CN115898258A

CN115898258A - Intelligent drilling device, mechanical arm and method for repairing underground tunnel crack

Info

Publication number: CN115898258A
Application number: CN202210975873.9A
Authority: CN
Inventors: 蒋奇; 江山
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2023-04-04

Abstract

The invention provides an intelligent drilling device, an mechanical arm and a method for repairing underground tunnel cracks, relates to the field of underground intelligent repairing equipment, and aims to solve the problems that the intelligent degree is low and a detection assembly is easy to damage due to drilling impact when underground engineering cracks are repaired and drilled at present.

Description

Intelligent drilling device, mechanical arm and method for repairing underground tunnel crack

Technical Field

The invention relates to the field of underground intelligent repairing equipment, in particular to an underground tunnel crack repairing intelligent drilling device, a mechanical arm and a method.

Background

In the conventional tunnel, cracks due to chipping, breakage, and leakage water are often present, and if the damage is not repaired in time, the stability of the entire structure is impaired, and the collapse of the tunnel is caused by serious persons. In the current tunnel maintenance work, a common method for the damage is that a constructor builds a scaffold to punch a plurality of grouting holes around the crack, and then injects repairing liquid to fill the crack. However, the tunnel crack is usually in a strip shape, the number of points needing drilling is large, and the distance between grouting holes is long, so that the efficiency of manually constructing the grouting holes is low, the crack repairing progress is severely limited, and the normal operation of traffic is affected.

At present, some automatic drilling equipment working in underground projects such as pipe corridors, roadways, tunnels and the like exist, the scheme is that a support is matched with a telescopic drill bit, although the drilling construction difficulty is reduced to a certain extent, the intelligent degree is low, the functions of distance measurement positioning, crack state acquisition and the like before the drilling construction are difficult to realize, and the requirements on the drilling precision and crack analysis in the current underground tunnel crack repairing process cannot be met; in addition, because the construction environment is abominable in the tunnel, can produce a large amount of pieces, dust etc. in drilling process, when distributing in drilling construction position, influenced the detection precision of partial sensor, vibration when drilling simultaneously produces the impact to accurate check out test set easily and leads to damaging, is difficult to satisfy the demand of drilling construction in the underground works.

Disclosure of Invention

The invention aims to provide an intelligent drilling device, an intelligent mechanical arm and an intelligent drilling method for repairing underground tunnel cracks, aiming at the defects in the prior art.

The invention aims at providing an intelligent drilling device for repairing underground tunnel cracks, which adopts the following scheme:

including installing in the drilling subassembly and the determine module of backup pad, determine module passes through the vice joint support board of slip of straight line orbit, the vice stroke end of slip is equipped with the positioning seat that corresponds determine module, be equipped with butt determine module's reciprocal push rod in the backup pad, determine module cooperation has the rebound spare of applying the elastic force along the vice orbit direction of slip to exert the buffering damping to determine module's removal, the drilling route of drilling subassembly, the working route of reciprocal push rod is parallel with the vice orbit of slip.

Further, the detection component comprises a detection box and a purging component, one side of the detection box is opened and is matched with the transparent plate for plugging, and an air curtain formed by the purging component covers one side of the transparent plate, which is far away from the detection box.

Furthermore, a distance measuring element and a shooting element are arranged inside the detection box, and the working ends of the distance measuring element and the shooting element face the transparent plate.

Further, the slide pair is including installing in the slider of determine module and installing in the optical axis of backup pad through the axle bed, and the slider slip cap is established outside the optical axis and is formed slider slide rail mechanism, and the cover of resilience piece is established outside the optical axis to distribute in the both sides of slider, resilience piece one end butt slider, other end butt axle bed.

Further, reciprocating push rod one end is fixed in the backup pad, and the other end is the output, and the output can extend and promote the determine module contact positioning seat latched position, and the output can shorten in order to dodge determine module's home range.

