CN109681224B - Supporting and propelling mechanism of bionic micro-aperture drilling and expanding type underground tunneling device - Google Patents
Supporting and propelling mechanism of bionic micro-aperture drilling and expanding type underground tunneling device Download PDFInfo
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- CN109681224B CN109681224B CN201811590127.8A CN201811590127A CN109681224B CN 109681224 B CN109681224 B CN 109681224B CN 201811590127 A CN201811590127 A CN 201811590127A CN 109681224 B CN109681224 B CN 109681224B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 81
- 230000008093 supporting effect Effects 0.000 title claims abstract description 71
- 238000005553 drilling Methods 0.000 title claims abstract description 40
- 230000005641 tunneling Effects 0.000 title claims abstract description 29
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 17
- 210000000078 claw Anatomy 0.000 claims abstract description 54
- 230000009471 action Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000013461 design Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 13
- 238000009412 basement excavation Methods 0.000 description 10
- 238000010276 construction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
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- Environmental & Geological Engineering (AREA)
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- Earth Drilling (AREA)
Abstract
The invention relates to a supporting and propelling mechanism of a bionic micro-aperture drilling and expanding type underground tunneling device, which comprises a tail shell, a direct-current gear motor, supporting claws and a supporting claw driving unit, wherein the direct-current gear motor is arranged in the tail shell; the supporting claw driving unit comprises a crown gear, a symmetrical straight gear, a first double-crank cam mechanism and a second double-crank cam mechanism, the crown gear is driven by the direct current gear motor, the crown gear is meshed with the symmetrical straight gear at the same time, and the first double-crank cam mechanism and the second double-crank cam mechanism are respectively driven by the symmetrical straight gear, so that the two supporting claws are driven. The supporting and propelling mechanism of the bionic micro-aperture drilling and expanding type underground tunneling device is scientific and reasonable in structural design, does not need external power equipment, realizes independent propelling, and is suitable for efficient propelling of the micro-aperture tunneling device.
Description
Technical Field
The invention belongs to the field of bionic tunneling devices, and particularly relates to a supporting and propelling mechanism of a bionic micro-aperture drilling and expanding type underground tunneling device.
Background
Along with the acceleration of the urban process in China, the three-dimensional urban traffic and communication network has become an important development direction of the current urban construction, and corresponding underground tunneling devices and equipment are required for small-sized construction such as laying of small-diameter pipelines in the urban construction, various geological exploration and research and hidden non-excavation operation in anti-terrorism. The construction of large pipelines such as subway tunnels in urban construction mainly adopts a shield machine, the system is complex, drilling, conveying and supporting are integrated, and the cost is high. The construction (25-200 cm) of small-diameter pipelines, such as construction of water supply and drainage pipelines, gas pipelines, optical fiber (cable) pipelines, industrial pipelines and the like, cannot adopt a shield machine on one hand, and on the other hand, the ground surface is not expected to be damaged to influence traffic, and the non-excavation construction method can reduce the influence on traffic and damage on ground surface facilities, so that the construction method is an ideal construction method. The non-excavation methods adopted in the city at present mainly comprise an impact spear method, a horizontal directional drilling method, a horizontal spiral drilling method and the like, and rotary drilling type excavation is carried out by taking air pressure or hydraulic impact as power. Large auxiliary equipment is required to be arranged on the ground for chip removal, temperature control and propulsion, so that the equipment has low flexibility, and the single tunneling distance is limited (within 40 m), so that the application range of the rotary drilling type underground tunneling equipment is limited, and the requirements of long tunneling distance, low noise, low vibration, microminiaturization and the like required by paving urban underground pipelines cannot be met.
The Chinese patent (CN 201611252858.2) discloses an expansion type shield tunneling machine, which utilizes a hydraulic motor to drive expansion devices at each level to realize gradual expansion, each expansion device adopts 5-6 hydraulic cylinders, the size of holes is 30cm-200cm, the mechanism can realize chipless non-excavation, but has larger tapping range and needs more external power devices.
The Chinese patent (CN 201510982376.1) discloses a cable tie-up non-excavation method, and provides a small-diameter cable tie-up calandria non-excavation method, wherein the pipe diameter is 400mm, but a working well and a receiving well are required to be excavated, and the cable tie-up non-excavation method is realized by a back-dragging reaming method. The tunneling distance is short, and a working well and a receiving well are required to be excavated.
