An automatic drilling robotic arm and its working method

Abstract

This invention discloses an automatic drilling robotic arm device and its working method, including a controller, a CNC walking system mounted on a track, and an angle-adjustable robotic arm. The top surface of the CNC walking system has a mounting part. The starting end of the robotic arm is rotatably connected to a mounting base, which is connected to the mounting part. A displacement sensor is mounted on the robotic arm, and an angle-adjustable actuator is mounted at the end of the robotic arm. An angle sensor is positioned between the actuator and the robotic arm. The actuator has a telescopic part, and a linear sensor is mounted on the telescopic part. An electric hammer is mounted on the telescopic part, and a drill bit is detachably connected to the electric hammer. The robotic arm, CNC walking system, actuator, displacement sensor, angle sensor, and linear sensor are all electrically connected to the controller. This invention has the advantages of high construction efficiency, low labor intensity, and high construction accuracy.

Description

Technical Field

[0001] This invention belongs to the field of drilling construction technology in rail transit, specifically relating to an automatic drilling robotic arm device and its working method. Background Technology

[0002] The current drilling process in the tunnel track area is as follows: using the track plane as the reference plane, according to the design drawings, the drilling points of each profession in each tunnel section are determined by measuring instruments through transverse and longitudinal measurements. After the drilling points are determined, the workers erect scaffolding and other operating platforms, and then use electric hammers to drill the holes.

[0003] The main problems with existing borehole drilling include:

[0004] (1) The existing construction procedure is to first complete the construction measurement and positioning, and then carry out drilling operations. The construction procedure is interrupted, and it is impossible to form a continuous operation. Construction is inconvenient and the progress is slow. At higher points, multiple workers need to erect scaffolding or use other work platforms before drilling operations can be carried out.

[0005] (2) When drilling with an electric hammer, it is impossible to ensure that the hole depth and diameter meet the design requirements. Some drilling points need to be rectified. There are measurement errors when manually measuring and positioning, which cannot meet the requirements of the contact wire and other professions with high measurement accuracy, resulting in positioning problems and subsequent rework. Summary of the Invention

[0006] The purpose of this invention is to address the problems existing in the prior art by providing an automatic drilling robotic arm device and its working method, which has the advantages of high construction efficiency, low labor intensity, and high construction accuracy.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an automatic drilling robotic arm device, comprising a controller, a CNC walking system mounted on a track, and an angle-adjustable robotic arm. The top surface of the CNC walking system is provided with a mounting part. The starting end of the robotic arm is rotatably connected to a mounting base, which is connected to the mounting part. A displacement sensor is provided on the robotic arm. An angle-adjustable actuator is provided at the end of the robotic arm. An angle sensor is provided between the actuator and the robotic arm. A telescopic part is provided on the actuator. A linear sensor is provided on the telescopic part. An electric hammer is provided on the telescopic part. A drill bit is detachably connected to the electric hammer. The robotic arm, the CNC walking system, the actuator, the displacement sensor, the angle sensor, and the linear sensor are all electrically connected to the controller.

[0008] In the above scheme, during the drilling construction of rail transit, a CNC walking system is set up on the track. A controller and a robotic arm are mounted on the CNC walking system. The CNC walking system drives the robotic arm to process at each work station along the track. The mounting part of the CNC walking system is connected to the mounting base to position the robotic arm. The position or angle of the robotic arm is monitored by a displacement sensor and fed back to the controller. At each work station, the angle of the robotic arm is adjusted in conjunction with the rotation of the actuator to make the drill bit align with each drilling point in the direction of the tunnel section at the current work station. An angle sensor tests the rotation angle of the actuator and feeds it back to the controller. The extension of the telescopic part and the operation of the electric hammer drive the drill bit to drill. The actuator includes a telescopic part and an electric hammer. A linear sensor tests the extension value of the telescopic part and feeds it back to the controller. The drilling depth is calculated based on the extension value. The controller controls the robotic arm, the CNC walking system, the telescopic part, and the electric hammer.

[0009] Furthermore, the CNC walking system includes a vehicle body, the bottom of which is provided with a number of track wheels driven by servo motors, and a battery pack is provided on the vehicle body. The servo motors, battery pack and controller are electrically connected.

