CN219197238U - Tunnel punching robot - Google Patents

Abstract

The utility model discloses a tunnel punching robot which comprises a supporting platform, a drilling mechanism, a steel bar detection mechanism, a blowing and dust collection mechanism, a mechanical arm, a lifting mechanism, a horizontal telescopic mechanism, a traveling mechanism and a control mechanism, wherein the drilling mechanism, the steel bar detection mechanism and the blowing and dust collection mechanism are fixed at the tail end of the mechanical arm, the steel bar detection mechanism is used for detecting whether steel bars exist in a tunnel wall, the drilling mechanism is used for punching a position without the steel bars on the tunnel wall, the blowing and dust collection mechanism is used for blowing dust in a hole and sucking away the dust, the bottom of the mechanical arm is fixed on the lifting mechanism, the lifting mechanism is fixed on the horizontal telescopic mechanism, the horizontal telescopic mechanism is fixed on the supporting platform, the traveling mechanism is fixed below the supporting platform, and the control mechanism is electrically connected with the drilling mechanism, the steel bar detection mechanism, the blowing and dust collection mechanism, the mechanical arm, the lifting mechanism, the horizontal telescopic mechanism and the traveling mechanism. The tunnel punching robot can perform intelligent punching, and improves the construction efficiency and the safety.

Description

Tunnel punching robot

Technical Field

The utility model relates to the technical field of tunnel construction, in particular to a tunnel punching robot.

Background

When railway and subway construction are carried out, the operation of punching the leaky cable in the tunnel is usually needed, so that the suspension of the leaky cable of the private network or the suspension of the leaky cable of the public network is realized. Normally, the hanging height of the private network drain cable is 4.5 m-4.8 m from the rail surface, the public network drain cable is 2 m-2.6 m, and the spacing between the holes is kept at 1m when the private network drain cable is punched.

The traditional construction method is that a two-layer scaffold is firstly erected, constructors climb up and then carry out line drawing positioning and punching operation, 4 to 6 persons are needed when moving the scaffold, 80m eyes can be punched only in 1 hour, the construction efficiency is low, and the risk of high-altitude operation is high.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model innovatively provides the tunnel punching robot which can perform intelligent punching, can walk in a tunnel, avoids manual handling instruments, can horizontally stretch and retract to ensure that punching can be performed on the wall surface of the tunnel, can control the vertical height of punching, and ensure that punching is performed at a position without a reinforcing steel bar, so that the damage of a drilling mechanism is reduced, dust in the hole can be cleaned in time after punching, the subsequent screen leakage hanging efficiency is improved, the continuity and the intellectualization of operation are realized, and the construction efficiency and the safety are improved.

In order to achieve the technical purpose, the utility model discloses a tunnel punching robot which comprises a supporting platform, a drilling mechanism, a steel bar detection mechanism, a blowing and dust collection mechanism, a mechanical arm, a lifting mechanism, a horizontal telescopic mechanism, a traveling mechanism and a control mechanism, wherein the drilling mechanism, the steel bar detection mechanism and the blowing and dust collection mechanism are fixed at the tail end of the mechanical arm, the bottom of the mechanical arm is fixed on the lifting mechanism, the lifting mechanism is fixed on the horizontal telescopic mechanism, the horizontal telescopic mechanism is fixed on the supporting platform, the horizontal telescopic mechanism horizontally stretches and contracts along the direction vertical to a track, the traveling mechanism is fixed below the supporting platform, and the control mechanism is respectively and electrically connected with the drilling mechanism, the steel bar detection mechanism, the blowing and dust collection mechanism, the mechanical arm, the lifting mechanism, the horizontal telescopic mechanism and the traveling mechanism.

Further, the drilling mechanism, the steel bar detection mechanism and the blowing dust collection mechanism are fixed at the tail end of the mechanical arm through a fixing frame, the tail end of the mechanical arm is fixedly connected with the fixing frame, the drilling mechanism is fixed on the fixing frame, a drill bit of the drilling mechanism extends out of the fixing frame, the steel bar detection mechanism and the blowing dust collection mechanism are both in sliding connection with the fixing frame, the steel bar detection mechanism and the blowing dust collection mechanism are both in the outside of the fixing frame, the steel bar detection mechanism, the drill bit of the drilling mechanism and the blowing dust collection mechanism are located at one side, away from the mechanical arm, of the fixing frame, and the sliding direction of the steel bar detection mechanism and the blowing dust collection mechanism is parallel to the length direction of the drill bit of the drilling mechanism.

Further, the dust blowing and sucking mechanism comprises a dust blowing pipe, a first dust sucking pipe, a first dust cover, a dust blowing device and a first dust sucking device, wherein the first dust sucking pipe is a three-way pipe, the dust blowing pipe is a three-way pipe with one closed end, the first dust cover is connected with one pipe opening of the first dust sucking pipe, the first dust cover and the first dust sucking pipe are sleeved outside the dust blowing pipe, the first dust sucking pipe is far away from the pipe opening of the first dust cover and is in sealing connection with the dust blowing pipe, one pipe opening of the dust blowing pipe is close to the first dust cover, the other pipe opening of the dust blowing pipe extends out of the first dust cover or is connected with the dust blowing device, the closed pipe opening of the dust blowing pipe is far away from the first dust cover and is close to the fixing frame, and the third pipe opening of the first dust sucking pipe is connected with the first dust sucking device.

Further, the drill bit of drilling mechanism is outside to be overlapped and is equipped with second dust cover and the second dust absorption pipe of intercommunication, the second dust absorption pipe is one end confined three-way pipe, one of them mouth of pipe of second dust absorption pipe with second dust cover is connected, the sealed mouth of pipe of second dust absorption pipe with mount fixed connection, the third mouth of pipe of second dust absorption pipe is connected with second dust extraction.

