CN112065275A - Tunnel drilling robot system, control method thereof and tunnel boring machine - Google Patents
Tunnel drilling robot system, control method thereof and tunnel boring machine Download PDFInfo
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- CN112065275A CN112065275A CN202011084426.1A CN202011084426A CN112065275A CN 112065275 A CN112065275 A CN 112065275A CN 202011084426 A CN202011084426 A CN 202011084426A CN 112065275 A CN112065275 A CN 112065275A
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- 238000005553 drilling Methods 0.000 title claims abstract description 234
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000005641 tunneling Effects 0.000 claims abstract description 68
- 230000008569 process Effects 0.000 claims description 24
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 41
- 230000001360 synchronised effect Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
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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
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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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
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- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a tunnel drilling robot system, a control method thereof and a tunnel boring machine, wherein the tunnel drilling robot system comprises: a drilling machine; the robot is arranged on the tunnel boring machine, and the drilling machine is fixedly connected with the tail end of the robot; the controller is connected with the robot and used for acquiring drilling parameters, tunneling mileage and tunneling speed, determining coordinates of each target drilling position according to the drilling parameters, positioning the position of the robot according to the tunneling mileage, calculating real-time offset of the robot according to the tunneling speed, and controlling the robot to act according to the coordinates of each target drilling position, the position of the robot and the real-time offset so as to enable the drilling machine to move to each target drilling position for drilling, and adjusting the pose of the robot according to the real-time offset when the tunnel boring machine tunnels, so that the axis of the drilling machine is kept unchanged, and synchronous drilling and tunneling construction of the tunnel boring machine are realized. The tunnel boring machine comprises the tunnel boring robot system and has the beneficial effects.
Description
Technical Field
The invention relates to the technical field of tunnel drilling equipment, in particular to a tunnel drilling robot system. In addition, the invention also relates to a control method of the tunnel drilling robot system and a tunnel boring machine comprising the tunnel drilling robot system.
Background
In the tunnel engineering work progress such as subway, railway, water conservancy, need lay a large amount of water pipe way and cable run, consequently, need drill the tunnel to the installation pipeline support, be convenient for lay of water pipe way and cable run.
In the prior art, tunnel drilling is usually performed in a manual construction mode, that is, a constructor holds a drilling machine by hand to perform drilling construction, obviously, the manual drilling efficiency is low, the labor intensity is high, and the drilling consistency is poor.
In order to solve the above technical problems of the manual drilling, a drilling robot is gradually applied. However, in the drilling robot in the prior art, all holes of one operation point are usually drilled and then moved to the next operation point for drilling, that is, the drilling construction and the tunneling process of the tunnel boring machine are two separate processes, which cannot be performed simultaneously, and the drilling construction is performed after the tunneling construction of the tunnel boring machine is completed, which results in a long construction period.
Therefore, it is an urgent problem to be solved by those skilled in the art to provide a tunnel drilling robot system capable of synchronously performing drilling construction and tunneling construction.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a tunnel boring robot system and a control method thereof, which can ensure that the axis of a boring machine is always kept unchanged during the boring process of a tunnel boring machine, so as to synchronously perform the boring and the boring construction of the tunnel boring machine.
Another object of the present invention is to provide a tunnel boring machine including the above tunnel boring robot system, which can achieve synchronous operation of tunnel boring construction and boring construction, and shorten the overall construction period of tunnel construction.
In order to achieve the above purpose, the invention provides the following technical scheme:
a tunnel boring robot system comprising:
a drill for drilling a hole;
the robot is used for being installed on a tunnel boring machine, and the drilling machine is fixedly connected with the tail end of the robot;
the controller is connected with the driving module of the robot and used for acquiring drilling parameters, the tunneling mileage and the tunneling speed of the tunnel boring machine, determining the coordinates of each target drilling position according to the drilling parameters, positioning the position of the robot according to the tunneling mileage, calculating the real-time offset of the robot according to the tunneling speed, controlling the robot to act according to the coordinates of each target drilling position, the position of the robot and the real-time offset so that the drilling machine moves to each target drilling position for drilling, and controlling the robot to adjust the pose in real time according to the real-time offset in the tunneling process of the tunnel boring machine so that the axis of the drilling machine is kept unchanged.
Preferably, the controller is connected to an industrial computer of the tunnel boring machine to obtain the boring mileage and the boring speed.
