A borehole construction industrial robot system

Abstract

This invention discloses a drilling industrial robot system, comprising a soft positioning layer, a reference rail, a traveling body, a rotating frame, a positioning frame, and a drill. The soft positioning layer is a structural layer set on the inner wall surface of a non-smooth section. The reference rail is set longitudinally on the tunnel floor. Both the rotating frame and the positioning frame are set on the upper surface of the traveling body. The rotating frame is equipped with a controllable rotating axis. The drill is vertically set at the working end of the rotating axis and performs polar coordinate motion along the transverse section of the tunnel. The positioning frame moves orthogonally with the reference rail as a reference. The working end of the drill is set in the middle of the working end of the positioning frame, and the axis of the drill is perpendicular to the straight segment in the middle of the working end of the positioning frame. This device achieves secondary orthogonal coordinate positioning of the drill bit robotic arm at the physical level through the positioning frame, ensuring that the final drilling structure is based on the design principle and performed orthogonally, thus guaranteeing the consistency between design and actual operation.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction, and in particular to an industrial robot system for drilling construction. Background Technology

[0002] Intercity rail transit projects involve long tunnels, requiring extensive drilling for water and electricity installation. Furthermore, tunnel construction encompasses various methods, including cut-and-cover, mining, and tunnel boring, resulting in tunnel sections that are not only rectangular but also curved, making the structural surfaces highly prone to unevenness. Due to these factors, ordinary drilling robots are no longer sufficient to meet the accuracy and schedule requirements for drilling in uneven areas.

[0003] For example, a shield tunnel section refers to a tunnel section excavated using a shield tunneling machine. Because the shield tunneling machine is a rotating structure, the overall section structure is an arc-shaped structure. This is applied to the most basic and demanding large-hole work in subway tunnel ventilation, water, and electrical installation projects, such as drilling holes for support installation. Traditionally, manual drilling methods are insufficient in terms of efficiency and accuracy.

[0004] Currently, drilling robots are used for drilling operations in tunnels, but they inherently have the following problems. Drilling inside a tunnel requires the hole axis to be perpendicular to the tangent to the tunnel surface. Since tunnel surfaces are often curved, commonly used drilling robots require drill bit control based on polar coordinates at both the physical and parametric levels. This leads to significant additional errors because the calibration method for drilling operations is actually based on calibration data within an orthogonal system measured from the ground. These errors stem from the approximate calculations between the orthogonal and polar coordinate systems, and the fact that the selection of the chord position on the circumference is severely affected by rotational accuracy; a small angular deviation at the center can cause a large deviation around the circumference.

[0005] At the same time, when drilling on a curved surface, unlike drilling on a flat surface, the drill bit is prone to skipping during positioning because the object being drilled is curved and has greater brittleness. This results in inaccurate positioning and reduces the accuracy of the drilling position.

[0006] Furthermore, during tunnel construction, the drilling machinery used often relies on infrared-assisted positioning. However, the drilling process itself generates significant dust, leading to inaccurate infrared positioning. Combined with the issue of polar coordinates, such offsets are often difficult to detect.

[0007] Therefore, there is a need for an industrial robot system for drilling to reduce such precision errors during drilling. Summary of the Invention

[0008] This invention addresses the problem in existing technologies where drilling in tunnels requires the hole axis to be perpendicular to the tangent of the tunnel surface. Since the tunnel surface is curved, commonly used drilling robots rely on polar coordinates for drill bit control at both the physical and parametric levels. This leads to significant additional errors because the calibration method for drilling operations is based on orthogonal coordinate data calculated from the ground. These errors stem from the approximate calculations between the orthogonal and polar coordinate systems, and the fact that the selection of the chord position on the circumference is severely affected by rotational accuracy; even a small angular deviation at the center can cause a large deviation around the circumference. This invention provides a drilling robot system that employs a physical-level polar and orthogonal coordinate transformation method to solve these problems.