The Chinese patent (CN 201710445841.7) discloses an earthworm-like underwater mud-arch robot which comprises two sections of steering and supporting mechanisms, wherein a steering engine transmits power to a power transmission rod and a conical mud-arch head by using a rotating platform, so that the conical mud-arch head rotates, and the mud-arch head mechanism is driven to reciprocate by using the expansion and contraction of a cylinder rod to realize punching, but the robot is complex in motion form and limited in motion distance.
In summary, the current research or invention mainly focuses on three aspects, one is that a common shield tunneling machine and a common non-excavation method are used, the non-excavation of the micro aperture cannot be realized, and a working well needs to be excavated in advance; firstly, a drilling and expanding tool on the existing drilling machine is improved to realize drilling and expanding movement, but auxiliary equipment and power equipment on the ground are required for drilling and expanding, and long-distance movement cannot be realized; the bionic design method is based on the original impact spear or impact sleeve, and the functions of walking, steering or controlling are improved and increased, so that flexible movement is realized.
In particular, the existing tunneling device has a complex structure of a propulsion mechanism and needs external equipment for propulsion. At present, no propulsion equipment which does not need external power equipment and can realize independent propulsion and adapt to a micro-aperture tunneling device exists.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a supporting and propelling mechanism of a bionic micro-aperture drilling and expanding type underground tunneling device, which can realize independent propelling without external power equipment and is suitable for high-efficiency propelling of the micro-aperture tunneling device.
The invention solves the technical problems by the following technical proposal:
A bionic micro-aperture drilling-expanding type underground tunneling device supporting and propelling mechanism is characterized in that: the device comprises a tail shell, a direct-current gear motor, a supporting claw and a supporting claw driving unit, wherein the direct-current gear motor is arranged in the tail shell; the supporting claw driving unit comprises a crown gear, a symmetrical straight gear, a first double-crank cam mechanism and a second double-crank cam mechanism, the crown gear is driven by the direct current gear motor, the crown gear is meshed with the symmetrical straight gear at the same time, and the first double-crank cam mechanism and the second double-crank cam mechanism are respectively driven by the symmetrical straight gear, so that two supporting claws are driven; the first double-crank cam mechanism and the second double-crank cam mechanism have the same structure, and each of the first double-crank cam mechanism and the second double-crank cam mechanism comprises a first wheel disc, a second wheel disc, a first connecting rod, a cam, a first sliding block, a double-slideway sliding rail, a second connecting rod, a gear frame, a second sliding block, a supporting claw swing rod and a pin shaft, and a spur gear is arranged with a tail support frame through the gear frame; the rear end part of the swing rod of the supporting claw extends out of the tail support frame and is fixedly arranged with the supporting claw, and the double-slideway sliding rail is fixedly arranged with the tail support frame through the sliding rail frame; the first wheel disc drives a first connecting rod, the first connecting rod drives a first sliding block, the first sliding block is arranged on an upper slideway of the double-slideway sliding rail, the first connecting rod drives the first sliding block to move along the double-slideway sliding rail, one side of a cam is fixed with the first sliding block, the cam moves along the double-slideway sliding rail linearly along the first sliding block, the front end of a swing rod of a supporting claw is fixedly provided with a pin shaft, the end part of the pin shaft is slidably inserted into a track slideway on the cam, and the first wheel disc rotates to realize the linear reciprocating motion of the cam along the double-slideway sliding rail; the second wheel disc drives the second connecting rod, the second connecting rod drives the second slider, the second slider is installed in the glide slope of two spout slide rails, the middle part position of supporting claw pendulum rod is articulated to the second slider, the second wheel disc rotates and realizes supporting claw pendulum rod middle part pin joint and reciprocate along two slide rail slide straight line, there is the phase difference in hinge point of first wheel disc and second wheel disc and first connecting rod, second connecting rod, both synchronous rotation realizes supporting claw's propulsion, recovery, expansion action.
And the steering mechanism comprises a steering engine and a connecting frame, the steering engine is fixedly arranged in the tail shell, a rotating shaft of the steering engine is rotatably arranged at one end of the connecting frame, and the other end of the connecting frame is connected with the drilling and expanding mechanism.
