CN110863774A - Hydraulic robot tunnel automatic punching equipment - Google Patents
Hydraulic robot tunnel automatic punching equipment Download PDFInfo
- Publication number
- CN110863774A CN110863774A CN201911045934.6A CN201911045934A CN110863774A CN 110863774 A CN110863774 A CN 110863774A CN 201911045934 A CN201911045934 A CN 201911045934A CN 110863774 A CN110863774 A CN 110863774A
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- shaft
- punching
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- hydraulic
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- 238000004080 punching Methods 0.000 title claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 239000000428 dust Substances 0.000 claims abstract description 45
- 238000005096 rolling process Methods 0.000 claims abstract description 3
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005553 drilling Methods 0.000 claims 1
- 238000002485 combustion reaction Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
- E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
- E21B21/01—Arrangements for handling drilling fluids or cuttings outside the borehole, e.g. mud boxes
- E21B21/015—Means engaging the bore entrance, e.g. hoods for collecting dust
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hydraulic robot tunnel automatic punching device which comprises a base, wherein a case is arranged on the base, a telescopic arm is arranged on the case, a machine vision mechanism, a dust suction mechanism and a punching mechanism are arranged at the output end of the telescopic arm, a roller mechanism is arranged at the bottom of the base, the roller mechanism is arranged on a track in a rolling manner, the case is arranged on the base, mutually parallel guide rails are arranged at the upper end of the base, a movable seat is arranged on the guide rails, and the telescopic arm is arranged on the movable seat. The invention adopts the rail trolley and an internal combustion engine system to provide power support, drives the servo hydraulic system to be provided with the sensor hydraulic cylinder and the hydraulic motor, realizes the high-precision space positioning of the multi-degree-of-freedom manipulator, adopts the mechanical arm to grab the punching jig, adopts the machine vision of the punching jig to obtain the positioning mark of a construction object, and realizes the full-automatic vision positioning punching function of automatic vision and automatic punching.
Description
Technical Field
The invention relates to hydraulic robot tunnel automatic punching equipment.
Background
The tunnel punching robot that generally adopts at present is, but it has a great deal of not enough in its when using of present tunnel punching robot, because light problem and regional restriction problem in the tunnel, the robot often needs artifical supplementary, leads to artifical intensity of labour to increase, and degree of automation is low, and punching efficiency is lower, and equipment can't be executed and exhibits.
Disclosure of Invention
The invention aims to solve the technical problem that the hydraulic robot tunnel automatic punching equipment greatly increases the automation degree of the equipment, can cope with various working environments and effectively solves a plurality of defects in the prior art.
The invention is realized by the following technical scheme: the utility model provides an automatic punching equipment in hydraulic pressure robot tunnel, includes the equipment host computer, the equipment host computer includes a base, installs a quick-witted case on the base, is provided with a flexible arm on the quick-witted case, and machine vision mechanism, dust absorption mechanism and the mechanism of punching are installed to the output of flexible arm, and the bottom of base is provided with gyro wheel mechanism, and gyro wheel mechanism rolls and installs on the track, the machine case is installed on the base, and the base upper end is provided with the guide rail that is parallel to each other, installs the sliding seat on the guide rail, and flexible arm is installed on the sliding seat.
According to the preferable technical scheme, a generator system, a visual industrial control computer control system, a mechanical arm operation control panel, a power system control panel, a servo hydraulic system, a dust removal system and a mechanical arm system are arranged in the machine case, the visual industrial control computer control system and the mechanical arm operation control panel are all installed on the machine cover, and the power system control panel, the dust removal system, the servo hydraulic system and the mechanical arm system are all installed in the machine cover.
