CN112240162B - Folding tunnel drilling equipment of arm - Google Patents

Folding tunnel drilling equipment of arm Download PDF

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Publication number
CN112240162B
CN112240162B CN202010285474.0A CN202010285474A CN112240162B CN 112240162 B CN112240162 B CN 112240162B CN 202010285474 A CN202010285474 A CN 202010285474A CN 112240162 B CN112240162 B CN 112240162B
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China
Prior art keywords
motor
drilling
controller
rotary platform
hinge plate
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CN202010285474.0A
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CN112240162A (en
Inventor
刘彦臣
杨福合
李战芬
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North University of China
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North University of China
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Priority to CN202010285474.0A priority Critical patent/CN112240162B/en
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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
    • 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

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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)
  • Earth Drilling (AREA)

Abstract

The embodiment of the invention provides a mechanical arm folding tunnel drilling device, wherein a second motor, a first rotating platform and a second rotating platform of the device are arranged in a drilling support; the drilling support is arranged on the guide rail and driven by the transmission mechanism to move along the longitudinal guide rail on the vehicle body under the action of the first motor; the output end of the second motor is connected with the first rotary platform and drives the telescopic arm of the first rotary platform to swing at a preset angle in the direction perpendicular to the guide rail; the output end of the telescopic arm is provided with a hinge connecting mechanism; the output end of the hinge connecting mechanism is provided with a second rotary platform; the second rotary platform is connected with the drill jig. According to the embodiment of the invention, when the vehicle body reaches the position to be perforated in the tunnel, the controller is controlled, so that the tunnel drilling device is operated to automatically and continuously and rapidly drill holes in the tunnel wall for a long time, and therefore, the drilling efficiency can be improved by using the drilling equipment provided by the embodiment of the invention.

Description

Folding tunnel drilling equipment of arm
Technical Field
The invention relates to the technical field of drilling, in particular to a mechanical arm folding tunnel drilling device.
Background
The installation construction of the electric and pipeline inside the tunnel needs to process a large number of positioning holes on the wall of the tunnel, which is always a work requiring a large amount of labor force, and the safety of the overhead operation is not neglected.
At present, holes are drilled on the inner wall of a tunnel by manually climbing an aerial ladder in the construction of the tunnel in China, and in addition, the working environment in the tunnel is bad, so that the manual rule is that the continuous working time is at most not more than 4 hours.
Therefore, the drilling tool in the prior art can realize the perforation of the inner wall of the tunnel by means of manpower, and the perforation efficiency is low.
Disclosure of Invention
The embodiment of the invention aims to provide a mechanical arm folding type tunnel drilling device for improving drilling efficiency.
The specific technical scheme is as follows:
a robotic folding tunnel boring apparatus, the apparatus comprising: the drilling device comprises a vehicle body, at least one group of drilling components, a track comprising a transmission mechanism, the transmission mechanism and a first motor;
wherein, the automobile body includes: the vehicle head and the vehicle body platform are provided with a vehicle head and a vehicle body platform for driving operation;
the vehicle head is connected with the vehicle body platform and drives the vehicle body platform to move;
the track is arranged on the car body platform along the length direction of the car body platform;
The first motor is connected to the end part of a screw rod of the transmission mechanism in the track; the first motor is used for being electrically connected with the controller;
the drilling assembly includes: the drilling device comprises a first rotary platform, a second rotary platform, at least one drilling jig, a second motor, a drilling support and a hinge mechanism;
the second motor and the first rotary platform are mounted on the drilling support;
the drilling support is arranged on the transmission mechanism, and the end part of the transmission mechanism is connected with the first motor; the first motor is used for being electrically connected with the controller, and the transmission mechanism drives the drilling support to move along the guide rail under the action of the first motor;
the output end of the second motor is connected with the first rotary platform, wherein the second motor is used for being electrically connected with a controller, the controller controls the second motor to drive the telescopic arm of the first rotary platform to swing at a first preset angle in a direction perpendicular to the length direction of the guide rail, and the first rotary platform is of a swinging structure provided with the telescopic arm;
the output end of the telescopic arm is provided with the second rotary platform through the hinge mechanism, the hinge mechanism is provided with a locking piece, the telescopic arm is positioned at the side of the drilling support when the locking piece is opened, and the telescopic arm is vertically positioned on the drilling support when the locking piece is locked;
The output end of the second rotary platform is connected with the drill jig, the input end of the second rotary platform is used for being connected with the output end of a third motor, the input end of the third motor is used for being electrically connected with a controller, and the controller controls the third motor to adjust the drill jig to swing at a second preset angle in the direction perpendicular to the track; the drill jig is used for installing a percussion drill and can drive the percussion drill to realize feeding movement.
Further, the guide rail is a ball screw, the transmission mechanism is a nut, and the end part of the screw is connected with the first motor; the first motor is used for being electrically connected with the controller;
the drilling support is arranged on a nut of the ball screw and is driven to move along the screw by the nut under the action of the first motor;
the controller controls the second motor to drive the telescopic arm of the first rotary platform to swing at a first preset angle in a direction perpendicular to the length direction of the screw rod.
Further, the drilling assembly further comprises: a speed reducer;
the output end of the first motor is electrically connected with the input end of the speed reducer;
The speed reducer is mounted on the end part of the screw rod, and the output end of the speed reducer is connected with the screw rod.
Further, the track further comprises a support track for supporting the drilling support, and the nut drives the drilling support to move along the screw rod and the support track under the control of the controller to control the rotation of the first motor;
the first rotary platform further comprises: a first rotation shaft;
the drilling support is of a concave shell structure;
the first rotating shaft is arranged between the vertical structures of the drilling support seats; the second motor is arranged in the drilling support shell;
the output end of the second motor is connected with the end part of the first rotating shaft and can drive the first rotating shaft to rotate relative to the drilling support;
the preset position of the first rotating shaft is connected with one end part of the telescopic arm;
the other end part of the telescopic arm is provided with the second rotary platform through a hinge mechanism, and the second rotary platform is driven to swing at a first preset angle in the direction perpendicular to the track under the control of the controller and the rotation of the second motor.
