Multifunctional punching device for planting steel bars and punching method for planting steel bars

Abstract

The invention relates to the technical field of constructional engineering, and particularly discloses a multifunctional punching device for embedded steel bars and an embedded steel bar punching method. The punching device comprises a machine body, and an operation hole is formed in a front panel of the machine body; the electric drilling tool comprises a drilling tool main body and a drill bit, and the drilling tool main body is movably arranged in the machine body through a first driving mechanism and can be driven by the first driving mechanism to enable the front end of the drill bit to stretch out or retract from the operation hole; the detection mechanism is installed on the machine body and used for detecting whether reinforcing steel bars exist in front of the operation hole; and the measuring and calculating mechanism is mounted on the machine body and used for measuring the length and the width of the target wall surface. The invention provides a mechanical device capable of integrating measuring, detecting and punching functions, which is beneficial to reducing the replacement among different equipment, reducing the steps of manual operation and improving the construction efficiency and precision.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to a multifunctional punching device for reinforcing bar planting and a punching method for reinforcing bar planting. Background Art

[0002] In the construction industry, as time goes by, many existing buildings are in urgent need of structural reinforcement and renovation due to many factors such as changes in use and upgrades in earthquake resistance standards. However, traditional connection technology often seems to be unable to cope with such renovation tasks and is difficult to meet the strict standards of the project. Especially in the concrete structure system, if new components such as beams, slabs, and columns are to be added, a safe way must be found to ensure that the new components are closely connected to the existing structure and unbreakable. Rebar implantation technology came into being. It relies on the process of accurately drilling holes in the original concrete matrix, accurately implanting steel bars, and pouring high-quality structural adhesives to cleverly promote the stable anchoring of the newly added steel bars and the original concrete, so that the new and old components can work closely together to resist the invasion of various loads. The wide application of this technology has greatly improved the overall safety and reliability of the project, and greatly simplified the construction process. It can be said to be an indispensable key technical tool in the field of modern construction engineering.

[0003] In the renovation and reinforcement of building structures, measuring, testing and drilling walls are frequent but time-consuming processes, especially in projects that require large-scale operations. Frequent replacement of various equipment not only slows down work efficiency, but also easily causes inaccurate positioning or detection errors due to human operation errors, which in turn endangers the quality and safety of the project. At present, the traditional method of measuring wall dimensions is to first complete the measurement with a tape measure or laser rangefinder, and then manually record and mark the specific location of the drilling. To detect whether there are steel bars hidden in the drilling area, a special steel bar detection instrument must be used. After the measurement and testing process is over, electric drills and other tools are used to perform drilling operations. This series of steps are independent of each other, and equipment must be constantly switched, which consumes a lot of valuable time. In addition, errors are inevitable between the various equipment, which makes it difficult to effectively guarantee the final quality of the project.

[0004] In this regard, although the prior art has proposed some automated drilling devices, most of the devices have relatively single functions and cannot achieve the integration of measurement, detection and drilling, and cannot meet the needs of efficient construction.

[0005] The above technical problems need to be solved urgently. Summary of the invention

[0006] In view of this, the purpose of the present invention is to solve the above-mentioned technical problems and provide a mechanical device that can integrate measurement, detection and drilling functions, which helps to reduce the replacement between different equipment, reduce the steps of manual operation, and improve construction efficiency and accuracy.

[0007] To achieve the above-mentioned purpose, on the one hand, the present invention provides a multifunctional punching device for planting reinforcing bars, comprising:

[0008] A machine body, the front panel of which is provided with an operation hole;

[0009] The electric drill comprises a drill body and a drill bit, wherein the drill body is movably arranged in the machine body through a first driving mechanism and can be driven by the first driving mechanism to extend or retract the front end of the drill bit from the operating hole;

[0010] The detection mechanism is installed on the machine body and is used to detect whether there is a steel bar in front of the operation hole; and the measurement mechanism is installed on the machine body and is used to measure the length and width of the target wall.

[0011] As a further improvement of the above technical solution, the first driving mechanism includes a driving motor, a screw driven to rotate by the driving motor, and a nut movably mounted on the screw. The driving motor is fixed in the machine body, one end of the screw is connected to the power output end of the driving motor, and the other end is rotatably arranged on the front panel of the machine body. The nut is fixed to the drill tool body and drives the drill tool body to move synchronously.

[0012] As a further improvement to the above technical solution, a plurality of guide rods parallel to the lead screw are further provided in the machine body, a plurality of guide seats are connected to the drill tool body, and the guide rods pass through the guide holes of the corresponding guide seats and are slidably connected.