As a preferred technical scheme, the equipment host further comprises a first shaft driving wheel shaft, a second shaft linear module shaft, a third shaft rotating shaft, a fourth shaft overturning shaft, a fifth shaft telescopic shaft, a sixth shaft overturning shaft and a seventh shaft vertical telescopic shaft;
the first shaft driving wheel shaft is arranged on the roller mechanism, so that the high-precision displacement of the trolley walking and visual automatic mechanical arm is realized; the second linear module shaft is arranged on the base and used for driving the movable seat to move along the guide rail; the third shaft rotating shaft is arranged on the movable seat and used for driving the telescopic arm to rotate left and right; the fourth shaft overturning shaft is arranged on the movable seat and used for realizing the left-right rotation of the telescopic arm; the fifth shaft telescopic shaft is arranged on the telescopic arm; the sixth shaft overturning shaft is arranged at the topmost output end of the telescopic arm and used for overturning and adjusting the angles of the machine vision mechanism, the dust collection mechanism and the punching mechanism; the seventh shaft is perpendicular for the telescopic shaft connecting frame and flexible arm, realizes the flexible demand of flexible arm punching process, machine vision mechanism, dust absorption mechanism and the mechanism of punching all install in the frame.
According to a preferable technical scheme, the dust collection mechanism is connected with a suction pump in the dust collection system, the dust collection mechanism comprises more than one dust collection cover, the dust collection covers are respectively arranged on the rack, the punching mechanism is arranged on the back of the rack, a drill bit of the punching mechanism penetrates through the dust collection cover and extends out of the dust collection cover, a light source mounting hole is formed in the rack, the machine vision mechanism comprises a camera and a light source, the camera and the light source are both arranged on the rack, and a lens surface and a light source surface of the camera are arranged opposite to the light source mounting hole.
As an optimized technical scheme, more than one punching module balance sensor is further arranged on two sides of the machine vision mechanism, the more than one punching module balance sensors are all installed on the upper plate of the rack, the dust hood is arranged at the positions of four corners of the upper plate of the rack, convex pre-pressing wall surface modules are arranged at the positions, facing the dust hood, of the four corners of the upper end surface of the upper plate of the rack, and the drill bit penetrates through the dust hood and the pre-pressing wall surface modules and stretches out of the machine.
As a preferred technical scheme, the frame comprises a frame upper plate, a frame bottom plate and a frame lower plate, the punching mechanisms are arranged at the four corners of the frame lower plate, and the drill bits are arranged upwards;
more than one guide post is arranged between the upper frame plate and the lower frame plate, the more than one guide post penetrates through the lower frame plate to be fixedly connected with the upper frame plate, movable guiding between the upper frame plate and the lower frame plate is achieved through the guide posts, the bottom plate of the frame is installed at the bottom of the lower frame plate, and the more than one guide post penetrates through the lower frame plate to be connected with the bottom plate of the frame.
According to the preferable technical scheme, a punching depth adjustable sensor is further arranged on the guide pillar, a punching pre-pressure sensor is further mounted on the rack bottom plate, and signal output ends of the punching module balance sensor, the punching depth adjustable sensor and the punching pre-pressure sensor are connected to a control host end.
According to a preferable technical scheme, the power sources of the second shaft linear module shaft and the third shaft rotating shaft are a motor, and the power sources of the fourth overturning shaft, the fifth telescopic shaft and the sixth overturning shaft are an air cylinder.
The invention has the beneficial effects that: the invention adopts the rail trolley and an internal combustion engine system to provide power support, drives the servo hydraulic system to be provided with the sensor hydraulic cylinder and the hydraulic motor, realizes the high-precision space positioning of the multi-degree-of-freedom manipulator, adopts the mechanical arm to grab the punching jig, adopts the machine vision of the punching jig to obtain the positioning mark of a construction object, and realizes the full-automatic vision positioning punching function of automatic vision and automatic punching.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of an internal structure of the enclosure according to the present invention;
fig. 3 is a partial structural schematic diagram of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Further, in the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The use of terms such as "upper," "above," "lower," "below," and the like in describing relative spatial positions herein is for the purpose of facilitating description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "sleeved," "connected," "penetrating," "plugged," and the like are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and 3, an automatic punching device of hydraulic robot tunnel comprises a device host, the device host comprises a base 1, a case 8 is installed on the base 1, a telescopic arm 7 is arranged on the case 8, a machine vision mechanism, a dust collection mechanism and a punching mechanism 16 are installed at the output end of the telescopic arm 7, a roller mechanism 3 is arranged at the bottom of the base, the roller mechanism 3 is installed on a track in a rolling manner, the case 8 is installed on the base 1, a guide rail 4 which is parallel to each other is arranged at the upper end of the base 1, a movable seat 5 is installed on the guide rail 4, and the telescopic arm 7 is installed on the movable seat 5.