Furthermore, the drilling assembly comprises a guide mechanism and a driving cylinder, the drilling element is mounted on the guide mechanism through a support, the output end of the driving cylinder is connected with the support, the drilling element reciprocates under the constraint of the guide mechanism, and the motion track of the drilling element is parallel to that of the sliding pair.

Furthermore, a plurality of collision early warning assemblies, a plurality of lighting assemblies and a plurality of visual assemblies are mounted on the supporting plate, the lighting assemblies are arranged around the circumference of the detection assembly, and the lighting assemblies face the detection positions of the detection assembly; the collision early warning assembly is positioned at the end part of the support plate close to the crack; the vision subassembly passes through the double-rocker mechanism and connects the backup pad.

Furthermore, a rack rod of the double-rocker mechanism is fixed on the supporting plate, the connecting rod is fixed on the vision assembly, the side link is connected with the supporting frame through a buffer piece, one end of the buffer piece is hinged with the side link, and the other end of the buffer piece is hinged with the supporting plate so as to keep the relative position of the vision assembly and the supporting plate through the buffer action.

A second object of the present invention is to provide a robot arm for repairing an intelligent drilling apparatus using a crack of an underground tunnel according to the first object.

A third object of the present invention is to provide a method for operating an intelligent drilling apparatus for repairing a crack of a subterranean tunnel according to the first object, comprising:

the position of the supporting plate is adjusted, the reciprocating push rod is abutted and drives the detection assembly to move, the detection assembly works after overcoming the resistance of the rebound piece and moving to the positioning seat;

after the detection is finished, the reciprocating push rod restores the original position to avoid the detection assembly, and the rebound piece drives the detection assembly to restore the original position;

the drilling component executes drilling work, vibration generated in the working process is transmitted to the detection component, and the rebound part changes the axial length under the action of the detection component to absorb the vibration.

Compared with the prior art, the invention has the advantages and positive effects that:

(1) The intelligent degree is low when repairing drilling to present underground works crack, the problem of drilling impact fragile determine module, set up supporting determine module on the drilling subassembly, can gather crack state parameter and assistance-localization real-time in drilling process, determine module has the slip pair of resilience piece to install in the backup pad through the cooperation, when vibration takes place in the work progress, can utilize the part of kick-backing to absorb partial vibration, the effect direction of resilience piece is unanimous with the drilling direction, thereby improve the impact that produces when absorbing drilling, protect check out test set.

(2) The drilling assembly and the detection assembly serve as tail end execution parts of the manipulator, automatic drilling is achieved by using a mechanical structure to replace a manual drilling process, repeatability and high labor intensity operation of traditional hand drills for drilling the tunnel wall are achieved, and labor intensity and labor time of workers are reduced.

(3) The detection element is arranged in the detection box, the opening in the side surface of the detection box is blocked by the transparent plate, the internal detection element can be protected while the detection box is transparent, and the surface of the transparent plate is swept by the sweeping component, so that the problem that dust attached to the surface of the transparent plate affects detection data is reduced; in addition, the blowing component can form an air curtain to form soft isolation on the transparent plate, so that the problem that fine sharp sand and stones collide the transparent plate to cause scraping and cause transparency deterioration is prevented, and the protection effect on the internal detection element is improved.

(4) The rebound pieces are positioned on two sides of the sliding block connected with the detection assembly, good buffering effect can be realized in two different axial directions, and meanwhile, the track of the sliding pair is configured to be consistent with the track of the drilled hole, so that the main vibration from the impact effect during drilling can be absorbed conveniently, and the vibration reduction effect is improved; the reciprocating push rod abutted to the detection assembly can push the detection assembly to move, can be separated from the contact with the detection assembly to avoid the motion range of the detection assembly, and avoids interference with the reciprocating push rod when the detection assembly shakes along the sliding pair in a non-working state.