Further, still include dust absorption mechanism, dust absorption mechanism fixes on the arm, dust absorption mechanism includes negative pressure device, four-way pipe and dust absorption reversing mechanism, negative pressure device is equipped with dust absorption mouth and dust outlet, two of them mouth of pipe of four-way pipe set up relatively, two other mouthfuls of pipe of four-way pipe are as the induction port, two be the contained angle of predetermineeing between the induction port, one of them mouthfuls of pipe of the four-way pipe relatively with negative pressure device's dust absorption mouth is connected, dust absorption reversing mechanism sealing connection is in another mouth of pipe department of the relative mouth of pipe of four-way pipe just switches the intercommunication state of two induction ports and external, at least one induction port and external intercommunication.

Further, the dust collection reversing mechanism comprises a reversing check block for closing the air suction port, a sealing piston for sealing the pipe orifice of the four-way pipe away from the negative pressure device, and a rotary driving mechanism, wherein the reversing check block and the sealing piston are sleeved in pipelines where two opposite pipe orifices of the four-way pipe are located, one end of the reversing check block, which is away from the negative pressure device, is fixedly connected with the sealing piston, the rotary driving mechanism is fixedly connected with the sealing piston, and the rotary driving mechanism drives the reversing check block and the sealing piston to rotate relative to the four-way pipe so that the air suction port is closed or opened by the reversing check block, and at least one air suction port is communicated with the outside.

Further, the dust collection reversing mechanism comprises a reversing check block for closing the air suction port, a sealing piston for sealing the pipe orifice of the four-way pipe away from the negative pressure device, and a rotary driving mechanism, wherein the reversing check block and the sealing piston are sleeved in pipelines where two opposite pipe orifices of the four-way pipe are located, the sealing piston is positioned at one side of the reversing check block away from the negative pressure device and is fixedly connected with the four-way pipe, the rotary driving mechanism penetrates through the sealing piston and is fixedly connected with the reversing check block, and the rotary driving mechanism drives the reversing check block to rotate relative to the four-way pipe so that the air suction port is closed or opened by the reversing check block, and at least one air suction port is communicated with the outside.

Further, the device further comprises a stop clamping rail mechanism, the stop clamping rail mechanism is fixed below the supporting platform, the stop clamping rail mechanism comprises a first driving motor, a bidirectional screw, a first screw nut block, a second screw nut block, a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are oppositely arranged, the first clamping jaw is fixedly connected with the first screw nut block, the second clamping jaw is fixedly connected with the second screw nut block, a positive screw thread and a negative screw thread are arranged on the bidirectional screw, the first screw nut block is in threaded connection with the positive screw thread of the bidirectional screw, the second screw nut block is in threaded connection with the negative screw thread of the bidirectional screw, the bottom surface of the supporting platform is provided with a sliding groove which is in sliding connection with the first screw nut block and the second screw nut block, and the sliding groove is parallel to the bidirectional screw, and the first driving motor drives the bidirectional screw to rotate.

Further, running gear includes front walking wheel, back walking wheel, second driving motor and sprocket chain drive mechanism, connects through the connecting axle between two front walking wheels, connects through the connecting axle between two back walking wheels, two the connecting axle all with supporting platform rotates to be connected, the second driving motor passes through sprocket chain drive mechanism drives thereby the connecting axle rotates and drives front walking wheel and back walking wheel along the track roll in the tunnel.

The beneficial effects of the utility model are as follows:

the tunnel punching robot can perform intelligent punching, can walk in a tunnel, avoids manual handling instruments, can horizontally stretch and retract to ensure that the tunnel can be punched on the wall surface of the tunnel, can control the vertical height of punching, ensures that the hole is punched at a position without reinforcing steel bars, reduces the damage of a drilling mechanism, can timely clean dust in the hole after punching, improves the subsequent screen leakage hanging efficiency, realizes continuity and intellectualization of operation, and improves the construction efficiency and safety.

Drawings

Fig. 1 is a schematic structural view of a tunnel boring robot according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a tunnel boring robot walking along a tunnel according to an embodiment of the present utility model;

Fig. 3 is a state diagram of a tunnel boring robot in accordance with an embodiment of the present utility model when boring;

FIG. 4 is a schematic view of the horizontal telescopic mechanism of the embodiment of the utility model in a stretched configuration;

FIG. 5 is a schematic view of the lifting mechanism according to the embodiment of the present utility model when deployed;

fig. 6 is a schematic structural view of a drilling mechanism, a reinforcing steel bar detecting mechanism and a blowing dust collecting mechanism according to an embodiment of the present utility model;

fig. 7 is a schematic view of a structure in which a reinforcing steel bar detecting mechanism and a blowing and dust collecting mechanism of the embodiment of the utility model slide to a side far away from a fixing frame;

FIG. 8 is a schematic view of a dust-absorbing mechanism according to an embodiment of the present utility model;

figure 9 is a longitudinal cross-sectional view of a suction mechanism of an embodiment of the present utility model;

figure 10 is a longitudinal cross-sectional view of a suction mechanism according to another embodiment of the present utility model;

fig. 11 is a bottom schematic view of a tunnel boring robot according to an embodiment of the present utility model.

In the drawing the view of the figure,

1. a support platform; 2. a drilling mechanism; 3. a steel bar detection mechanism; 4. a dust blowing and collecting mechanism; 41. a dust blowing pipe; 42. a first dust collection pipe; 43. a first dust cap; 5. a mechanical arm; 6. a lifting mechanism; 7. a horizontal telescoping mechanism; 71. a telescoping platform; 72. a fixed platform; 73. a slider chute assembly; 74. a telescopic driving mechanism; 8. a walking mechanism; 81. a front walking wheel; 82. a rear walking wheel; 83. a second driving motor; 84. a sprocket chain transmission mechanism; 85. a connecting shaft; 9. a control cabinet; 10. a fixing frame; 101. a first slide driving device; 102. a second slide driving device; 103. a second dust cover; 104. a second dust collection pipe; 11. a dust collection mechanism; 111. a negative pressure device; 112. a four-way pipe; 1121. an air suction port; 113. a dust collection reversing mechanism; 1131. a reversing stop block; 1132. a sealing piston; 1133. a rotary driving mechanism; 12. a stopping rail clamping mechanism; 121. a first jaw; 122. a second jaw; 13. a track; 14. a housing; 15. and (5) supporting frames.

Detailed Description

The tunnel boring robot provided by the utility model is explained and illustrated in detail below with reference to the accompanying drawings.

