two-axis joint (140). During this process, the manipulator is firmly fixed for operational stability.

[0157] Next, as shown in FIGS. 12(b) and FIGS. 12(c), the bit switching arm (180) is operated to align the crawler drill bit (181) with the center axis of the drifter (160). At this time, when the crawler drill bit (181) is attached to the drifter (160), the hydraulic motor (170) drives the drifter (160) to start the drilling operation. During the drilling operation, the dust collection duct (200) operates to suck up dust generated during the operation and keep the working environment clean. The crawler drill bit (181) drills a hole in the rock surface and proceeds to drill to the required depth.

[0158] Next, when the drilling operation is completed as shown in FIG. 12(d), the drifter (160) is retracted to remove the crawler drill bit (181) from the drilled hole. Additionally, the bit switching arm (180) is operated to separate the crawler drill bit (181) from the drifter (160) and return it to its initial position. Then, the rock splitter switching arm (190) is operated to align the rock splitter (191) with the drifter (160), the rock splitter is connected to the drifter, and the preparation for the crushing operation is completed. Subsequently, the hydraulic motor (170) drives the drifter (160) to insert the rock splitter (191) into the drilled hole (drill diameter). The rock splitter (191) utilizes high hydraulic pressure (maximum 1500 bar) to expand cracks inside the rock and crush the rock mass. After the work is completed, the drifter (160) is retracted to remove the rock splitter (191) from the hole, and the rock splitter switching arm (190) returns the rock splitter (191) to its initial position, completing the preparation for continuous work.

[0159] Although the present invention has been described in relation to some embodiments, various modifications and changes may be made without departing from the scope of the invention as understood by a person skilled in the art to which the invention pertains. Furthermore, such modifications and changes should be considered to fall within the scope of the claims appended to this specification.

Claims

1. An excavator connection part (110) formed to be attached to an excavator in an attachment manner; A slew driver (120) installed on the above-mentioned excavator connection part (110) and rotating through hydraulic rotational force; A rotating body (130) installed in the above slew driver (120) and rotating; A two-axis joint (140) formed to allow rotation and angle adjustment in the above-mentioned rotating body (130); A rail frame device (150) installed on the above two-axis joint (140); A drifter (160) that moves in the forward and backward directions along the rail frame device (150); A hydraulic motor (170) installed on one side of the rail frame device (150) and moving the drifter (160) in the forward and backward directions through hydraulic pressure; A bit switching arm (180) installed on the rail frame device (150) and positioning a crawler drill bit (181) installed on one side toward the center of the rail frame device (150); and A rock splitter switching arm (190) installed on the rail frame device (150) and positioning a rock splitter (191) installed on one side toward the center of the rail frame device (150); comprising Integrated manipulator device for drilling and rock splitting.

2. In Paragraph 1, A dust collection device installed at the end of the above rail frame device (150) and collecting dust generated during drilling operations through the crawler drill bit (181); further comprising Integrated manipulator device for drilling and rock splitting.

3. In Paragraph 2, At the end of the above rail frame device (150), In the process of positioning the end of the rail frame device (150) on the rock, a position fixing pin (150a) is formed to support the rock and to form the space of the dust collection duct (200) of the dust collection device. Integrated manipulator device for drilling and rock splitting.

4. In Paragraph 3, The above position fixing pin (150a) is, Connected to a hydraulic cylinder so that the length is automatically adjusted according to the shape and condition of the rock, and including a multi-stage adjustment module to optimize the fixing force, Integrated manipulator device for drilling and rock splitting.

5. In Paragraph 4, The above dust collection device is, A multi-stage filter system comprising: analyzing dust sucked in through the dust collection duct (200) and separating and collecting the sucked dust sequentially through a filter according to the analysis results. Integrated manipulator device for drilling and rock splitting.

6. In Paragraph 5, The above slew driver (120) is, A hydraulic motor (121) for rotating the above 2-axis joint module (130) with hydraulic rotational force; comprising Integrated manipulator device for drilling and rock splitting.

