An adaptive concrete floor drilling robot and drilling method

Abstract

This invention discloses an adaptive concrete slab drilling robot and drilling method, belonging to the technical field of building construction equipment. The equipment includes a mobile chassis mechanism, a lifting support mechanism, a planar positioning mechanism, an attitude adaptive feeding mechanism, and an execution mechanism. The attitude adaptive feeding mechanism includes a fixed base, a floating platform, a multi-directional coupling component, and a cooperative drive component. A detection and control unit collects real-time slab attitude data, controls the differential movement of the cooperative drive component, and drives the floating platform to deflect under the constraint of the multi-directional coupling component. This allows the drilling axis of the execution mechanism to automatically adapt to the bottom surface of the slab, achieving a closed-loop control of "perception-decision-execution". This invention solves the problems of existing technologies being unable to adapt to slab inclination leading to skewed drilling and relying on manual climbing for work, significantly improving drilling accuracy and construction safety, and realizing the automation and intelligence of drilling operations.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, and more specifically, to an adaptive concrete slab drilling robot and drilling method for automated drilling operations on top concrete slabs. Background Technology

[0002] In construction engineering and ventilation and air conditioning system installation, the installation of air ducts in the top concrete floor slab is a common construction step. During installation, the air ducts need to be connected and fixed to the top floor slab using fasteners (such as expansion bolts and brackets). Therefore, pre-drilling at designated locations in the concrete floor slab is necessary to provide a foundation for the fasteners. Currently, drilling in the top floor slab mainly relies on manual operation. Construction workers need to use climbing equipment to reach the working height and use tools such as impact drills and electric hammers to drill. However, this traditional method has significant drawbacks: high safety risks (falls from height, tool slippage), low construction efficiency, poor drilling accuracy (manual drilling cannot guarantee verticality), and high labor intensity. While some semi-automatic drilling equipment exists to address these issues, it is mostly suitable for horizontal or vertical plane operations such as walls and floors, making it difficult to adapt to high-altitude and upward-angle operations on top floor slabs. Furthermore, it lacks integrated functions such as automatic positioning, feeding, and drainage for concrete materials, failing to meet the needs for efficient, accurate, and safe drilling in air duct installation. Summary of the Invention

[0003] To address the problems of existing technologies, this invention provides an adaptive concrete slab drilling robot and drilling method. It achieves autonomous positioning and adaptive operation during the drilling process, overcoming the limitations of traditional manual handheld tools that rely on elevated equipment and require manual adjustment of the hole position. Simultaneously, it overcomes the limitations of existing semi-automatic drilling equipment that cannot adapt to high-altitude, angled environments and struggles to achieve precise positioning for concrete materials. feed The integrated "retracting the blade" operation addresses the specific needs of drilling holes in the top floor slab in building construction scenarios such as air duct installation.

[0004] The present invention is implemented as follows: an adaptive concrete slab drilling robot, characterized in that it includes: a mobile chassis mechanism for carrying the equipment and moving on the ground;

[0005] A lifting support mechanism, mounted on the mobile chassis mechanism, is used to adjust the working height; A planar positioning mechanism is located at the output end of the lifting support mechanism and is used to adjust the working coordinates in the horizontal plane. An attitude adaptive feed mechanism is connected to the planar positioning mechanism. The attitude adaptive feed mechanism is configured to automatically adjust the angle of the drilling axis to adapt to the working surface in response to changes in the spatial attitude of the floor slab bottom surface, and drive the drilling tool to feed axially. An actuator, located at the end of the attitude adaptive feed mechanism, is used to perform drilling operations.

[0006] Further preferably, the attitude adaptive feeding mechanism includes: a fixed base connected to the planar positioning mechanism; a floating platform for mounting the actuator; a multi-directional coupling component connected between the fixed base and the floating platform, the multi-directional coupling component having at least one rotational degree of freedom, allowing the floating platform to deflect at an angle relative to the fixed base; and a cooperative drive component including at least two circumferentially distributed drive units, one end of each drive unit being hinged to the fixed base and the other end being hinged to the floating platform or the multi-directional coupling component; wherein, by controlling the difference in the extension or rotation angle of each drive unit, the floating platform is driven to deflect at an attitude under the constraint of the multi-directional coupling component to conform to the bottom surface of the floor slab.