The invention has the advantages and beneficial effects that:
1. According to the bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism, a direct-current speed reducing motor is adopted to realize the expansion and propelling actions of the supporting claw through the gear mechanism and the double-crank cam mechanism, and the actions are more stable and reliable; the rear supporting propulsion mechanism and the front drilling and expanding mechanism act cooperatively; when the hollow cup forward and backward rotating motor of the drilling and expanding mechanism rotates reversely and the drill bit rotates positively to implement the drilling process, the supporting claw at the tail part expands to the maximum, supports the inner wall of the hole and pushes forward at the same time, and executes the travel A-B in the figure; when the head motor rotates positively and the drill bit rotates reversely to perform expansion, the tail supporting claw is closed and recovered, and the stroke B-C-D-A in the figure is executed.
2. The bionic micro-aperture drilling and expanding type underground tunneling device supports the propelling mechanism, and the steering mechanism consisting of a steering engine and a connecting frame is adopted in the middle of the bionic micro-aperture drilling and expanding type underground tunneling device to realize steering control of the front drilling and expanding mechanism.
3. The supporting and propelling mechanism of the bionic micro-aperture drilling and expanding type underground tunneling device is scientific and reasonable in structural design, does not need external power equipment, realizes independent propelling, and is suitable for efficient propelling of the micro-aperture tunneling device.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the supporting claw driving unit of the present invention;
FIG. 3 is a schematic diagram of a dual crank cam structure according to the present invention;
FIG. 4 is a schematic diagram of a dual crank cam structure according to the present invention;
FIG. 5 is a diagram of a single support jaw trace of the present invention;
FIG. 6 is a single support jaw trace (node A position) of the present invention;
FIG. 7 is a single support jaw trace (node B position) of the present invention;
FIG. 8 is a single support jaw trace (C node position) of the present invention;
fig. 9 is a single support jaw trace (node D position) of the present invention.
FIG. 10 is an internal structure of the ripper apparatus of the present invention;
FIG. 11 is a schematic view of the structure of the drilling and expanding mechanism of the present invention;
Fig. 12 is a schematic structural view of the steering mechanism of the present invention.
In the figure: 1-drill bit, 2-front bearing through cover, 3-expansion plate, 4-front shell, 5-fixed ring, 6-first deep groove ball bearing, 7-coupler, 8-hollow cup forward and reverse rotation motor, 9-front motor shell, 10-connecting frame, 11-blade, 12-steering engine, 13-tail shell, 14-direct current gear motor, 15-tail support frame, 16-second deep groove ball bearing, 17-lead screw, 18-connecting rod hinging seat, 19-lead screw nut, 20-expansion plate connecting rod, 21-crown gear, 22-first straight gear, 23-first wheel disc, 24-second wheel disc, 25-first connecting rod, 26-cam, 27-slide rail frame, 28-first slide block, 29-double slide rail, 30-second connecting rod, 31-gear frame, 32-second slide block, 33-supporting claw swing rod, 34-pin shaft, 35-first double crank cam mechanism, 36-second double crank cam mechanism, 37-second gear, 38-supporting claw and 39-track plate.
Detailed Description
The invention is further illustrated by the following examples, which are intended to be illustrative only and not limiting in any way.
A supporting and propelling mechanism of a bionic micro-aperture drilling and expanding type underground tunneling device is shown in fig. 1, and comprises a tail shell 13, a direct-current gear motor 14, symmetrical supporting claws and supporting claw driving units. A direct-current gear motor is arranged in the tail shell and drives the two supporting claws to expand and push through a supporting claw driving unit. The support claw driving unit is installed in the tail support 15.
As shown in fig. 2,4 and 5, the supporting claw driving unit includes a crown gear 21, a first spur gear 22, a second spur gear 37, a first double-crank cam mechanism 35 and a second double-crank cam mechanism 36, the crown gear is driven by a direct-current gear motor, the crown gear simultaneously engages with the first spur gear and the second spur gear, and the first double-crank cam mechanism and the second double-crank cam mechanism are driven by the first spur gear and the second spur gear, respectively. The first double-crank cam mechanism and the second double-crank cam mechanism respectively drive the two supporting claws to symmetrically move.
The first double crank cam mechanism and the second double crank cam mechanism have the same structure. The first double crank cam mechanism is exemplified to describe its structure, which includes a first wheel 23, a second wheel 24, a first link 25, a cam 26, a first slider 28, a double slide rail 29, a second link 30, a gear rack 31, a second slider 32, a supporting claw swing link 33, a pin 34, and a track pad 39. The first spur gear is mounted to the tail stock via a gear carrier 27. The rear end part of the supporting claw swing rod extends out of the tail supporting frame and is fixedly arranged with the supporting claw 38. The double-slideway sliding rail is fixedly arranged with the tail supporting frame through a sliding rail frame 27.
