Automatic punching operation equipment and method for intelligent support

Abstract

The invention discloses automatic punching operation equipment for an intelligent support, and aims to solve many problems of traditional support punching construction. The equipment comprises a bottom crawler belt moving system, and a crawler belt is stably connected with a support and a main body to adapt to complex terrains; the positioning sensor belt surrounds the main body for precise positioning; the lifting system is matched with the rotating platform to meet operation at different heights; the dust collection box and the dust collection cover are used for collecting dust; the intelligent mechanical arm carries a plurality of drill bits and a steel bar detector and can flexibly punch holes and avoid steel bars; and mechanical vision, a working indicating lamp and a control cabinet display screen are also used for assisting operation. When the device is used, workers firstly position marks, equipment automatically searches positions, and holes are punched after steel bars are detected, so that various operations of floor slabs and wall surfaces can be realized, and remote monitoring can also be realized. The device is suitable for punching various constructional engineering supports, has the advantages of being high in automation degree, precise in construction, environmentally friendly, efficient and the like, and can greatly improve the construction efficiency and quality and reduce the cost and risk.

Description

Technical Field

[0001] The invention relates to the technical field of building construction equipment, and in particular to an intelligent bracket automatic drilling operation equipment and method. Background Art

[0002] There are many drawbacks in the traditional support drilling construction process. On the one hand, the positioning group and the drilling group need to work together, which consumes a lot of manpower and increases labor costs. On the other hand, the construction quality is difficult to guarantee, and it is easy to hit the steel bars in the floor slab, which will cause rework, not only delaying the construction period, but also wasting materials; and affected by the workers' proficiency, the drilling quality is uneven, and the support bolt depth does not meet the requirements and the white layer on the top of the floor slab is often damaged. In addition, the traditional construction method generates a lot of noise and dust, which poses a serious threat to the health of the operators.

[0003] The existing related equipment also has shortcomings. For example, the walking mechanism is wheeled, and four hydraulic rods are required for manual leveling when drilling. It cannot move autonomously and is inefficient. The lifting system uses hydraulic straight jacking, and the lifting height is limited, which cannot meet diverse construction needs. It is not equipped with a steel bar detection system in concrete, and manual adjustment is required when encountering steel bars, making it difficult to achieve unmanned and intelligent operations. The robot recognition system has a single function and can only meet the needs of autonomous walking. It cannot achieve autonomous positioning, obstacle avoidance and drilling according to the set bracket spacing. Moreover, it can only perform a single hole operation at a time, and cannot adapt to the scene of simultaneous operation of two or four holes in the anchor steel plate of the on-site pipeline bracket. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent support automatic drilling operation equipment and method, which is suitable for drilling holes in various types of construction engineering supports, has the advantages of high degree of automation, precise construction, environmental protection and high efficiency, can greatly improve construction efficiency and quality, and reduce costs and risks.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solution: an intelligent bracket automatic drilling operation equipment, wherein:

[0006] This equipment is roughly divided into twelve parts. The first part is the crawler mobile system at the bottom. It adopts a crawler design. Compared with the traditional wheel structure, it has stronger stability and obstacle resistance, can adapt to complex ground conditions on the construction site, and ensure the smooth movement of the equipment. Its crawler is tightly connected to the crawler bracket at the bottom of the equipment by bolts. The crawler bracket is welded to the main frame of the equipment as a whole, providing a solid support foundation for the entire equipment, ensuring stability during movement, and enabling the equipment to smoothly pass through complex terrain such as potholes and accumulation of small stones.

[0007] The second part is the positioning sensor belt, which is set around the main body of the equipment and fixed to the surface of the equipment shell through a slot or bracket, keeping a close fit with the main body of the equipment to ensure that the sensor belt can accurately sense the surrounding environment information. The signal transmission line of the positioning sensor belt is connected to the built-in control system of the equipment in an orderly manner through the reserved wire slot, realizing the autonomous positioning function, automatically finding the punching point according to the drawing and providing real-time feedback on the device position.