The embodiment specifically discloses a tunnel punching robot, as shown in fig. 1, including supporting platform 1, drilling mechanism 2, reinforcing bar detection mechanism 3, blow dust absorption mechanism 4, arm 5, elevating system 6, horizontal telescopic machanism 7, running gear 8 and control mechanism, drilling mechanism 2, reinforcing bar detection mechanism 3 and blow dust absorption mechanism 4 are fixed at the end of arm 5, reinforcing bar detection mechanism 3 is used for detecting whether there is the reinforcing bar in the tunnel wall, drilling mechanism 2 is used for having the reinforcing bar department on the tunnel wall, blow dust absorption mechanism 4 and be used for blowing out the dust in the hole and suck away, the bottom of arm 5 is fixed on elevating system 6, elevating system 6 is fixed on horizontal telescopic machanism 7, elevating system 6 is used for carrying arm 5 lift, horizontal telescopic machanism 7 is fixed on supporting platform 1, horizontal telescopic machanism 7 is used for following the direction level that is perpendicular to track 13 and stretches out, running gear 8 is fixed in supporting platform 1 below, running gear 8 is used for driving tunnel punching robot along track 13 to appointed position, control mechanism respectively with drilling mechanism 2, reinforcing bar detection mechanism 3, dust absorption mechanism 4, elevating system 5, elevating system 6, horizontal telescopic machanism 7 and corresponding actuator for each of 8 and control mechanism.

The supporting platform 1 of this embodiment may further be covered with a casing 14 for protecting the horizontal telescopic mechanism 7 and the lifting mechanism 6, when in use, the casing 14 may be opened, the top of the casing 14 may further be provided with a searchlight for illumination, and the casing 14 may be internally provided with a cooling fan for reducing the temperature generated by the operation of each mechanism.

When the tunnel boring robot of this embodiment punches the operation, at first drive whole tunnel boring robot by control mechanism control running gear 8 along track 13 walking to appointed position in the tunnel (as shown in fig. 2), then control mechanism control horizontal telescopic machanism 7 and elevating system 6 action, according to the distance of drilling mechanism 2, reinforcing bar detection mechanism 3 and blowing dust absorption mechanism 4 on the actual operation environment adjustment arm 5 and tunnel wall working face, horizontal telescopic machanism 7 stretches out and draws back along the direction perpendicular to track 13 (as shown in fig. 3), make its upper portion fixed each mechanism move to the direction that is close to or keeps away from tunnel working face, elevating system 6 is used for controlling the height of its upper portion fixed each mechanism, satisfy the altitude demand of punching. The mechanical arm 5 is used for lifting the portable drilling mechanism 2, the steel bar detection mechanism 3 and the dust blowing and sucking mechanism 4 to perform corresponding actions. The steel bar detection mechanism 3 detects whether the steel bars exist on the wall surface of the tunnel firstly, then the mechanical arm 5 lifts the drilling mechanism 2 to punch at the position without the steel bars, and after the punching is completed, the mechanical arm 5 lifts the dust blowing and sucking mechanism 4 to blow dust and suck dust in the holes, so that the continuous punching operation is completed. The drilling mechanism 2 can adjust the height and the interval of punching according to actual needs. In the operation process, the control mechanism controls the walking and stopping of the walking mechanism 8, the extension and contraction of the horizontal extension mechanism 7, the lifting of the lifting mechanism 6, the movement of the mechanical arm 5, the detection operation of the steel bar detection mechanism 3, the punching operation of the drilling mechanism 2 and the dust blowing and sucking operation of the dust blowing and sucking mechanism 4, so that the continuous intelligent operation is realized. The manual climbing operation and the adjustment of the punching height and the punching interval are not needed any more, and the working efficiency and the safety are improved.

In this embodiment, the mechanical arm 5 is a six-axis mechanical arm, and the degree of freedom is high. The lifting mechanism 6 is a scissor type lifter, the control mechanism adopts a common PLC control mechanism, the control mechanism is integrated in the control cabinet 9, and the control cabinet 9 is fixed on the supporting platform. As shown in fig. 4, the horizontal telescopic mechanism 7 includes a telescopic platform 71 at the top, a fixed platform 72 at the bottom, a sliding block chute assembly 73 and a telescopic driving mechanism 74, the fixed platform 72 is fixed on the supporting platform 1 and fixedly connected with the supporting platform 1, the telescopic platform 71 is fixedly connected with the lifting mechanism 6, the telescopic platform 71 is slidably connected with the fixed platform 72 through the sliding block chute assembly 73, and is driven to slide through the telescopic driving mechanism 74, the sliding direction is perpendicular to the direction of a track 13 in the tunnel, the telescopic driving mechanism 74 is an electric telescopic rod and is electrically connected with the control mechanism, one end of the telescopic driving mechanism is fixed on the fixed platform 72, and the other end of the telescopic driving mechanism is fixedly connected with the telescopic platform 71. The top surface of the fixed platform 72 is provided with one of a slider and a chute, and the bottom surface of the telescopic platform 71 is provided with the other of a slider and a chute. The bottom platform of elevating system 6 is fixed on the flexible platform 71 of horizontal telescopic machanism 7, with the flexible platform 71 fixed connection of horizontal telescopic machanism 7, the top platform and the arm 5 fixed connection of elevating system 6, elevating system 6 realizes the lift of its upper mechanism through the flexible of self, and the expansion schematic diagram of elevating system 6 is shown in fig. 5.