The first straight gear coaxially drives a first wheel disc and a second wheel disc, the first wheel disc drives a first connecting rod, the first connecting rod drives a first sliding block, the first sliding block is arranged on an upper slideway of the double-slideway sliding rail, the first connecting rod drives the first sliding block to move along the double-slideway sliding rail, one side of a cam is fixed with the first sliding block, the cam moves along the straight line of the double-slideway sliding rail along the first sliding block, the front end of a supporting claw swing rod is fixedly provided with a pin shaft, the end part of the pin shaft is slidably inserted into a track sliding rail on the cam, and the first wheel disc rotates to realize the straight line reciprocating motion of the cam along the double-slideway sliding rail; the second wheel disc drives the second connecting rod, the second connecting rod drives the second slider, the second slider is installed in the glide slope of two spout slide rails, the middle part position of supporting claw pendulum rod is articulated to the second slider, the second wheel disc rotates and realizes supporting claw pendulum rod middle part pin joint and reciprocate along two slide rail slide straight line, there is the phase difference in hinge point of first wheel disc and second wheel disc and first connecting rod, second connecting rod, both synchronous rotation realizes supporting claw's propulsion, recovery, expansion action.
As shown in fig. 3, the steering mechanism comprises a steering engine 12 and a connecting frame 10, the connecting frame is a U-shaped connecting frame, the steering engine is fixedly arranged in the tail shell, a rotating shaft of the steering engine is rotatably arranged at one end of the connecting frame through a blade 11, and the other end of the connecting frame is fixedly arranged at the outer shell of the drilling and expanding mechanism through a screw. The steering mechanism in the middle part controls the steering of the tunneling mechanism.
The drilling and expanding mechanism comprises an external front motor shell 9, a hollow cup forward and reverse rotation motor 8, a coupler 7, a front machine shell 4, a fixing ring 5, a screw rod 17, a screw rod nut 19, a drill bit 1, an expansion plate 3 and an expansion plate connecting rod 20, wherein the hollow cup forward and reverse rotation motor and the coupler are arranged in the front motor shell, the coupler is connected with the hollow cup forward and reverse rotation motor and the screw rod, and the screw rod is rotatably supported and arranged in the front motor shell and the front machine shell. The front end of the front motor shell is internally provided with a first deep groove ball bearing 6, the front end of the front motor shell is provided with a second deep groove ball bearing 16, and the screw rod is rotatably supported and installed through the first deep groove ball bearing and the second deep groove ball bearing. A front bearing through cover 2 is arranged at the front part of the deep groove ball bearing at the front end of the front machine shell. The drill bit adopts a pagoda drill, is connected with the front end of the screw rod through a set screw, and the screw rod and the drill bit are opposite in rotation direction.
The drill bit is arranged at the front end part of the screw rod, the screw rod nut is arranged on the screw rod, the connecting rod hinging seat 18 is coaxially arranged on the screw rod nut, one end of the connecting rod of the expansion plate is hinged with the connecting rod hinging seat, the other end of the connecting rod of the expansion plate extends out of the hinging hole of the front machine shell and the inner side of the front part of the expansion plate, and the rear part of the expansion plate is hinged with the fixed ring 5 at the front part of the front motor shell. The expansion plates are two to four expansion plates. In this embodiment, three expansion plates are used, which are cylindrical in shape. The opening and closing actions of the three expansion plates are realized through the left-right movement of the screw-nut pair.
The front shell of the built-in screw rod transmission pair is of a hollow cylindrical slotting structure, and a connecting rod connected with the expansion plate can swing in the shell slot along one direction; the front motor shell and the tail shell are of two-half structures, and the front motor shell is used for installing a hollow cup forward and backward rotating motor for head drilling and expanding; the tail shell is used for installing a tail support integral structure; the tail support frame is formed by combining four plates and is used for fixing the gears and the double-slideway sliding rails, and when the tail support frame is installed, the main mechanism is installed on the tail support frame, and then the whole mechanism is placed in the tail shell, so that the installation and the positioning are facilitated.
The front motor shell and the tail shell are respectively provided with a wire slot, the control wire of the hollow cup forward and backward rotating motor is led out from the tail of the front shell to bypass the steering engine, and the control wire and the steering engine control wire are led out from the tail end of the tail shell together.