[0008] The third part is the lifting system, which adopts an advanced multi-stage hydraulic or electric lifting structure (with a larger lifting range than the traditional hydraulic straight-top system). Its bottom is rigidly connected to the load-bearing platform of the equipment body through a flange to ensure the stability of the lifting process. The top of the lifting system is connected to the 360° rotating positioning platform through high-strength bolts to ensure that the connection between the two is stable and the working height can be flexibly adjusted to meet the drilling needs of different floor heights and different working surfaces such as walls and floors.

[0009] The fourth part is a 360° rotating positioning platform, which is installed above the lifting system. Its rotation axis coincides with the central axis of the lifting system. It is connected to the lifting system through a high-precision slewing bearing, so that the rotating positioning platform can drive the intelligent robotic arm to rotate 360° in the horizontal direction, accurately adjust the drilling angle, and ensure the accuracy of the drilling position.

[0010] The fifth part is the dust box, which is installed on one side of the equipment body and connected to the dust hood through a pipe. During the drilling operation, the dust pump (built-in) in the dust box generates negative pressure to suck the generated dust into the dust box. The dust box and the equipment body are connected by a detachable buckle, which is convenient for regular cleaning and maintenance, effectively collects construction dust, and reduces dust pollution.

[0011] The sixth part is the intelligent robotic arm, whose root is connected to the 360° rotating positioning platform through a joint bearing. It has multi-degree-of-freedom movement capabilities, can flexibly extend and rotate, and accurately control the position and posture of the front-end tool to achieve complex punching movements. The joints of the robotic arm are connected by connecting rods made of high-strength alloy steel to ensure rigidity and stability during movement.

[0012] The seventh part is the dust hood, which is designed in a trumpet shape with the open end close to the punching position. It is fixed under the intelligent robot arm through an adjustable bracket, which can cover the punching area to the maximum extent and cooperate with the dust collection box to improve the dust collection efficiency. The dust hood is made of rubber or plastic composite materials with certain flexibility and wear resistance, which is convenient for adjusting the position according to needs during the punching operation, and can resist a certain degree of collision and wear.

[0013] The eighth part is the intelligent multi-drill bit, which is installed on the front end of the intelligent robotic arm through a special quick-change connector. It can perform drilling operations simultaneously according to different drilling requirements (such as double holes and four holes for bracket anchoring steel plates, etc.), greatly improving work efficiency. The drill bit is made of special carbide material with strong wear resistance and long service life.

[0014] The ninth part is the steel bar detector, which is installed at the front end of the robotic arm, close to the intelligent multi-drill head. It is fixed to the mounting base of the robotic arm through threaded connection or snap-on. It can emit electromagnetic waves and other detection signals before drilling, and accurately detect whether there are steel bars under the concrete at the positioning mark, providing reliable preliminary judgment for the drilling operation.

[0015] The tenth part is the working indicator light, which is set in a conspicuous position of the equipment, such as the four corners on the top of the equipment. It is connected to the control system through lines and driven by the control system. It displays the working status of the equipment through lights of different colors (such as green for standby, red for punching, etc.), which is convenient for operators to remotely monitor.

[0016] The eleventh part is the mechanical vision, which is located above the equipment and fixed on the top of the equipment through a pan / tilt or bracket. It is equipped with a high-definition camera and intelligent image recognition algorithm, which can capture positioning marks and assist the positioning sensor belt to achieve more accurate positioning. At the same time, at night or when there is insufficient light, the infrared fill light function can be turned on to ensure the normal operation of the visual system. The signal transmission line of the mechanical vision is connected to the control system, and the collected image information is transmitted to the control system in real time for processing.

[0017] The twelfth part is the control cabinet display screen, which is integrated on the control cabinet on one side of the equipment body. The control cabinet is fixed to the equipment with bolts. The display screen adopts a touch screen design and is connected to the control system through cables. Operators can set parameters (such as drilling spacing, depth, etc.) and mode switch (automatic / manual) here, and can also view the equipment's operating status information in real time to achieve human-machine friendly interaction.