As shown in fig. 2, a generator system 200, a visual industrial control computer control system 400, a mechanical arm operation control panel, a power system control panel, a servo hydraulic system 300, a dust removal system 500 and a mechanical arm system are arranged in the machine case 8, the visual industrial control computer control system and the mechanical arm operation control panel are all installed on the machine cover, and the power system control panel, the dust removal system, the servo hydraulic system and the mechanical arm system are all installed in the machine cover.
The equipment host further comprises a first shaft driving wheel shaft 333, a second shaft linear module shaft 2, a third shaft rotating shaft 6, a fourth shaft overturning shaft 21, a fifth shaft telescopic shaft 334, a sixth shaft overturning shaft 9 and a seventh shaft vertical telescopic shaft 11;
the first shaft driving wheel shaft 333 is arranged on the roller mechanism, so that the trolley walking and the high-precision displacement of the visual automatic mechanical arm are realized; the second linear module shaft 2 is arranged on the base and used for driving the movable seat to move along the guide rail; the third shaft rotating shaft 6 is arranged on the movable seat and used for driving the telescopic arm to rotate left and right; the fourth shaft turning shaft 21 is arranged on the movable seat and used for realizing the left-right rotation of the telescopic arm; a fifth shaft telescopic shaft 334 is arranged on the telescopic arm; the sixth shaft turnover shaft 9 is arranged at the topmost output end of the telescopic arm and is used for turning and adjusting the angles of the machine vision mechanism, the dust collection mechanism and the punching mechanism; the seventh shaft vertical telescopic shaft 11 is used for connecting the rack and the telescopic arm, the telescopic requirement of the telescopic arm in the punching process is met, and the machine vision mechanism, the dust collection mechanism and the punching mechanism are all installed on the rack.
The dust collection mechanism is connected with a suction pump in the dust collection system, the dust collection mechanism comprises more than one dust collection cover 15, the dust collection covers 15 are respectively arranged on the rack 12, the punching mechanism 16 is arranged on the back of the rack, a drill bit 14 of the punching mechanism penetrates through the dust collection cover 15 and extends out of the dust collection cover, a light source mounting hole 13 is arranged on the rack 12, the machine vision mechanism comprises a camera 31 and a light source 32, the camera 31 is connected with a vision industrial control computer control system, the camera is arranged on the rack, and a lens surface and a light source surface of the camera are arranged right opposite to the light source mounting hole 13.
More than one punching module balance sensor 33 is further arranged on two sides of the machine vision mechanism, the more than one punching module balance sensors 33 are all mounted on a rack upper plate 34 of the rack, the dust hood 15 is arranged at the positions of four corners of the rack upper plate 34, protruding pre-pressing wall surface modules 35 are arranged at the positions, facing the dust hood, of the four corners of the upper end surface of the rack upper plate 34, and the drill bit penetrates through the dust hood 15 and the pre-pressing wall surface modules and extends out of the machine vision mechanism.
The frame comprises a frame upper plate 34, a frame bottom plate 36 and a frame lower plate 37, the punching mechanisms are installed at the four corners of the frame lower plate 37, and the drill bit is arranged upwards. More than one guide post 38 is arranged between the upper frame plate 34 and the lower frame plate 37, the more than one guide post 38 passes through the lower frame plate 37 to be fixedly connected with the upper frame plate 34, the guide post 38 realizes movable guiding between the upper frame plate 34 and the lower frame plate 37, the bottom plate of the frame is arranged at the bottom of the lower frame plate, and the more than one guide post 38 passes through the lower frame plate 37 to be connected with the bottom plate 36 of the frame.