As shown in fig. 1 and 6, the drilling mechanism 2, the steel bar detection mechanism 3 and the blowing and dust collection mechanism 4 are fixed at the tail end of the mechanical arm 5 through a fixing frame 10, the tail end of the mechanical arm 5 is fixedly connected with the fixing frame 10, the drilling mechanism 2 is fixed on the fixing frame 10, the fixing frame 10 is of an internal hollow structure, a drill bit of the drilling mechanism 2 extends out of the fixing frame 10, and the rest of the drilling mechanism 2 is fixed inside the fixing frame 10. The steel bar detection mechanism 3 and the blowing dust collection mechanism 4 are both in sliding connection with the fixing frame 10, the steel bar detection mechanism 3 and the blowing dust collection mechanism 4 are both positioned outside the fixing frame 10, the steel bar detection mechanism 3, the drill bit of the drilling mechanism 2 and the blowing dust collection mechanism 4 are positioned on one side of the fixing frame 10 far away from the mechanical arm 5, and the sliding direction of the steel bar detection mechanism 3 and the blowing dust collection mechanism 4 is parallel to the length direction of the drill bit of the drilling mechanism 2. The steel bar detection mechanism 3 is used for detecting whether steel bars exist in the tunnel, when the steel bars are detected, the steel bar detection mechanism 3 slides in the direction away from the fixing frame 101, and slides in the direction close to the fixing frame 101 after detection is finished, so that punching of the drilling mechanism 2 is not affected; if the steel bars are detected, the detection is continued until the operation surface without the steel bars is detected, so that the drilling mechanism 2 avoids the steel bars to punch holes, and the damage of the drilling mechanism 2 is reduced. The dust blowing and sucking mechanism 4 is used for cleaning dust in the punched holes, and when the dust blowing and sucking is performed, the dust blowing and sucking mechanism 4 slides in a direction away from the fixing frame 10, namely slides in a hole direction on the tunnel surface, and the dust blowing and sucking mechanism 4 slides in a direction close to the fixing frame 10 after the dust blowing and sucking operation is completed; the dust blowing and sucking mechanism 4 blows out dust in the holes first, then sucks dust, the dust cleaning efficiency is high, dust blowing and dust sucking are almost carried out simultaneously, dust accumulation in the holes is avoided, and the operation efficiency of net leakage hanging is improved.

As shown in fig. 6, the dust blowing and sucking mechanism 4 includes a dust blowing pipe 41, a first dust sucking pipe 42, a first dust cover 43, a dust blowing device and a first dust sucking device, the first dust sucking pipe 42 is a three-way pipe, the dust blowing pipe 41 is a three-way pipe with one end closed, the first dust cover 43 is connected with one pipe orifice of the first dust sucking pipe 42, the first dust cover 43 and the first dust sucking pipe 42 are sleeved outside the dust blowing pipe 41, and the pipe orifice of the first dust sucking pipe 42 far away from the first dust cover 43 is connected with the dust blowing pipe 41 in a sealing manner. One pipe orifice of the dust blowing pipe 41 is close to the first dust cover 43 and used for being inserted into the hole to suck dust, the pipe orifice of the dust blowing pipe 41 can extend out of the first dust cover 43 and can be deeper into the hole, and the dust blowing effect is better; the other pipe orifice of the dust blowing pipe 41 extends out of the first dust cover 43 or the first dust suction pipe 42 and is connected with the dust blowing device, the closed pipe orifice of the dust blowing pipe 41 is far away from the first dust cover 43 and is close to the fixing frame 10, and the third pipe orifice of the first dust suction pipe 42 is connected with the first dust suction device.

The blowing force generated by the dust blowing device is sent into the hole through the dust blowing pipe 41, dust in the hole is blown up, the first dust cover 43 is covered outside the hole and the dust blowing pipe 41 and used for collecting the dust blown out from the hole, and the collected dust is sucked out through the first dust suction pipe 42 under the negative pressure dust suction effect generated by the first dust suction device by the first dust cover 43.

In this embodiment, the first dust cover 43 has a horn shape, and the effect of collecting dust is better. The diameter of the larger port of the first dust cap 43 is larger than the diameter of the hole drilled by the drilling mechanism 2. The larger end of the first dust-proof cover 43 can cover the hole, and the smaller end of the first dust-proof cover is connected with the first dust-absorbing pipe 42.

The drill bit of drilling mechanism 2 outside cover is equipped with second dust cover 103 and the second dust absorption pipe 104 of intercommunication, and the front end extension of drill bit exceeds in second dust cover 103, and the setting of second dust cover 103 does not influence the operation of punching of drill bit. The second dust absorption pipe 104 is a three-way pipe with one end closed, one pipe orifice of the second dust absorption pipe 104 is connected with the second dust cover 103, the closed pipe orifice of the second dust absorption pipe 104 is fixedly connected with the fixing frame 10, and a third pipe orifice of the second dust absorption pipe 104 is connected with a second dust absorption device. Dust collection can be performed while the drilling mechanism 22 drills holes, so that the influence on the working environment and the harm to the health of workers are reduced, and the working efficiency is improved.

In this embodiment, the second dust cover 103 has a horn shape, so that the effect of collecting dust is better. The diameter of the larger port of the second dust cap 103 is larger than the diameter of the hole drilled by the drilling mechanism 2. The larger end of the first dust-proof cover 43 can cover the hole, and the smaller end of the first dust-proof cover is connected with the second dust-absorbing pipe 104.

The dust blowing device may be a dust blowing gun, and the first dust collecting device and the second dust collecting device may be industrial dust collectors.

As shown in fig. 6, a first slide driving device 101 for driving the rebar detection mechanism 3 to slide and a second slide driving device 102 for driving the blowing and dust collection mechanism 4 to slide are fixed to the fixing frame 10. The first slide driving device 101 and the second slide driving device 102 are electrically connected to the control mechanism. The first slide driving device 101 and the second slide driving device 102 are electric telescopic rods, hydraulic cylinders or pneumatic cylinders. The fixed ends of the first sliding driving device 101 and the second sliding driving device 102 are fixed in the fixing frame 10, and the telescopic ends of the first sliding driving device 101 and the second sliding driving device 102 extend out of the fixing frame 10. The telescopic end of the first sliding driving device 101 is fixedly connected with the steel bar detection mechanism 3, and the telescopic end of the second sliding driving device 102 is fixedly connected with one end, far away from the first dust cover 43, of the first dust collection pipe 42 or the dust blowing pipe 41. The fixed end is fixed inside the fixed frame 10, and the telescopic end stretches out of the fixed frame 10 and is used for driving the steel bar detection mechanism 3 and the blowing dust collection mechanism 4 to slide relative to the fixed frame 10.

The drilling mechanism 2 is a water drilling machine, water passes through the drill bit when punching, so that the temperature of the drill bit can be reduced, the punching time can be prolonged, and the operation efficiency can be improved.