(5) The positioning seat is arranged as a stop point at one end of the moving stroke of the detection assembly, when the reciprocating push rod drives the detection assembly to move to the position of the positioning seat, the positioning seat and the reciprocating push rod limit the detection assembly together, and the position of the detection assembly and the position of the supporting plate are kept fixed by combining the limiting effect of the sliding pair on the detection assembly, so that the coordinate position of the detection assembly and the position of the supporting plate are calibrated conveniently and subsequently, the position of the detection assembly in each working process is ensured to be determined, and the positioning error is reduced so as to improve the data precision.

(6) For the detection module configuration illumination subassembly, collision detection subassembly, reduce the external environment and disturb the detection module work, further reduce the interference collision problem in underground tunnel environment simultaneously.

(7) For satisfying the acquisition tunnel environmental information demand, configuration vision subassembly and set up the two rocker mechanisms that correspond and regard as damping support, utilize the characteristic of the translation of two rocker mechanisms holding connecting rod, make the vision subassembly can keep the orientation, at the in-process that utilizes the bolster to realize the damping effect, also can slow down the uncontrollable shake in the vision subassembly collection process, the tangential and the drilling impact direction of the swing direction of linking frame pole are unanimous, thereby improve its buffering effect, effectively protect the vision subassembly, promote the execution of intelligent construction.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.

Fig. 1 is an axial view of an intelligent drilling device for repairing a crack in an underground tunnel according to

embodiment

1, 2 or 3 of the present invention.

Fig. 2 is a top view of an intelligent drilling device for repairing a crack of an underground tunnel according to

embodiment

1, 2 or 3 of the present invention.

Fig. 3 is a right side view of the underground tunnel crack repair intelligent drilling device in

embodiment

1 or 2 or 3 of the present invention.

Fig. 4 is a bottom view of the underground tunnel crack repairing intelligent drilling device in

embodiment

1, 2 or 3 of the present invention.

Fig. 5 is a schematic structural diagram of a detection component in

embodiment

1, 2, or 3 of the present invention.

Fig. 6 is a schematic structural view of a guide mechanism fitting bracket in

embodiment

1, 2 or 3 of the present invention.

In the figure, a detection assembly 1, a collision early warning assembly 2, a drilling assembly 3, a driving cylinder 4, a vision assembly 5, a supporting plate 6, a connecting flange 7, an illuminating assembly 8, a purging assembly 9, a buffering assembly 10, a shooting element 11, a shaft seat 12, a positioning seat 13, an optical axis 14, a spring 15, a linear bearing 16, a distance measuring element 17, a sliding pair 18, a reciprocating push rod 19, a detection box 20, a guide mechanism 21, a support 22 and a double-rocker mechanism 23 are arranged.

Detailed Description

Example 1

In an exemplary embodiment of the invention, as shown in fig. 1-6, an intelligent drilling device for repairing a crack of an underground tunnel is provided.

As shown in figure 1 intelligent drilling equipment is repaired to underground tunnel crack, can utilize detecting element 1 and drilling component 3 to accomplish jointly and carry out drilling to underground tunnel, the crack in the underground works such as tunnel to supply follow-up slip casting to use, detecting element 1 and drilling component 3 are mechanical arm removal along with jointly, detecting element 1 can acquire the state of crack and surrounding structure, for example survey the distance of detecting element 1 and crack position, acquire the image of crack and surrounding structure etc. satisfy subsequent analysis demand. Drilling subassembly 3 can reciprocating motion accomplish the drilling action, can exert the impact simultaneously, improves the brill ability of digging to structures such as stereoplasm rock mass, section of jurisdiction. Through 1 cooperation drilling subassembly 3 realization intelligence drilling of determine module, improve drilling efficiency.

In addition, because drilling subassembly 3 during operation can exert reverse impact to detecting component 1, detecting component 1 disposes buffer function, cooperate the resilience piece to realize through the vice 18 of slide, detecting component 1 can remove under the vice 18 restraint of slide, the butt resilience piece when detecting component 1 removes, resilience piece exerts the restoring force to detecting component 1, make detecting component 1 approach to the original position, reach the effect of buffering damping, satisfy the protection demand to detecting component 1 when drilling strikes.