Further, the first rotary platform further comprises: a first worm wheel and a first worm;
The output end of the second motor is sleeved at the end part of the first worm;
the first worm is meshed with the external teeth of the first worm wheel;
the first worm wheel is sleeved on the first rotating shaft and can drive the first rotating shaft to rotate relative to the drilling support.
Further, the telescopic arm is a mechanical arm with a hydraulic mechanism; the input end of the hydraulic mechanism is electrically connected with the controller, and the controller can control the mechanical arm to realize expansion and contraction through the hydraulic mechanism;
the output end of the mechanical arm is used as the other end of the telescopic arm and is connected with the second rotary platform through a hinge mechanism.
Further, a hydraulic tank is mounted at the end of the rail, and is communicated with a hydraulic pump of the hydraulic mechanism and used for supplying oil to a hydraulic cylinder of the hydraulic mechanism.
Further, the telescopic arm is a mechanical arm with a telescopic push rod mechanism or a hydraulic mechanism; the push rod mechanism is used for being connected with a fourth motor, the fourth motor is electrically connected with a controller, and the controller controls the mechanical arm to stretch out and draw back through the fourth motor;
or, the hydraulic valve of the hydraulic mechanism is used for being connected with the controller, and the controller controls the expansion and contraction of the mechanical arm by controlling the hydraulic valve;
The output end of the mechanical arm is used as the other end of the telescopic arm and is connected with the second rotary platform through a hinge mechanism.
Further, the hinge mechanism comprises a first hinge plate, a second hinge plate, a first bolt and a second bolt;
two pairs of cylinder structures are arranged on opposite side edges of the first hinge plate and the second hinge plate, when the first hinge plate and the second hinge plate are placed in an overlapping mode, the cylinder structures of the first hinge plate and the cylinder structures of the second hinge plate are located on the same axis, telescopic arms are fixedly arranged on the plate surface of the first hinge plate, and the plate surface of the second hinge plate is arranged on the drilling support;
when the telescopic boom is positioned on the side of the drilling support, the first bolt is used as a locking piece to be inserted into the first hinge plate and the cylindrical structure on the same side of the first hinge plate, when the telescopic boom is vertically positioned on the drilling support, the first bolt is used as a locking piece to be inserted into the first hinge plate and the cylindrical structure on one side of the first hinge plate, and the second bolt is used as a locking piece to be inserted into the first hinge plate and the cylindrical structure on the other side of the first hinge plate.
Further, the apparatus further comprises a third motor, and the second rotary platform comprises: the shell, the second worm wheel, the second worm and the second rotating shaft;
the other end part of the mechanical arm is arranged on the shell;
the third motor, the second worm wheel and the second worm are arranged in the shell;
the output end of the third motor is sleeved on the second worm;
the second worm is meshed with the external teeth of the second worm wheel;
the second worm wheel is sleeved on the end part of the second rotating shaft;
the second rotating shaft is provided with the drilling jig, and the drilling jig is driven to swing at a second preset angle in the direction perpendicular to the track under the rotation of the controller driving motor.
Further, the device further comprises at least two supporting mechanisms, each supporting mechanism is installed at two ends of the track, each supporting mechanism is further used for being electrically connected with a controller, and the controller is used for controlling the supporting mechanisms to be unfolded or recovered.
Further, the apparatus further comprises: a controller; the controller is arranged in the vehicle body.
The embodiment of the invention provides a mechanical arm folding type tunnel drilling device. The second motor, the first rotary platform and the second rotary platform of the equipment are arranged in the drilling support; the drilling support is arranged on the transmission mechanism, and the end part of the transmission mechanism is connected with a first motor; the output end of the second motor is connected with the first rotary platform, wherein the second motor is used for being electrically connected with the controller, and the first rotary platform is of a swinging structure provided with a telescopic arm; the output end of the telescopic arm is provided with a second rotary platform through a hinge mechanism, the hinge mechanism is provided with a locking piece, the telescopic arm is positioned at the side of the drilling support under the condition that the locking piece is opened, and the telescopic arm is vertically positioned on the drilling support under the condition that the locking piece is locked; the output end of the second rotary platform is connected with a drill jig, the input end of the second rotary platform is used for being connected with the output end of a third motor, the input end of the third motor is used for being electrically connected with a controller, and the controller controls the third motor to adjust the drill jig to swing at a second preset angle in the direction perpendicular to the guide rail; compared with the prior art, the hinge mechanism provided by the embodiment of the invention can facilitate transportation of the hole rotating device, meanwhile, when the vehicle body reaches the position to be drilled of the tunnel, the hinge mechanism is in a locking state, and the tunnel drilling device provided by the embodiment of the invention is operated to automatically and continuously drill holes on the tunnel wall for a long time and quickly through the control controller, so that the drilling efficiency can be improved by applying the scheme provided by the embodiment of the invention.
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.
Fig. 1 is a schematic structural diagram of a mechanical arm folding tunnel drilling device according to an embodiment of the present invention;
fig. 2 is a schematic partial structure of a screw according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a drill jig according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a mechanical arm folding tunnel drilling device according to an embodiment of the present invention during operation;
fig. 5 is a schematic structural view of a hinge mechanism according to an embodiment of the present invention.