The control mechanism controls the mechanical arm 5 to lift the fixing frame 10 for operation, firstly, the first sliding driving device 101 drives the steel bar detection mechanism 3 to slide in a direction away from the fixing frame 10, as shown in fig. 7, the front end of the steel bar detection mechanism 3 protrudes out of the drill bit of the drilling mechanism 2, so that operation is convenient, the steel bar detection mechanism 3 detects whether a steel bar exists on an operation surface, if the steel bar exists, detection is continued until an operation surface without the steel bar exists is detected in the operation range; after the detection is completed, the telescopic end of the first sliding driving device 101 is retracted, and the steel bar detection mechanism 3 is driven to slide back to the initial position. Then, the control mechanism controls the mechanical arm 5 to lift the drilling mechanism 2 to drill holes on the detected working surface, and the second dust collection device collects dust while drilling holes. After punching, the control mechanism controls the mechanical arm 5 to lift the dust blowing and sucking mechanism 4 to the hole, the second sliding driving device 102 drives the dust blowing and sucking mechanism 4 to slide in a direction away from the fixing frame 10, as shown in fig. 7, the front end of the second dust cover 103 protrudes from the first dust cover 43, the front end of the dust blowing pipe 41 protrudes from the front end of the drill bit of the drilling mechanism 2, the second dust cover 103 covers the hole, the front end of the dust blowing pipe 41 stretches into the hole to blow dust, and the first dust sucking device sucks dust to clean the dust in the hole. After the operation is completed, the second sliding driving device 102 drives the dust blowing and sucking mechanism 4 to slide towards the direction approaching the fixing frame 10, and finally the initial state as shown in fig. 6 is restored.

According to the embodiment, the steel bar detection mechanism 3, the drilling mechanism 2 and the dust blowing and sucking mechanism 4 are integrated, so that the mechanical arm 5 can conveniently carry the operation, the steel bar detection, the punching, the dust blowing and the dust sucking are integrated, the steel bar detection is carried out before the punching, the punching is carried out at the position where the steel bar is successfully avoided, the working efficiency is improved, and the damage of the drilling mechanism 2 is reduced; and blow dirt and dust absorption to downthehole after punching, in time clear up the dust, improve the net leakage and hang and establish operating efficiency. The continuous operation of steel bar detection, punching and dust blowing and sucking can be performed, the operation efficiency is improved, and the operation time is saved.

As shown in fig. 1, the tunnel boring robot of this embodiment further includes a dust suction mechanism 11, where the dust suction mechanism 11 is fixed on the mechanical arm 5, and as shown in fig. 8, the dust suction mechanism 11 includes a negative pressure device 111, a four-way pipe 112, and a dust suction reversing mechanism 113, where the negative pressure device 111 is provided with a dust suction port and a dust outlet, two of the pipe orifices of the four-way pipe 112 are oppositely disposed, the other two pipe orifices of the four-way pipe 112 are used as air inlets 1121, and a preset included angle is formed between the two air inlets 1121, and in this embodiment, the included angle between the two air inlets 1121 is 180 °. One of the opposite pipe orifices of the four-way pipe 112 is connected with a dust collection port of the negative pressure device 111, and a dust outlet of the negative pressure device 111 can be connected with a dust collection bag. In this embodiment, the negative pressure device 111 is a vacuum generator. The dust collection and reversing mechanism 113 is connected to the other pipe orifice of the four-way pipe 112 opposite to the pipe orifice in a sealing manner, and switches the communication state between the two air inlets 1121 and the outside, and at least one air inlet 1121 is communicated with the outside.

At least one of the two dust collection openings is communicated with the outside for dust collection through the reversing of the dust collection reversing mechanism 113, namely, any one of the two dust collection openings is communicated with the outside or both the two dust collection openings are communicated with the outside for dust collection. The switching of dust collection openings communicated with the outside is determined according to the concentration and the direction of dust collection, if the concentration of dust is large and the dust is dispersed, the two dust collection openings are opened simultaneously, dust collection is carried out from the two directions, the dust collection efficiency is improved, and the dust in a tunnel is reduced.

The dust collection mechanism 11 of the embodiment is further provided with a support frame 15, and the negative pressure device 111, the four-way pipe 112 and the dust collection reversing mechanism 113 are fixed on the support frame 15 and used for supporting the negative pressure device 111, the four-way pipe 112 and the dust collection reversing mechanism 113, and the fixing frame 10 is fixedly connected with the mechanical arm 5.

As shown in fig. 9, the dust collection reversing mechanism 113 includes a reversing block 1131 for closing the air suction port 1121, a sealing piston 1132 for sealing the orifice of the four-way pipe 112 away from the negative pressure device 111, and a rotary driving mechanism 1133, wherein the reversing block 1131 and the sealing piston 1132 are sleeved in the pipelines where two opposite orifices of the four-way pipe 112 are located, one end of the reversing block 1131 away from the negative pressure device 111 is fixedly connected with the sealing piston 1132, the rotary driving mechanism 1133 is fixedly connected with the sealing piston 1132, and the rotary driving mechanism 1133 drives the reversing block 1131 and the sealing piston 1132 to rotate relative to the four-way pipe 112 so that the air suction port 1121 is closed or opened by the reversing block 1131, and at least one air suction port 1121 is communicated with the outside.

The shape and radian of the reversing stop 1131 are the same as those of the pipeline where two opposite pipe orifices are located in the four-way pipe 112, for example, the interior of the pipeline is cylindrical, the reversing stop 1131 is an arc-shaped plate, the radian is the same as that of the inner wall of the pipeline, the area of the reversing stop 1131 is larger than that of the air suction port 1121, and the air suction port 1121 can be completely closed. The width of the reversing stop 1131 is smaller than the width between the two air inlets 1121, namely when the reversing stop 1131 is positioned between the two air inlets 1121, the two air inlets 1121 can be in an open state, and bidirectional dust collection is realized. The reversing stop 1131 is driven by the rotary driving mechanism 1133 to rotate in the pipeline, so that the reversing stop 1131 is switched between a state of closing one air suction port 1121 or a state of being positioned between two air suction ports 1121, and enabling the two air suction ports 1121 to be opened, thereby realizing the reversing of dust collection.