[0018] Directions:

[0019] The workers first lay out the lines and positions on the work surface according to the bracket drawings, use measuring tools to accurately determine the punching positions, and mark the punching positions with obvious marks.

[0020] When drilling, turn on the equipment, the mechanical vision system above the equipment starts, the camera captures the positioning mark, and transmits the image information to the control system for analysis and processing.

[0021] At the same time, the positioning sensor belt also works synchronously, sensing the characteristics of the surrounding environment and combining the preset map information (pre-entered construction site map data) to complete autonomous positioning, automatically find the drilling points according to the drawings and feed back the current position information of the device to the control system.

[0022] Based on the positioning information, the control system starts the lifting system and controls the movement of the crawler system. At the same time, with the assistance of the rotation of the 360° rotating positioning platform, the intelligent robotic arm is accurately moved to the positioning mark.

[0023] Start the steel bar detector in front of the robotic arm, and the detector will send a detection signal into the concrete to detect whether there is a steel bar under the concrete at the positioning mark.

[0024] If there are no steel bars, the control system instructs the robotic arm to control the front-end intelligent multi-drill head to start drilling, and performs drilling operations according to preset parameters to ensure that the drilling depth, hole diameter, etc. meet the requirements.

[0025] If there are steel bars, the steel bar detector will feed back the signal to the control system, and the robotic arm will automatically move forward 1-2cm and repeat the steel bar detection steps until a suitable drilling position is found to avoid rework caused by hitting the steel bars.

[0026] This equipment can not only realize floor drilling operations, but also easily meet wall drilling needs by adjusting the turntable to change the position of the robotic arm, and realize drilling work on various work surfaces.

[0027] Equipment features:

[0028] High-precision positioning capability of multi-sensor fusion: Through the collaborative work of the positioning sensor belt and machine vision, a variety of environmental perception information is integrated to achieve high-precision autonomous positioning and autonomous obstacle avoidance, ensuring accurate drilling positions and improving construction quality.

[0029] Equipped with a rebar detection device, it can autonomously detect and avoid rebars: detect the rebar position in advance before drilling, and intelligently adjust the drilling position to effectively avoid hitting the rebar, reduce rework, and improve construction efficiency.

[0030] The crawler movement mode has stronger stability and obstacle resistance: it can move stably in complex environments such as uneven ground and debris piled sites, and can adapt to various construction site conditions.

[0031] Intelligent control, both remote control and on-site control, with good human-computer interaction: operators can operate directly on-site through the control cabinet display screen, or connect to the wireless network in the remote monitoring room and use terminal devices (such as computers and tablets) to remotely control the equipment and adjust construction parameters in real time for easy management.

[0032] The structural design is stable and the safety mechanism is perfect: the whole equipment is made of high-strength steel, the key parts are reinforced, and it is equipped with multiple safety protection devices (such as overload protection, emergency braking, etc.) to ensure the safety and reliability of the construction process.

[0033] It can automatically collect dust and smoke generated during the construction process and reduce noise: the dust collection system composed of a dust collection box and a dust collection hood can efficiently collect dust when drilling. At the same time, by optimizing the drill bit design and using noise reduction materials and other measures, it can reduce construction noise and protect the health of workers.

[0034] The drill bit adopts a multi-drill bit synchronous construction design: it can perform multiple hole drilling operations at the same time according to actual needs, which greatly improves work efficiency compared to traditional single drill bit equipment.

[0035] Compared with the traditional technology, the present invention has the following significant beneficial effects:

[0036] Intelligent automated operation equipment can automatically perform construction at night and reduce cross-operation: using the infrared fill light function of machine vision and the precise positioning system, the equipment can automatically perform drilling operations according to preset procedures in unmanned conditions at night, avoiding interference with other construction processes and speeding up construction progress.

[0037] The equipment can automatically perform complex drilling operations, reduce the demand for highly skilled workers, and lower labor costs: Traditional construction requires high drilling skills of workers. The present invention realizes automated drilling, which can be operated by ordinary workers after simple training, reducing the number of professional drilling personnel and reducing labor costs.