1-a vehicle body; 2-a drilling assembly; 3-track; 4-a transmission mechanism; 5-percussion drilling; 6-a hydraulic tank; 7-a supporting mechanism; 1-1-locomotive; 1-2-a vehicle body platform; 2-1-a first rotary stage; 2-2-a second rotary stage; 2-3-drilling jig; 2-4 of a drilling support; 2-5-hinge mechanism; 3-1-ball screw; 3-2-support rails; 2-1-1-telescopic arms; 2-1-2-first rotation axis; 3-1-1-screw rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a mechanical arm folding tunnel drilling device according to an embodiment of the present invention, where the device includes: the drilling machine comprises a vehicle body 1, at least one group of drilling components 2, a guide rail 3, a transmission mechanism 4 and a first motor;
wherein, the automobile body includes: the vehicle body is provided with a vehicle head 1-1 and a vehicle body platform 1-2 for driving operation;
the vehicle head 1-1 is connected with the vehicle body platform 1-2 and drives the vehicle body platform 1-2 to move;
the track is arranged on the vehicle body platform 1-2 along the length direction of the vehicle body platform 1-2;
the end part of a screw rod 3-1-1 of the transmission mechanism 3-1 in the track is connected with the first motor; the first motor is used for being electrically connected with the controller;
the drilling assembly 2 comprises: the drilling machine comprises a first rotary platform 2-1, a second rotary platform, at least one drilling jig 2-3, a second motor, a drilling support 2-4 and a hinge mechanism 2-5;
the second motor and the first rotary platform 2-1 are installed in the drilling support 2-4;
the drilling support 2-4 is arranged on the transmission mechanism 4, and the end part of the transmission mechanism 4 is connected with the first motor; the first motor is used for being electrically connected with the controller, and the transmission mechanism 4 drives the drilling support 2-4 to move along the guide rail 3 under the action of the first motor;
The output end of the second motor is connected with the first rotary platform 2-1, wherein the second motor is used for being electrically connected with a controller, the controller controls the second motor to drive the telescopic arm 2-1-1 of the first rotary platform 2-1 to swing at a first preset angle in a direction perpendicular to the length direction of the guide rail 3, and the first rotary platform 2-1 is of a swinging structure provided with the telescopic arm 2-1-1;
the output end of the telescopic arm 2-1-1 is provided with the second rotary platform 2-2 through the hinge mechanism 2-5, the hinge mechanism 2-5 is provided with a locking piece, the telescopic arm 2-1-1 is positioned on the side of the drilling support 2-4 under the condition that the locking piece is opened, and the telescopic arm 2-1-1 is vertically positioned on the drilling support 2-4 under the condition that the locking piece is locked;
the output end of the second rotary platform 2-2 is connected with the drill jig 2-3, the input end of the second rotary platform 2-2 is used for being connected with the output end of a third motor, the input end of the third motor is used for being electrically connected with a controller, and the controller controls the third motor to adjust the drill jig 2-3 to swing at a second preset angle in the direction perpendicular to the track; wherein the drill jig 2-3 is used for installing the percussion drill 5 and can drive the percussion drill 5 to realize feeding movement.
The headstock 1-1 can be selected from headstock 1-1 with a cab, and if the device comprises a controller, the controller can be placed in the cab, so that the headstock 1-1 can be waterproof, can be used for placing dust and sun, and is beneficial to the operation of staff.
As shown in fig. 1-2, the telescopic arm 2-1-1 of the first rotary platform 2-1 can extend and retract in the direction of the guide rail 3, namely, in the direction perpendicular to the vehicle body platform 1-2, and under the action of the second motor, the telescopic arm 2-1-1 swings in the direction perpendicular to the guide rail 3 by a first preset angle.
If the track is longitudinal to the body platform 1-2, the telescopic arm 2-1 swings laterally to the body and is perpendicular to the body platform 1-2.
The cooperation of the transmission 4 and the guide rail guides the movement of the drilling support 2-4 mounted on the transmission.
The number of the jigs 2-3 may be one or two, and if two jigs 2-3 are mounted on the second rotary platform 2-2 in such a manner that the drill bits on the jigs 2-3 are opposite, the drill bits on the jigs 2-3 may be plural, and the plural drill bits may be the same or different, which is not limited by the embodiment of the present invention.
In order to improve the drilling efficiency, a plurality of guide rails for matching with the transmission mechanism can be arranged on the vehicle body platform 1-2, and a plurality of groups of drilling assemblies 2 can be placed on the guide rails 3 for installing the transmission mechanism.
The preset swinging angle of the telescopic arm 2-1-1 is 140 degrees at most, that is, the circumferential angle of the telescopic arm 2-1-1 of the first rotary platform 2-1 working in the whole tunnel cross section can reach 280 degrees.
In addition, the drill bit mounted on the drill jig 2-3 of the percussion drill 5 may be a drill bit with a maximum drilling diameter of 40 mm; and the feeding driving and fixing manner of the percussion drill 5 is determined by the structural form of the jig 2-3.
The accuracy of the drilling position of the drilling device is ensured by the cooperation of the controller and the mechanical actuator in the drilling device, i.e. the drilling assembly 2.
As shown in fig. 3, the drill jig 2-3 has a concentric fan-shaped casing structure, and the end of the large arc sector is provided with a through hole through which the drill bit of the impact drill 5 passes. The drilling axis is ensured by the fact that the circular arc surface at the top end of the drilling jig 2-3, namely the sector of the large arc line, is attached to the tunnel wall surface, and the drilling axis is ensured in the normal direction of the tunnel wall surface, so that the drill bit of the percussion drill 5 vertically drills into the tunnel wall surface through the through hole.
The drill jig can comprise an air cylinder mechanism, wherein an impact drill is arranged at the output end of the air cylinder mechanism, and the air cylinder mechanism is used for being electrically connected with the controller; and each impact drill corresponds to one cylinder mechanism, wherein the electromagnetic valve of the controller control cylinder controls the output end of the cylinder to move.
The second motor and the first rotary platform 2-1 are mounted on the drilling support 2-4, so that stability of the drilling support 2-4 can be enhanced, and shaking influence of the first rotary platform 2-1 and the second rotary platform 2-2 due to swinging can be reduced.
The working principle of the drilling device is as follows: as shown in fig. 4, the controller controls the first motor to start, and the first motor drives the driving device to drive the drilling support 2-4 arranged on the transmission mechanism 4 to move along the guide rail 3 along the length direction of the vehicle body platform 1-2; the controller controls a second motor to start, and the second motor drives the telescopic arm 2-1-1 of the first rotary platform 2-1 to swing at a first preset angle along the direction perpendicular to the guide rail 3; the telescopic arm 2-1-1 of the first rotary platform 2-1 drives the second rotary platform 2-2 arranged at the output end of the telescopic arm 2-1-1 to ferry at a first preset angle, the controller starts a third motor, and the third motor is controlled to drive the second rotary platform 2-2 to drive the drilling jig 2-3 to swing at a second preset angle in the direction perpendicular to the guide rail; so as to adjust the drill bit of the percussion drill 5 in the jig 2-3 to be perpendicular to the wall surface of the tunnel to be perforated.