The rotary drive mechanism 1133 may be a motor with an output shaft fixedly coupled to the sealing piston 1132. The reversing stop 1131 and the sealing piston 1132 are driven to rotate in the pipeline of the four-way pipe 112 by the rotation of the motor output shaft, so that the state that the two dust collection ports are closed or opened is switched. As shown in fig. 9, the body of the motor is fixed on the support 15 and fixedly connected with the support 15, the outer wall of the four-way pipe 112 is fixedly connected with the support 15, the outer wall of the negative pressure device 111 is also fixedly connected with the support 15, the support 15 provides supporting force, and the stability of the device in the dust collection process is ensured.

The rotary driving mechanism 1133 may also be a rotary cylinder, and a piston rod of the rotary cylinder is fixedly connected with the sealing piston 1132. The piston rod of the revolving cylinder drives the reversing stop block 1131 and the sealing piston 1132 to rotate in the four-way pipe 112, and in the rotating process, the sealing piston 1132 is always positioned in a pipeline of the four-way pipe 112 to play a sealing role.

Sealing lubricating oil is coated between the sealing piston 1132 and the inner wall of the four-way pipe 112, so that when the sealing piston 1132 rotates under the drive of the rotary driving mechanism 1133, the sealing state between the sealing piston 1132 and the four-way pipe 112 is kept, meanwhile, the rotary resistance is reduced, and dust enters from the air suction port 1121 as much as possible.

Sealing piston 1132 may be a rubber stopper.

In another embodiment, as shown in fig. 10, the dust collection reversing mechanism 113 includes a reversing block 1131 for closing the air suction port 1121, a sealing piston 1132 for sealing the four-way pipe 112 away from the pipe orifice of the negative pressure device 111, and a rotary driving mechanism 1133, wherein the reversing block 1131 and the sealing piston 1132 are sleeved in the pipes where two opposite pipe orifices of the four-way pipe 112 are located, the sealing piston 1132 is located at one side of the reversing block 1131 away from the negative pressure device 111 and is fixedly connected with the four-way pipe 112, the rotary driving mechanism 1133 penetrates through the sealing piston 1132 and is fixedly connected with the reversing block 1131, and the rotary driving mechanism 1133 drives the reversing block 1131 to rotate relative to the four-way pipe 112 so that the air suction port 1121 is closed or opened by the reversing block 1131, and at least one air suction port 1121 is communicated with the outside. In this embodiment, the sealing piston 1132 is fixed, and only the reversing stop 1131 rotates in the pipeline of the four-way pipe 112 by driving the rotary driving mechanism 1133, so as to close or open the air suction port 1121, thereby realizing the reversing of dust collection.

The rotary driving mechanism 1133 may be a motor, an output shaft of the motor is rotationally connected with the sealing piston 1132, and an output shaft of the motor passes through the sealing piston 1132 to be fixedly connected with the reversing stop 1131. The reversing stop 1131 is driven to rotate in the pipeline of the four-way pipe 112 by the rotation of the motor output shaft, so that the state that the two dust collection ports are closed or opened is switched.

The rotary driving mechanism 1133 may also be a rotary cylinder, a piston rod of which is rotationally connected with the sealing piston 1132, and the piston rod of which passes through the sealing piston 1132 to be fixedly connected with the reversing stop 1131. The piston rod of the revolving cylinder drives the reversing stop 1131 to rotate in the four-way pipe 112, and in the rotating process, the sealing piston 1132 is always positioned in the pipeline of the four-way pipe 112 to play a sealing role.

Sealing oil is coated between the sealing piston 1132 and the rotary drive mechanism 1133, i.e., sealing oil is coated between the sealing piston 1132 and the output shaft of the motor or between the sealing piston 1132 and the piston rod of the rotary cylinder. When the output shaft of the motor or the piston rod of the rotary cylinder rotates, the sealing state is maintained with the sealing piston 1132, and meanwhile, the rotation resistance is reduced, so that dust enters from the air suction port 1121 as much as possible.

When the tunnel boring robot of the embodiment is used for dust collection, the rotary driving mechanism 1133 is started according to the dust collection degree and concentration of the environment where the tunnel boring robot is positioned, the rotary driving mechanism 1133 drives the reversing stop 1131 to rotate in the four-way pipe 112, if dust on one side is collected, only the air suction port 1121 on one side where the dust is collected can be opened, and the other air suction port 1121 is closed through the reversing stop 1131; if the dust concentration around the dust device is large, the reversing block 1131 rotates to between the two air inlets 1121, so that the two air inlets 1121 are opened; then, the negative pressure device 111 is turned on, and the dust is sucked through the suction port 1121 and discharged from the dust outlet of the negative pressure device 111 into the dust collection bag.

As shown in fig. 11, the travelling mechanism comprises a front travelling wheel 81, a rear travelling wheel 82, a second driving motor 83 and a sprocket chain transmission mechanism 84, the two front travelling wheels 81 are connected through a connecting shaft 85, the two rear travelling wheels 82 are connected through the connecting shaft 85, the two connecting shafts 85 are both rotationally connected with the supporting platform 1, and the second driving motor 83 drives the connecting shaft 85 to rotate through the sprocket chain transmission mechanism 84 so as to drive the front travelling wheels 81 and the rear travelling wheels 82 to roll along the track 13 in the tunnel. In the present embodiment, the number of sprocket-chain transmission mechanisms 84 is two, and the front road wheels 81 and the rear road wheels 82 are simultaneously driven to roll. The sprocket chain transmission mechanism 84 includes a driving sprocket, a chain and a driven sprocket, the driving sprockets of the two sprocket chain transmission mechanisms 84 are all coaxially connected with the output shaft of the second driving motor 83, the two driving sprockets are respectively connected with the driven sprocket through the chain, one driven sprocket is sleeved and fixed on a connecting shaft 85 between the two front travelling wheels 81, and the other driven sprocket is sleeved and fixed on the connecting shaft 85 between the two rear travelling wheels 82, so that the second driving motor 83 can drive the front travelling wheels 81 and the rear travelling wheels 82 to roll simultaneously. The second driving motor 83 is electrically connected with the control mechanism, and the start and stop of the second driving motor 83 are controlled by the control mechanism.