[0038] Improve construction quality through high-precision positioning function: Multi-sensor fusion positioning ensures accurate drilling position and high-precision installation of bracket bolts, reduces quality problems caused by drilling errors, and improves overall project quality.

[0039] Reduce dust and noise pollution through machine construction: the dust suction system effectively collects dust, and the noise reduction design reduces noise, creating a good construction environment for operators while meeting environmental protection requirements.

[0040] Reduce the number of people working at heights and reduce safety risks: Operators can remotely control the equipment to drill holes on high work surfaces, avoiding direct high-altitude operations and reducing the possibility of safety accidents such as falls.

[0041] Equipment can be remotely monitored for easy management: Through wireless networks, managers can understand the working status of equipment, construction progress and other information anytime and anywhere, adjust construction plans in a timely manner, and improve management efficiency.

[0042] It can reduce the secondary cleaning of construction waste: precise drilling reduces the construction waste generated by rework, while the vacuum system collects dust to prevent dust scattering and accumulation, reducing the subsequent cleaning workload.

[0043] Synchronous construction with multiple drill bits improves work efficiency: multiple holes can be drilled at one time, shortening the drilling time for a single bracket. This significantly improves construction efficiency, especially in large-area bracket installation projects.

[0044] It can realize drilling work on various working surfaces such as floors and walls: the flexible robotic arm cooperates with the rotating positioning platform, so that the equipment can adapt to working surfaces of different angles and different materials, broadening the scope of application.

[0045] By replacing the drill bit at the front of the robotic arm, functions such as painting and whitewashing can be achieved, with strong scalability: one device can meet a variety of post-construction processing needs, improve equipment utilization and reduce construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0047] Figure 1 A schematic diagram of the three-dimensional structure of an intelligent bracket automatic drilling operation equipment according to an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the side structure of an intelligent bracket automatic drilling operation equipment according to an embodiment of the present invention;

[0049] Figure 3 The present invention is a schematic diagram of a top view of an automatic drilling operation equipment of an intelligent support according to an embodiment of the present invention.

[0050] In the attached figure: 1- crawler moving system; 2- positioning sensor belt; 3- lifting system; 4- 360° rotating positioning platform; 5- dust suction box; 6- intelligent mechanical arm; 7- dust hood; 8- intelligent multi-drill head; 9- steel bar detector; 10- working indicator light; 11- mechanical vision; 12- control cabinet display screen. DETAILED DESCRIPTION

[0051] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0052] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, upper end, lower end, top, bottom...) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0053] In the present invention, unless otherwise clearly defined and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features; in addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0055] The following is combined with Figure 1 To Attachment Figure 3 The present invention is described in further detail.

[0056] An intelligent bracket automatic drilling operation equipment, comprising:

[0057] The crawler moving system 1 at the bottom, whose crawler is tightly connected to the crawler bracket at the bottom of the equipment by bolts, and the crawler bracket is welded to the main frame of the equipment as a whole;

[0058] The positioning sensor belt 2 is fixed to the surface of the equipment shell through a card slot or a bracket, and is closely attached to the equipment body. Its signal transmission line is orderly connected to the built-in control system of the equipment through a reserved wire slot, and is arranged around the equipment body;

[0059] Lifting system 3, the bottom is rigidly connected to the load-bearing platform of the equipment body through a flange, and the top is connected to the 360° rotating positioning platform through high-strength bolts;

[0060] 360° rotating positioning platform 4, whose rotation axis coincides with the central axis of the lifting system 3, is connected to the lifting system 3 through a high-precision slewing bearing;

[0061] The dust collecting box 5 is installed on one side of the equipment body, connected to the dust collecting cover through a pipeline, and connected to the equipment body by a detachable snap-on connection;

[0062] The root of the intelligent mechanical arm 6 is connected to the 360° rotating positioning platform 4 through a joint bearing, and the joints are connected by connecting rods made of high-strength alloy steel;

[0063] The dust collecting cover 7 is trumpet-shaped, with an open end close to the punching position, and is fixed under the intelligent mechanical arm 6 through an adjustable bracket;