With reference to fig. 1-6, the intelligent drilling device for repairing underground tunnel cracks mainly comprises a supporting plate 6, a drilling assembly 3, a detection assembly 1, an illumination assembly 8 and a vision assembly 5, wherein the supporting plate 6 is used as a main supporting structure, the drilling assembly 3, the detection assembly 1, the illumination assembly 8 and the vision assembly 5 are respectively installed on the supporting plate 6 and move together with the supporting plate 6, and after the supporting plate 6 is installed at the tail end of a mechanical arm, the mechanical arm drives the supporting plate 6 to drive the components installed on the supporting plate 6 to move.

Specifically, as shown in fig. 1, the drilling assembly 3 and the detection assembly 1 are installed on two sides of the support plate 6, and the detection assembly 1 is connected with the support plate 6 through the slide rail pair 18 with a linear track, so that the detection assembly 1 can slide in a reciprocating manner relative to the support plate 6, the sliding track of the detection assembly 1 is a straight line, other degrees of freedom of the detection assembly 1 are restricted, and the subsequent position of the detection assembly 1 is convenient to fix, so as to meet the subsequent measurement requirement.

The stroke end of slide pair 18 is equipped with the positioning seat 13 that corresponds determine module 1, be equipped with the reciprocal push rod 19 of butt determine module 1 on backup pad 6, reciprocal push rod 19 can promote determine module 1, nevertheless with determine module 1 lug connection, exert thrust through the butt, drive determine module 1 towards the position movement who is close to positioning seat 13, after determine module 1 removes to contact positioning seat 13, realize the demarcation to determine module 1 position, it can keep determine module 1 at positioning seat 13 demarcation position to keep reciprocal push rod 19 gesture, only need promote determine module 1 to this position during a lot of measurements, can realize the quick location to determine module 1.

The detection assembly 1 is matched with a rebound piece which applies elastic force along the track direction of the slide pair 18 to apply buffer and vibration reduction to the movement of the detection assembly 1, when the reciprocating push rod 19 applies action, the resistance of the rebound piece is overcome when the detection assembly 1 moves, after the detection assembly 1 finishes working, the reciprocating push rod 19 is withdrawn to avoid the position of the detection assembly 1, the rebound piece drives the detection assembly 1 to recover the original position, and elastic force for keeping the detection assembly 1 at the original position is applied.

Meanwhile, when the impact action is generated, the detection assembly 1 slides along the slide pair 18, the rebound piece can perform vibration reduction restraint on the sliding of the detection assembly, and the drilling path of the drilling assembly 3 and the working path of the reciprocating push rod 19 are parallel to the track of the slide pair 18, so that the impact direction is consistent with the vibration reduction action direction of the rebound piece matched with the slide pair 18, and the vibration reduction effect is improved.

As shown in FIG. 6, the detecting component 1 comprises a detecting box 20 and a purging component 9, wherein one side of the detecting box 20 is open and is sealed by a transparent plate, and an air curtain formed by the purging component 9 covers one side of the transparent plate far away from the detecting box 20. In this embodiment, the blowing component 9 may be an air knife.

The transparent plate can adopt materials such as transparent acrylic plate, transparent organic glass, clear glass, owing to detect that 20 inside are equipped with range finding component 17 and shooting element 11 of box, range finding component 17 all faces the transparent plate with shooting element 11 work ends, consequently, the transparent plate need satisfy and do not influence range finding component 17, shooting element 11 work.

Meanwhile, the detection elements are arranged in the detection box 20, and the side opening of the detection box 20 is blocked and shielded by a transparent plate, so that the internal detection elements can be protected while light is transmitted.

The surface of the transparent plate is swept by the sweeping component 9, so that the problem that dust attached to the surface of the transparent plate influences detection data is solved; in addition, the blowing component 9 can form an air curtain to form soft isolation on the transparent plate, so that the problem that fine sharp gravels collide with the transparent plate to cause scraping and causing transparency deterioration is solved, and the protection effect on an internal detection element is improved.