The tunnel boring robot of this embodiment still includes and ends a clamp rail mechanism 12, end a clamp rail mechanism 12 and fix in the below of supporting platform 1, end a clamp rail mechanism 12 includes first driving motor, two-way screw, first lead screw nut piece, second lead screw nut piece, first clamping jaw 121 and second clamping jaw 122 set up relatively, first clamping jaw 121 and first lead screw nut piece fixed connection, second clamping jaw 122 and second lead screw nut piece fixed connection, be equipped with positive screw thread and counter screw thread on the two-way screw, first lead screw nut piece threaded connection is in the positive screw thread department of two-way screw, second lead screw nut piece threaded connection is in the counter screw thread department of two-way screw, supporting platform 1 bottom surface is equipped with the spout with first lead screw nut piece and second lead screw nut piece sliding connection, the spout is on a parallel with two-way screw, first driving motor drive two-way screw rotates. The fuselage of first driving motor is fixed in the bottom of supporting platform 1, with supporting platform 1 fixed connection, first driving motor drive two-way lead screw rotates for first lead screw nut piece and second lead screw nut piece slide along the spout of supporting platform 1 bottom surface, and first lead screw nut piece are close to each other or keep away from each other, thereby drive first clamping jaw 121 and second clamping jaw 122 and be close to each other or keep away from each other, press from both sides tight in the both sides of track 13 when first clamping jaw 121 and second clamping jaw 122 are close to each other, play the effect of stopping a journey (as shown in fig. 3). When the travel of the travel mechanism 8 is started, the first drive motor is reversed, and the screw is reversed, so that the first screw nut block and the second screw nut block are away from each other, so that the first jaw 121 and the second jaw 122 are away from each other, and the rail 13 is released. The first driving motor is electrically connected with the control mechanism, and the start and stop and the forward and reverse rotation of the first driving motor are controlled by the control mechanism.

As shown in fig. 11, the number of the anti-running rail clamping mechanisms 12 of the present embodiment may be 4, which are rectangular in distribution, and disposed between the two front running wheels 81 and the two rear running wheels 82.

When the tunnel boring robot of the embodiment performs boring operation, the control mechanism controls the traveling mechanism 8 to drive the whole tunnel boring robot to travel to a designated position along the track 13 in the tunnel (as shown in fig. 2), and then the control mechanism controls the anti-traveling rail clamping mechanisms 12 to clamp the two sides of the track 13 (as shown in fig. 3), so that the stability of the robot during operation is ensured and the robot does not travel any more. Then the control mechanism controls the horizontal telescopic mechanism 7 and the lifting mechanism 6 to act, the mechanical arm 5 and the distances between the drilling mechanism 2, the steel bar detection mechanism 3 and the blowing dust collection mechanism 4 on the mechanical arm 5 and the tunnel wall working surface are adjusted according to the actual working environment, the horizontal telescopic mechanism 7 stretches along the direction perpendicular to the track 13, each mechanism fixed on the upper portion of the horizontal telescopic mechanism moves towards the direction close to the tunnel working surface (as shown in fig. 3), and the lifting mechanism 6 is used for controlling the heights of each mechanism fixed on the upper portion of the lifting mechanism, so that the punching height requirement is met. The mechanical arm 5 is used for lifting the portable drilling mechanism 2, the steel bar detection mechanism 3 and the dust blowing and sucking mechanism 4 to perform corresponding actions. The steel bar detection mechanism 3 detects whether the steel bars exist on the wall surface of the tunnel firstly, then the mechanical arm 5 lifts the drilling mechanism 2 to punch at the position without the steel bars, and after the punching is completed, the mechanical arm 5 lifts the dust blowing and sucking mechanism 4 to blow dust and suck dust in the holes, so that the continuous punching operation is completed. Meanwhile, the dust collection mechanism 11 performs reversing dust collection according to the concentration and the direction of dust in the tunnel environment, or simultaneously starts dust collection at two sides. After the punching is finished, the control structure controls the anti-running rail clamping mechanism 12 to release the rail 13, and the running mechanism 8 runs along the rail 13 to a punching position at the lower part, so that the operation is repeated.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to the terms "present embodiment," "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any at least one embodiment or example. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

The above description is only of the preferred embodiments of the present utility model, and is not intended to limit the utility model, but any modifications, equivalents, and simple improvements made within the spirit of the present utility model should be included in the scope of the present utility model.

Claims (9)

1. The utility model provides a tunnel punching robot, its characterized in that, including supporting platform (1), drilling mechanism (2), reinforcing bar detection mechanism (3), blow dust extraction mechanism (4), arm (5), elevating system (6), horizontal telescopic machanism (7), running gear (8) and control mechanism, drilling mechanism (2) reinforcing bar detection mechanism (3) with blow dust extraction mechanism (4) and fix the end of arm (5), the bottom of arm (5) is fixed on elevating system (6), elevating system (6) are fixed on horizontal telescopic machanism (7), horizontal telescopic machanism (7) are fixed on supporting platform (1), horizontal telescopic machanism (7) are along the direction horizontal telescopic machanism of perpendicular to track (13), running gear (8) are fixed supporting platform (1) below, control mechanism is connected with drilling mechanism (2), reinforcing bar detection mechanism (3), blow dust extraction mechanism (4), arm (5), elevating system (6), horizontal telescopic machanism (7) and running gear (8) electricity respectively.

2. The tunnel boring robot according to claim 1, characterized in that the boring mechanism (2), the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are fixed at the tail end of the mechanical arm (5) through a fixing frame (10), the tail end of the mechanical arm (5) is fixedly connected with the fixing frame (10), the boring mechanism (2) is fixed on the fixing frame (10), a drill bit of the boring mechanism (2) extends out of the fixing frame (10), the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are both in sliding connection with the fixing frame (10), the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are both located outside the fixing frame (10), the drill bit of the boring mechanism (3), the drill bit of the boring mechanism (2) and the blowing and sucking mechanism (4) are located at one side of the fixing frame (10) away from the mechanical arm (5), and the sliding directions of the reinforcing bar detecting mechanism (3) and the blowing and sucking mechanism (4) are parallel to the length direction of the drill bit (2).