[0013] As a further improvement of the above technical solution, the detection mechanism includes a detection coil, an inductance digital sensor, a detection processor and an indicator connected in sequence;

[0014] The detection coil is installed on the outer side of the front panel of the machine body and surrounds the operation hole, and the inductive digital sensor, the detection processor and the indicator are installed on the inner side of the front panel of the machine body;

[0015] When the steel bar enters the alternating magnetic field generated by the detection coil, the inductance value of the detection coil changes; the inductance digital sensor obtains the required measurement result by detecting the change in the inductance value in the coil; the detection processor processes the inductance value data read from the inductance digital sensor, and determines the steel bar existence status in the target area according to a preset algorithm and selectively triggers the indicator.

[0016] As a further improvement of the above technical solution, the measuring mechanism includes a steering gear fixed to the side panel of the machine body, a measuring processor, and a laser rangefinder and an angle sensor correspondingly installed on the steering gear and driven to rotate by the steering gear;

[0017] The servo can rotate in the horizontal or vertical direction and drive the laser rangefinder and the angle sensor to measure the target wall. After obtaining the distance and angle data from the target area, it is transmitted to the measurement processor for measurement according to the preset algorithm to obtain the size of the target wall.

[0018] As a further improvement to the above technical solution, the machine body is mounted on a mechanical arm and driven by the mechanical arm to move in space;

[0019] The device also includes a main processor, which is communicatively connected with the drilling tool body, the driving motor, the detection processor, the measurement processor and the mechanical arm.

[0020] On the other hand, the present invention also provides a method for punching holes for reinforcing bar planting, which uses the multifunctional punching device for reinforcing bar planting and comprises the following steps:

[0021] S1. Target wall measurement: Use a laser rangefinder with an angle sensor to measure the length and width of the target wall under the drive of the servo. After measuring the length and width of the wall, input the number of holes (m, n), the diameter of the steel bar d1, and the depth of the hole d2. After selecting the distribution mode, determine the predetermined coordinates of each hole distribution.

[0022] S2. First steel bar detection: After the mechanical arm drives the punching device to move to the predetermined coordinate position of the first hole, a specific detection area is first detected. The detection coil and the inductive digital sensor are used to detect the area. At this time, the drill bit is at the initial position, and the detection coil at the front end is close to the wall for detection; under the indication of the indicator, if the area is a reinforced area, the mechanical arm drives the punching device to find the nearest unreinforced area of ​​the predetermined coordinate area, and re-determines the actual coordinates of the hole; if the area is an unreinforced area, the predetermined coordinates are used as the actual coordinates;

[0023] S3, first drilling: after obtaining the drilling signal, the drill bit of the electric drill starts and drills at the actual coordinate position of the first hole, and the drill bit gradually moves forward through the first driving mechanism until the set drilling depth d2 is reached and then the drill bit is reset;

[0024] S4, repeat detection and punching: use the same mode as S2 and S3 to perform punching operations on other areas in turn.

[0025] As a further improvement of the above technical solution, in step S1, a laser rangefinder emits a laser until it hits a wall and bounces off during the propagation process, and the distance is calculated based on the interval between the emission and the rebound; during the rotation of the servo, the transmitted distance gradually increases from small to large, and a maximum value can be collected in the process of increasing. The data after this data gradually decreases, and the maximum value collected at this time is recorded, and the distance in this direction is calculated in combination with the laser rangefinder and the angle sensor.

[0026] As a further improvement of the above technical solution, in step S2, the inductance digital sensor and the detection coil detect the inductance of the current area and return the measured frequency, and judge whether there are steel bars in the current area according to the size of the received frequency and whether a mutation occurs; if the mutation value is greater than the threshold, the area is judged to be a reinforced area, and the robotic arm drives the device to perform counterclockwise spiral detection with a set radius until the unreinforced area closest to the predetermined target area is detected.

[0027] As a further improvement to the above technical solution, in step S2, the detection area is the area of ​​a circle with a radius R1, R1 = (steel bar diameter d1 + 5 mm) * 1.5.

[0028] Compared with the prior art, the present invention has the following beneficial technical effects:

[0029] The multifunctional punching device for planting rebar provided by the present invention has the functions of wall measurement, rebar detection and punching by adding a detection mechanism and a measuring mechanism, thereby eliminating the time waste and accuracy error caused by replacing equipment, thereby improving the quality and efficiency of building structure renovation and reinforcement projects and saving manpower.

[0030] The present invention provides a method for punching holes for rebar planting, which applies the above-mentioned multifunctional punching device for rebar planting, and therefore of course has the same beneficial technical effects.

[0031] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their description are used to explain the present invention but do not constitute a limitation of the present invention.