As shown in fig. 6, for the slide rail pair 18 structure, a slide block and slide rail structure is adopted, wherein the slide rail is an optical axis 14, the slide block can select a linear bearing 16, the slide block is mounted on the detection assembly 1 and moves together with the detection assembly 1, the optical axis 14 is mounted on the support plate 6 through an axis seat 12, two ends of the optical axis 14 are respectively matched with the axis seats 12, and the position of the optical axis 14 is fixed. The slider sliding sleeve is established and is formed slider slide rail mechanism outside optical axis 14, and resilience piece cover is established outside optical axis 14 to distribute in the both sides of slider, resilience piece one end butt slider, other end butt axle bed 12.

In other embodiments, the specific form of the slide rail and slide block mechanism can be configured as required, so that a linear motion track can be provided, and the moving path of the detection assembly 1 can be constrained.

It can be understood that the optical axes 14 in this embodiment may be configured as two parallel optical axes, and the two parallel optical axes 14 are disposed on the supporting plate 6, and the optical axes 14 respectively cooperate with the corresponding sliders to restrict the rotational freedom of the detecting assembly 1, so that the detecting assembly 1 can freely slide along the axial direction of the optical axes 14.

In addition, the resilience member can adopt a resilience element such as a compression spring, a tension spring, a rubber spring 15 and the like, and provides resilience force and resistance force along the track direction of the slideway pair 18 for the detection assembly 1. The resilience piece is located the both sides of the slider that detection component 1 is connected, can all realize good cushioning effect to two different directions of axial, and the orbit that disposes slide pair 18 simultaneously is unanimous with the drilling orbit to the main vibration of impact when being convenient for absorb and coming from drilling improves the damping effect.

Meanwhile, one end of the reciprocating push rod 19 is fixed on the supporting plate 6, the other end of the reciprocating push rod is an output end, the output end can extend to push the detection assembly 1 to contact the positioning seat 13 to be locked, and the output end can be shortened to avoid the moving range of the detection assembly 1. The reciprocating push rod 19 abutting against the detection assembly 1 can push the detection assembly 1 to move, can be separated from the contact with the detection assembly 1 to avoid the movement range of the detection assembly 1, and avoids interference with the reciprocating push rod 19 when the detection assembly 1 shakes along the slideway pair 18 in a non-working state.

The reciprocating push rod 19 can be selected from the air cylinder shown in fig. 1, and can also be configured with structures such as an electric cylinder and an oil cylinder according to requirements, and can be abutted against and push the detection assembly 1 to move, and it can be understood that the position where the reciprocating push rod 19 is abutted against the detection assembly 1 can adopt a rubber block to alleviate the damage problem caused by rigid collision.

The positioning block can adjust the position according to the requirement, the positioning block is fixedly connected with the supporting plate 6 after the position is adjusted, the positioning seat 13 is arranged to be a stop point at one end of the moving stroke of the detection assembly 1, when the detection assembly 1 is driven by the reciprocating push rod 19 to move to the position of the positioning seat 13, the positioning seat 13 and the reciprocating push rod 19 are jointly limited to the detection assembly 1, and the limiting effect of the slide way pair 18 on the detection assembly 1 is combined, so that the detection assembly 1 and the supporting plate 6 are kept fixed, the subsequent calibration of the coordinate position of the detection assembly is facilitated, the position of the detection assembly 1 in each working process is ensured, and the positioning error is reduced to improve the data precision.

As shown in fig. 3 and 4, the drilling assembly 3 includes a guide mechanism 21 and a driving cylinder 4, the drilling element is mounted on the guide mechanism 21 through a bracket 22, an output end of the driving cylinder 4 is connected with the bracket 22, the drilling element reciprocates under the constraint of the guide mechanism 21, and a motion track of the drilling element is parallel to a track of the slide pair 18.