Preferably, the drilling equipment further comprises a touch display screen, wherein the touch display screen is connected with an input end of the controller so as to input the drilling parameters to the controller through the touch display screen.
Preferably, a force sensor for detecting force and torque in each direction is arranged between the tail end of the robot and the drilling machine, the force sensor is connected with the controller, so that when the force and/or torque detected by the force sensor is larger than a preset safety threshold, the controller controls the drilling machine to stop moving, and controls the robot to act, so that the drilling machine exits from drilling.
Preferably, the force sensors are connected to the end of the robot and the drilling machine by means of connecting flanges, respectively.
A control method of a tunnel drilling robot system is applied to a controller of any one of the tunnel drilling robot systems, and comprises the following steps:
acquiring drilling parameters, and calculating coordinates of each target drilling position according to the drilling parameters;
acquiring the tunneling mileage of a tunnel boring machine, and positioning the position of a robot of the tunnel drilling robot system according to the tunneling mileage;
acquiring the tunneling speed of the tunnel tunneling machine, and calculating the real-time offset of the robot according to the tunneling speed;
controlling the robot to act according to the coordinates of the target drilling position, the position of the robot and the real-time offset so as to enable the drilling machine to move to the target drilling position and control the drilling machine of the tunnel drilling robot system to drill;
and in the tunneling process of the tunnel boring machine, adjusting the pose of the robot in real time according to the real-time offset of the robot so as to keep the axis of the drilling machine unchanged.
Preferably, in the process of controlling the drilling machine to drill, the method further comprises the following steps:
monitoring the force and torque on the drilling machine and the robot in real time;
and when the force and/or torque applied to the drilling machine and the robot is greater than a preset safety threshold value, the drilling machine is controlled to stop, and the robot is controlled to act, so that the drilling machine exits from drilling.
A tunnel boring machine comprises a boring machine body and a robot system arranged on the boring machine body, wherein the robot system is any one of the tunnel drilling robot systems.
Preferably, the tunnel boring robot system is fixedly arranged on an equipment trailer of the heading machine body, and the equipment trailer moves along with the heading machine body when the tunnel heading machine operates.
The invention provides a tunnel drilling robot system and a control method thereof, a controller calculates and obtains the coordinates of each target drilling position according to the drilling parameters obtained by the controller, because each target drilling position and a tunnel boring machine have a determined relative position relation, and simultaneously, a robot is arranged on the tunnel boring machine, namely, each target drilling position and the robot have a determined relative position relation, when the controller positions the robot according to the boring mileage, the coordinate difference between the tail end of the robot and the target drilling position can be determined, and the pose variation quantity required by the tail end of the robot to reach the target drilling position can be calculated by combining the real-time offset of the robot in the tunneling process of the tunnel boring machine, therefore, the controller can move a drilling machine to each target drilling position by controlling the action of the robot, when the drilling machine reaches the target drilling position, the controller controls the drilling machine to carry out drilling construction, the tunnel boring machine synchronously tunnels in the process, and at the moment, the controller controls the robot to adjust the pose in real time according to the real-time offset of the robot, so that the axis of the drilling machine is kept unchanged, and the drilling quality is guaranteed.
Therefore, the tunnel drilling robot system and the control method thereof can compensate the real-time offset of the robot in real time in the tunneling process of the tunnel boring machine, further ensure that the axis of the drilling machine is always kept unchanged, ensure that the axis of the drilling machine is always coincident with the axis of the drilling hole and ensure the drilling quality, namely, can synchronously carry out the drilling construction in the tunneling process of the tunnel boring machine, thereby shortening the whole construction period.
The tunnel boring machine provided by the invention comprises the tunnel drilling robot system, so that the synchronous operation of tunnel boring construction and drilling construction can be realized, and the whole construction period of tunnel construction is shortened.
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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural view of a tunnel boring robot system provided in an apparatus trailer of a tunnel boring machine according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of the tunnel boring robot system of FIG. 1 during boring;
FIG. 3 is a schematic diagram of a connection configuration of a robot, a drill and a force sensor of the tunnel boring robot system of FIG. 1;
fig. 4 is a flowchart of a control method of a tunnel boring robot system according to an embodiment of the present invention.