7. In Paragraph 6, The above slew driver (120) is, Further including an electronic control module that adjusts the rotational speed and rotational direction of the hydraulic motor (121) according to the working conditions. Integrated manipulator device for drilling and rock splitting.

8. In Paragraph 7, The above two-axis joint (140) is, A two-axis tilt (141) axially connected to the rotating body (130) so as to be rotatable from the rotating body (130); and A two-axis rotor (142) having one side connected to the rail frame device (150) via an axis to allow the rail frame device (150) to rotate; comprising Integrated manipulator device for drilling and rock splitting.

9. In Paragraph 8, The above rail frame device (150) is, A rotating body (151) connected to the above-mentioned two-axis rotor (142) and rotating; A rotating body (152) that is connected to the above-mentioned rotating body (151) by an axis and rotates; A rail frame (153) having a certain length and connected to the above-mentioned rotating body (152); A chain sprocket device (154) that engages with and is connected to a chain provided along the longitudinal direction inside the rail frame (153), and rotates the chain by rotating through the hydraulic rotational force of the hydraulic motor (170); and A tilt actuator (155) that connects the rotating body (151) and the rail frame (153) and extends or retracts in length via hydraulic pressure to adjust the angle of the rail frame (153); Integrated manipulator device for drilling and rock splitting.

10. In Paragraph 9, The above rail frame device (150) is, A bit position fixing device further comprising: a device that maintains the current drilling position of the crawler drill bit (181) according to the rotational force of the crawler drill bit (181) generated during the drilling operation. Integrated manipulator device for drilling and rock splitting.

11. In Paragraph 10, The above drifter (160) is, The crawler drill bit (181) or the rock splitter (191) is provided at one end so as to be attached or detachable, and while seated on the rail frame (153), it slides in the forward and backward directions of the rail frame (153) according to the rotation of the chain to push or pull the crawler drill bit (181) or the rock splitter (191). Integrated manipulator device for drilling and rock splitting.

12. In Paragraph 11, The above bit switching arm (180) is, It is provided to be rotatable on one side of the rail frame (153), and after being rotated toward the center of the rail frame (153) while coupled with the crawler drill bit (181), when the crawler drill bit (181) and the drifter (160) are connected, the coupling is released from the crawler drill bit (181) and it is rotated back to its original direction. The above-mentioned arm (190) for switching the splitting arm is, One side of the rail frame (153) is provided to be rotatable on the side opposite to the bit switching arm (180), and after being rotated toward the center of the rail frame (153) while coupled with the rock splitter (191), when the rock splitter (191) and the drifter (160) are connected, the coupling is released from the rock splitter (191) and rotated back to its original direction. Integrated manipulator device for drilling and rock splitting.

13. In Paragraph 12, The above bit switching arm (180) and splitting arm switching arm (190) are, The above crawler drill bit (181) and rock splitter (191) can be automatically aligned with the drifter (160) by including a position sensor; wherein the position sensor detects the position of the crawler drill bit (181) and rock splitter (191) in real time. Integrated manipulator device for drilling and rock splitting.

14. A step of positioning a drilling machine and rock splitter integrated manipulator device, comprising an excavator connection part, a slew driver, a rotating body, a two-axis joint, a rail frame device, a drifter, a hydraulic motor, a bit switching arm, a rock splitter switching arm, and a dust collector, on a rock to be crushed; A step of adjusting the angle of the rail frame device using the above-described slew driver, rotating body, and two-axis joint; A step of positioning a crawler drill bit using the bit switching arm and connecting it to the drifter, and pushing the crawler drill bit toward the rock through the drifter to proceed with drilling; After drilling is completed, the crawler drill bit is pulled through the drifter and then separated from the drifter, the rock splitter is positioned using the rock splitter conversion arm and connected to the drifter, the rock splitter is pushed toward the rock through the drifter, and then crushing is performed; and After crushing is complete, the step of pulling the rock splitter through the drifter and then separating it from the drifter; comprising Tunnel excavation method using an integrated manipulator device for a drilling machine and a rock splitter.