[0010] The vehicle body is used to mount the robotic arm, battery pack, and servo motors. The servo motors are equipped with track wheels that work in conjunction with the tracks, improving the vehicle's movement accuracy and consequently enhancing the robotic arm's positioning accuracy at various work points. The battery pack mounted on the vehicle body powers the robotic arm, servo motors, and actuators, simplifying power supply and wiring procedures during construction.

[0011] Furthermore, the robotic arm includes several stages of swing arms and an adjustment device for adjusting the angle of each stage of swing arms. The several stages of swing arms are hinged together in sequence. A CNC turntable is provided on the top surface of the mounting base, and the robotic arm is hinged to the CNC turntable.

[0012] By setting up a series of sequentially hinged swing arms and adjusting devices, the robotic arm can be flexibly adjusted, enabling the actuator to reach various drilling points in the direction of the tunnel cross section. By setting a CNC turntable on the mounting base, the robotic arm can rotate accordingly, thereby drilling holes at adjacent drilling points in the direction of the tunnel cross section at the same workstation, improving drilling efficiency.

[0013] Furthermore, the robotic arm includes a primary swing arm, a secondary swing arm, and a tertiary swing arm, and the adjusting device includes a primary hydraulic cylinder and a secondary hydraulic cylinder. The two ends of the primary hydraulic cylinder are respectively hinged to the CNC turntable and the primary swing arm, and the two ends of the secondary hydraulic cylinder are respectively hinged to the primary swing arm and the secondary swing arm. Worm gear mechanisms are respectively provided between the secondary swing arm and the tertiary swing arm, and between the tertiary swing arm and the actuator.

[0014] The angle of the first-stage swing arm is adjusted by the extension and retraction of the first-stage hydraulic cylinder. The relative angle between the first-stage and second-stage swing arms is adjusted by the extension and retraction of the second-stage hydraulic cylinder. The relative angle between the third-stage and second-stage swing arms, and between the actuator and the third-stage swing arm, is adjusted by a worm gear structure. The worm gear structure includes a rotatable worm and a worm wheel that is threaded into the worm. The worm wheel rotates as the worm rotates.

[0015] Furthermore, the displacement sensor includes a second linear sensor and a second angle sensor. The second linear sensor is installed at the first-stage hydraulic cylinder and the second-stage hydraulic cylinder, and the second angle sensor is installed between the CNC turntable, the second-stage swing arm and the third-stage swing arm. Both the second linear sensor and the second angle sensor are electrically connected to the controller.

[0016] Linear sensor two monitors the extension and retraction values ​​of the primary and secondary hydraulic cylinders in real time and feeds them back to the controller. Angle sensor two monitors the rotation angle of the CNC turntable and worm gear mechanism in real time and feeds it back to the controller. The position of each stage of the swing arm is determined by measuring the extension and rotation angles measured by linear sensor two and angle sensor two. By recording the feedback values, the controller can read them at the next workstation and automatically adjust the drill bit position for drilling.

[0017] Furthermore, the CNC turntable includes a turntable body and a hydraulic motor connected to the turntable body.

[0018] The rotation of the disc is controlled by a hydraulic motor, and the output end of the hydraulic motor is fixedly connected to the center of the bottom surface of the disc.

[0019] Furthermore, the telescopic part includes a fixed plate, a movable plate is slidably connected to the fixed plate, and a driving component is provided between the movable plate and the fixed plate, the driving component being electrically connected to the controller.

[0020] The angle of the actuator is adjusted by rotating the fixed plate and the end of the robotic arm with the adjustment component. The electric hammer is fixed on the moving plate, and the moving plate is slidably connected. It is driven by the drive component, which drives the electric hammer and drill bit to extend and retract to realize the drilling action. The drive component is controlled by the controller.

[0021] Furthermore, the actuator is provided with a dust suction port, which is connected to a pipe. The pipe is connected to a dust collection device, which includes a collection container and a power unit. The dust collection device is electrically connected to the controller.