When the drilling device is used for drilling a position at the top end in a tunnel, a worker drives a car body into the tunnel, the controller can control the first motor to enable the car body platform 1-2 to move below a plane where a position to be drilled is located, the controller can control the second motor to rotate to enable the first rotary platform 2-1 to be ferred to the position right below the position to be drilled in the direction of the vertical guide rail 3 at a first preset angle, the controller can control the first rotary platform 2-1 to stretch to the position where the drill jig 2-3 is close to the position to be drilled, the third motor can control the second rotary platform 2-2 to drive the drill jig 2-3 to swing at a second preset angle of the vertical guide rail 3, so that a drill bit on the drill jig 2-3 can be perpendicular to the direction of the hole wall surface to be drilled, after the angle of the drill jig 2-3 is adjusted, the controller can control the feeding motion of the impact drill 5 on the drill jig 2-3 to the wall surface, and the impact drill 5 is started to start drilling on the hole avoidance surface of the tunnel.
As shown in fig. 5, the hinge mechanism 2-5 is disposed on the telescopic arm 2-1-1, and is used for connecting the second rotary platform 2-2 at the output end of the telescopic arm 2-1-1, and when the drilling operation is performed, the hinge mechanism 2-5 is in a locking state, that is, the hinge mechanism 1-5 is closed and fixed, so that the normal operation of the drilling jig 2-3 is maintained; when the equipment is transported, the hinge mechanism 2-5 is in an unlocked state, that is, the hinge mechanism 2-5 is opened, and the second rotary platform 2-2 and the drill jig 2-3 are folded 180 degrees towards the side of the drilling support, such as the inner side of the equipment, and are fixed, so that normal transportation of the equipment is ensured.
Therefore, according to the mechanical arm folding type tunnel drilling equipment provided by the embodiment of the invention, the end part of the screw rod 3-1-1 of the transmission mechanism 3-1 in the track of the equipment is connected with the first motor, and the second motor and the first rotary platform 2-1 are arranged on the drilling support 2-4; the drilling support 2-4 is arranged on a nut of the transmission mechanism; the output end of the second motor is connected with the first rotary platform 2-1 and drives the telescopic arm 2-1-1 to swing at a first preset angle along the direction perpendicular to the track; the telescopic arm 2-1-1 is provided with a hinge mechanism 2-5; the hinge mechanism 2-5 at the output end of the telescopic arm 2-1-1 is provided with a second rotary platform 2-2, and the second rotary platform 2-2 is connected with the drill jig 2-3. Compared with the prior art, when the tunnel wall surface is perforated, the tunnel drilling device of the embodiment of the invention is operated by the controller, so that the impact drill 5 in the drill jig 2-3 is automatically aligned to the tunnel wall and continuously and quickly perforated on the tunnel wall for a long time, and therefore, the drilling efficiency can be improved by applying the scheme provided by the embodiment of the invention.
In one embodiment of the invention, the guide rail 3 is a ball screw 3-1, the transmission mechanism is a nut, and a first motor is connected to the end part of the screw 3-1-1 of the ball screw 3-1; the first motor is used for being electrically connected with the controller;
the drilling support 2-4 is arranged on a nut of the ball screw 3-1, and the drilling support 2-4 is driven by the nut to move along the screw 3-1-1 under the action of the first motor;
the controller controls the second motor to drive the telescopic arm 2-1-1 of the first rotary platform 2-1 to swing at a first preset angle in a direction perpendicular to the length direction of the screw rod 3-1-1.
As shown in fig. 1-2, the telescopic arm 2-1-1 of the first rotary platform 2-1 can extend and retract along the direction of the screw rod 3-1-1, namely, along the direction perpendicular to the vehicle body platform 1-2, and under the action of the second motor, the telescopic arm 2-1-1 swings along the direction perpendicular to the screw rod 3-1-1 at a first preset angle.
The cooperation of the screw rod 3-1-1 and the nut in the guide rail 3 can guide the drilling support 2-4 arranged on the nut to move.
In order to improve the drilling efficiency, a plurality of drilling assemblies 2 for installing the screw rods can be arranged on the vehicle body platform 1-2, and a plurality of groups of drilling assemblies 2 can be placed on the guide rails for installing the screw rods.
The working principle of the drilling device is as follows: as shown in fig. 4, the controller controls the first motor to start, and the first motor drives the driving device to drive the drilling support 2-4 to move along the screw rod 3-1-1 along the length direction of the vehicle body platform 1-2; the controller controls a second motor to start, and the second motor drives a telescopic arm 2-1-1 of a first rotary platform 2-1 to swing at a first preset angle along a direction perpendicular to the screw rod 3-1-1; the telescopic arm 2-1-1 of the first rotary platform 2-1 drives the second rotary platform 2-2 arranged at the output end of the telescopic arm 2-1-1 to ferry at a first preset angle, the controller starts a third motor, and the third motor is controlled to drive the second rotary platform 2-2 to drive the drilling jig 2-3 to swing at a second preset angle in the direction vertical to the screw rod 3-1-1; so as to adjust the drill bit of the percussion drill 4 in the jig 2-3 to be perpendicular to the wall surface of the tunnel to be perforated.
Therefore, in the embodiment of the invention, the guide rail adopts the ball screw, and the transmission mechanism adopts the nut, so that the structure is simple, and the stability is high.
In one embodiment of the present invention, the drilling assembly 2 further comprises: the output end of the first motor is electrically connected with the input end of the speed reducer;
The speed reducer is arranged on the end part of the screw rod 3-1-1, and the output end of the speed reducer is connected with the screw rod 3-1-1.
The speed reducer is generally used for low-rotation-speed and high-torque transmission equipment, and can achieve the aim of reducing the speed by enabling a motor, an internal combustion engine or other power running at high speed to be meshed with a large gear on an output shaft through a gear with a small number of teeth on an input shaft of the speed reducer.
The controller controls the first motor to start, the first motor drives the screw rod 3-1-1 to rotate through the speed reducer, and the nut drives the drilling support 2-4 to move along the screw rod 3-1-1 under the rotation of the screw rod 3-1-1.