The guide post 38 is also provided with a punching depth adjustable sensor 39, the bottom plate of the frame is also provided with a punching pre-pressure sensor 40, and the signal output ends of the punching module balance sensor, the punching depth adjustable sensor and the punching pre-pressure sensor are connected to the end of the control host.
The invention has the beneficial effects that: the invention adopts the rail trolley and an internal combustion engine system to provide power support, drives the servo hydraulic system to be provided with the sensor hydraulic cylinder and the hydraulic motor, realizes the high-precision space positioning of the multi-degree-of-freedom manipulator, adopts the mechanical arm to grab the punching jig, adopts the machine vision of the punching jig to obtain the positioning mark of a construction object, and realizes the full-automatic vision positioning punching function of automatic vision and automatic punching.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (8)
1. The utility model provides an automatic drilling equipment in hydraulic pressure robot tunnel which characterized in that: the machine comprises an equipment host, the equipment host comprises a base, a case is installed on the base, a telescopic arm is arranged on the case, a machine vision mechanism, a dust collection mechanism and a punching mechanism are installed at the output end of the telescopic arm, a roller mechanism is arranged at the bottom of the base, the roller mechanism is installed on a track in a rolling mode, the case is installed on the base, guide rails which are parallel to each other are arranged at the upper end of the base, a movable seat is installed on the guide rails, and the telescopic arm is installed on the movable seat.
2. The hydraulic robot tunnel automatic punching apparatus of claim 1, wherein: the machine case is internally provided with a generator system, a visual industrial control computer control system, a mechanical arm operation control panel, a power system control panel, a servo hydraulic system, a dust removal system and a mechanical arm system, wherein the visual industrial control computer control system and the mechanical arm operation control panel are all installed on the machine cover, and the power system control panel, the dust removal system, the servo hydraulic system and the mechanical arm system are all installed in the machine cover.
3. The hydraulic robot tunnel automatic punching apparatus of claim 2, wherein: the equipment host machine also comprises a first shaft driving wheel shaft, a second shaft linear module shaft, a third shaft rotating shaft, a fourth shaft overturning shaft, a fifth shaft telescopic shaft, a sixth shaft overturning shaft and a seventh shaft vertical telescopic shaft;
the first shaft driving wheel shaft is arranged on the roller mechanism, so that the high-precision displacement of the trolley walking and visual automatic mechanical arm is realized; the second linear module shaft is arranged on the base and used for driving the movable seat to move along the guide rail; the third shaft rotating shaft is arranged on the movable seat and used for driving the telescopic arm to rotate left and right; the fourth shaft overturning shaft is arranged on the movable seat and used for realizing the left-right rotation of the telescopic arm; the fifth shaft telescopic shaft is arranged on the telescopic arm; the sixth shaft overturning shaft is arranged at the topmost output end of the telescopic arm and used for overturning and adjusting the angles of the machine vision mechanism, the dust collection mechanism and the punching mechanism; the seventh shaft is perpendicular for the telescopic shaft connecting frame and flexible arm, realizes the flexible demand of flexible arm punching process, machine vision mechanism, dust absorption mechanism and the mechanism of punching all install in the frame.
4. The hydraulic robot tunnel automatic punching apparatus of claim 1, wherein: the dust collection mechanism is connected with an air suction pump inside the dust removal system, the dust removal mechanism comprises more than one dust hood, the dust hoods are respectively arranged on the frame, the punching mechanism is arranged on the back of the frame, a drill bit of the punching mechanism penetrates through the dust hoods and stretches out of the frame, a light source mounting hole is formed in the frame, the machine vision mechanism comprises a camera and a light source, the camera and the light source are both arranged on the frame, and a lens surface and a light source surface of the camera are arranged right opposite to the light source mounting hole.