[0022] During drilling, the controller controls the operation of the power unit, which provides power to create negative pressure, collecting dust from the suction port into a collection container through pipes. This reduces the spread of dust in the air, protects human health, and ensures a safe working environment.

[0023] Furthermore, a distance sensor is provided on the telescopic part, and the distance sensor is electrically connected to the controller.

[0024] The distance sensor can determine the distance between the drill bit and the borehole wall, monitor the depth of the borehole, and send the data back to the controller.

[0025] A method for operating the above-mentioned automatic drilling robotic arm includes the following steps:

[0026] S1: Control the CNC walking system to move to the starting working point, manually use the controller to operate the robotic arm to move to the required drilling point, adjust the angle of the actuator, and then extend the telescopic part to cooperate with the electric hammer to drill. Repeat the above drilling operation to drill other drilling points at the starting working point in turn. The controller records the path parameters of each drilling point. The path parameters include the positioning parameters fed back by the displacement sensor, the angle parameters fed back by the angle sensor, and the telescopic parameters fed back by the linear sensor.

[0027] S2: After all drilling at the current work point is completed, the robotic arm returns to its initial state and moves to the next work point through the CNC walking system. The controller reads the path parameters in sequence and controls the robotic arm to reach the corresponding drilling point to perform drilling.

[0028] S3: Repeat step S2 to complete the drilling operation.

[0029] In step S1 of the above scheme, during tunnel drilling, construction proceeds continuously from one end of the tunnel to the other. First, at the starting work point, the angle of the robotic arm is adjusted manually using the controller, and the arm is moved to the drilling point. The drill bit on the actuator is aligned with the drilling point, and the telescopic unit extends the electric hammer. The electric hammer then starts drilling at the drilling point. This process of moving the robotic arm to the drilling point, adjusting the actuator angle, and coordinating the telescopic unit with the electric hammer drilling is repeated to complete drilling at other points. The controller records path parameters for automatic drilling at other work points. Positioning parameters control the end effector of the robotic arm to reach the drilling point. At each drilling point, the angle parameter adjusts the actuator angle, and the extension value of the telescopic part is determined by the telescopic parameter to complete the movement of the robotic arm, the adjustment of the actuator angle, and the extension of the electric hammer for drilling. In S2, after the drilling at the current working point is completed, the robotic arm returns to the initial state. According to the distance between each point, the controller manually or automatically operates the CNC walking system to move the corresponding distance to the next working point. The controller reads the parameters and automatically drills at each drilling point. In S3, by repeating the steps in S2, drilling can be performed at each working point of the tunnel along the track.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. By introducing new construction machinery and equipment and working methods, the robotic arm drilling solution using automatic measurement and positioning drilling combines the measurement and drilling processes in the construction process. The robotic arm can automatically move and position to drill, eliminating the need for additional auxiliary construction structures, making on-site construction more continuous, reducing the personnel input required for measurement, and making drilling construction in the track area more efficient, safe and standardized.

[0032] 2. The CNC walking system ensures the drilling spacing along the track direction. Sensors and controllers precisely control the movement and drilling actions of the robotic arm and actuator, ensuring the drilling position and depth, resulting in high construction accuracy and reducing the drilling rework rate.

[0033] 3. When drilling, the use of robotic arms reduces the use of on-site personnel and construction equipment, ensures the working space in the track area, and solves the problems of complicated procedures, serious construction overlap, large investment in track area equipment, and low construction efficiency in the current track area drilling construction. The use of on-board power supply simplifies the power supply procedure when drilling with electric hammer and reduces the construction intensity.