[0007] More preferably, the multi-directional coupling component is one of a spherical joint structure, a universal joint structure, or a flexible hinge structure.

[0008] More preferably, the collaborative drive component includes three drive units, which are evenly distributed at 120 degrees around the central axis of the floating platform.

[0009] More preferably, the planar positioning mechanism includes: a rotary drive unit for providing circumferential angle adjustment; and a radial displacement unit, including a lead screw drive mechanism or a linear module, for providing radial distance adjustment; the rotary drive unit and the radial displacement unit cooperate to form a polar coordinate positioning system or a rectangular coordinate positioning system for positioning work coordinates.

[0010] More preferably, when the multi-directional coupling component is a spherical pair structure, it specifically includes: an outer spherical shell, fixed to the connection end of the floating platform or the cooperative drive component; an inner sphere, rotatably housed within the outer spherical shell; a central rotating shaft, passing through the inner sphere and connected to the fixed base or the floating platform; and a limiting clamping member, used to restrict the axial disengagement of the inner sphere relative to the outer spherical shell.

[0011] More preferably, the actuator includes a vibration damping connection assembly disposed between the floating platform and the drilling tool to isolate high-frequency vibrations generated during drilling operations.

[0012] More preferably, the lifting support mechanism is one of a scissor lift mechanism, a sleeve lift mechanism, or a multi-link lift mechanism.

[0013] This invention also relates to an adaptive concrete slab drilling method applied to the aforementioned adaptive concrete slab drilling robot, comprising the following steps: In response to receiving a drilling command, the lifting support mechanism is controlled to raise the planar positioning mechanism, the attitude adaptive feeding mechanism, and the actuator to the preset working height. The control plane positioning mechanism adjusts the working coordinates of the actuator in the horizontal plane, so that the central axis of the actuator's drilling tool is aligned with the center of the preset hole position; The adaptive feed mechanism responds to changes in the spatial attitude of the floor slab bottom surface and automatically adjusts the angle of the central axis of the drilling tool so that the end working surface of the drilling tool fits against the floor slab bottom surface. The control actuator drives the drilling tool to rotate, and the attitude adaptive feed mechanism drives the drilling tool to feed towards the bottom of the floor slab along the adjusted central axis to complete the drilling operation.

[0014] More preferably, the step of the adaptive feed mechanism for controlling the attitude to automatically adjust the central axis angle of the drilling tool in response to changes in the spatial attitude of the floor slab specifically includes: Obtain the attitude parameters of the bottom surface of the floor slab, including the deflection angle of the normal direction of the bottom surface of the floor slab relative to a preset reference direction; Based on the attitude parameters, calculate the target extension or target rotation angle of each drive unit in the cooperative drive component of the attitude adaptive feed mechanism. Control each drive unit to move according to the target extension or rotation angle, drive the floating platform to deflect relative to the fixed base until the central axis of the drilling tool is parallel to the normal direction of the bottom surface of the floor slab.

[0015] Advantages and technical effects of this invention: Overall technical effect of this invention Significantly improves drilling accuracy and quality: The pioneering "attitude adaptive feed mechanism" automatically compensates for the inclination of the floor surface through a multi-degree-of-freedom floating platform and multi-point collaborative drive, ensuring that the drill bit is always perpendicular to the working surface, completely solving the industry problem of drilling deviation in traditional manual and existing automated equipment.

[0016] Completely eliminates safety hazards of working at heights: Integrating a mobile chassis, lifting mechanism and automated control system, construction workers can complete all operations from the ground via remote control or preset programs without having to climb high, greatly reducing the risk of falls from heights and being struck by objects.