[0009] This invention provides a drilling industrial robot system, including a soft positioning layer, a reference rail, a traveling body, a rotating frame, a positioning frame, a drill, a controller, and a dust sensor. The soft positioning layer is a structural layer disposed on the inner wall surface of a non-smooth section. The reference rail is longitudinally disposed on the tunnel floor. The traveling body is a drilling trolley that can move controllably on the rail. The rotating frame and the positioning frame are both disposed on the upper surface of the traveling body. The rotating frame is provided with a controllable rotating shaft, which is axially disposed along the longitudinal direction of the reference rail. The drill is perpendicularly disposed at the working end of the rotating shaft. The drill performs polar coordinate motion along the transverse sectional plane of the non-smooth area. The positioning frame... The working end acts on the inner surface of the soft positioning layer. The positioning frame moves orthogonally with the reference rail as the reference. The working end of the positioning frame consists of several straight segments connected end to end and inscribed in the transverse cross-section line of the non-smooth area. The working end of the punch is located in the middle of the working end of the positioning frame. The axis of the punch is perpendicular to the straight segment in the middle of the working end of the positioning frame. The working end of the positioning frame has a rotating positioning seat. The working end of the punch is rotated and positioned by the rotating positioning seat. The dust sensor is set on the vehicle body. The controller is set on the vehicle body. The controller receives the information from the dust sensor and the attitude information of the working end of the positioning frame and controls the traveling end of the vehicle body and the working end of the punch.

[0010] The drilling industrial robot system of the present invention, in a preferred embodiment, includes a positioning frame comprising a vertical positioning seat, a pair of first transverse positioning rods, a pair of second transverse moving rods, several adjusting sections, positioning sections, a pair of elastic anti-bow frames, several positioning sensors, a pair of tensioning motors, and a pair of tensioning ropes. The vertical positioning seat is disposed on the upper surface of the traveling vehicle body and is movable in the direction perpendicular to the reference rail. The first transverse positioning rods and second transverse moving rods are transversely arranged on the upper surface of the vertical positioning seat. The first transverse positioning rods and second transverse moving rods are movable perpendicular to the moving direction of the vertical positioning seat. The height of the first transverse positioning rod is greater than that of the second transverse positioning rod. The adjusting sections and positioning sections are plate structures. The adjusting sections are hinged end-to-end along the plate in a strip-like structure. The positioning sections are evenly hinged on the adjusting sections. Between the long sections, a through-hole rotating positioning seat perpendicular to the positioning section plate is provided in the middle of the positioning section. The positioning sensor is set at the hinge position of the strip structure formed by the length adjustment section and the positioning section. The elastic anti-bow skeleton is an arc-shaped elastic strip. The two long sides of the strip structure are slidably connected to the elastic anti-bow skeleton. One end of the elastic anti-bow skeleton is connected to the end of the first transverse positioning rod. The second transverse positioning rod is slidably connected to the elastic anti-bow skeleton. The two long sides of the strip structure are slidably connected between the ends of the first and second transverse positioning rods of the elastic anti-bow skeleton. The tightening motors are respectively set at the ends of the first and second transverse positioning rods. The tightening motors are respectively connected to the length adjustment sections at the two free ends of the strip structure through tightening ropes. The center of the elastic anti-bow skeleton is set in the direction of the rotation axis.

[0011] The elongated structure, consisting of adjustable and positioning sections, is formed by connecting segments. When each segment is sufficiently small, this structure can be approximated as the edge of a circle, while maintaining the planarity of the drill bit contact structure in the positioning configuration. An elastic anti-bow frame forces the adjustable and positioning sections to be inscribed within the non-smooth surface area, ensuring accuracy. The positioning sensor transmits the actual position to the controller, providing a basis for further adjustments to the polar coordinate system at the data coordinate level.