The fixing ring is used for connecting the front shell and the two half shells of the front motor shell and protecting the hollow cup forward and backward rotating motor in the front motor shell; a telescopic protective cover is arranged between the expansion plate and the front shell and between the front motor shell and the tail shell, is flexibly connected, does not influence steering action, and is used for preventing soil particles from falling into the mechanism to cause blockage.
The working principle of the supporting and propelling mechanism of the bionic micro-aperture drilling and expanding type underground tunneling device is as follows:
The front drilling and expanding mechanism combines drilling and expanding actions, the drilling and expanding mechanism is controlled by a hollow cup forward and reverse rotating motor to realize the alternation of drilling and expanding actions, when the hollow cup forward and reverse rotating motor reverses, the screw rod nut moves backwards from the head part to drive a connecting rod hinging seat fixedly connected with the screw rod nut to move backwards, the connecting rod of the expanding plate drives the expanding plate to close, and meanwhile, the drill bit rotates forwards and is screwed into soil to drill holes; when the motor rotates forwards, the drill bit rotates reversely, the screw rod rotates forwards, the screw rod nut moves from the rear part to the head part, and the connecting rod hinging seat fixedly connected with the screw rod nut is driven to move forwards, so that the expansion plate connecting rod drives and supports the expansion plate to expand, the periphery of a hole drilled during the motor rotation reversely expands outwards, the soil expansion is carried out, and the drilled soil is pushed to the periphery.
The rear supporting propulsion mechanism adopts a direct-current gear motor to realize the expansion and propulsion actions of the supporting claws through a gear mechanism and a double-crank cam mechanism, so that the actions are more stable and reliable; the rear supporting propulsion mechanism and the front drilling and expanding mechanism act cooperatively; when the hollow cup forward and backward rotating motor of the drilling and expanding mechanism rotates reversely and the drill bit rotates positively to implement the drilling process, the supporting claw at the tail part expands to the maximum, supports the inner wall of the hole and pushes forward at the same time, and executes the travel A-B in the figure. The second wheel disc rotates anticlockwise, the second sliding block is driven to move right along the double-track sliding rail through the transmission of the crank sliding block mechanism, meanwhile, the first wheel disc synchronously rotates anticlockwise, the first sliding block is driven to move right along the double-track sliding rail through the crank sliding block mechanism, and the first sliding block and the second sliding block generate relative movement due to the fact that phase differences exist at the installation positions of connecting rods on the first wheel disc and the second wheel disc, and b-a-b movement is carried out along a cam track, so that propulsion is achieved. When the head motor rotates positively and the drill bit rotates reversely to perform the expanding action, the tail supporting claw performs the closing recovery-expanding supporting action and the stroke B-C-D-A in the figure is performed. In the B-C stage, the first wheel disc and the second wheel disc synchronously rotate anticlockwise, the first sliding block drives the cam to move leftwards, the second sliding block drives the middle hinge point of the supporting claw to move rightwards, so that the pin shaft on the swinging rod of the supporting claw moves along the B-C of the cam track, and the supporting claw is closed towards the center direction. In the C-D stage, the first sliding block drives the cam to move left, the second sliding block moves left, and the pin shaft moves along the C-D-C of the cam track, so that the retraction of the supporting claw is realized; in the D-A stage, the first sliding block drives the cam to move right, and the second sliding block moves left, so that the pin shaft moves along the c-b of the cam track, and the supporting claw is opened far from the center.
The bionic micro-aperture drilling and expanding type underground tunneling device supports a pushing mechanism with the diameter of 56mm and the maximum expanding diameter of 77mm. The single stroke advance of the support jaw is about 10mm.