It can be seen that the input end of the speed reducer of this embodiment is connected with the output end of the first motor; the output end of the speed reducer is connected with the screw rod 3-1-1, and the drilling support 2-4 can be driven to move along the screw rod 3-1-1 through the cooperation of the nut and the screw rod 3-1-1, so that not only can the speed reduction function be achieved, but also the drilling support 2-4 can move stably on the screw rod 3-1-1.
In one embodiment of the present invention, the drilling assembly 2 further comprises: the track further comprises a support track (3-1) for supporting the drilling support 2-4, and the nut drives the drilling support 2-4 to move along the screw rod 3-1-1 and the support track (3-1) under the control of the controller to control the rotation of the first motor;
The first rotary platform 2-1 further comprises: a first rotation shaft (2-1-2);
the drilling support 2-4 is of a concave shell structure;
the first rotating shaft 2-1-2 is arranged between the vertical structures of the drilling support 2-4; the second motor is arranged in the shell of the drilling support 2-4;
the output end of the second motor is connected with the end part of the first rotating shaft 2-1-2 and can drive the first rotating shaft 2-1-2 to rotate relative to the drilling support 2-4;
the preset position of the first rotating shaft 2-1-2 is connected with one end part of the telescopic arm 2-1-1;
the other end part of the telescopic arm 2-1-1 is provided with the second rotary platform 2-2 through a hinge mechanism 2-5, and the second rotary platform 2-2 is driven to swing at a first preset angle in the direction perpendicular to the track under the control of the controller and the rotation of the second motor.
The number of the first tracks is at least one, that is, may be one, may be two, or may even be multiple, and may be provided with a plurality of drilling assemblies 2, or may be provided with one drilling assembly 2 on one screw, which is not limited in this embodiment of the present invention.
The number of the second tracks is at least one, and the main function of the second tracks is to support the drilling support 2-4, and the drilling support 2-4 is driven by the driving device to move along the first tracks and synchronously move along the second tracks.
The vertical structure of the drilling support 2-4 refers to two shell plate structures of a concave structure.
The setting of the above-mentioned preset position may be located in the middle of the first rotation axis 2-1-2 between the two vertical structures of the borehole support 2-4.
The ends of the first rotation shaft 2-1-2 may each be mounted in a hinged manner between two vertical structures of the borehole support 2-4.
It can be seen that the nut in this embodiment drives the drilling support 2-4 to move along the screw rod 3-1-1 and the supporting track (3-1) under the control of the controller by the rotation of the first motor, and a first rotation shaft 2-1-2 is installed between the vertical structures of the drilling support 2-4; the output end of the second motor is connected with the end part of the first rotating shaft 2-1-2 and can drive the first rotating shaft 2-1-2 to rotate; the preset position of the first rotating shaft 2-1-2 is connected with one end of the telescopic arm 2-1-1; the other end of the telescopic arm 2-1-1 is provided with a second rotary platform 2-2 through a hinge mechanism 3-5. The stability of the drilling support 2-4 moving along the first track can be enhanced by the arrangement of the second track, and the speed reducer can be used as a driving device to drive the drilling support 2-4 to move along the first track and the second track, so that the drilling support can be transported conveniently and has a speed reducing effect.
In one embodiment of the present invention, the first rotary platform 2-1 further comprises: a first worm wheel and a first worm;
the output end of the second motor is sleeved at the end part of the first worm;
the first worm is meshed with the external teeth of the first worm wheel;
the first worm wheel is sleeved on the first rotating shaft 2-1-2 and can drive the first rotating shaft 2-1-2 to rotate relative to the drilling support 2-4.
Wherein worm gear mechanisms are commonly used to transfer motion and power between two interleaved shafts.
The second motor drives the worm to rotate, the worm can move along the external teeth of the worm wheel in a meshed mode through the cooperation of the worm and the worm wheel, so that the worm wheel is driven to rotate, the worm wheel drives the first rotating shaft 2-1-2 sleeved in the worm wheel to rotate, and the first rotating shaft 2-1-2 further drives the mechanical arm arranged on the first rotating shaft 2-1-2 to swing at a first preset angle in the direction perpendicular to the track.
One implementation manner of the relative motion of the first rotating shaft 2-1-2 relative to the drilling support 2-4 is that through holes can be arranged on the plate surfaces of the two vertical structures of the drilling support 2-4, and two ends of the first rotating shaft 2-1-2 are respectively hinged in the through holes of the drilling support 2-4.
The output end of the second motor is sleeved at the end part of the first worm; the first worm is meshed with the external teeth of the first worm wheel; the first worm wheel is sleeved on the first rotating shaft 2-1-2 and can drive the first rotating shaft 2-1-2 to rotate relative to the drilling support 2-4, and compared with the first rotating platform 2-1 without the worm wheel and the worm, the first worm wheel not only can play a role in stably transmitting the rotating speed, but also can play a role in decelerating the second motor.
In one embodiment of the invention, the telescopic arm 2-1-1 is a mechanical arm with a hydraulic mechanism; the input end of the hydraulic mechanism is electrically connected with the controller, and the controller can control the mechanical arm to realize expansion and contraction through the hydraulic mechanism;
the output end of the mechanical arm is used as the other end of the telescopic arm 2-1-1 and is connected with the second rotary platform 2-2 through a hinge mechanism 2-5.
The hydraulic mechanism can provide a power source for the mechanical arm, so that the mechanical arm can stretch and retract under the action of the hydraulic mechanism, and the second rotary platform 2-2 is driven to rise or fall.
The mechanical arm can be a connecting rod mechanism, the input end of the connecting rod mechanism is connected with the input end of the hydraulic mechanism, and the output end of the connecting rod mechanism is connected with the second rotary platform 2-2.
The hydraulic mechanism can be arranged on the mechanical arm, and the hydraulic mechanism can also enhance the stability of the drilling device due to the weight of the mechanical arm.
The hydraulic mechanism comprises a hydraulic cylinder, a hydraulic pump, an oil valve and other parts, the controller can be respectively electrically connected with the pump and the oil valve, and the oil quantity of the hydraulic cylinder is controlled by controlling the hydraulic pump, so that the expansion and contraction of the mechanical arm are controlled, and the opening and closing of the oil valve can be controlled.