Set up supporting determine module 1 on drilling subassembly 3, can gather crack state parameter and assistance-localization real-time in drilling process, determine module 1 has the slide pair 18 of resilience piece to install in backup pad 6 through the cooperation, when vibration takes place in the work progress, can utilize the part vibration that absorbs that kick-backs, the effect direction of resilience piece is unanimous with the drilling direction to improve the impact that produces when absorbing drilling, protection check out test set.

The flexible direction of driving actuating cylinder 4 is parallel with the direction of motion of drilling component during operation, consequently, the axial impact that produces at drilling component during operation, and the part is absorbed by driving actuating cylinder 4, and preliminary absorption is strikeed, reaches preliminary damping's purpose.

For other components on the supporting plate 6, the collision early warning component 2, the lighting component 8 and the vision component 5 are installed on the supporting plate 6, the lighting components 8 are arranged in a plurality of numbers around the circumference of the detection component 1, and the lighting components 8 face the detection position of the detection component 1; the collision early warning assembly 2 is positioned at the end part of the supporting plate 6 close to the crack; the vision assembly 5 is connected to the support plate 6 by means of a double rocker mechanism 23. The lighting assembly 8 and the collision detection assembly 1 are configured for the detection assembly 1, so that the working interference of the external environment on the detection assembly 1 is reduced, and meanwhile, the interference collision problem in the underground tunnel environment is further reduced.

In addition, the rack rod of the double-rocker mechanism 23 is fixed on the support plate 6, the connecting rod is fixed on the visual component 5, the side link is connected with the support frame through the buffer component 10, one end of the buffer component 10 is hinged with the side link, and the other end of the buffer component is hinged with the support plate 6, so that the relative position of the visual component 5 and the support plate 6 is maintained through the buffer action.

In order to meet the requirement of acquiring tunnel environment information, the visual assembly 5 is configured and the corresponding double-rocker mechanism 23 is arranged to serve as the vibration reduction support 22, the characteristic that the double-rocker mechanism 23 keeps the translation of the connecting rod is utilized, the visual assembly 5 can keep the orientation, the vibration reduction effect is realized by the buffer piece 10, the uncontrollable shaking in the acquisition process of the visual assembly 5 can be slowed down, the tangential direction of the swinging direction of the connecting rod is consistent with the drilling impact direction, the buffering effect is improved, the visual assembly 5 is effectively protected, and the intelligent construction execution is promoted.

Example 2

In another exemplary embodiment of the present invention, a robot is shown in fig. 1-6.

The mechanical arm utilizes the intelligent drilling device for repairing the underground tunnel crack in the embodiment 1, and the intelligent drilling device for repairing the underground tunnel crack is installed on the mechanical arm, and because the intelligent drilling device for repairing the underground tunnel crack provided in the embodiment 1 is adopted in the mechanical arm, the beneficial effects brought by the intelligent drilling device for repairing the underground tunnel crack in the mechanical arm 1 refer to the corresponding parts in the embodiment 1, and are not described again here.

Drilling subassembly 3, detection component 1 regard as the terminal executive component of manipulator, and outside arm is docked through flange 7 to backup pad 6, and automatic drilling utilizes mechanized structure to replace artifical drilling flow, has solved traditional hand drill and has carried out the repeatability and the intensity of labour big operation of drilling to the tunnel wall, has reduced workman's intensity of labour and time of labour.

For other structures in the mechanical arm which is not mentioned, the existing structure can be adopted.

Example 3

In another exemplary embodiment of the present invention, as shown in fig. 1 to 6, a method for operating an intelligent drilling device for repairing a crack of an underground tunnel is provided.