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (1)
1. A bionic micro-aperture drilling-expanding type underground tunneling device supporting and propelling mechanism is characterized in that: the device comprises a tail shell, a direct-current gear motor, a supporting claw and a supporting claw driving unit, wherein the direct-current gear motor is arranged in the tail shell; the supporting claw driving unit comprises a crown gear, a symmetrical straight gear, a first double-crank cam mechanism and a second double-crank cam mechanism, the crown gear is driven by the direct current gear motor, the crown gear is meshed with the symmetrical straight gear at the same time, and the first double-crank cam mechanism and the second double-crank cam mechanism are respectively driven by the symmetrical straight gear, so that two supporting claws are driven; the first double-crank cam mechanism and the second double-crank cam mechanism have the same structure, and each of the first double-crank cam mechanism and the second double-crank cam mechanism comprises a first wheel disc, a second wheel disc, a first connecting rod, a cam, a first sliding block, a double-slideway sliding rail, a second connecting rod, a gear frame, a second sliding block, a supporting claw swing rod and a pin shaft, and a spur gear is arranged with a tail support frame through the gear frame; the rear end part of the swing rod of the supporting claw extends out of the tail support frame and is fixedly arranged with the supporting claw, and the double-slideway sliding rail is fixedly arranged with the tail support frame through the sliding rail frame; the first wheel disc drives a first connecting rod, the first connecting rod drives a first sliding block, the first sliding block is arranged on an upper slideway of the double-slideway sliding rail, the first connecting rod drives the first sliding block to move along the double-slideway sliding rail, one side of a cam is fixed with the first sliding block, the cam moves along the double-slideway sliding rail linearly along the first sliding block, the front end of a swing rod of a supporting claw is fixedly provided with a pin shaft, the end part of the pin shaft is slidably inserted into a track slideway on the cam, and the first wheel disc rotates to realize the linear reciprocating motion of the cam along the double-slideway sliding rail; the second wheel disc drives a second connecting rod, the second connecting rod drives a second sliding block, the second sliding block is arranged on a lower slideway of the double-chute sliding rail, the second sliding block is hinged to the middle position of a supporting claw swing rod, the rotation of the second wheel disc realizes the straight line reciprocating operation of a hinging point of the middle part of the supporting claw swing rod along the double-chute sliding rail, and the hinging points of the first wheel disc and the second wheel disc, the first connecting rod and the second connecting rod have phase differences and synchronously rotate to realize the pushing, recovering and expanding actions of the supporting claw;
The steering mechanism comprises a steering engine and a connecting frame, the steering engine is fixedly arranged in the tail shell, a rotating shaft of the steering engine is rotatably arranged at one end of the connecting frame, and the other end of the connecting frame is connected with the drilling and expanding mechanism;
The drilling and expanding mechanism comprises an external front motor shell (9), a hollow cup forward and reverse rotation motor (8), a coupler (7), a front machine shell (4), a fixed ring (5), a screw rod (17), a screw rod nut (19), a drill bit (1), an expansion plate (3) and an expansion plate connecting rod (20), wherein the hollow cup forward and reverse rotation motor and the coupler are installed in the front motor shell, the coupler is connected with the hollow cup forward and reverse rotation motor and the screw rod, a screw rod rotation support is installed in the front motor shell and the front machine shell, a first deep groove ball bearing (6) is installed in the front end of the front motor shell, a second deep groove ball bearing (16) is installed in the front end of the front machine shell, the screw rod is installed through the first deep groove ball bearing rotation support and the second deep groove ball bearing rotation support, the front part of the front end of the front machine shell is provided with a front bearing transparent cover (2), the drill bit adopts a pagoda drill, the screw rod is connected with the front end of the screw rod through a set screw, and the rotation direction of the screw rod and the drill bit is opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811590127.8A CN109681224B (en) | 2018-12-25 | 2018-12-25 | Supporting and propelling mechanism of bionic micro-aperture drilling and expanding type underground tunneling device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811590127.8A CN109681224B (en) | 2018-12-25 | 2018-12-25 | Supporting and propelling mechanism of bionic micro-aperture drilling and expanding type underground tunneling device |
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| Publication Number | Publication Date |
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| CN109681224A CN109681224A (en) | 2019-04-26 |
| CN109681224B true CN109681224B (en) | 2024-04-19 |
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| CN201811590127.8A Active CN109681224B (en) | 2018-12-25 | 2018-12-25 | Supporting and propelling mechanism of bionic micro-aperture drilling and expanding type underground tunneling device |
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| CN114109255B (en) * | 2021-11-24 | 2023-06-27 | 重庆科技学院 | Drilling device based on bionics |
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| CN106347508A (en) * | 2016-09-30 | 2017-01-25 | 武汉科技大学 | Bionic underground excavation robot |
| CN106703684A (en) * | 2017-02-22 | 2017-05-24 | 武汉科技大学 | Underground drilling robot |
| CN107620595A (en) * | 2017-10-31 | 2018-01-23 | 韩朝锋 | A kind of rock tunnel(ling) machine |
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