[0012] The drilling industrial robot system of the present invention, in a preferred embodiment, includes a positioning section comprising a positioning section plate, a positioning through hole, an axial spring, a bearing, a positioning block, and a gasket. The positioning section plate is a cuboid plate structure. The positioning through hole is located in the middle of the positioning section plate and is a stepped hole. The large-diameter stepped hole of the positioning through hole is located on one side of the non-contact soft positioning layer. The axial spring is located inside the positioning through hole, with one end of the axial spring contacting the radial stepped surface of the positioning through hole. The gasket is a through-hole gasket located inside the positioning through hole and connected to the other end of the axial spring. The bearing is located on the inner surface of the large-diameter stepped hole of the positioning through hole. The positioning block is located inside the large-diameter stepped hole of the positioning through hole, with the lower end of the positioning block contacting the gasket. A conical hole is located in the middle of the positioning block, with the angle of the conical hole being the same as the angle of the working end of the drill. The maximum diameter of the conical hole is smaller than the maximum diameter of the working end of the drill. The diameter of the conical hole decreases sequentially from the outer surface to the surface in contact with the gasket. A limiting block is provided on the surface of the positioning section plate to limit the axial position of the positioning block.

[0013] The drill bit passes through the through hole of the positioning plate and presses against the inner hole of the positioning block. The rotation allows the drill bit structure, which is the far end of the rod, to be adjusted by the position of the positioning block, so that the positioning block and the drill bit rotate coaxially to achieve auxiliary positioning. At this time, the feed compresses the axial spring to achieve shallow drilling.

[0014] The drilling construction industrial robot system of the present invention, in a preferred embodiment, includes a rotating base comprising a frame, a rotating output mechanism, and a rotating shaft. The frame is disposed on the upper surface of the traveling vehicle body, the rotating shaft is movably disposed on the frame, and the output end of the rotating output mechanism is connected to the rotating shaft, the rotating output mechanism being used to provide rotational power for the rotating shaft.

[0015] The drilling industrial robot system of the present invention, in a preferred embodiment, includes a drill bit comprising several drill bits, a drill bit mounting base, a driver, a feed rod, and a rotating base. The rotating base is connected to the output end of a rotating shaft. One end of the feed rod is connected to the rotating base, and the other end is connected to the drill bit mounting base. The feed rod axis is perpendicular to the rotating shaft axis. The driver is mounted on the rotating base and connected to the feed rod to control the feed of the feed rod. The drill bits are mounted on the drill bit mounting base.

[0016] In a preferred embodiment of the drilling industrial robot system of the present invention, the drill bit mounting base is provided with at least three infrared generators whose working direction is parallel to the drill bit axis, and the positioning section plate is provided with infrared receivers whose positions correspond to the positions of the infrared generators when the drill bit axis is perpendicular to the drill bit axis.

[0017] In a preferred embodiment of the drilling industrial robot system described in this invention, an elastic allowance is provided between the rotating base and the rotating shaft.

[0018] The method of using the drilling construction industrial robot system of the present invention includes the following steps:

[0019] S1. Set the vehicle body on the reference rail and determine whether it is a soft positioning layer made of concrete. If so, proceed to step S2. Otherwise, arrange an additional soft positioning layer on the wall in the non-smooth area and proceed to step S2.

[0020] S2. Input the punching reference nodes at both ends of the non-smooth area into the controller;

[0021] S3. The controller determines the drilling position sequence in the non-smooth area based on the dichotomy method and the drilling parameters.

[0022] S4. The controller moves the vehicle body to the highest priority drilling position.

[0023] S5. Turn on the dust sensor and determine whether the amount of dust at the current position is greater than the threshold X. If yes, move to the next priority drilling position and proceed to step S5; otherwise, proceed to step S6.

[0024] S6. The positioning frame adjusts the horizontal and vertical moving parts according to the orthogonal reference information of the drilling, so that the top of the horizontal positioning rod contacts the soft positioning layer.

[0025] S7. The tightening motor tightens the tightening rope to the non-smooth area side wall arc of the long strip structure composed of the adjusting section and the positioning section;

[0026] S8. Adjust the drill bit orientation based on the polar coordinate signal converted from the orthogonal coordinate signal of the drilling position;

[0027] S9. The controller determines whether all infrared receivers have received the infrared generator signal. If yes, proceed to step S9; otherwise, adjust the drill bit orientation and proceed to step S9.

[0028] S10. The drill bit feeds into the inner wall of the positioning block and adjusts the guide through the inner wall of the positioning block.