It can be seen that the telescopic arm 2-1-1 of the present embodiment is a mechanical arm with a hydraulic mechanism; the output end of the hydraulic mechanism is connected with the input end of the mechanical arm; the output end of the mechanical arm is used as the other end of the telescopic arm 2-1-1 and is connected with the second rotary platform 2-2 through a hinge mechanism 2-5. The hydraulic mechanism can provide a power source for the mechanical arm and can also enhance the stability of the drilling device.
In one embodiment of the invention, the end of the rail is fitted with a hydraulic tank 6, which hydraulic tank 6 communicates with the hydraulic cylinders of the hydraulic machine.
The hydraulic mechanism is connected with the controller, so that the controller can control the hydraulic pump in the hydraulic mechanism to absorb oil from the hydraulic oil tank, and the purpose that the hydraulic oil tank 6 supplies oil for the hydraulic cylinder is achieved.
The telescopic arm 2-1-1 can also be a mechanical arm with a cylinder mechanism, and an electromagnetic valve of the cylinder mechanism is electrically connected with the controller, so that the air quantity in the cylinder can be controlled under the control of the controller, and the output end of the cylinder mechanism is controlled by controlling the electromagnetic valve, so that the telescopic operation of the mechanical arm is finished.
It can be seen that the end of the rail in this embodiment is provided with a hydraulic tank 6, and the hydraulic tank 6 is communicated with the hydraulic pump of the hydraulic mechanism, so as to supply oil to the hydraulic cylinder of the hydraulic mechanism.
In one embodiment of the present invention, the hinge mechanism 2-5 includes a first hinge plate, a second hinge plate, a first latch, and a second latch;
two pairs of cylinder structures are arranged on opposite side edges of the first hinge plate and the second hinge plate, when the first hinge plate and the second hinge plate are placed in an overlapping mode, the cylinder structures of the first hinge plate and the cylinder structures of the second hinge plate are located on the same axis, telescopic arms 2-1-1 are fixedly arranged on the plate surface of the first hinge plate, and the plate surface of the second hinge plate is arranged on the drilling support 2-4;
When the telescopic arm 2-1-1 is located on the side of the drilling support 2-4, the first bolt is used as a locking piece to be inserted into the first hinge plate and the cylindrical structure on the same side of the first hinge plate, and when the telescopic arm 2-1-1 is vertically located on the drilling support 2-4, the first bolt is used as a locking piece to be inserted into the first hinge plate and the cylindrical structure on one side of the first hinge plate, and the second bolt is used as a locking piece to be inserted into the first hinge plate and the cylindrical structure on the other side of the first hinge plate.
When the first hinge plate and the second hinge plate are assembled, the axes of the two cylinders on one side of the first hinge plate and the axes of the two cylinders on the same side of the second hinge plate are all in the same line, one end part of the telescopic arm 2-1-1 is fixedly arranged on the first hinge plate surface, and the fixed end part of the drilling support is fixedly provided with the second hinge plate.
It can be seen that two pairs of cylinder structures are mounted on opposite sides of a first hinge plate and a second hinge plate in the embodiment of the invention, when the first hinge plate and the second hinge plate are placed in an overlapping manner, the cylinder structures of the first hinge plate and the second hinge plate are positioned on the same axis, a telescopic arm 2-1-1 is fixedly mounted on the plate surface of the first hinge plate, and the plate surface of the second hinge plate is mounted on a drilling support 2-4; can be in when opening at first hinge board and second hinge board, flexible arm is in the folded condition in order to transport, and can reduce the occupation space of flexible arm when transporting, plays the effect of protecting flexible arm simultaneously.
In one embodiment of the invention, the apparatus further comprises a third motor, and the second rotary platform 2-2 comprises: the shell, the second worm wheel, the second worm and the second rotating shaft;
the end hinge mechanism of the mechanical arm is arranged on the shell;
the third motor, the second worm wheel and the second worm are arranged in the shell;
the output end of the third motor is sleeved on the second worm;
the second worm is meshed with the external teeth of the second worm wheel;
the second worm wheel is internally sleeved on the end part of the second rotating shaft;
the second rotating shaft is provided with the drilling jig 2-3, and the drilling jig 2-3 is driven to swing at a second preset angle in the direction perpendicular to the track under the rotation of the controller driving motor.
The third motor drives the second worm to rotate, the second worm is matched with the second worm wheel, so that the second worm can move along the external teeth of the second worm wheel in a meshed mode, the second worm wheel drives a second rotating shaft in the second worm wheel to rotate, the second rotating shaft drives a drill jig 2-3 on the second rotating shaft to swing at a second preset angle in a direction perpendicular to the track, and the normal direction of the outer end face of the drill jig 2-3 is adjusted, so that the output end of the impact drill 5 in the drill jig 2-3 is perpendicular to the tunnel end face.
It can be seen that the end hinge mechanism of the mechanical arm of this embodiment is mounted on the housing; the output end of the third motor is sleeved on the second worm; the second worm is meshed with the external teeth of the second worm wheel; the second worm wheel is sleeved on the end part of the second rotating shaft; the second rotating shaft is provided with a drill jig 2-3. Not only can play the effect of steady transmission rotational speed, can also play the deceleration effect to the second motor.
In one embodiment of the invention, the drilling device further comprises at least two support means 7, each support means 7 being mounted at both ends of the track.
The supporting mechanism may be foldable supporting mechanisms 7, and one end of each supporting mechanism 7 is installed at the end of the track, and the other end is used for contacting with the ground and providing supporting force.
Four supporting mechanisms 7 may be arranged, each supporting mechanism 7 is arranged at four ends of the rail, for example, one supporting rail 3-1 and one screw rod 3-1-1 are arranged outside the vehicle body, and then the supporting mechanisms are respectively arranged at two ends of the supporting rail 3-1 and two ends of the screw rod 3-1-1, so that stability is improved.
When not punching, the supporting mechanism is in a folding condition and is arranged at the end part of the rail, and when punching, the other end of the supporting mechanism 7 is contacted with the ground, and the ground gives the supporting force to the other end of the supporting mechanism 7, so that the supporting mechanism 7 can provide supporting force for the rail.
Each of the above-described support mechanisms 7 is also configured to be electrically connected to a controller, and the controller is configured to control the deployment or retraction of the support mechanisms 7. When punching is needed, the controller controls the unfolding of each supporting mechanism 7, and after the opening is finished, the controller controls the supporting mechanisms 7 to recycle.