[0017] Significantly improves construction efficiency and reduces labor intensity: It realizes full automation from movement and positioning to drilling, replacing the heavy physical labor of manual scaffolding and hand-held drilling, enabling continuous and efficient operation and effectively shortening the construction cycle. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 This is a schematic diagram of the mobile chassis mechanism of the present invention; Figure 3 This is a schematic diagram of the lifting support mechanism of the present invention; Figure 4 This is a schematic diagram of the overall structure of the planar positioning mechanism; Figure 5 This is a schematic diagram of the installation structure of the rotary drive unit; Figure 6 This is a schematic diagram of a radial displacement unit structure; Figure 7 This is a schematic diagram of the attitude adaptive feed mechanism. Figure 8 This is a schematic diagram of a multi-directional coupling component structure; Figure 9 This is a schematic diagram of the actuator structure; Figure 10 This is a flowchart of the method for drilling holes in a concrete floor slab.

[0019] In the diagram: 10. Mobile chassis mechanism; 11. Vehicle body; 12. Track drive wheel; 13. Track driven wheel; 14. Track; 20. Lifting support mechanism; 21. Fixed base; 22. Lifting platform; 23. Linkage group; 231. Upper sliding link; 232. Lower sliding link; 233. Outer support rod; 234. Inner support rod; 235. Connecting rod; 236. Pin; 25. Electric push rod; 30. Planar positioning mechanism; 31. Rotary drive unit; 310. Rotary drive motor; 311. Cam divider; 312. Turntable; 32. Radial displacement unit; 321. Drive motor; 322. Coupling; 323. Lead screw; 324. Slide table; 325. Center linear slide rail; 326. Lateral linear slide rail; 327. Support slider; 328. Limiting plate; 40. Attitude adaptive feed mechanism; 41. Fixed base; 42. Floating platform; 43. Multi-directional coupling component; 431. Outer spherical shell; 432. Inner sphere; 433. Central rotating shaft; 434. Limiting clamping component; 44. Cooperative drive component; 441. Gear motor; 442. Main boom; 443. Forearm; 50. Actuator; 51. Impact drill; 52. Vibration damping connection assembly; 521. Front handle vibration damping rubber ring; 522. Rear handle vibration damping rubber pad; 61. LiDAR; 62. Depth camera. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0021] The following is combined Figures 1 to 9 This paper provides a detailed description of a specific embodiment of the adaptive concrete slab drilling robot described in this invention.

[0022] like Figure 1 As shown, this invention provides an adaptive concrete slab drilling robot, mainly comprising: a mobile chassis mechanism 10, a lifting support mechanism 20, a planar positioning mechanism 30, a posture adaptive feeding mechanism 40, and an execution mechanism 50. Through the coordinated operation of these mechanisms, the device achieves fully automated, high-precision drilling of the top concrete slab.

[0023] The mobile chassis mechanism 10 serves as the load-bearing foundation for the entire machine, used to support the equipment and move across complex terrain. In this embodiment, as... Figure 2 As shown, it includes a vehicle body 11, track drive wheels 12, track driven wheels 13, and tracks 14. The vehicle body 11 integrates a drive motor and a battery pack, which drive the tracks 14 to move, enabling the equipment to travel stably on complex terrains such as gravel and mud at construction sites.

[0024] Please see Figure 3The lifting support mechanism 20 is installed on top of the mobile chassis mechanism 10 and is used to adjust the working height. In this embodiment, a scissor lift mechanism is used. It includes a fixed base 21, a lifting platform 22, and a linkage group 23 connecting the two. The linkage group 23 specifically includes an upper sliding link 231, a lower sliding link 232, an outer support rod 233, an inner support rod 234, a connecting rod 235, and multiple pins 236. The bottom end of the inner support rod 234 is hinged to the fixed base 21 via a pin 236, and its top end is hinged to the upper sliding connecting rod 231. The bottom end of the outer support rod 233 is hinged to the lower sliding connecting rod 232, and its top end is hinged to the lifting platform 22 via a pin 236. The upper sliding connecting rod 231 is installed in the slide groove of the lifting platform 22, and the lower sliding connecting rod 232 is installed in the slide groove of the fixed base 21. The outer support rod 233 and the inner support rod 234 are hinged together by a connecting rod 235, establishing a connection with another set of support rods. The bottom end of the hydraulic cylinder or electric push rod 25 is hinged to the fixed base 21, and its top end is fixedly connected to the lower sliding connecting rod 232. The electric push rod or hydraulic cylinder 25 drives the lower sliding connecting rod 232 to slide in the slide groove of the fixed base 21, thereby driving the entire connecting rod assembly 23 to unfold or retract, thus driving the lifting platform 22 to rise and fall vertically, raising the upper working mechanism to a working height adjacent to the bottom surface of the concrete floor slab. It is understood that, in other embodiments not shown, the lifting support mechanism 20 may also be replaced by a sleeve-type lifting column or a multi-link lifting mechanism, as long as it can achieve the vertical height adjustment function.