The reference numerals in fig. 1 to 3 are as follows:
the system comprises a drilling machine 1, a robot 2, a driving module 21, a tail end 22, a controller 3, a touch display screen 4, a force sensor 5, a connecting flange 6, an equipment trailer 7, a rail 8 and a transport locomotive 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a tunnel drilling robot system and a control method thereof, which can ensure that the axis of a drilling machine is always kept unchanged in the tunneling process of a tunnel boring machine so as to synchronously carry out drilling and tunneling construction of the tunnel boring machine. The other core of the invention is to provide the tunnel boring machine comprising the tunnel boring robot system, which can realize the synchronous operation of tunnel boring construction and shorten the whole construction period of tunnel construction.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a tunnel boring robot system provided in an equipment trailer of a tunnel boring machine according to an embodiment of the present invention; FIG. 2 is a schematic illustration of the tunnel boring robot system of FIG. 1 during boring; fig. 3 is a schematic view of a connection structure of a robot, a drilling machine, and a force sensor of the tunnel boring robot system of fig. 1.
The invention provides a tunnel drilling robot system which mainly comprises a drilling machine 1, a robot 2, a controller 3 and the like.
Specifically, the drilling machine 1 is used for drilling a tunnel, and the main structure and the working principle of the drilling machine 1 are the same as those of a conventional drilling machine 1 in the prior art, and are not described herein again.
The drilling machine 1 is fixedly arranged at the tail end 22 of the robot 2 so as to move along with the movement of the tail end 22 of the robot 2, namely, the position of the drilling machine 1 is controlled by utilizing the movement of the robot 2, so that the drilling machine 1 can reach the required drilling position.
It should be noted that the robot 2 is intended to be mounted on a tunnel boring machine so as to move synchronously with the boring of the tunnel boring machine.
The present invention is not limited to a specific implementation form of the robot 2, as long as the position of the drilling machine 1 can be adjusted by controlling the operation of the robot 2. For example, the robot 2 may preferably be a six-axis robot 2, the drilling machine 1 being fixedly arranged at a free end of a sixth axis of the six-axis robot 2.
The controller 3 is connected to a drive module of the robot 2, and controls the operation of the robot 2 by sending a control command to the drive module.
Specifically, the controller 3 is used for acquiring drilling parameters, the tunneling mileage and the tunneling speed of the tunnel boring machine; determining coordinates of each target drilling position according to the drilling parameters, positioning the position of the robot 2 according to the tunneling mileage, and calculating the real-time offset of the robot 2 according to the tunneling speed; and then according to the coordinates of each target drilling position, the position of the robot 2 and the real-time offset of the robot 2, controlling the robot 2 to act so as to enable the drilling machine 1 to move to the target drilling position and control the drilling machine 1 to drill, and meanwhile, in the tunneling process of the tunnel boring machine, the controller 3 controls the robot 2 to adjust the pose in real time according to the real-time offset of the robot 2 so as to enable the axis of the drilling machine 1 to be kept unchanged.
It should be noted that usually, the drill holes are arranged at intervals on different tunnel sections along the tunneling direction of the tunnel boring machine, and a plurality of holes are usually required to be drilled on the same tunnel section, so the drilling parameters include information such as the drilling intervals of different tunnel sections, the drilling angle of the first target drilling position on the same tunnel section, the number of drill holes on the same tunnel section, and the drilling depth.
Preferably, the current position of the tunnel boring machine when the boring is started is set as a reference position of the drilled hole, and the tunnel sections to be drilled can be determined according to the distance between the drilled holes by taking the tunnel section at the reference position as a reference.
Meanwhile, according to the whole angle of the tunnel section and the number of the drilled holes, the angle difference between two adjacent drilled holes on the same tunnel section can be calculated, and according to the angle difference and the drilled hole angle of the first target drilled hole position on the same tunnel section, the coordinates of all target drilled hole positions on the same tunnel section can be determined.
That is, the controller 3 can calculate the coordinates of each target drill hole position according to the acquired drilling parameters.
It can be understood that each target drilling position has a determined relative position relationship with the tunnel boring machine, meanwhile, the robot 2 is arranged on the tunnel boring machine, that is, each target drilling position has a determined relative position relationship with the robot 2, when the position of the robot 2 is positioned according to the boring mileage, the coordinate difference between the tail end 22 of the robot 2 and the target drilling position can be determined, and the pose variation quantity required by the tail end 22 of the robot 2 to reach the target drilling position can be calculated by combining the real-time offset of the robot 2 in the tunneling process of the tunnel boring machine, therefore, the controller 3 can make the drilling machine 1 move to each target drilling position by controlling the action of the robot 2, when the drilling reaches the target drilling position, the controller 3 controls the drilling machine 1 to carry out drilling construction, in the process, the tunnel boring machine synchronously tunnels, at the moment, the controller 3 controls the robot 2 to adjust the pose in real time according to the real-time offset of the robot 2, so that the axis of the drilling machine 1 is kept unchanged, and the drilling quality is ensured.
