FR3056249B1 - Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou - Google Patents

Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou Download PDF

Info

Publication number
FR3056249B1
FR3056249B1 FR1658903A FR1658903A FR3056249B1 FR 3056249 B1 FR3056249 B1 FR 3056249B1 FR 1658903 A FR1658903 A FR 1658903A FR 1658903 A FR1658903 A FR 1658903A FR 3056249 B1 FR3056249 B1 FR 3056249B1
Authority
FR
France
Prior art keywords
hole
tunnel
drilling
anchoring element
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1658903A
Other languages
English (en)
Other versions
FR3056249A1 (fr
Inventor
Jerome FURGE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bouygues Travaux Publics SAS
Original Assignee
Bouygues Travaux Publics SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bouygues Travaux Publics SAS filed Critical Bouygues Travaux Publics SAS
Priority to FR1658903A priority Critical patent/FR3056249B1/fr
Priority to AU2017232167A priority patent/AU2017232167B2/en
Priority to US15/712,493 priority patent/US10480319B2/en
Priority to GB1715303.2A priority patent/GB2555224B/en
Publication of FR3056249A1 publication Critical patent/FR3056249A1/fr
Priority to HK18106301.1A priority patent/HK1247976A1/zh
Application granted granted Critical
Publication of FR3056249B1 publication Critical patent/FR3056249B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/003—Machines for drilling anchor holes and setting anchor bolts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/06—Manipulators combined with a control cab for the operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/087—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods by means of a swinging arm
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/106—Making by using boring or cutting machines with percussive tools, e.g. pick-hammers
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • E21D9/13—Devices for removing or hauling away excavated material or spoil; Working or loading platforms using hydraulic or pneumatic conveying means
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/02—Suspension devices for tubes or the like, e.g. for ventilating ducts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B25H1/0035—Extensible supports, e.g. telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • B28D1/146—Tools therefor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Robotics (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Earth Drilling (AREA)

Abstract

L'invention concerne un dispositif automatisé pour percer un trou dans la voûte et les murs d'un tunnel et mettre en place un élément d'ancrage dans ledit trou, caractérisé en ce qu'il comprend : - un robot (5) comprenant une base (50), un bras robotisé (51) s'étendant à partir de la base et une tête multifonction (52) agencée à l'extrémité du bras et mobile à 360 degrés, ladite tête multifonction comprenant un moyen de perçage (520), un moyen de percussion (521) adapté pour insérer un élément d'ancrage dans le trou, et un système de vision (522), - une plateforme élévatrice (1) portant un dispositif (2) de guidage en translation de la base du robot, - une unité de contrôle adaptée pour communiquer avec un contrôleur du robot et comprenant un processeur configuré pour déterminer en temps réel la position du robot dans un référentiel tridimensionnel du tunnel et une interface homme machine.
FR1658903A 2016-09-22 2016-09-22 Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou Active FR3056249B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR1658903A FR3056249B1 (fr) 2016-09-22 2016-09-22 Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou
AU2017232167A AU2017232167B2 (en) 2016-09-22 2017-09-22 Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole
US15/712,493 US10480319B2 (en) 2016-09-22 2017-09-22 Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole
GB1715303.2A GB2555224B (en) 2016-09-22 2017-09-22 Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole
HK18106301.1A HK1247976A1 (zh) 2016-09-22 2018-05-15 用於在拱頂和隧道壁上鑽孔和用於將固定元件安裝到所述孔中的自動裝置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1658903A FR3056249B1 (fr) 2016-09-22 2016-09-22 Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou
FR1658903 2016-09-22

Publications (2)

Publication Number Publication Date
FR3056249A1 FR3056249A1 (fr) 2018-03-23
FR3056249B1 true FR3056249B1 (fr) 2018-10-12

Family

ID=57680389

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1658903A Active FR3056249B1 (fr) 2016-09-22 2016-09-22 Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou

Country Status (5)