[0025] Please see Figure 4 and Figure 5 The planar positioning mechanism 30 is installed on the lifting platform 22 and is used to precisely adjust the drilling position in the horizontal plane.

[0026] In this embodiment, the planar positioning mechanism 30 is constructed as a polar coordinate positioning system. It includes: Rotary drive unit 31 includes a rotary drive motor 310, a cam divider 311 connected to the rotary drive motor, and a turntable 312. The output shaft of the cam divider 311 is fixedly connected to the turntable 312 and is used to drive the turntable 312 to rotate, providing circumferential angle (θ axis) adjustment.

[0027] Please see Figure 6The radial displacement unit 32 includes a drive motor 321, a coupling 322, a lead screw 323, a slide table 324, a center linear slide rail 325, a side linear slide rail 326, a support slider 327, and a limiting plate 328. The drive motor 321 is connected to the motor frame of the center linear slide rail 325 by bolts and to the lead screw 323 by the coupling 322. The lead screw 323 passes through the helical hole of the slide table 324 and is installed on the center linear slide rail 325. The side linear slide rails 326 are respectively installed on both sides of the center linear slide rail 325 and are fixed to the turntable 312 by screws. The support slider 327 is installed on the side linear slide rail 326, and the limiting plates 328 are installed at both ends of the side linear slide rail 326. The support slider 327 moves with the slide table 324, playing a supporting and stabilizing role.

[0028] Through the cooperation of the rotary drive unit 31 and the radial displacement unit 32, when the cam divider 311 drives the turntable 312 to rotate, the entire radial displacement unit 32 rotates accordingly, achieving circumferential positioning. At the same time, the drive motor 321 drives the lead screw 323 to rotate, causing the slide table 324 to move radially along the center linear slide rail 325, achieving radial positioning. This precisely moves the end effector 50 to the planar projection coordinates of the target hole position.

[0029] The attitude adaptive feed mechanism 40, mounted on the output end (i.e., the slide) of the planar positioning mechanism 30, is the core component of this equipment, used to solve the drilling deviation problem caused by uneven floor surfaces. Please refer to [link / reference]. Figure 7 The mechanism includes a fixed base 41, a floating platform 42, a multi-directional coupling component 43, and a cooperative drive component 44.

[0030] Fixed base 41: A slide rigidly connected to the planar positioning mechanism 30, serving as the mounting base for power input.

[0031] Floating platform 42: Located above the fixed base 41, it is used to mount the actuator 50. The spatial orientation of the floating platform 42 can be deflected relative to the fixed base 41.

[0032] Multi-directional coupling component 43: Connected between the fixed base 41 and the floating platform 42, providing at least one rotational degree of freedom, allowing the floating platform 42 to deflect angularly relative to the fixed base 41. In this embodiment, as... Figure 8 As shown, the multi-directional coupling component 43 is specifically implemented as a spherical pair structure. It includes an outer spherical shell 431, an inner sphere 432, a central rotating shaft 433, and a limiting clamping member 434.

[0033] The outer spherical shell 431 is fixed to the front end of the forearm 443 of the cooperative drive assembly 44; the inner sphere 432 is rotatably housed within the outer spherical shell 431, forming a spherical fit. A central pivot 433 passes through the center of the inner sphere 432 and is fixed therein. Both ends of the central pivot 433 are hinged to limiting clamps 434, which are connected to the floating platform 42 by bolts. This structure enables the floating platform 42 to rotate around the center of the sphere with multiple degrees of freedom.