[0033] Figure 1 A first structural schematic diagram of a multifunctional punching device for reinforcing bar planting provided by the present invention;

[0034] Figure 2 A second structural schematic diagram of a multifunctional punching device for planting reinforcing bars provided by the present invention;

[0035] Figure 3 A third structural schematic diagram of a multifunctional punching device for reinforcing bar planting provided by the present invention;

[0036] Figure 4 A fourth structural schematic diagram of a multifunctional punching device for reinforcing bar planting provided by the present invention;

[0037] Figure 5The present invention provides a flow chart of a reinforcing bar drilling method. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] Embodiment 1

[0040] like Figure 1 and Figure 2 As shown: This embodiment provides a punching device, which is mainly used in rebar planting operations and has multiple functions in one, so it is a multifunctional punching device for rebar planting, and its structure mainly includes a body 1, an electric drill, a detection mechanism and a measurement mechanism.

[0041] The front panel 2 of the body 1 is provided with an operation hole 3; the body 1 is a main body for installing other components, for example, it can be a rectangular box-shaped structure connected by multiple panels, and the inner and outer sides of the box can be provided with relevant installation structures (such as threaded holes, slots, hooks, etc.); the operation hole 3 can be a round hole structure. The body 1 can be made of high-strength, corrosion-resistant aluminum alloy material, which can not only ensure structural strength, but also facilitate processing and molding, and can also reduce the overall weight of the device, making it convenient for operators to hold it for a long time.

[0042] The electric drill tool comprises a drill tool body 4 and a drill bit 5. The drill tool body 4 is movably arranged in the body 1 through a first driving mechanism and can be driven by the first driving mechanism to make the front end of the drill bit 5 extend or retract from the operating hole 3. The structure and use principle of the electric drill tool are the same as those in the prior art. A driving structure of the drill bit 5 is arranged in the drill tool body 4. The drill bit 5 can be made of tungsten steel alloy to ensure hardness and wear resistance and improve drilling effect. The surface of the drill bit 5 can also be subjected to special coating treatment, such as nano coating, to further improve the wear resistance and corrosion resistance of the drill bit 5 and extend its service life.

[0043] The detection mechanism is installed on the body 1 and is used to detect whether there are steel bars in front of the operating hole 3; for example, the electromagnetic induction detection principle can be adopted. By installing an electromagnetic induction sensor at the front end of the body 1, when the sensor is close to the wall, it can sense the changes in the magnetic field generated by the steel bars inside the wall, thereby judging whether there are steel bars in front of the operating hole 3.

[0044] The measuring mechanism is installed on the body 1 and is used to measure the length and width of the target wall; for example, laser ranging technology can be used, by installing a laser transmitter and a receiver on the body 1, emitting a laser to the target wall and receiving the reflected laser signal, and calculating the length and width of the wall according to the flight time or phase difference of the laser.

[0045] In terms of the power supply system, all electrical components in the device can be powered by AC power or batteries.

[0046] The multifunctional punching device for planting rebar provided in this embodiment has the functions of wall measurement, rebar detection and punching, which can save the time waste and precision error caused by replacing equipment, improve the quality and efficiency of building structure renovation and reinforcement projects and save manpower.

[0047] Specifically, in building structure renovation and reinforcement projects, the traditional construction process usually requires the use of different equipment for wall measurement, steel bar detection and drilling operations. Each time the equipment is replaced, it takes a certain amount of time to install, debug and disassemble. The device integrates these three functions into one. Operators do not need to frequently change equipment and can continuously complete measurement, detection and drilling work, which greatly saves the time wasted by equipment replacement, makes the construction process smoother, and significantly improves construction efficiency.

[0048] When using different equipment for measurement, detection and drilling, the accuracy differences between the equipment and the operating errors of the operator during the equipment switching process can easily lead to problems such as inaccurate positioning and inconsistent depth of the rebar holes. The device ensures a high degree of consistency between the measurement data, detection results and drilling operations through internal data transmission and collaborative work, reducing the impact of human factors on construction accuracy. For example, the wall size data measured by the measuring mechanism can be directly used to guide the determination of the drilling position, and the steel bar position information detected by the detection mechanism can be promptly fed back to the operator, enabling the operator to accurately adjust the drilling position, thereby improving the positioning accuracy and drilling quality of the rebar holes.

[0049] In this embodiment, the first driving mechanism includes a driving motor 6, a screw 7 driven to rotate by the driving motor 6, and a nut 8 movably sleeved on the screw 7. The driving motor 6 is fixed in the machine body 1, one end of the screw 7 is connected to the power output end of the driving motor 6, and the other end is rotatably arranged on the front panel 2 of the machine body 1, and the nut 8 is fixed to the drilling tool body 4 and drives the drilling tool body 4 to move synchronously.