[0064] The intelligent multi-drill 8 is installed at the front end of the intelligent robot arm 6 through a dedicated quick-change joint;

[0065] The steel bar detector 9 is installed at the front end of the robot arm, close to the intelligent multi-drill head 8, and is fixed to the mounting base of the robot arm by threaded connection or buckle;

[0066] Working indicator lights 10 are arranged at the four corners of the top of the equipment, connected to the control system through lines, and driven by the control system;

[0067] The machine vision 11 is fixed on the top of the equipment through a pan / tilt or bracket, and its signal transmission line is connected to the control system;

[0068] The control cabinet display screen 12 is integrated in the control cabinet on one side of the equipment body. The control cabinet is fixed to the equipment by bolts and connected to the control system by cables.

[0069] As a further improvement of the technical solution of the present invention, the crawler moving system 1 adopts a special rubber crawler.

[0070] As a further improvement of the technical solution of the present invention, the positioning sensor belt 2 adopts one of a laser radar and an ultrasonic sensor.

[0071] As a further improvement of the technical solution of the present invention, the lifting system 3 is a multi-stage hydraulic or low-pressure electric lifting structure.

[0072] As a further improvement of the technical solution of the present invention, the intelligent multi-drill bits 8 are provided in plurality.

[0073] As a further improvement of the technical solution of the present invention, the steel bar detector 9 adopts an electromagnetic wave detector.

[0074] As a further improvement of the technical solution of the present invention, the machine vision 11 adopts a high-definition camera.

[0075] As a further improvement of the technical solution of the present invention, the control cabinet display screen 12 is a touch screen.

[0076] A method for automatic drilling operation equipment using an intelligent bracket comprises the following steps:

[0077] Workers lay out the lines and mark the punching positions according to the bracket drawings;

[0078] The equipment captures the mark through machine vision 11 and positioning sensor belt 2;

[0079] Start the lifting system 3. Move the robot arm to the marked position;

[0080] Start the steel bar detector 9 to detect the steel bars;

[0081] If there is no steel bar, the intelligent robot arm 6 controls the intelligent multi-drill 8 to drill holes; if there is no steel bar, the intelligent robot arm 6 moves forward to repeat the detection;

[0082] After completing the punching, the equipment moves to the next punching position according to the preset spacing.

[0083] As a further improvement of the technical solution of the present invention, the equipment can be controlled via the control cabinet display screen 12 or a remote terminal.

[0084] At the actual construction site, first transport the intelligent bracket automatic drilling equipment of the present invention to the designated work area, connect the power supply (or start its own power source, such as a diesel generator, to make it suitable for scenarios without external power supply), turn on the equipment for initialization self-check, ensure the normal operation of each component, and the working indicator light 10 is displayed in the standby green state.

[0085] Workers follow the bracket installation drawings, use total stations and other measuring instruments to lay out and locate on the floor or wall, and use spray paint, stickers and other marking tools to clearly identify the drilling locations.

[0086] The operator selects the automatic operation mode on the control cabinet display screen 12, inputs the drilling parameters (such as bracket spacing, hole diameter, drilling depth, etc.), and starts the equipment.

[0087] After the equipment is started, the high-definition camera of the mechanical vision system 11 quickly captures the positioning mark on the working surface, and the positioning sensor belt 2 scans the surrounding environment information. The data of the two are fused and transmitted to the control system. Based on this information, the control system accurately calculates the moving path of the equipment, drives the crawler moving system 1 to move forward, backward, and turn, and cooperates with the lifting action of the lifting system 3 and the rotation of the 360° rotating positioning platform to accurately align the steel bar detector 9 at the front end of the intelligent mechanical arm 6 with the first punch mark position.

[0088] The steel bar detector 9 emits a detection signal. If no steel bar is detected, the control system immediately instructs the intelligent multi-drill 8 to start drilling according to the preset drilling depth, speed and other parameters. The dust box 5 is opened synchronously to collect the dust generated by drilling. If steel bars are detected, the robot arm automatically moves forward 1-2 cm and detects again until it finds an area without steel bars and starts drilling.