[0034] Collaborative drive component 44: includes at least two (preferably three in this embodiment) drive units arranged circumferentially. For example... Figure 7 As shown, each drive unit includes a geared motor 441, a boom 442, and a forearm 443. The geared motor 441 is mounted on a fixed base 41; one end of the boom 442 is connected to the motor output shaft, and the other end is hinged to the forearm 443; the other end of the forearm 443 is connected to the outer spherical shell 431 of the multi-directional coupling assembly 43 by bolts. The three drive units are evenly distributed at 120 degrees around the central axis of the floating platform 42.

[0035] By controlling the rotation angle of each reduction motor 441, the boom 442 is driven to rotate. The boom 442 drives the forearm 443, and the forearm 443 drives the floating platform 42 through the multi-directional coupling component 43. When the three drive units move at different speeds, the floating platform 42 can be driven to deflect in any direction under the constraint of the spherical pair. When the three drive units move synchronously in the same direction, the floating platform 42 can be driven to feed stably along the axial direction.

[0036] The actuator 50 is mounted on the floating platform 42 and is used to perform drilling operations. In this embodiment, as... Figure 9 As shown, the actuator 50 includes an impact drill 51 as a drilling tool and a vibration damping connection assembly 52.

[0037] The vibration damping connection assembly 52 is disposed between the floating platform 42 and the impact drill 51, specifically including a front handle vibration damping rubber ring 521 and a rear handle vibration damping rubber pad 522. The impact drill 51 is fixed to the support frame by these elastic elements, and the support frame is then connected to the floating platform 42. This design can effectively isolate the high-frequency vibration generated by the impact drill 51 during operation, prevent the vibration from being transmitted to the precision attitude adaptive feed mechanism 40, and ensure attitude adjustment accuracy and mechanism life.

[0038] This invention also relates to an adaptive method for drilling holes in concrete floor slabs, comprising the following steps: In response to receiving a drilling command, the lifting support mechanism is controlled to raise the planar positioning mechanism, the attitude adaptive feeding mechanism, and the actuator to the preset working height. The control plane positioning mechanism adjusts the working coordinates of the actuator in the horizontal plane, so that the central axis of the actuator's drilling tool is aligned with the center of the preset hole position; The adaptive feed mechanism responds to changes in the spatial attitude of the floor slab bottom surface and automatically adjusts the angle of the central axis of the drilling tool so that the end working surface of the drilling tool fits against the floor slab bottom surface. The control actuator drives the drilling tool to rotate, and the attitude adaptive feed mechanism drives the drilling tool to feed towards the bottom of the floor slab along the adjusted central axis to complete the drilling operation.

[0039] More preferably, the step of the adaptive feed mechanism for controlling the attitude to automatically adjust the central axis angle of the drilling tool in response to changes in the spatial attitude of the floor slab specifically includes: Obtain the attitude parameters of the bottom surface of the floor slab, including the deflection angle of the normal direction of the bottom surface of the floor slab relative to a preset reference direction; Based on the attitude parameters, calculate the target extension or target rotation angle of each drive unit in the cooperative drive component of the attitude adaptive feed mechanism. Control each drive unit to move according to the target extension or rotation angle, drive the floating platform to deflect relative to the fixed base until the central axis of the drilling tool is parallel to the normal direction of the bottom surface of the floor slab.

[0040] A further preferred embodiment of the adaptive concrete slab drilling robot includes a detection and control unit, which comprises: The Building Information Modeling (BIM) processing module is configured to import and process BIM data of the target work area, generating BIM point clouds and feature libraries containing preset hole coordinates and building structural constraints. The multi-sensor fusion SLAM module is connected to the lidar 61, depth camera 62, inertial measurement unit (IMU), and encoder installed on the device to build an environmental point cloud map in real time and output the global pose of the device. The path planning module is configured to generate a global path and a local obstacle avoidance trajectory from the current location of the device to the target hole based on the BIM feature library and the environmental point cloud map. The visual inspection module includes a depth camera located near the actuator, which is used to acquire images of the working face in real time and identify drilling lines to obtain the location information of the actual drilling points. The force detection module includes a pressure sensor and a torque sensor mounted on the actuator, used to monitor the axial impact force and rotational torque during the drilling process in real time. The control device is configured as follows: Based on the preset hole coordinates in the BIM data and the global pose of the device, the target pose command of the actuator is generated through kinematic calculation. Based on the deviation between the actual drilling point position obtained by the vision detection module and the preset hole position coordinates, the actuator is subjected to closed-loop position control. Based on the monitoring data from the pressure sensor and torque sensor, the drilling feed speed is adjusted in real time or a shutdown protection is triggered. After drilling is completed, the global pose of the equipment is corrected based on the registration results of the real-time point cloud and the BIM point cloud.