[0050] The first driving mechanism of this structure provides effective power transmission and precise control for the telescopic movement of the electric drill; the lead screw 7 is driven to rotate by the driving motor 6, and the nut 8 on the lead screw 7 is fixedly connected to the drill body 4, thereby realizing the precise telescopic movement of the drill body 4; the transmission of the lead screw 7 and the nut 8 has high transmission accuracy and rigidity, which can ensure that the distance that the front end of the drill bit 5 extends or retracts from the operating hole 3 is accurate, meeting the strict requirements on the drilling depth and position in the rebar planting operation.

[0051] In this embodiment, the machine body 1 is further provided with a plurality of guide rods 9 parallel to the lead screw 7, and the drill tool body 4 is connected with a plurality of guide seats 10, and the guide rods 9 pass through the guide holes of the corresponding guide seats 10 and are slidably connected. When the drill tool body 4 moves along the direction of the lead screw 7, it is not only driven by the lead screw 7, but also constrained and guided by the guide rods 9; the guide rods 9 can effectively prevent the drill tool body 4 from rotating, swaying or shaking during the movement, and ensure that the drill tool body 4 always maintains linear motion, so that the drill bit 5 can accurately align with the drilling position, and improve the verticality and accuracy of the drilling; the guide rods 9 share part of the weight of the drill tool body 4 and the drill bit 5 and the axial force generated during drilling, and reduce the load of the lead screw 7; because the guide rods 9 limit the non-linear motion of the drill tool body 4, the force between the lead screw 7 and the nut 8 is more uniform, and the phenomenon of excessive force on the lead screw 7 caused by the shaking or swaying of the drill tool body 4 is reduced.

[0052] In this embodiment, the detection mechanism includes a detection coil 11, an inductance digital sensor 12 (for example, LDC1000 type), a detection processor 13 and an indicator 14 connected in sequence; the detection coil 11 is installed on the outer side of the front panel 2 of the body 1 and surrounds the operation hole 3, and the inductance digital sensor 12, the detection processor 13 and the indicator 14 are installed on the inner side of the front panel 2 of the body 1; when the steel bar enters the alternating magnetic field generated by the detection coil 11, the inductance value of the detection coil 11 changes; the inductance digital sensor 12 obtains the required measurement result by detecting the change of the inductance value in the detection coil 11; the detection processor 13 processes the inductance value data read from the inductance digital sensor 12, and determines the steel bar existence status in the target area according to a preset algorithm and selectively triggers the indicator 14.

[0053] The detection mechanism can effectively detect whether there are steel bars in front of the operating hole 3, providing important safety protection for the drilling operation; the detection coil 11 is installed around the operating hole 3, and can generate a relatively uniform alternating magnetic field with a wide coverage range; the inductance digital sensor 12 can accurately convert small changes in the inductance value in the detection coil 11 into digital signals, improving the measurement accuracy and stability; the indicator 14 can be selectively triggered according to the judgment result of the detection processor 13, providing the operator with an intuitive and clear indication signal; for example, when steel bars are detected, the indicator 14 can remind the operator to adjust the drilling position in time by emitting light, making sounds or displaying specific symbols, so as to avoid accidents caused by blind operation and ensure the safety and reliability of the construction process.

[0054] The LDC1000 inductance digital sensor 12 is an inductance digital converter that can simultaneously measure the impedance and resonant frequency of an LC resonator; AC current flowing through a coil generates an AC magnetic field; if a conductive material, such as a metal target, is brought close to the coil, this magnetic field generates eddy currents on the surface of the target. These eddy currents are a function of the distance, size, and composition of the target; these eddy currents then generate their own magnetic field, opposing the original magnetic field generated by the coil; this mechanism is most similar to a transformer, where the coil is the primary core and the eddy currents are the secondary core; the inductive coupling between the two cores depends on the distance and shape; therefore, the resistance and inductance of the secondary core (eddy currents) appear as distance-dependent resistance and inductance components on the primary side (coil), where the parallel resonant impedance Rp(d) is given by the following formula: Rp(d) = (1 / ([Rs+R(d)]))*([Ls+L(d)]) / C.

[0055] It does this by regulating the amplitude of the oscillation to a constant level while monitoring the energy dissipated by the resonator. By monitoring the amount of power injected into the resonator, the LDC1000 can determine the value of Rp. This is returned as a digital value that is inversely proportional to Rp. In addition, the LDC1000 can measure the oscillation frequency of the LC circuit. This frequency is used to determine the inductance of the LC circuit. The oscillation frequency is returned as a digital value.