[0034] 4. By installing a dust collection device, the dust generated during drilling can be collected, optimizing the construction environment, improving construction quality, and ensuring the health of on-site workers. Attached Figure Description

[0035] Figure 1 This is a three-dimensional representation of the structure of an automatic drilling robotic arm device according to Embodiment 1 of the present invention. Figure 1 ;

[0036] Figure 2 This is a front view of the structure of an automatic drilling robotic arm device according to Embodiment 1 of the present invention;

[0037] Figure 3 This is a three-dimensional representation of the structure of an automatic drilling robotic arm device according to Embodiment 1 of the present invention. Figure 2 ;

[0038] Figure 4 This is a perspective view of the robotic arm in Embodiment 1 of the present invention;

[0039] Figure 5 This is a front view of the robotic arm in Embodiment 1 of the present invention;

[0040] Figure 6 This is a left view of the robotic arm in Embodiment 1 of the present invention;

[0041] Figure 7 for Figure 4 Enlarged view of point A in the middle;

[0042] In the diagram: 1. Controller; 2. Track; 3. CNC walking system; 4. Robotic arm; 41. First-stage swing arm; 42. Second-stage swing arm; 43. Third-stage swing arm; 5. Mounting base; 6. Actuator; 61. Telescopic part; 611. Fixed plate; 612. Moving plate; 613. Drive component; 62. Electric hammer; 63. Drill bit; 7. Track wheel; 8. Battery pack; 9. First-stage hydraulic cylinder; 10. Second-stage hydraulic cylinder; 11. Worm gear mechanism; 12. CNC turntable; 13. Dust suction port; 131. Fixed shell; 132. Elastic bellows; 14. Pipe; 15. Dust collection device; 16. Mounting pipe. Detailed Implementation

[0043] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In the description of the present invention, it should be noted that the terms front, back, left, right, etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0044] Example 1

[0045] like Figure 1-7 As shown, an automatic drilling robotic arm device includes a controller 1, a CNC walking system 3 mounted on a track 2, and an angle-adjustable robotic arm 4. The top surface of the CNC walking system 3 is provided with a mounting part. The starting end of the robotic arm 4 is rotatably connected to a mounting base 5, which is connected to the mounting part. A displacement sensor is provided on the robotic arm 4. An angle-adjustable actuator 6 is provided at the end of the robotic arm 4. An angle sensor is provided between the actuator 6 and the robotic arm 4. A telescopic part 61 is provided on the actuator 6. A linear sensor is provided on the telescopic part 61. An electric hammer 62 is provided on the telescopic part 61. A drill bit 63 is detachably connected to the electric hammer 62. The robotic arm 4, the CNC walking system 3, the actuator 6, the displacement sensor, the angle sensor, and the linear sensor are all electrically connected to the controller 1.

[0046] In the above scheme, during the drilling construction of the track 2, a CNC walking system 3 is set up on the track 2. The CNC walking system 3 is equipped with a controller 1 and a robotic arm 4. The CNC walking system 3 drives the robotic arm 4 to process at each work station along the track 2. The mounting part of the CNC walking system 3 is connected to the mounting base 5 to position the robotic arm 4. The position or angle of the robotic arm 4 is monitored by a displacement sensor and fed back to the controller 1. At each work station, the angle of the robotic arm 4 is adjusted in conjunction with the rotation of the actuator 6 to make the drill bit 63 align with each drilling point in the tunnel section direction at the current work station. An angle sensor 1 tests the rotation angle of the actuator 6 and feeds back to the controller 1. The extension of the telescopic part 61 and the operation of the electric hammer 62 drive the drill bit 63 to drill. The actuator 6 includes the telescopic part 61 and the electric hammer 62. A linear sensor 1 tests the extension value of the telescopic part 61 and feeds back to the controller 1. The drilling feed depth is calculated based on the extension value. The controller 1 controls the robotic arm 4, the CNC walking system 3, the telescopic part 61, and the electric hammer 62. The structure and principle of the electric hammer 62 are the same as those of existing structures on the market. The shape of the outer shell of the electric hammer 62 can be adjusted according to installation needs.

[0047] Several mounting holes are correspondingly opened between the mounting base 5 and the mounting part, and bolts are installed in the mounting holes for connection and fixation. The controller 1 is a control box. The controller 1 is equipped with a control panel. Employees can interact with the machine through the control panel, input commands, and also display the feedback parameters of the sensors. The extension value of the telescopic part 61 can be preset, and the distance between the end of the robotic arm 4 and the drilling point on the wall can be set accordingly.