It can be seen that the supporting mechanism of this embodiment is used for being connected with the controller electricity, can each through the controller control supporting mechanism expands or retrieves, on the basis of reinforcing track stability, can also strengthen drilling equipment's intellectuality.
The end of the support mechanism 7 that contacts the ground may also be provided with a steering wheel.
It can be seen that the supporting mechanism of the present embodiment can support the track 3-1, thereby enhancing the stability of the track.
In one embodiment of the invention, the apparatus further comprises: a controller; the controller is arranged in the vehicle body.
The controller can be placed on the vehicle body platform 1-2 and also can be placed in a cab of the vehicle head 1-1, so that the operation of operators is facilitated.
In one embodiment, the controller may be electrically connected to an external electronic device, such as a computer or a mobile phone. So as to control the controller through external equipment, thereby reducing the danger of operating the service by staff.
The vehicle body can also be an unmanned vehicle body, and the controller is controlled by external equipment so as to control the drilling device to drill holes in the tunnel wall.
Therefore, the controller included in the device of the embodiment can be placed in the vehicle body, so that the operation of staff can be facilitated.
In summary, the drilling device provided by the embodiment of the invention does not need to use too much labor force, so that the labor force and the cost can be saved on the basis of improving the drilling efficiency, meanwhile, the unmanned headstock 1-1 can be used by the headstock 1-1, the whole drilling device is operated through external electronic equipment, the working of workers in a tunnel with a severe environment can be avoided, and further, the working of the workers in the severe environment can be further avoided.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such device. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (8)

1. A robotic folding tunnel boring device, for application to a tunnel having excavated a lower track, the device comprising: the drilling device comprises a vehicle body (1), at least one group of drilling components (2), a guide rail (3), a transmission mechanism (4), a supporting mechanism (7) and a first motor;
wherein the vehicle body (1) comprises: the vehicle body platform is provided with a vehicle head (1-1) for driving operation and a vehicle body platform (1-2) which is provided with wheels and is in the same length direction with the vehicle head (1-1); the vehicle head (1-1) is connected with the vehicle body platform (1-2) and drives the vehicle body platform (1-2) to move;
At least two guide rails (3) for being matched with a transmission mechanism are arranged on the vehicle body platform (1-2) along the length direction of the vehicle body platform (1-2), and at least two groups of drilling components are arranged on the guide rails (3) for being provided with the transmission mechanism; each drilling assembly (2) is mounted on a respective corresponding transmission mechanism, wherein each drilling assembly (2) comprises: the drilling device comprises a first rotary platform (2-1), a second rotary platform (2-2), at least one drilling jig (2-3), a second motor, a drilling support (2-4) and a hinge mechanism (2-5); each drill jig is provided with at least two impact drills, the drill jigs are of concentric fan-shaped shell structures, and the end parts of the large arc fan-shaped surfaces are provided with through holes for the drill bits of the impact drills to pass through; the drilling axis is ensured by the large arc sector at the top end of the drilling jig being attached to the wall surface of the tunnel;
the first rotary platform (2-1) is of a swingable structure provided with a telescopic arm (2-1-1), and the first rotary platform (2-1) further comprises: a first rotation shaft (2-1-2); the drilling support (2-4) is of a concave shell structure; the first rotating shaft (2-1-2) is arranged between the vertical structures of the drilling support seats (2-4); the second motor is arranged in the drilling support (2-4) shell; the output end of the second motor is connected with the end part of the first rotating shaft (2-1-2), the second motor is used for being connected with a controller, and the first rotating shaft (2-1-2) can be driven to rotate relative to the drilling support (2-4) under the control of the controller; the preset position of the first rotating shaft (2-1-2) is connected with one end part of the telescopic arm (2-1-1); the other end part of the telescopic arm (2-1-1) is provided with the second rotary platform (2-2) through a hinge mechanism (2-5), and the second rotary platform (2-2) is driven to swing at a first preset angle in the direction perpendicular to the guide rail under the control of the rotation of the second motor by the controller;
The hinge mechanism (2-5) comprises a first hinge plate, a second hinge plate, a first bolt and a second bolt;
two pairs of cylinder structures are arranged on opposite side edges of the first hinge plate and the second hinge plate, when the first hinge plate and the second hinge plate are placed in an overlapping mode, the cylinder structures of the first hinge plate and the cylinder structures of the second hinge plate are located on the same axis, telescopic arms (2-1-1) are fixedly arranged on the plate surfaces of the first hinge plate, and the plate surfaces of the second hinge plate are arranged on the drilling support (2-4); when the telescopic arm (2-1-1) is positioned on the side of the drilling support (2-4), the first bolt is used as a locking piece to be inserted into the cylindrical structures on the same side of the first hinge plate and the first hinge plate, and when the telescopic arm (2-1-1) is vertically positioned on the drilling support (2-4), the first bolt is used as a locking piece to be inserted into the cylindrical structures on one side of the first hinge plate and the first hinge plate, and the second bolt is used as a locking piece to be inserted into the cylindrical structures on the other side of the first hinge plate and the first hinge plate;
the drilling support (2-4) is arranged on the transmission mechanism (4), and the end part of the transmission mechanism (4) is connected with the first motor; the first motor is used for being electrically connected with the controller, and the transmission mechanism (4) drives the drilling support (2-4) to move along the guide rail (3) under the action of the first motor;
The output end of the second rotary platform (2-2) is connected with the drill jig (2-3), the input end of the second rotary platform (2-2) is used for being connected with the output end of a third motor, the input end of the third motor is used for being electrically connected with a controller, and the controller controls the third motor to adjust the drill jig (2-3) to swing at a second preset angle in the direction perpendicular to the guide rail (3); wherein the drill jig (2-3) is used for installing a percussion drill (5) and can drive the percussion drill (5) to realize feeding movement;
each supporting mechanism (7) is installed at two end parts of the guide rail and is used for being electrically connected with a controller, the controller is used for controlling the supporting mechanism (7) to be unfolded or recovered, each supporting mechanism (7) is further used for being electrically connected with the controller, when the supporting mechanism (7) is controlled to be recovered, when the supporting mechanism is not perforated, the supporting mechanism (7) is controlled to be unfolded and then contacted with the ground, and after the perforation is completed, the supporting mechanism (7) is controlled to be recovered and installed at two end parts of the guide rail.