[0056] The LDC1000 supports a wide range of LC combinations, with oscillation frequencies ranging from 5 kHz to 5 MHz and Rp ranging from 798 ohms to 3.93 MOhms; this Rp range can be considered as the maximum input range of the ADC. To achieve better resolution within the desired sensing range, the LDC1000 provides a programmable input range through the Rp_MIN and Rp_MAX registers.

[0057] The calculation formula is: Rp = (RpMAX×RpMIN) / (RpMIN×(1-Y)+RpMAX×Y).

[0058] And the sensor frequency: fsensor = (1 / 3) * (external frequency / counting frequency) * (response time). For the coil, the settings of RpMIN and RpMAX are different. Generally, the larger the coil, the deeper the detection depth, and the larger the RP.

[0059] In this embodiment, the measuring mechanism includes a servo 15 fixed to a side panel (upper side, left side, right side and / or lower side) of the body 1, a measuring processor, and a laser rangefinder 16 (e.g., YDLIDAR SDM15) and an angle sensor 17 (e.g., MPU6050) correspondingly installed on the servo 15 and driven to rotate by the servo 15; the servo 15 can rotate in a horizontal or vertical direction and drive the laser rangefinder 16 and the angle sensor 17 to measure the target wall, and after obtaining the distance and angle data from the target area, transmit them to the measuring processor for measurement according to a preset algorithm to obtain the size of the target wall.

[0060] The measuring mechanism can efficiently measure the size of the target wall and provide accurate data support for the rebar planting operation; the servo 15 can rotate in the horizontal or vertical direction, driving the laser rangefinder 16 and the angle sensor 17 to measure the target wall in all directions, so that the measuring mechanism can flexibly obtain the distance and angle data of different positions of the wall. Whether it is measuring the length and width of the wall or calculating the inclination angle of the wall, it can easily cope with it, providing a comprehensive data basis for the accurate positioning and layout of the rebar planting holes; the laser rangefinder 16 can accurately measure the distance between the measuring mechanism and the target wall, and the angle sensor 17 can accurately measure the rotation angle of the servo 15, thereby determining the specific position and direction of the laser rangefinder 16 in space; by combining the distance data and the angle data, the measuring mechanism can obtain the distance and angle data of the target wall at different positions of the wall. The processor can accurately calculate the size of the target wall according to the preset algorithm, and its measurement accuracy is much higher than that of traditional measuring tools, which can meet the strict requirements for dimensional accuracy in building structure renovation and reinforcement projects; the entire measurement process of the measuring mechanism is automatically controlled by the steering gear 15, without manual intervention, which greatly improves the measurement efficiency and accuracy; the measuring processor can quickly process the data obtained from the laser rangefinder 16 and the angle sensor 17, and calculate the size of the target wall in real time according to the preset algorithm. The calculation results can be displayed on the display screen of the device in real time, providing timely and accurate feedback information for the operator; the operator can adjust the drilling position and the rebar layout in time according to these data to ensure the smooth progress of the rebar planting operation, and it is also convenient for real-time monitoring and quality control of the construction process.

[0061] Embodiment 2

[0062] The multifunctional punching device for planting reinforcing bars provided in this embodiment is obtained by further improving the structure and principle shown in the first embodiment, so the same structure and principle between the two will not be described in detail.

[0063] like Figure 3 and Figure 4 As shown, in this embodiment, the machine body 1 is mounted on a robot arm 18 and is driven by the robot arm 18 to move in space, thereby further improving the flexibility and automation of the drilling operation.

[0064] The structure and principle of the robotic arm 18 are the same as those of the prior art. It has multi-degree-of-freedom movement capabilities and can be flexibly moved and positioned in three-dimensional space, so that the punching device can easily reach any position in front of the target wall without the need for frequent manual adjustment of the position and angle of the device. It is particularly suitable for complex structures or rebar planting operations at high altitudes, greatly improving the flexibility and operability of construction.

[0065] The robot arm 18 can be pre-programmed or automated through real-time control. Combined with the automatic detection, measurement and drilling functions of the punching device, the entire rebar planting operation process can be highly automated. The robot arm 18 automatically drives the punching device to scan, detect, measure dimensions and accurately drill holes on the target wall according to the preset path and parameters, which reduces manual intervention, improves construction efficiency and quality, and also reduces labor intensity and safety risks.

[0066] The precise motion control capability of the robot arm 18 can ensure that the position and posture of the punching device during the measurement process are accurate; when the measuring mechanism measures the wall size, the robot arm 18 can move smoothly along the set trajectory, so that the laser rangefinder 16 and the angle sensor 17 can obtain more accurate and stable data; in addition, the robot arm 18 can also repeatedly measure the same position multiple times, and further improve the accuracy and reliability of the measurement results through data fusion processing.