[0048] The robotic arm 4 is driven and controlled by hydraulic cylinders and hydraulic motors. The hydraulic cylinders and hydraulic motors are connected to proportional valves to control the output. The proportional valves are controlled by a program set by the PLC. The movement is monitored and transmitted back in real time by displacement sensors for real-time control.

[0049] Actuator 6 can effectively monitor the drilling depth and perform drilling actions. The thrust is adjustable, and the size of the drill bit 63 can be manually changed.

[0050] Furthermore, the CNC walking system 3 includes a vehicle body, and a plurality of track wheels 7 driven by servo motors are provided at the bottom of the vehicle body. A battery pack 8 is provided on the vehicle body, and the servo motors, battery pack 8 and controller 1 are electrically connected.

[0051] The vehicle body is used to mount the robotic arm 4, battery pack 8, and servo motor. The servo motor is equipped with track wheels 7 that cooperate with the track 2 to improve the movement accuracy of the vehicle body, thereby improving the positioning accuracy of the robotic arm 4 at various work points. The battery pack 8 mounted on the vehicle body provides power to the robotic arm 4, servo motor, and actuator 6, simplifying the power supply and wiring procedures during construction.

[0052] The battery pack 8 is detachably mounted around the vehicle body and can be positioned via slots or screws. The inner side of the track wheels 7 has wheel rims to improve stability and movement accuracy when working with the track 2. The wheels are driven by servo motors, allowing for precise control of the travel distance.

[0053] The CNC walking system 3 is 5.4 meters long and 2.8 meters wide. The vehicle base has pre-drilled holes for fixing the robotic arm 4 to the base 5. The CNC walking system 3 is linked with the robotic arm 4 through program control, automatically measuring and moving along the track 2 under the command of the controller 1. The CNC walking system 3 is driven by a power system of four 7.5kW servo motors. The relevant control modules of the vehicle are integrated with the robotic arm 4 to achieve integrated control of the measurement and drilling.

[0054] Furthermore, the robotic arm 4 includes several levels of swing arms and an adjustment device for adjusting the angle of each level of swing arms. The several levels of swing arms are hinged in sequence. A CNC turntable 12 is provided on the top surface of the mounting base 5, and the robotic arm 4 is hinged on the CNC turntable 12.

[0055] By setting up a series of sequentially hinged swing arms and adjusting devices, the robotic arm 4 can be flexibly adjusted, enabling the actuator 6 to reach various drilling points in the tunnel cross-section direction. By setting a CNC turntable 12 on the mounting base 5, the robotic arm 4 can rotate accordingly, thereby drilling holes at adjacent drilling points in the tunnel cross-section direction at the same workstation, improving drilling efficiency.

[0056] Furthermore, the robotic arm 4 includes a primary swing arm 41, a secondary swing arm 42, and a tertiary swing arm 43. The adjusting device includes a primary hydraulic cylinder 9 and a secondary hydraulic cylinder 10. The two ends of the primary hydraulic cylinder 9 are respectively hinged to the CNC turntable 12 and the primary swing arm 41. The two ends of the secondary hydraulic cylinder 10 are respectively hinged to the primary swing arm 41 and the secondary swing arm 42. Worm gear mechanisms 11 are respectively provided between the secondary swing arm 42 and the tertiary swing arm 43, and between the tertiary swing arm 43 and the actuator 6.

[0057] The angle of the first-stage swing arm 41 is adjusted by the extension and retraction of the first-stage hydraulic cylinder 9; the relative angle between the first-stage swing arm 41 and the second-stage swing arm 42 is adjusted by the extension and retraction of the second-stage hydraulic cylinder 10; and the relative angle between the third-stage swing arm 43 and the second-stage swing arm 42, and the relative angle between the actuator 6 and the third-stage swing arm 43, are adjusted by a worm gear structure. The worm gear structure includes a rotatable worm and a worm wheel threaded into the worm, which rotates as the worm rotates. Adjacent swing arms can be connected using hydraulic cylinders or a worm gear mechanism 11 as an angle adjustment device.