[0041] like Figure 10 As shown, the adaptive concrete slab drilling method of the present invention, based on the above-mentioned detection and control device, includes the following steps: S1. BIM Preprocessing and Initial Positioning: Import the BIM model of the target work area, generate BIM point cloud and extract structural feature library; after the equipment is started, collect real-time point cloud through LiDAR and register it with BIM point cloud to obtain initial global pose; S2. Multi-sensor SLAM and navigation: During the movement of the equipment, data from LiDAR, depth camera, IMU and encoder are fused to build an environmental point cloud map in real time and output the continuous global pose of the equipment; based on the BIM feature library and environmental map, a global path from the current position to the target hole is planned, and local obstacle avoidance trajectory is dynamically generated to control the mobile chassis mechanism to move to the bottom of the target working area; S3. Lifting and Planar Positioning: The lifting support mechanism raises the equipment to the preset working height; the planar positioning mechanism moves the actuator to the horizontal projection coordinates of the target hole position. S4. Adaptive Attitude Adjustment: The visual inspection module in the detection and control unit acquires images of the working surface, identifies drilling lines, and obtains the actual drilling point positions; based on the deviation between the actual drilling points and the BIM preset hole positions, the attitude of the actuator is adjusted through the adaptive attitude feed mechanism to make the drilling axis coincide with the normal of the bottom surface of the floor slab. S5. Vision-Force Closed-Loop Drilling Operation: Drives the actuator to perform drilling operations, while simultaneously monitoring the axial impact force and rotational torque during the drilling process in real time through pressure and torque sensors; when the monitored values ​​exceed the preset threshold, the feed speed is automatically adjusted or the machine is stopped for protection. S6. Global Error Correction: After completing one or more holes, the global pose of the equipment is corrected based on the registration results of the current environmental point cloud and the BIM point cloud, and the positioning information is updated; then, steps S2 to S6 are repeated until drilling operations at all preset hole positions are completed.

[0042] The core working principle of the device of this invention lies in "adaptive posture feeding". After the device is started, the mobile chassis mechanism 10, which serves as the supporting foundation, autonomously moves to below the target working area. The lifting support mechanism 20 lifts the upper working mechanism to the bottom surface of the concrete floor slab. Subsequently, the planar positioning mechanism 30, according to preset coordinates, uses its rotation and radial adjustment functions to precisely move the actuator 50 to the horizontal projection position of the target hole.

[0043] At this point, the crucial attitude adaptive adjustment begins: the detection devices in the detection and control unit (such as tilt sensors or vision cameras) acquire real-time data on the normal direction of the floor slab's bottom surface and feed it back to the control device. By controlling multiple drive units to move differentially, the floating platform 42 is driven to deflect under the constraint of the multi-directional coupling component 43 (such as a spherical joint) until the drilling axis of the actuator 50 is completely aligned with the normal of the floor slab's bottom surface. After the attitude adjustment is completed, the multiple drive units move synchronously in the same direction, driving the floating platform 42 to feed stably along a direction perpendicular to the floor slab, while simultaneously initiating the drilling operation of the actuator 50. The entire process achieves closed-loop control of "perception-decision-execution," ensuring the verticality and accuracy of the drilling.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive concrete slab drilling robot, characterized in that, include: Mobile chassis mechanism, used to carry equipment and move on the ground; A lifting support mechanism, mounted on the mobile chassis mechanism, is used to adjust the working height; A planar positioning mechanism, located at the output end of the lifting support mechanism, is used to adjust the working coordinates in the horizontal plane; An attitude-adaptive feed mechanism is connected to the planar positioning mechanism. The attitude-adaptive feed mechanism is configured to automatically adjust the angle of the drilling axis to adapt to the working surface in response to changes in the spatial attitude of the floor slab bottom surface, and drive the drilling tool to feed axially. An actuator, located at the end of the attitude adaptive feed mechanism, is used to perform drilling operations.