Country Link
US (1) US10480319B2 (fr)
AU (1) AU2017232167B2 (fr)
FR (1) FR3056249B1 (fr)
GB (1) GB2555224B (fr)
HK (1) HK1247976A1 (fr)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201419182D0 (en) * 2014-10-28 2014-12-10 Nlink As Mobile robotic drilling apparatus and method for drilling ceillings and walls
CN109940648B (zh) * 2019-04-28 2023-06-20 中铁工程装备集团有限公司 一种滚刀更换机械手用末端执行器及其使用方法
JP7382597B2 (ja) * 2019-11-28 2023-11-17 川崎重工業株式会社 ロボットシステムおよびロボットセル
JP7360923B2 (ja) * 2019-12-11 2023-10-13 株式会社日立ビルシステム アンカー打ち込み装置及びそれを用いたアンカー打ち込み方法並びにエレベーター用レールの据付装置とエレベーター用レールの据付方法
CN111037556A (zh) * 2019-12-19 2020-04-21 上海新时达机器人有限公司 一种打孔控制方法及打孔控制设备
KR102115219B1 (ko) * 2020-01-07 2020-05-27 대명지이씨(주) 천정 시공 로봇
KR102217247B1 (ko) 2020-06-08 2021-02-18 주식회사 지오시스템 스마트 드릴머신, 스마트 드릴 시스템 및 이의 제어방법
CN112012773B (zh) * 2020-07-16 2022-03-18 西安煤矿机械有限公司 一种煤矿智能掘进机器人系统
CN112196619B (zh) * 2020-10-30 2023-06-23 吕梁学院 一种坚硬底板巷道底鼓变形拦截吸能式的防治方法
EP4244569A4 (fr) 2020-11-10 2024-10-16 Dyno Nobel Asia Pacific Pty Ltd Systèmes et procédés pour la détermination de profondeur d'eau et de profondeur d'explosif dans des trous de mine
CN113187527B (zh) * 2021-04-30 2024-06-04 中煤科工开采研究院有限公司 锚杆自动化施工方法
CN113414589B (zh) * 2021-05-31 2022-08-12 中铁工程服务有限公司 一种锚固机器人
CN113236223A (zh) * 2021-06-10 2021-08-10 安徽理工大学 一种用于煤矿井下瓦斯防治钻孔的智能设计系统及方法
CN114622924B (zh) 2022-05-17 2022-08-30 中铁九局集团电务工程有限公司 一种多臂协同作业钻孔机器人

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3529680A (en) * 1968-11-15 1970-09-22 Ingersoll Rand Co Rock drill with ring support
US4113033A (en) * 1974-12-19 1978-09-12 Atlas Copco Aktiebolag Method and arrangement for positioning a working tool to a predetermined direction and/or a predetermined point
SE413691B (sv) * 1977-08-31 1980-06-16 Atlas Copco Ab Bergbultningsaggregat
DE3328582A1 (de) * 1982-09-27 1984-03-29 Siemens AG, 1000 Berlin und 8000 München Fahrbares deckenbohr- und montagegeraet fuer schlagduebel
US4645084A (en) * 1985-02-21 1987-02-24 Construction Robotics, Inc. Robot arm
US4890680A (en) * 1986-10-07 1990-01-02 Friedhelm Porsfeld Machine for working rock, especially a block drilling machine
US6698529B2 (en) * 2001-04-20 2004-03-02 Oldenburg Cannon, Inc. Translating turret rock bolter
US7874379B2 (en) * 2005-03-11 2011-01-25 Atlas Copco Rock Drills Ab Damping device for an output shaft in a gearbox
FI118052B (fi) * 2005-06-27 2007-06-15 Sandvik Tamrock Oy Menetelmä ja ohjelmistotuote porausyksikön paikoittamiseksi sekä kallionporauslaite
SE530113C2 (sv) * 2006-07-17 2008-03-04 Atlas Copco Rock Drills Ab Förfarande och anordning för positionsbestämning av en bergförstärkningsbult
SE532540C2 (sv) * 2008-05-09 2010-02-16 Atlas Copco Rock Drills Ab Bombanordning samt bergborrnings- och/eller bergbultningsrigg innefattande sådan bombanordning
FR2958573B1 (fr) * 2010-04-13 2012-09-21 Rise Ba Systeme de robotisation comprenant un robot supporte par une plateforme mobile
CN201714390U (zh) 2010-05-31 2011-01-19 三一重型装备有限公司 一种硬岩液压破碎式掘进机
CN102345458A (zh) * 2010-08-03 2012-02-08 楚顺利 一种煤巷用钻铣上梁一体机
WO2013044345A1 (fr) * 2011-09-30 2013-04-04 Tesman Inc. Systèmes et procédés de capture de mouvement dans un environnement souterrain
PT2725184T (pt) * 2012-10-24 2019-06-12 Sandvik Mining & Construction Oy Aparelho de perfuração de rocha e método para controlar a orientação da viga de alimentação
SE539411C2 (en) * 2014-07-03 2017-09-19 Skanska Sverige Ab Method and arrangement for mounting bolts in a tunnel wall
US10557309B2 (en) * 2014-08-18 2020-02-11 R.N.P. Industries Inc. Self-supporting pneumatic hammer positioner with universal joint
CN204703761U (zh) * 2015-03-27 2015-10-14 蒲长晏 一种隧道施工台车
CN104747078B (zh) * 2015-03-27 2017-03-01 蒲长晏 一种隧道施工台车
US10341639B2 (en) * 2015-11-16 2019-07-02 Abb Schweiz Ag Automatically scanning and representing an environment with collision avoidance