[0089] After completing one punching position, the equipment automatically moves to the next punching position according to the preset bracket spacing and repeats the above punching process until the punching task of the entire bracket installation area is completed.

[0090] During the entire construction process, managers can connect to the equipment's control system through a remote monitoring terminal (computer or tablet) to view the equipment's working status, construction progress, drilling parameters, etc. in real time. If any abnormality is found, they can intervene remotely to suspend or adjust the equipment's operation.

[0091] When it is necessary to punch holes in the wall or change the operating function (such as painting or whitewashing), the operator only needs to switch the operating mode on the control cabinet display screen 12 and replace the corresponding tools at the front end of the robotic arm (such as wall punching drill, paint spray gun, whitewashing scraper, etc.) according to the prompts, so as to easily achieve different functional requirements, and the operation is convenient and efficient.

[0092] To sum up, the intelligent bracket automatic drilling operation equipment of the present invention effectively solves many problems of traditional bracket drilling construction, has significant innovation and practicality, is widely applicable to various types of construction engineering bracket installation and drilling operation scenarios, and has broad market application prospects.

[0093] Case 1: Large commercial building support drilling construction

[0094] Construction environment and requirements

[0095] At the construction site of a large commercial building, a large number of pipe brackets need to be installed on the floor slabs and walls of different floors, which requires high drilling accuracy and efficiency. The construction environment is relatively complex, with some floors being uneven due to the stacking of construction materials, and cross-operation between floors.

[0096] Preparation before construction

[0097] The intelligent bracket automatic drilling operation equipment is transported to the construction site and hoisted to the designated construction area on each floor by a crane. Before construction on each floor, the operator turns on the power and starts the equipment for initialization self-test. During the self-test, the control system will perform functional tests on various components such as the crawler moving system 1, the lifting system 3, and the intelligent mechanical arm 6. At the same time, the working indicator light 10 will display the standby green state, indicating that the equipment is ready.

[0098] According to the detailed bracket installation drawings, the construction workers use high-precision total stations to lay out and locate on the floor and wall. For the floor, after determining the direction of the pipeline, the bracket punching positions are marked at a certain interval (such as 2-3 meters) according to the design requirements; for the wall, the vertical and horizontal spacing of the brackets are accurately marked, and the markings are painted with fluorescent paint to ensure that they can be clearly seen under different light conditions.

[0099] Punching process

[0100] The operator selects the automatic operation mode on the control cabinet display screen 12 and inputs the drilling parameters according to the bracket design requirements. For example, for floor brackets, the hole diameter is set to 12mm, the drilling depth is 100mm, and the bracket spacing is 2.5 meters; for wall brackets, the hole diameter is set to 10mm, the drilling depth is 80mm, the vertical spacing is 3 meters, and the horizontal spacing is 2 meters.

[0101] After the equipment is started, the high-definition camera of the mechanical vision system 11 quickly captures the positioning marks on the working surface. At the same time, the positioning sensor belt 2 scans the surrounding environment information, and the two data are fused and transmitted to the control system. Based on this information, the control system accurately calculates the movement path of the equipment.

[0102] The crawler moving system 1 moves the equipment according to the command, the lifting system 3 adjusts the height, and the 360° rotating positioning platform 4 rotates to accurately align the steel bar detector 9 at the front end of the intelligent mechanical arm 6 with the first punch mark position. During the movement, the crawler moving system 1 can stably pass through the construction materials and uneven areas on the ground with its special rubber crawler, ensuring the smooth movement of the equipment.

[0103] The steel bar detector 9 emits a detection signal. If no steel bar is detected, the control system immediately instructs the intelligent multi-drill 8 to start drilling according to the preset drilling depth, rotation speed and other parameters. During the drilling process, the dust collection box 5 is opened synchronously to collect the dust generated by drilling through the dust hood 7. If steel bars are detected, the robot arm automatically moves forward 1-2 cm and detects again until it finds an area without steel bars and starts drilling.