[0058] The outer end of the secondary swing arm 42 is equipped with a worm gear driven by a servo motor. A worm wheel 1, cooperating with the worm gear 1, is fixedly connected to the tertiary swing arm 43. The outer end of the tertiary swing arm 43 is equipped with a worm gear 2 driven by a servo motor. A worm wheel 2, cooperating with the worm gear 2, is fixedly connected to the actuator 6. This allows for angle adjustment of the tertiary swing arm 43 and the actuator 6. The angle adjustment of the actuator 6 is achieved using a servo motor and a worm gear reducer.

[0059] The worm gear mechanism 11 adjusts the angle of the three-stage swing arm 43. The second-stage hydraulic cylinder 10 serves as the swing arm adjustment hydraulic cylinder, and the first-stage hydraulic cylinder 9 serves as the hydraulic cylinder controlling the forward and backward tilting movements of the swing arm. The robotic arm 4 has a range of motion of 180° and an operating radius covering the entire tunnel cross-section. Drilling operations on the cross-section of the robotic arm 4 can be achieved through control by the controller 1.

[0060] Furthermore, the displacement sensor includes a second linear sensor and a second angle sensor. The second linear sensor is installed at the first-stage hydraulic cylinder 9 and the second-stage hydraulic cylinder 10, and the second angle sensor is installed between the CNC turntable 12, the second-stage swing arm 42 and the third-stage swing arm 43. The second linear sensor and the second angle sensor are both electrically connected to the controller 1.

[0061] Linear sensor 2 monitors the extension and retraction values ​​of the primary hydraulic cylinder 9 and the secondary hydraulic cylinder 10 in real time and feeds them back to controller 1. Angle sensor 2 monitors the rotation angle of the CNC turntable 12 and the worm gear mechanism 11 in real time and feeds it back to controller 1. The position of each stage of the swing arm is determined by measuring the extension and rotation angles measured by linear sensor 2 and angle sensor 2. By recording the feedback values, controller 1 can read them at the next workstation and automatically adjust the position of drill bit 63 for drilling.

[0062] Furthermore, the CNC turntable 12 includes a turntable body and a hydraulic motor connected to the turntable body.

[0063] The rotation of the disc is controlled by a hydraulic motor, and the output end of the hydraulic motor is fixedly connected to the center of the bottom surface of the disc.

[0064] The turntable is powered by a hydraulic motor, with angle monitoring via a rotary encoder or angle sensor, and precision and speed controlled by a proportional valve. It can control the robotic arm to rotate 4360 degrees and stop accurately at any position. The control precision is within 0.1mm-0.2mm.

[0065] Furthermore, the telescopic part 61 includes a fixed plate 611, a movable plate 612 is slidably connected to the fixed plate 611, and a driving component 613 is provided between the movable plate 612 and the fixed plate 611. The driving component 613 is electrically connected to the controller 1.

[0066] The angle of the actuator 6 is adjusted by rotating the fixed plate 611 with the end of the robotic arm 4 and cooperating with the adjustment component. The electric hammer 62 is fixed on the moving plate 612. The slidingly connected moving plate 612 is driven by the drive component 613, which drives the electric hammer 62 and the drill bit 63 to extend and retract to realize the drilling action. The drive component 613 is controlled by the controller 1.

[0067] The adjusting component uses a worm gear mechanism 11. The fixed plate 611 has two slide rails. The moving plate 612 is a plate body with two grooves at its bottom that mate with the slide rails. The driving component 613 is a hydraulic cylinder, the output end of which is fixed to the moving plate 612. The electric hammer 62 is bolted to the moving plate 612. Alternatively, the driving component 613 can be a motor-driven lead screw, which is threadedly connected to the connecting hole of the moving plate 612.

[0068] Furthermore, the actuator 6 is provided with a dust suction port 13, the dust suction port 13 is connected to a pipe 14, the pipe 14 is connected to a dust collection device 15, the dust collection device 15 includes a collection container and a power unit, and the dust collection device 15 is electrically connected to the controller 1.

[0069] During drilling, the power unit is controlled by the controller 1 to generate negative pressure, which collects the dust at the suction port 13 into the collection container through the pipe 14, reducing the spread of dust in the air, protecting human health and ensuring the construction environment.