[0029] S11. The drill bit rotates and feeds to perform shallow drilling and positioning on the surface of the soft positioning layer;

[0030] S12. The positioning frame is retracted to its original position;

[0031] S13. The drill bit performs a secondary feed at the shallow drilling positioning point;

[0032] S14. Determine if this is the last punching point. If yes, proceed to step S15; otherwise, proceed to step S4.

[0033] S15. Complete the drilling work.

[0034] The beneficial effects of this invention are as follows:

[0035] (1) This device physically abstracts the edge of the non-smooth area into several straight line segments to ensure the flatness of the contact surface. On this basis, the rotation is corrected by the elastic margin of the positioning block and the rotating seat. Compared with the ordinary alignment method, the axis of the rotating body is determined more accurately by structural features.

[0036] (2) The drill bit robotic arm controlled by polar coordinates at the physical level achieves secondary positioning of orthogonal coordinates at the physical level through the positioning frame, so that the final drilling structure is based on the design principle and is carried out in an orthogonal manner, ensuring the consistency between design and actual operation.

[0037] (3) Drilling is performed based on the bisection method by dust detection, so that the working area can avoid the influence of dust on the infrared structure as much as possible, thus ensuring the correlation accuracy between the polar coordinate structure and the orthogonal coordinate structure. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of an industrial robot system for drilling operations;

[0039] Figure 2 A schematic diagram of a positioning frame for an industrial robot system used in drilling operations;

[0040] Figure 3 A schematic diagram of the positioning section of a drilling industrial robot system;

[0041] Figure 4 A schematic diagram of the rotating base of an industrial robot system for drilling operations;

[0042] Figure 5 A schematic diagram of a hole punch in an industrial robot system for drilling operations;

[0043] Figure 6 This is a flowchart illustrating the usage method of an industrial robot system for drilling operations.

[0044] Figure label:

[0045] 1. Soft positioning layer; 2. Reference rail; 3. Traveling vehicle body; 4. Rotating frame; 41. Frame body; 42. Rotary output mechanism; 43. Rotating shaft; 5. Positioning frame; 51. Vertical positioning seat; 52. First transverse positioning rod; 53. Second transverse moving rod; 54. Adjustable section; 55. Positioning section; 551. Positioning section plate; 552. Positioning through hole; 553. Axial spring; 554. Bearing; 555. Positioning block; 556. Shim; 56. Elastic anti-bow frame; 57. Positioning sensor; 58. Tensioning motor; 59. Tensioning rope; 6. Drill; 61. Drill bit; 62. Drill bit mounting seat; 63. Driver; 64. Feed rod; 65. Rotating seat; 7. Controller; 8. Dust sensor. Detailed Implementation

[0046] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0047] Example 1

[0048] like Figure 1 As shown, a drilling industrial robot system includes a soft positioning layer 1, a reference rail 2, a traveling carriage 3, a rotating frame 4, a positioning frame 5, a drill 6, a controller 7, and a dust sensor 8. The soft positioning layer 1 is a structural layer set on the inner wall surface of a non-smooth area. The reference rail 2 is set longitudinally on the tunnel floor. The traveling carriage 3 is a drilling trolley that can move controllably on the rail. The rotating frame 4 and the positioning frame 5 are both set on the upper surface of the traveling carriage 3. The rotating frame 4 is equipped with a controllable rotating shaft 43, which is axially set along the longitudinal direction of the reference rail 2. The drill 6 is vertically set at the working end of the rotating shaft 43 and performs polar coordinate movement along the transverse section of the tunnel. The positioning frame 7... The working end acts on the inner surface of the soft positioning layer 1. The positioning frame 5 moves orthogonally with the reference rail 2 as the reference. The working end of the positioning frame 5 consists of several straight segments connected end to end and inscribed in the transverse cross-section line of the non-smooth area. The working end of the punch 6 is located in the middle of the working end of the positioning frame 5. The axis of the punch 6 is perpendicular to the straight segment in the middle of the working end of the positioning frame 5. The working end of the positioning frame 5 has a rotating positioning seat. The working end of the punch 6 is rotated and positioned by the rotating positioning seat. The dust sensor 8 is set on the vehicle body 3. The controller 7 is set on the vehicle body 3. The controller 7 receives the information from the dust sensor 8 and the attitude information of the working end of the positioning frame 5 and controls the traveling end of the vehicle body 3 and the working end of the punch 6.