Therefore, the tunnel drilling robot system provided by the invention can compensate the real-time offset of the robot 2 in real time in the tunneling process of the tunnel boring machine, so that the axis of the boring machine 1 can be always kept unchanged and is coincided with the axis of a drilling hole, the drilling quality is ensured, namely, the drilling construction can be synchronously carried out in the tunneling process of the tunnel boring machine, and the whole construction period can be shortened.
It should be noted that the specific manner of acquiring the tunneling mileage and the tunneling speed of the tunnel boring machine by the controller 3 is not limited in the present invention, and for example, the tunneling mileage of the tunnel boring machine may be detected in real time by providing an odometer, and the tunneling speed of the tunnel boring machine may be calculated by timing with a timer and using the detection data of the odometer and the timer.
Of course, in consideration of the convenience of acquiring the tunneling mileage and the tunneling speed of the tunnel boring machine, on the basis of the above-described embodiment, the controller 3 is connected to the industrial computer of the tunnel boring machine to acquire the tunneling mileage and the tunneling speed of the tunnel boring machine.
That is, the controller 3 in this embodiment is electrically connected or communicatively connected to the industrial computer of the tunnel boring machine to transmit the boring mileage and the boring speed of the tunnel boring machine to the controller 3 through the industrial computer of the tunnel boring machine.
It will be appreciated that, in general, the driving range of a tunnel boring machine is obtained by measurement by a tunnel guidance system, i.e. periodically by using a special measuring instrument such as a total station, and is obtained by calculation, which is a conventional parameter of the tunnel boring machine, i.e. a known quantity.
The tunneling speed is given by a stroke sensor of a propulsion cylinder when the tunnel boring machine works, namely, the average speed obtained by dividing the extension length of the cylinder detected by the stroke sensor of the propulsion cylinder by unit time belongs to the conventional parameters of the tunnel boring machine and is a known quantity.
Therefore, in consideration of the convenience of acquiring the tunneling mileage and the tunneling speed by the controller 3, the controller 3 can acquire the tunneling mileage and the tunneling speed of the tunnel boring machine only by establishing communication between the controller 3 and the industrial computer of the tunnel boring machine.
It should be noted that the present invention does not limit the specific manner in which the controller 3 obtains the drilling parameters, and the drilling parameters may be preset in the program of the controller 3.
In view of the convenience of drilling parameter modification, on the basis of the above embodiment, the drilling tool further includes a touch display screen 4 connected to the input end of the controller 3, so as to input the drilling parameters to the controller 3 through the touch display screen 4.
That is to say, before drilling construction, a construction operator can input drilling parameters to the touch display screen 4 according to actual construction needs, so that the touch display screen 4 transmits the drilling parameters to the controller 3, so as to change the drilling parameters at any time.
Of course, some drilling parameters may be preset in the control program of the controller 3, for example, the current position of the tunnel boring machine at the beginning of boring is preset in the controller 3 as a reference position of the drilling, that is, the position of each tunnel section to be drilled can be determined according to the inputted drilling distance of different tunnel sections based on the tunnel section at the reference position.
It can be understood that, during the drilling construction, the robot 2 and the drilling machine 1 may be subjected to forces and torques in three directions based on the spatial rectangular coordinate system X, Y, Z, and when the forces and/or torques applied to the robot 2 and the drilling machine 1 are too large, the robot 2 and the drilling machine 1 may be damaged, and in order to avoid damage to the robot 2 and the drilling machine 1, on the basis of the above-mentioned embodiment, the force sensor 5 for detecting the forces and torques in the respective directions is arranged between the end 22 of the robot 2 and the drilling machine 1, and the force sensor 5 is connected to the controller 3, so that when the forces and/or torques detected by the force sensor 5 are greater than the preset safety threshold, the controller 3 controls the drilling machine 1 to stop moving, and controls the robot 2 to operate, so as to make the drilling machine 1 exit from drilling.