[0104] After completing one punching position, the equipment automatically moves to the next punching position according to the preset bracket spacing and repeats the above punching process until the bracket punching task of the entire floor is completed.

[0105] Construction management and monitoring

[0106] During the construction process, on-site managers can connect to the equipment control system through a remote monitoring terminal (such as a tablet computer) to view the equipment's operating status, construction progress, drilling parameters and other information in real time. For example, managers can view the coordinates of each drilling position, the number of completed drillings, the wear of the drill bit, etc. If it is found that the depth or diameter of a drilling position does not meet the preset parameters, the manager can intervene remotely, suspend the equipment operation, adjust the drilling parameters and restart.

[0107] When construction workers need to perform other operations nearby (such as electrical wiring), managers can use remote control to move the equipment to other idle areas to continue drilling operations, avoiding safety hazards caused by cross-operation.

[0108] Case 2: Industrial plant support drilling construction

[0109] Construction environment and requirements

[0110] The installation of brackets in industrial plants usually requires drilling holes on higher walls and roofs, and there may be a certain amount of dust and noise in the plant. This places high demands on the stability, efficiency and environmental performance of the drilling equipment. At the same time, due to the large structure of the plant, the equipment needs to be able to move over long distances.

[0111] Preparation before construction

[0112] At the construction site of an industrial plant, the intelligent bracket automatic drilling operation equipment relies on its own crawler mobile system to drive to the construction area. Because the floor of the plant may be oily or dusty, the special rubber crawler of the crawler mobile system can provide good grip to prevent slipping.

[0113] According to the design drawings of the factory's pipeline system, construction workers use laser levelers and tape measures to lay out and locate on the walls and roofs. On the walls, the punching positions are marked according to the direction of the pipeline and the spacing of the brackets (such as every 4-5 meters); on the roof, the bracket punching points are determined according to the roof truss structure and pipeline layout, and the markings are made with stickers to facilitate operations on the roof.

[0114] Punching process

[0115] The operator selects an operation mode suitable for the factory building construction on the control cabinet display screen 12, and adjusts the parameters such as the rotation speed and feed rate of the intelligent multi-drill 8 according to the different materials of the factory building wall and roof (such as concrete wall and steel structure roof). For example, for concrete wall, the drill speed is set to 1000-1200 rpm and the feed rate is 5-8 mm / sec; for steel structure roof, the drill speed is set to 800-1000 rpm and the feed rate is 3-5 mm / sec.

[0116] After the equipment is started, the mechanical vision 11 and the positioning sensor belt 2 work together to locate the equipment position and capture the punch mark. When the robot arm is moved to the first punch mark position, the lifting system 3 is adjusted according to the height of the roof or wall. For higher walls (such as 10-15 meters) and roofs (such as 8-12 meters), the lifting system 3 can accurately lift the intelligent robot arm 6 to the appropriate height.

[0117] The steel bar detector 9 detects the steel bar situation. If there is no steel bar, the intelligent multi-drill head 8 starts drilling, and the dust box 5 and the dust hood 7 collect dust. In an environment where there may be a lot of dust, such as an industrial plant, the dust collection system can effectively reduce the spread of dust and keep the construction area relatively clean. If steel bars are detected, the robot arm automatically adjusts its position according to the program.

[0118] After completing a drilling position, the equipment automatically moves to the next drilling position according to the preset spacing. During long-distance movement, the crawler movement system can move the equipment quickly and smoothly, improving construction efficiency. For example, in an area with a plant length of 100-200 meters, the equipment can move to the next construction point in a shorter time.

[0119] Construction management and monitoring

[0120] On-site managers can monitor the construction status of the equipment in real time in the control room through the remote monitoring system. Managers can view the running track of the equipment to ensure that it moves and drills holes according to the predetermined route in the factory. At the same time, by monitoring the working status of the drill bit, the wear of the drill bit can be discovered in time, and the replacement of the drill bit can be arranged in advance to ensure the construction progress.

[0121] When other equipment is being transported or installed in the factory, managers can adjust the operating sequence and position of the equipment through remote control to avoid mutual interference and ensure the orderly progress of the entire factory construction process.