[0067] To realize data integration and control, the device also includes a main processor, which is connected to the drilling tool body 4, the drive motor 6, the detection processor 13, the measurement processor and the mechanical arm 18 by wired or wireless communication. The staff can input the data information required for drilling to the main processor through the input device.

[0068] The mechanical arm 18 can be installed on a movable electric trolley to meet the needs of device movement.

[0069] Embodiment 3

[0070] This embodiment provides a method for punching holes for reinforcing bar planting, which uses the multifunctional punching device for reinforcing bar planting shown in the second embodiment and includes the following steps:

[0071] S1, target wall measurement: use the laser rangefinder 16 with the angle sensor 17 driven by the steering gear 15 to measure the length and width of the target wall. After measuring the length and width of the wall, input the number of holes (m, n), the diameter of the steel bar d1, and the depth of the hole d2. After selecting the distribution mode, determine the predetermined coordinates of each hole distribution;

[0072] S2, first steel bar detection: After the mechanical arm 18 drives the punching device to move to the predetermined coordinate position of the first hole, a regional detection of a specific detection area is first performed, and the detection coil 11 and the inductive digital sensor 12 are used to detect the area. At this time, the drill bit 5 is located at the initial position, and the detection coil 11 at the front end is close to the wall for detection; under the indication of the indicator 14, if the area is a reinforced area, the mechanical arm 18 drives the punching device to find the nearest unreinforced area of ​​the predetermined coordinate area, and re-determines the actual coordinates of the hole; if the area is a unreinforced area, the predetermined coordinates are used as the actual coordinates;

[0073] S3, first drilling: after obtaining the drilling signal, the drill bit 5 of the electric drill is started and drills at the actual coordinate position of the first hole, and the drill bit 5 is gradually moved forward by the first driving mechanism until the set drilling depth d2 is reached and then the drill bit 5 is reset;

[0074] S4, repeat detection and punching: use the same mode as S2 and S3 to perform punching operations on other areas in turn.

[0075] The measuring mechanism calculates the number of holes punched in the target area and has two modes: double-end measurement and single-end measurement, which can better adapt to the constraints of the actual target wall.

[0076] The double-end measurement mode means that after the device is initialized, the entire body 1 is brought close to the wall of the target area, and the distance measurement structure is driven by the steering gear 15 to rotate to both horizontal sides. When measuring the distance on one side, the farthest distance detected by the laser rangefinder 16 is recorded when the steering gear 15 rotates, and the roll angle is calculated according to the angle sensor 17, and the length of the area is calculated according to the angle. Similarly, the length of the other side is obtained, thereby obtaining the length a of the target area, and a two-dimensional coordinate system is established with the initial position of the body 1 as the origin, and the horizontal direction is taken as the X-axis; similarly, the length in the vertical direction is detected to obtain the height b of the target area, and the vertical direction is taken as the Y-axis; thereby, the size (a, b) of the target wall is obtained.

[0077] The single-end measurement mode means that under the condition that only one end is constrained, the servo 15 is rotated horizontally from the unconstrained end and the laser rangefinder 16 and the angle sensor 17 are driven to measure, thereby obtaining the distance and angle from the target area. The two are combined to calculate the length a of the wall, and a two-dimensional coordinate system is established with the initial position of the body 1 as the origin, and the horizontal direction is taken as the X-axis; similarly, the length in the vertical direction is detected to obtain the width b of the target area, and the vertical direction is taken as the Y-axis; thereby the size (a, b) of the target wall is obtained.

[0078] After obtaining the wall dimensions, the operator only needs to manually enter the number of holes (m, n), the diameter of the steel bar d1 mm, the depth of the hole d2 mm, and select the equidistant or evenly distributed mode. Then the system automatically determines the detection area, which is preferably the area of a circle with a radius R1, where R1 = (diameter of the steel bar d1 + 5 mm) * 1.5.

[0079] The distribution modes of the planned holes can include the equidistant mode and the evenly distributed mode. In the equidistant mode, after the operator enters the fixed row spacing d3 and the fixed column spacing d4, if d3 * (m - 1) > a, then the abscissa of the first hole position is x1 = [a - d3(m - 1)] / 2; otherwise, the abscissa of the first hole is x1 = [a - am / (m + 1)] / 2. If d4 * (n - 1) < b, then the ordinate of the first hole is y1 = [b - d4(n - 1)] / 2; otherwise, the ordinate of the first hole is y1 = [b - bn / (n + 1)] / 2. Thus, the predetermined coordinates (x1, y1) of the distribution of the first hole are determined.