That is to say, in the present embodiment, the force and the torque received by the robot 2 and the drilling machine 1 are detected by the force sensor 5, so as to determine whether a drilling obstacle exists, a preset safety threshold is preset, when the force and/or the torque detected by the force sensor 5 is greater than the preset safety threshold, it is indicated that the drilling obstacle exists, at this time, the drilling machine 1 is controlled to stop, and the robot 2 is made to act, so as to drive the drilling machine 1 to retreat, so as to protect the drilling machine 1 and the robot 2 from being damaged.
At this time, the construction operator can change the drilling parameters and the like on the touch display screen 4 to make the drilling machine 1 avoid the obstacles so as to continue drilling.
It should be noted that the connection mode between the force sensor 5 and the terminal 22 of the robot 2 and the drilling machine 1 is not limited in this embodiment, but as a preferable solution, on the basis of the above embodiment, the force sensor 5 is connected to the terminal 22 of the robot 2 and the drilling machine 1 through the connection flange 6.
Referring to fig. 4, a flowchart of a control method of a tunnel boring robot system according to an embodiment of the invention is shown.
In addition to the tunnel boring robot system, the present invention also provides a control method of the tunnel boring robot system disclosed in the above embodiments, the control method being applied to a controller of the tunnel boring robot system, including steps S1 to S8:
step S1: and acquiring drilling parameters.
Step S2: and calculating the coordinates of the positions of the target drill holes according to the drilling parameters.
Step S3: and acquiring the tunneling mileage of the tunnel boring machine.
Step S4: and positioning the position of the robot of the tunnel drilling robot system according to the tunneling mileage.
Step S5: and acquiring the tunneling speed of the tunnel boring machine.
Step S6: and calculating the real-time offset of the robot according to the tunneling speed.
Step S7: and controlling the robot to act according to the coordinates of the target drilling position, the position of the robot and the real-time offset so as to enable the drilling machine to move to the target drilling position, and controlling the drilling machine of the tunnel drilling robot system to drill.
Step S8: and in the tunneling process of the tunnel boring machine, the pose of the robot is adjusted in real time according to the real-time offset of the robot so as to keep the axis of the boring machine unchanged.
Obviously, the sequence of obtaining the drilling parameters, the tunneling mileage of the tunnel boring machine and the tunneling speed is not limited in this embodiment, that is, is not limited by the sequence numbers of the steps.
It can be understood that the control method of the controller can compensate the real-time offset of the robot in the tunneling process of the tunnel boring machine in real time, further adjust the pose of the robot in real time, ensure that the axis of the drilling machine is always kept unchanged and is coincided with the axis of the drilling hole, ensure the drilling quality, namely, the drilling construction can be synchronously carried out in the tunneling process of the tunnel boring machine, and therefore the whole construction period can be shortened.
In the drilling construction process, in order to avoid the robot and the drilling machine from being damaged due to too large force and/or too large torque, on the basis of the above embodiment, in the process of controlling the drilling machine to drill, the method further comprises the following steps:
and monitoring the force and torque applied to the drilling machine and the robot in real time.
And when the force and/or torque applied to the drilling machine and the robot is greater than a preset safety threshold value, the drilling machine is controlled to stop, and the robot is controlled to act, so that the drilling machine exits from drilling.
It should be noted that, in this embodiment, a specific manner of monitoring the force and the torque received by the drilling machine and the robot in real time by the controller is not limited, for example, the force and the torque received by the drilling machine and the robot may be detected in real time by providing a force sensor, and the force sensor is connected to the controller to transmit a detection signal to the controller, so that the controller monitors the force and the torque received by the drilling machine and the robot in real time.
In addition to the tunnel drilling robot system, the invention also provides a tunnel boring machine including the tunnel drilling robot system disclosed in the above embodiment, and the tunnel boring machine further includes a boring machine body, and the tunnel drilling robot system is provided in the boring machine body and moves along with the boring of the boring machine body.
It should be noted that the main structure of the heading machine body in this embodiment is the same as that of a conventional tunneling machine in the prior art, and details are not repeated herein.
The key point of the embodiment is that by adopting the tunnel drilling robot system disclosed in any one of the above embodiments, the tunnel drilling robot system can compensate the real-time offset of the robot 2 in real time in the tunneling process of the tunnel boring machine, and ensure that the axis of the drilling machine 1 is always kept unchanged, so that the tunnel boring machine can realize the synchronous operation of tunnel boring construction and drilling construction, and the whole construction period of tunnel construction is shortened.