[0049] In this embodiment, the soft positioning layer 1 is concrete with added organic materials poured onto the surface of the non-smooth area, and then high-strength concrete is poured on top to form the completed structure. Specifically, in this embodiment, the added material is polyurethane.

[0050] Optionally, the soft positioning layer 1 can also be a complete pad formed by a flexible material such as rubber, which is pasted onto the inner wall of the non-smooth area and then removed after drilling.

[0051] like Figure 2As shown, the positioning frame 5 includes a vertical positioning seat 51, a pair of first transverse positioning rods 52, a pair of second transverse moving rods 53, several adjusting sections 54, positioning sections 55, a pair of elastic anti-bow frames 56, several positioning sensors 57, a pair of tightening motors 58, and a pair of tightening ropes 59. The vertical positioning seat 51 is mounted on the upper surface of the vehicle body 3 and is movable in the direction perpendicular to the reference rail 2. The first transverse positioning rods 52 and second transverse moving rods 53 are transversely arranged on the upper surface of the vertical positioning seat 51. The first transverse positioning rods 52 and second transverse moving rods 53 are movable perpendicular to the direction of movement of the vertical positioning seat 51. The height of the first transverse positioning rod 52 is greater than that of the second transverse positioning rod. The adjusting sections 54 and positioning sections 55 are plate structures. The adjusting sections 54 are hinged to each other along the plate in a strip-like structure. The positioning sections 55 are evenly hinged between the adjusting sections 54. A through-hole rotating positioning seat is provided in the middle of section 55, which is perpendicular to the plate of the positioning section 55. The positioning sensor 57 is set at the hinge position of the strip structure formed by the length adjustment section 54 and the positioning section 55. The elastic anti-bow frame 56 is an arc-shaped elastic strip. The two long sides of the strip structure are slidably connected to the elastic anti-bow frame 56. One end of the elastic anti-bow frame 56 is connected to the end of the first transverse positioning rod 52. The second transverse positioning rod is slidably connected to the elastic anti-bow frame 56. The two long sides of the strip structure are slidably connected between the ends of the elastic anti-bow frame 56 and the ends of the first transverse positioning rod 52 and the second transverse positioning rod. The tightening motor 58 is respectively set at the ends of the first transverse positioning rod 52 and the second transverse positioning rod. The tightening motor 58 is connected to the length adjustment section 54 at the two free ends of the strip structure through the tightening rope 59. The center of the elastic anti-bow frame 56 is set in the direction of the rotation axis 43.

[0052] like Figure 3 As shown, the positioning section 55 includes a positioning section plate 551, a positioning through hole 552, an axial spring 553, a bearing 554, a positioning block 555, and a gasket 556. The positioning section plate 551 is a cuboid plate structure. The positioning through hole 552 is located in the middle of the positioning section plate 551. The positioning through hole 552 is a stepped hole. The large-diameter stepped hole of the positioning through hole 552 is located on one side of the non-contact soft positioning layer 1. The axial spring 553 is located inside the positioning through hole 552. One end of the axial spring 553 contacts the radial stepped surface of the positioning through hole 552. The gasket 556 is a through-hole gasket 556, located on... The other end of the axial spring 553 is connected inside the positioning through hole 552. The bearing 554 is set on the inner surface of the large-diameter stepped hole of the positioning through hole 552. The positioning block 555 is set inside the large-diameter stepped hole of the positioning through hole 552. The lower end of the positioning block 555 contacts the gasket 556. A tapered hole is provided in the middle of the positioning block 555. The angle of the tapered hole is the same as the angle of the working end of the punch 6. The maximum diameter of the tapered hole is smaller than the maximum diameter of the working end of the punch 6. The diameter of the tapered hole decreases from the outer surface to the contact surface with the gasket 556. The plate surface of the positioning section plate 551 is provided with a limiting block for axially limiting the positioning block 555.