With reference to example 1, the working method comprises:

the position of the supporting plate 6 is adjusted, the reciprocating push rod 19 is abutted to drive the detection assembly 1 to move, the detection assembly 1 is kept after overcoming the resistance of the rebound piece and moving to the positioning seat 13, and the detection assembly 1 works;

after the detection is finished, the reciprocating push rod 19 restores the original position to avoid the detection assembly 1, and the rebound piece drives the detection assembly 1 to restore the original position;

the drilling assembly 3 performs drilling work, vibration generated in the working process is transmitted to the detection assembly 1, and the elastic piece changes the axial length under the action of the detection assembly 1 to absorb the vibration.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an intelligent drilling equipment is repaired in underground tunnel crack, a serial communication port, including installing in the drilling subassembly and the determine module of backup pad, determine module passes through the vice joint support board of slip of sharp orbit, the vice stroke end of slip is equipped with the positioning seat that corresponds determine module, be equipped with butt determine module's reciprocal push rod in the backup pad, determine module cooperates and has the rebound spare of applying the elastic force along the vice orbit direction of slip, in order to exert buffering damping to determine module's removal, the drilling route of drilling subassembly, the working path of reciprocal push rod is parallel with the vice orbit of slip.

2. The intelligent drilling device for repairing the underground tunnel crack as claimed in claim 1, wherein the detection assembly comprises a detection box and a purging assembly, one side of the detection box is opened and is sealed by a transparent plate, and an air curtain formed by the purging assembly covers one side of the transparent plate far away from the detection box.

3. The intelligent drilling device for repairing the underground tunnel crack as claimed in claim 2, wherein a distance measuring element and a shooting element are arranged inside the detection box, and the working ends of the distance measuring element and the shooting element face the transparent plate.

4. The intelligent drilling device for repairing the crack of the underground tunnel according to claim 1, wherein the sliding pair comprises a sliding block mounted on the detection assembly and an optical axis mounted on the supporting plate through an axle seat, the sliding block is sleeved outside the optical axis to form a sliding block sliding rail mechanism, the rebounding members are sleeved outside the optical axis and distributed on two sides of the sliding block, one end of each rebounding member abuts against the sliding block, and the other end of each rebounding member abuts against the axle seat.

5. The intelligent drilling device for repairing underground tunnel cracks as claimed in claim 4, wherein one end of the reciprocating push rod is fixed on the supporting plate, the other end of the reciprocating push rod is an output end, the output end can be extended to push the detection assembly to contact the positioning seat locking position, and the output end can be shortened to avoid the movable range of the detection assembly.

6. The intelligent drilling device for repairing the crack of the underground tunnel as claimed in claim 1, wherein the drilling assembly comprises a guide mechanism and a driving cylinder, the drilling element is mounted on the guide mechanism through a bracket, the output end of the driving cylinder is connected with the bracket, the drilling element reciprocates under the constraint of the guide mechanism, and the motion track of the drilling element is parallel to that of the sliding pair.

7. The intelligent drilling device for repairing the underground tunnel crack as claimed in claim 1, wherein the supporting plate is provided with a collision early warning assembly, a plurality of illuminating assemblies and a plurality of visual assemblies, the illuminating assemblies are arranged around the circumference of the detection assembly, and the illuminating assemblies face the detection positions of the detection assembly; the collision early warning assembly is positioned at the end part of the supporting plate close to the crack; the vision subassembly passes through the double-rocker mechanism and connects the backup pad.

8. The intelligent drilling device for repairing underground tunnel cracks as claimed in claim 7, wherein the rack bar of the double-rocker mechanism is fixed to the support plate, the connecting rod is fixed to the vision assembly, the side link is connected to the support frame through a buffer member, one end of the buffer member is hinged to the side link, and the other end of the buffer member is hinged to the support plate, so as to maintain the relative position of the vision assembly and the support plate through the buffer action.

9. A mechanical arm, characterized by comprising the underground tunnel crack repair intelligent drilling device according to any one of claims 1 to 8.

10. An operating method of the underground tunnel crack repairing intelligent drilling device as claimed in any one of claims 1 to 8, characterized by comprising the following steps:

the drilling assembly performs drilling work, vibration generated in the working process is transmitted to the detection assembly, and the rebound part changes the axial length under the action of the detection assembly to absorb the vibration.