In consideration of the specific arrangement of the tunnel boring robot system, on the basis of the above embodiment, the tunnel boring robot system is fixedly arranged on the equipment trailer 7 of the heading machine body, and when the tunnel heading machine operates, the equipment trailer 7 moves along with the heading machine body.
It should be noted that, in the present embodiment, the specific installation position of the tunnel drilling robot system on the equipment trailer 7 is not limited, and it is assumed that the robot 2 does not interfere with the transportation vehicle 9 for tunnel construction during drilling.
As shown in fig. 1 and 2, the equipment trailer 7 is preferably moved along the rails 8 while the roadheader body roadheads.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The tunnel drilling robot system, the control method thereof and the tunnel boring machine provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. A tunnel boring robot system, comprising:
a drilling machine (1) for drilling;
the robot (2) is used for being installed on a tunnel boring machine, and the drilling machine (1) is fixedly connected with the tail end (22) of the robot (2);
a controller (3) connected to a drive module (21) of the robot (2), the controller (3) is used for acquiring drilling parameters, the tunneling mileage and the tunneling speed of the tunnel boring machine, determining the coordinates of each target drilling position according to the drilling parameters, positioning the position of the robot (2) according to the tunneling mileage, calculating the real-time offset of the robot (2) according to the tunneling speed, and then controlling the robot (2) to act according to the coordinates of each target drilling position, the position of the robot (2) and the real-time offset, so that the drilling machine (1) moves to each target drilling position for drilling, and in the tunneling process of the tunnel boring machine, and controlling the robot (2) to adjust the pose in real time according to the real-time offset so as to keep the axis of the drilling machine (1) unchanged.
2. A tunnel boring robot system according to claim 1, characterised in that the controller (3) is connected to an industrial computer of the tunnel boring machine to obtain the boring mileage and the boring speed.
3. The tunnel boring robot system according to claim 1, characterized by further comprising a touch display screen (4) connected with an input of the controller (3) for inputting the boring parameters to the controller (3) through the touch display screen (4).
4. A tunnel boring robot system according to any of the claims 1-3, characterized in that a force sensor (5) for detecting forces and torques in all directions is arranged between the end (22) of the robot (2) and the drilling machine (1), said force sensor (5) being connected to the controller (3) such that the controller (3) controls the drilling machine (1) to stop moving and the robot (2) to act to withdraw the drilling machine (1) from the borehole when the force and/or torque detected by the force sensor (5) is larger than a preset safety threshold.
5. Tunnel boring robot system according to claim 4, characterized in that the force sensor (5) is connected to the end (22) of the robot (2) and the drilling machine (1) respectively by means of a connecting flange (6).
6. A control method of a tunnel boring robot system, applied to a controller of the tunnel boring robot system according to claim 1, comprising:
acquiring drilling parameters, and calculating coordinates of each target drilling position according to the drilling parameters;
acquiring the tunneling mileage of a tunnel boring machine, and positioning the position of a robot of the tunnel drilling robot system according to the tunneling mileage;
acquiring the tunneling speed of the tunnel tunneling machine, and calculating the real-time offset of the robot according to the tunneling speed;
controlling the robot to act according to the coordinates of the target drilling position, the position of the robot and the real-time offset so as to enable the drilling machine to move to the target drilling position and control the drilling machine of the tunnel drilling robot system to drill;
and in the tunneling process of the tunnel boring machine, adjusting the pose of the robot in real time according to the real-time offset of the robot so as to keep the axis of the drilling machine unchanged.
7. The method of controlling a tunnel boring robot system according to claim 6, further comprising, in controlling the boring machine to bore a hole:
monitoring the force and torque on the drilling machine and the robot in real time;
and when the force and/or torque applied to the drilling machine and the robot is greater than a preset safety threshold value, the drilling machine is controlled to stop, and the robot is controlled to act, so that the drilling machine exits from drilling.
8. A tunnel boring machine comprising a boring machine body and a robot system provided to the boring machine body, characterised in that the robot system is a tunnel boring robot system according to any one of claims 1 to 5.
9. The tunnel boring machine according to claim 8, wherein the tunnel boring robot system is fixedly mounted on an equipment trailer (7) of the machine body, the equipment trailer (7) following the machine body when the tunnel boring machine is in operation.
Priority Applications (1)
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