[0053] like Figure 4 As shown, the rotating seat 65 includes a frame 41, a rotating output mechanism 42, and a rotating shaft 43. The frame 41 is mounted on the upper surface of the traveling vehicle body 3, and the rotating shaft 43 is movably mounted on the frame 41. The output end of the rotating output mechanism 42 is connected to the rotating shaft 43, and the rotating output mechanism 42 is used to provide rotational power to the rotating shaft 43.

[0054] like Figure 5 As shown, the driller 6 includes several drill bits 61, a drill bit mounting base 62, a driver 63, a feed rod 64, and a rotating base 65. The rotating base 65 is connected to the output end of the rotating shaft 43. One end of the feed rod 64 is connected to the rotating base 65, and the other end is connected to the drill bit mounting base 62. The axial direction of the feed rod 64 is perpendicular to the axial direction of the rotating shaft 43. The driver 63 is mounted on the rotating base 65 and is connected to the feed rod 64 to control the feed of the feed rod 64. The drill bits 61 are mounted on the drill bit mounting base 62.

[0055] The drill bit mounting base 62 is equipped with at least three infrared generators whose working direction is parallel to the axis of the drill bit 61. The positioning section plate 551 is equipped with infrared receivers whose positions correspond to the positions of the infrared generators when the drill bit 61 is perpendicular to its axis. An elastic allowance is provided between the rotating base 65 and the rotating shaft 43.

[0056] like Figure 6 As shown, the method of using the drilling industrial robot system includes the following steps:

[0057] S1. Set the traveling vehicle body 3 on the reference rail 2 and determine whether it is a soft positioning layer 1 made of concrete. If so, proceed to step S2. Otherwise, arrange an additional soft positioning layer 1 on the wall in the non-smooth area and proceed to step S2.

[0058] S2. Input the punching reference nodes at both ends of the non-smooth area into the controller 7;

[0059] S3, Controller 7 determines the drilling position sequence in the non-smooth area based on the dichotomy method and drilling parameters;

[0060] S4, Controller 7 controls the walking vehicle 3 to move to the highest priority drilling position;

[0061] S5. Turn on the dust sensor 8 and determine whether the amount of dust at the current position is greater than the threshold X. If yes, move to the next priority drilling position and proceed to step S5; otherwise, proceed to step S6.

[0062] S6. Positioning frame 5 adjusts the horizontal and vertical movable parts according to the orthogonal reference information of the hole, so that the top of the horizontal positioning rod contacts the soft positioning layer 1.

[0063] S7, the tightening motor 58 tightens the tightening rope 59 to the elongated structure composed of the length adjustment section 54 and the positioning section 55, which is connected to the non-smooth area side wall arc.

[0064] S8. Adjust the orientation of drill bit 61 according to the polar coordinate signal converted from the orthogonal coordinate signal of the drilling position;

[0065] S9. Controller 7 determines whether all infrared receivers have received the infrared generator signal. If yes, proceed to step S9; otherwise, adjust the orientation of drill bit 61 and proceed to step S9.

[0066] S10, the drill bit 61 feeds into the inner wall of the positioning block 555 and adjusts the guide through the inner wall of the positioning block 555;

[0067] S11, Drill bit 61 rotates and feeds to perform shallow drilling positioning on the surface of soft positioning layer 1;

[0068] S12, Positioning frame 5 is returned to its original position;

[0069] S13, Drill bit 61 performs secondary feed at the shallow drilling positioning point;

[0070] S14. Determine if this is the last punching point. If yes, proceed to step S15; otherwise, proceed to step S4.

[0071] S15. Complete the drilling work.