[0070] The power unit includes a motor and an impeller. A filter structure is installed in the collection container to retain dust within it. The structure is similar to that of a vehicle-mounted vacuum cleaner. The robotic arm 4 is equipped with a mounting tube 16, through which the suction pipe 14 is connected. The suction port 13 includes a hollow fixed shell 131 mounted on a moving plate 612. The fixed shell 131 has a mounting through hole; one side of the through hole allows the drill bit 63 to pass through, and the other side is fitted with an elastic bellows 132, which is located around the outer ring of the drill bit 63. The fixed shell 131 communicates with the suction pipe 14, thereby preventing dust from spraying out during drilling.

[0071] Furthermore, a distance sensor is provided on the telescopic part 61, and the distance sensor is electrically connected to the controller 1.

[0072] The distance sensor can determine the distance between the drill bit 63 and the borehole wall, monitor the depth of the borehole, and send the data back to the controller 1.

[0073] Example 2

[0074] The working method of the automatic drilling robotic arm device in this embodiment, using the automatic drilling robotic arm device in Embodiment 1, includes the following working steps:

[0075] S1: Control the CNC walking system 3 to move to the starting working point, manually use the controller 1 to operate the robotic arm 4 to move to the required drilling point, adjust the angle of the actuator 6, and then extend the telescopic part 61 to cooperate with the electric hammer 62 to drill. Repeat the above drilling operation to drill other drilling points at the starting working point in sequence. The controller 1 records the path parameters of each drilling point. The path parameters include the positioning parameters fed back by the displacement sensor, the angle parameters fed back by the angle sensor, and the telescopic parameters fed back by the linear sensor.

[0076] S2: After all drilling at the current work point is completed, the robotic arm 4 returns to the initial state and moves to the next work point through the CNC walking system 3. The controller 1 reads the path parameters in sequence and controls the robotic arm 4 to reach the corresponding drilling point to perform drilling.

[0077] S3: Repeat step S2 to complete the drilling operation.

[0078] In step S1 of the above scheme, during tunnel drilling, construction proceeds continuously from one end of the tunnel to the other. First, at the starting work point, the angle of the robotic arm 4 is adjusted manually using the controller 1 and moved to the drilling point, aligning the drill bit 63 on the actuator 6 with the drilling point. The telescopic part 61 then extends the electric hammer 62, which drills the hole. This process is repeated, moving the robotic arm 4 to the drilling point, adjusting the angle of the actuator 6, and coordinating the telescopic part 61 with the electric hammer 62 to complete drilling at other points. The controller 1 records path parameters for automatic drilling at other work points. The robotic arm 4 is controlled by the positioning parameters. The end effector reaches each drilling point, the angle parameter adjusts the angle of the actuator 6, and the extension value of the extension part 61 is determined by the extension parameter to complete the movement of the robotic arm 4, the adjustment of the angle of the actuator 6, and the extension of the electric hammer 62 to drill. In S2, after the drilling of the current working point is completed, the robotic arm 4 returns to the initial state. According to the distance between each point, the controller 1 manually or automatically operates the CNC walking system 3 to move the corresponding distance to the next working point. The controller 1 reads the parameters and automatically drills each drilling point. In S3, by repeating the steps in S2, drilling can be performed on the drilling points of each working point in the tunnel along the track 2.

[0079] The positioning parameters fed back by the displacement sensor include the extension and retraction values ​​of the primary hydraulic cylinder 9 and the secondary hydraulic cylinder 10 fed back by the linear sensor 2, and the rotation angle of the worm gear mechanism 11 at the secondary swing arm 42 and the tertiary swing arm 43 fed back by the angle sensor 2.

[0080] The CNC walking system 3 advances forward, positions itself, returns to zero, and is set as the starting working point. After setting, the robotic arm 4 is manually aligned with the first hole, the required angle is adjusted, the stroke is set, the drilling thrust is determined, and the first starting point parameters for the hole are set. Drilling then begins. Once all drilling points on the section corresponding to the first starting point have been completed, the robotic arm 4 retracts, and the retraction state is saved. The CNC walking system 3 is then advanced to the second working point via control panel buttons or automatic control by controller 1. Controller 1 reads relevant data to drive the robotic arm 4 and drills at various professional points on the section. Based on the position data transmitted back from the vehicle controller 1, the corresponding hole positions are reached, and the drilling action is completed sequentially upon reaching the designated position. More holes can be recorded multiple times. In this embodiment, adjacent working points are spaced 1m apart along the direction of track 2. After drilling is completed on each section of the tunnel, the hole depth and diameter are randomly checked, and a sampling record is filled out.