2. The apparatus according to claim 1, wherein the guide rail (3) is a ball screw (3-1), the transmission mechanism is a nut, and the first motor is connected to the end of the screw (3-1-1) of the ball screw (3-1); the first motor is used for being electrically connected with the controller;
The drilling support (2-4) is arranged on a nut of the ball screw (3-1) and drives the drilling support (2-4) to move along the screw (3-1-1) under the action of the first motor through the nut;
the controller controls the second motor to drive the telescopic arm (2-1-1) of the first rotary platform (2-1) to swing at a first preset angle in a direction perpendicular to the length direction of the screw rod (3-1-1).
3. The apparatus according to claim 2, wherein the drilling assembly (2) further comprises: a speed reducer;
the output end of the first motor is electrically connected with the input end of the speed reducer;
the speed reducer is arranged on the end part of the screw rod (3-1-1), and the output end of the speed reducer is connected with the screw rod (3-1-1).
4. A device according to claim 3, wherein the guide rail (3) further comprises a support guide rail (3-2) for supporting the drilling support (2-4), the nut driving the drilling support (2-4) along the screw (3-1-1) and the support guide rail (3-2) under the control of the rotation of the first motor by the controller.
5. The apparatus according to claim 4, wherein the first rotary platform (2-1) further comprises: a first worm wheel and a first worm;
The output end of the second motor is sleeved at the end part of the first worm;
the first worm is meshed with the external teeth of the first worm wheel;
the first worm wheel is sleeved on the first rotating shaft (2-1-2) and can drive the first rotating shaft (2-1-2) to rotate relative to the drilling support (2-4).
6. The apparatus according to claim 5, characterized in that the telescopic arm (2-1-1) is a mechanical arm with a telescopic push rod mechanism or a hydraulic mechanism; the push rod mechanism is used for being connected with a fourth motor, the fourth motor is electrically connected with a controller, and the controller controls the mechanical arm to stretch out and draw back through the fourth motor;
or, the hydraulic valve of the hydraulic mechanism is used for being connected with the controller, and the controller controls the expansion and contraction of the mechanical arm by controlling the hydraulic valve;
the output end of the mechanical arm is used as the other end of the telescopic arm (2-1-1) and is connected with the second rotary platform (2-2) through a hinge mechanism (2-5).
7. The apparatus according to any one of claims 1 to 6, wherein the second rotary platform (2-2) comprises: the shell, the second worm wheel, the second worm and the second rotating shaft;
The other end part of the mechanical arm is arranged on the shell;
the third motor, the second worm wheel and the second worm are arranged in the shell;
the output end of the third motor is sleeved on the second worm;
the second worm is meshed with the external teeth of the second worm wheel;
the second worm wheel is sleeved on the end part of the second rotating shaft;
the second rotating shaft is provided with the drilling jig (2-3), and the drilling jig (2-3) is driven to swing at a second preset angle in the direction perpendicular to the guide rail under the rotation of the driving motor of the controller.
8. The apparatus of claim 7, wherein the controller is disposed within the vehicle body.
CN202010285474.0A 2020-04-13 2020-04-13 Folding tunnel drilling equipment of arm Active CN112240162B (en)

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Application Number Priority Date Filing Date Title
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CN112240162B true CN112240162B (en) 2024-04-02

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101949263A (en) * 2010-08-21 2011-01-19 丁庆平 Self-propelled remote control rotary drilling machine
CN103075099A (en) * 2013-01-09 2013-05-01 孙跃强 Initial lining and ceiling drilling device for thousand-palm compound wagon drill
CN103603596A (en) * 2013-08-23 2014-02-26 冯晓云 Lifting-rotation-platform crawler drill for coal mine
CN104612586A (en) * 2014-11-13 2015-05-13 青岛达邦钻机有限责任公司 Whole-section quick-drilling drill carriage for parallel cut blasting of large empty holes in roadway
CN105113984A (en) * 2015-09-18 2015-12-02 四川隧唐科技股份有限公司 Automatic drill jumbo for tunnel and working method thereof
CN108915587A (en) * 2018-07-17 2018-11-30 山西伟捷瑞铁路工程有限公司 Automatic capturing benchmark is accurately positioned the device and method of drilling in tunnel wall
CN109930992A (en) * 2019-03-04 2019-06-25 厦门市创凌包装设备有限公司 A kind of intelligent tunnel drilling machine and boring method
CN209523709U (en) * 2019-02-21 2019-10-22 代晓劲 A kind of tunnel punch
CN210264543U (en) * 2019-01-30 2020-04-07 廊坊景隆重工机械有限公司 Drilling device and tunnel supporting vehicle with same

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101949263A (en) * 2010-08-21 2011-01-19 丁庆平 Self-propelled remote control rotary drilling machine
CN103075099A (en) * 2013-01-09 2013-05-01 孙跃强 Initial lining and ceiling drilling device for thousand-palm compound wagon drill
CN103603596A (en) * 2013-08-23 2014-02-26 冯晓云 Lifting-rotation-platform crawler drill for coal mine
CN104612586A (en) * 2014-11-13 2015-05-13 青岛达邦钻机有限责任公司 Whole-section quick-drilling drill carriage for parallel cut blasting of large empty holes in roadway
CN105113984A (en) * 2015-09-18 2015-12-02 四川隧唐科技股份有限公司 Automatic drill jumbo for tunnel and working method thereof
CN108915587A (en) * 2018-07-17 2018-11-30 山西伟捷瑞铁路工程有限公司 Automatic capturing benchmark is accurately positioned the device and method of drilling in tunnel wall
CN210264543U (en) * 2019-01-30 2020-04-07 廊坊景隆重工机械有限公司 Drilling device and tunnel supporting vehicle with same
CN209523709U (en) * 2019-02-21 2019-10-22 代晓劲 A kind of tunnel punch
CN109930992A (en) * 2019-03-04 2019-06-25 厦门市创凌包装设备有限公司 A kind of intelligent tunnel drilling machine and boring method

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