Also Published As

Publication number Publication date
FR3056249A1 (fr) 2018-03-23
GB2555224B (en) 2020-12-30
US20180080322A1 (en) 2018-03-22
GB2555224A (en) 2018-04-25
GB201715303D0 (en) 2017-11-08
HK1247976A1 (zh) 2018-10-05
US10480319B2 (en) 2019-11-19
AU2017232167A1 (en) 2018-04-05
AU2017232167B2 (en) 2021-09-30

Similar Documents

Publication Publication Date Title
FR3056249B1 (fr) Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou
RU2311511C2 (ru) Способ и устройство для мониторинга режима нагрузки драглайна или электрического одноковшового экскаватора
WO2018051303A3 (fr) Système orthodontique à mesure, surveillance et commande de déplacement et de position de dent
EP2778293A3 (fr) Système de commande de machine de construction
SG11201903366VA (en) Work vehicle provided with gondola device
WO2014107754A3 (fr) Dispositif pour détecter un environnement
JP2016008484A5 (ja) ショベル
EP3862530A3 (fr) Clapet d'isolation de fond de trou bidirectionnel
EP3095430A3 (fr) Appareil d'entraînement à la marche
EP2924176A3 (fr) Chargeur frontal
WO2007101983A3 (fr) Appareil de guidage d'aiguille
FR2981922B1 (fr) Moyen de controle d'un dispositif elevateur, appareil de levage et aeronef
WO2008063852A3 (fr) Affichage d'images associées à un chemin demandé
EP3392482A3 (fr) Soupape de decharge de turbine
NO20053765D0 (no) Heisanlegg med en heisstol og en innretning for bestemmelse av heisstolposisjon, samt fremgangsmate for drift av et slikt heisanlegg.
FR3041623B1 (fr) Systeme de levage avec systeme de positionnement interieur et methode correspondante
KR20140040950A (ko) 특수차량용 아웃트리거의 위치선정장치
EP2924180A1 (fr) Machine de construction avec réservoir d'urée
FR3011013B1 (fr) Systeme mecanique comprenant un dispositif de liaison entre une piece d'usure et son support, et godet d'engin de travaux publics
JP7155516B2 (ja) 建設機械
EP2860600A3 (fr) Système de commande d'un outil industriel en définissant son volume d'utilisation par apprentissage
WO2009068416A3 (fr) Contrôleur et système de cintrage entièrement automatisé pour des cintreuses
FR3027833B1 (fr) Dispositif de carottage a sec sur plateforme mobile distante.
JP2021188956A (ja) 断面形状取得方法及び断面形状取得装置
EP2634436A3 (fr) Connecteur de soupape programmable

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20180323

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

PLFP Fee payment

Year of fee payment: 8

PLFP Fee payment

Year of fee payment: 9