[0122] Through the above two implementation cases, the specific application and operation process of the intelligent bracket automatic drilling equipment in different construction environments are fully demonstrated, reflecting the advantages of the equipment in improving construction efficiency, ensuring construction quality, reducing labor intensity and ensuring construction safety.

[0123] The technical solutions provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only applicable to help understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, according to the embodiments of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An intelligent bracket automatic drilling operation equipment, characterized in that: include: The crawler moving system at the bottom, whose crawler is tightly connected to the crawler bracket at the bottom of the equipment through bolts, and the crawler bracket is welded to the main frame of the equipment as a whole; The positioning sensor belt is fixed on the surface of the equipment shell through a card slot or a bracket, and fits tightly with the equipment body. Its signal transmission line is orderly connected to the built-in control system of the equipment through a reserved wire slot, and is arranged around the equipment body; The lifting system is rigidly connected to the load-bearing platform of the equipment body through a flange at the bottom, and connected to the 360° rotating positioning platform at the top through high-strength bolts; 360° rotating positioning platform, whose rotating axis coincides with the central axis of the lifting system, is connected to the lifting system through a high-precision slewing bearing; The dust collection box is installed on one side of the equipment body, connected to the dust collection cover through a pipeline, and connected to the equipment body by a detachable snap-on connection; The root of the intelligent robotic arm is connected to the 360° rotating positioning platform through a joint bearing, and the joints are connected by connecting rods made of high-strength alloy steel; The dust collecting cover is trumpet-shaped, with an open end close to the punching position, and is fixed under the intelligent mechanical arm through an adjustable bracket; The intelligent multi-drill is installed on the front end of the intelligent robotic arm through a dedicated quick-change connector; The steel bar detector is installed at the front end of the robot arm, close to the intelligent multi-drill head, and is fixed to the mounting base of the robot arm by threaded connection or snap-on; Working indicator lights are set at the four corners of the top of the equipment, connected to the control system through lines and driven by the control system; Mechanical vision is fixed on the top of the equipment through a pan / tilt or bracket, and its signal transmission line is connected to the control system; The control cabinet display screen is integrated into the control cabinet on one side of the equipment body. The control cabinet is fixed to the equipment by bolts and connected to the control system through cables.

2. According to claim 1, the intelligent bracket automatic drilling operation equipment is characterized by: The crawler moving system adopts special rubber crawler tracks.

3. According to claim 1, the intelligent bracket automatic drilling operation equipment is characterized by: The positioning sensor belt adopts one of a laser radar and an ultrasonic sensor.

4. According to claim 1, the intelligent bracket automatic drilling operation equipment is characterized by: The lifting system is a multi-stage hydraulic or low-pressure electric lifting structure.

5. The intelligent bracket automatic drilling operation equipment according to claim 1 is characterized by: The intelligent multi-drill bits are provided in plurality.

6. The intelligent bracket automatic drilling operation equipment according to claim 1 is characterized by: The steel bar detector adopts an electromagnetic wave detector.

7. The intelligent bracket automatic drilling operation equipment according to claim 1 is characterized by: The machine vision adopts a high-definition camera.

8. The intelligent bracket automatic drilling operation equipment according to claim 1 is characterized by: The control cabinet display screen is a touch screen.

9. A method for using the intelligent bracket automatic drilling operation equipment according to any one of claims 1 to 8, characterized in that: The following steps are involved: Workers lay out the lines and mark the punching positions according to the bracket drawings; The equipment captures the mark through machine vision and positioning sensor belt; Start the lifting system and mobile equipment to move the robotic arm to the marked position; Start the steel bar detector to detect steel bars; If there are no steel bars, the intelligent robotic arm controls the intelligent multi-drill to drill holes; if there are steel bars, the intelligent robotic arm moves forward to repeat the inspection; After completing the punching, the equipment moves to the next punching position according to the preset spacing.

10. The method according to claim 9, characterized in that: The equipment can be controlled via a control cabinet display or a remote terminal.

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