[0080] In the evenly distributed mode, the abscissa of the first hole is x1 = [a - am / (m + 1)] / 2, and the ordinate of the first hole is y1 = [b - bn / (n + 1)] / 2. Thus, the predetermined coordinates (x1, y1) of the distribution of the first hole are determined. The robotic arm 18 drives the device to move to the (xn, yn) coordinate to start detecting whether there is a steel bar. xn is x1 + d3 in the equidistant mode and [a - am / (m + 1)] / 2 in the evenly distributed mode, where m is a natural number. yn is y1 + d4 in the equidistant mode and [b - bn / (n + 1)] / 2 in the evenly distributed mode, where n is a natural number.

[0081] In step S1, the laser rangefinder 16 emits laser light until it hits the wall during propagation and rebounds. The distance is calculated based on the interval time between emission and rebound. During the rotation of the servo motor 15, the returned distance gradually increases from small. A maximum value can be collected during the increasing process. The data after this data gradually decreases. Record the maximum value collected at this time, and calculate the distance in this direction in combination with the laser rangefinder 16 and the angle sensor 17.

[0082] In step S2, the inductive digital sensor 12 and the detection coil 11 detect the inductance of the current area and return the measured frequency. Whether there is a steel bar in the current area is judged according to the magnitude of the received frequency and whether there is a mutation. If the mutation value is greater than the threshold Δt, it is determined that the area is a reinforced area. The robotic arm 18 drives the device to perform a counterclockwise spiral detection with a set radius (for example, R2 = R1 + 5n, where n is a natural number) until the nearest non-reinforced area to the predetermined target area is detected.

[0083] After the drilling component obtains the signal that the area can be drilled, the body 1 is automatically locked, and the inductive digital sensor 12 stops working. The driving motor 6 drives the screw to transmit, and the screw drives the drill bit 5 forward to start drilling. After the drilling is completed, the drill bit 5 returns to the initial position. The initial position of the drill bit 5 can be located at the lower part of the detection coil 11. After the drill bit 5 returns to the initial position, the lock is released, and the mechanical arm 18 moves to the next target hole position. The above operation is repeated until the drilling operation is completed; the drill bit 5 is pushed forward by the stepper motor, and the number of pulses of the stepper motor is recorded at the same time to calculate the advancement distance, which is used to control the drilling depth, achieve accurate drilling, and improve quality; all stages are mechanical operations, do not require human assistance, save costs and ensure safety.

[0084] The entire device adopts fully automated operation, and no manual intervention is required from measurement, detection to drilling, saving labor costs. After drilling is completed, the drill bit 5 automatically returns to the initial position to avoid affecting subsequent detection.

[0085] This method adopts a fully automated operation process, and does not require manual intervention from area measurement, steel bar detection to precise drilling, which greatly improves work efficiency and saves labor costs; through the combination of the inductive digital sensor 12 and the detection coil 11, it can accurately detect whether there are steel bars in the area, ensure that the drilling position is unobstructed, and thus improve the accuracy and quality of construction; the drive motor 6 is equipped to record the number of pulses to achieve real-time monitoring of the advancement distance of the drill bit 5, thereby ensuring accurate control of the drilling depth; at the same time, the dual-end measurement mode and the single-end measurement mode are adopted to adapt to different areas and constraints, accurately calculate the length and width of the wall and the drilling coordinates, and expand the scope of application of the equipment; the collaborative work of the laser rangefinder 16 and the angle sensor 17 improves the accuracy of the measurement. The overall equipment operates with low power consumption, meets the requirements of energy conservation and environmental protection, and reduces construction costs and improves construction efficiency through modular design, showing a wide range of application prospects in complex wall construction scenarios.

[0086] Finally, it should be noted that this article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. Without departing from the principles of the present invention, the present invention may be further improved and modified, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A multifunctional punching device for planting reinforcement, characterized in that: include: A machine body, the front panel of which is provided with an operation hole; The electric drill comprises a drill body and a drill bit, wherein the drill body is movably arranged in the machine body through a first driving mechanism and can be driven by the first driving mechanism to extend or retract the front end of the drill bit from the operating hole; A detection mechanism, installed on the machine body and used to detect whether there is a steel bar in front of the operating hole; as well as The measuring mechanism is installed on the machine body and is used to measure the length and width of the target wall.

2. The multifunctional punching device for planting reinforcing bars according to claim 1, characterized in that: The first driving mechanism includes a driving motor, a screw driven to rotate by the driving motor, and a nut movably mounted on the screw. The driving motor is fixed in the machine body, one end of the screw is connected to the power output end of the driving motor, and the other end is rotatably mounted on the front panel of the machine body. The nut is fixed to the drilling tool body and drives the drilling tool body to move synchronously.