[0072] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A drilling construction industrial robot system, characterized in that: The system includes a soft positioning layer (1), a reference rail (2), a traveling vehicle body (3), a rotating frame (4), a positioning frame (5), a drill (6), a controller (7), and a dust sensor (8). The soft positioning layer (1) is a structural layer set on the inner wall surface of the non-smooth section. The reference rail (2) is set longitudinally on the tunnel floor. The traveling vehicle body (3) is a drilling trolley that can move controllably on the track. The rotating frame (4) and the positioning frame (5) are both set on the upper surface of the traveling vehicle body (3). The rotating frame (4) is provided with a controllable rotating shaft (43). The rotating shaft (43) is axially arranged longitudinally along the reference rail (2), and the punch (6) is vertically arranged at the working end of the rotating shaft (43). The punch (6) moves in polar coordinates along the transverse section of the tunnel. The working end of the positioning frame (5) acts on the inner surface of the soft positioning layer (1). The positioning frame (5) moves orthogonally with the reference rail (2) as the reference. The working end of the positioning frame (5) consists of several straight segments connected end to end and inscribed in the transverse section line of the tunnel. The positioning frame (5) includes several length adjustment sections (54) and positioning sections (55). The system consists of a pair of elastic anti-bow frames (56), a pair of tightening motors (58), and a pair of tightening ropes (59). The adjusting section (54) and the positioning section (55) are connected to form a strip structure. The two long sides of the strip structure are slidably connected to the elastic anti-bow frames (56). The tightening motors (58) are connected to the adjusting sections (54) at the two free ends of the strip structure through the tightening ropes (59). The center of the elastic anti-bow frames (56) is set towards the rotating shaft (43). The working end of the punch (6) is set on the working position of the positioning frame (5). At the middle of the end, the axis of the punch (6) is perpendicular to the straight segment at the middle of the working end of the positioning frame (5). The working end of the positioning frame (5) has a rotating positioning seat. The working end of the punch (6) is rotated and positioned by the rotating positioning seat. The dust sensor (8) is set on the walking vehicle body (3). The controller (7) is set on the walking vehicle body (3). The controller (7) receives the information from the dust sensor (8) and the posture information of the working end of the positioning frame (5) and controls the walking end of the walking vehicle body (3) and the working end of the punch (6).

2. The drilling construction industrial robot system according to claim 1, characterized in that: The positioning frame (5) further includes a vertical positioning seat (51), a pair of first transverse positioning rods (52), a pair of second transverse moving rods (53), and several positioning sensors (57). The vertical positioning seat (51) is disposed on the upper surface of the traveling vehicle body (3). The vertical positioning seat (51) is movable in the direction perpendicular to the reference rail (2). The first transverse positioning rods (52) and the second transverse moving rods (53) are transversely disposed on the upper surface of the vertical positioning seat (51). The first transverse positioning rods (52) and the second transverse moving rods (53) are movable perpendicular to the moving direction of the vertical positioning seat (51). The height of the first transverse positioning rods (52) is greater than that of the second transverse moving rods (53). The adjusting section (54) and the positioning section (55) are plate structures. The adjusting section (54) is hinged along the plate from end to end. The strip structure has a positioning section (55) that is evenly hinged between the lengthening section (54). The middle part of the positioning section (55) is provided with a through hole rotating positioning seat perpendicular to the plate direction of the positioning section (55). The positioning sensor (57) is located at the hinge position of the strip structure. The elastic anti-bow frame (56) is an arc-shaped elastic strip. One end of the elastic anti-bow frame (56) is connected to the end of the first transverse positioning rod (52). The second transverse moving rod (53) is slidably connected to the elastic anti-bow frame (56). The two long sides of the strip structure are slidably connected between the end of the elastic anti-bow frame (56) connected to the end of the first transverse positioning rod (52) and the end of the second transverse moving rod. The tightening motor (58) is respectively located at the ends of the first transverse positioning rod (52) and the second transverse moving rod (53).

3. The drilling construction industrial robot system according to claim 2, characterized in that: The positioning section (55) includes a positioning section plate (551), a positioning through hole (552), an axial spring (553), a bearing (554), a positioning block (555), and a gasket (556). The positioning section plate (551) is a cuboid plate structure. The positioning through hole (552) is located in the middle of the positioning section plate (551). The positioning through hole (552) is a stepped hole. The large-diameter stepped hole of the positioning through hole (552) is located on one side of the plate that does not contact the soft positioning layer (1). The axial spring (553) is located inside the positioning through hole (552). One end of the axial spring (553) contacts the radial stepped surface of the positioning through hole (552). The gasket (556) is a through-hole gasket and is located on the positioning section. The other end of the axial spring (553) is connected inside the through hole (552). The bearing (554) is disposed on the inner surface of the large-diameter stepped hole of the positioning through hole (552). The positioning block (555) is disposed inside the large-diameter stepped hole of the positioning through hole (552). The lower end of the positioning block (555) contacts the gasket (556). A tapered hole is provided in the middle of the positioning block (555). The angle of the tapered hole is the same as the angle of the working end of the punch (6). The maximum diameter of the tapered hole is smaller than the maximum diameter of the working end of the punch (6). The diameter of the tapered hole decreases sequentially from the outer surface to the contact surface with the gasket (556). The plate surface of the positioning section plate (551) is provided with a limiting block for axially limiting the positioning block (555).

