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AUTOMATED DEVICE FOR DRILLING A HOLE IN THE DOME AND WALLS OF A TUNNEL AND FOR PLACING AN ANCHORING ELEMENT IN SAID HOLE
AUTOMATED DEVICE FOR DRILLING A HOLE IN THE DOME AND WALLS OF A TUNNEL AND FOR PLACING AN ANCHORING ELEMENT IN SAID HOLE
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机译：用于在隧道的圆顶和孔中钻洞并在所述的孔中放置锚固元件的自动装置
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摘要
An automated device suitable for drilling a hole in the vault and walls of a tunnel and installing an anchoring element into the hole. There is a robot (5, Figure 1) having a base (50, Figure 3) and a robotic arm 51 extending from the base and a multifunctional head 52 at the end of the arm 51 and moveable over 360 degrees. The multifunctional head 52 has a drilling means (520, Figure 5), a percussion means (521, Figure 5) that is suitable for inserting an anchoring element, which may be a dowel, in the hole, and a vision system (522, Figure 5). There is an elevating platform 1 having a device 2 that guides in translation the base (50, Figure 3) of the robot (5, Figure 1). There is a control unit suitable for communicating with a controller of the robot (5, Figure 1) that has a processor that determines the position of the robot (5, Figure 1) in a three-dimensional reference frame of the tunnel in real-time. There is also a man-machine interface that may be used to modify the position of the hole. There is also provided a method of using the automated device.
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