3. A multifunctional punching device for planting reinforcing bars according to claim 2, characterized in that: The machine body is also provided with a plurality of guide rods parallel to the lead screw, the drilling tool body is connected with a plurality of guide seats, and the guide rods pass through the guide holes of the corresponding guide seats and are slidably connected.

4. The multifunctional punching device for planting reinforcing bars according to claim 2, characterized in that: The detection mechanism includes a detection coil, an inductance digital sensor, a detection processor and an indicator connected in sequence; The detection coil is installed on the outer side of the front panel of the machine body and surrounds the operation hole, and the inductive digital sensor, the detection processor and the indicator are installed on the inner side of the front panel of the machine body; When the steel bar enters the alternating magnetic field generated by the detection coil, the inductance value of the detection coil changes; the inductance digital sensor obtains the required measurement result by detecting the change in the inductance value in the coil; the detection processor processes the inductance value data read from the inductance digital sensor, and determines the steel bar existence status in the target area according to a preset algorithm and selectively triggers the indicator.

5. The multifunctional punching device for planting reinforcing bars according to claim 4, characterized in that: The measuring mechanism includes a steering gear fixed to the side panel of the machine body, a measuring processor, and a laser rangefinder and an angle sensor correspondingly mounted on the steering gear and driven to rotate by the steering gear; The servo can rotate in the horizontal or vertical direction and drive the laser rangefinder and the angle sensor to measure the target wall. After obtaining the distance and angle data from the target area, it is transmitted to the measurement processor for measurement according to the preset algorithm to obtain the size of the target wall.

6. The multifunctional punching device for planting reinforcing bars according to claim 5, characterized in that: The machine body is mounted on the mechanical arm and is driven by the mechanical arm to move in space; The device also includes a main processor, which is communicatively connected with the drilling tool body, the driving motor, the detection processor, the measurement processor and the mechanical arm.

7. A method for drilling holes for reinforcing bars, characterized in that: The invention applies a multifunctional punching device for planting reinforcing bars as described in claim 6, and comprises the following steps: S1. Target wall measurement: Use a laser rangefinder with an angle sensor to measure the length and width of the target wall under the drive of the servo. After measuring the length and width of the wall, input the number of holes (m, n), the diameter of the steel bar d1, and the depth of the hole d2. After selecting the distribution mode, determine the predetermined coordinates of each hole distribution. S2. First steel bar detection: After the mechanical arm drives the punching device to move to the predetermined coordinate position of the first hole, a specific detection area is first detected. The detection coil and the inductive digital sensor are used to detect the area. At this time, the drill bit is at the initial position, and the detection coil at the front end is close to the wall for detection; under the indication of the indicator, if the area is a reinforced area, the mechanical arm drives the punching device to find the nearest unreinforced area of ​​the predetermined coordinate area, and re-determines the actual coordinates of the hole; if the area is an unreinforced area, the predetermined coordinates are used as the actual coordinates; S3, first drilling: after obtaining the drilling signal, the drill bit of the electric drill starts and drills at the actual coordinate position of the first hole, and the drill bit gradually moves forward through the first driving mechanism until the set drilling depth d2 is reached and then the drill bit is reset; S4, repeat detection and punching: use the same mode as S2 and S3 to perform punching operations on other areas in turn.

8. A method for drilling holes for reinforcing bars according to claim 7, characterized in that: In step S1, the laser rangefinder emits a laser until it hits a wall and bounces off during the propagation process, and the distance is calculated based on the interval between the emission and the rebound. During the rotation of the servo, the distance transmitted back gradually increases from small to large, and a maximum value can be collected during the increasing process. The data after this data gradually decreases, and the maximum value collected at this time is recorded, and the distance in this direction is calculated in combination with the laser rangefinder and the angle sensor.

9. A method for drilling holes for reinforcing bars according to claim 7, characterized in that: In step S2, the inductance digital sensor and the detection coil detect the inductance of the current area and return the measured frequency, and determine whether there is a steel bar in the current area according to the magnitude of the received frequency and whether a mutation occurs; If the mutation value is greater than the threshold, the area is determined to be a ribbed area, and the robot arm drives the device to perform counterclockwise spiral detection at a set radius until the rib-free area closest to the predetermined target area is detected.

10. A method for drilling holes for reinforcing bars according to claim 7, characterized in that: In step S2, the detection area is the area of ​​a circle with a radius R1, R1 = (rebar diameter d1 + 5 mm) * 1.5.

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