4. The drilling construction industrial robot system according to claim 2, characterized in that: The rotating seat (65) includes a frame (41), a rotating output mechanism (42), and a rotating shaft (43). The frame (41) is disposed on the upper surface of the traveling vehicle body (3). The rotating shaft (43) is movably disposed on the frame (41). The output end of the rotating output mechanism (42) is connected to the rotating shaft (43). The rotating output mechanism (42) is used to provide rotational power to the rotating shaft (43).

5. The drilling construction industrial robot system according to claim 4, characterized in that: The drill (6) includes several drill bits (61), a drill bit mounting base (62), a driver (63), a feed rod (64), and a rotating base (65). The rotating base (65) is connected to the output end of the rotating shaft (43). One end of the feed rod (64) is connected to the rotating base (65), and the other end is connected to the drill bit mounting base (62). The axial direction of the feed rod (64) is perpendicular to the axial direction of the rotating shaft (43). The driver (63) is mounted on the rotating base (65) and is connected to the feed rod (64) to control the feed of the feed rod (64). The drill bits (61) are mounted on the drill bit mounting base (62).

6. The drilling construction industrial robot system according to claim 5, characterized in that: The drill bit mounting base (62) is provided with at least three infrared generators whose working direction is parallel to the axis of the drill bit (61), and the positioning section plate (551) is provided with an infrared receiver whose position corresponds to the position of the infrared generator when perpendicular to the axis of the drill bit (61).

7. The drilling construction industrial robot system according to claim 4, characterized in that: An elastic allowance is provided between the rotating seat (65) and the rotating shaft (43).

8. The method of using a drilling construction industrial robot system according to claim 1, characterized in that: Includes the following steps: S1. Set the traveling vehicle (3) on the reference rail (2) and determine whether it is a soft positioning layer (1) made of concrete. If so, proceed to step S2. Otherwise, arrange an additional soft positioning layer (1) on the inner wall of the non-smooth tunnel section and proceed to step S2. S2. Input the drilling reference nodes at both ends of the area to be drilled in the controller (7); S3, Controller (7) determines the drilling position sequence in the area to be drilled based on the dichotomy method and drilling parameters; S4, the controller (7) controls the walking vehicle (3) to move to the highest priority drilling position; S5. Turn on the dust sensor (8) and determine whether the amount of dust at the current position is greater than the threshold X. If yes, move to the next priority drilling position and proceed to step S5; otherwise, proceed to step S6. S6, Positioning frame (5) adjusts the horizontal and vertical movable parts according to the orthogonal reference information of the hole, so that the top of the horizontal positioning rod contacts the soft positioning layer (1). S7, Tightening motor (58) tightens tightening rope (59) to the non-smooth area side wall arc of the long strip structure composed of length adjustment section (54) and positioning section (55); S8. Adjust the orientation of the drill bit (61) according to the polar coordinate signal converted from the orthogonal coordinate signal of the drilling position; S9. The controller (7) determines whether all infrared receivers have received the infrared generator signal. If yes, proceed to step S9; otherwise, adjust the orientation of the drill bit (61) and proceed to step S9. S10, the drill bit (61) feeds into the inner wall of the positioning block (555) and adjusts the guide through the inner wall of the positioning block (555); S11, the drill bit (61) rotates and feeds to perform shallow drilling positioning on the surface of the soft positioning layer (1); S12, Positioning frame (5) is returned to its original position; S13, the drill bit (61) performs a second feed at the shallow drilling positioning point; S14. Determine if this is the last punching point. If yes, proceed to step S15; otherwise, proceed to step S4. S15. Complete the drilling work.

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