5. The hydraulic robot tunnel automatic punching apparatus of claim 4, wherein: the two sides of the machine vision mechanism are also provided with more than one punching module balance sensor, the more than one punching module balance sensors are all installed on the upper plate of the frame, the dust hood is arranged at the positions of four corners of the upper plate of the frame, the positions of the four corners of the upper end surface of the upper plate of the frame, which face the dust hood, are provided with convex pre-pressing wall surface modules, and the drill bit penetrates through the dust hood and the pre-pressing wall surface modules and stretches out of the outer portion.
6. The hydraulic robot tunnel automatic punching apparatus of claim 4, wherein: the punching mechanism is arranged at the four corners of the lower frame plate, and the drill bit is arranged upwards;
more than one guide post is arranged between the upper frame plate and the lower frame plate, the more than one guide post penetrates through the lower frame plate to be fixedly connected with the upper frame plate, movable guiding between the upper frame plate and the lower frame plate is achieved through the guide posts, the bottom plate of the frame is installed at the bottom of the lower frame plate, and the more than one guide post penetrates through the lower frame plate to be connected with the bottom plate of the frame.
7. The hydraulic robot tunnel automatic punching apparatus of claim 6, wherein: the punching machine is characterized in that a punching depth adjustable sensor is further arranged on the guide pillar, a punching pre-pressure sensor is further mounted on the bottom plate of the rack, and signal output ends of the punching module balance sensor, the punching depth adjustable sensor and the punching pre-pressure sensor are connected to a control host end.
8. The hydraulic robot tunnel automatic punching apparatus of claim 3, wherein: the power sources of the second shaft linear module shaft and the third shaft rotating shaft are a motor, and the power sources of the fourth overturning shaft, the fifth telescopic shaft and the sixth overturning shaft are an air cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911045934.6A CN110863774A (en) | 2019-10-30 | 2019-10-30 | Hydraulic robot tunnel automatic punching equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911045934.6A CN110863774A (en) | 2019-10-30 | 2019-10-30 | Hydraulic robot tunnel automatic punching equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110863774A true CN110863774A (en) | 2020-03-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911045934.6A Pending CN110863774A (en) | 2019-10-30 | 2019-10-30 | Hydraulic robot tunnel automatic punching equipment |
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| CN (1) | CN110863774A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111594045A (en) * | 2020-04-13 | 2020-08-28 | 中北大学 | Support rotation type tunnel drilling equipment |
| CN113503172A (en) * | 2021-05-31 | 2021-10-15 | 中铁工程服务有限公司 | Punching method and device for shield subway tunnel segment and storage medium |
| CN114086883A (en) * | 2021-11-08 | 2022-02-25 | 北京工业大学 | Multi-degree-of-freedom drilling robot for track traffic tunnel wall |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN118223813A (en) * | 2024-05-24 | 2024-06-21 | 中铁十六局集团第一工程有限公司 | Drilling equipment and method for comprehensive research and judgment of surrounding rock of gas tunnel |
-
2019
- 2019-10-30 CN CN201911045934.6A patent/CN110863774A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111594045A (en) * | 2020-04-13 | 2020-08-28 | 中北大学 | Support rotation type tunnel drilling equipment |
| CN111594045B (en) * | 2020-04-13 | 2023-09-26 | 中北大学 | Support rotary type tunnel drilling equipment |
| CN113503172A (en) * | 2021-05-31 | 2021-10-15 | 中铁工程服务有限公司 | Punching method and device for shield subway tunnel segment and storage medium |
| CN113503172B (en) * | 2021-05-31 | 2023-11-03 | 中铁工程服务有限公司 | Punching method and device for shield subway tunnel segment and storage medium |
| CN114086883A (en) * | 2021-11-08 | 2022-02-25 | 北京工业大学 | Multi-degree-of-freedom drilling robot for track traffic tunnel wall |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN114750303B (en) * | 2022-06-15 | 2022-11-04 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN118223813A (en) * | 2024-05-24 | 2024-06-21 | 中铁十六局集团第一工程有限公司 | Drilling equipment and method for comprehensive research and judgment of surrounding rock of gas tunnel |
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