[0081] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic drilling robotic arm device, characterized in that, The system includes a controller, a CNC walking system mounted on a track, and an angle-adjustable robotic arm. The top surface of the CNC walking system has a mounting part. The starting end of the robotic arm is rotatably connected to a mounting base, which is connected to the mounting part. A displacement sensor is mounted on the robotic arm, and an angle-adjustable actuator is mounted at the end of the robotic arm. An angle sensor is positioned between the actuator and the robotic arm. The actuator has a telescopic part, and a linear sensor is mounted on the telescopic part. An electric hammer is mounted on the telescopic part, and a drill bit is detachably connected to the electric hammer. The robotic arm, CNC walking system, actuator, displacement sensor, angle sensor, and linear sensor are all electrically connected to the controller. The robotic arm includes several stages of swing arms and an adjustment device for adjusting the angle of each stage of the swing arms. The several stages of swing arms are hinged sequentially. A CNC turntable is mounted on the top surface of the mounting base, and the robotic arm is hinged to the CNC turntable. The robotic arm includes a first-stage swing arm, a second-stage swing arm, and a third-stage swing arm. The adjustment device... The device includes a primary hydraulic cylinder and a secondary hydraulic cylinder. The two ends of the primary hydraulic cylinder are hinged to a CNC turntable and a primary swing arm, respectively. The two ends of the secondary hydraulic cylinder are hinged to both the primary and secondary swing arms, respectively. Worm gear mechanisms are respectively installed between the secondary and tertiary swing arms and between the tertiary swing arm and the actuator. The displacement sensor includes a second linear sensor and a second angle sensor. A second linear sensor is installed at the primary and secondary hydraulic cylinders, and a second angle sensor is installed between the CNC turntable, the secondary swing arm, and the tertiary swing arm. Both the second linear sensor and the second angle sensor are electrically connected to the controller. The telescopic part includes a fixed plate, on which a movable plate is slidably connected. A driving component is installed between the movable plate and the fixed plate, and the driving component is electrically connected to the controller. The actuator has a dust suction port connected to a pipe. The pipe is connected to a dust collection device, which includes a collection container and a power unit. The dust collection device is electrically connected to the controller.

2. The automatic drilling robotic arm equipment according to claim 1, characterized in that, The numerical control walking system includes a vehicle body, with several track wheels driven by servo motors at the bottom of the vehicle body, and a battery pack on the vehicle body. The servo motors, battery pack and controller are electrically connected.

3. The automatic drilling robotic arm equipment according to claim 1, characterized in that, The CNC turntable includes a turntable body and a hydraulic motor connected to the turntable body.

4. The automatic drilling robotic arm equipment according to claim 1, characterized in that, A distance sensor is installed on the telescopic part, and the distance sensor is electrically connected to the controller.

5. A method of operating the automatic drilling robotic arm as described in any one of claims 1-4, characterized in that, The work includes the following steps: S1: Control the CNC walking system to move to the starting working point, manually use the controller to operate the robotic arm to move to the required drilling point, adjust the angle of the actuator, and then extend the telescopic part to cooperate with the electric hammer to drill. Repeat the above drilling operation to drill other drilling points at the starting working point in turn. The controller records the path parameters of each drilling point. The path parameters include the positioning parameters fed back by the displacement sensor, the angle parameters fed back by the angle sensor, and the telescopic parameters fed back by the linear sensor. S2: After all drilling at the current work point is completed, the robotic arm returns to its initial state and moves to the next work point through the CNC walking system. The controller reads the path parameters in sequence and controls the robotic arm to reach the corresponding drilling point to perform drilling. S3: Repeat step S2 to complete the drilling operation.

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