3. The tunnel boring robot according to claim 2, wherein the dust blowing and sucking mechanism (4) comprises a dust blowing pipe (41), a first dust sucking pipe (42), a first dust cover (43), a dust blowing device and a first dust sucking device, the first dust sucking pipe (42) is a three-way pipe, the dust blowing pipe (41) is a three-way pipe with one closed end, the first dust cover (43) is connected with one pipe opening of the first dust sucking pipe (42), the first dust cover (43) and the first dust sucking pipe (42) are sleeved outside the dust blowing pipe (41), the pipe opening of the first dust sucking pipe (42) is far away from the first dust cover (43) and is in sealing connection with the dust blowing pipe (41), one pipe opening of the dust blowing pipe (41) is close to the first dust cover (43), the other pipe opening of the dust blowing pipe (41) extends out of the first dust cover (43) or the first dust sucking pipe (42) and is connected with one pipe opening of the first dust sucking pipe (42), and the other pipe opening of the dust blowing pipe (41) is far away from the first dust blowing device (41) and is close to the first dust sucking device (42).

4. A tunnel boring robot according to claim 2 or 3, wherein a second dust cover (103) and a second dust suction pipe (104) are sleeved outside the drill bit of the boring mechanism (2), the second dust suction pipe (104) is a three-way pipe with one closed end, one pipe orifice of the second dust suction pipe (104) is connected with the second dust cover (103), the closed pipe orifice of the second dust suction pipe (104) is fixedly connected with the fixing frame (10), and a third pipe orifice of the second dust suction pipe (104) is connected with a second dust suction device.

5. The tunnel boring robot according to claim 1, further comprising a dust collection mechanism (11), wherein the dust collection mechanism (11) is fixed on the mechanical arm (5), the dust collection mechanism (11) comprises a negative pressure device (111), a four-way pipe (112) and a dust collection reversing mechanism (113), the negative pressure device (111) is provided with a dust collection port and a dust outlet, two of the two nozzles of the four-way pipe (112) are oppositely arranged, the other two nozzles of the four-way pipe (112) serve as air inlets (1121), a preset included angle is formed between the two air inlets (1121), one of the opposite nozzles of the four-way pipe (112) is connected with the dust collection port of the negative pressure device (111), the dust collection reversing mechanism (113) is connected at the other nozzle of the opposite nozzle of the four-way pipe (112) in a sealing mode, the communication state between the two air inlets (1121) and the outside is switched, and at least one air inlet (1121) is communicated with the outside.

6. The tunnel boring robot according to claim 5, wherein the dust collection reversing mechanism (113) comprises a reversing stop block (1131) for closing an air suction port (1121), a sealing piston (1132) for sealing the opening of the four-way pipe (112) away from the negative pressure device (111), and a rotary driving mechanism (1133), the reversing stop block (1131) and the sealing piston (1132) are sleeved in a pipeline where two opposite openings of the four-way pipe (112) are located, one end of the reversing stop block (1131) away from the negative pressure device (111) is fixedly connected with the sealing piston (1132), the rotary driving mechanism (1133) is fixedly connected with the sealing piston (1132), and the rotary driving mechanism (1133) drives the reversing stop block (1131) and the sealing piston (1132) to rotate relative to the four-way pipe (112) so that the air suction port (1121) is closed or opened by the reversing stop block (1131), and at least one of the air suction ports (1121) is communicated with the outside.

7. The tunnel boring robot according to claim 5, wherein the dust collection reversing mechanism (113) comprises a reversing block (1131) for closing an air suction port (1121), a sealing piston (1132) for sealing the four-way pipe (112) away from the pipe orifice of the negative pressure device (111), and a rotary driving mechanism (1133), the reversing block (1131) and the sealing piston (1132) are sleeved in the pipe where two opposite pipe orifices of the four-way pipe (112) are located, the sealing piston (1132) is positioned on one side of the reversing block (1131) away from the negative pressure device (111) and is fixedly connected with the four-way pipe (112), the rotary driving mechanism (1133) penetrates through the sealing piston (1132) and is fixedly connected with the reversing block (1131), and the rotary driving mechanism (1133) drives the reversing block (1131) to rotate relative to the four-way pipe (112) so that the air suction port (1121) is closed or opened by the reversing block (1131), and at least one of the air suction ports (1121) is communicated with the outside.

8. The tunnel boring robot according to claim 1, further comprising a travel stopping clamping rail mechanism (12), wherein the travel stopping clamping rail mechanism (12) is fixed below the supporting platform (1), the travel stopping clamping rail mechanism (12) comprises a first driving motor, a bidirectional screw, a first screw nut block, a second screw nut block, a first clamping jaw (121) and a second clamping jaw (122), the first clamping jaw (121) and the second clamping jaw (122) are oppositely arranged, the first clamping jaw (121) is fixedly connected with the first screw nut block, the second clamping jaw (122) is fixedly connected with the second screw nut block, a positive screw thread and a negative screw thread are arranged on the bidirectional screw, the first screw nut block is in threaded connection with the positive screw thread of the bidirectional screw, the second screw nut block is in threaded connection with the negative screw thread of the bidirectional screw, a sliding chute which is in sliding connection with the first screw nut block and the second screw nut block is arranged on the bottom surface of the supporting platform (1), and the second clamping jaw is parallel to the driving of the bidirectional screw.

9. The tunnel boring robot according to claim 1, wherein the traveling mechanism comprises a front traveling wheel (81), a rear traveling wheel (82), a second driving motor (83) and a sprocket chain transmission mechanism (84), the two front traveling wheels (81) are connected through a connecting shaft (85), the two rear traveling wheels (82) are connected through the connecting shaft (85), the two connecting shafts are both rotationally connected with the supporting platform (1), and the second driving motor (83) drives the connecting shaft (85) to rotate through the sprocket chain transmission mechanism (84) so as to drive the front traveling wheels (81) and the rear traveling wheels (82) to roll along a track (13) in the tunnel.

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