2. The adaptive concrete slab drilling robot according to claim 1, characterized in that, The attitude adaptive feed mechanism includes: A fixed base is connected to the planar positioning mechanism; A floating platform is used to mount the actuator; A multi-directional coupling component is connected between the fixed base and the floating platform. The multi-directional coupling component has at least one rotational degree of freedom, allowing the floating platform to deflect at an angle relative to the fixed base. The collaborative drive component includes at least two circumferentially distributed drive units, one end of each drive unit is hinged to the fixed base, and the other end is hinged to the floating platform or the multi-directional coupling component; wherein, by controlling the difference in the extension or rotation angle of each drive unit, the floating platform is driven to undergo attitude deflection under the constraint of the multi-directional coupling component to conform to the bottom surface of the floor slab.

3. The adaptive concrete slab drilling robot according to claim 2, characterized in that, The multi-directional coupling component is one of a spherical joint structure, a universal joint structure, or a flexible hinge structure.

4. The adaptive concrete slab drilling robot according to claim 2, characterized in that, The collaborative drive component includes three drive units, which are evenly distributed at 120 degrees around the central axis of the floating platform.

5. The adaptive concrete slab drilling robot according to claim 1, characterized in that, The planar positioning mechanism includes: A rotary drive unit is used to provide circumferential angle adjustment; Radial displacement unit, including a lead screw drive mechanism or a linear module, is used to provide radial distance adjustment; The rotary drive unit cooperates with the radial displacement unit to form a polar coordinate positioning system or a rectangular coordinate positioning system for positioning the work coordinates.

6. The adaptive concrete slab drilling robot according to claim 3, characterized in that, When the multi-directional coupling component is a spherical pair structure, it specifically includes: The outer spherical shell is fixed to the connection end of the floating platform or the cooperative drive component; The inner sphere is rotatably housed within the outer spherical shell; A central pivot passes through the inner sphere and connects to the fixed base or the floating platform; A limiting clamp is used to restrict the axial disengagement of the inner sphere relative to the outer spherical shell.

7. The adaptive concrete slab drilling robot according to claim 2, characterized in that, The actuator includes a vibration damping connection assembly, which is disposed between the floating platform and the drilling tool to isolate high-frequency vibrations generated during drilling operations.

8. The adaptive concrete slab drilling robot according to claim 1, characterized in that, The lifting support mechanism is one of a scissor lift mechanism, a sleeve lift mechanism, or a multi-link lift mechanism.

9. An adaptive concrete slab drilling method, applied to the adaptive concrete slab drilling robot according to any one of claims 1 to 8, characterized in that, Includes the following steps: In response to receiving a drilling command, the lifting support mechanism is controlled to raise the planar positioning mechanism, the attitude adaptive feeding mechanism, and the actuator to the preset working height. The control plane positioning mechanism adjusts the working coordinates of the actuator in the horizontal plane, so that the central axis of the actuator's drilling tool is aligned with the center of the preset hole position; The adaptive feed mechanism responds to changes in the spatial attitude of the floor slab bottom surface and automatically adjusts the angle of the central axis of the drilling tool so that the end working surface of the drilling tool fits against the floor slab bottom surface. The control actuator drives the drilling tool to rotate, and the attitude adaptive feed mechanism drives the drilling tool to feed towards the bottom of the floor slab along the adjusted central axis to complete the drilling operation.

10. The adaptive concrete slab drilling method according to claim 9, characterized in that, The steps of the adaptive feed mechanism for controlling attitude, in response to changes in the spatial attitude of the floor slab, and automatically adjusting the central axis angle of the drilling tool specifically include: Obtain the attitude parameters of the bottom surface of the floor slab, including the deflection angle of the normal direction of the bottom surface of the floor slab relative to a preset reference direction; Based on the attitude parameters, calculate the target extension or target rotation angle of each drive unit in the cooperative drive component of the attitude adaptive feed mechanism. Control each drive unit to move according to the target extension or rotation angle, drive the floating platform to deflect relative to the fixed base until the central axis of the drilling tool is parallel to the normal direction of the bottom surface of the floor slab.

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