15. An excavator connection part formed to be attached to an excavator in an attachment manner; A slew driver installed in the connection part of the excavator above, which rotates via hydraulic rotational force and automatically adjusts the rotational speed according to the working environment; A rotating body installed in the above-mentioned slew driver and rotating; A two-axis joint connected to the above-mentioned rotating body and formed to enable two-axis rotation and angle adjustment; A rail frame device connected to the above-mentioned two-axis joint, wherein two different H-beams are fixed through welding; and A drifter installed on the rail frame device and moving in the forward and backward directions along the rail frame of the rail frame device based on the hydraulic pressure of a hydraulic motor installed on one side of the rail frame; The above drifter is interchangeably coupled with a crawler drill bit for performing rock drilling operations and a rock splitter for rock crushing, Integrated manipulator device for drilling and rock splitting.

16. A step of positioning a drilling and rock splitting machine integrated manipulator device, comprising an excavator connection part, a slew driver, a rotating body, a two-axis joint, a rail frame device and a drifter, on a rock to be crushed; A step of adjusting the angle of the rail frame device using the above-described slew driver, rotating body, and two-axis joint; A step of positioning a crawler drill bit using a bit switching arm, connecting it to the drifter, and pushing the crawler drill bit toward the rock through the drifter to proceed with drilling; After drilling is completed, the crawler drill bit is pulled through the drifter and then separated from the drifter, the rock splitter is positioned using the rock splitter conversion arm and connected to the drifter, the rock splitter is pushed toward the rock through the drifter, and then crushing is performed; and After crushing is complete, the step of pulling the rock splitter through the drifter and separating it from the drifter; is included. The above drifter is interchangeably coupled with a crawler drill bit for performing rock drilling operations and a rock splitter for rock crushing, Tunnel excavation method using an integrated manipulator device for a drilling machine and a rock splitter.

17. An excavator connection part formed to be attached to an excavator in an attachment manner; A slew driver installed in the connection part of the excavator above, which rotates via hydraulic rotational force and automatically adjusts the rotational speed according to the working environment; A rotating body installed in the above-mentioned slew driver and rotating; A two-axis joint connected to the above-mentioned rotating body and formed to enable two-axis rotation and angle adjustment; A rail frame device connected to the above-mentioned two-axis joint, wherein two different H-beams are fixed through welding; A drifter installed on the rail frame device and moving in the forward and backward directions along the rail frame of the rail frame device based on the hydraulic pressure of a hydraulic motor installed on one side of the rail frame; and A dust collection device installed at the end of the above rail frame device and collecting dust generated during drilling operations using the above crawler drill bit; is included. The above drifter is interchangeably coupled with a crawler drill bit for performing rock drilling operations and a rock splitter for rock crushing, Integrated manipulator device for drilling and rock splitting.

18. A step of positioning a drilling and rock splitting machine integrated manipulator device, comprising an excavator connection part, a slew driver, a rotating body, a two-axis joint, a rail frame device, a drifter, and a dust collector, on a rock to be crushed; A step of adjusting the angle of the rail frame device using the above-described slew driver, rotating body, and two-axis joint; A step of positioning a crawler drill bit using the bit switching arm and connecting it to the drifter, pushing the crawler drill bit toward the rock through the drifter to perform drilling, and collecting dust generated during the drilling operation using the crawler drill bit through the dust collection device; After drilling is completed, the crawler drill bit is pulled through the drifter and then separated from the drifter, the rock splitter is positioned using the rock splitter conversion arm and connected to the drifter, the rock splitter is pushed toward the rock through the drifter, and then crushing is performed; and After crushing is complete, the step of pulling the rock splitter through the drifter and separating it from the drifter; is included. The above drifter is interchangeably coupled with a crawler drill bit for performing rock drilling operations and a rock splitter for rock crushing, Tunnel excavation method using an integrated manipulator device for a drilling machine and a rock splitter.

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